CN106840694B - Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test method - Google Patents
Electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system and test method Download PDFInfo
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- CN106840694B CN106840694B CN201710020274.0A CN201710020274A CN106840694B CN 106840694 B CN106840694 B CN 106840694B CN 201710020274 A CN201710020274 A CN 201710020274A CN 106840694 B CN106840694 B CN 106840694B
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—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
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Abstract
The invention discloses electric motor coach composite braking hardware-in―the-loop test platform and test method based on electric controlled brake system, the test platform is made 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 adjusting of antero posterior axis and four wheel brake pressures is realized in conjunction with related software and hardware, solves the control problem of electric motor coach conventional brake and emergency braking by Control Strategy for Regenerative Braking and ABS control strategies, test platform of the present invention and test method 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 fields, are related to the survey of electric motor coach composite braking hardware in loop
Platform is tried, it is more particularly related to which the electric motor coach composite braking hardware-in―the-loop test based on electric controlled brake system is flat
Platform and test method, the present invention are applicable not only to exploitation commercial car regenerative braking and ABS/EBS control strategies, apply also for real vehicle
The error diagnosis of ECU.
Background technology
Recently as the increasingly exacerbation of world energy sources exhaustion and problem of environmental pollution, national governments start to promote section one after another
Can and new-energy automobile, realize sustainable development 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, especially pure electric vehicle bus has become various countries
The important selection of urban development public transport.
For urban bus, energy that long run is consumed in frequent low speed damped condition, braking process
The 30%~60% of driving energy is accounted about, if this partial brake energy can effectively be recycled by Regenerative Braking Technology,
The fuel economy of vehicle can be significantly improved.Nowadays becoming increasingly popular with electric controlled brake system, more and more commercial car
It also begins to use electric controlled brake system, since electric controlled brake system directly controls the execution machine mounted on wheel side by electronic signal
Structure is to establish the brake force needed for each wheel, so as to eliminate conventional gas brake system response time slow application comfort
The shortcomings of poor, shortens braking distance to improve safety and the comfort of vehicle by improving the response time.
Disclose a variety of testing stands tested about braking system both at home and abroad at present, 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, there are no a kind of bases
In the test platform of the electric motor coach composite braking system of electric controlled brake system.
Chinese patent grant number is CN205507532, authorized announcement date 2016.08.24, entitled " commercialization half
Trailer electric controlled brake system experimental bench ", application No. is 201620222013.8, patentee is Jilin University.The patent utilizes
First generation electric controlled brake system (EBS), driving simulator, singlechip controller are carried out by Labview RT real-time systems and are surveyed
Examination research, is mainly used for the performance detection and model emulation of first generation electric controlled brake system, but the testing stand is only used for quotient
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 be used in electronic
The test of car composite braking system.
Invention content
Joint test can not be carried out to electric motor coach electric controlled brake system and regeneration brake system for the above-mentioned prior art
The problem of, the present invention provides based on electric controlled brake system electric motor coach composite braking hardware-in―the-loop test platform and test side
Method.In conjunction with 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 form；
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, forms front axle brake circuit, rear axle brake circuit and parking brake loop
The electric controlled brake system is by main brake valve 8, preceding bridge pressure control module 35, rear axle pressure control module 18, a left side
Front-wheel ABS solenoid valves 38 and the connection composition of off-front wheel ABS solenoid valves 34；
The traditional braking component is by braking valve for vehicle 9, relay valve 10 and before being located at left rear wheel, off hind wheel, the right side
Wheel brake apparatus composition identical with four groups of structures of the near front wheel, 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 by four groups of structures for being located at left rear wheel, off hind wheel, off-front wheel and the near front wheel
Wheel speed simulator composition, the wheel speed simulator is sequentially connected group by wheel speed simulated machine, gear ring, wheel speed sensors
At；
Be equipped in the target machine 26 data collecting plate card being connect with the brake chamber pressure sensor, for
Wheel speed simulated machine sends the control signal board of control signal, and connect with the CAN module in singlechip controller 25
CAN cards；
The hardware system of the singlechip controller 25 by minimum system circuit, be output to the outside 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 form；
The target machine 26 and 27 two-way communication link of host computer, host computer 27 is to 26 download model of target machine, 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 of main brake valve 8 and preceding bridge pressure control module 35
High pressure admission mouth be connected, the lower gas outlet of main brake valve 8 is connected with the low voltage control port of preceding bridge 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
It is not connected with the air inlet of the near front wheel ABS solenoid valves 38 and off-front wheel ABS solenoid valves 34, the outlet of the near front wheel ABS solenoid valves 38
Mouth is connected with the near front wheel brake chamber 42, and the gas outlet of off-front wheel ABS solenoid valves 34 is connected with off-front wheel brake chamber 32, is formed
Front axle brake circuit；
The gas outlet of the rear axle gas receiver 6 respectively with the enterprising gas port of main brake valve 8 and rear axle pressure control module 18
High pressure admission mouth be connected, the upper gas outlet of main brake valve 8 is connected with the low voltage control port of rear 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 high pressure with the air inlet of braking valve for vehicle 9 and relay valve 10 respectively
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 connect by VGA data lines with host, the output port of the host and the SIT moulds of target machine 26
Block connects, 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 is shown by the display screen of host computer 27.
The minimum system circuit is respectively by power circuit, clock circuit, reset circuit, filter circuit and BDM interface electricity
Road forms；
The peripheral drive circuit includes：Respectively with the control of the near front wheel ABS solenoid valves 38 and off-front wheel ABS solenoid valves 34
The ABS driving circuit for electromagnetic valve of signal input part connection composition, the control signal input company with preceding bridge pressure control module 35
The preceding bridge module driving circuit of composition is connect, and after connecting with the control signal input of rear axle pressure control module 18 composition
Bridge module driving circuit；
The signal processing circuit includes：It is connect with the brake signal output end of main brake valve 8 at the pedal signal of composition
Reason circuit, before and after connect with pressure sensor signal output end built-in in preceding bridge module 35 and rear axle module 18 form respectively
Axis pressure signal processing circuit, and the wheel speed signal of composition is connect with the signal output end of four Wheel speed signal sensors respectively
Processing circuit.
Electric motor coach composite braking hardware-in―the-loop test method based on electric controlled brake system, test method detailed process is such as
Under：
When electric motor coach is not braked, by the air of pneumatic module processed output through front axle gas receiver 5 and rear axle gas storage
The high pressure admission mouth of bridge pressure control module and rear axle pressure control module before cylinder 6 reaches, at the same time by 27 host of host computer
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 to work；
After stepping on main brake valve 8, the pedal displacement sensor built in 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 treated signal pair
Braking intention is recognized, and recognizes demand brake force by the aperture of brake pedal, vehicle is recognized by pedal aperture change rate
On-position be conventional brake operating mode or emergency braking operating mode；
When singlechip controller 25, which picks out vehicle, is in conventional brake operating mode, then by demand brake force according to conventional multiple
It closes braking control strategy and determines 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 preceding bridge module driving circuit and rear axle module
The aperture of the high pressure admission mouth of bridge pressure control module 35 and rear axle pressure control module 18 before dynamic circuit control, and then to corresponding
Wheel generate air-pressure brake power；The brake chamber pressure sensor for corresponding to wheel at this time passes collected air chamber pressure signal
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；In addition, target motor braking force signal is transferred in the motor model of target machine 26 by singlechip controller 25, production
Raw corresponding motor braking power simultaneously acts on whole vehicle model, meanwhile, the speed of whole vehicle model, motor and battery shape in target machine 26
State information is fed back 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 back axle module built in pressure sensor feedback carries out antero posterior axis air-pressure brake power and motor braking power
It corrects in real time, then again by revised Braking in whole vehicle model, realizes the closed-loop control of entire brake pressure；
When singlechip controller 25, which picks out vehicle, is in emergency braking operating mode, motor braking power exits at this time, and touches
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 preceding bridge module driving circuit, rear axle module driving circuit and ABS driving circuit for electromagnetic valve
The aperture of the high pressure admission mouth of bridge pressure control module 35 and rear axle pressure control module 18 and front axle or so ABS solenoid valves
The aperture of porting, and then air-pressure brake power is generated to corresponding wheel；The brake chamber pressure sensing of wheel is corresponded at this time
For device by the data collecting plate card in collected air chamber pressure signal transmission 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；At this point, 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
Corresponding wheel speed sensors are single by the wheel speed signal processing circuit of collected wheel speed information input to singlechip controller 25
Piece machine controller 25 according to the slip rate of the real-time speed and each wheel of treated wheel speed data-evaluation goes out vehicle, further according to
The slip rate of wheel corrects corresponding wheel braking force in real time, ensures that the slip rate of each wheel is in optimal slip ratio
Revised wheel braking force is finally fed back to whole vehicle model by range, realizes the closed-loop control of entire brake pressure.
In above-mentioned braking process, car status information is fed back to by target machine 26 in host computer 27, and passes through host computer 27
Display screen real time inspection car status information variation, while the operation of monitoring objective machine 26.
Compared with prior art, the beneficial effects of the present invention are：
1, the electric motor coach composite braking hardware-in―the-loop test platform of the present invention based on electric controlled brake system utilizes the
Three generations's electric controlled brake system (EBS) simultaneously combines related software and hardware to realize to electric motor coach electric controlled brake system and regenerative braking system
The joint test of system.
2, the electric motor coach composite braking hardware-in―the-loop test platform of the present invention based on electric controlled brake system utilizes
Ripe auto model in LabView real-time systems and combination TruckSim softwares so that testing stand auto model and real vehicle are more
It is close, while takes full advantage of advantage of the LabView systems in terms of data acquisition and processing (DAP).
3, electric motor coach composite braking hardware-in―the-loop test platform and test of the present invention based on electric controlled brake system
Method can be not only used for exploitation electric motor coach regenerative braking and ABS/EBS control strategies, can be also used for the mistake of real vehicle ECU
Diagnosis.
4, electric motor coach composite braking hardware-in―the-loop test platform and test of the present invention based on electric controlled brake system
Method can greatly save the time of electric motor coach composite braking experimental study, save experiment funds, required testing crew is few, can
It realizes repetition test, to greatly reduce outdoor real train test number, lays the first stone for necessary outdoor real train test.
5, electric motor coach composite braking hardware-in―the-loop test platform and test of the present invention based on electric controlled brake system
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.
Description of the drawings
Fig. 1 is the group of the electric motor coach composite braking hardware-in―the-loop test platform of the present invention based on electric controlled brake system
At structural schematic diagram；
Fig. 2 is the original of the electric motor coach composite braking hardware-in―the-loop test method of the present invention based on electric controlled brake system
Manage logic diagram；
Fig. 3 is in the electric motor coach composite braking hardware-in―the-loop test platform of the present invention based on electric controlled brake system
The structural schematic block diagram of singlechip controller.
In figure：
1. air compressor, 2. wet gas receivers, 3. driers,
4. four-loop protection valve, 5. front axle gas receivers, 6. rear axle gas storage
Cylinder,
7. parking braking gas receiver, 8. main brake valves, 9. parking brakings
Valve,
10. relay valve, 11. left rear wheel wheel speed simulated machines, 12. left rear wheels
Gear ring,
13. left rear wheel wheel speed sensors, 14. left rear wheel brakes, 15. left rear wheels
Brake chamber,
16. left rear wheel brake chamber pressure sensor, 17. rear axle triple valves, 18. rear axle pressures
Power control module,
19. off hind wheel brake chamber pressure sensor, 20. off hind wheel brake chambers, 21. off hind wheels
Brake,
22. off hind wheel wheel speed sensors, 23. off hind wheel gear rings, 24. off hind wheels
Wheel speed simulated machine,
25. singlechip controller, 26. target machines, 27. host computers,
28. off-front wheel wheel speed simulated machine, 29. off-front wheel gear rings, 30. off-front wheels
Wheel speed sensors,
31. off-front wheel brake, 32. off-front wheel brake chambers, 33. off-front wheels
Brake chamber pressure sensor,
34. off-front wheel ABS solenoid valves, bridge pressure control module before 35., 36. front axles three
Port valve,
37. the near front wheel wheel speed simulated machine, 38. the near front wheel ABS solenoid valves, 39. the near front wheels
Gear ring,
40. the near front wheel wheel speed sensors, 41. the near front wheel brake chamber pressure sensors, 42. the near front wheels
Brake chamber,
43. near front wheel brake.
Specific implementation mode
Technical solution in order to further illustrate the present invention, in conjunction with Figure of description, specific implementation mode of the invention is such as
Under：
Refering to fig. 1, it is flat that the invention discloses the electric motor coach composite braking hardware-in―the-loop tests based on electric controlled brake system
Platform is by pneumatic module processed, third generation electric controlled brake system (EBS), traditional braking component, wheel speed simulated assembly, singlechip controller
25, host computer 27 and target machine 26 form.
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；Preceding bridge
Pressure control module 35, model WABCO 4801067010；Rear axle pressure control module 18, model WABCO
4801067010；The near front wheel ABS solenoid valves 38 and off-front wheel ABS solenoid valves 34, model WABCO 4721950180.
The traditional braking component includes braking valve for vehicle 9, relay valve 10, left rear wheel brake chamber 15, left rear wheel braking
Device 14, left rear wheel brake chamber pressure sensor 16, off hind wheel brake chamber 20, off hind wheel brake 21, off hind wheel brake 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 gas chamber 42, near front wheel brake 43, the near front wheel brake chamber pressure sensor 41, front axle triple valve 36, rear axle three
Port valve 17 and the brake piping and connector for connecting said modules.
The wheel speed simulated assembly includes the near front wheel wheel speed simulated machine 37, the near front wheel gear ring 39, the near front wheel wheel speed sensing
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
24, 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 servo motor, is mounted 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 opposite to be installed；Off-front wheel wheel speed simulated machine 28 is servo motor, is mounted 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 before the right side
Take turns the opposite installation of gear ring 29；Off hind wheel wheel speed simulated machine 24 is servo motor, is mounted 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 opposite to be installed；Left rear wheel wheel speed simulated machine 11 is servo motor, is mounted 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 the opposite installation with left rear wheel gear ring 12.In the wheel speed simulator, servo motor driven gear ring rotation, according to system
It needs to sense corresponding with the rotating speed of real-time control servo motor, the wheel speed sensors installed opposite with the gear ring
Wheel speed signal is then passed to singlechip controller 25.
In addition, entire test platform is bench type structure, it is welded into a rack with aluminium alloy extrusions and is placed on laboratory
On ground, a workbench is placed on the right side of rack.Air compressor 1 is directly placed on ground to be provided for entire test platform
Compressed air；Air dryer 3 and four-loop protection valve 4 are mounted on the front end of rack；Wet gas receiver 2, front axle gas receiver 5, after
Axis gas receiver 6 and parking braking gas receiver 7 are placed on the ground on the inside of rack, and are protected close to 3 and four circuit of air dryer
Protect valve 4；Four groups of wheel speed simulated assemblies are placed side by side on the right side of rack close to workbench before left front, right, behind the left back and right side
Position；Main brake valve 8 is located at workbench in the following, host computer 27 is placed on the table, and target machine 26 is placed on the one of workbench
Side, singlechip controller 25 are placed in the cabinet of target machine；Other parts are all mounted on rack, installation site and figure
Each parts position relationship represented by 1 is essentially identical, and the connection relation of each parts is specific as follows, and heavy line is gas circuit in figure
Connection signal, the fine line with arrow are circuit connection signal：
Gas circuit connects：
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 air inlet with front axle gas receiver 5, rear axle gas receiver 6 and parking braking gas receiver 7 respectively of four-loop protection valve 4
Mouth connection.
The gas outlet of the front axle gas receiver 5 respectively with the lower air inlet of main brake valve 8 and preceding bridge pressure control module 35
High pressure admission mouth be connected, the lower gas outlet of main brake valve 8 is connected with the low voltage control port of preceding bridge 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
It is not connected with the air inlet of the near front wheel ABS solenoid valves 38 and off-front wheel ABS solenoid valves 34, the outlet of the near front wheel ABS solenoid 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 solenoid 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
Axis brake circuit.
The gas outlet of the rear axle gas receiver 6 respectively with the enterprising gas port of main brake valve 8 and rear axle pressure control module 18
High pressure admission mouth be connected, the upper gas outlet of main brake valve 8 is connected with the low voltage control port of rear 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 rear axle pressure control module 18 is connected with off hind wheel brake chamber 20, and off hind wheel brakes gas
Room 20 is connected with off hind wheel brake 21, this is rear axle brake circuit.
The gas outlet of the parking braking gas receiver 7 high pressure with the air inlet of braking valve for vehicle 9 and relay valve 10 respectively
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 gas chamber 20 is connected, and 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, this is parking brake loop.
Circuit connects：
Referring to Fig.2, the host computer 27 is ordinary PC, including a display screen and a host, the display screen are
User interface is connect by VGA data lines with the host, is connected for two-way signaling between host computer 27 and target machine 26,
The output port of the host of the host computer 27 is connect with the SIT modules of target machine 26, and LabView is equipped in the host 27
Software, TruckSim softwares and MATLAB/Simulink softwares.
In test process, host computer 27 will be in the whole vehicle model and MATLAB/Simulink softwares in TruckSim 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
It is shown to host computer 27, and by the display screen of host computer.
The model IPC-610's of the target machine 26 grinds magnificent industrial personal computer, and data acquisition is equipped in 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 connects, the pressure signal for detecting and exporting for acquiring aforementioned four pressure sensor, then by collected signal
The actual value of this tittle is obtained after being converted by mathematics and is input in whole vehicle model；Control the signal output end of 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 of simulated machine 11 connects, 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 signal generation turnover rate is fast, using rate
Height, the generation for controlling wheel speed simulated machine signal；CAN card ports are connect 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 include mainly 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 interface electricity
Road.
The peripheral drive circuit includes：ABS driving circuit for electromagnetic valve, with the near front wheel ABS solenoid valves 38 and off-front wheel ABS
The control signal input of solenoid valve 34 connects, the opening and closing for driving ABS solenoid valves；Preceding bridge module driving circuit, with preceding bridge
The control signal input of pressure control module 35 connects, the output for bridge module before bridge module aperture before driving and then control
Pressure；Rear axle module driving circuit is connect with the control signal input of rear axle pressure control module 18, for driving rear axle mould
The aperture of block and then the output pressure for controlling rear axle module.
The signal processing circuit includes：Pedal signal processing circuit connects with the brake signal output end of main brake valve 8
It connects, is input in singlechip controller 25 after the brake signal that main brake valve 8 exports is handled；The processing of antero posterior axis pressure signal
Circuit connect with pressure sensor signal output end built-in in preceding bridge module 35 and rear axle module 18, antero posterior axis pressure is passed
It is input in singlechip controller 25 after the pressure signal processing of sensor output；Wheel speed signal processing 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 end of device 13 connects, and works as singlechip controller 25 is input to after the wheel speed signal processing of wheel speed sensors output
In.
The CAN communication circuit is connected with the CAN cards in target machine, between singlechip controller 25 and target machine 26
Communication.
In conjunction with the concrete structure of above-mentioned test platform, it is multiple that the present invention also provides the electric motor coaches based on electric controlled brake system
Braking hardware-in―the-loop test method is closed, as shown in Fig. 2, the test method detailed process is as follows：
When electric motor coach is not braked, the high-pressure brake gas that is provided by air compressor 1 through wet gas receiver 3,
Bridge pressure control module and rear axle pressure before drier 3, four-loop protection valve 4, front axle gas receiver 5 and rear axle gas receiver 6 reach
The high pressure admission mouth of control module, at the same time operates host computer 27, and TruckSim in the host of host computer 27 is soft
Whole vehicle model in part and the motor in MATLAB/Simulink softwares and battery model are downloaded in target machine 26 and are transported in real time
Row, then steps on main brake valve 8, and at this moment the data collecting system in target machine 26 is started to work.
After stepping on main brake valve 8, the pedal displacement sensor built in main brake valve becomes the aperture of brake pedal and aperture
Rate signal is transported in the pedal signal processing circuit of singlechip controller 25, and singlechip controller 25 is believed according to treated
Number braking intention is recognized, demand brake force is recognized by the aperture of brake pedal, is recognized by pedal aperture change rate
The on-position of vehicle is in " emergency braking operating mode " in " conventional brake operating mode ".
When singlechip controller 25, which 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, pass through preceding bridge module driving circuit and rear axle module
The aperture of the high pressure admission mouth of bridge pressure control module 35 and rear axle pressure control module 18, is at this moment supplied to before driving circuit control
The gas of 35 high pressure admission mouth of preceding bridge pressure control module passes through preceding bridge pressure control module 35, front axle triple valve 36, the near front wheel
ABS solenoid valves 38 (normally open valve), off-front wheel ABS solenoid valves 34 (normally open valve) reach the near front wheel brake chamber 42 and off-front wheel braking
Gas chamber 32 generates corresponding front axle air-pressure brake power by near front wheel brake 43 and off-front wheel brake 31；It is supplied to rear axle pressure
After the gas of 18 high pressure admission mouth of power control module reaches left rear wheel brake chamber 15 and the right side by rear axle pressure control module 18
Brake chamber 20 is taken turns, corresponding rear axle air-pressure brake power is generated 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 device 19 and corresponding four brake chambers of the acquisition of left rear wheel brake chamber pressure sensor 16, then by collected pressure
For signal transmission to the data collecting plate card in target machine 26, collected pressure signal is passed through mathematics by the data collecting plate card
The actual value that this tittle is obtained after conversion is input in TruckSim whole vehicle models；
In addition, singlechip controller 25 by target motor braking force signal by CAN bus transmit in target machine 26
CAN cards, collected signal is input to the motor model in target machine 26 and generates corresponding motor braking power by the CAN cards
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 bus 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 back 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, to realize entire brake pressure
Closed-loop control.
When singlechip controller 25, which picks out vehicle, is in " emergency braking operating mode ", at this moment motor braking power exits, 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
Standard gas suppresses power, is then controlled by preceding bridge module driving circuit, rear axle module driving circuit and ABS driving circuit for electromagnetic valve
The aperture of the high pressure admission mouth of preceding bridge pressure control module 35 and rear axle pressure control module 18 and front axle or so ABS solenoid valves
Porting aperture, the gas of bridge pressure control module high pressure admission mouth passes through preceding bridge pressure control module before being at this moment supplied to
35, before front axle triple valve 36, the near front wheel ABS solenoid valves 38, off-front wheel ABS solenoid valves 34 reach the near front wheel brake chamber 42 and the right side
Brake chamber 32 is taken turns, corresponding front axle air-pressure brake power is generated by near front wheel brake 43 and off-front wheel brake 31；It is supplied to
The gas of rear axle pressure control module high pressure admission mouth reaches 15 He of left rear wheel brake chamber by rear axle pressure control module 18
Off hind wheel brake chamber 20 generates corresponding rear axle air-pressure brake power 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 sensor 19 and corresponding four brake chambers of the acquisition of left rear wheel brake chamber pressure sensor 16, then will be collected
Pressure signal is transferred to the data collecting plate card in target machine 26, and the data collecting plate card passes through collected pressure signal
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 become occur
Change, at this moment the wheel speed information of four wheels of whole vehicle model is output to four wheel speed simulations by the control signal board of target machine 26
The control terminal of motor, control wheel speed simulated machine simulate real-time wheel speed, then the near front wheel wheel speed sensors 40, off-front wheel wheel
Fast sensor 30, off hind wheel wheel speed sensors 22 and left rear wheel wheel speed sensors 13 are by collected wheel speed information input to monolithic
In the wheel speed signal processing circuit of machine controller 25, according to treated, wheel speed data-evaluation goes out vehicle to singlechip controller 25
Then the slip rate of real-time speed and each wheel carries out the brake force of corresponding wheel according to the sliding situation of wheel real
Shi Xiuzheng, ensures that the slip rate of each wheel is in optimal slip ratio range, then again feeds back to revised brake force whole
Vehicle model, to realize the closed-loop control of entire brake pressure.
In above-mentioned braking process, the information of car status information and its associated components feeds back to host computer by target machine 26
In 27, the variation of the display screen real time inspection car status information of host computer 27 while the fortune of monitoring objective machine 26 can be passed through
Row.
Claims (3)
1. the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system, 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）And target machine（26）Composition；
The pneumatic module delivery air processed is respectively through front axle gas receiver（5）, rear axle gas receiver（6）With parking braking gas receiver（7）
Output forms front axle brake circuit, rear axle brake circuit and parking brake loop
The electric controlled brake system is by main brake valve（8）, preceding bridge pressure control module（35）, rear axle pressure control module（18）、
The near front wheel ABS solenoid valves（38）With off-front wheel ABS solenoid valves（34）Connection composition；
The traditional braking component is by braking valve for vehicle（9）, relay valve（10）And before being located at left rear wheel, off hind wheel, the right side
Wheel brake apparatus composition identical with four groups of structures of the near front wheel, 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 being located at the identical wheel of four groups of structures of left rear wheel, off hind wheel, off-front wheel and the near front wheel
Fast simulator composition, the wheel speed simulator is sequentially connected by wheel speed simulated machine, gear ring, wheel speed sensors to be formed；
The target machine（26）The data collecting plate card being connect with the brake chamber pressure sensor is inside installed, is used for wheel
Fast simulated machine sends the control signal board of control signal, and and singlechip controller（25）In CAN module connection
CAN cards；
The singlechip controller（25）Hardware system by minimum system circuit, be output to the outside signal peripheral driver electricity
Road, the signal processing circuit for receiving and processing external signal, and and target machine（26）The CAN communication circuit group of communication connection
At；
The target machine（26）With host computer（27）Two-way communication link, host computer（27）To target machine（26）Download model, mesh
Mark machine（26）To host computer（27）Feed back vehicle real time；
The front axle gas receiver（5）Gas outlet respectively with main brake valve（8）Lower air inlet and preceding bridge pressure control module
（35）High pressure admission mouth be connected, main brake valve（8）Lower gas outlet and preceding bridge pressure control module（35）Low voltage control end
Mouth is connected, preceding bridge pressure control module（35）Gas outlet and front axle triple valve（36）Air inlet be connected, front axle triple valve
（36）Two gas outlets respectively with the near front wheel ABS solenoid valves（38）With off-front wheel ABS solenoid valves（34）Air inlet be connected, it is left
Front-wheel ABS solenoid valves（38）Gas outlet and the near front wheel brake chamber（42）It is connected, off-front wheel ABS solenoid valves（34）Gas outlet
With off-front wheel brake chamber（32）It is connected, forms front axle brake circuit；
The rear axle gas receiver（6）Gas outlet respectively with main brake valve（8）Enterprising gas port and rear axle pressure control module
（18）High pressure admission mouth be connected, main brake valve（8）Upper gas outlet and rear axle pressure control module（18）Low voltage control end
Mouth is connected, rear axle pressure control module（18）Left and right side gas outlet respectively with corresponding left rear wheel, off hind wheel brake chamber phase
Even, rear axle brake circuit is formed；
The parking braking gas receiver（7）Gas outlet respectively with braking valve for vehicle（9）Air inlet and relay valve（10）Height
It is pressed into gas port to be connected, braking valve for vehicle（9）Gas outlet and relay valve（10）Low voltage control port be connected, relay valve（10）'s
Gas outlet is through rear axle triple valve（17）Respectively with left rear wheel brake chamber（15）With off hind wheel brake chamber（20）It is connected, formation is stayed
Vehicle brake circuit；
The host computer（27）It is made of display screen and host, the display screen is connect by VGA data lines with host, the master
The output port and target machine of machine（26）SIT modules connection, realize host computer（27）By whole vehicle model and motor/battery model
It is downloaded to target machine（26）Middle real time execution, and target machine（26）The real time information of vehicle-state is fed back into host computer（27）,
And pass through host computer（27）Display screen show.
2. the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system as described in claim 1, special
Sign is：
The minimum system circuit is respectively by power circuit, clock circuit, reset circuit, filter circuit and BDM interface circuit groups
At；
The peripheral drive circuit includes：Respectively with the near front wheel ABS solenoid valves（38）With off-front wheel ABS solenoid valves（34）Control
The ABS driving circuit for electromagnetic valve and preceding bridge pressure control module of signal input part connection composition（35）Control signal input
Connect composition preceding bridge module driving circuit, and with rear axle pressure control module（18）Control signal input connection composition
Rear axle module driving circuit；
The signal processing circuit includes：With main brake valve（8）Brake signal output end connection composition pedal signal processing
Circuit, respectively with preceding bridge module（35）And rear axle module（18）In before built-in pressure sensor signal output end connection composition
Rear axle pressure signal processing circuit, and the wheel speed letter of composition is connect with the signal output end of four Wheel speed signal sensors respectively
Number processing circuit.
3. the survey of the electric motor coach composite braking hardware-in―the-loop test platform based on electric controlled brake system as described in claim 1
Method for testing, it is characterised in that：
Test method detailed process is as follows：
When electric motor coach is not braked, by the air of pneumatic module processed output through front axle gas receiver（5）With rear axle gas receiver
（6）The high pressure admission mouth of bridge pressure control module and rear axle pressure control module before reaching, at the same time by host computer（27）It is main
Whole vehicle model and motor/battery model in machine download to target machine（26）Middle real time execution, then steps on main brake valve（8）,
Target machine（26）In data collecting plate card start to work；
Step on main brake valve（8）Afterwards, the pedal displacement sensor built in main brake valve changes the aperture of brake pedal and aperture
Rate signal is transported to singlechip controller（25）Signal processing circuit in, singlechip controller（25）According to treated signal
Braking intention is recognized, demand brake force is recognized by the aperture of brake pedal, vehicle is recognized by pedal aperture change rate
On-position be conventional brake operating mode or emergency braking operating mode；
Work as singlechip controller（25）When picking out vehicle and being 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 preceding bridge module driving circuit and rear axle module
Bridge pressure control module before circuit control（35）With rear axle pressure control module（18）High pressure admission mouth aperture, and then to phase
The wheel answered generates air-pressure brake power；The brake chamber pressure sensor of wheel is corresponded at this time by collected air chamber pressure signal
It is transmitted to target machine（26）In data collecting plate card, the data collecting plate card will be input to target machine after pressure conversion again
（26）Whole vehicle model in；In addition, singlechip controller（25）Target motor braking force signal is transferred to target machine（26）'s
In motor model, generates corresponding motor braking power and act on whole vehicle model, meanwhile, target machine（26）The vehicle of middle whole vehicle model
Speed, motor and battery status information feed back to singlechip controller（25）In, singlechip controller（25）According to real-time speed,
Motor and battery information and the real time pressure information of front and back axle module built in pressure sensor feedback are 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 entire braking
The closed-loop control of pressure；
Work as singlechip controller（25）When picking out vehicle and being in emergency braking operating mode, motor braking power exits at this time, and triggers
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
Power is suppressed, bridge before then being controlled by preceding bridge module driving circuit, rear axle module driving circuit and ABS driving circuit for electromagnetic valve
Pressure control module（35）With rear axle pressure control module（18）High pressure admission mouth aperture and front axle or so ABS solenoid valves
Porting aperture, and then to corresponding wheel generate air-pressure brake power；The brake chamber pressure for corresponding to wheel at this time passes
Sensor is by collected air chamber pressure signal transmission to target machine（26）In data collecting plate card, the data collecting plate card is again
It will be input to target machine after pressure conversion（26）Whole vehicle model in；At this point, the wheel speed information of four wheels of whole vehicle model passes through
Target machine（26）Control signal board export to four wheel speed simulated machines, control wheel speed simulated machine simulates real-time wheel
Speed, then corresponding wheel speed sensors are by collected wheel speed information input to singlechip controller（25）Wheel speed signal processing
In circuit, singlechip controller（25）According to the cunning of the real-time speed and each wheel of treated wheel speed data-evaluation goes out vehicle
Shifting rate is corrected corresponding wheel braking force further according to the slip rate of wheel, in real time at the slip rate for ensureing each wheel
In optimal slip ratio range, revised wheel braking force is finally fed back into whole vehicle model, realizes closing for entire brake pressure
Ring controls；
In above-mentioned braking process, car status information is by target machine（26）Feed back to host computer（27）In, and pass through host computer
（27）Display screen real time inspection car status information variation, while monitoring objective machine（26）Operation.
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| 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 |
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|---|---|---|---|
| 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 |
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| CN107203151B (en) * | 2017-07-20 | 2020-03-17 | 上海应用技术大学 | Simulation control method of electro-pneumatic brake system |
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| 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 |
| 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 |
| 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 |
| 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 |
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| 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 |
| 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 |
| 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 |
| CN110588609B (en) * | 2019-09-20 | 2021-04-13 | 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 |
| CN112147976B (en) * | 2020-08-12 | 2023-03-28 | 上汽通用五菱汽车股份有限公司 | Wheel speed simulation system and method |
| 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 |
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| 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 |
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| CN106004463B (en) * | 2016-07-04 | 2018-03-09 | 吉林大学 | Pure e-bus braking control system and its control method |
| 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 |
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