CN107092245A - Automobile PDCC hardware-in-loop simulation testing stand - Google Patents
Automobile PDCC hardware-in-loop simulation testing stand Download PDFInfo
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- CN107092245A CN107092245A CN201710402031.3A CN201710402031A CN107092245A CN 107092245 A CN107092245 A CN 107092245A CN 201710402031 A CN201710402031 A CN 201710402031A CN 107092245 A CN107092245 A CN 107092245A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The present invention discloses a kind of automobile PDCC hardware-in-loop simulation testing stand, Matlab/Simulink platform building people's bus or train route closed-loop digital simulation models are based on host, executable C code is converted into by RTW collectors, in the CPU for downloading to target machine, DCC controller is kept in communication by I/O data conversion modules and target machine, DCC controller gathers people's bus or train route closed-loop digital model data in real time, the output control shock absorber magnetic valve of DCC controller, current acquisition module gathers the control electric current signal of shock absorber magnetic valve in real time, and target machine is fed back to by I/O data conversion modules, form closed loop；Simulation test stand is evaluated the control effect under different operating modes and different mode, and emulation every time terminates, and provides corresponding evaluation result.It is an advantage of the invention that realizing automobile chassis dynamic control by the damping force of four shock absorbers of automatic adjusument.
Description
Technical field
The present invention relates to a kind of simulation test stand, more particularly to a kind of automobile PDCC hardware-in-loop simulation
Testing stand.
Background technology
PDCC（Dynamic Chassis Control, DCC）Also known as " adaptive chassis control system
System ", can be for pavement conditions, driving cycles and the driver requested self-adapting changeable adjustment for realizing four suspension dampings, will
Automobile chassis is adjusted to " standard type "（Normal）, " sports type "（Sport）" comfort type "（Comfort）Three models.Dress
Preceding institute can also be experienced for the automobile of DCC PDCCs not on the basis of road feel is maintained clearly
Some ride comforts, select motility chassis or comfortableness chassis according to different driving environments, enable chassis accordingly
All the time driving conditions are cooperated perfectly with the wish of driver in real time and maintains it to balance.DCC passes through adjustable vibration-damper
The design conflicts on motility chassis and comfortableness chassis are solved with electric power steering, while having taken into account riding comfort and manipulation
Stability, can effectively solve the problem that Automobile operation stability and riding comfort technical barrier.
Masses propose dynamic chassis control（Dynamic Chassis Control, DCC）System, system that employs day
MONROE under nanogram（Chinese is translated into ten thousand lis）The continuous ride control shock absorber of valve control, controller is by German continent and masses
Joint development, can be adjusted for pavement conditions, driving cycles and the driver requested self-adapting changeable for realizing four suspension dampings
It is whole, automobile chassis is adjusted to " normal type "（Normal）, " sports type "（Sport）" comfort type "（Comfort）Three kinds of moulds
Formula, the design conflicts on motility chassis and comfortableness chassis, Neng Gouyou are solved by adjustable vibration-damper and electric power steering
Effect solves Automobile operation stability and riding comfort technical barrier.
HeFei University of Technology proposes a kind of automobile chassis integrated control system and control method（200810021298.9）.Should
Control system by sensor detect the wheel speed signal of automobile, dtc signal, engine rotational speed signal, vertical acceleration signal and
Brake pedal signal etc., and by these signals input primal coordination CPU, primal coordination CPU by the signal be respectively sent to ABSCPU,
EPSCPU, ASSCPU, while sending coordination order according to the analysis to the signal, ABSCPU, EPSCPU, ASSCPU are then
According to the sensor signal and coordination order control respective drive module each received.The invention overcome EPS on existing automobile,
There is the problem of interfering between tri- systems of ASS and ABS, realize to three system coordination controls, vapour is improved comprehensively
Ride performance, security and the control stability of car.Tongji University proposes a kind of automobile chassis integrated controller hardware in ring
Simulation test stand（200810040444.2）, anti-blocking brake system（ABS）, TCS（TCS）With direct horizontal stroke
Put Torque Control（DYC）Function carry out it is integrated, carry out hardware-in―the-loop test.
PDCC of the present invention（DCC）As a kind of relatively new, practical technology, by adaptive
The damping force that four shock absorbers should be adjusted realizes vehicle automobile chassis dynamic control, with first patent of invention in Full Vehicle Modelling side
There is very big difference in terms of method, control algolithm and actuator.
The content of the invention
The technical problems to be solved by the invention are to provide for one kind and are based on xPC Target real-time platforms, realize shock absorber
The real-time communication of magnetic valve and people-Che-road closed-loop digital simulation model and DCC controller, the operation shape of shock absorber magnetic valve
The automobile PDCC hardware-in-loop simulation testing stand that state is controlled by DCC controller.
It is imitative the invention provides a kind of automobile PDCC hardware in loop in order to solve the technical problem of the above
True testing stand, the simulation test stand include host, target machine, monitoring equipment, I/O data conversion modules, NIC,
It is based on USBCAN interface cards, BDM downloaders, DCC controller, shock absorber magnetic valve and current sample module, host
Matlab/Simulink platform building people-Che-road closed-loop digital simulation model, is converted into executable by RTW collectors
C code, in the CPU for downloading to target machine, DCC controller is kept in communication by I/O data conversion modules and target machine, DCC
Controller gathers people-Che-road closed-loop digital model data in target machine, the output control shock absorber of DCC controller in real time
Magnetic valve, current acquisition module gathers the control electric current signal of shock absorber magnetic valve in real time, and anti-by I/O data conversion modules
Feed target machine, form closed loop；Simulation test stand is evaluated the control effect under different operating modes and different mode, often
Secondary emulation terminates, and provides corresponding evaluation result.
Matlab/Simulink platform building people-Che-road closed-loop digital simulation model is based on the host, is
Make set up kinetic model representative, the present invention proposes that a kind of vehicle is indulged-side-vertical dynamics unified Modeling and thought
Road, on the basis of the complex nonlinear dynamic behavior characteristic of analysis Vehicular multi-system coupling, realizes that vehicle indulges-side-vertical
The mathematical theory parsing of dynamics nonlinear model and simulation modeling, comprise the following steps：1）Modeling assumption；2）PWTN
Construction in a systematic way mould；3）Carbody modeling；4）Suspension is modeled；5）Tire is modeled；6）Driver modeling.
1）Modeling assumption：
Generally, model complexity is higher or number of degrees of freedom, is more, and simulation accuracy is higher, but numerical operation amount can also increase therewith
And influence to emulate real-time.Accordingly, it is considered to required Full Vehicle Dynamics coupling factor, it is necessary to carry out corresponding hypothesis simplification
's.The coupling factor that must take into consideration during vehicle movement has：
There is kinematics and dynamical phase mutual coupling in vehicle yaw motion caused by wheel steering；Between tire and road surface
Interaction can not be ignored, its longitudinally and laterally tire force distribution by attachment friction ellipse influenceed；Vehicle
There is coupling between vertical-side-catenary motion, longitudinal direction of car and lateral accelerated motion can cause vehicle vertical load to shift, from
And vehicle vertical dynamics are influenceed, and the change of vertical load can influence tire attachment characteristic and cornering behavior, and vehicle is braked
Property and handling stability produce influence.
To simplify modeling process, on the basis of vehicle coupling and strong nonlinearity is taken into full account, make the following assumptions：
1st, power drive system modeling process is simplified；2nd, ignore the asymmetric influence of wheel alignment parameter, it is assumed that center of suspension away from
It is equal with wheelspan；3rd, assume that roll center and pitching center are all located at automobile longitudinal and divided equally on face, and roll axis is located at pitching
Above axis；4th, the inclination and elevating movement of unsprung mass are ignored；5th, assume that unsprung mass and sprung mass are in vertical direction
Elastic connection, and be rigidly connected in the horizontal direction.
2）Power drive system is modeled：
To characterize the engine transient in vehicle practical work process comprehensively, on the basis of engine steady state output characteristics
The first order inertial loop with hysteresis characteristic is added, the dynamic torque characteristics of engine are obtained, i.e.,：
(1)
In formula,For engine output dynamic torque,The Steady Torque characterisitic function of engine is represented, it is to start
Machine rotating speedAnd throttle openingNonlinear function,For time constant, take here。
Kinetics relation between engine output torque and output speed is：
(2)
In formula,For engine rotation part and clutch part Effective Moment of Inertia；For engine rotation angular acceleration；
For engine flywheel output torque；For clutch input torque.
The engaged/disengaged mistake of double clutch is not considered in institute's research vehicle equipment double-clutch automatic gearbox, modeling process
Journey, it is believed that the output torque of engine is equal to the input torque of speed changer, i.e.,
(3)
In formula,For certain speed transmission rotatable parts and power transmission shaft Effective Moment of Inertia；WithPassed for speed changer gear
Dynamic angular acceleration and angular speed；For the total driving torque of wheel；For transmission gear ratio；For speed ratio of main reducer；For
Transmission system transmission efficiency；For angular speed of wheel.
Total driving momentTwo front-wheels are applied to simultaneously, are met, vehicle wheel rotation kinetics equation is such as
Under：
(4)
In formula,For wheel equivalent moment of inertia；WithRespectively vehicle wheel rotation angular speed and angular acceleration；For
Longitudinal force of tire；For tire effective radius；WithThe respectively driving moment and braking moment of wheel；For car
Take turns rotary damping coefficient；Front left, front right, rear left and right wheel is corresponded to respectively.
3）Carbody modeling
Car body includes sprung mass and unsprung mass two parts, and the present invention sets up vehicle based on lagrangian analysis mechanics and indulges-side-
Vertical Unified Dynamics Model.
Vehicle axis systemOriginWith pitching centerOverlap, roll centerRelative toMeetRelation.Sprung mass coordinate systemOriginOverlapped with sprung mass barycenter, unsprung mass is mainly corresponded to
Four unsprung masss.Inertial coodinate system, vehicle axis systemWith sprung mass coordinate systemIt
Between can mutually change.If using direction cosine matrixAbove-mentioned Rotating Transition of Coordinate is represented, i.e.,
(5)
Transformational relation between inertial coodinate system, vehicle axis system and sprung mass coordinate system is：
(6)
According to previously defined and analysis, body part is altogether comprising indulging that 6 frees degree, i.e. unsprung mass and sprung mass have
To, lateral and 3 frees degree of yaw, inclination, pitching and vertical 3 frees degree that sprung mass has.Matter on spring is obtained respectively
The translation of amount and unsprung mass and rotational angular velocity, then represent respective kinetic energy and potential energy.
According to coordinate transformation relation, sprung mass barycenter（Sprung mass coordinate origin）It is relative under inertial coodinate system
InThe absolute position vectors of pointWith absolute velocity vectorRespectively：
(7)
(8)
In formula,For under inertial coodinate systemPoint relative toThe position vector of point；For under vehicle axis systemPoint is relative
InThe position vector of point, is expressed as：
(9)
In formula,For vectorComponent；ForRelativelyVertical distance；ForRelativelyVertical distance,。
Then under inertial coodinate systemThe translational velocity of point, i.e.,
(10)
Remember that sprung mass is around the angular speed of its own reference coordinate axle, then
(11)
The kinetic energy of sprung mass includes the translation of sprung mass and rotates two parts, i.e.,：
(12)
In formula,For sprung mass；It is sprung mass around its barycenterInertial tensor, it is contemplated that sprung mass on
Plane is symmetrical, thenFor：
(13)
In formula,It is sprung mass around barycenterRotary inertia or the product of inertia.
Formula (10) (11) (13) is substituted into formula (12), sprung mass kinetic energy is obtained：
(14)
Similarly, unsprung mass kinetic energy is made up of the translation, rotation and the bounce of four wheels of unsprung mass, i.e.,：
(15)
Total kinetic energy is sprung mass kinetic energyWith unsprung mass kinetic energySum, i.e.,。
The potential energy of car body includes the gravitional force that sprung mass height change is produced
(16)
In formula,For the vertical deviation of sprung mass barycenter to the non-spring charge material heart；It is sprung mass in its balance point position
Value.
Bring the total kinetic energy of car body, potential energy and dissipation energy into Lagrange's equation, then partial derivative is asked to it, you can obtain
The equation of motion of car body, car body Lagrange's equation is：
(17)
In formula,For the generalized coordinates under inertial coodinate system；For
Generalized force under inertial coodinate system.
The exercise habit of usual vehicle under vehicle axis system in describing, using following relation by generalized variable in (18) formula
Be converted to the generalized variable under vehicle axis system.
(18)
In formula,For the generalized coordinates under vehicle axis system；
For the generalized force under vehicle axis system.
So far, the kinetics equation of six degree of freedom car body model is obtained
(19)
In formula,,WithFor coefficient matrix,Sat for the broad sense under vehicle axis system
Mark；For the generalized force under vehicle axis system.
If ignoring air drag,It is main to be produced by ground tyre power and suspension power,It is expressed as：
(20)
In formula,For coefficient matrix,
It is four wheels in tyre axis systemWithThe wheel in direction
Tire power, is obtained by tire model；For the corresponding suspension power of four wheels, by suspension mould
Type is obtained.
The motion of vehicle is obtained by following kinematic relation under inertial coodinate system：
(21)
In formula,,For vehicle edgeThe longitudinally, laterally speed of axle；,Vehicle edgeLongitudinal direction, the side of axle
To speed；For the yaw angle of vehicle.
4）Suspension is modeled：
Here the purpose for setting up Suspension Model is the vertical load for trying to achieve suspension power and wheel, and provides the vertical fortune of unsprung mass
Dynamic equation.Suspension power includes the vertical active force of elastic force, the damping force of damping element and the QS of flexible member, each
The corresponding suspension power of wheel is expressed as
(22)
In formula,For the stiffness coefficient of flexible member；For absorber damping force, itself and control electric current, shock absorber phase
To movement velocityIt is relevant；The vertical active force produced for QS；For the vertical deviation of four wheels；
, can be by the vehicle body angle of pitch for sprung mass and the vertical deviation of four suspension contact points, angle of heelAnd vehicle geometric parameters
Figure out.
The absorber damping forceThe institute of relation such as Fig. 4 between control electric current, shock absorber speed of related movement~5
Show.
The contact force on wheel and ground is
(23)
In formula,The dynamic wheel load of the contact force, i.e. wheel catenary motion on respectively four wheels and ground；Respectively
For the stiffness coefficient of each wheel,For the corresponding road surface input of four wheels.
In the presence of suspension power and wheel and ground contact force, the catenary motion equation of unsprung mass is
(24)
Wheel vertical load is made up of static normal force, longitudinal loading transfer amount, lateral load transfer amount and tyre dynamic load lotus, i.e.,
(25)
In formula,For the vertical load of four wheels；For the vertical load of lower four wheels of vehicle stationary state；
WithCaused wheel vertical load variable quantity is respectively shifted by longitudinal direction of car load transfer and lateral load；For
The tyre dynamic load lotus of four wheels.
5）Tire is modeled：
Tire model is the mathematical relationship description between tire six square phase and wheel movement parameter.The present invention is obtained with MF tire models
To the generalized force for acting on car body, its form is
(26)
It is apparent from, tire forceWith wheel vertical load, longitudinal sliding motion rate, slip angle of tire, road surface
Attachment coefficientAnd camber angleIt is relevant.
6）Driver modeling：
Need to be controlled the speed and travel direction of vehicle dynamic model during emulation, to ensure the speed and traveling of vehicle
Track meets desired value.Speed control uses PID control, i.e.,
(27)
In formula,For setting speed；For actual vehicle speed；To expect acceleration；Control parameter,,。
The travel direction control of vehicle dynamic model uses optimal curvature pilot model, special according to pilot control
Property, the relation set up between driver characteristics parameter and auto model parameter.
The I/O data conversion modules include I/O data conversion cards and CAN transition cards, and the I/O data conversion cards are by mesh
Mark machine calculates the every dynamic parameter signal of obtained vehicle and is converted into analog quantity, height sensor letter therein from digital quantity
Number and vehicle body vertical acceleration sensor signal directly transmit DCC controller, remaining signal is packaged as CAN numbers by CAN transition cards
According to sending to NIC, passed to by CAN in DCC controller；I/O data conversion cards are simultaneously current sample module
The analog quantity of output is converted into digital quantity and sends target machine, forms closed-loop path.
The monitoring equipment carries out real-time monitoring collection by CAN transition cards to the data in CAN, after being carried out to data
Processing and analysis.
The DCC controller includes MC9S12XDP512 minimum systems, signal input module and output driving module,
MC9S12XDP512 minimum systems include power module, clock circuit, reset circuit, BDM interface circuits, signal input module bag
Filter circuit module, bleeder circuit module and CAN signal transmission circuit module are included, output driving module includes PWM module, electromagnetism
Valve-driving circuit module and current feedback circuit module；The input signal of the DCC controller is believed including height sensor
Number, acceleration transducer signals, DCC mode select signals and CAN signal；During DCC system emulations, each vibration damping is provided
Change, the change of shock absorber control electric current of device damping force, real-time verification control strategy, adjustment control parameter are until being satisfied with
Control effect.
The shock absorber magnetic valve includes four proportion magnetic valves, and its PWM and I/O port for using control chip to export is entered
Row control, the dutycycle for changing PWM can control the valve element aperture of proportion magnetic valve, so as to change the damping force of shock absorber output.
The current sample module includes high precision sampling resistance, high-impedance amplifier and filter circuit, sampling with high precision
Resistant series are in the drive circuit of proportion magnetic valve, the voltage at high-impedance amplifier amplification sampling resistor two ends, filtered electricity
After the filtering of road, input into I/O data conversion cards, the current operating current of feedback proportional magnetic valve.
The NIC is multinode CAN communication card, and realization snaps into DCC controller by CAN conversions and USBCAN connects
The CAN signal transmission of mouth card.
The USBCAN interface cards are gathered in real time to the data in CAN, are sent to monitoring equipment.
Superior effect of the present invention is：
1）The hardware in loop of PDCC controller and actuator is realized, to the prediction knot of various control strategies
Fruit is definitely；
2）Early stage is developed in PDCC controller, can be to various controls using hardware-in-loop simulation testing stand
Parameter is particularly optimized in the control parameter of extreme danger operating mode；
3）Can be with the ride comfort of test set-up PDCC vehicle, the anti-roll stability of bend operating mode, starting work
Pitch attitude control, the tire attachment characteristic under emergency work condition and the lateral stability of condition；
4）Short form test environment, the properties and the Optimal Parameters of acquisition and real train test that test is obtained are relatively；
5）Simulating vehicle running status is come with real-time processing platform operation simulation model, it is hard to automobile PDCC
Part carries out comprehensive, system testing, reduces proving ground test testing time, effectively reduces testing failure risk, shortens the development time
And reduce cost.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is theory diagram of the invention；
Fig. 2 is the theory diagram of host of the present invention；
Fig. 3 analyses schematic diagram for the body movement credit of the present invention；
Fig. 4 is preceding resistance of shock absorber performance diagram of the invention；
Fig. 5 is rear shock absorber damping characteristic curve figure of the invention；
Fig. 6 is the schematic block circuit diagram of CAN transition cards of the present invention；
Fig. 7 is the schematic block circuit diagram of DCC controller of the present invention；
Fig. 8 is the schematic block circuit diagram of the current sample module of the present invention；
Fig. 9 is workflow diagram of the invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
The embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Fig. 1 shows the theory diagram of the embodiment of the present invention.As shown in figure 1, the invention provides a kind of dynamic bottom of automobile
Disk control system hardware-in-loop simulation testing stand, including host 1, target machine 2, monitoring equipment 3, I/O data conversion cards 4, CAN turn
Card 5, NIC 6, USBCAN interface cards 7 are changed, BDM downloaders 8, DCC controller 9, shock absorber magnetic valve 10 and electric current are adopted
Egf block 11.On host 1, based on Matlab/Simulink platform building people-Che-road closed-loop digital simulation model, lead to
Cross RTW collectors and be converted into executable C code, in the CPU that target machine 2 is downloaded to via Ethernet, DCC controller 9 leads to
Cross I/O data conversion cards 4 to keep in communication with target machine 2, in real time people-Che-road closed-loop digital model information in collection target machine,
And four shock absorber magnetic valves 10 are controlled, current acquisition module 9 gathers the control electric current signal of four shock absorber magnetic valves in real time,
And target machine 2 is fed back to by I/O data conversion cards 4, form closed loop.LabVIEW graphics datas are housed on monitoring equipment 3
Data in CAN are carried out real-time monitoring collection by CAN transition cards 5, data are post-processed and divided by acquisition software
Analysis.Software code inside DCC controller can be write on host 1 or other PCs, and DCC controller is sintered to by BDM8
In 9.
Constituted based on above-mentioned soft and hardware, set up the automobile PDCC hardware being controlled by DCC controller
Assemblage on-orbit testing stand.
As shown in Fig. 2 the host 1 compiles to be provided with Matlab/Simulink and Visual C++ object languages
The PC of device software environment, sets up people-Che-road closed-loop digital simulation model on host 1, can by RTW collectors
It is converted into executable C code.
To make set up kinetic model representative, the present invention proposes that a kind of vehicle indulges-side-vertical dynamics system
One modeling approach, on the basis of the complex nonlinear dynamic behavior characteristic of analysis Vehicular multi-system coupling, realize vehicle it is vertical-
The mathematical theory parsing of side-vertical dynamics nonlinear model and simulation modeling, comprise the following steps：1）Modeling assumption；2）It is dynamic
Power transmission system is modeled；3）Carbody modeling；4）Suspension is modeled；5）Tire is modeled；6）Driver modeling.
1）Modeling assumption：
Generally, model complexity is higher or number of degrees of freedom, is more, and simulation accuracy is higher, but numerical operation amount can also increase therewith
And influence to emulate real-time.Accordingly, it is considered to required Full Vehicle Dynamics coupling factor, it is necessary to carry out corresponding hypothesis simplification
's.The coupling factor that must take into consideration during vehicle movement has：
1st, there is kinematics and dynamical phase mutual coupling in vehicle yaw motion caused by wheel steering；2nd, between tire and road surface
Interaction can not be ignored, its longitudinally and laterally tire force distribution by attachment friction ellipse influenceed；3rd, vehicle
There is coupling between vertical-side-catenary motion, longitudinal direction of car and lateral accelerated motion can cause vehicle vertical load to shift, from
And vehicle vertical dynamics are influenceed, and the change of vertical load can influence tire attachment characteristic and cornering behavior, and vehicle is braked
Property and handling stability produce influence.
To simplify modeling process, on the basis of vehicle coupling and strong nonlinearity is taken into full account, make the following assumptions：
1st, power drive system modeling process is simplified；2nd, ignore the asymmetric influence of wheel alignment parameter, it is assumed that center of suspension away from
It is equal with wheelspan；3rd, assume that roll center and pitching center are all located at automobile longitudinal and divided equally on face, and roll axis is located at pitching
Above axis；4th, the inclination and elevating movement of unsprung mass are ignored；5th, assume that unsprung mass and sprung mass are in vertical direction
Elastic connection, and be rigidly connected in the horizontal direction.
2）Power drive system is modeled：
To characterize the engine transient in vehicle practical work process comprehensively, on the basis of engine steady state output characteristics
The first order inertial loop with hysteresis characteristic is added, the dynamic torque characteristics of engine are obtained, i.e.,：
(1)
In formula,For engine output dynamic torque,The Steady Torque characterisitic function of engine is represented, it is to start
Machine rotating speedAnd throttle openingNonlinear function,For time constant, take here。
Kinetics relation between engine output torque and output speed is：
(2)
In formula,For engine rotation part and clutch part Effective Moment of Inertia；For engine rotation angular acceleration；
For engine flywheel output torque；For clutch input torque.
The engaged/disengaged mistake of double clutch is not considered in institute's research vehicle equipment double-clutch automatic gearbox, modeling process
Journey, it is believed that the output torque of engine is equal to the input torque of speed changer, i.e.,
(3)
In formula,For certain speed transmission rotatable parts and power transmission shaft Effective Moment of Inertia；WithPassed for speed changer gear
Dynamic angular acceleration and angular speed；For the total driving torque of wheel；For transmission gear ratio；For speed ratio of main reducer；For
Transmission system transmission efficiency；For angular speed of wheel.
Total driving momentTwo front-wheels are applied to simultaneously, are met, vehicle wheel rotation kinetics equation
It is as follows：
(4)
In formula,For wheel equivalent moment of inertia；WithRespectively vehicle wheel rotation angular speed and angular acceleration；For
Longitudinal force of tire；For tire effective radius；WithThe respectively driving moment and braking moment of wheel；For car
Take turns rotary damping coefficient；Front left, front right, rear left and right wheel is corresponded to respectively.
3）Carbody modeling
Car body includes sprung mass and unsprung mass two parts, and the present invention sets up vehicle based on lagrangian analysis mechanics and indulges-side-
Vertical Unified Dynamics Model.
Vehicle axis systemOriginWith pitching centerOverlap, roll centerRelative toMeetRelation.Sprung mass coordinate systemOriginOverlapped with sprung mass barycenter, unsprung mass is mainly corresponded to
Four unsprung masss.Inertial coodinate system, vehicle axis systemWith sprung mass coordinate systemIt
Between can mutually change.If using direction cosine matrixAbove-mentioned Rotating Transition of Coordinate is represented, i.e.,
(5)
Transformational relation between inertial coodinate system, vehicle axis system and sprung mass coordinate system is：
(6)
According to previously defined and analysis, body part is altogether comprising indulging that 6 frees degree, i.e. unsprung mass and sprung mass have
To, lateral and 3 frees degree of yaw, inclination, pitching and vertical 3 frees degree that sprung mass has.Matter on spring is obtained respectively
The translation of amount and unsprung mass and rotational angular velocity, then represent respective kinetic energy and potential energy.
According to coordinate transformation relation, sprung mass barycenter（Sprung mass coordinate origin）It is relative under inertial coodinate system
InThe absolute position vectors of pointWith absolute velocity vectorRespectively：
(7)
(8)
In formula,For under inertial coodinate systemPoint relative toThe position vector of point；For under vehicle axis systemPoint is relative
InThe position vector of point, is expressed as：
(9)
In formula,For vectorComponent；ForRelativelyVertical distance；ForRelativelyVertical distance,。
Then under inertial coodinate systemThe translational velocity of point, i.e.,
(10)
Remember that sprung mass is around the angular speed of its own reference coordinate axle, then
(11)
The kinetic energy of sprung mass includes the translation of sprung mass and rotates two parts, i.e.,：
(12)
In formula,For sprung mass；It is sprung mass around its barycenterInertial tensor, it is contemplated that sprung mass on
Plane is symmetrical, thenFor：
(13)
In formula,It is sprung mass around barycenterRotary inertia or the product of inertia.
Formula (10) (11) (13) is substituted into formula (12), sprung mass kinetic energy is obtained：
(14)
Similarly, unsprung mass kinetic energy is made up of the translation, rotation and the bounce of four wheels of unsprung mass, i.e.,：
(15)
Total kinetic energy is sprung mass kinetic energyWith unsprung mass kinetic energySum, i.e.,。
The potential energy of car body includes the gravitional force that sprung mass height change is produced
(16)
In formula,For the vertical deviation of sprung mass barycenter to the non-spring charge material heart；It is sprung mass in its balance point position
Value.
Bring the total kinetic energy of car body, potential energy and dissipation energy into Lagrange's equation, then partial derivative is asked to it, you can obtain
The equation of motion of car body, car body Lagrange's equation is：
(17)
In formula,For the generalized coordinates under inertial coodinate system；For
Generalized force under inertial coodinate system.
The exercise habit of usual vehicle under vehicle axis system in describing, using following relation by generalized variable in (18) formula
Be converted to the generalized variable under vehicle axis system.
(18)
In formula,For the generalized coordinates under vehicle axis system；
For the generalized force under vehicle axis system.
So far, the kinetics equation of six degree of freedom car body model is obtained
(19)
In formula,,WithFor coefficient matrix,Sat for the broad sense under vehicle axis system
Mark；For the generalized force under vehicle axis system.
If ignoring air drag,It is main to be produced by ground tyre power and suspension power,It is expressed as：
(20)
In formula,For coefficient matrix,
It is four wheels in tyre axis systemWithThe wheel in direction
Tire power, is obtained by tire model；For the corresponding suspension power of four wheels, by suspension mould
Type is obtained.
The motion of vehicle is obtained by following kinematic relation under inertial coodinate system：
(21)
In formula,,For vehicle edgeThe longitudinally, laterally speed of axle；,Vehicle edgeLongitudinal direction, the side of axle
To speed；For the yaw angle of vehicle.
4）Suspension is modeled：
Here the purpose for setting up Suspension Model is the vertical load for trying to achieve suspension power and wheel, and provides the vertical fortune of unsprung mass
Dynamic equation.Suspension power includes the vertical active force of elastic force, the damping force of damping element and the QS of flexible member, each
The corresponding suspension power of wheel is expressed as
(22)
In formula,For the stiffness coefficient of flexible member；For absorber damping force, itself and control electric current, shock absorber
Speed of related movementIt is relevant；The vertical active force produced for QS；For the vertical deviation of four wheels；, can be by the vehicle body angle of pitch for sprung mass and the vertical deviation of four suspension contact points, angle of heelAnd vehicle geometry
Parameter is calculated.
The absorber damping forceThe institute of relation such as Fig. 4 between control electric current, shock absorber speed of related movement~5
Show.
The contact force on wheel and ground is
(23)
In formula,The dynamic wheel load of the contact force, i.e. wheel catenary motion on respectively four wheels and ground；Respectively
For the stiffness coefficient of each wheel,For the corresponding road surface input of four wheels.
In the presence of suspension power and wheel and ground contact force, the catenary motion equation of unsprung mass is
(24)
Wheel vertical load is made up of static normal force, longitudinal loading transfer amount, lateral load transfer amount and tyre dynamic load lotus, i.e.,
(25)
In formula,For the vertical load of four wheels；For the vertical load of lower four wheels of vehicle stationary state；
WithCaused wheel vertical load variable quantity is respectively shifted by longitudinal direction of car load transfer and lateral load；For
The tyre dynamic load lotus of four wheels.
5）Tire is modeled：
Tire model is the mathematical relationship description between tire six square phase and wheel movement parameter.The present invention is obtained with MF tire models
To the generalized force for acting on car body, its form is
(26)
It is apparent from, tire forceWith wheel vertical load, longitudinal sliding motion rate, slip angle of tire, road surface
Attachment coefficientAnd camber angleIt is relevant.
6）Driver modeling：
Need to be controlled the speed and travel direction of vehicle dynamic model during emulation, to ensure the speed and traveling of vehicle
Track meets desired value.Speed control uses PID control, i.e.,
(27)
In formula,For setting speed；For actual vehicle speed；To expect acceleration；Control parameter,,。
The travel direction control of vehicle dynamic model uses optimal curvature pilot model, special according to pilot control
Property, the relation set up between driver characteristics parameter and auto model parameter.
The target machine 2 realizes target machine 2 and DCC controller 9 to grind magnificent 610H industrial computers by data conversion module
Between communication.
The data conversion module includes I/O data conversion cards 4（Grind magnificent PCL-818L and PCL-726）With CAN transition cards
5.Target machine 2 is calculated the every dynamic parameter signal of obtained vehicle and is converted into analog quantity from digital quantity by I/O data conversion cards 4,
Height sensor signal therein and vehicle body vertical acceleration sensor signal are directly received for DCC controller 9, remaining letter
Number being packaged as CAN message by CAN transition cards 5 sends to NIC 6, is passed to by CAN in DCC controller 9.I/
The analog quantity that O data transition card 4 simultaneously exports current sample module 11 is converted into digital quantity and received for target machine 2, so that shape
Into closed-loop path.
The circuit theory of the CAN transition cards 5 is as shown in fig. 6, the signal acquisition module of the invention according to DCC controller 9
Input requirements, it is using 8 control chips of Freescale Freescales as core design CAN transition cards, I/O data conversion cards 4 is defeated
The every dynamic parameter signal of vehicle gone out is converted to CAN message and sent to NIC 6, for DCC controller 9 and USBCAN
Interface card 7 is received.
The circuit theory of the DCC controller 9 is as shown in fig. 7, the present invention is according to the characteristics of DCC systems, with Freescale
（Freescale）16 control chip MC9S12XDP512 are core, and self-developing design DCC controller, its input signal includes
Height sensor signal, acceleration transducer signals, DCC mode select signals and CAN signal.DCC controller includes
MC9S12XDP512 minimum systems, signal input module and output driving module.MC9S12XDP512 minimum systems include power supply
Module, clock circuit, reset circuit, BDM interface circuits etc. are constituted；Signal input module includes filter circuit module, partial pressure electricity
Road module and CAN signal transmission circuit module；Output driving module includes PWM module, driving circuit for electromagnetic valve module and electric current
Feedback circuit module.
The shock absorber magnetic valve 10 includes four proportion magnetic valves, and the PWM exported using control chip and I/O is entered port
Row control.With Infineon（Infineon）BTS5090 as driving chip, pass through I/O port controllings, change PWM duty
Than the valve element aperture of achievable proportion magnetic valve, so as to change the damping force of shock absorber output.
The current sample module 11 is as shown in figure 8, including high precision sampling resistance, high-impedance amplifier and filtered electrical
Road.By a high precision sampling resistance of being connected in proportion magnetic valve drive circuit, and use the difference amplifier of high impedance
Amplify the voltage at sampling resistor two ends, then by RC filter circuits, reduce the high-frequency noise in signal.Finally by filtered letter
Number input into the I/O data conversions board 4 of host 1, you can determine the current operating current of proportion magnetic valve.
The NIC 6 is multinode CAN communication card, to realize by CAN transition cards 5 to the He of DCC controller 9
The CAN signal transmission of USBCAN interface cards 7.
The USBCAN interface cards 7 are ZLG USBCAN-II intelligent CAN interface cards, for entering to the message in CAN
Row collection in real time.
The monitoring equipment 3 be the PC equipped with LabVIEW graphics data acquisition softwares, by USBCAN interface cards 7 with
NIC 6 is connected, in real time the interactive information of collection target machine 2 and DCC controller 9, the abnormal number during monitoring test
According to, and preserve data to be post-processed and analyzed.
The BDM8 is used to the control routine write on host 1 or other PCs being sintered in DCC controller 9, real
Now to microprocessor Flash reading write and erase operation, and conveniently the operation to control routine carries out online tracking and debugging, carries
Rise controller development efficiency.
By above step, a PDCC hardware-in-loop simulation testing stand, hardware-in-loop simulation are set up
Testing stand can just run and make evaluation to the control parameter of ECU.People-Che-road closed-loop model is in target machine 2
Middle operation, such as information of vehicles that DCC controller 9 is provided in real time according to target machine 2, height sensor signal, acceleration transducer
Signal, DCC mode select signals, CAN signal etc., control the working condition of magnetic valve 10, and circuit acquisition module 9 will be corresponded to now
Shock absorber electric current the CPU of target machine 2 is fed back to by data board, monitoring equipment 3, which passes through the real-time judge of USBCAN interface cards 7, to be tried
Test result.
The workflow diagram of the present invention is illustrated in figure 9, hardware-in-loop simulation testing stand can be to different operating modes and difference
Control effect under pattern is evaluated, and emulation every time terminates, and can provide corresponding result and be evaluated.It is imitative in DCC systems
During true, change, change of shock absorber control electric current of each absorber damping force etc. can be provided comprehensively, so as to test in real time
Control strategy, adjustment control parameter are demonstrate,proved until obtaining Satisfactory Control effect.
In addition, hardware-in-loop simulation testing stand can also realize the optimization of each parameters of operating part of vehicle chassis, tire, power train
Matching, and control parameter debugging of the vehicle under limit dangerous working condition can be realized, it can detect, debug designed Electronic Control list
The fault of member 3.
Due to realizing the hardware in loop of DCC controller 9 and shock absorber magnetic valve, obtained properties and acquisition are tested
Optimal Parameters relatively, so as to substantially reduce the number of times of real train test, are gone back with real train test while shortening the construction cycle
Save substantial amounts of development cost.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (12)
1. a kind of automobile PDCC hardware-in-loop simulation testing stand, it is characterised in that：The simulation test stand includes
Host, target machine, monitoring equipment, I/O data conversion modules, NIC, USBCAN interface cards, BDM downloaders, DCC controls
Closed on device processed, shock absorber magnetic valve and current sample module, host based on Matlab/Simulink platform building people-Che-road
Ring numerical simulation model, executable C code is converted into by RTW collectors, in the CPU for downloading to target machine, DCC controls
Device processed is kept in communication by I/O data conversion modules and target machine, and people-Che-road that DCC controller is gathered in target machine in real time is closed
Ring digitizes model data, the output control shock absorber magnetic valve of DCC controller, and current acquisition module gathers shock absorber electricity in real time
The control electric current signal of magnet valve, and target machine is fed back to by I/O data conversion modules, form closed loop；Simulation test stand
Control effect under different operating modes and different mode is evaluated, emulation every time terminates, and provides corresponding evaluation result.
2. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：Institute
Stating I/O data conversion modules includes I/O data conversion cards and CAN transition cards, and the I/O data conversion cards calculate target machine
To the every dynamic parameter signal of vehicle from digital quantity be converted into analog quantity, height sensor signal and vehicle body therein hang down
DCC controller is directly transmitted to acceleration transducer signals, remaining signal is packaged as CAN data by CAN transition cards and sent to net
Network interface card, is passed in DCC controller by CAN；The simulation that I/O data conversion cards simultaneously export current sample module
Amount is converted into digital quantity and sends target machine, forms closed-loop path.
3. automobile PDCC hardware-in-loop simulation testing stand according to claim 1 or 2, its feature exists
In：The monitoring equipment carries out real-time monitoring collection by CAN transition cards to the data in CAN, and data are post-processed
And analysis.
4. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：Institute
Stating DCC controller includes MC9S12XDP512 minimum systems, signal input module and output driving module, and MC9S12XDP512 is most
Mini system includes power module, clock circuit, reset circuit, BDM interface circuits, and signal input module includes filter circuit mould
Block, bleeder circuit module and CAN signal transmission circuit module, output driving module include PWM module, driving circuit for electromagnetic valve mould
Block and current feedback circuit module；The input signal of the DCC controller includes height sensor signal, acceleration sensing
Device signal, DCC mode select signals and CAN signal；During DCC system emulations, the change of each absorber damping force is provided
Change, the change of shock absorber control electric current, real-time verification control strategy, adjustment control parameter are until obtaining Satisfactory Control effect.
5. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：Institute
Stating shock absorber magnetic valve includes four proportion magnetic valves, and its PWM and I/O port for using control chip to export is controlled, and is changed
The dutycycle for becoming PWM can control the valve element aperture of proportion magnetic valve, so as to change the damping force of shock absorber output.
6. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：Institute
Stating current sample module includes high precision sampling resistance, high-impedance amplifier and filter circuit, and high precision sampling resistance is connected on
In the drive circuit of proportion magnetic valve, high-impedance amplifier amplifies after the voltage at sampling resistor two ends, filtered circuit filtering, defeated
Enter into I/O data conversion cards, the current operating current of feedback proportional magnetic valve.
7. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：Institute
State and Matlab/Simulink platform building people-Che-road closed-loop digital simulation model is based on host, it is many in analysis vehicle
On the basis of the complex nonlinear dynamic behavior characteristic of system coupling, realize that vehicle indulges-side-vertical dynamics nonlinear model
Mathematical theory parsing and simulation modeling, comprise the following steps：1）Modeling assumption；2）Power drive system is modeled；3）Car body is built
Mould；4）Suspension is modeled；5）Tire is modeled；6）Driver modeling.
8. automobile PDCC hardware-in-loop simulation testing stand according to claim 7, it is characterised in that：Institute
State the 1st）Modeling assumption, including a）Simplify power drive system modeling process；b）Ignore the asymmetric influence of wheel alignment parameter,
Assuming that center of suspension is away from equal with wheelspan；c）Assuming that roll center and pitching center are all located at automobile longitudinal and divided equally on face, and side
The axis that inclines is located above pitch axis；d）Ignore the inclination and elevating movement of unsprung mass；e）Assuming that matter on unsprung mass and spring
Amount is elastic connection in vertical direction, is rigidly connected in the horizontal direction.
9. automobile PDCC hardware-in-loop simulation testing stand according to claim 7, it is characterised in that：Institute
State the 3rd）Carbody modeling, sets up vehicle based on lagrangian analysis mechanics and indulges the vertical Unified Dynamics Model in-side-, obtain six certainly
By the kinetics equation of degree car body model
In formula,,WithFor coefficient matrix,For the generalized coordinates under vehicle axis system；For the generalized force under vehicle axis system.
10. automobile PDCC hardware-in-loop simulation testing stand according to claim 7, it is characterised in that：
Described 6th）Driver modeling, the travel direction control of vehicle dynamic model uses optimal curvature pilot model, according to driving
The person's of sailing handling characteristic, the relation set up between driver characteristics parameter and auto model parameter, speed control uses PID control.
11. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：
The NIC is multinode CAN communication card, realizes the CAN for being changed by CAN and snapping into DCC controller and USBCAN interface cards
Signal is transmitted.
12. automobile PDCC hardware-in-loop simulation testing stand according to claim 1, it is characterised in that：
The USBCAN interface cards are gathered in real time to the data in CAN, are sent to monitoring equipment.
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