CN113741404B - Control method, device and system for simulating vehicle load and storage medium - Google Patents
Control method, device and system for simulating vehicle load and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of vehicle testing, and discloses a control method, a device, a system and a storage medium for simulating vehicle load, which are used for reducing oscillation generated during vehicle load simulation and improving the stability margin of a testing system in the vehicle load simulation process. The method comprises the following steps: acquiring real state parameters of a vehicle to be simulated, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular velocity, real driving torque and real load torque of the vehicle to be simulated in a running state; acquiring simulation state parameters of a simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving torque of the simulation test bench in a simulated load state; determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters; determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance; and controlling the simulation test bench according to the angular acceleration.
Description
Technical Field
The invention relates to the technical field of vehicle testing, in particular to a control method, a control device, a control system and a storage medium for simulating vehicle load.
Background
With the rapid development of new energy vehicles, the related testing requirements of the new energy vehicles are more and more.
At present, a simulation test bench is used for testing a power part of a new energy vehicle, wherein the load of the vehicle can be simulated simply by using motor control. The load simulation mode is to simulate the resisting moment of the load according to vehicle parameters and the like, namely to perform moment control on the tested motor so as to output the resisting moment required by the test bench.
However, the existing scheme is easy to oscillate when simulating the vehicle load by controlling the change of the resisting moment, so that the stability margin of the test system is reduced.
Disclosure of Invention
The invention provides a control method, a control device, a control system and a storage medium for simulating vehicle load, which are used for reducing oscillation generated during vehicle load simulation, improving the capability of simulating the vehicle load and improving the stability margin of a test system in the vehicle load simulation process.
A first aspect of an embodiment of the present invention provides a control method for simulating a vehicle load, including: acquiring real state parameters of a vehicle to be simulated, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular velocity, real driving torque and real load torque of the vehicle to be simulated in a running state; acquiring simulation state parameters of a simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving moment of the simulation test bench in a simulated load state; determining the simulation load moment of the simulation test bench according to the real state parameters and the simulation state parameters; determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance; and controlling the simulation test bench according to the angular acceleration.
In one possible embodiment, the determining the simulated load moment of the simulated test rig from the real state parameter and the simulated state parameter includes: generating a real moment expression of the vehicle to be simulated according to the real vehicle rotational inertia, the real mechanical angular speed, the real driving moment and the real load moment in the real state parameters; generating a simulation moment expression of a simulation test bench according to the simulated vehicle rotational inertia, the simulated mechanical angular speed and the simulated driving moment in the simulation state parameters; when the real driving torque is the same as the simulated driving torque, determining a first simulated load torque expression of the simulated test bench according to the real torque expression and the simulated torque expression; when the real mechanical angular velocity is the same as the simulated mechanical angular velocity, generating a second simulated load moment expression according to the first simulated load moment expression; and determining the simulated load moment of the simulated test bench according to the second simulated load moment expression.
In one possible embodiment, the determining the angular acceleration of the simulated test rig from the simulated load moment and the preset inertial resistance includes: acquiring a preset resisting moment expression of the simulation test bench; converting the speed of inertial resistance in the preset resistance moment expression into angular speed to obtain a converted resistance moment expression; replacing the second simulated load moment expression with the converted resisting moment expression to generate a simulated load moment expression; and determining the angular acceleration of the simulation test bench through the simulation load moment expression.
In one possible embodiment, the controlling the simulation test rig according to the angular acceleration includes: generating an angular velocity control command according to the angular acceleration; and carrying out angular speed control on the simulation test bench through the angular speed control command.
In one possible embodiment, the generating an angular velocity control command according to the angular acceleration includes: determining the control duration of a target control period; calculating an angular velocity increment according to the angular acceleration and the control duration; and superposing the angular velocity command of the previous control period with the angular velocity increment to generate the angular velocity control command of the target control period.
In one possible embodiment, the performing angular velocity control on the simulation test bench through the angular velocity control command includes: adjusting the control mode of the simulation test bench into angular speed control; and inputting the angular speed control instruction into the simulation test bench to control the simulation test bench to simulate the load.
In a possible embodiment, after the controlling the simulation test bench according to the angular acceleration, the method further includes: and generating a rotating speed control instruction according to the angular speed control instruction, and carrying out rotating speed control on the simulation test bench based on the rotating speed control instruction.
A second aspect of an embodiment of the present invention provides a control apparatus that simulates a vehicle load, including: the device comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is used for obtaining real state parameters of a vehicle to be simulated, and the real state parameters comprise real vehicle rotational inertia, real mechanical angular speed, real driving torque and real load torque of the vehicle to be simulated in a running state; the second acquisition module is used for acquiring simulation state parameters of a simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving moment of the simulation test bench in a simulated load state; the first determination module is used for determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters; the second determination module is used for determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance; and the control module is used for controlling the simulation test bench according to the angular acceleration.
In one possible embodiment, the first determining module includes: the first generation unit is used for generating a real moment expression of the vehicle to be simulated according to the real vehicle rotational inertia, the real mechanical angular speed, the real driving moment and the real load moment in the real state parameters; the second generation unit is used for generating a simulation torque expression of the simulation test bench according to the simulated vehicle rotational inertia, the simulated mechanical angular speed and the simulated driving torque in the simulated state parameters; a first determination unit for determining a first simulated load torque expression of the simulated test bench according to the real torque expression and the simulated torque expression when the real driving torque and the simulated driving torque are the same; a third generating unit, configured to generate a second simulated load moment expression according to the first simulated load moment expression when the actual mechanical angular velocity is the same as the simulated mechanical angular velocity; and the second determining unit is used for determining the simulated load moment of the simulated test bench according to the second simulated load moment expression.
In a possible implementation manner, the second determining module is specifically configured to: acquiring a preset resisting moment expression of the simulation test bench; converting the speed of inertial resistance in the preset resistance moment expression into angular speed to obtain a converted resistance moment expression; replacing the second simulated load moment expression with the converted resisting moment expression to generate a simulated load moment expression; and determining the angular acceleration of the simulation test bench through the simulation load moment expression.
In one possible embodiment, the control module comprises: the command generation unit is used for generating an angular velocity control command according to the angular acceleration; and the control unit is used for controlling the angular speed of the simulation test bench through the angular speed control command.
In a possible implementation manner, the instruction generating unit is specifically configured to: determining the control duration of a target control period; calculating an angular velocity increment according to the angular acceleration and the control duration; and superposing the angular velocity command of the previous control period with the angular velocity increment to generate the angular velocity control command of the target control period.
In a possible embodiment, the control unit is specifically configured to: adjusting the control mode of the simulation test bench into angular speed control; and inputting the angular speed control command into the simulation test bench to control the simulation test bench to simulate a load.
In one possible embodiment, the control device for simulating a load of a vehicle further includes:
and the generation control module is used for generating a rotating speed control instruction according to the angular speed control command and controlling the rotating speed of the simulation test bench based on the rotating speed control instruction.
A third aspect of an embodiment of the present invention provides a control system that simulates a vehicle load, including: the system comprises a load simulation system, a tested power system and a test control system, wherein the load simulation system is used for simulating vehicle load, the tested power system is used for driving the vehicle load through driving torque, the test control system is used for detecting the tested power system, and the test control system comprises a memory and at least one processor, and instructions are stored in the memory; the at least one processor invokes the instructions in the memory to cause the test control system to perform the control method for simulating a vehicle load described above.
A fourth aspect of the invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to execute the above-described control method of simulating a vehicle load.
In the technical scheme provided by the embodiment of the invention, the real state parameters of the vehicle to be simulated are obtained, wherein the real state parameters comprise the real vehicle rotational inertia, the real mechanical angular speed, the real driving torque and the real load torque of the vehicle to be simulated in the running state; acquiring simulation state parameters of a simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving moment of the simulation test bench in the simulated load state; determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters; determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance; and controlling the simulation test bench according to the angular acceleration. According to the embodiment of the invention, the moment control of the simulation test bench is changed into the angular velocity control, so that the differentiation link of the inertial resistance in the simulation process is eliminated, the oscillation generated when the vehicle load is simulated is reduced, the capability of simulating the vehicle load is improved, and the stability margin of a control system in the process of simulating the vehicle load is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a method for controlling a simulated vehicle load according to an embodiment of the invention;
FIG. 2 is a schematic diagram of another embodiment of a control method for simulating a vehicle load according to an embodiment of the invention;
FIG. 3 is a schematic diagram of another embodiment of a control method for simulating a vehicle load according to an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of a control device for simulating a vehicle load according to the embodiment of the invention;
FIG. 5 is a schematic diagram of an embodiment of a test control system in a control system for simulating a vehicle load according to an embodiment of the invention.
Detailed Description
The invention provides a control method, a control device, a control system and a storage medium for simulating vehicle load, which are used for reducing oscillation generated during vehicle load simulation, improving the capability of simulating the vehicle load and improving the stability margin of a test system in the vehicle load simulation process.
Referring to fig. 1, a flowchart of a method for controlling a simulated vehicle load according to an embodiment of the present invention specifically includes:
101. and acquiring real state parameters of the vehicle to be simulated, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular velocity, real driving torque and real load torque of the vehicle to be simulated in a running state.
By way of example and not limitation, the control system for simulating the vehicle load reads real state parameters of the vehicle to be simulated in the driving state, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular speed, real driving torque and real load torque of the vehicle to be simulated in the driving state.
It should be noted that the vehicle to be simulated in this embodiment is a new energy vehicle, the new energy vehicle is loaded with a motor, the motor provides output power, and the actual load condition of the vehicle is simulated by controlling the rotation speed of the motor, so that the actual load of the new energy electric vehicle is better simulated.
It can be understood that the actual state parameters of the vehicle to be simulated may have differences under different driving conditions and road conditions, and in order to eliminate the influence of errors, the present embodiment may calculate the state parameters under different driving conditions for multiple times and take an average value, so as to calculate the actual state parameters.
102. And acquiring simulation state parameters of the simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving torque of the simulation test bench in the simulated load state.
By way of example and not limitation, the control system simulating the vehicle load obtains simulated state parameters of the simulated test rig, including a simulated vehicle moment of inertia, a simulated mechanical angular velocity, and a simulated drive torque of the simulated test rig under the simulated load condition.
In this embodiment, the simulation Test bench performs load simulation on the Vehicle to be simulated by using a New European Driving Cycle (NEDC) Test mode, and may also perform simulation by using other Test modes, such as a World Light Vehicle Test Procedure (WLTP) mode or an EPA mode, which is not limited herein.
It can be understood that the simulated mechanical angular velocity and the simulated driving torque in the embodiment of the present invention may be set to be the same as the real mechanical angular velocity and the simulated driving torque may be set to be the same as the real driving torque, so that the number of the four state parameter variables is reduced from four to two, and the simulated load torque may be determined by only considering the real vehicle moment of inertia, the simulated vehicle moment of inertia and the real load torque, thereby reducing external factors affecting load variation and improving the control efficiency of the simulated vehicle load.
103. And determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters.
And the control system for simulating the vehicle load determines the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters. The simulated load torque is the actual output torque on the motor shaft.
Specifically, the simulation test bench determines a simulated mechanical angular speed and a simulated driving torque in a simulation state according to a real mechanical angular speed and a real driving torque in a real driving state; and then, the rotational inertia of the simulation test bench (namely the simulated vehicle rotational inertia of the vehicle to be simulated) and the real vehicle rotational inertia of the vehicle to be simulated are compared to determine the simulation load moment required by the test bench.
It should be noted that the simulated load moment of the simulated test bench herein is a resistance moment (i.e., a simulated load moment) required to keep the force balance in the driving state of the simulated test bench.
104. And determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance.
Specifically, the control system for simulating the vehicle load determines the simulated load moment according to the simulated load moment and the preset inertia resistance. And converting the vehicle speed in the inertial resistance into the vehicle angular speed based on the inertial resistance comprising the total vehicle mass, the rotating mass conversion coefficient and the vehicle speed to obtain the angular acceleration of the simulation test bench.
105. And controlling the simulation test bench according to the angular acceleration.
And the control system for simulating the vehicle load controls the simulation test bench according to the angular acceleration.
It should be noted that, in the conventional scheme, the analog test bench is controlled by performing torque control on the tested motor, so that the tested motor outputs the resistance torque required by the test bench. And the expression for the resisting moment is as follows:
Wherein the inertial resistance
The differential is obtained according to the real-time speed, the calculation of the resisting moment is influenced by the speed fluctuation, and the adverse influence of the speed fluctuation is amplified and sent to a control link of the load moment. The original moment control link has one differentiation, and the differentiation link in the resisting moment command is superposed, so that the stability margin of the system is obviously reduced. And the secondary differential easily causes system oscillation, and the system often oscillates during acceleration and deceleration in actual test, thereby influencing the overall test. Even if the speed is filtered to weaken the adverse effect of speed fluctuation, oscillation cannot be well suppressed.
According to the embodiment of the invention, the moment control of the simulation test bench is changed into the angular velocity control, so that the differentiation link of the inertial resistance in the simulation process is eliminated, the oscillation generated when the vehicle load is simulated is reduced, the capability of simulating the vehicle load is improved, and the stability margin of a control system in the process of simulating the vehicle load is improved.
Referring to fig. 2, another flowchart of a method for controlling a simulated vehicle load according to an embodiment of the present invention specifically includes:
201. and acquiring real state parameters of the vehicle to be simulated, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular velocity, real driving torque and real load torque of the vehicle to be simulated in a running state.
By way of example and not limitation, the control system for simulating the vehicle load reads real state parameters of the vehicle to be simulated in the driving state, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular speed, real driving torque and real load torque of the vehicle to be simulated in the driving state.
It should be noted that the vehicle to be simulated in this embodiment is a new energy vehicle, the new energy vehicle is loaded with a motor, the motor provides output power, and the actual load condition of the vehicle is simulated by controlling the rotation speed of the motor, so that the actual load of the new energy electric vehicle is better simulated.
It can be understood that the real state parameters of the vehicle to be simulated may have differences in the calculated real state parameters under different driving conditions and road conditions, and in order to eliminate the influence of errors, the present embodiment may calculate the state parameters under different driving conditions for multiple times and take an average value, so as to calculate the real state parameters.
202. And acquiring simulation state parameters of the simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving torque of the simulation test bench in the simulated load state.
By way of example and not limitation, the control system simulating the vehicle load obtains simulated state parameters of the simulated test rig, including a simulated vehicle moment of inertia, a simulated mechanical angular velocity, and a simulated drive torque of the simulated test rig under the simulated load condition.
In this embodiment, the simulation Test bench performs load simulation on the Vehicle to be simulated by using a New European Driving Cycle (NEDC) Test mode, and may also perform simulation by using other Test modes, such as a World Light Vehicle Test Procedure (WLTP) mode or an EPA mode, which is not limited herein.
It is understood that the simulated mechanical angular velocity in the embodiment of the present invention may be set to be the same as the real mechanical angular velocity, and the simulated driving torque may be set to be the same as the real driving torque, so that the number of the four state parameter variables is reduced from four to two, and the simulated load torque may be determined by only considering the real vehicle rotational inertia, the simulated vehicle rotational inertia, and the real load torque, thereby reducing external factors affecting load variation, and improving the control efficiency of the simulated vehicle load.
203. And determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters.
And the control system for simulating the vehicle load determines the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters. The simulated load torque (i.e., the simulated load torque) is the actual output torque on the motor shaft.
Specifically, the simulation test bench determines a simulated mechanical angular speed and a simulated driving torque in a simulation state according to a real mechanical angular speed and a real driving torque in a real driving state; and then, the rotary inertia of the simulation test bench (namely the simulated vehicle rotary inertia of the vehicle to be simulated) and the real vehicle rotary inertia of the vehicle to be simulated are compared to determine the simulation load moment required by the test bench.
It should be noted that the simulated load moment of the simulated test bed herein is a resistance moment (i.e. simulated load moment) required to keep the force balance in the driving state of the simulated test bed.
204. And determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance.
Specifically, the control system for simulating the vehicle load determines the simulated load moment according to the simulated load moment and the preset inertial resistance. And converting the vehicle speed in the inertial resistance into the vehicle angular speed based on the inertial resistance comprising the total vehicle mass, the rotating mass conversion coefficient and the vehicle speed to obtain the angular acceleration of the simulation test bench.
205. An angular velocity control command is generated based on the angular acceleration.
Specifically, a control system simulating vehicle load determines the control duration of a target control period; the control system for simulating the vehicle load calculates the angular velocity increment according to the angular acceleration and the control duration; and the control system for simulating the vehicle load superposes the angular speed command of the previous control period and the angular speed increment to generate the angular speed control command of the target control period.
206. And carrying out angular speed control on the simulation test bench through an angular speed control command.
Specifically, the control system for simulating the vehicle load adjusts the control mode of the simulation test bench into angular speed control; and the control system for simulating the vehicle load inputs the angular speed control instruction into the simulation test bench to control the simulation test bench to simulate the load.
It should be noted that, in the conventional scheme, the analog test bench is controlled by performing torque control on the motor to be tested, so that the resistance torque required by the test bench is output. And the expression for the resisting moment is as follows:
wherein m is the total mass of the vehicle, g is the gravitational acceleration, f is the rolling resistance coefficient, C D Is an air resistance coefficient, A is a windward area, epsilon is a rotating mass conversion coefficient, v is a vehicle speed (unit km/h), F brake R is the rolling radius of the wheel, eta, for the braking force T For transmission efficiency, i g Is the transmission ratio. Wherein the inertial resistance
The differential is obtained according to the real-time speed, the calculation of the resisting moment is influenced by the speed fluctuation, and the adverse influence of the speed fluctuation is amplified and sent to a control link of the load moment. The original moment control link has primary differentiation, and then the differentiation link in the resisting moment command is superposed, so that the stability margin of the system is obviously reduced, the secondary differentiation easily causes system oscillation, and the system is often oscillated during acceleration and deceleration in actual test, so that the overall test is influenced. Even if the speed is filtered to weaken the adverse effect of speed fluctuation, oscillation cannot be well suppressed.
According to the embodiment of the invention, the moment control of the simulation test bench is changed into the angular velocity control, so that the differentiation link of the inertial resistance in the simulation process is eliminated, the oscillation generated in the vehicle load simulation process is reduced, the vehicle load simulation capability is improved, and the stability margin of a control system in the vehicle load simulation process is improved.
Referring to fig. 3, another flowchart of a method for controlling a simulated vehicle load according to an embodiment of the present invention specifically includes:
301. and acquiring real state parameters of the vehicle to be simulated, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular velocity, real driving torque and real load torque of the vehicle to be simulated in a running state.
By way of example and not limitation, the control system for simulating the vehicle load reads real state parameters of the vehicle to be simulated in the driving state, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular speed, real driving torque and real load torque of the vehicle to be simulated in the driving state and are recorded as real vehicle rotational inertia J 1 True mechanical angular velocity
True drive torque T e1 And the real load moment T L1 。
It should be noted that the vehicle to be simulated in this embodiment is a new energy vehicle, the new energy vehicle is loaded with a motor, the motor provides output power, and the actual load condition of the vehicle is simulated by controlling the rotation speed of the motor, so that the actual load of the new energy electric vehicle is better simulated.
It can be understood that the real state parameters of the vehicle to be simulated may have differences in the calculated real state parameters under different driving conditions and road conditions, and in order to eliminate the influence of errors, the present embodiment may calculate the state parameters under different driving conditions for multiple times and take an average value, so as to calculate the real state parameters.
302. And acquiring simulation state parameters of the simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving torque of the simulation test bench in the simulated load state.
By way of example and not limitation, the control system for simulating the vehicle load obtains simulated state parameters of the simulated test stand, including the simulated vehicle moment of inertia, the simulated mechanical angular velocity and the simulated driving moment of the simulated test stand under the simulated load condition, and records the simulated vehicle moment of inertia J 2 True mechanical angular velocity
And true drive torque T e2 。
In this embodiment, the simulation Test bench performs load simulation on the Vehicle to be simulated by using a New European Driving Cycle (NEDC) Test mode, and may also perform simulation by using other Test modes, such as a World Light Vehicle Test Procedure (WLTP) mode or an EPA mode, which is not limited herein.
It is understood that the simulated mechanical angular velocity in the embodiment of the present invention may be set to be the same as the real mechanical angular velocity, and the simulated driving torque may be set to be the same as the real driving torque, so that the number of the four state parameter variables is reduced from four to two, and the simulated load torque may be determined by only considering the real vehicle rotational inertia, the simulated vehicle rotational inertia, and the real load torque, thereby reducing external factors affecting load variation, and improving the control efficiency of the simulated vehicle load.
303. And determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters.
Specifically, the control system for simulating the vehicle load generates a real moment expression of the vehicle to be simulated according to the real vehicle rotational inertia, the real mechanical angular speed, the real driving moment and the real load moment in the real state parameters; the control system for simulating the vehicle load generates a simulation torque expression of the simulation test bench according to the simulated vehicle rotational inertia, the simulated mechanical angular speed and the simulated driving torque in the simulated state parameters; when the real driving torque is the same as the simulated driving torque, the control system for simulating the vehicle load determines a first simulated load torque expression of the simulated test bench according to the real torque expression and the simulated torque expression; when the real mechanical angular speed is the same as the simulated mechanical angular speed, generating a second simulated load moment expression according to the first simulated load moment expression; and the control system for simulating the vehicle load determines the simulated load moment of the simulation test bench according to the second simulated load moment expression.
For example, a control system that simulates the vehicle load is based on the true vehicle moment of inertia J 1 True mechanical angular velocity
True drive torque T e1 And the real load moment T L1 Generating a real moment expression of the vehicle to be simulated:
the control system for simulating the vehicle load is based on the simulated vehicle moment of inertia J 2 True mechanical angular velocity
And true drive torque T e2 Generating a simulation moment expression of a simulation test bench:
when the true driving torque T e1 And simulating the drive torque T e2 When the real moment is the same, the control system for simulating the vehicle load is expressed according to the real moment
And the expression of simulated moment
Determining a first simulated load moment expression of the simulated test bench:
when true mechanical angular velocity
And simulating mechanical angular velocity
When the same, order
Generating a second simulated load moment expression according to the first simulated load moment expression
And the control system for simulating the vehicle load determines the simulated load moment of the simulation test bench according to the first simulated load moment expression.
In the embodiment, the real mechanical angular speed and the simulated mechanical angular speed can be the same, so that the variable influencing the simulated load moment is reduced, and the stability margin of the control system is increased.
It should be noted that the simulated load moment of the simulated test bed herein is a resistance moment (i.e. simulated load moment) required to keep the force balance in the driving state of the simulated test bed.
304. And determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance.
Specifically, a control system for simulating vehicle load obtains a preset resisting moment expression of a simulation test rack; the control system for simulating the vehicle load converts the speed of inertial resistance in the preset resistance moment expression into angular speed to obtain a converted resistance moment expression; the control system for simulating the vehicle load replaces the second simulated load moment expression with the converted resisting moment expression to generate a simulated load moment expression; and the control system for simulating the vehicle load determines the angular acceleration of the simulation test bench through a simulation load moment expression.
For example, a control system simulating the load of a vehicle obtains a preset resisting moment expression of a simulation test bench, wherein the preset resisting moment expression is
Wherein,
m is the total mass of the vehicle, g is the gravitational acceleration, f is the rolling resistance coefficient, C D Is the coefficient of air resistance, A is the frontal area, ε is the coefficient of conversion of the rotating mass, v is the vehicle speed (in km/h), F brake R is the rolling radius of the wheel, eta, for the braking force T For transmission efficiency, i g Is a transmission ratio; the control system for simulating the vehicle load converts the vehicle speed v (i.e. vehicle speed) of inertial resistance in the preset moment of resistance expression into the vehicle angular velocity
Wherein the unit of the speed v is km/h according to a conversion formula
Converting to obtain a converted expression of resisting moment
The control system for simulating the vehicle load converts a second simulated load moment expression
Replacing with the converted expression of resisting moment to generate the expression of simulating load moment
The control system for simulating the vehicle load determines the angular acceleration of the simulation test bench as
305. An angular velocity control command is generated based on the angular acceleration.
Specifically, a control system simulating vehicle load determines the control duration of a target control period; the control system for simulating the vehicle load calculates the angular velocity increment according to the angular acceleration and the control duration; and the control system for simulating the vehicle load superposes the angular speed command of the previous control period and the angular speed increment to generate the angular speed control command of the target control period.
For example, the control system simulating the vehicle load determines the control duration Δ t of the target control period; the control system for simulating the vehicle load calculates the angular speed increment according to the simulated load moment and the control duration delta t
The control system simulating the vehicle load commands the angular speed of the last control period
The angular velocity control command is superposed with the angular velocity increment to generate a target control period
306. And carrying out angular speed control on the simulation test bench through an angular speed control command.
Specifically, the control system for simulating the vehicle load adjusts the control mode of the simulation test bench into angular speed control; and the control system for simulating the vehicle load inputs the angular speed control instruction into the simulation test bench to control the simulation test bench to simulate the load.
It should be noted that, after step 306, the embodiment of the present invention may further include:
307. and generating a rotating speed control instruction according to the angular speed control instruction, and carrying out rotating speed control on the simulation test bench based on the rotating speed control instruction.
Specifically, a control system simulating vehicle load generates a rotating speed control instruction according to an angular speed control command; the control system for simulating the vehicle load adjusts the control mode of the simulation test bench into rotation speed control; and the control system for simulating the vehicle load inputs the rotating speed control instruction into the simulation test bench to control the simulation test bench to simulate the load.
For example, a control system simulating vehicle load controls commands based on angular velocity
Generating a rotation speed control command n cmd Then through a rotation speed control command n cmd And controlling the rotating speed.
It should be noted that, in the conventional scheme, the analog test bench is controlled by performing torque control on the tested motor, so that the tested motor outputs the resistance torque required by the test bench. And the expression for the resisting moment is as follows:
Wherein the inertial resistance
The differential is obtained according to the real-time speed, the calculation of the resisting moment is influenced by the speed fluctuation, and the adverse influence of the speed fluctuation is amplified and sent to a control link of the load moment. The original moment control link has a first differentiation, and then the differentiation link in the resisting moment command is superposed, so that the stability margin of the system is obviously reduced, the second differentiation is easy to cause system oscillation, and the system often oscillates during acceleration and deceleration in actual test, so that the overall test is influenced. Even if the speed is filtered to weaken the adverse effect of speed fluctuation, oscillation cannot be well suppressed.
According to the embodiment of the invention, the moment control of the simulation test bench is changed into the rotating speed control or the angular speed control, so that the differentiation link of the inertial resistance in the simulation process is eliminated, the oscillation caused by the calculation of the inertial resistance in the test of the simulation bench is avoided, the oscillation generated in the vehicle load simulation process is reduced, the vehicle load simulation capability is improved, and the stability margin of a test system in the vehicle load simulation process is improved.
With reference to fig. 4, the method for controlling a simulated vehicle load according to the embodiment of the present invention is described above, and a control device for simulating a vehicle load according to the embodiment of the present invention is described below, where an embodiment of the control device for simulating a vehicle load according to the embodiment of the present invention includes:
a first obtaining module 401, configured to obtain real state parameters of a vehicle to be simulated, where the real state parameters include a real vehicle rotational inertia, a real mechanical angular velocity, a real driving torque, and a real load torque of the vehicle to be simulated in a driving state;
a second obtaining module 402, configured to obtain simulation state parameters of a simulation test bench, where the simulation state parameters include a simulated vehicle rotational inertia, a simulated mechanical angular velocity, and a simulated driving torque of the simulation test bench in a simulated load state;
a first determining module 403, configured to determine a simulated load moment of the simulated test bench according to the real state parameter and the simulated state parameter;
a second determining module 404, configured to determine an angular acceleration of the simulation test bench according to the simulated load moment and a preset inertial resistance;
and a control module 405, configured to control the simulation test bench according to the angular acceleration.
Optionally, the first determining module 403 includes:
a first generating unit 4031, configured to generate a real torque expression of the vehicle to be simulated according to the real vehicle rotational inertia, the real mechanical angular velocity, the real driving torque, and the real load torque in the real state parameters;
a second generating unit 4032, configured to generate a simulation torque expression of the simulation test bench according to the simulated vehicle inertia moment, the simulated mechanical angular velocity, and the simulated driving torque in the simulated state parameters;
a first determination unit 4033 for determining a first simulated load torque expression of the simulated test bench from the real torque expression and the simulated torque expression when the real driving torque and the simulated driving torque are the same;
a third generating unit 4034, configured to generate a second simulated load moment expression according to the first simulated load moment expression when the actual mechanical angular velocity is the same as the simulated mechanical angular velocity;
a second determining unit 4035, configured to determine a simulated load moment of the simulated test rig according to the second simulated load moment expression.
Optionally, the second determining module 404 is specifically configured to:
acquiring a preset resisting moment expression of the simulation test bench;
converting the speed of inertial resistance in the preset resistance moment expression into angular speed to obtain a converted resistance moment expression;
replacing the second simulated load moment expression with the converted resisting moment expression to generate a simulated load moment expression;
and determining the angular acceleration of the simulation test bench through the simulation load moment expression.
Optionally, the control module 405 includes:
an instruction generating unit 4051 configured to generate an angular velocity control instruction according to the angular acceleration;
a control unit 4052, configured to perform angular velocity control on the simulation test rig through the angular velocity control instruction.
Optionally, the instruction generating unit 4051 is specifically configured to:
determining the control duration of a target control period;
calculating an angular velocity increment according to the angular acceleration and the control duration;
and superposing the angular velocity command of the previous control period with the angular velocity increment to generate the angular velocity control command of the target control period.
Optionally, the control unit 4052 is specifically configured to:
adjusting the control mode of the simulation test bench into angular speed control;
and inputting the angular speed control instruction into the simulation test bench to control the simulation test bench to simulate the load.
Optionally, the control device for simulating the vehicle load further includes:
and the generation control module 406 is configured to generate a rotation speed control instruction according to the angular speed control command, and perform rotation speed control on the simulation test bench based on the rotation speed control instruction.
According to the embodiment of the invention, the moment control of the simulation test bench is changed into the rotating speed control or the angular speed control, so that the differentiation link of the inertial resistance in the simulation process is eliminated, the oscillation caused by the calculation of the inertial resistance in the test of the simulation bench is avoided, the oscillation generated in the vehicle load simulation process is reduced, the vehicle load simulation capability is improved, and the stability margin of a test system in the vehicle load simulation process is improved.
The embodiment of the invention provides a control system for simulating vehicle load, which comprises: the system comprises a load simulation system, a tested power system and a test control system, wherein the load simulation system is used for simulating a vehicle load, the tested power system is used for driving the vehicle load through a driving torque, and the test control system is used for detecting the tested power system. It is understood that the power system under test includes an electrical drive module, a battery module, and a high voltage power distribution module.
Fig. 5 is a schematic structural diagram of a test control system, which may include one or more processors (CPUs) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) for storing applications 533 or data 532, according to an embodiment of the present invention, and the test control system 500 may generate relatively large differences due to different configurations or performances. Memory 520 and storage media 530 may be, among other things, transient or persistent storage. The program stored on the storage medium 530 may include one or more modules (not shown), each of which may include a sequence of instructions operating on the test control system 500. Still further, the processor 510 may be configured to communicate with the storage medium 530 to execute a series of instruction operations in the storage medium 530 on the test control system 500.
The test control system 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input-output interfaces 560, and/or one or more operating systems 531, such as Windows Server, mac OS X, unix, linux, freeBSD, and so forth. Those skilled in the art will appreciate that the test control system configuration shown in fig. 5 does not constitute a limitation of the test control system and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and which may also be a volatile computer-readable storage medium, having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the method of controlling a simulated vehicle load.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A control method for simulating a vehicle load, comprising:
acquiring real state parameters of a vehicle to be simulated, wherein the real state parameters comprise real vehicle rotational inertia, real mechanical angular velocity, real driving torque and real load torque of the vehicle to be simulated in a running state;
acquiring simulation state parameters of a simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving moment of the simulation test bench in a simulated load state;
determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters; the determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters comprises:
generating a real moment expression of the vehicle to be simulated according to the real vehicle rotational inertia, the real mechanical angular speed, the real driving moment and the real load moment in the real state parameters;
generating a simulation moment expression of a simulation test bench according to the simulated vehicle rotational inertia, the simulated mechanical angular speed and the simulated driving moment in the simulation state parameters;
when the real driving moment is the same as the simulated driving moment, determining a first simulated load moment expression of the simulated test bench according to the real moment expression and the simulated moment expression;
when the real mechanical angular speed is the same as the simulated mechanical angular speed, generating a second simulated load moment expression according to the first simulated load moment expression;
determining the simulation load moment of the simulation test bench according to the second simulation load moment expression;
determining the angular acceleration of the simulation test bench according to the simulation load moment and the preset inertial resistance;
and controlling the simulation test bench according to the angular acceleration.
2. The method of controlling simulated vehicle load according to claim 1, wherein said determining angular acceleration of said simulated test rig from said simulated load moment and a preset inertial resistance comprises:
acquiring a preset resisting moment expression of the simulation test bench;
converting the speed of inertial resistance in the preset resistance moment expression into angular speed to obtain a converted resistance moment expression;
replacing the second simulated load moment expression with the converted resisting moment expression to generate a simulated load moment expression;
and determining the angular acceleration of the simulation test bench through the simulation load moment expression.
3. The method of controlling a simulated vehicle load according to claim 1, wherein said controlling said simulated test rig in accordance with said angular acceleration comprises:
generating an angular velocity control command according to the angular acceleration;
and carrying out angular speed control on the simulation test bench through the angular speed control command.
4. A control method of a simulated vehicle load according to claim 3, wherein said generating an angular velocity control command in accordance with said angular acceleration comprises:
determining the control duration of a target control period;
calculating an angular velocity increment according to the angular acceleration and the control duration;
and superposing the angular velocity instruction of the previous control period with the angular velocity increment to generate an angular velocity control instruction of a target control period.
5. The method for controlling a simulated vehicle load according to claim 3, wherein said angular velocity controlling said simulated test rig by said angular velocity control command comprises:
adjusting the control mode of the simulation test bench into angular speed control;
and inputting the angular speed control command into the simulation test bench to control the simulation test bench to simulate a load.
6. The method for controlling a simulated vehicle load according to any one of claims 1 to 5, wherein after said controlling said simulated test stand according to said angular acceleration, further comprising:
and generating a rotating speed control instruction according to the angular speed control instruction, and controlling the rotating speed of the simulation test bench based on the rotating speed control instruction.
7. A control device that simulates a vehicle load, comprising:
the device comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is used for obtaining real state parameters of a vehicle to be simulated, and the real state parameters comprise real vehicle rotational inertia, real mechanical angular speed, real driving torque and real load torque of the vehicle to be simulated in a running state;
the second acquisition module is used for acquiring simulation state parameters of a simulation test bench, wherein the simulation state parameters comprise the simulated vehicle rotational inertia, the simulated mechanical angular velocity and the simulated driving moment of the simulation test bench in a simulated load state;
the first determining module is used for determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters; the determining the simulated load moment of the simulated test bench according to the real state parameters and the simulated state parameters comprises:
generating a real moment expression of the vehicle to be simulated according to the real vehicle rotational inertia, the real mechanical angular speed, the real driving moment and the real load moment in the real state parameters;
generating a simulation moment expression of a simulation test bench according to the simulated vehicle rotational inertia, the simulated mechanical angular speed and the simulated driving moment in the simulation state parameters;
when the real driving torque is the same as the simulated driving torque, determining a first simulated load torque expression of the simulated test bench according to the real torque expression and the simulated torque expression;
when the real mechanical angular speed is the same as the simulated mechanical angular speed, generating a second simulated load moment expression according to the first simulated load moment expression;
determining the simulated load moment of the simulated test bench according to the second simulated load moment expression;
the second determination module is used for determining the angular acceleration of the simulation test bench according to the simulation load moment and preset inertial resistance;
and the control module is used for controlling the simulation test bench according to the angular acceleration.
8. A control system for simulating a vehicle load, the control system comprising: the system comprises a load simulation system, a tested power system and a test control system, wherein the load simulation system is used for simulating vehicle load, the tested power system is used for driving the vehicle load by driving torque, the test control system is used for detecting the tested power system, the test control system comprises a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected through a line;
the at least one processor invokes the instructions in the memory to cause the test control system to perform the control method for simulating a vehicle load of any of claims 1-6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores instructions that, when executed by a processor, implement the control method of simulating a vehicle load according to any one of claims 1-6.
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