CN104748981A - New energy vehicle testing system based on driver-vehicle-road closed-loop control - Google Patents

New energy vehicle testing system based on driver-vehicle-road closed-loop control Download PDF

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Publication number
CN104748981A
CN104748981A CN201510179244.5A CN201510179244A CN104748981A CN 104748981 A CN104748981 A CN 104748981A CN 201510179244 A CN201510179244 A CN 201510179244A CN 104748981 A CN104748981 A CN 104748981A
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module
simulation
load
vehicle
industrial computer
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CN201510179244.5A
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Inventor
林歆悠
林海波
翟柳清
冯其高
张少博
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Fuzhou University
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Fuzhou University
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Priority to CN201510179244.5A priority Critical patent/CN104748981A/en
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Abstract

The invention relates to a new energy vehicle testing system based on driver-vehicle-road closed-loop control. The system comprises a rack master-control module. The rack master-control module comprises an upper computer PC and an industrial personal computer; the industrial personal computer is connected with the upper computer PC, a power output module, an inertial simulation module, a load simulation module, a road feeling simulation module and a driver's input module through a data acquisition module. The industrial personal computer is used for controlling the power output module, the inertial simulation module and the load module, all mounted on a test table, to simulate operation parameters of a vehicle. The power output module comprises an engine, a power battery, a drive motor and an automatic transmission. The system in the modular design has the advantages that rack simulation testing is achieved for all-electric or hybrid vehicles, real-time human-machine interaction and condition simulation are achieved by simulation, and driver-in-the-loop vehicle testing is achieved.

Description

A kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control
Technical field
The present invention relates to car test techniqes field, particularly a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control.
Background technology
Compared with complete vehicle test, bench test has not by the advantage of the restriction of extraneous physical environment.The parts of bench test are simultaneously arranged not by the restriction of car load general arrangement.Automobile bench test technology is divided into again chassis dynamometer to test and bench simulation test.Compare chassis dynamometer test, the test platform that bench simulation test can to provide the power coupling control of necessary power matching, energy management system, electric motor and controller system, Brake energy recovery and mixed power electric car etc. used in the research and development of electric automobile early stage.Current indoor bench simulation test is widely used random loading, data automatic recording and acquisition processing system, can the actual applying working condition of simulating vehicle, improves test accuracy, shortens the test period, accelerate the paces of new product development.Simulation laboratory test not only can carry out performance, intensity and durability test to parts, assembly, also can measure whole-car parameters, the various tests that simulated roadway travels.
Summary of the invention
In view of this, the object of this invention is to provide a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control, the bench simulation test of pure electronic or hybrid vehicle is realized by modular design, the man-machine interaction real-time by the Realization of Simulation and Work condition analogue, and the complete vehicle test of driver at ring can be realized.Testing table can realize the pure electronic or vehicle performance of hybrid power and the test of control strategy, and modular design simultaneously can realize the corresponding test of parts.
The present invention adopts following scheme to realize: a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control, comprise a stand main control module, described stand master control module controls comprises host computer PC and industrial computer, and described industrial computer is connected with host computer PC, power take-off module, inertia simulation module, load simulation module, road feel analog module and driver's load module respectively by data acquisition module; Described industrial computer carries out vehicle operating parameters simulation in order to control power take-off module, inertia simulation module and the load simulation module be all installed on a testing table; Described power take-off module comprises engine, electrokinetic cell, drive motor and automatic transmission; Described inertia simulation module comprises a flywheel group, in order to simulate the inertial load of different vehicle; Described load simulation module comprises an electric dynamometer, revises in order to the resistance to rolling in simulated automotive driving process, air resistance and grade resistance the error that described flywheel group carries out inertia simulation.
Further, described engine is the analog electrical control engine case of half object construction, and the ECU module in described analog electrical control engine case is connected with described industrial computer by CAN.
Further, described drive motor is connected to one end of one first torque and speed sensors, and the other end of described first torque and speed sensors is connected to one end of described automatic transmission; The other end of described automatic transmission is connected to one end of one second torque and speed sensors, and the other end of described second torque and speed sensors is connected to described flywheel group.
Preferably, drive motor adopts permasyn morot, and the electric machine controller of described permasyn morot can adopt the mode of water-cooled to cool; Described automatic transmission can adopt two grades of AMT, completes starting and the climbing of automobile, meet the demand of running at high speed with top grade with low grade; Described flywheel group, by fixing the combination of flywheel and freewheel, simulates the inertial load of different vehicle.The resistance to rolling of described electric dynamometer in simulated automotive driving process, air resistance and grade resistance also also can realize Brake energy recovery while revising the error of flywheel group inertia simulation.Especially, rotating speed that raising speed case makes automatic transmission export can be added and torque reaches testing requirements.Mechanically operated arrangement architecture on described test platform is " one " font, and drive motor, torque and speed sensors, automatic transmission, raising speed case, flywheel group and electric power dynamometer motor are installed on test platform, and are connected by shaft coupling.
Further, described driver's load module comprises pilot set, bearing circle, accelerator pedal and brake pedal, in order to carry out driver's operation simulation.
Further, described road feel analog module comprises pull pressure sensor, ball-screw and guiding mechanism thereof and direct current torque motor and controller thereof, in order to the real-time road feel in drive simulating.
Further, described data acquisition module is adopted as the communication structure that CAN combines with data collecting card, in order to gather described power take-off module, inertia simulation module, load simulation module, road feel analog module, driver's load module and torque and speed sensors signal and transmit described industrial computer send control signal.Described communication structure can improve multi-thread transmission efficiency.
Further, described host computer is generated control strategy by Matlab/Simulink and imports real-time simulation in LabviewRT and realized the real-time display of data by Labview platform, described host computer carries out data transmission by CAN structure and described industrial computer, and described industrial computer controls described power take-off module, inertia simulation module, load simulation module and road feel analog module according to real-time simulation in LabviewRT.
Further, described host computer adopts Prescan to build virtual reality roadway scene; Described host computer carries out data transmission by CAN structure and described industrial computer, the position of vehicle, speed and attitude information are sent to host computer with CAN message form by described industrial computer, and described host computer carries out upgrading the position of virtual vehicle in Prescan, speed and attitude and corresponding traffic scene according to the message information that the described industrial computer received sends.
Preferably, the vehicle operating parameters generated by Matlab/Simulink, Labview and Prescan is simulated, and wherein the control strategy of battery management system (bms), engine control system, drive motor controller, flywheel group controller, electric dynamometer controller and road feel analog controller is undertaken writing by Matlab/Simulink and imports LabviewRT real-time simulation.Industrial computer passes through the real-time car load signal of data collecting module collected, and the interface that Labview builds is carried out display in real time at host computer and monitored the record simultaneously carrying out data.
Further, host computer adopts Prescan to build virtual reality scenario, by setting traffic information, utilize virtual reality technology the running status of vehicle, the conversion of traffic scene and virtual road condition navigation to be reflected with the form of animation, project to driver at the moment by shadow casting technique.Pilot control bearing circle/accelerator pedal/brake pedal output function signal, real-time emulation system acquisition operations signal also calculates the running status of auto model by real-time kernel and upgrades road model.Thus realize the closed-loop system of people-Che-Lu.
The invention has the advantages that, not only can realize setting the test of operating mode, flat and breach traditional bench simulation and driver is actual drives the emulation testing departed from, the pilot system of driver at ring can be achieved, closer to real train test.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is control flow chart of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
The present embodiment provides a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control, as shown in Figure 1, comprise a stand main control module, described stand master control module controls comprises host computer PC and industrial computer, and described industrial computer is connected with host computer PC, power take-off module, inertia simulation module, load simulation module, road feel analog module and driver's load module respectively by data acquisition module; Described industrial computer carries out vehicle operating parameters simulation in order to control power take-off module, inertia simulation module and the load simulation module be all installed on a testing table; Described power take-off module comprises engine, electrokinetic cell, drive motor and automatic transmission; Described inertia simulation module comprises a flywheel group, in order to simulate the inertial load of different vehicle; Described load simulation module comprises an electric dynamometer, revises in order to the resistance to rolling in simulated automotive driving process, air resistance and grade resistance the error that described flywheel group carries out inertia simulation.
In the present embodiment, described engine is the analog electrical control engine case of half object construction, and the ECU module in described analog electrical control engine case is connected with described industrial computer by CAN; Described drive motor is permasyn morot.
In the present embodiment, described drive motor is connected to one end of one first torque and speed sensors, and the other end of described first torque and speed sensors is connected to one end of described automatic transmission; The other end of described automatic transmission is connected to one end of one second torque and speed sensors, and the other end of described second torque and speed sensors is connected to described flywheel group.
In the present embodiment, the electric machine controller of described permasyn morot can adopt the mode of water-cooled to cool; Described automatic transmission can adopt two grades of AMT, completes starting and the climbing of automobile, meet the demand of running at high speed with top grade with low grade; Described flywheel group, by fixing the combination of flywheel and freewheel, simulates the inertial load of different vehicle.The resistance to rolling of described electric dynamometer in simulated automotive driving process, air resistance and grade resistance also also can realize Brake energy recovery while revising the error of flywheel group inertia simulation.Especially, rotating speed that raising speed case makes automatic transmission export can be added and torque reaches testing requirements.Mechanically operated arrangement architecture on described test platform is " one " font, and drive motor, torque and speed sensors, automatic transmission, raising speed case, flywheel group and electric power dynamometer motor are installed on test platform, and are connected by shaft coupling.
In the present embodiment, described driver's load module comprises pilot set, bearing circle, accelerator pedal and brake pedal, in order to carry out driver's operation simulation.
In the present embodiment, described road feel analog module comprises pull pressure sensor, ball-screw and guiding mechanism thereof and direct current torque motor and controller thereof, in order to the real-time road feel in drive simulating.
In the present embodiment, described data acquisition module is adopted as the communication structure that CAN combines with data collecting card, in order to gather described power take-off module, inertia simulation module, load simulation module, road feel analog module and torque and speed sensors signal and transmit described industrial computer send control signal.Described communication structure can improve multi-thread transmission efficiency.
In the present embodiment, described host computer is generated control strategy by Matlab/Simulink and imports real-time simulation in LabviewRT and realized the real-time display of data by Labview platform, described host computer carries out data transmission by CAN structure and described industrial computer, and described industrial computer controls described power take-off module, inertia simulation module, load simulation module and road feel analog module according to real-time simulation in LabviewRT.
In the present embodiment, described host computer adopts Prescan to build virtual reality roadway scene; Described host computer carries out data transmission by CAN structure and described industrial computer, the position of vehicle, speed and attitude information are sent to host computer with CAN message form by described industrial computer, and described host computer carries out upgrading the position of virtual vehicle in Prescan, speed and attitude and corresponding traffic scene according to the message information that the described industrial computer received sends.
In the present embodiment, preferably, the vehicle operating parameters generated by Matlab/Simulink, Labview and Prescan is simulated, and wherein the control strategy of battery management system (bms), engine control system, drive motor controller, flywheel group controller, electric dynamometer controller and road feel analog controller is undertaken writing by Matlab/Simulink and imports LabviewRT real-time simulation.The real-time development module RTW compiling of MATLAB/Simulink is created on the dynamic link library (DLL) that LabviewRT real-time kernel runs.Each control strategy run in LabviewRT is relatively independent, can test respectively and demarcate.Industrial computer passes through the real-time car load signal of data collecting module collected, and the interface that Labview builds is carried out display in real time at host computer and monitored the record simultaneously carrying out data.
In the present embodiment, host computer adopts Prescan to build virtual reality scenario, by setting traffic information, utilize virtual reality technology the running status of vehicle, the conversion of traffic scene and virtual road condition navigation to be reflected with the form of animation, project to driver at the moment by shadow casting technique.Pilot control bearing circle/accelerator pedal/brake pedal output function signal, real-time emulation system acquisition operations signal also calculates the running status of auto model by real-time kernel and upgrades road model, thus realizes the closed-loop system of people-Che-Lu.
In the present embodiment, the control flow of described new-energy automobile pilot system as shown in Figure 2, the human pilot carrying out testing selects pure electronic or hybrid mode by the human-computer interaction interface of host computer, and the relevant vehicle parameter of input simultaneously also selects traffic environment.When main control module detects after corresponding hardware can test accordingly, testing table starts to start.The running status of vehicle, the conversion of traffic scene and virtual road condition navigation reflect with the form of animation, driver is projected at the moment by shadow casting technique, road feel simulation system starts to simulate real-time road feel simultaneously, makes the driver be sitting on driver seat feel the situation that real vehicle is driven.Pilot control bearing circle, accelerator pedal and brake pedal simulation real vehicle travels.Main control module will control rotating speed that engine sends and torque according to the control command of driver, the rotating speed simultaneously regulating drive motor to export by the drive current controlling drive motor and torque.Power accesses load simulation module and flywheel group again from drive motor to automatic transmission after raising speed case, the combination being controlled flywheel group clutch coupling by control system according to whole-car parameters be separated, sectional flywheel group simulates the inertia of car load.Last power transmission, to load simulation module, simulates the resistance to rolling of car load, air resistance and grade resistance by the control of the exciting current to loading motor.Electric dynamometer is connected with electrokinetic cell can realize energy regenerating, or by the direct consumed energy of resistance box.Main control module is by the run signal of data collecting module collected to modules, and Labview carries out real-time data display and data record to whole process of the test.Testing crew just according to the record of process of the test can well be tested the control strategy of car load and optimize.
For vehicle performance test as car load dynamic property or fuel economy etc., with identical principle, testing under given control strategy, now testing by setting different city state of cyclic operations.Unit test is then replaced former testing table parts by required test component and is carried out corresponding test.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.

Claims (8)

1. the new-energy automobile pilot system based on people-Che-Lu closed-loop control, it is characterized in that: comprise a stand main control module, described stand master control module controls comprises host computer PC and industrial computer, and described industrial computer is connected with host computer PC, power take-off module, inertia simulation module, load simulation module, road feel analog module and driver's load module respectively by data acquisition module; Described industrial computer carries out vehicle operating parameters simulation in order to control power take-off module, inertia simulation module and the load simulation module be all installed on a testing table; Described power take-off module comprises engine, electrokinetic cell, drive motor and automatic transmission; Described inertia simulation module comprises a flywheel group, in order to simulate the inertial load of different vehicle; Described load simulation module comprises an electric dynamometer, revises in order to the resistance to rolling in simulated automotive driving process, air resistance and grade resistance the error that described flywheel group carries out inertia simulation.
2. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, it is characterized in that: described engine is the analog electrical control engine case of half object construction, and the ECU module in described analog electrical control engine case is connected with described industrial computer by CAN.
3. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, it is characterized in that: described drive motor is connected to one end of one first torque and speed sensors, the other end of described first torque and speed sensors is connected to one end of described automatic transmission; The other end of described automatic transmission is connected to one end of one second torque and speed sensors, and the other end of described second torque and speed sensors is connected to described flywheel group.
4. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, it is characterized in that: described driver's load module comprises pilot set, bearing circle, accelerator pedal and brake pedal, in order to carry out driver's operation simulation.
5. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, it is characterized in that: described road feel analog module comprises pull pressure sensor, ball-screw and guiding mechanism thereof and direct current torque motor and controller thereof, in order to the real-time road feel in drive simulating.
6. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, it is characterized in that: described data acquisition module is adopted as the communication structure that CAN combines with data collecting card, in order to gather described power take-off module, inertia simulation module, load simulation module, road feel analog module, driver's load module and torque and speed sensors signal and transmit described industrial computer send control signal.
7. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, it is characterized in that: described host computer is generated control strategy by Matlab/Simulink and imports real-time simulation in LabviewRT and realized the real-time display of data by Labview platform, described host computer carries out data transmission by CAN structure and described industrial computer, and described industrial computer controls described power take-off module, inertia simulation module, load simulation module and road feel analog module according to real-time simulation in LabviewRT.
8. a kind of new-energy automobile pilot system based on people-Che-Lu closed-loop control according to claim 1, is characterized in that: described host computer adopts Prescan to build virtual reality roadway scene; Described host computer carries out data transmission by CAN structure and described industrial computer, the position of vehicle, speed and attitude information are sent to host computer with CAN message form by described industrial computer, and described host computer carries out upgrading the position of virtual vehicle in Prescan, speed and attitude and corresponding traffic scene according to the message information that the described industrial computer received sends.
CN201510179244.5A 2015-04-16 2015-04-16 New energy vehicle testing system based on driver-vehicle-road closed-loop control Pending CN104748981A (en)

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Cited By (19)

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CN105938331A (en) * 2016-06-29 2016-09-14 中国北方车辆研究所 Semi-physical simulation platform for hybrid vehicle research and development
CN106371431A (en) * 2016-11-22 2017-02-01 深圳市中智仿真科技有限公司 Function circuit of vehicle driving simulator
CN106970279A (en) * 2017-03-29 2017-07-21 福州大学 The pure electric automobile pilot system and its test method of a variety of driving cycles can be achieved
CN107092245A (en) * 2017-06-01 2017-08-25 同济大学 Automobile PDCC hardware-in-loop simulation testing stand
CN107145139A (en) * 2017-05-09 2017-09-08 重庆理工大学 Electric automobile whole hierarchy system hardware-in―the-loop test platform and method of testing
CN108088686A (en) * 2017-12-21 2018-05-29 驭势科技(浙江)有限公司 Test emulation method and apparatus, computer storage media and electronic equipment
CN108629372A (en) * 2018-05-07 2018-10-09 福州大学 Obtain experimental system and the driving style recognition methods of driving style characteristic parameter
CN108983095A (en) * 2018-07-27 2018-12-11 北京新能源汽车股份有限公司 A kind of driving motor system reliability test method and device
CN109215475A (en) * 2018-11-01 2019-01-15 广东车技研科技有限公司 Multifunctional new energy motor-vehicle engine mounting-dismounting operation detection real training intelligent tutoring system
CN109407553A (en) * 2018-12-19 2019-03-01 海马汽车有限公司 Speed Control emulation mode and device
CN109738203A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of brake test device and automatic driving vehicle dynamic brake performance
CN109738202A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of the pedal sense of the brake pedal of vehicle braking experimental rig and vehicle
CN109738201A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of vehicle dynamic brake performance
CN109738204A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of automatic braking experimental rig and automatic driving vehicle dynamic brake performance
CN109738200A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of vehicle manual braking experimental rig and vehicle dynamic brake performance
CN110132588A (en) * 2019-06-20 2019-08-16 山东理工大学 A kind of testing stand for electric wheeled four-wheel driven electric vehicle full-vehicle control prototyping
CN110132587A (en) * 2019-06-20 2019-08-16 山东理工大学 A kind of Electric Motor Wheel testing stand based on real-time simulation tool and load simulation system
CN110426631A (en) * 2019-08-07 2019-11-08 哈尔滨理工大学 The compound test device of new-energy automobile dynamical system and test method
CN110850843A (en) * 2019-11-08 2020-02-28 北京海纳川汽车部件股份有限公司 Car lamp control simulation test method and system

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CN105938331A (en) * 2016-06-29 2016-09-14 中国北方车辆研究所 Semi-physical simulation platform for hybrid vehicle research and development
CN106371431A (en) * 2016-11-22 2017-02-01 深圳市中智仿真科技有限公司 Function circuit of vehicle driving simulator
CN106970279A (en) * 2017-03-29 2017-07-21 福州大学 The pure electric automobile pilot system and its test method of a variety of driving cycles can be achieved
CN107145139A (en) * 2017-05-09 2017-09-08 重庆理工大学 Electric automobile whole hierarchy system hardware-in―the-loop test platform and method of testing
CN107092245A (en) * 2017-06-01 2017-08-25 同济大学 Automobile PDCC hardware-in-loop simulation testing stand
CN107092245B (en) * 2017-06-01 2020-11-17 上汽大众汽车有限公司 Hardware-in-loop simulation test bed for automobile dynamic chassis control system
CN108088686A (en) * 2017-12-21 2018-05-29 驭势科技(浙江)有限公司 Test emulation method and apparatus, computer storage media and electronic equipment
CN108629372A (en) * 2018-05-07 2018-10-09 福州大学 Obtain experimental system and the driving style recognition methods of driving style characteristic parameter
CN108983095B (en) * 2018-07-27 2020-08-21 北京新能源汽车股份有限公司 Method and device for testing reliability of driving motor system
CN108983095A (en) * 2018-07-27 2018-12-11 北京新能源汽车股份有限公司 A kind of driving motor system reliability test method and device
CN109215475A (en) * 2018-11-01 2019-01-15 广东车技研科技有限公司 Multifunctional new energy motor-vehicle engine mounting-dismounting operation detection real training intelligent tutoring system
CN109407553A (en) * 2018-12-19 2019-03-01 海马汽车有限公司 Speed Control emulation mode and device
CN109738202A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of the pedal sense of the brake pedal of vehicle braking experimental rig and vehicle
CN109738201A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of vehicle dynamic brake performance
CN109738200A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of vehicle manual braking experimental rig and vehicle dynamic brake performance
CN109738204A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of automatic braking experimental rig and automatic driving vehicle dynamic brake performance
CN109738203A (en) * 2018-12-29 2019-05-10 北京新能源汽车股份有限公司 The test method of brake test device and automatic driving vehicle dynamic brake performance
CN110132587A (en) * 2019-06-20 2019-08-16 山东理工大学 A kind of Electric Motor Wheel testing stand based on real-time simulation tool and load simulation system
CN110132588A (en) * 2019-06-20 2019-08-16 山东理工大学 A kind of testing stand for electric wheeled four-wheel driven electric vehicle full-vehicle control prototyping
CN110426631A (en) * 2019-08-07 2019-11-08 哈尔滨理工大学 The compound test device of new-energy automobile dynamical system and test method
CN110850843A (en) * 2019-11-08 2020-02-28 北京海纳川汽车部件股份有限公司 Car lamp control simulation test method and system

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