CN1167040C - Multi-energy power assembly semi-matter simulation testing system - Google Patents

Abstract

The present invention relates to a multi-energy power assembly semi-matter simulation testing system. The present invention comprises a tabletop computer, an 8-channel analog to digital A/D collecting card, an 8-channel digital to analog D/A transition card, a 32-channel switching value I/O card, and a digital signal generator connected with a high speed serial port USB converter. A software development platform Matlab/simulink replaces a dynamic calculation model of an assembly of a starter, an internal combustion engine, a motor, a battery, a clutch, a speed changer, vehicle wheels, a vehicle body and a low voltage distribution system assembly in the actual vehicle running. A vehicle dynamics running equation is used for establishing energy balance of each assembly. Each assembly model works according to the self characteristics. An A/D plate card, a D/A plate card, an I/O plate card, and communication of an SCI and a USB are used for establishing the communication of a multi-energy power assembly controller and a model computer. The multi-energy power assembly controller carries out the parameter control and the logic control for the model, the output parameters of the model are transferred in a mode of the A/D plate card, the D/A plate card, the I/O plate card, a CAN plate card and the communication of the SCI. An actual controller, various signal transformation plate cards and the simulation model used for replacing a real assembly device form a closed loop test system.

Description

Multipotency driving source assembly semi-hardware type simulation test system

Technical field

The present invention relates to have electric automobile and the Multi-Energy Dynamic Assemble Control System hardware of other electric vehicle and the test macro of Control Software in multipotency source, just in the electric vehicle manufacture process, characterisitic parameter when known multipotency source assembly, or existing a spot of assembly material object, but do not carry out the system of power assembly control system software and hardware experimental test under the condition that each assembly material object of multipotency source is assembled, i.e. multipotency driving source assembly semi-hardware type simulation test system.

Background technology

Electric automobile Multi-energy Powertrain Controller (being called for short multipotency source ECU) is except that having the complicated hardware circuit, also has the complex interface circuit, change as analog/digital (A/D), digital-to-analog (D/A) conversion, switching value input and output (I/O), serial communication (SCI), control area net (CAN) data transmission etc., in addition, the software in the control chip is promptly also very complicated to the software of multipotency source and car load control, thereby brings sizable difficulty to hardware and software debugging.Multi-energy Powertrain Controller manufacture finish after, only according to simple debugged program observe A/D, D/A, I/O, SCI and CAN interface have no signal judge the software and hardware of controller whether working properly be far from being enough, because this can't examine whether work coordination of control hardware, also can't check Control Software whether to work rationally, thus the workload will strengthen on experimental stand or on the car load with each assembly uniting and adjustment the time.Therefore, operating characteristic according to each assembly of car load, adopt software engineering method to set up model, form integrated semi-hardware type simulation test system (also can be described as the virtual test pilot system) in conjunction with computing machine and interface integrated circuit board, multipotency driving source assembly electric-control system to the different Control Software of being constructed and structure are formed carries out real-time simulation, test and evaluation.Like this, just mistake and impropriety can be eliminated in design initial, the debug time shortening of getting on the bus, Change In Design expense are reduced.

Summary of the invention

The purpose of this invention is to provide a kind of multipotency driving source assembly hardware-in-the-loop simulation test system, this system is according to the operating characteristic of each assembly of car load, adopt software engineering method to set up model, form integrated Semi-Physical Simulation Test System in conjunction with computing machine and hardware interface integrated circuit board, multipotency driving source assembly electric-control system to the different Control Software of being constructed and structure are formed carries out real-time simulation, test and evaluation.Also can be used to examine single assembly working performance of devices in the multipotency driving source assembly.

Multipotency driving source assembly semi-hardware type simulation test of the present invention system, comprise a desk-top computer, eight road modulus A/D capture cards of support hardware, eight way mould D/A transition cards, 30 two-way switch amount I/O cards and the digital signal generator that is connected with high speed serial ports USB converter, Software Development Platform Matlab/simulink, the starter that replaces the actual vehicle operation, explosive motor, motor, battery, clutch coupling, variator, wheel, vehicle body, the dynamic calculation model of each assembly of low-voltage distribution system, use the dynamics of the automobile equation that travels, set up the energy equilibrium of each assembly by Matlab/simulink, each assembly model is by institute's simulated object self characteristics work, use A/D, D/A, the I/O integrated circuit board, serial ports SCI communication, Multi-energy Powertrain Controller and the getting in touch of computing machine of setting up model are set up in high speed serial ports USB communication, controller A/D, I/O, the CAN bus adapter, the electric weight that the SCI communication is transmitted carries out parameter control and logic control to model, the output parameter of model passes through D/A, I/O, the CAN bus adapter, the mode of SCI communication and USB communication is passed to multipotency source assembly controller, actual controller, various conversion of signals integrated circuit boards and be used for replacing the realistic model of true assembly controller spare to form closed loop test system together.

The concrete method for building up of model is as follows:

Engine mockup, motor model are made up of the torque-speed-efficiency characteristic curve of test gained, also claim engine, motor M ap figure.The working point of engine is determined by rotating speed and throttle opening, the working point of motor is determined by rotating speed and motor torque given (being commonly called as the motor accelerator open degree), battery model is made up of the charge-discharge characteristic curve of test gained, by tabling look-up and the mode of curve fitting is asked its working point, clutch model comprises combination, separate, the three kinds of operating modes of skidding, the coupling device model is used for the dynamic mixing mode of engine and motor, the variator model comprises by speed of a motor vehicle gear shift with by two kinds of mode of operations of engine load rate gear shift, the wheel model is used to apply damping force and slippage, the vehicle body model is used for applying frontal resistance, and the low-voltage distribution system model comprises power-on self-test switch and ignition switch.

Each model is with driving force---and the running resistance balance is set up equation.

$\mathrm{Me}=\frac{\mathrm{Mg}(f+i)r}{i_g{i}_0{\mathrm{\η}}_T}+\frac{C_D\mathrm{A\ρ}{u}^{2}r}{2i_g{i}_0{\mathrm{\η}}_T}+\frac{\mathrm{du}}{\mathrm{dt}}(\frac{\mathrm{mr}}{i_g{i}_0{\mathrm{\η}}_T}+\frac{\mathrm{\Σ}{I}_W}{r{i}_g{i}_0{\mathrm{\η}}_T}+\frac{I_f{i}_g{i}_0}{r}+\frac{I_d{i}_g{i}_0}{r})$

In the formula: Me-engine output torque, N.m;

M-automobile gross mass, kg;

G-acceleration of gravity, 9.81m/s ²

The f-coefficient of rolling resistance, to car, f=f ₀(1+0.00067u ²), f=0.014～0.02;

The i-road grade;

The r-tire rolling radius, m;

i _g-transmission ratio;

i _o-main reducing gear ratio of gear;

η _T-mechanical efficiency of power transmission;

C _D-empty resistance coefficient;

The A-front face area, m ²

ρ-atmospheric density is got ρ=1.2258N.s ².m ^-4

The u-speed of a motor vehicle, m/s;

I _w-wheel inertia, kgm ²

I _f-engine moment inertia, kgm ²

I _d-motor moment of inertia, kgm ²

This Multi-energy Powertrain Controller is as follows to the control mode of each model of l-G simulation test test macro:

Engine air throttle aperture, motor torque (generator for electricity generation electric current), cell voltage (V), battery current (I), battery charge state (SOC value) and damping force are transmitted with analog quantity.Operating mode control, duty, starting switch signal transmit with switching value.Engine and motor speed transmit with pulse signal (Pules) by USB and digital signal generator, and needed motor speed, engine air throttle aperture, accelerator pedal position are all regularly transmitted with serial ports SCI in speed-changing lever position, current gear and the variator model.This l-G simulation test test macro has following characteristics:

1) the l-G simulation test test macro has on the interface parameter such as the setting of fault pattern, gear control setting, ignition switch setting can be set.

2) the l-G simulation test test macro has the transport condition display interface

As engine speed, motor speed, battery charge state (SOC), the current gear of variator.In addition, free-speed of a motor vehicle curve also, in real time during the display model running car time-speed of a motor vehicle curve, can also show the desired code test curve of operating condition method simultaneously.

Description of drawings

Fig. 1 is the block diagram that the hardware-in-the-loop simulation test system is connected with Multi-energy Powertrain Controller.

Starter, engine, motor, battery, clutch coupling, coupling device, automatic transmission, wheel, vehicle body, low-voltage distribution system are the dynamic calculation model among the figure, and multipotency source ECU is the electric automobile Multi-energy Powertrain Controller.

The heavy line that connects each model among the figure Be energy stream, i.e. the power represented of rotating speed, torque or voltage, electric current: thin double dot dash line For calculating feedback quantity.

The long fine line that connects each model and Multi-energy Powertrain Controller (EUC) Be switching value signal, fine dotted line Be analog signals, the single-point line

Be pulse signal.

The outward extending short fine line of each model is the signal that is connected with operation interface, by model outside be signal to interface display, as engine speed, SOC value of battery etc.; Direction model be the control signal that can add to model by the interface, for example fault setting, gear changing mode etc.

The symbol implication is among the figure:

M _d-motor output torque, N.m; n _d-motor output speed, r/min;

n _e-engine output speed, r/min; M-coupling device output torque, N.m;

N-coupling device output speed, r/min; I-variator and main reducing gear overall ratio;

F-wheel drive power, N; N '-clutch coupling feeds back to the rotating speed of engine, r/min;

M _dThe torque of '-need motor output, N.m; n _d'-need the motor output speed, r/min;

The I-electric current, A; V-voltage, V;

" coupling device feeds back to clutch coupling and rotating speed of motor, r/min to n;

N -wheel feeds back to the rotating speed of transmission output shaft, r/min.

Embodiment

The embodiment of this multipotency driving source assembly semi-hardware type simulation test system

As hardware platform, IPC5442 eight road moduluses (A/D) capture card, IPC5445 eight way mould (D/A) transition cards, IPC5311 30 two-way switch amounts (I/O) are blocked as hardware supported with PIII 800 desk-top computers.Software Development Platform is Matlab/Simulink.The digital signal generator that is connected with high speed serial ports USB mouth converter in addition as hardware supported is used to produce pulse signal.

Replace the operation of actual vehicle with the operation of the dynamic calculation model of starter, explosive motor, motor, battery, clutch coupling, coupling device, variator, wheel, vehicle body, low-voltage distribution system, so that the control signal and the Control Software of multipotency source ECU system are tested.Multi-energy Powertrain Controller in kind with after the l-G simulation test test macro is connected as shown in Figure 1.In actual use, can adjust the connected mode of model according to the arrangement of concrete multipotency driving source automobile.

1) setting up with the coupling device is the model at center, and the torque of each model, rotating speed are all changed to the coupling device input and output side.

Coupling device input end: the positive torque M e of engine

The positive torque M d of motor

Generator is born torque-Md

Coupling device output terminal: output torque M tq

Pure engine behavior Mtq=Me

Engine+motor duty Mtq=Me+Md

Pure motor duty Mtq=Md

Generator duty Mtq=Me-Md

Regenerative braking duty Mtq=-Md event, coupling device torque balance equation is:

$\mathrm{Mtq}=\frac{\mathrm{Mg}(f+i)r}{i_g{i}_0{\mathrm{\η}}_T}+\frac{C_D\mathrm{A\ρ}{u}^{2}r}{2i_g{i}_0{\mathrm{\η}}_T}+\frac{\mathrm{du}}{\mathrm{dt}}(\frac{\mathrm{mr}}{i_g{i}_0{\mathrm{\η}}_T}+\frac{\mathrm{\Σ}{I}_W}{r{i}_g{i}_0{\mathrm{\η}}_T}+\frac{I_f{i}_g{i}_0}{r}+\frac{I_d{i}_g{i}_0}{r})$

In the above-mentioned balance equation of concrete parameter substitution with automobile, write corresponding process flow diagram with Simulink.2) represent 1. working state signal table (input) of controlled variable with following four tables

Assembly	Title	Signal wire and signal
			Starter	Enabling signal	D1“0”
Do not start	D1“1”
		Engine		The fuel feeding switch open	D3“0”
The fuel feeding switch cuts out	D3“1”
			Motor	Operating mode control	D10“0”
D11 " 1 " motor
	D10“1”
D11 " 0 " generator
	D10“0”
D11 " 0 " idle running
	Clutch coupling	Close			D4“1”
Divide			D4“0”

2. working state signal table (output)

Assembly	Duty	Signal wire and signal
			Starter	Normally	D2“0”
Fault	D2“1”
		Battery		Permission powers on	D7“0”
Do not allow	D7“1”
			Normally	D8“0”
Fault	D8“1”
			Motor	Allow running	D9“0”
Do not allow	D9“1”

Automatic speed changer for machine	Normally	D6“0”
			Fault	D6“1”
	Gear shift request	D5“0”
			Do not have	D5“1”

3. analog input amount signal list

Assembly	Title	Port	Range of signal
				Engine	Air throttle	A/D1	0～5V
Motor	Torque is given	A/D2	0～5V
				Generation current	A/D2	0～5V
	The multipotency source	Brake pedal	A/D3				0～5V

4. imitated output quantity signal list

Assembly	Title	Port	Range of signal
				Engine	Rotating speed	Pulse1	0/5V
Battery	Electric current	D/Al	0～5V
				Voltage	D/A2	0～5V
	SOC	D/A3	0～5V
				Motor	Rotating speed	Pulse2	0/5V
Car load	The speed of a motor vehicle	D/A4	0～5V

Input, output control signal are caused on the Simulink module of corresponding model with logical symbol and line.Demonstration on the interface and control signal also cause on the Simulink module of corresponding model with logical symbol and line.

5. each module of emulation test system and interface board pinout

3) emulation testing process

1. prepare operation

When ignition switch is positioned at 1 position, the beginning self check.Each parts output services state.Normal output " 0 ", fault output " 1 ".

When ignition switch is positioned at 2 positions, last forceful electric power.Battery sends the permission signal that powers on, and motor sends the permission CRANK PULSES.

Each model of car load enters the preparation running status.

2. engine operation

As D1=" 0 ", starter starts, as D3=" 0 ", and A/D1 ≠ 0, engine running enters high idle speed, and rotation speed n e=1500r/min looks into engine map figure by the throttle opening of ne and A/D1 signal indication, determines the working point, gets torque M e.

To interface board and interface output signal: rotating speed P1.

To clutch coupling output energy datum: rotation speed n e, torque M e.

3. the processing of slipping of clutch:

NL1=ne, nL1 are clutch coupling active part rotating speed, and nL2 is a clutch coupling secondary part rotating speed.

When clutch coupling in conjunction with the time, as nL1-nL2=Δ nL 〉=200r/min, then think and will start to walk with engine.Give the slipping of clutch process, circulate 5 times, each nL2=nL2+ Δ nL/5.As | nL1-nL2|=Δ nL＜200, then nL2=nL1.

Clutch coupling is heavily looked into engine map figure to engine feedback tach signal n ' by n ' and throttle opening A/D1, determines new working point, gets Me.

When clutch separation, engine is looked into map figure by no-load running by last ne and throttle opening, determines the working point, and moment of torsion is used to overcome self inertia, and rotating speed increases sharply.

4. motor and battery operated

In motor model, motor has three kinds of mode of operations: motor, generator and idle running.By control signal D10 and D11 decision.

As D10=" 0 ", D11=" 1 ", the motor duty, motor speed nd=coupling device rotation speed n o, the coupling device rotating speed is determined by the speed of a motor vehicle.So, can givenly by the motor torque of A/D2 signal indication look into motor map figure with motor speed nd, determine the machine operation point, get Md.

To interface board and interface output signal: rotating speed P2.

Export the energy flow data to coupling device: nd, Md.Coupling device output torque M o=Me+Md.

Transmit the energy flow data to battery: the power and the reference current value that need.

Battery model is made of the charge-discharge characteristic of battery, during machine operation, determines the working point by the power of motor requirement and the charge-discharge characteristic of battery itself, transmits available current value and magnitude of voltage to motor.

To the interface board output signal: electric current D/A1, voltage D/A2, SOC value D/A3.

As D10=" 1 ", D11=" 0 ", generator duty, nd=no.A/D2 is a generation current, looks into generator map figure by A/D2 and nd, determines the working point, gets Md.

To interface board and interface output signal: rotating speed P2.

To coupling device output energy datum: nd, Md.Then coupling device output torque is Mo=Me-Md.

Battery is by the charge characteristic charging.

To the interface board output signal: electric current, voltage, SOC.

4) test effect

Through carrying out uniting and adjustment with Multi-Energy Dynamic Assemble Control System, the result shows that native system can be examined the interface signal and the control strategy of Multi-energy Powertrain Controller well, has saved the debug time on actual tests platform and car load greatly.

To the direct test shows of electronically controlled throttle valve components and parts, this semi-hardware type simulation test system also can carry out the testing experiment of single components and parts performance.

Claims (4)

1, a kind of multipotency driving source assembly semi-hardware type simulation test system, it is characterized in that comprising a desk-top computer, eight road modulus A/D capture cards of support hardware, eight way mould D/A transition cards, 30 two-way switch amount I/O cards and the digital signal generator that is connected with high speed serial ports USB converter, Software Development Platform Matlab/simulink, the starter that replaces the actual vehicle operation, explosive motor, motor, battery, clutch coupling, variator, wheel, vehicle body, the dynamic calculation model of each assembly of low-voltage distribution system, use the dynamics of the automobile equation that travels, set up the energy equilibrium of each assembly by Matlab/simulink, each assembly model is by institute's simulated object self characteristics work, use A/D, D/A, the I/O integrated circuit board, serial ports SCI communication, Multi-energy Powertrain Controller and the getting in touch of computing machine of setting up model are set up in high speed serial ports USB communication, controller A/D, I/O, the CAN bus adapter, the electric weight that the SCI communication is transmitted carries out parameter control and logic control to model, the output parameter of model passes through D/A, I/O, the CAN bus adapter, the mode of SCI communication and USB communication is passed to multipotency source assembly controller, actual controller, various conversion of signals integrated circuit boards and be used for replacing the realistic model of true assembly device to form closed loop test system together.

2, emulation test system as claimed in claim 1, it is characterized in that the dynamic calculation model sets up as follows, engine mockup, motor model is made up of the torque-rotating speed-efficiency characteristic curve of test gained, the working point of engine is determined by rotating speed and throttle opening, the working point of motor is given definite by rotating speed and motor torque, battery model is made up of the charge-discharge characteristic curve of test gained, by tabling look-up and the mode of curve fitting is asked its working point, clutch model comprises combination, separate, the three kinds of operating modes of skidding, the coupling device model is used for the dynamic mixing mode of engine and motor, the variator model comprises by speed of a motor vehicle gear shift with by two kinds of mode of operations of engine load rate gear shift, the wheel model is used to apply damping force and slippage, the vehicle body model is used for applying frontal resistance, and the low-voltage distribution system model comprises power-on self-test switch and ignition switch.

3, emulation test system as claimed in claim 1 is characterized in that each model is with driving force---the running resistance balance is set up equation, comprises

$\mathrm{Me}=\frac{\mathrm{Mg}(f+i)r}{i_g{i}_0{\mathrm{\η}}_T}+\frac{C_D\mathrm{A\ρ}{u}^{2}r}{2i_g{i}_0{\mathrm{\η}}_T}+\frac{\mathrm{du}}{\mathrm{dt}}(\frac{\mathrm{mr}}{i_g{i}_0{\mathrm{\η}}_T}+\frac{\mathrm{\Σ}{I}_W}{r{i}_g{i}_0{\mathrm{\η}}_T}+\frac{I_f{i}_g{i}_0}{r}+\frac{I_d{i}_g{i}_0}{r})$

In the formula: Me-engine output torque, N.m;

M-automobile gross mass, kg;

G-acceleration of gravity, 9.81m/s ²

The f-coefficient of rolling resistance, to car, f=f ₀(1+0.00067u ²), f=0.014～0.02;

The i-road grade;

The r-tire rolling radius, m;

i _g-transmission ratio;

i ₀-main reducing gear ratio of gear;

η _T-mechanical efficiency of power transmission;

C _D-empty resistance coefficient;

The A-front face area, m ²

ρ-atmospheric density is got ρ=1.22 5 8N.s ².m ^-4

The u-speed of a motor vehicle, m/s;

I _W-wheel inertia, kgm ²

I _f-engine moment inertia, kgm ²

I _d-motor moment of inertia, kgm ²

4, emulation test system as claimed in claim 1, the control mode that it is characterized in that each model is: the engine air throttle aperture, motor torque, the generator for electricity generation electric current, cell voltage V, electric current I, state-of-charge SOC value and damping force are transmitted with analog quantity, operating mode control, duty, the starting switch signal transmits with switching value, engine and motor speed transmit with pulse signal by USB mouth and digital signal generator, the speed-changing lever position, needed motor speed in current gear and the variator model, the engine air throttle aperture, accelerator pedal position is all regularly transmitted with serial ports SCI.