CN101476985A - Hardware-in-loop semi-physical vehicle transmission-integrated simulation experiment bench - Google Patents
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Abstract
本发明公开了一种硬件在回路半实物汽车传动－制动综合模拟实验台。所述实验台包括实验台机械系统部分和实验台电气系统部分，所述实验台机械系统部分包括车轮、飞轮和旋转轴，所述车轮上均设有ABS制动系统，所述车轮的车轮轴和所述飞轮的飞轮轴通过可控力传动部件连接在一起，所述飞轮的飞轮轴还连接有可控制动部件，所述机械系统部分还包括加速踏板、刹车踏板、离合踏板、变频电机以及变速箱，所述变速箱的输出轴与所述车轮的车轮轴连接在一起，所述变速箱的输入轴连接有所述变频电机；所述实验台电气系统部分包括PC机、接口卡，还包括CAN卡、踏板位置传感器、转速传感器、力控制器、变频器。
The invention discloses a hardware-in-loop semi-physical automobile transmission-braking comprehensive simulation experiment platform. Described experimental bench comprises experimental bench mechanical system part and experimental bench electrical system part, and described experimental bench mechanical system part comprises wheel, flywheel and rotating shaft, and ABS brake system is all arranged on the described wheel, and the wheel axle of described wheel The flywheel shaft of the flywheel is connected together through a controllable force transmission component, and the flywheel shaft of the flywheel is also connected with a controllable brake component. The mechanical system part also includes an accelerator pedal, a brake pedal, a clutch pedal, a frequency conversion motor and gearbox, the output shaft of the gearbox is connected with the wheel shaft of the wheel, and the input shaft of the gearbox is connected with the frequency conversion motor; the electrical system part of the test bench includes a PC, an interface card, and Including CAN card, pedal position sensor, speed sensor, force controller, frequency converter.
Description
Technical field
The present invention relates to a kind of simulated experiment platform that is used to test, verify ABS, ASR system and the automatic gear-box course of work of automobile, especially a kind of hardware is at loop semi physical vehicle transmission-integrated simulation experiment bench.
Background technology
At present, the application of electron controls technology in automobile more and more widely, various novel Auto Electronic Controlled System continue to bring out, as ABS, ASR and automatic gear-box etc.For the principle of work and the course of work of in teaching process, explaining ABS, ASR and automatic gear-box and the performance of verifying independently developed ABS, ASR and automatic gear-box, the experiment table test equipment that is absolutely necessary.
In recent years, the multiple experiment table that is used for test analysis ABS, ASR system and automatic gear-box system has appearred.Can be divided into two classes according to these experiment tablees of purposes: a class is the experiment table that is used for scientific research, mainly sets up often price comparison costliness in order to develop certain system; Another kind of is the experiment table that is used to impart knowledge to students, and mainly is the operation characteristic of introducing certain parts, and performance is often fairly simple, and price is also relatively more cheap.According to its experimental subjects, experiment table also can be divided into two classes: a class is a transmission experiment platform, generally is used for the exploitation of fatigue experiment, automatic gear-box, costs an arm and a leg; Another kind of is the braking ability experiment table, is mainly used in the performance of clamping device such as test ABS.
Mainly there is following problem in existing these experiment tablees: experiment table adopts mode in kind, costs an arm and a leg, and for example only will spend tens0000 yuans at least in order to the electric eddy current dynamometer that loads; Can not comprehensive simulating transmission and brake system, and the Hyundai Motor development trend be will drive with the brake system Comprehensive Control to improve the performance of car load, as carrying out Comprehensive Control to abs braking and engine system in the ASR course of work; In addition, the scientific experiment stylobate originally can not be used for teaching.
Summary of the invention
Technical matters to be solved by this invention is existing transmission, the braking experiment table can not comprehensive simulating transmission and brake system, cost an arm and a leg and can not be applicable to the problem of teaching and scientific research simultaneously.
Because carry out the charger that drive experiments and braking experiment need the simulation running resistance, in order to reduce cost, the present invention does not adopt the high-power charger that is complementary with engine capacity, and has adopted low power analog loading device.Owing to need select corresponding gear according to parameters such as accelerator open degree, engine speed, the speed of a motor vehicle during automatic gear-box work, therefore be the test analysis automatic gear-box, except that being equipped with the controllable brake parts as the charger, the power source that this experiment table also is furnished with the simulated engine characteristic is a variable-frequency motor of the present invention, and the output power of this power source and simulation loading power proportionately.In addition, when test ABS, ASR, often need to test its working condition under the situation of different road surfaces, the device that contains the simulated roadway attachment characteristic for this this experiment table is the controllable force drive disk assembly.
Based on above some, the invention provides a kind of hardware at loop semi physical vehicle transmission-integrated simulation experiment bench, comprise experiment table mechanical system part and experiment table electrical system part, described experiment table mechanical system partly comprises wheel, flywheel and turning axle, described experiment table electrical system partly comprises PC, interface card, in the described experiment table mechanical system part, be equipped with the abs braking system on the described wheel, the axletree of described wheel and the flywheel shaft of described flywheel link together by the controllable force drive disk assembly, the flywheel shaft of described flywheel also is connected with the controllable brake parts, described mechanical system part also comprises accelerator pedal, brake pedal, variable-frequency motor and wheel box, the output shaft of described wheel box and the axletree of described wheel link together, and the input shaft of described wheel box is connected with described variable-frequency motor; Described experiment table electrical system part also comprises the CAN card, frequency converter, force controller, speed probe, pedal position sensor, described frequency converter is electrically connected with described variable-frequency motor, described force controller is electrically connected with described controllable force drive disk assembly and described controllable brake parts, described turning axle is equipped with described speed probe, also be provided with described speed probe on the motor shaft of described variable-frequency motor and the described flywheel, described accelerator pedal and brake pedal are provided with described pedal position sensor, described frequency converter, described force controller, described speed probe and described pedal position sensor all are electrically connected with PC via interface card, and described PC is electrically connected with the CAN card.
The brake system (being the mechanical part of abs braking system) that is used for wheel box, wheel and the wheel of test analysis in this experiment table mechanical system is in kind, and all the other are simulation component.This experiment table utilizes the inertia of flywheel simulated automotive system, rectilinear motion is changed into rotatablely moving, the inertia of flywheel and real vehicle inertia is proportional dwindles; Utilize controllable brake parts simulation running resistance; Utilize the controllable force drive disk assembly to simulate the traction on different road surfaces; Utilize the variable-frequency motor simulated engine; Controllable brake parts, controllable force drive disk assembly are driven by force controller, and variable-frequency motor is driven by the frequency converter that can carry out torque control.The instruction of force controller and frequency converter utilizes hardware to send at circuit technology by PC.
The maximum fan-out capability of each parts among the present invention has carried out correspondingly dwindling calculating according to the vehicle mass of being simulated, and can reduce the manufacturing cost of experiment table like this, and experiment effect is also more accurate simultaneously.
In addition, the display of PC can show the information that the various information that collect and ABS, ASR, automatic gear-box ECU send over by the CAN bus, the course of work of ABS, ASR and automatic gear-box system is displayed clearly, help imparting knowledge to students.
Adopt above structure, this experiment table not only can have been simulated transmission but also characteristic that can simulating brake, can test analysis ABS, ASR and the control system of automatic gear-box, can also as drive manually, the driving simulator of automatic transmission vehicle, meet the development trend that Hyundai Motor improves transmission and brake system Comprehensive Control vehicle performance; And, neither excessive fuel consumption in the experimentation, relatively more directly perceived again, reduced the automobile experiment expenses, both be applicable to that teaching also goes for scientific research, can reach experiment effect preferably.
Description of drawings
Be described in further details below in conjunction with accompanying drawing and embodiments of the present invention:
Fig. 1 is the schematic block diagram of hardware in the mechanical system of loop semi physical vehicle transmission-integrated simulation experiment bench;
Fig. 2 is the partial schematic diagram of hardware in the mechanical system of loop semi physical vehicle transmission-integrated simulation experiment bench;
Fig. 3 is the schematic block diagram of hardware in the electrical system of loop semi physical vehicle transmission-integrated simulation experiment bench.
Among Fig. 2,1. wheel box input shaft, 2. output shaft of gear-box, 3. axletree, 4. flywheel shaft.
Embodiment
Accompanying drawing 1 of the present invention shows the structure of hardware in the mechanical system of loop semi physical vehicle transmission-integrated simulation experiment bench, the basic functions and the configuration of common automobile simulated and had to this mechanical system, can finish the control function of automobile at transmission and braking procedure smoothly.
In conjunction with Fig. 2, the structure of mechanical system of the present invention mainly comprises as can be seen:
Contain wheel in the described experiment table mechanical system part, flywheel and turning axle, described wheel is provided with brake system, it is the ABS system, axletree 3 is arranged on the described wheel, flywheel shaft 4 is arranged in the described flywheel, described flywheel shaft is connected with the controllable brake parts, described axletree 3 links together by described controllable force drive disk assembly with described flywheel shaft 4, described mechanical system part also comprises the accelerator pedal (not shown), the brake pedal (not shown), the clutch pedal (not shown), variable-frequency motor, wheel box and each turning axle, described wheel box is provided with wheel box input shaft 1 and output shaft of gear-box 2, described output shaft of gear-box 2 is connected with the axletree of described wheel, and described wheel box input shaft 1 is connected with described variable-frequency motor.
In addition, controllable brake parts in this mechanical system can be selected electromagnetic brake for use, can also further be chosen as electromagnetic power brake is magnetic powder brake, the running resistance of these controllable brake parts in can the simulating vehicle driving process, the Control current of the force controller output by accepting PC is come the size of control brake power.Flywheel wherein is used for simulating vehicle inertia, comes the quality and the dead weight capacity of simulated automotive self, rectilinear motion is converted into rotatablely move, and the rotational speed of flywheel is the speed of a motor vehicle.Generally flywheel speed is consistent with wheel velocity.If trackslip or brake locking, then the two speed is inconsistent.The controllable force drive disk assembly connects wheel and flywheel, and the maximal value of this parts power that may command is transmitted is to simulate the adhesion under the situation of different road surfaces.The controllable force drive disk assembly select to use powder clutch, and force controller is according to the electric current of the instruction control powder clutch of the PC size with the control transmitting torque, and control is to the power of wheel, to simulate different road surface friction forces.This experiment table is by frequency control motor (being variable-frequency motor) simulated engine outputting power, and described variable-frequency motor is connected with power supply, combines the simulated automotive engine running with wheel box in kind.
This experiment table adopts half object construction, the brake system (being the mechanical part of abs braking system) that is used for wheel box, wheel and the wheel of test analysis in its mechanical system is in kind, wherein contain brake disc and with the corresponding caliper of brake disc, be used for carrying out the braking of simulated automotive; All the other are simulation component.
In enforcement of the present invention, the maximum fan-out capability of each parts should correspondingly be dwindled calculating according to the vehicle mass of being simulated, and can reduce the manufacturing cost of experiment table and the price of experiment table so simultaneously, and experiment effect is also more accurate simultaneously.
Described wheel box can be manual transmission, also can be various types of automatic gear-box.In addition, under the situation that adopts manual transmission or electrical control automatic manual transmission case, for ease of describing, a part of in an embodiment of the present invention clutch components being regarded as wheel box of the present invention, the connected mode of clutch components and wheel box adopts known technology, therefore the parts beyond the not shown wheel box in accompanying drawing 1.
Accompanying drawing 3 of the present invention shows the structure of hardware in the electrical system of loop semi physical vehicle transmission-integrated simulation experiment bench, according to this figure as can be seen:
The experiment table electrical system partly comprises PC, interface card, also comprise the CAN card, frequency converter, force controller, speed probe, pedal position sensor, frequency converter is electrically connected with variable-frequency motor, force controller is electrically connected with controllable force drive disk assembly and controllable brake parts, be equipped with speed probe on the turning axle, also be provided with speed probe on the motor shaft of variable-frequency motor and the flywheel, accelerator pedal, clutch pedal and brake pedal are provided with described pedal position sensor, described frequency converter, described force controller, described speed probe and described pedal position sensor all are electrically connected with PC via interface card, and PC is electrically connected with the CAN card.Wheel box in the mechanical part can be automatic gear-box, wherein contains automatic gear-box ECU (not shown), also can be manual transmission.
In addition, because this experiment table is relatively independent with ASR ECU, ABS ECU (ECU refers to the automobile specified microcomputerized controller) and automatic gear-box ECU, therefore the present invention can experimentize by following connection: this experiment table via among CAN card connection ABS ECU, ASR ECU and the automatic gear-box ECU any one with upper-part, and the speed probe of experiment table directly is connected with automatic gear-box ECU with ABS ECU, the ASR ECU that position transducer is connected with the CAN card, to transmit sensing data.Described ABS ECU, ASRECU and automatic gear-box ECU can be products (or parts) general in the prior art, it also can be independent development development product (or parts), like this, this experiment table can cooperate scientific research and development, quick experiment and feed back the performance of above-mentioned ECU reaches experiment effect preferably.Described ASR ECU system generally includes described ABS ECU part.Described automatic gear-box ECU is electrically connected with PC via the CAN card.ABS ECU, ASR ECU and automatic gear-box ECU are electrically connected mutually via the CAN card.
Protection scope of the present invention contains the product that any one the above product that adopts among above-mentioned ASR ECU, ABS ECU and the automatic gear-box ECU or parts and this experiment table are bonded together.No matter be this experiment table and one of them or whole three or wherein any two combine, all fall into protection scope of the present invention.
In the experiment table electrical system part shown in Figure 3, with the middle control unit of PC as experiment table, this PC can receive each turning axle in real time via interface card, the data that flywheel and motor shaft and each pedal position sensor transmit, the display (not shown in the accompanying drawing) that uses PC to have, the data in real time show state and the controlled variable that transmit in real time according to speed probe, and can be according to the output characteristic curve of state parameter of gathering and the real engine that in experiment table, presets in advance, the motion-resistance-force characteristics curve, the data of the road surface situation of setting etc. are calculated and are sent instruction for force controller and frequency converter.
Each speed probe also directly is connected with automatic gear-box ECU with ABS ECU, ASR ECU with pedal position sensor.Because this experiment table has all been installed speed probe at each turning axle of the rotating shaft that comprises variable-frequency motor, therefore can detect the speed of the speed of a motor vehicle and each wheel in real time, when any one or more than one wheel velocity in the speed of a motor vehicle and each wheel were inconsistent, ASR ECU started automatically.Frequency converter wherein, accept the torque steering order that information calculations such as instruction that PC sends according to pedal position, motor rotational shaft speed and tested ASR ECU are at that time come out via interface card, can control power by the output of the variable-frequency motor simulated engine among Fig. 1.Frequency converter of the present invention adopts the frequency converter of band torque control function, thereby carries out above-mentioned operation smoothly.Under the situation of stepping on accelerator pedal, PC is exported corresponding torque according to the signal of accelerator pedal at that time and rotating speed at that time and is given frequency converter, by the Frequency Converter Control variable-frequency motor with the simulating engine characteristic.
Because what the present invention adopted is frequency control motor, this variable-frequency motor is connected to PC via frequency converter and interface card, through the instruction control of PC, then can realize the torque of control of conversion buncher intelligently, thereby realize the power of control by the output of the variable-frequency motor simulated engine among Fig. 1.Force controller wherein, the instruction control controllable force drive disk assembly and the controllable brake parts that send according to PC; Wherein speed probe is connected with PC via interface card with pedal position sensor and transmits data, and speed probe and pedal position sensor also are connected to ABS ECU, ASR ECU and automatic gear-box ECU simultaneously, to transmit data.
Several embodiments of the present invention are described below, so that clearly show that various concrete function of the present invention.
The embodiment of automatic gear-box test:
Because automatic gear-box ECU and this experiment table are relatively independent, carry out the automatic gear-box test, at first automatic gear-box ECU module (product or parts) is connected with the CAN card, simultaneously, signals such as motor rotational shaft speed sensor, flywheel speed probe, pedal position sensor directly are connected with the ECU of automatic gear-box.Automatic gear-box is connected with automatic gear-box ECU.Wherein the signal of each sensor has been received in the PC in this experiment table, can pass through the CAN cartoon letters between PC and the automatic gear-box ECU.
PC comes variable-frequency motor is controlled according to the output torque that the engine power characteristic draws frequency converter, and the output torque that draws force controller according to motion-resistance-force characteristics is automatically controlled the controllable brake parts, simulates different resistances.When wheel box in the present invention adopts automatic gear-box, when the road conditions of travelling of PC simulation control change as going up a slope, or during driver's accelerator pedal, described automatic gear-box ECU can carry out that gear is judged and the control automatic gear-box is carried out gear shift according to signals such as accelerator pedal position, engine speed, the speed of a motor vehicle.Simultaneously PC can show speed curves in real time, ocular demonstration gear shift opportunity, gearshift procedure.Also can adopt the driving simulator of manual transmission,, watch student's driving performance, especially gear shift performance by the mouse situation different to the PC operation setting as manual automobile.
Simultaneously PC can show speed curves according to the data in real time that sensor transmits, ocular demonstration gear shift opportunity, gearshift procedure.
Can operate PC by the subsidiary mouse (not shown in the accompanying drawing) of PC in addition, be provided with, the shift characteristic of automatic gear-box under different road conditions experimentized as parameters such as ramp angles.
Owing to preset engine characteristics and drag characteristic in the experiment table, the intuitively driving force in the display automobile theory-running resistance state diagram and kinematic behavior figure assist the teaching of this partial content.The experiment table PC can be connected to LAN (Local Area Network) and internet via network interface card, carries out remote teaching.
The embodiment of ABS system:
Because ABS ECU and this experiment table are relatively independent, carry out the ABS system testing, at first ABS ECU module (product or parts) is connected with the CAN card, simultaneously, the signals of rotational speed sensor of the signals of rotational speed sensor of brake pedal position sensor, axletree and flywheel shaft is directly connected among the ABS ECU.ASB brake system mechanical part directly is connected with this ABS ECU part.
Then, step on the brake pedal in the experiment table, caliper in the brake system in the wheel-mounted clamps the brake disc effect, braking system acts, wheel and flywheel reduce speed now, little by little, and when the damping force of brake system during greater than controllable force transmission simulated surface adhesion, wheel generation locking phenomenon, the non-vanishing and vehicle wheel rotational speed of flywheel rotating speed are zero.Owing to speed probe all is installed on each turning axle, and the signals of rotational speed sensor of brake pedal position sensor, axletree and the signals of rotational speed sensor of flywheel shaft is divided into two-way simultaneously to PC and ABS ECU.Therefore when touching on the brake pedal, the brake data that ABS ECU can transmit by the sensor that is installed under the brake pedal, detect this experiment table in real time and carried out brake operation, and can detect arbitrary vehicle wheel rotational speed and be close to for 0 the moment, pass through the analysis of ABS ECU in the case, the ABS system starts voluntarily, like this, brake disc in the brake system on wheel and caliper relative velocity are near zero the time, and caliper begins to loosen, and brake disc begins rotation again, caliper clamps brake disc once more then, through braking-loosening-braking descends the speed of wheel so repeatedly repeatedly gradually again, has improved the security of vehicle operating.
Because the speed probe of installing on turning axle provides data to PC in real time, in braking procedure, PC is according to the information calculations braking time and the real-time braked speed of each sensor, then can draw braking distance and show, the course of work and the performance of showing ABS intuitively, displaying helps imparting knowledge to students.PC can go out running resistance according to drag characteristic curve and the flywheel that collects revolution speed calculating, because the road surface coefficient is simulated by the controllable force drive disk assembly, by in PC, selecting different road surfaces, PC calculates the maximum adhesion power on road surface automatically, and the working condition that can test ABS under the situation of different road surfaces by the torque capacity of force controller control controllable force drive disk assembly institute energy transmission.Owing to be the ABS system simulation of under PC and ABS ECU acting in conjunction, carrying out, therefore different initial velocities and different inertial masses can be set, the working condition of ABS when can the simulation test automobile under this condition, braking; In addition, by changing the quality of flywheel, the working condition of ABS system during automobile brake that also can the different inertial masses of simulation test.
Under the situation that the present invention is applied to impart knowledge to students, as mentioned above, each pedal position sensor of wheel speed sensor is connected as mentioned above with the existing ABS ECU of analyzed test, and the CAN card is connected with ABS ECU, can finish the demonstration of above-mentioned ABS system work process.
Applying the present invention under the situation of scientific research and development, can be outside experiment table the well relevant technology component part of design and installation, contain the software and hardware part, be placed into then on the experiment table, be about to each pedal position sensor of wheel speed sensor and be connected as mentioned above, and the CAN card is connected with ABS ECU with the existing ABS ECU of analyzed test, just can detect the effect of research and development design, be beneficial to quick feedback information,, promote carrying out of R﹠D work to improve once more.
The embodiment of ASR system:
Because ASR ECU and this experiment table are relatively independent, carry out the ASR system testing, at first ASR ECU module (product or parts) are connected with the CAN card, simultaneously, the speed probe of each turning axle, the speed probe of motor shaft directly are connected with ASR ECU.Comprise at ASR ECU under the situation of ABS ECU, ASB brake system mechanical part directly is connected with this ABS ECU part.
Because automobile has produced under the situation of breakking away because of wheel-slip when quickening, the ASR system works.Therefore, need the operator that the maximum torque transfer capacity that suitable Control current is come the control controller is set in PC, so that the size of controllable force drive disk assembly simulated roadway adhesion.In the present embodiment, the controllable force drive disk assembly select to use powder clutch, i.e. the instruction control powder clutch that sends according to PC of force controller; Certainly also can select type of belt drive such as belt gear, friction pulley transmission, control institute's torque transmitted size by controlled pressure.
Then, the experiment table simulated automotive starts or accelerator, and the road adherence that provides when powder clutch is during less than the power of the variable-frequency motor output of simulated engine, and wheel begins to trackslip.The characteristics of wheel slip are that the rotating speed and the speed of a motor vehicle of wheel is inconsistent; because this experiment table has been installed speed probe at each turning axle of the motor shaft that comprises variable-frequency motor; therefore can detect the speed of the speed of a motor vehicle and each wheel in real time; when any one or more than one wheel velocity in the speed of a motor vehicle and each wheel are inconsistent; ASR ECU is judged as automobile and trackslips; then start the ASR system automatically, carry out safeguard protection.
The operation of ASR system can be undertaken by dual mode.First kind of mode is to realize by control ABS system.Because the ASR system is the top layer system of ABS system, contain the ABS system, also can control the ABS system, therefore when ASR system start-up, also can brake, suitably reduce the wheel rotational speed, keep the stability of vehicle heading by control ABS system, keep good handling and optimal driving force, reach traffic safety preferably.
The second way that the ASR system carries out the work operation is to be undertaken by changing the simulated engine torque.The PC of calculation engine characteristic is communicated by letter with ASR ECU by the CAN bus, can accept the engine control instruction that the ASR system sends.Motor characteristic curve according to prior input, the information of sending with the accelerator pedal position data that collect, motor rotational shaft speed data and tested ASR system such as instruction, PC can go out the output torque value of simulated engine based on dynamic characteristic calculation, export corresponding dtc signal with DC voltage mode or alternate manner and give frequency converter, via Frequency Converter Control variable-frequency motor output respective torque.With this output torque that changes simulated engine, reach traffic safety preferably.
Even when under the situation on asymmetric road surface, braking, because data acquisition of the present invention and do not require the speed of all wheels and the speed of a motor vehicle inconsistent, therefore it is inconsistent to need only an above wheel velocity and wheel velocity, ASR of the present invention system just starts immediately voluntarily, so the working condition of ASR when the present invention can simulate the braking of asymmetric road surface.
Under the situation that applies the present invention to impart knowledge to students, after the ASR system start-up, PC shows the variation of the speed of a motor vehicle of wheel wheel speed and flywheel simulation in real time according to the information of each sensor, shows the course of work and the performance of ASR, thereby shows the course of work of ASR system clearly.
Applying the present invention under the situation of scientific research and development, can be outside experiment table the good ASR ECU of design and installation, contain the software and hardware part, be placed into then on the experiment table and promptly directly be connected with the sensor senses device, and be connected with the CAN card, detect the effect of research and development design, be beneficial to quick feedback information, to improve once more, promote carrying out of R﹠D work.
According to the frame of broken lines of Fig. 3 part as can be seen, above-mentioned ABS ECU, ASRECU and automatic gear-box ECU among the present invention can be relatively independent with the experiment table other parts, above-mentioned ABSECU, ASR ECU and automatic gear-box ECU can be designed by the technological development personnel, being placed on this experiment table experimentizes, to improve, in addition, also can use ABS ECU, the ASR ECU and the automatic gear-box ECU that buy in market to verify its performance, and constitute the experimental system of checking ABS ECU, ASRECU and automatic gear-box ECU.This also is that the present invention is as the imbody of hardware in the emulation mode in loop.
The present invention can be widely used in teaching and research and development field.
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| CN102466569A (en) * | 2010-11-17 | 2012-05-23 | 博世汽车柴油系统股份有限公司 | Vehicle simulation experiment equipment and simulation experiment method thereof |
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