CN109060369A - A kind of distributed electrical transmission system test method, device and rack - Google Patents
A kind of distributed electrical transmission system test method, device and rack Download PDFInfo
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Abstract
本发明涉及一种分布式电传动系统测试方法、装置及台架，该方法包括：获取被测整车控制器反馈的实时转矩控制指令；根据所述转矩控制指令，计算分布式驱动电动汽车的实时车辆状态参数；根据所述实时车辆状态参数，得到各驱动轮的计算轮速；根据所述计算轮速，通过车辆机械传动系统的传动比，反推被测驱动电机输出轴端的预期转速。测功机通过联轴器与被测驱动电机输出轴机械连接，为被测系统提供分布负载。根据所述预期转速对测试台架的各测功机分别进行转速控制，进而在各被测电机输出轴端产生实时、准确的等效分布负载，以完成分布式电传动系统在环的动态工况测试。
The present invention relates to a distributed electric transmission system testing method, device and bench, the method comprising: obtaining the real-time torque control instruction fed back by the vehicle controller under test; The real-time vehicle state parameters of the automobile; according to the real-time vehicle state parameters, the calculated wheel speeds of each driving wheel are obtained; according to the calculated wheel speeds, through the transmission ratio of the vehicle mechanical transmission system, the anticipation of the output shaft end of the measured drive motor is inversely deduced Rotating speed. The dynamometer is mechanically connected to the output shaft of the drive motor under test through a coupling to provide a distributed load for the system under test. According to the expected speed, the speed of each dynamometer of the test bench is controlled separately, and then a real-time and accurate equivalent distributed load is generated at the output shaft end of each tested motor to complete the dynamic work of the distributed electric drive system in the loop. condition test.
Description
Technical field
The present invention relates to distributed electric automobile electric drive systems in ring test field more particularly to a kind of distributed fax
Dynamic system detection method, device and rack.
Background technique
Distributed-driving electric automobile is a kind of vehicle with novel drive form generated with motorcar electric,
Key structural feature is directly installed on drive motor in driving wheel or near driving wheel, it can be achieved that each drive wheel power
Independent control, can by control strategy realize turn to electronic differential, driving force distribution etc. functions, the structure have driving pass
Outstanding advantages of dynamic chain is short, transmission is efficient, compact-sized.In system research and development early period, it is badly in need of corresponding test macro, on rack
The distributed dynamic load of vehicle is simulated, in order to carry out the hardware-in―the-loop test under various dynamic operation conditions, the effect of test macro
Rate and energy consumption examine driving force distribution control strategy etc..
The electric drive system testboard bay of granted patent is generally directed to traditional single motor electric transmission currently on the market or
Structure.It is tested for distributed electrical transmission system, it especially can be with the dynamic under accurate simulation electric drive system steering situation point
The Special test rack of cloth load still extremely lacks.It can be carried out according to the standard condition and standard trajectory in test specification
The full working scope dynamic hardware of distributed electrical transmission system is also the urgent demand of industrial circle in ring test.Existing chassis dynamometer is simultaneously
It is not able to satisfy this demand, general lack of point load such as based on the distributed load dynamic analog algorithm calculated in real time, can only simulating
Or complete static load test.
Therefore, distributed-driving electric automobile is in terms of ring test, how to calculate distributed load in real time and goes forward side by side morphotype of taking action
It is quasi-, it is industry urgent problem to be solved.
Summary of the invention
In view of the above problems, the present invention provides a kind of distributed electrical transmission system test method, device and rack, this method
The target velocity for calculating each driving wheel in real time, controls dynamometer machine, generates real-time, accurate Equivalent Distributed load, completes
Dynamic operation condition test.
As the first aspect of the present invention, it is related to a kind of distributed electrical transmission system test method, comprising:
Obtain the real-time direct torque instruction of tested entire car controller feedback；
It is instructed according to the direct torque, calculates the real-time vehicle state parameter of distributed-driving electric automobile；According to institute
Real-time vehicle state parameter is stated, the calculating wheel speed of each driving wheel is obtained；
It is counter to push away tested driving motor output shaft by the transmission ratio of vehicle mechanical transmission system according to the calculating wheel speed
The expection revolving speed at end；
According to the expected revolving speed, revolving speed control is carried out to dynamometer machine by Dynamometer Control device, in the tested driving
Motor output shaft end generates Equivalent Distributed load.
In one embodiment, before the real-time direct torque instruction for obtaining tested entire car controller feedback, the side
Method further include:
Preset path, operating condition and current vehicle condition parameter are obtained, simulation steering wheel angle signal is generated and throttle is stepped on
Partitioned signal；
By the steering wheel angle signal and the accelerator pedal signal, it is sent to the tested entire car controller.
In one embodiment, the method also includes:
All test datas of distributed electrical transmission system described in real-time exhibition.
In one embodiment, it is instructed according to the direct torque, calculates the real-time vehicle of distributed-driving electric automobile
State parameter；According to the real-time vehicle state parameter, the calculating wheel speed of each driving wheel is obtained；Include:
It is instructed according to the direct torque, obtains each driving torque instruction Te；
Each driving torque is instructed into Te, substitute into the dynamics transmission function G of distributed electrical transmission systeme-systemIt passes through again
Virtual vehicle model G7-d-vehicle&Gtires, obtain each driving wheel and calculate wheel speed ωw。
In one embodiment, counter to push away each institute by the transmission ratio of vehicle mechanical transmission system according to the calculating wheel speed
State the expection revolving speed at tested driving motor output shaft end；Include:
According to the calculating wheel speed ωw, each institute is obtained according to formula one by the transmission ratio G of vehicle mechanical transmission system
State the expection revolving speed at tested driving motor output shaft end
Formula one:
In one embodiment, according to the expected revolving speed, revolving speed control is carried out to dynamometer machine by Dynamometer Control device,
Equivalent Distributed load is generated at the tested driving motor output shaft end；Include:
According to the expected revolving speedWith the current rotating speed ω of each dynamometer machine, revolving speed control is carried out to each dynamometer machine, according to
Formula two generates equivalent distributed load Td；
Formula two:GcontrolFor the transmission function of dynamometer machine revolving speed PI control.
In one embodiment, the generation simulation steering wheel angle signal and accelerator pedal signal process, comprising:
It is v that the traveling of vehicle within a preset time, which is reduced to longitudinal velocity,xUniform motion, lateral movement is first
Speed is vyUniformly accelerated motion；
Under vehicle driving coordinate system, expected trajectory is separated into point set, obtains desired point P (xP yP), if expected lateral
Deviation is yp, expected side acceleration is calculated according to Newton's laws of motion
Formula three:
According to side acceleration gain GayObtain required steering wheel angle signal:
Formula four:
In formula four, L is vehicle wheelbase；C is understeer parameter, C > 0, isteeringFor steering gear ratio, δsteeringFor
Steering wheel angle；
Accelerator open degree Input is calculated by following formula:
Wherein, TrIt is the overall resistance for being transmitted to vehicle traction motor；M is vehicle mass；G is gravity constant；θ is road
The gradient；F is rolling resistance coefficient；CDIt is coefficient of air resistance；A is vehicle front face area；21.25 be normal known in one
Number, (calculating windage, physical significance is related with atmospheric density), dt is time diffusion；vxIt is vehicular longitudinal velocity；δ is to consider
Quality coefficient after rotary inertia；η is the mechanical efficiency of transmission system；G is transmission ratio；R is vehicle wheel rotation radius；Kp, TiAnd Td
It is the parameter of PID controller, sat (x) indicates saturation value；E is velocity error, TerrorIt is that motor needed for erection rate error drives
Dynamic torque and；TmaxIndicate the max. output torque for all tested driving motors that maximum throttle input is corresponding under current rotating speed
With.
Second aspect, the invention further relates to a kind of distributed electrical transmission system test devices, comprising:
Module is obtained, for obtaining the real-time direct torque instruction of tested entire car controller feedback；
Computing module calculates the real-time vehicle shape of distributed-driving electric automobile for instructing according to the direct torque
State parameter；According to the real-time vehicle state parameter, the calculating wheel speed of each driving wheel is obtained；According to the calculating wheel speed, pass through
The transmission ratio of vehicle mechanical transmission system, the anti-expection revolving speed for pushing away tested driving motor output shaft end；
Control module, for revolving speed control being carried out to dynamometer machine by Dynamometer Control device, described according to the revolving speed
Tested driving motor output shaft end generates Equivalent Distributed load.
In one embodiment, described device further include:
Generation module, for obtaining default before the real-time direct torque instruction for obtaining tested entire car controller feedback
Path, operating condition and current vehicle condition parameter, generate simulation steering wheel angle signal and accelerator pedal signal；
Sending module, for by the steering wheel angle signal and the accelerator pedal signal, be sent to it is described be tested it is whole
Vehicle controller.
In one embodiment, described device further include: display module, for distributed electrical power train described in real-time exhibition
All test datas of system.
The third aspect, the invention further relates to a kind of distributed electrical transmission system testboard bays, comprising: simulated battery group, quilt
It surveys distributed electrical transmission system, distributed load simulation system, data collection system and rack and controls real-time system；
The simulated battery group is electric with the tested distributed electrical transmission system and the distributed load simulation system respectively
Gas connection；
The tested distributed electrical transmission system include: a tested entire car controller, at least two tested motors and by
Measured motor controller；The tested entire car controller is connect by CAN bus with the tested motor controller, the tested electricity
Machine controller and the tested motor are electrically connected；
The distributed load simulation system includes: the dynamometer machine and Dynamometer Control of quantity identical as the tested motor
Device, the dynamometer machine and the Dynamometer Control device are electrically connected；
The output shaft of the tested motor is mechanically connected by shaft coupling and the dynamometer machine；
The data collection system respectively with the tested motor controller and the Dynamometer Control device communication connection；
Rack control real-time system by CAN bus respectively with the tested entire car controller and the dynamometer machine control
Device communication connection processed；
The rack control real-time system includes such as the described in any item distributed electrical transmission system tests of above-described embodiment
Device carries out real-time control to the testboard bay, generates Equivalent Distributed load.
In one embodiment, the simulated battery group respectively with the tested motor controller and the Dynamometer Control
Device electrical connection；
The data collection system, comprising: power analyzer, voltage/current sensor and torque/speed sensor；
The tested motor controller is connect with the tested motor by three-phase conducting wire, the voltage/current sensor
It is mounted on the three-phase conducting wire by operating specification；
The output shaft of the tested motor is connect by shaft coupling with the dynamometer machine；The dynamometer machine and shaft coupling it
Between the torque/speed sensor is installed；
The power analyzer is connect with the voltage/current sensor and the torque/speed sensor communication respectively,
Receive each sensor signal.
In one embodiment, further includes: for showing the monitoring host computer of test data and input test instruction；
The monitoring host computer is connect with the power analyzer and rack control real-time system respectively.
In one embodiment, further includes: rack pedestal；
The tested motor and the dynamometer machine are mounted on the rack pedestal.
The beneficial effect of above-mentioned technical proposal provided in an embodiment of the present invention includes at least:
A kind of distributed electrical transmission system test method provided in an embodiment of the present invention, comprising: obtain tested full-vehicle control
The real-time direct torque instruction of device feedback；It is instructed according to the direct torque, calculates the real-time vehicle of distributed-driving electric automobile
State parameter；According to the real-time vehicle state parameter, the calculating wheel speed of each driving wheel is obtained；According to the calculating wheel speed,
By the transmission ratio of vehicle mechanical transmission system, the anti-expection revolving speed for pushing away tested driving motor output shaft end；According to the expection
Revolving speed carries out revolving speed control to Dynamometer Control device, generates Equivalent Distributed load at tested driving motor output shaft end.The present invention
The distributed electrical transmission system test method of offer carries out high speed by the real-time torque control signal fed back to entire car controller
Acquisition and processing, calculate the real-time vehicle state parameter of the distributed-driving electric automobile under the real-time torque control signal, obtain
Wheel speed is calculated to each driving wheel, and pushes away turning for tested driving motor output shaft end according to the transmission ratio of vehicle mechanical transmission system is counter
Speed carries out revolving speed control to the Dynamometer Control device of measurement of power unit, and then export in tested driving motor according to this revolving speed respectively
Shaft end generates real-time, accurate Equivalent Distributed load, is tested with completing distributed electrical transmission system in the dynamic operation condition of ring.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of distributed electrical transmission system test method provided by the invention；
Fig. 2 is the block diagram of distributed electrical transmission system testboard bay provided by the invention；
Fig. 3 is the structure chart of distributed electrical transmission system testboard bay provided by the invention；
Fig. 4 is the rack control algolithm flow chart in rack provided by the invention control real-time system；
Fig. 5 is the block diagram of distributed electrical transmission system test device provided by the invention；
Wherein: 1- simulated battery group, 2- are tested distributed electrical transmission system, and 21- is tested entire car controller, the tested electricity of 22-
Machine, 23- tested motor controller, 3- distributed load simulation system, 31- dynamometer machine, 32- Dynamometer Control device, the acquisition of 4- data
System, 41- power analyzer, 42- voltage/current sensor, 43- torque/speed sensor, 5- rack control real-time system,
501- generation module, 502- sending module, 51- obtain module, 52- computing module, 53- control module, 54- display module, 6-
Monitor host computer, 7- rack pedestal.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The embodiment of the invention provides a kind of distributed electrical transmission system test methods, illustrate with reference to the accompanying drawing.
Shown in referring to Fig.1, include the following steps:
S101, the real-time direct torque instruction for obtaining tested entire car controller feedback；
S102, it is instructed according to the direct torque, calculates the real-time vehicle state parameter of distributed-driving electric automobile；Root
According to the real-time vehicle state parameter, the calculating wheel speed of each driving wheel is obtained；
S103, according to the calculating wheel speed, by the transmission ratio of vehicle mechanical transmission system, counter to push away tested driving motor defeated
The expection revolving speed of shaft end out；
S104, it is tested by Dynamometer Control device to dynamometer machine progress revolving speed control described according to the expected revolving speed
Driving motor output shaft end generates Equivalent Distributed load.
In the present embodiment, high speed acquisition and processing are carried out by the real-time torque control signal fed back to entire car controller,
The real-time vehicle state parameter of the distributed-driving electric automobile under the real-time torque control signal is calculated, that is, obtains each drive
The calculating wheel speed of driving wheel, and turned according to the anti-expection for pushing away tested driving motor output shaft end of the transmission ratio of vehicle mechanical transmission system
Speed is expected revolving speed according to this, that is, estimates revolving speed, carries out revolving speed control, Jin Er respectively to each dynamometer machine of measurement of power unit
Tested driving motor output shaft end generates real-time, accurate Equivalent Distributed load, and Equivalent Distributed load can drive with distribution
The load of DYNAMIC DISTRIBUTION suffered by electric drive system coincide when dynamic electric car actual travel, can be used for realizing distributed electrical power train
It unites in the dynamic operation condition test of ring.
Further, shown in referring to Fig.1, before step S101, S100, including two sub-steps are further comprised the steps of::
S1001, preset path, operating condition and current vehicle condition parameter are obtained, generate simulation steering wheel angle signal and
Accelerator pedal signal；
S1002, by the steering wheel angle signal and the accelerator pedal signal, be sent to the tested full-vehicle control
Device.
A kind of distributed electrical transmission system test method provided in this embodiment is based on testboard bay, referring to Fig. 2,3 institutes
Show, apply in the test of distributed electrical transmission system, constitute the test closed loop comprising tested hardware, rack information can be carried out real
When acquire, wherein step S1001, step S102~S104 by rack control algolithm carry out real-time control.Rack control algolithm
For the Equivalent Distributed load simulation method tracked based on model wheel speed, it is equivalent which can be such that distributed load simulation system generates
DYNAMIC DISTRIBUTION load, simulation distribution formula drive the inertia in electric car actual travel and the resistance of variation.
In the present embodiment, step S1001 according to preset path, operating condition and current vehicle condition parameter, by take aim in advance with
Simulation steering wheel angle signal is generated with method, accelerator pedal signal is generated using PID control method according to speed error.In addition
Considering tyre skidding, lateral deviation and on the basis of dynamic (dynamical) trailer reversing, step S102, S103 is according to the torque of entire car controller
Control instruction synchronometer calculates the calculating wheel speed of each driving wheel of distributed electric automobile, and then obtains dynamometer machine revolving speed target value.
Further, this method can also include: all test datas of the above-mentioned distributed electrical transmission system of real-time exhibition.
During the test, all test datas are all by real-time exhibition, for example upload to monitoring host computer, and carrying out in the display interface can
Depending on changing.Keep entire test process more intuitive, substantially increases the readability of test method and the friendly of human-computer interaction.
A kind of distributed electrical transmission system test method according to the present invention, applicable rack, referring to Fig. 2,3 institutes
Show, including simulated battery group 1, tested distributed electrical transmission system 2, distributed load simulation system 3, with the data of communication function
Acquisition system 4, rack control real-time system 5, monitoring host computer 6, rack pedestal 7 and the machine for running " people-Che-road " computation model
Tool connecting component.Tested motor 22 and dynamometer machine 31 are bolted on respectively on rack pedestal 7.Tested motor 22 passes through connection
Axis device is connected with 43 side of torque/speed sensor, and dynamometer machine 31 is arranged in the other side of torque/speed sensor 43, in Fig. 3
Two tested motors 22, corresponding two dynamometer machines 31 are constituted with two groups of motors to the dual AC power shafting dragged, simulation point
The working condition of cloth electric drive system.Rack controls real-time system 5, generates simulation steering wheel angle signal and gas pedal letter
Number, tested entire car controller 21 is sent to by CAN bus；Rack controls the revolving speed control instruction that real-time system 5 is sent, and passes through
CAN bus is sent to Dynamometer Control device 32.It is by CAN bus that the signal of entire car controller 21 and Dynamometer Control device 32 is anti-
Rack of feeding controls real-time system 5.
By taking two driving wheel electric vehicles as an example, in actual measurement, inputted in the engine bench test interface of monitoring host computer 6
The operating condition of this test, target trajectory, and start test.Above-mentioned " people-Che-road " computation model include: turn to pilot model,
7 freedom degree kinetic model of distributed-driving electric automobile and Dugoff tire model turn to pilot model according to preset
Vehicle status parameters in path, operating condition and real-time model generate simulation steering wheel angle signal, root by preview follower method
Accelerator pedal signal is generated using PID control method according to speed error, (steering wheel angle is believed by the Driving control signal of generation
Number, accelerator pedal signal) input tested distributed electrical transmission system 2 together.Entire car controller 21 is tested according to the real-time of input
Driving control signal controls tested electric drive system, for example issues respective torque to two acoustic filed electric machine controllers
Control instruction, and this signal is fed back in rack control real-time system 5.It runs " people-Che-road " and calculates kernel, it is synchronous to calculate
The calculating wheel speed of each driving wheel of distributed electric automobile, and then each 31 revolving speed target value of dynamometer machine is obtained, and synchronous refresh is above-mentioned
Vehicle status parameters in two models, the display interface for uploading to monitoring host computer 6 are visualized.Acoustic filed formula is tested
Electric machine controller 23 instructs according to the direct torque of tested entire car controller 21 and carries out direct torque, dynamometer machine to tested motor 22
Controller 32 controls the respective rotary speed instruction that real-time system 5 calculates according to rack, carries out revolving speed control to dynamometer machine 31, generates real
When, accurate Equivalent Distributed load.Two groups of motors on rack pedestal 7 are carried out to rotary axis system is dragged by actual measurement condition
Operating, torque/speed sensor 43 acquire the real-time rotational speed and torque of tested distributed electrical transmission system 2, voltage/current sensor
The 42 real-time Current Voltages of acquisition, pass to power analyzer 41 for each sensor signal and carry out real-time mechanical output, electric work
The calculating and display of rate, efficiency, and it is uploaded to monitoring host computer 6, it is visualized on the display interface of monitoring host computer 6.
With the variation in path and operating condition, the steering pilot model that " people-Che-road " calculates in kernel, which can simulate, really to be driven
The person of sailing generates steering wheel angle signal and pedal amount input signal, and being tested entire car controller 21 can be according to its driving force allocation algorithm
Driving force is distributed, which then synchronizes the control signal for reading the distribution driving force, is input to " people-Che-road " and calculates mould
In type, considers the effect of dynamics of vehicle and tire and ground, estimate the driving wheel wheel speed of vehicle subsequent time, and then derive
Revolving speed control is carried out to the revolving speed of test simulation point, and to dynamometer machine 31, this algorithm uses equivalent method, can be with simulation distribution formula
Drive electric car true distributed load in steering procedure.The actual conditions for considering tyre skidding simultaneously, in dynamometer machine
Joined in 32 internal rotation control algolithm der Geschwindigkeitkreis of controller maximum road adherence saturation function limitation, make generate etc.
Effect distributed load does not exceed the maximum adhesion power that practical road surface can provide, and prevents the distortion of load simulation.Meanwhile because rack
Load simulation algorithm is based on model feedforward control, has just carried out feed forward models before system under test (SUT) generates practical driving force output
Prediction, ensure that the real-time of load simulation, accelerates the speed of response of load simulation system, make entire distributed electrical power train
The hardware-in―the-loop test effect of system is closer to real steering vectors.
Above-described embodiment generates simulation steering wheel angle signal by preview follower method, utilizes PID according to speed error
Control method generates accelerator pedal signal, and calculates real-time Equivalent Distributed load, and specific calculating process is as follows:
By taking the vehicle of two driving wheels as an example, referring to shown in Fig. 4, by the traveling letter of vehicle in a short time (such as in 1 second)
Turning to longitudinal velocity is vxUniform motion, lateral movement is that initial velocity is vyUniformly accelerated motion.In vehicle driving coordinate
Under system, expected trajectory is separated into point set S (xk yk) k=1, a series of 2,3...... coordinate points, from xk=x1Start by searching
Suo Fangcheng (xk-vxT)(xk+1-vxT it)≤0 searches for, after judgement takes aim at time T in advance, with vehicle in-position on nearest expected trajectory
Point P (xP yP), when searching for equation establishment, gained P as takes aim at a little in advance.It is expected that lateral deviation is then yp, according to newtonian motion
Expected side acceleration is calculated in law
According to side acceleration gain GayRequired steering wheel angle signal is obtained, wherein L is vehicle wheelbase；C is insufficient
Turn around parameters (C > 0), isteeringFor steering gear ratio, δsteeringFor steering wheel angle.
Accelerator open degree Input is calculated by following formula.
Wherein, TrIt is the overall resistance for being transmitted to vehicle；M is vehicle mass；G is gravity constant；θ is road grade；F is
Rolling resistance coefficient；CDIt is coefficient of air resistance；A is vehicle front face area；21.25 be a known constant, (calculates wind
Resistance, physical significance is related with atmospheric density), dt is time diffusion；vxIt is vehicular longitudinal velocity；δ is after considering rotary inertia
Quality coefficient；η is the mechanical efficiency of transmission system；G is transmission ratio；R is vehicle wheel rotation radius；Kp, TiAnd TdIt is PID control
The parameter of device, sat (x) indicate saturation value；E is velocity error, TerrorBe motor driven torque needed for erection rate error and；
TmaxIndicate all tested driving motors that maximum throttle input is corresponding under current rotating speed max. output torque and.
In the above scheme, designed vehicle dynamic model and Dugoff tire model are considering tyre skidding, side
On the basis of inclined and trailer reversing is dynamic (dynamical), distributed electrical is calculated according to the direct torque command synchronization of tested entire car controller 21
The calculating wheel speed of each driving wheel of electrical automobile, and then obtain 31 revolving speed target value of dynamometer machine.The specific method is as follows:
It is equally that referring to shown in Fig. 4, driving torque is instructed into T by taking the vehicle of two driving wheels as an examplee1Te2It substitutes into distributed
The dynamics transmission function G of electric drive systeme-systemAgain through virtual vehicle model G7-d-vehicle&Gtires, obtain driving wheel theory wheel
Fast ωw1ωw2。
The mechanical transmission component transmission ratio of tested vehicle is G, as the following formula (6) push away bench simulation reference point is (that is: tested
Motor output shaft end) expection revolving speedThat is the rotating speed of target of distributed load simulation system.
In the above scheme, the calculating wheel speed of the current each driving wheel calculated according to model, and then obtain 31 mesh of dynamometer machine
Revolving speed is marked, revolving speed control is carried out to each dynamometer machine 31, generates equivalent distributed load Td1Td2。
By taking Fig. 3 as an example, ω in formula1ω2For the actual speed of two dynamometer machines 31 (dynamometer machine 1 and dynamometer machine 2),For
The rotating speed of target of double measurement of power units.GcontrolFor the transmission function of dynamometer machine revolving speed PI control.Entire rack control algolithm is summarized
For the Equivalent Distributed load simulation method tracked based on wheel speed, can accurately in real-time simulation actual travel system under test (SUT) it is true
Load.
In the above scheme, referring to shown in Fig. 3, each sensor has enough acquisition precisions, can be used for testing tested
The dynamic operation condition of distributed electrical transmission system 2 and instantaneous performance parameter, torque/speed sensor 43 and voltage/current sensor
42 by its signal pass to power analyzer 41 carry out instantaneous mechanical power, electrical power, efficiency calculating and display, and in real time on
6 monitoring interface of upper monitoring machine is passed to be visualized.Rack controls real-time system 5 and is based on Xpc computing platform, has meter in real time
The function of calculating and quickly control.
Based on the same inventive concept, the embodiment of the invention also provides a kind of distributed electrical transmission system test device and surveys
Test stand frame, by the principle of the test device and the solved problem of testboard bay and a kind of distributed electrical power train of previous embodiment
Unified test method for testing is similar, therefore the implementation of the test device and testboard bay may refer to the implementation of preceding method, repeats place
It repeats no more.
Second aspect, following is a kind of distributed electrical transmission system test device provided in an embodiment of the present invention, Ke Yiyong
In a kind of above-mentioned distributed electrical transmission system test method embodiment of execution.
Referring to Figure 5, a kind of distributed electrical transmission system test device, comprising:
Module 51 is obtained, for obtaining the real-time direct torque instruction of tested entire car controller feedback；
Computing module 52 calculates the real-time vehicle of distributed-driving electric automobile for instructing according to the direct torque
State parameter；According to the real-time vehicle state parameter, the calculating wheel speed of each driving wheel is obtained；According to the calculating wheel speed, lead to
Cross the transmission ratio of vehicle mechanical transmission system, the anti-expection revolving speed for pushing away tested driving motor output shaft end；
Control module 53, for carrying out revolving speed control to dynamometer machine by Dynamometer Control device according to the expected revolving speed,
Equivalent Distributed load is generated at the tested driving motor output shaft end.
In one embodiment, described device further include:
Generation module 501, for obtaining pre- before the real-time direct torque instruction for obtaining tested entire car controller feedback
If path, operating condition and current vehicle condition parameter, generate simulation steering wheel angle signal and accelerator pedal signal；
Sending module 502, for being sent to the steering wheel angle signal and the accelerator pedal signal described tested
Entire car controller.
In one embodiment, described device further include: display module 54, for the transmission of distributed electrical described in real-time exhibition
All test datas of system.
The third aspect, referring to shown in Fig. 2,3, the embodiment of the present invention also provides a kind of distributed electrical transmission system testboard
Frame, including simulated battery group 1, tested distributed electrical transmission system 2, distributed load simulation system 3, data collection system 4 and platform
Frame controls real-time system 5.
Wherein, above-mentioned simulated battery group 1 is electric with tested distributed electrical transmission system 2 and distributed load simulation system 3 respectively
Gas connection；Simulated battery group 1 provides direct current, is three-phase alternating current by electric machine controller or Dynamometer Control device inversion.Ginseng
According to shown in Fig. 3, two of them solid parallel lines (two thicknesses are inconsistent) indicate that direct current, three solid parallel lines indicate three-phase alternating current
Electricity.
Referring to shown in Fig. 3, above-mentioned tested distributed electrical transmission system 2, comprising: a tested entire car controller 21, at least
Two tested motors 22 and tested motor controller 23；Above-mentioned tested entire car controller 21 passes through CAN bus and tested motor control
Device 23 processed connects, and above-mentioned tested motor controller 23 is electrically connected with the tested motor 22；Referring to shown in Fig. 3, dotted line and band
Arrow indicates CAN bus.
Above-mentioned distributed load simulation system 3, comprising: the dynamometer machine 31 and Dynamometer Control of quantity identical as tested motor 22
Device 32, dynamometer machine 31 are connect with Dynamometer Control device 32；
The output shaft of above-mentioned tested motor 22 is connect through torque/speed sensor 43 with dynamometer machine 31 by shaft coupling；
Above-mentioned data collection system 4 respectively in tested distributed electrical transmission system 2 tested motor controller 23 and point
32 communication connection of Dynamometer Control device in cloth load simulation system 3；
Rack controls real-time system 5 and is controlled respectively with tested entire car controller 23 and Dynamometer Control device 32 by CAN bus
System connection, and connect by monitoring host computer 6 with data collection system 4；It includes such as above-described embodiment that rack, which controls real-time system 5,
The distributed electrical transmission system test device of any one carries out real-time control to testboard bay, generates Equivalent Distributed load.
In addition, this testboard bay is suitably adapted for the fax of two-wheel drive, four-wheel or the distributed-driving electric automobile more taken turns
Dynamic system testing can extend rack knot if you need to test the distributed-driving electric automobile of four-wheel or all-wheel drive on this basis
Corresponding dynamometer machine, Dynamometer Control device quantity is arranged in structure.It is tested if you need to high-power system, then should increase distributed load simulation
The power and bed size of system.
A kind of distributed electrical transmission system testboard bay provided by the invention forms the test closed loop comprising tested hardware,
Under the control of rack control real-time system 5, distributed load simulation system 3 can provide for tested distributed electrical transmission system 2
Accurately, Dynamic workload in real time.Testboard bay real-time monitoring test data, calculates real-time electrical power, mechanical output and effect
Rate, display real-time model calculate data.
Tested entire car controller 21 sends direct torque and instructs to tested motor controller 23.Tested motor 22 is by corresponding
Tested motor controller 23 carries out direct torque, and dynamometer machine 31 is controlled real-time by corresponding Dynamometer Control device 32 according to rack
The rotary speed instruction that system 5 calculates carries out revolving speed control.Above-mentioned each controller all has communication function.
Further；Referring to shown in Fig. 3, above-mentioned data collection system 4, comprising: power analyzer 41, voltage/current pass
Sensor 42, torque/speed sensor 43；
Wherein: tested motor controller 23 is connect with tested motor 22 by three-phase conducting wire, and voltage/current sensor 42 is pressed
Operating specification is mounted on the three-phase conducting wire；
The output shaft of tested motor 22 is connect by shaft coupling with dynamometer machine 31, is turned wherein being also equipped on the outside of shaft coupling
Square/speed probe 43, dynamometer machine 31 are arranged in the other side of torque/speed sensor 43, when tested motor 22 is two,
It then constitutes with two groups of motors to the dual AC power shafting dragged, the working condition of simulation distribution formula electric drive system.
Power analyzer 41 is connect with voltage/current sensor 42 and torque/speed sensor 43 respectively；
Power analyzer 41 is connected with monitoring host computer 6 by Ethernet；Monitoring host computer 6 further counts rack in real time
Real-time system 5 is controlled according to rack is fed back to.
In the above scheme, data collection system 4 has communication, monitoring and feedback function.Rack real time data is by each biography
Sensor perception is shown in monitoring host computer 6, and rack real time data is further fed back to rack control real-time system 5, is carried out
Mold sync operation, rack state refresh.
Sensor signal is passed into the calculating that power analyzer 41 carries out instantaneous mechanical power, electrical power, efficiency simultaneously
With display；The rack control signal that rack control real-time system 5 is sent is transmitted by CAN bus network, by rotary speed instruction
It is sent to Dynamometer Control device 32.Rack controls the real-time steering wheel angle signal and accelerator pedal signal that real-time system 5 generates
It is sent to tested entire car controller 21.
In the present embodiment, it is based on general real time test platform, a set of real-time system has been built, has been received using power analyzer
And real time sensor signal is handled, the distributed electrical transmission system real-time testing of any operating condition and free routing may be implemented, instead
System under test (SUT) efficiency is reflected, system under test (SUT) function is verified.
Further, referring to shown in Fig. 2,4, all test datas are all uploaded to monitoring host computer 6 in real time, on display circle
It is visualized on face.Keep entire test process more intuitive, substantially increases the readability and human-computer interaction of test macro
Friendly.
It further include that rack pedestal 7, wherein tested motor 22 and dynamometer machine 31 are installed by bolt respectively referring to shown in Fig. 3
On rack pedestal 7.
In the present embodiment, rack control real-time system 5, generate simulation steering wheel angle signal and accelerator pedal signal and
Revolving speed control instruction is sent respectively to each node (such as tested entire car controller 21 and Dynamometer Control device by CAN bus
32) feedback signal of each node, and by CAN bus is received.In speed/torque sensing data ingoing power analyzer 41,
And rack control real-time system 5 is fed back to by monitoring host computer 6.
By taking two driving wheel electric vehicles as an example, in actual measurement, inputted in the engine bench test interface of monitoring host computer 6
The operating condition of this test, target trajectory, and start test.Rack controls real-time system 5 according to preset path, operating condition and current
Vehicle status parameters generate simulation steering wheel angle signal and accelerator pedal signal, input tested distributed electrical transmission system 2.
Tested entire car controller 21 according to the real-time Driving control signal (simulation steering wheel angle signal and accelerator pedal signal) of input,
Respective direct torque instruction is issued to two acoustic filed electric machine controllers, and this signal feedback rack is controlled into real-time system 5
In.Synchronometer calculates the calculating wheel speed of each driving wheel of distributed electric automobile, and then obtains each dynamometer machine revolving speed target value, and synchronous
Refresh the vehicle-state in model, the display interface for uploading to monitoring host computer 6 is visualized.Acoustic filed electric machine controller
Direct torque is carried out to tested motor 22 according to the instruction of the direct torque of entire car controller, Dynamometer Control device 32 is according to rack control
The respective rotary speed instruction that real-time system 5 processed calculates carries out revolving speed control to dynamometer machine 31 is carried out, and generates real-time, accurately equivalent
Distributed load.
Two groups of motors on rack pedestal 7 are operated, torque/speed to rotary axis system is dragged by actual measurement condition
Sensor 43 acquires the real-time rotational speed and torque of tested distributed electrical transmission system 2, and voltage/current sensor 42 acquires real-time electricity
Galvanic electricity pressure, by each sensor signal pass to power analyzer 41 carry out real-time mechanical output, electrical power, efficiency calculating with
It has been shown that, and it is uploaded to monitoring host computer 6, it is visualized in the display interface.
With the variation in path and operating condition, rack control real-time system 5 can simulate true driver and generate steering wheel angle
Signal and pedal amount input signal, tested entire car controller can distribute driving force, the test according to its driving force allocation algorithm
Rack then synchronizes the control signal for reading the distribution driving force, is input in rack control real-time system 5, considers dynamics of vehicle
With the effect of tire and ground, the driving wheel wheel speed of vehicle subsequent time has been estimated, and then has been derived by turning for test simulation point
Speed, and revolving speed control is carried out to dynamometer machine 31, this algorithm uses equivalent method, electric car can be driven to turn with simulation distribution formula
To true distributed load in the process.The actual conditions for considering tyre skidding simultaneously, in 32 internal rotation of Dynamometer Control device
The saturation function limitation that joined maximum road adherence in control algolithm der Geschwindigkeitkreis, surpass the Equivalent Distributed generated load will not
The maximum adhesion power that practical road surface can provide is crossed, the distortion of load simulation is prevented.Meanwhile because rack load simulation algorithm is based on
Model feedforward control has just carried out feed forward models prediction before system under test (SUT) generates practical driving force output, ensure that load
The real-time of simulation accelerates the speed of response of load simulation system, surveys the hardware in loop of entire distributed electrical transmission system
Effect is tried closer to real steering vectors.
A kind of distributed electrical transmission system testboard bay provided in an embodiment of the present invention, the specific algorithm being related to can refer to
Implementation in above-mentioned distributed electrical transmission system test method, overlaps will not be repeated.The testboard bay is distributed electronic
The hardware-in―the-loop test of automobile electric drive system devises Special test rack, and dynamic point can be provided for distributed electrical transmission system
Cloth load.The dynamics state that electric car can be calculated in real time estimates each driving wheel speed.Compatibility test rack hardware, it is real
The now hardware of the functional test of distributed-driving electric automobile component development phase, proof of algorithm and its electric drive system prototype
In ring test.
Further, based on the Equivalent Distributed load simulation method of wheel speed tracing control, can accurately real-time simulation divide
Cloth drives electric car real roads suffered by each driving wheel under different operating conditions to load, and is distributed electrical transmission system portion
Part grade, system-level development experiments provide virtual environment.
In addition, for the electronic differential speed steering control function of distributed electrical transmission, when tested distributed electrical transmission system 2 is
When two-wheel drive, it is negative to can produce different rotating speeds, a pair of torque for double dynamometer systems that distributed load simulation system 3 is constituted
It carries, the test of distributed-driving electric automobile differential steering process can be completed.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of distributed electrical transmission system test method characterized by comprising
Obtain the real-time direct torque instruction of tested entire car controller feedback；
It is instructed according to the direct torque, calculates the real-time vehicle state parameter of distributed-driving electric automobile；According to the reality
When vehicle status parameters, obtain the calculating wheel speed of each driving wheel；
It is counter to push away tested driving motor output shaft end by the transmission ratio of vehicle mechanical transmission system according to the calculating wheel speed
It is expected that revolving speed；
According to the expected revolving speed, revolving speed control is carried out to dynamometer machine by Dynamometer Control device, in the tested driving motor
Output shaft end generates Equivalent Distributed load.
2. a kind of distributed electrical transmission system test method as described in claim 1, which is characterized in that obtaining tested vehicle
Before the real-time direct torque instruction of controller feedback, the method also includes:
Preset path, operating condition and current vehicle condition parameter are obtained, simulation steering wheel angle signal and gas pedal letter are generated
Number；
By the steering wheel angle signal and the accelerator pedal signal, it is sent to the tested entire car controller.
3. a kind of distributed electrical transmission system test method as claimed in claim 2, which is characterized in that the method is also wrapped
It includes:
All test datas of distributed electrical transmission system described in real-time exhibition.
4. a kind of distributed electrical transmission system test device characterized by comprising
Module is obtained, for obtaining the real-time direct torque instruction of tested entire car controller feedback；
Computing module calculates the real-time vehicle state ginseng of distributed-driving electric automobile for instructing according to the direct torque
Number；According to the real-time vehicle state parameter, the calculating wheel speed of each driving wheel is obtained；According to the calculating wheel speed, pass through vehicle
The transmission ratio of machine driven system, the anti-expection revolving speed for pushing away tested driving motor output shaft end；
Control module, for revolving speed control being carried out to dynamometer machine by Dynamometer Control device, described tested according to the revolving speed
Driving motor output shaft end generates Equivalent Distributed load.
5. a kind of distributed electrical transmission system test device as claimed in claim 4, which is characterized in that described device is also wrapped
It includes:
Generation module, for obtaining preset road before the real-time direct torque instruction for obtaining tested entire car controller feedback
Diameter, operating condition and current vehicle condition parameter generate simulation steering wheel angle signal and accelerator pedal signal；
Sending module, for being sent to the tested vehicle control for the steering wheel angle signal and the accelerator pedal signal
Device processed.
6. a kind of distributed electrical transmission system test device as claimed in claim 5, which is characterized in that described device is also wrapped
It includes: display module, all test datas for distributed electrical transmission system described in real-time exhibition.
7. a kind of distributed electrical transmission system testboard bay characterized by comprising simulated battery group, tested distributed fax
Dynamic system, distributed load simulation system, data collection system and rack control real-time system；
The simulated battery group electrically connects with the tested distributed electrical transmission system and the distributed load simulation system respectively
It connects；
The tested distributed electrical transmission system includes: a tested entire car controller, at least two tested motors and tested electricity
Machine controller；The tested entire car controller is connect by CAN bus with the tested motor controller, the tested motor control
Device processed and the tested motor are electrically connected；
The distributed load simulation system includes: the dynamometer machine and Dynamometer Control device of quantity identical as the tested motor, institute
It states dynamometer machine and the Dynamometer Control device is electrically connected；
The output shaft of the tested motor and the dynamometer machine are mechanically connected；
The data collection system respectively with the tested motor controller and the Dynamometer Control device communication connection；
Rack control real-time system by CAN bus respectively with the tested entire car controller and the Dynamometer Control device
Communication connection；
The rack control real-time system includes such as the described in any item distributed electrical transmission system test dresses of claim 4-5
It sets, real-time control is carried out to the testboard bay, generate Equivalent Distributed load.
8. a kind of distributed electrical transmission system testboard bay as claimed in claim 7, which is characterized in that the simulated battery group
It is electrically connected respectively with the tested motor controller and the Dynamometer Control device；
The data collection system, comprising: power analyzer, voltage/current sensor and torque/speed sensor；
The tested motor controller is connect with the tested motor by three-phase conducting wire, the voltage/current sensor installation
On the three-phase conducting wire；
The output shaft of the tested motor is connect by shaft coupling with the dynamometer machine；Pacify between the dynamometer machine and shaft coupling
Equipped with the torque/speed sensor；
The power analyzer is connect with the voltage/current sensor and the torque/speed sensor communication respectively, is received
Each sensor signal.
9. a kind of distributed electrical transmission system testboard bay as claimed in claim 8, which is characterized in that further include: for showing
Show the monitoring host computer of test data and input test instruction；
The monitoring host computer is connect with the power analyzer and rack control real-time system respectively.
10. such as a kind of described in any item distributed electrical transmission system testboard bays of claim 7-9, which is characterized in that also wrap
It includes: rack pedestal；
The tested motor and the dynamometer machine are mounted on the rack pedestal.
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