CN106969920B - Line of vehicles control hydraulic braking system hardware is the-loop test bed - Google Patents

Abstract

The invention discloses line of vehicles control hydraulic braking system hardware the-loop test bed, to make up the problem of existing testing stand accuracy of detection is insufficient, quick voltage built-up rate is too low, steady-state error is excessive.It includes real-time platform and line traffic control brake fluid system；Real-time platform includes host computer and data acquisition development system, and host computer connects with data acquisition development system bus；Line traffic control brake fluid system includes test sensor-based system, experimental bench matrix and braking system actuator.Experimental bench matrix is arranged on ground by rack platform therein, near front wheel brake, off-front wheel brake, left rear wheel brake and the off hind wheel brake of experimental bench matrix are arranged on rack platform, are tested between sensor-based system and four wheel brakes and are connected using brake hard tube；Test sensor-based system connects with data acquisition development system electric wire；Connected between braking system actuator and test sensor-based system using brake hard tube, electric wire connects between braking system actuator and data acquisition development system.

Description

Line of vehicles control hydraulic braking system hardware is the-loop test bed

Technical field

The present invention relates to a kind of hardware-in-loop simulation testing stand, it more particularly relates to which line of vehicles draining is suppressed Dynamic system hardware is the-loop test bed.

Background technology

As the raising and electronic technology of automotive engineering are in the application development of automotive field, intelligent and electronization is vapour The trend and direction of car field research and development from now on, and will gradually be taken with fast response characteristic, efficient, energy-conservation wire control technology The various pieces of automobile are applied to for conventional art.Line traffic control brake fluid system can significantly improve the fast run-up pressure of pressure of wheel braking cylinder When response speed and response characteristic, while automobile dynamics characteristic is improved lifted automobile driving safety and behaviour Handing stability.Line control brake system has become the focus and emphasis studied both at home and abroad at present, the research of external wire control technology compared with It is deep, and product is more ripe, although and domestic Ye Youduosuo colleges and universities and braking producer On-line Control move configuration and principle side Face achieves progress, but has also been short of in terms of actual product application and hardware debugging.Use hardware-in-the-loop test platform can be with Difficulty of the brake-by-wire product in terms of system hardware debugging and dynamic response characteristic test is made up, while reduces research and development of products Cost.Pass through the parameter of update the system while hardware test, it is possible to achieve to actual brake-by-wire products perfection, detection And many-sided function such as performance evaluation.

The quick voltage built-up rate for the testing stand that the country is researched and developed and accuracy of detection are all relatively low at present, and there has been no high measurement accuracy Line traffic control brake fluid system hardware-in-the-loop test platform.

The content of the invention

The technical problems to be solved by the invention are to satisfy social needs, and make up existing testing stand accuracy of detection not Enough, the problem of quick voltage built-up rate is too low, steady-state error is excessive, there is provided line of vehicles control hydraulic braking system hardware is in ring test Platform.

In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：Described line of vehicles draining pressure Brakes hardware-in-the-loop test platform includes real-time platform and line traffic control brake fluid system；

Described real-time platform includes host computer and data acquisition development system, and host computer and data acquisition development system are adopted Connected with 16 PHS buses.

Described line traffic control brake fluid system includes test sensor-based system, experimental bench matrix and braking system actuator.

Described experimental bench matrix include rack platform, near front wheel brake, off-front wheel brake, left rear wheel brake and Off hind wheel brake.

Described experimental bench matrix is arranged on ground by rack platform therein, near front wheel brake, off-front wheel system Dynamic device, left rear wheel brake are fixedly mounted on the corner of the middle layer bracket in rack platform with off hind wheel brake using bolt Place, real-time platform are arranged on the right side of experimental bench matrix, test sensor-based system and near front wheel brake, off-front wheel brake, a left side Connected between rear wheel brake and off hind wheel brake using brake hard tube；Test in sensor-based system and data acquisition development system Model DS2202 I/O boards electric wire connection；Braking system actuator is arranged on rack platform, and brakes performs Connected between mechanism and test sensor-based system using brake hard tube, between braking system actuator and data acquisition development system Adopt and run wires to.

Described test sensor-based system and near front wheel brake, off-front wheel brake, left rear wheel brake and off hind wheel system Referred between dynamic device using brake hard tube connection:

Described test sensor-based system includes the near front wheel pressure sensor, off-front wheel pressure sensor, left rear wheel pressure and passed Sensor, off hind wheel pressure sensor, the near front wheel flow sensor, off-front wheel flow sensor, left rear wheel flow sensor and the right side Trailing wheel flow sensor；

The output end of the three-way connector of described the near front wheel pressure sensor and the input of near front wheel brake use Brake hard tube connects, and the output end of the three-way connector of off-front wheel pressure sensor and the input of off-front wheel brake are using system Dynamic hard tube connection, the output end of the three-way connector of left rear wheel pressure sensor and the input of left rear wheel brake are using braking Hard tube connects, and the output end of the three-way connector of off hind wheel pressure sensor and the input of off hind wheel brake are hard using braking Pipe connects, and is used between brake hard tube and near front wheel brake, off-front wheel brake, left rear wheel brake and off hind wheel brake Threaded connection.

The delivery outlet of described the near front wheel flow sensor with and the near front wheel pressure sensor three-way connector input Connected using brake hard tube, the input of the delivery outlet of off-front wheel flow sensor and the three-way connector of off-front wheel pressure sensor End is connected using brake hard tube, the three-way connector input of the delivery outlet and left rear wheel pressure sensor of left rear wheel flow sensor The input at end is connected using brake hard tube, and the delivery outlet of off hind wheel flow sensor and the three of off hind wheel pressure sensor lead to The input of fitting is connected using brake hard tube.

Described braking system actuator includes HCU valve bodies, high pressure accumulator, electric-motor pump, lubricating cup, pedal displacement sensing Device, master cylinder and brake pedal.

Described master cylinder is tandem master cylinder, and master cylinder ante-chamber is provided with two asphalt channel mouths；Two oil circuits lead to Road junction is connected with the first oil line pipe with one end of the 4th oil line pipe respectively；The other end and HCU valve bodies of first oil line pipe The first input oil circuit mouth connection, the other end of the 4th oil line pipe connects with the second input port of lubricating cup；Master cylinder back cavity is set There are two asphalt channel mouths, the one end of two asphalt channel mouths respectively with the second oil line pipe and the 3rd oil line pipe connects；The Second input oil circuit mouth of the other end of two oil line pipes and HCU valve bodies connects, the other end of the 3rd oil line pipe and lubricating cup First input port connects, and is adopted between the output end of the 3rd input oil circuit mouth of HCU valve bodies and the three-way connector of high pressure accumulator Connected with brake hard tube, brake hard tube is used between the input of the three-way connector of high pressure accumulator and the liquid outlet of electric-motor pump Connection, connected between the inlet of electric-motor pump and the lubricating cup delivery outlet of lubricating cup and the HCU oil discharge outlets of HCU valve bodies using brake hard tube Connect, brake pedal becomes one with pedal displacement sensor, and brake pedal is connected through the hinge with brake pedal bearing, pedal The output end of displacement transducer is connected with the 11A/D passage electric wires of model DS2202 I/O boards.

Rack platform described in technical scheme includes aluminium support and landing slab.

Described aluminium support is symmetrical rectangular frame, aluminium support include bottom support, middle layer bracket, Top layer support, 4 structure identical support columns, the first pillar and the second pillar；Bottom support, middle layer bracket, top layer support are The equal rectangular planar frame of length and width, 4 structure identical support columns are vertically mounted to horizontal positioned bottom support corner On the top end face at place and it is connected by screw bolts, top layer support is placed on the top for the 4 structure identical support columns placed vertically On face and it is connected by screw bolts, middle layer bracket is placed between top layer support and bottom support and and top layer support and bottom support It is parallel, it is connected by screw bolts between middle layer bracket and 4 structure identical support columns；First pillar and the second pillar are arranged on top Between the layer top layer second cross beam of support and the middle level second cross beam of middle layer bracket and it is connected by screw bolts；Described landing slab is The solid rectangular parallelepiped structure part of irony, the bolt hole of mounting foot bolt is provided with landing slab corner；Aluminium support passes through Its bottom support is arranged on landing slab using bolt.

Described top layer support includes top layer first crossbeam, top layer second cross beam, the crossbeam of top layer the 3rd, the longeron of top layer first With the longeron of top layer second.The left and right ends of top layer first crossbeam and the front end of the longeron of top layer first, the front end of the longeron of top layer second It is connected by screw bolts, the left and right ends of the crossbeam of top layer the 3rd and the rear end of the longeron of top layer first, the rear end of the longeron of top layer second are adopted It is connected with, the left and right ends of top layer second cross beam and the middle-end of the longeron of top layer first, the middle-end of the longeron of top layer second use Bolt connection.

Described middle layer bracket includes middle level first crossbeam, middle level second cross beam, the crossbeam of middle level the 3rd, the horizontal stroke of middle level the 4th Beam, the crossbeam of middle level the 5th, the longeron of middle level first, the longeron of middle level second and between middle level second cross beam and the crossbeam of middle level the 3rd The longeron of middle level the 3rd.Described middle level first crossbeam, middle level second cross beam, the crossbeam of middle level the 3rd and the crossbeam of middle level the 4th is installed Be fixedly connected between the longeron of middle level first, the longeron of middle level second and using bolt, middle level first crossbeam, middle level second cross beam, The crossbeam of middle level the 3rd is parallel to each other simultaneously with the crossbeam of middle level the 4th and the longeron of middle level first, the longeron of middle level second are vertical, middle level the 5th Crossbeam is arranged on 2 structure identical support columns between middle layer bracket and top layer support and is fixedly connected using bolt, in The 5th crossbeam of layer is parallel to each other with the crossbeam of middle level the 4th；The longeron of middle level the 3rd is arranged on middle level second cross beam, the crossbeam of middle level the 3rd Between and be fixedly connected using bolt, the longeron of middle level the 3rd and middle level second cross beam, the beam vertical of middle level the 3rd.

It is vertical that described bottom support includes bottom first crossbeam, bottom second cross beam, the longeron of bottom first and bottom second Beam；Bottom first crossbeam, bottom second cross beam are arranged between the longeron of bottom first and the front and rear end of the longeron of bottom second Rectangular planar frame is formed, is adopted between bottom first crossbeam, bottom second cross beam and the longeron of bottom first and the longeron of bottom second It is fixedly connected with bolt.

The I/O plates of test sensor-based system described in technical scheme and the model DS2202 in data acquisition development system The connection of card electric wire refers to：

Described test sensor-based system includes the near front wheel pressure sensor, off-front wheel pressure sensor, left rear wheel pressure and passed Behind sensor, off hind wheel pressure sensor, the near front wheel flow sensor, off-front wheel flow sensor, left rear wheel flow sensor, the right side Take turns flow sensor, energy storage pressure sensor and accumulator flow sensor.

The output end of described the near front wheel pressure sensor and the 1A/D passage electric wires of model DS2202 I/O boards Connection, the output end of off-front wheel pressure sensor is connected with the 2A/D passage electric wires of model DS2202 I/O boards, left back The output end of wheel pressure sensor is connected with the 3A/D passage electric wires of model DS2202 I/O boards, and off hind wheel pressure passes The output end of sensor is connected with the 4A/D passage electric wires of model DS2202 I/O boards；The near front wheel flow sensor it is defeated Go out end to be connected with the 5A/D passage electric wires of model DS2202 I/O boards, the output end and type of off-front wheel flow sensor Number for DS2202 I/O boards 6A/D passages electric wire connection, the output end and model of left rear wheel flow sensor The 7A/D passages electric wire connection of DS2202 I/O boards, the output end of off hind wheel flow sensor is with model DS2202's The 8A/D passages electric wire connection of I/O boards, the output end of energy storage pressure sensor and model DS2202 I/O boards 9A/D passages electric wire connects, and the output end of accumulator flow sensor and the 10A/D of model DS2202 I/O boards lead to Road electric wire connection.

It is using brake hard tube connection between braking system actuator and test sensor-based system described in technical scheme Refer to：

Described test sensor-based system includes the near front wheel flow sensor, off-front wheel flow sensor, left rear wheel flow and passed Sensor, off hind wheel flow sensor, accumulator flow sensor and master cylinder pressure sensor；

The first output circuit mouth of HCU valve bodies and the input of the near front wheel flow sensor in braking system actuator Connected by brake hard tube, the second output circuit mouth of HCU valve bodies and the input of off-front wheel flow sensor are hard by braking Pipe is connected, and the 3rd output circuit mouth of HCU valve bodies is connected with the input of left rear wheel flow sensor by brake hard tube, HCU 4th output circuit mouth of valve body is connected with the input of off hind wheel flow sensor by brake hard tube；The 3rd of HCU valve bodies Input between oil circuit mouth and the output end of accumulator flow sensor and connected using brake hard tube, master cylinder pressure sensor uses three Lead to fitting the master cylinder ante-chamber of master cylinder and HCU valve bodies in the braking system actuator the first input oil circuit mouth it Between brake hard tube on.

Adopted between braking system actuator and data acquisition development system described in technical scheme run wires to be Refer to：

1st road delivery outlet of the solenoid-driven plate in described data acquisition development system and the input port of HCU valve bodies the 1st Connected by electric wire, the 2nd road delivery outlet of solenoid-driven plate is connected with the input port of HCU valve bodies the 2nd by electric wire, and magnetic valve drives 3rd road delivery outlet of dynamic plate is connected with the input port of HCU valve bodies the 3rd by electric wire, the 4th road delivery outlet of solenoid-driven plate and The input port of HCU valve bodies the 4th is connected by electric wire, and the 5th road delivery outlet and the input port of HCU valve bodies the 5th of solenoid-driven plate pass through Electric wire is connected, and the 6th road delivery outlet of solenoid-driven plate is connected with the input port of HCU valve bodies the 6th by electric wire, solenoid-driven plate The 7th road delivery outlet be connected with the input port of HCU valve bodies the 7th by electric wire, the 8th road delivery outlet of solenoid-driven plate and HCU valves The input port of body the 8th is connected by electric wire, and the 9th road delivery outlet of solenoid-driven plate is connected with the input port of HCU valve bodies the 9th by electric wire Connect；The electric-motor pump in the road interface of motor driver the 2nd and braking system actuator in described data acquisition development system Signal input connected by electric wire.

Data acquisition development system described in technical scheme includes 16 PHS buses, motor driver, solenoid-drivens Plate, mainframe box and data acquisition board；Described data acquisition board includes model DS1006 processing board, model DS2202 I/O boards, model DS2211 I/O boards；

Described model DS1006 the first delivery outlet of processing board and the 3rd neck of mainframe box passes through twisted-pair feeder Connection, the second delivery outlet of model DS2202 I/O boards are connected with mainframe box the first neck interface by electric wire, model 3rd delivery outlet of DS2211 I/O boards is connected with the second neck interface of mainframe box by electric wire；

Described motor driver shares the I/O plates of 4 road interfaces, the road interface of motor driver the 1st and model DS2211 The 10PWM passages of card are connected by electric wire；

Described solenoid-driven plate shares 9 road pwm signal input ports, 9 road pwm signal delivery outlets, 1 road power interface, and 1 Road is grounded mouth；1st tunnel input port of solenoid-driven plate and the 1PWM passages of model DS2211 I/O boards pass through electric wire Connection, the 2nd tunnel input port of solenoid-driven plate and the 2PWM passages of model DS2211 I/O boards are connected by electric wire Connecing, the 3rd tunnel input port of solenoid-driven plate is connected with the 3PWM passages of model DS2211 I/O boards by electric wire, 4th tunnel input port of solenoid-driven plate is connected with the 4PWM passages of model DS2211 I/O boards by electric wire, electromagnetism 5th tunnel input port of valve driving plate is connected with the 5PWM passages of model DS2211 I/O boards by electric wire, and magnetic valve drives 6th tunnel input port of dynamic plate is connected with the 6PWM passages of model DS2211 I/O boards by electric wire, solenoid-driven plate The 7th tunnel input port be connected with the 7PWM passages of model DS2211 I/O boards by electric wire, the of solenoid-driven plate 8 tunnels input port are connected with the 8PWM passages of model DS2211 I/O boards by electric wire, the 9th tunnel of solenoid-driven plate Input port is connected with the 9PWM passages of model DS2211 I/O boards by electric wire.

HCU valve bodies described in technical scheme are cube shaped integrated structure part, and the inside of HCU valve bodies is integrated with 4 altogether The high-speed switch valve and 2 switching valves that the high-speed switch valve of individual high-frequency signal control, 4 switching signals control, the first pedal sense Feel that simulator and the second pedal sense simulator are integrated in HCU valve inners；Be provided with HCU valve bodies the first input oil circuit mouth, Second input oil circuit mouth, the 3rd input oil circuit mouth, the first output circuit mouth, the second output circuit mouth, the 3rd output circuit mouth, the Four output circuit mouths and HCU oil discharge outlets, each hydraulic fluid port on HCU valve bodies are machined with internal thread.

First input oil circuit mouth of described HCU valve bodies and the arrival end of the first switching valve are connected by asphalt channel, the Two input oil circuit mouths and the arrival end of the second switching valve are connected by asphalt channel, and first the first delivery outlet of switching valve and first is stepped on Plate sense simulator is connected by asphalt channel, and first the second delivery outlet of switching valve and the first liquid feed valve, the second liquid feed valve enter Mouth end is connected by asphalt channel；The first delivery outlet and the second pedal sense simulator of second switching valve are connected by asphalt channel Connect, second the second delivery outlet of switching valve and the 3rd liquid feed valve, the input port end of the 4th liquid feed valve are connected by asphalt channel；First The delivery outlet of liquid feed valve, the input port of the first liquid valve are connected with the 3rd output circuit mouth by asphalt channel, the second liquid feed valve Delivery outlet, the input port of the second liquid valve connected with the first output circuit mouth by asphalt channel, the output of the 3rd liquid feed valve Mouth, the input port of the 3rd liquid valve are connected with the 4th output circuit mouth by asphalt channel, the delivery outlet of the 4th liquid feed valve, the 4th The input port of liquid valve is connected with the second output circuit mouth by asphalt channel, the 3rd input oil circuit mouth and the first liquid feed valve it is defeated Entrance, the input port of the second liquid feed valve, the input port of the 3rd liquid feed valve and the input port of the 4th liquid feed valve are connected by asphalt channel Connect；HCU oil discharge outlets and the first liquid valve, the second liquid valve, the delivery outlet of the 3rd liquid valve and the 4th liquid valve are led to by oil circuit Road connects.

Compared with prior art the beneficial effects of the invention are as follows：

1. line of vehicles control hydraulic braking system hardware of the present invention realizes line traffic control Hydraulic braking system the-loop test bed The hardware in loop of system, advantage is provided for the hardware development of line traffic control brake fluid system, while reduce line traffic control hydraulic pressure system The R＆D costs of dynamic system.When hardware-in-loop simulation is analyzed, driver and road environment be all by operating automation, can Realize that complicated road environment is set, reduce cost of labor, the flexibility ratio of increase dynamic adjustment.

2. line of vehicles control hydraulic braking system hardware of the present invention can be used in line traffic control hydraulic braking the-loop test bed The exploitation test of executing agency, control system and ECU, and design method, control technology and prototyping testing research, by this examination Platform is tested, the research of magnetic valve dynamic response characteristic and wheel cylinder increase and decrease under various control algolithms and different road surface operating modes can be carried out Press dynamic response characteristic research.

3. line of vehicles control hydraulic braking system hardware of the present invention is the-loop test bed in verification algorithm, electromagnetism response valve While characteristic and wheel cylinder increase and decrease pressure dynamic response characteristic, parameter optimization is completed by corrected parameter, can be realized to algorithm Dynamic adjusts, the actual parameter amendment of the executing agency such as magnetic valve and redesign process.

4. line of vehicles control hydraulic braking system hardware of the present invention can be used in ACC/AEB/LKA/ the-loop test bed The simulation analysis of the operating modes such as ABS/TCS/ESC, have accurate measurement brake-by-wire oil liquid pressure and flow an energy supply, error precision and Systematic error is less than one thousandth, can realize pressure of wheel braking cylinder quick regulation, and fast run-up pressure 10MPa, which is built, presses the time to be less than 170ms； Accurate pressure control precision is less than 0.08MPa.

Brief description of the drawings

The present invention is further illustrated below in conjunction with the accompanying drawings：

Fig. 1 is schematic block of the line of vehicles control hydraulic braking system hardware of the present invention in the-loop test bed structural principle Figure；

Fig. 2 is line of vehicles control hydraulic braking system hardware of the present invention in the-loop test bed middle braking system actuator Structure composition schematic diagram；

Fig. 3 is line of vehicles control hydraulic braking system hardware of the present invention in the-loop test bed middle data acquisition development system With the schematic block diagram of host computer structural principle；

Fig. 4 is line of vehicles control hydraulic braking system hardware of the present invention in the-loop test bed middle braking system actuator Middle HCU valve inners structure chart；

Fig. 5 is line of vehicles control hydraulic braking system hardware of the present invention in the-loop test bed middle experimental bench matrix medium-height trestle Platform structure composition schematic diagram；

In figure：1. near front wheel brake, 2. off-front wheel brakes, 3. left rear wheel brakes, 4. off hind wheel brakes, 5.HCU valve bodies, 6. high pressure accumulators, 7. electric-motor pumps, 8. the near front wheel pressure sensors, 9. the near front wheel flow sensors, before 10. right sides Wheel pressure sensor, 11. off-front wheel flow sensors, 12. left rear wheel pressure sensors, 13. left rear wheel flow sensors, 14. Off hind wheel pressure sensor, 15. off hind wheel flow sensors, 16. lubricating cups, 17. pedal displacement sensors, 18. master cylinders, 19. brake pedal, 20. motor drivers, 21. solenoid-driven plates, 22. mainframe boxes, 23. data acquisition boards, 24. host computers, 25. accumulator flow sensor, 26. energy storage pressure sensors, 27. master cylinder pressure sensors, 28. first output circuit mouths, 29. the second output circuit mouth, 30. the 3rd input oil circuit mouths, 31.HCU oil discharge outlets, 32. first input oil circuit mouths, 33. second is defeated Enter oil circuit mouth, 34. the 3rd output circuit mouths, 35. the 4th output circuit mouths, 36. first oil line pipes, 37. second oil line pipes, 38. the 3rd oil line pipe, 39. the 4th oil line pipes, 40. master cylinder back cavities, 41. master cylinder ante-chambers, 42. lubricating cup delivery outlets, 43. first Input port, 44. second input ports, 45. rack platforms, 46. first liquid feed valves, 47. second liquid feed valves, 48. the 3rd liquid feed valves, 49. the 4th liquid feed valve, 50. first liquid valves, 51. second liquid valves, 52. the 3rd liquid feed valves, 53. the 4th liquid feed valves, 54. first Switching valve, 55. second switching valves, 56. first pedal sense simulators, 57 second pedal sense simulators.

Embodiment

The present invention is explained in detail below in conjunction with the accompanying drawings：

With reference to figure 1, the invention provides a kind of line of vehicles control hydraulic braking system hardware the-loop test bed, to be solved Technical problem is that guarantee test platform has good real-time, can realize the whole vehicle model under different operating modes, control algolithm Data interaction between model, line traffic control brake fluid system and sensor signal, and carry out electricity by means such as simulation analysis Magnet valve response characteristic and wheel cylinder increase the analysis of decompression phase dynamic response characteristic, also need guarantee test platform to carry out fast run-up pressure 10MPa, build and press the time to be less than 170ms, accurate pressure control precision is less than 0.08MPa.

To solve above technical problem, present invention employs matlab/simulink to establish control algolithm model and vehicle Model, and whole vehicle model and control algolithm model are transferred in host computer, sensor die is realized by s-function modules The transmission of analog quantity signal, digital quantity signal and control signal between process plate, I/O plates, whole vehicle model and algorithm model, use Based on matlab/simulink DSPACE as data acquisition test development system, for receiving, transmitting and handle sensor Signal and control signal.Line of vehicles control hydraulic braking system hardware mainly includes real-time platform and line traffic control hydraulic pressure system the-loop test bed Dynamic system：

1. real-time platform

Described line of vehicles control hydraulic braking system hardware includes host computer 24 and data in the-loop test bed real-time platform Gather development system.

1) host computer

Functional requirement：Vehicle dynamics based on matlab/simulink, control algolithm are installed in host computer 24 Model, data are shown and processing module and s-function interface modules.Vehicle dynamics include whole vehicle model and road Model, whole vehicle model can provide wheel speed letter in simulation process to control algolithm model and data acquisition test development system Number, the information of vehicles such as yaw rate signal, longitudinal acceleration signal, transverse acceleration signal, it is dynamic to can be used for research longitudinal direction Mechanics (dynamic property, braking), vertical dynamics (comfortableness), Full Vehicle Dynamics performance test can be applied to and emulated, and led to The pilot control behavior for setting driver to increase active safety control system is crossed, vehicle environmental road model being capable of simulated automotive The various operating modes of traveling, there is provided different operating modes and road demand in simulation process.Control algolithm model mainly includes bottom Pressure control algorithm and ABS/TCS/ESC control algolithms.Data are shown and processing module is used to imitate to operator's real-time display The dynamic change of vehicle and parameter transmit situation during true, and operator can be shown by data and processing module is to experiment During simulation step length and simulation parameter etc. be configured.S-function interface modules are as data transfer interface, in transmission Information between position machine and data acquisition development system, carry out data interaction.

Bi-directional information, Vehicle dynamics and s- between control algolithm model and s-function interface modules Bi-directional information between function interface modules, control algolithm model is shown to data and processing module unidirectional delivery letter Breath, auto model is shown to data and processing module unidirectional delivery information, s-function interface modules show and located to data Manage module unidirectional delivery information.

Host computer 24 is connected with the I/O boards of model DS2202 in data acquisition development system by 16 PHS buses.

16 PHS EBIs are defined using RS232 interface, share 9 pin holes, corresponding interface is in upper mainboard 9 core contact pin types；The pin holes of PHS buses the 1st are that carrier wave detection mouth is connected with the upper interface of mainboard the 1st, the contact pin of PHS buses the 2nd Hole receives data port with the upper interface of mainboard the 2nd and is connected, and the pin holes of PHS buses the 3rd are sent out with upper mainboard interface 3 Data port is sent to connect, the pin holes of PHS buses the 4th are that data terminal mouth is connected with the upper interface of mainboard the 4th, and PHS buses the 5th are inserted Pin hole is that signal port is connected with the upper interface of mainboard the 5th, and the pin holes of PHS buses the 6th and the upper interface of mainboard the 6th are data Mouth connection is laid in, the pin holes of PHS buses the 7th ask transmission mouth to be connected with the upper interface of mainboard the 7th, the contact pin of PHS buses the 8th Hole is that clear to send mouth is connected with the upper interface of mainboard the 8th, and the pin holes of PHS buses the 9th are shaken with the upper interface of mainboard the 9th Bell prompting mouth connection.

2) data acquisition development system

Functional requirement：Data acquisition development system is the main composition portion of line traffic control brake fluid system hardware-in-the-loop test platform Point, by carrying out data interaction with host computer 24, motor driver 20, solenoid-driven plate 21, carry out brakes and perform machine Structure exploitation test；Support ABS, TCS, ESC, ACC, AEB emulation testing analysis；HCU exploitations and hardware-in―the-loop test can be carried out； It can be matched with flow sensor and pressure sensor and connect and carry out the transmission of data.The signal from sensor can be received With in host computer Vehicle dynamics export signal, by the information of collection by A/D conversion, modulation enhanced processing it Afterwards, to processing board transmission.Processing board is analyzed the data signal collected, and logic analysis is carried out to various data, Driver intention is identified, calculates speed, with reference to slip rate and estimation coefficient of road adhesion, and deposit in advance by operating personnel Storage control algolithm is drawn a conclusion, and makes correct judgement, and control signal is converted into being output to outside after analog signal by D/A Enclose in circuit i.e. external drive system, the operating of controlled motor and the keying of switch valve are so as to realizing line traffic control brake fluid system Braking function.

Data acquisition development system includes 16 PHS buses, motor driver 20, solenoid-driven plate 21, mainframe box 22 With data acquisition board 23.

Mainframe box 22 is used to carry processing board and I/O boards that data acquisition board 23 is included, and completes to handle board Information transmission between I/O boards.Mainframe box 22 is rectangular parallelepiped structure, and the first neck, the second card are provided with mainframe box 22 Groove and the 3rd neck, the 3rd neck are used to connect processing board and transmission information, and the first neck and the second neck are used to connect I/O Board and transmission information.It is MISO1 interfaces that first neck, which embeds interface, and it is MISO2 interfaces that the second neck, which embeds interface, and the 3rd blocks It is MOSI1 interfaces, MOSI2 interfaces that groove, which embeds interface,.

Data acquisition board 23 includes model DS1006 processing board, model DS2202 I/O boards, model DS2211 I/O boards.

Described model DS1006 processing board uses AMD processors, 2.8GHz, and process plate card size is length 340mm, wide 125mm, high 15mm.Ideal working temperature section is 0 to 40 degree Celsius, can automatically be cooled down, passed through by electric fan Isa bus is connected with power supply, and processing board pin operating voltage is+5V, and power supply uses 12V AC-powereds.Energy is managed in I/O Power and digital operating ability are all very strong, can be easily accomplished to type using matlab/simulink and DSPACE real-time interface Number for DS1006 handle board programming.Under matlab/simulink environment, it is not necessary to by programming code be changeable simultaneously All I/O plates being connected with model DS1006 processing boards are set.Generation, compiling, the download of code can be clicked on by mouse To realize.

Described model DS2202 I/O boards contain 16 road analog quantity inputs, 20 road analog output mouths, 38 tunnels Digital I/O input ports, 16 railway digital I/O delivery outlets, 24 tunnel timing I/O input ports, 9 tunnel timing I/O delivery outlets, 2 road CAN connect Mouthful, serial line interface all the way, RS232/RS442 interfaces all the way；

Described model DS2211 I/O boards contain 16 road analog quantity inputs, 20 road analog output mouths, 16 tunnels Digital I/O input ports, 16 railway digital I/O delivery outlets, 24 tunnel timing I/O input ports, 9 tunnel timing I/O delivery outlets, 10 roadlocks pass Sensor analog signal output mouth, 2 road CAN interfaces, all the way serial line interface, all the way RS232/RS442 interfaces.It can be completely suitable for All hardware is up to 42V, supports double power-supply system in loop simulation demand, the vehicle signal voltage of support.Model DS2211 I/O boards specially designed to simulate and measure vehicle signal, the various I/ needed for HIL are not only integrated with the plate O signals, and the signal voltage supported is up to 42V.Model DS2211 I/O boards are applied to all hardware in ring test. And the combination of model DS2211 I/O boards and DS1006 processor plates can form the core of a DSPACE HWIL simulation The heart.Model DS1006 processing board undertakes the evaluation work of real-time model, such as one engine mockup of operation, now type Number for DS2211 I/O boards just for the model provide measurement emulation needed for all signals.When two pieces or polylith model When DS2211 I/O boards are used in combination, more complicated model can be emulated.

16 described PHS buses, there is 20Mb/s transmission speed, 30Mb/s biography is provided new I/O interface boards Defeated speed, up to 64 PHS buses interrupt service interface, can be used in all I/O plates parallel samplings and the line synchro of renewal.Plate Card arrange parameter needs to be configured by PHS buses, and arrange parameter has enabled control, input and output option, frequency parameter, followed Ring time and serial port baud rate.

Refering to Fig. 3, model DS1006 processing board, model DS2202 I/O boards, model DS2211 I/ O boards carry out data transfer by the circuit path embedded on mainframe box mainboard, RS232 on model DS2202 I/O boards Interface is connected with RS232 interface in host computer by PHS buses.

First delivery outlet of model DS1006 processing board and the 3rd neck of mainframe box 22 by twisted pair line connection, Second delivery outlet of model DS2202 I/O boards is connected with the first neck interface of mainframe box 22 by electric wire, model 3rd delivery outlet of DS2211 I/O boards is connected with the second neck interface of mainframe box 22 by electric wire, and twisted-pair feeder is using half Duplex data transmission pattern, i.e. twisted-pair feeder single line are only used for output data or receive data, and output receives data can not Carry out simultaneously.The MOSI1 interfaces in MISO1 interfaces and the 3rd neck in first neck are connected by circuit path, the second card The MOSI2 interfaces in MISO2 interfaces and the 3rd neck in groove are connected by circuit path.Data between process plate and I/O plates Transmission speed is 30MB/s.

Described motor driver 20 shares 4 road interfaces, the 1st road interface model DS2211 I/O boards output Pwm signal, the 2nd road interface connected to the output pwm signal of electric-motor pump 7, the 3rd road interface with 24V AC powers by electric wire, 4 road interfacing grounds.Switch on power for 24V alternating currents.The function of motor driver 20 is to be put the signal from I/O boards Big processing, for motor pump 7.The 10PWM of the road interface of motor driver 20 the 1st and model DS2211 I/O boards Passage is connected by electric wire.

Described solenoid-driven plate 21 shares 9 road pwm signal input ports, 9 road pwm signal delivery outlets, and 1 road power supply connects Mouthful, 1 tunnel ground connection mouth.The function of solenoid-driven plate 21 is that the signal from I/O boards is amplified processing to be used to drive HCU Magnetic valve in valve body 5.1st tunnel input port of solenoid-driven plate 21 and the 1PWM of model DS2211 I/O boards lead to Road is connected by electric wire, the 2nd tunnel input port of solenoid-driven plate 21 and the 2PWM passages of model DS2211 I/O boards Connected by electric wire, the 3rd tunnel input port of solenoid-driven plate 21 and the 3PWM passages of model DS2211 I/O boards lead to Electric wire connection is crossed, the 4th tunnel input port of solenoid-driven plate 21 and the 4PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 5th tunnel input port of solenoid-driven plate 21 and the 5PWM passages of model DS2211 I/O boards pass through electricity Line connects, and the 6th tunnel input port of solenoid-driven plate 21 and the 6PWM passages of model DS2211 I/O boards pass through electric wire Connection, the 7th tunnel input port of solenoid-driven plate 21 and the 7PWM passages of model DS2211 I/O boards are connected by electric wire Connect, the 8th tunnel input port of solenoid-driven plate 21 and the 8PWM passages of model DS2211 I/O boards are connected by electric wire Connect, the 9th tunnel input port of solenoid-driven plate 21 and the 9PWM passages of model DS2211 I/O boards are connected by electric wire Connect.

2. line traffic control brake fluid system

Line traffic control brake fluid system includes test sensor-based system, experimental bench matrix and braking system actuator.

1) sensor-based system is tested

Described test sensor-based system includes the near front wheel pressure sensor 8, off-front wheel pressure sensor 10, left rear wheel pressure Sensor 12, off hind wheel pressure sensor 14, the near front wheel flow sensor 9, off-front wheel flow sensor 11, left rear wheel flow pass Sensor 13, off hind wheel flow sensor 15, energy storage pressure sensor 26, accumulator flow sensor 25, master cylinder pressure sensing Device 27.Pressure sensor needs to be connected into measurement oil circuit using three-way connector when installing.Three-way connector first connects Sensor, input and output end are connected into oil circuit.Pressure sensor and three-way connector are connected through a screw thread, three-way connector It is connected through a screw thread with brake piping.Flow sensor and brake piping are using threaded connection.

(1) flow sensor

Functional requirement：The detectable fluid by accumulator fluid of accumulator flow sensor 25 fluctuates, and is stored by measuring Pressurization time confirmatory experiment platform 0.1Mpa accuracy of detection is calculated in minimum fluid amount at energy device.Brake flow sensor can The flow of actual brake system device is detected, the data on flows exported by contrast simulation model, can further adjust emulation Model and Optimal Parameters, due to being provided with pressure sensor and flow sensor simultaneously at brake, in order to reduce pressure sensing Influence of the device to flow rate test precision, the position of each flow sensor will be close to brake.

Each flow sensor tested in sensor-based system uses model VHZ-008GA flowmeter.

Principal character and performance indications are as follows：Maximum range 33ml/s, minimum effectively number of degrees 0.33ml/s.

(2) pressure sensor

Functional requirement：Pressure sensor at four wheel brakes is used to measure brake oil hydraulic coupling, measures Actual pressure numerical value and the difference of goal pressure can be as the input quantity of control algolithm, also can be with the output pressure of simulation model Contrasted, adjust model optimization model parameter；The measurable exit of high pressure accumulator 6 pressure of high pressure accumulator pressure sensor 26 Power, when outlet pressure is too low, the pressure of high pressure accumulator 6 can be adjusted by hydraulic pump pump oil, makes pressure source is approximate to keep Voltage stabilizing state.

Pressure sensor at four wheel brakes uses model HM22 high-precision pressure sensor.

Principal character and performance indications are as follows：Model HM22 high-precision pressure sensor output signal is simulated for 0-5v Amount, stability is medium, precision 0.016Mpa, divides example be 0.0016Mpa, range 0-16MPa, Applicable temperature for -20~ 80 degree, sensor stability can be lifted, if precision is inadequate, can also use the HM29 series productions of RS232 or RS485 communication protocols Product, due to being digital output, sensor can be corrected to a certain degree in output to output quantity in itself, due to systematic survey Precision is by sensor accuracy and accuracy of data acquisition joint effect, and both must consider simultaneously, and the interface of pressure sensor is by braking Hard tube determines.

Test sensor-based system and near front wheel brake 1 in experimental bench matrix, off-front wheel brake 2, left rear wheel brake 3 It is connected between off hind wheel brake 4 using brake hard tube.

2) experimental bench matrix

Functional requirement：For supporting line of vehicles control hydraulic braking system hardware the-loop test bed.Experimental bench matrix includes branch Body panel 45, near front wheel brake 1, off-front wheel brake 2, left rear wheel brake 3 and off hind wheel brake 4.

With reference to figure 1, Fig. 4 and Fig. 5, described rack platform 45 is using framework junction part made of industrial aluminum profile, branch Body panel 45 includes aluminium support and landing slab；Aluminium support uses cross section to be made up of I-shaped section bar, aluminium support bag Include bottom support, middle layer bracket, top layer support, the structure identical support column positioned at aluminium support corner, (positioned at i.e. connection in Between layer support and top layer support) the first pillar and the second pillar；Bottom support, middle layer bracket, top layer support are length and width phase Deng rectangular planar frame, 4 structure identical support columns are vertically mounted to the top at horizontal positioned bottom support corner On face and it is connected by screw bolts, top layer support is placed on the top end face for the 4 structure identical support columns placed vertically and used Bolt connection, middle layer bracket is placed between top layer support and bottom support simultaneously and top layer support is parallel with bottom support, middle level It is connected by screw bolts between support and 4 structure identical support columns；Aluminium support is symmetrical rectangular frame.Aluminium It is rack platform 45 that support is arranged on landing slab by its bottom support using bolt, and rack platform 45 passes through its landing slab On ground.Crossbeam longeron label order is using from front to back, and from left to right sequentially, all around reference direction is being joined Examine in Fig. 5 and point out.

Described top layer support includes top layer first crossbeam, top layer second cross beam, the crossbeam of top layer the 3rd, the longeron of top layer first With the longeron of top layer second.Left and right ends and the first longeron of top layer front end, the second longeron of the top layer front end of top layer first crossbeam use Bolt connection, the left and right ends of the crossbeam of top layer the 3rd and the rear end of the longeron of top layer first, the rear end of the longeron of top layer second use spiral shell Tether and connect, the left and right ends of top layer second cross beam and the middle-end of the longeron of top layer first, the middle-end of the longeron of top layer second use bolt Connection.

Middle layer bracket includes middle level first crossbeam, middle level second cross beam, the crossbeam of middle level the 3rd, the crossbeam of middle level the 4th, middle level 5th crossbeam, the longeron of middle level first, the longeron of middle level second and the middle level between middle level second cross beam and the crossbeam of middle level the 3rd 3rd longeron.Middle layer bracket is mainly used in supporting braking system actuator.

Screwed hole, HCU valve bodies 5 and middle level first crossbeam, middle level are drilled among middle level first crossbeam and middle level second cross beam For second cross beam using threaded connection, crossbeam plays fixation and the weight of support HCU valve bodies 5.On the right side of the first crossbeam of middle level The screwed hole for placing high pressure accumulator 6, the i.e. three-way connector of high pressure accumulator 6 and the screwed hole are drilled with a quarter It is bolted.Pass through the first pillar and the second pillar bolt connection between middle level second cross beam and top layer second cross beam.The Screwed hole is drilled with two pillars.Electric-motor pump 7 is positioned on the second pillar of the rear side of high pressure accumulator 6, and electric-motor pump 7 passes through the screw thread Hole is connected by screw bolts with the first pillar.Second support column plays fixation and disposes the use of electric-motor pump 7.The crossbeam of middle level the 3rd Screwed hole is drilled with the crossbeam centre position of middle level the 4th, master cylinder 18 is placed in the rear side of HCU valve bodies 5, and master cylinder 18 is logical Cross screwed hole and bolt is arranged between the crossbeam of middle level the 3rd and the crossbeam of middle level the 4th.After lubricating cup 16 is positioned over master cylinder 18 Side, lubricating cup 16 are connected by pipeline with the lubricating cup hole on master cylinder 18 with master cylinder 18.The crossbeam of middle level the 5th is located at middle level Chassis plane and top layer chassis plane centre position, for installing brake pedal 19, brake pedal 19 is adopted with the crossbeam of middle level the 5th With threaded connection.The longeron of middle level the 3rd and middle level second cross beam and the used bolt connection of crossbeam of middle level the 3rd, play fixation.In Bolt hole is drilled with a quarter before the first longeron of layer, for installing near front wheel brake 1, a quarter after the longeron of middle level first Place is drilled with bolt hole, for installing left rear wheel brake 3, bolt hole is drilled with a quarter before the longeron of middle level second, for pacifying Fill off-front wheel brake 2, bolt hole is drilled with a quarter after the longeron of middle level second, for installing off hind wheel brake 4.Middle level First crossbeam, middle level second cross beam, the crossbeam of middle level the 3rd, the crossbeam of middle level the 4th and the longeron of middle level first, the longeron of middle level second it Between be connected by screw bolts.The longeron of middle level first is connected by screw bolts with Left-side support post, the longeron of middle level second and Right side support post It is connected by screw bolts.

Bottom support includes bottom first crossbeam, bottom second cross beam, the longeron of bottom first and the longeron of bottom second.Bottom Support plays fixation and is attached by bolt and landing slab.Screw thread is installed at 1/8th before the longeron of bottom first Hole, 1/8th after the longeron of bottom first at screwed hole is installed, 1/8th before the longeron of bottom second at screwed hole is installed, Screwed hole is installed, bottom support is bolted with landing slab at 1/8th after the longeron of bottom second.

Landing slab is the solid rectangular parallelepiped structure part of irony, a length of 2000mm, a width of 1500mm, is set at landing slab corner There is the bolt hole of mounting foot bolt.

Near front wheel brake 1, off-front wheel brake 2, left rear wheel brake 3 and off hind wheel brake 4 are using the new energy of Beijing Automobile Workshop Source C40 brakes, near front wheel brake 1, off-front wheel brake 2 are disk brake, left rear wheel brake 3 and off hind wheel braking Device 4 is drum brake.

3) braking system actuator

Functional requirement：Based on the autonomous ESC/ABS of hydraulic braking line traffic control brake fluid system, can realize ABS, ESC, The supercharging of the line traffic control such as TCS brake fluid system, pressurize and decompression, system can provided to driver under full decoupling pattern While dynamic pedal sense, accurate adjustment is carried out to wheel cylinder brake pressure.In the case of power-off failure, the system still can Rely on pedal force and realize mechanical braking, the function that can be pressurized and depressurized is realized.In conventional brake, abs braking, TCS systems It is dynamic, ESC controls, during the different operating modes such as failure braking, it still is able to realize the quick foundation of pressure of wheel braking cylinder.

Refering to Fig. 2, described braking system actuator includes HCU valve bodies 5, high pressure accumulator 6, electric-motor pump 7, lubricating cup 16th, pedal displacement sensor 17, master cylinder 18 and brake pedal 19.

Brake hard tube is internal diameter 3.2mm 20 steel pipes；Brake pedal 19 becomes one with pedal displacement sensor 17, system Dynamic pedal 19 is connected through the hinge with brake pedal bearing；

The output end of pedal displacement sensor 17 is connected with the 11A/D passage electric wires of model DS2202 I/O boards.

Described master cylinder 18 is tandem master cylinder, and master cylinder ante-chamber 41 is provided with two asphalt channel mouths；Two oil Paths mouth is connected with the first oil line pipe 36 with one end of the 4th oil line pipe 39 respectively；The other end of first oil line pipe 36 Connected with the first input oil circuit mouth 32 of HCU valve bodies 5, the other end of the 4th oil line pipe 39 and the second input port 44 of lubricating cup 16 Connection；Master cylinder back cavity 40 is provided with two asphalt channel mouths, two asphalt channel mouths respectively with the second asphalt channel 37 and the 3rd One end connection of asphalt channel 38；The other end of second asphalt channel 37 and the second input oil circuit mouth 33 of HCU valve bodies 5 connect, The other end of 3rd oil line pipe 38 and the first input port 43 of lubricating cup 16 connect, each oil line pipe using brake hard tube, It is interference fit between the input port of the asphalt channel mouth and lubricating cup 16 of brake hard tube and master cylinder 18.

Described HCU valve bodies 5 are cube integrated structure part, and the inside of HCU valve bodies 5 is integrated with 9 valves altogether, wherein including The high-speed switch valve of 4 high-frequency signal control, the high-speed switch valve of 4 switching signal control, 2 switching valves.First pedal sense Feel that the pedal sense simulator 57 of simulator 56 and second is integrated in inside HCU valve bodies 5.HCU valve bodies 5 one share three input oil circuits Mouthful, four output circuit mouths and HCU oil discharge outlets 31, each oil circuit mouth and brake hard tube on HCU valve bodies 5 are connected by M10 screw threads Connect.

In described HCU valve bodies 5, the upper surface of HCU valve bodies 5 is provided with 10 drive signal input ports, and input port connection is each The magnet coil of corresponding magnetic valve, when there is drive signal to be passed to coil by input port, coil electricity produces electromagnetic force, control Magnetic valve processed produces response action.The input port of HCU valve bodies 5 the 1st is connected to the magnet coil of the first liquid feed valve 46, HCU valve bodies 5 2 input ports are connected to the magnet coil of the second liquid feed valve 47, and the input port of HCU valve bodies 5 the 3rd is connected to the electromagnetism of the 3rd liquid feed valve 48 Coil, the input port of HCU valve bodies 5 the 4th are connected to the magnet coil of the 4th liquid feed valve 49, and the input port of HCU valve bodies 5 the 5th is connected to The magnet coil of one liquid valve 50, the input port of HCU valve bodies 5 the 6th are connected to the magnet coil of the second liquid valve 51, HCU valve bodies 5 7 input ports are connected to the magnet coil of the 3rd liquid valve 52, and the input port of HCU valve bodies 5 the 8th is connected to the electromagnetism of the 4th liquid valve 53 Coil, the input port of HCU valve bodies 5 the 9th are connected to the magnet coil of the first switching valve 54, and the input port of HCU valve bodies 5 the 10th is connected to The magnet coil of two switching valves 55.

In described HCU valve bodies 5, the first input oil circuit mouth 32 is connected with the first switching valve 54 by asphalt channel, and second Input oil circuit mouth 33 is connected with the second switching valve 55 by asphalt channel, the delivery outlet of the first switching valve 54 first and the first pedal sense Feel that simulator 56 is connected by asphalt channel, the delivery outlet of the first switching valve 54 second and the first liquid feed valve 46, the second liquid feed valve 47 Arrival end connected by asphalt channel.The delivery outlet of second switching valve 55 first and the second pedal sense simulator 57 pass through oil circuit Passage connects, and the delivery outlet of the second switching valve 55 second and the 3rd liquid feed valve 48, the input port end of the 4th liquid feed valve 49 pass through oil circuit Passage connects.The delivery outlet of first liquid feed valve 46, the input port of the first liquid valve 50 and the 3rd oil circuit delivery outlet 34 pass through asphalt channel Connection, the delivery outlet of the second liquid feed valve 47, the input port of the second liquid valve 51 are connected with the first oil circuit delivery outlet 28 by asphalt channel, The delivery outlet of 3rd liquid feed valve 48, the input port of the 3rd liquid valve 52 are connected with the 4th oil circuit delivery outlet 35 by asphalt channel, and the 4th The delivery outlet of liquid feed valve 49, the input port of the 4th liquid valve 53 and the second oil circuit delivery outlet 29 are connected by asphalt channel, the 3rd input The input port of 30 and first liquid feed valve of oil circuit mouth 46, the input port of the second liquid feed valve 47, the input port of the 3rd liquid feed valve 48, the 4th liquid feed valve 49 input ports are connected by asphalt channel.The liquid valve 50 of HCU oil discharge outlets 31 and first, the second liquid valve 51, the 3rd liquid valve 52, The delivery outlet of 4th liquid valve 53 is connected by asphalt channel.

First output circuit mouth 28 of described HCU valve bodies 5 and the input of the near front wheel flow sensor 9 are hard by braking Pipe is connected, and the input and brake hard tube of the near front wheel flow sensor 9 are threadedly coupled by M18；Second output of HCU valve bodies 5 Oil circuit mouth 29 is connected with the input of off-front wheel flow sensor 11 by brake hard tube, the input of off-front wheel flow sensor 11 End and brake hard tube are threadedly coupled by M18；3rd output circuit mouth 34 of HCU valve bodies 5 and left rear wheel flow sensor 13 Input is connected by brake hard tube, and the input and brake hard tube of left rear wheel flow sensor 13 are threadedly coupled by M18； 4th output circuit mouth 35 of HCU valve bodies 5 is connected with the input of off hind wheel flow sensor 15 by brake hard tube, off hind wheel The input and brake hard tube of flow sensor 15 are threadedly coupled by M18；The output end of the near front wheel flow sensor 9 and connection The three-way connector input port of the near front wheel pressure sensor 8 is connected by brake hard tube, the output of off-front wheel flow sensor 11 The three-way connector input of end and connection off-front wheel pressure sensor 10 is connected by brake hard tube, left rear wheel flow sensor The three-way connector input of 13 output ends and connection left rear wheel pressure sensor 12 is connected by brake hard tube, off hind wheel flow The input of the output end of sensor 15 and the three-way connector of connection off hind wheel pressure sensor 14 is connected by brake hard tube, The threeway connection of the three-way connector of brake hard tube and connection the near front wheel pressure sensor 8, connection off-front wheel pressure sensor 10 Part, the three-way connector of connection left rear wheel pressure sensor 12 pass through with being connected the three-way connector of off hind wheel pressure sensor 14 M10 is threadedly coupled.

Following connected mode is used between braking system actuator, experimental bench matrix and test sensor-based system：

The output end of the three-way connector of described the near front wheel pressure sensor 8 and the input of near front wheel brake 1 are adopted Connected with brake hard tube, the output end of the three-way connector of off-front wheel pressure sensor 10 and the input of off-front wheel brake 2 Connected using brake hard tube, the output end of the three-way connector of left rear wheel pressure sensor 12 and the input of left rear wheel brake 3 End is connected using brake hard tube, the output end of the three-way connector of off hind wheel pressure sensor 14 and off hind wheel brake 4 it is defeated Enter end to connect using brake hard tube, after brake hard tube and near front wheel brake 1, off-front wheel brake 2, left rear wheel brake 3, the right side Wheel brake 4 is threadedly coupled by M12.The 3rd input oil circuit mouth 30 and the input of accumulator flow sensor 25 of HCU valve bodies 5 Connected by brake piping, the output end of accumulator flow sensor 25 is defeated with the three-way connector of energy storage pressure sensor 26 Enter end to connect by brake piping, output end and the high pressure accumulator 6 of the three-way connector of energy storage pressure sensor 26 pass through Brake hard tube is connected, and brake hard tube is connected through a screw thread with the delivery outlet of high pressure accumulator 6, the input port of high pressure accumulator 6 and motor Pump 7 is connected by brake hard tube, and brake hard tube is connected through a screw thread with the input/output port of electric-motor pump 7, the input of electric-motor pump 7, oil Cup delivery outlet 42 is connected with HCU oil discharge outlets 31 by brake hard tube, and brake hard tube junction three-way connection is connected using M10 screw threads Connect, using interference fit connection between brake hard tube and lubricating cup delivery outlet 42.

Braking system actuator is connected in the following manner with data collecting system：

The 1st road delivery outlet and HCU valve bodies 5 the 1st of solenoid-driven plate 21 in described data acquisition development system are defeated Entrance is connected by electric wire, and the 2nd road delivery outlet of solenoid-driven plate 21 is connected with the input port of HCU valve bodies 5 the 2nd by electric wire, 3rd road delivery outlet of solenoid-driven plate 21 is connected with the input port of HCU valve bodies 5 the 3rd by electric wire, and the of solenoid-driven plate 21 4 road delivery outlets are connected with the input port of HCU valve bodies 5 the 4th by electric wire, the 5th road delivery outlet and the HCU valve bodies of solenoid-driven plate 21 5 the 5th input ports are connected by electric wire, and the 6th road delivery outlet and the input port of HCU valve bodies 5 the 6th of solenoid-driven plate 21 pass through electric wire Connection, the 7th road delivery outlet of solenoid-driven plate 21 are connected with the input port of HCU valve bodies 5 the 7th by electric wire, solenoid-driven plate 21 the 8th road delivery outlet is connected with the input port of HCU valve bodies 5 the 8th by electric wire, the 9th road delivery outlet of solenoid-driven plate 21 with The input port of HCU valve bodies 5 the 9th is connected by electric wire.10th road delivery outlet of solenoid-driven plate 21 inputs with HCU valve bodies 5 the 10th Mouth is connected by electric wire.

The road interface of motor driver 20 the 2nd is connected with the signal input of electric-motor pump 7 by electric wire.

Connected in the following manner between each sensor and data collecting system：The signal of the near front wheel pressure sensor 8 is defeated Go out end to be connected with the 1A/D passage electric wires of model DS2202 I/O boards, the signal output of off-front wheel pressure sensor 10 End is connected with the 2A/D passage electric wires of model DS2202 I/O boards, the signal output part of left rear wheel pressure sensor 12 Be connected with the 3A/D passage electric wires of model DS2202 I/O boards, the signal output part of off hind wheel pressure sensor 14 with The 4A/D passages electric wire connection of model DS2202 I/O boards, the signal output part and model of the near front wheel flow sensor 9 For the 5A/D passages electric wire connection of DS2202 I/O boards, the signal output part and model of off-front wheel flow sensor 11 The 6A/D passages electric wire connection of DS2202 I/O boards, the signal output part and model of left rear wheel flow sensor 13 The 7A/D passages electric wire connection of DS2202 I/O boards, the signal output part and model of off hind wheel flow sensor 15 The 8A/D passages electric wire connection of DS2202 I/O boards, the signal output part and model of energy storage pressure sensor 26 The 9A/D passages electric wire connection of DS2202 I/O boards, the signal output part and model of accumulator flow sensor 25 The 10A/D passages electric wire connection of DS2202 I/O boards.

Line of vehicles control hydraulic braking system hardware is in the-loop test bed operation principle：

DSPACE, ControlDesk and the control algolithm established using matlab/sumulink are installed in host computer Model and Vehicle dynamics.Vehicle dynamics mainly comprising the road surface model under whole vehicle model and different operating modes and Environmental model.Control algolithm model mainly includes bottom pressure control algorithm model and vehicle body stability control algorithm model.

Refering to Fig. 1 to Fig. 3, driver steps on brake pedal, and pedal displacement sensor obtains pedal displacement signal, and will letter Model DS2202 I/O boards number are passed to, are passed to after board signal modifier treatment in data acquisition development system Model DS1006 processing board, process plate clamping receive pedal displacement signal, and are operated identification.Operating mode's switch is divided into Two kinds of operating modes, conventional brake stage and ABS increase and decrease pressure pressurize operating modes.

In the conventional brake stage, driver steps on pedal promotion master cylinder inside brake liquid, and chamber is in compressive state before and after master cylinder, Brake fluid is closed from the first switching valve 54 in asphalt channel HCU valve bodies 5, the second switching valve 55, and brake fluid is from One oil line pipe 36 and the second oil line pipe 37 enter HCU valves by the first input oil circuit mouth 32 and the second input oil circuit mouth 33 Body 5.In the conventional brake stage, the 3rd input oil circuit mouth 30 is in off position, and liquid feed valve is in normally opened in HCU valve bodies 5 Stage, liquid valve are in the normally closed stage.It is defeated by first respectively by HCU valve bodies 5 in conventional brake pressurization stages, high-voltage oil liquid Fuel-displaced crossing 28, the second output circuit mouth 29, the 3rd output circuit mouth 34, the 4th output circuit mouth 35 enter the near front wheel braking Device 1, off-front wheel brake 2, left rear wheel brake 3 and off hind wheel brake 4.In conventional brake decompression phase, driver unclamps Brake pedal 19, brake fluid is 18 from backtracking to master cylinder.The near front wheel pressure sensor 8, off-front wheel pressure sensor 10, Left rear wheel pressure sensor 12 gathers brake pressure information in real time with off hind wheel pressure sensor 14, and communicates information to type Number be DS2211 I/O boards, be delivered to data via PHS buses and s-function interface modules and show and handle mould Block, pass through the pressure changing of four brakes of Real Time Observation of host computer 24.

In the case where ABS increases and decreases pressure pressurize operating mode, letter that model DS1006 process plate card passes through pedal displacement sensor 17 Breath, judgement are now in unconventional braking mode, and the first switching valve 54, the second switching valve 55 are in opening, and driver steps on Dynamic brake pedal 19, the hollow reduction of master cylinder inner cavity chamber, fluid are in compressive state, and high-voltage oil liquid is from the He of the first oil line pipe 36 Second oil line pipe 37 enters HCU valve bodies 5 by the first input oil circuit mouth 32 and the second input oil circuit mouth 33, enters first At pedal sense simulator 56, the second pedal sense simulator 57, pass through the pedal sense of pedal sense simulator drive simulating person Feel.The near front wheel pressure sensor 8, off-front wheel pressure sensor 10, left rear wheel pressure sensor 12, off hind wheel pressure sensor 14th, the near front wheel flow sensor 9, off-front wheel flow sensor 11, left rear wheel flow sensor 13, off hind wheel flow sensor 15th, energy storage pressure sensor 26 and accumulator flow sensor 25 gather the pressure flow signal and storage of each brake respectively Pressure flow signal at energy device.By gathering information in real time, so as to obtain the parameter needed for vehicle emulation, and pass the information on The model DS2211 I/O boards into data acquisition development system, and by PHS buses and pass through s-function interfaces The auto model and control algolithm model that module is communicated information in host computer 24.Pass through the wheel obtained in auto model Tach signal, lateral direction of car longitudinal acceleration signal.Data acquisition development system passes to signal at model DS1006 place Manage board.The rotating speed of electric-motor pump 7 and the dutycycle of magnetic valve are calculated by handling the embedded control algolithm model of board, and Control signal is delivered in electric-motor pump 7 by motor driver 20 and solenoid-driven plate 21 and in HCU valve bodies 5 realize pair The control of electric-motor pump 7 and magnetic valve.

This testing stand can be evaluated the control effect of the relevant control algorithm of various line control brake systems, imitative every time Corresponding result can be very provided, for example ABS emulation can comprehensively provide each wheel wheel speed change, slip rate change and car Brake pressure variations are taken turns, in order to user's real-time verification control strategy, adjustment control parameter, until reaching ideal value.

Other testing stand can be controlled algorithm parameter and the Optimized Matching of real vehicle parameter, and can be used for ACC/AEB/ The simulation analysis of the operating modes such as LKA/ABS/TCS/ESC, there is accurate measurement brake-by-wire oil liquid pressure and flow energy supply, error essence Degree and systematic error are less than one thousandth, can realize pressure of wheel braking cylinder quick regulation, and fast run-up pressure 10MPa, which is built, presses the time to be less than 170ms；Accurate pressure control precision is less than 0.08MPa.

Claims (7)

1. a kind of line of vehicles control hydraulic braking system hardware is the-loop test bed, it is characterised in that described line of vehicles draining compacting Dynamic system hardware is the-loop test bed including real-time platform and line traffic control brake fluid system；

Described real-time platform includes host computer (24) and data acquisition development system, host computer (24) and data acquisition exploitation system System is connected using 16 PHS buses；

Described line traffic control brake fluid system includes test sensor-based system, experimental bench matrix and braking system actuator；

Described experimental bench matrix includes rack platform (45), near front wheel brake (1), off-front wheel brake (2), left rear wheel system Dynamic device (3) and off hind wheel brake (4)；

Described experimental bench matrix is arranged on ground by rack platform therein (45), near front wheel brake (1), off-front wheel Brake (2), left rear wheel brake (3) and off hind wheel brake (4) are fixedly mounted in rack platform (45) using bolt At the corner of middle layer bracket, real-time platform is arranged on the right side of experimental bench matrix, tests sensor-based system and near front wheel brake (1), it is connected between off-front wheel brake (2), left rear wheel brake (3) and off hind wheel brake (4) using brake hard tube；Test Sensor-based system connects with the I/O board electric wires of the model DS2202 in data acquisition development system；Braking system actuator On rack platform (45), connected between braking system actuator and test sensor-based system using brake hard tube, braking Adopt and run wires between system actuator and data acquisition development system；

After described test sensor-based system and near front wheel brake (1), off-front wheel brake (2), left rear wheel brake (3) and the right side Referred between wheel brake (4) using brake hard tube connection:

Described test sensor-based system includes the near front wheel pressure sensor (8), off-front wheel pressure sensor (10), left rear wheel pressure It is sensor (12), off hind wheel pressure sensor (14), the near front wheel flow sensor (9), off-front wheel flow sensor (11), left back Take turns flow sensor (13) and off hind wheel flow sensor (15)；

The output end of the three-way connector of described the near front wheel pressure sensor (8) and the input of near front wheel brake (1) are adopted Connected with brake hard tube, the output end of the three-way connector of off-front wheel pressure sensor (10) and off-front wheel brake (2) it is defeated Enter end to connect using brake hard tube, the output end and left rear wheel brake of the three-way connector of left rear wheel pressure sensor (12) (3) input is connected using brake hard tube, the output end and off hind wheel of the three-way connector of off hind wheel pressure sensor (14) The input of brake (4) is connected using brake hard tube, brake hard tube and near front wheel brake (1), off-front wheel brake (2), Use and be threadedly coupled between left rear wheel brake (3) and off hind wheel brake (4)；

The delivery outlet of described the near front wheel flow sensor (9) with and the near front wheel pressure sensor (8) three-way connector input End is connected using brake hard tube, and the delivery outlet of off-front wheel flow sensor (11) and the three of off-front wheel pressure sensor (10) lead to The input of fitting is connected using brake hard tube, the delivery outlet and left rear wheel pressure sensor of left rear wheel flow sensor (13) (12) input of three-way connector input using brake hard tube connect, the delivery outlet of off hind wheel flow sensor (15) and The input of the three-way connector of off hind wheel pressure sensor (14) is connected using brake hard tube；

Described braking system actuator includes HCU valve bodies (5), high pressure accumulator (6), electric-motor pump (7), lubricating cup (16), stepped on Plate displacement transducer (17), master cylinder (18) and brake pedal (19)；

Described master cylinder (18) is tandem master cylinder, and master cylinder ante-chamber (41) is provided with two asphalt channel mouths；Two oil Paths mouth is connected with the first oil line pipe (36) with one end of the 4th oil line pipe (39) respectively；First oil line pipe (36) First input oil circuit mouth (32) connection of the other end and HCU valve bodies (5), the other end and lubricating cup (16) of the 4th oil line pipe (39) The second input port (44) connection；Master cylinder back cavity (40) is provided with two asphalt channel mouths, and two asphalt channel mouths are respectively with Two oil line pipes (37) connect with one end of the 3rd oil line pipe (38)；The other end and HCU valve bodies of second oil line pipe (37) (5) the second input oil circuit mouth (33) connection, the other end of the 3rd oil line pipe (38) and the first input port of lubricating cup (16) (43) connect, the 3rd input oil circuit mouth (30) of HCU valve bodies (5) and the output end of the three-way connector of high pressure accumulator (6) it Between using brake hard tube connect, adopted between the input of the three-way connector of high pressure accumulator (6) and the liquid outlet of electric-motor pump (7) Connected with brake hard tube, the HCU of the inlet of electric-motor pump (7) and the lubricating cup delivery outlet (42) of lubricating cup (16) and HCU valve bodies (5) is arranged Connected between hydraulic fluid port (31) using brake hard tube, brake pedal (19) becomes one with pedal displacement sensor (17), brakes Pedal (19) is connected through the hinge with brake pedal bearing, and the output end of pedal displacement sensor (17) is with model DS2202's The 11A/D passages electric wire connection of I/O boards.

2. according to the line of vehicles control hydraulic braking system hardware described in claim 1 the-loop test bed, it is characterised in that described Rack platform (45) includes aluminium support and landing slab；

Described aluminium support is symmetrical rectangular frame, and aluminium support includes bottom support, middle layer bracket, top layer Support, 4 structure identical support columns, the first pillar and the second pillar；Bottom support, middle layer bracket, top layer support are length and width Equal rectangular planar frame, 4 structure identical support columns are vertically mounted at horizontal positioned bottom support corner On top end face and it is connected by screw bolts, top layer support is placed on the top end face for the 4 structure identical support columns placed vertically And be connected by screw bolts, middle layer bracket is placed between top layer support and bottom support and put down with top layer support and bottom support OK, it is connected by screw bolts between middle layer bracket and 4 structure identical support columns；First pillar and the second pillar are arranged on top layer Between the top layer second cross beam of support and the middle level second cross beam of middle layer bracket and it is connected by screw bolts；Described landing slab is iron The solid rectangular parallelepiped structure part of matter, the bolt hole of mounting foot bolt is provided with landing slab corner；Aluminium support passes through it Bottom support is arranged on landing slab using bolt；

Described top layer support includes top layer first crossbeam, top layer second cross beam, the crossbeam of top layer the 3rd, the longeron of top layer first and top The second longeron of layer；

The left and right ends of top layer first crossbeam and the front end of the longeron of top layer first, the front end of the longeron of top layer second are connected using bolt Connecing, the left and right ends of the crossbeam of top layer the 3rd and the rear end of the longeron of top layer first, the rear end of the longeron of top layer second are connected by screw bolts, The left and right ends of top layer second cross beam and the middle-end of the longeron of top layer first, the middle-end of the longeron of top layer second are connected by screw bolts；

Described middle layer bracket include middle level first crossbeam, middle level second cross beam, the crossbeam of middle level the 3rd, the crossbeam of middle level the 4th, in Layer the 5th crossbeam, the longeron of middle level first, the longeron of middle level second and between middle level second cross beam and the crossbeam of middle level the 3rd in The 3rd longeron of layer；

Described middle level first crossbeam, middle level second cross beam, the crossbeam of middle level the 3rd and the crossbeam of middle level the 4th is arranged on middle level first It is fixedly connected between longeron, the longeron of middle level second and using bolt, middle level first crossbeam, middle level second cross beam, middle level the 3rd are horizontal Beam is parallel to each other simultaneously with the crossbeam of middle level the 4th and the longeron of middle level first, the longeron of middle level second are vertical, and the crossbeam of middle level the 5th is arranged on It is fixedly connected on 2 structure identical support columns between middle layer bracket and top layer support and using bolt, the crossbeam of middle level the 5th It is parallel to each other with the crossbeam of middle level the 4th；The longeron of middle level the 3rd is arranged between middle level second cross beam, the crossbeam of middle level the 3rd and used Bolt is fixedly connected, the longeron of middle level the 3rd and middle level second cross beam, the beam vertical of middle level the 3rd；

Described bottom support includes bottom first crossbeam, bottom second cross beam, the longeron of bottom first and the longeron of bottom second；Bottom Layer first crossbeam, bottom second cross beam are arranged on forms square between the longeron of bottom first and the front and rear end of the longeron of bottom second Shape plane framework, bolt is used between bottom first crossbeam, bottom second cross beam and the longeron of bottom first and the longeron of bottom second It is fixedly connected.

3. according to the line of vehicles control hydraulic braking system hardware described in claim 1 the-loop test bed, it is characterised in that described Test sensor-based system connects with the I/O board electric wires of the model DS2202 in data acquisition development system to be referred to：

Described test sensor-based system includes the near front wheel pressure sensor (8), off-front wheel pressure sensor (10), left rear wheel pressure It is sensor (12), off hind wheel pressure sensor (14), the near front wheel flow sensor (9), off-front wheel flow sensor (11), left back Take turns flow sensor (13), off hind wheel flow sensor (15), energy storage pressure sensor (26) and accumulator flow sensor (25)；

The output end of described the near front wheel pressure sensor (8) and the 1A/D passage electric wires of model DS2202 I/O boards Connection, the output end of off-front wheel pressure sensor (10) are connected with the 2A/D passage electric wires of model DS2202 I/O boards, The output end of left rear wheel pressure sensor (12) is connected with the 3A/D passage electric wires of model DS2202 I/O boards, after right The output end of wheel pressure sensor (14) is connected with the 4A/D passage electric wires of model DS2202 I/O boards；It is left front in turn The output end of quantity sensor (9) is connected with the 5A/D passage electric wires of model DS2202 I/O boards, off-front wheel flow sensing The output end of device (11) is connected with the 6A/D passage electric wires of model DS2202 I/O boards, left rear wheel flow sensor (13) output end is connected with the 7A/D passage electric wires of model DS2202 I/O boards, off hind wheel flow sensor (15) Output end be connected with the 8A/D passage electric wires of model DS2202 I/O boards, energy storage pressure sensor (26) it is defeated Go out end to be connected with the 9A/D passage electric wires of model DS2202 I/O boards, the output end of accumulator flow sensor (25) It is connected with the 10A/D passage electric wires of model DS2202 I/O boards.

4. according to the line of vehicles control hydraulic braking system hardware described in claim 1 the-loop test bed, it is characterised in that described Referred between braking system actuator and test sensor-based system using brake hard tube connection：

Described test sensor-based system includes the near front wheel flow sensor (9), off-front wheel flow sensor (11), left rear wheel flow Sensor (13), off hind wheel flow sensor (15), accumulator flow sensor (25) and master cylinder pressure sensor (27)；

First output circuit mouth (28) of the HCU valve bodies (5) in braking system actuator and the near front wheel flow sensor (9) Input is connected by brake hard tube, the second output circuit mouth (29) of HCU valve bodies (5) and off-front wheel flow sensor (11) Input is connected by brake hard tube, the 3rd output circuit mouth (34) of HCU valve bodies (5) and left rear wheel flow sensor (13) Input is connected by brake hard tube, the 4th output circuit mouth (35) of HCU valve bodies (5) and off hind wheel flow sensor (15) Input is connected by brake hard tube；The 3rd input oil circuit mouth (30) and the accumulator flow sensor (25) of HCU valve bodies (5) Connected between output end using brake hard tube, master cylinder pressure sensor (27) is performed using three-way connector installed in brakes Braking in mechanism between the master cylinder ante-chamber (41) of master cylinder (18) and the first input oil circuit mouth (32) of HCU valve bodies (5) is hard Guan Shang.

5. according to the line of vehicles control hydraulic braking system hardware described in claim 1 the-loop test bed, it is characterised in that described Adopted between braking system actuator and data acquisition development system and run wires to refer to：

The 1st road delivery outlet and HCU valve bodies (5) the 1st of solenoid-driven plate (21) in described data acquisition development system are defeated Entrance is connected by electric wire, and the 2nd road delivery outlet of solenoid-driven plate (21) is connected with the input port of HCU valve bodies (5) the 2nd by electric wire Connect, the 3rd road delivery outlet of solenoid-driven plate (21) is connected with the input port of HCU valve bodies (5) the 3rd by electric wire, solenoid-driven 4th road delivery outlet of plate (21) is connected with the input port of HCU valve bodies (5) the 4th by electric wire, the 5th tunnel of solenoid-driven plate (21) Delivery outlet is connected with the input port of HCU valve bodies (5) the 5th by electric wire, the 6th road delivery outlet and the HCU valves of solenoid-driven plate (21) The input port of body (5) the 6th is connected by electric wire, the 7th road delivery outlet and the input port of HCU valve bodies (5) the 7th of solenoid-driven plate (21) Being connected by electric wire, the 8th road delivery outlet of solenoid-driven plate (21) is connected with the input port of HCU valve bodies (5) the 8th by electric wire, 9th road delivery outlet of solenoid-driven plate (21) is connected with the input port of HCU valve bodies (5) the 9th by electric wire；

The electricity in the road interface of motor driver (20) the 2nd and braking system actuator in described data acquisition development system The signal input of pump (7) is connected by electric wire.

6. according to the line of vehicles control hydraulic braking system hardware described in claim 1 the-loop test bed, it is characterised in that described Data acquisition development system include 16 PHS buses, motor driver (20), solenoid-driven plate (21), mainframe box (22) and Data acquisition board (23)；

Described data acquisition board (23) includes model DS1006 processing board, model DS2202 I/O boards, model For DS2211 I/O boards；

Described model DS1006 the first delivery outlet of processing board and the 3rd neck of mainframe box (22) passes through twisted-pair feeder Connection, the second delivery outlet of model DS2202 I/O boards are connected with the neck interface of mainframe box (22) first by electric wire, type Number connected for DS2211 the 3rd delivery outlet of I/O boards with the second neck interface of mainframe box (22) by electric wire；

Described motor driver (20) shares the I/ of 4 road interfaces, the road interface of motor driver (20) the 1st and model DS2211 The 10PWM passages of O boards are connected by electric wire；

Described solenoid-driven plate (21) shares 9 road pwm signal input ports, 9 road pwm signal delivery outlets, 1 road power interface, and 1 Road is grounded mouth；1st tunnel input port of solenoid-driven plate (21) and the 1PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 2nd tunnel input port of solenoid-driven plate (21) and the 2PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 3rd tunnel input port of solenoid-driven plate (21) and the 3PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 4th tunnel input port of solenoid-driven plate (21) and the 4PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 5th tunnel input port of solenoid-driven plate (21) and the 5PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 6th tunnel input port of solenoid-driven plate (21) and the 6PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 7th tunnel input port of solenoid-driven plate (21) and the 7PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 8th tunnel input port of solenoid-driven plate (21) and the 8PWM passages of model DS2211 I/O boards pass through Electric wire connects, and the 9th tunnel input port of solenoid-driven plate (21) and the 9PWM passages of model DS2211 I/O boards pass through Electric wire connects.

7. according to the line of vehicles control hydraulic braking system hardware described in claim 1 the-loop test bed, it is characterised in that described HCU valve bodies (5) are cube shaped integrated structure part, and the inside of HCU valve bodies (5) is integrated with the height of 4 high-frequency signal control altogether The high-speed switch valve and 2 switching valves that fast switch valve, 4 switching signals control, the first pedal sense simulator (56) and second It is internal that pedal sense simulator (57) is integrated in HCU valve bodies (5)；Be provided with HCU valve bodies (5) the first input oil circuit mouth (32), Second input oil circuit mouth (33), the 3rd input oil circuit mouth (30), the first output circuit mouth (28), the second output circuit mouth (29), 3rd output circuit mouth (34), the 4th output circuit mouth (35) and HCU oil discharge outlets (31), each hydraulic fluid port on HCU valve bodies (5) add Work has internal thread；

First input oil circuit mouth (32) of described HCU valve bodies (5) and the arrival end of the first switching valve (54) pass through asphalt channel Connection, the second input oil circuit mouth (33) are connected with the arrival end of the second switching valve (55) by asphalt channel, the first switching valve (54) first delivery outlets and the first pedal sense simulator (56) are connected by asphalt channel, the output of the first switching valve (54) second Mouth is connected with the arrival end of the first liquid feed valve (46), the second liquid feed valve (47) by asphalt channel；The of second switching valve (55) One delivery outlet and the second pedal sense simulator (57) are connected by asphalt channel, the delivery outlet of the second switching valve (55) second and Three liquid feed valves (48), the input port end of the 4th liquid feed valve (49) are connected by asphalt channel；The delivery outlet of first liquid feed valve (46), The input port of first liquid valve (50) is connected with the 3rd output circuit mouth (34) by asphalt channel, the second liquid feed valve (47) it is defeated Outlet, the input port of the second liquid valve (51) are connected with the first output circuit mouth (28) by asphalt channel, the 3rd liquid feed valve (48) delivery outlet, the input port of the 3rd liquid valve (52) are connected with the 4th output circuit mouth (35) by asphalt channel, and the 4th The delivery outlet of liquid feed valve (49), the input port of the 4th liquid valve (53) and the second output circuit mouth (29) are connected by asphalt channel Connect, the 3rd input oil circuit mouth (30) and the input port of the first liquid feed valve (46), the input port of the second liquid feed valve (47), the 3rd feed liquor The input port of valve (48) is connected with the input port of the 4th liquid feed valve (49) by asphalt channel；HCU oil discharge outlets (31) and first go out Liquid valve (50), the second liquid valve (51), the delivery outlet of the 3rd liquid valve (52) and the 4th liquid valve (53) are connected by asphalt channel Connect.