CN115060510A - Parameter calibration method, control device, storage medium and processor - Google Patents
Parameter calibration method, control device, storage medium and processor Download PDFInfo
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Abstract
The invention discloses a parameter calibration method, a control device, a storage medium and a processor. Wherein, the method comprises the following steps: the method comprises the steps of obtaining an initial model and first working condition information of a vehicle, wherein the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state; acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second running state of the vehicle; debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model; and calibrating the debugging model to obtain calibration data, and determining the controller parameters of the engine of the vehicle based on the calibration data. The invention solves the technical problem of low calibration efficiency of the driveability data in the prior art.
Description
Technical Field
The invention relates to the technical field of parameter calibration, in particular to a parameter calibration method, a control device, a storage medium and a processor.
Background
Drivability is an important property of an automobile and is expressed as a response characteristic of the automobile when a driver performs acceleration and braking operations in a straight-driving condition, and good drivability makes the driver feel that the automobile is controllable at will. The drivability of the vehicle is related to a plurality of factors such as an engine, a transmission, a motor, a suspension and the like, and the drivability calibration needs to be carried out after the determination of the components. Meanwhile, the working period of drivability calibration is long and needs to be verified repeatedly. In view of the above-mentioned problem of inefficient calibration of drivability data in the prior art, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a parameter calibration method, a control device, a storage medium and a processor, which are used for at least solving the technical problem of low calibration efficiency of drivability data in the prior art.
According to an aspect of an embodiment of the present invention, a parameter calibration method is provided, including: the method comprises the steps of obtaining an initial model and first working condition information of a vehicle, wherein the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state; acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second running state of the vehicle; debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model; and calibrating the debugging model to obtain calibration data, and determining the controller parameters of the engine of the vehicle based on the calibration data.
Optionally, the target parameter set includes a first acceleration, first rotation speed information, and the first rotation speed information includes at least one of: the method comprises the following steps of debugging an initial model based on first working condition information and a target parameter set to obtain a debugging model, wherein the first engine rotating speed and the first motor rotating speed comprise: and debugging the initial model based on the first acceleration, the first rotating speed information and the first working condition information to obtain a debugging model.
Optionally, obtaining the first operating condition information includes: acquiring state information of an initial model, wherein the state information comprises a gear of the initial model and a clutch state of the initial model; acquiring torque information, wherein the torque information comprises at least one of the following: a first engine torque signal, a first motor torque signal; first operating condition information is determined based on the state information and the torque information.
Optionally, debugging the initial model based on the first acceleration, the first rotation speed information, and the first operating condition information to obtain a debugging model, including: responding to that the initial model meets a first working condition, debugging equivalent parameters of the initial model to obtain a debugging model when output parameters of the initial model respectively meet preset relations with first acceleration information and first rotation speed information, wherein the equivalent parameters comprise at least one of the following parameters: suspension equivalent parameters, drive train equivalent parameters, and suspension equivalent parameters.
Optionally, after the initial model is debugged based on the first acceleration, the first rotation speed information, and the operating condition information, and the debugging model is obtained, the method further includes: acquiring a preset vehicle speed and a preset accelerator pedal opening; generating second working condition information based on the preset vehicle speed and the preset accelerator pedal opening, wherein the second working condition information is used for describing a second working condition of the vehicle in a third running state; acquiring power information, second acceleration and second rotating speed information, wherein the power information, the second acceleration and the second rotating speed information are obtained by actually measuring the fourth running state of the vehicle, the power information comprises second engine torque, second motor torque and clutch control current, and the second rotating speed information comprises second engine rotating speed and second motor rotating speed; and determining whether the debugging model meets the preset precision or not based on the power information, the second acceleration and the second rotating speed information.
Optionally, determining whether the debugging model meets the preset precision based on the power information, the second acceleration and the second rotating speed information includes: inputting the power information into a debugging model to obtain an output result of the debugging model; comparing the output result of the debugging model with the second acceleration information and the second rotating speed information respectively to obtain a comparison result; and determining that the debugging model meets the preset precision in response to the comparison result being smaller than the precision threshold.
Optionally, calibrating the debugging model to obtain calibration data, including: acquiring second working condition information, second engine torque and second motor torque; and calibrating the debugging model based on the second working condition information, the second engine torque and the second motor torque to obtain calibration data.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus for parameter calibration, including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring an initial model and first working condition information of a vehicle, the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state; the second acquisition module is used for acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second running state of the vehicle; the debugging module is used for debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model; and the calibration module is used for calibrating the debugging model to obtain calibration data, wherein the calibration data is used for determining the controller parameters of the engine of the vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned parameter calibration method when running.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program is configured to execute the parameter calibration method described above when running.
In the embodiment of the invention, the mode of obtaining the initial model and the first working condition information of the vehicle is adopted, the target parameter set of the vehicle in the second running state is measured, and the initial model is debugged based on the first working condition information and the target parameter set to obtain the debugging model, so that the debugging model realizes the simplification of the vehicle, the debugging model is calibrated, the aim of calibrating the parameters through the virtual model is fulfilled, the number of real-time test times is reduced, the technical effect of shortening the period required by parameter calibration is realized, the calibration cost is reduced, and the technical problem of low calibration efficiency of the driveability data in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a computer terminal of a parameter calibration method according to an alternative embodiment of the present invention;
FIG. 2 is a flow chart of a method for calibrating parameters according to an alternative embodiment of the present invention;
FIG. 3 is a block diagram of a virtual model in accordance with an alternative embodiment of the present invention;
FIG. 4 is a block diagram of a virtual model in accordance with an alternative embodiment of the present invention;
FIG. 5 is a flow chart of a method for calibrating parameters according to an alternative embodiment of the present invention;
fig. 6 is a block diagram of a control device for parameter calibration according to an alternative embodiment of the present invention.
Wherein the figures include the following reference numerals:
1. a drive shaft; 2. a coupler; 3. an engine; 4. a generator; 5. an electric motor; 6. a power battery; 7. a differential mechanism; 8. an inverter; 9. a clutch.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with one embodiment of the present invention, there is provided an embodiment of a method for calibrating a parameter, wherein the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer-executable instructions, and wherein, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated.
The method embodiments may be performed in an electronic device or similar computing device that includes a memory and a processor in a vehicle. Taking the example of an electronic device operating on a vehicle, as shown in fig. 1, the electronic device of the vehicle may include one or more processors 102 (the processors may include, but are not limited to, processing devices of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a Microprocessor (MCU), a programmable logic device (FPGA), a neural Network Processor (NPU), a Tensor Processor (TPU), an Artificial Intelligence (AI) type processor, etc.) and a memory 104 for storing data. Optionally, the electronic apparatus of the automobile may further include a transmission device 106, an input-output device 108, and a display device 110 for communication functions. It will be understood by those skilled in the art that the structure shown in fig. 1 is merely an illustration and is not intended to limit the structure of the electronic device of the vehicle. For example, the electronic device of the vehicle may also include more or fewer components than described above, or have a different configuration than described above.
The memory 104 can be used for storing computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the parameter calibration method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, that is, implementing the parameter calibration method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
The display device 110 may be, for example, a touch screen type Liquid Crystal Display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a Graphical User Interface (GUI) with which a user can interact by touching finger contacts and/or gestures on a touch-sensitive surface, where the human-machine interaction function optionally includes the following interactions: executable instructions for creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, emailing, call interfacing, playing digital video, playing digital music, and/or web browsing, etc., for performing the above-described human-computer interaction functions, are configured/stored in one or more processor-executable computer program products or readable storage media.
Existing virtual systems are typically developed for engine systems. With the increasingly fierce market competition and the increasingly mature automobile users, the requirement for the drivability of automobiles is higher and higher. The conventional drivability calibration has a long work period and needs to be verified repeatedly. Therefore, how to calibrate the drivability with high efficiency is the focus of research of various vehicle enterprises. By adopting the technical scheme, the parameter calibration control system and the parameter calibration method suitable for the drivability calibration are provided, and the system can simplify and calibrate a vehicle system aiming at the drivability. The driving performance parameters are calibrated and optimized in the digital parameter calibration control system and verified in the real vehicle, so that the real vehicle test times are reduced, the calibration efficiency can be effectively improved, the research and development cost is reduced, and the competitiveness of enterprises is improved.
The present embodiment provides a parameter calibration method for an electronic device operating in a vehicle, fig. 2 is a flowchart of the parameter calibration method according to one embodiment of the present invention, fig. 3 is a flowchart of the parameter calibration method according to another embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S10, acquiring an initial model and first working condition information of the vehicle, wherein the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state;
that is to say, firstly, an initial model of the vehicle is constructed, the initial model is a virtual dynamic model of the vehicle, and a first working condition of the initial model in a first running state is obtained;
step S20, acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second driving state of the vehicle;
optionally, the second driving state of the vehicle is different from the first driving state of the initial model in the execution subject, and the operating condition of the vehicle in the second driving state is the same as the first operating condition of the initial model in the first driving state.
Step S30, debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model;
step S40, calibrating the debugging model to obtain calibration data, and determining controller parameters of the engine of the vehicle based on the calibration data;
through the steps, the mode of obtaining the initial model and the first working condition information of the vehicle is adopted, the target parameter set of the vehicle in the second running state is measured, and the initial model is debugged based on the first working condition information and the target parameter set to obtain the debugging model, so that the debugging model can simplify the vehicle, the debugging model is calibrated, the aim of calibrating the parameters through the virtual model is fulfilled, the number of real vehicle tests is reduced, the technical effect of shortening the period required by parameter calibration is achieved, the calibration cost is reduced, and the technical problem of low calibration efficiency of the driveability data in the prior art is solved.
Optionally, the target parameter set includes a first acceleration, first rotation speed information, and the first rotation speed information includes at least one of: in step S30, the initial model is debugged based on the first operating condition information and the target parameter set, and obtaining a debugging model includes the following steps:
step S321, debugging the initial model based on the first acceleration, the first rotation speed information and the first working condition information to obtain a debugging model.
Specifically, the step of obtaining the target parameter set includes: and under the condition that the vehicle meets the first working condition, carrying out real vehicle test, and measuring to obtain first rotating speed information and first acceleration. Wherein the first acceleration is a longitudinal acceleration of the vehicle. The target parameter set may further include an engine torque under the first condition, a motor torque under the first condition, a clutch control current under the first condition, a gear signal under the first condition, an accelerator pedal signal under the first condition, and a vehicle speed signal under the first condition.
Optionally, in step S10, first operating condition information is obtained, including: acquiring state information of an initial model, wherein the state information comprises a gear of the initial model and a clutch state of the initial model; acquiring torque information, wherein the torque information comprises at least one of the following: a first engine torque signal, a first motor torque signal; first operating condition information is determined based on the state information and the torque information.
Specifically, the gears include a driving gear and a parking gear, the clutch includes a combination state and a separation state, and the torque signal comprises a torque step change signal and a signal that the torque output is zero. In a preferred embodiment, determining the first operating condition information based on the state information and the torque information includes:
when the motor is used as a power input source, the designed working conditions comprise the following two working conditions. A first working condition: the vehicle gear is a driving gear, the clutch is separated, and the torque of the motor is changed in a step mode; and under the second working condition, the vehicle gear is a running gear, the clutch is combined, the output torque of the engine is set to be zero, and the torque of the motor is changed in a step mode.
When the engine is used as a power input source, the designed working conditions comprise the following two working conditions. Under a third working condition, the vehicle gear is a parking gear, the clutch is separated, and the torque of the engine is changed in a step mode; and under the fourth working condition, the vehicle gear is a running gear, the clutch is combined, the torque output torque of the motor is set to be zero, and the torque of the engine is changed in a step mode.
It should be noted that the power source of the vehicle includes an engine and a motor, and the first operating condition information is the operating condition for performing the system response characteristic test when the vehicle is input by the single power source, so that the initial model is debugged under the operating condition of the single power source, the coupling influence of two power sources on the target parameter set and the specific parameter debugging can be avoided, and the debugging precision of the initial model is improved. The technical scheme of the embodiment realizes the working condition combination of single power source input according to the gear and clutch states. If single power source input is not possible, the output torque of the non-concerned power source is set to zero.
Optionally, in step S321, debugging the initial model based on the first acceleration, the first rotation speed information, and the first operating condition information to obtain a debugging model, including: responding to that the initial model meets a first working condition, debugging equivalent parameters of the initial model to obtain a debugging model when output parameters of the initial model respectively meet preset relations with first acceleration information and first rotation speed information, wherein the equivalent parameters comprise at least one of the following parameters: suspension equivalent parameters, drive train equivalent parameters, and suspension equivalent parameters. The equivalent suspension parameters comprise suspension damping and suspension rigidity. The equivalent parameters of the power train comprise power train clearance and power train damping. The suspension equivalent parameters comprise suspension equivalent damping and suspension equivalent stiffness.
Preferably, the debugging process comprises the following processes: seven specific characteristic parameters of suspension damping, suspension rigidity, transmission system clearance, transmission system damping, transmission system rigidity, suspension equivalent damping and suspension equivalent rigidity are adjusted by taking a first acceleration region, a first engine rotating speed (when an engine is used as a power input source) and a first motor rotating speed (when a motor is used as a power source) as targets. In the process, when the initial model is required to reach the torque step change working condition of the power source, the simulation result of the longitudinal acceleration and the rotating speed of the whole vehicle is consistent with the actual vehicle in the fluctuation amplitude and the fluctuation phase. That is, the output parameters of the initial model include the longitudinal acceleration and the rotation speed of the corresponding power source, and the output parameters should be consistent with the corresponding parameters in the target parameter set. Specific characteristic parameters can be divided into different control dimensions according to design working conditions, and the simulation results of all the working conditions are ensured to be consistent.
Optionally, after the initial model is debugged based on the first acceleration, the first rotation speed information, and the operating condition information, and the debugging model is obtained, the method further includes:
acquiring a preset vehicle speed and a preset accelerator pedal opening; generating second working condition information based on the preset vehicle speed and the preset accelerator pedal opening, wherein the second working condition information is used for describing a second working condition of the vehicle in a third running state; acquiring power information, second acceleration and second rotating speed information, wherein the power information, the second acceleration and the second rotating speed information are obtained by actually measuring the fourth running state of the vehicle, the power information comprises second engine torque, second motor torque and clutch control current, and the second rotating speed information comprises second engine rotating speed and second motor rotating speed; and determining whether the debugging model meets the preset precision or not based on the power information, the second acceleration and the second rotating speed information. Adopt the technical scheme of this embodiment, only restrict speed of a motor vehicle and accelerator pedal through predetermineeing the speed of a motor vehicle, predetermine the operating mode that accelerator pedal aperture designed, and do not restrict the power supply form of vehicle, consequently designed a comprehensive operating mode and set up the vehicle. Preferably, the working condition corresponding to the fourth driving state of the vehicle is the same as the second working condition, that is, the power information, the obtained second acceleration, and the second rotation speed information are obtained by actually measuring the real vehicle under the second working condition.
Optionally, one embodiment of generating the second operating condition information based on the preset vehicle speed and the preset accelerator pedal opening is as follows: three vehicle speeds of low, medium, high and ultrahigh are selected, and the opening degrees of small, medium and full acceleration pedals are selected for working condition combination under each vehicle speed. And under the second working condition, carrying out real vehicle test, measuring the power information of the vehicle, and acquiring second acceleration and second rotating speed information. Under the second working condition, the gear signal of the vehicle under the second working condition, the opening degree of an accelerator pedal under the second working condition and the vehicle speed signal under the second working condition can also be detected.
Whether the debugging model meets the preset precision or not is determined based on the power information, the second acceleration and the second rotating speed information, and the method comprises the following steps:
inputting the power information into a debugging model to obtain an output result of the debugging model; comparing the output result of the debugging model with the second acceleration information and the second rotating speed information respectively to obtain a comparison result; and determining that the debugging model meets the preset precision in response to the comparison result being smaller than the precision threshold.
Specifically, determining whether the debugging model meets the preset precision comprises exporting and inputting power information into the debugging model for simulation, and verifying the precision of the simulation system by comparing the longitudinal acceleration, the engine speed and the phase and amplitude of motor speed signal fluctuation in the debugging model. And if the precision meets the set threshold, the system is built. And if the precision does not meet the set threshold value, revising the debugging model.
Calibrating the debugging model to obtain calibration data, which comprises the following steps: acquiring second working condition information, second engine torque and second motor torque; and calibrating the debugging model based on the second working condition information, the second engine torque and the second motor torque to obtain calibration data.
Based on the second working condition information, the second engine torque and the second motor torque, the preferable scheme for calibrating the debugging model is as follows: and regarding the debugging model, taking the initial value and the final value of the power source torque as the initial value and the final value of the input torque change, wherein the power source torque comprises a second engine torque and a second motor torque. And under each constructed second working condition, observing the longitudinal acceleration and acceleration delay of the whole vehicle output by the simulation model by setting different combined torque change slopes. The acceleration delay refers to a time delay from the beginning of the change of the target torque to the moment when the longitudinal acceleration of the whole vehicle is greater than a certain threshold value. And selecting a torque change slope torque corresponding to the minimum acceleration delay and basically equivalent longitudinal acceleration fluctuation amplitude of the whole vehicle as the data (namely calibration data) for calibrating the drivability under the working condition.
FIG. 3 is a schematic diagram of a virtual model according to an alternative embodiment of the present invention. As shown in fig. 3, the virtual model mainly includes: the device comprises a transmission shaft 1, a coupler 2, an engine 3, a generator 4, a motor 5, a power battery 6, a differential 7, an inverter 8 and a clutch 9. Fig. 3 shows a multi-body dynamic model for building a whole vehicle according to the power system structure of the vehicle. The virtual model shown in fig. 3 further simplifies the process of treating the torque generating device as a model input and the torque transmission path as five parts, damping device, suspension, driveline, tires, suspension. The multi-body dynamics of each part is composed of one or more rigid bodies and a flexible body moving in a single direction. The single degree of freedom of the flexible body is determined by selecting the direction having the greatest influence on the change of the longitudinal acceleration of the whole vehicle. The output of the whole vehicle is reflected on a vehicle body model, and the vehicle body model is also a rigid body. Therefore, the virtual model is simplified into a multi-body dynamic model architecture diagram built by the hybrid vehicle power system shown in fig. 4.
Further, after the virtual model is established, the parameter calibration method further includes: the method comprises the steps of configuring parameters of a virtual model (namely a multi-body dynamic simulation model), sorting partial design parameters of parts contained in the multi-body dynamic simulation model to form a fixed format, and conveniently importing the parameters into the model according to the format. Specifically, the parameters of the engine and the motor include transmission efficiency. The parameters of the clutch include: current pressure characteristics, number of friction surfaces, and friction surface area. The parameters of the vibration damper include mass, rotational inertia, damping characteristic, rigidity characteristic and rotational limit angle. The parameters of the drive train include rotational inertia, drive ratio, damping, stiffness, drive train lash, etc. of each drive path. The suspension parameters include kinematic hard point, stiffness characteristic, damping characteristic. Tire parameters include mass, moment of inertia, tire size, longitudinal slip characteristics, longitudinal stiffness. The parameters of the suspension include unsprung mass, equivalent damping, and equivalent stiffness. The parameters of the vehicle body comprise mass, height of mass center, front axle load, rear axle load, wind resistance, rolling resistance, slope resistance, front axle rigidity, front axle damping, rear axle rigidity and rear axle damping.
FIG. 4 is a flow chart of a parameter calibration method according to an alternative embodiment of the invention. As shown in fig. 4, the method includes:
s1, building a multi-body dynamic simulation model of the whole vehicle in simulation software according to the power system structure of the whole vehicle;
that is, an initial model is obtained, wherein the initial model treats a torque transmission path as five parts of a damping device, a suspension, a transmission system, a tire and a suspension, the multi-body dynamics of each part is composed of one or more rigid bodies and a flexible body with a single degree of freedom, and the degree of freedom of the flexible body with the single degree of freedom is to select a change direction having the largest influence on the change of the longitudinal acceleration of the whole vehicle.
Step S2, carrying out parameter configuration on the multi-body dynamic simulation model determined in the step S1;
step S3, designing a test working condition according to the structure of the power system of the whole vehicle and carrying out a real vehicle test;
that is, first operating condition information is determined based on the state information and the torque information, and the set of target parameters is measured under the first operating condition;
step S4, debugging specific parameters in the multi-body dynamics simulation model according to the real vehicle data obtained in the step S3;
that is to say, the initial model is debugged based on the target parameter set and the first working condition information, the debugged performance target of the whole vehicle is the longitudinal acceleration of the whole vehicle, the engine speed (when the engine is used as a power input source) and the motor speed (when the motor is used as a power source), and the simulation result is consistent with the actual vehicle in the fluctuation amplitude and the fluctuation phase; the specific parameters are only seven specific characteristic parameters of suspension damping, suspension rigidity, transmission system clearance, transmission system damping, transmission system rigidity, suspension equivalent damping and suspension equivalent rigidity, and the specific characteristic parameters can be divided into different control dimensions according to design working conditions, so that the simulation results of all the working conditions are consistent.
Step S5, designing comprehensive working conditions to carry out real vehicle test;
that is to say, second working condition information is generated based on a preset vehicle speed and a preset accelerator pedal opening, and under the second working condition, the fourth running state of the vehicle is measured to obtain power information, obtain second acceleration and second rotating speed information, and the whole vehicle test working condition (i.e. the second working condition) covers all typical working conditions formed by two dimensions of the accelerator pedal opening and the vehicle speed;
step S6, verifying the precision in the multi-body dynamics simulation model according to the real vehicle data obtained in the step S5, and if the precision of the system model meets the requirement, carrying out the next step; if the system model precision does not meet the requirement, returning to the step S4 to debug again;
that is to say, whether the debugging model meets the preset precision is determined based on the power information, the second acceleration and the second rotating speed information, and the debugging model is debugged again under the condition that the preset precision is not met. The technical scheme of the embodiment is used for verifying whether the longitudinal acceleration, the engine speed and the phase and the amplitude of the fluctuation of the motor speed signal of the whole vehicle meet the set threshold value.
Step S7, performing virtual calibration of drivability in the multi-body dynamic model determined in step S6;
step S8, testing the actual vehicle according to the drivability parameter determined in the step S7, and verifying the drivability calibration effect; according to the determined drivability parameters, the process of testing on the actual vehicle and verifying the drivability calibration effect is as follows: the drivability calibration data (i.e., calibration data) determined in step S7 is tested on the actual vehicle using the drivability condition (i.e., second condition) determined in step S5, and it is verified whether the determined calibration data satisfies the requirements through subjective evaluation.
Fig. 6 is a block diagram of a control apparatus for parameter calibration according to an embodiment of the present invention, as shown in fig. 6, the apparatus includes: the first obtaining module 61 is configured to obtain an initial model of the vehicle and first operating condition information, where the initial model is used to simulate a first driving state of the vehicle, and the first operating condition information is used to describe a first operating condition of the initial model in the first driving state; a second obtaining module 62, configured to obtain a target parameter set, where the target parameter set is obtained by actually measuring a second driving state of the vehicle; the debugging module 63 is used for debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model; and a calibration module 64, configured to calibrate the debugging model to obtain calibration data, where the calibration data is used to determine a controller parameter of an engine of the vehicle.
By the aid of the device, the initial model and the first working condition information of the vehicle are obtained, the target parameter set of the vehicle in the second running state is measured, the initial model is debugged based on the first working condition information and the target parameter set to obtain the debugging model, the debugging model is simplified for the vehicle, the debugging model is calibrated, the parameter is calibrated through the virtual model, the number of real vehicle tests is reduced, the technical effect of shortening the period required by parameter calibration is achieved, the calibration cost is reduced, and the technical problem of low calibration efficiency of the driving data in the prior art is solved.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
step S1, acquiring an initial model and first working condition information of the vehicle, wherein the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state;
step S2, acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second driving state of the vehicle;
step S3, debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model;
and step S4, calibrating the debugging model to obtain calibration data, and determining the controller parameters of the engine of the vehicle based on the calibration data.
Embodiments of the present invention also provide a processor arranged to run a computer program to perform the steps of any of the above method embodiments.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A parameter calibration method is characterized by comprising the following steps:
acquiring an initial model and first working condition information of a vehicle, wherein the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state;
acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second running state of the vehicle;
debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model;
and calibrating the debugging model to obtain calibration data, and determining the controller parameters of the engine of the vehicle based on the calibration data.
2. The method of claim 1, wherein the set of target parameters includes a first acceleration, a first rotational speed information, the first rotational speed information including at least one of: the method comprises the steps of debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model, wherein the steps of debugging the initial model comprise:
and debugging the initial model based on the first acceleration, the first rotating speed information and the first working condition information to obtain the debugging model.
3. The method of claim 1, wherein obtaining first operating condition information comprises:
acquiring state information of the initial model, wherein the state information comprises a gear of the initial model and a clutch state of the initial model;
obtaining torque information, wherein the torque information comprises at least one of: a first engine torque signal, a first motor torque signal;
determining the first operating condition information based on the state information and the torque information.
4. The method of claim 2, wherein debugging the initial model based on the first acceleration, the first rotation speed information, and the first operating condition information to obtain a debugging model comprises:
responding to that the initial model meets the first working condition, debugging equivalent parameters of the initial model, so that when output parameters of the initial model respectively meet preset relations with the first acceleration and the first rotation speed information, the debugging model is obtained, wherein the equivalent parameters comprise at least one of the following parameters: suspension equivalent parameters, drive train equivalent parameters, and suspension equivalent parameters.
5. The method of claim 2, wherein the initial model is debugged based on the first acceleration, the first rotation speed information, and the operating condition information, and after obtaining a debugged model, the method further comprises:
acquiring a preset vehicle speed and a preset accelerator pedal opening;
generating second working condition information based on the preset vehicle speed and the preset accelerator pedal opening, wherein the second working condition information is used for describing a second working condition of the vehicle in a third running state;
acquiring power information, a second acceleration and second rotating speed information, wherein the power information, the second acceleration and the second rotating speed information are obtained by actually measuring a fourth running state of the vehicle, the power information comprises a second engine torque, a second motor torque and a clutch control current, and the second rotating speed information comprises a second engine rotating speed and a second motor rotating speed;
and determining whether the debugging model meets a preset precision or not based on the power information, the second acceleration and the second rotating speed information.
6. The method of claim 5, wherein determining whether the commissioning model satisfies a preset accuracy based on the power information, the second acceleration, and the second rotational speed information comprises:
inputting the power information into the debugging model to obtain an output result of the debugging model;
comparing the output result of the debugging model with the second acceleration and the second rotating speed information respectively to obtain a comparison result;
and determining that the debugging model meets the preset precision in response to the comparison result being smaller than a precision threshold.
7. The method of claim 5, wherein calibrating the debugging model to obtain calibration data comprises:
acquiring the second working condition information, the second engine torque and the second motor torque;
and calibrating the debugging model based on the second working condition information, the second engine torque and the second motor torque to obtain the calibration data.
8. A control apparatus for parameter calibration, comprising:
the system comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is used for obtaining an initial model and first working condition information of a vehicle, the initial model is used for simulating a first running state of the vehicle, and the first working condition information is used for describing a first working condition of the initial model in the first running state;
the second acquisition module is used for acquiring a target parameter set, wherein the target parameter set is obtained by actually measuring a second running state of the vehicle;
the debugging module is used for debugging the initial model based on the first working condition information and the target parameter set to obtain a debugging model;
and the calibration module is used for calibrating the debugging model to obtain calibration data, wherein the calibration data is used for determining controller parameters of an engine of the vehicle.
9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 7.
10. A processor for running a program, wherein the program is arranged to perform the method of any one of claims 1 to 7 when run.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116007930A (en) * | 2023-03-28 | 2023-04-25 | 苏州众源测试技术有限公司 | Method and system for testing transmission performance of automobile |
| CN116215558A (en) * | 2023-05-09 | 2023-06-06 | 盛瑞传动股份有限公司 | Parameter updating method, device, equipment and computer readable storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116007930A (en) * | 2023-03-28 | 2023-04-25 | 苏州众源测试技术有限公司 | Method and system for testing transmission performance of automobile |
| CN116007930B (en) * | 2023-03-28 | 2023-07-14 | 苏州众源测试技术有限公司 | Method and system for testing transmission performance of automobile |
| CN116215558A (en) * | 2023-05-09 | 2023-06-06 | 盛瑞传动股份有限公司 | Parameter updating method, device, equipment and computer readable storage medium |
| CN116215558B (en) * | 2023-05-09 | 2023-09-08 | 盛瑞传动股份有限公司 | Parameter updating method, device, equipment and computer readable storage medium |
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