CN114675626B - Vehicle-mounted controller test platform and test method - Google Patents
Vehicle-mounted controller test platform and test method Download PDFInfo
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- CN114675626B CN114675626B CN202210328895.6A CN202210328895A CN114675626B CN 114675626 B CN114675626 B CN 114675626B CN 202210328895 A CN202210328895 A CN 202210328895A CN 114675626 B CN114675626 B CN 114675626B
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- 238000012360 testing method Methods 0.000 title claims abstract description 72
- 238000010998 test method Methods 0.000 title description 3
- 238000004364 calculation method Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 239000000446 fuel Substances 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims description 2
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- 238000001816 cooling Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
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- 238000012795 verification Methods 0.000 description 2
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- 238000002347 injection Methods 0.000 description 1
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Classifications
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Automation & Control Theory (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Testing Of Engines (AREA)
Abstract
The invention discloses a vehicle-mounted controller test platform, which comprises an initialization model, a controller model, an engine model, a transmission system model and a vehicle longitudinal dynamics model, wherein the initialization model is used for initializing the vehicle; the initialization model is used for inputting key parameters selected by the whole vehicle model, selecting the model of the tested controller and simulating the actual state of a driver; the controller model comprises an EMS strategy model, wherein the EMS strategy model is used for simulating the processes of engine output torque, engine rotating speed and gasoline consumption according to the actual state information of a driver and the vehicle wind resistance, rolling resistance and ramp resistance output by the longitudinal dynamics model of the vehicle; the engine model comprises an engine calculation model, an engine simple model and a second selection switch; the invention can meet the requirement that one or more power domain controllers are tested on one hardware cabinet.
Description
Technical Field
The invention relates to the technical field of electronic testing, in particular to a vehicle-mounted controller testing platform and a testing method.
Background
Most of the current vehicle-mounted controller test platforms use a test system to solve the test problem of one controller or two controllers. If a new energy three-electric testing system is encountered, three electric controllers are respectively tested by using different cabinets, and then three cabinets of the same platform are cascaded to complete the test.
For example, the Chinese patent "fuel power battery cooling system hardware in loop test platform" CN213878167U: the utility model relates to the field of fuel power battery testing, in particular to a fuel power battery cooling system hardware-in-loop testing platform, wherein a fuel power battery cooling system simulation model of the fuel power battery cooling system hardware-in-loop testing platform divides a cooling system into a plurality of cavities, and forms a series loop with the cavities, and a model created by the series loop is more in accordance with a real temperature continuous change process; the built simulation model is more simplified, and the building method is simpler; and moreover, a control algorithm of the fuel power battery cooling system is programmed into the fuel power battery controller, so that the fuel power battery controller is connected with the test platform for testing, and the reality of an algorithm running carrier is improved. In addition, the test platform can simulate the simulated output of engine parts and can also be connected with the output of real parts, and can be selectively applied according to test requirements, so that the test range is widened, the test cost is reduced, and the test risk is eliminated under the condition that a real engine bench is not needed. The fuel power battery is realized by a set of hardware-in-the-loop platform, and the fuel power battery is provided with the analog output of engine parts, and can also be connected with the output of real parts. Further expanding the testing range. However, the platform only relates to the test between the engine and the power battery, and the problem that the original cabinet has insufficient hardware resources or the test environment platform is changed after the test requirements of different platforms are changed is not considered.
Disclosure of Invention
The invention aims to provide a vehicle-mounted controller test platform and a test method, which can test one or more power domain controllers on a hardware cabinet.
In order to achieve the purpose, the vehicle-mounted controller testing platform comprises an initialization model, a controller model, an engine model, a transmission system model and a vehicle longitudinal dynamics model;
The initialization model is used for inputting key parameters selected by the whole vehicle model, selecting the model of the tested controller and simulating the actual state of a driver;
The controller model comprises an EMS (ENGINE MANAGEMENT SYSTEM ) strategy model, wherein the EMS strategy model is used for simulating the processes of engine output torque, engine rotating speed and gasoline consumption according to the actual state information of a driver and the vehicle wind resistance, rolling resistance and ramp resistance output by the longitudinal dynamics model of the vehicle;
The engine model comprises an engine calculation model, an engine simple model and a second selection switch, wherein the engine calculation model obtains engine output torque according to an engine speed query speed and torque two-dimensional table, calculates crankshaft speed according to vehicle speed information in a vehicle longitudinal dynamics model, calculates starting torque required for overcoming resistance according to wind resistance and rolling resistance received by starting a vehicle in the vehicle longitudinal dynamics model, and calculates fuel consumption information required for testing a vehicle-mounted controller according to process information of consuming gasoline; the simple engine model is used for directly outputting the required engine speed, torque and oil consumption according to the test requirement of the vehicle-mounted controller; the second selection switch is used for selecting from the engine calculation model and the engine simple model according to the test requirement of the vehicle-mounted controller;
The transmission system model comprises a clutch model, a gear box model and a third selection switch, wherein the clutch model is used for simulating the state of clutch gear shifting and calculating torsional damping characteristics according to the vehicle model, the engine output torque and the crankshaft rotation speed tested by the vehicle-mounted controller and directly outputting the engine output torque under the condition of no clutch; the gear box model is used for the following the shift points simulate shift sequences; the third selection switch is used for selecting between a clutch model and a gear box model according to the test requirement of the vehicle-mounted controller;
The vehicle longitudinal dynamics model is used for calculating wind resistance, rolling resistance and ramp resistance of the vehicle according to the vehicle model which the vehicle controller tests, and is also used for calculating braking force, vehicle acceleration and vehicle speed according to the resistance which needs to be overcome in the running process of the vehicle, and the state of clutch gear shifting or gear box gear shifting time sequence.
The invention has the beneficial effects that:
the invention can test one or more power domain controllers on one hardware cabinet in hardware; the test of the multiple power domain controllers can be realized by one cabinet, the development and the debugging of the multiple power domain controllers can be realized from hardware, and the development and the debugging of the multiple power domain controllers can be realized in a modularized mode on software.
According to the invention, the test environment is modularized, the corresponding model of the test environment can be selected according to the requirement of the vehicle type of the tested controller, and the corresponding parameters can be converted, so that the time for constructing the test environment is greatly saved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
Detailed Description
The invention is described in further detail below with reference to the attached drawings and specific examples:
The vehicle controller test platform shown in FIG. 1 includes an initialization model, a controller model, an engine model, a transmission system model, and a vehicle longitudinal dynamics model;
The initialization model is used for inputting key parameters selected by the whole vehicle model, selecting the model of the tested controller and simulating the actual state of a driver;
The controller model comprises an EMS strategy model, wherein the EMS strategy model is used for simulating the processes of engine output torque, engine rotating speed and gasoline consumption according to the actual state information of a driver and the vehicle wind resistance, rolling resistance and ramp resistance output by the longitudinal dynamics model of the vehicle; the engine model comprises an engine calculation model, an engine simple model and a second selection switch, wherein the engine calculation model obtains engine output torque according to an engine speed query speed and torque two-dimensional table (the horizontal axis is the speed, the vertical axis is the torque), calculates the crankshaft speed according to the speed information in the vehicle longitudinal dynamics model, calculates starting torque required for overcoming resistance according to wind resistance and rolling resistance received by starting the vehicle in the vehicle longitudinal dynamics model, and calculates fuel consumption information required by testing a vehicle-mounted controller according to the process information of consuming gasoline; the simple engine model is used for directly outputting the required engine speed, torque and oil consumption according to the test requirement of the vehicle-mounted controller; the second selection switch is used for selecting an engine calculation model and an engine simple model according to the test requirement of the vehicle-mounted controller (the simple model can be used for carrying out logic verification of strategies, and the calculation model can be used for carrying out logic verification and calibration work);
The transmission system model comprises a clutch model, a gear box model and a third selection switch, wherein the clutch model is used for simulating the state of clutch gear shifting and calculating torsional damping characteristics according to the vehicle model, the engine output torque and the crankshaft rotation speed tested by the vehicle-mounted controller and directly outputting the engine output torque under the condition of no clutch; the gear box model is used for the following the shift points simulate shift sequences; the third selection switch is used for selecting between a clutch model and a gear box model according to the test requirement of the vehicle-mounted controller;
The vehicle longitudinal dynamics model is used for calculating wind resistance, rolling resistance and ramp resistance of a vehicle according to a vehicle-mounted controller test belonged vehicle model, calculating braking force, vehicle acceleration and vehicle speed according to resistance to be overcome in the running process of the vehicle and the state of clutch gear shifting or gear box gear shifting time sequence, and the initialization model is used for judging whether the current driver treads a brake pedal to meet the braking force requirement according to the braking force.
In the above technical scheme, the controller model further comprises an MCU (Microcontroller Unit, micro control unit) strategy model, wherein the MCU strategy model is used for simulating the torque, the rotating speed and the power consumption output by the motor according to the actual state information of the driver and the vehicle wind resistance, the rolling resistance and the ramp resistance output by the vehicle longitudinal dynamics model, and outputting the torque required to be sent by the motor.
The controller model also comprises a BMS strategy model, wherein the BMS strategy model is used for simulating the charging and discharging process of the power battery, the electric energy actually recovered by the power battery and the used electric energy according to the actual state information of the driver, and outputting the current value required to be output by the battery.
The controller model also comprises a DCDC (direct current converter) strategy model and a first selection switch, wherein the DCDC strategy model is used for simulating the conversion process of the alternating current and the direct current in the whole vehicle state (converting the charged direct current into the alternating current used by the power motor) according to the actual state information of a driver; the first selection switch is used for selecting among the EMS strategy model, the MCU strategy model, the BMS strategy model and the DCDC strategy model according to the test requirement of the vehicle-mounted controller, and the design can test the traditional vehicle and the new energy vehicle on one platform only by selecting the required model.
The invention also comprises a motor model which comprises a motor refined model, wherein the motor refined model is used for calculating the torque, the rotating speed and the power consumption of the motor output according to the torque which is output by the controller model and is required to be sent by the motor and the torque of the wheels and combining the influence of temperature on the energy loss and the torque used for overcoming the friction of a transmission force system.
The motor model further comprises a motor simple model and a fourth selection switch;
the motor simple calculation model is used for calculating the torque, the rotating speed and the power consumption output by the motor according to the torque required to be sent by the motor and the torque of the wheels output by the controller model;
the fourth selection switch is used for selecting between the motor calculation model and the motor calculation model according to the test requirement of the vehicle-mounted controller.
The invention also comprises a power battery model, wherein the power battery model comprises a power battery accurate calculation model, the power battery accurate calculation model is used for calculating the loss of battery voltage and current according to the temperature of the single battery, calculating the SOC (state of charge) of the power battery by adopting an ampere-hour integration method in combination with the current value which is output by the controller model and is needed to be output by the battery, calculating the SOE (state of energy) of the power battery according to the corresponding relation curve of the voltage and the temperature of the single power battery, and calculating the load voltage according to the power of the electric equipment of the whole vehicle;
The power battery model also comprises a power battery simple model and a fifth selection switch;
The power battery simple model is used for directly outputting a power battery SOC (state of charge) demand value, a power battery SOE (state of charge) demand value and a load voltage demand value according to the demand tested by the vehicle-mounted controller;
The fifth selection switch is used for selecting between the power battery accurate model and the power battery simple model according to the test requirement of the vehicle-mounted controller.
In the technical scheme, the initialization model, the controller model, the engine model, the transmission system model, the vehicle longitudinal dynamics model, the motor model, the power battery model and the selection switch are built by MATLAB software and MATLAB model library.
In the technical scheme, the key parameters selected by the whole vehicle model comprise vehicle weight, windward area, tire radius, vehicle type, vehicle driving form, rotating speed and torque two-dimensional table of the motor, battery cell voltage, number of batteries and gear of the gearbox.
Illustrating: and testing the whole vehicle controller of the pure electric reduction gearbox.
Hardware resources planned by the equipment are required for testing the whole vehicle controller: power supply, CAN/LIN board, fault injection board, analog board, digital board, resistive board. And connecting a corresponding board card according to the pin definition of the tested whole vehicle controller, so that the whole vehicle controller and the cabinet form a closed loop.
The test environment is a closed loop test environment based on modular development.
In the initialization model, the reduction gearbox is selected according to the vehicle, namely, according to the modularized design, in the transmission system model, the running module directly outputs torque without clutch "
In the controller model, the power domain controller related to the VCU is selected from MCU\BMS\DCDC because of the pure electric vehicle, and the EMS controller is shielded at the moment without related strategies of the engine.
In the power domain model, a motor model and a battery model are selected, and an engine model is shielded. Because the whole vehicle controller is strongly related to the strategies of the motor and the battery controller.
In the transmission system model, the clutch model is directly adopted as a speed reduction box, and the clutch-free direct output torque is directly adopted "
In the vehicle longitudinal dynamics model, vehicle longitudinal dynamics model parameters (braking force, vehicle acceleration and vehicle speed) are calculated as global variables according to the selected vehicle parameters in the initialization model.
The test platform comprises hardware resources capable of carrying out a whole vehicle controller, a motor controller low-voltage part, a battery management system, a CAN/LIN and an engine controller. And because of the testing environment of the modularized design, the testing device can cope with the testing of different vehicle types, and the reconstruction of the testing environment can be completed only by selecting corresponding parameters in corresponding modules.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (6)
1. The utility model provides a vehicle controller test platform which characterized in that: the method comprises an initialization model, a controller model, an engine model, a transmission system model and a vehicle longitudinal dynamics model;
The initialization model is used for inputting key parameters selected by the whole vehicle model, selecting the model of the tested controller and simulating the actual state of a driver;
The controller model comprises an EMS strategy model, wherein the EMS strategy model is used for simulating the processes of engine output torque, engine rotating speed and gasoline consumption according to the actual state information of a driver and the vehicle wind resistance, rolling resistance and ramp resistance output by the longitudinal dynamics model of the vehicle;
The engine model comprises an engine calculation model, an engine simple model and a second selection switch, wherein the engine calculation model obtains engine output torque according to an engine speed query speed and torque two-dimensional table, calculates crankshaft speed according to vehicle speed information in a vehicle longitudinal dynamics model, calculates starting torque required for overcoming resistance according to wind resistance and rolling resistance received by starting a vehicle in the vehicle longitudinal dynamics model, and calculates fuel consumption information required for testing a vehicle-mounted controller according to process information of consuming gasoline; the simple engine model is used for directly outputting the required engine speed, torque and oil consumption according to the test requirement of the vehicle-mounted controller; the second selection switch is used for selecting from the engine calculation model and the engine simple model according to the test requirement of the vehicle-mounted controller;
The transmission system model comprises a clutch model, a gear box model and a third selection switch, wherein the clutch model is used for simulating the state of clutch gear shifting and calculating torsional damping characteristics according to the vehicle model, the engine output torque and the crankshaft rotation speed tested by the vehicle-mounted controller and directly outputting the engine output torque under the condition of no clutch; the gear box model is used for the following the shift points simulate shift sequences; the third selection switch is used for selecting between a clutch model and a gear box model according to the test requirement of the vehicle-mounted controller;
The vehicle longitudinal dynamics model is used for calculating wind resistance, rolling resistance and ramp resistance of a vehicle according to a vehicle-mounted controller test belonged vehicle model, and is also used for calculating braking force, vehicle acceleration and vehicle speed according to resistance to be overcome in the running of the vehicle, and the state of clutch gear shifting or gear box gear shifting time sequence;
the controller model also comprises an MCU strategy model, wherein the MCU strategy model is used for simulating the torque, the rotating speed and the power consumption output by the motor according to the actual state information of a driver and the vehicle wind resistance, the rolling resistance and the ramp resistance output by the vehicle longitudinal dynamics model and outputting the torque required to be sent by the motor;
The controller model also comprises a BMS strategy model, wherein the BMS strategy model is used for simulating the charging and discharging process of the power battery, the electric energy actually recovered by the power battery and the used electric energy according to the actual state information of the driver and outputting the current value required to be output by the battery;
the motor model comprises a motor calculation model, wherein the motor calculation model is used for calculating the torque, the rotating speed and the power consumption of the motor output according to the torque which is output by the controller model and is required to be sent by the motor, the torque of the wheels and the influence of the temperature on the energy loss and the torque which is used for overcoming the friction of the transmission force system;
the power battery model comprises a power battery accurate calculation model, wherein the power battery accurate calculation model is used for calculating the loss of battery voltage and current according to the temperature of a single battery, calculating the SOC of the power battery by adopting an ampere-hour integration method in combination with the current value which is output by the controller model and is needed to be output by the battery, calculating the SOE of the power battery according to the corresponding relation curve of the voltage and the temperature of the single power battery, and calculating the load voltage according to the power of the electric equipment of the whole vehicle.
2. The vehicle controller test platform of claim 1, wherein: the controller model further comprises a DCDC strategy model and a first selection switch, wherein the DCDC strategy model is used for simulating the conversion process of the whole vehicle state alternating current and direct current according to the actual state information of the driver; the first selection switch is used for selecting among an EMS strategy model, an MCU strategy model, a BMS strategy model and a DCDC strategy model according to the test requirement of the vehicle-mounted controller.
3. The vehicle controller test platform of claim 1, wherein: the motor model further comprises a motor simple model and a fourth selection switch;
the motor simple calculation model is used for calculating the torque, the rotating speed and the power consumption output by the motor according to the torque required to be sent by the motor and the torque of the wheels output by the controller model;
the fourth selection switch is used for selecting between the motor calculation model and the motor calculation model according to the test requirement of the vehicle-mounted controller.
4. The vehicle controller test platform of claim 1, wherein: the power battery model also comprises a power battery simple model and a fifth selection switch;
The power battery simple model is used for directly outputting a power battery SOC (state of charge) demand value, a power battery SOE (state of charge) demand value and a load voltage demand value according to the demand tested by the vehicle-mounted controller;
The fifth selection switch is used for selecting between the power battery accurate model and the power battery simple model according to the test requirement of the vehicle-mounted controller.
5. The vehicle controller test platform of claim 1, wherein: the initialization model, the controller model, the engine model, the transmission system model, the vehicle longitudinal dynamics model, the motor model and the power battery model are built by MATLAB software.
6. The vehicle controller test platform of claim 1, wherein: the key parameters selected by the whole vehicle model comprise vehicle weight, windward area, tire radius, vehicle type, vehicle driving form, rotating speed and torque two-dimensional table of a motor, battery cell voltage, number of batteries and gear of a gearbox.
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