CN109060369B - Distributed electric transmission system test method, device and rack - Google Patents
Distributed electric transmission system test method, device and rack Download PDFInfo
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Abstract
The invention relates to a distributed electric transmission system test method, a device and a rack, wherein the method comprises the following steps: acquiring a real-time torque control instruction fed back by the measured vehicle controller; calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters; and reversely deducing the expected rotating speed of the output shaft end of the detected driving motor through the transmission ratio of the mechanical transmission system of the vehicle according to the calculated wheel speed. The dynamometer is mechanically connected with an output shaft of the tested driving motor through a coupler, and distributed load is provided for a tested system. And respectively controlling the rotating speed of each dynamometer of the test bench according to the expected rotating speed, and further generating real-time and accurate equivalent distributed load at the output shaft end of each tested motor so as to finish the dynamic working condition test of the distributed electric transmission system in the ring.
Description
Technical Field
The invention relates to the field of in-loop testing of distributed electric automobile electric transmission systems, in particular to a method, a device and a rack for testing a distributed electric transmission system.
Background
The distributed driving electric automobile is a vehicle with a novel driving form generated along with automobile electromotion, and is mainly structurally characterized in that a driving motor is directly installed in a driving wheel or near the driving wheel, so that the independent control of the driving force of each driving wheel can be realized, the functions of steering electronic differential, driving force distribution and the like can be realized through a control strategy, and the structure has the outstanding advantages of short driving transmission chain, high transmission efficiency, compact structure and the like. In the early stage of system research and development, a corresponding test system is urgently needed, and the distributed dynamic load of the whole vehicle is simulated on a rack so as to facilitate hardware-in-loop test under various dynamic working conditions, test the efficiency and energy consumption of the system, check a driving force distribution control strategy and the like.
The electric drive system test bed currently on the market or patented is generally directed to a conventional single-motor electric drive configuration. For testing of a distributed electric transmission system, a special test bed which can accurately simulate dynamic distributed loads under the steering working condition of the electric transmission system is still quite lacking. The all-condition dynamic hardware-in-the-loop test of the distributed electric transmission system can be carried out according to the standard working condition and the standard track in the test specification, which is also an urgent need in the industry. The existing chassis dynamometer cannot meet the requirement, a distributed load dynamic simulation algorithm based on real-time calculation is generally lacked, and only equal load can be simulated or static load test can be completed.
Therefore, how to calculate the distributed load in real time and perform dynamic simulation in the aspect of ring test of the distributed drive electric vehicle is a problem to be solved urgently in the industry.
Disclosure of Invention
In view of the above problems, the present invention provides a method, an apparatus and a rack for testing a distributed electric transmission system, wherein the method calculates a target speed of each driving wheel in real time, controls a dynamometer, generates a real-time and accurate equivalent distributed load, and completes a dynamic condition test.
As a first aspect of the present invention, a distributed electric drive system test method is related to, including:
acquiring a real-time torque control instruction fed back by the measured vehicle controller;
calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters;
according to the calculated wheel speed, the expected rotating speed of the output shaft end of the detected driving motor is reversely deduced through the transmission ratio of a mechanical transmission system of the vehicle;
and according to the expected rotating speed, the rotating speed of the dynamometer is controlled by a dynamometer controller, and an equivalent distributed load is generated at the output shaft end of the tested driving motor.
In one embodiment, before acquiring the real-time torque control command fed back by the measured vehicle controller, the method further comprises the following steps:
acquiring preset path, working condition and current vehicle state parameters, and generating a simulated steering wheel angle signal and an accelerator pedal signal;
and sending the steering wheel angle signal and the accelerator pedal signal to the tested vehicle control unit.
In one embodiment, the method further comprises:
and displaying all test data of the distributed electric transmission system in real time.
In one embodiment, real-time vehicle state parameters of the distributed drive electric vehicle are calculated according to the torque control command; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters; the method comprises the following steps:
obtaining each driving torque instruction T according to the torque control instructione；
The respective driving torque commands TeSubstituting into the kinetic transfer function G of the distributed electric drive systeme-systemThen via the virtual vehicle model G7-d-vehicle&GtiresTo obtain the wheel speed omega of each driving wheelw。
In one embodiment, the expected rotation speed of each output shaft end of the tested driving motor is reversely deduced through the transmission ratio of a vehicle mechanical transmission system according to the calculated wheel speed; the method comprises the following steps:
calculating a wheel speed omega according to thewObtaining the expected rotating speed of the output shaft end of each tested driving motor according to a formula I through the transmission ratio G of the mechanical transmission system of the vehicle
The formula I is as follows:
in one embodiment, according to the expected rotating speed, the rotating speed of the dynamometer is controlled through a dynamometer controller, and an equivalent distributed load is generated at the output shaft end of the tested driving motor; the method comprises the following steps:
according to the expected rotating speed
And the current rotating speed omega of each dynamometer, the rotating speed of each dynamometer is controlled, and an equivalent distributed load T is generated according to a formula IId；
The formula II is as follows:
Gcontrolthe transfer function is controlled by the rotating speed PI of the dynamometer.
In one embodiment, the process of generating the simulated steering wheel angle signal and the accelerator pedal signal includes:
simplifying the running of the vehicle in the preset time into the longitudinal movement speed vxThe lateral movement is an initial speed vyUniform acceleration movement;
under the vehicle running coordinate system, the expected track is dispersed into a point set to obtain expected points
Let the expected lateral deviation be ypCalculating to obtain the expected lateral acceleration according to Newton's law of motion
The formula III is as follows:
gain according to lateral acceleration GayObtaining a required steering wheel angle signal:
the formula four is as follows:
in the formula IV, L is the vehicle wheelbase; c is an understeer parameter, C>0，isteeringIn order to achieve the steering transmission ratio,steeringis a steering wheel corner;
the accelerator opening Input is calculated by the following formula:
wherein, TrIs the overall resistance transmitted to the vehicle drive motor; m is the vehicle mass; g is the gravitational constant; θ is the road slope; f is road rolling resistance coefficient; cDIs the air resistance coefficient; a is the frontal area of the vehicle; 21.25 is a known constant, (wind resistance is calculated, physical meaning is related to air density), dt is time differential; v. ofxIs the vehicle longitudinal speed; mass coefficient after considering moment of inertia; η is the mechanical efficiency of the transmission system; g is the transmission ratio; r is the wheel turning radius; kp，TiAnd TdIs a parameter of the PID controller, sat (x) represents the saturation value; e is the speed error, TerrorIs the sum of the motor drive torques required to correct the speed error; t ismaxAnd the sum of the maximum output torques of all the tested driving motors corresponding to the maximum throttle input at the current rotating speed is represented.
In a second aspect, the present invention also relates to a distributed electric drive system test apparatus comprising:
the acquisition module is used for acquiring a real-time torque control instruction fed back by the measured vehicle control unit;
the calculation module is used for calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters; according to the calculated wheel speed, the expected rotating speed of the output shaft end of the detected driving motor is reversely deduced through the transmission ratio of a mechanical transmission system of the vehicle;
and the control module is used for controlling the rotating speed of the dynamometer through the dynamometer controller according to the rotating speed and generating equivalent distributed load at the output shaft end of the tested driving motor.
In one embodiment, the apparatus further comprises:
the generating module is used for acquiring preset paths, working conditions and current vehicle state parameters before acquiring a real-time torque control instruction fed back by the measured vehicle controller, and generating a simulated steering wheel corner signal and an accelerator pedal signal;
and the sending module is used for sending the steering wheel angle signal and the accelerator pedal signal to the measured vehicle control unit.
In one embodiment, the apparatus further comprises: and the display module is used for displaying all the test data of the distributed electric transmission system in real time.
In a third aspect, the present invention is also directed to a distributed electric drive system test rig comprising: the system comprises a simulation battery pack, a tested distributed electric transmission system, a distributed load simulation system, a data acquisition system and a rack control real-time system;
the simulation battery pack is electrically connected with the measured distributed electric transmission system and the distributed load simulation system respectively;
the measured distributed electric drive system comprises: the system comprises a tested vehicle controller, at least two tested motors and a tested motor controller; the tested vehicle controller is connected with the tested motor controller through a CAN bus, and the tested motor controller is electrically connected with the tested motor;
the distributed load simulation system includes: the dynamometer and the dynamometer controllers are the same in number as the tested motor, and the dynamometer is electrically connected with the dynamometer controller;
the output shaft of the tested motor is mechanically connected with the dynamometer through a coupler;
the data acquisition system is respectively in communication connection with the tested motor controller and the dynamometer controller;
the rack control real-time system is respectively in communication connection with the whole vehicle controller to be tested and the dynamometer controller through a CAN bus;
the bench control real-time system comprises the distributed electric drive system testing device according to any one of the embodiments, and the testing bench is controlled in real time to generate equivalent distributed load.
In one embodiment, the simulation battery pack is electrically connected with the tested motor controller and the dynamometer controller respectively;
the data acquisition system comprises: a power analyzer, a voltage/current sensor and a torque/rotational speed sensor;
the tested motor controller is connected with the tested motor through a three-phase lead, and the voltage/current sensor is arranged on the three-phase lead according to the use specification;
the output shaft of the tested motor is connected with the dynamometer through a coupler; the torque/rotating speed sensor is arranged between the dynamometer and the coupling;
and the power analyzer is respectively in communication connection with the voltage/current sensor and the torque/rotating speed sensor and receives signals of the sensors.
In one embodiment, further comprising: the monitoring upper computer is used for displaying test data and inputting test instructions;
and the monitoring upper computer is respectively connected with the power analyzer and the rack control real-time system.
In one embodiment, further comprising: a stage base;
the tested motor and the dynamometer are installed on the rack base.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the embodiment of the invention provides a distributed electric transmission system test method, which comprises the following steps: acquiring a real-time torque control instruction fed back by the measured vehicle controller; calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters; according to the calculated wheel speed, the expected rotating speed of the output shaft end of the detected driving motor is reversely deduced through the transmission ratio of a mechanical transmission system of the vehicle; and controlling the rotation speed of the dynamometer controller according to the expected rotation speed, and generating an equivalent distributed load at the output shaft end of the tested driving motor. The testing method of the distributed electric transmission system provided by the invention is characterized in that real-time vehicle state parameters of the distributed driving electric vehicle under the real-time torque control signals are calculated by carrying out high-speed acquisition and processing on the real-time torque control signals fed back by a vehicle controller, the calculated wheel speed of each driving wheel is obtained, the rotating speed of the output shaft end of the tested driving motor is reversely deduced according to the transmission ratio of the mechanical transmission system of the vehicle, the rotating speed of a dynamometer controller of a dynamometer unit is respectively controlled according to the rotating speed, and then real-time and accurate equivalent distributed load is generated at the output shaft end of the tested driving motor, so that the dynamic working condition test of the distributed electric transmission system in a ring is completed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a distributed electric drive system testing method provided by the present invention;
FIG. 2 is a block diagram of a distributed electric drive system test rack provided by the present invention;
FIG. 3 is a block diagram of a distributed electric drive system test bed provided by the present invention;
FIG. 4 is a flow chart of a rack control algorithm in the real-time rack control system provided by the present invention;
FIG. 5 is a block diagram of a distributed electric drive system test apparatus provided by the present invention;
wherein: the method comprises the following steps of 1-simulating a battery pack, 2-a measured distributed electric transmission system, 21-a measured vehicle controller, 22-a measured motor, 23-a measured motor controller, 3-a distributed load simulation system, 31-a dynamometer, 32-a dynamometer controller, 4-a data acquisition system, 41-a power analyzer, 42-a voltage/current sensor, 43-a torque/rotating speed sensor, 5-a rack control real-time system, 501-a generation module, 502-a sending module, 51-an acquisition module, 52-a calculation module, 53-a control module, 54-a display module, 6-a monitoring upper computer and 7-a rack base.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a distributed electric transmission system testing method, which is described in the following with reference to the attached drawings.
Referring to fig. 1, the method comprises the following steps:
s101, acquiring a real-time torque control instruction fed back by a tested vehicle controller;
s102, calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control command; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters;
s103, reversely deducing the expected rotating speed of the output shaft end of the detected driving motor according to the calculated wheel speed and the transmission ratio of the mechanical transmission system of the vehicle;
and S104, controlling the rotating speed of the dynamometer through a dynamometer controller according to the expected rotating speed, and generating equivalent distributed load at the output shaft end of the tested driving motor.
In this embodiment, the real-time torque control signal fed back by the vehicle controller is acquired and processed at a high speed, real-time vehicle state parameters of the distributed drive electric vehicle under the real-time torque control signal are calculated, that is, calculated wheel speeds of the drive wheels are obtained, the expected rotating speed of the output shaft end of the drive motor to be measured is reversely deduced according to the transmission ratio of the vehicle mechanical transmission system, and according to the expected rotating speed, that is, the estimated rotating speed, the rotating speed control is respectively performed on each dynamometer of the dynamometer set, so that real-time and accurate equivalent distributed load is generated at the output shaft end of the drive motor to be measured, the equivalent distributed load can be matched with the dynamic distributed load borne by the electric transmission system when the distributed drive electric vehicle actually runs, and the dynamic condition test of the distributed drive system in a ring can be realized.
Further, referring to fig. 1, before step S101, the method further includes the steps of: s100, comprising two substeps:
s1001, acquiring preset paths, working conditions and current vehicle state parameters, and generating a simulated steering wheel corner signal and an accelerator pedal signal;
and S1002, sending the steering wheel angle signal and the accelerator pedal signal to the tested vehicle control unit.
The distributed electric transmission system testing method provided by this embodiment is based on a testing bench, and is shown in fig. 2 and 3, and is applied to distributed electric transmission system testing to form a testing closed loop including tested hardware, and can acquire bench information in real time, where step S1001 and steps S102 to S104 are controlled in real time by a bench control algorithm. The rack control algorithm is an equivalent distributed load simulation method based on model wheel speed tracking, and the algorithm can enable a distributed load simulation system to generate equivalent dynamic distributed load and simulate inertia and variable resistance in actual running of the distributed driving electric automobile.
In this embodiment, step S1001 generates a simulated steering wheel angle signal by a preview following method according to a preset path, a preset condition, and a current vehicle state parameter, and generates an accelerator pedal signal by a PID control method according to a vehicle speed error. In addition, on the basis of considering tire slip, cornering and vehicle operation dynamics, steps S102 and S103 synchronously calculate the calculated wheel speed of each driving wheel of the distributed electric vehicle according to the torque control command of the vehicle control unit, and further obtain the target value of the rotating speed of the dynamometer.
Further, the method may further include: and displaying all test data of the distributed electric transmission system in real time. In the testing process, all the testing data are displayed in real time, for example, uploaded to a monitoring upper computer and visualized on a display interface. The whole testing process is more visual, and the readability and the friendliness of man-machine interaction of the testing method are greatly improved.
The invention relates to a distributed electric transmission system test method, which can be applied to a rack, and is shown in figures 2 and 3, and comprises a simulation battery pack 1, a tested distributed electric transmission system 2, a distributed load simulation system 3, a data acquisition system 4 with a communication function, a rack control real-time system 5 for operating a human-vehicle-road calculation model, a monitoring upper computer 6, a rack base 7 and a mechanical connecting part. The tested motor 22 and the dynamometer 31 are respectively fixed on the stand base 7 through bolts. The tested motor 22 is connected with one side of the torque/rotating speed sensor 43 through a coupler, the dynamometer 31 is arranged on the other side of the torque/rotating speed sensor 43, and the two tested motors 22 and the two corresponding dynamometers 31 in the graph of fig. 3 form a double-rotation shaft system with two groups of motors in opposite dragging and simulate the working state of a distributed electric transmission system. The rack controls the real-time system 5, generates a simulated steering wheel angle signal and an accelerator pedal signal, and sends the simulated steering wheel angle signal and the accelerator pedal signal to the tested whole vehicle controller 21 through a CAN bus; the rotating speed control instruction sent by the rack control real-time system 5 is sent to the dynamometer controller 32 through the CAN bus. And feeding back signals of the tested vehicle controller 21 and the dynamometer controller 32 to the rack control real-time system 5 through the CAN bus.
Taking the two-drive-wheel electric vehicle as an example, during actual measurement, the working condition and the target trajectory of the current test are input into the bench test interface of the monitoring upper computer 6, and the test is started. The above "man-car-road" calculation model includes: the driving control system comprises a steering driver model, a distributed driving electric automobile seven-degree-of-freedom dynamic model and a Dugoff tire model, wherein the steering driver model generates a simulated steering wheel corner signal by a preview following method according to a preset path, a preset working condition and vehicle state parameters in a real-time model, generates an accelerator pedal signal by a PID (proportion integration differentiation) control method according to a vehicle speed error, and inputs the generated driving control signals (the steering wheel corner signal and the accelerator pedal signal) into the measured distributed electric transmission system 2. The measured vehicle controller 21 controls the measured electric transmission system according to the input real-time driving control signal, for example, sends respective torque control commands to the two distributed drive motor controllers, and feeds the signal back to the rack control real-time system 5. And operating a human-vehicle-road calculation kernel, synchronously calculating the calculated wheel speed of each driving wheel of the distributed electric vehicle, further obtaining the target value of the rotating speed of each dynamometer 31, synchronously refreshing the vehicle state parameters in the two models, and uploading the vehicle state parameters to a display interface of the monitoring upper computer 6 for visualization. The distributed driving tested motor controller 23 controls the torque of the tested motor 22 according to the torque control instruction of the tested vehicle controller 21, and the dynamometer controller 32 controls the rotation speed of the dynamometer 31 according to the respective rotation speed instruction calculated by the bench control real-time system 5, so as to generate real-time and accurate equivalent distributed load. Two groups of motors on the rack base 7 operate the rotary shafting according to actual test conditions, a torque/rotation speed sensor 43 collects real-time rotation speed torque of the tested distributed electric transmission system 2, a voltage/current sensor 42 collects real-time current and voltage, signals of the sensors are transmitted to a power analyzer 41 to calculate and display real-time mechanical power, electric power and efficiency, and are uploaded to the monitoring upper computer 6, and visualization is carried out on a display interface of the monitoring upper computer 6.
Along with the change of the path and the working condition, a steering driver model in a 'man-vehicle-road' calculation kernel can simulate a real driver to generate a steering wheel angle signal and a pedal amount input signal, a tested vehicle controller 21 can distribute driving force according to a driving force distribution algorithm, a test bench synchronously reads a control signal of the distributed driving force and inputs the control signal into a 'man-vehicle-road' calculation model, the wheel speed of a driving wheel at the next moment of the vehicle is estimated by considering the action of vehicle dynamics and tires and the ground, the rotating speed of a test simulation point is further deduced, the rotating speed of a dynamometer 31 is controlled, and the algorithm applies an equivalent method to simulate the real distributed load of a distributed driving electric vehicle in the steering process. Meanwhile, the actual condition of tire slippage is considered, and the saturation function limit of the maximum road adhesion force is added into the rotating speed ring of the rotating speed control algorithm in the dynamometer controller 32, so that the generated equivalent distributed load does not exceed the maximum adhesion force which can be provided by the actual road surface, and the distortion of load simulation is prevented. Meanwhile, because the rack load simulation algorithm is based on model feedforward control, the feedforward model prediction is carried out before the tested system generates actual driving force output, the real-time performance of load simulation is ensured, the response rate of the load simulation system is accelerated, and the hardware in-loop test effect of the whole distributed electric transmission system is closer to the real vehicle test.
In the embodiment, the simulated steering wheel angle signal is generated by a preview following method, the accelerator pedal signal is generated by a PID control method according to the vehicle speed error, and the real-time equivalent distributed load is calculated, wherein the specific calculation process comprises the following steps:
taking a two-drive vehicle as an example, referring to fig. 4, the traveling of the vehicle in a short time (for example, within 1 second) is simplified to a longitudinal movement velocity vxThe lateral movement is an initial speed vyEven acceleration motion. Under the vehicle running coordinate system, the expected track is dispersed into a point set S (x)kyk) A series of coordinate points from x 1,2,3k＝x1Begin according to the search equation (x)k-vxT)(xk+1-vxT) is less than or equal to 0, and after the preview time T is judged, a point on an expected track closest to the vehicle arrival position
When the search equation is satisfied, the obtained P is the pre-aiming point. The expected lateral deviation is then ypCalculating to obtain the expected lateral acceleration according to Newton's law of motion
Gain according to lateral acceleration GayObtaining a required steering wheel angle signal, wherein L is the vehicle wheelbase; c is an understeer parameter (C)>0)，isteeringIn order to achieve the steering transmission ratio,steeringis the steering wheel angle.
The accelerator opening Input is calculated by the following equation.
Wherein, TrIs the overall resistance transmitted to the vehicle; m is the vehicle mass; g is the gravitational constant; θ is the road slope; f is road rolling resistance coefficient; cDIs the air resistance coefficient; a is the frontal area of the vehicle; 21.25 is a known constant, (wind resistance is calculated, physical meaning is related to air density), dt is time differential; v. ofxIs the vehicle longitudinal speed; mass coefficient after considering moment of inertia; η is the mechanical efficiency of the transmission system; g is the transmission ratio; r is the wheel turning radius; kp，TiAnd TdIs a parameter of the PID controller, sat (x) represents the saturation value; e is the speed error, TerrorIs the sum of the motor drive torques required to correct the speed error; t ismaxAnd the sum of the maximum output torques of all the tested driving motors corresponding to the maximum throttle input at the current rotating speed is represented.
In the above solution, the designed vehicle dynamics model and the Dugoff tire model synchronously calculate the calculated wheel speed of each driving wheel of the distributed electric vehicle according to the torque control command of the measured vehicle controller 21 on the basis of considering the tire slip, the cornering power and the vehicle steering dynamics, so as to obtain the target value of the rotation speed of the dynamometer 31. The specific method comprises the following steps:
similarly, a vehicle with two drive wheels is taken as an example, and as shown in fig. 4, a drive torque command T is givene1Te2Substituting the kinetic transfer function G of a distributed electric drive systeme-systemThen via the virtual vehicle model G7-d-vehicle&GtiresTo obtain the theoretical wheel speed omega of the driving wheelw1ωw2。
The transmission ratio of the mechanical transmission part of the tested vehicle is G, and the expected rotating speed of the bench simulation reference point (namely: the output shaft end of the tested motor) is obtained according to the following formula (6)
I.e. the target speed of the distributed load simulation system.
In the above scheme, the target rotation speed of the dynamometer 31 is further obtained according to the current calculated wheel speed of each driving wheel calculated by the model, and the rotation speed of each dynamometer 31 is controlled to generate the equivalent distributed load Td1Td2。
Taking FIG. 3 as an example, in the formula, ω1ω2Is the actual rotational speed of the two dynamometers 31 (the dynamometer 1 and the dynamometer 2),
the target rotating speed of the double work measuring unit is obtained. GcontrolThe transfer function is controlled by the rotating speed PI of the dynamometer. The whole bench control algorithm is summarized as an equivalent distributed load simulation method based on wheel speed tracking, and can accurately simulate the reality of a tested system in actual running in real timeAnd (4) loading.
In the above scheme, referring to fig. 3, each sensor has sufficient acquisition accuracy, and can be used for testing the dynamic condition and instantaneous performance parameters of the measured distributed electric transmission system 2, and the torque/rotation speed sensor 43 and the voltage/current sensor 42 transmit signals thereof to the power analyzer 41 to calculate and display instantaneous mechanical power, electric power and efficiency, and upload the signals to the monitoring interface of the monitoring upper computer 6 in real time for visualization. The gantry control real-time system 5 is based on an Xpc computing platform and has the functions of real-time computing and rapid control.
Based on the same inventive concept, embodiments of the present invention further provide a distributed electric transmission system testing apparatus and a testing bench, and because the principle of the problem solved by the testing apparatus and the testing bench is similar to that of the distributed electric transmission system testing method in the foregoing embodiments, the implementation of the testing apparatus and the testing bench may refer to the implementation of the foregoing method, and repeated details are omitted.
In a second aspect, the following provides a distributed electric drive system testing apparatus according to an embodiment of the present invention, which can be used to execute the above described embodiment of the distributed electric drive system testing method.
Referring to fig. 5, a distributed electric drive system test apparatus includes:
the obtaining module 51 is configured to obtain a real-time torque control instruction fed back by the measured vehicle controller;
the calculation module 52 is configured to calculate a real-time vehicle state parameter of the distributed drive electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters; according to the calculated wheel speed, the expected rotating speed of the output shaft end of the detected driving motor is reversely deduced through the transmission ratio of a mechanical transmission system of the vehicle;
and the control module 53 is used for controlling the rotating speed of the dynamometer through a dynamometer controller according to the expected rotating speed, and generating an equivalent distributed load at the output shaft end of the tested driving motor.
In one embodiment, the apparatus further comprises:
the generating module 501 is configured to, before acquiring a real-time torque control instruction fed back by a measured vehicle controller, acquire preset path, working condition and current vehicle state parameters, and generate a simulated steering wheel angle signal and an accelerator pedal signal;
a sending module 502, configured to send the steering wheel angle signal and the accelerator pedal signal to the measured vehicle control unit.
In one embodiment, the apparatus further comprises: and a display module 54 for displaying all the test data of the distributed electric transmission system in real time.
In a third aspect, referring to fig. 2 and 3, an embodiment of the present invention further provides a distributed electric drive system test bench, including a simulation battery pack 1, a measured distributed electric drive system 2, a distributed load simulation system 3, a data acquisition system 4, and a bench control real-time system 5.
The simulation battery pack 1 is electrically connected with a tested distributed electric transmission system 2 and a distributed load simulation system 3 respectively; the analog battery pack 1 provides direct current, and the direct current is inverted into three-phase alternating current through a motor controller or a dynamometer controller. Referring to fig. 3, two parallel solid lines (two lines are not uniform in thickness) represent direct current, and three parallel solid lines represent three-phase alternating current.
Referring to fig. 3, the measured distributed electric drive system 2 includes: the system comprises a tested vehicle controller 21, at least two tested motors 22 and a tested motor controller 23; the tested vehicle controller 21 is connected with a tested motor controller 23 through a CAN bus, and the tested motor controller 23 is electrically connected with the tested motor 22; referring to fig. 3, the CAN bus is shown in dashed lines with arrows.
The distributed load simulation system 3 includes: the dynamometer 31 and the dynamometer controller 32 are the same as the tested motor 22 in number, and the dynamometer 31 is connected with the dynamometer controller 32;
the output shaft of the tested motor 22 is connected with the dynamometer 31 through a coupling by a torque/rotating speed sensor 43;
the data acquisition system 4 is respectively in communication connection with a tested motor controller 23 in the tested distributed electric transmission system 2 and a dynamometer controller 32 in the distributed load simulation system 3;
the rack control real-time system 5 is respectively in control connection with the whole vehicle controller 21 to be tested and the dynamometer controller 32 through a CAN bus, and is connected with the data acquisition system 4 through the monitoring upper computer 6; the real-time system for bench control 5 comprises a distributed electric drive system testing device according to any one of the above embodiments, and controls the test bench in real time to generate equivalent distributed load.
In addition, the test bench can be suitable for testing the electric drive system of a two-wheel drive, four-wheel or multi-wheel distributed drive electric automobile, and if the four-wheel or multi-wheel drive distributed drive electric automobile needs to be tested, the structure of the bench can be expanded on the basis, and the number of corresponding dynamometer machines and dynamometer machine controllers can be set. If a high-power system test is required, the power and the size of the rack of the distributed load simulation system are increased.
The distributed electric transmission system test bench provided by the invention forms a test closed loop containing tested hardware, and the distributed load simulation system 3 can provide accurate and real-time dynamic working load for the tested distributed electric transmission system 2 under the control of the bench control real-time system 5. The test bench monitors the test data in real time, calculates the real-time electric power, mechanical power and efficiency, and displays the real-time model calculation data.
The tested vehicle controller 21 sends a torque control command to the tested machine controller 23. The tested motor 22 is controlled by the corresponding tested motor controller 23 through torque, and the dynamometer 31 is controlled by the corresponding dynamometer controller 32 through rotating speed control according to the rotating speed instruction calculated by the bench control real-time system 5. Each of the controllers has a communication function.
Further, the method comprises the following steps of; referring to fig. 3, the data acquisition system 4 includes: a power analyzer 41, a voltage/current sensor 42, a torque/rotation speed sensor 43;
wherein: the tested motor controller 23 is connected with the tested motor 22 through a three-phase lead, and the voltage/current sensor 42 is arranged on the three-phase lead according to the use specification;
the output shaft of the tested motor 22 is connected with the dynamometer 31 through a coupler, wherein a torque/rotating speed sensor 43 is further installed outside the coupler, the dynamometer 31 is arranged on the other side of the torque/rotating speed sensor 43, and when two tested motors 22 are arranged, a double-rotation shaft system with two groups of motors in opposite drag is formed, and the working state of the distributed electric transmission system is simulated.
The power analyzer 41 is connected with a voltage/current sensor 42 and a torque/rotation speed sensor 43 respectively;
the power analyzer 41 is connected with the monitoring upper computer 6 through the Ethernet; the monitoring upper computer 6 further feeds the real-time data of the rack back to the real-time rack control system 5.
In the above scheme, the data acquisition system 4 has communication, monitoring and feedback functions. The real-time data of the rack is sensed by each sensor and displayed on the monitoring upper computer 6, and further the real-time data of the rack is fed back to the rack control real-time system 5 to carry out model synchronous operation and update the state of the rack.
Meanwhile, the sensor signal is transmitted to the power analyzer 41 to calculate and display instantaneous mechanical power, electric power and efficiency; the bench control signal sent by the bench control real-time system 5 is transmitted through the CAN bus network, and the rotating speed instruction is sent to the dynamometer controller 32. And the real-time steering wheel angle signal and the accelerator pedal signal generated by the rack control real-time system 5 are sent to the tested vehicle control unit 21.
In this embodiment, a set of real-time system is built based on a general real-time test platform, and a power analyzer is used to receive and process real-time sensor signals, so that real-time testing of a distributed electric transmission system under any working condition and any path can be realized, the efficiency of the system to be tested is reflected, and the functions of the system to be tested are verified.
Further, referring to fig. 2 and 4, all the test data are uploaded to the monitoring upper computer 6 in real time and visualized on a display interface. The whole testing process is more visual, and the readability and the friendliness of human-computer interaction of the testing system are greatly improved.
Referring to fig. 3, the test stand further comprises a stand base 7, wherein the tested motor 22 and the dynamometer 31 are respectively mounted on the stand base 7 through bolts.
In this embodiment, the rack controls the real-time system 5 to generate a simulated steering wheel angle signal, an accelerator pedal signal and a rotation speed control command, and respectively sends the simulated steering wheel angle signal, the accelerator pedal signal and the rotation speed control command to each node (for example, the measured vehicle controller 21 and the dynamometer controller 32) through the CAN bus, and receives a feedback signal of each node through the CAN bus. The data of the rotating speed/torque sensor enters a power analyzer 41 and is fed back to the rack control real-time system 5 through a monitoring upper computer 6.
Taking the two-drive-wheel electric vehicle as an example, during actual measurement, the working condition and the target trajectory of the current test are input into the bench test interface of the monitoring upper computer 6, and the test is started. And the rack control real-time system 5 generates a simulated steering wheel corner signal and an accelerator pedal signal according to a preset path, a preset working condition and a current vehicle state parameter, and inputs the simulated steering wheel corner signal and the accelerator pedal signal into the tested distributed electric transmission system 2. The measured vehicle controller 21 sends respective torque control instructions to the two distributed drive motor controllers according to the input real-time driving control signals (the simulated steering wheel angle signal and the accelerator pedal signal), and feeds the signals back to the rack control real-time system 5. And synchronously calculating the calculated wheel speed of each driving wheel of the distributed electric automobile so as to obtain the target value of the rotating speed of each dynamometer, synchronously refreshing the vehicle state in the model, and uploading the vehicle state to a display interface of the monitoring upper computer 6 for visualization. The distributed driving motor controller controls the torque of the tested motor 22 according to the torque control instruction of the whole vehicle controller, and the dynamometer controller 32 controls the rotation speed of the dynamometer 31 according to respective rotation speed instructions calculated by the bench control real-time system 5, so as to generate real-time and accurate equivalent distributed load.
Two groups of motors on the rack base 7 operate a dragging rotary shaft system according to actual test conditions, a torque/rotation speed sensor 43 collects real-time rotation speed torque of the tested distributed electric transmission system 2, a voltage/current sensor 42 collects real-time current and voltage, signals of the sensors are transmitted to a power analyzer 41 to calculate and display real-time mechanical power, electric power and efficiency, and the signals are uploaded to a monitoring upper computer 6 to be visualized on a display interface.
Along with the change of the path and the working condition, the rack control real-time system 5 can simulate a real driver to generate a steering wheel angle signal and a pedal amount input signal, the tested vehicle controller can distribute driving force according to a driving force distribution algorithm, the test rack synchronously reads the control signal of the distributed driving force and inputs the control signal into the rack control real-time system 5, the speed of a driving wheel at the next moment of the vehicle is estimated by considering the vehicle dynamics and the action of tires and the ground, the rotating speed of a test simulation point is further deduced, the rotating speed of the dynamometer 31 is controlled, and the algorithm can simulate the real distributed load of the distributed driving electric vehicle in the steering process by using an equivalent method. Meanwhile, the actual condition of tire slippage is considered, and the saturation function limit of the maximum road adhesion force is added into the rotating speed ring of the rotating speed control algorithm in the dynamometer controller 32, so that the generated equivalent distributed load does not exceed the maximum adhesion force which can be provided by the actual road surface, and the distortion of load simulation is prevented. Meanwhile, because the rack load simulation algorithm is based on model feedforward control, the feedforward model prediction is carried out before the tested system generates actual driving force output, the real-time performance of load simulation is ensured, the response rate of the load simulation system is accelerated, and the hardware in-loop test effect of the whole distributed electric transmission system is closer to the real vehicle test.
The specific algorithm related to the test bench of the distributed electric transmission system provided by the embodiment of the invention can refer to the implementation of the test method of the distributed electric transmission system, and repeated parts are not described again. The test bench is a special test bench designed for hardware-in-the-loop test of the electric transmission system of the distributed electric automobile, and can provide dynamic distributed load for the distributed electric transmission system. The dynamic state of the electric automobile can be calculated in real time, and the rotating speed of each driving wheel can be estimated. And the hardware-in-loop test of the prototype machine of the electric drive system and the function test and the algorithm verification of the part development stage of the distributed drive electric automobile are realized by matching with the hardware of the test bed.
Furthermore, the equivalent distributed load simulation method based on wheel speed tracking control can accurately simulate real road load on each driving wheel of the distributed driving electric automobile under different working conditions in real time, and provides a virtual environment for component-level and system-level development tests of the distributed electric driving system.
In addition, aiming at the electronic differential steering control function of distributed electric transmission, when the tested distributed electric transmission system 2 is driven by two wheels, the double power measuring machine system formed by the distributed load simulation system 3 can generate a pair of loads with different rotating speeds and torques, and can finish the test of the differential steering process of the distributed electric driven automobile.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A distributed electric drive system test method is characterized by comprising the following steps:
acquiring a real-time torque control instruction fed back by the measured vehicle controller;
calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters;
according to the calculated wheel speed, the expected rotating speed of the output shaft end of the detected driving motor is reversely deduced through the transmission ratio of a mechanical transmission system of the vehicle;
according to the expected rotating speed, the rotating speed of the dynamometer is controlled through a dynamometer controller, and an equivalent distributed load is generated at the output shaft end of the tested driving motor;
according to the expected rotating speed, a dynamometer is controlled by a dynamometer controller, and an equivalent distributed load is generated at the output shaft end of the driving motor to be tested; the method comprises the following steps:
according to the expected rotating speed
And the current rotating speed omega of each dynamometer, the rotating speed of each dynamometer is controlled, and an equivalent distributed load T is generated according to a formula IId；
The formula II is as follows:
Gcontrolthe transfer function is controlled by the rotating speed PI of the dynamometer.
2. The distributed electric drive system testing method according to claim 1, wherein before acquiring the real-time torque control command fed back by the tested vehicle controller, the method further comprises:
acquiring preset path, working condition and current vehicle state parameters, and generating a simulated steering wheel angle signal and an accelerator pedal signal;
and sending the steering wheel angle signal and the accelerator pedal signal to the tested vehicle control unit.
3. A method for distributed electric drive system testing as claimed in claim 2, wherein the method further comprises:
and displaying all test data of the distributed electric transmission system in real time.
4. A distributed electrical drive system testing apparatus, comprising:
the acquisition module is used for acquiring a real-time torque control instruction fed back by the measured vehicle control unit;
the calculation module is used for calculating real-time vehicle state parameters of the distributed driving electric vehicle according to the torque control instruction; obtaining the calculated wheel speed of each driving wheel according to the real-time vehicle state parameters; according to the calculated wheel speed, the expected rotating speed of the output shaft end of the detected driving motor is reversely deduced through the transmission ratio of a mechanical transmission system of the vehicle;
the control module is used for controlling the rotating speed of the dynamometer through a dynamometer controller according to the expected rotating speed and generating equivalent distributed load at the output shaft end of the tested driving motor;
the control module is used for controlling the motor according to the expected rotating speed
And the current rotating speed omega of each dynamometer, the rotating speed of each dynamometer is controlled, and an equivalent distributed load T is generated according to a formula IId；
The formula II is as follows:
Gcontrolthe transfer function is controlled by the rotating speed PI of the dynamometer.
5. The distributed electric drive system test apparatus of claim 4, further comprising:
the generating module is used for acquiring preset paths, working conditions and current vehicle state parameters before acquiring a real-time torque control instruction fed back by the measured vehicle controller, and generating a simulated steering wheel corner signal and an accelerator pedal signal;
and the sending module is used for sending the steering wheel angle signal and the accelerator pedal signal to the measured vehicle control unit.
6. The distributed electric drive system test apparatus of claim 5, further comprising: and the display module is used for displaying all the test data of the distributed electric transmission system in real time.
7. A distributed electric drive system test bench comprising: the system comprises a simulation battery pack, a tested distributed electric transmission system, a distributed load simulation system, a data acquisition system and a rack control real-time system;
the simulation battery pack is electrically connected with the measured distributed electric transmission system and the distributed load simulation system respectively;
the measured distributed electric drive system comprises: the system comprises a tested vehicle controller, at least two tested motors and a tested motor controller; the tested vehicle controller is connected with the tested motor controller through a CAN bus, and the tested motor controller is electrically connected with the tested motor;
the distributed load simulation system includes: the dynamometer and the dynamometer controllers are the same in number as the tested motor, and the dynamometer is electrically connected with the dynamometer controller;
the output shaft of the tested motor is mechanically connected with the dynamometer;
the data acquisition system is respectively in communication connection with the tested motor controller and the dynamometer controller;
the rack control real-time system is respectively in communication connection with the whole vehicle controller to be tested and the dynamometer controller through a CAN bus;
the bench control real-time system comprises a distributed electric drive system test device according to any one of claims 4-5, and the test bench is controlled in real time to generate equivalent distributed load.
8. The distributed electric drive system test bench of claim 7 wherein said analog battery pack is electrically connected to said motor controller under test and said dynamometer controller, respectively;
the data acquisition system comprises: a power analyzer, a voltage-current sensor, and a torque-rotational speed sensor;
the tested motor controller is connected with the tested motor through a three-phase lead, and the voltage-current sensor is arranged on the three-phase lead;
the output shaft of the tested motor is connected with the dynamometer through a coupler; the torque-rotating speed sensor is arranged between the dynamometer and the coupling;
and the power analyzer is respectively in communication connection with the voltage-current sensor and the torque-rotating speed sensor and receives signals of the sensors.
9. The distributed electric drive system test rack of claim 8, further comprising: the monitoring upper computer is used for displaying test data and inputting test instructions;
and the monitoring upper computer is respectively connected with the power analyzer and the rack control real-time system.
10. A distributed electric drive system test rig according to any of claims 7-9, further comprising: a stage base;
the tested motor and the dynamometer are installed on the rack base.
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| CN109932194B (en) * | 2019-04-02 | 2020-10-30 | 重庆工程职业技术学院 | Vehicle driving condition dynamic simulation method, device, system and storage medium |
| CN109947085A (en) * | 2019-04-09 | 2019-06-28 | 苏州华业检测技术服务有限公司 | A kind of distribution driving control system testboard |
| CN110411757B (en) * | 2019-07-30 | 2021-10-29 | 安徽江淮汽车集团股份有限公司 | Shaft head dynamic load calculation method, device, equipment and storage medium |
| CN111693297B (en) * | 2020-06-10 | 2021-08-03 | 清华大学 | Dynamic bench test equipment and test method for vehicle driving/braking control system |
| CN111813091B (en) * | 2020-07-20 | 2022-03-15 | 南京恒天领锐汽车有限公司 | Automatic detection and real vehicle simulation test method for motor controller of twin-trawling platform |
| CN111964919B (en) * | 2020-08-13 | 2023-09-29 | 阳光电源股份有限公司 | Tooth punching working condition testing method and device, computer equipment and storage medium |
| CN112763909B (en) * | 2020-12-29 | 2022-08-16 | 中通客车股份有限公司 | Vehicle driving motor combined working condition testing method and system |
| CN113029597A (en) * | 2021-04-06 | 2021-06-25 | 北京理工大学 | Unmanned vehicle full-line control chassis test system |
| CN113758619A (en) * | 2021-08-12 | 2021-12-07 | 东风汽车股份有限公司 | Pure electric vehicle transmission system testing device and transmission efficiency testing method thereof |
| CN114755026A (en) * | 2022-03-10 | 2022-07-15 | 武汉理工大学 | Multi-dimensional electric whole vehicle test bed and test method |
| CN115078895B (en) * | 2022-08-23 | 2022-12-02 | 江苏智能无人装备产业创新中心有限公司 | Comprehensive test method, device and medium for distributed electric drive vehicle |
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