CN110032084A - A kind of emulation and test method of electronic parking system function mode - Google Patents
A kind of emulation and test method of electronic parking system function mode Download PDFInfo
- Publication number
- CN110032084A CN110032084A CN201910220265.5A CN201910220265A CN110032084A CN 110032084 A CN110032084 A CN 110032084A CN 201910220265 A CN201910220265 A CN 201910220265A CN 110032084 A CN110032084 A CN 110032084A
- Authority
- CN
- China
- Prior art keywords
- epb
- mode
- motor
- release
- ecu
- 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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention belongs to passenger car electronic parking technical field, the specifically a kind of emulation and test method of electronic parking system function mode.This method substitutes ECU using rapid prototyping system, is switched using true EPB exemplar and virtual electronic parking.Control method are as follows: send control signal (including EPB switching mode signal etc.) from host computer to rapid prototyping system control terminal, EPB electric motors function mode signal is sent to motor drive module by mode control module, it retransmits EPB both end voltage signal and EPB motor positive and inverse signal to rapid prototyping system and drives end, end is driven to send EPB electric motor loop current signal to signal acquisition module from rapid prototyping system, current digital signal is sent by signal acquisition module and returns to mode control module, form closed-loop control, the emulation of EPB functional mode is realized by rapid prototyping system driving end driving EPB work.The measurement of EPB functional mode is realized by clamping release time measurement module.
Description
Technical field
The invention belongs to passenger car electronic parking technical field, specifically a kind of electronic parking system function mode
Emulation and test method.
Background technique
It applies on passenger car with electronic parking system (hereinafter referred to as EPB) and all the more popularizes, in the early development of EPB
In, under different input states, emulation and the test of EPB functional mode are also increasingly paid attention to.
The development scheme generallyd use at present are as follows: EPB is connect with electronic stability program (ESC unit) by rigid line, it will
EPB controls Integrated Simulation inside ESC, and EPB is switched and is connect with ESC rigid line.This development scheme the problem is that: 1,
EPB switch exemplar itself there are it is off quality the defects of, if EPB switch exemplar connect with ESC, once control effect is not
Ideal can not then judge because caused by control program itself is undesirable or because caused by EPB switch hardware deficiency；2,
If EPB control effect is undesirable, EPB system out of service is needed, and manual modification controls program and EPB is controlled program hand
Dynamic to write with a brush dipped in Chinese ink in ESC control circuit, entire modification duration is very long.
Summary of the invention
The present invention provides a kind of electronic parking systems realized based on rapid prototyping system and simulink Controlling model
The emulation and test method of functional mode, overcome the above problem existing for existing development scheme.
Technical solution of the present invention is described with reference to the drawings as follows:
A kind of emulation and test method of electronic parking system function mode, the electronic parking system function mode by
It mode control module, motor drive module, signal acquisition module and clamps release time measurement module and realizes, the mode
Control module, motor drive module, signal acquisition module and clamp release time measurement module emulation and test method it is specific
Steps are as follows:
Step 1: to mode control module, motor drive module, signal acquisition module and clamping release time measurement respectively
Module is emulated；
Step 2: by simulink model to mode control module, motor drive module, signal acquisition module and clamping
Release time measurement module carries out control logic modeling；
Step 3: building the emulation of EPB functional mode and test device；
Step 4: carrying out the test of functional mode by rapid prototyping system Testing Software.
The simulation process of mode control module described in step 1 is specific as follows:
Step 101, it is initial when be set as EPB electric motors function mode be do not turn；
Step 102:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, holds
Row step 103；If ECU judges EPB, switch is not clamping mode, thens follow the steps 109；
Step 103: setting EPB electric motors function mode and rotated forward as motor；
Step 104:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, holds
Row step 105；If ECU judges EPB, switch is not clamping mode, still carries out step 105；
Step 105: setting EPB electric motors function mode and rotated forward as motor；
Whether the electric motor loop electric current that step 106:ECU judgement acquires in real time, which is greater than EPB motor, rotates forward current threshold, if
ECU judgement is greater than EPB motor and rotates forward current threshold, thens follow the steps 107；If ECU judgement rotates forward current threshold no more than EPB motor
Value, thens follow the steps 103；
Step 107: setting EPB electric motors function mode and do not turn as motor；
Step 108:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, holds
Row step 110；If ECU judges EPB, switch is not release mode, thens follow the steps 107；
Step 109:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, holds
Row step 110；If ECU judges EPB, switch is not release mode, thens follow the steps 101；
Step 110: setting EPB electric motors function mode as motor reversal；
Step 111:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, holds
Row step 112；If ECU judges EPB, switch is not release mode, still carries out step 112；
Step 112: setting EPB electric motors function mode as motor reversal；
Whether the electric motor loop electric current that step 113:ECU judgement acquires in real time is less than EPB motor reversal current threshold, if
ECU judgement is less than EPB motor reversal current threshold, thens follow the steps 114；If ECU judgement rotates forward current threshold not less than EPB motor
Value, thens follow the steps 110；
Step 114: setting EPB electric motors function mode and do not turn as motor；
Step 115:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, holds
Row step 103；If ECU judges EPB, switch is not clamping mode, thens follow the steps 114
Motor drive module described in step 1 and the simulation process of signal acquisition module are specific as follows:
Step 201: EPB electric motors function mode is input to motor drive module；
Step 202:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps
203；If it is to rotate forward that ECU, which judges EPB motor not, 204 are thened follow the steps；
Step 203: motor drive module drives EPB motor to rotate forward, and executes clamping；
Step 204:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps
205；If it is reversion that ECU, which judges EPB motor not, 206 are thened follow the steps；
Step 205: motor drive module drives EPB motor reversal, executes release；
Step 206: motor drive module turns EPB motor not, maintains current state；
Step 207: signal acquisition module acquires electric motor loop electric current I；
Step 208: electric motor loop electric current I is input to the instruction in mode control module and execution pattern control module.
The simulation process described in step 1 for clamping release time measurement module is specific as follows:
Step 301: EPB electric motors function mode being input to and clamps release time measurement module；
Step 302: clamping time is set when initial as 0, release time 0；
Step 303:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps
304；If it is to rotate forward that ECU, which judges EPB motor not, 308 are thened follow the steps；
Step 304: clamping time is continuously increased, and release time is set to 0；
Step 305:ECU judges whether EPB motor is not turn, if ECU judges that EPB motor is not turn, thens follow the steps
306；If it is not turn that ECU, which judges EPB motor not, 304 are thened follow the steps；
Step 306: clamping time remains unchanged；
Step 307:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps
309；If it is reversion that ECU, which judges EPB motor not, 306 are thened follow the steps；
Step 308:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps
309；If it is reversion that ECU, which judges EPB motor not, 302 are thened follow the steps；
Step 309: release time is continuously increased, and clamping time is set to 0；
Step 310:ECU judges whether EPB motor is not turn, if ECU judges that EPB motor is not turn, thens follow the steps
311；If it is not turn that ECU, which judges EPB motor not, 309 are thened follow the steps；
Step 311: release time remains unchanged；
Step 312:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps
304；If it is to rotate forward that ECU, which judges EPB motor not, 311 are thened follow the steps；
Step 313: output clamping time and release time.
When rapid prototyping system Testing Software is tested in the step two, generate EPB supply voltage be 6V,
When 8V, 10V, 12V, when motor rotating forward current threshold is 9A and 10A, motor reversal current threshold are -6A, EPB electric motor loop
Electric current --- time graph and corresponding clamping release time, the specific steps are as follows:
Step 401: enable is changed to 1 by 0；
Step 402: I_posi_thres being set as 9, I_nega_thres and is set as -6, V_apply_dutycycle
It is set as 0.5, V_release_dutycycle and is set as 0.5；
Step 403: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 404: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 405: I_posi_thres is set as 10；
Step 406: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 407: clicking EPB switch mode release button；
Step 408: I_posi_thres being set as 9, V_apply_dutycycle and is set as 0.75, V_release_
Dutycycle is set as 0.75；
Step 409: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 410: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 411: I_posi_thres is set as 10；
Step 412: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 413: clicking EPB switch mode release button；
Step 414: I_posi_thres being set as 9, V_apply_dutycycle and is set as 0.8, V_release_
Dutycycle is set as 0.8；
Step 415: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 416: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 417: I_posi_thres is set as 10；
Step 418: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 419: clicking EPB switch mode release button；
Step 420: I_posi_thres being set as 9, V_apply_dutycycle and is set as 1, V_release_
Dutycycle is set as 1；
Step 421: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 422: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 423: I_posi_thres is set as 10；
Step 424: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 425: clicking EPB switch mode release button；
Step 426: enable is changed to 0 by 1.
The invention has the benefit that
1, replace EPB switch exemplar and harness using control in Testing Software, exclude itself it is off quality etc. because
Element makes test not be forced to extend the test period because of the restriction by hardware condition；
If 2, EPB control effect is undesirable, a certain parameter in program can be controlled by manual modification on Testing Software
And automatically download to EPB control program in ECU, the easy to operate and duration is very short.
Detailed description of the invention
Fig. 1 is EPB functional mode control flow chart；
Fig. 2 is signal acquisition module, mode control module modeling figure；
Fig. 3 is Mode_control submodule modeling figure；
Fig. 4 is motor drive module modeling figure；
Fig. 5 is to clamp release time measurement module modeling figure；
Fig. 6 is cal_time submodule modeling figure；
Fig. 7 is the emulation of EPB functional mode and test device connection schematic diagram.
Specific embodiment
The present invention provides the emulation and test method of a kind of electronic parking system function mode, this method is based on quick
What prototype system and simulink Controlling model were realized, specifically include the following contents:
One, the EPB functional mode for clearly requiring emulation, is divided into 9 kinds:
1, after lifting EPB switch, EPB executes clamping, and EPB motor rotates forward.EPB switch is unclamped, EPB still carries out clamping.
When electric motor loop electric current, which is greater than, rotates forward current threshold, motor stalls.
2, after pressing EPB switch, EPB executes release, EPB motor reversal.EPB switch is unclamped, EPB still carries out release.
When electric motor loop electric current is greater than reverse current threshold value, motor stalls.
3, it when EPB, which is executed, to be clamped, is not carried out completely if clamped, just presses EPB switch, then will continue to execute clamping,
Until clamping completely.
4, when EPB, which is executed, to be discharged, if release is not carried out completely, EPB switch is just lifted, then will continue to execute release,
Until release completely.
5, it when EPB, which is executed, to be clamped, is not carried out completely, just presses EPB switch and does not decontrol if clamped, then held in clamping
After row is complete, release is executed at once.
6, it when EPB, which is executed, to be discharged, if release is not carried out completely, just lifts EPB switch and does not decontrol, then held in release
After row is complete, clamping is executed at once.
7, it when EPB, which is executed, to be clamped, is not unclamped if lifting EPB switch always, clamping no longer executes after being finished,
Motor stalls.It clicks release and then executes release.
8, it when EPB, which is executed, to be discharged, is not unclamped if pressing EPB switch always, release no longer executes after being finished,
Motor stalls.It clicks to clamp and then executes clamping.
9, clamping release time and the maximum grip release force of EPB are adjusted by adjusting EPB supply voltage.
Two, control logic is divided into signal acquisition module, mode control module, motor drive module and clamping according to function
Release time measurement module.Control flow chart (referring particularly to Fig. 1) is made, uses special symbol, symbol generation to simplify expression
The meaning of table are as follows:
Inmod:EPB switching function mode, 3 kinds altogether, 0 represents release, and 1 represents clamping, and 2 represent release；
The EPB electric motors function mode of Outmod:ECU output, 0, which represents EPB motor, does not turn, and 1 represents motor rotating forward, and 2 represent
Motor reversal；
I_posi_thres:EPB motor rotates forward current threshold；
I_nega_thres:EPB motor reversal current threshold；
I: the electric motor loop electric current acquired in real time.
Mode control module specific steps are as follows:
Step 101: it is not turn that EPB electric motors function mode is set as when initial；
Step 102:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, holds
Row step 103；If ECU judges EPB, switch is not clamping mode, thens follow the steps 109；
Step 103: setting EPB electric motors function mode and rotated forward as motor；
Step 104:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, holds
Row step 105；If ECU judges EPB, switch is not clamping mode, still carries out step 105；
Step 105: setting EPB electric motors function mode and rotated forward as motor；
Whether the electric motor loop electric current that step 106:ECU judgement acquires in real time, which is greater than EPB motor, rotates forward current threshold, if
ECU judgement is greater than EPB motor and rotates forward current threshold, thens follow the steps 107；If ECU judgement rotates forward current threshold no more than EPB motor
Value, thens follow the steps 103；
Step 107: setting EPB electric motors function mode and do not turn as motor；
Step 108:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, holds
Row step 110；If ECU judges EPB, switch is not release mode, thens follow the steps 107；
Step 109:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, holds
Row step 110；If ECU judges EPB, switch is not release mode, thens follow the steps 101；
Step 110: setting EPB electric motors function mode as motor reversal；
Step 111:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, holds
Row step 112；If ECU judges EPB, switch is not release mode, still carries out step 112；
Step 112: setting EPB electric motors function mode as motor reversal；
Whether the electric motor loop electric current that step 113:ECU judgement acquires in real time is less than EPB motor reversal current threshold, if
ECU judgement is less than EPB motor reversal current threshold, thens follow the steps 114；If ECU judgement rotates forward current threshold not less than EPB motor
Value, thens follow the steps 110；
Step 114: setting EPB electric motors function mode and do not turn as motor；
Step 115:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, holds
Row step 103；If ECU judges EPB, switch is not clamping mode, thens follow the steps 114.
Motor drive module and signal acquisition module specific steps are as follows:
Step 201: EPB electric motors function mode is input to motor drive module；
Step 202:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps
203；If it is to rotate forward that ECU, which judges EPB motor not, 204 are thened follow the steps；
Step 203: motor drive module drives EPB motor to rotate forward, and executes clamping；
Step 204:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps
205；If it is reversion that ECU, which judges EPB motor not, 206 are thened follow the steps；
Step 205: motor drive module drives EPB motor reversal, executes release；
Step 206: motor drive module turns EPB motor not, maintains current state；
Step 207: signal acquisition module acquires electric motor loop electric current I；
Step 208: electric motor loop electric current I is input to the instruction in mode control module and execution pattern control module.
Clamp release time measurement module specific steps are as follows:
Step 301: EPB electric motors function mode being input to and clamps release time measurement module；
Step 302: clamping time is set when initial as 0, release time 0；
Step 303:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps
304；If it is to rotate forward that ECU, which judges EPB motor not, 308 are thened follow the steps；
Step 304: clamping time is continuously increased, and release time is set to 0；
Step 305:ECU judges whether EPB motor is not turn, if ECU judges that EPB motor is not turn, thens follow the steps
306；If it is not turn that ECU, which judges EPB motor not, 304 are thened follow the steps；
Step 306: clamping time remains unchanged；
Step 307:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps
309；If it is reversion that ECU, which judges EPB motor not, 306 are thened follow the steps；
Step 308:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps
309；If it is reversion that ECU, which judges EPB motor not, 302 are thened follow the steps；
Step 309: release time is continuously increased, and clamping time is set to 0；
Step 310:ECU judges whether EPB motor is not turn, if ECU judges that EPB motor is not turn, thens follow the steps
311；If it is not turn that ECU, which judges EPB motor not, 309 are thened follow the steps；
Step 311: release time remains unchanged；
Step 312:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps
304；If it is to rotate forward that ECU, which judges EPB motor not, 311 are thened follow the steps；
Step 313: output clamping time and release time.
Three, by simulink model carry out control logic modeling, signal acquisition module, mode control module referring particularly to
Fig. 2, Mode_control submodule are referring particularly to Fig. 3, and referring particularly to Fig. 4, clamping is released for motor drive module, signal output module
Time measurement module is put referring particularly to Fig. 5, cal_time submodule is referring particularly to Fig. 6.
Signal acquisition module includes following submodule: AIO TP1 ADC；
Mode control module includes following submodule:
1.Gain2 sets 120 for its yield value；
Its comparison threshold is set as > 7 by 2.I_posi_threshold；
Its comparison threshold is set as < -7 by 3.I_nega_threshold；
4.Mode_control is edited according to the state diagram of emergency response system, and output is used as motor driving part
Divide Multiport switch, Multiport switch1, the input for clamping release time measurement part cal_time；
Motor drive module includes following submodule:
1.Constant2 sets 0 for its value；
2.Constant sets 1 for its value；
3.Constant1 sets 0.001 for its value；
4.Gain1 sets 1 for its yield value；
5.V_apply sets 0.4 for its value；
6.V_release sets 0.4 for its value；
The two is both configured to the selection of 3 tunnels by 7.Multiport switch Multiport switch1；
Signal output module includes following submodule:
1.DIO_TYPE4_PWM_BL1；
2.DIO_TYPE4_PWM_BL2；；
Clamping release time measurement module includes following submodule:
1.Apply_time sets 0.01 for its value；
2.Release_time sets 0.01 for its value；
3.terminator；
4.terminator1；
5.cal_time is edited according to the state diagram of emergency response system.
Four, refering to Fig. 5, the emulation of EPB functional mode and test device are built.
Testing Software control signal is sent rapid prototyping system control terminal by host computer, and rapid prototyping system control terminal will
EPB both end voltage signal, EPB motor positive and inverse signal are sent to rapid prototyping system driving end, are driven by rapid prototyping system
End driving EPB work, rapid prototyping system drive end to send rapid prototyping system control terminal for EPB electric motor loop signal, fastly
There is DC power supply power supply at fast prototype system control terminal and rapid prototyping system driving end.
Five, rapid prototyping system Testing Software interface is designed.It is divided into following 9 test modules:
The shared three state of 1.EPB switch mode:EPB switch one: it lifts (EPB executes clamping), press (EPB execution
Release), unclamp (EPB does not work), on Testing Software interface with EPB switch mode simulate, EPB switch mode circle
Be 2 buttons on face: it is assigned a value of 1 and 2 by apply and release respectively, is respectively represented EPB switch and is clamped and two kinds of release
The offline value of state, EPB switch mode is set as 0, represents the state that EPB switch unclamps, can sets itself.
2.Enable: whether setting test carries out.When Enable value is 0, test stops；Enable value be 1 when, test into
Row, can sets itself.
3.I_posi_thres:EPB motor rotates forward current threshold, can sets itself；
4.I_nega_thres:EPB motor reversal current threshold, can sets itself；
5.V_apply_dutycycle:EPB motor both end voltage is controlled by PWM wave, high level 12V, and low level is
0V, period 1ms, V_apply_dutycycle are duty ratio when EPB motor rotates forward, can sets itself；
Duty ratio when 6.V_release_dutycycle:EPB motor reversal, can sets itself；
7.Time_apply:EPB clamping time, automatic measurement obtain；
8.Time_release:EPB release time, automatic measurement obtain；
9. electric motor loop electric current I --- time graph, automatic measurement obtain；
Six, test operation is carried out on rapid prototyping system Testing Software, and the functional mode in step 1 is tested out,
And generate when EPB supply voltage is 6V, 8V, 10V, 12V, it is 9A and 10A, motor reversal current threshold that motor, which rotates forward current threshold,
When value is -6A, the electric current of EPB electric motor loop --- time graph and corresponding clamping release time.It measures according to the following steps:
Step 401: enable is changed to 1 by 0；
Step 402: I_posi_thres being set as 9, I_nega_thres and is set as -6, V_apply_dutycycle
It is set as 0.5, V_release_dutycycle and is set as 0.5；
Step 403: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 404: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 405: I_posi_thres is set as 10；
Step 406: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 407: clicking EPB switch mode release button；
Step 408: I_posi_thres being set as 9, V_apply_dutycycle and is set as 0.75, V_release_
Dutycycle is set as 0.75；
Step 409: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 410: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 411: I_posi_thres is set as 10；
Step 412: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 413: clicking EPB switch mode release button；
Step 414: I_posi_thres being set as 9, V_apply_dutycycle and is set as 0.8, V_release_
Dutycycle is set as 0.8；
Step 415: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 416: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 417: I_posi_thres is set as 10；
Step 418: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 419: clicking EPB switch mode release button；
Step 420: I_posi_thres being set as 9, V_apply_dutycycle and is set as 1, V_release_
Dutycycle is set as 1；
Step 421: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 422: clicking EPB switch mode release button, record current-time graph and Time_
The value of release；
Step 423: I_posi_thres is set as 10；
Step 424: click EPB switch mode apply button, record current-time graph and Time_apply's
Value；
Step 425: clicking EPB switch mode release button；
Step 426: enable is changed to 0 by 1；
In conclusion, using simulink modeling tool, designing a kind of passenger car the present invention is based on rapid prototyping system
The emulation and test method of EPB system function mode.Compared to other methods, the advantages of the method are as follows:
EPB switch exemplar and harness is replaced using control in Testing Software, excludes the factors such as off quality of itself,
Test is set not to be forced to extend the test period because of the restriction by hardware condition；
2. if EPB control effect is undesirable a certain parameter in program can be controlled by manual modification on Testing Software
And automatically download to EPB control program in ECU, the easy to operate and duration is very short.
Claims (5)
1. a kind of emulation and test method of electronic parking system function mode, which is characterized in that the electronic parking system
Functional mode is by mode control module, motor drive module, signal acquisition module and clamps release time measurement module and realizes,
The emulation and survey of the mode control module, motor drive module, signal acquisition module and clamping release time measurement module
Specific step is as follows for method for testing:
Step 1: to mode control module, motor drive module, signal acquisition module and clamping release time measurement module respectively
It is emulated；
Step 2: to mode control module, motor drive module, signal acquisition module and clamping release by simulink model
Time measurement module carries out control logic modeling；
Step 3: building the emulation of EPB functional mode and test device；
Step 4: carrying out the test of functional mode by rapid prototyping system Testing Software.
2. the emulation and test method of a kind of electronic parking system function mode according to claim 1, which is characterized in that
The simulation process of mode control module described in step 1 is specific as follows:
Step 101, it is initial when be set as EPB electric motors function mode be do not turn；
Step 102:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, executes step
Rapid 103；If ECU judges EPB, switch is not clamping mode, thens follow the steps 109；
Step 103: setting EPB electric motors function mode and rotated forward as motor；
Step 104:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, executes step
Rapid 105；If ECU judges EPB, switch is not clamping mode, still carries out step 105；
Step 105: setting EPB electric motors function mode and rotated forward as motor；
Whether the electric motor loop electric current that step 106:ECU judgement acquires in real time, which is greater than EPB motor, rotates forward current threshold, if ECU sentences
The disconnected EPB motor that is greater than rotates forward current threshold, thens follow the steps 107；If ECU judgement rotates forward current threshold no more than EPB motor,
Execute step 103；
Step 107: setting EPB electric motors function mode and do not turn as motor；
Step 108:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, executes step
Rapid 110；If ECU judges EPB, switch is not release mode, thens follow the steps 107；
Step 109:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, executes step
Rapid 110；If ECU judges EPB, switch is not release mode, thens follow the steps 101；
Step 110: setting EPB electric motors function mode as motor reversal；
Step 111:ECU judges whether EPB switch is release mode, if ECU judges EPB, switch is release mode, executes step
Rapid 112；If ECU judges EPB, switch is not release mode, still carries out step 112；
Step 112: setting EPB electric motors function mode as motor reversal；
Whether the electric motor loop electric current that step 113:ECU judgement acquires in real time is less than EPB motor reversal current threshold, if ECU sentences
It is disconnected to be less than EPB motor reversal current threshold, then follow the steps 114；If ECU judgement rotates forward current threshold not less than EPB motor,
Execute step 110；
Step 114: setting EPB electric motors function mode and do not turn as motor；
Step 115:ECU judges whether EPB switch is clamping mode, if ECU judges EPB, switch is clamping mode, executes step
Rapid 103；If ECU judges EPB, switch is not clamping mode, thens follow the steps 114.
3. the emulation and test method of a kind of electronic parking system function mode according to claim 1, which is characterized in that
Motor drive module described in step 1 and the simulation process of signal acquisition module are specific as follows:
Step 201: EPB electric motors function mode is input to motor drive module；
Step 202:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps 203；If
It is to rotate forward that ECU, which judges EPB motor not, thens follow the steps 204；
Step 203: motor drive module drives EPB motor to rotate forward, and executes clamping；
Step 204:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps 205；If
It is reversion that ECU, which judges EPB motor not, thens follow the steps 206；
Step 205: motor drive module drives EPB motor reversal, executes release；
Step 206: motor drive module turns EPB motor not, maintains current state；
Step 207: signal acquisition module acquires electric motor loop electric current I；
Step 208: electric motor loop electric current I is input to the instruction in mode control module and execution pattern control module.
4. the emulation and test method of a kind of electronic parking system function mode according to claim 1, which is characterized in that
The simulation process described in step 1 for clamping release time measurement module is specific as follows:
Step 301: EPB electric motors function mode being input to and clamps release time measurement module；
Step 302: clamping time is set when initial as 0, release time 0；
Step 303:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps 304；If
It is to rotate forward that ECU, which judges EPB motor not, thens follow the steps 308；
Step 304: clamping time is continuously increased, and release time is set to 0；
Step 305:ECU judges whether EPB motor is not turn, if ECU judges that EPB motor is not turn, thens follow the steps 306；If
It is not turn that ECU, which judges EPB motor not, thens follow the steps 304；
Step 306: clamping time remains unchanged；
Step 307:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps 309；If
It is reversion that ECU, which judges EPB motor not, thens follow the steps 306；
Step 308:ECU judges whether EPB motor is reversion, if ECU judges that EPB motor is reversion, thens follow the steps 309；If
It is reversion that ECU, which judges EPB motor not, thens follow the steps 302；
Step 309: release time is continuously increased, and clamping time is set to 0；
Step 310:ECU judges whether EPB motor is not turn, if ECU judges that EPB motor is not turn, thens follow the steps 311；If
It is not turn that ECU, which judges EPB motor not, thens follow the steps 309；
Step 311: release time remains unchanged；
Step 312:ECU judges whether EPB motor is rotating forward, if ECU judges that EPB motor is to rotate forward, thens follow the steps 304；If
It is to rotate forward that ECU, which judges EPB motor not, thens follow the steps 311；
Step 313: output clamping time and release time.
5. the emulation and test method of a kind of electronic parking system function mode according to claim 1, which is characterized in that
When rapid prototyping system Testing Software is tested in the step four, generating in EPB supply voltage is 6V, 8V, 10V, 12V
When, when motor rotating forward current threshold is 9A and 10A, motor reversal current threshold are -6A, the electric current of EPB electric motor loop --- when
Half interval contour and corresponding clamping release time, the specific steps are as follows:
Step 401: enable is changed to 1 by 0；
Step 402: I_posi_thres being set as 9, I_nega_thres and is set as -6, V_apply_dutycycle setting
It is set as 0.5 for 0.5, V_release_dutycycle；
Step 403: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 404: click EPB switch mode release button, record current-time graph and Time_release's
Value；
Step 405: I_posi_thres is set as 10；
Step 406: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 407: clicking EPB switch mode release button；
Step 408: I_posi_thres being set as 9, V_apply_dutycycle and is set as 0.75, V_release_
Dutycycle is set as 0.75；
Step 409: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 410: click EPB switch mode release button, record current-time graph and Time_release's
Value；
Step 411: I_posi_thres is set as 10；
Step 412: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 413: clicking EPB switch mode release button；
Step 414: I_posi_thres being set as 9, V_apply_dutycycle and is set as 0.8, V_release_
Dutycycle is set as 0.8；
Step 415: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 416: clicking EPB switch mode release button, record current-time graph and Time_release
Value；
Step 417: I_posi_thres is set as 10；
Step 418: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 419: clicking EPB switch mode release button；
Step 420: I_posi_thres being set as 9, V_apply_dutycycle and is set as 1, V_release_
Dutycycle is set as 1；
Step 421: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 422: click EPB switch mode release button, record current-time graph and Time_release's
Value；
Step 423: I_posi_thres is set as 10；
Step 424: clicking EPB switch mode apply button, the value of record current-time graph and Time_apply；
Step 425: clicking EPB switch mode release button；
Step 426: enable is changed to 0 by 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220265.5A CN110032084B (en) | 2019-03-22 | 2019-03-22 | Simulation and test method for functional mode of electronic parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220265.5A CN110032084B (en) | 2019-03-22 | 2019-03-22 | Simulation and test method for functional mode of electronic parking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110032084A true CN110032084A (en) | 2019-07-19 |
| CN110032084B CN110032084B (en) | 2021-11-19 |
Family
ID=67236376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910220265.5A Active CN110032084B (en) | 2019-03-22 | 2019-03-22 | Simulation and test method for functional mode of electronic parking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110032084B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101819094A (en) * | 2010-03-22 | 2010-09-01 | 芜湖伯特利汽车安全***有限公司 | Comprehensive test bench for electronic parking brake system |
| CN101819440A (en) * | 2010-03-22 | 2010-09-01 | 芜湖伯特利汽车安全***有限公司 | In-the-loop simulation test system for electronic parking brake system |
| CN202002608U (en) * | 2011-04-07 | 2011-10-05 | 芜湖伯特利汽车安全***有限公司 | System for detecting wear of friction plate of electronic parking brake system |
| CN102230780A (en) * | 2011-04-07 | 2011-11-02 | 芜湖伯特利汽车安全***有限公司 | Method for detecting friction plate abrasion of electronic parking braking system |
| CN203249775U (en) * | 2013-05-07 | 2013-10-23 | 浙江万向精工有限公司 | EPB emergency brake test device |
| CN103419771A (en) * | 2012-05-25 | 2013-12-04 | 株式会社万都 | Electronic parking brake system and method of indicating malfunction of parking brake switch |
| US20140149012A1 (en) * | 2011-08-10 | 2014-05-29 | Toyota Jidosha Kabushiki Kaisha | Electric parking brake control device |
| CN104192118A (en) * | 2014-08-29 | 2014-12-10 | 长城汽车股份有限公司 | Electronic parking brake system controller and vehicle |
| CN104807651A (en) * | 2014-03-26 | 2015-07-29 | 浙江万向精工有限公司 | Electromechanical fault diagnosis method of electrical park brake (EPB) system |
| CN108860126A (en) * | 2018-04-25 | 2018-11-23 | 江铃控股有限公司 | Electronic brake system evaluation method |
| US20180339690A1 (en) * | 2017-05-23 | 2018-11-29 | Mando Corporation | Electronic brake system |
| CN108995641A (en) * | 2018-07-26 | 2018-12-14 | 中国第汽车股份有限公司 | A kind of vehicle parking control method based on EPB system |
-
2019
- 2019-03-22 CN CN201910220265.5A patent/CN110032084B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101819094A (en) * | 2010-03-22 | 2010-09-01 | 芜湖伯特利汽车安全***有限公司 | Comprehensive test bench for electronic parking brake system |
| CN101819440A (en) * | 2010-03-22 | 2010-09-01 | 芜湖伯特利汽车安全***有限公司 | In-the-loop simulation test system for electronic parking brake system |
| CN202002608U (en) * | 2011-04-07 | 2011-10-05 | 芜湖伯特利汽车安全***有限公司 | System for detecting wear of friction plate of electronic parking brake system |
| CN102230780A (en) * | 2011-04-07 | 2011-11-02 | 芜湖伯特利汽车安全***有限公司 | Method for detecting friction plate abrasion of electronic parking braking system |
| US20140149012A1 (en) * | 2011-08-10 | 2014-05-29 | Toyota Jidosha Kabushiki Kaisha | Electric parking brake control device |
| CN103419771A (en) * | 2012-05-25 | 2013-12-04 | 株式会社万都 | Electronic parking brake system and method of indicating malfunction of parking brake switch |
| CN203249775U (en) * | 2013-05-07 | 2013-10-23 | 浙江万向精工有限公司 | EPB emergency brake test device |
| CN104807651A (en) * | 2014-03-26 | 2015-07-29 | 浙江万向精工有限公司 | Electromechanical fault diagnosis method of electrical park brake (EPB) system |
| CN104192118A (en) * | 2014-08-29 | 2014-12-10 | 长城汽车股份有限公司 | Electronic parking brake system controller and vehicle |
| US20180339690A1 (en) * | 2017-05-23 | 2018-11-29 | Mando Corporation | Electronic brake system |
| CN108860126A (en) * | 2018-04-25 | 2018-11-23 | 江铃控股有限公司 | Electronic brake system evaluation method |
| CN108995641A (en) * | 2018-07-26 | 2018-12-14 | 中国第汽车股份有限公司 | A kind of vehicle parking control method based on EPB system |
Non-Patent Citations (4)
| Title |
|---|
| HAOTIAN WU 等: "Design and HIL verification of fuzzy identification controller for electronic parking brake system based on dSPACE", 《2011 INTERNATIONAL CONFERENCE ON ELECTRIC INFORMATION AND CONTROL ENGINEERING》 * |
| XU MAN 等: "The application and control optimization of electronic park brake in the park assist", 《2016 EIGHTH INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION 》 * |
| 鲍立安: "EPB功能研究和硬件在环试验测试平台的搭建", 《中国硕士学位论文全文数据库工程科技Ⅱ辑》 * |
| 龚建石 等: "整体式汽车电子驻车制动***试验台设计", 《机械制造与自动化》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110032084B (en) | 2021-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108227669B (en) | Automatic test method for vehicle control unit of new energy vehicle | |
| CN109324601B (en) | Test platform of robot controller or control system based on hardware-in-the-loop | |
| WO2018129893A1 (en) | Hardware-in-the-loop equipment based testing system | |
| CN110501998B (en) | BMS hardware in-loop test system and test method | |
| CN111273157B (en) | Serial testing device and method for chip shared resources | |
| CN110032084A (en) | A kind of emulation and test method of electronic parking system function mode | |
| CN110758778B (en) | Control method for on-orbit docking and separating mechanism of spacecraft | |
| CN107526354B (en) | Automatic test method and test device for electric vehicle controller | |
| CN101409026A (en) | Device and method for training and checking electric failure-solving and PLC application skill | |
| CN109596928B (en) | Static parameter testing device for automobile generator regulator | |
| CN205195886U (en) | Integrated CCD drive chronogenesis and system test's circuit | |
| US20070244683A1 (en) | Device simulating operation of a machine that functions as either a motor or a generator | |
| CN218183372U (en) | Automatic testing arrangement of passenger cabin product | |
| CN212965851U (en) | Motor drive's test system | |
| CN111413947B (en) | New energy automobile controller software in-loop test model and test method | |
| CN111089734A (en) | Automatic test system for automobile bearing performance test | |
| CN109765500A (en) | A kind of power supply analog machine and power supply analogy method | |
| CN208872344U (en) | A kind of hydrogen system function detection equipment | |
| CN111813091B (en) | Automatic detection and real vehicle simulation test method for motor controller of twin-trawling platform | |
| CN207556879U (en) | A kind of steering column test platform based on Vector tools | |
| CN111699399A (en) | Performance test system and method of multi-axis driver and multi-axis driver for test | |
| CN218956749U (en) | Single body action test device for circuit breaker | |
| CN109817272B (en) | System disk SSD power-off test method based on mainboard | |
| CN213517409U (en) | Withstand voltage test tool | |
| CN114531367B (en) | Automatic test system and method for automobile CAN network |
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 |