CN106802650A - Electric motor coach integration control hardware is in ring test platform and method of testing - Google Patents

Abstract

The invention provides a kind of electric motor coach integration control hardware in ring test platform and method of testing, the electric motor coach integration control hardware based on line traffic control air-pressure brake, is made up of in ring test platform source of the gas component, line traffic control Pneumatic braking system, traditional braking component, riding manipulation component, signal imitation component, target machine and host computer；The electric motor coach integration control hardware includes accelerated test, braking test and slew test in ring test method.Testing stand of the present invention realizes four accurate adjustments of wheel brake pressure by the antero posterior axis proportion relay valve in line traffic control Pneumatic braking system and four ABS magnetic valves, and the integrated control to electric motor coach is realized in combination with the signal imitation such as two degrees of freedom rotation platform and wheel speed simulated machine component and corresponding detection method.

Description

Electric motor coach integration control hardware is in ring test platform and method of testing

Technical field

The invention belongs to electric motor coach control system hardware testing technical field, based on line traffic control Pneumatic braking system, Specifically related to electric motor coach integration control hardware is in ring test platform and method of testing.

Background technology

Recently as developing rapidly for China's economy, Highway Passenger Transportation Volume is improved year by year, and car is in highway passenger transportation system Shared proportion is increasing, using also increasingly frequent.But because car carrying occupant is more, weight and volume is big and center of gravity The reason such as higher, often occur rollover, break away etc. accident, cause a tremendous loss of lives, with the improvement of people's safety consciousness and The formulation of national relevant laws and regulations, the safety issue of car is more and more paid close attention to by people.

At present, most of cars all use Pneumatic braking system, and conventional gas brakes has many defects：First, Car brake piping is more long, and air pressure response is slow during braking, produces braking retardation phenomenon；Secondly, traditional car compares according to fixed The brake force of each between centers of example distribution, does not account for axle load branch problem during braking.

With the development of electronic technology, line traffic control Pneumatic braking system arises at the historic moment, and line traffic control Pneumatic braking system is in air pressure Developed on the basis of ABS system, it uses Electronic Control to replace conventional gas transmission control brakes, with conventional gas Brakes is compared, and line traffic control Pneumatic braking system can be effectively improved the braking response time, automatically adjusts the brake force of each between centers Distribution, improves braking comfortableness and security.

ASR (driving wheel antiskid control system) and ESC (electronic stabilizing control system) are line traffic control Pneumatic braking systems in ABS On the basis of extension, its can for vehicle traction wheel spike, understeer or excessively, the urgent work such as Emergency avoidance and whipping Condition, before turning on one's side or breakking away will occur in vehicle, corrects vehicle running state, it is ensured that vehicle safe driving in advance.

The country disclose it is various test brakes testing stand, but be electric control hydraulic braking system test platform, Electronic control pneumatic brake anti-lock controls test platform or driving wheel actively anti-skidding (ASR) integrated control system test platform.

Chinese Patent Application No. is 201310478188.6, and patent name is " vehicle stability controlled system real-time Simulation Hardware-in-the-loop test platform ", patentee is Jilin University.The testing stand utilizes body gesture analogue means, multiple drive power motor Deng hardware, testing research is carried out to vehicle stabilization control by dSPACE real-time systems, but the testing stand is mainly used in multiplying With car electric control hydraulic braking systematic research；

Chinese Patent Application No. is 200910088930.6, and patent name is for " automotive anti-lock braking and braking energy are returned Feedback integration control hardware is the-loop test bed ", apply for artificial Tsing-Hua University.The testing stand be mainly used in conventional gas brakes with The coordination control research of brake energy feedback system；

Chinese Patent Application No. is 200610017223.4, and patent name is the " hardware of active antislid integrated control system Loop test bed ", apply for artificial Jilin University, the test platform is by four ABS magnetic valves of antero posterior axis and rear axle ASR valves and relay valve realize the anti-skidding integrated control of the active of Pneumatic braking system.

Above-mentioned prior art cannot carry out the electric motor coach integration control hardware based on line traffic control Pneumatic braking system In ring test.

The content of the invention

It is an object of the invention to provide a kind of electric motor coach integration control hardware in ring test platform and method of testing, it is used for Solve the integrated control problem of electric motor coach based on line traffic control Pneumatic braking system.With reference to Figure of description, technical side of the invention Case is as follows：

Electric motor coach integration control hardware in ring test platform, based on line traffic control air-pressure brake, by source of the gas component, line traffic control Pneumatic braking system, traditional braking component, riding manipulation component, signal imitation component, target machine 31 and host computer 32 are constituted；

The source of the gas component delivery air is exported through gas receiver respectively, front axle brake loop, rear axle is formed respectively and is braked back Road and parking brake loop；

The line traffic control Pneumatic braking system is by controller 30, the corresponding proportion relay valve of main brake valve 9, antero posterior axis, standby pressure The corresponding ABS solenoid valve blocks of 10, four wheels of valve into；The hardware system of the controller 30 is from the periphery to external output signal Drive circuit, the signal processing circuit for receiving and processing external signal, and the CAN being connected with the CAN cards in target machine 31 are logical Letter circuit；

By braking valve for vehicle 12, relay valve 11 and four wheels, accordingly four groups of brakings are filled the traditional braking component Put and three be connected to three triple valves of brake circuit, wherein brake apparatus respectively by brake, brake chamber and Brake chamber pressure sensor is sequentially connected composition；

Riding manipulation component is passed by steering wheel 64, steering wheel angle sensor 65, accelerator pedal 66 and accelerator pedal displacement Sensor 67 is constituted；

The signal imitation component is made up of body gesture simulated assembly and wheel speed simulated assembly；The body gesture simulation Component is made up of two degrees of freedom rotation platform 34 and signal acquisition module 33, the collection two degrees of freedom rotary flat of signal acquisition module 33 Platform 34 produces Transverse pendulum and roll motion signal；The wheel speed simulated assembly by respectively with four wheels accordingly four groups of wheel speeds Analogue means is constituted, and the wheel speed analogue means is sequentially connected by wheel speed simulated machine, gear ring and wheel speed sensors and constituted；

Be provided with the target machine 31 be connected with brake chamber pressure sensor the signal acquisition board, for Wheel speed simulated machine and two degrees of freedom rotation platform 34 send control signal control signal board and with CAN moulds in controller 30 The CAN cards that block, steering wheel angle sensor 65 are connected with accelerator pedal displacement transducer 67；

The target machine 31 and the two-way communication link of host computer 32, host computer 32 is to the download model of target machine 31, target machine 31 real time information that vehicle is fed back to host computer 32.

Electric motor coach integration control hardware in ring test platform, wherein, the front axle brake loop is：Source of the gas component is exported Air is exported through front axle gas receiver 5, the gas outlet of front axle gas receiver 5 respectively with the lower air inlet and preceding axis scale of main brake valve 9 The high pressure admission of relay valve 42 mouthful is connected, the lower air inlet of main brake valve 9 and the low voltage control port of front axle proportion relay valve 42 It is connected, the gas outlet of front axle proportion relay valve 42 is connected with the air inlet of propons triple valve 43, and two of propons triple valve 43 go out Air inlet of the gas port respectively with the near front wheel ABS magnetic valves 44 and off-front wheel ABS magnetic valves 41 is connected, the near front wheel ABS magnetic valves 44 Gas outlet be connected with the near front wheel brake chamber 48, the near front wheel brake chamber 48 is connected near front wheel brake 49, off-front wheel ABS The gas outlet of magnetic valve 41 is connected with off-front wheel brake chamber 39, and off-front wheel brake chamber 39 is connected with off-front wheel brake 38；

The rear axle brake circuit is：Source of the gas component delivery air is exported through rear axle gas receiver 6, and rear axle gas receiver 6 goes out Gas port is connected with the high pressure admission mouthful of the enterprising gas port of main brake valve 9 and rear axle proportion relay valve 14 respectively, main brake valve 9 it is upper Gas outlet is connected with the air inlet of standby pressure valve 10, the low voltage control port of gas outlet and rear axle proportion relay valve 14 for pressure valve 10 It is connected, the gas outlet of rear axle proportion relay valve is connected with the air inlet of rear axle triple valve 22, two outlets of rear axle triple valve 22 Air inlet of the mouth respectively with left rear wheel ABS magnetic valves 21 and off hind wheel ABS magnetic valves 23 is connected, left rear wheel ABS magnetic valves 21 Gas outlet is connected with left rear wheel brake chamber 19, and left rear wheel brake chamber 19 is connected with left rear wheel brake 18, off hind wheel ABS electricity The gas outlet of magnet valve 23 is connected with off hind wheel brake chamber 24, and off hind wheel brake chamber 24 is connected with off hind wheel brake 26；

The parking brake loop is：Source of the gas component delivery air is exported through parking braking gas receiver 7, parking braking gas storage The gas outlet of cylinder 7 is connected with the air inlet of braking valve for vehicle 12 and the high pressure admission mouthful of relay valve 11 respectively, braking valve for vehicle 12 Gas outlet be connected with the low voltage control end of relay valve 11, the gas outlet of relay valve 11 and the air inlet phase of parking triple valve 17 Even, two gas outlets of parking triple valve 17 are connected with left rear wheel brake chamber 19 and off hind wheel brake chamber 24 respectively, left back Wheel brake chamber 19 is connected with left rear wheel brake 18, and off hind wheel brake chamber 24 is connected with off hind wheel brake 26.

Electric motor coach integration control hardware in ring test platform, wherein, the two degrees of freedom rotation platform 34 is by upper and lower two Individual drive transmission device；

In lower drive transmission device, it is installed on the servomotor 52 of lower electric machine support 51 and is installed on drive shaft sleeve 54 In lower drive shaft 56 it is coaxially connected, the top of lower drive shaft 56 with by upper electric machine support connector 58 and upper electric machine support 60 Connection；In upper drive transmission device, the stepper motor 59 on upper electric machine support 60 is coaxially connected with upper power transmission shaft 61, The servomotor 52 and the right angle setting of stepper motor 59, upper power transmission shaft 61 is by upper drive shaft engagement member 62 and signal acquisition mould Block support 63 is connected, and transmitting torque；

The servomotor 52 drives the upper mould of electric machine support 60 to intend Transverse pendular motions, and the stepper motor 59 is rotated and drives signal Acquisition module support 63 simulates roll motion；

The built-in lateral acceleration sensor of the signal acquisition module 33 is He Transverse pivot angle velocity sensors, gather two degrees of freedom Vehicle side acceleration that rotation platform 34 is simulated is He Transverse pivot angle rate signals, and the signal input that will be collected is to controller In 30 signal processing circuit.

Further, the lower section of electric machine support connector 58 is provided with slip ring 57 on described, by signal acquisition module 33 And be installed on electric machine support 60 stepper motor 59 wire harness by slip ring 57, prevent wire harness from winding.

Electric motor coach integration control hardware in ring test platform, wherein, the host computer 32 is made up of display screen and main frame, Display screen is connected by VGA line with main frame, and the output port of the main frame is connected with the SIT modules of target machine 31, realizes upper Whole vehicle model and motor/battery model are downloaded to real time execution in target machine 31 by machine 32, while target machine 31 is by vehicle-state Real time information feed back to host computer 32, and display screen by host computer 32 shows in real time.

Electric motor coach integration control hardware in ring test platform, wherein, the signal processing circuit includes：With main brake valve The pedal signal process circuit of 9 brake signal output end connection, the respectively pressure sensing built-in with antero posterior axis proportion relay valve The antero posterior axis pressure signal processing circuit of device output end connection, respectively Wheel speed signal sensor corresponding with four wheels connect Wheel speed signal process circuit, the steering wheel angle signal processing circuit being connected with the output end of steering wheel angle sensor 65, with The output end Lian Jie Transverse pivot angle rate signal process circuits and lateral acceleration signal process circuit of signal acquisition module 33；

The peripheral drive circuit includes：The ABS solenoid-drivens electricity that ABS magnetic valves corresponding with four wheels are connected Road, the antero posterior axis proportion relay valve drive circuit being connected with antero posterior axis proportion relay valve respectively.

Electric motor coach integration control hardware is in the method for testing of ring test platform, and method of testing is specific as follows：

Start source of the gas first, preceding axis scale servo is reached through front axle gas receiver 5 and rear axle gas receiver 6 by source of the gas component respectively The high pressure admission mouthful of valve 42 and rear axle proportion relay valve 14, at the same time operates, by whole vehicle model and electricity to host computer 32 Machine and battery model download to real time execution in target machine 31, and virtual vehicle model is carried out by riding manipulation component 8 then Accelerate, brake and steering operation, so as to realize accelerated test, braking test and slew test；

During accelerated test, the output signal of the CAN cards collection accelerator pedal displacement transducer 67 in target machine 31, And the signal input that will be collected realizes the acceleration of virtual vehicle model, four wheels of wheel of whole vehicle model in whole vehicle model Fast information is exported to four control ends of wheel speed simulated machine, the corresponding wheel of control by the control signal board in target machine 31 Fast simulated machine simulates the real-time wheel speed of vehicle, the wheel speed information input that four wheel speed sensors will be collected to controller 30 In wheel speed signal process circuit in, controller 30 according to the wheel speed information after treatment draw vehicle real-time speed and each car Real-time slippage rate is taken turns, and the slippage rate that will be drawn is compared with the setting slippage rate threshold value in controller 30, judges vehicle Real-world operation situation；

In test process is braked, the built-in pedal displacement sensor of main brake valve 9 is by the aperture and aperture of brake pedal Rate of change signal input in the pedal signal process circuit of controller 30, according to the signal after treatment to braking anticipate by controller 30 Figure is recognized, and demand brake force is recognized by the aperture of brake pedal, and the braking of vehicle is recognized by pedal aperture rate of change State；

During slew test, the steering wheel angle signal input that steering wheel angle sensor 65 will be collected to control The CAN cards in steering wheel angle signal processing circuit and target machine 31 in device 30, controller 30 is according to the steering wheel for receiving Angular signal judges that the steering of driver is intended to, and calculates the Zheng Che Transverse pivot angles speed and side acceleration of standard, and target machine The steering wheel angle signal that CAN cards in 31 will be received is input in whole vehicle model by after mathematics conversion, realizes virtual vehicle The steering of model, whole vehicle model Transverse pivot angles speed and side acceleration information are by the signal Control card in target machine 31 The servomotor 52 and stepper motor 59 of two degrees of freedom rotation platform 34 are exported, two motors of control are rotated, and simulate vehicle reality Shi Transverse put and roll motion, and signal acquisition module 33 passes through built-in Transverse pivot angles velocity sensor and lateral acceleration sensor Collection vehicle Shi Shi Transverse pivot angles speed and side acceleration, and the information input that will be collected is to the Zhong Transverse pivot angles of controller 30 In rate signal process circuit and side acceleration process circuit, at this moment controller 30 by the Shi Shi Transverse pivot angles speed after treatment and Side acceleration information is contrasted with the standard Zheng Che Transverse pivot angles speed and side acceleration that calculate, when mistake between the two When difference exceedes the threshold value of setting, controller 30 applies to control according to corresponding control logic to motor vehicle braking system；

In above process, the information of car status information and line traffic control Pneumatic braking system is fed back to upper by target machine 31 In machine 32, can be by the change of the display screen real time inspection car status information of host computer 32 and the fortune of monitoring objective machine 31 OK.

Electric motor coach integration control hardware ring test platform method of testing, wherein, during the accelerated test, The test process of four wheels is identical, wherein, the test process of rear left wheel is：When the slippage rate of left rear wheel trackslips more than setting Rate threshold value, first controller 30 are judged vehicle speed；

If real-time speed is less than preset vehicle speed, controller 30 is by rear axle proportion relay valve drive circuit and ABS electricity Electromagnetic valve driving circuit control increases the aperture and left rear wheel ABS magnetic valve air inlets of rear axle proportion relay valve high pressure admission mouthful Opening time, the gas for being at this moment supplied to rear axle proportion relay valve high pressure admission mouthful passes sequentially through rear axle proportion relay valve 14, rear axle Triple valve 22, left rear wheel ABS magnetic valves 21 reach left rear wheel brake chamber 19, and left rear wheel brake chamber pressure sensor 20 will be adopted The brake chamber pressure signal for collecting is input to whole vehicle model by the signal acquisition board in target machine 31, and left rear wheel is carried out Brake operating；

If real-time speed is more than preset vehicle speed, by being communicated between CAN and target machine 31, control subtracts controller 30 The driving moment of small machine model output, while implementing brake operating to corresponding wheel；

Make vehicle-state that respective change to occur by said process, the wheel speed information after at this moment changing is believed again by control The output of number board controls the rotating speed of wheel speed simulated machine to change to the control end of wheel speed simulated machine, and wheel speed sensors will The wheel speed information for collecting is again inputted into the wheel speed signal process circuit in controller 30, and controller 30 carries out speed again Real-time estimation and contrast with slippage rate, above-mentioned cyclic process are repeated.

Electric motor coach integration control hardware ring test platform method of testing, wherein, it is described braking test process in, Including in conventional brake operating mode and in brake hard operating mode；

When controller 30 picks out vehicle is in conventional brake operating mode, by demand brake force according to conventional composite braking control Strategy processed determines front axle target air pressure brake force, rear axle target air pressure brake force and target motor brake force；Then according to preceding Axle target air pressure brake force and rear axle target air pressure brake force, controller 30 by antero posterior axis proportion relay valve drive circuit and The aperture of ABS driving circuit for electromagnetic valve control antero posterior axis proportion relay valve high pressure admission mouthful and beating for ABS magnetic valve portings ETAD expected time of arrival and departure, is supplied to the gas of front axle proportion relay valve high pressure admission mouthful by front axle proportion relay valve 42, front axle triple valve 43, a left side Front-wheel ABS magnetic valves 44, off-front wheel ABS magnetic valves 41 reach the near front wheel brake chamber 48 and off-front wheel brake chamber 39, are supplied to The gas of rear axle proportion relay valve high pressure admission mouthful passes through rear axle proportion relay valve 14, rear axle triple valve 22, left rear wheel ABS electromagnetism Valve 21, off hind wheel ABS magnetic valves 23 reach left rear wheel brake chamber 19 and off hind wheel brake chamber 24, brake chamber pressure sensing The pressure signal of four brake chambers that device will be collected is input to the signal acquisition board in target machine 31, the signal acquisition The actual value of the pressure signal that board will be collected is input in whole vehicle model；This outer controller 30 believes target motor brake force Number by CAN transmit to the CAN cards in target machine 31, the signal input that the CAN cards will be collected to target machine 31 In motor model produce corresponding motor braking power and act on whole vehicle model, while target machine 31 is by motor in whole vehicle model In feeding back to controller 30 by CAN cards and CAN with battery status information, controller 30 is according to real-time motor and battery The real time pressure information of information and antero posterior axis proportion relay valve built in pressure sensor feedback to antero posterior axis air-pressure brake power and Motor braking power is corrected in real time, then again by revised Braking in whole vehicle model, so as to realize whole braking The closed-loop control of pressure；

When controller 30 picks out vehicle is in brake hard operating mode, at this moment motor braking power is exited, and triggers corresponding ABS control, front axle target air pressure brake force and rear axle target air pressure system are determined according to ABS control strategies by demand brake force Power, at this moment controller 30 is by antero posterior axis proportion relay valve drive circuit and ABS driving circuit for electromagnetic valve control antero posterior axis ratio The aperture of example relay valve high pressure admission mouthful and the opening time of ABS magnetic valve portings, are at this moment supplied to front axle proportion relay valve The gas of high pressure admission mouthful passes through front axle proportion relay valve 42, front axle triple valve 43, the near front wheel ABS magnetic valves 44, off-front wheel ABS Magnetic valve 41 reaches the near front wheel brake chamber 48 and off-front wheel brake chamber 39, is supplied to rear axle proportion relay valve high pressure admission mouthful Gas is reached by rear axle proportion relay valve 14, rear axle triple valve 22, left rear wheel ABS magnetic valves 21, off hind wheel ABS magnetic valves 23 Left rear wheel brake chamber 19 and off hind wheel brake chamber 24, four brake chambers that brake chamber pressure sensor 20 will be collected Pressure signal be input to signal acquisition board in target machine 31, the pressure signal that the signal acquisition board will be collected Actual value is input in whole vehicle model, makes the state of vehicle that corresponding change to occur, at this moment four wheel speeds of wheel of whole vehicle model Information is exported to four control ends of wheel speed simulated machine by the control signal board of target machine 31, controls wheel speed simulated machine Real-time wheel speed is simulated, the wheel speed signal treatment of the wheel speed information input that then wheel speed sensors will be collected to controller 30 In circuit, controller 30 goes out the real-time speed of vehicle and the slip rate of each wheel according to the wheel speed data-evaluation after treatment, Then the sliding situation according to wheel is corrected in real time to the brake force of corresponding wheel, then that revised brake force is anti- Feed whole vehicle model, above-mentioned cyclic process is repeated；

Electric motor coach integration control hardware ring test platform method of testing, wherein, during the slew test, If controller 30 judges that Vehicular turn is not enough, controller 30 is judged the real-time speed of vehicle first；

If now speed is less than preset vehicle speed, controller 30 passes through rear axle proportion relay valve drive circuit and ABS Driving circuit for electromagnetic valve control increases the aperture and inner rear wheel ABS magnetic valve air inlets of rear axle proportion relay valve high pressure admission mouthful Opening time, the gas for being at this moment supplied to rear axle proportion relay valve high pressure admission mouthful passes through rear axle proportion relay valve 14, rear axle three Port valve 22, inner rear wheel ABS magnetic valves reach inner rear wheel brake chamber, the system that inner rear wheel brake chamber pressure sensor will be collected Chamber pressure of taking offence force signal is input to whole vehicle model by the signal acquisition board in target machine 31, and braking behaviour is carried out to corresponding wheel Make, vehicle Chan Sheng Transverse is put torque；

If now speed is more than preset vehicle speed, controller 30 is communicated by CAN with target machine 31, and control reduces electricity The driving moment of machine model output makes vehicle deceleration, while increasing the brake pressure of corresponding wheel, by after aforesaid operations, vehicle There is corresponding change in state, at this moment change Hou Transverse pivot angles speed and side acceleration information again by target machine 31 The output of control signal board to the servomotor 52 and the control end of stepper motor 59 in two degrees of freedom rotation platform 34, watch by control The rotation of motor 52 and stepper motor 59 is taken, signal acquisition module 33 gathers vehicle Transverse pivot angles speed and side acceleration again Information, is then input to be contrasted with the Zheng Che Transverse pivot angles speed and side acceleration of standard in controller 30, above-mentioned circulation Process is repeated.

If controller 30 judge Vehicular turn excessively, to outside front-wheel apply brake, control process with above-mentioned turn It is corresponding to not enough process.

Compared with prior art, the beneficial effects of the present invention are：

1st, the present invention is based on line traffic control Pneumatic braking system and combines the letter such as two degrees of freedom rotation platform and wheel speed simulated machine Number simulated assembly and corresponding control strategy realize the integrated control to electric motor coach.

2nd, hardware-in-the-loop test platform of the present invention can be not only used for electric motor coach ABS, ASR, ESC and RBS (again Raw braking) Integrating controls strategies exploitation, it may also be used for the test and error diagnosis of real vehicle ECU.

3rd, the hardware-in-the-loop test platform in the present invention is the developmental research of the critical component of electric motor coach integrated control system Platform is provided with test.

4th, hardware-in-the-loop test platform of the present invention is provided with acceleration and steps in addition to it can study longitudinal damped condition Plate, can carry out accelerating mode experiment, study ASR driving wheel antislip systems；It is additionally provided with steering wheel and two degrees of freedom rotary flat Platform, can carry out steering situation experiment, study ESC electronic stabilizing control systems；

5th, hardware-in-the-loop test platform of the present invention is applicable not only to the test development of electric motor coach integrated control system, Can be also used for the research of other electric commercial vehicle vehicle integrated control systems.

6th, the experimental study that electric motor coach integrated control system is carried out on hardware-in-the-loop test platform of the present invention can To reduce the test number (TN) of outdoor real vehicle, do not influenceed by external environment conditions such as road environment, weather, saved time and funds.

Brief description of the drawings

Fig. 1 is that electric motor coach integration control hardware of the present invention constitutes structural representation in ring test platform；

Fig. 2 is principle logic diagram of the electric motor coach integration control hardware of the present invention in ring test platform；

Fig. 3 is the structural representation frame of electric motor coach integration control hardware of the present invention controller in ring test platform Figure；

Fig. 4 is the knot of electric motor coach integration control hardware two degrees of freedom rotation platform in ring test platform of the present invention Structure schematic diagram；Fig. 5 is the structure of electric motor coach integration control hardware wheel speed simulated assembly in ring test platform of the present invention Schematic diagram；

Fig. 6 is that electric motor coach integration control hardware of the present invention structure of riding manipulation component in ring test platform is shown It is intended to；

In figure：

1- air compressors；The wet gas receivers of 2-；3- driers；

4- four-loop protection valves；5- front axle gas receivers；6- rear axle gas receivers；

7- parking braking gas receivers；8- riding manipulation components；9- main brake valves；

10- is for pressure valve；11- relay valves；12- braking valve for vehicle；

13- left rear wheel wheel speed simulated machines；14- rear axle proportion relay valves；15- left rear wheel gear rings；

16- left rear wheel wheel speed sensors；17- parking triple valves；18- left rear wheel brakes；

19- left rear wheel brake chambers；20- left rear wheel brake chamber pressure sensors；21- left rear wheel ABS magnetic valves；

22- rear axle triple valves；23- off hind wheel ABS magnetic valves；24- off hind wheel brake chambers；

25- off hind wheel brake chamber pressure sensors；26- off hind wheel brakes；27- off hind wheel wheel speed sensors；

28- off hind wheel gear rings；29- off hind wheel wheel speed simulated machines；30- controllers；

31- target machines；32- host computers；33- signal acquisition modules；

34- two degrees of freedom rotation platforms；35- off-front wheel wheel speed simulated machines；36- off-front wheel gear rings；

37- off-front wheel wheel speed sensors；38- off-front wheel brakes；39- off-front wheel brake chambers；

40- off-front wheel brake chamber pressure sensors；41- off-front wheel ABS magnetic valves；42- front axle proportion relay valves；

43- front axle triple valves；44- the near front wheel ABS magnetic valves；45- the near front wheel wheel speed simulated machines；

46- the near front wheel gear rings；47- the near front wheel brake chamber pressure sensors；48- the near front wheel brake chambers；

49- near front wheel brakes；50- the near front wheel wheel speed sensors；Electric machine support under 51-；

52- servomotors；53- coupling sleeves；54- drive shaft sleeves；

55- shaft couplings；56- lower drive shafts；57- slip rings；

The upper electric machine support connectors of 58-；59- stepper motors；The upper electric machine supports of 60-；

The upper power transmission shafts of 61-；The upper drive shaft engagement members of 62-；63- signal acquisition module supports；

64- steering wheels；65- steering wheel angle sensors；66- accelerator pedals；

67- accelerator pedal displacement transducers.

Specific embodiment

For technical scheme is expanded on further, with reference to Figure of description, specific embodiment of the invention is as follows：

Refering to Fig. 1, the invention discloses a kind of electric motor coach integration control hardware in ring test platform, the electric motor coach collection Line traffic control Pneumatic braking system is based on into control, the test platform includes：Source of the gas component, line traffic control Pneumatic braking system, tradition system Dynamic component, riding manipulation component, signal imitation component, target machine and host computer.

The source of the gas component includes：Air compressor 1, wet gas receiver 2, air dryer 3, four-loop protection valve 4, front axle Gas receiver 5, rear axle gas receiver 6 and parking braking gas receiver 7；

The line traffic control Pneumatic braking system includes：Controller 30, main brake valve 9, front axle proportion relay valve 42, rear axle ratio Behind relay valve 14, standby pressure valve 10, the near front wheel ABS magnetic valves 44, off-front wheel ABS magnetic valves 41, left rear wheel ABS magnetic valves 21 and the right side Wheel ABS magnetic valves 23；

The traditional braking component includes：Braking valve for vehicle 12, relay valve 11, the near front wheel brake chamber 48, the near front wheel system Dynamic device 49, the near front wheel brake chamber pressure sensor 47, off-front wheel brake chamber 39, the braking of off-front wheel brake 38, off-front wheel Air chamber pressure sensor 40, left rear wheel brake chamber 19, left rear wheel brake 18, left rear wheel brake chamber pressure sensor 20, Off hind wheel brake chamber 24, off hind wheel brake 26, off hind wheel brake chamber pressure sensor 25, front axle triple valve 43, rear axle The brake piping and joint of triple valve 22, parking braking triple valve 17 and connection said modules.

The signal imitation component includes body gesture simulated assembly and wheel speed simulated assembly；

Refering to Fig. 4, the body gesture simulated assembly includes two degrees of freedom rotation platform 34 and signal acquisition module 33, institute Stating two degrees of freedom rotation platform 34 includes upper and lower two drive transmission devices, in lower drive transmission device, is installed on lower motor The output shaft of the servomotor 52 of support 51 is connected by shaft coupling 55 with lower drive shaft 56, and shaft coupling 55 is installed on coupler sleeve Cylinder 53 in, lower drive shaft 56 is installed in drive shaft sleeve 54, have in drive shaft sleeve 54 two angular contact ball bearings for branch Support lower drive shaft 56, the top of lower drive shaft 56 is connected by screw thread with upper electric machine support connector 58, upper electric machine support connection With upper electric machine support 60 by uniform bolt connection, such servomotor 52 drives upper motor branch to part 58 by lower drive shaft 56 Frame 60 is rotated, further, since signal acquisition module 33 and be installed on the stepper motor 59 of electric machine support 60 and have many wire harness, Two degrees of freedom rotation platform can cause wire harness to wind in rotation process, to solve this problem, in upper electric machine support connector 58 be installed below a slip ring 57, and wire harness is passed through into slip ring 57, it is to avoid wire harness winding problem.

In upper drive transmission device, the output shaft of the stepper motor 59 on upper electric machine support 60 passes through shaft coupling It is connected with upper power transmission shaft 61, upper power transmission shaft 61 is connected with upper drive shaft engagement member 62 by flat key makes signal acquisition with transmitting torque Module carrier 63 produces roll motion, and so simultaneously when two motors work, the servomotor 52 of bottom is rotated and drives upper electricity The mould of machine support 60 intends Transverse pendular motions, while the stepper motor 59 installed in upper electric machine support 60 rotates drive signal acquisition module branch Frame 63 simulates roll motion, therefore, by the supporting motor controller controls servomotor 52 of corresponding motor internal and stepping The rotation of motor 59 can simultaneously realize the Transverse of signal acquisition module support 63 pendulum and roll motion, so that being adopted installed in signal Signal acquisition module 33 on collection module carrier 63 collects both signals；

The signal acquisition module 33 includes built-in lateral acceleration sensor He Transverse pivot angle velocity sensors, for adopting Vehicle side acceleration that collection two degrees of freedom rotation platform 34 is simulated is He Transverse pivot angle rate signals, and the signal that will be collected is defeated Enter in the signal processing circuit of controller 30.

The wheel speed simulated assembly is four, and the near front wheel, left rear wheel, off-front wheel and off hind wheel are corresponded to respectively, including：It is left front Wheel wheel speed simulated machine 45, the near front wheel gear ring 46, the near front wheel wheel speed sensors 50, off-front wheel wheel speed simulated machine 35, off-front wheel Gear ring 36, off-front wheel wheel speed sensors 37, left rear wheel wheel speed simulated machine 13, left rear wheel gear ring 15, left rear wheel wheel speed sensors 16th, off hind wheel wheel speed simulated machine 29, off hind wheel gear ring 28, off hind wheel wheel speed sensors 27.

The near front wheel, left rear wheel, off-front wheel are identical with the wheel speed simulated assembly structure corresponding to off hind wheel, refering to Fig. 5, with a left side As a example by wheel speed simulated assembly corresponding to front-wheel, the near front wheel wheel speed simulated machine 45 is servomotor, on electric machine support, The near front wheel gear ring 46 is fixed on the output shaft of the near front wheel wheel speed simulated machine 45, and the near front wheel wheel speed sensors 50 are fixed on motor It is mounted opposite on support and with the near front wheel gear ring 46, it is left as desired by the built-in electric machine controller real-time control of corresponding motor The rotating speed of front-wheel wheel speed simulated machine 45, the at this moment drive of the near front wheel wheel speed simulated machine 45 the near front wheel ring gear against rotation, with the near front wheel The near front wheel wheel speed sensors 50 that gear ring 46 is mounted opposite gather corresponding wheel speed signal, and the signal input that will be collected is to control In the wheel speed signal process circuit of device processed 30.

Refering to Fig. 6, the riding manipulation component 8 includes steering wheel 64 and accelerator pedal 66, is installed on the steering wheel 64 There is steering wheel angle sensor 65, accelerator pedal displacement transducer 67 is installed on the accelerator pedal 66.

Whole testing stand is bench type structure, and a main stand being welded into aluminium alloy extrusions and four secondary stands are placed On the ground in laboratory, wherein four secondary stands are respectively positioned at four angles of main stand, for placing and fixing four brakings The component such as device and brake chamber；Air compressor 1 is directly placed on the ground on the left of main stand as whole testing stand provides pressure Contracting air；Air dryer 3 and four-loop protection valve 4 are arranged on the front end of main stand；Wet gas receiver 2, front axle gas receiver 5, after Axle gas receiver 6 and parking braking gas receiver 7 are placed on the ground in main stand, near the loop protection of air dryer 3 and four Valve 4；Four wheel speed simulated assemblies are placed side by side on the ground on rear side of main stand, and two degrees of freedom rotation platform 34 is placed on main The rear side of frame is near the position of wheel speed simulated assembly；Riding manipulation component 8 is positioned over workbench right side, wherein riding manipulation component 8 upside is a workbench, and host computer 32 is placed above, and downside is sequentially arranged steering wheel 64, accelerator pedal 66, main brake valve 9 A seat is placed on (referring to Fig. 6), the opposite of riding manipulation component 8, and target machine 31 is positioned over the side of riding manipulation component 8, Controller 30 is positioned in the cabinet of target machine 31, and other parts are all arranged on main stand, installation site and Fig. 1 institutes table Each parts position relationship for showing is essentially identical, and the annexation of each parts is specific as follows, and heavy line is gas circuit connection in figure Illustrate, the fine line with arrow is circuit connection signal：

Gas circuit is connected：

Refering to Fig. 1, the gas outlet of the air compressor 1 is connected with the air inlet of wet gas receiver 2, and wet gas receiver 2 goes out Gas port is connected with the air inlet of air dryer 3, and the gas outlet of air dryer 3 is connected with the air inlet of four-loop protection valve 4, Three gas outlets of four-loop protection valve 4 respectively with the air inlet of front axle gas receiver 5, rear axle gas receiver 6 and parking braking gas receiver 7 Mouth connection, this is source of the gas part；

The gas outlet of front axle gas receiver 5 respectively with the lower air inlet and the high pressure of front axle proportion relay valve 42 of main brake valve 9 Air inlet be connected, the lower air inlet of main brake valve 9 is connected with the low voltage control port of front axle proportion relay valve 42, preceding axis scale after The gas outlet of dynamic valve 42 is connected with the air inlet of propons triple valve 43, two gas outlets of propons triple valve 43 respectively with the near front wheel ABS magnetic valves 44 are connected with the air inlet of off-front wheel ABS magnetic valves 41, the gas outlet of the near front wheel ABS magnetic valves 44 and the near front wheel Brake chamber 48 is connected, and the near front wheel brake chamber 48 is connected near front wheel brake 49, the gas outlet of off-front wheel ABS magnetic valves 41 It is connected with off-front wheel brake chamber 39, off-front wheel brake chamber 39 is connected with off-front wheel brake 38, this is front axle brake loop；

The gas outlet of rear axle gas receiver 6 respectively with the enterprising gas port and the high pressure of rear axle proportion relay valve 14 of main brake valve 9 Air inlet is connected, and the upper gas outlet of main brake valve 9 is connected with the air inlet of standby pressure valve 10, gas outlet and rear axle ratio for pressure valve 10 The low voltage control port of example relay valve 14 is connected, the gas outlet of rear axle proportion relay valve and the air inlet phase of rear axle triple valve 22 Even, two gas outlets of rear axle triple valve 22 respectively with left rear wheel ABS magnetic valves 21 and the air inlet of off hind wheel ABS magnetic valves 23 It is connected, the gas outlet of left rear wheel ABS magnetic valves 21 is connected with left rear wheel brake chamber 19, left rear wheel brake chamber 19 and left rear wheel Brake 18 is connected, and the gas outlet of off hind wheel ABS magnetic valves 23 is connected with off hind wheel brake chamber 24, off hind wheel brake chamber 24 It is connected with off hind wheel brake 26, this is rear axle brake circuit；

The gas outlet of parking braking gas receiver 7 respectively with the air inlet and the high pressure admission of relay valve 11 of braking valve for vehicle 12 Mouthful it is connected, the gas outlet of braking valve for vehicle 12 is connected with the low voltage control end of relay valve 11, the gas outlet of relay valve 11 and parking The air inlet of triple valve 17 is connected, two gas outlets of parking triple valve 17 respectively with left rear wheel brake chamber 19 and off hind wheel system Room 24 of taking offence is connected, and left rear wheel brake chamber 19 is connected with left rear wheel brake 18, off hind wheel brake chamber 24 and off hind wheel system Dynamic device 26 is connected, and this is parking brake loop.

Circuit is connected：

Refering to Fig. 2, the host computer 32 is ordinary PC, including a display screen and a main frame, the display screen lead to Cross VGA line to be connected with the main frame, the output port of the main frame is connected with the SIT modules of target machine 31, pacify in the main frame Equipped with LabView softwares, TruckSim softwares and MATLAB/simulink softwares.

In process of the test, host computer 32 is by the whole vehicle model in TruckSim softwares and MATLAB/Simulink softwares Motor/battery model download to real time execution in target machine 31, while target machine 31 feeds back the real time information of vehicle-state To host computer 32, and display screen by host computer 32 shows in real time.

Signal acquisition board, control signal board and CAN cards, the signal acquisition board are installed in the target machine 31 Analog port and the near front wheel brake chamber pressure sensor 47, off-front wheel brake chamber pressure sensor 40, left rear wheel brakes Air chamber pressure sensor 20 and off hind wheel brake chamber pressure sensor 25 are connected, for gathering four brake chamber pressure sensings The pressure signal of device output；The control signal board and the near front wheel wheel speed simulated machine 45, off-front wheel wheel speed simulated machine 35, Servomotor 52 in left rear wheel wheel speed simulated machine 13, off hind wheel wheel speed simulated machine 30 and two degrees of freedom rotation platform 34 Control end with stepper motor 59 is connected, for controlling above-mentioned motor generation wheel speed signal and vehicle side acceleration He Transverse puts Angular velocity signal；The CAN cards are connected with CAN module in controller 30, for being communicated between target machine 31 and controller 30, this Outward, the CAN cards are additionally operable to gather steering wheel angle signal and the accelerator pedal displacement of the output of steering wheel angle sensor 65 The accelerator pedal displacement signal of the output of sensor 67.

Refering to Fig. 3, the hardware system of the controller 30 mainly includes signal processing circuit, peripheral drive circuit and CAN Telecommunication circuit；

The signal processing circuit includes：The pedal signal treatment electricity being connected with the brake signal output end of main brake valve 9 Road；The antero posterior axis pressure that the pressure sensor output end built-in with front axle proportion relay valve 42 and rear axle proportion relay valve 14 is connected Signal processing circuit；With the near front wheel wheel speed sensors 50, off-front wheel Wheel speed signal sensor 37, left rear wheel Wheel speed signal sensor 16 and off hind wheel Wheel speed signal sensor 27 output end connection wheel speed signal process circuit；With steering wheel angle sensor 65 Output end connection steering wheel angle signal processing circuit；With the output end Lian Jie Transverse pivot angle speed of signal acquisition module 33 Signal processing circuit and lateral acceleration signal process circuit；

The peripheral drive circuit includes：With the near front wheel ABS magnetic valves 44, off-front wheel ABS magnetic valves 41, left rear wheel ABS The ABS driving circuit for electromagnetic valve of the control end connection of magnetic valve 21 and off hind wheel ABS magnetic valves 23, for controlling ABS magnetic valves The opening time of porting；The front axle proportion relay valve drive circuit being connected with the control end of front axle proportion relay valve 42, uses In the aperture of control front axle proportion relay valve high pressure admission mouthful；The rear axle ratio being connected with the control end of rear axle proportion relay valve 14 Servo valve-driving circuit, the aperture of control rear axle proportion relay valve high pressure admission mouthful；

The CAN communication circuit is connected with the CAN cards in target machine.

Based on above-mentioned electric motor coach integration control hardware ring test platform structure, present invention also offers one kind it is electronic Car integration control hardware is in ring test method, and the method for testing is specific as follows：

Start source of the gas first, the gases at high pressure provided by air compressor 1 are protected through wet gas receiver 3, drier 3, four loops Shield valve 4, front axle gas receiver 5 and rear axle gas receiver 6 reach front axle proportion relay valve 42 and the height of rear axle proportion relay valve 14 is pressed into Gas port, at the same time operates to host computer 32, and the whole vehicle model and MATLAB/Simulink in TruckSim softwares is soft Motor and battery model in part download to real time execution in target machine 31, then by riding manipulation component 8 to virtual vehicle Model is accelerated, is braked and steering operation, so as to realize accelerated test, braking test and slew test.

1st, accelerated test

Such as Fig. 2 and as shown in figure 3, in accelerator, after testing crew bend the throttle 66, in target machine 31 CAN cards gather the output signal of accelerator pedal displacement transducer 67, and the signal that will be collected is input to by after mathematics conversion In TruckSim whole vehicle models, the acceleration of virtual vehicle model is realized, at this moment the wheel speed information of four wheels of whole vehicle model passes through Control signal board output in target machine 31 controls corresponding wheel speed simulated machine to four control ends of wheel speed simulated machine The real-time wheel speed of vehicle is simulated, the wheel speed information input that then four wheel speed sensors will be collected to the wheel in controller 30 In fast signal processing circuit, controller 30 goes out the real-time speed and each wheel reality of vehicle according to the wheel speed data-evaluation after treatment When slippage rate, and the slippage rate that will be estimated is compared with the setting slippage rate threshold value in controller 30, judges vehicle Real-world operation situation；

If the slippage rate of certain driving moment exceedes setting slippage rate threshold value, by taking left rear wheel as an example, controller 30 first Vehicle speed is judged, if speed is less than 30km/h in real time, controller 30 passes through rear axle proportion relay valve drive circuit And the control of ABS driving circuit for electromagnetic valve increases the aperture and left rear wheel ABS electromagnetism of rear axle proportion relay valve high pressure admission mouthful The opening time of valve air inlet, the gas for being at this moment supplied to rear axle proportion relay valve high pressure admission mouthful passes sequentially through rear axle ratio servo Valve 14, rear axle triple valve 22, left rear wheel ABS magnetic valves 21 reach left rear wheel brake chamber 19, and left rear wheel brake chamber pressure is passed The brake chamber pressure signal that sensor 20 will be collected is input in TruckSim by the signal acquisition board in target machine 31 Whole vehicle model, brake operating is carried out to left rear wheel；If real-time speed is in shape of running at high speed more than 30km/h, i.e. vehicle State, can cause friction plate to overheat and influence control effect if carrying out brake operating on wheel, and at this moment controller 30 is total by CAN Communicated between line and target machine 31, control reduces motor model and (i.e. the motor mould in target machine downloaded to from host computer in Fig. 2 Type, the motor is the power source of electric automobile, in the case where operating mode is driven for vehicle provides driving moment, while leading under damped condition Crossing the towing astern motor can produce braking moment, i.e., so-called regenerative braking moment, hereafter brake the motor mentioned in measurement condition Torque be refer to the motor towing astern produce regenerative braking moment) output driving moment, while to left rear wheel implement brake operating； Make vehicle-state that respective change to occur by said process, the wheel speed information after at this moment changing is defeated again by control signal board Go out the control end to wheel speed simulated machine, control the rotating speed of wheel speed simulated machine to change, wheel speed sensors will be collected Wheel speed information is again inputted into the wheel speed signal process circuit in controller 30, and controller 30 carries out speed and slippage rate again Real-time estimation and contrast, above-mentioned cyclic process is repeated to ensure that the slippage rate of each wheel is in optimum range, maximum The utilization ground driving force of limit.

2nd, braking test

Such as Fig. 2 and as shown in figure 3, in braking procedure, testing crew steps on main brake valve 9, main brake valve 9 is built-in to be stepped on Plate displacement transducer is by the pedal signal process circuit of the aperture of brake pedal and aperture rate of change signal input to controller 30 In, controller 30 is recognized according to the signal after treatment to braking intention, and demand braking is recognized by the aperture of brake pedal Power, the on-position of vehicle is recognized by pedal aperture rate of change, is to be in brake hard work in conventional brake operating mode Condition；

When controller 30 picks out vehicle is in conventional brake operating mode, then by demand brake force according to conventional composite braking Control strategy determines front axle target air pressure brake force, rear axle target air pressure brake force and target motor brake force.Then basis Front axle target air pressure brake force and rear axle target air pressure brake force, controller 30 by antero posterior axis proportion relay valve drive circuit and The aperture of ABS driving circuit for electromagnetic valve control antero posterior axis proportion relay valve high pressure admission mouthful and beating for ABS magnetic valve portings ETAD expected time of arrival and departure, the gas for being at this moment supplied to front axle proportion relay valve high pressure admission mouthful passes through front axle proportion relay valve 42, front axle triple valve 43rd, the near front wheel ABS magnetic valves 44, off-front wheel ABS magnetic valves 41 reach the near front wheel brake chamber 48 and off-front wheel brake chamber 39, The gas for being supplied to rear axle proportion relay valve high pressure admission mouthful passes through rear axle proportion relay valve 14, rear axle triple valve 22, left rear wheel ABS Magnetic valve 21, off hind wheel ABS magnetic valves 23 reach left rear wheel brake chamber 19 and off hind wheel brake chamber 24, at this moment the near front wheel system Chamber pressure of taking offence force snesor 47, off-front wheel brake chamber pressure sensor 40, off hind wheel brake chamber pressure sensor 25 and a left side Rear service brake air chamber pressure sensor 20 gathers four pressure of brake chamber, and the pressure signal that then will be collected is input to mesh Signal acquisition board in mark machine 31, the pressure signal that the signal acquisition board will be collected obtains this after mathematics is changed The actual value of tittle is input in TruckSim whole vehicle models；Target motor braking force signal is passed through CAN by this outer controller 30 Bus transfer to the CAN cards in target machine 31, the signal input that the CAN cards will be collected to the motor mould in target machine 31 Type produces corresponding motor braking power simultaneously to act on TruckSim whole vehicle models, at the same target machine 31 by motor in whole vehicle model and Battery status information is fed back in controller 30 by CAN cards and CAN, and controller 30 is believed according to real-time motor and battery The real time pressure information of breath and antero posterior axis proportion relay valve built in pressure sensor feedback is to antero posterior axis air-pressure brake power and electricity Brake force is corrected in real time, then again by revised Braking in whole vehicle model, so as to realize whole braking pressure The closed-loop control of power.

When controller 30 picks out vehicle is in brake hard operating mode, at this moment motor braking power is exited, and triggers corresponding ABS control, front axle target air pressure brake force and rear axle target air pressure system are determined according to ABS control strategies by demand brake force Power, at this moment controller 30 is by antero posterior axis proportion relay valve drive circuit and ABS driving circuit for electromagnetic valve control antero posterior axis ratio The aperture of example relay valve high pressure admission mouthful and the opening time of ABS magnetic valve portings, are at this moment supplied to front axle proportion relay valve The gas of high pressure admission mouthful passes through front axle proportion relay valve 42, front axle triple valve 43, the near front wheel ABS magnetic valves 44, off-front wheel ABS Magnetic valve 41 reaches the near front wheel brake chamber 48 and off-front wheel brake chamber 39, is supplied to rear axle proportion relay valve high pressure admission mouthful Gas is reached by rear axle proportion relay valve 14, rear axle triple valve 22, left rear wheel ABS magnetic valves 21, off hind wheel ABS magnetic valves 23 Left rear wheel brake chamber 19 and off hind wheel brake chamber 24, at this moment the near front wheel brake chamber pressure sensor 47, off-front wheel braking Air chamber pressure sensor 40, off hind wheel brake chamber pressure sensor 25 and left rear wheel brake chamber pressure sensor 20 collection four The pressure of individual brake chamber, the pressure signal that then will be collected is input to the signal acquisition board in target machine 31, the letter The pressure signal that number analog input card will be collected obtains the actual value of this tittle after mathematics is changed, and to be input to TruckSim whole In vehicle model, make the state of vehicle that corresponding change to occur, at this moment the wheel speed information of four wheels of whole vehicle model passes through target machine To four control ends of wheel speed simulated machine, control wheel speed simulated machine is simulated takes turns in real time for 31 control signal board output Speed, then the near front wheel wheel speed sensors 50, off-front wheel wheel speed sensors 37, off hind wheel wheel speed sensors 27 and left rear wheel wheel speed are passed The wheel speed information input that sensor 16 will be collected in the wheel speed signal process circuit of controller 30, after controller 30 is according to treatment Wheel speed data-evaluation go out the real-time speed of vehicle and the slip rate of each wheel, then the sliding situation according to wheel is to phase The brake force of the wheel answered is corrected in real time, and revised brake force then is fed back into whole vehicle model, above-mentioned cyclic process It is repeated to ensure that the slip rate of each wheel is in optimal slip ratio scope, to greatest extent using ground brake force.

3rd, slew test

As shown in Figure 2 and Figure 3, in steering procedure, testing crew steering wheel rotation 64, steering wheel angle sensor 65 is adopted Collection steering wheel angle signal, and the signal that will be collected is while the steering wheel angle signal processing circuit being input in controller 30 With the CAN cards in target machine 31, at this moment controller 30 according to the steering wheel angle signal for receiving judge driver steering meaning Figure, estimates preferable Zheng Che Transverse pivot angles speed and side acceleration, and the steering wheel that the CAN cards in target machine 31 will be received Angular signal realizes the steering of virtual vehicle model in being input to TruckSim whole vehicle models after mathematics conversion, at this moment whole Vehicle model Transverse pivot angles speed and side acceleration information are exported to two degrees of freedom by the signal Control card in target machine 31 34 two control ends of motor of rotation platform, control corresponding servomotor 52 and stepper motor 59 to rotate, by signal acquisition Module carrier 63 simulates vehicle Shi Shi Transverse pendulum and roll motion, the signal acquisition mould being connected with signal acquisition module support 63 Block 33 gathers vehicle Shi Shi Transverse pivot angles speed and side by built-in Transverse pivot angles velocity sensor and lateral acceleration sensor To acceleration, and the information input that will be collected is to the Zhong Transverse pivot angle rate signal process circuits of controller 30 and side acceleration In process circuit, at this moment controller 30 is by the Shi Shi Transverse pivot angles speed and side acceleration information and the ideal for estimating after treatment Zheng Che Transverse pivot angles speed and side acceleration are contrasted, when error between the two exceedes the threshold value of setting, controller 30 Motor vehicle braking system is applied according to corresponding control logic control.

When vehicle is turned right as a example by understeer, if understeer when controller 30 judges that vehicle is turned right, controls first Device processed 30 is judged the real-time speed of vehicle, if now speed is less than 60km/h, controller 30 passes through rear axle ratio Servo valve-driving circuit and the control of ABS driving circuit for electromagnetic valve increase rear axle proportion relay valve high pressure admission mouthful aperture and The opening time of off hind wheel ABS magnetic valve air inlets, is at this moment supplied to after the gas of rear axle proportion relay valve high pressure admission mouthful passes through Axis scale relay valve 14, rear axle triple valve 22, off hind wheel ABS magnetic valves 23 reach off hind wheel brake chamber 24, off hind wheel braking The brake chamber pressure signal that air chamber pressure sensor 25 will be collected is input to by the signal acquisition board in target machine 31 Whole vehicle model in TruckSim, brake operating is carried out to off hind wheel, makes vehicle produce a Transverse to inner side to put torque, if There is the brake pressure for then reducing the near front wheel while off hind wheel brake pressure is increased in the deboost phase in said process；If Now speed is in high-speed travel state more than 60km/h, i.e. vehicle, is only not enough to carry out effective control to vehicle with brake force System, at this moment controller 30 is communicated by CAN with target machine 31, and the driving moment that control reduces motor model output makes vehicle Slow down, while increase the brake pressure of off hind wheel, by the way that after aforesaid operations, vehicle-state occurs corresponding change, at this moment changes Hou Transverse pivot angles speed and side acceleration information are again by the control signal board output in target machine 31 to two degrees of freedom The control end of servomotor 52 and stepper motor 59 in rotation platform 34, control servomotor 52 and stepper motor 59 turn Dynamic, signal acquisition module 33 gathers vehicle Transverse pivot angles speed and side acceleration information again, is then input to controller 30 In contrasted with preferable Zheng Che Transverse pivot angles speed and side acceleration, above-mentioned cyclic process is repeated to ensure vehicle reality Running status expects that running status is consistent with driver, and keeps vehicle stabilization.

For said process, ABS and ASR (driving wheel antiskid control system) only works in braking and accelerator, directly The longitudinal sliding motion rate of control wheel is connect, braking or the driveability of vehicle is improved, while the lateral stability of indirect control vehicle, ESC (electronic stabilizing control system) then at any moment of vehicle traveling, all work by (acceleration, braking, steering), its direct control The lateral stability of vehicle processed.

In above process, the information of car status information and line traffic control Pneumatic braking system associated component is anti-by target machine 31 It is fed in host computer 32, can be by the change of the display screen real time inspection car status information of host computer 32 and monitoring objective machine 31 operation.

Claims (10)

1. in ring test platform, based on line traffic control air-pressure brake, its feature exists electric motor coach integration control hardware：

By source of the gas component, line traffic control Pneumatic braking system, traditional braking component, riding manipulation component, signal imitation component, target machine (31) constituted with host computer (32)；

The source of the gas component delivery air is exported through gas receiver respectively, formed respectively front axle brake loop, rear axle brake circuit and Parking brake loop；

The line traffic control Pneumatic braking system is by controller (30), main brake valve (9), the corresponding proportion relay valve of antero posterior axis, standby pressure The corresponding ABS solenoid valve blocks of valve (10), four wheels into；The hardware system of the controller (30) is to external output signal Peripheral drive circuit, the signal processing circuit for receiving and processing external signal, and be connected with the CAN cards in target machine (31) CAN communication circuit；

By braking valve for vehicle (12), relay valve (11) and four wheels, accordingly four groups of brakings are filled the traditional braking component Put and three be connected to three triple valves of brake circuit, wherein brake apparatus respectively by brake, brake chamber and Brake chamber pressure sensor is sequentially connected composition；

Riding manipulation component is by steering wheel (64), steering wheel angle sensor (65), accelerator pedal (66) and accelerator pedal displacement Sensor (67) is constituted；

The signal imitation component is made up of body gesture simulated assembly and wheel speed simulated assembly；The body gesture simulated assembly It is made up of two degrees of freedom rotation platform (34) and signal acquisition module (33), signal acquisition module (33) collection two degrees of freedom rotation Platform (34) produces Transverse pendulum and roll motion signal；The wheel speed simulated assembly by respectively with accordingly four groups of four wheels Wheel speed analogue means is constituted, and the wheel speed analogue means is sequentially connected by wheel speed simulated machine, gear ring and wheel speed sensors and constituted；

Be provided with the target machine (31) be connected with brake chamber pressure sensor the signal acquisition board, for wheel Fast simulated machine and two degrees of freedom rotation platform (34) send control signal control signal board and with CAN in controller (30) The CAN cards that module, steering wheel angle sensor (65) are connected with accelerator pedal displacement transducer (67)；

The target machine (31) and host computer (32) two-way communication link, host computer (32) is to target machine (31) download model, mesh Mark machine (31) feeds back the real time information of vehicle to host computer (32).

2. electric motor coach integration control hardware as claimed in claim 1 is in ring test platform, it is characterised in that：

The front axle brake loop is：Source of the gas component delivery air is exported through front axle gas receiver (5), and front axle gas receiver (5) go out Gas port is connected with the lower air inlet of main brake valve (9) and the high pressure admission mouthful of front axle proportion relay valve (42) respectively, main brake valve (9) lower air inlet is connected with the low voltage control port of front axle proportion relay valve (42), the outlet of front axle proportion relay valve (42) Mouthful be connected with the air inlet of propons triple valve (43), two gas outlets of propons triple valve (43) respectively with the near front wheel ABS electromagnetism Valve (44) is connected with the air inlet of off-front wheel ABS magnetic valves (41), gas outlet and the near front wheel system of the near front wheel ABS magnetic valves (44) Taking offence, room (48) is connected, and the near front wheel brake chamber (48) is connected near front wheel brake (49), off-front wheel ABS's magnetic valves (41) Gas outlet is connected with off-front wheel brake chamber (39), and off-front wheel brake chamber (39) is connected with off-front wheel brake (38)；

The rear axle brake circuit is：Source of the gas component delivery air is exported through rear axle gas receiver (6), and rear axle gas receiver (6) go out Gas port is connected with the enterprising gas port of main brake valve (9) and the high pressure admission mouthful of rear axle proportion relay valve (14) respectively, main brake valve (9) upper gas outlet is connected with the air inlet of standby pressure valve (10), for gas outlet and the rear axle proportion relay valve (14) of pressure valve (10) Low voltage control port be connected, the gas outlet of rear axle proportion relay valve is connected with the air inlet of rear axle triple valve (22), rear axle three Two gas outlets of port valve (22) respectively with left rear wheel ABS magnetic valves (21) and the air inlet phase of off hind wheel ABS magnetic valves (23) Even, the gas outlet of left rear wheel ABS magnetic valves (21) is connected with left rear wheel brake chamber (19), left rear wheel brake chamber (19) and a left side Rear wheel brake (18) is connected, and the gas outlet of off hind wheel ABS magnetic valves (23) is connected with off hind wheel brake chamber (24), off hind wheel Brake chamber (24) is connected with off hind wheel brake (26)；

The parking brake loop is：Source of the gas component delivery air is exported through parking braking gas receiver (7), parking braking gas receiver (7) gas outlet is connected with the air inlet of braking valve for vehicle (12) and the high pressure admission mouthful of relay valve (11) respectively, parking braking The gas outlet of valve (12) is connected with the low voltage control end of relay valve (11), gas outlet and the parking triple valve (17) of relay valve (11) Air inlet be connected, gas is braked in two gas outlets of parking triple valve (17) with left rear wheel brake chamber (19) and off hind wheel respectively Room (24) is connected, and left rear wheel brake chamber (19) is connected with left rear wheel brake (18), after off hind wheel brake chamber (24) and the right side Wheel brake (26) is connected.

3. electric motor coach integration control hardware as claimed in claim 1 is in ring test platform, it is characterised in that：

The two degrees of freedom rotation platform (34) is by upper and lower two drive transmission devices；

In lower drive transmission device, it is installed on the servomotor (52) of lower electric machine support (51) and is installed on drive shaft sleeve (54) lower drive shaft (56) in is coaxially connected, the top of lower drive shaft (56) with by upper electric machine support connector (58) with it is upper Electric machine support (60) is connected；In upper drive transmission device, stepper motor (59) on upper electric machine support (60) with it is upper Power transmission shaft (61) is coaxially connected, the servomotor (52) and stepper motor (59) right angle setting, and upper power transmission shaft (61) is by upper Drive shaft engagement member (62) is connected with signal acquisition module support (63), and transmitting torque；

Electric machine support (60) mould intends Transverse pendular motions in the servomotor (52) drive, and the stepper motor (59) rotates and drives letter Number acquisition module support (63) simulation roll motion；

The built-in lateral acceleration sensor of the signal acquisition module (33) is He Transverse pivot angle velocity sensors, collection two degrees of freedom rotation Turn vehicle side acceleration that platform (34) simulates He Transverse pivot angle rate signals, and the signal input that will be collected is to controller (30) in signal processing circuit.

4. electric motor coach integration control hardware as claimed in claim 3 is in ring test platform, it is characterised in that：

Slip ring (57) is installed below electric machine support connector (58) on described, by signal acquisition module (33) and is installed Pass through slip ring (57) in the wire harness of the stepper motor (59) of upper electric machine support (60), prevent wire harness from winding.

5. electric motor coach integration control hardware as claimed in claim 1 is in ring test platform, it is characterised in that：

The host computer (32) is made up of display screen and main frame, and display screen is connected by VGA line with main frame, the output of the main frame Port is connected with the SIT modules of target machine (31), realizes that whole vehicle model and motor/battery model are downloaded to mesh by host computer (32) Real time execution in mark machine (31), while the real time information of vehicle-state is fed back to host computer (32) by target machine (31), and passes through The display screen of host computer (32) shows in real time.

6. electric motor coach integration control hardware as claimed in claim 1 is in ring test platform, it is characterised in that：

The signal processing circuit includes：The pedal signal process circuit being connected with the brake signal output end of main brake valve (9), The antero posterior axis pressure signal processing circuit that pressure sensor output end built-in with antero posterior axis proportion relay valve respectively is connected, respectively The wheel speed signal process circuit that Wheel speed signal sensor corresponding with four wheels is connected, with steering wheel angle sensor (65) The steering wheel angle signal processing circuit of output end connection, the output end Lian Jie Transverse pivot angle speed with signal acquisition module (33) Signal processing circuit and lateral acceleration signal process circuit；

The peripheral drive circuit includes：The ABS driving circuit for electromagnetic valve that ABS magnetic valves corresponding with four wheels are connected, point The antero posterior axis proportion relay valve drive circuit not being connected with antero posterior axis proportion relay valve.

7. method of testing of the electric motor coach integration control hardware as claimed in claim 1 in ring test platform, it is characterised in that：

Method of testing is specific as follows：

Start source of the gas first, axis scale servo before being reached through front axle gas receiver (5) and rear axle gas receiver (6) respectively by source of the gas component The high pressure admission mouthful of valve (42) and rear axle proportion relay valve (14), at the same time operates, by vehicle mould to host computer (32) Type and motor and battery model download to real time execution in target machine (31), then by riding manipulation component (8) to virtual vehicle Model is accelerated, is braked and steering operation, so as to realize accelerated test, braking test and slew test；

During accelerated test, the output signal of CAN cards collection accelerator pedal displacement transducer (67) in target machine (31), And the signal input that will be collected realizes the acceleration of virtual vehicle model, four wheels of wheel of whole vehicle model in whole vehicle model Fast information is exported to four control ends of wheel speed simulated machine by the control signal board in target machine (31), and control is accordingly Wheel speed simulated machine simulates the real-time wheel speed of vehicle, the wheel speed information input that four wheel speed sensors will be collected to controller (30) in the wheel speed signal process circuit in, controller (30) according to the wheel speed information after treatment draw vehicle real-time speed and The real-time slippage rate of each wheel, and the slippage rate that will be drawn is compared with the setting slippage rate threshold value in controller (30), Judge the real-world operation situation of vehicle；

In test process is braked, the built-in pedal displacement sensor of main brake valve (9) becomes the aperture of brake pedal and aperture , in the pedal signal process circuit of controller (30), controller (30) is according to the signal after treatment to braking for rate signal input Intention is recognized, and demand brake force is recognized by the aperture of brake pedal, and the system of vehicle is recognized by pedal aperture rate of change Dynamic state；

During slew test, the steering wheel angle signal input that steering wheel angle sensor (65) will be collected to controller (30) the CAN cards in steering wheel angle signal processing circuit and target machine (31) in, controller (30) is according to the side for receiving The steering for judging driver to disk angular signal is intended to, and calculates the Zheng Che Transverse pivot angles speed and side acceleration of standard, and mesh The steering wheel angle signal that CAN cards in mark machine (31) will be received is input in whole vehicle model by after mathematics conversion, is realized The steering of virtual vehicle model, whole vehicle model Transverse pivot angles speed and side acceleration information are by the signal in target machine (31) Control card output controls two motors to turn to the servomotor (52) and stepper motor (59) of two degrees of freedom rotation platform (34) It is dynamic, vehicle Shi Shi Transverse pendulum and roll motion are simulated, signal acquisition module (33) is by built-in Transverse pivot angle velocity sensors Vehicle Shi Shi Transverse pivot angles speed and side acceleration are gathered with lateral acceleration sensor, and the information input that will be collected is arrived (in 30) Zhong Transverse pivot angle rate signal process circuits and side acceleration process circuit, at this moment controller (30) will be located controller Shi Shi Transverse pivot angles speed and side acceleration information and the standard Zheng Che Transverse pivot angles speed and side acceleration for calculating after reason Contrasted, when error between the two exceedes the threshold value of setting, controller (30) is according to corresponding control logic to vehicle Brakes applies control；

In above process, the information of car status information and line traffic control Pneumatic braking system feeds back to host computer by target machine (31) (32) in, can be by the change of the display screen real time inspection car status information of host computer (32) and monitoring objective machine (31) Operation.

8. method of testing of the electric motor coach integration control hardware as claimed in claim 7 in ring test platform, it is characterised in that：

During the accelerated test, the test process of four wheels is identical, wherein, the test process of left rear wheel is：Work as a left side The slippage rate of trailing wheel exceedes setting slippage rate threshold value, and controller (30) first is judged vehicle speed；

If real-time speed is less than preset vehicle speed, controller (30) is by rear axle proportion relay valve drive circuit and ABS electromagnetism Valve-driving circuit control increases the aperture of rear axle proportion relay valve high pressure admission mouthful and beating for left rear wheel ABS magnetic valve air inlets ETAD expected time of arrival and departure, the gas for being at this moment supplied to rear axle proportion relay valve high pressure admission mouthful passes sequentially through rear axle proportion relay valve (14), rear axle Triple valve (22), left rear wheel ABS magnetic valves (21) reach left rear wheel brake chamber (19), left rear wheel brake chamber pressure sensor (20) the brake chamber pressure signal that will be collected is input to whole vehicle model by the signal acquisition board in target machine (31), right Left rear wheel carries out brake operating；

If real-time speed is more than preset vehicle speed, controller (30) communicates by between CAN and target machine (31), and control subtracts The driving moment of small machine model output, while implementing brake operating to corresponding wheel；

Make vehicle-state that respective change to occur by said process, the wheel speed information after at this moment changing is again by control signal plate Card output controls the rotating speed of wheel speed simulated machine to change to the control end of wheel speed simulated machine, and wheel speed sensors will be gathered To wheel speed information be again inputted into the wheel speed signal process circuit in controller (30), controller (30) carries out speed again Real-time estimation and contrast with slippage rate, above-mentioned cyclic process are repeated.

9. method of testing of the electric motor coach integration control hardware as claimed in claim 7 in ring test platform, it is characterised in that：

In the braking test process, including in conventional brake operating mode and in brake hard operating mode；

When controller (30) picks out vehicle is in conventional brake operating mode, controlled according to conventional composite braking by demand brake force Strategy determines front axle target air pressure brake force, rear axle target air pressure brake force and target motor brake force；Then according to front axle Target air pressure brake force and rear axle target air pressure brake force, controller (30) by antero posterior axis proportion relay valve drive circuit and The aperture of ABS driving circuit for electromagnetic valve control antero posterior axis proportion relay valve high pressure admission mouthful and beating for ABS magnetic valve portings ETAD expected time of arrival and departure, the gas for being supplied to front axle proportion relay valve high pressure admission mouthful passes through front axle proportion relay valve (42), front axle triple valve (43), the near front wheel ABS magnetic valves (44), off-front wheel ABS magnetic valves (41) reach the near front wheel brake chamber (48) and off-front wheel system Take offence room (39), the gas for being supplied to rear axle proportion relay valve high pressure admission mouthful passes through rear axle proportion relay valve (14), rear axle threeway Valve (22), left rear wheel ABS magnetic valves (21), off hind wheel ABS magnetic valves (23) reach left rear wheel brake chamber (19) and off hind wheel Brake chamber (24), the pressure signal of four brake chambers that brake chamber pressure sensor will be collected is input to target machine (31) the signal acquisition board in, the actual value of the pressure signal that the signal acquisition board will be collected is input to whole vehicle model In；This outer controller (30) by target motor braking force signal by CAN transmit to the CAN cards in target machine (31), The signal input that the CAN cards will be collected produces corresponding motor braking power and acts on to the motor model in target machine (31) In whole vehicle model, while target machine (31) feeds back motor in whole vehicle model and battery status information by CAN cards and CAN To in controller (30), controller (30) is according to real-time motor and battery information and the built-in pressure of antero posterior axis proportion relay valve The real time pressure information of sensor feedback is corrected in real time to antero posterior axis air-pressure brake power and motor braking power, then will be repaiied again Braking after just is in whole vehicle model, so as to realize the closed-loop control of whole brake pressure；

When controller (30) picks out vehicle is in brake hard operating mode, at this moment motor braking power is exited, and triggers corresponding ABS is controlled, and determines that front axle target air pressure brake force and rear axle target air pressure are braked according to ABS control strategies by demand brake force Power, at this moment controller (30) is by antero posterior axis proportion relay valve drive circuit and ABS driving circuit for electromagnetic valve control antero posterior axis ratio The aperture of example relay valve high pressure admission mouthful and the opening time of ABS magnetic valve portings, are at this moment supplied to front axle proportion relay valve The gas of high pressure admission mouthful is by front axle proportion relay valve (42), front axle triple valve (43), the near front wheel ABS magnetic valves (44), the right side Front-wheel ABS magnetic valves (41) reaches the near front wheel brake chamber (48) and off-front wheel brake chamber (39), is supplied to rear axle ratio servo The gas of valve high pressure admission mouthful by rear axle proportion relay valve (14), rear axle triple valve (22), left rear wheel ABS magnetic valves (21), Off hind wheel ABS magnetic valves (23) reaches left rear wheel brake chamber (19) and off hind wheel brake chamber (24), and brake chamber pressure is passed The pressure signal of four brake chambers that sensor (20) will be collected is input to the signal acquisition board in target machine (31), described The actual value of the pressure signal that signal acquisition board will be collected is input in whole vehicle model, the state of vehicle is occurred accordingly Change, at this moment the wheel speed information of four wheels of whole vehicle model is exported to four wheel speeds by the control signal board of target machine (31) The control end of simulated machine, control wheel speed simulated machine simulates real-time wheel speed, the wheel that then wheel speed sensors will be collected , in the wheel speed signal process circuit of controller (30), controller (30) is according to the wheel speed data-evaluation after treatment for fast information input Go out the real-time speed of vehicle and the slip rate of each wheel, then braking of the sliding situation according to wheel to corresponding wheel Power is corrected in real time, and revised brake force then is fed back into whole vehicle model, and above-mentioned cyclic process is repeated.

10. method of testing of the electric motor coach integration control hardware as claimed in claim 7 in ring test platform, it is characterised in that：

During the slew test, if controller (30) judges that Vehicular turn is not enough, controller (30) is to car first Real-time speed judged；

If now speed is less than preset vehicle speed, controller (30) is by rear axle proportion relay valve drive circuit and ABS electricity Electromagnetic valve driving circuit control increases the aperture and inner rear wheel ABS magnetic valve air inlets of rear axle proportion relay valve high pressure admission mouthful Opening time, the gas for being at this moment supplied to rear axle proportion relay valve high pressure admission mouthful passes through rear axle proportion relay valve (14), rear axle three Port valve (22), inner rear wheel ABS magnetic valves reach inner rear wheel brake chamber, and inner rear wheel brake chamber pressure sensor will be collected Brake chamber pressure signal is input to whole vehicle model by the signal acquisition board in target machine (31), to corresponding wheel system Dynamic operation, makes vehicle Chan Sheng Transverse put torque；

If now speed is more than preset vehicle speed, controller (30) is communicated by CAN with target machine (31), and control reduces electricity The driving moment of machine model output makes vehicle deceleration, while increasing the brake pressure of corresponding wheel, by after aforesaid operations, vehicle There is corresponding change in state, at this moment change Hou Transverse pivot angles speed and side acceleration information again by target machine (31) The output of control signal board to servomotor (52) and stepper motor (59) in two degrees of freedom rotation platform (34) control End, control servomotor (52) and the rotation of stepper motor (59), signal acquisition module (33) gather vehicle Transverse pivot angles again Speed and side acceleration information, are then input in controller (30) the Zheng Che Transverse pivot angles speed and side acceleration with standard Contrasted, above-mentioned cyclic process is repeated；

If controller (30) judges that Vehicular turn excessively, braking, control process and above-mentioned steering is applied to outside front-wheel Not enough process is corresponding.