CN101739024A - System for integrating half-physical simulation test platform for complete vehicle electronic control device - Google Patents

Abstract

The invention discloses a system for integrating a half-physical simulation test platform for a complete vehicle electronic control device, so that a complete vehicle electronics system can be subjected to convenient, economic, reliable and humanized integrated development, test and verification through virtual real-time complete vehicle environment at the early development stage. The technical scheme of the invention is that: the system comprises a complete vehicle environment simulation model module, a complete electronic control device and a real-time interface module, wherein the complete vehicle environment simulation model module simulates an engine, a clutch, a gear box, vehicle running, and a complete vehicle electronic system; the vehicle electronic control device comprises an engine controller, an ABS controller, a gear box controller and a vehicle network; and the real-time interface module is connected with the complete vehicle environment simulation model module and the complete vehicle electronic control device and is used for providing real-time data exchange between the complete vehicle environment simulation model module and the complete vehicle electronic control device.

Description

The system of integrating half-physical simulation test platform for complete vehicle electronic control device

Technical field

The present invention relates to the development﹠ testing technology of automotive electronics electric system, relate in particular in the automotive electronics electric system development and testing stage, when the characterisitic parameter of known automobile electric control system, under the condition of not carrying out the entrucking of electronic apparatus system, carry out integrated real-time testing of finished vehicle electronic electric system and checking.

Background technology

Along with the develop rapidly of automotive electronics electrical apparatus technology, feasible modern more comfortable, safe, the energy-conservation and environmental protection of automobile of the widespread use of ECU (Electrical Control Unit).What bring but then is that the automotive electronics electric system is increasingly sophisticated, and therefore design and test become most important, and the required design cycle is longer, cost is higher.Today, more innovation depends on electronic technology, and the realization of a lot of functions also relies on control system day by day.The raising of complexity makes test becomes than whenever all more important in the past comprehensively and efficiently.The integrated use of a large amount of electronic apparatus systems causes the quantity in latent fault source sharply to increase on the automobile, and automotive electronics electric system fault has risen to first into the fault rank.

Test can find as early as possible and right a wrong and reduce cost, therefore be which link of electronic apparatus system development it all must be indispensable.In addition, have only parts to be integrated and run on true environment and real-time conditions following time, some system defects just can come out.This allow test become one trans-departmental and stride the subject of manufacturer.It is late more that problem is found, just serious more to the influence of raising the cost generation.And the product recall that extreme case causes owing to correcting mistakes has down more clearly illustrated this point.

Summary of the invention

The objective of the invention is to address the above problem, a kind of system of integrating half-physical simulation test platform for complete vehicle electronic control device is provided, can have made the finished vehicle electronic electric system just can carry out the integrated exploitation of finished vehicle electronic electric system, test and the checking of convenient, economical, efficient, reliable and hommization in early days in exploitation by virtual real-time car load environment.

Technical scheme of the present invention is: the present invention has disclosed a kind of system of integrating half-physical simulation test platform for complete vehicle electronic control device, comprising:

Car load environmental simulation model module, engine that is virtually reality like reality, clutch coupling, wheel box, vehicle ', finished vehicle electronic system;

Complete vehicle electronic control device comprises engine controller, abs controller, gearbox control, In-vehicle networking;

The real-time interface module connects this car load environmental simulation model module and this complete vehicle electronic control device, is used for to the real time data exchange is provided between this car load environmental simulation model module and this complete vehicle electronic control device.

According to an embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this car load environmental simulation model module comprises:

The engine mockup simulation unit, set up engine mockup with engine that is virtually reality like reality by input value, motor characteristic curve parameter that comprises accelerator pedal aperture, throttle opening, injection time, ignition angle, brake pedal aperture, environment temperature, environmental pressure and the output valve that comprises engine speed, engine output torque, engine consumption, Engine Inlet Temperature and pressure, wherein the motor characteristic curve parameter is to select corresponding motor characteristic curve according to different engines.

Embodiment according to the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this engine mockup simulation unit is gathered the accelerator pedal signal from this complete vehicle electronic control device, the brake pedal signal, the electronic throttle signal, the Valve EGR signal, fuel injection signal, ignition signal provides the steering pressure signal to this complete vehicle electronic control device, the engine coolant temperature signal, the engine oil temperature signal, crankshaft signal, camshaft signal, oxygen sensor signal, the quick-fried signal that shakes, the intake air temperature pressure signal, the air conditioning pressure signal, the generator signal.

According to an embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this car load environmental simulation model module comprises:

The clutch model simulation unit, the output valve of input value, clutch moment of torque resistance curve parameter and clutch coupling output torque by comprising engine speed, engine output torque, wheel box input torque, wheel box input shaft rotating speed is set up clutch model with clutch coupling that is virtually reality like reality, wherein this clutch moment of torque resistance curve is adjustable parameter, and the clutch coupling equation of this clutch model institute foundation is:

$M_C=[\frac{1}{2}\·(M_E+M_{\mathrm{Tin}})+D\·({\mathrm{\ω}}_E+{\mathrm{\ω}}_{\mathrm{Tin}})]\≤M_{\mathrm{CMax}}$

M wherein _CBe the clutch friction moment of torsion, M _EBe engine output torque, M _TinBe the wheel box input torque, D is the clutch moment of torque ratio of damping, ω _EBe engine angular velocity, ω _TinBe wheel box input shaft angular velocity, M _CMaxIt is the maximum friction moment of torsion that clutch coupling can transmit.

According to an embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this car load environmental simulation model module comprises:

Fluid torque-converter model emulation unit, input value by comprising pump impeller rotating speed and secondary speed, comprise that pump impeller torque curve and displacement are than the parameter of curve and comprise the pump impeller moment of torsion and the output valve of turbine moment of torsion is set up the fluid torque-converter model, wherein this pump impeller torque curve and this displacement are adjustable parameters than curve, and this fluid power displacement than the equation of model institute foundation is:

$M_P=f\left(\mathrm{\υ}\right)\·{\mathrm{\ω}}_P^2,$ M _T＝M _P·g(υ)，

M wherein _PBe the pump impeller driving torque, M _TBe the worm gear drive moment of torsion, ω _PBe pump impeller angular velocity, ω _TBe turbine angular velocity, υ is a gear ratio, and f (υ) is about the function of gear ratio and is pump impeller moment of torsion factor, g (υ) be about the function of gear ratio and be displacement than factor, wherein displacement than λ=-M _T/ M _P

According to an embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this car load environmental simulation model module comprises:

Wheel box model emulation unit, by comprising the clutch coupling output torque, the wheel box ratio of gear, the input value of differential mechanism moment of torsion and braking torque, comprise wheel box speed ratio table, the wheel box input shaft rotates the parameter of inertia and output shaft of gear-box moment of inertia, comprise the wheel box input torque, the output valve of wheel box input shaft rotating speed and output shaft of gear-box rotating speed is set up the wheel box model, this wheel box speed ratio table wherein, this wheel box input shaft rotates inertia and this output shaft of gear-box moment of inertia is adjustable parameter, and wherein the wheel box drive equation of this wheel box model institute foundation is:

$\mathrm{\ω}=\frac{{-i}_g\·M_C-2\·i_g\·i_g\·J_{\mathrm{Tin}}\·\mathrm{\ω}-M_D-M_B}{{i_g}^2\·J_{\mathrm{Tout}}+J_{\mathrm{Tout}}}$

Wherein ω is an output shaft of gear-box angular velocity, i _gBe the wheel box ratio of gear, M _CBe the clutch friction moment of torsion, J _TinBe that the wheel box input shaft rotates inertia, M _DBe the differential mechanism moment of torsion, M _BBe braking torque, J _ToutIt is the output shaft of gear-box moment of inertia.

Embodiment according to the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, driving switch signal, shift valve signal, lock valve signal are gathered from this complete vehicle electronic control device in this wheel box model emulation unit, provide input shaft rotating speed signal, output shaft tach signal, TOT Transmission Oil Temperature to this complete vehicle electronic control device.

According to an embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this car load environmental simulation model module comprises:

The vehicle running model simulation unit, by comprising engine output torque, the brake pedal aperture, the input value of wheel box ratio of gear, comprise gradient resistance, the automobile gross weight, vehicle wheel roll radius, base ratio, coefficient of rolling resistance, transmission efficiency, the vehicle moment of inertia, atmospheric density, the parameter of coefficient of air resistance and vehicle front face area, the output valve of the speed of a motor vehicle is set up vehicle running model, this gradient resistance wherein, this automobile gross weight, this vehicle wheel roll radius, this base ratio, this coefficient of rolling resistance, this transmission efficiency, this vehicle moment of inertia, the parameter of this atmospheric density and this vehicle front face area is adjustable parameter, and wherein the driving force and the balance equation between the running resistance of this vehicle running model institute foundation are:

$M_E\·\frac{i_g\·i_0}{r}\·{\mathrm{\η}}_T=m\·g\·f\·\cos \mathrm{\α}+m\·g\·\sin \mathrm{\α}+e\·m\·a+\frac{1}{2}\·\mathrm{\ρ}\·C_D\·A\·v^2$

M in the formula _EBe engine output torque, i _gBe the wheel box ratio of gear, i ₀Be the main reducing gear ratio of gear, η _TBe the transmission efficiency of power train, m is the automobile gross mass, and g is an acceleration of gravity, and f is a coefficient of rolling resistance, and α is a road gradient, and e is a rotational inertia coefficient, and a is the acceleration that travels, and ρ is an atmospheric density, C _DBe coefficient of air resistance, A is a front face area, and v is a speed of operation.

According to an embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, this car load environmental simulation model module comprises:

Finished vehicle electronic system model simulation unit, gather CAN bus signals, ignition switch signal, parking brake switching signal from this complete vehicle electronic control device, provide fuel level in tank signal, ambient temperature signal, engine oil pressure signal, brake liquid level low signal, engine coolant low signal, brake block wear signal to this complete vehicle electronic control device.

The present invention contrasts prior art following beneficial effect: the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention is as hardware foundation with a computing machine, real-time interface is as hardware support to adopt RTI (Real TimeInterface), and Software Development Platform is based on Matlab/Simulink.Simulation test platform of the present invention is the operation that replaces the actual vehicle power system with a plurality of dynamic system computation models such as engine, clutch coupling or fluid torque-converter, wheel box, wheels, constituted the integrated running environment of finished vehicle electronic electric system with real car load wire harness, controller and part actuator, so that the finished vehicle electronic electric system is tested and assessed.And in actual use, can adjust model parameter according to concrete automobile type configuration scheme.The contrast prior art, simulation test platform of the present invention system can bring following effect: (1) is converted into platform experiment with entrucking test of electronic apparatus system and segment path test, has shortened the construction cycle, has saved cost of development; (2) can the very first time expose system defect, problem was solved before Acceptance Test, shorten the time of dealing with problems, improve the efficient of dealing with problems; (3) can reduce the assembling of half prototype vehicle, and test platform can be recycling; (4) make simple to operately based on the test operation of microcomputer and stand, use flexibly.Certainly, the most significant advantage of simulation test platform of the present invention is to simulate the automotive environment of reality, and can not produce actual danger.Utilize this platform can simulate the integration testing that in real world, under the irrealizable extreme condition finished vehicle electronic electric system is carried out; Can help to find out the deficiency in the finished vehicle electronic electric system, even they only take place under specific circumstances; Can under the unripe condition of finished vehicle electronic electric system, test, make test become an effective ingredient of development process single subsystem; Can help special automotive electronics Electrical Appliances Designing replacement scheme to be made early stage decision-making having under the condition of ample evidence, the automotive electronics unit just can effectively move in applied environment in the future like this; This platform has good use interface equally.Finished vehicle electronic electric system integrating half-physical simulation test platform is powerful, not only accelerated the car load Time To Market by shortening the construction cycle, also reduced equipment cost and relevant maintenance cost, and very strong practicality and economy have been arranged owing to test period need not to use actual hardware.

Description of drawings

Fig. 1 is the schematic diagram of preferred embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention.

Fig. 2 is the structure diagram of engine mockup simulation unit of the present invention.

Fig. 3 is the structure diagram of clutch model simulation unit of the present invention.

Fig. 4 is the structure diagram of hydraulic pitch device model emulation of the present invention unit.

Fig. 5 is the structure diagram of wheel box model emulation of the present invention unit.

Fig. 6 is the structure diagram of vehicle running model simulation unit of the present invention.

Embodiment

The invention will be further described below in conjunction with drawings and Examples.

The system of integrating half-physical simulation test platform for complete vehicle electronic control device

Fig. 1 shows the structure of preferred embodiment of the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention.See also Fig. 1, the system of the simulation test platform of present embodiment mainly comprises three bulks: car load environmental simulation model module 1, RTI real-time interface module 2, complete vehicle electronic control device 3.Annexation between them is: RTI real-time interface module 2 connects car load environmental simulation model module 1 and complete vehicle electronic control devices 3, and being used for provides the real time data exchange for car load environmental simulation model module 1 and complete vehicle electronic control device 3.Complete vehicle electronic control device comprises some hardware electronics on the vehicle, for example engine controller, abs controller, gearbox control, air-conditioner controller, In-vehicle networking and other controllers etc.The three has constituted the finished vehicle electronic electric system the integration environment of a closed loop.

Car load environmental simulation model module 1 is used for engine that is virtually reality like reality, clutch coupling, wheel box, vehicle ', finished vehicle electronic system.All unit in the car load environmental simulation model module 1 all are to set up with Matlab/Simulink software.Car load environmental simulation model module 1 comprises engine mockup simulation unit, clutch model simulation unit, hydraulic pitch device model emulation unit, wheel box model emulation unit (comprising manual or automatic), vehicle running model simulation unit and finished vehicle electronic system model simulation unit.These models are connected by the complete vehicle electronic control device 3 of RTI real-time interface 2 and vehicle.

Fig. 2 shows the principle of engine mockup simulation unit of the present invention.See also Fig. 2, the engine mockup simulation unit is divided into three of input value, adjustable parameter and output valves.Wherein input value has accelerator pedal aperture, throttle opening, injection time, ignition angle, brake pedal aperture, environment temperature and environmental pressure.Adjustable parameter is a motor characteristic curve.Output valve has engine speed, engine output torque, engine consumption, Engine Inlet Temperature and pressure.Motor characteristic curve is to select corresponding motor characteristic curve according to different engines as adjustable parameter.The engine mockup simulation unit is come the real engine of simulating vehicle by setting up engine mockup.

Engine mockup simulation unit and complete vehicle electronic control device interaction data, wherein the engine mockup simulation unit collects the accelerator pedal signal of simulating signal input, the brake pedal signal of digital signal input, the electronic throttle signal of simulating signal input, Valve EGR signal, fuel injection signal and the ignition signal of digital signal input from complete vehicle electronic control device.For RTI real-time interface 2, the interface of above-mentioned simulating signal input is the A/D interface, and the interface of digital signal input is the I/O interface.The engine mockup simulation unit provides crankshaft signal, camshaft signal, the generator signal of steering pressure signal, engine coolant temperature signal, engine oil temperature signal, oxygen sensor signal, the quick-fried signal that shakes, intake air temperature pressure signal (TMAP), air conditioning pressure signal and the digital signal output of simulating signal output for complete vehicle electronic control device.For RTI real-time interface 2, the interface of above-mentioned simulating signal output is the D/A interface, and the interface of digital signal output is the I/O interface.

Fig. 3 shows the principle of clutch model simulation unit of the present invention.See also Fig. 3, the clutch model simulation unit is divided into three of input value, adjustable parameter and output valves.Wherein input value has engine speed, engine output torque, wheel box input torque, wheel box input shaft rotating speed, and adjustable parameter is the clutch moment of torque resistance curve, and output valve is the clutch coupling output torque.The clutch model simulation unit is simulated the clutch coupling of real vehicles by setting up clutch model.

The clutch coupling equation of clutch model institute foundation is:

$M_C=[\frac{1}{2}\·(M_E+M_{\mathrm{Tin}})+D\·({\mathrm{\ω}}_E+{\mathrm{\ω}}_{\mathrm{Tin}})]\≤M_{\mathrm{CMax}}$

M wherein _CBe the clutch friction moment of torsion, M _EBe engine output torque, M _TinBe the wheel box input torque, D is the clutch moment of torque ratio of damping, ω _EBe engine angular velocity, ω _TinBe wheel box input shaft angular velocity, M _CMaxIt is the maximum friction moment of torsion that clutch coupling can transmit.

Fig. 4 shows the principle of fluid torque-converter model emulation of the present invention unit.See also Fig. 4, fluid torque-converter model emulation unit is divided into three of input value, adjustable parameter and output valves.Wherein input value has pump impeller rotating speed and secondary speed, and adjustable parameter comprises pump impeller torque curve and displacement than curve, and output valve has pump impeller moment of torsion and turbine moment of torsion.The equation of fluid torque-converter model institute foundation is:

$M_P=f\left(\mathrm{\υ}\right)\·{\mathrm{\ω}}_P^2,$ M _T＝M _P·g(υ)，

M wherein _PBe the pump impeller driving torque, M _TBe the worm gear drive moment of torsion, ω _PBe pump impeller angular velocity, ω _TBe turbine angular velocity, υ is a gear ratio, and f (υ) is about the function of gear ratio and is pump impeller moment of torsion factor, g (υ) be about the function of gear ratio and be displacement than factor, wherein displacement than λ=-M _T/ M _P

Fig. 5 shows the principle of wheel box model emulation of the present invention unit.See also Fig. 5, wheel box model emulation unit is divided into three of input value, adjustable parameter and output valves.Wherein input value has clutch coupling output torque, wheel box ratio of gear, differential mechanism moment of torsion and braking torque, adjustable parameter has wheel box speed ratio table, wheel box input shaft to rotate inertia and output shaft of gear-box moment of inertia, and output valve has wheel box input torque, wheel box input shaft rotating speed and output shaft of gear-box rotating speed.Wheel box model emulation unit comes transmission for vehicles that is virtually reality like reality (manual or automatic) by the wheel box model.

The wheel box drive equation of wheel box model institute foundation is: $\mathrm{\ω}=\frac{{-i}_g\·M_C-2\·i_g\·i_g\·J_{\mathrm{Tin}}\·\mathrm{\ω}-M_D-M_B}{{i_g}^2\·J_{\mathrm{Tout}}+J_{\mathrm{Tout}}}$

Wherein ω is an output shaft of gear-box angular velocity, i _gBe the wheel box ratio of gear, M _CBe the clutch friction moment of torsion, J _TinBe that the wheel box input shaft rotates inertia, M _DBe the differential mechanism moment of torsion, M _BBe braking torque, J _ToutIt is the output shaft of gear-box moment of inertia.

Wheel box model emulation unit and complete vehicle electronic control device interaction data.Wheel box model emulation unit collects driving switch signal, shift valve signal, the lock valve signal that digital signal is imported from complete vehicle electronic control device, and the interface of above-mentioned digital signal input is the I/O interface.Wheel box model emulation unit provides the TOT Transmission Oil Temperature of input shaft rotating speed signal, output shaft tach signal and the simulating signal output of digital signal output to complete vehicle electronic control device.The interface of above-mentioned digital signal output is the I/O interface, and the interface of simulating signal output is the D/A interface.

Fig. 6 shows the principle of vehicle running model simulation unit.See also Fig. 6, the vehicle running model simulation unit comprises three of input value, adjustable parameter and output valves.Wherein input value has engine output torque, brake pedal aperture, wheel box ratio of gear, adjustable parameter has gradient resistance, automobile gross weight, vehicle wheel roll radius, base ratio, coefficient of rolling resistance, transmission efficiency, vehicle moment of inertia, atmospheric density vehicle front face area, and output valve is the speed of a motor vehicle.Driving force and the balance equation between the running resistance that the vehicle running model simulation unit is set up vehicle running model institute foundation are:

$M_E\·\frac{i_g\·i_0}{r}\·{\mathrm{\η}}_T=m\·g\·f\·\cos \mathrm{\α}+m\·g\·\sin \mathrm{\α}+e\·m\·a+\frac{1}{2}\·\mathrm{\ρ}\·C_D\·A\·v^2$

M in the formula _EBe engine output torque, i _gBe the wheel box ratio of gear, i ₀Be the main reducing gear ratio of gear, η _TBe the transmission efficiency of power train, m is the automobile gross mass, and g is an acceleration of gravity, and f is a coefficient of rolling resistance, and α is a road gradient, and e is a rotational inertia coefficient

(J moment of inertia, kgm ², r tire dynamic radius, m), α is the acceleration that travels, ρ is an atmospheric density, C _DBe coefficient of air resistance, A is a front face area, and v is a speed of operation.The vehicle running model simulation unit is from the signal of four wheels of abs controller receiving digital signals output.

Finished vehicle electronic system model simulation unit and complete vehicle electronic control device interaction data.Finished vehicle electronic system model simulation unit is gathered the ignition switch signal and the parking brake switching signal of CAN bus signals (by from the In-vehicle networking collection, the CAN bus signals transmits by the CAN interface in the RTI real-time interface module), digital signal input form from complete vehicle electronic control device.These digital signal inputs are what to finish by the I/O interface in the RTI real-time interface module.The engine oil pressure signal that fuel level in tank signal, ambient temperature signal and the digital signal that finished vehicle electronic system model simulation unit provides CAN bus signals (to the In-vehicle networking transmission, transmitting by the CAN interface), simulating signal to export to finished vehicle electronic control harvester exported, brake liquid level low signal, engine cool liquid level low signal, brake block wear signal etc.These simulating signal outputs are finished by the D/A interface, and digital signal output is to finish by the I/O interface.

The adjustable parameter of indication among the present invention, be construed as according to concrete model and choose corresponding matching parameter, for example the coefficient of rolling resistance parameter is adjustable, is interpreted as according to different road surface situations, select corresponding road surface coefficient of rolling resistance, reach the effect of transferring ginseng.

Certainly, except above-mentioned main controller, also have air-conditioner controller, abs controller etc. in the finished vehicle electronic electric system, for example the air-conditioning model is related with air-conditioner controller to also have corresponding realistic model in car load environmental simulation model module.The transmission evaporator temperature signal of analog signal form between them.

Use the system of integrating half-physical simulation test platform for complete vehicle electronic control device of the present invention, the emulation testing process is tested on real vehicle as the tester, as starting vehicle by firing key, the open out engine speed rises, the vehicle engage a gear moves ahead, when the speed of a motor vehicle arrives to a certain degree on the car door automatic locking, wiper is opened, and headlight such as opens at the electronic apparatus systemic-function.In addition, can on stand, realize the test of some extreme conditions and do not bring any danger, accelerate to F-Zero, reaction that the electronic apparatus system after the vehicle collision is relevant or the like as vehicle.All these can realize by platform of the present invention, and actual effect is equal to or approaches true environment.

The foregoing description provides to those of ordinary skills and realizes or use of the present invention; those of ordinary skills can be under the situation that does not break away from invention thought of the present invention; the foregoing description is made various modifications or variation; thereby protection scope of the present invention do not limit by the foregoing description, and should be the maximum magnitude that meets the inventive features that claims mention.

Claims (9)

1. the system of an integrating half-physical simulation test platform for complete vehicle electronic control device comprises:

Car load environmental simulation model module, engine that is virtually reality like reality, clutch coupling, wheel box, vehicle ', finished vehicle electronic system;

Complete vehicle electronic control device comprises engine controller, abs controller, gearbox control, In-vehicle networking;

The real-time interface module connects this car load environmental simulation model module and this complete vehicle electronic control device, is used for to the real time data exchange is provided between this car load environmental simulation model module and this complete vehicle electronic control device.

2. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 1 is characterized in that, this car load environmental simulation model module comprises:

The engine mockup simulation unit, set up engine mockup with engine that is virtually reality like reality by input value, motor characteristic curve parameter that comprises accelerator pedal aperture, throttle opening, injection time, ignition angle, brake pedal aperture, environment temperature, environmental pressure and the output valve that comprises engine speed, engine output torque, engine consumption, Engine Inlet Temperature and pressure, wherein the motor characteristic curve parameter is to select corresponding motor characteristic curve according to different engines.

3. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 2, it is characterized in that, this engine mockup simulation unit is gathered the accelerator pedal signal from this complete vehicle electronic control device, the brake pedal signal, the electronic throttle signal, the Valve EGR signal, fuel injection signal, ignition signal provides the steering pressure signal to this complete vehicle electronic control device, the engine coolant temperature signal, the engine oil temperature signal, crankshaft signal, camshaft signal, oxygen sensor signal, the quick-fried signal that shakes, the intake air temperature pressure signal, the air conditioning pressure signal, the generator signal.

4. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 1 is characterized in that, this car load environmental simulation model module comprises:

The clutch model simulation unit, the output valve of input value, clutch moment of torque resistance curve parameter and clutch coupling output torque by comprising engine speed, engine output torque, wheel box input torque, wheel box input shaft rotating speed is set up clutch model with clutch coupling that is virtually reality like reality, wherein this clutch moment of torque resistance curve is adjustable parameter, and the clutch coupling equation of this clutch model institute foundation is:

$M_C=[\frac{1}{2}\·(M_E+M_{\mathrm{Tin}})+D\·({\mathrm{\ω}}_E+{\mathrm{\ω}}_{\mathrm{Tin}})]\≤M_{\mathrm{CMax}}$

M wherein _CBe the clutch friction moment of torsion, M _EBe engine output torque, M _TinBe the wheel box input torque, D is the clutch moment of torque ratio of damping, ω _EBe engine angular velocity, ω _TinBe wheel box input shaft angular velocity, M _CMaxIt is the maximum friction moment of torsion that clutch coupling can transmit.

5. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 1 is characterized in that, this car load environmental simulation model module comprises:

Fluid torque-converter model emulation unit, input value by comprising pump impeller rotating speed and secondary speed, comprise that pump impeller torque curve and displacement are than the parameter of curve and comprise the pump impeller moment of torsion and the output valve of turbine moment of torsion is set up the fluid torque-converter model, wherein this pump impeller torque curve and this displacement are adjustable parameters than curve, and this fluid power displacement than the equation of model institute foundation is:

$M_P=f\left(\mathrm{\υ}\right)\·{\mathrm{\ω}}_P^2,$ M _T＝M _P·g(υ)，

M wherein _PBe the pump impeller driving torque, M _TBe the worm gear drive moment of torsion, ω _PBe pump impeller angular velocity, ω _TBe turbine angular velocity, υ is a gear ratio, and f (υ) is about the function of gear ratio and is pump impeller moment of torsion factor, g (υ) be about the function of gear ratio and be displacement than factor, wherein displacement than λ=-M _T/ M _P

6. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 1 is characterized in that, this car load environmental simulation model module comprises:

Wheel box model emulation unit, by comprising the clutch coupling output torque, the wheel box ratio of gear, the input value of differential mechanism moment of torsion and braking torque, comprise wheel box speed ratio table, the wheel box input shaft rotates the parameter of inertia and output shaft of gear-box moment of inertia, comprise the wheel box input torque, the output valve of wheel box input shaft rotating speed and output shaft of gear-box rotating speed is set up the wheel box model, this wheel box speed ratio table wherein, this wheel box input shaft rotates inertia and this output shaft of gear-box moment of inertia is adjustable parameter, and wherein the wheel box drive equation of this wheel box model institute foundation is:

$\mathrm{\ω}=\frac{{-i}_g\·M_C-2\·i_g\·i_g\·J_{\mathrm{Tin}}\·\mathrm{\ω}-M_D-M_B}{{i_8}^2\·J_{\mathrm{Tout}}+J_{\mathrm{Tout}}}$

Wherein ω is an output shaft of gear-box angular velocity, i _gBe the wheel box ratio of gear, M _CBe the clutch friction moment of torsion, J _TinBe that the wheel box input shaft rotates inertia, M _DBe the differential mechanism moment of torsion, M _BBe braking torque, J _ToutIt is the output shaft of gear-box moment of inertia.

7. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 6, it is characterized in that, driving switch signal, shift valve signal, lock valve signal are gathered from this complete vehicle electronic control device in this wheel box model emulation unit, provide input shaft rotating speed signal, output shaft tach signal, TOT Transmission Oil Temperature to this complete vehicle electronic control device.

8. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 1 is characterized in that, this car load environmental simulation model module comprises:

The vehicle running model simulation unit, by comprising engine output torque, the brake pedal aperture, the input value of wheel box ratio of gear, comprise gradient resistance, the automobile gross weight, vehicle wheel roll radius, base ratio, coefficient of rolling resistance, transmission efficiency, the vehicle moment of inertia, atmospheric density, the parameter of coefficient of air resistance and vehicle front face area, the output valve of the speed of a motor vehicle is set up vehicle running model, this gradient resistance wherein, this automobile gross weight, this vehicle wheel roll radius, this base ratio, this coefficient of rolling resistance, this transmission efficiency, this vehicle moment of inertia, the parameter of this atmospheric density and this vehicle front face area is adjustable parameter, and wherein the driving force and the balance equation between the running resistance of this vehicle running model institute foundation are:

$M_E\·\frac{i_g\·i_0}{r}\·{\mathrm{\η}}_T=m\·g\·f\·\cos \mathrm{\α}+m\·g\·\sin \mathrm{\α}+e\·m\·a+\frac{1}{2}\·\mathrm{\ρ}\·C_D\·A\·v^2$

M in the formula _EBe engine output torque, i _gBe the wheel box ratio of gear, i ₀Be the main reducing gear ratio of gear, η _TBe the transmission efficiency of power train, m is the automobile gross mass, and g is an acceleration of gravity, and f is a coefficient of rolling resistance, and α is a road gradient, and e is a rotational inertia coefficient, and a is the acceleration that travels, and ρ is an atmospheric density, C _DBe coefficient of air resistance, A is a front face area, and v is a speed of operation.

9. the system of integrating half-physical simulation test platform for complete vehicle electronic control device according to claim 1 is characterized in that, this car load environmental simulation model module comprises:

Finished vehicle electronic system model simulation unit, gather CAN bus signals, ignition switch signal, parking brake switching signal from this complete vehicle electronic control device, provide fuel level in tank signal, ambient temperature signal, engine oil pressure signal, brake liquid level low signal, engine coolant low signal, brake block wear signal to this complete vehicle electronic control device.

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