CN117110764B - Automobile electromagnetic compatibility radio frequency anti-interference test system and method based on braking robot - Google Patents
Automobile electromagnetic compatibility radio frequency anti-interference test system and method based on braking robot Download PDFInfo
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- CN117110764B CN117110764B CN202311331723.5A CN202311331723A CN117110764B CN 117110764 B CN117110764 B CN 117110764B CN 202311331723 A CN202311331723 A CN 202311331723A CN 117110764 B CN117110764 B CN 117110764B
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses an automobile electromagnetic compatibility radio frequency immunity test system and method based on a braking robot. The vehicle state of the simulated real vehicle in the actual running of the 10m semi-anechoic chamber is built by arranging the electromagnetic compatibility radio frequency immunity test environment of the vehicle and installing and debugging the brake robot unit. Parameters of a radio frequency disturbance rejection test environment unit, a hub unit, a braking robot unit and a data acquisition unit are set through EMC disturbance rejection test software of an automobile braking system running in an upper computer; when the test starts, the brake robot unit is used for stepping on the brake, the vehicle is decelerated, and the ABS is activated. The tested vehicle is tested whether to meet the GB 21670 standard requirement or not by applying electromagnetic fields with a plurality of specific frequencies in GB 34660-2017 to the tested vehicle.
Description
Technical Field
The invention belongs to the technical field of electromagnetic compatibility testing, and particularly relates to an automobile electromagnetic compatibility radio frequency immunity testing system and method based on a braking robot.
Background
With the gradual complexity of electromagnetic environment in life, automobile driving safety problems are increasingly prominent. In the process of driving a vehicle on a road, the performance of a vehicle braking system is more seriously affected by electromagnetic factors, and the problem of electromagnetic compatibility in the environment becomes a very important part. Based on which electromagnetic radio frequency immunity tests are required during the development of automobiles. In the test process, whether the brake system of the newly developed vehicle type meets the requirement of the standard GB 21670 is verified by monitoring the working state of the brake system of the vehicle.
The electromagnetic radio frequency immunity test of the automobile is divided into two steps of test implementation and test result analysis. Testing and verifying the immunity of the automobile braking system. The existing electromagnetic radio frequency immunity test method of the automobile comprises the following steps: when the disturbance rejection test of the automobile brake system is started, the hub is started through EMC disturbance rejection test software of the automobile brake system, and the brake robot is controlled to step on the accelerator by the software, so that the tested automobile can run at a constant speed according to the standard requirement of 50 Km/h. And when the working condition requirement is met, applying an electromagnetic field to the test vehicle by using software. At the moment, the braking robot steps on the brake, the vehicle decelerates, and the anti-lock braking system of the vehicle is activated. And (5) driving all the wheels again to 50km/h, entering the next cycle, and finishing the disturbance rejection test of the other frequency points. In the whole test process, a camera is used for collecting video and audio, and a tester judges whether an ABS system is activated or not through the video and audio, and subjectively judges abnormal phenomena in the disturbance resistance test process; and under the condition that the video and audio record is not displayed but does not meet the test requirement, the video and audio record is ignored by the test personnel. For example, when the automobile performs radio frequency anti-interference test, if the automobile brake system stops working, the judgment cannot be performed through image video; or when the automobile is subjected to radio frequency anti-interference test, if the braking system fails, the lamp is instantly lightened and extinguished, and the situation can not judge whether the automobile braking system meets the electromagnetic compatibility requirement of the automobile through video and audio. These conditions all have an impact on the determination of the test results.
The existing test method only judges the test result through video and audio recording, and at least has the following defects:
(1) The test working condition is incomplete, and the function disturbance rejection test and monitoring of the brake system cannot be covered comprehensively;
(2) Some anomalies may be missed in the test, affecting the final immunity test grade decision;
(3) Aiming at the abnormal phenomenon, the frequency points at which the abnormal phenomenon occurs cannot be accurately judged;
(4) Time and economic cost are increased, and research and development personnel cannot call test data at any time. When the performance of the automobile brake system is improved, the test needs to be conducted again.
Disclosure of Invention
Aiming at the technical problems pointed out in the background art, the invention aims to provide an automobile electromagnetic compatibility radio frequency immunity test system and method based on a brake robot.
In order to achieve the purpose of the invention, the technical scheme provided by the invention is as follows:
First aspect
The application provides an automobile electromagnetic compatibility radio frequency immunity test method based on a braking robot, which comprises the following steps:
step S1: parameters of a radio frequency disturbance rejection test environment unit, a hub unit, a braking robot unit and a data acquisition unit are set through EMC disturbance rejection test software of an automobile braking system running in an upper computer;
Step S2: testing the tested vehicle according to the testing steps, and not starting the radio frequency anti-interference testing environment unit; the method comprises the steps of stepping on a pedal by using a brake robot unit, and acquiring a first pedal driving cylinder air pump air pressure curve F and a first pedal opening curve L in the process of activating an ABS;
Step S3: testing the tested vehicle according to the test steps, wherein after the working condition requirement is met, starting a radio frequency anti-interference test environment unit, and applying an electromagnetic field with preset frequency to the tested vehicle; the brake robot is used for treading, in the process of activating the ABS, the air pressure curve F 'of the air pump of the second pedal driving air cylinder is guaranteed to be identical to the air pressure curve F of the air pump of the first pedal driving air cylinder, and the opening curve L' of the second pedal is guaranteed to be identical to the opening curve L of the first pedal; if the ABS cannot be activated, judging that the electromagnetic compatibility radio frequency immunity test of the tested vehicle is not qualified;
step S4: and repeating the step S3 until the automobile electromagnetic compatibility radio frequency immunity test of all electromagnetic fields with preset frequencies is completed.
Further, in step S2, during the process of testing the vehicle to be tested according to the testing step, the actual speed, ABS current and ABS voltage of the vehicle to be tested for reference are collected and stored in the upper computer in real time;
In the step S3, in the process of testing the tested vehicle according to the test step, the real-time running state of the tested vehicle and the image data of the instrument screen are collected in real time and stored in the upper computer; meanwhile, the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement are collected in real time and stored in the upper computer in real time, the upper computer compares the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement with the actual speed, ABS current and ABS voltage of the measured vehicle for reference, and when the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement are abnormal, the upper computer automatically records the preset frequency of an electromagnetic field and the actual running state of the measured vehicle when the abnormality occurs.
Further, in step 3, the manner of collecting ABS current is as follows: the method comprises the steps of collecting an ABS fuse current value I Initially, the method comprises in real time, and processing the I Initially, the method comprises by adopting a self-adaptive threshold value rejection algorithm, so that the obtained ABS current is specifically as follows:
With 5 data as one data processing period, a group of current data is continuously collected as [ ,/>,/>,/>,The standard deviation of the set of current data is recorded as/>，/>Judge/>If/>Then/>Is an acceptable current value; if/>Then/>Is an unreasonable current value, should be rejected;
wherein, Is the current value at the nth time,/>For the current predictive value,/>The estimated weighted value;
(1)
(2)
(3)
k is an adaptive threshold and is automatically calculated by equation (3).
Further, in step S3, when it is determined that abnormality occurs in the actual vehicle speed, ABS current, and ABS voltage of the actual vehicle to be measured or when the limit values of the actual vehicle speed, ABS current, and ABS voltage of the actual vehicle to be measured exceed the standard requirements or there is a potential hazard, the test is stopped.
Further, after step S4, the method further includes a step of analyzing the cause of the abnormality of the vehicle under test by analyzing the image data stored in the host computer, the actual vehicle speed, ABS current and ABS voltage of the vehicle under test, and the preset frequency of the electromagnetic field applied when the abnormality occurs, the actual vehicle running state of the vehicle under test.
Further, after step S4, it further includes determining whether the test requirement is satisfied according to the image data stored in the host computer, the actual speed of the reference vehicle, the ABS current and ABS voltage, the actual speed of the actual measured vehicle, the ABS current and ABS voltage, the preset frequency of the electromagnetic field applied when the abnormality occurs, and the actual running state of the measured vehicle, by the following method:
(1) When the tested vehicle is tested according to the test steps, the ABS is successfully activated, the wheels of the tested vehicle are not locked out, the ABS fault lamp is not lightened, the actual speed, the ABS current and the ABS voltage of the tested vehicle are not abnormal, the electromagnetic compatibility radio frequency immunity test result of the automobile meets the standard requirement, and the automobile is judged to be I-level;
(2) When the tested vehicle is tested according to the test steps, the ABS is successfully activated, the wheels of the tested vehicle are not locked out, the ABS fault lamp is lightened but can be automatically recovered, the actual speed, the ABS current and the ABS voltage of the tested vehicle are not abnormal, the electromagnetic compatibility radio frequency anti-interference test result of the automobile meets the standard requirement, and the automobile is judged to be II-level;
(3) When the tested vehicle is tested according to the test steps, the ABS is not successfully activated, or the wheels of the tested vehicle are locked off or the ABS fault lamp is lightened but cannot be recovered automatically, or the actual speed, ABS current and ABS voltage of the tested vehicle are abnormal, the electromagnetic compatibility radio frequency anti-interference test result of the automobile does not meet the standard requirement, and the automobile is judged to be class III.
Further, in step S3, the method for ensuring that the second pedal-driven cylinder air pump air pressure curve F 'is the same as the first pedal-driven cylinder air pump air pressure curve F and the second pedal opening curve L' is the same as the first pedal opening curve L is as follows: air pressure error of pedal driving cylinder air pumpAs a control target, the parameters K p, K I and K D in the BP neural network fuzzy self-adaptive PID control algorithm are adjusted to enable/>Convergence while correcting pedal opening error/>Time interval/>The BP neural network fuzzy self-adaptive PID control algorithm is introduced, and the self-adaptive learning function in the BP neural network fuzzy self-adaptive PID control algorithm is utilized to train the function model/>Obtaining parameters K p, K I and K D with adaptive adjustmentAnd the converged control algorithm of the braking auxiliary system realizes the control of the air pressure of the pedal-driven air cylinder air pump in real time through the control algorithm of the braking auxiliary system in the process of stepping on the pedal, so as to realize the control of the pedal motion.
Further, the brake robot unit comprises a jack capable of being controlled remotely, a brake robot main body and a brake robot supporting rod for controlling a pedal; the braking robot main body is fixed on a seat, the braking robot supporting rod is fixed in a cab, the braking robot supporting rod is arranged on a pedal driving cylinder, the braking robot supporting rod is driven to extend and retract by the pedal driving cylinder, the action of stepping on a pedal is realized, and the pedal driving cylinder is driven by a pedal driving cylinder air pump; the jack is arranged at one side below the tested vehicle and close to the wheel, and the friction coefficient between the 4 wheels and the wheel hubs of the tested vehicle is changed through lifting and falling of the jack.
Further, before the step2, the method further comprises a step of debugging the jack, specifically comprising the following steps:
controlling lifting and dropping of the jack, observing whether the lifting and dropping operation of the jack is stable or not, and judging whether the jack is installed in place or not; if the tested vehicle shakes or is obviously blocked in the running process, the jack position needs to be moved to be installed in place.
Further, before the step 2, the method further comprises a step of debugging the braking robot support rod, specifically comprising the following steps:
Controlling the extension and retraction of a supporting rod of the braking robot, observing the treading depth and the treading speed of the supporting rod of the braking robot on an accelerator pedal and a brake pedal, and judging whether the braking robot main body is installed in place or not; if the tread depth and speed are obviously different from those of the driver in the real vehicle state, the brake robot support rod needs to be adjusted to enable the tread depth and tread speed of the brake robot support rod on the accelerator pedal and the brake pedal to be matched with those of the driver in the real vehicle state.
Further, in step S3, the step of testing the vehicle under test according to the testing step includes the following steps: the automobile brake system EMC disturbance rejection test software running in the upper computer starts the hub unit and controls the brake robot unit to step on the accelerator pedal, so that the tested automobile runs at a constant speed according to the standard required automobile speed of 50 Km/h; when the working condition requirement is met, applying an electromagnetic field with preset frequency to the tested vehicle by using EMC anti-interference test software of the automobile brake system; controlling lifting of jacks of a brake robot unit by using EMC disturbance rejection test software of an automobile brake system, so that friction coefficients of 4 wheels and hubs of a tested vehicle are changed; and controlling the brake robot supporting rod to step on a brake pedal by using EMC disturbance rejection test software of the automobile brake system, so that the tested vehicle is decelerated, and ABS activation is performed.
Second aspect
The application provides an automobile electromagnetic compatibility radio frequency immunity test system based on a brake robot, which comprises a radio frequency immunity test environment unit, a hub unit, a brake robot unit, a data acquisition unit, an upper computer running EMC immunity test software of an automobile brake system and a tested vehicle;
The radio frequency anti-interference test environment unit is used for applying an electromagnetic field with preset frequency to the tested vehicle to perform electromagnetic wave interference;
The hub unit provides a platform for simulating running of the tested vehicle;
The braking robot unit comprises a jack capable of being controlled remotely, a braking robot main body and a braking robot supporting rod for controlling a pedal; the braking robot main body is fixed on a seat, the braking robot supporting rod is fixed in a cab, the braking robot supporting rod is arranged on a pedal driving cylinder, the braking robot supporting rod is driven to extend and retract by the pedal driving cylinder, the action of stepping on a pedal is realized, and the pedal driving cylinder is driven by a pedal driving cylinder air pump; the jack is arranged at one side below the tested vehicle and close to the wheel, and the friction coefficients of the 4 wheels and the hubs of the tested vehicle are changed through lifting and landing of the jack;
the data acquisition unit comprises a camera and is used for acquiring real-time running states of the tested vehicle and image data of an instrument screen and storing the real-time running states and the image data in the upper computer; meanwhile, the actual speed, ABS current and ABS voltage of the detected vehicle are collected in real time and stored in an upper computer in real time;
the automobile brake system EMC anti-interference test software comprises an EMC anti-interference test environment tab, a hub tab, a brake robot tab and a data acquisition tab which are respectively used for controlling a radio frequency anti-interference test environment unit, a hub unit, a brake robot unit and a data acquisition unit;
The automobile electromagnetic compatibility radio frequency immunity test system is used for executing the automobile electromagnetic compatibility radio frequency immunity test method based on the braking robot.
Compared with the prior art, the invention has the following beneficial effects:
The invention can realize the control of the radio frequency anti-interference test environment unit, the hub unit, the brake robot unit and the data acquisition unit by using the EMC anti-interference test software of the automobile brake system, and realize the centralized and unified control of the multi-unit functions;
The invention provides a method for improving test accuracy, firstly, a first pedal-driven cylinder air pump air pressure curve F and a first pedal opening curve L are obtained under a non-electromagnetic field environment, then, when the test is carried out under the electromagnetic field environment, the second pedal-driven cylinder air pump air pressure curve F 'is ensured to be the same as the first pedal-driven cylinder air pump air pressure curve F, the second pedal opening curve L' is ensured to be the same as the first pedal opening curve L, errors are reduced, a single variable is ensured, namely, in the electromagnetic field environment, if the ABS cannot be activated, the failure of the electromagnetic compatibility radio frequency immunity test of a tested vehicle can be judged, and the ABS cannot be activated due to other factors, so that the test accuracy can be improved;
(3) Before testing, the invention comprises a step of debugging the jack, so as to improve the control precision of the jack and reduce the rollover danger of the tested vehicle caused by unstable operation of the jack; the method further comprises a step of debugging the supporting rod of the brake robot so as to improve the control precision of the supporting rod of the brake robot on the accelerator pedal and the brake pedal, eliminate the abnormality of the test result caused by the installation problem in the anti-interference test process and improve the accuracy of test data;
(4) The invention can analyze the reasons of the abnormality of the tested vehicle by analyzing the test data and the image data stored in the upper computer, and provides basis for the subsequent development of the performance improvement of the tested vehicle.
(5) According to the invention, the acquired ABS current signals are processed by utilizing the self-adaptive threshold value removing algorithm, the obvious abnormal ABS current signals acquired in the test process (abnormal signals are acquired due to system problems) are removed, the influence of the abnormal ABS current signals on the judgment of test data is effectively avoided, and the accuracy of the judgment of the test data is improved.
Drawings
Fig. 1 is a schematic flow chart of a method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the embodiment provides an automobile electromagnetic compatibility radio frequency immunity test method based on a braking robot, which comprises the following steps:
step S1: parameters of a radio frequency disturbance rejection test environment unit, a hub unit, a braking robot unit and a data acquisition unit are set through EMC disturbance rejection test software of an automobile braking system running in an upper computer;
It should be noted that the parameters of the radio frequency immunity test environment unit may include an electromagnetic field preset frequency, a standing wave ratio, a residence time, and the like; parameters of the hub unit can include a vehicle power driving mode, a hub speed limit, a measured vehicle overall mass and the like; the parameters of the data acquisition unit can comprise the actual speed of the measured vehicle, the ABS current of the measured vehicle, the ABS voltage and the like.
Step S2: testing the tested vehicle according to the testing steps, and not starting the radio frequency anti-interference testing environment unit; the method comprises the steps of stepping on a pedal by using a brake robot unit, and acquiring a first pedal driving cylinder air pump air pressure curve F and a first pedal opening curve L in the process of activating an ABS;
Step S3: testing the tested vehicle according to the test steps, wherein after the working condition requirement is met, starting a radio frequency anti-interference test environment unit, and applying an electromagnetic field with preset frequency to the tested vehicle; the brake robot is used for treading, in the process of activating the ABS, the air pressure curve F 'of the air pump of the second pedal driving air cylinder is guaranteed to be identical to the air pressure curve F of the air pump of the first pedal driving air cylinder, and the opening curve L' of the second pedal is guaranteed to be identical to the opening curve L of the first pedal; if the ABS cannot be activated, judging that the electromagnetic compatibility radio frequency immunity test of the tested vehicle is not qualified;
step S4: and step S3, the test of the next preset frequency is carried out until the electromagnetic field of all preset frequencies is tested for the electromagnetic compatibility radio frequency immunity of the automobile.
Preferably, in step S2, during the process of testing the vehicle to be tested according to the testing step, the actual speed, ABS current and ABS voltage of the vehicle to be tested for reference are collected and stored in the host computer in real time as preset data;
Preferably, in step S3, in the process of testing the vehicle to be tested according to the testing step, real-time collecting the real running state of the vehicle to be tested and the image data of the instrument screen, and storing in the upper computer; meanwhile, the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement are collected in real time and stored in the upper computer in real time, the upper computer compares the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement with the actual speed, ABS current and ABS voltage of the measured vehicle for reference, and when the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement are abnormal, the upper computer automatically records the preset frequency of an electromagnetic field and the actual running state of the measured vehicle when the abnormality occurs.
It should be noted that, in step S2 and step S3, CAN also collect the CAN network signal of the whole vehicle.
Preferably, in step S3, when it is determined that abnormality occurs in the actual vehicle speed, ABS current, and ABS voltage of the actual vehicle to be measured or when the limit values of the actual vehicle speed, ABS current, and ABS voltage of the actual vehicle to be measured exceed the standard requirements or there is or is a potential danger such as vehicle runaway, the test is stopped.
Preferably, after step S4, the method further includes a step of analyzing the cause of the abnormality of the vehicle under test by analyzing the image data stored in the host computer, the actual vehicle speed of the vehicle under test for reference, the ABS current and ABS voltage, the actual vehicle speed of the vehicle under test for actual measurement, the ABS current and ABS voltage, and the preset frequency of the electromagnetic field applied when the abnormality occurs, the actual vehicle running state of the vehicle under test.
Preferably, after step S4, it further includes determining whether the test requirement is satisfied according to the image data stored in the host computer, the actual speed of the reference vehicle, the ABS current and ABS voltage, the actual speed of the actual measured vehicle, the ABS current and ABS voltage, the preset frequency of the electromagnetic field applied when the abnormality occurs, the actual running state of the vehicle, and the like, and the data result, by the following method:
(1) When the tested vehicle is tested according to the test steps, the ABS is successfully activated, the wheels of the tested vehicle are not locked out, the ABS fault lamp is not lightened, the actual speed, the ABS current and the ABS voltage of the tested vehicle are not abnormal, and the electromagnetic compatibility radio frequency immunity test result of the automobile meets the GB 21670 standard requirement and is judged to be level I;
(2) When the tested vehicle is tested according to the test steps, the ABS is successfully activated, the wheels of the tested vehicle are not locked out, the ABS fault lamp is lightened but can be automatically recovered, the actual speed, the ABS current and the ABS voltage of the tested vehicle are not abnormal, the electromagnetic compatibility radio frequency anti-interference test result of the automobile meets the standard requirement, and the automobile is judged to be II-level;
When the tested vehicle is tested according to the test steps, the ABS is not successfully activated, or the wheels of the tested vehicle are locked off or the ABS fault lamp is lightened but cannot be recovered automatically, or the actual speed, ABS current and ABS voltage of the tested vehicle are abnormal, the electromagnetic compatibility radio frequency anti-interference test result of the automobile does not meet the standard requirement, and the automobile is judged to be class III.
It should be noted that the test phenomenon may also include whether the brake lamp works normally or not.
It should be noted that, in the present invention, the preset frequencies are selected to meet the requirements of GB 34660-2017, and the preset frequencies may be 14.
In step S3, in order to ensure that the ABS can be activated during the process of stepping on the brake pedal, the air pressure curve F' of the air pump of the second pedal driving air cylinder of the brake robot unit is required to be the same as the air pressure curve F of the air pump of the first pedal driving air cylinder, that is, the air pressure sampling value at the corresponding moment is ensured to be the same; simultaneously, ensuring that the second pedal opening curve L' is identical to the first pedal opening curve L and keeps consistent with the first pedal opening curve L, namely synchronously reaching a target pedal opening value and a target air pressure value at the corresponding moment;
Because if the second pedal-driven cylinder air pump air pressure converges for too long, the second pedal opening reaches the target value before the second pedal-driven cylinder air pump air pressure in the sampling time step, and at this time, the second pedal opening continues to increase, then the second pedal opening will be smaller than the target value corresponding to the moment, and the first pedal opening causes the ABS system to be not activated yet, and the wheels of the tested vehicle have all stopped rotating. Therefore, in the actual running process of the vehicle, the air pressure of the air pump of the second pedal driving air cylinder of the braking robot is converged as soon as possible, namely at corresponding time intervals And in the process of braking the pedal, the air pressure curve F 'of the second pedal driving air cylinder of the braking robot is continuously adjusted by a BP neural network fuzzy self-adaptive PID control algorithm until the air pressure curve F' of the first pedal driving air cylinder applied in the step S3 is met, wherein the specific method is as follows:
The method for ensuring that the air pressure curve F 'of the second pedal driving air cylinder is the same as the air pressure curve F of the first pedal driving air cylinder and the opening curve L' of the second pedal is the same as the opening curve L of the first pedal is as follows: air pressure error of pedal driving cylinder air pump As a control target, the parameters K p, K I and K D in the BP neural network fuzzy self-adaptive PID control algorithm are adjusted to enable/>Convergence while correcting pedal opening error/>Time interval/>The BP neural network fuzzy self-adaptive PID control algorithm is introduced, and the self-adaptive learning function in the BP neural network fuzzy self-adaptive PID control algorithm is utilized to train the function model/>Obtaining parameters K p, K I and K D with adaptive adjustmentAnd the converged control algorithm of the braking auxiliary system realizes the control of the air pressure of the pedal-driven air cylinder air pump in real time through the control algorithm of the braking auxiliary system in the process of stepping on the pedal, so as to realize the control of the pedal motion.
The brake robot unit comprises a jack capable of being controlled remotely, a brake robot main body and a brake robot supporting rod for controlling a pedal; the braking robot main body is fixed on a seat, the braking robot supporting rod is fixed in a cab, the braking robot supporting rod is arranged on a pedal driving cylinder, the braking robot supporting rod is driven to extend and retract by the pedal driving cylinder, the action of stepping on a pedal is realized, and the pedal driving cylinder is driven by a pedal driving cylinder air pump; the jack is arranged at one side below the tested vehicle and close to the wheel, and the friction coefficient between the 4 wheels and the wheel hubs of the tested vehicle is changed through lifting and falling of the jack.
Preferably, before the step 2, the method further comprises a step of debugging the jack, specifically as follows:
Controlling lifting and dropping of the jack, observing whether the lifting and dropping operation of the jack is stable or not, and judging whether the jack is installed in place or not; if the tested vehicle shakes or is obviously blocked in the running process, the jack is required to be installed in place by moving the position of the jack.
Preferably: before the step 2, the method further comprises a step of debugging a brake robot supporting rod, and the brake robot unit is ensured to accurately control the throttle and the brake of the tested vehicle on the premise of safety, and specifically comprises the following steps:
Controlling the extension and retraction of a supporting rod of the braking robot, observing the treading depth and the treading speed of the supporting rod of the braking robot on an accelerator pedal and a brake pedal, and judging whether the braking robot main body is installed in place or not; if the tread depth and speed are obviously different from those of the driver in the real vehicle state, the brake robot support rod needs to be adjusted to enable the tread depth and tread speed of the brake robot support rod on the accelerator pedal and the brake pedal to be matched with those of the driver in the real vehicle state.
Preferably, in step S2, the testing the tested vehicle according to the testing step includes the following steps: the automobile brake system EMC disturbance rejection test software running in the upper computer starts the hub unit and controls the brake robot unit to step on the accelerator pedal, so that the tested automobile runs at a constant speed according to the standard required automobile speed of 50 Km/h; controlling lifting of jacks of a brake robot unit by using EMC disturbance rejection test software of an automobile brake system, so that friction coefficients of 4 wheels and hubs of a tested vehicle are changed; and controlling the brake robot supporting rod to step on a brake pedal by using EMC disturbance rejection test software of the automobile brake system, so that the tested vehicle is decelerated, and ABS activation is performed.
Preferably, in step S3, the testing the tested vehicle according to the testing step includes the following steps: the automobile brake system EMC disturbance rejection test software running in the upper computer starts the hub unit and controls the brake robot unit to step on the accelerator pedal, so that the tested automobile runs at a constant speed according to the standard required automobile speed of 50 Km/h; when the working condition requirement is met, applying an electromagnetic field with preset frequency to the tested vehicle by using EMC anti-interference test software of the automobile brake system; controlling lifting of jacks of a brake robot unit by using EMC disturbance rejection test software of an automobile brake system, so that friction coefficients of 4 wheels and hubs of a tested vehicle are changed; and controlling the brake robot supporting rod to step on a brake pedal by using EMC disturbance rejection test software of the automobile brake system, so that the tested vehicle is decelerated, and ABS activation is performed.
Preferably, in step S2 and step S3, when the vehicle keeps a constant speed of 50Km/h, the current curve of the ABS fuse is collected, and the current curve should be relatively stable. After reaching 50Km/h of vehicle speed. And controlling the braking robot to continuously step on a brake pedal, and collecting the current curve of the fuse of the ABS system in real time. In the data acquisition process, a self-adaptive wild value elimination algorithm is adopted to obtain a real and reliable fuse current value I of the ABS system, and an upper computer can automatically judge whether the ABS system is activated or not.
The manner of collecting the ABS current may be as follows: the method comprises the steps of collecting an ABS fuse current value I Initially, the method comprises in real time, and processing the I Initially, the method comprises by adopting a self-adaptive threshold value rejection algorithm, so that the obtained ABS current is specifically as follows:
With 5 data as one data processing period, a group of current data is continuously collected as [ ,/>,/>,/>,The standard deviation of the set of current data is recorded as/>，/>Judge/>If/>Then/>Is an acceptable current value; if/>Then/>Is an unreasonable current value, should be rejected;
wherein, Is the current value at the nth time,/>For the current predictive value,/>The estimated weighted value;
(1)
(2)
(3)
k is an adaptive threshold and is automatically calculated by equation (3).
In addition, the invention provides an automobile electromagnetic compatibility radio frequency immunity test system based on a brake robot, which comprises a radio frequency immunity test environment unit, a hub unit, a brake robot unit, a data acquisition unit, an upper computer running with automobile brake system EMC immunity test software and a tested vehicle;
The radio frequency anti-interference test environment unit is used for applying an electromagnetic field with preset frequency to the tested vehicle to perform electromagnetic wave interference;
the hub unit provides a platform for simulating running of the tested vehicle; the hub unit can comprise a hub of a tested vehicle running in a 10-meter semi-anechoic chamber, a vehicle driving module and the like;
The braking robot unit comprises a jack capable of being controlled remotely, a braking robot main body and a braking robot supporting rod for controlling a pedal; the braking robot main body is fixed on a seat, the braking robot supporting rod is fixed in a cab, the braking robot supporting rod is arranged on a pedal driving cylinder, the braking robot supporting rod is driven to extend and retract by the pedal driving cylinder, the action of stepping on a pedal is realized, and the pedal driving cylinder is driven by a pedal driving cylinder air pump; the jack is arranged at one side below the tested vehicle and close to the wheel, and the friction coefficients of the 4 wheels and the hubs of the tested vehicle are changed through lifting and landing of the jack; preferably, the jack is mounted at a wheel located close below the primary driver.
The data acquisition unit comprises a camera and is used for acquiring real-time running states of the tested vehicle and image data of an instrument screen and storing the real-time running states and the image data in the upper computer; meanwhile, the actual speed, ABS current and ABS voltage of the detected vehicle are collected in real time and stored in an upper computer in real time;
The image data can be respectively placed in a half-anechoic chamber of 10 m method to monitor the running state of the real vehicle and collected by the cameras of the instrument screen, and the image data can be transmitted to EMC anti-interference test software of the automobile brake system by using a wire harness.
The automobile brake system EMC anti-interference test software comprises an EMC anti-interference test environment tab, a hub tab, a brake robot tab and a data acquisition tab which are respectively used for controlling a radio frequency anti-interference test environment unit, a hub unit, a brake robot unit and a data acquisition unit;
The automobile electromagnetic compatibility radio frequency immunity test system is used for executing the automobile electromagnetic compatibility radio frequency immunity test method based on the brake robot.
It should be noted that, the radio frequency immunity test environment unit may adopt the following structure: the device comprises a test equipment vector signal generator, a power amplifier, a directional coupler, a field generating device and the like which are connected in sequence; the vector signal generator is connected with the directional coupler after passing through the power amplifier and used for controlling and forming an anti-interference waveform with specific frequency and field intensity, and the output end of the directional coupler is connected with the field generating device and used for carrying out electromagnetic wave interference on the tested vehicle.
Finally, it should be noted that: the above-described embodiments are provided for illustration and description of the present invention only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which fall within the scope of the claimed invention.
Claims (12)
1. A method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot is characterized by comprising the following steps of: the method comprises the following steps:
step S1: parameters of a radio frequency disturbance rejection test environment unit, a hub unit, a braking robot unit and a data acquisition unit are set through EMC disturbance rejection test software of an automobile braking system running in an upper computer;
Step S2: testing the tested vehicle according to the testing steps, and not starting the radio frequency anti-interference testing environment unit; the method comprises the steps of stepping on a pedal by using a brake robot unit, and acquiring a first pedal driving cylinder air pump air pressure curve F and a first pedal opening curve L in the process of activating an ABS;
Step S3: testing the tested vehicle according to the test steps, wherein after the working condition requirement is met, starting a radio frequency anti-interference test environment unit, and applying an electromagnetic field with preset frequency to the tested vehicle; the brake robot is used for treading, in the process of activating the ABS, the air pressure curve F 'of the air pump of the second pedal driving air cylinder is guaranteed to be identical to the air pressure curve F of the air pump of the first pedal driving air cylinder, and the opening curve L' of the second pedal is guaranteed to be identical to the opening curve L of the first pedal; if the ABS cannot be activated, judging that the electromagnetic compatibility radio frequency immunity test of the tested vehicle is not qualified;
step S4: and repeating the step S3 until the automobile electromagnetic compatibility radio frequency immunity test of all electromagnetic fields with preset frequencies is completed.
2. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 1, wherein the method comprises the following steps: in the step S2, in the process of testing the tested vehicle according to the test step, acquiring the actual speed, ABS current and ABS voltage of the tested vehicle for reference, and storing the actual speed, ABS current and ABS voltage in an upper computer in real time;
In the step S3, in the process of testing the tested vehicle according to the test step, the real-time running state of the tested vehicle and the image data of the instrument screen are collected in real time and stored in the upper computer; meanwhile, the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement are collected in real time and stored in the upper computer in real time, the upper computer compares the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement with the actual speed, ABS current and ABS voltage of the measured vehicle for reference, and when the actual speed, ABS current and ABS voltage of the measured vehicle for actual measurement are abnormal, the upper computer automatically records the preset frequency of an electromagnetic field and the actual running state of the measured vehicle when the abnormality occurs.
3. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 2, wherein the method comprises the following steps: in step 3, the manner of collecting ABS current is as follows: the method comprises the steps of collecting an ABS fuse current value I Initially, the method comprises in real time, and processing the I Initially, the method comprises by adopting a self-adaptive threshold value rejection algorithm, so that the obtained ABS current is specifically as follows:
With 5 data as one data processing period, a group of current data is continuously collected as [ ,/>,/>,/>,/>The standard deviation of the set of current data is recorded as/>，/>Judge/>If/>Then/>Is an acceptable current value; if/>Then/>Is an unreasonable current value, should be rejected;
wherein, Is the current value at the nth time,/>For the current predictive value,/>The estimated weighted value;
(1)
(2)
(3)
k is an adaptive threshold and is automatically calculated by equation (3).
4. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 2, wherein the method comprises the following steps: in step S3, when it is determined that the actual vehicle speed, ABS current, and ABS voltage of the actual measurement vehicle are abnormal or when the limit values of the actual vehicle speed, ABS current, and ABS voltage of the actual measurement vehicle exceed the standard requirements or there is a potential hazard, the test is stopped.
5. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 2, wherein the method comprises the following steps: after step S4, the method further includes a step of analyzing the cause of the abnormality of the vehicle under test by analyzing the image data stored in the host computer, the actual vehicle speed, ABS current and ABS voltage of the vehicle under test, and the preset frequency of the electromagnetic field applied when the abnormality occurs, the actual vehicle running state of the vehicle under test.
6. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 2, wherein the method comprises the following steps: after step S4, it further includes determining whether the test requirement is satisfied according to the image data stored in the upper computer, the actual speed of the reference vehicle, the ABS current and ABS voltage, the actual speed of the actual measured vehicle, the ABS current and ABS voltage, the preset frequency of the electromagnetic field applied when the abnormality occurs, and the actual running state of the measured vehicle, by the following method:
(1) When the tested vehicle is tested according to the test steps, the ABS is successfully activated, the wheels of the tested vehicle are not locked out, the ABS fault lamp is not lightened, the actual speed, the ABS current and the ABS voltage of the tested vehicle are not abnormal, the electromagnetic compatibility radio frequency immunity test result of the automobile meets the standard requirement, and the automobile is judged to be I-level;
(2) When the tested vehicle is tested according to the test steps, the ABS is successfully activated, the wheels of the tested vehicle are not locked out, the ABS fault lamp is lightened but can be automatically recovered, the actual speed, the ABS current and the ABS voltage of the tested vehicle are not abnormal, the electromagnetic compatibility radio frequency anti-interference test result of the automobile meets the standard requirement, and the automobile is judged to be II-level;
(3) When the tested vehicle is tested according to the test steps, the ABS is not successfully activated, or the wheels of the tested vehicle are locked off or the ABS fault lamp is lightened but cannot be recovered automatically, or the actual speed, ABS current and ABS voltage of the tested vehicle are abnormal, the electromagnetic compatibility radio frequency anti-interference test result of the automobile does not meet the standard requirement, and the automobile is judged to be class III.
7. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 1, wherein the method comprises the following steps: in step S3, the method for ensuring that the second pedal-driven cylinder air pump air pressure curve F 'is the same as the first pedal-driven cylinder air pump air pressure curve F and the second pedal opening curve L' is the same as the first pedal opening curve L is as follows: air pressure error of pedal driving cylinder air pumpAs a control target, the parameters K p, K I and K D in the BP neural network fuzzy self-adaptive PID control algorithm are adjusted to enable/>Convergence while correcting pedal opening error/>Time interval/>The BP neural network fuzzy self-adaptive PID control algorithm is introduced, and the self-adaptive learning function in the BP neural network fuzzy self-adaptive PID control algorithm is utilized to train the function model/>Obtaining parameters K p, K I and K D with adaptive adjustmentAnd the converged control algorithm of the braking auxiliary system realizes the control of the air pressure of the pedal-driven air cylinder air pump in real time through the control algorithm of the braking auxiliary system in the process of stepping on the pedal, so as to realize the control of the pedal motion.
8. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 1, wherein the method comprises the following steps: the braking robot unit comprises a jack capable of being controlled remotely, a braking robot main body and a braking robot supporting rod for controlling a pedal; the braking robot main body is fixed on a seat, the braking robot supporting rod is fixed in a cab, the braking robot supporting rod is arranged on a pedal driving cylinder, the braking robot supporting rod is driven to extend and retract by the pedal driving cylinder, the action of stepping on a pedal is realized, and the pedal driving cylinder is driven by a pedal driving cylinder air pump; the jack is arranged at one side below the tested vehicle and close to the wheel, and the friction coefficient between the 4 wheels and the wheel hubs of the tested vehicle is changed through lifting and falling of the jack.
9. The method for testing electromagnetic compatibility radio frequency immunity of the automobile based on the braking robot as set forth in claim 8, wherein the method comprises the following steps: before the step2, the method also comprises a step of debugging the jack, and specifically comprises the following steps:
controlling lifting and dropping of the jack, observing whether the lifting and dropping operation of the jack is stable or not, and judging whether the jack is installed in place or not; if the tested vehicle shakes or is obviously blocked in the running process, the jack position needs to be moved to be installed in place.
10. The method for testing electromagnetic compatibility radio frequency immunity of the automobile based on the braking robot as set forth in claim 8, wherein the method comprises the following steps: before the step 2, the method further comprises a step of debugging the braking robot support rod, and specifically comprises the following steps:
Controlling the extension and retraction of a supporting rod of the braking robot, observing the treading depth and the treading speed of the supporting rod of the braking robot on an accelerator pedal and a brake pedal, and judging whether the braking robot main body is installed in place or not; if the tread depth and speed are obviously different from those of the driver in the real vehicle state, the brake robot support rod needs to be adjusted to enable the tread depth and tread speed of the brake robot support rod on the accelerator pedal and the brake pedal to be matched with those of the driver in the real vehicle state.
11. The method for testing electromagnetic compatibility radio frequency immunity of an automobile based on a braking robot according to claim 1, wherein the method comprises the following steps: in step S3, the testing the tested vehicle according to the testing step includes the following steps: the automobile brake system EMC disturbance rejection test software running in the upper computer starts the hub unit and controls the brake robot unit to step on the accelerator pedal, so that the tested automobile runs at a constant speed according to the standard required automobile speed of 50 Km/h; when the working condition requirement is met, applying an electromagnetic field with preset frequency to the tested vehicle by using EMC anti-interference test software of the automobile brake system; controlling lifting of jacks of a brake robot unit by using EMC disturbance rejection test software of an automobile brake system, so that friction coefficients of 4 wheels and hubs of a tested vehicle are changed; and controlling the brake robot supporting rod to step on a brake pedal by using EMC disturbance rejection test software of the automobile brake system, so that the tested vehicle is decelerated, and ABS activation is performed.
12. An automobile electromagnetic compatibility radio frequency immunity test system based on a braking robot is characterized in that: the system comprises a radio frequency anti-interference test environment unit, a hub unit, a brake robot unit, a data acquisition unit, an upper computer running EMC anti-interference test software of an automobile brake system and a tested vehicle;
The radio frequency anti-interference test environment unit is used for applying an electromagnetic field with preset frequency to the tested vehicle to perform electromagnetic wave interference;
The hub unit provides a platform for simulating running of the tested vehicle;
The braking robot unit comprises a jack capable of being controlled remotely, a braking robot main body and a braking robot supporting rod for controlling a pedal; the braking robot main body is fixed on a seat, the braking robot supporting rod is fixed in a cab, the braking robot supporting rod is arranged on a pedal driving cylinder, the braking robot supporting rod is driven to extend and retract by the pedal driving cylinder, the action of stepping on a pedal is realized, and the pedal driving cylinder is driven by a pedal driving cylinder air pump; the jack is arranged at one side below the tested vehicle and close to the wheel, and the friction coefficients of the 4 wheels and the hubs of the tested vehicle are changed through lifting and landing of the jack;
the data acquisition unit comprises a camera and is used for acquiring real-time running states of the tested vehicle and image data of an instrument screen and storing the real-time running states and the image data in the upper computer; meanwhile, the actual speed, ABS current and ABS voltage of the detected vehicle are collected in real time and stored in an upper computer in real time;
the automobile brake system EMC anti-interference test software comprises an EMC anti-interference test environment tab, a hub tab, a brake robot tab and a data acquisition tab which are respectively used for controlling a radio frequency anti-interference test environment unit, a hub unit, a brake robot unit and a data acquisition unit;
The automobile electromagnetic compatibility radio frequency immunity test system is used for executing the automobile electromagnetic compatibility radio frequency immunity test method based on the braking robot according to claim 1.
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