WO2011044607A1 - Verfahren sowie prüfstand zum prüfen eines antriebsstrangs eines fahrzeugs - Google Patents
Verfahren sowie prüfstand zum prüfen eines antriebsstrangs eines fahrzeugs Download PDFInfo
- Publication number
- WO2011044607A1 WO2011044607A1 PCT/AT2010/000390 AT2010000390W WO2011044607A1 WO 2011044607 A1 WO2011044607 A1 WO 2011044607A1 AT 2010000390 W AT2010000390 W AT 2010000390W WO 2011044607 A1 WO2011044607 A1 WO 2011044607A1
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- WIPO (PCT)
- Prior art keywords
- drive
- rotation
- drive train
- rotational angle
- angle
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Definitions
- the present invention relates to a method for testing a drive train of a vehicle having at least one shaft and a test stand for testing a drive train of a vehicle with at least one shaft, to which a load or. Drive machine can be coupled.
- a test stand for testing the drive train of a vehicle is known from EP 0 338 373 A2, in which an engine is connected via a transmission to a main drive train which drives a rear-axle transmission or a front-axle transmission.
- the gears are connected via corresponding shafts with loading machines, which can brake and drive independently of each other to simulate driving resistances or acceleration or deceleration torques.
- the load machines associated with power converters apply torques which are regulated by means of control devices controlled by a simulation computer. In particular, actual rotational speed values are measured at the loading machines and transmitted to the simulation computer, which calculates therefrom torque setpoints which are set up as the actual value with the aid of the control devices in the loading machines.
- differential gear also called differential or shortly differentials
- differential gear ensure in motor vehicles that the peripheral speeds of the wheels can set freely.
- loading machines or wheel machines are coupled to the front and / or rear axle of the vehicle instead of the wheels.
- the wheel machines or the drive of the vehicle are usually associated with a speed control which aims at ensuring that the rotational angular velocities are adjusted as accurately as possible to predetermined desired values.
- the regulation of the speeds or the rotational angular velocities is basically only possible with limited accuracy.
- a bracing torque occurs when the wheel units flanged to a front or rear axle each apply different rotational speeds to the left or right shaft of the tested axle when the differential (front axle or rear axle) differential gear is blocked.
- a deviation in the wheel speeds of the wheel can be made on the one hand specifically in the context of the simulation; However, due to the finite measurement accuracy for the speeds at the wheel machines, a certain tolerance is inevitable. Even an infinitesimal small deviation in the rotational speeds, however, leads to the fact that the relative position of the rotors of the individual wheel machines diverges ever further, which is mathematically justified in that the rotation angles represent temporal integrals on the rotational angular velocities.
- the torques are set at the wheel machines by means of a torque control associated with the respective wheel machines in the known test benches from the prior art.
- the torque control is based on a measurement of the torque, for example on a torque flange, wherein the measured torque is used as a control variable for the rotating field of the electric machine in such a way that the torque flange on the desired torque occurs.
- the torque control can - as well as the speed control - not done with any accuracy. If the torque control does not work sufficiently precisely, an inadmissible tension can occur despite the torque control, ie, a torsional moment is built up between different points of the drive train, which torque can not be absorbed by the drive train itself or the differential gears. Since test benches are usually designed to test a wide range of vehicles, the wheel machines are designed to be a Apply much stronger torque than the maximum allowable torque comparatively small drive trains. The direct torque control is further negatively influenced by the transmission plays existing in the drive train. Another disadvantage with such a direct torque control is that the individual torque control devices are strongly coupled to the wheel machines, since the change of torque on a wheel machine via the drive train immediately affects the torques on the other wheel machines.
- this is achieved in that the rotation angle of the shaft or shafts are controlled at least two separate locations in the drive train to achieve a desired Verspannmoments in the drive train or a rotational angle difference between at least two locations in the drive train is controlled.
- the teaching of the invention is based on the principle to at any time during the inspection process, to control the alignment of the shaft or shafts, ie the angles of rotation, at two separate locations.
- a targeted tensioning moment in the drive train can be selectively established by adjusting the relative position at the two points of the rotating shaft (s) to one another.
- a constant tensioning moment in the drive train can be set by setting the same rotation angles at the at least two points of the drive train.
- the relative position of the wheel rotors can be checked with each revolution of the respective rotor and corrected if necessary, so that errors in the rotation angle control for the Verspannmomente occurring in the drive train are largely negligible.
- the rotational angle of the shaft or shafts is controlled at least one front or rear axle of the drive train.
- a certain strain state in a side shaft or side shafts of the vehicle axles which can be coupled in test mode instead of the vehicle wheels with loading machines such as wheel machines, can be adjusted by controlling a rotational angle difference or a bracing rotational angle becomes.
- each vehicle has a motor or a drive with which a torque can be introduced into the drive shaft of the drive train.
- the tensioning torque is determined from the relationship between the input rotational angle and the rotational angles at the front and rear axles which can be coupled to the wheel machines.
- a Verspannmoment between at least two points in the drive train is advantageously determined by the fact that the rotation angle difference is determined substantially as the difference between the rotation angles at least two points of the shaft or waves. Accordingly, the bracing or torsion angle of rotation can be formed in a shaft or between the shafts in a simple manner by forming a difference between the respective angles of rotation at at least two points in the drive train.
- the rotational angle difference substantially as a difference between the Eintriebs- rotation angle of the drive shaft and the average of the rotation angles of the waves the front and / or rear axles is determined. Accordingly, the distortion torque is greater, the more the input drive rotational angle from the average of wheeled machines rotational angle deviates from ⁇ .
- the mean value is essentially formed as an arithmetic mean, wherein, if appropriate, the transmission ratios of the differential gears are to be considered as proportionality factors.
- the difference between the Eintechnischs rotation angle and the average value of the wheel rotation angle can optionally be done in at least two different ways.
- two or four wheel machines depending on the type of drive (front or rear axle drive or four-wheel), driven with a predetermined time course for the rotation angle and the input rotation angle is in dependence on the rotation angles of the Adjusted wheel machines to set the desired tensioning moment.
- the input rotation angle may be controlled according to a predetermined timing, and depending thereon, the rotation angles are set on the wheel machines, whereby it is equally possible to achieve the desired tensioning torque.
- the relationship between the rotational angle difference and the bracing torque is stored as a characteristic curve. Accordingly, the instantaneous bracing angle or the rotational angle difference is first calculated from the rotational angles of the shafts of the drive train, which is compared with a characteristic curve for the bracing torque in order to determine the instantaneous bracing torque from this comparison.
- the relationship between the Verspann-rotation angle and the Verspannmoment in the identification run is first recorded as a characteristic curve, which is then used in the test of the drive train to achieve the desired Verspannmoments depending on the controlled Verspann-rotation angle or the rotation angle difference.
- the sum of all existing gear plays is determined in the course of the identification run. Accordingly, the sum of the transmission gears present in the drive train can be estimated from the region of the bracing rotation angle that is symmetrical about the zero-tension angle of rotation.
- the device of the type mentioned is characterized in that to achieve a desired Verspannmoments in the drive train at least one control device is provided which is adapted to rotation angle of the shaft or waves at two separate locations or a rotational angle difference between two separate locations in the drive train to regulate.
- at least one control device is provided which is adapted to rotation angle of the shaft or waves at two separate locations or a rotational angle difference between two separate locations in the drive train to regulate.
- two or four wheel machines can be provided as load machines, which can be mounted on shafts of a front and / or rear axle. The wheel machines thus replace the front and rear wheels of the
- Vehicle are preferably designed to independently apply braking or driving torques on the waves for testing the drive train.
- control device to achieve the desired Verspannmoments assigned a known relationship between a Verspann- rotation angle and the rotation angle difference.
- the control device is therefore designed to control a Verspann- rotation angle, which corresponds to a rotation angle difference between the waves.
- the control device has a central control element, which is connected to achieve the desired Verspannmoments with rotational angle control units of the wheel or the drive. Accordingly, to achieve a desired set-tensioning moment in the central control element, a value for the setpoint tensioning moment is set via a user interface or a software program.
- the desired bracing torque corresponds to a specific bracing rotational angle or a rotational angle difference according to a known relationship.
- the tightening angle of rotation can be set or changed in a targeted manner in that signals corresponding to the wheel machine or drive control units are transmitted by the central control element in order to control or regulate the angles of rotation.
- the angles of rotation on the wheel machines or on the drive are then controlled with the aid of the respective shafts of the wheel machines or the drive associated control units with high accuracy.
- the wheel control units have or have or the drive control unit in each case via a measuring device for measuring the rotational angle and the torques and via a computing unit.
- a measuring device for measuring the rotational angle and the torques and via a computing unit.
- the instantaneous angle of rotation is measured with the angle-of-rotation measuring device and directed to the arithmetic unit.
- the arithmetic unit has a comparison element, with which the measured angle of rotation is compared with a desired angle of rotation, which, for example, can follow a predetermined time profile.
- a control signal is transmitted to the respective wheel machine or the drive in order to regulate or control the angle of rotation. It is essential that the rotation angle is measured and is not calculated by integrating a measured angular velocity in order to prevent the occurrence of measurement errors.
- rotational angle sensors are preferably provided which have a magnetic or optical material measure.
- the measuring graduation may be applied to a disk aligned concentrically on the shaft assigned to the respective wheel machine or the drive or to a belt laid on the shaft.
- the material measure can be formed by discrete markings or sinusoidal brightness or magnetization values. It has been found that with stroke numbers or periods for the sinusoidal progression from 128 to 4000 for the full circumference (360 °) a sufficient accuracy for the rotation angle control can be achieved.
- resolvers may also be provided as angle-of-rotation measuring devices, by which an electromagnetic transducer is generally designated for converting the angular position of the rotor of the wheel machine or of the drive into an electrical variable.
- the central control element has a memory in which at least one characteristic curve of the Verspannmoments is stored as a function of the Verspann- rotation angle or of the rotation angle difference.
- the characteristic curves are used in the course of the test runs to build up the desired setpoint clamping moments. It is particularly advantageous if the memory contains at least one determined in an identification run characteristic curve with which the Conditions in the tested powertrain can be reproduced as accurately as possible.
- the drive is an electric drive, a hybrid drive or an internal combustion engine is provided.
- Figure 1 is a schematic representation of a sketchStands for testing a vehicle powertrain, in which are coupled to shafts of the front and the rear axle wheel machines and a rotation angle control device is provided to achieve a desired Verspannmoments in the drive train.
- FIG. 2 shows a schematic illustration of a characteristic curve for the bracing torque as a function of a bracing rotation angle
- FIG. 3 is a schematic representation of a characteristic of the Verspannmoments in the event that a rear differential gear is locked
- 4a is a schematic block diagram illustrating the control of a target Verspannmoments, wherein a Eintriebs- rotation angle is adjusted relative to the mean value of reference rotation angle at the wheel machines, in the event that a drive-rotation angle control unit between the drive and a manual transmission is arranged;
- FIG. 4b shows a schematic block diagram according to FIG. 4a in the event that the drive rotation angle control unit is lined up with the manual transmission, assuming a backlash of the manual transmission;
- FIG. 5 is a schematic block diagram illustrating at run time with the aid of vehicle models from the wheel machine torque calculated values for the angles of rotation;
- FIG. 6 shows a schematic block diagram from which the basic principle of the torque control can be seen via a regulation of an angle of rotation of rotation
- FIG. 7 is a schematic block diagram for a torque control in a transmission test, wherein a target output torque angle is used to calculate a target input rotational angle;
- FIG. 8 shows a schematic block diagram substantially as shown in FIG. 7, an actual value for an output rotational angle being used here for calculating the nominal input rotational angle
- FIGS. 7 and 8 are schematic block diagrams substantially as shown in FIGS. 7 and 8, wherein a multi-variable controller is provided.
- Fig. 1 shows schematically a test stand 1 for testing an all-wheel drive train 2 of a vehicle.
- a drive shaft 6 forming the main drive train is connected to a drive 7, which may be formed by an internal combustion engine or an electric or hybrid drive.
- a driving lever actuator of the drive 7 By actuating a driving lever actuator of the drive 7, a torque can be applied to the drive shaft 6 via a coupling 8.
- the torque is from a manual transmission 9 - optionally also an automatic transmission - translated and divided by a distributor differential gear 10 to the front and the rear axle 3, 4.
- a Vorderachs- or a Schuachs- differential gear 11,12 divide the torque on the shafts 3 ', 3'',4', 4 '' of the front and rear axles 3, 4 on.
- each of the wheeled machines 5 can brake or drive independently of each other so as to drive resistance, acceleration or deceleration torques or the like. to be able to test. So far, a speed control for the wheel machines was used in test benches, which were combined to avoid impermissible Verspannmomenten in the drive train with a torque control via a direct control of the measured torque.
- the drive shaft 6 connected to the drive 7 or a rotational angle difference between the points 2 'and the shafts 3', 3 '', 4 ', 4''of the axles 3, 4 and the drive shaft 6 are regulated.
- a control device 13 is provided, which is adapted to the state of tension in the drive train 2, ie, a bracing or torsional moment, via a regulation of the wheel machine or input rotational angle
- the control or regulating device 13 has control units 14, which are each connected to a wheel machine 5.
- control units 14 are likewise assigned to the drive 7 or the main drive train 6.
- Each control unit 14 is designed to independently of the other control units 14 the respective angle of rotation
- Measuring device 15 measures the instantaneous angle of rotation
- the measuring devices 15 For measuring the angle of rotation, the measuring devices 15 have rotational angle sensors, which measure the angle of rotation with very high resolution in the range of 1/10 °.
- Control units 14 can be preset by a central control element 17 of the control or control device 13 connected to the rotation angle control units 14 in such a way that a desired setpoint tensioning torque in the drive train 2 is achieved.
- a bracing rotation angle ⁇ is controlled, which is a simple relationship between the rotation angles at the wheel machines 5 and the rotation angles on the drive 7 - essentially as Drehwin
- the bracing rotation angle ⁇ corresponding to a rotational angle difference ⁇ and the bracing torque designated T in FIG. 2 which is stored as a characteristic curve 18 in the central control element 17 in a memory 19.
- the bracing torque is essentially given as a linear function of the bracing rotational angle ⁇ .
- the characteristic deviates from the expected curve by the bracing torque characteristic of the bracing between two shafts 3 ', 3 ", 4', 4", 6 of the drive train 2 being constant Is zero. This behavior forms a gear play or lots one of the differential gear 10, 11, 12 from.
- the central control element 17 compares this setpoint bracing torque with the actual bracing torque, which corresponds to a bracing rotation angle ⁇ according to the underlying characteristic curve 18.
- control units 14 transmits that the rotation angle 9w3, W4 on the approximation of the rotational angle command value (PW3, W4, soii Since the relationship between the bracing torque ATR and the bracing rotational angle ⁇ depends on the tested drivetrain, the characteristic curve 18 for the bracing torque ATR is determined in advance in an identification run.
- a backlash A (D of the rear differential gear 12 can be seen from the characteristic curve 18 for the tensioning torque ATR illustrated in Fig. 3.
- the differential gear 10, 11, 12 is assumed the unlocked state. In addition, here is only a non-vanishing gear play assumed for the manual transmission 9, where gear games the differential gear 10, 11, 12 are not taken into account.
- a setpoint tensioning torque T2, S oii is set at the central control element 17, which is to be set in the drive train 2.
- Characteristic 18 indicates the relationship between the setpoint tension torque T2, S oii and the tensioning rotation angle, which in this case is the difference between the setpoint input rotation angle and an averaged reference rotation angle ⁇ ? e _ is formed.
- the average reference rotation angle is expressed as an auxiliary quantity essentially by the arithmetic mean over reference rotation angle formed at the individual wheel machines 5 in the unstressed state. In other words, this means that no tensioning moment is built up in the drive train 3 just when the averaged reference rotation angle the desired input rotation angle corresponds, as can be seen from the curves 18 shown in Fig. 4a and Fig. 4b.
- the reference rotation angle arise essentially as an average of the reference rotation angle wherein the gear ratio of the front-axle differential gear 11 occurs as a proportionality factor i F D:
- the wheel control units 14 from the central control element 17 of the control or regulating device 13, a time course for the wheel setpoint rotation angle (pwi- W4, so ii specified, the input rotation angle ⁇ 2 relative to that in dependence the wheel rotation angles (pwi-W4 according to equation (7) or (8) determined reference input rotation angle ⁇ 2, ⁇ is adjusted so as to selectively set the desired tensioning torque T2, soii.
- the time profile of the desired input rotational angle ( 2, soii) can be predetermined, wherein the central control element 17 the desired time course, for the desired input rotational angle ( p2, so ii transmitted to the input control unit 14 and the rotation angle be adjusted to the wheels 5 relative to the desired input rotation angle c 2, soii.
- the nominal values for the wheel rotation angle can be specified either by predefined, time-varying values for angle, angular velocity or speed or calculated at runtime ("online") via a mathematical model of the torques T W i_ W , as schematically illustrated in Fig. 5. This will be the torques
- Twi-4 are used as inputs to a vehicle, wheel, and tire model to calculate corresponding values for the wheelset rotation angle setpoints.
- n is a in Fig. 6 with a punctured box marked loop for a Verspann- rotation angle or a rotational angle difference .DELTA..phi.
- a regulator Ri With the aid of a regulator Ri an actual rotational angle difference Aq> s t is controlled to a desired rotational angle difference .DELTA..phi. 50 ⁇ , for which the control value Ri determined by the controller Ri on the controlled system works.
- a pilot control for a desired rotational angle difference ⁇ 50 ⁇ which is preceded by the control loop for the Verspann-rotational angle difference ⁇ , makes a characteristic curve 18 for the Verspannmoment T as a function of the rotational angle difference ⁇ zunütze.
- the characteristic curve 18 may change during operation, with hysteresis effects in particular being noticeable, which have the consequence that one and the same rotational angle difference ⁇ can cause different clamping torques T, depending on the direction with which the rotational angle difference ⁇ was reached. Therefore, it may be useful, as shown in Figure 6, also the actual Verspannmoment T is to control; However, the majority of ⁇ ⁇ ⁇ comes from the pilot control for ⁇ 50 ⁇ ⁇
- FIG. 7 shows a block diagram from which the attainment of a desired input tensioning torque T E / S11 of a drive 7 in the course of a transmission test of a test object P, ie a motor vehicle with flanged wheel machine 5, can be seen.
- a feedforward control for a nominal tensioning angle of rotation or a desired angle of rotation difference is provided intended.
- a target output rotational angle (of the wheel machine 5 is determined from a target value for the rotational speed n AiSO n of the wheel machine 5.
- the conversion of the rotational speed n AiSOl i in the angular velocity takes place via the proportionality factor TT / 30, so that after integration of the angular velocity At the point 2 'in the drive train 2, the input rotational angle ⁇ is regulated and at a further point 2' the output rotational angle ⁇ , wherein the rotational angle is controlled in each case in a separate control loop ⁇
- the controller R E i or R A i control variables u E and u A supply for the drive 7 or the wheel machine 5 associated converters SR A and SR E.
- the specification of a driven-side target speed n A , so ii and a drive-side setpoint torque T E , so n corresponds to a conventional procedure in the ArdStandpraxis that here is exemplified.
- FIGS. 8 and 9 modified block diagrams are shown with respect to FIG. 7, which correspond in each case to an embodiment variant of the rotational angle control according to the invention.
- FIG. 9 shows a multivariable controller R which replaces the regulators R E i and R A i shown in FIGS. 7 and 8 for the separate control circuits of the input rotational angle ⁇ and the output rotational angle ⁇ , respectively.
- the manipulated variable u E of the drive 7 is predetermined by the controller R E1 , which for this purpose only the difference between used. The same applies to the A input variable u ⁇ A of the wheel machine 5, by the regulator R Ai only due to the difference between is calculated.
- Tatsumble ⁇ After all, it is but in the specimen P together with the drive 7 and wheeled machines 5 is a multivariable system, in which both input variables u e and u A (in each case on all outputs p e, i S t ⁇ T E, i S t and ⁇ A From a control engineering point of view, it is therefore sensible not to use only the differences for the calculation of the input quantities u E and u A but to use all available information; Multi-variable control or "multivariable control" is basically known in the prior art.
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- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Description
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE112010004048T DE112010004048A5 (de) | 2009-10-15 | 2010-10-13 | Verfahren sowie Prüfstand zum Prüfen eines Antriebsstrangs eines Fahrzeugs |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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AT16252009A AT508032B1 (de) | 2009-10-15 | 2009-10-15 | Verfahren sowie prüfstand zum prüfen eines antriebsstrangs eines fahrzeugs |
ATA1625/2009 | 2009-10-15 |
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WO2011044607A1 true WO2011044607A1 (de) | 2011-04-21 |
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PCT/AT2010/000390 WO2011044607A1 (de) | 2009-10-15 | 2010-10-13 | Verfahren sowie prüfstand zum prüfen eines antriebsstrangs eines fahrzeugs |
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AT (1) | AT508032B1 (de) |
DE (1) | DE112010004048A5 (de) |
WO (1) | WO2011044607A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110361191A (zh) * | 2019-07-30 | 2019-10-22 | 苏州英特模汽车科技有限公司 | 一种电驱动桥动力总成的高效测试系统及其测试方法 |
AT522260A1 (de) * | 2019-03-11 | 2020-09-15 | Avl List Gmbh | Verfahren und Regelungseinrichtung zur Regelung einer Drehzahl |
CN113092107A (zh) * | 2021-04-25 | 2021-07-09 | 重庆清研理工汽车检测服务有限公司 | 油电混合动力变速箱测试台架 |
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DE102014203720A1 (de) * | 2014-02-28 | 2015-09-03 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zur Zustandsprüfung eines Antriebsstrangs eines Triebfahrzeugs |
DE102014108680A1 (de) * | 2014-06-20 | 2015-12-24 | Fev Gmbh | Verfahren zum Betreiben einer Prüfanordnung sowie Prüfanordnung |
DE102021108222A1 (de) * | 2021-03-31 | 2022-10-06 | Zf Cv Systems Global Gmbh | Verfahren zum Ermitteln eines Defekt-Zustandes eines Antriebsstrangs eines Fahrzeuges, Überwachungseinheit und Fahrzeug |
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- 2010-10-13 WO PCT/AT2010/000390 patent/WO2011044607A1/de active Application Filing
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Cited By (5)
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---|---|---|---|---|
AT522260A1 (de) * | 2019-03-11 | 2020-09-15 | Avl List Gmbh | Verfahren und Regelungseinrichtung zur Regelung einer Drehzahl |
AT522260B1 (de) * | 2019-03-11 | 2021-08-15 | Avl List Gmbh | Verfahren und Regelungseinrichtung zur Regelung einer Drehzahl |
CN110361191A (zh) * | 2019-07-30 | 2019-10-22 | 苏州英特模汽车科技有限公司 | 一种电驱动桥动力总成的高效测试系统及其测试方法 |
CN110361191B (zh) * | 2019-07-30 | 2023-12-19 | 苏州英特模科技股份有限公司 | 一种电驱动桥动力总成的高效测试系统及其测试方法 |
CN113092107A (zh) * | 2021-04-25 | 2021-07-09 | 重庆清研理工汽车检测服务有限公司 | 油电混合动力变速箱测试台架 |
Also Published As
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AT508032A4 (de) | 2010-10-15 |
DE112010004048A5 (de) | 2012-10-18 |
AT508032B1 (de) | 2010-10-15 |
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