CN104748981A - New energy vehicle testing system based on driver-vehicle-road closed-loop control - Google Patents
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Abstract
本发明涉及一种基于人-车-路闭环控制的新能源汽车试验系统，包括一台架主控模块，所述台架主控模块控制包括上位机PC与工控计算机，所述工控计算机通过数据采集模块分别与上位机PC、动力输出模块、惯量模拟模块、负载模拟模块、路感模拟模块以及驾驶员输入模块相连；所述工控计算机用以控制均安装于一试验台上的动力输出模块、惯量模拟模块以及负载模拟模块进行车辆运行参数模拟；所述动力输出模块包括发动机、动力电池、驱动电机以及自动变速器。本发明通过模块化的设计实现纯电动或者混合动力汽车的台架模拟试验，通过仿真实现实时的人机交互和工况模拟，并能够实现驾驶员在环的整车试验。
The invention relates to a new energy vehicle test system based on human-vehicle-road closed-loop control. The acquisition module is respectively connected with the upper computer PC, the power output module, the inertia simulation module, the load simulation module, the road sense simulation module and the driver input module; the industrial control computer is used to control the power output module, The inertia simulation module and the load simulation module simulate vehicle operating parameters; the power output module includes an engine, a power battery, a drive motor and an automatic transmission. The invention realizes the bench simulation test of pure electric or hybrid electric vehicles through modular design, realizes real-time human-computer interaction and working condition simulation through simulation, and can realize the driver-in-the-loop whole vehicle test.
Description
技术领域 technical field
本发明涉及汽车试验技术领域，特别涉及一种基于人-车-路闭环控制的新能源汽车试验系统。 The present invention relates to the technical field of automobile testing, in particular to a new energy automobile testing system based on human-vehicle-road closed-loop control.
背景技术 Background technique
与整车试验相比，台架试验有不受外界自然环境的限制的优点。同时台架试验的零部件布置不受整车总布置的限制。汽车台架试验技术又分为底盘测功机试验和台架模拟试验。相比底盘测功机试验，台架模拟试验能够在电动汽车的研究和开发前期提供必要的动力匹配、能源管理系统、电机及其控制系统、制动能量回收以及混合动力电动汽车的动力耦合控制等所用的试验平台。目前室内台架模拟试验广泛采用了随机加载、数据自动记录和采集处理系统，能够模拟车辆的实际使用工况，提高了试验精度，缩短了试验周期，加快了新产品开发的步伐。室内模拟试验不仅可以对零部件、总成进行性能、强度和寿命试验，也可以对整车参数进行测定，模拟道路行驶的各种试验。 Compared with the vehicle test, the bench test has the advantage of not being restricted by the external natural environment. At the same time, the layout of the components of the bench test is not limited by the general layout of the vehicle. Automobile bench test technology is divided into chassis dynamometer test and bench simulation test. Compared with the chassis dynamometer test, the bench simulation test can provide the necessary power matching, energy management system, motor and its control system, braking energy recovery and power coupling control of hybrid electric vehicles in the early stage of electric vehicle research and development etc. used test platform. At present, the indoor bench simulation test widely adopts random loading, data automatic recording and acquisition and processing system, which can simulate the actual operating conditions of the vehicle, improve the test accuracy, shorten the test cycle, and speed up the pace of new product development. Indoor simulation test can not only test the performance, strength and life of parts and assemblies, but also measure the parameters of the whole vehicle and simulate various tests of road driving.
发明内容 Contents of the invention
有鉴于此，本发明的目的是提供一种基于人-车-路闭环控制的新能源汽车试验系统，通过模块化的设计实现纯电动或者混合动力汽车的台架模拟试验，通过仿真实现实时的人机交互和工况模拟，并能够实现驾驶员在环的整车试验。试验台可实现纯电动或者混合动力的整车性能以及控制策略的试验，同时模块化设计可实现部件的相应测试。 In view of this, the purpose of the present invention is to provide a new energy vehicle test system based on human-vehicle-road closed-loop control, realize the bench simulation test of pure electric or hybrid electric vehicles through modular design, and realize real-time Human-computer interaction and working condition simulation, and the driver-in-the-loop vehicle test can be realized. The test bench can realize the test of pure electric or hybrid vehicle performance and control strategy, and the modular design can realize the corresponding testing of components.
本发明采用以下方案实现：一种基于人-车-路闭环控制的新能源汽车试验系统，包括一台架主控模块，所述台架主控模块控制包括上位机PC与工控计算机，所述工控计算机通过数据采集模块分别与上位机PC、动力输出模块、惯量模拟模块、负载模拟模块、路感模拟模块以及驾驶员输入模块相连；所述工控计算机用以控制均安装于一试验台上的动力输出模块、惯量模拟模块以及负载模拟模块进行车辆运行参数模拟；所述动力输出模块包括发动机、动力电池、驱动电机以及自动变速器；所述惯量模拟模块包括一飞轮组，用以模拟不同车辆的惯性载荷；所述负载模拟模块包括一电力测功机，用以模拟汽车行驶过程中的滚动阻力、空气阻力以及坡度阻力并修正所述飞轮组进行惯量模拟的误差。 The present invention adopts the following schemes to realize: a new energy vehicle test system based on human-vehicle-road closed-loop control, including a main control module of the platform, and the main control module of the platform includes an upper computer PC and an industrial computer. The industrial control computer is respectively connected with the upper computer PC, the power output module, the inertia simulation module, the load simulation module, the road sense simulation module and the driver input module through the data acquisition module; The power output module, the inertia simulation module and the load simulation module simulate the vehicle operation parameters; the power output module includes an engine, a power battery, a drive motor and an automatic transmission; the inertia simulation module includes a flywheel set to simulate different vehicles Inertial load: the load simulation module includes an electric dynamometer, which is used to simulate the rolling resistance, air resistance and gradient resistance during the running of the car and correct the error of the inertia simulation of the flywheel set.
进一步地，所述发动机为半实物结构的模拟电控发动机箱，所述的模拟电控发动机箱中的ECU模块通过CAN总线与所述工控计算机连接。 Further, the engine is a simulated electronically controlled engine box with a semi-physical structure, and the ECU module in the simulated electronically controlled engine box is connected to the industrial computer through the CAN bus.
进一步地，所述驱动电机连接至一第一转速转矩传感器的一端，所述第一转速转矩传感器的另一端连接至所述自动变速器的一端；所述自动变速器的另一端连接至一第二转速转矩传感器的一端，所述第二转速转矩传感器的另一端连接至所述飞轮组。 Further, the driving motor is connected to one end of a first rotational speed torque sensor, and the other end of the first rotational speed torque sensor is connected to one end of the automatic transmission; the other end of the automatic transmission is connected to a first One end of the second rotational speed torque sensor, the other end of the second rotational speed torque sensor is connected to the flywheel set.
较佳的，驱动电机采用永磁同步电动机，所述永磁同步电动机的电机控制器可采用水冷的方式进行冷却；所述自动变速器可采用两档AMT，以低档完成汽车的起步和爬坡，以高档满足高速行驶的需求；所述飞轮组通过固定飞轮与自由飞轮的组合，模拟不同车辆的惯性载荷。所述电力测功机在模拟汽车行驶过程中的滚动阻力、空气阻力以及坡度阻力并修正飞轮组惯量模拟的误差的同时还可实现制动能量回收。特别地，可加入升速箱使自动变速器输出的转速和转矩达到试验要求。所述试验平台上的机械传动的排列结构为“一”字形，驱动电机、转速转矩传感器、自动变速器、升速箱、飞轮组以及电力测功电机安装于在试验平台上，并通过联轴器连接。 Preferably, the driving motor adopts a permanent magnet synchronous motor, and the motor controller of the permanent magnet synchronous motor can be cooled by water cooling; the automatic transmission can use a two-speed AMT to complete the starting and climbing of the car at a low gear, High-grade meets the demand for high-speed driving; the flywheel set simulates the inertial loads of different vehicles through the combination of a fixed flywheel and a free flywheel. The electric dynamometer can also realize braking energy recovery while simulating the rolling resistance, air resistance and gradient resistance in the driving process of the car and correcting the error of the inertia simulation of the flywheel group. In particular, a gearbox can be added to make the output speed and torque of the automatic transmission meet the test requirements. The arrangement structure of the mechanical transmission on the test platform is a "one" shape. The drive motor, speed torque sensor, automatic transmission, gearbox, flywheel group and electric dynamometer motor are installed on the test platform, and are connected through the shaft coupling. device connection.
进一步地，所述驾驶员输入模块包括驾驶员座椅、方向盘、加速踏板以及制动踏板，用以进行驾驶员操作模拟。 Further, the driver input module includes a driver's seat, a steering wheel, an accelerator pedal and a brake pedal for driver operation simulation.
进一步地，所述路感模拟模块包括拉压力传感器、滚珠丝杠及其导向机构以及直流力矩电机及其控制器，用以模拟驾驶中的实时路感。 Further, the road feeling simulation module includes a tension and pressure sensor, a ball screw and its guiding mechanism, a DC torque motor and its controller, to simulate the real-time road feeling during driving.
进一步地，所述数据采集模块采用为CAN总线与数据采集卡相结合的通信结构，用以采集所述动力输出模块、惯量模拟模块、负载模拟模块、路感模拟模块、驾驶员输入模块以及转速转矩传感器的信号并传输所述工控机发送的控制信号。所述通信结构可提高多线程传输效率。 Further, the data acquisition module adopts a communication structure combining a CAN bus and a data acquisition card to collect the power output module, inertia simulation module, load simulation module, road sense simulation module, driver input module and rotational speed The signal of the torque sensor and transmits the control signal sent by the industrial computer. The communication structure can improve the efficiency of multi-thread transmission.
进一步地，所述上位机通过Matlab/Simulink生成控制策略并导入LabviewRT中实时仿真以及通过Labview平台实现数据的实时显示，所述上位机通过CAN总线结构与所述工控计算机进行数据传输，所述工控机根据LabviewRT中实时仿真对所述动力输出模块、惯量模拟模块、负载模拟模块以及路感模拟模块进行控制。 Further, the host computer generates a control strategy by Matlab/Simulink and imports the real-time simulation in LabviewRT and realizes the real-time display of data by the Labview platform, the host computer carries out data transmission with the industrial control computer through the CAN bus structure, and the industrial control The machine controls the power output module, inertia simulation module, load simulation module and road sense simulation module according to the real-time simulation in LabviewRT.
进一步地，所述上位机采用 Prescan 构建虚拟现实路面场景；所述上位机通过CAN总线结构与所述工控计算机进行数据传输，所述工控计算机将车辆的位置、速度和姿态信息以CAN 报文形式发送至上位机，所述上位机根据接收到的所述工控计算机发送的报文信息进行更新Prescan 中虚拟车辆的位置、速度和姿态以及相应的交通场景。 Further, the host computer uses Prescan to construct a virtual reality road scene; the host computer performs data transmission with the industrial control computer through the CAN bus structure, and the industrial control computer transmits the position, speed and attitude information of the vehicle in the form of a CAN message Sent to the host computer, the host computer updates the position, speed and attitude of the virtual vehicle in Prescan and the corresponding traffic scene according to the received message information sent by the industrial control computer.
较佳的，由Matlab/Simulink、Labview和Prescan生成的车辆运行参数进行模拟，其中电池能量管理系统、发动机控制系统、驱动电机控制器、飞轮组控制器、电力测功机控制器和路感模拟控制器的控制策略由Matlab/Simulink进行编写并导入LabviewRT实时仿真。工控机通过数据采集模块采集实时的整车信号，Labview构建的界面在上位机进行实时显示与监测同时进行数据的记录。 Preferably, the vehicle operating parameters generated by Matlab/Simulink, Labview and Prescan are simulated, including battery energy management system, engine control system, drive motor controller, flywheel controller, electric dynamometer controller and road sense simulation The control strategy of the controller is written by Matlab/Simulink and imported into LabviewRT for real-time simulation. The industrial computer collects real-time vehicle signals through the data acquisition module, and the interface built by Labview performs real-time display and monitoring on the host computer and records data at the same time.
进一步地，上位机采用Prescan 构建虚拟现实场景，通过设定路况信息，利用虚拟现实技术将车辆的运行状态、交通场景的变换以及虚拟路况导航以动画的形式反映出来，通过投影技术投影到驾驶员眼前。驾驶员操纵方向盘/加速踏板/制动踏板输出操作信号，实时仿真系统采集操作信号并由实时内核计算车辆模型的运行状态并更新道路模型。从而实现人-车-路的闭环系统。 Furthermore, the host computer uses Prescan to construct a virtual reality scene, and by setting road condition information, the vehicle's running state, traffic scene transformation and virtual road condition navigation are reflected in the form of animation by using virtual reality technology, and projected to the driver through projection technology in front of you. The driver manipulates the steering wheel/accelerator pedal/brake pedal to output operation signals, the real-time simulation system collects the operation signals and the real-time kernel calculates the running status of the vehicle model and updates the road model. In this way, a closed-loop system of people-vehicle-road is realized.
本发明的优点在于，不仅可以实现设定工况的试验，平且突破了传统台架模拟与驾驶员实际驾驶脱离的仿真测试，可以实现了驾驶员在环的试验系统，更接近于实车试验。 The advantage of the present invention is that it can not only realize the test of the set working conditions, but also break through the simulation test of the separation between the traditional bench simulation and the driver's actual driving, and can realize the driver-in-the-loop test system, which is closer to the actual vehicle test.
附图说明 Description of drawings
图1是本发明的结构示意图。 Fig. 1 is a structural schematic diagram of the present invention.
图2是本发明的控制流程图。 Fig. 2 is a control flow diagram of the present invention.
具体实施方式 Detailed ways
下面结合附图及实施例对本发明做进一步说明。 Below in conjunction with accompanying drawing and embodiment the present invention will be further described.
本实施例提供一种基于人-车-路闭环控制的新能源汽车试验系统，如图1所示，包括一台架主控模块，所述台架主控模块控制包括上位机PC与工控计算机，所述工控计算机通过数据采集模块分别与上位机PC、动力输出模块、惯量模拟模块、负载模拟模块、路感模拟模块以及驾驶员输入模块相连；所述工控计算机用以控制均安装于一试验台上的动力输出模块、惯量模拟模块以及负载模拟模块进行车辆运行参数模拟；所述动力输出模块包括发动机、动力电池、驱动电机以及自动变速器；所述惯量模拟模块包括一飞轮组，用以模拟不同车辆的惯性载荷；所述负载模拟模块包括一电力测功机，用以模拟汽车行驶过程中的滚动阻力、空气阻力以及坡度阻力并修正所述飞轮组进行惯量模拟的误差。 This embodiment provides a new energy vehicle test system based on human-vehicle-road closed-loop control, as shown in Figure 1, including a main control module of the platform, and the main control module of the platform is controlled by a host computer PC and an industrial computer. , the industrial control computer is respectively connected with the upper computer PC, power output module, inertia simulation module, load simulation module, road sense simulation module and driver input module through the data acquisition module; The power output module, inertia simulation module and load simulation module on the platform perform vehicle operation parameter simulation; the power output module includes an engine, a power battery, a drive motor and an automatic transmission; the inertia simulation module includes a flywheel set for simulating Inertial loads of different vehicles; the load simulation module includes an electric dynamometer for simulating the rolling resistance, air resistance and slope resistance during the running of the vehicle and correcting the inertia simulation error of the flywheel set.
在本实施例中，所述发动机为半实物结构的模拟电控发动机箱，所述的模拟电控发动机箱中的ECU模块通过CAN总线与所述工控计算机连接；所述驱动电机为永磁同步电动机。 In this embodiment, the engine is a simulated electronically controlled engine case with a semi-physical structure, and the ECU module in the simulated electronically controlled engine case is connected to the industrial computer through a CAN bus; the drive motor is a permanent magnet synchronous electric motor.
在本实施例中，所述驱动电机连接至一第一转速转矩传感器的一端，所述第一转速转矩传感器的另一端连接至所述自动变速器的一端；所述自动变速器的另一端连接至一第二转速转矩传感器的一端，所述第二转速转矩传感器的另一端连接至所述飞轮组。 In this embodiment, the drive motor is connected to one end of a first rotational speed torque sensor, and the other end of the first rotational speed torque sensor is connected to one end of the automatic transmission; the other end of the automatic transmission is connected to To one end of a second rotational speed torque sensor, the other end of the second rotational speed torque sensor is connected to the flywheel set.
在本实施例中，所述永磁同步电动机的电机控制器可采用水冷的方式进行冷却；所述自动变速器可采用两档AMT，以低档完成汽车的起步和爬坡，以高档满足高速行驶的需求；所述飞轮组通过固定飞轮与自由飞轮的组合，模拟不同车辆的惯性载荷。所述电力测功机在模拟汽车行驶过程中的滚动阻力、空气阻力以及坡度阻力并修正飞轮组惯量模拟的误差的同时还可实现制动能量回收。特别地，可加入升速箱使自动变速器输出的转速和转矩达到试验要求。所述试验平台上的机械传动的排列结构为“一”字形，驱动电机、转速转矩传感器、自动变速器、升速箱、飞轮组以及电力测功电机安装于在试验平台上，并通过联轴器连接。 In this embodiment, the motor controller of the permanent magnet synchronous motor can be cooled by water cooling; the automatic transmission can use a two-speed AMT to complete the starting and climbing of the car with a low gear, and meet the needs of high-speed driving with a high gear. Requirements: The flywheel set simulates the inertial loads of different vehicles through the combination of a fixed flywheel and a free flywheel. The electric dynamometer can also realize braking energy recovery while simulating the rolling resistance, air resistance and slope resistance in the running process of the car and correcting the error of the inertia simulation of the flywheel group. In particular, a gearbox can be added to make the output speed and torque of the automatic transmission meet the test requirements. The arrangement structure of the mechanical transmission on the test platform is a "one" shape. The drive motor, speed torque sensor, automatic transmission, gearbox, flywheel group and electric dynamometer motor are installed on the test platform, and are connected through the shaft coupling. device connection.
在本实施例中，所述驾驶员输入模块包括驾驶员座椅、方向盘、加速踏板以及制动踏板，用以进行驾驶员操作模拟。 In this embodiment, the driver input module includes a driver's seat, a steering wheel, an accelerator pedal, and a brake pedal for driver operation simulation.
在本实施例中，所述路感模拟模块包括拉压力传感器、滚珠丝杠及其导向机构以及直流力矩电机及其控制器，用以模拟驾驶中的实时路感。 In this embodiment, the road feeling simulation module includes a tension and pressure sensor, a ball screw and its guiding mechanism, a DC torque motor and its controller, to simulate the real-time road feeling during driving.
在本实施例中，所述数据采集模块采用为CAN总线与数据采集卡相结合的通信结构，用以采集所述动力输出模块、惯量模拟模块、负载模拟模块、路感模拟模块以及转速转矩传感器的信号并传输所述工控机发送的控制信号。所述通信结构可提高多线程传输效率。 In this embodiment, the data acquisition module adopts a communication structure combining a CAN bus and a data acquisition card to collect the power output module, inertia simulation module, load simulation module, road sense simulation module and speed torque The sensor signal and transmit the control signal sent by the industrial computer. The communication structure can improve the efficiency of multi-thread transmission.
在本实施例中，所述上位机通过Matlab/Simulink生成控制策略并导入LabviewRT中实时仿真以及通过Labview平台实现数据的实时显示，所述上位机通过CAN总线结构与所述工控计算机进行数据传输，所述工控机根据LabviewRT中实时仿真对所述动力输出模块、惯量模拟模块、负载模拟模块以及路感模拟模块进行控制。 In the present embodiment, the host computer generates a control strategy by Matlab/Simulink and imports real-time simulation in LabviewRT and realizes the real-time display of data by the Labview platform, and the host computer carries out data transmission with the industrial control computer through the CAN bus structure, The industrial computer controls the power output module, the inertia simulation module, the load simulation module and the road sense simulation module according to the real-time simulation in LabviewRT.
在本实施例中，所述上位机采用 Prescan 构建虚拟现实路面场景；所述上位机通过CAN总线结构与所述工控计算机进行数据传输，所述工控计算机将车辆的位置、速度和姿态信息以CAN 报文形式发送至上位机，所述上位机根据接收到的所述工控计算机发送的报文信息进行更新Prescan 中虚拟车辆的位置、速度和姿态以及相应的交通场景。 In this embodiment, the host computer uses Prescan to construct a virtual reality road scene; the host computer performs data transmission with the industrial control computer through the CAN bus structure, and the industrial control computer transmits the position, speed and attitude information of the vehicle in CAN The message form is sent to the host computer, and the host computer updates the position, speed and attitude of the virtual vehicle in Prescan and the corresponding traffic scene according to the received message information sent by the industrial control computer.
在本实施例中，较佳的，由Matlab/Simulink、Labview和Prescan生成的车辆运行参数进行模拟，其中电池能量管理系统、发动机控制系统、驱动电机控制器、飞轮组控制器、电力测功机控制器和路感模拟控制器的控制策略由Matlab/Simulink进行编写并导入LabviewRT实时仿真。MATLAB/Simulink的实时开发模块RTW编译生成在LabviewRT实时内核上运行的动态链接库DLL。在LabviewRT中运行的各个控制策略相对独立，以便能够分别测试和标定。工控机通过数据采集模块采集实时的整车信号，Labview构建的界面在上位机进行实时显示与监测同时进行数据的记录。 In this embodiment, preferably, the vehicle operating parameters generated by Matlab/Simulink, Labview and Prescan are simulated, wherein the battery energy management system, engine control system, drive motor controller, flywheel set controller, electric dynamometer The control strategy of the controller and road sense simulation controller is written by Matlab/Simulink and imported into LabviewRT for real-time simulation. MATLAB/Simulink's real-time development module RTW compiles and generates a dynamic link library DLL that runs on the LabviewRT real-time kernel. Each control strategy running in LabviewRT is relatively independent so that it can be tested and calibrated separately. The industrial computer collects real-time vehicle signals through the data acquisition module, and the interface built by Labview performs real-time display and monitoring on the host computer and records data at the same time.
在本实施例中，上位机采用Prescan 构建虚拟现实场景，通过设定路况信息，利用虚拟现实技术将车辆的运行状态、交通场景的变换以及虚拟路况导航以动画的形式反映出来，通过投影技术投影到驾驶员眼前。驾驶员操纵方向盘/加速踏板/制动踏板输出操作信号，实时仿真系统采集操作信号并由实时内核计算车辆模型的运行状态并更新道路模型，从而实现人-车-路的闭环系统。 In this embodiment, the upper computer adopts Prescan to build a virtual reality scene, and by setting road condition information, the running state of the vehicle, the transformation of the traffic scene and the virtual road condition navigation are reflected in the form of animation by using virtual reality technology, and projected through projection technology to the driver. The driver manipulates the steering wheel/accelerator pedal/brake pedal to output the operation signal, the real-time simulation system collects the operation signal and the real-time kernel calculates the running state of the vehicle model and updates the road model, thus realizing the closed-loop system of people-vehicle-road.
在本实施例中，所述新能源汽车试验系统的控制流程如图2所示，进行试验的驾驶人员通过上位机的人机交互界面选择纯电动或者混合动力模式，同时输入相关车型参数并选择交通环境。当主控模块检测相应硬件可以进行相应的试验后，试验台开始启动。车辆的运行状态、交通场景的变换以及虚拟路况导航以动画的形式反映出来，通过投影技术投影到驾驶员眼前，同时路感模拟系统开始模拟实时的路感，使坐在驾驶座椅上的驾驶员感到实车驾驶的情况。驾驶员操纵方向盘、加速踏板和制动踏板模拟实车行驶。主控模块将根据驾驶员的操纵指令控制发动机发出的转速和转矩，同时通过控制驱动电机的驱动电流来调节驱动电机输出的转速与转矩。动力从驱动电机到自动变速器再到升速箱后接入负载模拟模块即飞轮组，由控制系统根据整车参数控制飞轮组离合器的结合与分离，组合飞轮组来模拟整车的惯量。最后动力传输到负载模拟模块，通过对加载电机的励磁电流的控制来模拟整车的滚动阻力、空气阻力以及坡度阻力。电力测功机与动力电池连接可实现能量回收，或者通过电阻箱直接消耗能量。主控模块可通过数据采集模块采集到各个模块的运行信号，Labview对整个试验过程进行实时的数据显示和数据记录。试验人员根据试验过程的记录就可以很好的对整车的控制策略进行测试和优化。 In this embodiment, the control flow of the new energy vehicle test system is shown in Figure 2. The driver who conducts the test selects the pure electric or hybrid mode through the human-computer interaction interface of the host computer, and at the same time inputs the relevant model parameters and selects traffic environment. After the main control module detects that the corresponding hardware can carry out the corresponding test, the test bench starts. The running state of the vehicle, the change of the traffic scene and the virtual road condition navigation are reflected in the form of animation, which are projected to the driver's eyes through the projection technology, and the road feeling simulation system starts to simulate the real-time road feeling at the same time, so that the driver sitting in the driver's seat The driver feels the real car driving situation. The driver manipulates the steering wheel, accelerator pedal and brake pedal to simulate real vehicle driving. The main control module will control the speed and torque of the engine according to the driver's manipulation instructions, and at the same time adjust the speed and torque output by the drive motor by controlling the drive current of the drive motor. The power is connected to the load simulation module, namely the flywheel set, from the drive motor to the automatic transmission and then to the gearbox. The control system controls the combination and separation of the clutch of the flywheel set according to the vehicle parameters, and the flywheel set is combined to simulate the inertia of the vehicle. Finally, the power is transmitted to the load simulation module, and the rolling resistance, air resistance and slope resistance of the whole vehicle are simulated by controlling the excitation current of the loading motor. The connection between the electric dynamometer and the power battery can realize energy recovery, or directly consume energy through the resistance box. The main control module can collect the operation signals of each module through the data acquisition module, and Labview can display and record the data in real time during the whole test process. According to the records of the test process, the test personnel can test and optimize the control strategy of the whole vehicle very well.
对于整车性能测试如整车动力性或者燃油经济性等，以相同的原理，在给定的控制策略下进行测试，此时可通过设定不同的城市循环工况进行测试。部件测试则通过所需测试部件替换原试验台部件进行相应测试。 For vehicle performance tests such as vehicle power or fuel economy, the same principle is used to test under a given control strategy. At this time, different urban cycle conditions can be set for testing. Component testing is performed by replacing the original test bench components with required test components.
以上所述仅为本发明的较佳实施例，凡依本发明申请专利范围所做的均等变化与修饰，皆应属本发明的涵盖范围。 The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.
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