CN115291584A - Closed-loop test method for rack of wire-controlled steering system of passenger vehicle - Google Patents
Closed-loop test method for rack of wire-controlled steering system of passenger vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The invention particularly relates to a closed-loop test method for a rack of a wire-controlled steering system of a passenger vehicle. In the aspect of bench test of the steer-by-wire system, the system is integrated into a simulated complete vehicle virtual closed-loop environment, and a functional safety related test method such as basic performance and reliability of the steer-by-wire system, system fault injection of electromechanical integration and the like is mainly provided. The testing method integrates the steer-by-wire system into a simulated whole vehicle virtual closed loop environment to test the related functions of the steer-by-wire system; the test method comprises the steps of test system construction and closed loop system test; the test system construction comprises sample installation, test equipment construction, communication construction and power supply configuration; the closed loop system test comprises model building, test case editing, automatic test and data record analysis. The test method has convenient and easy system installation and test process, and saves the capital cost and the labor cost of vehicle research and development.
Description
Technical Field
The invention relates to the technical field of drive-by-wire chassis testing, in particular to a method for testing a drive-by-wire steering system of a passenger vehicle.
Background
With the development of the automatic driving technology of the automobile, the intelligent requirement on the automobile chassis is higher and higher, the wire-controlled chassis has important significance for supporting the intelligent development of the automobile, and a wire-controlled steering system is an important part of the wire-controlled steering system.
At present, an electric power steering system commonly used in the industry comprises a steering column, an intermediate shaft and a steering gear, and power transmission is realized through mechanical connection. The steer-by-wire system cancels the structure of a steering column and a middle shaft, and comprises a road feel simulator and a steering actuator, wherein the road feel simulator comprises a set of road feel simulation motor and a controller; the steering actuator is controlled based on a redundant system and comprises two sets of motors and a controller. Meanwhile, information interaction between the road feel simulator and the steering actuator is realized through the integrated controller.
Compared with the traditional electric power-assisted steering system, the steer-by-wire system cancels a middle mechanical structure and a middle mechanical structure, improves the safety of a driver after the vehicle collides, realizes a variable transmission speed ratio, can improve the driving characteristic and enhances the maneuverability. In order to prevent single-point failure and ensure driving safety, a redundancy design is adopted in the aspect of control. The bench test difference between the two mainly comprises the following points:
the traditional system bench test mainly focuses on mechanical performance test, and the steer-by-wire bench test is a hardware-in-the-loop test which is implemented by building a whole vehicle dynamic model, a scene model and a driver model and combining a simulation model and a real sample;
the communication module of the steer-by-wire rack test system is more complex and comprises redundant communication among the road sensing simulator, the steering actuator and the integrated controller through communication protocols such as CAN, CANFD and the like;
the motor torque response speed of the road feel simulator of the steer-by-wire system is also focused in the test.
Steer-by-wire systems are still in a development stage, at some distance from complete productions. In the product development process, the bench test verification occupies an important circle, but the bench test technology in the industry mainly aims at the electric power steering system, and the bench test method of the steer-by-wire system is still in a search stage.
Disclosure of Invention
In order to solve the problems, the invention provides a closed-loop test method for a rack of a steer-by-wire system of a passenger car, and mainly provides a functional safety related test method for the basic performance, reliability, electromechanical system fault injection and the like of the steer-by-wire system in the aspect of testing the rack of the steer-by-wire system by integrating the system into a simulated virtual closed-loop environment of the whole car.
The invention provides a rack closed-loop test method of a steer-by-wire system of a passenger vehicle, which integrates the steer-by-wire system into a simulated whole vehicle virtual closed-loop environment to test the related functions of the steer-by-wire system.
The test method comprises the steps of test system building and closed loop system testing.
The test system construction comprises sample installation, test equipment construction, communication construction and power supply configuration; the closed loop system test comprises model building, test case editing, automatic test and data record analysis.
Further, the steer-by-wire system to be tested comprises a torsion actuator, a road feel simulator, a comprehensive controller, a steering actuator and a linear motor.
When a sample is installed, the input end of the road sense simulator is connected with the torsion actuator, the output end of the steering actuator is connected with the linear motor, and the integrated controller is connected with the road sense simulator and the steering actuator; the torsional actuator drives the road feel simulator to act, and angle control and torque control are carried out on the road feel simulator; the linear motor drives the rack of the steering gear actuator to act, and position control and load control are carried out on the steering gear actuator.
Further, the test equipment is constructed to construct an upper computer and a lower computer.
The upper computer is responsible for building a vehicle dynamic model, compiling IO interface configuration and test case editing, and the lower computer is a real-time simulator and is responsible for information transmission of the upper computer and other parts of the test system and action control of the torsion actuator and the linear motor.
Further, the communication is set up to establish information transfer paths of all parts of the test system.
The upper computer is connected with the lower computer through an Ethernet, the lower computer is connected with the torsion actuator and the linear motor through a simulation IO board card, the road sensing simulator and the steering gear actuator are connected with the integrated controller through a CAN bus, and the integrated controller is connected with a CAN communication unit of the lower computer through a gateway.
Further, the power supply is configured as a power supply for supplying 220/380V alternating current to the testing equipment and a power supply for supplying 12V direct current to the sample piece.
Further, the model building comprises building a vehicle model, building an equipment model and configuring a model interface.
The vehicle model building is that a vehicle dynamic model is built on an upper computer according to the parameters of the tested vehicle, and the model input and output signals are defined according to the test requirements.
The device model building method comprises the steps of building a test device model and a communication model, and comprises a torsion actuator control model, a linear motor control model, a power supply unit model and a CAN communication model.
The model interface is configured to configure an IO hardware interface for a vehicle model and an equipment model, and is compiled into SDF, RTA, RTC and MAP files and sent to a lower computer, and the upper computer operates the power supply unit model to supply power to the torsion actuator, the linear motor and the steer-by-wire system, so that the communication of the interfaces is confirmed to be normal.
Further, the test case editing comprises input signal editing, scene editing and fault type editing; the input signal is edited to compile vehicle parameter information according to test requirements; editing the scene to define a road model and a driver model; the fault type is compiled to set a specific fault type.
Further, the automatic test is model building and test case editing.
The steer-by-wire system is arranged in the running environment of the whole vehicle, the lower computer realizes the action control and signal acquisition of the torsion actuator and the linear motor, the torsion actuator and the linear motor respectively drive the road feel simulator and the steering device actuator, and the integrated controller simultaneously transmits the feedback signals of the road feel simulator and the steering device actuator equipment to the lower computer in real time to form a closed loop test.
Further, the data recording and analyzing step is to record and perform correlation analysis on feedback signals of the road feel simulator and the steering gear actuator in the running process, read fault codes in the testing process and after testing, and analyze reasons.
The invention also provides an electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of any one of the above-described test methods when executing the computer program.
The method has the beneficial effects that:
(1) The method for testing the rack of the steering-by-wire system fills up the technical blank.
(2) The upper computer is used for simulating the vehicle and the running environment of the vehicle, and various steer-by-wire system functions and parts can be tested in the stage of bench test according to requirements.
(3) The test method is convenient and easy to install the system and carry out the test process, and saves the capital cost and the labor cost of vehicle research and development.
Drawings
FIG. 1 is a diagram of a bench test sample installation;
FIG. 2 is a schematic diagram of a test system control;
fig. 3 is a schematic diagram of CAN communication and power supply.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a closed-loop test method for a rack of a passenger car steer-by-wire system, which provides rack verification data for product design of the steer-by-wire system. The testing method integrates the steer-by-wire system into a simulated whole vehicle virtual closed loop environment to test the related functions of the steer-by-wire system.
The method for testing the rack of the steering-by-wire system fills up the technical blank. The upper computer is used for simulating the vehicle and the running environment of the vehicle, and various steer-by-wire system functions and parts can be tested in the stage of bench test according to requirements. The test method has convenient and easy system installation and test process, and saves the capital cost and the labor cost of vehicle research and development.
The invention is further illustrated below with reference to the figures and examples.
Example 1.
This embodiment is the building of a test system.
The rack test sample piece installation and arrangement scheme is that the sample piece is a steer-by-wire system, the installation mode is that the input end of a road sense simulator is connected with a torsion actuator, the output end of a steering actuator is connected with a linear motor, and a comprehensive controller is connected with the road sense simulator and the steering actuator.
The torsional actuator drives the road feel simulator to act, the control mode is divided into angle control and torque control, the maximum rotating speed of the torsional actuator is 1080 DEG/s, and the torque range is 0-100 Nm.
The linear motor drives the steering gear actuator rack to act, the control mode comprises position control and load control, the load range of the linear motor is more than 10kN, and the instantaneous speed is more than or equal to 1m/s.
As shown in fig. 2, the integrated controller serves as a command center of the steer-by-wire system, receives a steering wheel angle and a steering wheel torque signal of the road feel simulator controller, and sends the steering wheel angle and the steering wheel torque signal to the steering actuator controller, and the steering actuator controller drives the steering actuator motor to work according to a command so as to generate a steering action, and synchronously transmits the actuator angle and the load torque to the road feel simulator controller through the integrated controller.
The test equipment is constructed and connected in a communication mode, as shown in fig. 2, an upper computer builds a vehicle dynamic model, IO interface configuration and test cases are compiled, the upper computer is connected with a lower computer (a real-time simulation machine) through an Ethernet, and parameters of a vehicle, a sample piece, a torsion actuator sensor and the like are transmitted and received at a high speed.
The lower computer is connected with the integrated controller, the road feel simulator controller and the steering actuator controller through the CAN gateway so as to realize information interaction between the vehicle model and the sample piece.
The road sense simulator and the steering device actuator are connected with the integrated controller through a CAN bus, and the integrated controller is connected with a CAN communication unit of the lower computer through a gateway.
The lower computer acquires action commands of the torsion actuator and the linear motor and sensor signals such as a corner and a rack end load signal through an IO interface; the torsion actuator and the linear motor are respectively connected with the road feel simulator and the steering actuator to drive the sample piece to act.
The power supply mode of the test system is to supply 220/380V alternating current to the test equipment and supply 12V direct current to the sample piece.
Example 2.
This embodiment is a closed loop system test.
The closed loop system test procedure is as follows.
Building a vehicle model:
building a vehicle dynamic model on an upper computer according to the parameters of the detected vehicle, wherein the vehicle dynamic model comprises an engine model, a transmission model, tires and other models, and defining model input and output signals such as input signal vehicle speed and rotation angle according to test requirements; output signal torque, rack end load, etc.
Building an equipment model:
and establishing a test equipment model and a communication model, wherein the test equipment model comprises a torsional actuator control model, a linear motor control model, a power supply unit model and a CAN communication model.
The control model of the torsional actuator is edited according to actual test requirements, for example, when the torque response speed of the motor of the road sensing simulator is tested, the torsional actuator is loaded by the torques of 0.1Nm, 0.2Nm, 0.3Nm, 0.4Nm, 0.5Nm and 1Nm and the frequencies of 0.1Hz, 0.5Hz, 1Hz, 2Hz, 3Hz and 4Hz respectively, and 36 combined test schemes are totally adopted.
And editing the linear motor control model according to actual test requirements.
The power supply unit model and the CAN communication model are shown in fig. 3, and the steer-by-wire control system comprises a road sense simulator controller, a steering actuator controller and a comprehensive controller.
The power supply units are 12V direct-current power supplies and are divided into two paths, the power supply unit 1 supplies power to the circuit 1 of the integrated controller, the road sense simulator and the circuit 1 of the steering actuator, and the power supply unit 2 supplies power to the circuit 2 of the integrated controller and the circuit 2 of the steering actuator.
The road sensing simulator and the steering actuator are connected with the integrated controller through a CAN bus, the integrated controller is connected with a CAN communication unit of the simulator through a gateway, and the simulator transmits vehicle model state signals to the integrated controller, the road sensing simulator controller and the steering actuator controller, receives the state signals of the controllers and synchronously returns the state signals to the vehicle model, so that information interaction between the vehicle simulation model and a tested system is realized.
Configuration of a model interface:
and configuring an IO hardware interface for the vehicle and equipment models, compiling the IO hardware interface into SDF, RTA, RTC and MAP files and sending the SDF, RTA, RTC and MAP files to the real-time simulator. The upper computer operates the power supply unit module to supply power to the torsion actuator, the linear motor and the steer-by-wire system, and confirms that the communication of each interface is normal.
Editing a test case:
editing input signals, and compiling information such as turning angles, rotating speeds, vehicle speeds and the like according to test requirements; scene editing, wherein a road surface model and a driver model are defined, and the road surface model and the driver model comprise road gradient, road surface adhesion coefficient, driver control signals and the like; and editing fault types, and selecting specific fault types, such as open circuit, short circuit to ground and short circuit to power supply.
Automated testing:
and (4) leading the test cases into an automatic test program in sequence, and driving the test equipment to execute the closed-loop test of the sample.
Data recording and analysis:
and recording the torque, the corner and the load of the output end in the running process, reading the fault code in the testing process and after the testing, and analyzing the reason.
Example 3.
The embodiment further introduces a closed-loop test method for a rack of a steer-by-wire system of a passenger car, and relates to some typical test schemes:
(1) The road sense simulator test scheme comprises the following steps:
the torsion actuator rotates an input shaft of the road feel simulator at the rotating speeds of 2deg/s, 5deg/s, 10deg/s and 20deg/s … … 360deg/s, the rotating range is a full-stroke rotating angle, the torque of the torsion actuator in the test process is measured, and the feedback torque of a motor of the road feel simulator is collected through a CAN bus;
the torsion actuator is loaded by torque of 0.1Nm, 0.2Nm, 0.3Nm, 0.4Nm, 0.5Nm and 1Nm respectively and frequency of 0.1Hz, 0.5Hz, 1Hz, 2Hz, 3Hz and 4Hz, and 36 combined test schemes are totally adopted;
collecting motor feedback torque through a CAN bus;
and evaluating the motor torque response speed of the road feel simulator by comparing the expected and fed-back motor torque amplitude and phase synchronism.
(2) The performance test scheme of the line control system comprises the following steps:
setting the vehicle speed to be 0km/h, 20km/h, 40km/h … allowed maximum value;
loading at test conditions of 400 °/s and 100% full load, 600 °/s and 70% full load, 800 °/s and 50% full load, respectively;
and measuring the torque of the input end of the road feel simulator, and comparing the torque with a designed target curve.
(3) System fault injection test scheme:
installing the steer-by-wire system on the equipment, and editing parameters of the vehicle and the sample piece;
configuring an IO interface model, defining line fault types such as angles, torques, CAN, power supplies and the like, and compiling a test case;
and starting testing, reading the fault information of the sample piece by using CANOE, and analyzing the fault reason.
Claims (10)
1. A closed loop test method for a rack of a steer-by-wire system of a passenger vehicle is characterized in that the test method integrates the steer-by-wire system into a simulated virtual closed loop environment of the whole vehicle to test the related functions of the steer-by-wire system; the test method comprises the steps of test system construction and closed loop system test; the test system construction comprises sample piece installation, test equipment construction, communication construction and power supply configuration; the closed loop system test comprises model building, test case editing, automatic test and data record analysis.
2. The closed-loop testing method of claim 1, wherein the steer-by-wire system under test comprises a torsional actuator, a road feel simulator, a comprehensive controller, a steering actuator, and a linear motor; when a sample is installed, the input end of the road sense simulator is connected with the torsion actuator, the output end of the steering actuator is connected with the linear motor, and the integrated controller is connected with the road sense simulator and the steering actuator; the torsional actuator drives the road feel simulator to act, and angle control and torque control are carried out on the road feel simulator; the linear motor drives the rack of the steering gear actuator to act, and position control and load control are carried out on the steering gear actuator.
3. The closed-loop testing method of claim 2, wherein the testing device is configured to construct an upper computer and a lower computer; the upper computer is responsible for building a vehicle dynamics model, compiling IO interface configuration and test case editing, and the lower computer is a real-time simulation machine and is responsible for information transmission of the upper computer and other parts of the test system and action control of the torsion actuator and the linear motor.
4. The closed-loop testing method of claim 3, wherein the communication is established to establish information transfer paths for various portions of the testing system; the upper computer is connected with the lower computer through an Ethernet, the lower computer is connected with the torsion actuator and the linear motor through a simulation IO board card, the road sensing simulator and the steering device actuator are connected with the integrated controller through a CAN bus, and the integrated controller is connected with a CAN communication unit of the lower computer through a gateway.
5. A closed loop test method as claimed in claim 1, wherein the power supply is configured as a power supply configured to supply 220/380V ac to the test apparatus and a power supply configured to supply 12V dc to the sample piece.
6. A closed loop test method as claimed in claim 1 wherein the model building comprises building a vehicle model, building an equipment model and model interface configuration; building a vehicle model, namely building a vehicle dynamic model on an upper computer according to the parameters of the tested vehicle, and defining the input and output signals of the model according to the test requirements; the method comprises the steps of setting up an equipment model, namely setting up a test equipment model and a communication model, wherein the test equipment model comprises a torsional actuator control model, a linear motor control model, a power supply unit model and a CAN communication model; the model interface is configured to configure an IO hardware interface for a vehicle model and an equipment model, and is compiled into SDF, RTA, RTC and MAP files and sent to a lower computer, and the upper computer operates the power supply unit model to supply power to the torsion actuator, the linear motor and the steer-by-wire system, so that the communication of the interfaces is confirmed to be normal.
7. The closed-loop testing method of claim 1, wherein the test case edits include input signal edits, scenario edits, and fault type edits; the input signal is edited to compile vehicle parameter information according to test requirements; editing the scene to define a road model and a driver model; the fault type is compiled to set a specific fault type.
8. The closed-loop testing method of claim 3, wherein the automated testing is that the steer-by-wire system is placed in a running environment of the whole vehicle through model building and test case editing, the lower computer realizes action control and signal acquisition of the torsion actuator and the linear motor, the torsion actuator and the linear motor respectively drive the road feel simulator and the steering actuator, and the integrated controller simultaneously transmits feedback signals of the road feel simulator and the steering actuator equipment to the lower computer in real time to form a closed-loop test.
9. The closed-loop testing method of claim 8, wherein the data recording and analyzing is to record feedback signals of the road feel simulator and the steering actuator during operation and perform correlation analysis, and to read fault codes and analyze causes during and after testing.
10. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1-9 when executing the computer program.
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| CN202210765752.1A CN115291584A (en) | 2022-07-01 | 2022-07-01 | Closed-loop test method for rack of wire-controlled steering system of passenger vehicle |
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| CN202210765752.1A CN115291584A (en) | 2022-07-01 | 2022-07-01 | Closed-loop test method for rack of wire-controlled steering system of passenger vehicle |
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