CN114221832B - Vehicle rack dynamic load simulation device and control method - Google Patents
Vehicle rack dynamic load simulation device and control method Download PDFInfo
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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Abstract
The invention relates to a vehicle rack dynamic load simulation device and a control method, wherein the device comprises a simulation calculation device, a vehicle composite braking system, a dynamic load simulation device, a CAN communication network and a coupler; the composite braking system for the vehicle and the dynamic load simulation device are mechanically connected through a coupler; data interaction is carried out among the simulation computing device, the vehicle composite braking system and the dynamic load simulation device through a CAN communication network; the simulation calculation device calculates the reference torque of the composite braking system for the vehicle and the reference rotating speed of the load motor of the dynamic load simulation device based on the operation instruction of the driver and the dynamic model of the running vehicle; a composite braking system for a vehicle, braking the vehicle based on a reference torque; and the dynamic load simulation device dynamically loads the composite braking system for the vehicle based on the reference rotating speed of the load motor. The invention can be widely applied to the test of the vehicle rack.
Description
Technical Field
The invention relates to a vehicle bench dynamic load simulation device and a control method, and relates to the technical field of vehicle testing.
Background
The application of the regenerative braking technology obviously improves the energy economy and the braking safety of the electric automobile. Under the normal running working condition, the motor recovers part of the vehicle kinetic energy, and the energy economy of the whole vehicle is improved; under the extreme driving condition, the motor quickly and accurately adjusts the braking torque, and the braking safety of the whole vehicle is improved. The relevant brake control algorithms require extensive testing work prior to industrialization. The bench test is widely applied due to the advantages of short test period, low cost, safety, reliability and the like.
From the perspective of the communications control system, the vehicle racks can be divided into conventional point-to-point vehicle racks and networked vehicle racks. In a traditional point-to-point vehicle stand, a sensor, a controller and an actuator are directly connected point to point. Unlike conventional point-to-point vehicle gantries, sensors, controllers and actuators of networked vehicle gantries communicate information over a communications network (e.g., a control area network, CAN). Compared with the traditional point-to-point vehicle rack, the networked vehicle rack has the advantages of high flexibility, remote operation and maintenance and the like, and is widely applied.
However, due to the limitations of the communication network priority and the communication network bandwidth, the information interaction process will generate random network-induced delays, including open-loop delay and closed-loop delay, which will seriously deteriorate the vehicle gantry dynamic load simulation performance. The conventional vehicle rack dynamic load simulation device is developed only aiming at single closed-loop delay, only considers the condition of fixed delay, does not comprehensively process open-loop delay and closed-loop delay, does not have a complete delay compensation function and cannot process the condition of random network delay.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a vehicle bench dynamic load simulation apparatus with complete delay compensation function and a control method thereof.
In order to realize the purpose, the invention adopts the following technical scheme:
in a first aspect, the vehicle rack dynamic load simulation device provided by the embodiment of the invention comprises a simulation calculation device, a vehicle composite braking system, a dynamic load simulation device, a CAN communication network and a coupler; the vehicle composite braking system and the dynamic load simulation device are mechanically connected through the coupler; the simulation computing device, the vehicle composite braking system and the dynamic load simulation device carry out data interaction through the CAN communication network; wherein, the first and the second end of the pipe are connected with each other,
the simulation calculation device calculates the reference torque of the vehicle composite braking system and the reference rotating speed of the load motor of the dynamic load simulation device based on the operation instruction of the driver and the dynamic model of the running vehicle;
the vehicle composite braking system brakes the vehicle based on the reference torque;
and the dynamic load simulation device dynamically loads the vehicle composite braking system based on the reference rotating speed of the load motor.
The vehicle rack dynamic load simulation device further adopts a time driving mode for CAN network communication.
The vehicle rack dynamic load simulation device further comprises a first data buffer, a second data buffer, a third data buffer, a load motor network controller, a load motor local controller, a load motor driving device, a load motor current sensor, a load motor rotating speed sensor and a load motor; wherein the content of the first and second substances,
the first data buffer acquires the reference rotating speed of the load motor through the CAN communication network and sends the reference rotating speed of the load motor to the network controller of the load motor;
the second data buffer acquires the actual rotating speed of the load motor through the CAN communication network and sends the actual rotating speed to the load motor network controller;
the load motor network controller calculates the reference current of the load motor according to the reference rotating speed of the load motor and the actual rotating speed of the load motor;
the third data buffer acquires the load motor reference current of the load motor network controller through the CAN communication network;
and the load motor local controller calculates a switching tube control signal of the load motor driving device to drive the load motor to operate according to the load motor reference current and the load motor actual current, and dynamically loads the vehicle composite braking system.
The vehicle rack dynamic load simulation device further comprises a load motor current sensor and a load motor rotating speed sensor;
the load motor current sensor is arranged at a three-phase bus incoming line end of the load motor, is used for measuring the actual current of the load motor and transmits the actual current to the local controller of the load motor through the Ethernet;
the load motor rotating speed sensor is arranged at an output shaft of the load motor and used for measuring the actual rotating speed of the load motor and sending the actual rotating speed to the second data buffer through the CAN communication network.
The vehicle bench dynamic load simulation device further comprises the load motor network controller:
the signal processing module is configured to filter the reference rotating speed of the load motor and the actual rotating speed of the load motor;
the open-loop delay compensation module is configured to perform open-loop delay compensation on the reference rotating speed of the load motor;
the tracking error calculation module is configured to calculate a tracking error of the rotating speed of the load motor according to the compensated reference rotating speed of the load motor and the actual rotating speed of the load motor;
a current limiting module configured to limit a load motor reference current;
the closed-loop time delay compensation module is configured to calculate a corrected load motor rotating speed tracking error according to the load motor rotating speed tracking error and the limited load motor reference current;
and the rotating speed control module is configured to calculate the reference current of the load motor according to the corrected rotating speed tracking error of the load motor and transmit the reference current to the current limiting module to form closed-loop delay compensation.
The invention also provides a control method based on the vehicle rack dynamic load simulation device, which comprises the following steps:
according to the operation instruction of the driver, the simulation calculation device analyzes and obtains a braking torque command of the composite braking system for the vehicle, and controls the composite braking system for the vehicle to brake the vehicle;
according to the actual torque of the vehicle composite braking system, the simulation calculation device calculates the reference rotating speed of the load motor and sends the reference rotating speed to the load motor network controller;
acquiring the actual rotating speed of a load motor and sending the actual rotating speed to a load motor network controller;
according to the reference rotating speed of the load motor and the actual rotating speed of the load motor, the load motor network controller calculates the reference current of the load motor and sends the reference current to the local controller of the load motor;
and the load motor local controller calculates a switch control signal of the load motor driving device through the reference current of the load motor so as to drive the load motor to operate.
The control method further includes that according to the reference rotating speed of the load motor and the actual rotating speed of the load motor, the load motor network controller calculates the reference current of the load motor and sends the reference current to the local controller of the load motor, and the control method includes the following steps:
establishing a rack dynamics, open-loop delay and closed-loop delay transfer function model in a frequency domain;
filtering the reference rotating speed of the load motor and the actual rotating speed of the load motor;
carrying out open-loop delay compensation on the reference rotating speed of the load motor;
calculating a load motor rotating speed tracking error according to the compensated load motor reference rotating speed and the actual load motor rotating speed;
correcting the tracking error of the rotating speed of the load motor to realize the closed-loop delay compensation of the system;
calculating the reference current of the load motor by adopting a PI control method;
and strictly limiting the amplitude and the change rate of the reference current of the load motor and then sending the reference current to a local controller of the load motor.
The control method further adopts a reverse transmission delay method for carrying out open-loop delay compensation on the reference rotating speed of the load motor, and the specific formula is as follows:
wherein the content of the first and second substances,
is the compensated load motor reference speed, G dopc Is the frequency domain transfer function of the open loop delay compensation module,
is the reference speed of the load motor! Is a factorial operator, of which first and third order Taylor expansions can be used for delay compensation, T op Is the open loop delay, and s is the frequency domain operator.
The control method further corrects the tracking error of the rotating speed of the load motor, realizes the closed-loop time delay compensation of the system by adopting a Smith predictor, and has the following specific formula:
wherein the content of the first and second substances,
is the limited load motor reference current, G Smith Is the frequency domain transfer function of the Smith predictor, e 1 Is the load motor speed tracking error.
The control method further strictly limits the amplitude and the change rate of the reference current of the load motor, and the specific formula is as follows:
wherein the content of the first and second substances,
is a scrollThe value-limited load motor reference current,
is the load motor reference current after amplitude and rate of change limitations,
and
respectively, a load motor reference current magnitude limit and a rate of change limit.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention adopts the data buffer technology, CAN convert the random network delay existing in the CAN communication network into the fixed delay, further convert the design problem of the random network delay compensation algorithm into the design problem of the fixed delay compensation algorithm, and greatly reduce the complexity of the algorithm design;
2. the invention comprehensively processes the open-loop delay and the closed-loop delay existing in the vehicle rack dynamic load simulation device, has a complete delay compensation function, and can greatly improve the load simulation precision of the vehicle rack dynamic load simulation device;
3. the delay compensation algorithm is developed for the second time on the basis of the classical PI control method, the structure and the design of the control algorithm are simple, the method is suitable for engineering application, and the industrial development and the popularization of the vehicle high-performance test bench can be promoted;
in conclusion, the invention can be widely applied to the vehicle bench test.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like reference numerals refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a diagram of a vehicle bench dynamic load simulator with complete delay compensation function according to an embodiment of the present invention;
FIG. 2 is a control block diagram of a vehicle bench dynamic load simulator with complete delay compensation function according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of a vehicle bench dynamic load simulation apparatus with complete delay compensation function according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The vehicle rack dynamic load simulation device with the complete delay compensation function and the control method thereof comprise a simulation calculation device, a vehicle composite braking system, a dynamic load simulation device, a coupler and a CAN communication network. The simulation calculation device is used for calculating the reference torque of the vehicle composite braking system and the reference rotating speed of the load motor; the vehicle composite braking system brakes the vehicle; the dynamic load simulation device is used for dynamically loading the automotive composite braking system and comprises a first data buffer, a load motor rotating speed sensor, a second data buffer, a load motor network controller, a third data buffer, a load motor local controller, a load motor driving device, a load motor current sensor and a load motor, wherein the load motor network controller is used for open-loop delay and closed-loop delay compensation. The invention adopts the data buffer technology to convert the random network delay existing in the CAN communication network into the fixed delay, further converts the design problem of the random network delay compensation algorithm into the design problem of the fixed delay compensation algorithm, and greatly reduces the complexity of the algorithm design.
As shown in fig. 1, the vehicle bench dynamic load simulation device with complete delay compensation function provided in this embodiment includes a simulation calculation device 1, a vehicle composite braking system 2, a dynamic load simulation device 3, a CAN communication network 4, and a coupler 5; the vehicle composite braking system 2 and the dynamic load simulation device 3 are mechanically connected through a coupler 5, and the simulation calculation device 1, the vehicle composite braking system 2 and the dynamic load simulation device 3 are in data interaction through a CAN communication network 4.
And the simulation calculation device 1 is used for giving a driver operation instruction and running a vehicle dynamic model, and calculating the reference torque of the composite braking system 2 for the vehicle and the reference rotating speed of the load motor of the dynamic load simulation device 3.
The composite brake system 2 for a vehicle brakes the vehicle based on the reference torque transmitted from the CAN communication network 4.
And the dynamic load simulation device 3 dynamically loads the composite braking system 2 for the vehicle based on the reference rotating speed of the load motor sent by the CAN communication network 4.
In some preferred embodiments of the invention, the CAN network communication 4 may be in a time-driven mode.
In some preferred embodiments of the present invention, the dynamic load simulation apparatus 3 includes a first data buffer 31, a second data buffer 32, a load motor network controller 33, a third data buffer 34, a load motor local controller 35, a load motor driving apparatus 36, a load motor current sensor 37, a load motor 38, and a load motor speed sensor 39.
The first data buffer 31 is connected to the CAN communication network 4 and the load motor network controller 33, and is configured to temporarily store the reference rotation speed of the load motor received by the CAN communication network 4 and transmit the reference rotation speed to the load motor network controller 33, so that the random network delay from the simulation computing device 1 to the load motor network controller 33 channel CAN be converted into a fixed delay.
A load motor rotation speed sensor 39 is installed at an output shaft of the load motor 38 for measuring an actual rotation speed of the load motor and transmitting to the second data buffer 32 through the CAN communication network 4. The second data buffer 32 is connected to the CAN communication network 4 and the load motor network controller 33, and is configured to temporarily store the actual rotational speed of the load motor received by the CAN communication network 4, and transmit the actual rotational speed to the load motor network controller 33, so that the random network delay from the load motor rotational speed sensor 39 to the load motor network controller 33 CAN be converted into a fixed delay.
The load motor network controller 33 calculates a load motor reference current based on the load motor reference rotational speed from the first data buffer 31 and the load motor actual rotational speed from the second data buffer 32, and transmits the load motor reference current to the third data buffer 34 through the CAN communication network 4. The third data buffer 34 is connected to the CAN communication network 4 and the load motor network controller 33, and is configured to temporarily store the load motor reference current received by the CAN communication network 4 and transmit the load motor reference current to the load motor local controller 35, so that a random network delay from the load motor network controller 33 to the load motor local controller 35 CAN be converted into a fixed delay.
A load motor current sensor 37 is installed at the three-phase bus incoming line terminal of the load motor 38 for measuring the actual current of the load motor and transmitting it to the load motor local controller 35 through ethernet. The load motor local controller 35 calculates a switching tube control signal of the load motor driving device 36 based on the load motor reference current of the third data buffer 34 and the load motor actual current of the load motor current sensor 37, and transmits the switching tube control signal to the load motor driving device 36 through the ethernet.
The load motor driving device 36 is electrically connected to the load motor 38, and the load motor driving device 36 drives the load motor 38 to operate according to the switch control signal sent by the load motor local controller 35, so as to dynamically load the vehicle composite braking system 2.
In some preferred embodiments of the present invention, as shown in fig. 2, the load motor network controller 33 includes a signal processing module 331, an open-loop delay compensation module 332, a tracking error calculation module 333, a closed-loop delay compensation module 334, a speed control module 335, and a current limiting module 336.
The signal processing module 331 performs filtering processing on the reference rotation speed of the load motor and the actual rotation speed of the load motor, and transmits the filtered reference rotation speed and actual rotation speed to the open-loop delay compensation module 332 and the tracking error calculation module 333 respectively.
The open-loop delay compensation module 332 performs open-loop delay compensation on the reference rotating speed of the load motor and transmits the reference rotating speed to the tracking error calculation module 333, so as to realize open-loop delay compensation on the channel from the simulation calculation device 1 to the load motor network controller 33.
The tracking error calculation module 333 calculates a tracking error of the rotational speed of the load motor according to the compensated reference rotational speed of the load motor and the actual rotational speed of the load motor, and transmits the tracking error to the closed-loop delay compensation module 334.
The current limiting module 336 strictly limits the amplitude and the change rate of the load motor reference current from the rotating speed control module 335, transmits the limited load motor reference current to the closed-loop delay compensation module 334, and transmits the limited load motor reference current to the third data buffer 34 through the CAN communication network 4;
the closed-loop delay compensation module 334 calculates a corrected load motor speed tracking error according to the load motor speed tracking error and the limited load motor reference current, and transmits the corrected load motor speed tracking error to the speed control module 335.
The speed control module 335 calculates the load motor reference current according to the corrected load motor speed tracking error, and transmits the load motor reference current to the current limiting module 336 to form closed-loop delay compensation.
As shown in fig. 2 and fig. 3, the present embodiment further provides a control method of a vehicle bench dynamic load simulation apparatus with a complete delay compensation function, including:
s1, according to a given driver operation instruction, the simulation calculation device 1 analyzes and obtains a braking torque command of the vehicle composite braking system 2, and controls the vehicle composite braking system 2 to brake the vehicle.
And S2, measuring the actual torque of the composite braking system 2 for the vehicle by a sensor, and sending the actual torque to the simulation calculation device 1 through the CAN communication network 4.
S3, according to the actual torque of the vehicle composite braking system 2, the simulation calculation device 1 calculates the reference rotating speed of the load motor, and sequentially sends the reference rotating speed of the load motor to the load motor network controller 33 through the CAN communication network 4 and the first data buffer 31; the first data buffer 31 executes a first-in first-out (FIFO) queuing mechanism, and the capacity of the first data buffer 31 is not less than the maximum delay from the simulation computing device 1 to the load motor network controller 33.
S4, measuring the actual rotating speed of the load motor by the load motor rotating speed sensor 39, and sequentially sending the actual rotating speed to the load motor network controller 33 through the CAN communication network 4 and the second data buffer 32; the second data buffer 32 executes a first-in first-out queuing mechanism, and the size of the second data buffer 32 is not less than the maximum delay from the load motor speed sensor 39 to the load motor network controller 33.
S5, according to the reference rotating speed of the load motor of the first data buffer 31 and the actual rotating speed of the load motor of the second data buffer 32, the load motor network controller 33 calculates the reference current of the load motor, and the reference current is sent to the local controller 35 of the load motor through the CAN communication network 4 and the third data buffer 34 in sequence; the third data buffer 34 executes a first-in first-out queue mechanism, and the size of the capacity of the third data buffer 34 is not less than the maximum delay from the load electric network sensor 37 to the load motor local controller 35 channel, and the specific steps of the above process include:
s51, establishing a rack dynamics, open-loop delay and closed-loop delay transfer function model in a frequency domain, wherein the specific formula is as follows:
wherein G is p 、G dop And G dcl Respectively is a transfer function model of the bench dynamics, the open loop delay and the closed loop delay; j is the rotational inertia of the rack, B is the friction coefficient of the rack, and s is the frequency domain operator; t is op Is the open loop delay, and is also the capacity of the first data buffer; t is cl Is a closed loop delay, and T cl ＝T ff +T fb ；T ff Is the forward path delay, and is also the capacity of the third data buffer; t is fb Is the feedback path delay, which is also the capacity of the second data buffer; the application of a data buffer converts the random network delay present in the CAN communication network into a fixed delay, thus, T op 、T ff And T ff Are all fixed constants.
S52, the signal processing module 331 performs filtering processing on the reference rotation speed of the load motor of the first data buffer 31 and the actual rotation speed of the load motor of the second data buffer 32;
s53, the open-loop delay compensation module 332 performs open-loop delay compensation on the reference rotation speed of the load motor of the signal processing module 331 by using an inverse transmission delay method, where a specific formula is as follows:
wherein the content of the first and second substances,
is the reference rotational speed of the load motor,
is the compensated load motor reference rotation speed; | A Is a factorial operator; g dopc The frequency domain transfer function of the open-loop delay compensation module is adopted, and both first-order and third-order Taylor expansions can be used for delay compensation; the data buffer converts the random network delay into fixed delay, and the open-loop delay compensation module compensates for the fixed delay.
S54, according to the compensated reference rotation speed of the load motor and the actual rotation speed of the load motor, the tracking error calculation module 333 calculates a tracking error of the rotation speed of the load motor, and the specific formula is as follows:
wherein e is 1 Is the load motor speed tracking error, omega d Is the actual speed of the load motor.
S55, the closed-loop delay compensation module 334 corrects the tracking error of the rotating speed of the load motor by using a Smith predictor method to realize the closed-loop delay compensation of the system, and the specific formula is as follows:
wherein the content of the first and second substances,
is the limited load motor reference current from the current limiting module; g Smith Is a frequency domain transfer function of the Smith predictor, and
the data buffer converts the random network delay into fixed delay, and the closed-loop delay compensation module compensates for the fixed delay.
S56, the rotating speed control module 335 calculates the load motor reference current by adopting a PI (proportional-integral) control method, and the specific formula is as follows:
wherein the content of the first and second substances,
is a reference current of the load motor, K p And K p Proportional gain and integral gain, respectively.
S57, the current limiting module 36 strictly limits the amplitude and the change rate of the reference current of the load motor, and the specific formula is as follows:
wherein the content of the first and second substances,
and
respectively an amplitude limit value and a change rate limit value of the reference current of the load motor;
is the reference power of the load motor after amplitude limitationThe flow of the stream(s),
is the load motor reference current after amplitude and rate of change limitations; further, will
And the data is sent to the local controller of the load motor through the CAN communication network and the third data buffer.
And S6, according to the reference current of the load motor of the third data buffer 34, the local controller 35 of the load motor calculates a switch control signal of the drive device 36 of the load motor, and controls the drive device 36 of the load motor to drive the load motor 38 to operate.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In the description herein, references to the description of "one embodiment," "some implementations," or the like, 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 an embodiment of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A vehicle rack dynamic load simulation device is characterized by comprising a simulation calculation device, a vehicle composite braking system, a dynamic load simulation device, a CAN communication network and a coupler; the vehicle composite braking system and the dynamic load simulation device are mechanically connected through the coupler; the simulation computing device, the vehicle composite braking system and the dynamic load simulation device carry out data interaction through the CAN communication network; wherein the content of the first and second substances,
the simulation calculation device calculates the reference torque of the composite braking system for the vehicle and the reference rotating speed of the load motor of the dynamic load simulation device based on the operation instruction of the driver and the dynamic vehicle operation model;
the vehicle composite braking system brakes the vehicle based on the reference torque;
the dynamic load simulation device dynamically loads the vehicle composite braking system based on the reference rotating speed of the load motor, and comprises a first data buffer, a second data buffer, a third data buffer, a load motor network controller, a load motor local controller, a load motor driving device, a load motor current sensor, a load motor rotating speed sensor and a load motor; wherein, the first and the second end of the pipe are connected with each other,
the first data buffer acquires the reference rotating speed of the load motor through the CAN communication network and sends the reference rotating speed of the load motor to the network controller of the load motor;
the second data buffer acquires the actual rotating speed of the load motor through the CAN communication network and sends the actual rotating speed to the load motor network controller;
the load motor network controller calculates the reference current of the load motor according to the reference rotating speed of the load motor and the actual rotating speed of the load motor;
the third data buffer acquires the load motor reference current of the load motor network controller through the CAN communication network;
and the load motor local controller calculates a switch control signal of the load motor driving device to drive the load motor to operate according to the load motor reference current and the load motor actual current, and dynamically loads the vehicle composite braking system.
2. The vehicle rack dynamic load simulator of claim 1, wherein the CAN communication network employs a time-driven mode.
3. The vehicle rack dynamic load simulation device of claim 1, further comprising a load motor current sensor and a load motor speed sensor;
the load motor current sensor is arranged at a three-phase bus incoming line end of the load motor, is used for measuring the actual current of the load motor and transmits the actual current to the local controller of the load motor through the Ethernet;
the load motor rotating speed sensor is arranged at an output shaft of the load motor and used for measuring the actual rotating speed of the load motor and sending the actual rotating speed to the second data buffer through the CAN communication network.
4. The vehicle rack dynamic load simulation device of claim 1, wherein the load motor network controller comprises:
the signal processing module is configured to filter the reference rotating speed of the load motor and the actual rotating speed of the load motor;
the open-loop delay compensation module is configured to perform open-loop delay compensation on the reference rotating speed of the load motor;
the tracking error calculation module is configured to calculate a tracking error of the rotating speed of the load motor according to the compensated reference rotating speed of the load motor and the actual rotating speed of the load motor;
a current limiting module configured to limit a load motor reference current;
the closed-loop time delay compensation module is configured to calculate a corrected load motor rotating speed tracking error according to the load motor rotating speed tracking error and the limited load motor reference current;
and the rotating speed control module is configured to calculate the reference current of the load motor according to the corrected rotating speed tracking error of the load motor and transmit the reference current to the current limiting module to form closed-loop delay compensation.
5. The control method of the vehicle bench dynamic load simulation apparatus according to any one of claims 1 to 4, characterized by comprising:
according to the operation instruction of the driver, the simulation calculation device analyzes and obtains a braking torque command of the composite braking system for the vehicle, and controls the composite braking system for the vehicle to brake the vehicle;
according to the actual torque of the vehicle composite braking system, the simulation computing device calculates the reference rotating speed of the load motor and sends the reference rotating speed of the load motor to the load motor network controller;
acquiring the actual rotating speed of a load motor and sending the actual rotating speed to a load motor network controller;
according to the reference rotating speed of the load motor and the actual rotating speed of the load motor, the load motor network controller calculates the reference current of the load motor and sends the reference current to the local controller of the load motor;
and the load motor local controller calculates a switch control signal of the load motor driving device through the reference current of the load motor so as to drive the load motor to operate.
6. The control method of claim 5, wherein the load motor network controller calculates the load motor reference current according to the load motor reference speed and the load motor actual speed, and sends the load motor reference current to the load motor local controller, and the method comprises the following steps:
establishing a rack dynamics, open-loop delay and closed-loop delay transfer function model in a frequency domain;
filtering the reference rotating speed of the load motor and the actual rotating speed of the load motor;
carrying out open-loop delay compensation on the reference rotating speed of the load motor;
calculating a load motor rotating speed tracking error according to the compensated load motor reference rotating speed and the actual load motor rotating speed;
correcting the tracking error of the rotating speed of the load motor to realize the closed-loop delay compensation of the system;
calculating the reference current of the load motor by adopting a PI control method;
and strictly limiting the amplitude and the change rate of the reference current of the load motor and then sending the reference current to a local controller of the load motor.
7. The control method according to claim 6, characterized in that the open-loop delay compensation of the reference rotating speed of the load motor adopts a reverse transmission delay method, and the specific formula is as follows:
wherein the content of the first and second substances,
is the compensated reference rotation speed of the load motor,
is the reference speed of the load motor! Is a factorial operator, G dopc Is the frequency domain transfer function of the open loop delay compensation module, G dopc Of the first and third order Taylor expansions for delay compensation, T op Is the open loop delay, and s is the frequency domain operator.
8. The control method according to claim 6, characterized in that the method for realizing the closed loop delay compensation of the system by correcting the tracking error of the rotating speed of the load motor by using a Smith predictor comprises the following specific formula:
wherein, the first and the second end of the pipe are connected with each other,
is the limited load motor reference current, G Smith Is the frequency domain transfer function of the Smith predictor, e 1 Is the load motor speed tracking error.
9. The control method according to claim 6, characterized in that the amplitude and the change rate of the reference current of the load motor are strictly limited by the following formula:
wherein the content of the first and second substances,
is the load motor reference current after amplitude limitation,
is the load motor reference current after amplitude and rate of change limitations,
and
respectively, a load motor reference current magnitude limit and a rate of change limit.
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