CN206258730U - A kind of electric motor car entire car controller hardware-in―the-loop test system - Google Patents
A kind of electric motor car entire car controller hardware-in―the-loop test system Download PDFInfo
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- CN206258730U CN206258730U CN201621240275.3U CN201621240275U CN206258730U CN 206258730 U CN206258730 U CN 206258730U CN 201621240275 U CN201621240275 U CN 201621240275U CN 206258730 U CN206258730 U CN 206258730U
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- 238000012360 testing method Methods 0.000 title claims abstract description 108
- 238000004088 simulation Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 3
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- 238000011161 development Methods 0.000 abstract description 8
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- 238000011056 performance test Methods 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000011217 control strategy Methods 0.000 description 4
- 101150008604 CAN1 gene Proteins 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 239000000976 ink Substances 0.000 description 3
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- 230000007613 environmental effect Effects 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
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- 238000012956 testing procedure Methods 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
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Abstract
The utility model discloses a kind of electric motor car entire car controller hardware-in―the-loop test system, including vehicle emulation module in controller of whole electric vehicle, direct fault location hardware cell, SCALEXIO and computer, vehicle traveling animation simulation module and vehicle-state operation and monitoring module；The connection and communication between SCALEXIO hardware, direct fault location hardware cell, controller of whole electric vehicle are realized by wire harness, realize that SCALEXIO is connected and communication with computer by netting twine, realize that SCALEXIO hardware corridors are selected by corresponding SCALEXIO softwares in computer, train's simulation model, vehicle traveling animation, vehicle-state operation are interacted with the communication of monitoring in computer.The utility model can be with effectively save entire car controller development time and development cost, and the performance test that can realize to entire car controller under automobile limit driving cycle, the System Integration Automation test to entire car controller can be realized, and generate test report, testing cost is effectively reduced, testing efficiency is improved.
Description
Technical field
The utility model is related to Automobile Measuring Techniques field, it particularly relates to a kind of electric motor car is hard with entire car controller
Part is in ring test system and method for testing.
Background technology
The increasingly serious environmental pollution brought with conventional fuel oil car and energy shortage problem, electric automobile turn into solution
The key of this two large problems.Electric motor car has larger difference with conventional fuel oil car, and difference, vehicle are even more in terms of entire car controller
Controller as electric motor car control core, entire car controller coordinate and control vehicle critical piece.
Entire car controller receives the signal of sensor collection, by itself control strategy and control algolithm, calculates conjunction
Suitable control instruction, and control instruction is sent to executing agency, its performance directly affects the performance of vehicle.
At present, commercially, controller of whole electric vehicle species is various, but the properties of controller are difficult assessment,
Entire car controller is tested only with real vehicle, not only cost performance is low but also measurement condition is limited, can not especially test automobile
The performance of entire car controller under limit driving cycle.And the control strategy in entire car controller is continuously increased, traditional detection
Method can not meet measuring accuracy and requirement.
Existing entire car controller test is largely focused on model in ring, software in ring, the test essence in the two stages
Degree does not reach real steering vectors requirement yet, and in real steering vectors, not only needs driver, and Test Engineer simultaneously also will be at the scene
Test experiments are carried out, the testing time is vulnerable to the influence of environment and road, and testing efficiency is low, and testing cost is high, if in real vehicle
Test phase, it is found that entire car controller has problem and repaired, it is necessary to return to the early development stage, not only extends whole
The development time of vehicle controller, and increased development cost.
Utility model content
In order to overcome the above-mentioned problems in the prior art, the utility model provides a kind of electric motor car full-vehicle control
Device hardware-in―the-loop test system and method for testing.
To realize above-mentioned technical purpose, what the technical solution of the utility model was realized in：
A kind of electric motor car entire car controller hardware-in―the-loop test system, including entire car controller, direct fault location unit,
SCALEXIO and computer, the computer include vehicle emulation module, vehicle traveling animation simulation module and vehicle-state behaviour
Make monitoring module, between the entire car controller and direct fault location unit and between the direct fault location unit and SCALEXIO
It is connected by wire harness, is connected by netting twine between the SCALEXIO and computer；
The direct fault location unit is used to realize the short trouble of signal, open fault and monitors each line voltage distribution letter
Number；
The SCALEXIO is used for the work realized entire car controller and its signal communication, needs are provided for entire car controller
Make voltage and simulation CAN network；
The vehicle emulation module is used to set up train's simulation model；
The vehicle traveling animation simulation module is used for display train's simulation model running status animation in real time；
The vehicle-state operation monitoring module is used to control whole test process, while collecting test data.
Further, also including test cabinet, the direct fault location unit, SCALEXIO and entire car controller are integrated
In in the test cabinet.
Further, the entire car controller, direct fault location unit and entire car controller can be adjusted by height and depth
The dividing plate of section is integrated in test cabinet from top to bottom, and radiator fan, earth leakage protective device, guarantor are additionally provided with the test cabinet
Dangerous silk, emergency stop switch, power supply and indicating lamp device and normal switch.
Further, the direct fault location unit is made up of some direct fault location plates, and the two ends of the direct fault location plate set
There is the first interface for being connected with entire car controller and SCALEXIO respectively, the direct fault location plate middle part is provided with some failures
Inlet, the direct fault location mouthful includes the second interface being connected with every holding wire input and output end respectively, failure note
Entrance can carry out whether the realizing by connector into and out control into and out, direct fault location of connector.
The beneficial effects of the utility model：
(1) for the test of electric motor car entire car controller provides new means of testing and method；
(2) cost performance is higher, can realize the performance of entire car controller under test vehicle failure and limit driving cycle；
(3) more traditional engine bench test or prototype test, in the absence of taking up an area, big, working condition is complicated, different automobile types need to
Otherwise the problem of same stand；
(4) test system be easy to extension, test system temporarily use vehicle simulation model, subsequently can steering,
Power assembly system is integrated into the hardware-in―the-loop test system, is closer to real vehicle state, can test is as far as possible more
Completed in hardware in loop test session, effectively reduce real train test operating mode, effectively save development cost shortens the development time；
Brief description of the drawings
Fig. 1 is the theory diagram in ring test system according to the utility model embodiment；
Fig. 2 is the test cabinet layout drawing in ring test system according to the utility model embodiment；
Fig. 3 is the structural representation of the direct fault location unit according to the utility model embodiment；
Fig. 4 is the structural representation of the connector according to the utility model embodiment；
Fig. 5 is the direct fault location intralamellar part partial circuit diagram according to the utility model embodiment；
Fig. 6 is the structural representation connected between computer and display screen according to the utility model embodiment；
Fig. 7 is the structural representation of the first wire harness in ring test system according to the utility model embodiment；
Fig. 8 is the structural representation of the second wire harness in ring test system according to the utility model embodiment.
Shown in figure：
1- entire car controllers；2- direct fault location units；3-SCALEXIO；4- computers；5- test cabinets；6- radiation airs
Fan；7- dividing plates；8- direct fault location plates；9- display screens；The wire harness of 10- first；The wire harness of 11- second；12- second interfaces；13- is patched
Part；14- first interfaces.
Specific embodiment
With reference to the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out clearly
Chu, it is fully described by.
As shown in figure 1, a kind of electric motor car entire car controller hardware in loop according to embodiment of the present utility model
Test system, including entire car controller (VCU) 1, direct fault location unit 2, SCALEXIO3 and computer 4, the computer 4 are wrapped
Include vehicle emulation module, vehicle traveling animation simulation module and vehicle-state operation monitoring module, the entire car controller 1 and event
It is connected by wire harness between barrier injection unit 2 and between the direct fault location unit 2 and SCALEXIO3, it is described
It is connected by netting twine between SCALEXIO3 and computer 4.
As shown in figure 1, the hardware-in―the-loop test system of entire car controller 1 is computer 4 centered on SCALEXIO3, first
Interior vehicle-state operation software, the operation of shunt simulation model, train's simulation model parameter in real time with vehicle emulation animation
Display carries out information exchange, and train's simulation model is connected by emulating wire harness with SCALEXIO softwares, and entire car controller 1 is by real
Border wire harness is connected with SCALEXIO3, and this system constitutes closing from entire car controller-SCALEXIO- train's simulation models
Ring is controlled, and vehicle-state operation monitoring module is responsible for controlling whole test process in this closed-loop control, while collecting test
Data, vehicle traveling animation simulation module is responsible for the information exchange with train's simulation model, for display simulating vehicle row in real time
State is sailed, the status information of measurement condition and vehicle is more intuitively observed.
As shown in Fig. 2 SCALEXIO3, direct fault location unit of the electric motor car with entire car controller hardware-in―the-loop test system
2nd, entire car controller 1 is integrated in the test cabinet 5 of test system, and the internal layout of test cabinet 5 is 3 layers, is used between layers
Dividing plate 7 separates, and dividing plate is about 7, fore-aft adjustable, and SCALEXIO3 places in the lower floor of test cabinet 5, and direct fault location list is placed in intermediate layer
Entire car controller 1 is placed on unit 2, upper strata, and the first wire harness 10 is connected SCALEXIO3 with direct fault location unit 2 first, the second wire harness
11 direct fault location units 2 are connected with entire car controller 1.Power supply is provided with test cabinet 5 (not showing in figure with indicating lamp device
Go out), relay (not shown), fuse (not shown), emergency stop switch (not shown), normal switch is (in figure
It is not shown) and radiator fan 6.
As shown in Fig. 2 direct fault location unit 3 is made up of three direct fault location plates 8, short circuit and the open fault of signal are realized
And measurement of the realization to each line signal potential circuit.
As shown in figure 3, the input/output terminal of every circuit is picked out direct fault location mouthful, each failure note by direct fault location plate 8
Entrance is made up of two second interfaces 12, and in the insertion second interface 12 of connector 13, described two second interfaces 12 are equivalent to two
Individual switch, under normal circumstances, in the insertion second interface 12 of connector 13, combines equivalent to a switch, and one switches off, from
And realize the connection of wire harness；Extracted when connector 13, all off equivalent to two switches, circuit disconnects；Using outer lines
Described two second interfaces 12 are coupled together, is all closed equivalent to 2 switches, the line short circuit.Direct fault location unit 3
Two ends are the first interfaces 14 for connecting VCU and SCALEXIO.
As shown in figure 5, each signal line has input terminal and lead-out terminal, two switches are correspond to.When patching
Then it is fault-free in the corresponding road signal conduction when in the insertion first interface 14 of part 13；Corresponded to if connector 13 is extracted
Signal disconnect, then be failure exist.
Vehicle animation display device is used and is connected to the 3 of computer 4 display screens 9, as shown in fig. 6,3 display screens
9 show power performance model, traveling animation, vehicle monitoring and parameter calibration interface simultaneously；In vehicle parameter and vehicle power
After learning model determination, 3 display screens 9 are while display automobile traveling animation, makes observer have third dimension, closer to real automobile
Driving cycle.
SCALEXIO3 is the optimal integrated test system exclusively for the test development of entire car controller 1, inside there is high speed processor
Board, I/O boards and fan etc., SCALEXIO hardware have abundant I/O interfaces, can not only realize entire car controller 1 with
The wire harness connection of SCALEXIO3 and signal communication, can also be that entire car controller 1 provides the operating voltage for needing, and voltage is real-time
It is adjustable, CAN network can be simulated.
Train's simulation model, is realized by the Model Desk softwares in computer 4, is used in Model Desk softwares
Configuration vehicle dynamic model, environmental variance model, motor model, battery model, actuation system models, operation intent model；
Can realize with real vehicle identical signal input with output, reach carries out full-vehicle control to emulate auto model instead of real vehicle vehicle
The purpose of device test, vehicle dynamic model can modify according to the design parameter of real vehicle, reach and match somebody with somebody with real vehicle identical
Put, vehicle simulation accuracy is effectively ensured, realize the comprehensive working condition measurement to entire car controller, so as to reduce real train test test work
Condition, greatly improves testing efficiency, reduces testing cost.
Vehicle-state is operated and monitored, and is by Configuration Desk softwares, Control Desk in computer 4
Software is realized, is first the simulation model that entire car controller can be built by Configuration Desk softwares, Ke Yishe
Put the input and output between entire car controller 1 and dynamics of vehicle vehicle simulation model, it is also possible to for configuring entire car controller 1
The interface definition being connected with SCALEXIO3 and emulation wire harness, determine that entire car controller 1 is each with SCALEXIO3 according to interface definition
The definition of individual correspondence PIN angles, then couples together two corresponding PIN angles with wire harness, makes actual wire harness, realizes full-vehicle control
Device 1 and SCALEXIO3 hardware.
The transport condition and state variable of train's simulation model are shown by Control Desk softwares, such as：Speed, motor
Rotating speed, gear, sensor signal, on off state, relay status, can real time record process of the test, record test data, lead
Go out test data, realize online parameter calibration, be provided with the control of model key switch, model initialization control.
Wire harness has a CAN network (CAN1, CAN4, CAN0), and CAN1 is vehicle body CAN network, including instrument board, BMS, and CAN4 is
Power CAN network, mainly motor and controller, BMS, electrokinetic cell, high-voltage board and high pressure annex, CAN0 are to demarcate
CAN network, write with a brush dipped in Chinese ink for VCU programs, whole-car parameterses demarcate and message data collection.
Normal signal line, wire harness is made up of American Standard line, terminal, number marking tube, telescoping tube, flexible metal conduit.As Figure 7-8, hold
Attached bag includes one end terminal of entire car controller 1 and SCALEXIO3 one end terminal, one end terminal of entire car controller 1 be divided into A areas terminal and
B areas terminal, SCALEXIO3 one end terminal is divided into ECU1, ECU2, ECU3, CAN1, CAN4 and CAN0.
Specifically, electric motor car of the present invention is as follows with the method for testing of entire car controller hardware-in―the-loop test system：
1. first it is to reserve wire harness and connect one end of entire car controller 1 being connected in hardware-in―the-loop test system, then utilizes
Cd-rom recorder is write with a brush dipped in Chinese ink the program of entire car controller to be tested 1 in the hardware of entire car controller 1；
2., according to the program of entire car controller 1 write with a brush dipped in Chinese ink, the interface definition document of corresponding entire car controller 1 is found, according to
The interface definition document of entire car controller 1, sets up the emulation mould of entire car controller 1 in Configuration Desk softwares
Type, and various signals (CAN, on-off model, analog signalses, pwm signal) in interface definition document are correspondingly arranged, according to each
The passage of kind of signal behavior SCALEXIO3, attribute setting is carried out to passage, at the same set the simulation model of entire car controller 1 with
The input and output of train's simulation model；
3. configuration testing auto model, the parameter modification train's simulation model vehicle dynamic model according to real vehicle, motor
Model, battery model, the parameter of actuation system models, environmental variance model are intended to need to carry out list according to measurement condition with operation
Solely set, including measurement condition road is set, operation behavior is set；
4. entire car controller 1, direct fault location unit 2 are connected with SCALEXIO3 by wire harness, entire car controller 1, failure
Injection unit 2 can carry out information exchange, including the communication of CAN communication, sensor signal, control instruction signal with SCALEXIO3
Communication.Realized to entire car controller 1 similar to the test of real vehicle and demarcation by the hardware-in―the-loop test system of entire car controller 1,
And realize the marginal test operating mode that real vehicle not can relate to.
5. test software used is opened, and the software being related to there are Configuration Desk softwares for configuring true vehicle
Controller 1 and train's simulation model interface, the model to having configured are compiled, the corresponding file of generation model；Model
Desk calls the model compilation file that Configuration Desk are generated, and the parameter to auto model is carried out according to real vehicle parameter
Configuration；Motion Desk are connected to the train's simulation model of SCALEXIO internal operations, and carry out information exchange therewith, in real time
Display vehicle traveling animation；Control Desk software merit rating auto models running status is controlled, and monitoring variable shows that control becomes
Amount parameter online modification and demarcation, whole-car parameterses online modification, can be used for the collection of test data；Automation Desk
Software is used to realize automatic test, is first writing for test case, according to test case requirement, automatically to full-vehicle control
Device 1 is tested, and automatically generates test report.
6. pair test data, test report are analyzed, and improve the control strategy of entire car controller 1, add new test and use
Example, is then carrying out the testing procedure of a new round, until the test of entire car controller 1 is fully completed.
The electric motor car test pattern of entire car controller hardware-in―the-loop test platform
1. manual test
Required according to test case, realized to the single control functions of VCU in ring, hardware in loop from model in ring, software
Open-loop test.Open-loop test includes：Bear voltage range test, signal and receive test, control instruction signal testing, CAN communication
Network test.
2 automatic tests
It is described first under test case write-in Automation Desk softwares using Automation Desk softwares
Software realizes the System Integration Automation test to entire car controller 1 according to test case.Realize that the closed loop of entire car controller is surveyed
Examination includes：Control strategy test under fault diagnosis test, various operating modes, functional test.Can realize entire car controller 1 from
Dynamicization is tested, and the system can continuously work seven days seven nights, is realized on the premise of nobody operates, automatically to full-vehicle control
Under the operating mode that device 1 is configured, test is repeated, and automatically generate test report.
Each testing procedure can carry out online modification and demarcate to Controlling model and control parameter.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all at this
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.
Claims (4)
1. a kind of electric motor car entire car controller hardware-in―the-loop test system, it is characterised in that noted including entire car controller, failure
Enter unit, SCALEXIO and computer, the computer includes vehicle emulation module, vehicle traveling animation simulation module and vehicle
State operate monitoring module, between the entire car controller and direct fault location unit and the direct fault location unit with
It is connected by wire harness between SCALEXIO, is connected by netting twine between the SCALEXIO and computer；
The direct fault location unit is used to realize the short trouble of signal, open fault and monitors each line voltage signal；
The SCALEXIO is used to realize entire car controller and its signal communication, the work for needing electricity is provided for entire car controller
Pressure and simulation CAN network；
The vehicle emulation module is used to set up train's simulation model；
The vehicle traveling animation simulation module is used for display train's simulation model running status animation in real time；
The vehicle-state operation monitoring module is used to control whole test process, while collecting test data.
2. electric motor car according to claim 1 entire car controller hardware-in―the-loop test system, it is characterised in that also include
Test cabinet (5), the direct fault location unit, SCALEXIO and entire car controller are integrated in the test cabinet (5).
3. electric motor car according to claim 2 entire car controller hardware-in―the-loop test system, it is characterised in that described whole
Vehicle controller (1), direct fault location unit and entire car controller are collected from top to bottom by the dividing plate (7) that height and depth can be adjusted
Opened into radiator fan (6), earth leakage protective device, fuse, jerk is additionally provided with test cabinet (5), in the test cabinet (5)
Pass, power supply and indicating lamp device and normal switch.
4. electric motor car according to claim 1 entire car controller hardware-in―the-loop test system, it is characterised in that it is described therefore
Barrier injection unit (2) is made up of some direct fault location plates (8), the two ends of the direct fault location plate (8) be provided with for respectively with it is whole
Vehicle controller and the first interface (14) of SCALEXIO connections, direct fault location plate (8) middle part are provided with some connectors (13),
The connector (13) includes the second interface (12) that is connected with every holding wire input and output end respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621240275.3U CN206258730U (en) | 2016-11-21 | 2016-11-21 | A kind of electric motor car entire car controller hardware-in―the-loop test system |
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| CN201621240275.3U CN206258730U (en) | 2016-11-21 | 2016-11-21 | A kind of electric motor car entire car controller hardware-in―the-loop test system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444721A (en) * | 2016-11-21 | 2017-02-22 | 南京越博动力系统股份有限公司 | Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method |
| CN107562038A (en) * | 2017-08-31 | 2018-01-09 | 中国第汽车股份有限公司 | A kind of Vehicle Controller Auto-Test System |
| CN110515312A (en) * | 2019-08-07 | 2019-11-29 | 北京理工大学 | A kind of hardware-in―the-loop test system and method for hybrid power system |
| CN111158710A (en) * | 2019-12-30 | 2020-05-15 | 杭州迪普科技股份有限公司 | Program programming method and device and network equipment |
| CN111221325A (en) * | 2020-01-20 | 2020-06-02 | 吉利汽车研究院（宁波）有限公司 | Hardware-in-loop test system and method |
| CN113267347A (en) * | 2021-05-17 | 2021-08-17 | 阳光电源股份有限公司 | Method, device and system for testing slope-parking auxiliary function of electric automobile |
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- 2016-11-21 CN CN201621240275.3U patent/CN206258730U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444721A (en) * | 2016-11-21 | 2017-02-22 | 南京越博动力系统股份有限公司 | Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method |
| CN107562038A (en) * | 2017-08-31 | 2018-01-09 | 中国第汽车股份有限公司 | A kind of Vehicle Controller Auto-Test System |
| CN107562038B (en) * | 2017-08-31 | 2020-10-27 | 中国第一汽车股份有限公司 | Automatic test system for vehicle-mounted controller |
| CN110515312A (en) * | 2019-08-07 | 2019-11-29 | 北京理工大学 | A kind of hardware-in―the-loop test system and method for hybrid power system |
| CN111158710A (en) * | 2019-12-30 | 2020-05-15 | 杭州迪普科技股份有限公司 | Program programming method and device and network equipment |
| CN111158710B (en) * | 2019-12-30 | 2023-08-25 | 杭州迪普科技股份有限公司 | Program programming method, device and network equipment |
| CN111221325A (en) * | 2020-01-20 | 2020-06-02 | 吉利汽车研究院（宁波）有限公司 | Hardware-in-loop test system and method |
| CN111221325B (en) * | 2020-01-20 | 2022-05-10 | 宁波吉利汽车研究开发有限公司 | Hardware-in-loop test system and method |
| CN113267347A (en) * | 2021-05-17 | 2021-08-17 | 阳光电源股份有限公司 | Method, device and system for testing slope-parking auxiliary function of electric automobile |
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Granted publication date: 20170616 |