CN113029597A - Unmanned vehicle full-line control chassis test system - Google Patents
Unmanned vehicle full-line control chassis test system Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 90
- 238000005259 measurement Methods 0.000 claims abstract description 47
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- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
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- 238000002474 experimental method Methods 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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Abstract
The invention discloses a full line control chassis test system of an unmanned vehicle, which is characterized by comprising the following components: the system comprises a chassis test execution system, a measurement and control system and a human-computer interaction system; the chassis test execution system comprises 4 groups of execution subsystems, wherein each group of execution subsystems comprises a dynamometer rack and a dynamometer controller; the dynamometer rack comprises a bracket, a dynamometer, a steering motor and a torque meter; the dynamometer controller controls the steering motor to output the load torque, the dynamometer is pushed by the support to rotate along with the steering of the chassis, the dynamometer is used for simulating the load of a transverse road, and a measurement and control system is compared with an actual steering angle of the chassis, so that the test of a steering system is realized; the man-machine interaction system is connected with the measurement and control system and used for realizing interaction between the outside and the background disk test system. The invention can realize the test of multiple working conditions, multiple actuating mechanisms and multiple movement behaviors of the full-wire control chassis of the unmanned vehicle, and meets the test requirements of the unmanned vehicle chassis with complex configurations such as independent driving of each wheel, independent steering of each wheel and the like.
Description
Technical Field
The invention belongs to the technical field of vehicle chassis testing, and particularly relates to a full-wire control chassis testing system for an unmanned vehicle.
Background
The unmanned vehicle can replace human beings to execute civil or military tasks such as striking, battle, patrol, reconnaissance, logistics, transportation, ferrying, distribution, cleaning and the like, has very wide application prospect in the civil or military field, is an important component of future intelligent traffic and smart city construction, and is an important support for development of new generation army equipment in China. Therefore, the development of the unmanned vehicle theory and technology has strategic significance on national economic development and national defense safety construction in China.
Compared with the traditional vehicle, the unmanned vehicle has completely different overall configuration, layout form, control system, actuating mechanism and the like. Due to special use functions, a human operation mechanism is completely omitted from the unmanned vehicle, and a chassis of the unmanned vehicle is required to adopt a full-wire control architecture, namely a steering system, a driving system and a braking system are completely controlled by an electronic control system, so that full-wire steering, wire-control driving and wire-control braking are realized. The brand new overall layout form provides great challenges for theories and technologies such as overall design, dynamics and control of the unmanned vehicle. Therefore, a test system aiming at the full drive-by-wire chassis of the unmanned vehicle is lacked at present, and the test system becomes an important bottleneck for restricting the performance improvement and development of the unmanned vehicle.
Disclosure of Invention
In view of this, the invention provides a test system for a full-drive-by-wire chassis of an unmanned vehicle, which realizes the test of multiple working conditions, multiple execution mechanisms and multiple movement behaviors of the full-drive-by-wire chassis of the unmanned vehicle and can meet the test requirements of the chassis of the unmanned vehicle with complex configurations, such as independent driving of each wheel, independent steering of each wheel and the like.
In order to solve the above-mentioned technical problems, the present invention has been accomplished as described above.
An unmanned vehicle full-line control chassis test system, comprising: the system comprises a chassis test execution system, a measurement and control system and a human-computer interaction system;
the chassis test execution system comprises 4 groups of execution subsystems, wherein each group of execution subsystems comprises a dynamometer rack and a dynamometer controller; the dynamometer rack comprises a bracket, a dynamometer, a steering motor and a torque meter; the support can move on a plane, the dynamometer is fixed on the support, the steering motor is fixed on the dynamometer, and the steering motor is connected with the support through the force transmission part and drives the support to move horizontally; each dynamometer is in shaft coupling connection with one wheel hub of the chassis, and the torque meter is arranged on the connecting shaft and used for collecting torque on a wheel edge motor of the detected chassis and sending the torque to the measurement and control system;
the measurement and control system receives chassis driving or braking torque, driving load torque simulating road load is calculated by utilizing a dynamometer rack control algorithm and a vehicle dynamic model and is sent to a dynamometer controller, and the dynamometer controller controls an output shaft of the dynamometer to rotate and is used for simulating longitudinal road load; the dynamometer is in shaft coupling connection with the chassis hub, and the rotating speed of the dynamometer can be equivalent to that of the hub; the test of a driving system of the chassis is realized by longitudinal road load simulation and rotating speed equivalence;
the measurement and control system also receives the steering angle of the chassis, utilizes a dynamometer bench control algorithm and a vehicle dynamics model to calculate the load torque of the simulated road load and sends the load torque to a dynamometer controller; the dynamometer controller controls the steering motor to output the load torque, the dynamometer is pushed by the support to rotate along with the steering of the chassis, the dynamometer is used for simulating the load of a transverse road, and a measurement and control system is compared with an actual steering angle of the chassis, so that the test of a steering system is realized;
the man-machine interaction system is connected with the measurement and control system and used for realizing interaction between the outside and the background disk test system.
Preferably, the dynamometer is provided with a rotating speed sensor or an encoder for collecting the position of a rotor of the dynamometer, so that the rotating speed of the dynamometer is determined and is directly transmitted to a dynamometer controller; the dynamometer controller is combined with the target rotating speed to realize the rotating speed closed-loop control of the dynamometer.
Preferably, the unmanned vehicle full-line control chassis test system further comprises a cooling system for cooling the chassis test execution system or the chassis system.
Preferably, the cooling system comprises an integrated heat dissipation system for dissipating heat for the dynamometer and the dynamometer controller, and the integrated heat dissipation system comprises a fan and a heat dissipation channel; the cooling system also comprises an independent cooling system which is used for cooling the chassis and mainly consists of an external fan.
Preferably, the measurement and control system consists of a data acquisition unit and a measurement and control unit, and the equal division layers are arranged in the same cabinet; the data acquisition unit is used for realizing data acquisition of the whole chassis test system, acquiring temperature and vibration information of a dynamometer bench and voltage and current of a power battery on a tested chassis, and pressure information of a brake master cylinder and a brake wheel cylinder through a sensor and corresponding matched data acquisition equipment, and providing the acquired information to the measurement and control unit in a hard-wire mode.
Preferably, a hardware carrier of the measurement and control unit is a real-time simulator; the measurement and control unit receives an operation instruction of the man-machine interaction system, calculates a vehicle dynamics model and a rack control algorithm in the measurement and control unit according to the operation instruction and data of the data acquisition unit, and outputs a control instruction to the dynamometer controller, so that the control of the chassis test execution system is realized.
Preferably, the human-computer interaction system comprises an upper computer, and the software part comprises experiment management software and post-processing software; the system comprises a monitoring and testing system, a monitoring and testing system and a monitoring and testing system, wherein the monitoring and testing system is used for monitoring and testing the performance of a user; the post-processing software is an interactive software for managing, detecting, analyzing and reporting test data.
Has the advantages that:
(1) the invention can realize accurate acquisition of the driving torque and the rotating speed of the chassis by acquiring the torque and the rotating speed of the side of the driving wheel dynamometer, and realize the test of a chassis driving system. Meanwhile, the dynamometer bench also applies steering load torque through a steering motor and a translational support, and the chassis steering system test can be realized by acquiring the side steering angle of the dynamometer. Compared with the traditional drive test bench, the drive system test and the steering system test can be completed without detaching the drive system and the steering system of the unmanned vehicle parts from the unmanned vehicle.
(2) The chassis test execution system provided by the invention is combined with a vehicle dynamics model, can simulate the running resistance of the chassis in the actual running process, simulate and run a standard test cycle, and can also simulate higher acceleration or deceleration in the actual running process.
(3) The dynamometer is arranged on a movable support, has good mobility, and can be used for replacing a test site or a tested chassis in a shorter time and at a lower cost, so that a test environment can be conveniently and quickly established.
(4) The chassis test execution system adopts a hub-shaft coupling type dynamometer rack, each wheel is directly connected to the dynamometer through shaft coupling, and drifting between the wheel and the dynamometer cannot occur.
(5) The cabinet is used for placing the measurement and control unit, so that the integration degree is high, equipment and connecting wire harnesses are more conveniently placed, and the test environment is tidier and more attractive.
(6) The invention adopts the hub shaft coupling dynamometer system, and can realize the external characteristic verification of the chassis driving transmission system and the system efficiency test.
Drawings
Fig. 1 is a schematic diagram of the unmanned vehicle full-drive-by-wire chassis testing system of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a be used for unmanned vehicle drive-by-wire chassis test system, and this test system overall arrangement integrates the degree height, and the test environment is set up conveniently, and the test environment is clean and tidy, pleasing to the eye.
As shown in fig. 1, the vehicle under test is connected to a chassis test system, which includes a chassis test execution system, a cooling system, a measurement and control system, and a human-computer interaction system.
The chassis test execution system in the embodiment comprises 4 groups of execution subsystems which are responsible for executing the test of the chassis driving and steering. Each set of execution subsystems includes a dynamometer bench and a dynamometer controller. The dynamometer bench comprises a support, a dynamometer, a steering motor and a torque meter. The support can move on a plane, the dynamometer is fixed on the support, the steering motor is fixed on the dynamometer, and the steering motor is connected with the support through the force transmission part and drives the support to move horizontally.
Each dynamometer is in shaft coupling connection with 1 wheel hub of the chassis respectively, and the torque meter is arranged on the connecting shaft and used for collecting torque on a wheel edge motor of the detected chassis and sending the torque to the measurement and control system in a hard line mode. The measurement and control system receives chassis driving or braking torque, driving load torque simulating road load is calculated by utilizing a dynamometer rack control algorithm and a vehicle dynamic model and is sent to a dynamometer controller, and the dynamometer controller controls an output shaft of the dynamometer to rotate and is used for simulating longitudinal road load; the dynamometer is in shaft coupling connection with the chassis hub, and the rotating speed of the dynamometer can be equivalent to that of the hub; the load simulation and the rotating speed equivalence of the longitudinal road realize the test of the driving system of the chassis.
The measurement and control system also receives the steering angle of the chassis, utilizes a dynamometer bench control algorithm and a vehicle dynamics model to calculate the load torque of the simulated road load and sends the load torque to a dynamometer controller; the dynamometer controller controls the steering motor to output the load torque, and the dynamometer is pushed by the bracket to rotate along with the steering of the chassis so as to simulate a transverse road load; and comparing the measurement and control system with the actual steering angle of the chassis, thereby realizing the test of the steering system.
Meanwhile, a dynamometer is provided with a rotating speed sensor for collecting the position of a rotor of the dynamometer, so that the rotating speed of the dynamometer is determined and is directly transmitted to a dynamometer controller, and the dynamometer controller is combined with a target rotating speed to realize the rotating speed closed-loop control of the dynamometer.
The cooling system is used for cooling the chassis test execution system or the chassis system, the chassis dynamometer system and the dynamometer controller are integrated heat dissipation systems, and fans and heat dissipation channels are arranged inside the integrated heat dissipation systems. The chassis is the measurand, owing to be independent of test system, adopts the independent cooling system who constitutes by external fan, can satisfy the test requirement of most measured chassis, also can build cooling system fast after changing the measured chassis, resumes the test fast.
The measurement and control system consists of a data acquisition unit and a measurement and control unit. The data acquisition unit is used for realizing data acquisition of the whole chassis test system and transmitting data in the chassis dynamometer system and the dynamometer controller to the measurement and control unit through the data acquisition unit. The data acquisition unit can acquire information such as temperature and vibration of the dynamometer bench and information such as voltage and current of a power battery on a tested chassis, pressure information of a brake master cylinder and a brake wheel cylinder through a sensor and corresponding matched data acquisition equipment, and provides the acquired information to the measurement and control unit in a hard wire mode. The dynamometer system can also acquire the rotating speed of the dynamometer system, and the dynamometer controller transmits the rotating speed to the measurement and control unit through a network. The hardware carrier of the measurement and control unit is mainly a lower computer consisting of a real-time system, the core part of the software is a bench control algorithm and a vehicle dynamics model, the measurement and control unit receives an operation instruction of the human-computer interaction system, performs related function operation on the vehicle dynamics model and the bench control algorithm in the measurement and control unit according to the operation instruction and data of the data acquisition unit, and outputs a related control instruction to the dynamometer controller, so that the control of the chassis test execution system is realized. The measurement and control unit transmits the data related to the chassis to the man-machine interaction system, and the data can be conveniently displayed or related operations can be conveniently carried out on the upper computer.
The measurement and control system transmits information related to the chassis test execution system to the man-machine interaction system through a hard line or a network cable, a hardware core carrier of the man-machine interaction system is an upper computer consisting of Windows, and a software core part comprises experiment management software and post-processing software and is used for realizing interaction between a person and the chassis test system. The graphical experiment management software can conveniently build a monitoring and testing interface suitable for the testing system, has the functions of experiment management, measurement and calibration, is interconnected with the measurement and control system, and visually displays information such as temperature, vehicle speed, wheel speed and the like uploaded by the measurement and control system on the upper computer. Meanwhile, a calibration window can be set up, relevant parameters are associated to the chassis test execution system through the measurement and control system, and the functions of displaying and calibrating model parameters can be achieved. The post-processing software is an interactive software for managing, detecting, analyzing and reporting test data. In the upper computer, part of parameters in the recorded test data are selected and analyzed through corresponding operation, useful information can be conveniently and quickly extracted, corresponding conclusions can be obtained according to the information, a large amount of labor and time are saved, engineering decisions are quickly made, and working efficiency is improved.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (7)
1. The utility model provides a full drive-by-wire chassis test system of unmanned car which characterized in that includes: the system comprises a chassis test execution system, a measurement and control system and a human-computer interaction system;
the chassis test execution system comprises 4 groups of execution subsystems, wherein each group of execution subsystems comprises a dynamometer rack and a dynamometer controller; the dynamometer rack comprises a bracket, a dynamometer, a steering motor and a torque meter; the support can move on a plane, the dynamometer is fixed on the support, the steering motor is fixed on the dynamometer, and the steering motor is connected with the support through the force transmission part and drives the support to move horizontally; each dynamometer is in shaft coupling connection with one wheel hub of the chassis, and the torque meter is arranged on the connecting shaft and used for collecting torque on a wheel edge motor of the detected chassis and sending the torque to the measurement and control system;
the measurement and control system receives chassis driving or braking torque, driving load torque simulating road load is calculated by utilizing a dynamometer rack control algorithm and a vehicle dynamic model and is sent to a dynamometer controller, and the dynamometer controller controls an output shaft of the dynamometer to rotate and is used for simulating longitudinal road load; the dynamometer is in shaft coupling connection with the chassis hub, and the rotating speed of the dynamometer can be equivalent to that of the hub; the test of a driving system of the chassis is realized by longitudinal road load simulation and rotating speed equivalence;
the measurement and control system also receives the steering angle of the chassis, utilizes a dynamometer bench control algorithm and a vehicle dynamics model to calculate the load torque of the simulated road load and sends the load torque to a dynamometer controller; the dynamometer controller controls the steering motor to output the load torque, the dynamometer is pushed by the support to rotate along with the steering of the chassis, the dynamometer is used for simulating the load of a transverse road, and a measurement and control system is compared with an actual steering angle of the chassis, so that the test of a steering system is realized;
the man-machine interaction system is connected with the measurement and control system and used for realizing interaction between the outside and the background disk test system.
2. The unmanned aerial vehicle drive-by-wire chassis testing system of claim 1, wherein the dynamometer mounts a speed sensor or encoder to capture a dynamometer rotor position, thereby determining dynamometer rotational speed and transmitting the rotational speed directly to a dynamometer controller; the dynamometer controller is combined with the target rotating speed to realize the rotating speed closed-loop control of the dynamometer.
3. The unmanned aerial vehicle drive-by-wire chassis test system of claim 1, further comprising a cooling system for achieving reduced temperature cooling of the chassis test execution system or chassis system.
4. The unmanned aerial vehicle drive-by-wire chassis testing system of claim 3, wherein the cooling system comprises an integrated heat dissipation system for dissipating heat for the dynamometer and the dynamometer controller, comprising a fan and a heat dissipation channel; the cooling system also comprises an independent cooling system which is used for cooling the chassis and mainly consists of an external fan.
5. The unmanned vehicle drive-by-wire chassis test system according to claim 1, wherein the measurement and control system is composed of a data acquisition unit and a measurement and control unit, and the sharing layers are arranged in the same cabinet; the data acquisition unit is used for realizing data acquisition of the whole chassis test system, acquiring temperature and vibration information of a dynamometer bench and voltage and current of a power battery on a tested chassis, and pressure information of a brake master cylinder and a brake wheel cylinder through a sensor and corresponding matched data acquisition equipment, and providing the acquired information to the measurement and control unit in a hard-wire mode.
6. The unmanned vehicle drive-by-wire chassis test system according to claim 5, wherein a hardware carrier of the measurement and control unit is a real-time simulator; the measurement and control unit receives an operation instruction of the man-machine interaction system, calculates a vehicle dynamics model and a rack control algorithm in the measurement and control unit according to the operation instruction and data of the data acquisition unit, and outputs a control instruction to the dynamometer controller, so that the control of the chassis test execution system is realized.
7. The unmanned vehicle drive-by-wire chassis test system according to claim 1, wherein the human-computer interaction system comprises an upper computer, and the software part comprises experiment management software and post-processing software; the system comprises a monitoring and testing system, a monitoring and testing system and a monitoring and testing system, wherein the monitoring and testing system is used for monitoring and testing the performance of a user; the post-processing software is an interactive software for managing, detecting, analyzing and reporting test data.
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