CN102033493A - Simulator-based electric control hydraulic type automatic transmission control rule rapid prototyping test bench - Google Patents
Simulator-based electric control hydraulic type automatic transmission control rule rapid prototyping test bench Download PDFInfo
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Abstract
本发明公开了一种基于仿真器的电控液力式自动变速器控制规律快速原型实验台架，其特征是由PC机、仿真器和自动变速器实验台组成；通过PC机将模拟汽车整车的数据模型经编译后存储到仿真器中，由PC机实时监控和记录整个实验台架的运行过程及结果，PC机与仿真器通过CAN数据总线进行实时、双向数据交流；仿真器用于实时仿真模拟的汽车数据模型，由仿真器通过I/O接口向自动变速器实验台发送换挡模拟信号，同时通过I/O接口从自动变速器实验台上采集模拟信号；自动变速器实验台接收仿真器发出的电磁阀控制信号并作出相应的换挡动作。本发明可大大地节省硬件电路的开发成本，缩短产品开发周期。
The invention discloses an electronically controlled hydraulic automatic transmission control law rapid prototype test bench based on a simulator, which is characterized in that it is composed of a PC, a simulator and an automatic transmission test bench; The data model is compiled and stored in the emulator, and the running process and results of the entire test bench are monitored and recorded by the PC in real time. The PC and the emulator conduct real-time, two-way data exchange through the CAN data bus; the emulator is used for real-time simulation The car data model of the vehicle, the simulator sends the shift simulation signal to the automatic transmission test bench through the I/O interface, and at the same time collects the analog signal from the automatic transmission test bench through the I/O interface; the automatic transmission test bench receives the electromagnetic signal sent by the simulator. The valve control signal and make the corresponding shift action. The invention can greatly save the development cost of the hardware circuit and shorten the product development cycle.
Description
Technical field
The present invention is the experimental stand that the automatic transmission control law is carried out rapid prototyping, and a kind of being applied in the automatic transmission TCU performance history of more specifically saying so played the experimental stand of rapid prototyping.
Background technology
Little, stable drive is impacted in the automatic transmission gearshift, is the mainstream model in the automotive transmission product for a long time always.In the R﹠D process of carrying out mechanical automation control law, to the checking of automatic transmission control law, and the platform experiment of automatic transmission is the basis of realizing the model machine entrucking.In traditional development process, there are following three problems:
1, at first finishes the making of hardware, on this basis the control characteristic and the control effect of control law are verified,, must revise hardware, produced bigger hardware contributed capital in case find that designed scheme can not meet the demands;
2, software engineer's hand-coding code is formed in code set in the hardware circuit again, all need be based on hardware, and software engineer and Hardware Engineer cannot design simultaneously, and product development cycle is prolonged, and waste many times and material resources;
3, when model is verified, running status that can not monitoring model can not be made amendment or demarcates the controlled variable of model, can only revise by subjective judgement, so a large amount of time of cost in verification of model, test and modification, also cause the waste of human and material resources simultaneously.
Existing emulator real-time emulation system is a kind of based on the control system exploitation of simulation software and the workbench of test.The emulator real-time emulation system has the hardware system of high-speed computational capability, comprises processor, I/O etc., also has the convenient easy-to-use code generation/download and the software environment of experiment/debugging, can handle following problem:
1, at the initial stage of control system exploitation, the emulator real-time emulation system is used as the hardware running environment of control algolithm and steering logic code.The various I/O plates that emulator provides are used to connect controlling models and controlling object.
2, after the manufacturing of product type controller is intact, can be used for Simulation Control object or external environment condition, thereby allow controller is carried out comprehensive, detailed test, even the application under the maximum conditions also can be tested repeatedly.
But also emulator is not applied to the control law of controlling automatic gear-box on the automatic gear-box stand at present, and monitors the operation conditions of control law in real time and revise controlled variable and adjust shift quality.
Summary of the invention
The present invention is for avoiding above-mentioned existing in prior technology weak point, a kind of automatically controlled hydraulic type automatic transmission control law rapid prototyping experimental stand based on emulator is provided, utilize emulator and automatic transmission experimental stand to finish the rapid prototyping of automatic transmission control law, checking automatic transmission control law, before TCU does not design shaping, utilize the hardware running environment of emulator real-time system as control algolithm and steering logic code, make up virtual experimental situation, verify the feasibility of automatic transmission control law; And the running status of Monitoring and Controlling rule in experimentation is carried out real-time modification, reaches the purpose of rapid prototyping.
The present invention adopts following technical scheme for the technical solution problem:
The present invention is based on the automatically controlled hydraulic type automatic transmission control law rapid prototyping experimental stand of emulator, it is characterized in that forming by PC, emulator and automatic transmission experiment table;
Described PC is used for man-machine interaction, store in the emulator after compiling by the data model of PC the simulated automotive car load, monitor and write down the operational process and the result of whole experimental stand in real time by described PC, described PC and emulator by the CAN data bus carry out in real time, bi-directional data exchanges;
Described emulator is used for the car data model of real-time simulation simulation, emulator carries out both-way communication with PC and automatic transmission experiment table respectively by the I/O interface, send gearshift simulating signal by the I/O interface to the automatic transmission experiment table by described emulator, emulator comprises the simulating signal of rotating speed and throttle from the collection of automatic transmission experiment table by the I/O interface simultaneously;
Described automatic transmission experiment table is made up of revolver drive motor, right wheel drive motor, automatic transmission drive motor, automatic transmission and each sensor, is received the solenoid control signal that emulator sends and is made corresponding gearshift action by described automatic transmission experiment table; Control signal by emulator output automatic transmission motor; Simultaneously the operation information of experimental stand is sent to emulator in real time, and monitors by the monitoring interface in the PC by each sensor.
The present invention utilizes high speed data bus to be connected with actual automatic transmission experiment table emulator and PC, is used for the running environment of simulated automotive automatic transmission.PC is set up the automatic transmission controlling models according to the automatic transmission gearshift curve that the engineering staff drafts, and comprises automatic transmission gearshift model, gearshift solenoid control and executive component model, and these models are compiled in the emulator; Emulator links to each other with the automatic transmission experimental stand by high speed data bus, gathers the operation conditions of automatic transmission on the experimental stand, and provides gearshift information for the automatic transmission experiment table; Monitoring software is set up the monitoring window of control law on PC, the monitoring model running status can the real time modifying model parameter.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention utilizes the hardware running environment of emulator real-time emulation system as control algolithm and steering logic code, make the developer make hardware circuit again after certain grasp is arranged to control characteristic or control effect, save the cost of development of hardware circuit so widely, also shortened Products Development flow process and construction cycle simultaneously;
2, the present invention is directly downloaded in the emulator after the model compiling, utilize emulator to control the automatic transmission gearshift of automatic transmission experimental stand, needn't wait for software engineer's code and Hardware Engineer's hardware circuit, the Products Development cycle can be shortened greatly, save time, also give full play to the efficient of manpower simultaneously;
3, the present invention utilizes the running status of monitoring software monitoring model, existing problem is clear in the controlling models, make the developer can be with real time modifying, operation, revise again, rerun, till controlling models satisfies usability, make the modification of model simplify, saved a lot of times.
Description of drawings
Automatic transmission control law rapid prototyping experimental stand connection layout among Fig. 1 the present invention;
Fig. 2 automatic transmission gearshift curve;
Fig. 3 automatic transmission gearshift model;
Fig. 4 shift gears solenoid control and executive component model;
Automatic transmission platform experiment schematic flow sheet among Fig. 5 the present invention;
Automatic transmission horse structure synoptic diagram among Fig. 6 a, Fig. 6 b the present invention;
Number in the figure: 1 left driving wheel motor, 2 automatic transmission, 3 right wheel drive motors, 4 automatic transmission drive motor.
Embodiment
Referring to Fig. 1, present embodiment is made up of PC, emulator and automatic transmission experiment table; Wherein:
PC is used for man-machine interaction, store in the emulator after compiling by the data model of PC the simulated automotive car load, monitor and write down the operational process and the result of whole experimental stand in real time by PC, PC and emulator by the CAN data bus carry out in real time, bi-directional data exchanges;
Used dSPACE real-time simulator is the workbench of being developed and testing based on the control system of MATLAB/Simulink by a cover of dSPACE company exploitation, has realized the complete seamless link with MATLAB/Simulink.The dSPACE real-time system has the hardware system with high-speed computational capability, comprises processor, I/O etc., also has the convenient easy-to-use code generation/download and the software environment of test/debugging.The dSPACE software systems comprise that code generates and the generation software (TargetLink) of downloaded software (RTW that comprises matlab/simulink/stateflow and matlab), experiment monitoring management software (mainly containing ControlDesk Comprehensive Experiment environment), product level code.The dSPACE hardware system comprises intelligentized single board system and modular system.
Emulator is used for the car data model of real-time simulation simulation, emulator carries out both-way communication with PC and automatic transmission experiment table respectively by the I/O interface, send gearshift simulating signal by the I/O interface to the automatic transmission experiment table by emulator, emulator comprises the simulating signal of rotating speed and throttle from the collection of automatic transmission experiment table by the I/O interface simultaneously;
Referring to Fig. 6 a and Fig. 6 b, the automatic transmission experiment table is made up of revolver drive motor 1, right wheel drive motor 3, automatic transmission drive motor 4, automatic transmission 2 and each sensor, is received the solenoid control signal that emulator sends and is made corresponding gearshift action by the automatic transmission experiment table; Control signal by emulator output automatic transmission motor 4; Simultaneously the operation information of experimental stand is sent to emulator in real time, and monitors by the monitoring interface in the PC by each sensor.
The present invention utilizes real automatic transmission experimental stand, emulator high speed data bus to be connected with PC, is used for the running environment of simulated automotive automatic transmission.Utilize the automatic transmission of drafting gearshift curve as shown in Figure 2 to set up the automatic transmission controlling models, comprise as shown in Figure 3 automatic transmission gearshift model, gearshift solenoid control as shown in Figure 4 and executive component model; With downloading in the emulator after each model compiling, utilize emulator control electromagnetic valve driving circuit, and driving circuit for electromagnetic valve is inserted the solenoid valve interface of automatic transmission experimental stand correspondence; In the bench run process in the monitoring window monitoring model running status of PC, and real time modifying model parameter.
Emulator in the present embodiment is used for the model code after the store compiled, utilizes it to export then and controls external hardware device; Driving circuit for electromagnetic valve is used for driving the gearshift of gearshift solenoid valve.
Figure 5 shows that the workflow of utilizing emulator and automatic transmission experimental stand to realize AT schedule rapid prototyping.
The first step, formulate schedule, hydraulic automatic speed variator optimum matching schedule and engine characteristics, torque converter characteristic, transmission gear figure place and ratio of gear etc. have confidential relation, by being carried out modeling and simulating, hydraulic automatic speed variator formulates rational schedule, set up gearshift model and gearshift electromagnetic valve actuating gear model, and carry out off-line simulation;
In second step, the input interface order in the modeling block scheme,, and is provided with I/O parameter (as the A/D voltage range etc.) with the required I/O (A/D converter, incremental encoding interface etc.) of drag and drop instructions real-time testing from interface library;
In the 3rd step,, the solenoid valve interface of the automatic transmission on PC, emulator, driving circuit for electromagnetic valve and the automatic transmission experimental stand is linked together according to employed interface module.
After automatic transmission platform experiment preliminary work is finished, at first by stand control desk energized, adjust the motor output speed, utilize monitoring software experimental tool software package and real-time controller to carry out interactive operation then, as adjust controlled variable, and the state of display control program (as engine speed, the speed of a motor vehicle, gear etc.), tracing process response curve.According to the information that monitoring interface reflected, the parameter in the controlling models (as the dutycycle, shifting points etc. of gearshift solenoid valve) is made amendment, amended model is being carried out platform experiment then, so repeatedly, reach certain designing requirement until controlling models.
Claims (1)
1. based on the automatically controlled hydraulic type automatic transmission control law rapid prototyping experimental stand of emulator, it is characterized in that forming by PC, emulator and automatic transmission experiment table;
Described PC is used for man-machine interaction, store in the emulator after compiling by the data model of PC the simulated automotive car load, monitor and write down the operational process and the result of whole experimental stand in real time by described PC, described PC and emulator by the CAN data bus carry out in real time, bi-directional data exchanges;
Described emulator is used for the car data model of real-time simulation simulation, emulator carries out both-way communication with PC and automatic transmission experiment table respectively by the I/O interface, send gearshift simulating signal by the I/O interface to the automatic transmission experiment table by described emulator, emulator comprises the simulating signal of rotating speed and throttle from the collection of automatic transmission experiment table by the I/O interface simultaneously;
Described automatic transmission experiment table is made up of revolver drive motor (1), right wheel drive motor (3), automatic transmission drive motor (4), automatic transmission (2) and each sensor, is received the solenoid control signal that emulator sends and is made corresponding gearshift action by described automatic transmission experiment table; Control signal by emulator output automatic transmission motor (4); Simultaneously the operation information of experimental stand is sent to emulator in real time, and monitors by the monitoring interface in the PC by each sensor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104007759A (en) * | 2014-06-18 | 2014-08-27 | 盛瑞传动股份有限公司 | Automatic testing method, system and device for automatic gearbox control software |
| CN105910815A (en) * | 2016-04-22 | 2016-08-31 | 盛瑞传动股份有限公司 | Transmission shift performance test system and test method |
| CN111730593A (en) * | 2020-05-27 | 2020-10-02 | 南京工程学院 | A model-based multi-axis robot control device and method |
| CN114326439A (en) * | 2021-12-31 | 2022-04-12 | 中国第一汽车股份有限公司 | Automatic transmission virtual calibration model real-time and virtual calibration method |
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2010
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104007759A (en) * | 2014-06-18 | 2014-08-27 | 盛瑞传动股份有限公司 | Automatic testing method, system and device for automatic gearbox control software |
| CN105910815A (en) * | 2016-04-22 | 2016-08-31 | 盛瑞传动股份有限公司 | Transmission shift performance test system and test method |
| CN105910815B (en) * | 2016-04-22 | 2018-06-12 | 盛瑞传动股份有限公司 | A kind of shift of transmission Performance Test System and test method |
| CN111730593A (en) * | 2020-05-27 | 2020-10-02 | 南京工程学院 | A model-based multi-axis robot control device and method |
| CN114326439A (en) * | 2021-12-31 | 2022-04-12 | 中国第一汽车股份有限公司 | Automatic transmission virtual calibration model real-time and virtual calibration method |
| CN114326439B (en) * | 2021-12-31 | 2024-06-14 | 中国第一汽车股份有限公司 | Model real-time and virtual calibration method for virtual calibration of automatic transmission |
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Application publication date: 20110427 |