CN102880171A - Hardware-in-loop experimental system for an entire electric vehicle controller - Google Patents
Hardware-in-loop experimental system for an entire electric vehicle controller Download PDFInfo
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- CN102880171A CN102880171A CN2012103889738A CN201210388973A CN102880171A CN 102880171 A CN102880171 A CN 102880171A CN 2012103889738 A CN2012103889738 A CN 2012103889738A CN 201210388973 A CN201210388973 A CN 201210388973A CN 102880171 A CN102880171 A CN 102880171A
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Abstract
The invention discloses a hardware-in-loop experimental system for an entire electric vehicle controller. The system comprises an entire controller to be tested, an analogue controller and a monitoring test bench. The entire controller to be tested, the analogue controller and the monitoring test bench can perform control information interaction and energy flow information interaction through an information flow controller area network (CAN) bus and an energy flow CAN bus. The accuracy of the entire controller can be accurately and quickly inspected, portability and expandability can be realized, and the prototype development of the entire controller can be realized; and the cost of a simulation system is lowered, problems about the real-time performance and accuracy when a single-bus CAN communication network is applied to the simulation system are solved, and the performance of the simulation system is improved. The system is simple in structure and easy to operate and implement, and different entire controllers can be tested in real time according to analogue modesl defined by a user.
Description
Technical field
The present invention relates to the electric vehicle engineering field, particularly a kind of hardware of vehicle control unit of electric vehicle is in the ring experimental system.
Background technology
Electric automobile be a kind of electric energy drive motor that uses as the automobile of power system because it has high-environmental, its application in life is more and more extensive.
Entire car controller is the core control part of whole whole electric vehicle control system, it can calculate the parameters such as the needed driving power of operation, torque according to state variables such as the SOC of the drivers' such as the position of accelerator pedal, gear, brake pedal force, air-conditioning switch instruction and battery, temperature, thereby coordinate the operation of each parts, support vehicles normally travel, can realize that energy reclaims, and raises the efficiency by regenerative braking in addition.Thus, the design of entire car controller quality directly affects dynamic property, economy, security and other performances of automobile.
Emulation technology is widely used in the middle of the design and exploitation thereof of electric automobile now, particularly automobile dynamic system.Emulation technology is introduced the exploitation of automobile dynamic system, has accelerated the Automobile Design tempo of development.Be divided into physical simulation, mathematical simulation and hardware-in-loop simulation according to the difference that participates in realistic model.Because mathematical simulation must at first obtain the mathematical description of research object, inevitably carrying out simultaneously some hypothesis when setting up mathematical model and realistic model simplifies, owing to lack the truth function of physics level, what mathematical simulation realized may be the partial simulation of system only, and is difficult to accomplish to the whole true reappearances of the function of research object; Physical simulation must be produced the in kind and corresponding test environment of model, and process is slow, costs dearly; Hardware-in-loop simulation combines the advantage of physical simulation and mathematical simulation, take full advantage of the simplification of microcomputer modelling, reduced expense, be convenient to model part to system and carry out flexibly and fast emulation, change, assurance has realized the just in detail variation of observe system performance when changing parameter, simultaneously to the complicated link of some the non-investigation emphasis in the system, can directly its hardware be connected into whole analogue system, cooperate the real-time simulation running of other model, and energy that needn't overspending goes the full details of system is carried out mathematical modeling, therefore can not only reflect exactly the characteristic of real system, and keep the low cost of mathematical simulation, the advantages such as good reproducibility.Hardware-in-loop simulation has been realized the exchange of physical hardware and software model, thereby can carry out the experiment of parts and car load in the non-existent situation of prototype vehicle.
Because the dSPACE system has the following advantages: strong modularity, transitional good, to the product real-time controller supportive strong, based on PC Windows operating system, real-time is good, reliability is high, so domestic a lot of research unit all adopts the hardware-in-loop simulation technology based on dSPACE when the exploitation entire car controller.But, because dSPACE is expensive, so abandon using the dSPACE system in order to save the domestic a lot of research institutions of cost, explores and finish hardware-in-loop simulation with additive method.
Because existing CAN telecommunication network transmission speed is slow, if the node on the unibus is a lot, the bus load rate is higher, and it is more serious to cause losing several phenomenons.So consider the problem of load factor, finish communicating by letter of information flow and energy flow with unibus CAN telecommunication network and can't guarantee analogue system real-time and accuracy.
Therefore, how building entire car controller hardware effective, quick, with low cost at ring square formation platform, is the technical matters that those skilled in that art need to be resolved hurrily.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of hardware-in-loop simulation experimental system that can check accurately and rapidly the correctness of entire car controller.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of hardware-in-loop simulation experimental system of vehicle control unit of electric vehicle comprises entire car controller to be measured, analog controller and monitoring test platform; It is characterized in that: the control information between described entire car controller to be measured, analog controller and the monitoring test platform and energy flow information are undertaken by information flow CAN bus and energy flow CAN bus respectively alternately.
Wherein, described analog controller comprises drive motor analog controller, variator analog controller, annex analog controller, distance increasing unit analog controller, power accumulator analog controller and car load analog controller.
Wherein, described each analog controller forms by the microcontroller that mutually is electrically connected, two CAN transceivers and accessory circuit thereof, built-in CAN controller in the microcontroller, one of them CAN transceiver is connected to energy flow CAN bus, and another CAN transceiver is connected to information flow CAN bus; And embedded respectively the mathematical model of institute's simulated automotive parts in each microcontroller.
Wherein, described entire car controller to be measured is connected respectively to energy flow CAN bus and information flow CAN bus by two CAN transceivers.
Wherein, described monitoring test platform is connected respectively to energy flow CAN bus and information flow CAN bus by two CAN address cards.
Wherein, described microcontroller is single-chip microcomputer or dsp chip.
The beneficial effect that adopts technique scheme to produce is:
The present invention includes two CAN buses: one is information flow CAN bus, and this CAN bus is consistent with CAN bus on the real vehicle, mainly finishes the mutual of control information between each controller; Another is energy flow CAN bus, realizes the mutual of energy flow between all parts, and energy flow CAN bus can be simulated in the real vehicle each parts and connect by cable and finish the mutual of energy flow.
The present invention can check the correctness of entire car controller accurately and rapidly, reaches portability and extensibility, realizes the prototyping of entire car controller; Reduce the analogue system cost, solved real-time and the accuracy problem of unibus CAN communication network application in analogue system, improved the performance of analogue system.The present invention is relatively simple for structure, and easy to operate and realization can be carried out real-time testing to different entire car controllers according to user-defined analogy model.Experiment showed, that the present invention can simplify the performance history of entire car controller, reduce the workload of hardware design and Software for Design, use to have very high dirigibility.
Description of drawings
Fig. 1 is structure composition frame chart of the present invention;
Fig. 2 is hardware connection layout of the present invention.
Embodiment
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Be illustrated in figure 1 as structure composition frame chart of the present invention.The present invention is a kind of hardware-in-loop simulation experimental system of vehicle control unit of electric vehicle, comprises entire car controller to be measured, analog controller and monitoring test platform; Control information between entire car controller to be measured, analog controller and the monitoring test platform and energy flow information are undertaken by information flow CAN bus and energy flow CAN bus respectively alternately.Wherein, entire car controller to be measured is the used entire car controller of real vehicle as measurand; The monitoring test platform is mainly used in monitoring the running status of each controller, save data information and drive simulating person's operation; Analog controller is mainly used in the operation of simulated automotive all parts, comprises drive motor analog controller, variator analog controller, annex analog controller, distance increasing unit analog controller, power accumulator analog controller and car load analog controller; All embedded the mathematical model of institute's simulated automotive parts in the microcontroller of each analog controller, the operation operation result is realized sharing by CAN bus and other controllers.
Above-mentioned each analog controller forms by the microcontroller that mutually is electrically connected, two CAN transceivers and accessory circuit thereof, built-in CAN controller in the microcontroller, one of them CAN transceiver is connected to energy flow CAN bus, another CAN transceiver is connected to information flow CAN bus, and has embedded respectively the mathematical model of institute's simulated automotive parts in each microcontroller; Entire car controller to be measured is connected respectively to energy flow CAN bus and information flow CAN bus by two CAN transceivers; The monitoring test platform is connected respectively to energy flow CAN bus and information flow CAN bus by two CAN address cards, and is connected for pci bus between monitoring test platform and the CAN address card.The control chip of analog controller is that microcontroller can be selected according to the complexity of model, and simple model can adopt single-chip microcomputer to finish, and complicated model can adopt DSP to finish.Can utilize MATLAB with automobile all parts model discretize, then embed in the program of microcontroller.
The present invention includes two CAN buses: one is information flow CAN bus, and this CAN bus is consistent with CAN bus on the real vehicle, mainly finishes the mutual of control information between each controller; In the real vehicle, the automobile all parts connects by cable, finish the mutual of energy flow, but in the present invention, the automobile all parts replaces with its control model, so in order to finish the mutual of energy flow between all parts, increase an energy flow CAN bus, realize energy flow between all parts alternately.
Among the present invention, the monitoring test platform can be finished at LABVIEW.Utilize LABVIEW exploitation watchdog routine at host computer, the running status of monitoring all parts, and operation that can drive simulating person.Consistent with real vehicle, by power on simultaneously to finish between each controller synchronously.The mathematical model of simulation car load platform is that vehicle dynamic model forms by distance increasing unit model, drive motor model, transmission model, power accumulator model, accessory model, whole vehicle model.The correctness of elder generation's each model of simulating, verifying on MATLAB/Simulink, then discretize is embedded into each analog controller, and consists of a hardware-in-the-loop test system by CAN bus network and reality entire car controller to be measured.
Implementation method of the present invention:
The first step: finish the modeling of all parts, and the model discretize is embedded in the analog controller;
Second step: connect according to the hardware of finishing shown in Figure 2, the power supply of each analog controller and entire car controller to be measured is provided by the 24V battery supply, switch closure is finished the synchronous of each controller, adopts the monitor supervision platform of Labview software development that analogue system is monitored on the host computer;
The 3rd step: start entire car controller to be measured, the operation control program;
The 4th step: by the LABVIEW simulation, send to the various control commands of entire car controller, such as startup, acceleration, braking etc.;
The 5th step: by the various signal datas that produce in the monitoring test platform record emulation testing process.
By adjusting the LABVIEW simulating signal, can realize various unlike signal standards, make things convenient for the engineering staff in real time entire car controller repeatedly to be tested according to actual conditions.
After being applied to the present invention in the actual entire car controller performance history, following significant advantage is arranged: the development difficulty that 1) has reduced entire car controller, shortened the construction cycle of entire car controller software and hardware, improved the performance of entire car controller, solution must not frequently be carried out the problem of real train test to a certain extent; 2) reduced the difficulty of real train test, the cost of real train test has been saved in the efficient and the security that have improved real train test, has reduced the risk of real train test; 3) platform has versatility, can carry out as required different emulation testings, is not limited to the exploitation of entire car controller, has the wide application prospect of sending out.
Claims (6)
1. the hardware of a vehicle control unit of electric vehicle comprises entire car controller to be measured, analog controller and monitoring test platform in the ring experimental system; It is characterized in that: the control information between described entire car controller to be measured, analog controller and the monitoring test platform and energy flow information are undertaken by information flow CAN bus and energy flow CAN bus respectively alternately.
2. the hardware of a kind of vehicle control unit of electric vehicle according to claim 1 is in the ring experimental system, and it is characterized in that: described analog controller comprises drive motor analog controller, variator analog controller, annex analog controller, distance increasing unit analog controller, power accumulator analog controller and car load analog controller.
3. the hardware of a kind of vehicle control unit of electric vehicle according to claim 2 is in the ring experimental system, it is characterized in that: described each analog controller forms by the microcontroller that mutually is electrically connected, two CAN transceivers and accessory circuit thereof, built-in CAN controller in the microcontroller, one of them CAN transceiver is connected to energy flow CAN bus, and another CAN transceiver is connected to information flow CAN bus; And embedded respectively the mathematical model of institute's simulated automotive parts in each microcontroller.
4. the hardware of a kind of vehicle control unit of electric vehicle according to claim 1 is in the ring experimental system, and it is characterized in that: described entire car controller to be measured is connected respectively to energy flow CAN bus and information flow CAN bus by two CAN transceivers.
5. the hardware of a kind of vehicle control unit of electric vehicle according to claim 1 is in the ring experimental system, and it is characterized in that: described monitoring test platform is connected respectively to energy flow CAN bus and information flow CAN bus by two CAN address cards.
6. the hardware of a kind of vehicle control unit of electric vehicle according to claim 3 is in the ring experimental system, and it is characterized in that: described microcontroller is single-chip microcomputer or dsp chip.
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| CN103414620A (en) * | 2013-08-15 | 2013-11-27 | 上海固泰科技有限公司 | Double-channel CAN simulation system based on CAN buses |
| CN103558849A (en) * | 2013-11-18 | 2014-02-05 | 上汽通用五菱汽车股份有限公司 | Method for achieving control strategy adjustment and network testing of blade electric vehicle |
| CN104007753A (en) * | 2013-02-21 | 2014-08-27 | 帝斯贝思数字信号处理和控制工程有限公司 | Method for performing an inventory of the hardware components connected to a control unit test system |
| CN104699070A (en) * | 2015-01-12 | 2015-06-10 | 湖南大学 | Full electric vehicle electrical matching semi-physical simulation system |
| CN104914856A (en) * | 2015-06-19 | 2015-09-16 | 安徽安凯汽车股份有限公司 | Pure electric bus vehicle control unit (VCU) semi-physical simulation system and control method thereof |
| CN105223948A (en) * | 2015-10-26 | 2016-01-06 | 重庆长安汽车股份有限公司 | Vehicle engine assembly system emulation method of testing and system |
| CN106200625A (en) * | 2016-08-26 | 2016-12-07 | 中通客车控股股份有限公司 | Hybrid power whole passenger vehicle controller hardware assemblage on-orbit test platform |
| CN106886214A (en) * | 2017-03-28 | 2017-06-23 | 天津大学 | CAN controller chip functions test system and method for testing |
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| US10025883B2 (en) | 2013-02-22 | 2018-07-17 | Dspace Digital Signal Processing And Control Engineering Gmbh | Method for generating a configuration for a control unit test system |
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| US9633144B2 (en) | 2013-02-21 | 2017-04-25 | Dspace Digital Signal Processing And Control Engineering Gmbh | Method for performing an inventory of the hardware components connected to a control unit test system |
| US10025883B2 (en) | 2013-02-22 | 2018-07-17 | Dspace Digital Signal Processing And Control Engineering Gmbh | Method for generating a configuration for a control unit test system |
| CN103414620A (en) * | 2013-08-15 | 2013-11-27 | 上海固泰科技有限公司 | Double-channel CAN simulation system based on CAN buses |
| CN103558849A (en) * | 2013-11-18 | 2014-02-05 | 上汽通用五菱汽车股份有限公司 | Method for achieving control strategy adjustment and network testing of blade electric vehicle |
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| CN104914856A (en) * | 2015-06-19 | 2015-09-16 | 安徽安凯汽车股份有限公司 | Pure electric bus vehicle control unit (VCU) semi-physical simulation system and control method thereof |
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| CN107478433B (en) * | 2016-07-19 | 2020-01-17 | 宝沃汽车（中国）有限公司 | Combined HIL (hardware in the loop) test system and control method thereof |
| CN106200625A (en) * | 2016-08-26 | 2016-12-07 | 中通客车控股股份有限公司 | Hybrid power whole passenger vehicle controller hardware assemblage on-orbit test platform |
| CN106200625B (en) * | 2016-08-26 | 2019-11-19 | 中通客车控股股份有限公司 | Hybrid power whole passenger vehicle controller hardware assemblage on-orbit test platform |
| CN106886214A (en) * | 2017-03-28 | 2017-06-23 | 天津大学 | CAN controller chip functions test system and method for testing |
| CN110663229A (en) * | 2017-06-02 | 2020-01-07 | 罗伯特·博世有限公司 | Method for communication between a microcontroller and a transceiver assembly, microcontroller and transceiver assembly |
| CN110663229B (en) * | 2017-06-02 | 2021-10-29 | 罗伯特·博世有限公司 | Method for communication between a microcontroller and a transceiver assembly, microcontroller and transceiver assembly |
| CN110609491A (en) * | 2019-09-20 | 2019-12-24 | 公安部交通管理科学研究所 | Semi-physical simulation accident identification method and system for whole electric vehicle controller |
| CN110751873A (en) * | 2019-11-15 | 2020-02-04 | 郑州意昂新能源汽车科技有限公司 | Method for interconnecting whole vehicle electric control practical training platform of new energy automobile and actual vehicle |
| CN110751873B (en) * | 2019-11-15 | 2021-10-26 | 郑州意昂新能源汽车科技有限公司 | Method for interconnecting whole vehicle electric control practical training platform of new energy automobile and actual vehicle |
| CN111708351A (en) * | 2020-06-23 | 2020-09-25 | 东风汽车股份有限公司 | Intelligent detection system and detection method for vehicle body controller |
| CN111708351B (en) * | 2020-06-23 | 2022-05-17 | 东风汽车股份有限公司 | Intelligent detection system and detection method for vehicle body controller |
| CN112362362A (en) * | 2020-11-16 | 2021-02-12 | 东风越野车有限公司 | Offline whole vehicle logic test system and test method |
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