CN106292333A - ESC hardware-in-the-loop test system and ESC hardware-in-the-loop test method - Google Patents
ESC hardware-in-the-loop test system and ESC hardware-in-the-loop test method Download PDFInfo
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- CN106292333A CN106292333A CN201610820800.7A CN201610820800A CN106292333A CN 106292333 A CN106292333 A CN 106292333A CN 201610820800 A CN201610820800 A CN 201610820800A CN 106292333 A CN106292333 A CN 106292333A
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
ESC hardware-in-the-loop test system includes host computer, slave computer and testboard bay, host computer is equipped with Carsim simulation software and LabVIEW programming software, Carsim simulation software is for the digital simulation Driving Scene picture according to input, Carsim simulation software is for opening the engineering interface of LabVIEW programming software, and the engineering interface of LabVIEW programming software has ABS/ESC test event；Slave computer is equipped with NI RT real time operating system, and LabVIEW programming software can be by download program to slave computer after running, and NI RT real time operating system is used for calculating generation wheel speed signal；Testboard bay is provided with test hardware, test hardware includes wheel speed board, ABS/ESC controller and brake fluid system, wheel speed board is modulated to wheel speed pulse signal for wheel speed signal, ABS/ESC controller controls the oil cylinder oil mass of brake fluid system according to wheel speed pulse signal, slave computer can gather force value, NI RT real time operating system calculate speed and acceleration.It can reduce test site and demarcate and the workload mated.The invention still further relates to a kind of ESC hardware-in-the-loop test method.
Description
Technical field
The present invention relates to technical field of vehicle safety, exist particularly to a kind of ESC hardware-in-the-loop test system and ESC hardware
Ring test method.
Background technology
ABS (anti-locking system for car): main by four wheel speed sensors, the hydraulic control module HCU of ABS and automatically controlled mould
Block ECU forms；Its major function prevents each wheel lock up (ABS), front and back braking force distribution (EBD) and automobile when having automobile brake
Braking on curve controls (CBC) function.
ESC (automobile electron stabilization control system): main by four wheel speed sensors, master cylinder pressure sensors, laterally add
Velocity sensor and yaw-rate sensor boundling, steering wheel angle sensor, ESC hydraulic control unit HCU and automatically controlled list
Unit's ECU composition；Its major function comprises ABS automobile anti-lock braking, TCS drives anti-control of breakking away, AYC active vehicle yaw to control
(motor turning excessively or understeer) and other automobile dynamic stability control functional module.
Three important directions of current automotive technology development trend: safety, energy saving, comfortableness, and vehicle safety
It it is again the most concerned problem of automobile consumer.ABS/ESC (anti-locking system for car/electronic stability controls) system is Hyundai Motor
Most important automobile active safety system in technical field.Therefore, before automobile dispatches from the factory, the early stage strategy of corresponding A BS/ESC is opened
Send out and seem the most necessary.And existing development scheme is to need the ABS/ESC controller of test to be arranged on real vehicle, pass through real vehicle
ABS/ESC controller is carried out matching and calibration by test site, and the coupling cycle was two winters in summer one.Therefore, in automobile research
The coupling of ABS/ESC controller and demarcation occupy for a long time, labor intensive material resources.
Summary of the invention
It is an object of the invention to, it is provided that a kind of ESC hardware-in-the-loop test system, can shorten the real train test cycle,
Avoiding the consuming of manpower and materials, the result of its test can instruct research and development engineer to revise the parameter within ABS/ESC controller, subtracts
Lack test site to demarcate and the workload mated.
The present invention solves it and technical problem is that what the following technical scheme of employing realized.
A kind of ESC hardware-in-the-loop test system, including host computer, slave computer and testboard bay, host computer is provided with
Carsim simulation software and LabVIEW programming software, Carsim simulation software is for the auto model data according to input, driving
Member's behavioral data and road data drive simulating scenic picture, Carsim simulation software is additionally operable to guiding and opens LabVIEW programming
The engineering interface of software, the engineering interface of LabVIEW programming software has ABS/ESC test event；Slave computer is provided with NI-RT
Real time operating system, can be real by the NI-RT of download program to slave computer after the engineering interface operation program of LabVIEW programming software
Time operating system in, NI-RT real time operating system for according to ABS/ESC test event calculate produce wheel speed signal；Testboard
Frame is provided with many group test hardware, and test hardware includes wheel speed board, ABS/ESC controller and brake fluid system, wheel speed plate
Card is for being modulated to wheel speed pulse signal by the wheel speed signal that slave computer produces, and ABS/ESC controller can be believed according to wheel speed pulse
Number controlling the oil cylinder oil mass of brake fluid system, slave computer can gather the force value of oil cylinder oil mass, and by NI-RT real-time oss
System calculates speed and the acceleration of automobile according to force value.
In the preferred embodiment, above-mentioned brake fluid system includes master cylinder and wheel cylinder, between master cylinder and wheel cylinder
Being connected by brake piping, brake piping is provided with pressure transducer, and pressure transducer is for reading the pressure in brake piping
Value.
In the preferred embodiment, above-mentioned brake fluid system also includes vacuum booster and brake pedal, very
Empty booster is connected with master cylinder, and brake pedal is connected with vacuum booster, and testboard bay also includes braking robot, and NI-RT is real
Time operating system produce brake signal for calculating according to ABS/ESC test event, braking robot is for according to brake signal
Order about brake pedal to move.
In the preferred embodiment, above-mentioned testboard bay is provided with selector, and selector is provided with shift sensing
Device, shift sensor is for reading the shift signal of selector, and when test man operates selector, host computer will gather gear and pass
The shift signal that sensor reads, and shift signal is replaced the driver's gear operation in the driving behavior data of simulation.
In the preferred embodiment, above-mentioned testboard bay is provided with steering wheel, steering wheel is additionally provided with corner and passes
Sensor, rotary angle transmitter is for the angular signal of read direction dish, and when test man's direction of operating dish, host computer will gather corner
The angular signal of sensor read direction dish, and angular signal is replaced the steering wheel behaviour in the driving behavior data of simulation
Make.
In the preferred embodiment, above-mentioned steering wheel being additionally provided with power electrification machine, NI-RT real time operating system is used
Producing force signal in calculating according to ABS/ESC test event, power electrification machine applies active force at steering wheel according to force signal
On.
In the preferred embodiment, above-mentioned testboard bay is provided with LCDs, and LCDs can show
The Driving Scene picture of Carsim simulation software simulation.
In the preferred embodiment, above-mentioned host computer is additionally operable to store the NI-RT real time operating system of slave computer
The speed calculated and acceleration, the Carsim simulation software of host computer can draw rate curve according to speed and acceleration and add
Rate curve.
In the preferred embodiment, above-mentioned host computer is also equipped with electric supply system, and electric supply system is adopted
With programmable power supply, it is applied on testboard bay need the voltage of each actuator of power supply by PC control.
It is an object of the invention to, it is provided that a kind of ESC hardware-in-the-loop test method, can shorten the real train test cycle,
Avoiding the consuming of manpower and materials, the result of its test can instruct research and development engineer to revise the parameter within ABS/ESC controller, subtracts
Lack test site to demarcate and the workload mated.
A kind of ESC hardware-in-the-loop test method, ESC hardware-in-the-loop test method uses above-mentioned ESC hardware-in-the-loop test
System, ESC hardware-in-the-loop test method includes:
Auto model data, driving behavior data and the road of test are set in the Carsim simulation software of host computer
Circuit-switched data, and open drive simulating scenic picture and LabVIEW programming being guided by Carsim simulation software after setting completed
The engineering interface of software, the engineering interface of LabVIEW programming software has ABS/ESC test event；
By the NI-RT real-time operation of download program to slave computer after the engineering interface operation program of LabVIEW programming software
In system, utilize NI-RT real time operating system to calculate according to ABS/ESC test event and produce wheel speed signal；And
Utilize the wheel speed board on testboard bay to receive wheel speed signal, and wheel speed signal be modulated to wheel speed pulse signal,
Utilize ABS/ESC controller to receive wheel speed pulse signal, and control the wheel cylinder oil of brake fluid system according to wheel speed pulse signal
Amount, utilizes slave computer to gather the force value of oil cylinder oil mass, and utilizes NI-RT real time operating system to calculate automobile according to force value
Speed and acceleration.
The ESC hardware-in-the-loop test system of the present invention includes host computer, slave computer and testboard bay, and host computer is provided with
Carsim simulation software and LabVIEW programming software, Carsim simulation software is for the auto model data according to input, driving
Member's behavioral data and road data drive simulating scenic picture, Carsim simulation software is additionally operable to guiding and opens LabVIEW programming
The engineering interface of software, the engineering interface of LabVIEW programming software has ABS/ESC test event；Slave computer is provided with NI-RT
Real time operating system, can be real by the NI-RT of download program to slave computer after the engineering interface operation program of LabVIEW programming software
Time operating system in, NI-RT real time operating system for according to ABS/ESC test event calculate produce wheel speed signal；Testboard
Frame is provided with many group test hardware, and test hardware includes wheel speed board, ABS/ESC controller and brake fluid system, wheel speed plate
Card is for being modulated to wheel speed pulse signal by the wheel speed signal that slave computer produces, and ABS/ESC controller can be believed according to wheel speed pulse
Number controlling the oil cylinder oil mass of brake fluid system, slave computer can gather the force value of oil cylinder oil mass, and by NI-RT real-time oss
System calculates speed and the acceleration of automobile according to force value.The ESC hardware-in-the-loop test system of the present invention utilizes the survey of simulation
Test ring border, tests the working condition of entity A BS/ESC controller under different operating modes, and ESC hardware-in-the-loop test system is carried out
Do not affected by reality factors such as seasons during ABS/ESC controller match test, the real train test cycle can be shortened, it is to avoid manpower thing
The consuming of power.And, the result of test can instruct research and development engineer to revise the parameter within ABS/ESC controller, can be to ABS/
ESC controller carries out the work of the pre-matching before the demarcation of test site, the scope that arranges of parameters is estimated in the range of one, subtracts
Lack test site to demarcate and the workload mated.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail.
Accompanying drawing explanation
Fig. 1 is the structural representation of the ESC hardware-in-the-loop test system of the present invention.
Fig. 2 is the software configuration schematic diagram of the ESC hardware-in-the-loop test system of the present invention.
Fig. 3 a to Fig. 3 d is the test result coordinate of the ESC hardware-in-the-loop test system simulation high attached road surface braking of the present invention
Figure.
Detailed description of the invention
By further illustrating the technological means and effect that the present invention taked by reaching predetermined goal of the invention, below in conjunction with
Accompanying drawing and preferred embodiment, the ESC hardware-in-the-loop test system that the foundation present invention is proposed and ESC hardware-in-the-loop test method
Detailed description of the invention, structure, feature and effect thereof, describe in detail as follows:
For the present invention aforementioned and other technology contents, feature and effect, in following cooperation with reference to graphic preferable real
Execute in the detailed description of example and can clearly appear from.By the explanation of detailed description of the invention, when can be to the present invention for reaching predetermined mesh
The technological means taked and effect is able to more deeply and concrete understanding, but institute's accompanying drawings is only to provide with reference to and says
Bright it is used, is not used for the present invention is any limitation as.
Fig. 1 is the structural representation of the ESC hardware-in-the-loop test system of the present invention.As it is shown in figure 1, in the present embodiment,
ESC hardware-in-the-loop test system 10 includes host computer 12, slave computer 13 and testboard bay 14.
Host computer 12 is for as man machine interface (GUI) and the development environment of testing engineering, and host computer 12 is provided with
Carsim simulation software 122, LabVIEW programming software 124 and electric supply system 126.
Specifically, Carsim simulation software 122 is for auto model data, driving behavior data and the road according to input
Circuit-switched data drive simulating scenic picture.In the present embodiment, auto model data include the length of vehicle body, width, vehicle body center of gravity
Position, core wheel spacing, the diameter of tire, width and the rotating speed of electromotor, torque relationship curve etc.；Driving behavior packet
Include the driver of simulation to step on brake pedal action, the operation of driver's gear, steering wheel operation, take aim at the time etc. in advance；Road data bag
Include coefficient of road adhesion, the width on road surface, length and shape etc..
Fig. 2 is the software configuration schematic diagram of the ESC hardware-in-the-loop test system of the present invention.As depicted in figs. 1 and 2,
Carsim simulation software 122 is additionally operable to guide the engineering interface opening LabVIEW programming software 124.In the present embodiment, ESC
The application program of each actuator of hardware-in-the-loop test system 10 and the driver of each actuator, except Carsim imitates
Outside the auto model program of true software 122 simulation, all programs all complete under LabVIEW programming software 124 environment.
The engineering interface of LabVIEW programming software 124 has multiple test event, such as ABS/ESC test event.As in figure 2 it is shown,
LabVIEW programming software 124 includes application program, control module and electrical equipment driver；At LabVIEW programming software 124
When engineering interface opens ABS/ESC test event, the test mastery routine of application program carries out initialization procedure, makes test recover extremely
Reference value status；In control module, editor has multiple control program, such as braking robot execution, steering wheel electrification machine control
System, pressure reading, the control of wheel speed board, ESC-CAN read-write, electric vacuum pump control, selector reading, ICU control etc.；Electrical equipment
Driver is the program driving the actuator corresponding with control module program, such as, brake robot, steering wheel sense
Motor, pressure transducer, wheel speed board, ESC, electric vacuum pump, selector, ICU etc..
Electric supply system 126 uses programmable power supply, controls to be applied on testboard bay 14 need to supply by host computer 12
The voltage of each actuator of electricity.It is noted that the Carsim simulation software 122 installed in host computer 12 can also be used with other
Vehicle simulation software substitutes, such as Car maker simulation software, Car realtime simulation software etc..
Slave computer 13 is provided with NI-RT real time operating system 132, the software fortune of whole ESC hardware-in-the-loop test system 10
Row is in the NI-RT real time operating system 132 of slave computer 13, it is ensured that drive simulating scene is consistent with what real vehicles was driven
Property, ensure that verity and the reliability of experimentation simultaneously.In the present embodiment, the engineering circles of LabVIEW programming software 124
Can be by download program to the NI-RT real time operating system 132 of slave computer 13 after face operation program, now NI-RT real-time operation
System 132 carries out computing to all data, especially in accordance with ABS/ESC test event calculate produce wheel speed signal, brake signal,
Force signal etc..
As it is shown in figure 1, testboard bay 14 is provided with many group test hardware 15, braking robot 16, steering wheel 17, selector
18 and LCDs 19.
Specifically, testboard bay 14 is provided with four groups of test hardware 15, four wheels of the most corresponding real vehicle.Each test
Hardware 15 includes wheel speed board 152, ABS/ESC controller 154 and brake fluid system 156.Wheel speed board 152 is by CAN line
Be connected with slave computer 13, wheel speed board 152 utilize CAN line can receive slave computer 13 calculate produce wheel speed signal, and by wheel
Speed signal is modulated to the wheel speed pulse signal the same with real vehicle wheel speed sensors signal format.
ABS/ESC controller 154 is connected with wheel speed board 152 by cable, and ABS/ESC controller 154 is for according to wheel
Rapid pulse rushes the aperture of signal control motor electromagnetic valve, and then controls the oil cylinder oil mass of brake fluid system 156.
Brake fluid system 156 includes master cylinder, vacuum booster, wheel cylinder, brake piping, brake pedal, gas pedal etc.
Parts.Master cylinder is connected with vacuum booster by piston；It is connected by brake piping between master cylinder with wheel cylinder, and brake piping
Being provided with pressure transducer, pressure transducer is for reading the force value in brake piping；Brake pedal is with vacuum booster even
Connect, braking can be realized by trampling brake pedal.Gas pedal is provided with accelerator pedal sensor, when gas pedal is trampled
Time, accelerator pedal sensor produces throttle signal according to the shift position of gas pedal.In the present embodiment, slave computer 13 can lead to
Cross CAN line and gather the force value that pressure transducer reads, and by the NI-RT real time operating system 132 of slave computer 13 according to pressure
Value calculates speed and the acceleration of automobile.Owing to having four groups of test hardware corresponding with real vehicle wheel on testboard bay 14
15, the pressure transducer of four groups of test hardware 15 will read four groups of force value, and NI-RT real time operating system 132 is according to force value
Calculate four groups of wheel speeds, and then four groups of wheel speeds are converted to speed and the acceleration of automobile.In the present embodiment, the car calculated
Speed and acceleration can real-time storage in host computer 12, speed and acceleration can be transferred out by Carsim simulation software 122, and
It is depicted as rate curve and accelerating curve, facilitates tester to analyze.
It is noted that the ESC hardware-in-the-loop test system 10 of the present invention is virtual by test environment by host computer 12
Change, and gone out corresponding parameter by slave computer 13 according to the condition calculating of test, use true tested ABS/ESC controller simultaneously
154 performances reacting itself；The measurement condition of simulation can be that situation during the Accelerating Traveling of Automobiles, car speed reach default
Brake condition during value, the automobile situation etc. when turning；Measurement condition also can be real by triggering the device on testboard bay 14
Existing, such as trample gas pedal and realize accelerating, trample that brake pedal realizes braking, steering wheel rotation 17 realizes turning etc..
Further, braking robot 16 is arranged at the side of brake pedal, and it is real that braking robot 16 is used for receiving NI-RT
Time operating system 132 calculate the brake signal produced, and order about brake pedal according to brake signal and move.When braking robot 16
Ordering about after brake pedal moves predeterminable range, the oil pressure value in the brake piping of brake fluid system 156 changes, and this is at present
Position machine 13 can gather, by CAN line, the force value that pressure transducer reads, and by the NI-RT real time operating system of slave computer 13
132 calculate speed and the acceleration of automobile according to force value.In the present embodiment, slave computer 13 can pass through CAN line collection pressure
The force value that force transducer reads, and the driver automatically replaced in the driving behavior data of simulation steps on brake pedal.
Selector is provided with shift sensor, and shift sensor is for reading the shift signal of selector.At the present embodiment
In, when test man operates selector 18, host computer 12 will gather the shift signal that shift sensor reads, and by shift signal
Replace the driver's gear operation in the driving behavior data of simulation.
Steering wheel 17 is provided with rotary angle transmitter and power electrification machine；Rotary angle transmitter is for the corner letter of read direction dish 17
Number.Power electrification machine can apply active force on steering wheel 17, makes there is the experience driving real vehicle during test man's direction of operating dish 17.?
In the present embodiment, when test man's direction of operating dish 17, the force signal applying effect that power electrification machine calculates according to slave computer 13
Power is on steering wheel 17, and host computer 12 will gather the angular signal of rotary angle transmitter read direction dish 17 simultaneously, and is believed by corner
Number replace simulation driving behavior data in steering wheel 17 operate.
LCDs 19 can show the Driving Scene picture that Carsim simulation software 122 simulates.When test man is in test
When on stand 14, simulation drives a car, can be by information such as the environment of LCDs 19 viewing driving, road surfaces.
Fig. 3 a to Fig. 3 d is the test result coordinate of the ESC hardware-in-the-loop test system simulation high attached road surface braking of the present invention
Figure.Test environment is virtualized by the ESC hardware-in-the-loop test system 10 of the present invention by host computer 12, and utilizes slave computer 13
Go out corresponding parameter according to the condition calculating of test, use true tested ABS/ESC controller 154 to react the property of itself simultaneously
Energy.The measurement condition of ESC hardware-in-the-loop test system 10 be high attached road surface, the track of vehicle be that straight-line travelling, travel speed are
100kph, the automobile action of simulation are braking.The measurement condition of ESC hardware-in-the-loop test system 10 can the most freely select
Select, the most simply illustrate a kind of in the case of test result, but be not limited thereto.
As shown in Figure 3 a, four curves in coordinate diagram are ABS/ESC controller 154 when working, the sliding of four wheels
Rate；Abscissa express time, vertical coordinate represents slip rate.Wherein, the slip rate curve of the near front wheel is 1. represented；2. left rear wheel is represented
Slip rate curve；3. the slip rate curve of off-front wheel is represented；4. the slip rate curve of off hind wheel is represented.
As shown in Figure 3 b, four curves in coordinate diagram are ABS/ESC controller 154 when closing, the sliding of four wheels
Rate；Abscissa express time, vertical coordinate represents slip rate.Wherein, the slip rate curve of the near front wheel is 1. represented；2. left rear wheel is represented
Slip rate curve；3. the slip rate curve of off-front wheel is represented；4. the slip rate curve of off hind wheel is represented.
As shown in Figure 3 c, the curve in coordinate diagram represents vehicle body yaw velocity；Abscissa express time, vertical coordinate represents
Yaw velocity.
As shown in Figure 3 d, two curves in coordinate diagram represent automobile body deceleration curve；Abscissa express time, vertical coordinate
Represent deceleration.Wherein, 1. table is the ABS/ESC controller 154 automobile body deceleration curve when not working；2. ABS/ it is expressed as
Automobile body deceleration curve when ESC controller 154 works.
The ESC hardware-in-the-loop test system 10 of the present invention utilizes test environment (weather, road conditions, the aerodynamic of simulation
Model, pilot model), under different operating modes, test the working condition of entity A BS/ESC controller 154, ESC hardware in loop is surveyed
Test system 10 carries out not affected by reality factors such as seasons during ABS/ESC controller 154 match test, can shorten real train test week
Phase, it is to avoid the consuming of manpower and materials.And, the result of test can instruct research and development engineer to revise in ABS/ESC controller 154
The parameter in portion, can carry out the work of the pre-matching before the demarcation of test site, parameters is arranged model ABS/ESC controller 154
Enclose and estimate in the range of one, decrease test site and demarcate and the workload mated.
The ESC hardware-in-the-loop test method of the present invention uses the testing procedure of ESC hardware-in-the-loop test system 10 to include:
The auto model data of test, driving behavior number are set in the Carsim simulation software 122 of host computer 12
According to and road data, and after setting completed by Carsim simulation software 122 guide open drive simulating scenic picture and
The engineering interface of LabVIEW programming software 124, the engineering interface of LabVIEW programming software 124 has ABS/ESC test event；
After the engineering interface operation program of LabVIEW programming software 124 download program is real-time to the NI-RT of slave computer 13
In operating system 132, utilize NI-RT real time operating system 132 to calculate according to ABS/ESC test event and produce wheel speed signal；
Utilize the wheel speed board 152 on testboard bay 14 to receive wheel speed signal, and wheel speed signal is modulated to wheel speed pulse
Signal, utilizes ABS/ESC controller 154 to receive wheel speed pulse signal, and controls brake fluid system according to wheel speed pulse signal
The wheel cylinder oil mass of 156, utilizes slave computer 13 to gather the force value on brake piping, utilizes NI-RT real time operating system 132 basis
Force value calculates speed and the acceleration of automobile；
By in the speed calculated and acceleration real-time storage to host computer 12, transferred by Carsim simulation software 122
Go out speed and acceleration, and be depicted as rate curve and accelerating curve.
Describe the preferred embodiment of the present invention in detail above in association with accompanying drawing, but the present invention is not limited to above-mentioned enforcement
Detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple simply
Modification, these simple variant belong to protection scope of the present invention.Each described in above-mentioned detailed description of the invention is concrete
Technical characteristic, in the case of reconcilable, can be combined by any suitable means.In order to avoid unnecessary weight
Multiple, various possible compound modes are illustrated by the present invention the most separately.
Claims (10)
1. an ESC hardware-in-the-loop test system, it is characterised in that including:
Host computer, this host computer is provided with Carsim simulation software and LabVIEW programming software, and this Carsim simulation software is used for
According to auto model data, driving behavior data and the road data drive simulating scenic picture of input, this Carsim emulates
Software is additionally operable to guide the engineering interface opening this LabVIEW programming software, and the engineering interface of this LabVIEW programming software has
ABS/ESC test event；
Slave computer, this slave computer is provided with NI-RT real time operating system, and the engineering interface of this LabVIEW programming software runs journey
Can be by the NI-RT real time operating system of download program to this slave computer after sequence, this NI-RT real time operating system is used for basis
ABS/ESC test event calculates and produces wheel speed signal；And
Testboard bay, this testboard bay is provided with many group test hardware, and this test hardware includes that wheel speed board, ABS/ESC control
Device and brake fluid system, this wheel speed board, should for the wheel speed signal that this slave computer produces is modulated to wheel speed pulse signal
ABS/ESC controller can control the oil cylinder oil mass of this brake fluid system according to wheel speed pulse signal, and this slave computer can gather oil
The force value of cylinder oil mass, and calculated speed and the acceleration of automobile according to force value by NI-RT real time operating system.
2. ESC hardware-in-the-loop test system as claimed in claim 1, it is characterised in that this brake fluid system includes master cylinder
And wheel cylinder, it being connected by brake piping between this master cylinder with this wheel cylinder, this brake piping is provided with pressure transducer, and this pressure passes
Sensor is for reading the force value in brake piping.
3. ESC hardware-in-the-loop test system as claimed in claim 2, it is characterised in that this brake fluid system also includes very
Empty booster and brake pedal, this vacuum booster is connected with this master cylinder, and this brake pedal is connected with this vacuum booster, this survey
Test stand frame also includes braking robot, and this NI-RT real time operating system produces braking for calculating according to ABS/ESC test event
Signal, this braking robot moves for ordering about this brake pedal according to brake signal.
4. ESC hardware-in-the-loop test system as claimed in claim 1, it is characterised in that this testboard bay is provided with selector,
This selector is provided with shift sensor, and this shift sensor is for reading the shift signal of this selector, when test man operates
During this selector, this host computer will gather the shift signal that this shift sensor reads, and shift signal is replaced driving of simulation
Driver's gear operation in the person's of sailing behavioral data.
5. ESC hardware-in-the-loop test system as claimed in claim 1, it is characterised in that this testboard bay is provided with steering wheel,
Being additionally provided with rotary angle transmitter on direction dish, this rotary angle transmitter is for reading the angular signal of direction dish, when test man grasps
When making direction dish, this host computer will gather the angular signal of rotary angle transmitter read direction dish, and angular signal is replaced mould
Steering wheel operation in the driving behavior data intended.
6. ESC hardware-in-the-loop test system as claimed in claim 5, it is characterised in that be additionally provided with power electrification on direction dish
Machine, this NI-RT real time operating system for according to ABS/ESC test event calculate produce force signal, this power electrification machine according to
Force signal applies active force on direction dish.
7. ESC hardware-in-the-loop test system as claimed in claim 1, it is characterised in that this testboard bay is provided with liquid crystal
Display screen, this LCDs can show the Driving Scene picture that this Carsim simulation software simulates.
8. ESC hardware-in-the-loop test system as claimed in claim 1, it is characterised in that this host computer is additionally operable to store under this
The speed that calculates of NI-RT real time operating system of position machine and acceleration, the Carsim simulation software of this host computer can be according to car
Speed and acceleration draw rate curve and accelerating curve.
9. ESC hardware-in-the-loop test system as claimed in claim 1, it is characterised in that this host computer is also equipped with power supply and supplies
Electricity system, this electric supply system uses programmable power supply, is applied on this testboard bay need power supply by this PC control
The voltage of each actuator.
10. an ESC hardware-in-the-loop test method, it is characterised in that the method uses described in any one of claim 1 to 9
ESC hardware-in-the-loop test system, this ESC hardware-in-the-loop test method includes:
Auto model data, driving behavior data and the road way of test are set in the Carsim simulation software of host computer
According to, and after setting completed by this Carsim simulation software guide open drive simulating scenic picture and LabVIEW programming soft
The engineering interface of part, the engineering interface of this LabVIEW programming software has ABS/ESC test event；
By the NI-RT real-time oss of download program to slave computer after the engineering interface operation program of this LabVIEW programming software
In system, utilize NI-RT real time operating system to calculate according to ABS/ESC test event and produce wheel speed signal；And
Utilize the wheel speed board on testboard bay to receive wheel speed signal, and wheel speed signal is modulated to wheel speed pulse signal, utilize
ABS/ESC controller reception wheel speed pulse signal, and the wheel cylinder oil mass of this brake fluid system is controlled according to wheel speed pulse signal,
Utilize this slave computer to gather the force value of oil cylinder oil mass, and utilize this NI-RT real time operating system to calculate vapour according to force value
The speed of car and acceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820800.7A CN106292333A (en) | 2016-09-13 | 2016-09-13 | ESC hardware-in-the-loop test system and ESC hardware-in-the-loop test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820800.7A CN106292333A (en) | 2016-09-13 | 2016-09-13 | ESC hardware-in-the-loop test system and ESC hardware-in-the-loop test method |
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| CN106292333A true CN106292333A (en) | 2017-01-04 |
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| CN201610820800.7A Pending CN106292333A (en) | 2016-09-13 | 2016-09-13 | ESC hardware-in-the-loop test system and ESC hardware-in-the-loop test method |
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| CN113093567A (en) * | 2021-03-24 | 2021-07-09 | 一汽奔腾轿车有限公司 | Simulation system and simulation method of AK protocol wheel speed sensor |
| CN113485311A (en) * | 2021-08-23 | 2021-10-08 | 安徽江淮汽车集团股份有限公司 | AK (automatic K) protocol wheel speed sensor testing device and method based on hardware-in-the-loop architecture |
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| CN108760338A (en) * | 2018-06-22 | 2018-11-06 | 天津英创汇智汽车技术有限公司 | It is unmanned in ring test apparatus and system |
| CN109445404A (en) * | 2018-09-17 | 2019-03-08 | 中南大学 | Intelligent driving programmed decision-making control system enhances in ring test method |
| CN109324601B (en) * | 2018-11-09 | 2021-09-10 | 上海机器人产业技术研究院有限公司 | Test platform of robot controller or control system based on hardware-in-the-loop |
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