WO2014195238A1 - Verfahren zur reduzierung von schwingungen in einem prüfstand - Google Patents
Verfahren zur reduzierung von schwingungen in einem prüfstand Download PDFInfo
- Publication number
- WO2014195238A1 WO2014195238A1 PCT/EP2014/061262 EP2014061262W WO2014195238A1 WO 2014195238 A1 WO2014195238 A1 WO 2014195238A1 EP 2014061262 W EP2014061262 W EP 2014061262W WO 2014195238 A1 WO2014195238 A1 WO 2014195238A1
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- WO
- WIPO (PCT)
- Prior art keywords
- correction value
- control variable
- component
- correction
- variable
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
Definitions
- the subject invention relates to a method for reducing the excitation of unwanted vibrations and resonances in a test bench for a real component and a virtual component, wherein the real component provides a measure of the real component to the virtual component and receives from the virtual component, a control variable for a Aktuatorik the test bench In the virtual component, a simulation model with an equation of motion is implemented which determines the control variable from the measured variable.
- test stands In automotive engineering, the process of testing is often done so that real components, such as real internal combustion engines, real tires, real gears, real batteries, real steering systems, real powertrains, real vehicles, etc., are placed on test stands.
- This real component to be tested often also specifies the name of the test bench.
- Engine test benches, tire test benches, transmission test stands, vehicle test benches, etc. These test stands allow, for example, the development of internal combustion engines, vehicle components or the detection of faults in networked vehicle control units, which can affect the overall behavior of the vehicle.
- Testing is a process by which greater certainty is to be gained as to whether technical objects, technical systems or technical products and processes, the real component or the virtual component, function within certain boundary conditions and / or whether certain properties and / or requirements are met become.
- Performed tests thus simulate or anticipate real processes in simulated environments.
- the simulated environment exchanges material flows (eg a medium flow such as oil, water, etc.) with the tested real component, energy flows (eg electrical current / voltage, speed / torque, etc.) and information flows (eg measured data, etc.) and thus enables the investigation of technical processes without presupposing, impairing or jeopardizing the future real environment of the real component. Therefore, a test result is never absolutely valid, but always represents an approximation.
- the quality of the approximation depends, among other things, on the quality of the simulated environment and on the quality with which the actual exchange of energy, information mations- and material flows can be reproduced.
- a virtual component This simulated environment is referred to below as a virtual component.
- the real component and the virtual component together are called the examinee.
- the test object and the test stand together are often referred to as a hardware-in-the-loop system (HiL system) or more specifically as an "X-In-The-Loop system", where X stands for the respective test object.
- HiL system hardware-in-the-loop system
- X stands for the respective test object.
- a virtual component consists of simulation models that are essentially implemented as software with implemented algorithms and mathematical or physical models that are executed on a simulation unit, usually a computer.
- the test stand for carrying out the tests also includes actuators (a number of actuators) and sensors (a number of sensors), as well as possibly a sequence control (eg a test bench control unit, an automation unit, etc.) and peripherals (such as a data logger) , etc.).
- the sensors measure physical, chemical or information technology states or state changes ("measured variables") of the real component and the actuators characterize the real components of certain chemical, physical or information technology states or state changes (“nominal values").
- Actuators are thus the signal converter's counterpart to sensors.
- Actuators and sensors connect the real with the virtual world of the test object, ie the real component and the virtual component.
- actuators are electrical, pneumatic or hydraulic loading units for imparting rotational speeds, torques, speeds or paths, controllable electrical resistances, oil conditioning systems, air conditioning systems, etc.
- sensors are torque sensors and rotary encoders.
- Real component, virtual component, actuators and sensors are dynamic systems with a certain transfer behavior.
- a hardware-in-the-loop system as interconnection of these components is also a dynamic system.
- test is a virtual test drive of a hybrid vehicle (combustion engine and electric motor) over the Schwarzet Road with realistic replica of the air humidity, the air temperature, the speed and torque behavior of the real component "internal combustion engine", which is located on an engine test stand.
- the aim of this test drive is the assessment of the dynamic behavior of the electric motor and the temperature behavior of the traction battery, which are simulated as a virtual component, for a particular type of driver, eg a sporty driver with aggressive gearshifting, the test track (here the 10-glockner High Alpine Road), the driving behavior as well as the driving environment
- the hardware-in-the-loop system is excited to vibrate via road bumps, wind gusts, the driver's braking and steering activities, and / or combustion lungs
- vibrations will not be exactly identical to the vibrations that occur during a real drive with the hybrid vehicle over the profglockner High Alpine Road.
- EP 1 037 030 B1 discloses a method for simulating the behavior of a vehicle on a roadway on a powertrain test bench using a vehicle model and a tire model (virtual components) for simulation.
- the virtual components are often retrofitted to existing test bench infrastructures.
- a classic, traditional test bench which has so far been able to impose only simple setpoint profiles, thus becomes a powerful X-In-The-Loop test environment, which makes it possible to present new test tasks, such as the Quglockner High Alpine Ride described above under different conditions.
- the existing horrstandsaktuatorik and test bench sensors with their subordinate dynamic subsystems and controller structures here (for example, for cost reasons) often remain unchanged or it is unknown to the supplier of the virtual component.
- the same virtual component is often used on different test benches with different dynamic transmission characteristics or on different test stand types.
- a virtual component may be replaced by another virtual component (e.g., modified models).
- a first correction value is determined which is added to the measured variable and the sum is transmitted as corrected measured variable of the virtual component for calculating the control variable or a second correction value is determined from the calculated control variable. is added to the calculated control variable and the sum is transmitted as a corrected control variable of the actuator or a third correction value is determined, which changes a parameter of the equation of motion.
- the first, second or third correction value can also be combined as desired.
- the torque of a shaft between the real component and the actuator is very particularly advantageously used as the measured variable. This makes it possible to "shape" the torques measured on the test bench by additional virtual moments, so that the torque impressed on the virtual world changes in a suitable manner continuously (as a function of time) so that no unwanted vibrations occur in the virtual system.
- a speed is used as the control variable.
- the rotational speeds resulting in the virtual world of the simulation are suitably "reshaped" in such a way that no unwanted vibrations or resonances occur in the real system.
- the correction values can advantageously be determined by optimizing a target function according to the respective correction value.
- Such objective functions can be optimized with known mathematical methods, preferably on real-time computers in real time.
- a linear combination of a first and a second target function is preferably optimized, since in this way different influencing factors, such as energy or angular momentum, which are similar to physical effects, can be taken into account.
- a quadratic quality function as a function of the angular velocity or a derivative thereof is advantageously used as the first or third objective function.
- the second objective function advantageously evaluates the angular momentum introduced by the first or third correction value or the altered kinetic energy, thereby ensuring that the correction does not cause excessive distortions of the rotational movement or the energy balance or the momentum equations of the shaft.
- a target function is preferably implemented which evaluates the deviation between the control variable calculated in the virtual component and the actual value of this control variable.
- Torque and speed are the usual measurement and control variables and usually available as measured values in such test benches, so that their use is advantageous.
- a massed parameter of the equation of motion is used, e.g. an inertial moment or a mass, with which the vir- tual component can be easily influenced via the equation of motion.
- Very particularly advantageous boundary conditions for the consideration of predetermined restrictions of the virtual component or the real component or the actuator system can be taken into account in the optimization.
- physical limits of the test stand can be taken into account, which also effectively protects the components of the test stand against any damage, e.g. due to excessive torques, accelerations, speeds, etc. represents.
- the optimization algorithm in this case will typically consider equality or inequality constraints.
- unwanted oscillations in the HiL system can be reduced on the one hand, especially in demanding test scenarios (for example, driving over bumps or sleepers), while on the other hand it is possible to guarantee that the test bench can be restricted while at the same time maximizing its realism.
- FIG. 1 shows the basic configuration of a hardware-in-the-loop test environment.
- a test bench e.g. an engine test bench
- a real component 4 e.g. an internal combustion engine
- an actuator 3 e.g. a loading machine in the form of an electric dynamometer
- the virtual component 5 consists of a simulation model 21, e.g. a vehicle simulation model 6, an environmental simulation model 7, a driver simulation model 8, a road simulation model 9, a wheel simulation model 10, etc., which are used as software in a simulation device 17, e.g. in the form of a computer with required software and implemented algorithms.
- the vehicle or a component thereof is moved through a virtual world.
- Real component and virtual component interact via input interfaces 1 1 (data from sensor 18) and output interfaces 12 (data to actuators).
- the respectively current virtual state is controlled by the virtual component 5 at the real component 4 and at the actuator 3, so that the real component 4 experiences the states from the virtual component 5, ie the virtual world, and via the time sequence of these States is tested.
- the simulation model 21 calculates, in the simulation device 5, a control variable S for the actuator 3, for example after a suitable signal conditioning. a target rotational speed n, a control variable for the real component 4, e.g. a throttle position a, etc.
- control variables S are transferred via an output interface 12 of the simulation device 17 to the test bench 1 and set on the test bench 1 of the actuator 3 and possibly other suitable actuators, not shown, possibly by means of suitable control units.
- the measured variable in the sense of the present method does not have to be measured directly, but can also be derived or formed from other measured quantities.
- An example of this is a torque estimator known per se, which estimates the torque T of the connecting shaft 2 on the basis of the actual measured rotational speed n of the connecting shaft 2, or of the actuator 3 connected thereto.
- a torque estimator known per se, which estimates the torque T of the connecting shaft 2 on the basis of the actual measured rotational speed n of the connecting shaft 2, or of the actuator 3 connected thereto.
- it is not the directly measured signal that is used as the measured variable, but a correspondingly processed (eg filtered) signal.
- FIG. 2 shows a hardware-in-the-loop test environment for a drive train as a real component 4 as a further example.
- a drive train On the test bench 1 to the entire drive train is constructed. This includes an internal combustion engine 13, a clutch 14, a transmission 15 and a differential gear 16.
- the connecting shafts 2 F i_, 2 F R, 2 rl , 2 rr are here formed by the half-waves of the drive train and are with actuator 3 FL , 3 F R, 3RL, 3 R R, for example in the form of electric loading machines (dynamometers).
- the torques T FL , T FR , T RL , T RR of the connection shafts 2 FL , 2 FR , 2 RL , 2 rr are detected here and the virtual component 5 calculates the control variables for the real component 4 with the simulation model 21 implemented therein , here for the internal combustion engine 13 (eg the throttle position a), the clutch 14 (eg a clutch signal K) and the transmission 15 (eg a gear signal G), and the control variables for the actuators 3 FL , 3 FR , 3 RL , 3 RR , here speeds n FL , n FR , n RL , n RR .
- a test run in the hardware-in-the-loop test environment works exactly as described above with reference to FIG.
- the measured variable M supplied by the sensor system 18 of the test bench 1 e.g. one (or more) torque T of one (or more) half-wave or a connecting shaft 2, one (or more) control variable S for the actuator 3 calculated.
- this torque T can also be a torque estimated only or calculated on the basis of the measured values of other sensors.
- an equation of motion with at least one parameter P e.g. in the form of a differential algebraic equation implemented several times per second, e.g. every millisecond, is solved.
- P e.g. in the form of a differential algebraic equation implemented several times per second, e.g. every millisecond
- S f (P, M).
- a correction unit 20 which uses the correspondingly prepared measured variable M, eg a shaft torque T w , preferably at each time point in which the equation of motion is released (eg by numerical integration of the differential equations of the movement). , calculating a first correction value Ki. net, which calms the virtual component 5 in a suitable manner and undesirable resonance phenomena, which arise due to the imperfection of the test bed 1 - in particular the actuator 3 and the sensor 18 - compensated as best as possible.
- M eg a shaft torque T w
- the first correction value Ki is therefore a continuously changing signal and, in terms of its correctness, is added to the measured variable M, in this case torque T w , and the sum of the measured variable M and the correction value Ki is corrected to the virtual component 5 as a corrected measured value M * Shaft torque T w * , fed to calculate the control variable S for the actuator 3.
- the described inventive approach can be extended to any dynamic systems, wherein as measured variable M and control variable S instead of torque and speed then other physical quantities, such as. electrical voltage, mechanical force, etc., can be used.
- the correction unit 20 calculates a second correction value K 2 from the calculated control variable S, here eg rotational speed n, for the actuators 3, which is added to the calculated control variable S and the sum as a corrected control variable S * , here a corrected rotational speed n * , the actuator 3 for adjustment on the test bench 1 is provided.
- the second correction value K 2 is preferably calculated again at each point in time in which the equations of motion are released and again represents a continuously changing signal.
- This corrected control variable S * has the object of undesirable vibration effects, which are due to the imperfect transmission behavior of the actuators 3, keep away from the real component 4 on the test bench 1.
- the correction unit 20 calculates from the measured variable M a third correction value K 3 , which serves to change a parameter P of the equation of motion in the virtual component 5, preferably to change a system inertia (eg the wheel inertia or vehicle inertia) or a mass (eg the vehicle mass ).
- This corrected parameter P has the task of suppressing unwanted vibration effects of the virtual 5 and consequently also of the real component 4.
- the wave torque T w and optionally further measured variables, such as the temperature, for example, are used as the measured variable M, which is either measured directly or estimated or calculated from other measured variables.
- the control variable S for the actuator system 3 on the test bench 1 is determined from the measured shaft torque T w , eg, as here a rotational speed n dm d, sim for an electrical loading machine.
- the wheel simulation model 10 can also be connected to other simulation models, such as a tire simulation model, a road simulation model, etc., and exchange these data.
- the shaft torque T w is composed of a tire torque door between the tire and the road, a braking torque T bra ke and other optional auxiliary torque T opt , such as an electric drive torque in a wheel hub motor.
- a target function J is implemented as a function of the first correction value Ki, here in the form of a correction torque T cor .
- K l thus determined correction value Ki is added to the measured variable M from the test bench 1, here the shaft torque T w , and the corrected measured variable M * , here a corrected shaft torque T * , the wheel simulation model 10 of the virtual component 5 for determining the control variable S for the Transfer test rig 1.
- a first target function J en erg y could be implemented in the form of a quadratic quality function for this purpose.
- a target function offers a target function, the T + T
- the total target function J to be minimized for determining the first correction value Ki is then written as a linear combination of the first and second target functions with the weighting factors ⁇ - 1 , a 2 , + a 2 J d i S to-
- the sought correction torque T cor is then obtained by minimizing this objective function after the correction torque T cor .
- the correction unit 20 requires at least the control variable for the loading machine, in this case the speed n dm d, sim for determining the angular speed ⁇ .
- the moment of inertia of the rotating part J w (eg of the wheel or the clutch) can be assumed to be known.
- the first correction value Ki here the correction torque T cor , can then be processed in the virtual component 5, for example in the wheel simulation model 10, as described above.
- the correction unit 20 can also one, preferably the same, wheel simulation model 15 is implemented. Then, with knowledge of the shaft torque T w with the determined correction torque T cor , the correction unit 20 can determine a corrected total wheel torque T * w and transfer it to the virtual component 5, as shown schematically in FIG.
- the second correction value K 2 in the correction unit 20 is an objective function J as a function of the second correction value K 2, here in the form of a correction speed n cor implemented.
- J J
- n act is the actual speed of the actuator 3, eg a loading machine.
- the objective function J is minimized to n dm d, sim and the result of this optimization is used as correction speed n cor as described above.
- the determination of the third correction value K 3 can be carried out analogously to the determination of the first correction value Ki.
- an objective function J could be used as a linear function of two objective functions. With a first objective function, the effect of the back energy or the acceleration energy (J e ner gy ) could again be evaluated as described above.
- the second objective function could eg evaluate the rotational energy (Jdisto) changed by the changed parameter P, here the moment of inertia J w , whereby the rotational energy changed by the changed parameter P should again be as small as possible over time, in order to distort the rotational speed, the pulse or to minimize the kinetic energy of the system.
- J dist o could be written in the form, v) & (x, v) dxdv
- the objective function J can then be optimized after the third correction value K 3 , here the correction moment of inertia J cor , with which the moment of inertia J w in the virtual component 5 or in the equation of motion in the simulation model of the virtual components 5, is corrected, for example, with the correct sign is added to J w .
- a particular advantage in the optimization of objective functions for determining the correction values Ki, K 2 , K 3 can be seen in the fact that boundary conditions can be taken into account very simply in the optimization, whereby predetermined restrictions of the virtual component 5, eg a maximum wheel speed, or the real component 4, for example, a maximum torque of an internal combustion engine, or the actuator 3, for example, a maximum rotational acceleration of an electrical loading machine, consideration can be taken.
- the virtual component 5 eg a maximum wheel speed, or the real component 4
- the actuator 3 for example, a maximum rotational acceleration of an electrical loading machine
- the following boundary conditions could be taken into account for determining the first and third correction values Ki, K 3 .
- the objective function J is preferably optimized in real time, preferably on a real-time computer.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Engines (AREA)
- Feedback Control In General (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/895,380 US10317312B2 (en) | 2013-06-03 | 2014-05-30 | Method for reducing vibrations in a test bed |
CN201480039078.2A CN105452833B (zh) | 2013-06-03 | 2014-05-30 | 用于在试验台中减少振动的方法 |
DE112014002661.1T DE112014002661B4 (de) | 2013-06-03 | 2014-05-30 | Verfahren zur Reduzierung von Schwingungen in einem Prüfstand |
JP2016517251A JP6442490B2 (ja) | 2013-06-03 | 2014-05-30 | テストベンチにおいて振動を減少させるための方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA50369/2013 | 2013-06-03 | ||
ATA50369/2013A AT512483B1 (de) | 2013-06-03 | 2013-06-03 | Verfahren zur Reduzierung von Schwingungen in einem Prüfstand |
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Publication Number | Publication Date |
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WO2014195238A1 true WO2014195238A1 (de) | 2014-12-11 |
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ID=48875284
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Application Number | Title | Priority Date | Filing Date |
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PCT/EP2014/061262 WO2014195238A1 (de) | 2013-06-03 | 2014-05-30 | Verfahren zur reduzierung von schwingungen in einem prüfstand |
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Country | Link |
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US (1) | US10317312B2 (de) |
JP (1) | JP6442490B2 (de) |
CN (1) | CN105452833B (de) |
AT (1) | AT512483B1 (de) |
DE (1) | DE112014002661B4 (de) |
WO (1) | WO2014195238A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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AT522354A4 (de) * | 2019-08-12 | 2020-10-15 | Avl List Gmbh | Verfahren zum Betreiben eines Prüfstands |
AT522353B1 (de) * | 2019-08-05 | 2020-10-15 | Avl List Gmbh | Prüfstand und Verfahren zur Durchführung eines Prüflaufs auf einem Prüfstand |
CN113624516A (zh) * | 2017-02-28 | 2021-11-09 | 国际计测器株式会社 | 碰撞模拟试验装置和冲击试验装置 |
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AT515110B1 (de) | 2014-01-09 | 2015-06-15 | Seibt Kristl & Co Gmbh | Verfahren und Einrichtung zur Regelung eines Antriebsstrang-Prüfstands |
EP3067681B1 (de) | 2015-03-10 | 2018-02-14 | IPG Automotive GmbH | Verfahren zum betreiben eines motoren- oder antriebsstrangprüfstands |
US11704590B2 (en) * | 2017-03-24 | 2023-07-18 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and systems for predicting failure of a power control unit of a vehicle |
AT519553B1 (de) * | 2017-04-07 | 2018-08-15 | Avl List Gmbh | Verfahren zum Steuern, insbesondere Regeln, eines Antriebsstrangprüfstands mit realem Getriebe |
JP6369596B1 (ja) * | 2017-05-09 | 2018-08-08 | 株式会社明電舎 | ダイナモメータシステムの制御装置 |
AT521952B1 (de) * | 2018-12-10 | 2020-07-15 | Avl List Gmbh | Verfahren zum Durchführen eines Prüflaufs auf einem Prüfstand |
CN109975019A (zh) * | 2019-05-07 | 2019-07-05 | 哈尔滨工程大学 | 一种轴心轨迹模拟测试试验台 |
DE102023204942B3 (de) | 2023-05-26 | 2024-06-06 | Zf Friedrichshafen Ag | Verfahren zum Ermitteln eines Schwingungsverhaltens eines Bauteils |
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- 2014-05-30 DE DE112014002661.1T patent/DE112014002661B4/de active Active
- 2014-05-30 US US14/895,380 patent/US10317312B2/en active Active
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"Dissertation - Hardware-in-the-Loop-Prüfstand für Schwingungsuntersuchungen an Fahrzeugantriebskomponenten", 23 December 2008, UNIVERSITÄT ROSTOCK, Rostock, Germany, article INGO IBENDORF: "Dissertation - Hardware-in-the-Loop-Prüfstand für Schwingungsuntersuchungen an Fahrzeugantriebskomponenten", pages: 1 - 157, XP055140051 * |
Cited By (7)
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AT522353B1 (de) * | 2019-08-05 | 2020-10-15 | Avl List Gmbh | Prüfstand und Verfahren zur Durchführung eines Prüflaufs auf einem Prüfstand |
AT522353A4 (de) * | 2019-08-05 | 2020-10-15 | Avl List Gmbh | Prüfstand und Verfahren zur Durchführung eines Prüflaufs auf einem Prüfstand |
WO2021022310A1 (de) * | 2019-08-05 | 2021-02-11 | Avl List Gmbh | Prüfstand und verfahren zur durchführung eines prüflaufs auf einem prüfstand |
AT522354A4 (de) * | 2019-08-12 | 2020-10-15 | Avl List Gmbh | Verfahren zum Betreiben eines Prüfstands |
AT522354B1 (de) * | 2019-08-12 | 2020-10-15 | Avl List Gmbh | Verfahren zum Betreiben eines Prüfstands |
US11740158B2 (en) | 2019-08-12 | 2023-08-29 | Avl List Gmbh | Method for operating a test bench in order to determine a torque and a speed |
Also Published As
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DE112014002661B4 (de) | 2021-12-30 |
US20160116367A1 (en) | 2016-04-28 |
JP6442490B2 (ja) | 2018-12-19 |
CN105452833B (zh) | 2019-05-07 |
DE112014002661A5 (de) | 2016-03-24 |
CN105452833A (zh) | 2016-03-30 |
AT512483A3 (de) | 2014-10-15 |
AT512483B1 (de) | 2015-02-15 |
US10317312B2 (en) | 2019-06-11 |
JP2016520841A (ja) | 2016-07-14 |
AT512483A2 (de) | 2013-08-15 |
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