CN206411509U - Vehicle multi-controller emulation test system - Google Patents
Vehicle multi-controller emulation test system Download PDFInfo
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- CN206411509U CN206411509U CN201621387895.XU CN201621387895U CN206411509U CN 206411509 U CN206411509 U CN 206411509U CN 201621387895 U CN201621387895 U CN 201621387895U CN 206411509 U CN206411509 U CN 206411509U
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Abstract
The utility model is related to vehicle simulation technical field, discloses a kind of vehicle multi-controller emulation test system.It is included：For providing vehicle simulation model and simulation model of motor and running the host computer of vehicle multi-controller emulation testing；The vehicle replicating machine and Emulation of Electrical Machinery machine communicated to connect respectively with host computer；Vehicle replicating machine is used for first step long running vehicle simulation model, and Emulation of Electrical Machinery machine is used for second step long running simulation model of motor；Wherein, first step length is long more than second step；Vehicle replicating machine is communicatively coupled to Emulation of Electrical Machinery machine；The electric machine controller of vehicle is communicatively coupled to Emulation of Electrical Machinery machine；Entire car controller, battery simulator and the battery management system of vehicle are communicatively coupled to vehicle replicating machine.Emulation testing to vehicle multi-controller can not only be realized using present embodiment, and the emulation testing of the basic electromagnetic characteristic for the electric machine controller of vehicle can be realized simultaneously, the test coverage of vehicle multi-controller emulation testing is improved.
Description
Technical field
The utility model is related to vehicle simulation technical field, more particularly to a kind of vehicle multi-controller emulation test system.
Background technology
At present in entire car controller testing field, surveyed based on hardware in loop HIL (Hardware-In-the-Loop, HIL)
The controller test system of examination technology is very ripe.
Present inventor has found that existing HIL test systems have problems with during the present invention is realized：
Current HIL test systems mainly for automobile powered by conventional energy (automobile driven using conventional engines), and even in
When the research and development test of new energy vehicle, HIL is generally also to be modeled emulation based on physics external characteristics, for new-energy automobile
For all kinds of electric power and power electronic devices of motor, battery and inverter in dynamical system etc., simple physics external characteristics
Although emulation can effectively embody the allomeric function of model, its internal basic electromagnetic characteristic is often have ignored, therefore
In terms of the electric power of new energy and the emulation of power electronic devices, there is larger deficiency in existing HIL analogue systems.Also,
Existing HIL emulation test systems can not be met to new energy vehicle due to there is limitation in terms of hardware or system architecture
Partial power carries out the emulation of detailed model.
Utility model content
The purpose of the utility model embodiment is to provide a kind of vehicle multi-controller emulation test system, can not only
The emulation testing to vehicle multi-controller is realized, and the basic electromagnetic spy for the electric machine controller of vehicle can be realized simultaneously
Property emulation testing, improve vehicle multi-controller emulation testing test coverage.
In order to solve the above technical problems, embodiment of the present utility model provides a kind of vehicle multi-controller emulation testing
System, comprising：For providing vehicle simulation model and simulation model of motor and running the upper of vehicle multi-controller emulation testing
Machine；The vehicle replicating machine and Emulation of Electrical Machinery machine communicated to connect respectively with the host computer；The vehicle replicating machine is used for the
One step-length runs the vehicle simulation model, and the Emulation of Electrical Machinery machine is used for simulation model of motor described in second step long running；
Wherein, the first step length is more than second step-length；The simulation model of motor is used for simulating vehicle power electronic devices
Basic electromagnetic characteristic；The vehicle replicating machine is communicatively coupled to the Emulation of Electrical Machinery machine；The electric machine controller communication connection of vehicle
In the Emulation of Electrical Machinery machine；Entire car controller, battery simulator and the battery management system of vehicle are communicatively coupled to described whole
Car replicating machine.
In terms of existing technologies, vehicle multi-controller emulation test system includes being used for the utility model embodiment
There is provided vehicle simulation model and simulation model of motor and run vehicle multi-controller emulation testing host computer, respectively with host computer
The vehicle replicating machine and Emulation of Electrical Machinery machine of communication connection, wherein, vehicle replicating machine can be carried with first step long running host computer
The vehicle simulation model of confession, the simulation model of motor that Emulation of Electrical Machinery machine can be provided with second step long running host computer, and motor
Simulation model is used for the basic electromagnetic characteristic of simulating vehicle power electronic devices, i.e. simulation model of motor, and not only simulated machine is overall
Physics external characteristics, and be capable of the basic electromagnetic characteristic of the detailed model of the power electronic devices of simulating vehicle, so as to
Realize the comprehensive simulation test of the power electronic devices of vehicle.Therefore, present embodiment by a host computer and two with
The replicating machine of separate step-length operation realizes the emulation testing of the multi-controller for vehicle, and can not only be to whole
Vehicle model is emulated, and can carry out the imitative of detailed model to the power electronic devices of the new energy vehicle including motor
Very, the coverage rate of vehicle emulation testing is improved.
In addition, the Emulation of Electrical Machinery machine is field programmable gate array circuit.Field programmable gate array electricity
Road uses parallel processing technique, and the speed of service is higher so that simulation step length is that the second step-length can reach that 500ns (nanosecond) is left
It is right.
In addition, the field programmable gate array circuit is connected with the vehicle replicating machine by PCIe interface.It is existing
Field programmable logic gate array circuit carries out information exchange with vehicle replicating machine by PCIe interface, and transmission speed is fast, and existing
Field programmable logic gate array can be integrated in a computer with vehicle replicating machine, be conducive to simplifying test system.
In addition, the vehicle replicating machine is connected with the Emulation of Electrical Machinery machine by IEEE1394 interfaces.Two separate
Replicating machine information exchange between vehicle simulation model and simulation model of motor is ensure that by IEEE1394 interface communications.
In addition, entire car controller, battery simulator and the battery management system of the vehicle replicating machine and the vehicle
Connected by CAN interface.CAN interface is that extensive communication interface is used in vehicle, and the vehicle control of vehicle is realized using CAN interface
The communication of device processed, battery simulator and battery management system and vehicle replicating machine so that the communication environment and reality of test system
The communication environment of border vehicle is consistent, and it is more accurate to emulate.
In addition, the electric machine controller of the Emulation of Electrical Machinery machine and the vehicle is connect by analog quantity and digital quantity input and output
Mouth connection.
In addition, a length of 1 millisecond of the first step, a length of 50 microsecond of second step.
Brief description of the drawings
Fig. 1 is the structural representation according to the utility model first embodiment vehicle multi-controller emulation test system；
Fig. 2 is the structural representation according to the utility model second embodiment vehicle multi-controller emulation test system.
Embodiment
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
Each embodiment of type is explained in detail.However, it will be understood by those skilled in the art that each in the utility model
In embodiment, in order that reader more fully understands the application and proposes many ins and outs.But, even if without these skills
Art details and many variations based on following embodiment and modification, can also realize the application technical side claimed
Case.
First embodiment of the present utility model is related to a kind of vehicle multi-controller emulation test system.It can apply to
The emulation testing of new energy vehicle.
As shown in figure 1, being the structural representation of the vehicle multi-controller emulation test system of present embodiment, it includes：
Host computer, vehicle replicating machine, the controller of Emulation of Electrical Machinery machine and vehicle to be measured.Wherein, the controller of vehicle to be measured includes：Car
Entire car controller HCU, battery management system BMS (Battery Management System, battery management system, referred to as
) and electric machine controller MCU BMS.Wherein, entire car controller HCU is the master controller of the whole hybrid power system of vehicle, vehicle
Replicating machine and Emulation of Electrical Machinery machine are communicated to connect with host computer respectively.Communicated to connect between vehicle replicating machine and Emulation of Electrical Machinery machine.Car
Entire car controller HCU, battery simulator BAT and battery management system BMS be communicatively coupled to vehicle replicating machine, motor
Controller MCU is communicatively coupled to Emulation of Electrical Machinery machine.
Wherein, host computer is used to provide vehicle simulation model and simulation model of motor and runs the emulation survey of vehicle multi-controller
Examination.Host computer has ethernet interface, and the Ethernet interface of host computer is connected to interchanger by netting twine, and interchanger passes through
Netting twine is connected to vehicle replicating machine and Emulation of Electrical Machinery machine, can be between such host computer and vehicle replicating machine and Emulation of Electrical Machinery machine
Use TCP/IP (Transmission Control Protocol/Internet Protocol, transmission control protocol/internet
Agreement) agreement communicated.For example, host computer provides vehicle simulation model by ICP/IP protocol to vehicle replicating machine, to electricity
Machine replicating machine provides simulation model of motor.
Vehicle replicating machine is used for first step long running vehicle simulation model, and Emulation of Electrical Machinery machine is used for second step long running
Simulation model of motor, wherein, it is long that first step length is more than the first step.In actual applications, the first step-length is, for example, 1 millisecond (ms),
Second step-length is, for example, 50 microseconds (us).Wherein, vehicle simulation model is used for power assembly model, the portion for simulating the vehicle built
Sub-controller model (such as engine controller ECU, gearbox control TCU), Full Vehicle Dynamics model and input and output
I/O models, by vehicle simulation model can preferably simulation actual vehicle run when truth, and can to vehicle rise
Dynamic characteristic when step, parking, gearshift is emulated, and vehicle simulation model can also include fault type simulation, use
In the troubleshooting capability of simulating vehicle controller.Simulation model of motor is used for the basic electromagnetic of simulating vehicle power electronic devices
Characteristic.Simulation model of motor can be taken as 50us using the permagnetic synchronous motor model built in Simulink, simulation step length, the step
Simulation model of motor under long can correctly reflect the dynamic characteristic of motor, disclosure satisfy that the motor of new energy vehicle, battery with
And the emulation of the detailed model of other electric power, electronic device needs.In present embodiment, vehicle replicating machine and Emulation of Electrical Machinery machine point
The main distinction of simulation computer that Cai Yong be not independent, vehicle replicating machine and Emulation of Electrical Machinery machine is both processors
The computing step-length of (Central Processing Unit, CPU) is different.
Because vehicle simulation model and simulation model of motor are respectively in two replicating machines (vehicle replicating machine and Emulation of Electrical Machineries
Machine) in run, and with different simulation step lengths, therefore data interaction between vehicle simulation model and simulation model of motor must
It must be guaranteed, i.e., must have certain data exchange capability, present embodiment between vehicle replicating machine and Emulation of Electrical Machinery machine
In, it is attached between vehicle replicating machine and Emulation of Electrical Machinery machine by IEEE1394 interfaces, realizes the vehicle of different simulation step lengths
Real-time Communication for Power between simulation model and simulation model of motor.IEEE1394 is a kind of external series bus standard, and it transmits speed
Rate is up to 800Mbps (Gigabits per second).
Wherein, the entire car controller HCU of vehicle replicating machine and vehicle, battery simulator BAT and battery management system BMS
Between connected by CAN communication interface.Pass through analog quantity and digital quantity between Emulation of Electrical Machinery machine and the electric machine controller MCU of vehicle
Input and output I/O interfaces are connected.
In present embodiment, host computer is responsible for the exploitation of the simulation model of whole emulation test system, test system operation
Management, Data Collection and analysis.Multiple controllers of vehicle are connected by communication interface with vehicle replicating machine and Emulation of Electrical Machinery machine,
Realize the control to vehicle simulation model and simulation model of motor.During whole test system operation, vehicle is monitored by host computer
The running status of model (i.e. vehicle simulation model and simulation model of motor), so as to realize to multi-controller function and performance
Test.Auto model parameter can also be modified by host computer, can also collected in host computer during emulation
Into the calibrating function of auto model parameter.
Present embodiment compared with prior art, vehicle simulation model is separately operable using the separate replicating machine of step-length
And simulation model of motor, because the simulation step length of simulation model of motor is less than the simulation step length of vehicle simulation model, and motor is imitative
True mode is capable of the basic electromagnetic characteristic of motor, battery and the electric power of simulating vehicle, electronic device, rather than only simulates its physics
External characteristics, so that the electromagnetic property test of cover motor controller is capable of in emulation testing, improves vehicle control device emulation
The coverage rate of test.Meanwhile, the emulation test system can also cover the emulation testing of the communication function of vehicle control device.
Second embodiment of the present utility model is related to a kind of vehicle multi-controller emulation test system.Second embodiment
Further improvement is made on the basis of first embodiment, is mainly theed improvement is that：In this second embodiment, motor is imitated
Prototype uses field programmable gate array FPGA (Field Programmable Gate Array, field programmable logic
Gate array, FPGA) circuit.Field programmable gate array circuit can provide smaller emulation as Emulation of Electrical Machinery machine and walk
It is long, the need for the simulation accuracy so as to fully meet electric machine controller.
As shown in Fig. 2 the vehicle multi-controller emulation test system of present embodiment includes：
Host computer, vehicle replicating machine, the controller of Emulation of Electrical Machinery machine and vehicle to be measured.Wherein, the control of vehicle to be measured
Device includes：Entire car controller HCU, battery management system BMS (the Battery Management System, battery management of vehicle
System, abbreviation BMS) and electric machine controller MCU.Wherein, entire car controller HCU is the master control of the whole hybrid power system of vehicle
Device processed, vehicle replicating machine and Emulation of Electrical Machinery machine are communicated to connect with host computer respectively.Wherein, Emulation of Electrical Machinery machine uses field-programmable
Logic gate array circuit.Connected between vehicle replicating machine and Emulation of Electrical Machinery machine by PCIe interface.The entire car controller of vehicle
HCU, battery simulator BAT and battery management system BMS are communicatively coupled to vehicle replicating machine, electric machine controller MCU communications
It is connected to Emulation of Electrical Machinery machine.
Wherein, host computer is used to provide vehicle simulation model and simulation model of motor and runs the emulation survey of vehicle multi-controller
Examination.Host computer has ethernet interface, and the Ethernet interface of host computer is connected to interchanger by netting twine, and interchanger passes through
Netting twine is connected to vehicle replicating machine and Emulation of Electrical Machinery machine, can be between such host computer and vehicle replicating machine and Emulation of Electrical Machinery machine
Use TCP/IP (Transmission Control Protocol/Internet Protocol, transmission control protocol/internet
Agreement) agreement communicated.For example, host computer provides vehicle simulation model by ICP/IP protocol to vehicle replicating machine, to electricity
Machine replicating machine provides simulation model of motor.
Vehicle replicating machine is used for first step long running vehicle simulation model, and Emulation of Electrical Machinery machine is used for second step long running
Simulation model of motor, wherein, it is long that first step length is more than the first step.In actual applications, the first step-length is, for example, 1 millisecond (ms),
Second step-length is, for example, 500ns (nanosecond).Vehicle simulation model is used to simulate the power assembly model of the vehicle built, part control
Device model (such as engine controller ECU, gearbox control TCU) processed, Full Vehicle Dynamics model and input and output I/O moulds
Type, by vehicle simulation model can preferably simulation actual vehicle run when truth, and can to vehicle start, stop
Dynamic characteristic when car, gearshift is emulated, and vehicle simulation model can also include fault type simulation, for simulating
The troubleshooting capability of vehicle control device.Simulation model of motor is used for simulating vehicle electric power, the basic electromagnetic characteristic of electronic device.
Simulation model of motor can be using the permagnetic synchronous motor model built in Simulink, and simulation step length is taken as 500ns, therefore it can
Emulated with the power electronic system for 50khz (KHz) left and right, simulation accuracy is further improved, so as to more
Fully meet the emulation needs of the detailed model of the motor, battery and other power electronic devices of new energy vehicle.
In present embodiment, because Emulation of Electrical Machinery machine uses field programmable gate array circuit, therefore Emulation of Electrical Machinery
Machine can be integrated in vehicle replicating machine, and can be communicated between vehicle replicating machine and Emulation of Electrical Machinery machine by PCIe interface.Phase
For in first embodiment using two separate replicating machines, the hardware design of present embodiment is more concentrated, money
Source utilization rate is higher.Also, because both can be communicated by PCIe interface, and the bandwidth of PCIe communication interfaces can reach
10GB/S, hence in so that the data interaction between vehicle simulation model and simulation model of motor is more smooth.
Wherein, the entire car controller HCU of vehicle replicating machine and vehicle, battery simulator BAT and battery management system BMS
Between connected by CAN communication interface.Connect between Emulation of Electrical Machinery machine and the electric machine controller MCU of vehicle by input I/O
Mouth connection.
In present embodiment, host computer is responsible for the exploitation of the simulation model of whole emulation test system, test system operation
Management, Data Collection and analysis.Multiple controllers of vehicle are connected by communication interface with vehicle replicating machine and Emulation of Electrical Machinery machine,
Realize the control to vehicle simulation model and simulation model of motor.During whole test system operation, vehicle is monitored by host computer
The running status of model (i.e. vehicle simulation model and simulation model of motor), so as to realize to multi-controller function and performance
Test.Auto model parameter can also be modified by host computer, can also collected in host computer during emulation
Into the calibrating function of auto model parameter.
The Emulation of Electrical Machinery machine of present embodiment is due to using field programmable gate array circuit, and simulation step length is further
Reduce, simulation accuracy is further improved, and can be integrated into the simulation computer of a set due to the replicating machine of different step-lengths,
So that the communication efficiency between replicating machine is higher, hardware resource utilization is higher.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific implementation of the present utility model
Example, and in actual applications, can to it, various changes can be made in the form and details, without departing from spirit of the present utility model
And scope.
Claims (7)
1. a kind of vehicle multi-controller emulation test system, it is characterised in that include：
For providing vehicle simulation model and simulation model of motor and running the host computer of vehicle multi-controller emulation testing；
The vehicle replicating machine and Emulation of Electrical Machinery machine communicated to connect respectively with the host computer；
The vehicle replicating machine is used for vehicle simulation model described in first step long running, and the Emulation of Electrical Machinery machine is used for second
Step-length runs the simulation model of motor；Wherein, the first step length is more than second step-length；The simulation model of motor is used
In the basic electromagnetic characteristic of simulating vehicle electric power, electronic device；
The vehicle replicating machine is communicatively coupled to the Emulation of Electrical Machinery machine；The electric machine controller of vehicle is communicatively coupled to the motor
Replicating machine；Entire car controller, battery simulator and the battery management system of vehicle are communicatively coupled to the vehicle replicating machine.
2. vehicle multi-controller emulation test system according to claim 1, it is characterised in that the Emulation of Electrical Machinery machine is
Field programmable gate array circuit.
3. vehicle multi-controller emulation test system according to claim 2, it is characterised in that the field-programmable is patrolled
Gate-array circuit is collected to be connected by PCIe interface with the vehicle replicating machine.
4. vehicle multi-controller emulation test system according to claim 1, it is characterised in that the vehicle replicating machine with
The Emulation of Electrical Machinery machine is connected by IEEE1394 interfaces.
5. vehicle multi-controller emulation test system according to claim 1, it is characterised in that the vehicle replicating machine with
Entire car controller, battery simulator and the battery management system of the vehicle are connected by CAN interface.
6. vehicle multi-controller emulation test system according to claim 1, it is characterised in that the Emulation of Electrical Machinery machine with
The electric machine controller of the vehicle is connected by analog quantity and digital quantity input/output interface.
7. vehicle multi-controller emulation test system according to claim 1, it is characterised in that the first step a length of 1
Millisecond, a length of 50 microsecond of second step.
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| CN201621387895.XU CN206411509U (en) | 2016-12-17 | 2016-12-17 | Vehicle multi-controller emulation test system |
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| CN201621387895.XU CN206411509U (en) | 2016-12-17 | 2016-12-17 | Vehicle multi-controller emulation test system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597087A (en) * | 2019-08-29 | 2019-12-20 | 中车工业研究院有限公司 | System and method for simulating operation of magnetic suspension train |
| CN110794813A (en) * | 2019-11-18 | 2020-02-14 | 上海顺试汽车科技有限公司 | In-loop real-time linkage testing method and system for electromechanical parts |
| CN111830930A (en) * | 2020-07-15 | 2020-10-27 | 上海科梁信息工程股份有限公司 | Motor controller simulation test method, system, device and computer storage medium |
| CN113867311A (en) * | 2021-09-13 | 2021-12-31 | 上海科梁信息科技股份有限公司 | Test system and test method thereof |
| CN115407745A (en) * | 2022-07-11 | 2022-11-29 | 航天科工防御技术研究试验中心 | Parallel simulation test method based on HIL test system and related equipment |
-
2016
- 2016-12-17 CN CN201621387895.XU patent/CN206411509U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597087A (en) * | 2019-08-29 | 2019-12-20 | 中车工业研究院有限公司 | System and method for simulating operation of magnetic suspension train |
| CN110794813A (en) * | 2019-11-18 | 2020-02-14 | 上海顺试汽车科技有限公司 | In-loop real-time linkage testing method and system for electromechanical parts |
| CN110794813B (en) * | 2019-11-18 | 2022-06-07 | 上海顺试汽车科技有限公司 | In-loop real-time linkage testing method and system for electromechanical parts |
| CN111830930A (en) * | 2020-07-15 | 2020-10-27 | 上海科梁信息工程股份有限公司 | Motor controller simulation test method, system, device and computer storage medium |
| CN113867311A (en) * | 2021-09-13 | 2021-12-31 | 上海科梁信息科技股份有限公司 | Test system and test method thereof |
| CN115407745A (en) * | 2022-07-11 | 2022-11-29 | 航天科工防御技术研究试验中心 | Parallel simulation test method based on HIL test system and related equipment |
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Address after: Room 201, building 6, 829 Yishan Road, Xuhui District, Shanghai 200233 Patentee after: Shanghai Keliang Information Technology Co.,Ltd. Address before: Room 201, building 6, 829 Yishan Road, Xuhui District, Shanghai 200233 Patentee before: SHANGHAI KELIANG INFORMATION ENGINEERING Co.,Ltd. |