CN106444721A - Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method - Google Patents
Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method Download PDFInfo
- Publication number
- CN106444721A CN106444721A CN201611023192.3A CN201611023192A CN106444721A CN 106444721 A CN106444721 A CN 106444721A CN 201611023192 A CN201611023192 A CN 201611023192A CN 106444721 A CN106444721 A CN 106444721A
- Authority
- CN
- China
- Prior art keywords
- entire car
- car controller
- test
- vehicle
- scalexio
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 153
- 238000010998 test method Methods 0.000 title claims abstract description 5
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000002347 injection Methods 0.000 claims abstract description 4
- 239000007924 injection Substances 0.000 claims abstract description 4
- 238000004088 simulation Methods 0.000 claims description 38
- 238000000034 method Methods 0.000 claims description 13
- 238000012986 modification Methods 0.000 claims description 9
- 230000004048 modification Effects 0.000 claims description 9
- 239000000976 ink Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 230000036461 convulsion Effects 0.000 claims 1
- 238000011161 development Methods 0.000 abstract description 7
- 230000009897 systematic effect Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 7
- 101150008604 CAN1 gene Proteins 0.000 description 4
- 230000006399 behavior Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000686 essence Substances 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012956 testing procedure Methods 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011990 functional testing Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Testing Electric Properties And Detecting Electric Faults (AREA)
Abstract
The invention discloses a hardware-in-the-loop test system for a whole vehicle controller for an electric vehicle and a test method. The hardware-in-the-loop test system comprises a whole electric vehicle controller, a fault injection hardware unit, an SCALEXIO, and a vehicle simulating module, a vehicle driving animation simulating module and a vehicle state operating and monitoring module in a computer. Connection and communication among the SCALEXIO, the fault injection hardware unit and the whole electric vehicle controller is achieved through a wire harness, and connection and communication between the SCALEXIO and the computer is achieved through a network line; through the corresponding SCALEXIO software in the computer, SCALEXIO channel selection is achieved, and communications of a vehicle simulating model, vehicle driving animation and vehicle state operation and monitoring interact in the computer. The hardware-in-the-loop test system can effectively save the development time and reduce the development cost of the whole vehicle controller, can achieve performance testing on the whole vehicle controller under the limit driving condition of the vehicle, can achieve systematic, integrated and automatic testing on the whole vehicle controller and generate a test report, effectively reduces the testing cost and improves the testing efficiency.
Description
Technical field
The present invention relates to Automobile Measuring Techniques field, it particularly relates to a kind of electric motor car is existed with entire car controller hardware
Ring test system and method for testing.
Background technology
The increasingly serious environmental pollution bringing with conventional fuel oil car and energy shortage problem, electric automobile becomes solution
The key of this two large problems.Electric motor car and conventional fuel oil car have larger difference, are even more difference, car load in terms of entire car controller
Controller as the control core of electric motor car, coordinate and control car load critical piece by entire car controller.
Entire car controller accepts the signal of sensor acquisition, by itself control strategy and control algolithm, calculates conjunction
Suitable control instruction, and control instruction is sent to actuator, its performance directly affects the performance of car load.
At present, commercially, controller of whole electric vehicle species is various, but the properties of controller are difficult to assessment,
Only with real vehicle, entire car controller is tested, not only cost performance is low but also measurement condition is limited, especially can not test automobile
The performance of entire car controller under limit driving cycle.And the control strategy in entire car controller is continuously increased, traditional detection
Method can not meet measuring accuracy and requirement.
Existing entire car controller test is largely focused on model in ring, software in ring, the test essence in this two stages
Degree does not reach real steering vectors requirement yet, and in real steering vectors, not only needs driver, and Test Engineer simultaneously also will be at the scene
Carry out test experiments, the testing time is vulnerable to the impact of environment and road, testing efficiency is low, testing cost is high, if in real vehicle
Test phase, finds entire car controller existing problems, needs to return to the early development stage and is repaired, not only extends whole
The development time of vehicle controller, and increased development cost.
Content of the invention
In order to overcome the above-mentioned problems in the prior art, the invention provides a kind of electric motor car is hard with entire car controller
Part is in ring test system and method for testing.
For realizing above-mentioned technical purpose, the technical scheme is that and be achieved in that：
A kind of electric motor car entire car controller hardware-in-the-loop test system, including entire car controller, direct fault location unit,
SCALEXIO and computer, described computer includes vehicle emulation module, vehicle travels animation simulation module and vehicle-state behaviour
Make monitoring module, between described entire car controller and direct fault location unit and between described direct fault location unit and SCALEXIO
All it is connected by wire harness, be connected by netting twine between described SCALEXIO and computer；
Described direct fault location unit is used for realizing the short trouble of signal, open fault and monitors each line voltage distribution letter
Number；
Described SCALEXIO is used for realizing entire car controller and its signal communication, provides, for entire car controller, the work needing
Make voltage and simulation CAN network；
Described vehicle emulation module is used for setting up train's simulation model；
Described vehicle travels animation simulation module and is used for real-time display train's simulation model running status animation；
Described vehicle-state operation monitoring module is used for controlling whole test process, collecting test data simultaneously.
Further, also include test cabinet, described direct fault location unit, SCALEXIO and entire car controller are all integrated
In described test cabinet.
Further, described entire car controller, direct fault location unit and entire car controller pass through height and depth all can be adjusted
The dividing plate of section is integrated in test cabinet from top to bottom, is additionally provided with radiator fan, earth leakage protective device, guarantor in described test cabinet
Dangerous silk, emergency stop switch, power supply and indicating lamp device and normal switch.
Further, described direct fault location unit is made up of some direct fault location plates, and the two ends of described direct fault location plate set
There is the first interface for being connected with entire car controller and SCALEXIO respectively, in the middle part of described direct fault location plate, be provided with some faults
Inlet, described direct fault location mouth includes the second interface being connected respectively with every holding wire input and outfan, and fault is noted
Entrance can carry out the realization into and out, direct fault location of connector whether by connector into and out control.
A kind of electric motor car as above method of testing of entire car controller hardware-in-the-loop test system, walks including following
Suddenly：
1) entire car controller program to be tested is write with a brush dipped in Chinese ink in entire car controller；
2) according to the entire car controller program write, find the interface definition document of corresponding entire car controller, according to whole
The interface definition document of vehicle controller, sets up the imitative of entire car controller by Configuration Desk software in computer
True mode, and it is correspondingly arranged various signals in interface definition document, according to the passage of various signal behavior SCALEXIO, to passage
Carry out attribute setting, simultaneously the input and output of the phantom of setting entire car controller and train's simulation model；
3) operating mode of the parameter according to real vehicle and test sets up train's simulation model；
4) by wire harness, entire car controller and direct fault location unit are connected with SCALEXIO；
5) the true entire car controller of Configuration Desk software arrangements and train's simulation model interface are passed through, to joining
The model put is compiled, the corresponding file of generation model, using Model Desk software transfer Configuration
The model compilation file of Desk Software Create, configures according to real vehicle parameter to the parameter of train's simulation model, utilizes
Motion Desk software is connected to the train's simulation model of SCALEXIO internal operation, and carries out information exchange therewith, shows in real time
Show that vehicle travels animation, controlled using Control Desk software arrangements train's simulation model running status, monitoring variable shows,
Control variable parameter online modification and the collection of demarcation, whole-car parameterses online modification and test data, using Automation
Desk software is used for realizing automatic test, is writing of test case first, requires according to test case, automatically to VCU
Tested, and automatically generated test report；
6) test data, test report are analyzed, improve vehicle control unit controls strategy；
7) new test case, then repeat step 1 are added)-step 6), until the test of entire car controller is all complete
Become.
Beneficial effects of the present invention：
(1) new means of testing and method are provided for the test of electric motor car entire car controller；
(2) cost performance is higher, it is possible to achieve the performance of entire car controller under test vehicle failure and limit driving cycle；
(3) more traditional engine bench test or prototype test, does not exist and takes up an area big, working condition complexity, different automobile types need
Otherwise the problem of same stand；
(4) test system be easy to extend, test system temporarily adopt vehicle simulation model, subsequently can steering,
Power assembly system is integrated in this hardware-in-the-loop test system, can be closer to real vehicle state, test can be tried one's best
Many completes in hardware in loop test session, effectively reduces real train test operating mode, effectively save development cost, when shortening exploitation
Between；
(5) entire car controller integration test can realize unit testing in software development process, model loop-around test,
Software is in loop-around test, hardware in loop-around test and demarcation, it is possible to achieve comprehensive test from model to code for the entire car controller,
Test scope is big, and test accuracy is high, testing efficiency is high, and testing cost reduces.
Brief description
Fig. 1 is the theory diagram in ring test system described according to embodiments of the present invention；
Fig. 2 is the test cabinet layout drawing in ring test system described according to embodiments of the present invention；
Fig. 3 is the structural representation of direct fault location unit described according to embodiments of the present invention；
Fig. 4 is the structural representation of connector described according to embodiments of the present invention；
Fig. 5 is direct fault location intralaminar part partial circuit diagram described according to embodiments of the present invention；
Fig. 6 is the structural representation being connected between computer described according to embodiments of the present invention and display screen；
Fig. 7 is the structural representation of the first wire harness in ring test system described according to embodiments of the present invention；
Fig. 8 is the structural representation of the second wire harness in ring test system described according to embodiments of the present invention.
Shown in figure：
1- entire car controller；2- direct fault location unit；3-SCALEXIO；4- computer；5- test cabinet；6- radiation air
Fan；7- dividing plate；8- direct fault location plate；9- display screen；10- first wire harness；11- second wire harness；12- second interface；13- patches
Part；14- first interface.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description.
As shown in figure 1, a kind of electric motor car entire car controller hardware-in-the-loop test according to embodiments of the invention
System, including entire car controller (VCU) 1, direct fault location unit 2, SCALEXIO3 and computer 4, described computer 4 includes car
Emulation module, vehicle travel animation simulation module and vehicle-state operation monitoring module, described entire car controller 1 and fault note
Enter between unit 2 and be all connected by wire harness between described direct fault location unit 2 and SCALEXIO3, described SCALEXIO3 with
Pass through netting twine between computer 4 to be connected.
As shown in figure 1, electric motor car entire car controller hardware-in-the-loop test system, centered on SCALEXIO3, is first
Vehicle-state operation software in computer 4, shunt phantom runs, and train's simulation model parameter is imitated with vehicle in real time
Real movement is drawn display and is carried out information exchange, and train's simulation model is passed through emulation wire harness and is connected with SCALEXIO3, and entire car controller 1 leads to
Cross actual wire harness to be connected with SCALEXIO3, this system constitutes one from entire car controller-SCALEXIO- train's simulation model
Closed loop control, in this closed loop control vehicle-state operation monitoring module be responsible for controlling whole test process, gather simultaneously
Test data, vehicle travels the responsible information exchange with train's simulation model of animation simulation module, for real-time display simulation car
The status information of transport condition, more intuitively observation measurement condition and car load.
As shown in Fig. 2 the electric motor car SCALEXIO3 of entire car controller hardware-in-the-loop test system, direct fault location unit
2nd, entire car controller 1 is integrated in the test cabinet 5 of test system, and test cabinet 5 internal layout is 3 layers, uses between layers
Dividing plate 7 separates, and dividing plate is about 7, fore-aft adjustable, and SCALEXIO3 places in test cabinet 5 lower floor, and direct fault location list is placed in intermediate layer
Unit 2, entire car controller 1 is placed on upper strata, and the first wire harness 10 is connected SCALEXIO3 first with direct fault location unit 2, the second wire harness
11 direct fault location units 2 are connected with entire car controller 1.(in figure is not shown with indicating lamp device to be provided with power supply in test cabinet 5
Go out), relay (not shown), electric fuse (not shown), emergency stop switch (not shown), normal switch (in figure
Not shown) and radiator fan 6.
Entire car controller 1 be applied to the drive system of new-energy automobile, controller that fault diagnosis, gearshift control, main
To be made up of hardware and software part.Hardware components include power supply, switch acquisition, relay output, AD conversion, PWM output,
The modules such as frequency quantity collection, CAN communication, software section include Motor drive, energy management, fault diagnosis, gearshift control and
Communicated with other parts.
As shown in Fig. 2 direct fault location unit 3 is made up of three direct fault location plates 8, it is possible to achieve the short circuit of signal and open circuit
The measurement to each line signal potential circuit of fault and realization.
As shown in figure 3, the input/output terminal of 8 every circuits of direct fault location plate picks out direct fault location mouth, each fault is noted
Entrance is made up of two second interfaces 12, and connector 13 may be inserted in second interface 12, and described two second interfaces 12 are suitable
Switch in two, under normal circumstances, in connector 13 intervention second interface 12, be equivalent to a switch and combine, a switch is disconnected
Open, thus realizing the connection of wire harness；If connector 13 is extracted, it is all off to be equivalent to two switches, and this circuit disconnects；As
Fruit outer lines couple together this two second interfaces 12, are equivalent to 2 switches and all close, this line short circuit.Fault is noted
Enter the first interface 14 that unit 3 two ends are for connecting VCU and SCALEXIO.
As shown in figure 5, each signal line has input terminal and lead-out terminal, correspond to two switches.When patching
When in part 13 insertion first interface 14, in the conducting of corresponding line signal, then for fault-free；If connector 13 is extracted, correspond to
Signal disconnect, then for fault exist.
Vehicle animation display device is using 3 display screens 9 being connected to a computer 4, as shown in fig. 6,3 display screens
9 show power performance model simultaneously, travel animation, vehicle monitoring and parameter calibration interface；In vehicle parameter and vehicle power
After learning model determination, 3 display screen 9 display automobile traveling animations simultaneously, make observer have third dimension, closer to real automobile
Driving cycle.
SCALEXIO3 is the optimal integrated test system exclusively for entire car controller 1 test development, inside has high speed processor
Board, I/O board and fan etc., SCALEXIO hardware has abundant I/O interface, not only realize entire car controller 1 with
The wire harness of SCALEXIO3 connects and signal communication, the running voltage also needing for entire car controller 1 offer, voltage real-time, tunable,
CAN network can be simulated.
Train's simulation model, is to be realized by the Model Desk software in computer 4, is used for configuring in Model Desk
Vehicle dynamic model, environmental variable model, motor model, battery model, actuation system models, operation intent model；Permissible
Realize and real vehicle identical signal input and output, reach and replace real vehicle vehicle to carry out entire car controller survey to emulate auto model
The purpose of examination, vehicle dynamic model can be modified according to the design parameter of real vehicle, reach and the configuration of real vehicle identical, have
Effect ensures vehicle simulation accuracy, realizes the comprehensive working condition measurement to entire car controller, thus reducing real train test measurement condition, greatly
Big raising testing efficiency, reduces testing cost.
Vehicle-state operation and monitoring, are by Configuration Desk, Control Desk software in computer 4
Realize, be the phantom building entire car controller by Configuration Desk software first, car load control can be set
Input and output between device 1 processed and dynamics of vehicle vehicle simulation model it is also possible to be used for configure entire car controller 1 with
The interface definition that SCALEXIO3 connects and emulation wire harness, according to interface definition determine entire car controller 1 and SCALEXIO3 each
The definition of corresponding PIN angle, is then coupled together two corresponding PIN angles with wire harness, makes actual wire harness, realize entire car controller
1 with SCALEXIO3 hardware.
Followed by show transport condition and the state variable of train's simulation model by Control Desk, such as：Speed, electricity
Machine rotating speed, gear, sensor signal, on off state, relay status, this software can record examination with real time record process of the test
Test data, derive test data, it is possible to achieve online parameter calibration, be provided with model key switch and control, model initialization control
System.
Wire harness has CAN network (CAN1, CAN4, CAN0), and CAN1 is vehicle body CAN network, and including instrument board, BMS, CAN4 is
Power CAN network, mainly motor and controller, BMS, electrokinetic cell, high-voltage board and high pressure adnexa, CAN0 is to demarcate
CAN network, writes with a brush dipped in Chinese ink for VCU program, whole-car parameterses are demarcated and message data collection.
Normal signal line, wire harness is made up of American Standard line, terminal, number marking tube, telescoping tube, flexible metal conduit.As Figure 7-8, hold
Attached bag includes entire car controller 1 one end terminal and SCALEXIO3 one end terminal, entire car controller 1 one end terminal be divided into A area terminal and
B area terminal, SCALEXIO3 one end terminal is divided into ECU1, ECU2, ECU3, CAN1, CAN4 and CAN0.
Specific as follows：The American Standard line clipping uniform length of 2 kinds of specifications, according to redness be power line black be earth lead
The rule of (redness is analog signalses, and blueness is on-off model, and brown is frequency quantity signal, and black is signal ground line) is entered
Row color classification, wired two ends, wherein one end repoussage vehicle controller 1 terminal, other end presses SCALEXIO3 terminal, root
According to entire car controller 1 and SCALEXIO3 interface definition, the signal of interface definition is got on number marking tube, and number marking tube is enclosed within
On corresponding holding wire, after wire harness is carried out, outside wire harness, it is inserted in telescoping tube, flexible metal conduit is used for protection wire.
Using circuit tester, wire harness is tested after carrying out wire harness, after test is passed through, enterprising in hardware-in-the-loop test platform
Row test, concrete method of testing is as follows：
1. circuit tester test
Circuit tester is got to ohms range, the circuit tester both positive and negative polarity short circuit using ohms range can send buzzer.Tool
Body method is as follows：According to the interface definition document of SCALEXIO-VCU, the positive pole of entire car controller 1 end PIN corner connection to circuit tester,
Correspond to the negative pole of the PIN corner connection of SCALEXIO3 one end to circuit tester with entire car controller 1PIN angle, if circuit tester sends creakily
The buzzer creaking, it was demonstrated that the corresponding line in two PIN angles is normal, otherwise requires to look up reason.According to above step, right one by one
Line within wire harness is tested.
2. testing board
Wire harness is connected on the hardware-in-the-loop test test platform being not added with direct fault location unit, in the software design patterns of host computer
The input and output of good entire car controller 1, by Control Desk software observe the input of entire car controller 1, output voltage,
Whether signal is normally it is possible to realize the integration test to wire harness for the testboard.
Message on CAN1, CAN4 can be shown on Control Desk software in real time, can gather outgoing packet number
According to facilitating subsequent data analysis；CAN0 line can realize again writing with a brush dipped in Chinese ink to entire car controller 1 internal processes similar to real vehicle,
This just can be implemented in realizes the test to distinct program on same entire car controller 1.
Electric motor car is as follows with the method for testing of entire car controller hardware-in-the-loop test system：
1. it is the one end being connected in hardware-in-the-loop test system reserved wire harness and connecing entire car controller 1 first, then utilize
Cd-rom recorder is write with a brush dipped in Chinese ink entire car controller 1 program to be tested in the hardware of entire car controller 1；
2., according to entire car controller 1 program write with a brush dipped in Chinese ink, find the interface definition document of corresponding entire car controller 1, according to
The interface definition document of entire car controller 1, sets up the emulation mould of entire car controller 1 in Configuration Desk software
Type, and it is correspondingly arranged various signals (CAN, on-off model, analog signalses, pwm signal) in interface definition document, according to each
The passage of kind of signal behavior SCALEXIO3, carries out attribute setting to passage, simultaneously the phantom of setting entire car controller 1 with
The input and output of train's simulation model；
3. configuration testing auto model, according to parameter modification train's simulation model vehicle dynamic model, the motor of real vehicle
Model, battery model, the parameter of actuation system models, environmental variable model and operation are intended to need to carry out list according to measurement condition
Solely arrange, including the setting of measurement condition road, operation behavior setting；
4. by wire harness, entire car controller 1, direct fault location unit 2 are connected with SCALEXIO3, entire car controller 1, fault
Injection unit 2 and SCALEXIO3 can carry out information exchange, including CAN communication, sensor signal communication, control instruction signal
Communication.Realized to entire car controller 1 similar to the test of real vehicle and demarcation by hardware-in-the-loop test system, and can realize
The marginal test operating mode that real vehicle not can relate to.
5. open software used by test, the software being related to has Configuration Desk to be used for configuring true full-vehicle control
Device 1 and train's simulation model interface, are compiled to the model having configured, the corresponding file of generation model；Model Desk adjusts
The model compilation file being generated with Configuration Desk, configures according to real vehicle parameter to the parameter of auto model；
Motion Desk is connected to the train's simulation model of SCALEXIO internal operation, and carries out information exchange therewith, shows car in real time
Travel animation；Control Desk configuration auto model running status controls, and monitoring variable shows, control variable parameter is online
Modification and demarcation, whole-car parameterses online modification, can be used for the collection of test data；Automation Desk is used for realizing certainly
Dynamicization is tested, and is writing of test case first, requires according to test case, automatically entire car controller 1 is tested, and
Automatically generate test report.
6. pair test data, test report are analyzed, and improve entire car controller 1 control strategy, add new test and use
Example, then in the testing procedure carrying out a new round, until entire car controller 1 test is fully completed.
The electric motor car test pattern of entire car controller hardware-in-the-loop test platform
1. manual test
Required according to test case, from model in ring, software in ring, hardware in loop, realize to the single control function of VCU
Open-loop test.Open-loop test includes：Bear voltage range test, signal receives test, control instruction signal testing, CAN communication
Network test.
2 automatic tests
Using Automation Desk software, first under test case write Automation Desk software, this is soft
Part can realize the System Integration Automation test to entire car controller 1 according to test case.Entire car controller can be realized
Closed loop test includes：Control strategy test under fault diagnosis test, various operating mode, functional test.Full-vehicle control can be realized
The automatic test of device 1, this testing stand can continuously work seven days seven nights, it is possible to achieve on the premise of nobody's operation, from
Under the dynamic operating mode that entire car controller 1 is configured, test is repeated, and automatically generates test report.
Each testing procedure can carry out online modification and demarcation to Controlling model and control parameter.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (5)
1. a kind of electric motor car with entire car controller hardware-in-the-loop test system it is characterised in that include entire car controller, fault note
Enter unit, SCALEXIO and computer, described computer includes vehicle emulation module, vehicle travels animation simulation module and vehicle
State operate monitoring module, between described entire car controller and direct fault location unit and described direct fault location unit with
All it is connected by wire harness between SCALEXIO, be connected by netting twine between described SCALEXIO and computer；
Described direct fault location unit is used for realizing the short trouble of signal, open fault and monitors each line voltage signal；
Described SCALEXIO is used for realizing entire car controller and its signal communication, provides the work electricity needing for entire car controller
Pressure and simulation CAN network；
Described vehicle emulation module is used for setting up train's simulation model；
Described vehicle travels animation simulation module and is used for real-time display train's simulation model running status animation；
Described vehicle-state operation monitoring module is used for controlling whole test process, collecting test data simultaneously.
2. electric motor car entire car controller hardware-in-the-loop test system according to claim 1 is it is characterised in that also include
Test cabinet (5), described direct fault location unit, SCALEXIO and entire car controller are all integrated in described test cabinet (5).
3. electric motor car according to claim 2 with entire car controller hardware-in-the-loop test system it is characterised in that described whole
Vehicle controller (1), direct fault location unit and entire car controller pass through height and the equal dividing plate (7) that can adjust of depth collects from top to bottom
Become in test cabinet (5), be additionally provided with radiator fan (6) in described test cabinet (5), earth leakage protective device, electric fuse, jerk are left
Pass, power supply and indicating lamp device and normal switch.
4. electric motor car according to claim 1 with entire car controller hardware-in-the-loop test system it is characterised in that described therefore
Barrier injection unit (2) is made up of some direct fault location plates (8), the two ends of described direct fault location plate (8) be provided with for respectively with whole
Vehicle controller and the first interface (14) of SCALEXIO connection, are provided with some connectors (13) in the middle part of described direct fault location plate (8),
The second interface (12) that described connector (13) inclusion is connected with every holding wire input and outfan respectively.
5. a kind of electric motor car as claimed in claim 1 method of testing of entire car controller hardware-in-the-loop test system, including
Following steps：
1) entire car controller program to be tested is write with a brush dipped in Chinese ink in entire car controller；
2) according to the entire car controller program write, find the interface definition document of corresponding entire car controller, according to car load control
The interface definition document of device processed, sets up the emulation mould of entire car controller in computer by Configuration Desk software
Type, and it is correspondingly arranged various signals in interface definition document, according to the passage of various signal behavior SCALEXIO, passage is carried out
Attribute is arranged, simultaneously the input and output of the phantom of setting entire car controller and train's simulation model；
3) train's simulation model is set up according to the parameter of real vehicle；
4) by wire harness, entire car controller and SCALEXIO are connected with direct fault location unit；
5) the true entire car controller of Configuration Desk software arrangements and train's simulation model interface are passed through, to configuring
Model be compiled, the corresponding file of generation model, using Model Desk call Configuration Desk software give birth to
The model compilation file becoming, configures according to real vehicle parameter to the parameter of train's simulation model, using MotionDesk software
It is connected to the train's simulation model of SCALEXIO internal operation, and carries out information exchange therewith, display vehicle travels animation in real time,
Controlled using Control Desk software arrangements train's simulation model running status, monitoring variable shows, control variable parameter exists
Line modification with demarcate, the collection of whole-car parameterses online modification and test data, utilize AutomationDesk software for real
Existing automatic test, is writing of test case first, requires according to test case, automatically entire car controller is surveyed
Examination, and automatically generate test report；
6) test data, test report are analyzed, improve vehicle control unit controls strategy；
7) new test case, then repeat step 1 are added)-step 6), until the test of entire car controller is fully completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023192.3A CN106444721A (en) | 2016-11-21 | 2016-11-21 | Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023192.3A CN106444721A (en) | 2016-11-21 | 2016-11-21 | Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106444721A true CN106444721A (en) | 2017-02-22 |
Family
ID=58221812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611023192.3A Pending CN106444721A (en) | 2016-11-21 | 2016-11-21 | Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106444721A (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144701A (en) * | 2017-06-29 | 2017-09-08 | 合肥巨动力***有限公司 | The rational method of calibration of hybrid powder motor speed and its functional development method |
| CN107678307A (en) * | 2017-11-09 | 2018-02-09 | 重庆鲁班机器人技术研究院有限公司 | Half-practicality imitation test method, apparatus and system |
| CN107729233A (en) * | 2017-09-29 | 2018-02-23 | 北京新能源汽车股份有限公司 | The emulation mode and device of a kind of controller software |
| CN107908176A (en) * | 2017-11-09 | 2018-04-13 | 上汽通用五菱汽车股份有限公司 | Entire car controller drives mouth detection device and its detection method |
| CN109656237A (en) * | 2019-01-21 | 2019-04-19 | 中科院合肥技术创新工程院 | A kind of hardware-in―the-loop test method of onboard control device |
| CN109858181A (en) * | 2019-02-28 | 2019-06-07 | 广东工业大学 | A kind of automobile chassis assemblage on-orbit system |
| CN109947078A (en) * | 2019-03-20 | 2019-06-28 | 广州小鹏汽车科技有限公司 | Direct fault location unit and its board, real time fail method for implanting, device and equipment |
| CN109992464A (en) * | 2019-03-25 | 2019-07-09 | 东风航盛（武汉）汽车控制***有限公司 | A kind of VCU automatic test approach that integrated application layer software is write with a brush dipped in Chinese ink |
| CN110162007A (en) * | 2019-05-06 | 2019-08-23 | 上海科梁信息工程股份有限公司 | A kind of detection system and detection method of vehicle trouble |
| CN110333730A (en) * | 2019-08-12 | 2019-10-15 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and the storage medium of automatic Pilot algorithm expectation function safety |
| CN110609491A (en) * | 2019-09-20 | 2019-12-24 | 公安部交通管理科学研究所 | Semi-physical simulation accident identification method and system for whole electric vehicle controller |
| CN111007840A (en) * | 2019-12-23 | 2020-04-14 | 奇瑞商用车（安徽）有限公司 | Whole vehicle controller hardware-in-loop test platform and method |
| CN111064628A (en) * | 2018-10-16 | 2020-04-24 | 联合汽车电子有限公司 | CAN bus automatic test system |
| CN111123730A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
| CN111427334A (en) * | 2020-04-17 | 2020-07-17 | 广东戈兰玛汽车***有限公司 | Automobile ECU fault simulation detection system |
| CN111964919A (en) * | 2020-08-13 | 2020-11-20 | 阳光电源股份有限公司 | Testing method and device for tooth punching working condition, computer equipment and storage medium |
| CN112147981A (en) * | 2020-09-25 | 2020-12-29 | 西安法士特汽车传动有限公司 | dSPACE HIL-based electric vehicle power-on and power-off logic test method and test system |
| CN112147985A (en) * | 2020-09-30 | 2020-12-29 | 重庆长安新能源汽车科技有限公司 | Method for testing safety of whole function of pure electric vehicle |
| CN112526966A (en) * | 2020-11-20 | 2021-03-19 | 广西玉柴机器股份有限公司 | Automatic testing method and system for controller HIL |
| CN112882454A (en) * | 2021-01-11 | 2021-06-01 | 阳光电源股份有限公司 | Road spectrum testing method, system and computer readable storage medium |
| CN113340460A (en) * | 2021-06-09 | 2021-09-03 | 中国第一汽车股份有限公司 | Temperature testing system and method |
| CN113392508A (en) * | 2021-05-26 | 2021-09-14 | 上汽通用五菱汽车股份有限公司 | Integrated simulation test system for automobile power chassis |
| CN113495545A (en) * | 2020-03-18 | 2021-10-12 | 纬湃科技投资(中国)有限公司 | System and method for testing vehicle equipment controller using in-loop hardware |
| CN113589171A (en) * | 2021-06-30 | 2021-11-02 | 中汽研汽车检验中心（天津）有限公司 | Test method for hard line fault injection of battery management system |
| CN113589787A (en) * | 2021-07-22 | 2021-11-02 | 上汽通用五菱汽车股份有限公司 | Hardware-in-loop test method, test device, test system and readable storage medium |
| CN116224974A (en) * | 2023-05-08 | 2023-06-06 | 江铃汽车股份有限公司 | Cloud pipe end-based vehicle body controller in-loop testing method, platform and storage medium |
| CN116661428A (en) * | 2023-07-28 | 2023-08-29 | 江西五十铃汽车有限公司 | Method and system for testing performance parameters of whole vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1641505A (en) * | 2005-01-07 | 2005-07-20 | 清华大学 | Simulated measuring system for whole vehicle controller |
| US20130033279A1 (en) * | 2011-08-01 | 2013-02-07 | James Sozanski | Electromagnetic Test Enclosure |
| CN103034227A (en) * | 2012-09-20 | 2013-04-10 | 北京智行鸿远汽车技术有限公司 | Testing method in circuit of battery electric vehicle vehicle-control unit model |
| CN105446312A (en) * | 2015-04-01 | 2016-03-30 | 上海汽车集团股份有限公司 | Car body electric control system testing platform based on hardware-in-the-loop |
| CN205301857U (en) * | 2016-01-14 | 2016-06-08 | 湖南交通职业技术学院 | Electric automobile vehicle control unit's semi -physical simulation platform |
| CN105700512A (en) * | 2016-01-26 | 2016-06-22 | 北京长城华冠汽车科技股份有限公司 | A test system for testing a vehicle control system and a method thereof |
| CN206258730U (en) * | 2016-11-21 | 2017-06-16 | 南京越博动力***股份有限公司 | A kind of electric motor car entire car controller hardware-in―the-loop test system |
-
2016
- 2016-11-21 CN CN201611023192.3A patent/CN106444721A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1641505A (en) * | 2005-01-07 | 2005-07-20 | 清华大学 | Simulated measuring system for whole vehicle controller |
| US20130033279A1 (en) * | 2011-08-01 | 2013-02-07 | James Sozanski | Electromagnetic Test Enclosure |
| CN103034227A (en) * | 2012-09-20 | 2013-04-10 | 北京智行鸿远汽车技术有限公司 | Testing method in circuit of battery electric vehicle vehicle-control unit model |
| CN105446312A (en) * | 2015-04-01 | 2016-03-30 | 上海汽车集团股份有限公司 | Car body electric control system testing platform based on hardware-in-the-loop |
| CN205301857U (en) * | 2016-01-14 | 2016-06-08 | 湖南交通职业技术学院 | Electric automobile vehicle control unit's semi -physical simulation platform |
| CN105700512A (en) * | 2016-01-26 | 2016-06-22 | 北京长城华冠汽车科技股份有限公司 | A test system for testing a vehicle control system and a method thereof |
| CN206258730U (en) * | 2016-11-21 | 2017-06-16 | 南京越博动力***股份有限公司 | A kind of electric motor car entire car controller hardware-in―the-loop test system |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144701A (en) * | 2017-06-29 | 2017-09-08 | 合肥巨动力***有限公司 | The rational method of calibration of hybrid powder motor speed and its functional development method |
| CN107729233A (en) * | 2017-09-29 | 2018-02-23 | 北京新能源汽车股份有限公司 | The emulation mode and device of a kind of controller software |
| CN107729233B (en) * | 2017-09-29 | 2020-05-19 | 北京新能源汽车股份有限公司 | Simulation method and device for controller software |
| CN107678307A (en) * | 2017-11-09 | 2018-02-09 | 重庆鲁班机器人技术研究院有限公司 | Half-practicality imitation test method, apparatus and system |
| CN107908176A (en) * | 2017-11-09 | 2018-04-13 | 上汽通用五菱汽车股份有限公司 | Entire car controller drives mouth detection device and its detection method |
| CN107678307B (en) * | 2017-11-09 | 2018-08-28 | 重庆鲁班机器人技术研究院有限公司 | Semi-hardware type simulation test system |
| CN111064628A (en) * | 2018-10-16 | 2020-04-24 | 联合汽车电子有限公司 | CAN bus automatic test system |
| CN111064628B (en) * | 2018-10-16 | 2021-10-01 | 联合汽车电子有限公司 | CAN bus automatic test system |
| CN111123730B (en) * | 2018-10-31 | 2022-09-06 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
| CN111123730A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
| CN109656237A (en) * | 2019-01-21 | 2019-04-19 | 中科院合肥技术创新工程院 | A kind of hardware-in―the-loop test method of onboard control device |
| CN109858181A (en) * | 2019-02-28 | 2019-06-07 | 广东工业大学 | A kind of automobile chassis assemblage on-orbit system |
| CN109947078A (en) * | 2019-03-20 | 2019-06-28 | 广州小鹏汽车科技有限公司 | Direct fault location unit and its board, real time fail method for implanting, device and equipment |
| CN109992464A (en) * | 2019-03-25 | 2019-07-09 | 东风航盛（武汉）汽车控制***有限公司 | A kind of VCU automatic test approach that integrated application layer software is write with a brush dipped in Chinese ink |
| CN109992464B (en) * | 2019-03-25 | 2023-04-25 | 东风航盛（武汉）汽车控制***有限公司 | VCU automatic test method for integrated application layer software refreshing |
| CN110162007A (en) * | 2019-05-06 | 2019-08-23 | 上海科梁信息工程股份有限公司 | A kind of detection system and detection method of vehicle trouble |
| CN110333730A (en) * | 2019-08-12 | 2019-10-15 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and the storage medium of automatic Pilot algorithm expectation function safety |
| CN110333730B (en) * | 2019-08-12 | 2020-08-21 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and storage medium for safety of expected function of automatic driving algorithm |
| CN110609491A (en) * | 2019-09-20 | 2019-12-24 | 公安部交通管理科学研究所 | Semi-physical simulation accident identification method and system for whole electric vehicle controller |
| CN111007840A (en) * | 2019-12-23 | 2020-04-14 | 奇瑞商用车（安徽）有限公司 | Whole vehicle controller hardware-in-loop test platform and method |
| CN113495545A (en) * | 2020-03-18 | 2021-10-12 | 纬湃科技投资(中国)有限公司 | System and method for testing vehicle equipment controller using in-loop hardware |
| CN111427334A (en) * | 2020-04-17 | 2020-07-17 | 广东戈兰玛汽车***有限公司 | Automobile ECU fault simulation detection system |
| CN111964919A (en) * | 2020-08-13 | 2020-11-20 | 阳光电源股份有限公司 | Testing method and device for tooth punching working condition, computer equipment and storage medium |
| CN111964919B (en) * | 2020-08-13 | 2023-09-29 | 阳光电源股份有限公司 | Tooth punching working condition testing method and device, computer equipment and storage medium |
| CN112147981A (en) * | 2020-09-25 | 2020-12-29 | 西安法士特汽车传动有限公司 | dSPACE HIL-based electric vehicle power-on and power-off logic test method and test system |
| CN112147985A (en) * | 2020-09-30 | 2020-12-29 | 重庆长安新能源汽车科技有限公司 | Method for testing safety of whole function of pure electric vehicle |
| CN112526966A (en) * | 2020-11-20 | 2021-03-19 | 广西玉柴机器股份有限公司 | Automatic testing method and system for controller HIL |
| CN112526966B (en) * | 2020-11-20 | 2024-04-05 | 广西玉柴机器股份有限公司 | Automatic test method and system for HIL (high-performance liquid chromatography) of controller |
| CN112882454A (en) * | 2021-01-11 | 2021-06-01 | 阳光电源股份有限公司 | Road spectrum testing method, system and computer readable storage medium |
| CN113392508A (en) * | 2021-05-26 | 2021-09-14 | 上汽通用五菱汽车股份有限公司 | Integrated simulation test system for automobile power chassis |
| CN113340460A (en) * | 2021-06-09 | 2021-09-03 | 中国第一汽车股份有限公司 | Temperature testing system and method |
| CN113340460B (en) * | 2021-06-09 | 2024-03-15 | 中国第一汽车股份有限公司 | Temperature testing system and method |
| CN113589171B (en) * | 2021-06-30 | 2023-12-01 | 中汽研汽车检验中心（天津）有限公司 | Hard wire fault injection test method for battery management system |
| CN113589171A (en) * | 2021-06-30 | 2021-11-02 | 中汽研汽车检验中心（天津）有限公司 | Test method for hard line fault injection of battery management system |
| CN113589787A (en) * | 2021-07-22 | 2021-11-02 | 上汽通用五菱汽车股份有限公司 | Hardware-in-loop test method, test device, test system and readable storage medium |
| CN116224974A (en) * | 2023-05-08 | 2023-06-06 | 江铃汽车股份有限公司 | Cloud pipe end-based vehicle body controller in-loop testing method, platform and storage medium |
| CN116224974B (en) * | 2023-05-08 | 2023-07-21 | 江铃汽车股份有限公司 | Cloud pipe end-based vehicle body controller in-loop testing method, platform and storage medium |
| CN116661428B (en) * | 2023-07-28 | 2023-11-03 | 江西五十铃汽车有限公司 | Method and system for testing performance parameters of whole vehicle |
| CN116661428A (en) * | 2023-07-28 | 2023-08-29 | 江西五十铃汽车有限公司 | Method and system for testing performance parameters of whole vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106444721A (en) | Hardware-in-the-loop test system for whole vehicle controller for electric vehicle and test method | |
| CN206258730U (en) | A kind of electric motor car entire car controller hardware-in―the-loop test system | |
| CN111007840A (en) | Whole vehicle controller hardware-in-loop test platform and method | |
| CN203366121U (en) | Hardware-in-the-loop test system for automobile electronic controller | |
| CN203965936U (en) | New forms of energy controller hardware is in ring test system | |
| CN202649810U (en) | Equipment used for automotive electronic control module CAN network integration test | |
| CN105159188B (en) | A kind of new energy vehicle heterogeneous network emulator and control method | |
| CN204595598U (en) | Based on the vehicle body electric-control system test platform of hardware in loop | |
| CN106444712A (en) | CAN/LIN network interference automation test system | |
| CN105446312A (en) | Car body electric control system testing platform based on hardware-in-the-loop | |
| CN203689120U (en) | New energy vehicle battery management system master and slave control board hardware-in-the-loop test system | |
| CN206388062U (en) | Controller of new energy automobile test system | |
| CN105629960B (en) | A kind of vehicle control unit of electric vehicle model is in ring test system and method | |
| CN103760896B (en) | Hardware-in-loop test device and method for vehicle-mounted charger control device of new energy automobile | |
| CN103760895B (en) | Automobile-mounted charger of new energy control device hardware-in―the-loop test method | |
| CN204614312U (en) | A kind of relay analog module of simulated automotive fault | |
| CN106443545A (en) | Battery management system fault diagnosing and positioning system and method of battery electric vehicle | |
| CN107240323A (en) | A kind of control unit for vehicle fault simulator and its control method | |
| CN201397583Y (en) | Finished automobile networking teaching device based on interconnection of training simulators | |
| CN112362362A (en) | Offline whole vehicle logic test system and test method | |
| CN103543379A (en) | Circuit fault simulation device of vehicle engine management system | |
| CN103455024B (en) | ECU tests system and method | |
| CN101630447A (en) | Method and device for online teaching of whole automobile | |
| CN104391462B (en) | A kind of joint debugging control method of whole pure electric vehicle rack | |
| CN203689146U (en) | New energy vehicle battery management system master and slave control board hardware-in-the-loop test system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240126 |
|
| AD01 | Patent right deemed abandoned |