CN106840694A - Electric motor coach composite braking hardware-in―the-loop test platform and method of testing based on electric controlled brake system - Google Patents
Electric motor coach composite braking hardware-in―the-loop test platform and method of testing based on electric controlled brake system Download PDFInfo
- Publication number
- CN106840694A CN106840694A CN201710020274.0A CN201710020274A CN106840694A CN 106840694 A CN106840694 A CN 106840694A CN 201710020274 A CN201710020274 A CN 201710020274A CN 106840694 A CN106840694 A CN 106840694A
- Authority
- CN
- China
- Prior art keywords
- brake
- wheel
- pressure
- braking
- valve
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses electric motor coach composite braking hardware-in―the-loop test platform and method of testing based on electric controlled brake system, the test platform is made up of pneumatic module processed, electric controlled brake system, traditional braking component, wheel speed simulated assembly, singlechip controller, host computer and target machine.The hardware-in―the-loop test platform is based on the third generation electric controlled brake system of WABCO companies, the accurate adjustment of antero posterior axis and four wheel brake pressures is realized with reference to related software and hardware, the control problem of electric motor coach conventional brake and brake hard is solved by Control Strategy for Regenerative Braking and ABS control strategies, test platform of the present invention and method of testing realize the joint test of electric motor coach electric controlled brake system and regeneration brake system.
Description
Technical field
The invention belongs to electric vehicle braking system testing technical field, it is related to electric motor coach composite braking hardware in loop to survey
Examination platform, it is more particularly related to the electric motor coach composite braking hardware-in―the-loop test for being based on electric controlled brake system is put down
Platform and method of testing, the present invention are applicable not only to develop commercial car regenerative braking and ABS/EBS control strategies, apply also for real vehicle
The error diagnosis of ECU.
Background technology
The increasingly exacerbation of exhausted and problem of environmental pollution recently as world energy sources, national governments start to promote section one after another
Energy and new-energy automobile, sustainable development is realized with energy-saving and emission-reduction.In various types of new-energy automobiles, pure electric automobile
The concern of people is more and more received with many advantages of its own, particularly pure e-bus have become various countries
The important selection of urban development public transport.
For urban bus, long run is in frequent low speed damped condition, the energy consumed in its braking procedure
The 30%~60% of driving energy is constituted about, if this partial brake energy can effectively be reclaimed by Regenerative Braking Technology,
The fuel economy of vehicle can be significantly improved.Nowadays becoming increasingly popular with electric controlled brake system, increasing commercial car
Also begin to use electric controlled brake system, because electric controlled brake system directly controls to be arranged on the execution machine for taking turns side by electronic signal
Structure to set up the brake force needed for each wheel, such that it is able to eliminate conventional gas brake system response time slow application comfortableness
The shortcomings of difference, by improving the response time, braking distance is shortened so as to improve the security and comfortableness of vehicle.
At present disclose both at home and abroad it is various on brakes test testing stands, but predominantly conventional gas braking system
System testing stand, commercial semitrailer electric controlled brake system experimental bench or electric control hydraulic braking system test platform, also without a kind of base
In the test platform of the electric motor coach composite braking system of electric controlled brake system.
Chinese patent grant number is CN205507532, and authorized announcement date is 2016.08.24, entitled " commercial half
Trailer electric controlled brake system experimental bench ", Application No. 201620222013.8, patentee is Jilin University.The patent utilization
First generation electric controlled brake system (EBS), driving simulator, singlechip controller, are carried out by Labview RT real-time systems and surveyed
Examination research, is mainly used in the performance detection and model emulation of first generation electric controlled brake system, but the testing stand is only used for business
With the test of semitrailer brake system, and the testing stand does not account for the process of regenerative braking of commercial car, it is impossible to for electronic
The test of car composite braking system.
The content of the invention
For above-mentioned prior art joint test cannot be carried out to electric motor coach electric controlled brake system and regeneration brake system
Problem, the invention provides the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test side
Method.With reference to Figure of description, technical scheme is as follows：
Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system, by pneumatic module processed, electric control
Dynamic system, traditional braking component, wheel speed simulated assembly, singlechip controller 25, host computer 27 and target machine 26 are constituted；
The pneumatic module delivery air processed is defeated through front axle gas receiver 5, rear axle gas receiver 6 and parking braking gas receiver 7 respectively
Go out, form front axle brake loop, rear axle brake circuit and parking brake loop
The electric controlled brake system is by main brake valve 8, propons pressure control module 35, back axle pressure control module 18, a left side
Front-wheel ABS magnetic valves 38 and the connection composition of off-front wheel ABS magnetic valves 34；
The traditional braking component by braking valve for vehicle 9, relay valve 10 and respectively be located at left rear wheel, off hind wheel, the right side before
Four groups of structure identical brake apparatus of wheel and the near front wheel are constituted, and the brake apparatus is by brake, brake chamber and braking gas
Chamber pressure force snesor is sequentially connected composition；
The wheel speed simulated assembly is identical with the four of the near front wheel groups of structures by being located at left rear wheel, off hind wheel, off-front wheel respectively
Wheel speed analogue means composition, the wheel speed analogue means is sequentially connected group by wheel speed simulated machine, gear ring, wheel speed sensors
Into；
Be provided with the target machine 26 be connected with the brake chamber pressure sensor data collecting plate card, for
Wheel speed simulated machine sends the control signal board of control signal, and be connected with the CAN module in singlechip controller 25
CAN cards；
The hardware system of the singlechip controller 25 from minimum system circuit, to external output signal peripheral driver electricity
Road, the signal processing circuit for receiving and processing external signal, and the CAN communication circuit communicated to connect with target machine 26 are constituted；
The target machine 26 and the two-way communication link of host computer 27, host computer 27 is to the download model of target machine 26, target machine
26 feed back vehicle real time to host computer 27.
The gas outlet of the front axle gas receiver 5 respectively with the lower air inlet and propons pressure control module 35 of main brake valve 8
High pressure admission mouthful be connected, the lower gas outlet of main brake valve 8 is connected with the low voltage control port of propons pressure control module 35, preceding
The gas outlet of bridge pressure control module 35 is connected with the air inlet of front axle triple valve 36, two gas outlets point of front axle triple valve 36
Air inlet not with the near front wheel ABS magnetic valves 38 and off-front wheel ABS magnetic valves 34 is connected, the outlet of the near front wheel ABS magnetic valves 38
Mouth is connected with the near front wheel brake chamber 42, and the gas outlet of off-front wheel ABS magnetic valves 34 is connected with off-front wheel brake chamber 32, is formed
Front axle brake loop；
The gas outlet of the rear axle gas receiver 6 respectively with the enterprising gas port and back axle pressure control module 18 of main brake valve 8
High pressure admission mouthful be connected, the upper gas outlet of main brake valve 8 is connected with the low voltage control port of back axle pressure control module 18, after
The left and right side gas outlet of bridge pressure control module 18 is connected with corresponding left rear wheel, off hind wheel brake chamber respectively, forms rear axle
Brake circuit；
The gas outlet of the parking braking gas receiver 7 respectively with the air inlet and the high pressure of relay valve 10 of braking valve for vehicle 9
Air inlet is connected, and the gas outlet of braking valve for vehicle 9 is connected with the low voltage control port of relay valve 10, the gas outlet warp of relay valve 10
Rear axle triple valve valve 17 is connected with left rear wheel brake chamber 15 and off hind wheel brake chamber 20 respectively, forms parking brake loop.
The display screen is connected by VGA data wires with main frame, the output port of the main frame and the SIT moulds of target machine 26
Block is connected, and realizes that whole vehicle model and motor/battery model are downloaded to real time execution in target machine 26, and target machine by host computer 27
The real time information of vehicle-state is fed back to host computer 27 by 26, and display screen by host computer 27 shows.
The minimum system circuit is respectively by power circuit, clock circuit, reset circuit, filter circuit and BDM interfaces electricity
Road constitutes；
The peripheral drive circuit includes：Respectively with the control of the near front wheel ABS magnetic valves 38 and off-front wheel ABS magnetic valves 34
The ABS driving circuit for electromagnetic valve of signal input part connection composition and the control signal input of propons pressure control module 35 connect
Connect the propons module drive circuit of composition, and be connected with the control signal input of back axle pressure control module 18 composition after
Bridge module drive circuit；
The signal processing circuit includes：It is connected with the brake signal output end of main brake valve 8 at the pedal signal of composition
Reason circuit, be connected with pressure sensor signal output end built-in in preceding bridge module 35 and rear axle module 18 constitute respectively before and after
Axle pressure signal processing circuit, and the wheel speed signal of composition is connected with the signal output part of four Wheel speed signal sensors respectively
Process circuit.
Electric motor coach composite braking hardware-in―the-loop test method based on electric controlled brake system, method of testing detailed process is such as
Under：
When electric motor coach is not braked, the air exported by pneumatic module processed is through front axle gas receiver 5 and rear axle gas storage
Cylinder 6 reaches the high pressure admission mouthful of propons pressure control module and back axle pressure control module, at the same time by the main frame of host computer 27
In whole vehicle model and motor/battery model download to real time execution in target machine 26, then step on main brake valve 8, target machine
Data collecting plate card in 26 is started working；
After stepping on main brake valve 8, the built-in pedal displacement sensor of main brake valve becomes the aperture of brake pedal and aperture
Rate signal is transported in the signal processing circuit of singlechip controller 25, and singlechip controller 25 is according to the signal pair after treatment
Braking intention is recognized, and demand brake force is recognized by the aperture of brake pedal, and vehicle is recognized by pedal aperture rate of change
On-position be conventional brake operating mode or brake hard operating mode；
When singlechip controller 25 picks out vehicle is in conventional brake operating mode, then by demand brake force according to conventional multiple
Close braking control strategy and determine front axle target air pressure brake force, rear axle target air pressure brake force and target motor brake force；So
Afterwards according to front axle target air pressure brake force and rear axle target air pressure brake force, driven by propons module drive circuit and rear axle module
The aperture of the high pressure admission mouthful of dynamic circuit control propons pressure control module 35 and back axle pressure control module 18, and then to corresponding
Wheel produce air-pressure brake power；Now correspond to the air chamber pressure signal biography that the brake chamber pressure sensor of wheel will be collected
The data collecting plate card in target machine 26 is transported to, the data collecting plate card will be input to the whole of target machine 26 again after pressure conversion
In vehicle model；Additionally, be transferred to target motor braking force signal in the motor model of target machine 26 by singlechip controller 25, produce
The corresponding motor braking power of life simultaneously acts on whole vehicle model, meanwhile, the speed of whole vehicle model, motor and battery shape in target machine 26
State feedback of the information in singlechip controller 25, singlechip controller 25 according to real-time speed, motor and battery information and
The real time pressure information of front and rear axle module built in pressure sensor feedback is carried out to antero posterior axis air-pressure brake power and motor braking power
Amendment, then again by revised Braking in whole vehicle model, realizes the closed-loop control of whole brake pressure in real time；
When singlechip controller 25 picks out vehicle is in brake hard operating mode, now motor braking power is exited, and is touched
Control of sending out ABS corresponding, front axle target air pressure brake force and rear axle target are determined by demand brake force according to ABS control strategies
Air-pressure brake power, before then being controlled by propons module drive circuit, rear axle module drive circuit and ABS driving circuit for electromagnetic valve
The aperture and front axle of the high pressure admission mouthful of bridge pressure control module 35 and back axle pressure control module 18 or so ABS magnetic valves
The aperture of porting, and then air-pressure brake power is produced to corresponding wheel；Now correspond to the brake chamber pressure sensing of wheel
Data collecting plate card in the air chamber pressure signal transmission that device will be collected to target machine 26, the data collecting plate card again will pressure
It is input in the whole vehicle model of target machine 26 after power conversion；Now, the wheel speed information of four wheels of whole vehicle model passes through target machine
26 control signal board is exported to four wheel speed simulated machines, and control wheel speed simulated machine simulates real-time wheel speed, then
The wheel speed information input that corresponding wheel speed sensors will be collected is single in the wheel speed signal process circuit of singlechip controller 25
Piece machine controller 25 goes out the real-time speed of vehicle and the slip rate of each wheel according to the wheel speed data-evaluation after treatment, further according to
The slip rate of wheel is corrected in real time to corresponding wheel braking force, it is ensured that the slip rate of each wheel is in optimal slip ratio
Scope, finally feeds back to whole vehicle model by revised wheel braking force, realizes the closed-loop control of whole brake pressure.
In above-mentioned braking procedure, car status information is fed back in host computer 27 by target machine 26, and by host computer 27
Display screen real time inspection car status information change, while the operation of monitoring objective machine 26.
Compared with prior art, the beneficial effects of the present invention are：
1st, the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system of the present invention utilizes
Three generations's electric controlled brake system (EBS) is simultaneously realized to electric motor coach electric controlled brake system and regenerative braking system with reference to related software and hardware
The joint test of system.
2nd, the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system of the present invention is utilized
LabView real-time systems simultaneously combine the ripe auto model in TruckSim softwares so that testing stand auto model is with real vehicle more
It is close, while taking full advantage of advantage of the LabView systems in terms of data acquisition and processing (DAP).
3rd, electric motor coach composite braking hardware-in―the-loop test platform and test based on electric controlled brake system of the present invention
Method can be not only used for developing electric motor coach regenerative braking and ABS/EBS control strategies, can be also used for the mistake of real vehicle ECU
Diagnosis.
4th, electric motor coach composite braking hardware-in―the-loop test platform and test based on electric controlled brake system of the present invention
Method can greatly save the time of electric motor coach composite braking experimental study, save experiment funds, and required testing crew is few, can
Repetition test is realized, is that necessary outdoor real train test lays the first stone so as to greatly reduce outdoor real train test number of times.
5th, electric motor coach composite braking hardware-in―the-loop test platform and test based on electric controlled brake system of the present invention
Method is applicable not only to the test of electric motor coach composite braking system, applies also for the composite braking of other electric commercial vehicle vehicles
System research.
Brief description of the drawings
Fig. 1 is the group of the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system of the present invention
Into structural representation；
Fig. 2 is the original of the electric motor coach composite braking hardware-in―the-loop test method based on electric controlled brake system of the present invention
Reason logic diagram；
During Fig. 3 is the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system of the present invention
The structural schematic block diagram of singlechip controller.
In figure：
1. air compressor, 2. wet gas receiver, 3. drier,
4. four-loop protection valve, 5. front axle gas receiver, 6. rear axle gas receiver,
7. parking braking gas receiver, 8. main brake valve, 9. braking valve for vehicle,
10. relay valve, 11. left rear wheel wheel speed simulated machines, 12. left rear wheel gear rings,
13. left rear wheel wheel speed sensors, 14. left rear wheel brakes, 15. left rear wheel brake chambers,
16. left rear wheel brake chamber pressure sensors, 17. rear axle triple valves, 18. back axle pressure control modules,
19. off hind wheel brake chamber pressure sensors, 20. off hind wheel brake chambers, 21. off hind wheel brakes,
22. off hind wheel wheel speed sensors, 23. off hind wheel gear rings, 24. off hind wheel wheel speed simulated machines,
25. singlechip controllers, 26. target machines, 27. host computers,
28. off-front wheel wheel speed simulated machines, 29. off-front wheel gear rings, 30. off-front wheel wheel speed sensors,
31. off-front wheel brakes, 32. off-front wheel brake chambers, 33. off-front wheel brake chamber pressure sensors,
34. off-front wheel ABS magnetic valves, 35. propons pressure control modules, 36. front axle triple valves,
37. the near front wheel wheel speed simulated machines, 38. the near front wheel ABS magnetic valves, 39. the near front wheel gear rings,
40. the near front wheel wheel speed sensors, 41. the near front wheel brake chamber pressure sensors, 42. the near front wheel brake chambers,
43. near front wheel brakes.
Specific embodiment
In order to further illustrate technical scheme, with reference to Figure of description, specific embodiment of the invention is such as
Under：
It is flat the invention discloses the electric motor coach composite braking hardware-in―the-loop test based on electric controlled brake system refering to Fig. 1
Platform is by pneumatic module processed, third generation electric controlled brake system (EBS), traditional braking component, wheel speed simulated assembly, singlechip controller
25th, host computer 27 and target machine 26 are constituted.
The pneumatic module processed includes air compressor 1, wet gas receiver 2, air dryer 3, four-loop protection valve 4, front axle
Gas receiver 5, rear axle gas receiver 6 and parking braking gas receiver 7.
The third generation electric controlled brake system (EBS) includes main brake valve 8, model WABCO 4800021030；Propons
Pressure control module 35, model WABCO 4801067010；Back axle pressure control module 18, model WABCO
4801067010；The near front wheel ABS magnetic valves 38 and off-front wheel ABS magnetic valves 34, model WABCO 4721950180.
The traditional braking component includes braking valve for vehicle 9, relay valve 10, the braking of left rear wheel brake chamber 15, left rear wheel
Device 14, left rear wheel brake chamber pressure sensor 16, off hind wheel brake chamber 20, off hind wheel brake 21, off hind wheel braking gas
Chamber pressure force snesor 19, off-front wheel brake chamber 32, off-front wheel brake 31, off-front wheel brake chamber pressure sensor 33, a left side
Front wheel brake air chamber 42, near front wheel brake 43, the near front wheel brake chamber pressure sensor 41, front axle triple valve 36, rear axle three
The brake piping and joint of port valve 17 and connection said modules.
The wheel speed simulated assembly includes that the near front wheel wheel speed simulated machine 37, the near front wheel gear ring 39, the near front wheel wheel speed are sensed
Device 40, off-front wheel wheel speed simulated machine 28, off-front wheel gear ring 29, off-front wheel wheel speed sensors 30, off hind wheel wheel speed simulated machine
24th, off hind wheel gear ring 23, off hind wheel wheel speed sensors 22, left rear wheel wheel speed simulated machine 11, left rear wheel gear ring 12, left rear wheel wheel
Fast sensor 13.The near front wheel wheel speed simulated machine 37 is servomotor, and it is arranged on electric machine support, and the near front wheel gear ring 39 is fixed
On the output shaft of the near front wheel wheel speed simulated machine 37, the near front wheel wheel speed sensors 40 are fixed on electric machine support and and the near front wheel
Gear ring 39 is mounted opposite；Off-front wheel wheel speed simulated machine 28 is servomotor, and it is arranged on electric machine support, off-front wheel gear ring 29
Be fixed on the output shaft of off-front wheel wheel speed simulated machine 28, off-front wheel speed sensor 30 be fixed on electric machine support and with the right side before
Wheel gear ring 29 is mounted opposite；Off hind wheel wheel speed simulated machine 24 is servomotor, and it is arranged on electric machine support, off hind wheel gear ring
23 are fixed on the output shaft of off hind wheel wheel speed simulated machine 24, off hind wheel wheel speed sensors 22 be fixed on electric machine support and with
Off hind wheel gear ring 23 is mounted opposite；Left rear wheel wheel speed simulated machine 11 is servomotor, and it is arranged on electric machine support, left rear wheel
Gear ring 12 is fixed on the output shaft of left rear wheel wheel speed simulated machine 11, and left rear wheel wheel speed sensors 13 are fixed on electric machine support
And be mounted opposite with left rear wheel gear ring 12.In described wheel speed analogue means, servomotor driven gear ring is rotated, according to system
Needs be able to can be sensed corresponding with the rotating speed of real-time control servomotor with the wheel speed sensors that the gear ring is mounted opposite
Wheel speed signal, is then passed to singlechip controller 25.
Additionally, whole test platform is bench type structure, it is welded into a stand with aluminium alloy extrusions and is placed on laboratory
On ground, a workbench is placed on the right side of stand.Air compressor 1 is directly placed on ground as whole test platform is provided
Compressed air；Air dryer 3 and four-loop protection valve 4 are arranged on the front end of stand；Wet gas receiver 2, front axle gas receiver 5, after
Axle gas receiver 6 and parking braking gas receiver 7 are placed on the ground on the inside of stand, and are protected near the loop of air dryer 3 and four
Shield valve 4；Four groups of wheel speed simulated assemblies are placed side by side on the right side of stand near workbench before left front, right, behind the left back and right side
Position；Main brake valve 8 is located at below workbench, and host computer 27 is placed on the table, and target machine 26 is placed on the one of workbench
Side, singlechip controller 25 is placed in the cabinet of target machine；Other parts all be arranged on stand on, installation site with figure
Each parts position relationship represented by 1 is essentially identical, and the annexation of each parts is specific as follows, and heavy line is gas circuit in figure
Connection signal, the fine line with arrow is circuit connection signal：
Gas circuit is connected：
Refering to Fig. 1, the gas outlet of the air compressor 1 is connected with the air inlet of wet gas receiver 2, and wet gas receiver 2 goes out
Gas port is connected with the air inlet of air dryer 3, and the gas outlet of air dryer 3 is connected with the air inlet of four-loop protection valve 4,
Three gas outlets of four-loop protection valve 4 respectively with the air inlet of front axle gas receiver 5, rear axle gas receiver 6 and parking braking gas receiver 7
Mouth connection.
The gas outlet of the front axle gas receiver 5 respectively with the lower air inlet and propons pressure control module 35 of main brake valve 8
High pressure admission mouthful be connected, the lower gas outlet of main brake valve 8 is connected with the low voltage control port of propons pressure control module 35, preceding
The gas outlet of bridge pressure control module 35 is connected with the air inlet of front axle triple valve 36, two gas outlets point of front axle triple valve 36
Air inlet not with the near front wheel ABS magnetic valves 38 and off-front wheel ABS magnetic valves 34 is connected, the outlet of the near front wheel ABS magnetic valves 38
Mouth is connected with the near front wheel brake chamber 42, and the near front wheel brake chamber 42 is connected near front wheel brake 43, off-front wheel ABS magnetic valves
34 gas outlet is connected with off-front wheel brake chamber 32, and off-front wheel brake chamber 32 is connected with off-front wheel brake 31, before this is
Axle brake circuit.
The gas outlet of the rear axle gas receiver 6 respectively with the enterprising gas port and back axle pressure control module 18 of main brake valve 8
High pressure admission mouthful be connected, the upper gas outlet of main brake valve 8 is connected with the low voltage control port of back axle pressure control module 18, after
The left side gas outlet of bridge pressure control module 18 is connected with left rear wheel brake chamber 15, left rear wheel brake chamber 15 and left rear wheel system
Dynamic device 14 is connected, and the right side gas outlet of back axle pressure control module 18 is connected with off hind wheel brake chamber 20, off hind wheel braking gas
Room 20 is connected with off hind wheel brake 21, and this is rear axle brake circuit.
The gas outlet of the parking braking gas receiver 7 respectively with the air inlet and the high pressure of relay valve 10 of braking valve for vehicle 9
Air inlet be connected, the gas outlet of braking valve for vehicle 9 is connected with the low voltage control port of relay valve 10, the gas outlet of relay valve 10 and
The air inlet of rear axle triple valve 17 is connected, two gas outlets of rear axle triple valve valve 17 respectively with left rear wheel brake chamber 15 and the right side
Rear service brake air chamber 20 be connected, left rear wheel brake chamber 15 is connected with left rear wheel brake 14, off hind wheel brake chamber 20 and the right side
Rear wheel brake 21 is connected, and this is parking brake loop.
Circuit is connected：
Refering to Fig. 2, the host computer 27 is ordinary PC, including a display screen and a main frame, and the display screen is
User interface, it passes through VGA data wires and is connected with the main frame, for two-way signaling is connected between host computer 27 and target machine 26,
The output port of the main frame of the host computer 27 is connected with the SIT modules of target machine 26, and LabView is provided with the main frame 27
Software, TruckSim softwares and MATLAB/Simulink softwares.
In test process, host computer 27 is by the whole vehicle model in TruckSim softwares and MATLAB/Simulink softwares
Motor/battery model download to real time execution in target machine 26, while target machine 26 feeds back the real time information of vehicle-state
To host computer 27, and display screen by host computer shows.
The model IPC-610's of the target machine 26 grinds magnificent industrial computer, and data acquisition is provided with the target machine 26
Board, control signal board and CAN cards, the analog port and the near front wheel brake chamber pressure sensor 41 of data collecting plate card,
The signal of off-front wheel brake chamber pressure sensor 33, off hind wheel brake chamber pressure sensor 19 and left back pressure sensor 16
Output end is connected, for gathering the pressure signal that aforementioned four pressure sensor is detected and exported, the signal that then will be collected
In obtaining the actual value of this tittle and being input to whole vehicle model after mathematics is changed；The signal output part of control signal board
With the near front wheel wheel speed simulated machine 37, off-front wheel wheel speed simulated machine 28, off hind wheel wheel speed simulated machine 24 and left rear wheel wheel speed
The control signal input connection of simulated machine 11, for sending control signal to aforementioned four wheel speed simulated machine；The control
Signal board processed is a multi-functional RIO boards for being integrated with programmable fpga chip, and its signal generation turnover rate is fast, using rate
Height, the generation for controlling wheel speed simulated machine signal；CAN card ports are connected with the CAN module of singlechip controller 25, are used for
Communication between target machine 26 and singlechip controller 25.
Refering to Fig. 3, the singlechip controller 25 uses the MC9S12XS128 series micro-controls of Freescale Semiconductor
Device processed, the hardware system of singlechip controller 25 mainly include minimum system circuit, peripheral drive circuit, signal processing circuit and
CAN communication circuit.
The minimum system circuit includes：Power circuit, clock circuit, reset circuit, filter circuit and BDM interfaces electricity
Road.
The peripheral drive circuit includes：ABS driving circuit for electromagnetic valve, with the near front wheel ABS magnetic valves 38 and off-front wheel ABS
The control signal input connection of magnetic valve 34, the opening and closing for driving ABS magnetic valves；Propons module drive circuit, with propons
The control signal input connection of pressure control module 35, the output for driving preceding bridge module aperture and then the preceding bridge module of control
Pressure；Rear axle module drive circuit, the control signal input with back axle pressure control module 18 is connected, for driving back axle mould
The aperture of block and then the output pressure of control rear axle module.
The signal processing circuit includes：Pedal signal process circuit, the brake signal output end with main brake valve 8 connects
Connect, be input in the middle of singlechip controller 25 after the brake signal treatment that main brake valve 8 is exported；The treatment of antero posterior axis pressure signal
Circuit, is connected with pressure sensor signal output end built-in in preceding bridge module 35 and rear axle module 18, and antero posterior axis pressure is passed
It is input in the middle of singlechip controller 25 after the pressure signal treatment of sensor output；Wheel speed signal process circuit, with the near front wheel wheel
Fast sensor 40, off-front wheel Wheel speed signal sensor 30, off hind wheel Wheel speed signal sensor 22 and left rear wheel wheel speed signal sensing
The signal output part connection of device 13, is input to singlechip controller 25 and works as after the wheel speed signal treatment that wheel speed sensors are exported
In.
The CAN communication circuit is connected with the CAN cards in target machine, between singlechip controller 25 and target machine 26
Communication.
It is multiple present invention also offers the electric motor coach based on electric controlled brake system with reference to the concrete structure of above-mentioned test platform
Braking hardware-in―the-loop test method is closed, as shown in Fig. 2 described method of testing detailed process is as follows：
When electric motor coach is not braked, the high-pressure brake gas provided by air compressor 1 through wet gas receiver 3,
Drier 3, four-loop protection valve 4, front axle gas receiver 5 and rear axle gas receiver 6 reach propons pressure control module and back axle pressure
The high pressure admission mouthful of control module, at the same time operates to host computer 27, and TruckSim in the main frame of host computer 27 is soft
Motor in whole vehicle model and MATLAB/Simulink softwares and battery model in part are transported in real time in downloading to target machine 26
OK, main brake valve 8 is then stepped on, at this moment the data collecting system in target machine 26 is started working.
After stepping on main brake valve 8, the built-in pedal displacement sensor of main brake valve becomes the aperture of brake pedal and aperture
Rate signal is transported in the pedal signal process circuit of singlechip controller 25, and singlechip controller 25 is according to the letter after treatment
Number braking intention is recognized, demand brake force is recognized by the aperture of brake pedal, recognized by pedal aperture rate of change
The on-position of vehicle, is in " brake hard operating mode " in " conventional brake operating mode ".
When singlechip controller 25 picks out vehicle is in " conventional brake operating mode ", then by demand brake force according to routine
Composite braking control strategy determines front axle target air pressure brake force, rear axle target air pressure brake force and target motor brake force.
Then according to front axle target air pressure brake force and rear axle target air pressure brake force, by propons module drive circuit and rear axle module
The aperture of the high pressure admission mouthful of drive circuit control propons pressure control module 35 and back axle pressure control module 18, is at this moment supplied to
The gas of the high pressure admission of propons pressure control module 35 mouthful passes through propons pressure control module 35, front axle triple valve 36, the near front wheel
ABS magnetic valves 38 (normally open valve), off-front wheel ABS magnetic valves 34 (normally open valve) reach the near front wheel brake chamber 42 and off-front wheel braking
Air chamber 32, corresponding front axle air-pressure brake power is produced by near front wheel brake 43 and off-front wheel brake 31；It is supplied to back axle pressure
The gas of the high pressure admission of power control module 18 mouthful is after back axle pressure control module 18 reaches left rear wheel brake chamber 15 and the right side
Wheel brake chamber 20, corresponding rear axle air-pressure brake power is produced by left rear wheel brake 14 and off hind wheel brake 21；At this moment
The near front wheel brake chamber pressure sensor 41, off-front wheel brake chamber pressure sensor 33, off hind wheel brake chamber pressure sensing
The pressure of four brake chambers corresponding with the collection of left rear wheel brake chamber pressure sensor 16 of device 19, the pressure that then will be collected
, to the data collecting plate card in target machine 26, the pressure signal that the data collecting plate card will be collected is by mathematics for signal transmission
The actual value that this tittle is obtained after conversion is input in TruckSim whole vehicle models；
Additionally, singlechip controller 25 by target motor braking force signal by CAN transmit in target machine 26
CAN cards, the signal input that the CAN cards will be collected produces corresponding motor braking power to the motor model in target machine 26
And TruckSim whole vehicle models are acted on, meanwhile, the speed of whole vehicle model, motor and battery status information pass through in target machine 25
CAN cards and CAN are fed back in singlechip controller 25, and singlechip controller 25 is according to real-time speed, motor and battery
The real time pressure information of information and front and rear axle module built in pressure sensor feedback is to antero posterior axis air-pressure brake power and motor system
Power is corrected in real time, then again by revised Braking in whole vehicle model, so as to realize whole brake pressure
Closed-loop control.
When singlechip controller 25 picks out vehicle is in " brake hard operating mode ", at this moment motor braking power is exited, and
Corresponding ABS controls are triggered, front axle target air pressure brake force and rear axle mesh are determined according to ABS control strategies by demand brake force
Gas suppresses power, is then controlled by propons module drive circuit, rear axle module drive circuit and ABS driving circuit for electromagnetic valve
The aperture and front axle of the high pressure admission mouthful of propons pressure control module 35 and back axle pressure control module 18 or so ABS magnetic valves
Porting aperture, the gas for being at this moment supplied to propons pressure control module high pressure admission mouthful passes through propons pressure control module
35th, before front axle triple valve 36, the near front wheel ABS magnetic valves 38, off-front wheel ABS magnetic valves 34 reach the near front wheel brake chamber 42 and the right side
Wheel brake chamber 32, corresponding front axle air-pressure brake power is produced by near front wheel brake 43 and off-front wheel brake 31；It is supplied to
The gas of back axle pressure control module high pressure admission mouthful reaches the He of left rear wheel brake chamber 15 by back axle pressure control module 18
Off hind wheel brake chamber 20, corresponding rear axle air-pressure brake power is produced by left rear wheel brake 14 and off hind wheel brake 21；
At this moment the near front wheel brake chamber pressure sensor 41, off-front wheel brake chamber pressure sensor 33, off hind wheel brake chamber pressure
The pressure of four brake chambers corresponding with the collection of left rear wheel brake chamber pressure sensor 16 of sensor 19, then will collect
Pressure signal is transferred to the data collecting plate card in target machine 26, and the pressure signal that the data collecting plate card will be collected passes through
The actual value that this tittle is obtained after mathematics conversion is input in TruckSim whole vehicle models, makes the state of vehicle that corresponding change to occur
Change, at this moment the wheel speed information of four wheels of whole vehicle model is exported to four wheel speeds by the control signal board of target machine 26 and simulated
The control end of motor, control wheel speed simulated machine simulates real-time wheel speed, then the near front wheel wheel speed sensors 40, off-front wheel wheel
The wheel speed information input that fast sensor 30, off hind wheel wheel speed sensors 22 and left rear wheel wheel speed sensors 13 will be collected is to monolithic
In the wheel speed signal process circuit of machine controller 25, singlechip controller 25 goes out vehicle according to the wheel speed data-evaluation after treatment
The slip rate of real-time speed and each wheel, then the sliding situation according to wheel reality is carried out to the brake force of corresponding wheel
Shi Xiuzheng, it is ensured that the slip rate of each wheel is in optimal slip ratio scope, and revised brake force then is fed back into whole again
Vehicle model, so as to realize the closed-loop control of whole brake pressure.
In above-mentioned braking procedure, the information of car status information and its associated components feeds back to host computer by target machine 26
In 27, can be by the change of the display screen real time inspection car status information of host computer 27 while the fortune of monitoring objective machine 26
OK.
Claims (5)
1. the electric motor coach composite braking hardware-in―the-loop test platform of electric controlled brake system is based on, it is characterised in that：
By pneumatic module processed, electric controlled brake system, traditional braking component, wheel speed simulated assembly, singlechip controller (25), host computer
(27) constituted with target machine (26)；
The pneumatic module delivery air processed is respectively through front axle gas receiver (5), rear axle gas receiver (6) and parking braking gas receiver (7)
Output, forms front axle brake loop, rear axle brake circuit and parking brake loop
The electric controlled brake system by main brake valve (8), propons pressure control module (35), back axle pressure control module (18),
The near front wheel ABS magnetic valves (38) and off-front wheel ABS magnetic valves (34) connection compositions；
The traditional braking component by braking valve for vehicle (9), relay valve (10) and respectively be located at left rear wheel, off hind wheel, the right side before
Four groups of structure identical brake apparatus of wheel and the near front wheel are constituted, and the brake apparatus is by brake, brake chamber and braking gas
Chamber pressure force snesor is sequentially connected composition；
The wheel speed simulated assembly is by respectively positioned at four groups of structure identical wheels of left rear wheel, off hind wheel, off-front wheel and the near front wheel
Fast analogue means composition, the wheel speed analogue means is sequentially connected by wheel speed simulated machine, gear ring, wheel speed sensors and constituted；
Be provided with the target machine (26) be connected with the brake chamber pressure sensor data collecting plate card, for wheel
Fast simulated machine sends the control signal board of control signal, and be connected with the CAN module in singlechip controller (25)
CAN cards；
The hardware system of the singlechip controller (25) from minimum system circuit, to external output signal peripheral driver electricity
Road, the signal processing circuit for receiving and processing external signal, and the CAN communication circuit group communicated to connect with target machine (26)
Into；
The target machine (26) and host computer (27) two-way communication link, host computer (27) is to target machine (26) download model, mesh
Mark machine (26) feeds back vehicle real time to host computer (27).
2. the electric motor coach composite braking hardware-in―the-loop test platform of electric controlled brake system is based on as claimed in claim 1, and it is special
Levy and be：
The gas outlet of the front axle gas receiver (5) respectively with the lower air inlet and propons pressure control module of main brake valve (8)
(35) high pressure admission mouthful is connected, the lower gas outlet of main brake valve (8) and the low voltage control end of propons pressure control module (35)
Mouth is connected, and the gas outlet of propons pressure control module (35) is connected with the air inlet of front axle triple valve (36), front axle triple valve
(36) air inlet of two gas outlets respectively with the near front wheel ABS magnetic valves (38) and off-front wheel ABS magnetic valves (34) is connected, left
The gas outlet of front-wheel ABS magnetic valves (38) is connected with the near front wheel brake chamber (42), the gas outlet of off-front wheel ABS magnetic valves (34)
It is connected with off-front wheel brake chamber (32), forms front axle brake loop；
The gas outlet of the rear axle gas receiver (6) respectively with the enterprising gas port and back axle pressure control module of main brake valve (8)
(18) high pressure admission mouthful is connected, the upper gas outlet of main brake valve (8) and the low voltage control end of back axle pressure control module (18)
Mouthful be connected, the left and right side gas outlet of back axle pressure control module (18) respectively with corresponding left rear wheel, off hind wheel brake chamber phase
Even, rear axle brake circuit is formed；
The gas outlet of the parking braking gas receiver (7) respectively with the air inlet and the height of relay valve (10) of braking valve for vehicle (9)
It is pressed into gas port to be connected, the gas outlet of braking valve for vehicle (9) is connected with the low voltage control port of relay valve (10), relay valve (10)
Gas outlet is connected with left rear wheel brake chamber (15) and off hind wheel brake chamber (20) respectively through rear axle triple valve valve (17), is formed
Parking brake loop.
3. the electric motor coach composite braking hardware-in―the-loop test platform of electric controlled brake system is based on as claimed in claim 1, and it is special
Levy and be：
The host computer (27) is made up of display screen and main frame, and the display screen is connected by VGA data wires with main frame, the master
The output port of machine is connected with the SIT modules of target machine (26), realizes host computer (27) by whole vehicle model and motor/battery model
Real time execution in target machine (26) is downloaded to, and the real time information of vehicle-state is fed back to host computer (27) by target machine (26),
And the display screen by host computer (27) shows.
4. the electric motor coach composite braking hardware-in―the-loop test platform of electric controlled brake system is based on as claimed in claim 1, and it is special
Levy and be：
The minimum system circuit is respectively by power circuit, clock circuit, reset circuit, filter circuit and BDM interface circuit groups
Into；
The peripheral drive circuit includes：Respectively with the control of the near front wheel ABS magnetic valves (38) and off-front wheel ABS magnetic valves (34)
The ABS driving circuit for electromagnetic valve of signal input part connection composition and the control signal input of propons pressure control module (35)
The propons module drive circuit of composition is connected, and composition is connected with the control signal input of back axle pressure control module (18)
Rear axle module drive circuit；
The signal processing circuit includes：The pedal signal treatment of composition is connected with the brake signal output end of main brake valve (8)
Circuit, be connected with pressure sensor signal output end built-in in preceding bridge module (35) and rear axle module (18) composition respectively before
Rear axle pressure signal processing circuit, and the wheel speed letter of composition is connected with the signal output part of four Wheel speed signal sensors respectively
Number process circuit.
5. the electric motor coach composite braking hardware-in―the-loop test method of electric controlled brake system is based on, it is characterised in that：
Method of testing detailed process is as follows：
When electric motor coach is not braked, the air exported by pneumatic module processed is through front axle gas receiver (5) and rear axle gas receiver
(6) high pressure admission mouthful of propons pressure control module and back axle pressure control module is reached, it is at the same time that host computer (27) is main
Whole vehicle model and motor/battery model in machine download to real time execution in target machine (26), then step on main brake valve (8),
Data collecting plate card in target machine (26) is started working；
After stepping on main brake valve (8), the built-in pedal displacement sensor of main brake valve changes the aperture of brake pedal and aperture
Rate signal is transported in the signal processing circuit of singlechip controller (25), and singlechip controller (25) is according to the signal after treatment
Braking intention is recognized, demand brake force is recognized by the aperture of brake pedal, car is recognized by pedal aperture rate of change
On-position be conventional brake operating mode or brake hard operating mode；
When singlechip controller (25) picks out vehicle is in conventional brake operating mode, then by demand brake force according to conventional compound
Braking control strategy determines front axle target air pressure brake force, rear axle target air pressure brake force and target motor brake force；Then
According to front axle target air pressure brake force and rear axle target air pressure brake force, driven by propons module drive circuit and rear axle module
Circuit controls the aperture of the high pressure admission mouthful of propons pressure control module (35) and back axle pressure control module (18), and then to phase
The wheel answered produces air-pressure brake power；Now correspond to the air chamber pressure signal that the brake chamber pressure sensor of wheel will be collected
The data collecting plate card into target machine (26) is transmitted, the data collecting plate card will be input to target machine after pressure conversion again
(26) in whole vehicle model；Additionally, target motor braking force signal is transferred to target machine (26) by singlechip controller (25)
In motor model, produce corresponding motor braking power and act on whole vehicle model, meanwhile, the car of whole vehicle model in target machine (26)
Speed, motor and battery status information are fed back in singlechip controller (25), singlechip controller (25) according to real-time speed,
The real time pressure information of motor and battery information and front and rear axle module built in pressure sensor feedback is to antero posterior axis air-pressure brake
Power and motor braking power are corrected in real time, then again by revised Braking in whole vehicle model, realize whole braking
The closed-loop control of pressure；
When singlechip controller (25) picks out vehicle is in brake hard operating mode, now motor braking power is exited, and is triggered
Corresponding ABS controls, front axle target air pressure brake force and rear axle target gas are determined by demand brake force according to ABS control strategies
Compacting power, then controls propons by propons module drive circuit, rear axle module drive circuit and ABS driving circuit for electromagnetic valve
The aperture and front axle of the high pressure admission mouthful of pressure control module (35) and back axle pressure control module (18) or so ABS magnetic valves
Porting aperture, and then to corresponding wheel produce air-pressure brake power；The brake chamber pressure for now corresponding to wheel is passed
Data collecting plate card in the air chamber pressure signal transmission that sensor will be collected to target machine (26), the data collecting plate card is again
To be input to after pressure conversion in the whole vehicle model of target machine (26)；Now, the wheel speed information of four wheels of whole vehicle model passes through
The control signal board of target machine (26) is exported to four wheel speed simulated machines, and control wheel speed simulated machine simulates wheel in real time
Speed, the wheel speed signal treatment of the wheel speed information input that then corresponding wheel speed sensors will be collected to singlechip controller (25)
In circuit, singlechip controller (25) goes out the real-time speed of vehicle and the cunning of each wheel according to the wheel speed data-evaluation after treatment
Shifting rate, the slip rate further according to wheel is corrected in real time to corresponding wheel braking force, it is ensured that at the slip rate of each wheel
In optimal slip ratio scope, revised wheel braking force is finally fed back into whole vehicle model, realize closing for whole brake pressure
Ring is controlled；
In above-mentioned braking procedure, car status information is fed back in host computer (27) by target machine (26), and by host computer
(27) change of display screen real time inspection car status information, while the operation of monitoring objective machine (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710020274.0A CN106840694B (en) | 2017-01-11 | 2017-01-11 | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710020274.0A CN106840694B (en) | 2017-01-11 | 2017-01-11 | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106840694A true CN106840694A (en) | 2017-06-13 |
| CN106840694B CN106840694B (en) | 2018-09-25 |
Family
ID=59123166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710020274.0A Expired - Fee Related CN106840694B (en) | 2017-01-11 | 2017-01-11 | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106840694B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107203151A (en) * | 2017-07-20 | 2017-09-26 | 上海应用技术大学 | The simulation control method of electro pneumatic braking system |
| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
| CN108120606A (en) * | 2018-01-29 | 2018-06-05 | 吉林大学 | Commercial car electric brake system hardware-in-the-loop test platform and test method based on PXI and cRIO controllers |
| CN109240268A (en) * | 2018-09-29 | 2019-01-18 | 厦门金龙汽车新能源科技有限公司 | The functional verification of entire car controller and test macro and method |
| CN109374312A (en) * | 2018-11-01 | 2019-02-22 | 清华大学苏州汽车研究院（相城） | A kind of electrical servo brake apparatus comprehensive test device and performance test methods |
| CN109580255A (en) * | 2018-12-29 | 2019-04-05 | 北京新能源汽车股份有限公司 | Brake test bed and pedal sensing test method thereof |
| CN109632337A (en) * | 2018-12-29 | 2019-04-16 | 北京新能源汽车股份有限公司 | Brake test bed and test method thereof |
| CN109738202A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Vehicle brake test device and method for testing pedal feel of brake pedal of vehicle |
| CN109738203A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Brake test device and test method for dynamic brake performance of automatic driving vehicle |
| CN109738201A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Method for testing dynamic braking performance of vehicle |
| CN109738204A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Automatic braking test device and test method for dynamic braking performance of automatic driving vehicle |
| CN109884917A (en) * | 2019-02-28 | 2019-06-14 | 广东工业大学 | A kind of hardware-in-loop simulation system for commercial vehicle ESC test |
| CN110103914A (en) * | 2019-05-13 | 2019-08-09 | 思与行科技(苏州)有限公司 | Active electronic Pneumatic braking system |
| CN110487565A (en) * | 2019-09-09 | 2019-11-22 | 深圳巴士集团股份有限公司第二分公司 | A kind of comprehensive checking experiment platform |
| CN110588609A (en) * | 2019-09-20 | 2019-12-20 | 北京易控智驾科技有限公司 | Unmanned vehicle braking system and unmanned vehicle |
| CN110641431A (en) * | 2019-09-11 | 2020-01-03 | 肇庆学院 | Electronic braking system of commercial vehicle |
| CN110779696A (en) * | 2019-10-17 | 2020-02-11 | 浙江亚太机电股份有限公司 | Integrated brake system detection table and test method |
| CN111123900A (en) * | 2020-01-21 | 2020-05-08 | 厦门金龙联合汽车工业有限公司 | Hardware-in-loop test system for vehicle controller of four-wheel distributed drive electric bus |
| CN111444577A (en) * | 2020-04-02 | 2020-07-24 | 山东交通学院 | Automatic avoidance method for electric motor coach |
| CN112147976A (en) * | 2020-08-12 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Wheel speed simulation system and method |
| CN114394073A (en) * | 2022-01-05 | 2022-04-26 | 中车唐山机车车辆有限公司 | Braking system, braking method and trolley bus |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509834A (en) * | 2008-03-31 | 2009-08-19 | 北京航空航天大学 | Hydraulic ABS test stand based on wheel speed closed-loop simulation |
| CN204279398U (en) * | 2014-12-01 | 2015-04-22 | 湖北航天技术研究院特种车辆技术中心 | A kind of tractor truck gas-liquid brake system |
| CN105021406A (en) * | 2015-07-23 | 2015-11-04 | 江苏大学 | Driving-condition-based testing method for regenerative brake system of electric automobile |
| CN204870981U (en) * | 2015-07-14 | 2015-12-16 | 广州科密汽车电子控制技术股份有限公司 | Automatically controlled braking system of EBS gas braking |
| CN106004463A (en) * | 2016-07-04 | 2016-10-12 | 吉林大学 | Brake control system of pure electric city bus and control method thereof |
| CN206450422U (en) * | 2017-01-11 | 2017-08-29 | 吉林大学 | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system |
-
2017
- 2017-01-11 CN CN201710020274.0A patent/CN106840694B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509834A (en) * | 2008-03-31 | 2009-08-19 | 北京航空航天大学 | Hydraulic ABS test stand based on wheel speed closed-loop simulation |
| CN204279398U (en) * | 2014-12-01 | 2015-04-22 | 湖北航天技术研究院特种车辆技术中心 | A kind of tractor truck gas-liquid brake system |
| CN204870981U (en) * | 2015-07-14 | 2015-12-16 | 广州科密汽车电子控制技术股份有限公司 | Automatically controlled braking system of EBS gas braking |
| CN105021406A (en) * | 2015-07-23 | 2015-11-04 | 江苏大学 | Driving-condition-based testing method for regenerative brake system of electric automobile |
| CN106004463A (en) * | 2016-07-04 | 2016-10-12 | 吉林大学 | Brake control system of pure electric city bus and control method thereof |
| CN206450422U (en) * | 2017-01-11 | 2017-08-29 | 吉林大学 | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107203151A (en) * | 2017-07-20 | 2017-09-26 | 上海应用技术大学 | The simulation control method of electro pneumatic braking system |
| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
| CN108120606A (en) * | 2018-01-29 | 2018-06-05 | 吉林大学 | Commercial car electric brake system hardware-in-the-loop test platform and test method based on PXI and cRIO controllers |
| CN109240268A (en) * | 2018-09-29 | 2019-01-18 | 厦门金龙汽车新能源科技有限公司 | The functional verification of entire car controller and test macro and method |
| CN109240268B (en) * | 2018-09-29 | 2020-10-16 | 厦门金龙汽车新能源科技有限公司 | Function verification and test system and method of vehicle control unit |
| CN109374312A (en) * | 2018-11-01 | 2019-02-22 | 清华大学苏州汽车研究院（相城） | A kind of electrical servo brake apparatus comprehensive test device and performance test methods |
| CN109738204A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Automatic braking test device and test method for dynamic braking performance of automatic driving vehicle |
| CN109580255A (en) * | 2018-12-29 | 2019-04-05 | 北京新能源汽车股份有限公司 | Brake test bed and pedal sensing test method thereof |
| CN109738203A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Brake test device and test method for dynamic brake performance of automatic driving vehicle |
| CN109738201A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Method for testing dynamic braking performance of vehicle |
| CN109632337A (en) * | 2018-12-29 | 2019-04-16 | 北京新能源汽车股份有限公司 | Brake test bed and test method thereof |
| CN109738202A (en) * | 2018-12-29 | 2019-05-10 | 北京新能源汽车股份有限公司 | Vehicle brake test device and method for testing pedal feel of brake pedal of vehicle |
| CN109884917A (en) * | 2019-02-28 | 2019-06-14 | 广东工业大学 | A kind of hardware-in-loop simulation system for commercial vehicle ESC test |
| CN110103914A (en) * | 2019-05-13 | 2019-08-09 | 思与行科技(苏州)有限公司 | Active electronic Pneumatic braking system |
| CN110487565A (en) * | 2019-09-09 | 2019-11-22 | 深圳巴士集团股份有限公司第二分公司 | A kind of comprehensive checking experiment platform |
| CN110641431A (en) * | 2019-09-11 | 2020-01-03 | 肇庆学院 | Electronic braking system of commercial vehicle |
| CN110588609A (en) * | 2019-09-20 | 2019-12-20 | 北京易控智驾科技有限公司 | Unmanned vehicle braking system and unmanned vehicle |
| CN110779696A (en) * | 2019-10-17 | 2020-02-11 | 浙江亚太机电股份有限公司 | Integrated brake system detection table and test method |
| CN111123900A (en) * | 2020-01-21 | 2020-05-08 | 厦门金龙联合汽车工业有限公司 | Hardware-in-loop test system for vehicle controller of four-wheel distributed drive electric bus |
| CN111444577A (en) * | 2020-04-02 | 2020-07-24 | 山东交通学院 | Automatic avoidance method for electric motor coach |
| CN112147976A (en) * | 2020-08-12 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Wheel speed simulation system and method |
| CN114394073A (en) * | 2022-01-05 | 2022-04-26 | 中车唐山机车车辆有限公司 | Braking system, braking method and trolley bus |
| CN114394073B (en) * | 2022-01-05 | 2023-02-24 | 中车唐山机车车辆有限公司 | Braking system, braking method and trolley bus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106840694B (en) | 2018-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106840694B (en) | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test method | |
| CN106802650B (en) | Electric motor coach integration control hardware is in ring test platform and test method | |
| CN101532914B (en) | Hardware-in-loop test bed of hybrid car brake coordination control system | |
| CN105843209B (en) | Commercial semitrailer electric controlled brake system experimental bench | |
| CN108120606B (en) | Commercial vehicle electric brake system hardware-in-the-loop test platform and test method based on PXI and cRIO controller | |
| CN102745183B (en) | Energy-feedback active control type air braking system | |
| CN206627825U (en) | Electric motor coach integration control hardware is in ring test platform | |
| CN206450422U (en) | Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system | |
| CN104044571B (en) | A kind of truck combination associated braking system and method | |
| CN102589897B (en) | Development experimental platform for detecting and controlling automobile tire pressure ABS (Anti Lock Brake System)/ASR (Acceleration Slip Regulation) key part | |
| CN204302015U (en) | 30 tons of axle heavy-duty machine car motor vehicle braking system all-around test stand testing arrangements | |
| CN108107876B (en) | Commercial vehicle electric brake system hardware-in-the-loop test platform and test method based on TTC580 controller | |
| CN101603880A (en) | Automotive anti-lock braking and braking energy feedback integration control hardware are the-loop test bed | |
| CN107145139A (en) | Electric automobile whole hierarchy system hardware-in―the-loop test platform and method of testing | |
| CN205301857U (en) | Electric automobile vehicle control unit's semi -physical simulation platform | |
| CN100422015C (en) | Pneumatically braking anti-lock brake system for mixed powered automobile | |
| CN104949842A (en) | Vehicle hybrid brake system test development testbed | |
| CN100449292C (en) | Hardware circuit testing rack for electronic stability controlling system of car | |
| CN102490710A (en) | Air braking system and tire type engineering machinery | |
| CN109884917A (en) | A kind of hardware-in-loop simulation system for commercial vehicle ESC test | |
| CN209570352U (en) | A kind of line traffic control air-pressure brake hardware-in―the-loop test platform | |
| CN109900399A (en) | A kind of wheel side/hub drive system test platform | |
| CN203766749U (en) | Electro-hydraulic composite braking upper-layer controller based on integrated brake master cylinder | |
| CN109827783A (en) | A kind of line traffic control air-pressure brake hardware-in―the-loop test platform and test method | |
| CN204439373U (en) | A kind of automobile brake hardware-in―the-loop test testing table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 Termination date: 20210111 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |