CN113093699B - Engine pedestal for unmanned automobile and experimental method - Google Patents
Engine pedestal for unmanned automobile and experimental method Download PDFInfo
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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Abstract
The invention discloses an engine rack for an unmanned automobile and an experimental method, wherein the engine rack comprises an actual automobile data acquisition system and an engine rack operation system; the real vehicle data acquisition system is arranged on the internal combustion engine vehicle and comprises a data acquisition device, an OBD interface, an IMU, an RTK terminal and an RTK base station; the engine rack operation system comprises a power system, a power system controller, a gateway, a controllable load controller and an experiment rack control system, wherein the power system is connected with the power system controller; and the power system controller, the controllable load controller and the experiment bench control system are all connected with the gateway. The invention can record the motion parameters and system parameters of the internal combustion engine automobile in the running process on the road, then inputs the data into the experiment bench control system, and evaluates and improves the control model and algorithm of the power system by comparing the data in the actual running process of the internal combustion engine automobile with the running data of the engine experiment bench after processing and calculating the relevant parameters.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an engine pedestal for an unmanned automobile and an experimental method.
Background
In recent years, the unmanned technology is developed vigorously, advanced computer and artificial intelligence technologies are remodeling the automobile industry, but the existing unmanned technology is more applied to an electric vehicle platform, and the research on the traditional internal combustion engine platform is less. Because new energy automobiles such as electric automobiles and the like have technical defects and cost problems at present, internal combustion engine automobiles still occupy important market positions for a long time in the future, and internal combustion engine power systems capable of being used for unmanned automobiles also have important economic values. In addition, diesel engines have still played a significant role in military power for a considerable period of time due to the special performance requirements of military vehicles.
Therefore, the application of advanced computer and artificial intelligence technology to the research of engine control provides a feasible research platform and experimental method for the application of the internal combustion engine to the unmanned automobile, so as to solve the key technical problems of control models, control algorithms and the like applied to the unmanned internal combustion engine.
Disclosure of Invention
The invention provides an engine bench for an unmanned vehicle and an experimental method, which can record motion parameters and system parameters of an internal combustion engine vehicle in the actual road running process, then input the data into an experimental bench control system, output a control instruction to control the engine bench to run after processing and resolving related parameters, acquire the bench running parameters into the system, and finally evaluate and improve the control model and algorithm of a power system by comparing the data in the actual running process of the internal combustion engine vehicle with the running data of the engine experimental bench.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides an engine rack for unmanned vehicle, includes real vehicle data acquisition system and engine rack operating system, wherein real vehicle data acquisition system includes data acquisition device, OBD interface, IMU (inertia measurement unit), RTK terminal and RTK basic station, engine rack operating system includes electron brake pedal, electron accelerator pedal, electron clutch pedal, engine (can be gasoline engine, diesel engine or rotor engine etc.), electron clutch, automatic gearbox, driving system controller, controllable load controller, gateway and experiment rack control system, experiment rack control system includes computer hardware and software platform two parts, the software platform comprises reading acquisition device data module, driving system control model, controller communication node and result contrastive analysis module.
Preferably, the real vehicle data acquisition system is mounted on an internal combustion engine vehicle running on a real road and is used for acquiring motion parameters and system parameters in the actual running process of the vehicle; the data acquisition device is connected with the RTK terminal, the OBD interface and the IMU, and data of the data acquisition device can be read by the data reading acquisition device data module and enter the experiment bench control system; data acquisition device passes through OBD interface and the OBD diagnosis interface connection on the car read the operating parameter of car and engine through the CAN bus, if: the method comprises the following steps of (1) vehicle speed, engine rotating speed, accelerator opening, automatic gearbox gear, electronic clutch closing state and the like; the data acquisition device is also connected with the RTK terminal and the IMU and used for acquiring data of the RTK terminal and the IMU; the RTK terminal and the RTK base station are used for providing real-time and real-time high-precision positioning when an automobile runs, the RTK terminal and the RTK base station are communicated by radio, the RTK refers to a carrier phase difference technology, is a high-precision positioning system utilizing a global satellite navigation system, can provide centimeter-level positioning precision at most, and in order to ensure stable and reliable signals, the RTK base station is arranged at a high position of an open zone as much as possible, and data acquisition operation is carried out in the open zone as much as possible; the IMU refers to an inertia measurement unit, is mainly used for measuring three-dimensional acceleration and angular acceleration in the running process of an automobile, and can obtain data such as three-dimensional speed, angular speed, displacement, angular displacement and the like through motion calculation.
Preferably, the IMU and the RTK terminal may provide richer control parameters for the powertrain control model in the software platform, such as: the IMU can provide pitch angle information of the automobile to judge whether the automobile goes up and down a slope or not, the IMU can provide yaw angle information of the automobile to judge whether the automobile turns or not, and the IMU can provide acceleration and deceleration information of the automobile to help judge whether the acceleration and deceleration working condition exists or not.
Preferably, the data acquisition device further comprises a real-time clock module, which can freely time after being calibrated with the RTK terminal, and provide a timestamp for the data acquired by the data acquisition device.
Preferably, the engine, the electronic clutch, the automatic gearbox and the controllable load are sequentially connected through a mechanical device, and the engine and the automatic gearbox are kept consistent with or similar to the models of the engine and the automatic gearbox on the automobile used in data acquisition as much as possible, so that later-period result comparison and analysis are facilitated; the controllable load is mainly used for simulating the working condition of the automobile in the actual running process, and the motor can be used as one of the options of the controllable load.
Preferably, the power system controller is electrically connected to the electronic brake pedal, the electronic clutch pedal, the electronic accelerator pedal, the engine, the electronic clutch and the automatic transmission, the power system controller may collect signals of the electronic accelerator pedal and the clutch pedal, the power system controller may control the engine to operate, control the electronic clutch power and the automatic transmission to shift gears, and collect operating parameters of the engine and the automatic transmission, such as: engine speed, throttle opening (not referring to throttle pedal position herein, for gasoline engines, but referring to throttle position, for high pressure common rail diesel engines, referring to injection pulsewidth), automatic transmission gear, etc.
Preferably, the driving system controller is different from a traditional engine ECU (electronic control unit), the driving system controller mainly finishes the signal acquisition of an engine pedestal sensor and the signal output of an actuator, and the original calculation and decision are changed into the completion of the driving system control model, so that the calculation performance requirement can be fully met, and meanwhile, the integration and the adaptation of a later-stage driving system and the unmanned vehicle software are facilitated.
Preferably, the controllable load controller is connected to the controllable load, and the controllable load controller can control the operation of the controllable load and collect operation data of the controllable load.
Preferably, the gateway is mainly used for completing the conversion of a communication protocol by a bridge for communicating the power system controller, the controllable load controller and the experiment bench control system, and typical examples of the gateway include a CAN-to-USB card or a CAN-to-TCP/IP card; the gateway is connected with the power system controller, the controllable load controller and the experiment bench control system, and can issue control instructions of the experiment bench control system to the power system controller and the controllable load controller and also can upload data collected by the power system controller and the controllable load controller to the experiment bench control system.
Preferably, the laboratory bench control system comprises a computer hardware and software platform. The software platform consists of a data reading and collecting module, a power system control model, a controller communication node and a result comparison and analysis module.
And the data reading and collecting device data module in the software platform is used for reading the data stored in the data collecting device, processing the data and synchronizing the time. Because the frequency (usually about 10 Hz) of the data output by the RTK terminal is much less than the frequency of the data output by the IMU, the positioning data of the RTK terminal can be interpolated by using an interpolation algorithm, and the frequencies of the various data of the vehicle operation acquired through the OBD interface are also not completely the same and lower, and time synchronization and corresponding processing are also required.
And the power system control model receives and resolves the data processed by the data reading and collecting module to obtain control parameters of each actuating mechanism of the power system.
And the controller communication node receives the control parameters generated by the power system control model, generates data frames according to a communication protocol, and transmits the data frames to the power system controller and the controllable load controller through the gateway, thereby realizing the control of the power system.
And the result comparison and analysis module receives the data collected by the power system controller and the controllable load controller, compares the data with the data received by the data reading and collecting module to generate a visual chart so as to evaluate and improve the power system control model and algorithm.
The engine rack operation system can be further additionally provided with a test instrument according to the requirement, and other operation parameters of the power system can be detected so as to carry out further experiments and analysis.
In addition, the invention also provides an experimental method for the unmanned engine experiment bench, which comprises the following steps:
(1) recording the motion parameters and system parameters of the internal combustion engine automobile in the actual road operation process;
(2) inputting data into an engine experiment bench system;
(3) processing the related parameters and resolving a motion model;
(4) outputting a control instruction to control the operation of the rack and collecting rack operation data;
(5) comparing data in the actual running process of the internal combustion engine automobile with running data of an engine experiment bench;
(6) evaluating a control model and an algorithm of the power system;
(7) improving a control model and an algorithm of the power system;
(8) and (4) repeating the steps (3), (4), (5), (6) and (7) to ensure that the difference between the operation data of the experiment bench control system and the data in the actual operation process of the internal combustion engine automobile is as small as possible and meets the expected requirement.
The invention has the following beneficial effects:
the invention can be used for researching the control model and the control algorithm of the power system of the engine of the unmanned automobile, so as to evaluate and improve the control model and the control algorithm, and explore the application of advanced computer and artificial intelligence technology to the control of the traditional engine, thereby having positive significance for designing the power system of the internal combustion engine which can be used for the unmanned automobile and providing technical guarantee for the intellectualization and the unmanned of equipment using the power of the internal combustion engine.
The invention can also be used for researching the control method of the internal combustion engine power system which is provided with a manual control mode and an unmanned control mode and can switch the modes.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an engine test bench for an unmanned vehicle according to the present invention;
FIG. 2 is a flow chart of an experimental method of the engine test bed for the unmanned vehicle provided by the present invention;
in the figure: 1-an engine rig operating system; 2-experiment bench control system; 3-computer hardware; 4-a software platform; 5-a gateway; 6-reading a data module of the acquisition device; 7-a powertrain control model; 8-a controller communication node; 9-result comparison analysis module; 10-an RTK terminal; 11-a data acquisition device; 12-an RTK base station; 13-OBD interface; 14-IMU; 15-real vehicle data acquisition system; 16-a controllable load controller; 17-a controllable load; 18-an automatic gearbox; 19-a powertrain controller; 20-an electronic clutch; 21-an engine; 22-electronic accelerator pedal; 23-an electronic clutch pedal; 24-electronic brake pedal.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment 1 of the invention discloses an engine experiment bench for an unmanned automobile, which mainly comprises two parts: real vehicle data acquisition system 15 and engine bench operating system 1, wherein real vehicle data acquisition system 15 includes: a data acquisition device 11, an OBD interface 13, an IMU14 (inertial measurement unit), an RTK terminal 10 and an RTK base station 12; the engine mount operating system 1 includes: the system comprises an electronic brake pedal 24, an electronic accelerator pedal 22, an electronic clutch pedal 23, an engine 21 (which can be a gasoline engine, a diesel engine or a rotor engine and the like), an electronic clutch 20, an automatic gearbox 18, a power system controller 19, a controllable load 17, a controllable load controller 16, a gateway 5 and an experiment bench control system 2, wherein the experiment bench control system 2 comprises computer hardware 3 and a software platform 4, and the software platform 4 comprises a reading and collecting device data module 6, a power system control model 7, a controller communication node 8 and a result comparison and analysis module 9.
The real vehicle data acquisition system 15 is mounted on an internal combustion engine vehicle running on a real road and is used for acquiring motion parameters and system parameters in the actual running process of the vehicle; the data acquisition device 11 is connected with the RTK terminal 10, the OBD interface 13 and the IMU14, and data of the data acquisition device 11 can be read by the data acquisition device data reading module 6 and enter the experiment bench control system 2; data acquisition device 11 is connected with the OBD diagnosis interface on the car through OBD interface 13, reads the operating parameter of car and engine through the CAN bus, if: the method comprises the following steps of (1) vehicle speed, engine rotating speed, accelerator opening, automatic gearbox gear, electronic clutch closing state and the like; the data acquisition device 11 is also connected with the RTK terminal 10 and the IMU14 and is used for acquiring data of the RTK terminal 10 and the IMU 14; the RTK terminal 10 and the RTK base station 12 are used for providing real-time and real-time high-precision positioning when an automobile runs, the RTK terminal 10 and the RTK base station 12 are communicated by radio, RTK refers to a carrier phase difference technology, is a high-precision positioning system utilizing a global satellite navigation system, can provide centimeter-level positioning precision at most, and in order to ensure stable and reliable signals, the RTK base station 12 is arranged at a high position in an open zone as much as possible and performs data acquisition operation in the open zone as much as possible; the IMU14 refers to an inertial measurement unit, which is mainly used for measuring three-dimensional acceleration and angular acceleration during the running of an automobile, and can obtain data such as speed, angular velocity, displacement and angular displacement through motion calculation.
The IMU14 and the RTK terminal 10 can provide richer control parameters for the powertrain control model 7 in the software platform 4, such as: the IMU14 may provide pitch angle information of the vehicle to determine whether the vehicle is going up or down a hill, the IMU14 may provide yaw angle information of the vehicle to determine whether the vehicle is turning, and the IMU14 may provide acceleration/deceleration information of the vehicle to help determine whether the vehicle is in an acceleration/deceleration condition.
The data acquisition device 11 further comprises a real-time clock module, which can freely time after being calibrated with the RTK terminal 10, and provides a timestamp for the data acquired by the data acquisition device 11.
The engine 21, the electronic clutch 20, the automatic gearbox 18 and the controllable load 17 in the engine rack operation system 1 are sequentially connected through a mechanical device, and the engine 21 and the automatic gearbox 18 are kept consistent with or similar to the models of the engine and the automatic gearbox on the automobile used during data acquisition as much as possible, so that later-period result comparison and analysis are facilitated. The controllable load 17 is mainly used for simulating the working condition of the automobile in the actual running process, and the motor can be used as an option of the controllable load 17.
The power system controller 19 is electrically connected with an electronic brake pedal 24, an electronic clutch pedal 23, an electronic accelerator pedal 22, the engine 21, the electronic clutch 20 and the automatic transmission 18, the power system controller 19 can acquire signals of the electronic accelerator pedal 22 and the clutch pedal 23, the power system controller 19 can control the engine 21 to operate, control the electronic clutch 20 to clutch power and shift gears of the automatic transmission 18, and acquire operating parameters of the engine 21 and the automatic transmission 18, such as: engine speed, throttle opening (not referring to throttle pedal position herein, for gasoline engines, but referring to throttle position, for high pressure common rail diesel engines, referring to injection pulsewidth), automatic transmission gear, etc.
The power system controller 19 is different from a traditional engine ECU, the power system controller 19 mainly completes the signal acquisition of an engine rack sensor and the signal output of an actuator, and the original calculation and decision are completed by the power system control model 7, so that the calculation performance requirements can be fully met, and meanwhile, the integration and the adaptation of a later-stage power system and the unmanned vehicle software are facilitated.
The controllable load controller 16 is connected with the controllable load 17, and the controllable load controller 16 can control the operation of the controllable load 17 and collect operation data of the controllable load 17.
The gateway 5 is mainly used as a bridge for communicating the power system controller 19 and the controllable load controller 16 with the experiment bench control system 2 to complete the conversion of communication protocols, and typical examples of the gateway 5 are a CAN-to-USB card or a CAN-to-TCP/IP card; the gateway 5 is connected with the power system controller 19, the controllable load controller 16 and the experiment bench control system 2, and the gateway 5 can issue the control instruction of the experiment bench control system 2 to the power system controller 19 and the controllable load controller 16, and can also upload the data collected by the power system controller 19 and the controllable load controller 16 to the experiment bench control system 2.
The laboratory bench control system 2 comprises computer hardware 3 and a software platform 4. The software platform consists of a data reading and collecting module 6, a power system control model 7, a controller communication node 8 and a result comparison and analysis module 9.
The data reading and collecting module 6 in the software platform 4 is used for reading the data stored in the data collecting device 11, processing the data and synchronizing the time. Since the frequency of the data output by the RTK terminal 10 (usually about 10 Hz) is much lower than the frequency of the data output by the IMU14, the positioning data of the RTK terminal 10 can be interpolated by using an interpolation algorithm, and the frequencies of the data of the vehicle operation collected through the OBD interface 13 are also not completely the same and lower, and time synchronization and corresponding processing are also required.
And the power system control model 7 receives and reads the data processed by the data acquisition module 6 and calculates the data to obtain control parameters of each actuating mechanism of the power system.
The controller communication node 9 receives the control parameters generated by the power system control model 7, generates data frames according to a communication protocol, and transmits the data frames to the power system controller 19 and the controllable load controller 16 through a gateway, thereby realizing the control of the power system.
The result comparison and analysis module 9 receives the data collected by the power system controller 19 and the controllable load controller 17, compares the data with the data received from the data reading and collecting module 6, and generates a visual chart so as to evaluate and improve the power system control model and algorithm.
The engine bench operating system 1 may further add a testing instrument as required to detect other operating parameters of the power system for further experiments and analysis.
The invention discloses an experimental method of an engine pedestal for an unmanned automobile, which comprises the following steps: the experimental method and flow of the engine mount refer to fig. 2:
(1) the real vehicle data acquisition system 15 records the motion parameters and system parameters of the internal combustion engine vehicle in the running process on the actual road;
(2) inputting the motion parameters and the system parameters into an engine rack running system 1;
(3) the engine bench operating system 1 processes relevant parameters and solves motion models;
(4) outputting a control instruction to control the operation of the rack and collecting rack operation data;
(5) the result comparison and analysis module 9 compares data in the actual running process of the internal combustion engine automobile with running data of an engine experiment bench;
(6) evaluating a control model and an algorithm of the power system;
(7) improving a control model and an algorithm of the power system;
(8) and (4) repeating the steps (3), (4), (5), (6) and (7) to ensure that the difference between the operation data of the engine experiment bench and the data in the actual operation process of the internal combustion engine automobile is as small as possible and meets the expected requirement.
The invention creatively takes the high-precision positioning parameters acquired by an RTK terminal, the three-dimensional acceleration and angular acceleration acquired by an IMU (inertial navigation unit), the three-dimensional speed, angular speed, displacement, angular displacement and other parameters acquired by calculation as input control parameters of a power system model and an algorithm, and takes the engine speed, the vehicle speed, the accelerator opening and other state parameters of the internal combustion engine automobile running on an actual road acquired by an OBD interface as control targets, so that the engine on an experimental bench can be automatically controlled according to the motion state of the automobile, and the intellectualization and the unmanned performance of the engine are realized.
The invention can be used for researching the control model and the control algorithm of the power system of the engine of the unmanned automobile so as to evaluate and improve the control model and the control algorithm.
The invention can be used for exploring the control of the traditional engine by applying advanced computer and artificial intelligence technology, has positive significance for designing the internal combustion engine power system capable of being used for the unmanned automobile, and can provide technical guarantee for the intellectualization and the unmanned of equipment using the internal combustion engine power.
The invention can also be used for researching the control method of the internal combustion engine power system which is provided with a manual control mode and an unmanned control mode and can switch the modes.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An engine bench for an unmanned vehicle is characterized by comprising a real vehicle data acquisition system (15) and an engine bench operation system (1); the real vehicle data acquisition system (15) is mounted on an internal combustion engine automobile and comprises a data acquisition device (11), an OBD interface (13), an IMU (14), an RTK terminal (10) and an RTK base station (12), wherein the RTK base station (12) is connected with the RTK terminal (10) through wireless communication, and the RTK terminal (10), the OBD interface (13) and the IMU (14) are all connected with the data acquisition device (11);
the engine rack operation system (1) comprises a power system, a power system controller (19), a gateway (5), a controllable load controller (16) and an experiment rack control system (2), wherein the power system is connected with the power system controller (19); the power system controller (19), the controllable load controller (16) and the experiment bench control system (2) are all connected with the gateway (5); the experiment bench control system (2) comprises computer hardware (3) and a software platform (4), wherein the software platform (4) comprises a data reading and collecting module (6), a power system control model (7), a controller communication node (8) and a result comparison and analysis module (9);
the data of the data acquisition device (11) can be read by the data reading and acquiring device data module (6) and enter the experiment bench control system (2), and the data reading and acquiring device data module (6) processes and synchronizes the data in time.
2. An engine bench for an unmanned vehicle as claimed in claim 1, wherein the gateway (5) issues control commands of the experimental bench control system (2) to the power system controller (19) and the controllable load controller (16), and can also upload data collected by the power system controller (19) and the controllable load controller (16) to the experimental bench control system (2).
3. The engine mount for the unmanned vehicle as claimed in claim 1, wherein the powertrain control model (7) receives the data processed by the data reading and collecting module (6) for calculation to obtain the control parameters of the powertrain.
4. An engine bay for an unmanned vehicle as claimed in claim 1, wherein said controller communication node (8) receives control parameters generated by said powertrain control model (7), generates data frames according to a communication protocol, and transmits them to said powertrain controller (19) and said controllable load controller (16) via said gateway (5) to control said powertrain.
5. An engine mount for an unmanned vehicle according to claim 1, wherein the results comparison and analysis module (9) receives data collected by the powertrain controller (19) and the controllable load controller (16) and compares the data with the data received by the reading collector data module (6) to generate a visual chart for evaluation and improvement of the powertrain control model (7) and algorithms.
6. The engine mount for an unmanned aerial vehicle of claim 1, the power system comprises an electronic accelerator pedal (22), an electronic clutch pedal (23), an electronic brake pedal (24), an engine (21), an electronic clutch (20), an automatic gearbox (18) and a controllable load (17), the engine (21), the electronic clutch (20), the automatic gearbox (18) and the controllable load (17) are connected in sequence by mechanical means, the power system controller (19) is electrically connected with the electronic brake pedal (24), the electronic accelerator pedal (22), the engine (21), the electronic clutch (20) and the automatic gearbox (18), the controllable load controller (16) is connected with the controllable load (17).
7. The engine mount for an unmanned vehicle according to claim 1, wherein said data acquisition device (11) further comprises a real time clock module, freely clocked after the time of the RTK terminal (10), providing a time stamp for the data acquired by said data acquisition device (11).
8. An experimental method for an engine mount for an unmanned vehicle, characterized by using the engine mount of any one of claims 1 to 7, comprising the steps of:
(1) recording the motion parameters and system parameters of the internal combustion engine automobile in the actual road operation process;
(2) inputting data into an engine gantry operation system (1);
(3) processing the motion parameters and the system parameters and resolving the motion model;
(4) outputting a control instruction to control the operation of the experiment bench control system (2) and collecting the operation data of the experiment bench control system;
(5) comparing data in the actual running process of the internal combustion engine automobile with running data of the engine rack running system (1);
(6) evaluating a control model and an algorithm of the power system;
(7) improving a control model and an algorithm of the power system;
(8) and (4) repeating the steps (3), (4), (5), (6) and (7) to ensure that the difference between the operation data of the engine experiment bench and the data in the actual operation process of the internal combustion engine automobile is as small as possible and meets the expected requirement.
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|---|---|---|---|---|
| GB0625832D0 (en) * | 2006-12-22 | 2007-02-07 | Ricardo Uk Ltd | Real-time in cycle engine model |
| CN101916519B (en) * | 2010-07-30 | 2014-07-16 | 湖南南车时代电动汽车股份有限公司 | Driving simulation test method for test bench of power system of electric automobile |
| CN107654303B (en) * | 2017-08-10 | 2020-11-10 | 北京理工大学 | Electronic control system and method for diesel engine of crawler-type unmanned vehicle |
| CN109187041B (en) * | 2018-07-19 | 2020-03-06 | 山东省科学院自动化研究所 | Unmanned vehicle universal platform and method for automatic driving test |
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2021
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