CN114035547A - Hardware-in-loop simulation method and device, electronic equipment and computer storage medium - Google Patents
Hardware-in-loop simulation method and device, electronic equipment and computer storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The application provides a hardware-in-loop simulation method, a hardware-in-loop simulation device, electronic equipment and a computer storage medium, wherein the method comprises the following steps: firstly, judging whether the current required gear is consistent with the last required gear; if the current required gear is judged to be inconsistent with the last required gear, shifting to the current required gear, and latching the last required gear through an RS trigger in the process of shifting to the current required gear to obtain a latched gear; and performing hardware-in-loop simulation by using the current required gear and the latching gear. Therefore, when the AMT controller is tested, a real gear selecting and shifting actuating mechanism is not required to be connected, the gear selecting and shifting position and the latching position which are required are obtained through the required gear and the latching position, and the HIL model can realize the simulation of the gear selecting and shifting state and the position only by the gear selecting and shifting position corresponding to the gear (which is required to be consistent with the gear selecting and shifting position of the software of the AMT controller to be tested), so that the closed-loop debugging of the AMT controller is facilitated.
Description
Technical Field
The present disclosure relates to the field of automotive testing technologies, and in particular, to a hardware-in-loop simulation method and apparatus, an electronic device, and a computer storage medium.
Background
With the development of automotive technology and electronic technology, automatic transmissions (AMTs) have become the standard configuration of hybrid powertrain systems.
In order to reduce the number of Hardware and software bugs in the development of hybrid AMT controllers, most of the hybrid AMT controllers are developed based on a V mode, Hardware and software tests are carried out through a Hardware-in-the-loop (HIL) system, a real electric control electric or electric control pneumatic gear selecting and shifting executing mechanism is often required to be connected during testing, but the actual gear selecting and shifting mechanism is difficult to connect for testing due to the fact that the gear selecting and shifting mechanism has fewer sample Hardware resources or the condition of the test lacks an air source. When a control model is tested, the change of a gear selecting position and a gear shifting position of a gear shifting finger in an HIL simulation gear selecting and shifting executing mechanism is needed to complete gear engaging operation, if the simulation gear selecting and shifting position is carried out by establishing a model of the gear selecting and shifting executing mechanism, if an electric control pneumatic gear selecting and shifting mechanism needs the relationship between the opening degree and the gas flow of a valve, the corresponding relationship between the volume of a cylinder piston and the pressure and the corresponding relationship between the pressure and the position, if the electric control electric gear selecting and shifting mechanism needs the relationship between the PWM of a gear selecting and shifting direct current motor and the rotating speed of the DC motor, the corresponding relationship between the rotating speed and the gear selecting and shifting position, and the parameters are the core technology of the executing mechanism, so that the establishment of the HIL model cannot realize closed-loop debugging.
Disclosure of Invention
In view of this, the present application provides a hardware-in-loop simulation method, apparatus, electronic device and computer storage medium, which do not need to connect a real gear selecting and shifting actuator when testing the AMT controller, obtain a required gear selecting and shifting position and a required latching position through a required gear and a latched gear, and only need a gear selecting and shifting position corresponding to the gear (which is consistent with the gear selecting and shifting position of the software of the AMT controller to be tested) by using the HIL model, so that simulation of the gear selecting and shifting state and position can be realized, and closed-loop debugging of the AMT controller is facilitated.
A first aspect of the present application provides a hardware-in-loop simulation method, including:
judging whether the current required gear is consistent with the last required gear;
if the current required gear is judged to be inconsistent with the last required gear, shifting to the current required gear, and latching the last required gear through an RS trigger in the process of shifting to the current required gear to obtain a latched gear;
and performing hardware-in-loop simulation by using the current required gear and the latching gear.
Optionally, the hardware-in-loop simulation method further includes:
and when the gear shifting state is the gear shifting completion, the RS trigger is updated, and the latching gear is updated to be the required gear.
Optionally, the hardware-in-loop simulation method further includes:
if the current required gear is judged to be consistent with the last required gear, the latching state is kept unchanged, the feedback gear shifting control state is 0, and the actual torque of the motor and the engine changes according to the required torque sent by the whole vehicle controller.
Optionally, if it is determined that the current demand gear is inconsistent with the previous demand gear, shifting to the current demand gear includes:
if the current required gear is judged to be inconsistent with the last required gear, entering a torque clearing state; after the torque clearing state is entered, the gear is not changed, the latching state is kept, the current gear shifting control state is fed back to be 0, and the torque of the motor and the torque of the engine are changed according to the required torque sent by the whole vehicle controller;
if the motor torque is smaller than a first set threshold and the engine torque is smaller than a second set torque, the torque clearing state is finished; when the torque clearing state is finished, the gear is not changed, and the feedback gear control state is 0;
when a gear-off request is received, entering a gear-off state, and determining a gear-shifting position if the gear-shifting position changes;
if the gear shifting position enters a neutral gear belt, ending the gear picking state; when the gear-off state is finished, the current gear is 0, and the gear-shifting position is a neutral position;
when a gear selection and speed regulation request is received, determining whether gear selection is finished or not according to the change of the current gear selection position, and determining whether speed regulation is finished or not according to the difference value of the rotating speed of the motor and the rotating speed of a shaft required to be input by a gearbox;
after gear selection and speed regulation are completed, a gear engaging command is received, the current gear shifting position is gradually changed into a required gear shifting position, and when the absolute difference value between the current gear shifting position and the required gear shifting position is 1, gear shifting is completed.
Optionally, when a gear-shifting request is received, the gear-shifting state is entered, and the gear-shifting position is changed, so that the gear-shifting position is determined, including:
if the current gear shifting position is positive and the required gear shifting position is negative, gradually reducing the current gear shifting position to a neutral position;
and if the current gear shifting position is negative and the required gear shifting position is positive, gradually increasing the current gear shifting position to a neutral position.
A second aspect of the present application provides a hardware-in-loop simulation apparatus, including:
the judging unit is used for judging whether the current required gear is consistent with the last required gear;
the gear shifting unit is used for shifting to the current required gear if the judging unit judges that the current required gear is not consistent with the last required gear;
the latching unit is used for latching the last required gear to obtain a latched gear in the process of shifting to the current required gear through the RS trigger;
and the simulation unit is used for performing hardware-in-the-loop simulation by using the current required gear and the latching gear.
Optionally, the hardware-in-the-loop simulation apparatus further includes:
and the updating unit is used for updating the RS trigger to update the latching gear to the required gear when the gear shifting state is the gear shifting completion.
Optionally, the hardware-in-the-loop simulation apparatus further includes:
and the holding unit is used for keeping the latching state unchanged if the current required gear is judged to be consistent with the last required gear by the judging unit, the fed-back gear shifting control state is 0, and the actual torque of the motor and the engine is changed according to the required torque sent by the whole vehicle controller.
Optionally, the shift unit includes:
the torque clearing unit is used for entering a torque clearing state if the current required gear is judged to be inconsistent with the previous required gear by the judging unit; after the torque clearing state is entered, the gear is not changed, the latching state is kept, the current gear shifting control state is fed back to be 0, and the torque of the motor and the torque of the engine are changed according to the required torque sent by the whole vehicle controller;
the torque clearing unit is also used for finishing a torque clearing state if the motor torque is smaller than a first set threshold and the engine torque is smaller than a second set torque; when the torque clearing state is finished, the gear is not changed, and the feedback gear control state is 0;
the gear-off unit is used for entering a gear-off state when a gear-off request is received, and determining a gear-shifting position when the gear-shifting position changes;
the gear-off unit is also used for ending the gear-off state if the gear-shifting position enters a neutral gear belt; when the gear-off state is finished, the current gear is 0, and the gear-shifting position is a neutral position;
the gear selecting and speed regulating unit is used for determining whether gear selection is finished or not according to the change of the current gear selecting position and determining whether speed regulation is finished or not according to the difference value of the rotating speed of the motor and the rotating speed of a shaft required to be input by the gearbox when a gear selecting and speed regulating request is received;
and the gear engaging unit is used for receiving a gear engaging command after gear selection and speed regulation are finished, gradually changing the current gear shifting position into a required gear shifting position, and finishing gear shifting when the absolute difference value between the current gear shifting position and the required gear shifting position is 1.
Optionally, the gear shifting unit includes:
the first gear-picking subunit is used for gradually reducing the current gear-shifting position to a neutral position if the current gear-shifting position is positive and the required gear-shifting position is negative;
and the second gear-picking subunit is used for gradually increasing the current gear-shifting position to a neutral position if the current gear-shifting position is negative and the required gear-shifting position is positive.
A third aspect of the present application provides an electronic device comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the hardware-in-loop simulation method of any of the first aspects.
A fourth aspect of the present application provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a hardware-in-loop simulation method according to any one of the first aspects.
In view of the foregoing, the present application provides a hardware-in-loop simulation method, apparatus, electronic device, and computer storage medium, where the hardware-in-loop simulation method includes: firstly, judging whether the current required gear is consistent with the last required gear; if the current required gear is judged to be inconsistent with the last required gear, shifting to the current required gear, and latching the last required gear through an RS trigger in the process of shifting to the current required gear to obtain a latched gear; and performing hardware-in-loop simulation by using the current required gear and the latching gear. Therefore, when the AMT controller is tested, a real gear selecting and shifting actuating mechanism is not required to be connected, the gear selecting and shifting position and the latching position which are required are obtained through the required gear and the latching position, and the HIL model can realize the simulation of the gear selecting and shifting state and the position only by the gear selecting and shifting position corresponding to the gear (which is required to be consistent with the gear selecting and shifting position of the software of the AMT controller to be tested), so that the closed-loop debugging of the AMT controller is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a detailed flowchart of a hardware-in-loop simulation method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a gear latch according to another embodiment of the present application;
fig. 3 is a detailed flowchart of a method for engaging a gear according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a shift position for a requested gear according to another embodiment of the present application;
FIG. 5 is a schematic illustration of a latched gear shift position according to another embodiment of the present application;
FIG. 6 is a diagram of a hardware-in-the-loop emulation apparatus according to another embodiment of the present application;
fig. 7 is a schematic diagram of a gear engaging unit according to another embodiment of the present application;
fig. 8 is a schematic diagram of an electronic device for implementing a hardware-in-loop simulation method according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like, referred to in this application, are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of functions performed by these devices, modules or units, but the terms "include", or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements that are not explicitly listed, or includes elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the application provides a hardware-in-loop simulation method, which specifically includes the following steps as shown in fig. 1:
s101, judging whether the current required gear is consistent with the last required gear.
Specifically, if it is determined that the current required gear is not the same as the previous required gear, step S102 is executed.
Optionally, in another embodiment of the present application, an implementation manner of the hardware-in-the-loop simulation method further includes:
if the current required gear is judged to be consistent with the last required gear, the latching state is kept unchanged, the feedback gear shifting control state is 0, and the actual torque of the motor and the engine changes according to the required torque sent by the whole vehicle controller.
And S102, shifting to the current required gear, and latching the last required gear through an RS trigger in the process of shifting to the current required gear to obtain a latched gear.
Among them, the RS flip-flop, i.e., the reset/set flip-flop (R, S is an abbreviation for reset and set in english, respectively), is also called a basic R-S flip-flop, and is the simplest flip-flop, which is the basis for forming various complex flip-flops.
It is understood that the latch can be performed in other ways besides using the RS flip-flop, and is not limited herein.
Specifically, the last required gear is latched to obtain a latched gear for updating the actual gear state.
As shown in fig. 2, which is a schematic diagram of gear latching, when the obtained current required gear (Tx _ numGrDes) is not consistent with the last required gear (Tx _ LastNumGr), Tx _ LastNumGr is latched.
Optionally, in another embodiment of the present application, an implementation manner of the hardware-in-the-loop simulation method further includes:
and when the gear shifting state is the gear shifting completion, the RS trigger is updated, and the latching gear is updated to be the required gear.
And S103, performing hardware-in-loop simulation by using the current required gear and the latching gear.
Specifically, the gear selecting and shifting position and the latching position which are required are obtained according to the required gear and the latching position, the gear selecting and shifting state and the position change are simulated through the model, the position speed can be realized by calibrating the slope according to the requirement (the HIL test does not need to consider the shifting comfort, and the specific relation between the shifting force and the position can be verified through the rack), the gear shifting state simulation is realized, and the coordination control of parts such as a motor, an engine and a clutch is facilitated.
In addition, the method and the device can be widely applied to an electric control pneumatic or electric control electric gear selecting and shifting mechanism, and can also be applied to hardware-in-loop testing of a multi-gear AMT controller with a range gear or a plug-in gear.
Optionally, in another embodiment of the present application, if it is determined that the current required gear is not consistent with the last required gear, an implementation manner of shifting to the current required gear is provided, as shown in fig. 3, and includes:
s301, if the current required gear is judged to be inconsistent with the last required gear, the torque clearing state is started.
After the vehicle enters the torque clearing state, the gear is not changed, the latching state is kept, the current gear shifting control state is fed back to be 0, and the torque of the motor and the torque of the engine are changed according to the torque demand sent by the vehicle controller.
It will be appreciated that at the start the current gear Rx _ numCrCurr is equal to the last demand gear Tx _ LastNumGr is equal to the current demand gear Tx _ numGrDes.
And when the current required gear is changed, entering a torque clearing state.
And S302, if the motor torque is smaller than a first set threshold and the engine torque is smaller than a second set torque, the torque clearing state is finished.
When the torque clearing state is finished, the gear is not changed, and the HIL feedback gear control state is 0; and the HIL feeds back a gear control state to be 0-1, and when the gear control state reaches 1, the gear is completely picked.
The first set threshold and the second set threshold are set and changed by technicians and related authorized workers, which is not limited herein.
And S303, entering a gear-off state when a gear-off request is received, and determining the gear-shifting position when the gear-shifting position changes.
Specifically, the shift position is changed during the gear shifting, and the shift position is changed from the current position (Rx _ posShft ═ Rx _ posShft + (Shft _ posDes-N _ posDes)/300).
Wherein 300 can be calibrated according to the required gear shifting time, the oil temperature of the gearbox and the voltage of the storage battery, and is not limited herein. Rx _ posShft is the current shift position; shft _ posDes is the required shift position; n _ posDes is the neutral position.
Optionally, in another embodiment of the present application, an implementation manner of step S303 specifically includes:
and if the current gear shifting position is positive and the required gear shifting position is negative, gradually reducing the current gear shifting position to the neutral position.
And if the current gear shifting position is negative and the required gear shifting position is positive, gradually increasing the current gear shifting position to the neutral position.
And S304, if the gear shifting position enters a neutral gear belt, ending the gear disengaging state.
When the gear-off state is finished, the current gear is 0 (Rx _ numGrCurr is 0), and the shift position is a neutral position. The gear shifting state is gear off completion (Rx _ stGrCtl ═ 1).
It should be noted that the neutral zone can be, but is not limited to (-1 ≦ Rx _ posShft ≦ 1), and can be calibrated by a technician and an associated authorized operator, and is not limited herein.
S305, when a gear selection and speed regulation request is received, determining whether the gear selection is finished according to the change of the current gear selection position, and determining whether the speed regulation is finished according to the difference value of the rotating speed of the motor and the rotating speed of a shaft required to be input by the gearbox.
It should be noted that gear selection and speed regulation can be performed simultaneously.
When the vehicle control unit sends gear selection speed regulation (Tx _ stShft is 4), Tx _ stShft is 4, the vehicle control unit sends a demand, and the demand indicates that gear selection speed regulation is required. When the gear selection speed is entered, the current gear selection position is changed to Rx _ posSel ═ Rx _ posSel + (Select _ posDes/200), the speed of the current position is changed at the target position/200, when the difference between the current position and the target position is 0.5 (the difference can be set and changed by technicians and related authorized workers, and the difference is not limited here), the gear selection is completed, the current gear is 0 when the gear selection is completed, the gear shifting state is 2, and the current gear selection position is the required gear selection position (Rx _ posSel ═ Select _ posDes).
Wherein Select _ posDes is the required gear selection position.
When the absolute value of the difference between the rotating speed of the motor and the rotating speed of the input shaft of the transmission meeting the requirement is less than or equal to 100rpm (which can be set and changed by technicians and related authorized workers, and is not limited here), namely abs (Rx _ nMt-Rx _ nTrmout × Tx _ numGrDes) is less than or equal to 100, the speed regulation is completed in the shifting state during the speed regulation completion (Rx _ stGrCtl is 3), and Rx _ stGrCtl is 3, and is the HIL feedback shifting state, which indicates that the speed regulation is completed.
Wherein Rx _ nMt is the rotating speed of the motor; rx _ nTrmout is the transmission output shaft speed.
And S306, after gear selection and speed regulation are finished, a gear engaging command is received, the current gear shifting position is gradually changed into a required gear shifting position, and when the absolute difference value between the current gear shifting position and the required gear shifting position is 1, gear shifting is finished.
Specifically, when the vehicle controller issues a gear engagement command (Tx _ cmdShft ═ 1), the vehicle controller starts to enter a gear engagement, and Tx _ cmdShft ═ 1 indicates that the vehicle controller issues a demand, indicating that the gear engagement is to be performed. The current gear shifting position is gradually changed into a required gear shifting position, (Rx _ posShft ═ Rx _ posShft + (Shft _ posDes-N _ posDes)/150, (which can be set and changed by technicians and related authorized workers, and is not limited herein), when the absolute difference value between the current gear shifting position and the required gear shifting position is 1, (Abs (Rx _ posShft-Shft _ posDes) ≦ 1) gear shifting is completed, a gear shifting completion state is entered, the current gear is the required gear, the gear control state is a gear shifting completion state, the current gear shifting position is the required gear shifting position, and the current gear selection position is the required gear selection position.
As shown in fig. 4, a gear selecting and shifting position of a required gear is provided for the application; as shown in fig. 5, a gear selecting and shifting position for latching gears is provided for the present application.
According to the above scheme, the present application provides a hardware-in-loop simulation method: firstly, judging whether the current required gear is consistent with the last required gear; if the current required gear is judged to be inconsistent with the last required gear, shifting to the current required gear, and latching the last required gear through an RS trigger in the process of shifting to the current required gear to obtain a latched gear; and performing hardware-in-loop simulation by using the current required gear and the latching gear. Therefore, when the AMT controller is tested, a real gear selecting and shifting actuating mechanism is not required to be connected, the gear selecting and shifting position and the latching position which are required are obtained through the required gear and the latching position, and the HIL model can realize the simulation of the gear selecting and shifting state and the position only by the gear selecting and shifting position corresponding to the gear (which is required to be consistent with the gear selecting and shifting position of the software of the AMT controller to be tested), so that the closed-loop debugging of the AMT controller is facilitated.
Another embodiment of the present application provides a hardware-in-loop simulation apparatus, as shown in fig. 6, specifically including:
the determining unit 601 is configured to determine whether the current required gear is consistent with the previous required gear.
And a shifting unit 602, configured to shift to the current required gear if the determining unit 601 determines that the current required gear is not the same as the last required gear.
The latching unit 603 is configured to latch the last required gear to obtain a latched gear in the process of shifting to the current required gear through the RS trigger.
And the simulation unit 604 is used for performing hardware-in-loop simulation by using the current required gear and the latching gear.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 1, which is not described herein again.
Optionally, in another embodiment of the present application, an implementation manner of the hardware-in-loop simulation apparatus further includes:
and the updating unit is used for updating the RS trigger when the gear shifting state is the gear shifting completion, and updating the latch gear to the required gear.
For specific working processes of the units disclosed in the above embodiments of the present application, reference may be made to the contents of the corresponding method embodiments, which are not described herein again.
Optionally, in another embodiment of the present application, an implementation manner of the hardware-in-loop simulation apparatus further includes:
and the holding unit is configured to, if the judging unit 601 judges that the current required gear is consistent with the last required gear, keep the latch state unchanged, and change the feedback gear shift control state to 0, where actual torques of the motor and the engine change according to the required torque sent by the vehicle controller.
For specific working processes of the units disclosed in the above embodiments of the present application, reference may be made to the contents of the corresponding method embodiments, which are not described herein again.
Alternatively, in another embodiment of the present application, an embodiment of the shift unit 702, as shown in fig. 7, comprises:
and a torque clearing unit 701, configured to enter a torque clearing state if the determining unit 601 determines that the current required gear is inconsistent with the previous required gear.
After the vehicle enters the torque clearing state, the gear is not changed, the latching state is kept, the current gear shifting control state is fed back to be 0, and the torque of the motor and the torque of the engine are changed according to the torque demand sent by the vehicle controller.
The torque cleaning unit 701 is further configured to complete a torque cleaning state if the motor torque is smaller than a first set threshold and the engine torque is smaller than a second set torque.
When the torque clearing state is finished, the gear is not changed, and the feedback gear control state is 0.
The gear-disengaging unit 702 is configured to enter a gear-disengaging state when a gear-disengaging request is received, and determine a gear-shifting position when the gear-shifting position changes.
The gear-disengaging unit 702 is further configured to end the gear-disengaging state if the shift position enters the neutral belt.
When the gear-off state is finished, the current gear is 0, and the gear-shifting position is a neutral position.
Optionally, in another embodiment of the present application, an implementation manner of the gear shifting unit 702 includes:
and the first gear-picking subunit is used for gradually reducing the current gear-shifting position to the neutral position if the current gear-shifting position is positive and the required gear-shifting position is negative.
And the second gear-picking subunit is used for gradually increasing the current gear-shifting position to the neutral position if the current gear-shifting position is negative and the required gear-shifting position is positive.
For specific working processes of the units disclosed in the above embodiments of the present application, reference may be made to the contents of the corresponding method embodiments, which are not described herein again.
And the gear selecting and speed regulating unit 703 is configured to determine whether gear selection is completed according to a change in a current gear selecting position when a gear selecting and speed regulating request is received, and determine whether speed regulation is completed according to a difference between a motor rotation speed and a required transmission input shaft rotation speed.
And the gear engaging unit 704 is configured to receive a gear engaging instruction after completing gear selection and speed regulation, gradually change the current gear shifting position into a required gear shifting position, and complete gear shifting when an absolute difference value between the current gear shifting position and the required gear shifting position is 1.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 3, which is not described herein again.
As can be seen from the above, the present application provides a hardware-in-loop simulation apparatus: first, the determination unit 601 determines whether the current required gear is consistent with the previous required gear; if the judging unit 601 judges that the current required gear is not consistent with the last required gear, the gear shifting unit 602 shifts to the current required gear, and the latching unit 603 latches the last required gear through the RS trigger in the process of shifting to the current required gear to obtain a latched gear; the simulation unit 604 performs hardware-in-the-loop simulation using the current demand gear and the latched gear. Therefore, when the AMT controller is tested, a real gear selecting and shifting actuating mechanism is not required to be connected, the gear selecting and shifting position and the latching position which are required are obtained through the required gear and the latching position, and the HIL model can realize the simulation of the gear selecting and shifting state and the position only by the gear selecting and shifting position corresponding to the gear (which is required to be consistent with the gear selecting and shifting position of the software of the AMT controller to be tested), so that the closed-loop debugging of the AMT controller is facilitated.
Another embodiment of the present application provides an electronic device, as shown in fig. 8, including:
one or more processors 801.
A storage device 802 on which one or more programs are stored.
The one or more programs, when executed by the one or more processors 801, cause the one or more processors 801 to implement a hardware-in-loop simulation method as described in any of the above embodiments.
Another embodiment of the present application provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the hardware-in-loop simulation method as described in any of the above embodiments.
In the above embodiments disclosed in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present disclosure may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions, if implemented in the form of software functional modules 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 disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a live broadcast device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Those skilled in the art can make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A hardware-in-loop simulation method is characterized by comprising the following steps:
judging whether the current required gear is consistent with the last required gear;
if the current required gear is judged to be inconsistent with the last required gear, shifting to the current required gear, and latching the last required gear through an RS trigger in the process of shifting to the current required gear to obtain a latched gear;
and performing hardware-in-loop simulation by using the current required gear and the latching gear.
2. The hardware-in-loop simulation method of claim 1, further comprising:
and when the gear shifting state is the gear shifting completion, the RS trigger is updated, and the latching gear is updated to be the required gear.
3. The hardware-in-loop simulation method of claim 1, further comprising:
if the current required gear is judged to be consistent with the last required gear, the latching state is kept unchanged, the feedback gear shifting control state is 0, and the actual torque of the motor and the engine changes according to the required torque sent by the whole vehicle controller.
4. The hardware-in-loop simulation method according to claim 1, wherein if it is determined that the current required gear is not consistent with the last required gear, shifting to the current required gear comprises:
if the current required gear is judged to be inconsistent with the last required gear, entering a torque clearing state; after the torque clearing state is entered, the gear is not changed, the latching state is kept, the current gear shifting control state is fed back to be 0, and the torque of the motor and the torque of the engine are changed according to the required torque sent by the whole vehicle controller;
if the motor torque is smaller than a first set threshold and the engine torque is smaller than a second set torque, the torque clearing state is finished; when the torque clearing state is finished, the gear is not changed, and the feedback gear control state is 0;
when a gear-off request is received, entering a gear-off state, and determining a gear-shifting position if the gear-shifting position changes;
if the gear shifting position enters a neutral gear belt, ending the gear picking state; when the gear-off state is finished, the current gear is 0, and the gear-shifting position is a neutral position;
when a gear selection and speed regulation request is received, determining whether gear selection is finished or not according to the change of the current gear selection position, and determining whether speed regulation is finished or not according to the difference value of the rotating speed of the motor and the rotating speed of a shaft required to be input by a gearbox;
after gear selection and speed regulation are completed, a gear engaging command is received, the current gear shifting position is gradually changed into a required gear shifting position, and when the absolute difference value between the current gear shifting position and the required gear shifting position is 1, gear shifting is completed.
5. The hardware-in-loop simulation method of claim 4, wherein when a gear-off request is received, a gear-off state is entered, and if a gear-shifting position is changed, the gear-shifting position is determined, comprising:
if the current gear shifting position is positive and the required gear shifting position is negative, gradually reducing the current gear shifting position to a neutral position;
and if the current gear shifting position is negative and the required gear shifting position is positive, gradually increasing the current gear shifting position to a neutral position.
6. A hardware-in-the-loop emulation apparatus, comprising:
the judging unit is used for judging whether the current required gear is consistent with the last required gear;
the gear shifting unit is used for shifting to the current required gear if the judging unit judges that the current required gear is not consistent with the last required gear;
the latching unit is used for latching the last required gear to obtain a latched gear in the process of shifting to the current required gear through the RS trigger;
and the simulation unit is used for performing hardware-in-the-loop simulation by using the current required gear and the latching gear.
7. The hardware-in-loop simulation apparatus of claim 6, further comprising:
and the updating unit is used for updating the RS trigger to update the latching gear to the required gear when the gear shifting state is the gear shifting completion.
8. The hardware-in-loop simulation apparatus of claim 6, further comprising:
and the holding unit is used for keeping the latching state unchanged if the current required gear is judged to be consistent with the last required gear by the judging unit, the fed-back gear shifting control state is 0, and the actual torque of the motor and the engine is changed according to the required torque sent by the whole vehicle controller.
9. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the hardware-in-loop simulation method of any of claims 1 to 5.
10. A computer storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a hardware-in-loop simulation method as claimed in any one of claims 1 to 5.
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