CN111983933A - In-loop simulation system for controller hardware of range extender - Google Patents
In-loop simulation system for controller hardware of range extender Download PDFInfo
- Publication number
- CN111983933A CN111983933A CN202010763663.4A CN202010763663A CN111983933A CN 111983933 A CN111983933 A CN 111983933A CN 202010763663 A CN202010763663 A CN 202010763663A CN 111983933 A CN111983933 A CN 111983933A
- Authority
- CN
- China
- Prior art keywords
- model
- range extender
- controller
- simulation
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention provides a range extender controller hardware-in-loop simulation system, which comprises: the real-time simulation device comprises a simulation test model, the simulation test model simulates the running of vehicle and range extender hardware equipment is utilized to obtain the simulation test running state data of the vehicle and the range extender, and the simulation test running state data is converted into signals required by the range extender controller; the hardware-in-the-loop simulation system of the range extender controller provided by the invention uses the virtual range extender power assembly model to replace a real range extender system, is easy to create limit working conditions and fault working conditions without risk, has good safety and improves the simulation efficiency.
Description
Technical Field
The invention belongs to the technical field of simulation, and particularly relates to a hardware-in-loop simulation system of a range extender controller.
Background
The development of the range extender controller capable of coordinately controlling the start and stop of the range extender and power generation is a key link for developing the range-extended electric automobile. The range extender controller is a long-term process from demand analysis, system design, hardware and software design, to testing and calibration. In the software development, a V-type development process of software requirement analysis, software architecture design, software detailed design and unit construction, software unit verification integration, software integration and integration test and software qualification type test is generally adopted. The test is indispensable for the integrated function test of the application layer software, the basic software and the hardware of the controller. At present, a common testing method is to carry a range extender controller on a range extender power assembly rack and a real vehicle for function debugging and verification.
The system comprises an upper computer, simulation equipment, operation monitoring equipment and simulation monitoring equipment, wherein the simulation equipment is respectively connected with the upper computer, the whole vehicle controller to be subjected to simulation test and the simulation monitoring equipment, and the operation monitoring equipment is connected with the whole vehicle controller to be subjected to simulation test.
Chinese invention patent CN 109100155A;
chinese invention patent CN 110780605A;
from the above, it can be found that the in-loop simulation system in the prior art is mainly applied to the vehicle control unit and the real-time controller, and is not suitable for in-loop simulation of the range extender controller.
Disclosure of Invention
The invention aims to provide a hardware-in-loop simulation system of a range extender controller, and aims to solve the problem of realizing hardware-in-loop simulation of the range extender controller in the prior art.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the invention provides a hardware-in-loop simulation system of a range extender controller, which comprises the following components:
host computer, real-time simulation equipment and increase journey ware controller, real-time simulation equipment connects host computer and increases journey ware controller respectively, wherein:
the upper computer responds to the simulation operation of the vehicle and the range extender in the process of the simulation test of the range extender controller by a user, obtains simulation test input parameters of the vehicle and the range extender and sends the simulation test input parameters to the real-time simulation equipment; displaying the simulation model operation data in the real-time simulation system in real time;
the real-time simulation equipment comprises a simulation test model, the real-time simulation equipment obtains vehicle and range extender simulation test running state data by using the simulation test model simulating the running of vehicle and range extender hardware equipment according to simulation test input parameters from an upper computer and control signals of the range extender controller in the simulation test process, converts the simulation test running state data into signals required by the range extender controller, outputs the signals required by the range extender controller to the range extender controller, and the range extender controller performs operation according to a pre-built control logic and sends an execution result back to a real-time simulation system to realize the control of the range extender model.
Preferably, the simulation test model includes: the system comprises a driver model, a virtual controller model, a range extender model and an electric automobile model; the driver model converts the acquired input parameters of the simulation test model of the vehicle into driver behavior parameters and sends the driver behavior parameters to the virtual controller model; the virtual controller model monitors the running data of the electric automobile model and the range extender model in real time, responds according to the behavior parameters of the driver, and generates a vehicle control signal and a range extender control signal.
Preferably, the virtual controller model includes: the system comprises a virtual vehicle control unit model, a virtual range extender controller interface model, a virtual power battery management system model, a virtual drive motor controller model, a virtual accessory controller model, a virtual engine controller model and a virtual generator controller model.
Preferably, the electric vehicle model includes: the power battery model is used for calculating the SOC of the power battery and the voltage of the power battery, the driving motor model is used for calculating the output torque and the demand current of the driving motor, the transmission system model is used for calculating the output torque and the input rotating speed of the transmission system, and the longitudinal dynamic model of the vehicle is used for calculating the running resistance of the whole vehicle and the speed of the whole vehicle.
Preferably, in the vehicle longitudinal dynamics model, the running resistance F isRDetermined as follows:
FR＝f(v)*(Av2+Bv+C)+[1-f(v)]*(Fair+Froll)+Fslope
in the formula, FRF (v) is a confidence factor with the value range of [0, 1%](ii) a v is the vehicle speed; A. b, C is the coefficient of sliding resistance of the automobile; fairIs the air resistance; frollIs rolling resistance; fslopeIs the ramp resistance.
Preferably, the range extender model includes: the engine model is internally provided with an engine characteristic Map and used for converting engine output torque through input oil injection quantity information; the crankshaft model is used for calculating the rotating speed of the range extender according to the input engine torque information, the input generator torque information and the inertia empirical value; the generator model is internally provided with generator external characteristics Map under different voltages and used for calculating the output torque and the required current of the generator according to the input target torque, the high-voltage bus voltage and the actual rotating speed of the generator.
Preferably, the generator outputs a torque TactDetermined as follows:
Tact＝MIN[abs(TReq),f(U,n)]*sign(TReq)
in the formula, TactIs the output torque of the generator; t isReqIs the target torque; u is the high voltage direct current bus voltage; n is the actual rotating speed of the generator; f (U, n) looking up the maximum generator output obtained by the MAP table according to the high-voltage direct-current bus voltage and the actual generator speedTorque.
Preferably, the real-time simulation equipment is dSPACE simulation equipment, and the simulation test model is established based on an MATLAB/Simulink software platform.
Preferably, the real-time simulation equipment is connected with the range extender controller through CAN bus signals and IO signals.
The invention has the advantages that:
the hardware-in-the-loop simulation system of the range extender controller provided by the invention uses the virtual range extender power assembly model to replace a real range extender system, is easy to create limit working conditions and fault working conditions without risk, has good safety and improves the simulation efficiency.
Drawings
FIG. 1 is a block diagram of a hardware-in-the-loop simulation system of a range extender controller according to the present invention;
FIG. 2 is a block diagram of a real-time simulation apparatus according to the present invention;
FIG. 3 is a block diagram of a virtual controller model according to the present invention;
FIG. 4 is a block diagram of an electric vehicle model according to the present invention;
fig. 5 is a block diagram of a range extender model according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to improve the hardware-in-loop simulation test efficiency of the range extender, the embodiment of the invention provides a range extender controller hardware-in-loop simulation system, in order to establish a simulation test model for simulating the operation of a vehicle and a range extender hardware device, in the simulation test, a user monitors the operation state of the vehicle simulation model in real time through an upper computer, simulates the operation of a driver, transmits a driver operation signal to a real-time simulation device, the real-time simulation device simulates the running of the vehicle and the operation of the range extender based on the simulation test model, the range extender controller receives the vehicle and the range extender operation state data from the real-time simulation system, the range extender controller operates according to a pre-built-in control logic, sends an execution result back to the real-time simulation system and inputs the execution result into the simulation test model, and simulates the operation state of the vehicle and the range extender by using the simulation test model, and acquiring new running state data of the vehicle and the range extender, and generating a new execution result by the range extender controller according to the new running state data of the vehicle and the range extender, and sending the new execution result back to the real-time simulation system to form closed-loop control.
Based on the above principle, the hardware-in-the-loop simulation system of the range extender controller provided by the embodiment of the present invention is shown in fig. 1, and includes: host computer 100, real-time simulation equipment 200 and increase journey ware controller 300, real-time simulation equipment 300 connects host computer 100 and increase journey ware controller 300 respectively, wherein:
the upper computer 100 responds to the vehicle and range extender simulation operation of a user in the process of simulating and testing the range extender controller 300, obtains simulation test input parameters of the vehicle, sends the simulation test input parameters to the real-time simulation equipment 200, and displays the vehicle and range extender real-time operation data from the real-time simulation equipment 200 in real time;
the real-time simulation equipment 200 comprises a simulation test model, the real-time simulation equipment 200 utilizes the simulation test model simulating the running of the vehicle and the range extender hardware equipment to obtain the running state data of the vehicle and the range extender simulation test according to the simulation test input parameters and the control of the range extender controller 300 in the simulation test process, and outputs the running state data of the simulation test to the range extender controller 300.
In one embodiment, simulating the test model includes: a driver model 201, a virtual controller model 202, a range extender model 203, and an electric vehicle model 204; the driver model 201 converts the acquired input parameters of the simulation test model of the vehicle into driver behavior parameters, and transmits the driver behavior parameters to the virtual controller model 202; the virtual controller model 202 monitors the running data of the electric automobile model 204 and the range extender model 203 in real time, responds according to the behavior parameters of the driver, and generates signals required by the range extender controller.
In one embodiment, virtual controller model 202 includes: virtual vehicle controller model 2021, virtual range extender controller interface model 2022, virtual power battery management system model 2023, virtual drive motor controller model 2024, virtual accessory controller model 2025, virtual engine controller model 2026, and virtual generator controller model 2027.
In some embodiments, the electric vehicle model 204 includes: the power battery model 2041 is used for calculating the SOC and the voltage of a power battery, the driving motor model 2042 is used for calculating the output torque and the required current of the driving motor, the transmission system model 2043 is used for calculating the output torque and the input end rotating speed of the transmission system, and the vehicle longitudinal dynamics model 2044 is used for calculating the running resistance of the whole vehicle and the vehicle speed of the whole vehicle.
In one embodiment, the running resistance F is in the vehicle longitudinal dynamics model 2044RDetermined as follows:
FR＝f(v)*(Av2+Bv+C)+[1-f(v)]*(Fair+Froll)+Fslope
in the formula, FRF (v) is a confidence factor with the value range of [0, 1%](ii) a v is the vehicle speed; A. b, C is the coefficient of sliding resistance of the automobile; fairIs the air resistance; frollIs rolling resistance; fslopeIs the ramp resistance;
calculating the running resistance FRComprises the following steps: presetting a Map table with confidence factor F (v) changing with the vehicle speed, calculating the vehicle sliding resistance A, B, C according to the current vehicle speed v and the vehicle sliding resistance coefficient, and calculating the current rolling resistance FrollRamp resistance FslopeAnd air resistance FairAccording to the formula of the running resistance, the running resistance F of the whole vehicle is calculatedR。
In some embodiments, the range extender model 203 comprises: the engine model 2031, the generator model 2032 and the crankshaft model 2033, the engine model 2031 is internally provided with an engine characteristic Map for converting the engine output torque according to the input fuel injection amount information; the crankshaft model 2033 is used for calculating the speed of the range extender by inputting engine torque information, generator torque information and inertia empirical values; the generator model 2031 is internally provided with generator external characteristics Map at different voltages, and is used for calculating the output torque and the required current of the generator according to the input target torque, the high-voltage bus voltage, and the actual rotation speed of the generator.
In one embodiment, the generator outputs a torque TactDetermined as follows:
Tact＝MIN[abs(TReq),f(U,n)]*sign(TReq)
in the formula, TactIs the output torque of the generator; t isReqIs the target torque; u is the high voltage direct current bus voltage; n is the actual rotating speed of the generator; f (U, n) looking up the maximum output torque of the generator obtained by the MAP table according to the high-voltage direct-current bus voltage and the actual rotation speed of the generator.
Calculating the output torque T of the generatoractComprises the following steps: the method comprises the steps of checking the maximum output torque of a generator obtained by a MAP table according to the voltage of a high-voltage direct-current bus and the actual rotation speed of the generator, judging whether the current range extender controller needs the range extender to generate power or consumes power, if the current target torque is a positive value (the range extender consumes power), the output torque is a smaller value of the required torque and the output torque of the generator, and if the current target torque is a negative value (the range extender generates power), the output torque is a larger value of the required torque and the output torque of the generator.
In one embodiment, the real-time simulation equipment is dSPACE simulation equipment, and the simulation test model is established based on a MATLAB/Simulink software platform.
In one embodiment, the real-time simulation device and the range extender controller are connected through CAN bus signals and IO signals.
Reference in the specification to "some embodiments," "one embodiment," or "an embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in some embodiments," "in one embodiment," or "in an embodiment," or the like, in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described in connection with one embodiment may be combined, in whole or in part, with a feature, structure, or characteristic of one or more other embodiments without limitation, as long as the combination is not logical or operational. Additionally, the various elements of the drawings of the present application are merely schematic illustrations and are not drawn to scale.
Having thus described several aspects of at least one embodiment of this invention, it is to be appreciated various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be within the spirit and scope of the invention.
Claims (9)
1. A range extender controller hardware-in-the-loop simulation system, comprising:
host computer, real-time simulation equipment and increase journey ware controller, real-time simulation equipment connects host computer and increases journey ware controller respectively, wherein: the upper computer responds to the vehicle and range extender simulation operation of a user in the process of simulation test of the range extender controller, obtains simulation test input parameters of the vehicle, sends the simulation test input parameters to the real-time simulation equipment, and displays simulation model operation data in the real-time simulation system in real time; the real-time simulation equipment comprises a simulation test model, and the real-time simulation equipment obtains vehicle and range extender simulation test running state data by using the simulation test model simulating the running of vehicle and range extender hardware equipment according to simulation test input parameters from an upper computer and control signals of the range extender controller in the simulation test process, converts the simulation test running state data into signals required by the range extender controller, and outputs the signals required by the range extender controller to the range extender controller; the range extender controller carries out operation according to a control logic which is built in advance, and sends an execution result back to the real-time simulation system, so that the control of the range extender model is realized.
2. The range extender controller hardware-in-the-loop simulation system of claim 1, wherein: the simulation test model comprises: the system comprises a driver model, a virtual controller model, a range extender model and an electric automobile model; the driver model converts the acquired input parameters of the simulation test model of the vehicle into driver behavior parameters and sends the driver behavior parameters to the virtual controller model; the virtual controller model monitors the running data of the electric automobile model and the range extender model in real time, responds according to the behavior parameters of the driver, and generates a vehicle control signal and a range extender control signal.
3. The range extender controller hardware-in-the-loop simulation system of claim 2, wherein the virtual controller model comprises: the system comprises a virtual vehicle control unit model, a virtual range extender controller interface model, a virtual power battery management system model, a virtual drive motor controller model, a virtual accessory controller model, a virtual engine controller model and a virtual generator controller model.
4. The range extender controller hardware-in-the-loop simulation system of claim 1, 2 or 3, wherein the electric vehicle model comprises: the power battery model is used for calculating the SOC of the power battery and the voltage of the power battery, the driving motor model is used for calculating the output torque and the demand current of the driving motor, the transmission system model is used for calculating the output torque and the input rotating speed of the transmission system, and the longitudinal dynamic model of the vehicle is used for calculating the running resistance of the whole vehicle and the speed of the whole vehicle.
5. The range extender controller hardware-in-the-loop simulation system of claim 4, wherein: in the vehicle longitudinal dynamics model, the running resistance FRDetermined as follows:
FR＝f(v)*(Av2+Bv+C)+[1-f(v)]*(Fair+Froll)+Fslope
in the formula, FRFor running resistance, FRf (v) is confidence factor with value range of [0, 1%](ii) a v is the vehicle speed; A. b, C is the coefficient of sliding resistance of the automobile; fairIs the air resistance; frollIs rolling resistance; fslopeIs the ramp resistance.
6. The range extender controller hardware-in-the-loop simulation system of claim 2 or 5, wherein the range extender model comprises: the engine model is internally provided with an engine characteristic Map and used for converting engine output torque through input oil injection quantity information; the crankshaft model is used for calculating the rotating speed of the range extender according to the input engine torque information, the input generator torque information and the inertia empirical value; the generator model is internally provided with generator external characteristics Map under different voltages and used for calculating the output torque and the required current of the generator according to the input target torque, the high-voltage bus voltage and the actual rotating speed of the generator.
7. The range extender controller hardware-in-the-loop simulation system of claim 6, wherein the generator output torque TactDetermined as follows:
Tact＝MIN[abs(TReq),f(U,n)]*sign(TReq)
in the formula, TactIs the output torque of the generator; t isReqIs the target torque; u is the high voltage direct current bus voltage; n is the actual rotating speed of the generator; f (U, n) looking up the maximum output torque of the generator obtained by the MAP table according to the high-voltage direct-current bus voltage and the actual rotation speed of the generator.
8. The method for controlling the range extender controller hardware-in-the-loop simulation system of claim 1, wherein the real-time simulation equipment is dSPACE simulation equipment, and the simulation test model is established based on a MATLAB/Simulink software platform.
9. The method for controlling the range extender controller hardware-in-the-loop simulation system of claim 1, wherein the real-time simulation device and the range extender controller are connected through a CAN bus signal and an IO signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010763663.4A CN111983933A (en) | 2020-07-31 | 2020-07-31 | In-loop simulation system for controller hardware of range extender |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010763663.4A CN111983933A (en) | 2020-07-31 | 2020-07-31 | In-loop simulation system for controller hardware of range extender |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111983933A true CN111983933A (en) | 2020-11-24 |
Family
ID=73444915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010763663.4A Pending CN111983933A (en) | 2020-07-31 | 2020-07-31 | In-loop simulation system for controller hardware of range extender |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111983933A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112650078A (en) * | 2020-12-14 | 2021-04-13 | 广西玉柴机器股份有限公司 | Hardware-in-loop simulation system for pure electric vehicle and extended range type electric vehicle controller |
| CN112859646A (en) * | 2021-02-08 | 2021-05-28 | 广西玉柴机器股份有限公司 | Double-planet-wheel hybrid power hardware-in-loop simulation system |
| CN113124950A (en) * | 2021-03-17 | 2021-07-16 | 同济大学 | Hybrid power vehicle oil consumption testing system with range extender in ring |
| CN114675626A (en) * | 2022-03-30 | 2022-06-28 | 东风汽车集团股份有限公司 | Vehicle-mounted controller test platform and test method |
-
2020
- 2020-07-31 CN CN202010763663.4A patent/CN111983933A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112650078A (en) * | 2020-12-14 | 2021-04-13 | 广西玉柴机器股份有限公司 | Hardware-in-loop simulation system for pure electric vehicle and extended range type electric vehicle controller |
| CN112859646A (en) * | 2021-02-08 | 2021-05-28 | 广西玉柴机器股份有限公司 | Double-planet-wheel hybrid power hardware-in-loop simulation system |
| CN113124950A (en) * | 2021-03-17 | 2021-07-16 | 同济大学 | Hybrid power vehicle oil consumption testing system with range extender in ring |
| CN114675626A (en) * | 2022-03-30 | 2022-06-28 | 东风汽车集团股份有限公司 | Vehicle-mounted controller test platform and test method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109375611B (en) | Hardware-in-loop test system for vehicle control unit of new energy automobile | |
| CN111983933A (en) | In-loop simulation system for controller hardware of range extender | |
| CN206162185U (en) | Vehicle control unit is at ring emulation test system | |
| Fajri et al. | Emulating on-road operating conditions for electric-drive propulsion systems | |
| CN101587345B (en) | Function test system for controller used in hybrid power or electric vehicle | |
| CN106970279A (en) | The pure electric automobile pilot system and its test method of a variety of driving cycles can be achieved | |
| CN111896269B (en) | Motor rack testing method and system | |
| CN105372076A (en) | Multifunctional hybrid power general test stand and test method | |
| CN102692326B (en) | Simulation test device for simulating performance of hybrid electric vehicle | |
| CN104748981A (en) | New energy vehicle testing system based on driver-vehicle-road closed-loop control | |
| CN203732689U (en) | System for testing power system electrical components of mild hybrid electric vehicle | |
| CN112650078B (en) | Hardware-in-loop simulation system for vehicle control unit of pure electric vehicle and extended range electric vehicle | |
| CN112146883A (en) | Range extender test bench and test method for testing reliability of range extender by using same | |
| CN105115737A (en) | Electric automobile complete vehicle simulation on-load test system | |
| CN109062174B (en) | Range-extending type hybrid power system performance test bench system | |
| CN202693768U (en) | Loop algorithm verification test bench of hybrid/electric automobile drive motor system hardware | |
| CN108844751A (en) | A kind of PHEV power platform system based on actual engine | |
| CN1167040C (en) | Multi-energy power assembly semi-matter simulation testing system | |
| CN109084988A (en) | A kind of PHEV platform system | |
| Jeschke et al. | HiL simulation of electric vehicles in different usage scenarios | |
| CN109187046A (en) | A kind of hybrid vehicle system test platform architecture based on battery simulator | |
| CN105313712B (en) | The Poewr control method of distance increasing unit | |
| Zhu et al. | Hardware-in-the-loop simulation of pure electric vehicle control system | |
| CN109342081A (en) | A kind of fuel cell car power-driven system test platform | |
| CN213987201U (en) | In-loop simulation system for controller hardware of range extender |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |