CN105867358A - Hardware-in-loop test device and method of automobile electronic parking controller - Google Patents
Hardware-in-loop test device and method of automobile electronic parking controller Download PDFInfo
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- CN105867358A CN105867358A CN201610408961.5A CN201610408961A CN105867358A CN 105867358 A CN105867358 A CN 105867358A CN 201610408961 A CN201610408961 A CN 201610408961A CN 105867358 A CN105867358 A CN 105867358A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/021—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system adopting a different treatment of each operating region or a different mode of the monitored system, e.g. transient modes; different operating configurations of monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention relates to a hardware-in-loop test device and method of an automobile electronic parking controller. The hardware-in-loop test device is characterized by comprising a dSPACE cabinet, an actuating mechanism, a switching module, a sensor monitoring module, a ramp driving module and a ramp protection module, wherein the actuating mechanism comprises a brake motor, brake calipers and a pressure nut, and the dSPACE cabinet comprises a DS1006 processor board card, a DS2202 board card, a DS2211 board card and a DS4302CAN communication board card; the DS1006 processor board is connected with the DS2202 board card, the DS2211 board card and the DS4302CAN communication board card through a PHS bus; a ramp control program is stored in the dSPACE cabinet, a digital input channel of the DS2202 board card and a CAN bus channel of the DS4302CAN communication board card in the dSPACE cabinet are connected with an input end of an ECU to be tested, a digital output channel of the DS2202 board card in the dSPACE cabinet is connected with the input end of the ECU to be tested, the brake motor is connected with an output end of the ECU to be tested, the switching module comprises an EPB switch, a relay and a switching board, and one end of the EPB is connected to a normally open contact of the relay.
Description
Technical field
The present invention relates to automobile initiative security technology area, be specifically related to automotive electronic parking controller hardware and fill in ring test
Put and method.
Background technology
Automotive electronic parking controller hardware is to realize the device to the detection of automobile chassis controller at ring test device, and it is permissible
Strategy Development and perfect in shape and function for electronic parking controller provide good foundation.Electronic parking controller test is i.e. at real vehicle
Detect the completeness of function policy that electronic parking controller possesses under environment, be included in and under various working condition, it carried out
Test.In prior art, in controller development process, need its control strategy is revised repeatedly, therefore,
During one construction cycle, from the beginning of designing controller, test to being assembled on real vehicle, there are problems: 1.
Use the mode of real steering vectors, greatly extend the controller construction cycle, add development cost, when wasting substantial amounts of
Between；2. real steering vectors needs to realize the various operating modes that controller runs, this operation to driver and the acquisition to duty parameter
There is high requirement；3. controller is arranged on real vehicle, and the measurement to brake force size creates the biggest difficulty.
The open a kind of electronic brake system of the Chinese patent of Patent No. ZL2011103226913 and parking controlling party thereof
Method, this control method uses electronic parking button to implement parking braking and parking release, and this switch element is a large amount of at needs
It is very inconvenient during the function of detection electronic parking controller, and can be greatly by the way of repeatedly pressing
Shorten the service life of electronic parking button；The clamping force recorded by pressure transducer is as evaluation and test electronic parking controller merit
The foundation of energy characteristic, if pressure sensor failure, then would merely rely on the force value of feedback not observe and whether make
Move or release；And for example the Chinese patent of Patent No. ZL2013208835791 discloses a kind of for electronic brake system
Hardware-in-the-loop test platform, ramp testing stand angle value to motor-drive circuit control instruction, thus controls electricity by host computer
Drive circuit drive control motor rotate, be rotated formula pallet rotate to preset angle angle value, obtain in this way
Actual inclination of ramp angle value there is certain error with theoretical inclination of ramp angle value, it is impossible to monitoring inclination of ramp angle value, Er Qiejing in real time
It is poor to spend.
Summary of the invention
For the deficiencies in the prior art, it is hard that the technical problem that the present invention intends to solve is to provide a kind of automotive electronic parking controller
Part is at ring test device and method.This test device and method passes through: (1) hardware-in-the-loop test runs quickly, can be quickly
Carry out a wheel system car load test, feed back to developer, for electronic parking controller strategy Development provide more time
Between.(2) input/output passage and CAN communication board by dSPACE rack carry out the mutual of Vehicular status signal,
Realize the running environment needed for various vehicle.(3) Sensor monitoring module and dSPACE rack connect, can be directly by system
The size of power feeds back, it is also possible to be monitored the size of braking motor electric current.
The present invention solves described technical problem and the technical scheme is that
A kind of automotive electronic parking controller hardware is at ring test device, it is characterised in that this test device includes dSPACE machine
Cabinet, actuator, switch module, Sensor monitoring module, ramp drive module and ramp protection module；Described execution machine
Structure includes braking motor, brake caliper and pressure nut,
Described dSPACE rack includes DS1006 processor board, DS2202 board, DS2211 board and DS4302CAN
Communication card；Its annexation is: DS1006 processor plate card by PHS bus respectively with DS2202 board, DS2211
Board and DS4302CAN communication card connect；In dSPACE rack, storage has ramp to control program；
In described dSPACE rack, the digital input channel of DS2202 board and the CAN of DS4302CAN communication card are total
Line passage is connected with the input of tested ECU, and in dSPACE rack, the digital output channel of DS2211 board is with tested
ECU input connect, braking motor is connected with the outfan of tested ECU；
Described switch module includes EPB switch, relay and switchboard；EPB switchs one end and is connected to the normally opened tactile of relay
Point, the normally-closed contact of relay is connected with the outfan of switchboard, switchboard input and the DS2202 of dSPACE rack
The digital output channel of board connects；The coil anode of relay and coil negative terminal are respectively connecting to the power end of switchboard and connect
Ground end；The power end of EPB switch and tested ECU all with the digital output channel of the DS2211 board of dSPACE rack
Connecting, the common point of relay is connected with the input of tested ECU；
Described Sensor monitoring module includes pressure transducer, transmitter and current sensor, the outfan of transmitter and electric current
The outfan of sensor analog digital conversion passage with the DS2202 board of dSPACE rack respectively is connected, and pressure transducer is placed in
Between brake caliper and pressure nut, pressure transducer is connected with the input of transmitter, and current sensor nesting is to braking electricity
The motor anode of machine；
Described ramp drives module to include that motor, stepper motor driver, photoelectric encoder and Gray code turn CAN；Step
Enter motor to be connected with dSPACE rack by stepper motor driver；Photoelectric encoder by Gray code turn CAN with
DSPACE rack connects；
Described ramp protection module includes that hardware package backplate and position-limiting unit, hardware package backplate and position-limiting unit are all and dSPACE
Rack connects, and position-limiting unit is connected with stepper motor driver by hardware package backplate.
A kind of automotive electronic parking controller hardware uses above-mentioned test device in ring test method, the method, specifically tests
Process is:
1) static clamping controls, by the coil anode Relay14 end making alive of relay, to produce around relay coil
Magnetic field, makes the armature contact normally opened contact of relay, and EPB switch is sent out brake request, processed through its internal circuit, by it
It is converted into tetra-kinds of states of ES_SW1～ES_SW4；By the normally opened contact Relay 5～Relay 8 of relay, four kinds of states are passed
To the common point Relay 9～Relay 12 of relay, and common point Relay 9～Relay 12 is connected to SW1～SW4 of ECU
Pin, i.e. achieves the transmission from true parking switch signal to ECU switching signal, and ECU receives brake request
Order, according to the control strategy within ECU, drives braking motor to rotate forward；Real-time in host computer interface by current sensor
Read the size of stalling current, when stalling current arrives threshold current, and the voltage at braking motor two ends is set low electricity by ECU immediately
Flat, now braking motor will stall；Current brake force value can be read, it is achieved automotive electronics is stayed by pressure transducer
The static clamping of car；
2), under static release controls true switching mode, the on off state of EPB switch is directly given to ECU by relay；
Under virtual switch pattern, PC control virtual switch mode is used to realize Release release control, relay coil two ends electricity
Pressure release, thus armature sets back under spring force, contacts normally-closed contact Relay1～Relay4；By dSPACE
The digital output channel of the DS2202 board of rack sends static release request, through the signal processing of switchboard, is converted
For SW_SW1～tetra-kinds of states of SW_SW4, on off state is sent to common point by normally-closed contact Relay1～Relay4
Relay9～Relay12, so realize on off state by the transmission ECU of dSPACE rack to ECU receive brake request life
Order, according to the control strategy that it is internal, drives braking motor reversion；Adopted in real time by the analog digital conversion passage of dSPACE rack
Collection pressure transducer and the size of current sensor, thus ECU controls braking motor stall opportunity according to stalling current size,
The size of monitoring brake pressure, it is achieved the static release of automotive electronic parking controls；
3) automatic parking controls first to be transferred to by CAN line by the Vehicular status signal simulated by dSPACE rack
ECU, ECU detect GES, if engine rotational speed signal is zero and GES is zero and keeps 2.5s, ECU to drive
Dynamic braking motor rotates forward clamping, and ECU receives the stalling current size of current sensor, when stalling current has exceeded the threshold set
Value electric current, ECU sends out braking to braking motor driver element and ceases and desist order, it is achieved the automatic parking of automotive electronic parking controls；
4) ramp sail out of control dSPACE rack send out control signal to stepper motor driver, the control of stepper motor driver
Signal processed is Low level effective, is monitored the anglec of rotation of motor by photoelectric encoder in real time, and turns CAN by Gray code
Acquired angle value is passed to dSPACE rack, if be detected that current angle value and input angle angle value are equal, by
DSPACE rack transmission stopping signal, to stepper motor driver, is controlled motor by stepper motor driver and stops the rotation,
It is derived from testing required inclination of ramp angle value；Braking motor is in clamped condition, and ramp is worth by CAN line by dSPACE machine
Cabinet is sent to ECU, ECU internal control strategy judge, if reach the release torque of current grade braking motor, and ECU
Drive braking motor reversion release, it is achieved control is sailed out of in ramp.
Compared with prior art, the invention have the benefit that
The present invention tests device and realizes driving module, ramp to protect in electronic parking switch module, ramp by dSPACE rack
Protect module and Sensor monitoring module to carry out signal mutual, in test process, need a large amount of being clamped and discharging the most repeatedly
Operation, therefore switch module can realize virtual switch rapidly and (can realize the two by host computer interface with true switch
Between switching, the realization of virtual switch be by dSPACE rack send braking and release signal be given to switchboard, pass through
It is given to relay again after the conversion of switchboard signal, is given to the signal of relay and signal that true switch is given to relay is one
Cause；True switch refers to the electronic parking switch of necessary being) switching of state, if true switch breaks down, can
To substitute with virtual switch, and virtual switch can also extend the service life of true switch；Sensor monitoring module is permissible
During clamping or release, monitoring brake pressure and the change of braking motor electric current in real time, due in reality
In operating process, owing to the reasons such as power supply electricity shortage cause braking motor cannot implement clamping, and motor creates folder really
Only by faint brake pressure, tight action, judges whether motor creates corresponding action and be clearly the most unilateral, therefore
Can judge that parking clamping or parking discharge by the change of brake pressure and current of electric the two key factor, be so
Brake pressure is made to be not changed in, it can also be seen that the action of motor in the change of stalling current.Driven in module by ramp
Photoelectric encoder and Gray code turn CAN can realize ± 30 ° in the range of arbitrarily inclination of ramp angle value ground change, greatly simplify
The distribution of rigid line resource, and motor can be controlled in real time according to current inclination of ramp angle value and input by host computer
Relation between inclination of ramp angle value, thus control the speed that motor rotates, the ramp needed for optimal velocity interpolation
Angle value, improves the precision of ramp angles；Ramp protection module is possible to prevent owing to the motor anglec of rotation is excessive and draw
The ramp experimental provision risen damages, and provides safety guarantee for experimental provision.
The present invention tests device and method of testing by building automotive electronic parking controller hardware in ring test platform, simulation reality
Car running status, can realize efficiently automotive electronic parking controller in ring test.It is possible not only to simulate the various fortune of real vehicle
Row operating mode, most of functional fault of detection automatic parking controller, and significantly shorten electronics compared to real steering vectors
The parking controller construction cycle, save development cost.
Accompanying drawing explanation
Fig. 1 is that automotive electronic parking controller hardware of the present invention is at ring test structure drawing of device.
Fig. 2 is the relay pin scattergram of breaker in middle module of the present invention
Fig. 3 is the hardware protection circuit connection figure of mesoslope pipe protection module of the present invention
In figure, 1-dSPACE rack, 2-ECU (electronic parking controller), 3-actuator, 4-switch module, 5-sensing
Device monitoring modular, 6-ramp drive module, 7-ramp protection module, 41-EPB switch, 42-relay, 43-switchboard, 53-
Current sensor, 51-pressure transducer, 52-transmitter, 61-motor, 62-stepper motor driver, 63-photoelectric coding
Device, 64-Gray code turn CAN, 71-hardware package backplate, 72-position-limiting unit.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention will be further described, but does not protect in this, as to the application claim
Protect the restriction of scope.
Automotive electronic parking controller hardware of the present invention includes at ring test device (being called for short test device, see Fig. 1-3)
DSPACE rack 1, actuator 3, switch module 4, Sensor monitoring module 5, ramp drive module 6 and ramp protection mould
Block 7；Described actuator 3 includes braking motor, brake caliper and pressure nut,
Described dSPACE rack 1 includes DS1006 processor board, DS2202 board, DS2211 board and DS4302CAN
Communication card；Its annexation is: DS1006 processor plate card by PHS bus respectively with DS2202 board, DS2211
Board and DS4302CAN communication card connect；In dSPACE rack, storage has ramp to control program；
Described DS2202 board includes 38 railway digital input (DIG_IN) passages, 16 railway digitals output (DIG_OUT)
Passage, 9 tunnel pulse output (PWM_OUT) passages；Described DS2211 board includes 16 tunnel analog digital conversion (ADC)
Passage, 16 railway digital output (DIG_OUT) passages；Described DS4302CAN communication card includes the CAN of 4 tunnel independences
Bus run, can emulate the bus of 4 kinds of different rates simultaneously；
The digital input channel of DS2202 board and the CAN of DS4302CAN communication card in described dSPACE rack 1
Bus run is connected with the input of tested ECU 2, in dSPACE rack 1 digital output channel of DS2211 board with
The input of tested ECU 2 connects, and braking motor is connected with the outfan of tested ECU；
Described switch module 4 includes EPB switch 41, relay 42 and switchboard 43；EPB switchs 41 one end and is connected to
The normally opened contact of relay 42, the normally-closed contact of relay 42 is connected with the outfan of switchboard 43, and switchboard 43 inputs
End is connected with the digital output channel of the DS2202 board of dSPACE rack 1；The coil anode of relay 42 and coil are born
End is respectively connecting to 12V power end and the earth terminal GND of switchboard 43；EPB switch 41 and the power supply of tested ECU
End all digital output channel with the DS2211 board of dSPACE rack are connected, and the common point of relay (refers in Fig. 2
Tetra-contacts of Relay9～Relay12) it is connected with the input of tested ECU；
Described Sensor monitoring module 5 includes pressure transducer 51, transmitter 52 and current sensor 53, the output of transmitter 52
The outfan of end and current sensor 53 respectively with analog digital conversion (ADC) passage of the DS2202 board of dSPACE rack 1
Connection, i.e. transmitter 52 export the two-way analog digital conversion of the DS2202 board that analog voltage signal is connected to dSPACE rack and lead to
Road, the analog current value of in like manner current sensor 53 output is connected to the two-way analog digital conversion passage of DS2202 board, and pressure passes
Sensor 51 is placed between brake caliper and pressure nut, and pressure transducer 51 is connected with the input of transmitter 52, current sense
Device 53 nesting is to the motor anode of braking motor；
Described ramp drives module 6 to include motor 61, stepper motor driver 62, photoelectric encoder 63 and Gray code
Turn CAN 64；Motor 61 is connected with dSPACE rack 1 by stepper motor driver 62；Photoelectric encoder
63 turn CAN 64 and dSPACE rack 1 by Gray code is connected；
Described ramp protection module 7 includes hardware package backplate 71 and position-limiting unit 72, and position-limiting unit 72 is fixed on motor
The obliquely downward of output shaft, with stepper motor output shaft vertical line angle 60 °；Position-limiting unit 72 by hardware package backplate 71 with
Stepper motor driver 62 is connected, and hardware package backplate 71 and position-limiting unit 72 are all connected with dSPACE rack 1.
Heretofore described relay 42 (seeing Fig. 2) includes normally-closed contact, normally opened contact, common point, coil negative terminal and line
Circle anode, in Fig. 2, Relay1～Relay4 is four normally-closed contacts, Relay5～Relay8 is four normally opened contacts, Relay9～
Relay12 is four common points, Relay13 and Relay14 is respectively coil negative terminal and coil anode.Wherein pass through Relay13
Control relays 42, Relay13 ground connection all the time with two pins of Relay14, tetra-common points of Relay9～Relay12 be connected to by
4 railway digital input (DIG_IN) passages of the DS2202 board of SW1～SW4 and the dSPACE rack 1 of the ECU2 surveyed；
When Relay14 end no-voltage, tetra-normally-closed contact conductings of Relay1～Relay4, it is respectively connecting to the outfan of switchboard
SW_SW1～SW_SW4；If Relay14 connects 12V voltage, tetra-normally opened contact conductings of Relay5～Relay8 of relay,
It is respectively connecting to four pin ES_SW1～ES_SW4 of EPB switch 41.
The present invention test device be further characterized by described hardware package backplate 71 include three with door, a not gate and one
Or door, concrete connected mode (seeing Fig. 3) is: with door A input and with door B input with spacing
The common point of a limit switch L in unit 72 connects, with another input of door B and with the input of door C
It is connected with the common point of another limit switch R in position-limiting unit 72, is connected the defeated of not gate with another input of door C
Go out end, the input of not gate and all defeated with the numeral of the DS2211 board of dSPACE rack 1 with another input of door A
The input going out passage and stepper motor driver 62 connects；With door A and door B and with the outfan of door C all with or door
Input connects, or the outfan of door is connected with the coil anode of protective relay, protective relay coil negativing ending grounding, protects
The common point protecting relay is connected to the pulse input end of stepper motor driver 62, and the normally opened contact of protective relay is connected to
Earth terminal, pulse output (PWM_OUT) of the normally-closed contact of protective relay and the DS2202 board of dSPACE rack 1
Passage connects；The motor 61 course changing control letter exported by the digital output channel of the DS2211 board of dSPACE rack 1
Number it is connected to the direction input of stepper motor driver 62, is also connected with the input with door A；DSPACE rack 1
Power end VCC is connected with one end of two limit switches (limit switch L and limit switch R) in position-limiting unit 72,
The earth terminal GND of dSPACE rack 1 and two limit switches (limit switch L and limit switch R) in position-limiting unit 72
The other end connect.
The present invention tests device and is further characterized by described pressure transducer model is JHBM-M pressure transducer, spacing
Unit model is XZ-15GW-B.It is to be driven by motor 14 that photoelectric encoder 63 and Gray code turn CAN64 Main Function
The ramp value formed feeds back to dSPACE rack 1 in real time.Wherein photoelectric encoder 63 is 12 absolute optical encoders,
Its angle recognition precision is up to 0.08 °；Gray code turns CAN 64 and uses XOR method by turn, will feed back to by photoelectric encoder 63
Grade signal, by the second of the left side, by every with the decoded value in one, the left side carry out XOR, decode as this position
After value, XOR successively, until lowest order, the value after conversion is given to the DS4302CAN of dSPACE rack 1 through CAN line
Communication card.
The present invention test device be further characterized by described ramp control program idiographic flow be: first initialize ramp
Parameter, ramp parameter includes the minimum accuracy value that input angle angle value (In), current angle value (An), motor 61 rotate
(pre), dutycycle (dc), frequency (f), switch and steering state (sd)；Relatively input angle angle value In and current angle value
The size of An, if the difference of input angle angle value and current angle value is not above the minimum accuracy value that motor 61 rotates,
I.e. | In-An | pre, motor 61 attonity, i.e. dutycycle dc are zero, otherwise, then judge switch and steering state sd
State, if sd=00 or 01, motor 61 rotates with the dutycycle of 50%, i.e. dc=50；Sd=00, motor
Limit switch is not touched in 61 rotations counterclockwise；Sd=01, motor 61 turns clockwise and does not touch limit switch；Sd=10,
Motor 61 rotates touching limit switch counterclockwise, and dc=0, motor 61 stops action；Sd=11, motor 61 is suitable
Hour hands rotate touching limit switch, and dc=0, motor 61 stops action.The rotary speed of motor 61 is by controlling
The output pulse frequency of stepper motor driver 62 controls, and (1) is if the difference of input angle angle value and current angle value is not more than
8 °, motor 61 rotates with the frequency of 50Hz, i.e. during | In-An | 8 °, and f=50Hz.(2) if input angle angle value with
The difference of current angle value is between 8 °～16 °, and motor 61 rotates with the frequency of 90Hz, i.e. 8 ° < | In-An | 16 °
Time, f=90Hz.(3) if the difference of input angle angle value and current angle value is between 16 °～30 °, motor 61 with
The frequency of 160Hz rotates, i.e. 16 ° < during | In-An | 30 °, f=160Hz.(4) if input angle angle value and current angle value
Difference more than 30 °, motor 61 rotates with the frequency of 200Hz, i.e. 30 ° < during | In-An |, f=200Hz.In this test
In device, set touching limit switch, i.e. stop motor 61 and rotate, to protect ramp testing stand.The present invention passes through slope
Road controls program and realizes the start and stop to motor, the control of speed, and ramp controls program and is stored in dSPACE rack.
In the present invention, dSPACE rack can realize the input/output of digital signal and the output of pwm signal, it is also possible to logical
Cross CAN communication board and carry out communication with ECU2；The signal that clamps and releases that the braking motor tested ECU 2 of reception sends enters
The corresponding action of row；Relay 42 in switch module 4 can be implemented between true electronic parking switch and virtual parking switch
Switching；Sensor monitoring module 5 is connected with analog digital conversion (ADC) passage of dSPACE rack 1, monitors braking in real time
Pressure and the change of stalling current；Ramp drives module 6 and ramp protection module 7 can realize in certain limit arbitrarily inclination of ramp
The conversion of degree so that the ramp of detection electronic parking controller is sailed out of function and become accurate, feasible.
The present invention tests the operation principle of device: the present invention tests device and can realize testing electronic parking controller function,
Wherein ECU (electronic parking controller) 2 is main control unit, controls braking motor and produces according to the control strategy within ECU
Correspondingly clamp and release action；DSPACE rack 1 is the core of whole test device, is responsible for sensor (current sensor
53 and pressure transducer 51), the signal such as executor's (braking motor and motor 61) mutual；Switch module 4 can lead to
Cross relay 42 and realize the switching between true switching mode and virtual switch pattern, under true switching mode, EPB switch 41
On off state be directly given to ECU2 by relay 42, under virtual switch pattern, send braking by dSPACE rack 1
Or releasing request order, after the process of switchboard 43, then it is sent to ECU2 by relay 42；Sensor monitoring module 5
Can be monitored the size of current of braking motor in real time by current sensor 53, pressure transducer 51 can be with Real-time Feedback clamping force
Size；Ramp driving module 6 can be turned CAN64 by Gray code and the motor anglec of rotation be fed back to by CAN line
DSPACE rack 1；Ramp protection module 7 includes hardware package backplate 71 and position-limiting unit 72.Motor 61 rotates over setting
Value, touch position-limiting unit 72, steering controling signal gives stepper motor driver 62 after the process by hardware package backplate,
The control of stepper motor driver 62 enables signal and becomes low level, and motor 61 stops operating." run when ramp controls program
Fly " time, i.e. motor 61 anglec of rotation is beyond set angle threshold scope, if continuing to rotate, then can cause slope
The damage of road testing stand, in order to prevent the generation of this situation, adds ramp protection module in the laboratory table of ramp.
Hardware-in-loop simulation is a kind of HWIL simulation, and i.e. actual controller and virtual object (vehicle), software model exists
Running in hardware inside dSPACE rack and be just properly termed as at ring, it is all in ring test that the present invention tests device.Vapour of the present invention
Car electronic parking controller hardware can be used to simulate real vehicle operating condition at ring test device, the static state to automotive electronic parking
Clamping, static release, automatic parking, ramp the function such as are sailed out of and are made evaluation, the big portion of detection automotive electronic parking controller
Point function is the most normal, and then for the perfect offer foundation of automotive electronic parking controller control strategy.
The following is the present invention and test device at test automotive electronic parking controller whether at the concrete test process of ring:
1) static clamping controls the basic function possessed as automotive electronic parking controller, and static clamping control strategy is
The core of automotive electronic parking controller.EPB switch 41 possesses three state: Apply, Release, Netual.By being continued
The coil anode Relay14 end of electrical equipment 42 adds the voltage of a 12V, produces magnetic field so that relay around relay 42 coil
The armature contact normally opened contact of 42, EPB switchs 41 brake request, processes through its internal circuit, is translated into
Tetra-kinds of states of ES_SW1～ES_SW4；By normally opened contact Relay5～Relay8 of relay 42, four kinds of states are passed to relay
Common point Relay9～Relay12 of device 42, and common point Relay9～Relay12 is connected to SW1～the SW4 pin of ECU2,
I.e. achieving the transmission from true parking switch signal to ECU2 switching signal, ECU 2 receives brake request order,
According to the control strategy within ECU, braking motor is driven to rotate forward；By current sensor 53 in host computer interface (by upper
Software in the machine of position can realize the monitoring of channel information in dSPACE rack 1 and operation.) braking electricity can be read in real time
The size of stream, when stalling current arrives threshold current, and the voltage at braking motor two ends is set low level by ECU2, now brakes electricity
Machine will stall；Current brake force value can be read by pressure transducer 51.
2) the second state of static release control EPB switch 41 is static release request end, switchs according to EPB
41 send static release order, and its process is similar with static clamping process, the most no longer repeats.Use PC control
Virtual switch mode realizes Release release control, as in figure 2 it is shown, relay 42 coil two ends off voltage, armature will
Set back under the pressure of the spring, so that normally-closed contact Relay1～Relay4 and common point Relay9～Relay12 turns on；
Static release request is sent, through the signal of switchboard 43 by the digital output channel of the DS2202 board of dSPACE rack 1
Process, be translated into tetra-kinds of states of SW_SW1～SW_SW4；Common point Relay9～Relay12 due to relay 42
Being connected with four on off state SW1～SW4 of ECU2, the on off state therefore processed through switchboard 43 is finally given to
Electronic parking controller ECU2, ECU2 receive brake request order, according to the control strategy that it is internal, drive braking electricity
Machine inverts；By analog digital conversion (ADC) passage Real-time Collection pressure transducer 51 and the current sensor 53 of dSPACE rack 1
Size, thus ECU2 controls braking motor stall opportunity according to stalling current size, by monitoring the size of brake pressure,
The Appreciation gist that can control as static release.
3) automatic parking controls a kind of intelligence parking function that automatic parking control is automotive electronic parking braking, when detecting
Vehicle is in dead ship condition, and ECU2 understands intelligent decision, and it is with parked state, and then can to send parking order, it is achieved parking system
Dynamic.First by dSPACE rack 1, by CAN line, the Vehicular status signal simulated is transferred to ECU2, ECU2 detect
GES, if engine rotational speed signal is zero and GES is zero and keeps 2.5s, ECU2 to drive braking motor to rotate forward
Clamping, ECU2 receives the stalling current size of current sensor 53, when stalling current has exceeded the threshold current set, ECU2
Send out braking to braking motor driver element to cease and desist order, braking motor stall.
4) control 1 control signal of dSPACE rack is sailed out of to stepper motor driver 62 in ramp, and motor is biphase mixed
Box-like motor, model is 110HS12, and technical specification is: step angle 1.8 °, and electric current is 5A, and number of leads is 4,
The control signal of stepper motor driver 62 is Low level effective, and the anode of control signal is connected together as the public of signal
End.Monitored the anglec of rotation of motor 61 by photoelectric encoder 63 in real time, and turn CAN64 by acquired by Gray code
Angle value pass to dSPACE rack 1, if be detected that current angle value and input angle angle value are equal, by dSPACE rack
1 transmission stopping signal, to stepper motor driver 62, is controlled motor 61 by stepper motor driver 62 and stops the rotation, thus
Obtain the required inclination of ramp angle value of experiment；Braking motor is in clamped condition, and ramp is worth by CAN line signal such as engine speed
Signal, gear signal, accelerator pedal position signal, clutch pedal position signal etc. are sent to ECU2 by dSPACE rack 1,
Being judged by ECU2 internal control strategy, if reach the release torque of current grade braking motor, ECU2 drives braking
Motor reversal discharges, thus realizes ramp and sail out of.
Unaccomplished matter of the present invention is known technology.
Claims (5)
1. an automotive electronic parking controller hardware is at ring test device, it is characterised in that this test device includes dSPACE machine
Cabinet, actuator, switch module, Sensor monitoring module, ramp drive module and ramp protection module；Described execution machine
Structure includes braking motor, brake caliper and pressure nut,
Described dSPACE rack includes DS1006 processor board, DS2202 board, DS2211 board and DS4302CAN
Communication card；Its annexation is: DS1006 processor plate card by PHS bus respectively with DS2202 board, DS2211
Board and DS4302CAN communication card connect；In dSPACE rack, storage has ramp to control program；
In described dSPACE rack, the digital input channel of DS2202 board and the CAN of DS4302CAN communication card are total
Line passage is connected with the input of tested ECU, and in dSPACE rack, the digital output channel of DS2211 board is with tested
ECU input connect, braking motor is connected with the outfan of tested ECU；
Described switch module includes EPB switch, relay and switchboard；EPB switchs one end and is connected to the normally opened tactile of relay
Point, the normally-closed contact of relay is connected with the outfan of switchboard, switchboard input and the DS2202 of dSPACE rack
The digital output channel of board connects；The coil anode of relay and coil negative terminal are respectively connecting to the power end of switchboard and connect
Ground end；The power end of EPB switch and tested ECU all with the digital output channel of the DS2211 board of dSPACE rack
Connecting, the common point of relay is connected with the input of tested ECU；
Described Sensor monitoring module includes pressure transducer, transmitter and current sensor, the outfan of transmitter and electric current
The outfan of sensor analog digital conversion passage with the DS2202 board of dSPACE rack respectively is connected, and pressure transducer is placed in
Between brake caliper and pressure nut, pressure transducer is connected with the input of transmitter, and current sensor nesting is to braking electricity
The motor anode of machine；
Described ramp drives module to include that motor, stepper motor driver, photoelectric encoder and Gray code turn CAN；Step
Enter motor to be connected with dSPACE rack by stepper motor driver；Photoelectric encoder by Gray code turn CAN with
DSPACE rack connects；
Described ramp protection module includes that hardware package backplate and position-limiting unit, hardware package backplate and position-limiting unit are all and dSPACE
Rack connects, and position-limiting unit is connected with stepper motor driver by hardware package backplate.
Automotive electronic parking controller hardware the most according to claim 1 is at ring test device, it is characterised in that described hardware
Protection board include three with door, not gate, one or and a protective relay, concrete connected mode is: with door A
An input and be connected, with door with the common point of a limit switch L in position-limiting unit with an input of door B
Another input of B and being connected with the common point of another limit switch R in position-limiting unit with an input of door C,
Another input with door C is connected the outfan of not gate, the input of not gate and with another input of door A all with
The digital output channel of the DS2211 board of dSPACE rack and the input of stepper motor driver connect；With door A and
Door B and with the outfan of door C all with or the input of door be connected, or the coil anode company of the outfan of door and protective relay
Connecing, protective relay coil negativing ending grounding, the common point of protective relay is connected to the pulse input end of stepper motor driver,
The normally opened contact of protective relay is connected to earth terminal, the normally-closed contact of protective relay and the DS2202 plate of dSPACE rack
The pulse output channel of card connects.
Automotive electronic parking controller hardware the most according to claim 1 is at ring test device, it is characterised in that described ramp
The idiographic flow of control program is: first initialize ramp parameter, ramp parameter include input angle angle value, current angle value,
Minimum accuracy value, dutycycle, frequency, switch and the steering state that motor rotates；Compare input angle angle value and work as anterior angle
The size of angle value, if the difference of input angle angle value and current angle value is not above the minimum accuracy value that motor rotates,
Motor attonity, i.e. dutycycle are zero, otherwise, then judge switch and the state of steering state sd, if sd=00 or
01, motor rotates with the dutycycle of 50%；Sd=00, motor rotates counterclockwise does not touch limit switch；
Sd=01, motor turns clockwise and does not touch limit switch；Sd=10, motor rotates counterclockwise touches spacing opening
Close, motor stopping action；Sd=11, motor turns clockwise touching limit switch, motor stopping action.
Automotive electronic parking controller hardware the most according to claim 1 is at ring test device, it is characterised in that described pressure
Sensor is JHBM-M pressure transducer, and position-limiting unit model is XZ-15GW-B, and photoelectric encoder is 12 absolute types
Photoelectric encoder, Gray code turns CAN and uses XOR method by turn.
5. automotive electronic parking controller hardware is at a ring test method, and the method uses the arbitrary described survey of claim 1-4
Electricity testing device, concrete test process is:
1) static clamping controls, by the coil anode Relay14 end making alive of relay, to produce around relay coil
Magnetic field, makes the armature contact normally opened contact of relay, and EPB switch is sent out brake request, processed through its internal circuit, by it
It is converted into tetra-kinds of states of ES_SW1～ES_SW4；By the normally opened contact Relay 5～Relay 8 of relay, four kinds of states are passed
To the common point Relay 9～Relay 12 of relay, and common point Relay 9～Relay 12 is connected to SW1～SW4 of ECU
Pin, i.e. achieves the transmission from true parking switch signal to ECU switching signal, and ECU receives brake request
Order, according to the control strategy within ECU, drives braking motor to rotate forward；Real-time in host computer interface by current sensor
Read the size of stalling current, when stalling current arrives threshold current, and the voltage at braking motor two ends is set low electricity by ECU immediately
Flat, now braking motor will stall；Current brake force value can be read, it is achieved automotive electronics is stayed by pressure transducer
The static clamping of car；
2), under static release controls true switching mode, the on off state of EPB switch is directly given to ECU by relay；
Under virtual switch pattern, PC control virtual switch mode is used to realize Release release control, relay coil two ends electricity
Pressure release, thus armature sets back under spring force, contacts normally-closed contact Relay1～Relay4；By dSPACE
The digital output channel of the DS2202 board of rack sends static release request, through the signal processing of switchboard, is converted
For SW_SW1～tetra-kinds of states of SW_SW4, on off state is sent to common point by normally-closed contact Relay1～Relay4
Relay9～Relay12, and then realize the on off state transmission by dSPACE rack to ECU, ECU receives brake request
Order, according to the control strategy that it is internal, drives braking motor reversion；Real-time by the analog digital conversion passage of dSPACE rack
Gather pressure transducer and the size of current sensor, thus ECU control braking motor stall opportunity according to stalling current size,
The size of monitoring brake pressure, it is achieved the static release of automotive electronic parking controls；
3) automatic parking controls first to be transferred to by CAN line by the Vehicular status signal simulated by dSPACE rack
ECU, ECU detect GES, if engine rotational speed signal is zero and GES is zero and keeps 2.5s, ECU to drive
Dynamic braking motor rotates forward clamping, and ECU receives the stalling current size of current sensor, when stalling current has exceeded the threshold set
Value electric current, ECU sends out braking to braking motor driver element and ceases and desist order, it is achieved the automatic parking of automotive electronic parking controls；
4) ramp sail out of control dSPACE rack send out control signal to stepper motor driver, the control of stepper motor driver
Signal processed is Low level effective, is monitored the anglec of rotation of motor by photoelectric encoder in real time, and turns CAN by Gray code
Acquired angle value is passed to dSPACE rack, if be detected that current angle value and input angle angle value are equal, by
DSPACE rack transmission stopping signal, to stepper motor driver, is controlled motor by stepper motor driver and stops the rotation,
It is derived from testing required inclination of ramp angle value；Braking motor is in clamped condition, and ramp is worth by CAN line by dSPACE machine
Cabinet is sent to ECU, ECU internal control strategy judge, if reach the release torque of current grade braking motor, and ECU
Drive braking motor reversion release, it is achieved control is sailed out of in ramp.
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