CN113776853A - Bench test system and method for WLTC (wafer level test) cycle working condition - Google Patents
Bench test system and method for WLTC (wafer level test) cycle working condition Download PDFInfo
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Abstract
The invention relates to a rack test system and a method for WLTC (wafer level test) cycle working conditions, wherein an accelerator brake robot is fixed on a vehicle to be tested through a robot clamping mechanism and is connected with a vehicle pedal through a connecting rod; the central controller is electrically connected with the accelerator brake robot and is used for adjusting the pedal stroke; the automobile chassis dynamometer is connected with the central controller through the data acquisition module and is used for sending the test parameters of the vehicle to the central controller. The control standardization of WLTC circulating working condition test is realized, and the test consistency is improved; in the same-vehicle multi-time test, compared with the manual test, the unmanned test system has higher vehicle speed following repeatability and reduced randomness; the WLTC cycle condition test under high and low temperature environments can be met, and in a plurality of groups of tests under the high and low temperature environments, the unmanned test system has higher consistency compared with manually tested vehicle speed and vehicle economy.
Description
Technical Field
The invention belongs to the technical field of vehicle testing, and particularly relates to a bench testing system and method for WLTC (wafer level test) cycle working conditions.
Background
Fuel economy testing is required to be performed according to a standard procedure before automobiles come into the market. Fuel consumption of a vehicle is typically measured on a laboratory hub stand to simulate a range of driving conditions. Because the testing of the NEDC standard is too ideal, for example, in a 195-second city driving cycle, the mechanical repeated starting, accelerating, uniform speed, decelerating and stopping and the like are performed for several stages, and then the cycle is repeated for 3 times again; for example, in suburban driving conditions of 400 seconds, continuous highway driving is not included; therefore, there is always a large difference between the NEDC standard test and the actual situation. Also due to this limitation of NEDC, WLTC acts as a european vehicle certification program. This criterion better represents actual and modern driving conditions than NEDC and has also been accepted.
The WLTC simulates four different operating conditions, namely urban (low speed), suburban (medium speed), rural (high speed) and freeway (ultra high speed), each with a different maximum vehicle speed. Wherein the proportion between urban road sections and non-urban road sections is substantially equivalent, 52% and 48% respectively. The total duration of the WLTC type 3 test period is 1800 seconds, the highest speed reaches 131.3km/h, the average speed without stopping is 53.5km/h, and the average speed without stopping is 46.5km/h on the accumulated driving mileage of 23.3 km. The WLTC simulates a more dynamic path and wider driving conditions, and optional configuration can be added independently, so that the WLTC is more in line with actual driving conditions. Compared with NEDC, WLTC often reflects higher fuel consumption and lower electric vehicle mileage.
Just because WLTC is more complicated in terms of test specifications and vehicle control than NEDC, and has a higher requirement for manual driving, how to achieve data consistency, better fuel consumption quality, and reduction of manual random errors has become a technical problem that needs to be solved urgently.
Disclosure of Invention
In order to solve the problems of large error and poor data consistency in the prior art, the invention provides a bench test system and a bench test method for WLTC (wafer level test) cycle working conditions, which have the characteristics of replacing manpower to realize unmanned and standardized test, improving test consistency and the like.
According to the embodiment of the invention, the bench test system for the WLTC circulation working condition comprises: the system comprises an accelerator brake robot, a robot clamping mechanism, a central controller, a data acquisition module and an automobile chassis dynamometer;
the accelerator brake robot is fixed on a vehicle to be tested through the robot clamping mechanism and is connected with a vehicle pedal through a connecting rod;
the central controller is electrically connected with the accelerator brake robot and is used for adjusting the pedal stroke;
the automobile chassis dynamometer is connected with the central controller through the data acquisition module and is used for sending the test parameters of the vehicle to the central controller.
Further, the rack test system for the WLTC cycle working condition further comprises a power supply module, and the power supply module is used for providing required power for the accelerator brake robot, the central controller and the data acquisition module.
Furthermore, the accelerator brake robot is connected with the pedal through a rocker arm connecting rod mechanism.
Further, the accelerator brake robot comprises a pedal clamping mechanism, and the pedal clamping mechanism is used for connecting an automobile pedal and the rocker arm connecting rod mechanism.
Furthermore, the bench test system for WLTC cycle working condition further comprises a control handle, wherein the control handle is respectively connected with the automobile chassis dynamometer and the central controller and used for triggering the start of executing WLTC cycle working condition signals and synchronizing the automobile chassis dynamometer and the central controller.
According to the specific embodiment of the invention, the bench test method for the WLTC cycle working condition is provided, and the bench test system for the WLTC cycle working condition, which is applied to the bench test method for the WLTC cycle working condition, comprises the following steps:
acquiring the rotating speed voltage quantity of the automobile chassis dynamometer based on a 16bit analog quantity channel, and obtaining instantaneous speed and acceleration data through an easily preset conversion formula;
carrying out vehicle speed calibration on the test vehicle according to the WLTC circulating working condition to generate a vehicle calibration table;
and controlling the accelerator brake robot to control an accelerator pedal based on the instantaneous movement stroke of the brake pedal robot.
Further, the step of calibrating the speed of the test vehicle according to the WLTC cycle condition to generate a vehicle calibration table includes:
the acceleration and speed of the vehicle are mapped to the throttle or brake travel, and an initial calibration table is generated for each vehicle based on a vehicle speed calibration algorithm.
Further, the step of calibrating the speed of the test vehicle according to the WLTC cycle condition to generate a vehicle calibration table further includes: and segmenting the vehicle speed according to WLTC circulating condition data, calibrating the PID under different vehicle speed segments, and generating an initial PID calibration table.
The invention has the beneficial effects that: an accelerator brake robot is adopted to be fixed on a vehicle to be tested through a robot clamping mechanism and is connected with a vehicle pedal through a connecting rod; the central controller is electrically connected with the accelerator brake robot and is used for adjusting the pedal stroke; the automobile chassis dynamometer is connected with the central controller through the data acquisition module and is used for sending the test parameters of the vehicle to the central controller. The control standardization of WLTC circulating working condition test is realized, and the test consistency is improved; in the same-vehicle multi-time test, compared with the manual test, the unmanned test system has higher vehicle speed following repeatability and reduced randomness; the WLTC cycle condition test under high and low temperature environments can be met, and in a plurality of groups of tests under the high and low temperature environments, the unmanned test system has higher consistency compared with manually tested vehicle speed and vehicle economy.
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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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a bench test system for WLTC cycle conditions provided in accordance with an exemplary embodiment;
FIG. 2 is a WLTC operating vehicle speed and instantaneous acceleration scatter plot provided in accordance with an exemplary embodiment;
FIG. 3 is a vehicle calibration pre-processing speedometer generation flow diagram of a bench test method for WLTC cycle conditions provided in accordance with an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a bench test system for WLTC cycle conditions, including: the system comprises an accelerator brake robot, a robot clamping mechanism, a central controller, a data acquisition module and an automobile chassis dynamometer;
the accelerator brake robot is fixed on a vehicle to be tested through the robot clamping mechanism and is connected with a vehicle pedal through a connecting rod;
the central controller is electrically connected with the accelerator brake robot and is used for adjusting the pedal stroke;
the automobile chassis dynamometer is connected with the central controller through the data acquisition module and is used for sending the test parameters of the vehicle to the central controller.
Specifically, the accelerator brake robot can control an accelerator pedal of a vehicle according to a control signal of the central controller, and the functions of refueling and oil reduction are realized. Then the automobile chassis dynamometer carries out automobile dynamic property, chassis output power, multi-working-condition emission indexes and oil consumption, so that manual test replacement is realized, the test labor cost is reduced, and the test efficiency is improved; the control standardization of WLTC circulating working condition test is realized, and the test consistency is improved; in the same-vehicle multi-time test, compared with a manual test, the unmanned test system has higher vehicle speed following repeatability and reduced randomness; the WLTC circulating working condition test under the high and low temperature environment is met, and the consistency of the vehicle speed and the vehicle economy compared with manual test is higher in a multi-group test under the high and low temperature environment.
In another specific embodiment of the invention, the system further comprises a power supply module, and the power supply module is used for supplying required power to the throttle brake robot, the central controller and the data acquisition module.
The accelerator brake robot is connected with the pedal through a rocker arm connecting rod mechanism. The accelerator brake robot comprises a pedal clamping mechanism, and the pedal clamping mechanism is used for connecting an automobile pedal and the rocker arm connecting rod mechanism. The specific implementation forms of the rocker link mechanism and the pedal clamping mechanism can be selected by those skilled in the art according to actual situations, and the invention is not limited herein.
In some embodiments of the invention, the system further comprises a control handle, wherein the control handle is respectively connected with the automobile chassis dynamometer and the central controller and used for triggering the start of executing the WLTC cycle working condition signal and synchronizing the automobile chassis dynamometer and the central controller.
The embodiment of the invention also provides a rack test method for WLTC cycle working conditions, which is applied to the rack test system for WLTC cycle working conditions and specifically comprises the following steps:
101. acquiring the rotating speed voltage quantity of the automobile chassis dynamometer based on a 16bit analog quantity channel, and obtaining instantaneous speed and acceleration data through an easily preset conversion formula;
102. carrying out vehicle speed calibration on the test vehicle according to the WLTC circulating working condition to generate a vehicle calibration table;
103. and controlling the accelerator brake robot to control the accelerator pedal based on the instantaneous motion stroke of the brake pedal robot.
Specifically, the rotating speed and voltage of the automobile chassis dynamometer are collected through a 16bit analog quantity channel, and instantaneous speed and acceleration data are calculated through a conversion formula; then, vehicle calibration preprocessing is carried out, and vehicle speed calibration is carried out on the test vehicle according to WLTC circulating working conditions to generate a vehicle calibration table; finally, WLTC circulation working condition control is carried out, a handle triggers a starting signal, and the central controller acquires the data of the acquisition module and the WLTC working condition data to calculate the instantaneous movement strokes of the accelerator pedal robot and the brake pedal robot; and the central controller sends a motion command to the accelerator pedal robot and the brake pedal robot to control the robot to move.
As a feasible implementation manner of the above embodiment, referring to fig. 2 and fig. 3, vehicle speed calibration, in which target parameters (speed V, accelerator travel ar, brake travel br) are sent to an accelerator robot by calibration tool software, the accelerator robot is first controlled to execute an ar value according to the accelerator travel (ar), and meanwhile, a dynamometer vehicle speed value (V1) is obtained in real time through an acquisition module, and an acceleration value (acc1) is calculated; when V1 is larger than V, controlling the brake robot to execute br value according to the brake stroke (br), simultaneously acquiring a dynamometer vehicle speed value (V2) in real time through an acquisition module, and calculating an acceleration value (acc 2); when V2 is equal to 0, finishing the vehicle speed calibration of the group; storing a stroke value, a speed value and an acceleration value in the calibration process; since calibration is a process data that is naturally noisy and non-uniform (e.g., velocity, acceleration distribution is not uniform while in motion), several steps need to be performed on the calibration process data (velocity, acceleration, stroke value) to clean the data.
It is first envisioned that there will be a response delay caused by the vehicle actuators (e.g., there will be a time difference between the throttle/brake command being sent and the corresponding acceleration being reached). Such delays necessarily affect the quality of the data, and it is common and efficient to add a reasonable estimate of the delay in acquiring data from the sensors. A butterworth low pass filter of order 3 and a cut-off frequency of 2Hz is then used to eliminate the high frequency interference. Considering that the data after delay estimation of a certain time may not always be suitable, we adopt equation 1 to further ensure the consistency of the data. Secondly, smoothing the data by using mean filtering in a formula 2; next, the outliers are filtered out using equation 3; equation 4 is used to ensure monotonicity of the entire control instruction sequence:
wherein t is the delay estimation duration (200 ms);
cmdrefis a control instruction to be updated, e.g., an instruction executed t (200) ms ago;
cmdref+Δtis the control command at time ref + Δ t;
δcmd gapis the maximum instruction perturbation allowed.
Wherein cmdrefOnly in its neighbourhood
Is processed if all elements in (1) satisfy equation 1.
Where N represents the mean filter window size, xt-1，xt-2，...，xt-nData corresponding to times t-1 to t-N.
Where x is the data to be processed, xmeanIs the mean value of the data, xstdIs the standard deviation of the data.
Wherein T' represents the updated calibration table; t' [ cmd ]i][Vx]Indicated acceleration cmdiCorresponding control command and speed Vx。
Referring to the WLTC working condition vehicle speed and instantaneous acceleration scatter diagram of fig. 2, it can be seen that the vehicle speed calibration software provided by the present invention can visually display the calibration table (vehicle speed, acceleration) scatter diagram, and in order to achieve optimal control, the calibration table scatter diagram needs to cover the WLTC working condition vehicle speed and instantaneous acceleration scatter diagram of fig. 2.
Wherein vehicle acceleration and speed are mapped to throttle or brake travel and an initial calibration table is generated for each vehicle based on a vehicle speed calibration algorithm.
The vehicle calibration preprocessing also comprises PID subsection calibration, wherein the calibration is used for segmenting the vehicle speed according to WLTC circulating condition data, calibrating the PID under different vehicle speed sections and generating an initial PID calibration table; the invention provides vehicle preprocessing calibration tool software to calibrate the PID sections, and the PID calibration needs to be calibrated by depending on a vehicle speed calibration meter after the vehicle speed calibration is finished.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. A bench test system for WLTC cycle conditions, comprising: the system comprises an accelerator brake robot, a robot clamping mechanism, a central controller, a data acquisition module and an automobile chassis dynamometer;
the accelerator brake robot is fixed on a vehicle to be tested through the robot clamping mechanism and is connected with a vehicle pedal through a connecting rod;
the central controller is electrically connected with the accelerator brake robot and is used for adjusting the pedal stroke;
the automobile chassis dynamometer is connected with the central controller through the data acquisition module and is used for sending the test parameters of the vehicle to the central controller.
2. The bench test system for WLTC cycle conditions of claim 1, further comprising a power module for providing required power to said throttle brake robot, said central controller and said data acquisition module.
3. The stage testing system for WLTC cycle conditions of claim 1, wherein said throttle brake robot is connected to a pedal through a rocker linkage.
4. The rack test system for WLTC cycle conditions of claim 3, wherein said throttle brake robot includes a pedal clamping mechanism for connecting an automobile pedal and said rocker link mechanism.
5. The bench test system for WLTC cycle conditions of claim 1, further comprising a control handle connected to said automotive chassis dynamometer and said central controller, respectively, for triggering the start of WLTC cycle condition signal execution and synchronizing said automotive chassis dynamometer and said central controller clock.
6. A bench test method for WLTC cycle conditions, applied to the bench test system for WLTC cycle conditions of any one of claims 1 to 5, comprising:
acquiring the rotating speed voltage quantity of the automobile chassis dynamometer based on a 16bit analog quantity channel, and obtaining instantaneous speed and acceleration data through an easily preset conversion formula;
carrying out vehicle speed calibration on the test vehicle according to the WLTC circulating working condition to generate a vehicle calibration table;
and controlling the accelerator brake robot to control an accelerator pedal based on the instantaneous movement stroke of the brake pedal robot.
7. The bench testing method for WLTC cycle conditions according to claim 6, wherein said calibrating the speed of the test vehicle according to WLTC cycle conditions to generate a vehicle calibration table comprises:
the acceleration and speed of the vehicle are mapped to the throttle or brake travel, and an initial calibration table is generated for each vehicle based on a vehicle speed calibration algorithm.
8. The bench testing method for WLTC cycle conditions according to claim 6, wherein said calibrating the speed of the test vehicle according to WLTC cycle conditions to generate a vehicle calibration table further comprises: and segmenting the vehicle speed according to WLTC circulating condition data, calibrating the PID under different vehicle speed segments, and generating an initial PID calibration table.
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| CN115420507A (en) * | 2022-08-17 | 2022-12-02 | 武汉理工大学 | Method for establishing engine fuel economy bench test working condition |
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