CN105675311A - A test device for active anti-rollover control of a bus - Google Patents

Abstract

The present invention proposes an active anti-rollover control test device for buses, which belongs to the field of active safety system tests for buses. The device passes digital signals of variables such as vehicle speed, acceleration, and suspension displacement generated by a computer with a virtual bus system through D The /A conversion circuit simulates the real sensor physical signal, which is collected by the active anti-rollover control system and participates in the decision-making of the active anti-rollover algorithm; the active anti-rollover control system predicts whether there will be rollover at the next moment according to the current driving state of the bus Danger, if there is a risk of rollover, the control signal of the suspension displacement adjustment device will be output, converted into a digital signal by the A/D conversion unit and transmitted to the computer with the virtual bus system to adjust the virtual actuator; the simulation platform can Effectively study the active anti-rollover technology, avoid the risk of directly using the active anti-rollover control system for road tests, and reduce the test cost.

Description

A test device for active anti-rollover control of a bus

technical field

The invention relates to the field of active safety of buses, in particular to an active anti-rollover control test device for buses.

Background technique

In recent years, my country's transportation industry has developed rapidly. Due to the slow development of the application of active safety technology on buses, the rollover accidents of buses have increased year by year, causing serious property losses and casualties to the country and the people. In the process of studying the active anti-rollover technology of buses, if the developed active anti-rollover control system is directly used in road tests, it will not only lead to a certain degree of danger in the test, but also increase the cost of the test. At present, the research on the active anti-rollover control algorithm of buses has made some progress at home and abroad. The verification of the active anti-rollover control algorithm is only in the software simulation stage, and there is no test device for the active anti-rollover control system. verify.

Contents of the invention

The invention aims at the problems existing in the research of the active anti-rollover technology of the bus, and proposes an active anti-rollover control test device for the bus.

A test device for active anti-rollover control of a bus, including a bench, a first suspension displacement variable D/A conversion unit, a first suspension displacement adjustment device and a control signal A/D conversion unit, and a second suspension displacement adjustment unit Device and control signal A/D conversion unit, steering wheel angle variable D/A conversion unit, second suspension displacement variable D/A conversion unit, computer with virtual bus system, third suspension displacement variable D/A conversion unit , the third suspension displacement adjustment device and control signal A/D conversion unit, the vehicle speed variable D/A conversion unit, the fourth suspension displacement adjustment device and control signal A/D conversion unit, the fourth suspension displacement variable D/A Conversion unit, three-axis acceleration variable D/A conversion unit, active anti-rollover control system, gyroscope variable D/A conversion unit; the first suspension displacement variable D/A conversion unit, the first suspension Frame displacement adjustment device and control signal A/D conversion unit, second suspension displacement adjustment device and control signal A/D conversion unit, steering wheel angle variable D/A conversion unit, second suspension displacement variable D/A conversion unit, The third suspension displacement variable D/A conversion unit, the third suspension displacement adjustment device and control signal A/D conversion unit, the vehicle speed variable D/A conversion unit, the fourth suspension displacement adjustment device and control signal A/D conversion unit, the fourth suspension displacement variable D/A conversion unit, the three-axis acceleration variable D/A conversion unit, the gyroscope variable D/A conversion unit; the computer with the virtual bus system carries the bus mathematical model and can output the vehicle speed , steering wheel angle, suspension displacement and other variable digital signals and receiving digital signals output by the suspension displacement control signal A/D conversion unit; the active anti-rollover control system is responsible for collecting variables such as vehicle speed, steering wheel angle, and suspension displacement D The sensor signal output by the /A conversion unit and the analog signal output to control the suspension displacement adjustment device.

Beneficial effects of the present invention: the test device can match the signals between the active anti-rollover control system and the computer with the virtual bus system in real time, can effectively study the active anti-rollover control algorithm, and avoids directly using the active anti-rollover control system Control system risk for road testing while reducing the cost of testing.

Description of drawings

Fig. 1 is a schematic structural view of the test device of the present invention.

In the figure, 1-bench, 2-first suspension displacement variable D/A conversion unit, 3-first suspension displacement adjustment device and control signal A/D conversion unit, 4-second suspension displacement adjustment device and control Signal A/D conversion unit, 5-steering wheel angle variable D/A conversion unit, 6-second suspension displacement variable D/A conversion unit, 7-computer with virtual bus system, 8-third suspension displacement variable D/A conversion unit, 9-third suspension displacement adjustment device and control signal A/D conversion unit, 10-vehicle speed variable D/A conversion unit, 11-fourth suspension displacement adjustment device and control signal A/D conversion Unit, 12-fourth suspension displacement variable D/A conversion unit, 13-three-axis acceleration variable D/A conversion unit, 14-active anti-rollover control system, 15-gyroscope variable D/A conversion unit.

detailed description

As shown in Figure 1, a large bus active anti-rollover control test device includes a bench 1, a first suspension displacement variable D/A conversion unit 2, a first suspension displacement adjustment device and a control signal A/D conversion Unit 3, second suspension displacement adjustment device and control signal A/D conversion unit 4, steering wheel angle variable D/A conversion unit 5, second suspension displacement variable D/A conversion unit 6, computer with virtual bus system 7. The third suspension displacement variable D/A conversion unit 8, the third suspension displacement adjustment device and control signal A/D conversion unit 9, the vehicle speed variable D/A conversion unit 10, the fourth suspension displacement adjustment device and control Signal A/D conversion unit 11, fourth suspension displacement variable D/A conversion unit 12, three-axis acceleration variable D/A conversion unit 13, active anti-rollover control system 14, gyroscope variable D/A conversion unit 15; The first suspension displacement variable D/A conversion unit 2, the first suspension displacement adjustment device and control signal A/D conversion unit 3, the second suspension displacement adjustment device and control signal A/D are fixedly installed on the platform 1 Conversion unit 4, steering wheel angle variable D/A conversion unit 5, second suspension displacement variable D/A conversion unit 6, third suspension displacement variable D/A conversion unit 8, third suspension displacement adjustment device and control signal A/D conversion unit 9, vehicle speed variable D/A conversion unit 10, fourth suspension displacement adjustment device and control signal A/D conversion unit 11, fourth suspension displacement variable D/A conversion unit 12, triaxial acceleration variable D/A conversion unit 13, gyroscope variable D/A conversion unit 14; The computer 7 with the virtual bus system is loaded with a bus mathematical model, which can output digital signals of variables such as speed, steering wheel angle, suspension displacement, etc. The digital signal output by the suspension displacement control signal A/D conversion unit; the active anti-rollover control system 14 is responsible for collecting the sensor signals output by the variable D/A conversion unit such as vehicle speed, steering wheel angle, and suspension displacement, and outputting control suspension displacement Analog signal of the conditioning device.

During the working process of the test device, the digital signals of the vehicle speed, three-axis acceleration, gyroscope, suspension displacement, steering wheel angle and other variables generated by the computer 7 with the virtual bus system simulate the real sensor physical signals through the D/A conversion circuit , is collected by the active anti-rollover control system 14 and participates in the decision-making of the active anti-rollover algorithm; the active anti-rollover control system 14 predicts whether the bus will have a rollover risk at the next moment according to the current driving state of the bus, and if there is a rollover risk Output the control signal of the suspension displacement adjustment device, the control signal is converted into a digital signal by the A/D conversion unit and transmitted to the computer 7 with the virtual bus system, so as to adjust the virtual execution in the computer 7 with the virtual bus system mechanism to avoid rollover of the bus.

During the sensor signal acquisition process of the test device, the vehicle speed information generated by the computer 7 with the virtual bus system is simulated by the vehicle speed variable D/A conversion unit 10 to simulate a real vehicle speed sensor signal, which is collected by the active anti-rollover control system 14 and then participates in the active rollover control system. Anti-rollover algorithm decision-making; the three-axis acceleration information generated by the computer 7 with the virtual bus system simulates the real three-axis acceleration sensor signal through the three-axis acceleration variable D/A conversion unit 13, and is collected by the active anti-rollover control system 14 Participate in the decision-making of the active anti-rollover algorithm; the gyroscope information generated by the computer 7 with the virtual bus system simulates the real gyroscope sensor signal through the gyroscope variable D/A conversion unit 15, and is collected by the active anti-rollover control system 14 Participate in the active anti-rollover algorithm decision-making; the steering wheel angle information generated by the computer 7 with the virtual bus system simulates the real steering wheel angle sensor signal through the steering wheel angle variable D/A conversion unit 5, and is collected by the active anti-rollover control system 14 Participate in the decision-making of the active anti-rollover algorithm; the first suspension displacement information generated by the computer 7 with the virtual bus system simulates the real first suspension displacement sensor signal through the first suspension displacement variable D/A conversion unit 2, After being collected by the active anti-rollover control system 14, it participates in the decision-making of the active anti-rollover algorithm; the second suspension displacement information generated by the computer 7 with the virtual bus system is simulated by the second suspension displacement variable D/A conversion unit 6 to simulate the real The signal of the second suspension displacement sensor is collected by the active anti-rollover control system 14 and participates in the decision-making of the active anti-rollover algorithm; the third suspension displacement information generated by the computer 7 with the virtual bus system is passed through the third suspension displacement variable The D/A conversion unit 8 simulates the real third suspension displacement sensor signal, which is collected by the active anti-rollover control system 14 and participates in the active anti-rollover algorithm decision-making; the fourth suspension produced by the computer 7 with the virtual bus system The displacement information is simulated by the fourth suspension displacement variable D/A conversion unit 10 to simulate the real fourth suspension displacement sensor signal, which is collected by the active anti-rollover control system 14 and then participates in the decision-making of the active anti-rollover algorithm.

During the output process of the control signal of the test device, the active anti-rollover control system 14 predicts whether the bus will have a rollover risk at the next moment according to the current driving state of the bus. If there is a rollover risk, the first suspension displacement adjustment device and The control signal A/D conversion unit 3 outputs the control signal of the suspension displacement adjustment device and converts the control signal into a digital signal and transmits it to the computer 7 with the virtual bus system, so as to adjust the temperature in the computer 7 with the virtual bus system Virtual actuator: output the control signal of the suspension displacement adjustment device through the second suspension displacement adjustment device and the control signal A/D conversion unit 4 and convert the control signal into a digital signal and transmit it to a computer 7 with a virtual bus system to This is to adjust the virtual actuator in the computer 7 of the band virtual bus system; the control signal of the suspension displacement adjustment device is output by the third suspension displacement adjustment device and the control signal A/D conversion unit 9 and the control signal is converted into digital The signal is transmitted to the computer 7 with the virtual bus system to adjust the virtual actuator in the computer 7 with the virtual bus system; the suspension is output through the fourth suspension displacement adjustment device and the control signal A/D conversion unit 11 The control signal of the displacement adjustment device is converted into a digital signal and transmitted to the computer 7 with the virtual bus system, and the rollover of the bus is avoided by controlling the virtual actuator in the computer 7 with the virtual bus system.

Claims (2)

1. An active anti-rollover control test device for a bus, characterized in that it includes a bench (1), a first suspension displacement variable D/A conversion unit (2), a first suspension displacement adjustment device and a control signal A/D conversion unit (3), second suspension displacement adjustment device and control signal A/D conversion unit (4), steering wheel angle variable D/A conversion unit (5), second suspension displacement variable D/A conversion unit (6), computer with virtual bus system (7), third suspension displacement variable D/A conversion unit (8), third suspension displacement adjustment device and control signal A/D conversion unit (9), Vehicle speed variable D/A conversion unit (10), fourth suspension displacement adjustment device and control signal A/D conversion unit (11), fourth suspension displacement variable D/A conversion unit (12), three-axis acceleration variable D /A conversion unit (13), active anti-rollover control system (14), gyroscope variable D/A conversion unit (15); the first suspension displacement variable D/A conversion unit (2 ), the first suspension displacement adjustment device and control signal A/D conversion unit (3), the second suspension displacement adjustment device and control signal A/D conversion unit (4), the steering wheel angle variable D/A conversion unit (5 ), the second suspension displacement variable D/A conversion unit (6), the third suspension displacement variable D/A conversion unit (8), the third suspension displacement adjustment device and control signal A/D conversion unit (9) , vehicle speed variable D/A conversion unit (10), fourth suspension displacement adjustment device and control signal A/D conversion unit (11), fourth suspension displacement variable D/A conversion unit (12), three-axis acceleration variable D/A conversion unit (13), gyroscope variable D/A conversion unit (14); the computer (7) with virtual bus system contains a mathematical model of the bus, which can output variables such as vehicle speed, steering wheel angle, suspension displacement, etc. The digital signal and receive the digital signal output by the suspension displacement control signal A/D conversion unit; the active anti-rollover control system (14) collects the sensor output by the variable D/A conversion unit such as vehicle speed, steering wheel angle and suspension displacement Signal and output Analog signal to control the suspension displacement adjustment device. 2. A test device for active anti-rollover control of a bus according to claim 1, characterized in that: during the working process of the hardware-in-the-loop simulation platform, the computer (7) with the virtual bus system generates the vehicle speed, three The digital signals of variables such as axial acceleration, gyroscope, suspension displacement, steering wheel angle, etc. are simulated by the D/A conversion circuit to simulate the real sensor physical signal, which is collected by the active anti-rollover control system (14) and participates in the decision-making of the active anti-rollover algorithm ; The active anti-rollover control system (14) predicts whether there is a risk of rollover of the bus at the next moment according to the current driving state of the bus. If there is a risk of rollover, it will output the control signal of the suspension displacement adjustment device, and the control signal is passed through A/ The digital signal converted by the D conversion unit is transmitted to the computer (7) with the virtual bus system, and the posture of the bus is controlled by adjusting the virtual actuator in the computer (7) with the virtual bus system to prevent rollover.