CN102520711A - Hardware-in-the-loop simulation system of automatic mechanical transmission (AMT) controller and automatic test method thereof - Google Patents
Hardware-in-the-loop simulation system of automatic mechanical transmission (AMT) controller and automatic test method thereof Download PDFInfo
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Abstract
The invention discloses a hardware-in-the-loop simulation system of an automatic mechanical transmission (AMT) controller, which comprises a LABCAR system, wherein the LABCAR system comprises a gasoline engine vehicle model, the gasoline engine vehicle model comprises a vehicle submodel, the vehicle submodel comprises an automatic transmission case submodel, and the automatic transmission case submodel comprises a signal collection model, a transmission system model, an execution mechanism model and a shift-level processing model. The invention also discloses a method for the hardware-in-the-loop simulation system to automatically test the AMT controller. Due to the adoption of the hardware-in-the-loop simulation system and the method, the interaction between vehicles and the AMT controller can be actually simulated, so different tests can be performed on the AMT controller.
Description
Technical field
The present invention relates to a kind of hardware-in-loop simulation (hardware in the loop simulation) system that is used for the automotive development test; The hardware-in-loop simulation system that particularly relates to a kind of AMT (automated mechanical transmission, mechanical automatic gearbox) controller.
Background technology
The mechanical automatic gearbox of automobile (AMT) relates to multidisciplinary fields such as machinery, hydraulic pressure, electronics and control; Its work operating mode is very complicated; And high to security requirement, brought the complicacy of gearbox control (TCU, Transmission Control Unit) design thus.
The AMT controller designs from system architecture, and the exploitation of individual feature, test to integrated, system testing of software and demarcation, need a long-term process.---modeling and simulation---the way of code generation---software is integrated---test of in its software development flow, taking conceptual design usually.
In the software development process of AMT controller, particularly software is criticized before the product, is absolutely necessary for the test of application layer software, bottom software and hardware.Present this test generally is the actual vehicle assembling laggard trade of AMT controller road test, wastes time and energy, and has strengthened cost of development, has extended the construction cycle.And some limit test operating mode is difficult to reappear with actual vehicle owing to comparatively dangerous.
Summary of the invention
Technical matters to be solved by this invention provides a kind of hardware-in-loop simulation system of AMT controller, and this system can simulate real vehicles preferably the AMT controller is tested.For this reason, the present invention also will provide the method for testing of the hardware-in-loop simulation system of said AMT controller, and this method can carry out the AMT controller is criticized antenatal hardware, software automatic test and durability test.
For solving the problems of the technologies described above; The hardware-in-loop simulation system of AMT controller of the present invention includes the LABCAR system; Said LABCAR system includes the petrol engine whole vehicle model; Said petrol engine whole vehicle model includes the vehicle submodel, and said vehicle submodel includes the automatic gear-box submodel, and said automatic gear-box submodel includes:
Be used to gather the current run location of each topworks and the signals collecting model of each moment of torsion, rotating speed and GES that the kinematic train model calculation draws;
Be used to calculate the kinematic train model of each moment of torsion, rotating speed and GES;
Be used to calculate topworks's model of judging each direction of motor rotation in the current location of each topworks under the effect of drive end voltage and in the snap-in force of clutch diaphragm spring under this position, through the positive and negative situation of the voltage difference between two pins of its drive end;
Be used for calculating the object gear of static gear of present located or gearshift procedure, and progressively increase or progressively remove the gear transaction module of corresponding synchronous device acting force according to the current location of choosing shelves topworks and gear-shifting actuating mechanism.
The automatic test approach of the hardware-in-loop simulation system of said AMT controller comprises the steps:
In the 1st step, the definition content measurement is write test case, and the variable that has the same physical implication in the software with the test variable in the test case and petrol engine whole vehicle model and AMT controller carries out related;
In the 2nd step, the definition test target is connected between the AMT controller of needs tests and the petrol engine whole vehicle model, sets the testing sequence between a plurality of test cases;
The 3rd step, carry out test, use the implementation of test cases of automatic testing instrument bag;
In the 4th step, the validation test result finishes back output test report in test execution, provides test result.
The hardware-in-loop simulation system of AMT controller of the present invention and automatic test approach thereof be simulating vehicle, automatic mechanical transmission AMT especially wherein truly) carry out interaction with the AMT controller; Thereby can carry out various tests to the AMT controller, be particularly useful for the AMT controller and produce soft, hardware testing before in batches.
Description of drawings
Fig. 1 is the structural representation of the hardware-in-loop simulation system of AMT controller of the present invention;
Fig. 2 is the structural representation of LABCAR system 1 among Fig. 1;
Fig. 3 is the structural representation of petrol engine whole vehicle model 11 among Fig. 2;
Fig. 4 is the structural representation of vehicle submodel 113 among Fig. 3;
Fig. 5 is the structural representation of automatic gear-box submodel B among Fig. 4;
Fig. 6 is the structural representation of signals collecting Model B 1 among Fig. 5;
Fig. 7 is the structural representation of kinematic train Model B 2 among Fig. 5;
Fig. 8 is the structural representation of topworks's Model B 3 among Fig. 5;
Fig. 9 is the signal input/output relation synoptic diagram between petrol engine whole vehicle model 11 and the automatic gear-box submodel B;
Figure 10 is that AMT controller 2 and LABCAR system 1 reach petrol engine whole vehicle model 11 wherein, the signal input/output relation synoptic diagram between the automatic gear-box submodel B;
Figure 11 is the structural representation of five grades of formula AMT;
Figure 12 is the structural representation of topworks's Model B 2 among Figure 11;
Figure 13 is the principle of work synoptic diagram of the hardware-in-loop simulation system of AMT controller of the present invention;
Figure 14 is the synoptic diagram that the hardware-in-loop simulation system of AMT controller of the present invention tests the AMT controller automatically.
Description of reference numerals among the figure:
1 is the LABCAR system; 11 is the petrol engine whole vehicle model; 111 is driver's submodel; 112 is the environment submodel; 113 is the vehicle submodel; A is the engine submodel; B is the automatic gear-box submodel; B1 is the signals collecting model; B2 is the kinematic train model; B3 is topworks's model; B4 is the gear transaction module; B11 is the engine torque sensor model; B12 is the input shaft torque sensor model; B13 is the output shaft torque sensor model; B14 is the engine speed sensor model; B15 is a transfer input shaft speed sensors model; B16 is a transfer input shaft speed sensors model; B17 is the vehicle speed sensor model; B18 is a clutch actuating mechanism position transducer model; B19 is choosing shelves topworks position transducer model; B1a is a gear-shifting actuating mechanism position transducer model; B21 is an engine mockup; B22 is a clutch model; B23 is five grades of mechanical gearbox models; B24 is the transmission shaft model; B25 is the main reducing gear model; B26 is the differential mechanism model; B27 is the Full Vehicle Dynamics model; B31 is the clutch actuating mechanism model; B32 is choosing shelves topworks model; B33 is the gear-shifting actuating mechanism model; C is the dynamics of vehicle submodel; 12 are signal generation and analog input card; 2 is the AMT controller; 3 is test macro.
Embodiment
See also Fig. 1, the hardware-in-loop simulation system of AMT controller of the present invention comprises LABCAR system 1, AMT controller 2 and realizes the test macro 3 of the two communication.
Said LABCAR system 1 is a hardware and software product of ETAS company exploitation, and the basic component of open, prolongable hardware-in-loop simulation system is provided.
Said AMT controller 2 is an actual hardware product to be tested, is also referred to as TCU.
Said test macro 3 comprises testing apparatus (hardware) and testing software.For carrying out the manual test purpose, test macro 3 comprises the INCA software and hardware bag of ETAS company exploitation, and it can demarcate, diagnose and verify automobile electronic system.For carrying out automatic test purpose, test macro 3 also comprises the LABCAR-AUTOMATION software package of ETAS company exploitation, and it can carry out automatic test to automobile electronic system.
See also Fig. 2, said LABCAR system 1 comprises software and hardware two parts, and wherein software section is petrol engine whole vehicle model (GEVM) 11 and running environment interface thereof, and hardware components is that signal takes place and analog input card 12.Also need carry out type selecting and configuration for realizing the information interaction between the LABCAR software and hardware to the hardware integrated circuit board.
Said petrol engine whole vehicle model 11 is cores of the software section of LABCAR system 1; Be used for the simulating vehicle kinetic model; Can it be regarded as the manufacturing workshop of automobile, as shown in Figure 3, it includes driver's submodel 111, environment submodel 112 and vehicle submodel 113.The running environment interface of petrol engine whole vehicle model 11 is a LABCAR EE software, can be used for observing the real-time emulation system operation conditions, also can control it.
Said signal takes place to be used to simulate with analog input card 12 to produce the required various sensor signals of AMT controller 2, and gathers the motor-driven control signal that AMT controller 2 sends.So just, formed LABCAR system 1 and be connected, simulation actual vehicle environment with the closed loop of AMT controller 2.Signal between AMT controller 2 and the petrol engine whole vehicle model 11 is realized conversion of signals through LABCAR system 1 hardware profile is set alternately.
See also Fig. 4, said vehicle submodel 113 comprises engine submodel A, automatic gear-box submodel B and dynamics of vehicle submodel C again.
AMT controller hardware of the present invention requires petrol engine whole vehicle model 11 can carry out real-time simulation at loop simulation system; Foundation is to the analysis of the software and hardware resources of LABCAR system 1; The requirement simulation step length is 1ms; See also Fig. 5; The present invention adopts AMESim software to build said automatic gear-box submodel B; And the corresponding code in real time of generation is replaced the wheel box model in the former petrol engine whole vehicle model 11; It includes the current run location that is used to gather each topworks's motor; And the signals collecting Model B 1 of kinematic train model calculation each moment of torsion, rotating speed and the GES that draw, be used to calculate each moment of torsion, rotating speed and GES kinematic train Model B 2, be used to calculate the current location of each actuator under the effect of drive end voltage, and under this position the snap-in force of clutch diaphragm spring, through the positive and negative situation of the voltage difference between two pins of its drive end judge each direction of motor rotation topworks's Model B 3, be used for current location according to choosing shelves topworks and gear-shifting actuating mechanism; Calculate the object gear in static gear of present located or the gearshift procedure, and progressively increase or progressively remove the gear transaction module B4 of corresponding synchronous device acting force.
See also Fig. 6, said signals collecting Model B 1 includes engine torque sensor model B11, input shaft torque sensor model B12, output shaft torque sensor model B13, engine speed sensor Model B 14, transfer input shaft speed sensors Model B 15, OSS Model B 16, vehicle speed sensor Model B 17, clutch actuating mechanism position transducer Model B 18, choosing shelves topworks position transducer Model B 19, gear-shifting actuating mechanism position transducer Model B 1a again.Respective sensor module in the mechanical storehouse of these sensors employings AMESim software is built.
See also Fig. 7, said kinematic train Model B 2 includes engine mockup B21, clutch model B22, mechanical automatic gearbox Model B 23, transmission shaft Model B 24, main reducing gear Model B 25, differential mechanism Model B 26 and Full Vehicle Dynamics Model B 27 again.Said kinematic train Model B 2 adopts mechanical storehouse and the engine block in the power transmission storehouse, clutch module, gear mesh module, synchronizer module, transmission shaft module, torsional oscillation spring module, tire module, the vehicle body module of AMESim software to build.
See also Fig. 8, said topworks Model B 3 includes clutch actuating mechanism Model B 31, choosing shelves topworks's Model B 32 and gear-shifting actuating mechanism Model B 33 again.Said topworks Model B 3 adopts mechanical storehouse and the direct current generator module in the power transmission storehouse, worm and gear module, fork module, quality module, the variable rate spring module of AMESim software to build.The type of drive of said clutch actuating mechanism Model B 31, choosing shelves topworks's Model B 32 and gear-shifting actuating mechanism Model B 33 is motor-driven.
Said gear transaction module B4 identifies the object gear in present located static state gear or the gearshift procedure according to the current location of choosing shelves topworks and gear-shifting actuating mechanism, and corresponding synchronizer is progressively increased or progressively removes acting force.Coherent signal processing module in the library of said gear transaction module B4 employing AMESim software is built.
Said automatic gear-box submodel B modeling process may further comprise the steps:
Based on the physical characteristics of actual AMT vehicle build with its logic and structure on the realistic model that is consistent:
The module that is at first provided according to AMESim software; Select engine module simulation engine respectively, multi-discs-clutch module simulation clutch coupling, gear_3_ports module simulation gear mesh; Half_synchronizer module simulation synchronizer; Emd_DirectCurrentMachine module simulation direct current generator, worm gear module simulation turbine and worm, tyre_and_wheel module simulation tire; Dif module simulation differential mechanism; Car module simulation vehicle body dynamics, rotary shaft module simulation transmission shaft and semiaxis, displacementsensor module simulation displacement transducer (clutch actuating mechanism position, choosing shelves topworks position and gear-shifting actuating mechanism position); Rotaryspeedsensor module simulation speed probe (engine speed, input shaft rotating speed and output shaft rotating speed); Torquesensor module simulation torque sensor (engine torque, input shaft torque and output shaft torque), velocitysensor module simulation vehicle speed sensor, fofx and asciifofx module simulation gear are handled;
Secondly, each module all has corresponding a plurality of submodel, according to annexation between model complexity and the model, is each module chooser model.With the clutch module is example, has multiple submodel available, comprises TRDC00A; TRDC00B, TRDC01A, TRDC01B; Submodels such as TRDC02A, the complexity of every kind of submodel and applicable situation are also different, and TRDC00A calculates clutch slipping and relative quiescent phase friction torque with hyperbolic tangent function; When the clutch coupling slippage surpasses preset threshold; Friction torque is a maximal value, and when clutch coupling slippage during less than preset threshold, clutch transmission torque changes according to the hyperbolic tangent function of actual slippage and threshold value ratio.TRDC00B considers the influence of hydraulic cylinder centrifugal force to friction torque on the basis of TRDC00A.TRDC01A adopts the integrator model that resets to calculate clutch coupling slip and stick transfer process friction torque.TRDC01B also considers the influence that hydraulic cylinder centrifugal force brings on the TRDC01A basis.TRDC02A is for considering the integrator model that resets of viscous friction.The TRDC00A model is the simplest, and this model is used for AMESim software real-time simulation (fixed step size emulation) then has very big problem, is easy to cause model to shake, and model can not normally be moved.Through repetition test and debugging, find to use TRDC01A clutch coupling submodel, not concussion of model emulation operation convergence relatively is fit to variator Real-time modeling set and emulation.Make and carry out analytical test in the same way, can confirm the submodel of each module.Wherein engine block is used TREN00B, and clutch module uses TRDC001A, and the gear mesh module is used TRGT0A, and synchronizer module is used TRSY1A, and other modules adopt first submodel of acquiescence; According to actual AMT vehicle parameter, carry out the parameter setting of each module, be example with the clutch model, the position relation between its diaphragm spring snap-in force size and the clutch actuating mechanism is set according to the actual membrane spring characteristic curve.Start emulation and obtain emulated data, utilize emulated data and real vehicle data or platform experiment data to compare, the realistic model of being built is verified.
2. it is 1ms that the real-time simulation step-length is set, and emulation mode is a fixed step size.Have a lot of high fdrequency component effects during the operation of above realistic model, require model to adopt very little simulation step length could guarantee that model can stablize true(-)running, simulation step length need reach the us level; When using fixed step size 1ms emulation; Can cause simulation result to be dispersed, clutch coupling output torque is fluctuateed between the positive negative value of maximum, and is inconsistent with the actual vehicle operational process; Make wheel box can not form correct gear, can not get correct simulation result.The real-time that AMESim software capable of using provides is simplified instrument (statistic, activity index, Eigenvalue Analysis and model analysis) and is carried out real-time simplification and optimization; Clutch's jointing process and synchronizer synchronizing process are the mode Eigenvalue Analysis moment; Need to confirm the element of optimization, reselect submodel and parameter optimization setting, to reduce the complexity of model; Reduce the requirement to simulation step length, the system after guaranteeing simultaneously to simplify still has enough simulation accuracies.In debugging according to the following relationship formula:
wherein Fcpu is the solver frequency; Fm is a model frequency; Rm is the real part of Fm characteristic of correspondence value; When solver frequency during less than the pairing frequency of 1ms simulation step length, just can reduce the complexity of realistic model, reduce requirement to simulation step length; System after guarantee simplifying simultaneously still has enough simulation accuracies, makes the model can stable operation under the fixed step size state.
3. the interface of AMESim software and other softwares is set; Input/output variable title in the defining interface; The input end variable has clutch actuating mechanism position, choosing shelves topworks position, gear-shifting actuating mechanism position, engine torque, engine speed, input shaft torque, input shaft rotating speed, output shaft torque, output shaft rotating speed, the speed of a motor vehicle, and the output terminal variable has each topworks's motor-driven terminal voltage (Clutch_V1, Clutch_V2, Select_V1, Select_V2, Shift_V1, Shift_V2), braking moment, road grade.The identical variable with the interface input end of variable in the signals collecting model is connected; Simultaneously interface output terminal variable is connected with identical variable port in the kinematic train model with the topworks model respectively, realizes the information interaction between fluid drive box model and the petrol engine whole vehicle model.Select target real-time simulation platform LABCAR generates real-time code.
Information interaction between said petrol engine whole vehicle model 11 and the automatic gear-box submodel B, adopt AMESim software that provide with software interface MATLAB, communication interface is set obtains.
See also Fig. 9, said petrol engine whole vehicle model 11 is to automatic gear-box submodel B input clutch motor terminal voltage signal Clutch_V1 and Clutch_V2, choosing shelves motor terminal voltage signal Select_V1 and Select_V2, gear shifting motor terminal voltage signal Shift_V1 and Shift_V2, engine torque signal, braking moment signal, gradient signal.Said automatic gear-box submodel B is to petrol engine whole vehicle model 11 input clutch topworks position signallings, choosing shelves topworks position signalling, gear-shifting actuating mechanism position signalling, engine rotational speed signal, input shaft rotating speed signal, output shaft tach signal, GES.Through these information interactions, make between car engine whole vehicle model 11 and the automatic gear-box submodel B and form closed loop.
See also Figure 10; Said AMT controller 2 obtains various input signals through LABCAR system 1; Through 2 internal arithmetics of AMT controller, export corresponding motor drive signal and be back to petrol engine whole vehicle model 11, drive the respective execution mechanisms among the automatic gear-box submodel B; And return relevant sensor signal to AMT controller 2, form hardware closed-loop.
Said AMT controller 2 is through DBC file and petrol engine whole vehicle model 11 mutual CAN information.Said AMT controller 2 is sent to the CAN bus with engine control mode, engine target moment of torsion, engine target rotating speed; Petrol engine whole vehicle model 11 reads above information through the DBC file, and simulation AMT controller is realized the engine submodel in the petrol engine whole vehicle model 11 113 is carried out moment of torsion and rotating speed control.Said petrol engine whole vehicle model 11 is sent to the CAN bus with the speed of a motor vehicle, driver's accelerator open degree, on-position, and AMT controller 2 obtains above information through the DBC file, through computing output corresponding control signal.
Said LABCAR EE is to the manipulation of model, through the shift bar in the LABCAR EE operation interface, accelerator pedal, brake pedal, tachometer gage, trip odometer respectively with petrol engine whole vehicle model 11 in bar position signal, accelerator open degree signal, braking enable signal, engine rotational speed signal, displacement signal carry out associated configuration and realize.
The operation of the hardware-in-loop simulation system of said AMT controller can carry out gear selection, gas pedal manipulation, brake pedal realization through LABCAR EE software; Simultaneously can select external true shift bar, accelerator pedal, brake pedal, realize handling through the configure hardware interface.
See also Figure 11, this is the specific embodiment of automatic gear-box submodel B of the present invention, has showed five grades of automatic mechanical transmissions.Wherein kinematic train Model B 2 receives engine torque, clutch diaphragm spring acting force, synchronizer acting force, braking moment and road grade, calculates each moment of torsion and rotating speed, and delivers to signals collecting Model B 1.Topworks's Model B 3 calculates corresponding position of each mechanism and clutch diaphragm spring snap-in force, and delivers to signals collecting Model B 1, kinematic train Model B 2 and gear transaction module B4 respectively.Gear transaction module B4 receives choosing shelves topworks position and gear-shifting actuating mechanism position, calculates the object gear in static gear of present located or the gearshift procedure, progressively increases or progressively remove the acting force of corresponding synchronizer simultaneously.
See also Figure 12, this is the structural representation of the kinematic train Model B 2 among Figure 11.Wherein engine mockup B21 receives the outside torque signal instruction of importing and is converted into engine torque, and is passed to clutch model B22, simultaneously torque value and tachometer value is passed to signals collecting Model B 1.Clutch model B22 receives engine torque and clutch diaphragm spring snap-in force, calculates input shaft torque, and is passed to five grades of mechanical gearbox Model B 23, simultaneously torque value and tachometer value is passed to signals collecting Model B 1.Five grades of mechanical gearbox Model B 23 receive input shaft torque and synchronizer acting force, calculate output shaft torque, and are passed to semiaxis, differential mechanism Model B 24, B25, B26, simultaneously torque value and tachometer value are passed to signals collecting Model B 1.Vehicle body kinetic model B27 reception driving moment, braking moment, road slope calculation go out the speed of a motor vehicle, simultaneously it are passed to signals collecting Model B 1.
See also Figure 13; This is the principle of work synoptic diagram of the hardware-in-loop simulation system of AMT controller; Amended petrol engine whole vehicle model 11 generates real-time simulation code through compiling with the relevant configuration file on LABCAR EE, connect through network to download in the real-time target machine 91.91 pairs of petrol engine whole vehicle models of target machine 11 carry out real-time operation in real time; And the signal that TCU such as its computing variable such as engine speed, wheel box input shaft rotating speed, output shaft rotating speed, each actuator current location is required is through the relevant configuration conversion, delivers to signal and takes place and measure integrated circuit board 12.Signal takes place and measures integrated circuit board 12 to convert the variable of accepting into corresponding actual physics signal; Give AMT controller 2 through breakout box; AMT controller 2 is accepted relevant input signal, according to control program wherein, sends the control signal to corresponding topworks drive motor.After the actuating motor control signal takes place through signal and measurement component is sampled; The value that obtains is through be sent to the fluid drive box model in the petrol engine whole vehicle model 11 in the real-time target machine 91 again after the conversion; The fluid drive box model is according to each the topworks's motor drive signal, engine input torque, braking moment and the road grade that receive; Recalculate coherent signals such as engine speed, wheel box input, output shaft rotating speed, form hardware thus in ring closed-loop simulation system.In this system, can use INCA that the Control Software built-in variable of AMT controller 2 is measured and parameter calibration simultaneously.
Based on the hardware-in-loop simulation system of above-mentioned AMT controller, can realize for the manual test of AMT controller 2 and test automatically.
See also Figure 14, this is the system schematic that the hardware-in-loop simulation system of AMT controller of the present invention tests AMT controller 2 automatically.Said automatic test job is following: petrol engine whole vehicle model 11 is arrived in the real-time target machine (RTPC) 91 through LABCAR EE software download; Target machine 91 is gone back the simulated conditions that the acceptance test personnel are provided with through the network connection on LABCAR EE interface in real time in addition; Like handle position, throttle, brake etc.; According to above initial conditions; In the target machine 91 petrol engine whole vehicle model 11 is being carried out real-time operation in real time, and, delivering to signal like signals such as each rotating speed, each actuator position and take place and analog input card 12 the model calculation result.Signal takes place to receive above signal with analog input card 12, and above-mentioned digital signal is changed into various actual physical signals and it is delivered to AMT controller 2.AMT controller 2 removes and receives above signal, also carries out communication through DBC file and petrol engine whole vehicle model 11, obtains relevant CAN information.AMT controller 2 is according to the signal process internal calculation that obtains; Export corresponding motor drive signal and engine control request instruction; And be back to petrol engine whole vehicle model 11 and carry out computing again; So just constituted the closed-loop simulation system, test data can show with patterned form through LABCAR EE of testing software and INCA simultaneously, is convenient to observe and analyze.On this basis, utilize LABCAR-AUTOMATION software development test case, implementation of test cases, obtain test result.
Automatically test helps to reduce the workload of repeated test, and improves the accuracy of test, and its concrete performing step is following:
In the 1st step, define automatic content measurement.To AMT controller 2; Use a kind of programming language (for example C# language) to write test case (test case); And the variable with same physical implication in the internal control software of the test variable in the test case and petrol engine whole vehicle model 11 and AMT controller 2 is carried out related so that when carrying out test variable, realize automatic operation to the internal control software of petrol engine whole vehicle model 11 and AMT controller 2.
The 2nd step, the definition test target.AMT controller 2 to be tested is connected with petrol engine whole vehicle model 11, specifically is that the interface with same physical implication is connected one by one.This step also manages test parameter.Test variable can be considered the filename of a file, and test parameter then is the content of this document.Test parameter is managed, be equivalent to give assignment, require these test variable in test, to be necessary for particular value, with the observation test effect to test variable.In test assignment, when a plurality of test case is arranged, also need set testing sequence.
The 3rd step was carried out test.Use the LABCAR-AUTOMATION software package that test case is carried out; This software package can start the hardware-in-loop simulation system of AMT controller automatically; Comprise that automatic download real-time model to real-time computer, moves real-time computer automatically, open Survey Software INCA automatically; And the test variable in the internal control software of petrol engine whole vehicle model 11 and AMT controller 2 is carried out automatic assignment operate, to reach the test parameter of setting in the test case.
The 4th step, the validation test result.Finish back output test report in test execution, provide test result.There is detailed testing procedure to describe to content measurement in the test report,, verifies whether this AMT controller 2 is in proper working order so that the user compares test result and test target.
Said method is in the 1st step, and said automatic content measurement comprises application level function inspection, reasonalbeness check.
Whether the control strategy that the inspection of said application level function is used to detect AMT controller 2 moves normally, and realization is to the logical check of functional layer.Comprise that specifically the handle state computation detects; Clutch actuating mechanism position, choosing shelves topworks position and gear-shifting actuating mechanism position probing during the static state gear; Engine speed in the record gearshift procedure, Clutch input shaft rotating speed, the speed of a motor vehicle, clutch actuating mechanism position, choosing shelves topworks position, gear-shifting actuating mechanism position signalling are used to carry out the action monitoring of three actuating motors of gearshift procedure and the coordination control analysis between variator and the engine.
Said reasonalbeness check is used to check whether functions such as underlying operating system and the interface between software and hardware of AMT controller 2 are moved normally.Specifically comprise detection to input interface, output interface, bottom software running status.
With above-mentioned content measurement, resolve into a plurality of test cases.To said test case (test case); In the code that uses C# language to write, should comprise following content: at first read and assign operation according to the variable of a definite sequence to the internal control software of petrol engine whole vehicle model 11 and AMT controller 2; As starting, kill engine, the switch air-conditioning, stirring gear level, open out etc.; Same variable can carry out repeatedly assign operation again according to the content measurement needs, and each assign operation is a test point.In test process, write down the change curve of named variable simultaneously and judge whether the variable of appointment changes, and sets and judges the standard whether each test point completes successfully, and behind EOT, outputs test result at last in the valid interval of setting.
The test result of said test case depends on the test result of each test point, has only each test point all to test and passes through, and just can export pass, and a test point can not be passed through else if, then exports failed.The test result of each test point comprises whether the change curve of named variable and named variable change in the valid interval of setting; Export the test result of each test point simultaneously according to the test success standard of setting; Test is passed through, output pass, and test crash is then exported failed.
The hardware-in-loop simulation system and the method for testing thereof of AMT controller of the present invention; The hardware-in-loop simulation that has comprised AMT controller 2; And can comprise the hardware-in-loop simulation of throttle, brake pedal, gear shifting handle hardware; The simulating vehicle duty provides moment of torsion input and the input of other sensor signals that approaches real vehicles for automatic gear-box submodel B more truly.Simultaneously through the DBC file; Can carry out the CAN communication between AMT controller 2 and the petrol engine whole vehicle model 11 in real time; Petrol engine whole vehicle model 11 is through receiving the correlation parameter that the CAN bus message changes engine submodel A; Realize the moment of torsion and the rotating speed control of gearshift procedure and starting-up process, identical with the course of work of AMT controller 2 on real vehicle, constituted the virtual vehicle gearbox control exploitation analogue system that approaches real vehicle.Through simulated conditions is set; The wheel box special operation condition that on real vehicle, is difficult for testing also can simulate and test easily; Like the simulation and the test of fault operating mode, limiting condition and complicated road environment, test is free from risk, and can greatly improve test safety and efficient.
The present invention is also on the basis of the hardware-in-loop simulation system of said AMT controller; Utilize LABCAR-AUTOMATION software to realize automatic test to AMT controller 2; Can carry out the function logic test and the bottom software test of variator Control Software safely and effectively, can carry out gearbox control and criticize antenatal hardware, software automatic test and durable test, can greatly improve software development efficiency; Reduce cost, shorten the gearbox control construction cycle.
More than be merely the preferred embodiments of the present invention, and be not used in qualification the present invention.For a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the hardware-in-loop simulation system of an AMT controller; It is characterized in that; Include the LABCAR system, said LABCAR system includes the petrol engine whole vehicle model, and said petrol engine whole vehicle model includes the vehicle submodel; Said vehicle submodel includes the automatic gear-box submodel, and said automatic gear-box submodel includes:
Be used to gather the current run location of each topworks and the signals collecting model of each moment of torsion, rotating speed and GES that the kinematic train model calculation draws;
Be used to calculate the kinematic train model of each moment of torsion, rotating speed and GES;
Be used to calculate topworks's model of judging each direction of motor rotation in the current location of each topworks under the effect of drive end voltage and in the snap-in force of clutch diaphragm spring under this position, through the positive and negative situation of the voltage difference between two pins of its drive end;
Be used for calculating the object gear of static gear of present located or gearshift procedure, and progressively increase or progressively remove the gear transaction module of corresponding synchronous device acting force according to the current location of choosing shelves topworks and gear-shifting actuating mechanism.
2. the hardware-in-loop simulation system of AMT controller according to claim 1; It is characterized in that said signals collecting model includes engine torque sensor model, input shaft torque sensor model, output shaft torque sensor model, engine speed sensor model, transfer input shaft speed sensors model, OSS model, vehicle speed sensor model, clutch actuating mechanism position transducer model, choosing shelves topworks position transducer model, gear-shifting actuating mechanism position transducer model again; Respective sensor module in the mechanical storehouse of these sensors employings AMESim software is built.
3. the hardware-in-loop simulation system of AMT controller according to claim 1; It is characterized in that said kinematic train model includes engine mockup, clutch model, mechanical automatic gearbox model, transmission shaft model, differential mechanism model and Full Vehicle Dynamics model again; Said kinematic train model adopts mechanical storehouse and the engine block in the power transmission storehouse, clutch module, gear mesh module, synchronizer module, transmission shaft module, tire module, torsional oscillation spring module, the vehicle body module of AMESim software to build.
4. the hardware-in-loop simulation system of AMT controller according to claim 1 is characterized in that, said topworks model includes clutch actuating mechanism model 1, choosing shelves topworks's model and gear-shifting actuating mechanism model again; Said topworks model adopts mechanical storehouse and the direct current generator module in the power transmission storehouse, worm and gear module, fork module, quality module, the variable rate spring module of AMESim software to build.
5. the hardware-in-loop simulation system of AMT controller according to claim 1; It is characterized in that; Said gear transaction module is according to choosing shelves topworks and gear-shifting actuating mechanism current location; Identify the object gear in static gear of present located or the gearshift procedure, and corresponding synchronizer is progressively increased or progressively removes acting force; Signal processing module in the library of said gear transaction module employing AMESim software is built.
6. the automatic test approach of the hardware-in-loop simulation system of AMT controller as claimed in claim 1 is characterized in that, comprises the steps:
In the 1st step, the definition content measurement is write test case, and the variable that has the same physical implication in the software with the test variable in the test case and petrol engine whole vehicle model and AMT controller carries out related;
In the 2nd step, the definition test target is connected between the AMT controller of needs tests and the petrol engine whole vehicle model, sets the testing sequence between a plurality of test cases;
The 3rd step, carry out test, use the implementation of test cases of automatic testing instrument bag;
In the 4th step, the validation test result finishes back output test report in test execution, provides test result.
7. the automatic test approach of the hardware-in-loop simulation system of AMT controller according to claim 6 is characterized in that, said method is in the 1st step, and said content measurement comprises application level function inspection, reasonalbeness check;
Whether the control strategy that the inspection of said application level function is used to detect the AMT controller moves normally, and realization is to the logical check of functional layer; Clutch actuating mechanism position, choosing shelves topworks position and gear-shifting actuating mechanism position probing when specifically comprising the detection of handle state computation, static gear; Engine speed in the record gearshift procedure, Clutch input shaft rotating speed, the speed of a motor vehicle, clutch actuating mechanism position, choosing shelves topworks position, gear-shifting actuating mechanism position signalling are used to carry out the action monitoring of three actuating motors of gearshift procedure and the coordination control analysis between variator and the engine;
Said reasonalbeness check is used to check whether functions such as underlying operating system and the interface between software and hardware of AMT controller are moved normally; Specifically comprise detection to input interface, output interface, bottom software running status.
8. the automatic test approach of the hardware-in-loop simulation system of AMT controller according to claim 6 is characterized in that, said method resolves into a plurality of test cases with said content measurement in the 1st step; Each test case comprises following content: the variable to the internal control software of petrol engine whole vehicle model and AMT controller reads and assign operation, and each assign operation is a test point; Whether the change curve of record variable and judgment variable change in the valid interval of setting in test process simultaneously, set and judge the standard whether each test point completes successfully, and behind EOT, output test result.
9. the automatic test approach of the hardware-in-loop simulation system of AMT controller according to claim 6; It is characterized in that; Said method is in the 2nd step, and the AMT controller of needs test is connected with the petrol engine whole vehicle model, is the interface that both have a same physical implication is connected one by one.
10. the automatic test approach of the hardware-in-loop simulation system of AMT controller according to claim 6 is characterized in that, said method is in the 3rd step, and said automatic testing instrument bag is the LABCAR-AUTOMATION software package.
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