CN102520711B - 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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- CN102520711B CN102520711B CN201110385632.0A CN201110385632A CN102520711B CN 102520711 B CN102520711 B CN 102520711B CN 201110385632 A CN201110385632 A CN 201110385632A CN 102520711 B CN102520711 B CN 102520711B
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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 for automotive development test, particularly relate to a kind of AMT(automated mechanical transmission, mechanical automatic gearbox) the hardware-in-loop simulation system of controller.
Background technology
The mechanical automatic gearbox (AMT) of automobile relates to the multidisciplinary fields such as machinery, hydraulic pressure, electronics and control, its work operating mode is very complicated, and high to security requirement, bring thus the complicacy of gearbox control (TCU, Transmission Control Unit) design.
AMT controller designs from system architecture, and the exploitation of individual feature, test, to integrated, the 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, conventionally taking conceptual design.
In the software development process of AMT controller, before particularly software is criticized product, be absolutely necessary for the test of application layer software, bottom software and hardware.Current this test is generally the laggard row actual road test of actual vehicle assembling AMT controller, wastes time and energy, and has strengthened cost of development, has lengthened the construction cycle.And some limit test operating mode is difficult to reappear by actual vehicle due to comparatively dangerous.
October 12 2011 Chinese utility model patent CN202008607U(Granted publication day) a kind of simulated test bed for automatic transmission controller disclosed, be a kind of exploitation of the virtual vehicle gearbox control close to real vehicle emulation platform, can be used for carrying out gearbox control and criticize antenatal hardware, software automatic test and durable test etc.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of hardware-in-loop simulation system of AMT controller, and this system can simulate real vehicles be tested AMT controller.For this reason, the present invention also will provide the method for testing of the hardware-in-loop simulation system of described AMT controller, and the method can carry out AMT controller to criticize 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 LABCAR system, described LABCAR system includes petrol engine whole vehicle model, described petrol engine whole vehicle model includes vehicle submodel, described vehicle submodel includes automatic gear-box submodel, and described automatic gear-box submodel includes:
For gathering the current run location of each topworks and the signals collecting model of each axle moment of torsion, rotating speed and vehicle speed signal that kinematic train model calculation draws;
For calculating the kinematic train model of each axle moment of torsion, rotating speed and vehicle speed signal;
For calculate the current location of drive end voltage effect Xia Ge topworks and under this position clutch diaphragm spring snap-in force, judge topworks's model of each direction of motor rotation by the positive and negative situation of voltage difference between two pins of its drive end;
For calculate the target gear of current residing static gear or gearshift procedure according to the current location of gear selecting topworks and gear-shifting actuating mechanism, and progressively increase or progressively remove the gear transaction module of corresponding synchronizer acting force.
The automatic test approach of the hardware-in-loop simulation system of described AMT controller comprises the steps:
The 1st step, definition content measurement, writes test case, and the variable in the software of the test variable in test case and petrol engine whole vehicle model and AMT controller with same physical implication is carried out associated;
The 2nd step, definition test target, by being connected between the AMT controller of needs test and petrol engine whole vehicle model, sets the testing sequence between multiple test cases;
The 3rd step, carries out test, uses the implementation of test cases of automatic testing instrument bag;
The 4th step, validation test result is exported test report after test execution finishes, and provides test result.
The hardware-in-loop simulation system of AMT controller of the present invention and automatic test approach thereof truly simulating vehicle, automatic mechanical transmission (AMT) especially wherein carry out interaction with AMT controller, thereby can carry out various tests to AMT controller, be particularly useful for AMT controller batch production soft and hardware test before.
Accompanying drawing explanation
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 in Fig. 1;
Fig. 3 is the structural representation of petrol engine whole vehicle model 11 in Fig. 2;
Fig. 4 is the structural representation of vehicle submodel 113 in Fig. 3;
Fig. 5 is the structural representation of automatic gear-box submodel B in Fig. 4;
Fig. 6 is the structural representation of signals collecting Model B 1 in Fig. 5;
Fig. 7 is the structural representation of kinematic train Model B 2 in Fig. 5;
The structural representation of Tu8Shi Tu5Zhong topworks Model B 3;
Fig. 9 is the signal input/output relation schematic diagram between petrol engine whole vehicle model 11 and automatic gear-box submodel B;
Figure 10 is the signal input/output relation schematic diagram between AMT controller 2 and LABCAR system 1 and petrol engine whole vehicle model 11 wherein, 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 in Figure 11;
Figure 13 is the principle of work schematic diagram of the hardware-in-loop simulation system of AMT controller of the present invention;
Figure 14 is that the hardware-in-loop simulation system of AMT controller of the present invention is carried out the schematic diagram of test automatically to AMT controller.
Description of reference numerals in figure:
1 is LABCAR system; 11 is petrol engine whole vehicle model; 111 is driver's submodel; 112 is environment submodel; 113 is vehicle submodel; A is engine submodel; B is automatic gear-box submodel; B1 is signals collecting model; B2 is kinematic train model; B3 is topworks's model; B4 is gear transaction module; B11 is engine torque sensor model; B12 is input shaft torque sensor model; B13 is output shaft torque sensor model; B14 is engine speed sensor model; B15 is input shaft rotating speed sensor model; B16 is input shaft rotating speed sensor model; B17 is vehicle speed sensor model; B18 is clutch actuating mechanism position transducer model; B19 is gear selecting topworks position transducer model; B1a is gear-shifting actuating mechanism position transducer model; B21 is engine mockup; B22 is clutch model; B23 is five grades of mechanical gearbox models; B24 is transmission shaft model; B25 is main reducing gear model; B26 is differential mechanism model; B27 is Full Vehicle Dynamics model; B31 is clutch actuating mechanism model; B32 is gear selecting topworks model; B33 is gear-shifting actuating mechanism model; C is dynamics of vehicle submodel; 12 is signal generation and analog input card; 2 is AMT controller; 3 is test macro.
Embodiment
Refer to 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.
Described 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.
Described AMT controller 2 is actual hardware product to be tested, also referred to as TCU.
Described test macro 3 comprises testing apparatus (hardware) and testing software.For carrying out manual test object, test macro 3 comprises the INCA software and hardware bag of ETAS company exploitation, and it can be demarcated automobile electronic system, diagnose and verify.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.
Refer to Fig. 2, described 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 occurs and analog input card 12.For the information interaction realizing between LABCAR software and hardware also needs hardware board to carry out type selecting and configuration.
Described petrol engine whole vehicle model 11 is cores of the software section of LABCAR system 1, be used for simulating vehicle kinetic model, it can be regarded as to 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 LABCAR EE software, can be used for observing real-time emulation system operation conditions, also can control it.
Described signal occurs to produce the required various sensor signals of AMT controller 2 with analog input card 12 for simulating, and gathers the drive and control of electric machine signal that AMT controller 2 sends.So just, formed LABCAR system 1 and be connected with the closed loop of AMT controller 2, simulation actual vehicle environment.Signal between AMT controller 2 and petrol engine whole vehicle model 11 is realized signal conversion by LABCAR system 1 hardware profile is set alternately.
Refer to Fig. 4, described vehicle submodel 113 comprises again engine submodel A, automatic gear-box submodel B and dynamics of vehicle submodel C.
AMT controller hardware of the present invention requires petrol engine whole vehicle model 11 can carry out real-time simulation at loop simulation system, according to the analysis of the software and hardware resources to LABCAR system 1, requirement simulation step length is 1ms, refer to Fig. 5, the present invention adopts AMESim software to build described automatic gear-box submodel B, and generate corresponding real-time code and replace the wheel box model in former petrol engine whole vehicle model 11, it includes the current run location for gathering each topworks motor, and each axle moment of torsion of drawing of kinematic train model calculation, the signals collecting Model B 1 of rotating speed and vehicle speed signal, be used for calculating each axle moment of torsion, the kinematic train Model B 2 of rotating speed and vehicle speed signal, for calculating 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, judge topworks's Model B 3 of each direction of motor rotation by the positive and negative situation of voltage difference between two pins of its drive end, be used for according to the current location of gear selecting topworks and gear-shifting actuating mechanism, calculate the target gear in current residing static gear or gearshift procedure, and progressively increase or progressively remove the gear transaction module B4 of corresponding synchronizer acting force.
Refer to Fig. 6, described signals collecting Model B 1 includes again engine torque sensor model B11, input shaft torque sensor model B12, output shaft torque sensor model B13, engine speed sensor Model B 14, input shaft rotating speed sensor model B15, OSS Model B 16, vehicle speed sensor Model B 17, clutch actuating mechanism position transducer Model B 18, gear selecting topworks position transducer Model B 19, gear-shifting actuating mechanism position transducer Model B 1a.Respective sensor module in the mechanical storehouse of these sensors employings AMESim software is built.
Refer to Fig. 7, described kinematic train Model B 2 includes again 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.Described kinematic train Model B 2 adopts engine block, clutch module, gear mesh module, synchronizer module, transmission shaft module, torsional oscillation spring module, tire module, the vehicle body module in mechanical storehouse and the power transmission storehouse of AMESim software to build.
Refer to Fig. 8, described topworks Model B 3 includes again clutch actuating mechanism Model B 31, gear selecting topworks Model B 32 and gear-shifting actuating mechanism Model B 33.Described topworks Model B 3 adopts direct current generator module, worm and gear module, fork module, quality module, the variable rate spring module in mechanical storehouse and the power transmission storehouse of AMESim software to build.The type of drive of described clutch actuating mechanism Model B 31, gear selecting topworks Model B 32 and gear-shifting actuating mechanism Model B 33 is motor and drives.
Described gear transaction module B4, according to the current location of gear selecting topworks and gear-shifting actuating mechanism, identifies the target gear in current residing static gear or gearshift procedure, and corresponding synchronizer is progressively increased or progressively removes acting force.Coherent signal processing module in the signal library of described gear transaction module B4 employing AMESim software builds.
Described automatic gear-box submodel B modeling process comprises the following steps:
1. the physical characteristics based on actual AMT vehicle is built and the realistic model being consistent in its logic and structure:
First the module providing according to AMESim software, select respectively engine module simulation engine, 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, gear selecting 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 the processing of asciifofx module simulation gear,
Secondly, each module has corresponding multiple submodel, according to annexation between model complexity and model, is each module chooser model.Take clutch module as example, there is multiple submodel available, comprise TRDC00A, TRDC00B, TRDC01A, TRDC01B, the submodels such as TRDC02A, the complexity of every Seed model and applicable situation are also different, TRDC00A calculates clutch slipping and relative quiescent phase friction torque with hyperbolic tangent function, and in the time that clutch slip exceedes the threshold value of setting, friction torque is maximal value, in the time that clutch slip is less than the threshold value of setting, clutch transmission torque changes according to the hyperbolic tangent function of actual slippage and threshold value ratio.TRDC00B considers the impact of hydraulic cylinder centrifugal force on friction torque on the basis of TRDC00A.TRDC01A adopts reset integrator model to calculate clutch coupling slip and stick transfer process friction torque.TRDC01B also considers the impact that hydraulic cylinder centrifugal force brings on TRDC01A basis.TRDC02A is the reset integrator model of considering viscous friction.TRDC00A model is the simplest, and this model has very large problem for AMESim software real-time simulation (fixed step size emulation), 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, is relatively applicable to variator Real-time modeling set and emulation.Make to carry out in the same way analytical test, can determine the submodel of modules.Wherein engine block is used TREN00B, and clutch module uses TRDCOO1A, and gear mesh module is used TRGT0A, and synchronizer module is used TRSY1A, and other modules adopt the first submodel of acquiescence; According to actual AMT vehicle parameter, carry out the setting parameter of each module, take clutch model as example, the position relationship between its diaphragm spring snap-in force size and clutch actuating mechanism is set according to actual membrane spring characteristic curve.Start emulation and obtain emulated data, utilize emulated data and real vehicle data or platform experiment data to compare, built realistic model is verified.
2. it is 1ms that real-time simulation step-length is set, and emulation mode is fixed step size.When above realistic model operation, have a lot of high fdrequency component effects, require model to adopt very little simulation step length guarantee model can stablize true(-)running, simulation step length need to reach us level, in the time 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, inconsistent with actual vehicle operational process, make wheel box can not form correct gear, can not get correct simulation result.Can utilize the real-time simplification instrument (statistic, activity index, Eigenvalues analysis and model analysis) that AMESim software provides to carry out real-time simplification and optimization, clutch's jointing process and synchronizer synchronizing process are that modal characteristics value is analyzed the moment, determine the element that needs optimization, reselect submodel and parameter optimization setting, to reduce the complexity of model, reduce the requirement to simulation step length, guarantee that the system after simplifying still has enough simulation accuracies simultaneously.In debugging according to following relationship:
wherein Fcpu is solver frequency, Fm is model frequency, Rm is the real part of Fm characteristic of correspondence value, in the time that solver frequency is less than the corresponding frequency of 1ms simulation step length, just can reduce the complexity of realistic model, reduce the requirement to simulation step length, guarantee that the system after simplifying still has enough simulation accuracies simultaneously, make the model can stable operation under fixed step size state.
3. the interface of AMESim software and other softwares is set, input/output variable title in defining interface, input end variable has clutch actuating mechanism position, gear selecting 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, output terminal variable You Ge topworks motor drive terminal voltage (Clutch_V1, Clutch_V2, Select_V1, Select_V2, Shift_V1, Shift_V2), braking moment, road grade.Identical with interface input end variable in signals collecting model variable is connected, interface output terminal variable is connected with the identical variable port in kinematic train model with topworks model respectively simultaneously, realizes the information interaction between fluid drive box model and petrol engine whole vehicle model.Select target real-time simulation platform LABCAR, generates real-time code.
Information interaction between described petrol engine whole vehicle model 11 and automatic gear-box submodel B, adopt AMESim software that provide with software interface MATLAB, communication interface is set and obtains.
Refer to Fig. 9, described petrol engine whole vehicle model 11 is to automatic gear-box submodel B input clutch motor terminal voltage signal Clutch_V1 and Clutch_V2, step electric machine 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.Described automatic gear-box submodel B is to petrol engine whole vehicle model 11 input clutch topworks position signallings, gear selecting topworks position signalling, gear-shifting actuating mechanism position signalling, engine rotational speed signal, input shaft rotating speed signal, output shaft tach signal, vehicle speed signal.By these information interactions, make to form closed loop between car engine whole vehicle model 11 and automatic gear-box submodel B.
Refer to Figure 10, described AMT controller 2 obtains various input signals by 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 in automatic gear-box submodel B, and return to relevant sensor signal to AMT controller 2, form hardware closed-loop.
Described AMT controller 2 is by DBC file and the mutual CAN information of petrol engine whole vehicle model 11.Engine control mode, engine target moment of torsion, engine target rotating speed are sent to CAN bus by described AMT controller 2, petrol engine whole vehicle model 11 reads above information by DBC file, and simulation AMT controller is realized the engine submodel 113 in petrol engine whole vehicle model 11 is carried out to moment of torsion and rotating speed control.The speed of a motor vehicle, driver's accelerator open degree, on-position are sent to CAN bus by described petrol engine whole vehicle model 11, and AMT controller 2 is by the above information of DBC file acquisition, through computing output corresponding control signal.
The manipulation of described LABCAR EE to model, by the shift bar in 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 realization.
The operation of the hardware-in-loop simulation system of described AMT controller can carry out gear selection, gas pedal manipulation, brake pedal realization by LABCAR EE software, can select external true shift bar, accelerator pedal, brake pedal, handle by configure hardware Interface realization simultaneously.
Refer to Figure 11, this is a specific embodiment of automatic gear-box submodel B of the present invention, has shown 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 axle moment of torsion and rotating speed, and delivers to signals collecting Model B 1.Topworks's Model B 3 calculates the corresponding position of each mechanism and clutch diaphragm spring snap-in force, and delivers to respectively signals collecting Model B 1, kinematic train Model B 2 and gear transaction module B4.Gear transaction module B4 receives gear selecting topworks position and gear-shifting actuating mechanism position, calculates the target gear in current residing static gear or gearshift procedure, progressively increases or progressively remove simultaneously the acting force of corresponding synchronizer.
Refer to Figure 12, this is the structural representation of the kinematic train Model B 2 in Figure 11.Wherein engine mockup B21 receives the outside torque signal instruction of inputting and is converted into engine torque, and is passed to clutch model B22, torque value and tachometer value is passed to signals collecting Model B 1 simultaneously.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, torque value and tachometer value is passed to signals collecting Model B 1 simultaneously.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, torque value and tachometer value are passed to signals collecting Model B 1 simultaneously.Vehicle body kinetic model B27 reception driving moment, braking moment, road slope calculation go out the speed of a motor vehicle, are passed to signals collecting Model B 1 simultaneously.
Refer to Figure 13, this is the principle of work schematic diagram of the hardware-in-loop simulation system of AMT controller, amended petrol engine whole vehicle model 11 and relevant configuration file generate real-time simulation code through compiling on LABCAR EE, are connected and are downloaded in real-time target machine 91 by network.Real-time target machine 91 carries out real-time operation to petrol engine whole vehicle model 11, and signal as required in TCU such as engine speed, wheel box input shaft rotating speed, output shaft rotating speed, each actuator current locations its computing variable is changed through relevant configuration, deliver to signal generation and measure board 12.Signal occurs and measures board 12 variable of acceptance is converted to corresponding actual physics signal, give AMT controller 2 through breakout box, AMT controller 2 is accepted correlated inputs signal, according to control program wherein, sends the control signal to corresponding topworks drive motor.After actuating motor control signal occurs through signal and measurement component is sampled, the value obtaining is through being again sent to the fluid drive box model in the petrol engine whole vehicle model 11 in real-time target machine 91 after conversion, fluid drive box model is according to the each topworks motor drive signal, engine input torque, braking moment and the road grade that receive, recalculate the coherent signals such as engine speed, wheel box input, output shaft rotating speed, form thus hardware in ring closed-loop simulation system.In this system, can use INCA to measure and parameter calibration the control software inhouse variable of AMT controller 2 simultaneously.
Hardware-in-loop simulation system based on above-mentioned AMT controller, can realize for the manual test of AMT controller 2 and test automatically.
Refer to Figure 14, this is that the hardware-in-loop simulation system of AMT controller of the present invention is carried out the automatically system schematic of test to AMT controller 2.Described automatic test job is as follows: petrol engine whole vehicle model 11 is downloaded in real-time target machine (RTPC) 91 by LABCAR EE software, real-time target machine 91 is connected and is also received the simulated conditions that tester arranges on LABCAR EE interface by network in addition, as handle position, throttle, brake etc., according to above initial conditions, in real-time target machine 91, petrol engine whole vehicle model 11 is carried out to real-time operation, and by model calculation result, deliver to signal as signals such as each axle rotating speed, each actuator position and occur and analog input card 12.Signal occurs to receive above signal with analog input card 12, and above-mentioned digital signal is changed into the physical signalling of various reality and delivered to AMT controller 2.AMT controller 2, except receiving above signal, also carries out communication by DBC file and petrol engine whole vehicle model 11, obtains relevant CAN information.AMT controller 2 is according to the signal process internal calculation obtaining, export corresponding motor drive signal and engine control request instruction, and be back to petrol engine whole vehicle model 11 and re-start computing, so just form closed-loop simulation system, test data can show with patterned form by the LABCAR EE of testing software and INCA simultaneously, is convenient to observation and analysis.On this basis, utilize LABCAR-AUTOMATION software development test case, implementation of test cases, obtain test result.
Automatically test contributes to reduce the workload of repeated test, and improves the accuracy of test, and its specific implementation step is as follows:
The 1st step, defines automatic content measurement.For 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 test case and petrol engine whole vehicle model 11 and AMT controller 2 is carried out associated, to realize the automatic operation of the internal control software to petrol engine whole vehicle model 11 and AMT controller 2 in the time carrying out test variable.
The 2nd step, definition test target.AMT controller 2 to be tested is connected with petrol engine whole vehicle model 11, specifically 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 is the content of this file.Test parameter is managed, be equivalent to test variable to give assignment, require these test variable in test, to be necessary for particular value, with observation test effect.In a test assignment, while having multiple test case, also need to set testing sequence.
The 3rd step is carried out test.Use LABCAR-AUTOMATION software package to carry out test case, this software package can start the hardware-in-loop simulation system of AMT controller automatically, comprise that automatic download real-time model is to real-time computer, automatically operation real-time computer, automatically open Survey Software INCA, and the test variable in the internal control software of petrol engine whole vehicle model 11 and AMT controller 2 is carried out to automatic assignment operation, to reach the test parameter of setting in test case.
The 4th step, validation test result.After test execution finishes, export test report, provide test result.In test report, there is detailed testing procedure to describe for content measurement, so that user contrasts test result and test target, verify that whether this AMT controller 2 is working properly.
In described method the 1st step, described automatic content measurement comprises application level function inspection, reasonalbeness check.
Described application level function inspection, for detection of whether normal operation of the control strategy of AMT controller 2, realizes the logical check to functional layer.Specifically comprise that handle state computation detects; Clutch actuating mechanism position, gear selecting topworks position and gear-shifting actuating mechanism position probing when static gear; Record engine speed, Clutch input shaft rotating speed, the speed of a motor vehicle, clutch actuating mechanism position, gear selecting topworks position, gear-shifting actuating mechanism position signalling in gearshift procedure, for carrying out the Analysis of Coordinating Control between action monitoring and variator and the engine of three actuating motors of gearshift procedure.
Described reasonalbeness check is for checking the whether normal operation of the function such as underlying operating system and interface between software and hardware of AMT controller 2.Specifically comprise the detection to input interface, output interface, bottom software running status.
By above-mentioned content measurement, resolve into multiple test cases.For described test case (test case), in the code that uses C# language to write, should comprise following content: first the variable of the internal control software to petrol engine whole vehicle model 11 and AMT controller 2 reads and assign operation according to a definite sequence, as started, kill engine, switch air-conditioning, stir gear level, open out etc., same variable needs to carry out repeatedly assign operation again according to content measurement, and each assign operation is a test point.In test process, record the change curve of named variable and judge whether the variable of specifying changes in the valid interval of setting, and sets and judges the standard whether each test point is successfully completed, and finally after test finishes, outputs test result simultaneously.
The test result of described test case depends on the test result of each test point, only has each test point all to test and pass through, and just can export pass, and a test point can not be passed through else if, 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, while is according to the test result of each test point of test success standard output of setting, test is passed through, output pass, and test crash is exported failed.
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, simulating vehicle duty more truly, for automatic gear-box submodel B provides moment of torsion input and the input of other sensor signals close to real vehicles.Simultaneously by DBC file, can carry out in real time the CAN communication between AMT controller 2 and petrol engine whole vehicle model 11, petrol engine whole vehicle model 11 changes the correlation parameter of engine submodel A by receiving CAN bus message, realize moment of torsion and the rotating speed control of gearshift procedure and starting-up process, the course of work with AMT controller 2 on real vehicle is identical, has formed the virtual vehicle gearbox control exploitation analogue system close to real vehicle.By simulated conditions is set, the wheel box special operation condition that is difficult for testing on real vehicle also can simulate easily and test, as the simulation of fault condition, limiting condition and complicated road environment and test, test is free from risk, and can greatly improve test safety and efficiency.
The present invention is also on the basis of the hardware-in-loop simulation system of described AMT controller, utilize LABCAR-AUTOMATION software to realize the automatic test to AMT controller 2, can carry out safely and effectively function logic test and the bottom software test of transmission control software, gearbox control be can carry out and antenatal hardware, software automatic test and durable test criticized, can greatly improve software development efficiency, reduce costs, shorten the gearbox control construction cycle.
These are only the preferred embodiments of the present invention, be not intended to limit the present invention.For a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. the hardware-in-loop simulation system of an AMT controller, include LABCAR system, described LABCAR system includes petrol engine whole vehicle model, it is characterized in that, described petrol engine whole vehicle model includes vehicle submodel, described vehicle submodel includes automatic gear-box submodel, and described automatic gear-box submodel includes:
For gathering the current run location of each topworks and the signals collecting model of each axle moment of torsion, rotating speed and vehicle speed signal that kinematic train model calculation draws;
For calculating the kinematic train model of each axle moment of torsion, rotating speed and vehicle speed signal;
For calculate the current location of drive end voltage effect Xia Ge topworks and under this position clutch diaphragm spring snap-in force, judge topworks's model of each direction of motor rotation by the positive and negative situation of voltage difference between two pins of its drive end;
For calculate the target gear of current residing static gear or gearshift procedure according to the current location of gear selecting topworks and gear-shifting actuating mechanism, and progressively increase or progressively remove the gear transaction module of corresponding synchronizer acting force.
2. the hardware-in-loop simulation system of AMT controller according to claim 1, it is characterized in that, described signals collecting model includes again engine torque sensor model, input shaft torque sensor model, output shaft torque sensor model, engine speed sensor model, input shaft rotating speed sensor model, OSS model, vehicle speed sensor model, clutch actuating mechanism position transducer model, gear selecting topworks position transducer model, gear-shifting actuating mechanism position transducer model; 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, described kinematic train model includes again engine mockup, clutch model, mechanical automatic gearbox model, transmission shaft model, differential mechanism model and Full Vehicle Dynamics model; Engine block, clutch module, gear mesh module, synchronizer module, transmission shaft module, tire module, torsional oscillation spring module, vehicle body module in mechanical storehouse and the power transmission storehouse of described kinematic train model employing AMESim software build.
4. the hardware-in-loop simulation system of AMT controller according to claim 1, is characterized in that, described topworks model includes again clutch actuating mechanism model, gear selecting topworks model and gear-shifting actuating mechanism model; Direct current generator module, worm and gear module, fork module, quality module, variable rate spring module in mechanical storehouse and the power transmission storehouse of the model employing AMESim of described topworks software build.
5. the hardware-in-loop simulation system of AMT controller according to claim 1, it is characterized in that, described gear transaction module is according to gear selecting topworks and gear-shifting actuating mechanism current location, identify the target gear in current residing static gear or gearshift procedure, and corresponding synchronizer is progressively increased or progressively removes acting force; Signal processing module in the signal library of described gear transaction module employing AMESim software builds.
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:
The 1st step, definition content measurement, writes test case, and the variable in the software of the test variable in test case and petrol engine whole vehicle model and AMT controller with same physical implication is carried out associated;
The 2nd step, definition test target, by being connected between the AMT controller of needs test and petrol engine whole vehicle model, sets the testing sequence between multiple test cases;
The 3rd step, carries out test, uses the implementation of test cases of automatic testing instrument bag;
The 4th step, validation test result is exported test report after test execution finishes, and 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, in described method the 1st step, described content measurement comprises application level function inspection, reasonalbeness check;
Described application level function inspection, for detection of whether normal operation of the control strategy of AMT controller, realizes the logical check to functional layer; Clutch actuating mechanism position, gear selecting topworks position and gear-shifting actuating mechanism position probing while specifically comprising the detection of handle state computation, static gear; Record engine speed, Clutch input shaft rotating speed, the speed of a motor vehicle, clutch actuating mechanism position, gear selecting topworks position, gear-shifting actuating mechanism position signalling in gearshift procedure, for carrying out the Analysis of Coordinating Control between action monitoring and variator and the engine of three actuating motors of gearshift procedure;
Described reasonalbeness check is for checking the whether normal operation of the function such as underlying operating system and interface between software and hardware of AMT controller; Specifically comprise the 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, in described method the 1st step, described content measurement is resolved into multiple test cases; Each test case comprises following content: the variable of the internal control software to petrol engine whole vehicle model and AMT controller reads and assign operation, and each assign operation is a test point; In test process, whether the change curve of record variable judgment variable change in the valid interval of setting simultaneously, set and judge the standard whether each test point is successfully completed, and after test finishes, 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, in described method the 2nd step, the AMT controller of needs tests being connected with petrol engine whole vehicle model, is that the interface that both are had to a same physical implication connects 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, in described method the 3rd step, described automatic testing instrument bag is LABCAR-AUTOMATION software package.
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