CN105867358B - Automotive electronic parking controller hardware is in ring test device and method - Google Patents
Automotive electronic parking controller hardware is in ring test device and method Download PDFInfo
- Publication number
- CN105867358B CN105867358B CN201610408961.5A CN201610408961A CN105867358B CN 105867358 B CN105867358 B CN 105867358B CN 201610408961 A CN201610408961 A CN 201610408961A CN 105867358 B CN105867358 B CN 105867358B
- Authority
- CN
- China
- Prior art keywords
- dspace
- cabinets
- relay
- ecu
- stepper motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/021—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system adopting a different treatment of each operating region or a different mode of the monitored system, e.g. transient modes; different operating configurations of monitored system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention relates to automotive electronic parking controller hardware in ring test device and method, it is characterised in that the test device includes dSPACE cabinets, executing agency, switch module, Sensor monitoring module, ramp drive module and ramp protection module；The executing agency includes braking motor, brake caliper and pressure nut, and the dSPACE cabinets include DS1006 processors board, DS2202 boards, DS2211 boards and DS4302CAN communication cards；Its connection relation is：DS1006 processor plates card is connect by PHS buses with DS2202 boards, DS2211 boards and DS4302CAN communication cards respectively；Control program in ramp is stored in dSPACE cabinets；The digital input channel of DS2202 boards and the CAN bus channel of DS4302CAN communication cards are connect with the input terminal of tested ECU in the dSPACE cabinets, the digital output channel of DS2202 boards is connect with the input terminal of tested ECU in dSPACE cabinets, and braking motor is connect with the output terminal of tested ECU；The switch module includes EPB switches, relay and switchboard；EPB switchs the normally opened contact that one end is connected to relay.
Description
Technical field
The present invention relates to automobile initiative security technology areas, and in particular to automotive electronic parking controller hardware is surveyed in ring
Try device and method.
Background technology
Automotive electronic parking controller hardware is to realize the device that is detected to automobile chassis controller in ring test device, it
Good foundation can be provided for the strategy Development of electronic parking controller and perfect in shape and function.Electronic parking controller test exists
The completeness of function policy that has of electronic parking controller is detected under real vehicle environment, be included under various working conditions to its into
Capable test.In the prior art, it in controller development process, needs that its control strategy is repeatedly modified, therefore,
During one development cycle, since being designed controller, tested to being assembled on real vehicle, there are problems：1.
By the way of real steering vectors, the controller development cycle is greatly extended, increases development cost, when wasting a large amount of
Between；2. real steering vectors need to realize the various operating modes of controller operation, this is obtained to the operation of driver and to duty parameter
Take high requirement；3. controller is mounted on real vehicle, very big difficulty is produced to the measurement of brake force size.
The Chinese patent of Patent No. ZL2011103226913 discloses a kind of electronic brake system and its parking control
Method, the control method are discharged using electronic parking button to implement parking braking and parking, and this switch unit is needing greatly
It is very inconvenient, and can be significantly by way of repeatedly pressing during the function of amount detection electronic parking controller
Shorten the service life of electronic parking button in ground；Evaluation and test electronic parking controller is used as by the clamping force that pressure sensor measures
The foundation of functional characteristic, if pressure sensor failure, then merely by feedback pressure value can not observe whether
Braking or release；For another example the Chinese patent of Patent No. ZL2013208835791 discloses a kind of for electronic brake system
The hardware-in―the-loop test platform of system, ramp testing stand angle value gives motor-drive circuit control instruction by host computer, so as to control
Motor-drive circuit drive control motor rotates, and rotary pallet to be driven to rotate to preset angle angle value, obtains in this way
There are certain errors with theoretical inclination of ramp angle value for the practical inclination of ramp angle value taken, can not monitor inclination of ramp angle value in real time, and
Low precision.
Invention content
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of automotive electronic parking control
Device hardware-in―the-loop test device and method.The test device and method pass through：(1) hardware-in―the-loop test operation is quick, can be very
The vehicle test of fast one wheel system of carry out, feeds back to developer, is provided more for electronic parking controller strategy Development
Time.(2) interaction of Vehicular status signal is carried out by the input/output channel of dSPACE cabinets and CAN communication board, is realized
Running environment needed for various vehicles.(3) Sensor monitoring module is connected with dSPACE cabinets, can be directly by the big of brake force
It is small to feed back, the size of braking motor electric current can also be monitored.
The present invention solve the technical problem the technical solution adopted is that：
A kind of automotive electronic parking controller hardware is in ring test device, it is characterised in that the test device includes dSPACE
Cabinet, executing agency, switch module, Sensor monitoring module, ramp drive module and ramp protection module；The executing agency
Including braking motor, brake caliper and pressure nut,
The dSPACE cabinets lead to including DS1006 processors board, DS2202 boards, DS2211 boards and DS4302CAN
Believe board；Its connection relation is：DS1006 processor plates card by PHS buses respectively with DS2202 boards, DS2211 boards and
DS4302CAN communication cards connect；Control program in ramp is stored in dSPACE cabinets；
The CAN bus of the digital input channel of DS2202 boards and DS4302CAN communication cards in the dSPACE cabinets
Channel is connect with the input terminal of tested ECU, and the digital output channel of DS2211 boards is with tested ECU's in dSPACE cabinets
Input terminal connects, and braking motor is connect with the output terminal of tested ECU；
The switch module includes EPB switches, relay and switchboard；EPB switchs one end and is connected to the normally opened of relay
Contact, the normally-closed contact of relay and the output terminal of switchboard connect, the DS2202 plates of switchboard input terminal and dSPACE cabinets
The digital output channel connection of card；The coil anode and coil negative terminal of relay are respectively connected to power end and the ground connection of switchboard
End；EPB is switched and digital output channel of the power end of tested ECU with the DS2211 boards of dSPACE cabinets is connect, after
The common point of electric appliance is connect with the input terminal of tested ECU；
The Sensor monitoring module include pressure sensor, transmitter and current sensor, the output terminal of transmitter and
Analog-to-digital conversion channel of the output terminal of current sensor respectively with the DS2202 boards of dSPACE cabinets is connect, and pressure sensor is put
Between brake caliper and pressure nut, the input terminal connection of pressure sensor and transmitter, current sensor nesting to braking
The motor anode of motor；
The ramp drive module turns CAN including stepper motor, stepper motor driver, photoelectric encoder and Gray code；
Stepper motor is connected by stepper motor driver with dSPACE cabinets；Photoelectric encoder by Gray code turn CAN with
DSPACE cabinets connect；
The ramp protection module includes hardware package backplate and position-limiting unit, hardware package backplate and position-limiting unit with
DSPACE cabinets connect, and position-limiting unit is connected by hardware package backplate with stepper motor driver.
A kind of automotive electronic parking controller hardware uses above-mentioned test device in ring test method, this method, specifically
Test process is：
1) it is static to clamp the coil anode Relay14 ends making alive controlled by giving relay, it is produced around relay coil
Magnetisation field makes the armature of relay contact normally opened contact, and EPB switch hair brake requests are handled by internal circuit, by its turn
Turn to tetra- kinds of states of ES_SW1~ES_SW4；Four kinds of states are transmitted to by 5~Relay of normally opened contact Relay 8 of relay
9~Relay of common point Relay 12 of relay, and 9~Relay of common point Relay 12 are connected to SW1~SW4 of ECU
Pin is realized from true parking switch signal to the transmission ECU switching signals, ECU receives brake request order,
According to the control strategy inside ECU, driving braking motor rotates forward；Braking is read by current sensor in real time in host computer interface
The size of electric current, when stalling current reaches threshold current, the voltage at braking motor both ends is set low level immediately, made at this time by ECU
Dynamic motor will stall；Current brake pressure value can be read by pressure sensor, realize the static clip of automotive electronic parking
Tightly；
2) static release is controlled under true switching mode, and the on off state of EPB switches is directly given to ECU by relay；
Under virtual switch pattern, Release release controls, relay coil both ends electricity are realized using PC control virtual switch mode
Pressure release, so as to which armature sets back under spring force, contact normally-closed contact Relay1~Relay4；By dSPACE machines
The digital output channel of the DS2202 boards of cabinet sends out static release request, by the signal processing of switchboard, is translated into
Tetra- kinds of states of SW_SW1~SW_SW4, on off state by normally-closed contact Relay1~Relay4 be transmitted to common point Relay9~
Relay12, and then realize that on off state receives brake request order by the transmission ECU of dSPACE cabinets to ECU, according in it
The control strategy in portion, driving braking motor reversion；By the analog-to-digital conversion channel of dSPACE cabinets acquire in real time pressure sensor and
The size of current sensor so as to which ECU controls braking motor stalling opportunity according to stalling current size, monitors the big of brake pressure
It is small, realize the static release control of automotive electronic parking；
3) Vehicular status signal simulated is transferred to by automatic parking control by dSPACE cabinets by CAN lines first
ECU, ECU detect speed signal, if engine rotational speed signal is zero and speed signal is zero and keeps 2.5s, ECU driving systems
Dynamic motor, which rotates forward, to be clamped, and ECU receives the stalling current size of current sensor, when stalling current has been more than the threshold value electricity of setting
Stream, ECU cease and desist order to the hair braking of braking motor driving unit, realize the automatic parking control of automotive electronic parking；
4) control dSPACE cabinet hair control signals are sailed out of to stepper motor driver, the control of stepper motor driver in ramp
Signal processed is effective for low level, monitors the rotation angle of stepper motor in real time by photoelectric encoder, and pass through Gray code and turn CAN
Acquired angle value is transmitted to dSPACE cabinets, if detecting that current angle value and input angle angle value are equal, by dSPACE
Cabinet sends stop signal to stepper motor driver, is stopped rotating by stepper motor driver control stepper motor, thus obtained
Inclination of ramp angle value needed for must testing；Braking motor is in clamped condition, and ramp value is sent to by CAN lines by dSPACE cabinets
ECU is judged by ECU internal control strategies, if reach current grade braking motor release torque, ECU driving braking electricity
Machine reversion release, realizes that control is sailed out of in ramp.
Compared with prior art, beneficial effects of the present invention are：
Test device of the present invention is realized by dSPACE cabinets to electronic parking switch module, ramp drive module, ramp
Protection module and Sensor monitoring module carry out signal interaction, during the test, need largely being clamped and releasing repeatedly
Operation is put, therefore switch module can rapidly realize that virtual switch (can realize two with true switch by host computer interface
Switching between person, the realization of virtual switch are to send out braking by dSPACE cabinets and release signal is given to switchboard, are passed through
It is given to relay again after switch partitioned signal conversion, it is one to be given to the signal that the signal of relay and true switch are given to relay
It causes；True switch refers to the electronic parking switch of necessary being) switching of state, it, can be with if true switch breaks down
It is substituted with virtual switch, and virtual switch can also extend the service life really switched；Sensor monitoring module can be
During clamping or discharging, the variation of brake pressure and braking motor electric current is monitored in real time, due in practical behaviour
During work, cause braking motor that can not implement to clamp due to power supply electricity shortage etc., and motor produces clamping really
Action, it is clearly very unilateral, therefore can to judge whether motor produces corresponding action only by faint brake pressure
Judge that parking clamping or parking discharge with the variation by brake pressure and current of electric the two key factors, accordingly even when
Brake pressure does not change, it can also be seen that the action of motor in the variation of stalling current.By in the drive module of ramp
Photoelectric encoder with Gray code turns CAN and can realize to change to arbitrary inclination of ramp angle value in the range of ± 30 °, greatly simplifies hard
The distribution of line resource, and stepper motor can be controlled in real time by host computer according to current inclination of ramp angle value and input ramp
Relationship between angle value, so as to the speed that stepper motor is controlled to rotate, with the ramp angles needed for optimal velocity interpolation
Value improves the precision of ramp angles；Ramp protection module can be prevented caused by stepper motor rotation angle is excessive
Ramp experimental provision damage, safety guarantee is provided for experimental provision.
Test device and test method of the present invention are by building automotive electronic parking controller hardware in ring test platform, mould
Intend real vehicle operating status, can efficiently realize automotive electronic parking controller in ring test.It is each can not only real vehicle to be simulated
Kind operating condition, detects most of functional fault of automatic parking controller, and is significantly shortened compared to real steering vectors
The electronic parking controller development cycle, development cost is saved.
Description of the drawings
Fig. 1 is automotive electronic parking controller hardware of the present invention in ring test structure drawing of device.
Fig. 2 is the relay pin distribution map of switch module in the present invention
Fig. 3 is the hardware protection circuit connection figure of mesoslope pipe protection module of the present invention
In figure, 1-dSPACE cabinets, 2-ECU (electronic parking controller), 3- executing agencies, 4- switch modules, 5- sensings
Device monitoring modular, 6- ramps drive module, 7- ramps protection module, 41-EPB switches, 42- relays, 43- switchboards, 53- electricity
Flow sensor, 51- pressure sensors, 52- transmitters, 61- stepper motors, 62- stepper motor drivers, 63- photoelectric encoders,
64- Gray codes turn CAN, 71- hardware package backplate, 72- position-limiting units.
Specific embodiment
With reference to embodiment and attached drawing, the present invention will be further described, but is not wanted in this, as to the application right
Ask the restriction of protection domain.
Automotive electronic parking controller hardware of the present invention includes in ring test device (abbreviation test device, referring to Fig. 1-3)
DSPACE cabinets 1, executing agency 3, switch module 4, Sensor monitoring module 5, ramp drive module 6 and ramp protection module 7；
The executing agency 3 includes braking motor, brake caliper and pressure nut,
The dSPACE cabinets 1 include DS1006 processors board, DS2202 boards, DS2211 boards and DS4302CAN
Communication card；Its connection relation is：DS1006 processor plates card by PHS buses respectively with DS2202 boards, DS2211 boards
It is connected with DS4302CAN communication cards；Control program in ramp is stored in dSPACE cabinets；
The DS2202 boards include 38 railway digitals input (DIG_IN) channel, 16 railway digitals export (DIG_OUT) channel,
9 tunnel pulse output (PWM_OUT) channels；The DS2211 boards include 16 tunnel analog-to-digital conversion (ADC) channels, 16 railway digitals export
(DIG_OUT) channel；The DS4302CAN communication cards include the CAN bus channel of 4 tunnel independences, can emulate 4 kinds of differences simultaneously
The bus of rate；
The CAN bus of the digital input channel of DS2202 boards and DS4302CAN communication cards in the dSPACE cabinets 1
Channel connect with the input terminal of tested ECU 2, and the digital output channel of DS2211 boards is with being tested in dSPACE cabinets 1
The input terminal connection of ECU 2, braking motor are connect with the output terminal of tested ECU；
The switch module 4 includes EPB switches 41, relay 42 and switchboard 43；EPB switchs 41 one end and is connected to relay
The normally opened contact of device 42, the normally-closed contact of relay 42 are connect with the output terminal of switchboard 43,43 input terminal of switchboard with
The digital output channel connection of the DS2202 boards of dSPACE cabinets 1；The coil anode and coil negative terminal of relay 42 connect respectively
It is connected to the 12V power ends of switchboard 43 and ground terminal GND；EPB switch 41 and be tested ECU power end with dSPACE cabinets
DS2211 boards digital output channel connection, (Relay9~Relay12 tetra- referred in Fig. 2 is touched the common point of relay
Point) it is connect with the input terminal of tested ECU；
The Sensor monitoring module 5 includes pressure sensor 51, transmitter 52 and current sensor 53, transmitter 52
The output terminal of output terminal and current sensor 53 respectively with the analog-to-digital conversion of the DS2202 boards of dSPACE cabinets 1 (ADC) channel
Connection, i.e. transmitter 52 export the two-way analog-to-digital conversion of DS2202 boards that analog voltage signal is connected to dSPACE cabinets and lead to
Road, the analog current value that similarly current sensor 53 exports are connected to the two-way analog-to-digital conversion channel of DS2202 boards, and pressure passes
Sensor 51 is placed between brake caliper and pressure nut, and pressure sensor 51 is connect with the input terminal of transmitter 52, current sense
The nested motor anode to braking motor of device 53；
The ramp drive module 6 includes stepper motor 61, stepper motor driver 62, photoelectric encoder 63 and Gray code
Turn CAN 64；Stepper motor 61 is connected by stepper motor driver 62 with dSPACE cabinets 1；Photoelectric encoder 63 passes through lattice
Thunder code turns CAN 64 and is connect with dSPACE cabinets 1；
The ramp protection module 7 includes hardware package backplate 71 and position-limiting unit 72, and position-limiting unit 72 is fixed on stepping electricity
The obliquely downward of machine output shaft, with 60 ° of stepper motor output shaft vertical line angle；Position-limiting unit 72 passes through hardware package backplate 71 and step
Stepper motor driver 62 is connected, and hardware package backplate 71 and position-limiting unit 72 are connect with dSPACE cabinets 1.
Heretofore described relay 42 (referring to Fig. 2) including normally-closed contact, normally opened contact, common point, coil negative terminal and
Coil anode, Relay1~Relay4 is four normally-closed contacts in Fig. 2, and Relay5~Relay8 is four normally opened contacts,
Relay9~Relay12 is four common points, and Relay13 and Relay14 are respectively coil negative terminal and coil anode.Wherein pass through
Two pin control relays 42 of Relay13 and Relay14, Relay13 is grounded always, and Relay9~Relay12 tetra- is public
Point is connected to 4 railway digitals input (DIG_IN) channel of the DS2202 boards of SW1~SW4 and the dSPACE cabinet 1 of tested ECU2；
When Relay14 ends no-voltage, tetra- normally-closed contacts of Relay1~Relay4 are connected, and are respectively connected to the output terminal of switchboard
SW_SW1~SW_SW4；If Relay14 connects 12V voltages, tetra- normally opened contact conductings of Relay5~Relay8 of relay, difference
It is connected to four pin ES_SW1~ES_SW4 of EPB switches 41.
Test device of the present invention be further characterized by the hardware package backplate 71 include three with door, a NOT gate and
One or, specific connection mode is (referring to Fig. 3)：With an input terminal of door A and with an input terminal of door B with limiting list
The common point connection of a limit switch L in member 72, with another input terminal of door B and with an input terminal of door C with limiting
The common point connection of another limit switch R in bit location 72, the output terminal of NOT gate is connect with another input terminal of door C,
The input terminal of NOT gate and with another input terminal of door A with the digital output channel of the DS2211 boards of dSPACE cabinets 1 and
The input terminal connection of stepper motor driver 62；With door A, with door B and with the output terminal of door C with or the input terminal of door connect,
Or the output terminal of door and the coil anode of protective relay connect, protective relay coil negativing ending grounding, the public affairs of protective relay
Concurrent is connected to the pulse input end of stepper motor driver 62, and the normally opened contact of protective relay is connected to ground terminal, protection
Pulse output (PWM_OUT) channel of the normally-closed contact of relay and the DS2202 boards of dSPACE cabinets 1 connects；By dSPACE
61 steering controling signal of stepper motor of the digital output channel output of the DS2211 boards of cabinet 1 is connected to stepper motor driving
The direction input terminal of device 62 is also connected with the input terminal of door A；In the power end VCC of dSPACE cabinets 1 and position-limiting unit 72
One end of two limit switches (limit switch L and limit switch R) connect, the ground terminal GND of dSPACE cabinets 1 and limiting are single
The other end of two limit switches (limit switch L and limit switch R) in member 72 connects.
Test device of the present invention is further characterized by the pressure sensor model as JHBM-M pressure sensors, limit
Bit location model XZ-15GW-B.It is that stepper motor 14 is driven shape that photoelectric encoder 63 and Gray code, which turn CAN64 main functions,
Into ramp value feed back to dSPACE cabinets 1 in real time.Wherein photoelectric encoder 63 be 12 absolute optical encoders, angle
Accuracy of identification is spent up to 0.08 °；Gray code turns CAN 64 using exclusive or method by turn, i.e., the gradient fed back to photoelectric encoder 63
Signal, by left side second, every and the decoded value in one, the left side are subjected to exclusive or, as the decoded value of this,
Exclusive or successively, until lowest order, transformed value is given to the DS4302CAN communication cards of dSPACE cabinets 1 by CAN lines.
The idiographic flow that test device of the present invention is further characterized by ramp control program is：It initializes first
Ramp parameter, ramp parameter include the minimum accuracy value that input angle angle value (In), current angle value (An), stepper motor 61 rotate
(pre), duty ratio (dc), frequency (f), switch and steering state (sd)；Compare input angle angle value In's and current angle value An
Size, if input angle angle value and the difference of current angle value are not above the minimum accuracy value of the rotation of stepper motor 61, i.e., |
In-An |≤pre, 61 attonity of stepper motor, i.e. duty ratio dc are zero, otherwise, then judge switch and the shape of steering state sd
State, if sd=00 or 01, stepper motor 61 is rotated with 50% duty ratio, i.e. dc=50；Sd=00, stepper motor 61 are inverse
Hour hands rotation is without touching limit switch；Sd=01, stepper motor 61, which rotates clockwise, does not touch limit switch；Sd=10,
Rotation touching limit switch, dc=0,61 stopping of stepper motor act stepper motor 61 counterclockwise；Sd=11, stepper motor 61 are suitable
Hour hands rotation touching limit switch, dc=0,61 stopping of stepper motor action.The rotary speed of stepper motor 61 is to pass through control
The output pulse frequency control of stepper motor driver 62, (1) is if input angle angle value and the difference of current angle value are not more than
8 °, stepper motor 61 is rotated with the frequency of 50Hz, i.e., | In-An | at≤8 °, and f=50Hz.(2) if input angle angle value with it is current
The difference of angle value is between 8 °~16 °, and stepper motor 61 is rotated with the frequency of 90Hz, i.e., 8 °<| In-An | at≤16 °, f=
90Hz.(3) if input angle angle value and the difference of current angle value are between 16 °~30 °, stepper motor 61 is with the frequency of 160Hz
Rate rotates, i.e., 16 °<| In-An | at≤30 °, f=160Hz.(4) if input angle angle value and the difference of current angle value are more than
30 °, stepper motor 61 is rotated with the frequency of 200Hz, i.e., 30 °<| In-An | when, f=200Hz.In this test device, setting
Limit switch is touched, that is, stops stepper motor 61 and rotates, to protect ramp testing stand.The present invention controls program to realize by ramp
The control of start and stop, speed to stepper motor, ramp control program are stored in dSPACE cabinets.
DSPACE cabinets can realize the input/output of digital signal and the output of pwm signal in the present invention, can also lead to
CAN communication board is crossed to be communicated with ECU2；Braking motor receives the signal that clamps and releases that tested ECU 2 is sent out and carries out phase
The action answered；Relay 42 in switch module 4 can be realized between true electronic parking switch and virtual parking switch
Switching；Sensor monitoring module 5 is connect with analog-to-digital conversion (ADC) channel of dSPACE cabinets 1, monitors brake pressure and system in real time
The variation of streaming current；Ramp drive module 6 and ramp protection module 7 can realize the change of arbitrary ramp angles in a certain range
It changes so that function is sailed out of in the ramp of detection electronic parking controller becomes accurate, feasible.
The operation principle of test device of the present invention is：Test device of the present invention can be realized to electronic parking controller function
Test, wherein ECU (electronic parking controller) 2 are main control unit, and control braking motor is generated according to the control strategy inside ECU
Correspondingly clamp and release action；DSPACE cabinets 1 are the cores of entire test device, are responsible for sensor (current sensor 53
With pressure sensor 51), the interactions of the signals such as actuator (braking motor and stepper motor 61)；Switch module 4 can by after
Electric appliance 42 realizes the switching between true switching mode and virtual switch pattern, under true switching mode, the switch of EPB switches 41
State is directly given to ECU2 by relay 42, under virtual switch pattern, sends out braking by dSPACE cabinets 1 or release is asked
Order, ECU2 is transmitted to after the processing of switchboard 43, then by relay 42；Sensor monitoring module 5 can pass through electric current
Sensor 53 monitors the size of current of braking motor in real time, and pressure sensor 51 can be with the size of Real-time Feedback clamping force；Ramp
Drive module 6 can be turned CAN64 by Gray code and stepper motor rotation angle is fed back to dSPACE cabinets 1 by CAN lines；Slope
Pipe protection module 7 includes hardware package backplate 71 and position-limiting unit 72.The rotation of stepper motor 61 touches limiting more than the value of setting
Unit 72, steering controling signal give stepper motor driver 62, stepper motor driver 62 after the processing by hardware package backplate
Control enable signal become low level, stepper motor 61 stops operating.When ramp controls program " run fly ", i.e. stepper motor
61 rotation angles have exceeded set angle threshold range, if continuing to rotate, it will cause the damage of ramp testing stand, in order to
The generation of such case is prevented, ramp protection module is added on the experimental bench of ramp.
Hardware-in-loop simulation is a kind of HWIL simulation, i.e., practical controller and virtual object (vehicle), software mould
Type is run in the hardware inside dSPACE cabinets can be known as in ring, and test device of the present invention is all in ring test.This hair
Bright automotive electronic parking controller hardware can be used for simulating real vehicle operating condition in ring test device, to automotive electronic parking
Static clampings, static release, automatic parking, ramp the functions such as sail out of and make evaluation, detect the big of automotive electronic parking controller
Whether partial function is normal, and then provides foundation for the perfect of automotive electronic parking controller control strategy.
Test device of the present invention below test automotive electronic parking controller whether ring specific test process：
1) the static basic function for clamping control and having as automotive electronic parking controller, static state clamp control plan
Slightly it is the core of automotive electronic parking controller.EPB switches 41 have three state：Apply、Release、Netual.By giving
The coil anode Relay14 ends of relay 42 add the voltage of a 12V, generate magnetic field around 42 coil of relay so that relay
The armature contact normally opened contact of device 42,41 hair brake request of EPB switches, handles by internal circuit, is translated into ES_
Tetra- kinds of states of SW1~ES_SW4；Four kinds of states are transmitted to by relay by normally opened contact Relay5~Relay8 of relay 42
42 common point Relay9~Relay12, and common point Relay9~Relay12 is connected to SW1~SW4 pins of ECU2, i.e.,
It realizing from true parking switch signal to the transmission ECU2 switching signals, ECU 2 receives brake request order, according to
Control strategy inside ECU, driving braking motor rotate forward；By current sensor 53 in host computer interface (by host computer
Software can realize monitoring and operation to channel information in dSPACE cabinets 1.) the big of stalling current can be read in real time
Small, when stalling current reaches threshold current, the voltage at braking motor both ends is set low level by ECU2, and braking motor will stop at this time
Turn；Current brake pressure value can be read by pressure sensor 51.
2) second of state of static release control EPB switches 41 is static release request end, is switched according to EPB
41 send out static release order, and process is similar with static clamping process, is no longer repeated herein.Using PC control void
Intend on-off mode and realize Release release controls, as shown in Fig. 2, 42 coil both ends off voltage of relay, armature will be in bullet
It sets back under the pressure of spring, so that normally-closed contact Relay1~Relay4 is connected with common point Relay9~Relay12；
Static release is sent out by the digital output channel of the DS2202 boards of dSPACE cabinets 1 to ask, at the signal by switchboard 43
Reason, is translated into tetra- kinds of states of SW_SW1~SW_SW4；Due to the common point Relay9~Relay12 and ECU2 of relay 42
Four on off state SW1~SW4 connections, therefore be finally given to electronic parking by 43 processed on off state of switchboard
Controller ECU2, ECU2 receive brake request order, according to its internal control strategy, driving braking motor reversion；By
Analog-to-digital conversion (ADC) channel of dSPACE cabinets 1 acquires the size of pressure sensor 51 and current sensor 53 in real time, so as to
ECU2 controls braking motor stalling opportunity according to stalling current size, by monitoring the size of brake pressure, can be used as static state
The Appreciation gist of release control.
3) control of automatic parking control automatic parking is a kind of intelligent parking function of automotive electronic parking braking, works as inspection
Measure vehicle and be in dead ship condition, ECU2 can intelligent decision its for can be with parked state, and then send parking order, realize parking
Braking.The Vehicular status signal simulated is transferred to ECU2, ECU2 detection speeds by CAN lines by dSPACE cabinets 1 first
Signal, if engine rotational speed signal is zero and speed signal is zero and keeps 2.5s, ECU2 driving braking motors, which rotate forward, to be clamped,
ECU2 receives the stalling current size of current sensor 53, and when stalling current has been more than the threshold current of setting, ECU2 is to braking
Electric-motor drive unit hair braking is ceased and desisted order, braking motor stalling.
4) 1 hair control signal of control dSPACE cabinets is sailed out of to stepper motor driver 62 in ramp, and stepper motor is two-phase
Composite stepper motor, model 110HS12, technical specification are：1.8 °, electric current 5A of step angle, number of leads are 4, step
The control signal of stepper motor driver 62 is effective for low level, and the anode of signal is controlled to be connected together as the public of signal
End.By photoelectric encoder 63 in real time monitoring stepper motor 61 rotation angle, and pass through Gray code turn CAN64 will be acquired
Angle value is transmitted to dSPACE cabinets 1, if detecting that current angle value and input angle angle value are equal, is sent by dSPACE cabinets 1
Stop signal controls stepper motor 61 to stop rotating to stepper motor driver 62 by stepper motor driver 62, thus to obtain
Inclination of ramp angle value needed for experiment；Braking motor is in clamped condition, ramp value by CAN lines signal such as engine rotational speed signal,
Gear signal, accelerator pedal position signal, clutch pedal position signal etc. are sent to ECU2 by dSPACE cabinets 1, pass through
ECU2 internal control strategies are judged, if reach current grade braking motor release torque, ECU2 driving braking motors are anti-
Turn release, sailed out of so as to fulfill ramp.
Unaccomplished matter of the present invention is known technology.
Claims (5)
1. a kind of automotive electronic parking controller hardware is in ring test device, it is characterised in that the test device includes dSPACE machines
Cabinet, executing agency, switch module, Sensor monitoring module, ramp drive module and ramp protection module；Executing agency's packet
Braking motor, brake caliper and pressure nut are included,
The dSPACE cabinets include DS1006 processors board, DS2202 boards, DS2211 boards and DS4302CAN communication boards
Card；Its connection relation is：DS1006 processor plates card by PHS buses respectively with DS2202 boards, DS2211 boards and
DS4302CAN communication cards connect；Control program in ramp is stored in dSPACE cabinets；
The CAN bus channel of the digital input channel of DS2202 boards and DS4302CAN communication cards in the dSPACE cabinets
It is connect with the input terminal of tested ECU, the input of the digital output channel of DS2211 boards and tested ECU in dSPACE cabinets
End connection, braking motor are connect with the output terminal of tested ECU；
The switch module includes EPB switches, relay and switchboard；EPB switchs the normally opened contact that one end is connected to relay,
The normally-closed contact of relay and the output terminal of switchboard connect, the number of switchboard input terminal and the DS2202 boards of dSPACE cabinets
Word output channel connects；The coil anode of relay is connected to the power end of switchboard, and coil negative terminal is connected to connecing for switchboard
Ground terminal；EPB is switched and digital output channel of the power end of tested ECU with the DS2211 boards of dSPACE cabinets is connect,
The common point of relay is connect with the input terminal of tested ECU；
The Sensor monitoring module includes pressure sensor, transmitter and current sensor, the output terminal and electric current of transmitter
Analog-to-digital conversion channel of the output terminal of sensor respectively with the DS2202 boards of dSPACE cabinets is connect, and pressure sensor is placed in system
Between moving calipers and pressure nut, the input terminal connection of pressure sensor and transmitter, current sensor nesting to braking motor
Motor anode；
The ramp drive module turns CAN including stepper motor, stepper motor driver, photoelectric encoder and Gray code；Stepping
Motor is connected by stepper motor driver with dSPACE cabinets；Photoelectric encoder turns CAN and dSPACE machines by Gray code
Cabinet connects；
The ramp protection module includes hardware package backplate and position-limiting unit, hardware package backplate and position-limiting unit with dSPACE machines
Cabinet connects, and position-limiting unit is connected by hardware package backplate with stepper motor driver.
2. automotive electronic parking controller hardware according to claim 1 is in ring test device, it is characterised in that described hard
Part protection board include three with door, a NOT gate, one or and a protective relay, specific connection mode be：With door A's
It one input terminal and is connect with an input terminal of door B with the common point of a limit switch L in position-limiting unit, with door B's
It another input terminal and is connect with an input terminal of door C with the common point of another limit switch R in position-limiting unit, with door
The output terminal of another input terminal connection NOT gate of C, the input terminal of NOT gate and with another input terminal of door A with dSPACE machines
The digital output channel of the DS2211 boards of cabinet is connected with the input terminal of stepper motor driver；With door A, with door B and with door C's
Output terminal with or door input terminal connect or the coil anode of the output terminal of door and protective relay connect, protective relay
Coil negativing ending grounding, the common point of protective relay are connected to the pulse input end of stepper motor driver, protective relay
Normally opened contact is connected to ground terminal, and the pulse output of the normally-closed contact of protective relay and the DS2202 boards of dSPACE cabinets is logical
Road connects.
3. automotive electronic parking controller hardware according to claim 1 is in ring test device, it is characterised in that the slope
Road control program idiographic flow be：First initialize ramp parameter, ramp parameter include input angle angle value, current angle value,
Minimum accuracy value, duty ratio, frequency, switch and the steering state of stepper motor rotation；Compare input angle angle value and current angular
The size of value, if input angle angle value and the difference of current angle value are not above the minimum accuracy value of stepper motor rotation, step
Stepper motor attonity, i.e. duty ratio are zero, otherwise, then judge switch and the state of steering state sd, if sd=00 or 01, step
Stepper motor is rotated with 50% duty ratio；Sd=00, stepper motor are rotated counterclockwise without touching limit switch；Sd=
01, stepper motor, which rotates clockwise, does not touch limit switch；Sd=10, stepper motor rotate touching limit switch counterclockwise,
Stepper motor stopping acts；Sd=11, stepper motor rotate clockwise touching limit switch, stepper motor stopping action.
4. automotive electronic parking controller hardware according to claim 1 is in ring test device, it is characterised in that the pressure
Force snesor is JHBM-M pressure sensors, and position-limiting unit model XZ-15GW-B, photoelectric encoder is 12 absolute type photoelectricity
Encoder, Gray code turn CAN using exclusive or method by turn.
5. a kind of automotive electronic parking controller hardware is in ring test method, this method is any described using claim 1-4
Test device, specific test process are：
1) it is static to clamp the coil anode Relay14 ends making alive controlled by giving relay, generate magnetic around relay coil
, the armature of relay is made to contact normally opened contact, EPB switch hair brake requests are handled by internal circuit, are translated into
Tetra- kinds of states of ES_SW1~ES_SW4；Four kinds of states are transmitted to by relay by 5~Relay of normally opened contact Relay 8 of relay
9~Relay of common point Relay 12 of device, and 9~Relay of common point Relay 12 are connected to SW1~SW4 pins of ECU,
It realizing from true parking switch signal to the transmission ECU switching signals, ECU receives brake request order, according to
Control strategy inside ECU, driving braking motor rotate forward；Stalling current is read by current sensor in real time in host computer interface
Size, when stalling current reaches threshold current, the voltage at braking motor both ends sets low level by ECU immediately, at this time braking electricity
Machine will stall；Current brake pressure value can be read by pressure sensor, realize that the static of automotive electronic parking clamps；
2) static release is controlled under true switching mode, and the on off state of EPB switches is directly given to ECU by relay；Virtually
Under switching mode, Release release controls are realized using PC control virtual switch mode, relay coil both end voltage is released
It puts, so as to which armature sets back under spring force, contact normally-closed contact Relay1~Relay4；By dSPACE cabinets
The digital output channel of DS2202 boards sends out static release request, by the signal processing of switchboard, is translated into SW_
Tetra- kinds of states of SW1~SW_SW4, on off state by normally-closed contact Relay1~Relay4 be transmitted to common point Relay9~
Relay12, and then on off state is realized by the transmission of dSPACE cabinets to ECU, ECU receives brake request order, according to it
Internal control strategy, driving braking motor reversion；Pressure sensor is acquired by the analog-to-digital conversion channel of dSPACE cabinets in real time
With the size of current sensor, so as to which ECU controls braking motor stalling opportunity according to stalling current size, brake pressure is monitored
Size realizes the static release control of automotive electronic parking；
3) Vehicular status signal simulated is transferred to ECU by automatic parking control by dSPACE cabinets by CAN lines first,
ECU detects speed signal, if engine rotational speed signal is zero and speed signal is zero and keeps 2.5s, ECU driving braking electricity
Machine rotate forward clamp, ECU receive current sensor stalling current size, when stalling current be more than setting threshold current, ECU
It ceases and desist order to the hair braking of braking motor driving unit, realizes the automatic parking control of automotive electronic parking；
4) control dSPACE cabinet hair control signals are sailed out of to stepper motor driver in ramp, and the control of stepper motor driver is believed
Number for low level it is effective, monitor the rotation angle of stepper motor in real time by photoelectric encoder, and pass through Gray code and turn CAN by institute
The angle value of acquisition is transmitted to dSPACE cabinets, if detecting that current angle value and input angle angle value are equal, by dSPACE cabinets
Stop signal is sent to stepper motor driver, is stopped rotating by stepper motor driver control stepper motor, thus to obtain reality
Inclination of ramp angle value needed for testing；Braking motor is in clamped condition, and inclination of ramp angle value is sent to by CAN lines by dSPACE cabinets
ECU is judged by ECU internal control strategies, if reach current grade braking motor release torque, ECU driving braking electricity
Machine reversion release, realizes that control is sailed out of in ramp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408961.5A CN105867358B (en) | 2016-06-06 | 2016-06-06 | Automotive electronic parking controller hardware is in ring test device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408961.5A CN105867358B (en) | 2016-06-06 | 2016-06-06 | Automotive electronic parking controller hardware is in ring test device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105867358A CN105867358A (en) | 2016-08-17 |
| CN105867358B true CN105867358B (en) | 2018-06-29 |
Family
ID=56649206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610408961.5A Expired - Fee Related CN105867358B (en) | 2016-06-06 | 2016-06-06 | Automotive electronic parking controller hardware is in ring test device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105867358B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544476A (en) * | 2017-10-19 | 2018-01-05 | 南京越博动力系统股份有限公司 | A kind of direct fault location case for pure electronic entire car controller functional safety experiment |
| CN110816294B (en) * | 2019-11-20 | 2022-07-01 | 珠海英搏尔电气股份有限公司 | Slope-stopping control method of electric vehicle, electric vehicle and readable storage medium |
| CN113671927A (en) * | 2020-05-15 | 2021-11-19 | 武汉辅安科技有限公司 | Hardware-in-loop testing device and method for electronic parking system controller of commercial vehicle |
| CN113050610B (en) * | 2021-03-31 | 2022-06-03 | 上海拿森汽车电子有限公司 | State detection device and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103176472A (en) * | 2013-03-13 | 2013-06-26 | 长沙理工大学 | Four-wheel drive pure electric vehicle hardware-in-loop simulation experimental system |
| CN103186101A (en) * | 2011-12-27 | 2013-07-03 | 中联重科股份有限公司 | Hardware-in-the-loop simulation testing system of complete vehicle controller |
| CN103576560A (en) * | 2013-11-06 | 2014-02-12 | 镇江长江汽车配件有限公司 | Semi-physical simulation system and method for electronic parking braking control |
| CN103728975A (en) * | 2014-01-21 | 2014-04-16 | 吉林大学 | Road slope simulation test stand for hardware-in-the-loop test of electrical park brake system |
| CN203616143U (en) * | 2013-12-23 | 2014-05-28 | 吉林大学 | Worm and gear type electronic parking brake gradient simulation testing station |
| CN203705946U (en) * | 2014-01-21 | 2014-07-09 | 吉林大学 | Road gradient simulation test bench of electronic parking brake system hardware-in-the-loop test |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102155831B1 (en) * | 2013-09-16 | 2020-09-14 | 현대모비스 주식회사 | Parking control system of emb and method thereof |
-
2016
- 2016-06-06 CN CN201610408961.5A patent/CN105867358B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103186101A (en) * | 2011-12-27 | 2013-07-03 | 中联重科股份有限公司 | Hardware-in-the-loop simulation testing system of complete vehicle controller |
| CN103176472A (en) * | 2013-03-13 | 2013-06-26 | 长沙理工大学 | Four-wheel drive pure electric vehicle hardware-in-loop simulation experimental system |
| CN103576560A (en) * | 2013-11-06 | 2014-02-12 | 镇江长江汽车配件有限公司 | Semi-physical simulation system and method for electronic parking braking control |
| CN203616143U (en) * | 2013-12-23 | 2014-05-28 | 吉林大学 | Worm and gear type electronic parking brake gradient simulation testing station |
| CN103728975A (en) * | 2014-01-21 | 2014-04-16 | 吉林大学 | Road slope simulation test stand for hardware-in-the-loop test of electrical park brake system |
| CN203705946U (en) * | 2014-01-21 | 2014-07-09 | 吉林大学 | Road gradient simulation test bench of electronic parking brake system hardware-in-the-loop test |
Non-Patent Citations (1)
| Title |
|---|
| 电子驻车制动系统仿真与试验;王斌 等;《农业机械学报》;20130831;第44卷(第8期);第45-49页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105867358A (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105867358B (en) | Automotive electronic parking controller hardware is in ring test device and method | |
| CN2914104Y (en) | Testing device of electric motor | |
| CN102156459B (en) | Simulation loading device for whole-vehicle controller | |
| CN203732689U (en) | System for testing power system electrical components of mild hybrid electric vehicle | |
| WO2010034266A1 (en) | Hybrid electric motor and controller test platform and test method thereof | |
| CN1740754A (en) | Indicating instrument and initializing device | |
| JP4990358B2 (en) | Method for braking an electrically driven vehicle | |
| CN108227669A (en) | The automatic testing equipment and method of controller of new energy automobile | |
| CN106598024B (en) | Retarder signal simulation detection device and detection method | |
| CN114802168B (en) | Parking brake control system and method | |
| CN103838232A (en) | Multi-ECU coordination control test bed of automobile chassis | |
| CN108845555A (en) | Motor controller of new energy automobile automatization test system | |
| CN108692948A (en) | Vehicle oil consumption tests system and control method | |
| WO2009129682A1 (en) | A testing system for the hybrid power controller | |
| CN103092187B (en) | Hybrid power control system hardware-in-loop experimental platform | |
| CN203249776U (en) | Simulation test system applied to EPB | |
| CN104793138A (en) | Servo motor test bench | |
| DE102011118172A1 (en) | Method for controlling electromotor in electric vehicle, involves determining target motor position angle of electric motor in emergency operation, in case of failure of position sensor by simulation unit | |
| CN110040119B (en) | Electronic parking braking method and device | |
| CN104960511A (en) | Method for preventing mistaking accelerator pedal for brake pedal | |
| CN110162007A (en) | A kind of detection system and detection method of vehicle trouble | |
| CN201251709Y (en) | Testing device of vehicle body controller | |
| CN204719208U (en) | Servo motor test bench | |
| CN104022700B (en) | Automotive motor controller and controlling method thereof | |
| CN101762785B (en) | Test method of driving motor of hybrid vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 |