CN109975034A - A kind of Heavy-duty chassis dynamometer road resistance analog control system and method - Google Patents

A kind of Heavy-duty chassis dynamometer road resistance analog control system and method Download PDF

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Publication number
CN109975034A
CN109975034A CN201910318944.6A CN201910318944A CN109975034A CN 109975034 A CN109975034 A CN 109975034A CN 201910318944 A CN201910318944 A CN 201910318944A CN 109975034 A CN109975034 A CN 109975034A
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China
Prior art keywords
control
motor
control module
module
torque
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CN201910318944.6A
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Chinese (zh)
Inventor
李貌
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CHONGQING CAERI AUTOMOBILE TEST EQUIPMENT DEVELOPMENT CO LTD
China Automotive Engineering Research Institute Co Ltd
Original Assignee
CHONGQING CAERI AUTOMOBILE TEST EQUIPMENT DEVELOPMENT CO LTD
China Automotive Engineering Research Institute Co Ltd
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Application filed by CHONGQING CAERI AUTOMOBILE TEST EQUIPMENT DEVELOPMENT CO LTD, China Automotive Engineering Research Institute Co Ltd filed Critical CHONGQING CAERI AUTOMOBILE TEST EQUIPMENT DEVELOPMENT CO LTD
Priority to CN201910318944.6A priority Critical patent/CN109975034A/en
Publication of CN109975034A publication Critical patent/CN109975034A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles

Abstract

The present invention relates to automobile chassis the field of test technology, specially a kind of Heavy-duty chassis dynamometer road resistance analog control system and method, including the first control module, second control module, first detection module, second detection module, first detection module is used to detect the revolving speed and torque of first motor, first control module is for calculating total load control amount, first control module is also used to calculate the difference of the torque of total load control amount and the second motor, obtain actual loaded control amount, it, which is also used to bring the difference of the torque of actual loaded control amount and first motor in closed loop PID control algorithm into, obtains control output quantity, and moment of torsion control is carried out to first motor, second control module keeps revolving speed consistent for controlling the second motor with first motor.A kind of Heavy-duty chassis dynamometer road resistance analog control system and method that this hair provides, are able to solve the problem of existing dynamometer machine road resistance analog capability is unable to satisfy the requirement of experiment of heavy-duty car.

Description

A kind of Heavy-duty chassis dynamometer road resistance analog control system and method
Technical field
The present invention relates to automobile chassis the field of test technology, specially a kind of Heavy-duty chassis dynamometer road resistance simulation control System and method processed.
Background technique
Dynamometer system for motorcar chassis is to carry out the dedicated of laboratory test for vehicle complete vehicle progress dynamic property and durability Equipment is just applied to the detection of automobile chassis a long time ago.It was all using mechanical inertia simulated automotive complete vehicle quality, respectively in the past The small-sized dynamometer machine simulated automotive travel resistance of class, cannot achieve stepless variation using such mode test macro inertia, right Complete vehicle quality simulation is very inaccurate, also can not really reproduce actual condition to the simulation of road running resistance.As exchange is controlled The continuous maturation of technology processed competitively simulates rotary inertia using alternating frequency conversion technique both at home and abroad at present.The technology may be implemented to be used to The step-less adjustment of amount can more accurately reflect car mass, while can also pass through the direct simulated roadway row of electrical analogue technology Resistance is sailed, so that chassis dynamometer is simple and compact for structure, test result is more accurate.
With the development of automobile industry, a large amount of heavy-duty car producers carry out dynamic property, durability and discharge to heavy vehicle The demand that performance is detected is more and more, and the precision and accuracy of testing requirements are also higher and higher.The alternating current of conventional small Power chassis dynamometer is no longer satisfied the test requirements document of heavy-duty car producer on the ability and precision that road resistance is simulated, It needs using novel control method, so that dynamometer machine can meet test requirements document on load capability, again in control precision With reach in accuracy and control effect similar in conventional small electric power chassis dynamometer.
Summary of the invention
The invention is intended to provide a kind of Heavy-duty chassis dynamometer road resistance analog control system and heavy type chassis measurement of power Machine road resistance analog control method is able to solve existing dynamometer machine road resistance analog capability and is unable to satisfy heavy-duty car The problem of requirement of experiment.
In order to solve the above-mentioned technical problem, the application provides the following technical solutions:
Heavy-duty chassis dynamometer road resistance analog control system, comprising: first motor, the second motor, the first control mould Block, the second control module, first detection module, the second detection module, the first detection module is for detecting first motor Revolving speed and torque, second detection module are used to detect the torque of the second motor, and first control module is used for according to road The revolving speed of road resistance equation and first motor, calculates total load control amount, and second control module is used for the second detection The torque that module detects is sent to the first control module, and first control module is also used to calculate total load control amount and the The difference of the torque of two motors, obtains actual loaded control amount, and first control module is also used to calculate actual loaded control The difference of the torque of amount and first motor simultaneously brings obtained difference in closed loop PID control algorithm into, obtains control output quantity, institute It states the first control module to be also used to carry out moment of torsion control to first motor according to control output quantity, second control module is also used It is consistent in controlling the second motor speed with first motor.
In technical scheme, using the setting of bi-motor double rotating drum, it can greatly increase system for road roadlock The analog capability of power meets the needs of heavy type chassis test, can not only meet the general Road Simulation Test of heavy vehicle Load requirement also adds the test capability that ultimative function is carried out to heavy vehicle;Two are controlled respectively by two control modules The data of a motor are acquired and are calculated.Also data exchange is carried out between first control module and the second control module, so that second The operating parameter of motor participates in the control operation of the first control module, and guarantees the real-time of transmission.Realize two electricity Machine carries out the PID closed-loop control of road resistance calculating and control amount and feedback quantity simultaneously.It increases the response of system and calculates energy Power improves the control precision and accuracy of system.
Further, first control module includes the first controller and the first frequency converter, and first frequency converter is used for Moment of torsion control is carried out to first motor according to control output quantity, second control module includes second controller and the second frequency conversion Device, first frequency converter and the second frequency converter operate in master & slave control module, and second frequency converter is for controlling the second electricity The revolving speed of machine follows first motor.
The frequency converter of two motors uses principal and subordinate's follow the mode, can effectively guarantee that the speed between two motors is consistent Property.
Further, the first detection module includes the first speed probe and the first force snesor, second detection Module includes the second force snesor.Motor speed can be accurately detected by the first speed probe and thus calculates adding for motor Speed guarantees the precision of subsequent calculating, realizes first motor and the second electricity by the first force snesor and the second force snesor The torque of machine detects.
Further, second detection module further includes the second speed probe, and second control module can be to Two motors carry out moment of torsion control, and the torque for the first motor that first control module can will test is sent to the second control mould Block, the first control module can control the first motor speed of service and be consistent with the second motor.
By above-mentioned setting, the second control module, the second detection module and the second motor is allowed also to have active control Ability, and then can in the case of necessary, in the case where being damaged such as the first speed probe of first detection module, Ke Yijiao The principal and subordinate role of the first control module and the second control module is changed, so that first motor follows the second motor to rotate.
It further, further include upper computer end, the upper computer end and the equal data of the first control module, the second control module connect It connects, the upper computer end is used to show or/and store the operating parameter of the first control module and the second control module.By upper Generator terminal monitors the operating parameter of whole system in real time.
Further, the upper computer end is also used to send control to the first control module and the second control module for administrative staff System instruction.Facilitate administrative staff that the operating parameter of the first control module and the second control module is adjusted.
Further, upper computer end, the first control module, the second control module, first motor, the second motor, the first detection It is communicated between module, the second detection module by Ethernet.Entire control network is all that communication is completed under Ethernet, really Protect the real-time high-efficiency transmission of data and order.
Further, present invention also provides a kind of Heavy-duty chassis dynamometer road resistance analog control method, this method packets Include following steps:
Data collection steps: detecting the revolving speed and torque of first motor, detects the torque of the second motor;
Total load control amount calculates step: going out total load control according to the revolving speed of first motor and road resistance equation calculation Amount processed;
Actual loaded control amount calculates step: according to the torque of the second motor, calculating total load control amount and the second motor Torque difference, obtain actual loaded control amount;
Control output quantity calculates step: calculating the difference of the torque of actual loaded control amount and first motor and will obtain Difference is brought into closed loop PID control algorithm, and control output quantity is obtained;
Rate-determining steps are exported, the first control module carries out moment of torsion control to first motor according to control output quantity;
Synchronously control step, the revolving speed that the second control module controls the second motor are consistent with first motor.
In this method, by using the setting of bi-motor double rotating drum, it can greatly increase system for road resistance Analog capability meets the needs of heavy type chassis test, can not only meet the load of the general Road Simulation Test of heavy vehicle It is required that also adding the test capability for carrying out ultimative function to heavy vehicle;Two electricity are controlled respectively by two control modules The data of machine are acquired and are calculated.Also data exchange is carried out between first control module and the second control module, so that the second motor Operating parameter participate in the control operation of the first control module, and guarantee transmission real-time.Realize that two motors are same Shi Jinhang road resistance calculates and the PID closed-loop control of control amount and feedback quantity.The response and computing capability for increasing system, mention The high control precision and accuracy of system.
Further, first control module includes the first frequency converter, and first frequency converter is used to control first motor, Second control module includes the second frequency converter, and second frequency converter is for controlling the second motor;The synchronously control step In rapid, realize that the second motor speed follows first in master-slave control mode by making the first frequency converter and the second frequency converter work Motor.Revolving speed synchronously control is realized by the master-slave control mode of frequency converter, it can be ensured that first motor and the second motor speed It is synchronous.
Further, always load control amount calculate step the following steps are included:
Step 1: acceleration value is calculated according to the revolving speed of first motor;
Step 2: and road resistance equation calculation goes out total load road resistance;
Step 3: torque is converted by total load road resistance, obtains always loading control amount.
Detailed description of the invention
Fig. 1 is the logic diagram in Heavy-duty chassis dynamometer road resistance analog control system embodiment of the present invention.
Specific embodiment
It is further described below by specific embodiment:
As shown in Figure 1, Heavy-duty chassis dynamometer road resistance analog control system provided in this embodiment, including the first electricity Machine, the second motor, the first control module, the second control module, first detection module, the second detection module, first detection module For detecting the revolving speed and torque of first motor, the second detection module is used to detect the torque of the second motor, the first control module For the revolving speed according to road resistance equation and first motor, total load control amount is calculated, the second control module is used for the The torque that two detection modules detect is sent to the first control module, the first control module be also used to calculate total load control amount and The difference of the torque of second motor, obtains actual loaded control amount, and the first control module is also used to calculate actual loaded control amount With the difference of the torque of first motor and obtained difference is brought into closed loop PID control algorithm, obtain control output quantity, first Control module is also used to carry out moment of torsion control to first motor according to control output quantity, and the second control module is also used to control second Motor speed is consistent with first motor.
Specifically, the first control module includes the first controller and the first frequency converter in the present embodiment, the first controller is used Control output quantity is generated in calculating according to the detection data of first detection module, the first frequency converter is used for according to control output quantity pair First motor carries out moment of torsion control, and the second control module includes second controller and the second frequency converter, and second controller is used for will The torque data for the second motor that second detection module detects is sent to the first control and rises, the first frequency converter and the second frequency converter Master & slave control module is operated in, the revolving speed that the second frequency converter is used to control the second motor follows first motor.
First detection module includes the first speed probe and the first force snesor, and the second detection module includes the second revolving speed Sensor and the second force snesor.In the present embodiment, the first speed probe and the second speed probe are all made of encoder, By exporting pulse, motor speed can accurately be detected by the first speed probe and the second speed probe and thus calculated The acceleration of motor guarantees the precision of subsequent calculating, realizes first motor by the first force snesor and the second force snesor It is detected with the torque of the second motor.
In the present embodiment, the torque for the first motor that the first control module can will test is sent to the second control module, First control module can also control the first motor speed of service and be consistent with the second motor, in the present embodiment, the first control Master-slave relationship between module and the second control module, first motor and the second motor can in turn, i.e., the first frequency converter can To follow the first frequency converter as slave, so that first motor revolving speed follows the second motor, second controller also can be as above-mentioned The function of first controller is the same, is calculated according to the torquemeter of the revolving speed of the second motor, road resistance equation and first motor Output quantity is controlled, the second frequency converter can carry out moment of torsion control to the second motor according to control output quantity.By above-mentioned setting, The second control module, the second detection module and the second motor is allowed also to have the ability of active control, and then can be necessary In the case of, in the case where damaging such as the first speed probe of first detection module, the first control module and second can be exchanged The principal and subordinate role of control module guarantees that system can work normally so that first motor follows the second motor to rotate.
This system further includes upper computer end, upper computer end and the first control module, the equal data connection of the second control module, on Position generator terminal is used to show or/and store the operating parameter of the first control module and the second control module.Upper computer end is also used to supply Administrative staff send control instruction to the first control module and the second control module.
It is monitored in real time by operating parameter of the upper computer end to whole system.Administrative staff are facilitated to control first The operating parameter of module and the second control module is adjusted.In the present embodiment, upper computer end, the first control module, the second control Molding block, the second motor, first detection module, is communicated between the second detection module first motor by Ethernet, is passed through So that entirely control network completes communication all under Ethernet, it can be ensured that data and the transmission of the real-time high-efficiency of order.
Road Simulation Test control principle is as follows:
By measurement result of the multinomial simulated resistance associated with speed on road, the multinomial is writeable Make:
Ff+Fw=F0+F1v+F2vn
In formula:
F0Indicate the Automobile drive force component unrelated with speed;
F1Indicate Automobile drive force component relevant to speed linearity;
V indicates car speed;
F2Indicate the Automobile drive force component with speed nonlinear correlation;
N indicates polytropic index 1 < n < 3, gets after decimal point 1;
Formula is simulated so as to obtain road resistance of the automobile in drum test system:
In formula:
FtIndicate Automobile drive power;
G indicates acceleration of gravity 9.8m/s2
RwIndicate complete vehicle quality;
gRwSin α indicates that Automobile drive power overcomes the component of road gradient resistance;
RgIndicate chassis dynamometer base inertia;
Indicate electrical analogue inertia;
Indicate pickup;
F*Indicate simulated resistance;
Therefore for the only road analogy resistance F of control required for chassis dynamometer*, it includes two parts, one For acceleration resistance caused by the insufficient complete vehicle quality of dynamometer machine base inertia, born secondly being travelled on road by automobile Road running resistance (including gradient resistance).For ac variable-frequency electric motor, that is, need accurately to control motor Output torque.Road resistance simulation formula is converted into torque formula are as follows:
T=F*R
Also disclose a kind of Heavy-duty chassis dynamometer road resistance analog control method in the present embodiment, this method include with Lower step:
Data collection steps: detecting the revolving speed and torque of first motor, detects the torque of the second motor;
Total load control amount calculates step: going out total load control according to the revolving speed of first motor and road resistance equation calculation Amount processed;
Actual loaded control amount calculates step: according to the torque of the second motor, calculating total load control amount and the second motor Torque difference, obtain actual loaded control amount;
Control output quantity calculates step: calculating the difference of the torque of actual loaded control amount and first motor and will obtain Difference is brought into closed loop PID control algorithm, and control output quantity is obtained, and closed loop PID control algorithm uses existing control algolithm;
Rate-determining steps are exported, the first control module carries out moment of torsion control to first motor according to control output quantity;
Synchronously control step, the revolving speed that the second control module controls the second motor are consistent with first motor.
In synchronously control step, the is realized in master-slave control mode by making the first frequency converter and the second frequency converter work Two motor speeds follow first motor.
Total load control amount calculate step the following steps are included:
Step 1: acceleration value is calculated according to the revolving speed of first motor;
Step 2: and road resistance equation calculation goes out total load road resistance;
Step 3: torque is converted by total load road resistance, obtains always loading control amount.
In the technical solution of the present embodiment, using the setting of bi-motor double rotating drum, it can greatly increase system for road The analog capability of roadlock power meets the needs of heavy type chassis test, can not only meet the general road analogy examination of heavy vehicle The load requirement tested also adds the test capability that ultimative function is carried out to heavy vehicle;It is controlled respectively by two control modules It makes the data acquisition of two motors and calculates.Also data exchange is carried out between first control module and the second control module, so that The operating parameter of second motor participates in the control operation of the first control module, and guarantees the real-time of transmission.Realize two A motor carries out the PID closed-loop control of road resistance calculating and control amount and feedback quantity simultaneously.Increase response and the meter of system Calculation ability improves the control precision and accuracy of system.
The above are merely the embodiment of the present invention, the common sense such as well known specific structure and characteristic are not made excessively herein in scheme Description, all common of technical field that the present invention belongs to before one skilled in the art know the applying date or priority date Technological know-how can know the prior art all in the field, and have using routine experiment means before the date Ability, one skilled in the art can improve in conjunction with self-ability under the enlightenment that the application provides and implement we Case, some typical known features or known method should not become the barrier that one skilled in the art implement the application Hinder.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, if can also make Dry modification and improvement, these also should be considered as protection scope of the present invention, these all will not influence the effect that the present invention is implemented and Patent practicability.The scope of protection required by this application should be based on the content of the claims, the specific reality in specification Applying the records such as mode can be used for explaining the content of claim.

Claims (10)

1. a kind of Heavy-duty chassis dynamometer road resistance analog control system, it is characterised in that: include: first motor, the second electricity Machine, the first control module, the second control module, first detection module, the second detection module, the first detection module is for examining The revolving speed and torque of first motor are surveyed, second detection module is used to detect the torque of the second motor, the first control mould Block is used to calculate total load control amount according to the revolving speed of road resistance equation and first motor, and second control module is used for The torque that second detection module detects is sent to the first control module, first control module is also used to calculate total load The difference of the torque of control amount and the second motor, obtains actual loaded control amount, and first control module is also used to calculate reality The difference of the torque of border load control amount and first motor simultaneously brings obtained difference in closed loop PID control algorithm into, is controlled Output quantity processed, first control module be also used to according to control output quantity to first motor carry out moment of torsion control, described second Control module is also used to control the second motor speed and is consistent with first motor.
2. a kind of Heavy-duty chassis dynamometer road resistance analog control system according to claim 1, it is characterised in that: institute Stating the first control module includes the first controller and the first frequency converter, and first frequency converter is used for according to control output quantity to the One motor carries out moment of torsion control, and second control module includes second controller and the second frequency converter, first frequency converter Master & slave control module is operated in the second frequency converter, the revolving speed that second frequency converter is used to control the second motor follows the first electricity Machine.
3. a kind of Heavy-duty chassis dynamometer road resistance analog control system according to claim 1, it is characterised in that: institute Stating first detection module includes the first speed probe and the first force snesor, and second detection module is passed including the second torque Sensor.
4. a kind of Heavy-duty chassis dynamometer road resistance analog control system according to claim 3, it is characterised in that: institute Stating the second detection module further includes the second speed probe, and second control module can carry out torque control to the second motor System, the torque for the first motor that first control module can will test are sent to the second control module, the first control module The first motor speed of service can be controlled to be consistent with the second motor.
5. a kind of Heavy-duty chassis dynamometer road resistance analog control system according to claim 1, it is characterised in that: also Including upper computer end, the upper computer end and the first control module, the equal data connection of the second control module, the upper computer end are used In the operating parameter for showing or/and storing the first control module and the second control module.
6. a kind of Heavy-duty chassis dynamometer road resistance analog control system according to claim 5, it is characterised in that: institute Upper computer end is stated to be also used to send control instruction to the first control module and the second control module for administrative staff.
7. a kind of Heavy-duty chassis dynamometer road resistance analog control system according to claim 6, it is characterised in that: on Position generator terminal, the first control module, the second control module, first motor, the second motor, first detection module, the second detection module Between communicated by Ethernet.
8. a kind of Heavy-duty chassis dynamometer road resistance analog control method, it is characterised in that: method includes the following steps:
Data collection steps: detecting the revolving speed and torque of first motor, detects the torque of the second motor;
Total load control amount calculates step: going out total load control according to the revolving speed of first motor and road resistance equation calculation Amount;
Actual loaded control amount calculates step: according to the torque of the second motor, calculating the torsion of total load control amount and the second motor The difference of square obtains actual loaded control amount;
Control output quantity calculates step: the difference that calculates the difference of the torque of actual loaded control amount and first motor and will obtain It brings into closed loop PID control algorithm, obtains control output quantity;
Rate-determining steps are exported, the first control module carries out moment of torsion control to first motor according to control output quantity;
Synchronously control step, the revolving speed that the second control module controls the second motor are consistent with first motor.
9. a kind of Heavy-duty chassis dynamometer road resistance analog control method according to claim 8, it is characterised in that: institute Stating the first control module includes the first frequency converter, and first frequency converter is for controlling first motor, second control module Including the second frequency converter, second frequency converter is for controlling the second motor;In the synchronously control step, by making first Frequency converter and the second frequency converter, which work, realizes that the second motor speed follows first motor in master-slave control mode.
10. a kind of Heavy-duty chassis dynamometer road resistance analog control method according to claim 9, it is characterised in that: Total load control amount calculate step the following steps are included:
Step 1: acceleration value is calculated according to the revolving speed of first motor;
Step 2: and road resistance equation calculation goes out total load road resistance;
Step 3: torque is converted by total load road resistance, obtains always loading control amount.
CN201910318944.6A 2019-04-19 2019-04-19 A kind of Heavy-duty chassis dynamometer road resistance analog control system and method Pending CN109975034A (en)

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