CN110132585A - A comprehensive test bench for electric wheels based on virtual instrument and dynamic and static vertical loading device - Google Patents

Abstract

An electric wheel comprehensive test bench based on virtual instruments and dynamic and static vertical loading devices includes a bench main control module and a test bench; the bench main control module includes: a host computer, a PXI real-time control system, and a PXI real-time control system A model is a CAN communication card of NI PXI-8512 and a data acquisition card of NI PXI-6221; the test bench includes a base, a dynamic and static vertical load loading device, an electric wheel, an electric wheel controller, Drum, rotational speed torque sensor, dynamometer, dynamometer controller, coupling; The received vertical load can provide a test environment close to a real vehicle for developing electric wheels and testing their performance.

Description

A comprehensive test of electric wheel based on virtual instrument and dynamic and static vertical loading device Test bench

technical field

The invention relates to electric vehicle bench test technology, in particular to an electric wheel comprehensive test bench based on virtual instruments and dynamic and static vertical loading devices.

Background technique

The bench test is mostly used in the field of automobile and assembly development. In the early stage of automobile development, through the automobile bench test, it can simulate the starting, acceleration, climbing, braking and other working conditions of the car. If the accuracy can be close to the real car road test, It can improve the safety of vehicle and component experiments, reduce the dependence on the experimental site, reduce the cost of control system development, and effectively shorten the development cycle.

As a new type of electric vehicle, the electric wheel electric vehicle improves the transmission efficiency of the whole vehicle and simplifies the chassis structure because of the cancellation of the transmission, clutch, differential, half shaft and other transmission components. It is an important direction for the development of new energy vehicles. one.

However, while the electric wheel electric vehicle brings the above advantages, it also brings the following problems: the unsprung mass of the vehicle changes greatly after the electric wheel is adopted, so the change of the vertical load of the wheel has a great impact on the performance of the electric wheel electric vehicle Whether it can accurately simulate the change of the vertical load of the wheel during the driving process of the real vehicle has become the key to the development of the electric wheel test bench.

Contents of the invention

Based on the above problems, the present invention proposes a comprehensive electric wheel test bench scheme based on virtual instruments and dynamic and static vertical loading devices. This test bench can be used to develop and verify electric wheel systems, and can improve the safety of electric wheel electric vehicles and component experiments. It can reduce the dependence on the experimental site and reduce the development cost of the control system; the test bench can accurately simulate the vertical dynamic load changes caused by the acceleration, deceleration and uneven road surface during the driving process of the car through the dynamic and static vertical load loading device, which can be used for Testing the performance of the electric wheel provides an environment close to the actual vehicle test.

The invention proposes an electric wheel comprehensive test bench based on a virtual instrument and a dynamic and static vertical loading device. The test bench is composed of a main control module of the bench and a test bench.

The main control module of the bench is composed of a host computer and a PXI real-time control system, and the host computer and the PXI real-time control system are connected through a TCP/IP network.

The upper computer is an ordinary PC, and LabVIEW software and Matlab/Simulink software are installed on the upper computer, and the driver model, driving condition model, vehicle model, vehicle controller model, and vehicle driving model built based on Matlab/Simulink software are installed on the upper computer. Environmental model, dynamometer loading control model, and electric wheel vertical load loading control model; the host computer converts the above models into DLL files that can be called by LabVIEW, downloads them to the PXI real-time control system through the TCP/IP network, and displays them in the PXI real-time Real-time operation in the control system.

A CAN communication card of model NI PXI-8512 and a data acquisition card of model NIPXI-6221 are installed in the PXI real-time control system.

The test bench includes base, electric wheel, electric wheel controller, roller, dynamic and static vertical load loading device, dynamic load loading motor controller, speed torque sensor, dynamometer, dynamometer controller, V/F control device.

The NI PXI-8512CAN communication card in the PXI real-time control system is used to form a CAN network with the electric wheel controller in the test bench; the NI PXI-8512CAN communication card in the PXI real-time control system will The target driving torque value of the wheel motor is sent to the CAN network and received by the electric wheel controller in the test bench; at the same time, the electric wheel controller sends the current, voltage, temperature and other motor status information to the CAN network in a certain period , the relevant information is received by the NI PXI-8512CAN communication card; any DA channel of the NI PXI-6221 data acquisition card in the PXI real-time control system sends the dynamometer load torque value calculated by the dynamometer loading control model to the test bench The dynamometer controller in the frame; any DA output channel in the NI PXI-6221 data acquisition card except the above-mentioned used DA channel sends the dynamic load load target torque value of the motor calculated by the vertical load load control model of the electric wheel Load the motor controller to the dynamic load; the speed value of the dynamometer measured by the speed torque sensor is converted into a frequency signal by the V/F converter, and is collected in the test bench through any counter channel of the NI PXI-6221 data acquisition card The speed value of the dynamometer measured by the speed torque sensor is passed to the load control model of the dynamometer; the torque value of the dynamometer measured by the speed torque sensor is converted into Frequency signal, collect the torque value of the dynamometer measured by the speed torque sensor in the test bench through any counter channel in the NI PXI-6221 data acquisition card except the above-mentioned used counter channel, and transfer the torque value to Pass it to the load control model of the dynamometer; collect the static vertical load value of the electric wheel output by the static vertical load pressure sensor in the dynamic and static vertical load loading device through any AD channel of the NI PXI-6221 data acquisition card, and pass it to the Electric wheel vertical load loading control model; collect the dynamic vertical load of the electric wheel output by the dynamic vertical load pressure sensor in the dynamic and static vertical load loading device through any AD channel in the NI PXI-6221 data acquisition card except the above-mentioned used AD channel value, and pass it to the electric wheel vertical load loading control model.

The dynamic and static vertical loading device is composed of a first support frame, a second support frame, a U-shaped frame, an electric wheel suspension device, a static loading device and a dynamic loading device.

The first support frame is made up of L type installation base (1), the first support arm (2) of a support frame, the first support frame support plate (6) and the second support arm (16) of a support frame; A support arm (2), the first support frame support plate (6) and the second support arm (16) of a support frame are cuboid structures; the A end of the first support arm (2) of a support frame and the L-shaped mounting base The A side of (1) is fixedly connected, the B end of the first support arm (2) of a support frame is fixedly connected with the B surface of the first support frame support plate (6), and the first support arm (2) of a support frame is respectively connected with The A side of the L-shaped installation base (1) is perpendicular to the B-side of the first support frame support plate (6); the A end of the second support arm (16) of a support frame is fixed to the A-side of the L-shaped installation base (1) Connection, the B end of the second support arm (16) of a support frame is fixedly connected with the B surface of the support plate (6) of the first support frame, and the second support arm (16) of a support frame is respectively connected with the L-shaped mounting base (1) The A face of the first support frame and the B face of the first support frame support plate (6) are vertical; the first support frame circular through hole (30) is provided between the A surface and the B surface of the first support frame support plate (6), and the first support frame support plate (6) is provided with a circular through hole (30). The axis of a circular through hole (30) of the support frame is respectively perpendicular to the A surface and the B surface of the support plate (6) of the first support frame.

The second bracing frame is by the first bracing arm (3) of two bracing frame, the second bracing frame supporting plate (5), the second bracing arm (15) of two bracing frame, the first bracing arm (22) of electric wheel suspension device, electric The second supporting arm (24), the first lifting lug (34), the second lifting lug (35), the third lifting lug (36) and the fourth lifting lug (37) of the wheel suspension device are composed; Arm (3), the second support frame support plate (5), the second support arm (15) of two support frames, the first support arm (22) of the electric wheel suspension device and the second support arm (24) of the electric wheel suspension device are all It is a cuboid structure; the A end of the first support arm (3) of the two support frames is fixedly connected with the A surface of the L-shaped installation base (1), and the B end of the first support arm (3) of the two support frames is supported by the second support frame The B side of the plate (5) is fixedly connected, and the first support arm (3) of the two support frames is perpendicular to the A surface of the L-shaped mounting base (1) and the B surface of the second support frame support plate (5) respectively; The A end of the second support arm (15) is fixedly connected with the A face of the L-shaped mounting base (1), and the B end of the second support arm (15) of the two support frames is connected with the B face of the second support frame support plate (5). Fixedly connected, the second support arm (15) of the two support frames is perpendicular to the A surface of the L-shaped mounting base (1) and the B surface of the second support frame support plate (5) respectively; the first support arm (3) of the two support frames Parallel to the first support arm (2) of a support frame, the second support frame support plate (5) is parallel to the first support frame support plate (6), and the second support arm (15) of the two support frames is parallel to the first support frame support plate (6). Two support arms (16), the support that the first support arm (3) of two support frames, the second support frame support plate (5) and the second support arm (15) of two support frames form is positioned at the inboard of the first support frame; The A end of the first support arm (22) of the wheel suspension device is fixedly connected with the A face of the L-shaped mounting base (1), and the B end of the first support arm (22) of the electric wheel suspension device is connected with the second support frame support plate (5 ), the B face of the electric wheel suspension device is fixedly connected, and the first support arm (22) of the electric wheel suspension device is vertical to the A face of the L-shaped mounting base (1) and the B face of the second support frame support plate (5) respectively; the second support arm of the electric wheel suspension device The A end of the support arm (24) is fixedly connected with the A surface of the L-shaped mounting base (1), and the B end of the second support arm (24) of the electric wheel suspension device is fixed with the B surface of the second support frame support plate (5) Connect, the second support arm (24) of electric wheel suspension device is vertical the A face of L-shaped installation base (1) and the B face of the second support frame support plate (5) respectively; The A of the second support frame support plate (5) The first square through hole (31) of the second support frame, the circular threaded through hole (32) of the second support frame and the second square through hole (33) of the second support frame are provided between the surface and the B surface, and the second square through hole (33) of the second support frame The center line of a square through hole (31), the central axis of the second support frame circular threaded through hole (32) and the center line of the second square through hole (33) of the two support frames are parallel to each other, and are all perpendicular to the first The A side and the B side of the two support frame support plates (5); the third lifting lug (36) and the fourth lifting lug are fixedly installed on the first support arm (22) of the electric wheel suspension device (37), the distance between the third lug (36) and the fourth lug (37) is equal to the thickness of the first support cross arm (46) of the bearing plate; fixed on the second support arm (24) of the electric wheel suspension The first lifting lug (34) and the second lifting lug (35) are installed, and the distance between the first lifting lug (34) and the second lifting lug (35) is equal to the thickness of the second support cross arm (49) of the bearing plate ; The first lug (34), the second lug (35), the third lug (36) and the fourth lug (37) are provided with lug holes (38).

The electric wheel suspension device is made up of load-bearing plate (25), the first support cross arm (46) of load-bearing plate and the second support cross-arm (49) of load-bearing plate; Bearing plate (25) is cuboid structure, and load-bearing plate (25) A The center position is provided with the first circular groove (27) of the load-bearing plate, and the center position of the plane opposite to the A surface is provided with the second circular groove (51) of the load-bearing plate, and the first circular groove (27) of the load-bearing plate is connected with the The projections of the second circular groove (51) of the load-bearing plate on the front view coincide with each other, and the axes of the two are all perpendicular to the A surface of the load-bearing plate (25), and the first circular groove (27) of the load-bearing plate and the bearing plate Six load-bearing plate threaded through holes (43) that are evenly distributed and whose axes are parallel to the axes of the two grooves are arranged between the second circular grooves (52); shaped groove (41), the second square groove (42) of the bearing plate and the third square groove (44) of the bearing plate, the centerline of the first square groove (41) of the bearing plate, the second square groove of the bearing plate The center line of the groove (42) and the center line of the third square groove (44) of the load-bearing plate are parallel to each other, and are respectively perpendicular to the C face of the load-bearing plate (25); The first threaded through hole (39) of bearing plate-square groove and the second threaded through hole (40) of bearing plate-square groove are provided between the square groove (41), and the first threaded through hole (40) of bearing plate-square groove The center line of the through hole (39) and the center line of the second threaded through hole (40) of the square groove of the bearing plate are parallel to each other, and perpendicular to the B surface of the bearing plate (25); The first threaded through hole (45) of the three square grooves of the load bearing plate and the second threaded through hole (50) of the three square grooves of the load bearing plate are provided between the plane and the third square groove (44) of the load bearing plate, and the three square grooves of the load bearing plate are threaded through holes (50). The center line of the first threaded through hole (45) of the square groove and the center line of the second threaded through hole (50) of the three square grooves of the load-bearing plate are parallel to each other, and perpendicular to the B surface of the load-bearing plate (25); The A end of the support cross arm (46) is provided with the first support cross arm through hole (47) of the bearing plate, and the other end of the first support cross arm (46) of the load bearing plate is opposite to the A end and the A surface of the load bearing plate (25). Fixedly connected, the first support cross arm (46) of the load bearing plate is perpendicular to the A surface of the load bearing plate (25); the A end of the second support cross arm (49) of the load bearing plate is provided with the second support cross arm through hole (48) of the load bearing plate ), the other end of the load-bearing plate second support cross arm (49) opposite to the A end is fixedly connected with the A face of the load-bearing plate (25), and the load-bearing plate second support cross arm (49) is connected with the A face of the load-bearing plate (25) Vertical; the A end of the first support cross arm (46) of the load-bearing plate is placed between the third lug (36) and the fourth lug (37), and the first support cross-arm through hole (47) of the load-bearing plate is connected to the first The lug holes of the third lug (36) are aligned with the lug holes of the fourth lug (37), and the first support cross arm (46) of the load-bearing plate is connected with the first support arm (22) of the electric wheel suspension through a hinge; the load-bearing plate The A end of the second support arm (49) is placed between the first lug (34) and the second lug (35), and the second support arm of the bearing plate passes through The hole (48) is aligned with the lug hole of the first lug (34) and the lug hole of the second lug (35), and the second support cross arm (49) of the bearing plate is aligned with the second support arm (24) of the electric wheel suspension device. Connect by hinge; the end of the electric wheel fixed shaft (65) is put into the second circular groove (51) of the bearing plate on the load plate (25), and 6 evenly distributed and The electric wheel fixed shaft threaded hole (64) whose axis is parallel to the centerline of the electric wheel fixed shaft (65) is aligned with the 6 load-bearing plate threaded through holes (43), and screwed into the 6 load-bearing plate through the first circular groove (27). Root the second bolt (29), the electric wheel fixed shaft (65) and bearing plate (25) are fixedly connected.

U-shaped frame is made up of U-shaped frame first support bar (4), U-shaped frame second support bar (11) and U-shaped frame the 3rd support bar (14); U-shaped frame first support bar (4), U-shaped frame The second support bar (11) of the type frame and the third support bar (14) of the U-shaped frame are cuboid structures; the B end of the first support bar (4) of the U-shaped frame and the second support bar (11) of the U-shaped frame The B surface is fixedly connected, and the two are perpendicular to each other. The A end of the first support rod (4) of the U-shaped frame is provided with the first threaded hole (59) of the U-shaped frame and the second threaded hole (60) of the U-shaped frame. The centerline of the first threaded hole (59) of the frame and the centerline of the second threaded hole (60) of the U-shaped frame are parallel to each other and parallel to the A face of the second support rod (11) of the U-shaped frame; the third support of the U-shaped frame The B end of bar (14) is fixedly connected with the B face of U-shaped frame second support bar (11), and the two are perpendicular to each other, and the A end of U-shaped frame 3rd support bar (14) is provided with U-shaped frame third Threaded hole (62) and the 4th threaded hole (63) of U-shaped frame, the center line of the 3rd threaded hole (62) of U-shaped frame and the center line of the 4th threaded hole (63) of U-shaped frame are parallel to each other and parallel to the U-shaped frame. The A side of the second support bar (11) of the type frame; the second support bar (11) of the U-shaped frame is provided with a U-shaped square groove (61) on the A surface, and the square groove (61) of the U-shaped frame The centerline is perpendicular to the second support bar (11) A face of the U-shaped frame; the first support bar (4) of the U-shaped frame passes the first square through hole ( 31) Load the third square groove (44) of the load-bearing plate, the second threaded hole (60) of the U-shaped frame on the first support rod (4) of the U-shaped frame and the first threaded through hole (60) of the three-square groove of the load-bearing plate ( 45) Alignment, the first threaded hole (59) of the U-shaped frame on the first support bar (4) of the U-shaped frame is aligned with the second threaded through hole (50) of the three square grooves of the load-bearing plate, and the first support bar of the U-shaped frame (4) is fixedly connected with the load-bearing plate (25) by two first bolts (28); The through hole (33) is packed into the first square groove (41) of the bearing plate, and the third threaded hole (62) of the U-shaped frame on the third support rod (14) of the U-shaped frame is connected with the second square groove of the bearing plate. The threaded through holes (40) are aligned, and the fourth threaded hole (63) of the U-shaped frame on the third support rod (14) of the U-shaped frame is aligned with the first threaded through hole (39) of the square groove of the load-bearing plate, and the U-shaped frame The third support rod (14) is fixedly connected to the bearing plate (25) by two first bolts (28).

The static loading device is composed of a static loading device rotating handle (12), a static loading device screw mandrel (13) and a static vertical load pressure sensor (26); the static loading device rotating handle (12) and the static loading device screw mandrel (13) are fixed Connect, the static loading device screw mandrel (13) cooperates with the second support frame circular threaded through hole (32), the axis of the static loading device screw mandrel (13) and the second support frame circular threaded through hole (32) The axes coincide with each other, and the static loading device screw (13) passes through the circular threaded through hole (32) of the second support frame and is vertically pressed on the top of the static vertical load pressure sensor (26), and the static vertical load pressure sensor (26) is placed on the In the load-bearing plate second square groove (42) of electric wheel suspension device.

Dynamic loading device is made up of dynamic loading device motor (9), dynamic vertical load pressure sensor (10), dynamic loading device screw mandrel (23), dynamic loading device worm wheel (53) and dynamic loading device worm (54); Dynamic loading device The worm gear (53) and the dynamic loading device worm (54) cooperate with each other; the output shaft of the motor (9) is fixedly connected with the dynamic loading device worm (54), and the axes of the two coincide; the dynamic loading device worm gear (53) and the dynamic loading device wire The axis of bar (23) coincides with each other, and the two are connected by threads; the dynamic loading device screw mandrel (23) passes through the first support frame circular through hole (30) on the first support frame support plate (6) and is vertically pressed on Above the dynamic vertical load pressure sensor (10), the dynamic vertical load pressure sensor (10) is placed in the square groove (61) of the U-shaped frame above the second support rod (11) of the U-shaped frame.

Beneficial effects of the present invention: a comprehensive test bench for electric wheels based on virtual instruments and dynamic and static vertical loading devices can simulate various running resistances and vertical loads of wheels during the road running of automobiles, especially for the characteristics of electric wheels , accurately simulate the changes in the vertical load of the wheel due to acceleration, deceleration and uneven road surface during the driving process of the car, and provide a test environment close to the actual vehicle test for testing the performance of the electric wheel; A comprehensive test bench can improve the safety of the electric wheel electric vehicle test, reduce the dependence on the test site, reduce the cost of control system development, and effectively shorten the development cycle.

Description of drawings

Figure 1 is a schematic diagram of the structural composition and working principle of a comprehensive test bench for electric wheels based on virtual instruments and dynamic and static vertical loading devices.

Fig. 2 is a side view of the dynamic and static vertical loading device of the electric wheel.

Fig. 3 is a front view of the dynamic and static vertical loading device of the electric wheel.

Fig. 4 is a rear view of the dynamic and static vertical loading device for electric wheels.

Fig. 5 is an isometric view of the first support frame of the dynamic and static vertical loading device for electric wheels.

Fig. 6 is a front view of the first support frame of the electric wheel dynamic and static vertical loading device.

Fig. 7 is a side view of the first support frame of the dynamic and static vertical loading device for electric wheels.

Fig. 8 is an isometric view of the second support frame of the dynamic and static vertical loading device for electric wheels.

Fig. 9 is a front view of the second support frame of the electric wheel dynamic and static vertical loading device.

Fig. 10 is a top view of the second support frame of the electric wheel dynamic and static vertical loading device.

Fig. 11 is a side view of the first support arm of the electric wheel suspension device or the second support arm of the electric wheel suspension device of the electric wheel dynamic and static vertical loading device.

Fig. 12 is a side view of the bearing plate of the dynamic and static vertical loading device of the electric wheel.

Fig. 13 is a front view of the bearing plate of the dynamic and static vertical loading device of the electric wheel.

Fig. 14 is a top view of the bearing plate of the dynamic and static vertical loading device of the electric wheel.

Fig. 15 is a left side view of the bearing plate of the electric wheel dynamic and static vertical loading device.

Fig. 16 is a right side view of the bearing plate of the dynamic and static vertical loading device of the electric wheel.

Fig. 17 is a side view of the second support frame and the load-bearing plate of the dynamic and static vertical loading device of the electric wheel after installation.

Fig. 18 is a side view of the second support frame of the dynamic and static vertical loading device of the electric wheel, the bearing plate and the static loading device after installation.

Fig. 19 is a structural diagram of the dynamic loading device of the dynamic and static vertical loading device of the electric wheel.

Fig. 20 is a side view of the transmission device of the dynamic and static vertical loading device of the electric wheel.

Fig. 21 is a side view of the U-shaped frame of the dynamic and static vertical loading device of the electric wheel.

Fig. 22 is a front view of the U-frame of the electric wheel dynamic and static vertical loading device.

Fig. 23 is a top view of the U-frame of the electric wheel dynamic and static vertical loading device.

Fig. 24 is a left side view of the U-shaped frame of the dynamic and static vertical loading device for electric wheels.

Fig. 25 is a right side view of the U-frame of the electric wheel dynamic and static vertical loading device.

Fig. 26 is a side view of the electric wheel shaft of the electric wheel dynamic and static vertical loading device.

Fig. 27 is an axonometric view of the assembled electric wheel, load-bearing plate, static loading device and U-shaped frame of the dynamic and static vertical loading device of the electric wheel.

In the figure: 1. L-shaped installation base; 2. The first support arm of the first support frame; 3. The first support arm of the second support frame; 4. The first support rod of the U-shaped frame; 5. The support plate of the second support frame; 6 .The support plate of the first support frame; 7. The worm gear sealing barrel; 8. The worm sealing barrel; 9. The dynamic loading device motor; 10. The dynamic vertical load pressure sensor; 11. The second U-shaped support rod; Rotary handle; 13. Static loading device screw; 14. The third support rod of U-shaped frame; 15. The second support arm of the second support frame; 16. The second support arm of the first support frame; 17. Electric wheel; 18. Roller; 19. Roller support shaft; 20. Roller support plate; 21. Roller support shaft bearing; 22. The first support arm of the electric wheel suspension device; 23. The dynamic loading device screw; 24. The second support arm of the electric wheel suspension device; 25 .Loading plate; 26. Static vertical load pressure sensor; 27. The first circular groove of the bearing plate; 28. The first bolt; 29. The second bolt; 30. The circular through hole of the first support frame; 31. The second support The first square through hole of the frame; 32. The circular threaded through hole of the second support frame; 33. The second square through hole of the second support frame; 34. The first lifting lug; 35. The second lifting lug; 36. The third hanging Ear; 37. The fourth lug; 38. Lug hole; 39. The first threaded through hole of a square groove on the load-bearing plate; 40. The second threaded through hole of a square groove on the load-bearing plate; 41. The first square groove of the load-bearing plate Groove; 42. The second square groove of the bearing plate; 43. The threaded through hole of the bearing plate; 44. The third square groove of the bearing plate; 45. The first threaded through hole of the three square grooves of the bearing plate; 46. The first threaded through hole of the bearing plate 47. The through hole of the first support cross arm of the bearing plate; 48. The through hole of the second support cross arm of the load bearing plate; 49. The second support cross arm of the load bearing plate; 50. The second thread of the three square grooves of the load bearing plate Through hole; 51. The second circular groove of the bearing plate; 52. Coupling; 53. The worm wheel of the dynamic loading device; 54. The worm of the dynamic loading device; 55. The first bearing of the worm; 56. The second bearing of the worm; 57. The first thrust bearing of the worm wheel; 58. The second thrust bearing of the worm wheel; 59. The first threaded hole of the U-shaped frame; 60. The second threaded hole of the U-shaped frame; 61. The square groove of the U-shaped frame; 62. The second threaded hole of the U-shaped frame Three threaded holes; 63. the fourth threaded hole of U-shaped frame; 64. electric wheel fixed shaft threaded hole; 65. electric wheel fixed shaft.

Detailed ways

The purpose of the present invention is to provide a comprehensive test bench for electric wheels based on virtual instruments and dynamic and static vertical loading devices. The characteristics of the wheel can accurately simulate the vertical dynamic load changes caused by the acceleration, deceleration and uneven road surface during the driving process of the car, and provide a test environment close to the actual vehicle test for testing the performance of the electric wheel, thereby improving the safety of the experiment and reducing the need for experiments. Site dependence, and can effectively shorten the development cycle of electric wheels and electric wheeled electric vehicles.

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

An electric wheel comprehensive test bench based on virtual instruments and dynamic and static vertical loading devices includes a bench main control module and a test bench; the bench main control module is composed of a host computer and a PXI real-time control system, and the host computer and PXI real-time control The system is connected via TCP/IP network.

The upper computer is an ordinary PC, and LabVIEW software and Matlab/Simulink software are installed on the upper computer. Based on Matlab/Simulink software, the upper computer is built with driver model, driving condition model, vehicle model, vehicle controller model, vehicle Driving environment model, dynamometer loading control model, and electric wheel vertical load loading model; the host computer converts the above models into DLL files that can be called by LabVIEW, downloads them to the PXI real-time control system through the TCP/IP network, and displays them in the PXI real-time Real-time operation in the control system; the host computer can realize the following functions: (1) Based on the Matlab/Simulink software of the host computer, build the driver model, driving condition model, vehicle model, vehicle controller model, vehicle driving environment model, dynamometer (2) convert it into a DLL file that can be called by LabVIEW and download it to the real-time control system based on PXI; (3) use the LabVIEW software in the host computer to build a monitoring interface to Monitor the whole test process and control the target machine in real time.

A CAN communication card that a model is NI PXI-8512 and a data acquisition card that a model is NIPXI-6221 are housed in the PXI real-time control system; The PXI real-time control system includes a chassis, a system controller and peripheral modules; the chassis is the whole The PXI system provides a solid modular packaging structure; the system controller includes PC components such as CPU and memory. The real-time operating system LabVIEW-RT of LabVIEW is installed in the system controller of this test platform. When the controller works in RT mode At this time, PXI becomes a remote terminal, which can communicate with an ordinary computer equipped with LabVIEW software through Ethernet; the host computer and the PXI real-time control system perform data interaction through TCP/IP, and monitor the running process of the bench; The PXI real-time control system described above realizes the following functions: (1) Real-time operation of driver model, driving condition model, vehicle model, vehicle controller model, vehicle driving environment model, dynamometer loading control model and electric wheel vertical load loading (2) The PXI real-time control system is used as the carrier of the data acquisition card, so that the main control module of the bench can complete the acquisition and transmission of signals between the controller and the sensor in the test bench; (3) the real-time experimental data is passed through The TCP/IP network is sent to the host computer.

The data acquisition card model PXI-6221 in the PXI real-time control system has 16 single-ended or 8-way checkpoint analog input channels, 2-way 12-bit analog output channels, 24-way digital channels and two 32-bit counter/timer device; the PXI-8512 CAN communication card in the PXI real-time control system is a high-speed controller area network (CAN) interface with flexible data rates, and the application program development is completed through the NI-XNET driver; PXI-8512 is very suitable for high-speed real-time Operational applications, such as hardware-in-the-loop simulation, rapid control prototyping, bus monitoring, automation control, etc.; the DMA engine driven by the NI-XNET device enables the on-board processor to transfer CAN frames and Signals, thereby minimizing message latency, freeing the host processor to process complex models and applications.

The model built in the main control module of the bench is introduced in detail as follows:

Driving condition model: specifies the target driving speed of the car, and the output of the driving condition is the target speed; driver model: in order to enable the car to drive at the target speed, a PI controller model based on the target speed and the actual speed is established, and the vehicle model The difference between the output actual vehicle speed and the target vehicle speed is the input of the driver model, and the output of the driver model is the accelerator pedal opening, brake pedal opening and steering wheel angle; the input of the vehicle controller model includes the output of the driver model Accelerator pedal opening, brake pedal opening, vehicle speed, center of mass side slip angle, longitudinal acceleration, lateral acceleration, yaw rate, wheel slip rate and other information output by the vehicle model; the vehicle controller model calculates the front left wheel drive Torque, driving torque of the front right wheel, driving torque of the rear left wheel, driving torque of the rear right wheel, and transmit them to the vehicle model; According to the calculation, the vehicle speed, center-of-mass side slip angle, longitudinal acceleration, lateral acceleration, yaw rate, and wheel slip rate can be obtained. , the wheel slip rate is transmitted to the vehicle controller model, the longitudinal acceleration and lateral acceleration are transmitted to the electric wheel vertical load loading model, and the vehicle speed and longitudinal acceleration are transmitted to the dynamometer loading control module; the electric wheel vertical load loading model is based on the longitudinal acceleration , lateral acceleration and related vehicle parameters to calculate the dynamic load loading motor target torque of the dynamic and static vertical loading device; the dynamometer loading control model calculates the load required by the dynamometer controller according to the vehicle speed, longitudinal acceleration and road slope angle Torque; the environment model includes some road information, such as road surface adhesion coefficient and road slope angle, etc., and the environment model transmits these road information to the vehicle model.

Vertical load loading model: During the driving process of the vehicle, the vertical load of the wheels is affected by the longitudinal acceleration and lateral acceleration of the vehicle, and the vertical load of each wheel is calculated according to the following formula:

In the above formula, m is the mass of the whole vehicle, and are the longitudinal acceleration and lateral acceleration of the vehicle, g is the acceleration of gravity, h _g is the height of the center of mass from the ground, l _f is the distance from the center of mass to the front axle, l _r is the distance from the center of mass to the rear axle, L is the wheelbase, B is the wheel base, F _zi is the vertical force on the wheel (the subscripts 1, 2, 3, and 4 represent the left front, right front, left rear, and right rear wheels respectively), where m, g, h _g , l _f , l _r , L, B are constants.

According to the above formula, during the running of the car, the vertical load of each wheel is constantly changing due to the wheel load transfer caused by the acceleration, deceleration and steering of the car. Longitudinal acceleration in and lateral acceleration can be calculated; the vertical load interval [F _min , F _max ] of the wheel during the running of the vehicle can be obtained; the vertical force that the static load loading device in the dynamic and static vertical load loading device needs to apply to the electric wheel is F _min , and the remaining Part of it is applied to the electric wheel by the dynamic load loading device in the dynamic and static vertical load loading device.

Dynamometer loading control model: The resistance encountered by the car when driving on the road includes rolling resistance, air resistance, acceleration resistance (also often referred to as inertial resistance) and slope resistance.

Rolling resistance equation:

F _f = mgf

Air resistance equation:

Slope resistance equation:

F _i =mgsinα

Acceleration resistance equation:

Among them: m is the mass of the vehicle, f is the coefficient of rolling resistance, C _d is the coefficient of air resistance, A is the windward area of the car, g is the acceleration of gravity, u is the driving speed, δ is the conversion coefficient of rotating mass, α is the slope angle, f , C _d , A, g, and δ are constants.

According to the above equations, to simulate the resistance encountered during the driving process of the car, it is necessary to calculate the driving speed, slope angle and acceleration value of the vehicle in real time; since the dynamic and static vertical load loading device presses the electric wheel on the roller, the electric wheel and the roller can be used The friction between them simulates the rolling resistance of the real vehicle on the road, and the acceleration resistance, air resistance and slope resistance are simulated by the dynamometer.

The test bench includes base, electric wheel, electric wheel controller, roller, dynamic and static vertical load loading device, dynamic load loading motor controller, speed torque sensor, dynamometer, dynamometer controller, V/F control device.

The dynamic and static vertical load loading device presses the electric wheel on the drum, one end of the drum is connected to one end of the speed torque sensor through a coupling, and the other end of the speed torque sensor is connected to the output shaft of the dynamometer through a coupling; The electric wheel motor controller and the dynamometer controller respectively control the torque of the electric wheel and the dynamometer.

The dynamic and static vertical loading device is composed of a first support frame, a second support frame, a U-shaped frame, an electric wheel suspension device, a static loading device and a dynamic loading device.

The first support frame is made up of L type installation base (1), the first support arm (2) of a support frame, the first support frame support plate (6) and the second support arm (16) of a support frame; A support arm (2), the first support frame support plate (6) and the second support arm (16) of a support frame are cuboid structures; the A end of the first support arm (2) of a support frame and the L-shaped mounting base The A side of (1) is fixedly connected, the B end of the first support arm (2) of a support frame is fixedly connected with the B surface of the first support frame support plate (6), and the first support arm (2) of a support frame is respectively connected with The A side of the L-shaped installation base (1) is perpendicular to the B-side of the first support frame support plate (6); the A end of the second support arm (16) of a support frame is fixed to the A-side of the L-shaped installation base (1) Connection, the B end of the second support arm (16) of a support frame is fixedly connected with the B surface of the support plate (6) of the first support frame, and the second support arm (16) of a support frame is respectively connected with the L-shaped mounting base (1) The A face of the first support frame and the B face of the first support frame support plate (6) are vertical; the first support frame circular through hole (30) is provided between the A surface and the B surface of the first support frame support plate (6), and the first support frame support plate (6) is provided with a circular through hole (30). The axis of a circular through hole (30) of the support frame is respectively perpendicular to the A surface and the B surface of the support plate (6) of the first support frame.

The second bracing frame is by the first bracing arm (3) of two bracing frame, the second bracing frame supporting plate (5), the second bracing arm (15) of two bracing frame, the first bracing arm (22) of electric wheel suspension device, electric The second supporting arm (24), the first lifting lug (34), the second lifting lug (35), the third lifting lug (36) and the fourth lifting lug (37) of the wheel suspension device are composed; Arm (3), the second support frame support plate (5), the second support arm (15) of two support frames, the first support arm (22) of the electric wheel suspension device and the second support arm (24) of the electric wheel suspension device are all It is a cuboid structure; the A end of the first support arm (3) of the two support frames is fixedly connected with the A surface of the L-shaped installation base (1), and the B end of the first support arm (3) of the two support frames is supported by the second support frame The B side of the plate (5) is fixedly connected, and the first support arm (3) of the two support frames is perpendicular to the A surface of the L-shaped mounting base (1) and the B surface of the second support frame support plate (5) respectively; The A end of the second support arm (15) is fixedly connected with the A face of the L-shaped mounting base (1), and the B end of the second support arm (15) of the two support frames is connected with the B face of the second support frame support plate (5). Fixedly connected, the second support arm (15) of the two support frames is perpendicular to the A surface of the L-shaped mounting base (1) and the B surface of the second support frame support plate (5) respectively; the first support arm (3) of the two support frames Parallel to the first support arm (2) of a support frame, the second support frame support plate (5) is parallel to the first support frame support plate (6), and the second support arm (15) of the two support frames is parallel to the first support frame support plate (6). Two support arms (16), the support that the first support arm (3) of two support frames, the second support frame support plate (5) and the second support arm (15) of two support frames form is positioned at the inboard of the first support frame; The A end of the first support arm (22) of the wheel suspension device is fixedly connected with the A face of the L-shaped mounting base (1), and the B end of the first support arm (22) of the electric wheel suspension device is connected with the second support frame support plate (5 ), the B face of the electric wheel suspension device is fixedly connected, and the first support arm (22) of the electric wheel suspension device is vertical to the A face of the L-shaped mounting base (1) and the B face of the second support frame support plate (5) respectively; the second support arm of the electric wheel suspension device The A end of the support arm (24) is fixedly connected with the A surface of the L-shaped mounting base (1), and the B end of the second support arm (24) of the electric wheel suspension device is fixed with the B surface of the second support frame support plate (5) Connect, the second support arm (24) of electric wheel suspension device is vertical the A face of L-shaped installation base (1) and the B face of the second support frame support plate (5) respectively; The A of the second support frame support plate (5) The first square through hole (31) of the second support frame, the circular threaded through hole (32) of the second support frame and the second square through hole (33) of the second support frame are provided between the surface and the B surface, and the second square through hole (33) of the second support frame The center line of a square through hole (31), the central axis of the second support frame circular threaded through hole (32) and the center line of the second square through hole (33) of the two support frames are parallel to each other, and are all perpendicular to the first The A side and the B side of the two support frame support plates (5); the third lifting lug (36) and the fourth lifting lug are fixedly installed on the first support arm (22) of the electric wheel suspension device (37), the distance between the third lug (36) and the fourth lug (37) is equal to the thickness of the first support cross arm (46) of the bearing plate; fixed on the second support arm (24) of the electric wheel suspension The first lifting lug (34) and the second lifting lug (35) are installed, and the distance between the first lifting lug (34) and the second lifting lug (35) is equal to the thickness of the second support cross arm (49) of the bearing plate ; The first lug (34), the second lug (35), the third lug (36) and the fourth lug (37) are provided with lug holes (38).

The electric wheel suspension device is made up of load-bearing plate (25), the first support cross arm (46) of load-bearing plate and the second support cross-arm (49) of load-bearing plate; Bearing plate (25) is cuboid structure, and load-bearing plate (25) A The center position is provided with the first circular groove (27) of the load-bearing plate, and the center position of the plane opposite to the A surface is provided with the second circular groove (51) of the load-bearing plate, and the first circular groove (27) of the load-bearing plate is connected with the The projections of the second circular groove (51) of the load-bearing plate on the front view coincide with each other, and the axes of the two are all perpendicular to the A surface of the load-bearing plate (25), and the first circular groove (27) of the load-bearing plate and the bearing plate Six load-bearing plate threaded through holes (43) that are evenly distributed and whose axes are parallel to the axes of the two grooves are arranged between the second circular grooves (52); shaped groove (41), the second square groove (42) of the bearing plate and the third square groove (44) of the bearing plate, the centerline of the first square groove (41) of the bearing plate, the second square groove of the bearing plate The center line of the groove (42) and the center line of the third square groove (44) of the load-bearing plate are parallel to each other, and are respectively perpendicular to the C face of the load-bearing plate (25); The first threaded through hole (39) of bearing plate-square groove and the second threaded through hole (40) of bearing plate-square groove are provided between the square groove (41), and the first threaded through hole (40) of bearing plate-square groove The center line of the through hole (39) and the center line of the second threaded through hole (40) of the square groove of the bearing plate are parallel to each other, and perpendicular to the B surface of the bearing plate (25); The first threaded through hole (45) of the three square grooves of the load bearing plate and the second threaded through hole (50) of the three square grooves of the load bearing plate are provided between the plane and the third square groove (44) of the load bearing plate, and the three square grooves of the load bearing plate are threaded through holes (50). The center line of the first threaded through hole (45) of the square groove and the center line of the second threaded through hole (50) of the three square grooves of the load-bearing plate are parallel to each other, and perpendicular to the B surface of the load-bearing plate (25); The A end of the support cross arm (46) is provided with the first support cross arm through hole (47) of the bearing plate, and the other end of the first support cross arm (46) of the load bearing plate is opposite to the A end and the A surface of the load bearing plate (25). Fixedly connected, the first support cross arm (46) of the load bearing plate is perpendicular to the A surface of the load bearing plate (25); the A end of the second support cross arm (49) of the load bearing plate is provided with the second support cross arm through hole (48) of the load bearing plate ), the other end of the load-bearing plate second support cross arm (49) opposite to the A end is fixedly connected with the A face of the load-bearing plate (25), and the load-bearing plate second support cross arm (49) is connected with the A face of the load-bearing plate (25) Vertical; the A end of the first support cross arm (46) of the load-bearing plate is placed between the third lug (36) and the fourth lug (37), and the first support cross-arm through hole (47) of the load-bearing plate is connected to the first The lug holes of the third lug (36) are aligned with the lug holes of the fourth lug (37), and the first support cross arm (46) of the load-bearing plate is connected with the first support arm (22) of the electric wheel suspension through a hinge; the load-bearing plate The A end of the second support arm (49) is placed between the first lug (34) and the second lug (35), and the second support arm of the bearing plate passes through The hole (48) is aligned with the lug hole of the first lug (34) and the lug hole of the second lug (35), and the second support cross arm (49) of the bearing plate is aligned with the second support arm (24) of the electric wheel suspension device. Connect by hinge; the end of the electric wheel fixed shaft (65) is put into the second circular groove (51) of the bearing plate on the load plate (25), and 6 evenly distributed and The electric wheel fixed shaft threaded hole (64) whose axis is parallel to the centerline of the electric wheel fixed shaft (65) is aligned with the 6 load-bearing plate threaded through holes (43), and screwed into the 6 load-bearing plate through the first circular groove (27). Root the second bolt (29), the electric wheel fixed shaft (65) and bearing plate (25) are fixedly connected.

U-shaped frame is made up of U-shaped frame first support bar (4), U-shaped frame second support bar (11) and U-shaped frame the 3rd support bar (14); U-shaped frame first support bar (4), U-shaped frame The second support bar (11) of the type frame and the third support bar (14) of the U-shaped frame are cuboid structures; the B end of the first support bar (4) of the U-shaped frame and the second support bar (11) of the U-shaped frame The B surface is fixedly connected, and the two are perpendicular to each other. The A end of the first support rod (4) of the U-shaped frame is provided with the first threaded hole (59) of the U-shaped frame and the second threaded hole (60) of the U-shaped frame. The centerline of the first threaded hole (59) of the frame and the centerline of the second threaded hole (60) of the U-shaped frame are parallel to each other and parallel to the A face of the second support rod (11) of the U-shaped frame; the third support of the U-shaped frame The B end of bar (14) is fixedly connected with the B face of U-shaped frame second support bar (11), and the two are perpendicular to each other, and the A end of U-shaped frame 3rd support bar (14) is provided with U-shaped frame third Threaded hole (62) and the 4th threaded hole (63) of U-shaped frame, the center line of the 3rd threaded hole (62) of U-shaped frame and the center line of the 4th threaded hole (63) of U-shaped frame are parallel to each other and parallel to the U-shaped frame. The A side of the second support bar (11) of the type frame; the second support bar (11) of the U-shaped frame is provided with a U-shaped square groove (61) on the A surface, and the square groove (61) of the U-shaped frame The centerline is perpendicular to the second support bar (11) A face of the U-shaped frame; the first support bar (4) of the U-shaped frame passes the first square through hole ( 31) Load the third square groove (44) of the load-bearing plate, the second threaded hole (60) of the U-shaped frame on the first support rod (4) of the U-shaped frame and the first threaded through hole (60) of the three-square groove of the load-bearing plate ( 45) Alignment, the first threaded hole (59) of the U-shaped frame on the first support bar (4) of the U-shaped frame is aligned with the second threaded through hole (50) of the three square grooves of the load-bearing plate, and the first support bar of the U-shaped frame (4) is fixedly connected with the load-bearing plate (25) by two first bolts (28); The through hole (33) is packed into the first square groove (41) of the bearing plate, and the third threaded hole (62) of the U-shaped frame on the third support rod (14) of the U-shaped frame is connected with the second square groove of the bearing plate. The threaded through holes (40) are aligned, and the fourth threaded hole (63) of the U-shaped frame on the third support rod (14) of the U-shaped frame is aligned with the first threaded through hole (39) of the square groove of the load-bearing plate, and the U-shaped frame The third support rod (14) is fixedly connected to the bearing plate (25) by two first bolts (28).

The static loading device is composed of a static loading device rotating handle (12), a static loading device screw mandrel (13) and a static vertical load pressure sensor (26); the static loading device rotating handle (12) and the static loading device screw mandrel (13) are fixed Connect, the static loading device screw mandrel (13) cooperates with the second support frame circular threaded through hole (32), the axis of the static loading device screw mandrel (13) and the second support frame circular threaded through hole (32) The axes coincide with each other, and the static loading device screw (13) passes through the circular threaded through hole (32) of the second support frame and is vertically pressed on the top of the static vertical load pressure sensor (26), and the static vertical load pressure sensor (26) is placed on the In the load-bearing plate second square groove (42) of electric wheel suspension device.

Dynamic loading device is made up of dynamic loading device motor (9), dynamic vertical load pressure sensor (10), dynamic loading device screw mandrel (23), dynamic loading device worm wheel (53) and dynamic loading device worm (54); Dynamic loading device The worm gear (53) and the dynamic loading device worm (54) cooperate with each other; the output shaft of the motor (9) is fixedly connected with the dynamic loading device worm (54), and the axes of the two coincide; the dynamic loading device worm gear (53) and the dynamic loading device wire The axis of bar (23) coincides with each other, and the two are connected by threads; the dynamic loading device screw mandrel (23) passes through the first support frame circular through hole (30) on the first support frame support plate (6) and is vertically pressed on Above the dynamic vertical load pressure sensor (10), the dynamic vertical load pressure sensor (10) is placed in the square groove (61) of the U-shaped frame above the second support rod (11) of the U-shaped frame.

The working process of a comprehensive test bench for electric wheels based on virtual instruments and dynamic and static vertical loading devices is introduced as follows.

Before the test, run the driving condition model, driver model, vehicle model, vehicle driving environment model, vehicle control model, electric wheel vertical load loading model and dynamometer loading control model built in the host computer, and calculate The minimum value of the vertical load on the electric wheel under working conditions, this value is the static vertical force applied to the electric wheel by rotating the screw (13) in the static loading device, and the pressure is measured by the static load pressure sensor (26) The corresponding pressure value is sent to the PXI real-time control system through the A/D input channel of the NI PXI-6221 data acquisition card in the PXI real-time control system.

The driving condition model, driver model, vehicle model, vehicle driving environment model, vehicle controller model, electric wheel vertical load loading control model and dynamometer loading control model established on the host computer Matlab/Simulink software are passed through RTW Compile it into real-time code and download it to the PXI real-time control system, and run it in real time.

The vehicle model of the PXI real-time control system sends the real-time longitudinal acceleration and lateral acceleration of the vehicle during driving under a certain working condition to the electric wheel vertical load loading control model, and sends the driving speed, slope angle and acceleration values to the dynamometer Load the control model.

The vertical load loading control model of the electric wheel calculates the vertical loading force that should be applied to the electric wheel by the dynamic load loading device, and passes through a DA output channel of the PXI-6221 data acquisition card in the PXI real-time control system (one channel in AO0~AO1 ) to the dynamic load loading motor controller of the dynamic and static vertical load loading device, the dynamic load loading motor controller controls the rotation of the dynamic loading device motor (9), and the dynamic loading device motor (9) drives the dynamic loading through the coupling (52) The device worm (54) rotates, and the dynamic loading device worm (54) drives the dynamic loading device worm wheel (53) to rotate through tooth engagement, because the dynamic loading device worm wheel (53) has a worm wheel first thrust bearing (57) and a worm wheel second thrust Bearing (58), so the dynamic loading device worm gear (53) can only do rotary motion, the dynamic loading device screw mandrel (23) that cooperates with the screw thread of the dynamic loading device worm gear (53) inner hole follows the dynamic loading device worm gear (53) Rotate and move up and down, the bottom end of the dynamic loading device screw rod (23) is provided with a dynamic load pressure sensor (10), and the dynamic load device screw rod (23) presses the dynamic load pressure sensor (10) on the second support bar of the U-shaped frame (11) In the U-shaped frame square groove (61) above, it is used to measure the vertical force applied by the dynamic loading device; since the U-shaped frame and the load-bearing plate (25) are connected as one by bolts, the dynamic loading device will A vertical force is applied to the bearing plate (25).

The electric wheel (17) that is fixedly connected on the bearing plate (25) is subjected to static loading force and dynamic loading force and is pressed on the cylinder (18); the dynamic pressure sensor (10) will measure the dynamic pressure value through the PXI real-time control system The A/D input channel of the PXI-6221 data acquisition card is sent back to the vertical load loading control model in the PXI real-time control system to form a closed-loop control of dynamic vertical loading force.

The dynamometer loading control model calculates the driving resistance that the dynamometer needs to simulate, and sends it to the dynamometer controller through a DA output channel (one of AO0~AO1) of the PXI-6221 data acquisition card in the PXI real-time control system , the dynamometer controller controls the dynamometer to apply a certain load torque.

The PXI-8512CAN communication card in the PXI real-time control system and the electric wheel controller in the test bench form a CAN network, and the driving torque target value of a certain electric wheel calculated based on the vehicle controller model in the PXI real-time control system is sent to CAN On the network, it is received by the electric wheel controller in the test bench, and the electric wheel controller controls the rotation of the electric wheel after receiving the torque command, and the hub motor controller sends current, voltage, temperature and other motor status information to the CAN network in a certain period , the relevant information is received by the PXI-8512CAN communication card.

The speed torque sensor measures the speed and torque signals of the dynamometer, converts them into two frequency signals through the V/F module, and converts the measured two frequency signals (one is the speed signal, the other is the torque signal) ) to the counter channel (CTR 0OUT and CTR 1OUT two channels) of the PXI-6221 data acquisition card on the PXI real-time control system.

An electric wheel comprehensive test bench based on virtual instruments and dynamic and static vertical loading devices can simulate various running resistances and vertical load forces of wheels during road driving, and can be used for developing electric wheel electric vehicles and testing electric wheel electric vehicles. The performance of the vehicle provides an environment close to that of a real vehicle test.

Claims (3)

1. A comprehensive test bench for electric wheels based on virtual instruments and dynamic and static vertical loading devices, characterized in that: it is composed of a bench main control module and a test bench; The main control module of the bench is composed of a host computer and a PXI real-time control system, and the host computer and the PXI real-time control system are connected through a TCP/IP network; The upper computer is an ordinary PC, and LabVIEW software and Matlab/Simulink software are installed on the upper computer, and the driver model, driving condition model, vehicle model, vehicle controller model, and vehicle driving model built based on Matlab/Simulink software are installed on the upper computer. Environmental model, dynamometer loading control model, and electric wheel vertical load loading control model; the host computer converts the above models into DLL files that can be called by LabVIEW, downloads them to the PXI real-time control system through the TCP/IP network, and displays them in the PXI real-time Real-time operation in the control system; The PXI real-time control system is equipped with a CAN communication card model NI PXI-8512 and a data acquisition card model NI PXI-6221; The test bench includes base, electric wheel, electric wheel controller, roller, dynamic and static vertical load loading device, dynamic load loading motor controller, speed torque sensor, dynamometer, dynamometer controller, V/F control device. 2. according to a kind of electric wheel comprehensive test bench based on virtual instrument and dynamic and static vertical loading device according to claim 1, it is characterized in that: the NI PXI-8512 CAN communication card in the PXI real-time control system is used for and test bench The electric wheel controller in the rack forms a CAN network; the NI PXI-8512 CAN communication card in the PXI real-time control system sends the target driving torque value of the electric wheel motor calculated by the vehicle controller model to the CAN network, and the test bench Received by the electric wheel controller; at the same time, the electric wheel controller sends current, voltage, temperature and other motor status information to the CAN network according to a certain cycle, and the relevant information is received by the NI PXI-8512 CAN communication card; in the PXI real-time control system Any DA channel of the NI PXI-6221 data acquisition card sends the dynamometer load torque value calculated by the dynamometer loading control model to the dynamometer controller in the test bench; the NI PXI-6221 data acquisition card Any DA output channel except the above-mentioned used DA channel sends the dynamic load loading motor target torque value calculated by the electric wheel vertical load loading control model to the dynamic load loading motor controller; the measured torque value measured by the speed torque sensor The speed value of the dynamometer is converted into a frequency signal by the V/F converter, and the speed value of the dynamometer measured by the speed torque sensor in the test bench is collected through any counter channel of the NI PXI-6221 data acquisition card, and the The rotational speed value is transmitted to the load control model of the dynamometer; the torque value of the dynamometer measured by the rotational speed torque sensor is converted into a frequency signal by the V/F converter, and the above-mentioned used counter is deleted by the NI PXI-6221 data acquisition card Any counter channel outside the channel collects the dynamometer torque value measured by the speed torque sensor in the test bench, and transmits the torque value to the dynamometer loading control model; through the NI PXI-6221 data acquisition card Any one of the AD channels collects the static vertical load value of the electric wheel output by the static vertical load pressure sensor in the dynamic and static vertical load loading device, and transmits it to the electric wheel vertical load loading control model; through the NI PXI-6221 data acquisition card Any AD channel except the above-mentioned used AD channel collects the dynamic vertical load value of the electric wheel output by the dynamic vertical load pressure sensor in the dynamic and static vertical load loading device, and transmits it to the electric wheel vertical load loading control model. 3. according to a kind of electric wheel comprehensive test bench based on virtual instrument and dynamic and static vertical loading device according to claim 1, it is characterized in that: dynamic and static vertical loading device consists of first support frame, second support frame, U Form frame, electric wheel suspension device, static loading device and dynamic loading device; The first support frame is made up of L type installation base (1), the first support arm (2) of a support frame, the first support frame support plate (6) and the second support arm (16) of a support frame; A support arm (2), the first support frame support plate (6) and the second support arm (16) of a support frame are cuboid structures; the A end of the first support arm (2) of a support frame and the L-shaped mounting base The A side of (1) is fixedly connected, the B end of the first support arm (2) of a support frame is fixedly connected with the B surface of the first support frame support plate (6), and the first support arm (2) of a support frame is respectively connected with The A side of the L-shaped installation base (1) is perpendicular to the B-side of the first support frame support plate (6); the A end of the second support arm (16) of a support frame is fixed to the A-side of the L-shaped installation base (1) Connection, the B end of the second support arm (16) of a support frame is fixedly connected with the B surface of the support plate (6) of the first support frame, and the second support arm (16) of a support frame is respectively connected with the L-shaped mounting base (1) The A face of the first support frame and the B face of the first support frame support plate (6) are vertical; the first support frame circular through hole (30) is provided between the A surface and the B surface of the first support frame support plate (6), and the first support frame support plate (6) is provided with a circular through hole (30). The axis of a support frame circular through hole (30) is respectively perpendicular to the A surface and the B surface of the first support frame support plate (6); The second bracing frame is by the first bracing arm (3) of two bracing frame, the second bracing frame supporting plate (5), the second bracing arm (15) of two bracing frame, the first bracing arm (22) of electric wheel suspension device, electric The second supporting arm (24), the first lifting lug (34), the second lifting lug (35), the third lifting lug (36) and the fourth lifting lug (37) of the wheel suspension device are composed; Arm (3), the second support frame support plate (5), the second support arm (15) of two support frames, the first support arm (22) of the electric wheel suspension device and the second support arm (24) of the electric wheel suspension device are all It is a cuboid structure; the A end of the first support arm (3) of the two support frames is fixedly connected with the A surface of the L-shaped installation base (1), and the B end of the first support arm (3) of the two support frames is supported by the second support frame The B side of the plate (5) is fixedly connected, and the first support arm (3) of the two support frames is perpendicular to the A surface of the L-shaped mounting base (1) and the B surface of the second support frame support plate (5) respectively; The A end of the second support arm (15) is fixedly connected with the A face of the L-shaped mounting base (1), and the B end of the second support arm (15) of the two support frames is connected with the B face of the second support frame support plate (5). Fixedly connected, the second support arm (15) of the two support frames is perpendicular to the A surface of the L-shaped mounting base (1) and the B surface of the second support frame support plate (5) respectively; the first support arm (3) of the two support frames Parallel to the first support arm (2) of a support frame, the second support frame support plate (5) is parallel to the first support frame support plate (6), and the second support arm (15) of the two support frames is parallel to the first support frame support plate (6). Two support arms (16), the support that the first support arm (3) of two support frames, the second support frame support plate (5) and the second support arm (15) of two support frames form is positioned at the inboard of the first support frame; The A end of the first support arm (22) of the wheel suspension device is fixedly connected with the A face of the L-shaped mounting base (1), and the B end of the first support arm (22) of the electric wheel suspension device is connected with the second support frame support plate (5 ), the B face of the electric wheel suspension device is fixedly connected, and the first support arm (22) of the electric wheel suspension device is vertical to the A face of the L-shaped mounting base (1) and the B face of the second support frame support plate (5) respectively; the second support arm of the electric wheel suspension device The A end of the support arm (24) is fixedly connected with the A surface of the L-shaped mounting base (1), and the B end of the second support arm (24) of the electric wheel suspension device is fixed with the B surface of the second support frame support plate (5) Connect, the second support arm (24) of electric wheel suspension device is vertical the A face of L-shaped mounting base (1) and the B face of the second support frame support plate (5) respectively; The A of the second support frame support plate (5) The first square through hole (31) of the second support frame, the circular threaded through hole (32) of the second support frame and the second square through hole (33) of the second support frame are provided between the surface and the B surface, and the second square through hole (33) of the second support frame The centerline of a square through hole (31), the central axis of the second support frame circular threaded through hole (32) and the centerline of the second square through hole (33) of the two support frames are parallel to each other, and are all perpendicular to the first The A side and the B side of the two support frame support plates (5); the third lifting lug (36) and the fourth lifting lug are fixedly installed on the first support arm (22) of the electric wheel suspension device (37), the distance between the third lug (36) and the fourth lug (37) is equal to the thickness of the first support cross arm (46) of the bearing plate; fixed on the second support arm (24) of the electric wheel suspension The first lifting lug (34) and the second lifting lug (35) are installed, and the distance between the first lifting lug (34) and the second lifting lug (35) is equal to the thickness of the second support cross arm (49) of the bearing plate The first lug (34), the second lug (35), the third lug (36) and the fourth lug (37) are all provided with lug holes (38); The electric wheel suspension device is made up of load-bearing plate (25), the first support cross arm (46) of load-bearing plate and the second support cross-arm (49) of load-bearing plate; Bearing plate (25) is cuboid structure, and load-bearing plate (25) A The center position is provided with the first circular groove (27) of the load-bearing plate, and the center position of the plane opposite to the A surface is provided with the second circular groove (51) of the load-bearing plate, and the first circular groove (27) of the load-bearing plate is connected with the The projections of the second circular groove (51) of the load-bearing plate on the front view coincide with each other, and the axes of the two are all perpendicular to the A surface of the load-bearing plate (25), and the first circular groove (27) of the load-bearing plate and the bearing plate Six load-bearing plate threaded through holes (43) that are evenly distributed and whose axes are parallel to the axes of the two grooves are arranged between the second circular grooves (52); shaped groove (41), the second square groove (42) of the bearing plate and the third square groove (44) of the bearing plate, the centerline of the first square groove (41) of the bearing plate, the second square groove of the bearing plate The center line of the groove (42) and the center line of the third square groove (44) of the load-bearing plate are parallel to each other, and are respectively perpendicular to the C face of the load-bearing plate (25); The first threaded through hole (39) of bearing plate-square groove and the second threaded through hole (40) of bearing plate-square groove are provided between the square groove (41), and the first threaded through hole (40) of bearing plate-square groove The center line of the through hole (39) and the center line of the second threaded through hole (40) of the square groove of the bearing plate are parallel to each other, and perpendicular to the B surface of the bearing plate (25); The first threaded through hole (45) of the three square grooves of the load bearing plate and the second threaded through hole (50) of the three square grooves of the load bearing plate are provided between the plane and the third square groove (44) of the load bearing plate, and the three square grooves of the load bearing plate are threaded through holes (50). The center line of the first threaded through hole (45) of the square groove and the center line of the second threaded through hole (50) of the three square grooves of the load-bearing plate are parallel to each other, and perpendicular to the B surface of the load-bearing plate (25); The A end of the support cross arm (46) is provided with the first support cross arm through hole (47) of the bearing plate, and the other end of the first support cross arm (46) of the load bearing plate is opposite to the A end and the A surface of the load bearing plate (25). Fixedly connected, the first support cross arm (46) of the load bearing plate is perpendicular to the A surface of the load bearing plate (25); the A end of the second support cross arm (49) of the load bearing plate is provided with the second support cross arm through hole (48) of the load bearing plate ), the other end of the load-bearing plate second support cross arm (49) opposite to the A end is fixedly connected with the A face of the load-bearing plate (25), and the load-bearing plate second support cross arm (49) is connected with the A face of the load-bearing plate (25) vertical; the A end of the first support cross arm (46) of the load-bearing plate is placed between the third lug (36) and the fourth lug (37), and the first support cross-arm through hole (47) of the load-bearing plate is connected to the first The lug holes of the third lug (36) are aligned with the lug holes of the fourth lug (37), and the first support cross arm (46) of the load-bearing plate is connected with the first support arm (22) of the electric wheel suspension through a hinge; the load-bearing plate The A end of the second support arm (49) is placed between the first lug (34) and the second lug (35), and the second support arm of the bearing plate passes through The hole (48) is aligned with the lug hole of the first lug (34) and the lug hole of the second lug (35), and the second support cross arm (49) of the bearing plate is aligned with the second support arm (24) of the electric wheel suspension device. Connect by hinge; the end of the electric wheel fixed shaft (65) is put into the second circular groove (51) of the bearing plate on the load plate (25), and 6 evenly distributed and The electric wheel fixed shaft threaded hole (64) whose axis is parallel to the centerline of the electric wheel fixed shaft (65) is aligned with the 6 load-bearing plate threaded through holes (43), and screwed into the 6 load-bearing plate through the first circular groove (27). Root the second bolt (29), fixedly connect the electric wheel fixed shaft (65) and the bearing plate (25); U-shaped frame is made up of U-shaped frame first support bar (4), U-shaped frame second support bar (11) and U-shaped frame the 3rd support bar (14); U-shaped frame first support bar (4), U-shaped frame The second support bar (11) of the type frame and the third support bar (14) of the U-shaped frame are cuboid structures; the B end of the first support bar (4) of the U-shaped frame and the second support bar (11) of the U-shaped frame The B surface is fixedly connected, and the two are perpendicular to each other. The A end of the first support rod (4) of the U-shaped frame is provided with the first threaded hole (59) of the U-shaped frame and the second threaded hole (60) of the U-shaped frame. The centerline of the first threaded hole (59) of the frame and the centerline of the second threaded hole (60) of the U-shaped frame are parallel to each other and parallel to the A face of the second support rod (11) of the U-shaped frame; the third support of the U-shaped frame The B end of bar (14) is fixedly connected with the B face of U-shaped frame second support bar (11), and the two are perpendicular to each other, and the A end of U-shaped frame 3rd support bar (14) is provided with U-shaped frame third Threaded hole (62) and the 4th threaded hole (63) of U-shaped frame, the center line of the 3rd threaded hole (62) of U-shaped frame and the center line of the 4th threaded hole (63) of U-shaped frame are parallel to each other and parallel to the U-shaped frame. The A side of the second support bar (11) of the type frame; the second support bar (11) of the U-shaped frame is provided with a U-shaped square groove (61) on the A surface, and the square groove (61) of the U-shaped frame The centerline is perpendicular to the second support bar (11) A face of the U-shaped frame; the first support bar (4) of the U-shaped frame passes the first square through hole ( 31) Load the third square groove (44) of the load-bearing plate, the second threaded hole (60) of the U-shaped frame on the first support rod (4) of the U-shaped frame and the first threaded through hole (60) of the three-square groove of the load-bearing plate ( 45) Alignment, the first threaded hole (59) of the U-shaped frame on the first support bar (4) of the U-shaped frame is aligned with the second threaded through hole (50) of the three square grooves of the load-bearing plate, and the first support bar of the U-shaped frame (4) is fixedly connected with the load-bearing plate (25) by two first bolts (28); The through hole (33) is packed into the first square groove (41) of the bearing plate, and the third threaded hole (62) of the U-shaped frame on the third support rod (14) of the U-shaped frame is connected with the second square groove of the bearing plate. The threaded through holes (40) are aligned, and the fourth threaded hole (63) of the U-shaped frame on the third support rod (14) of the U-shaped frame is aligned with the first threaded through hole (39) of the square groove of the load-bearing plate, and the U-shaped frame The third support rod (14) is fixedly connected with the bearing plate (25) by two first bolts (28); The static loading device is composed of a static loading device rotating handle (12), a static loading device screw mandrel (13) and a static vertical load pressure sensor (26); the static loading device rotating handle (12) and the static loading device screw mandrel (13) are fixed Connect, the static loading device screw mandrel (13) cooperates with the second support frame circular threaded through hole (32), the axis of the static loading device screw mandrel (13) and the second support frame circular threaded through hole (32) The axes coincide with each other, and the static loading device screw (13) passes through the circular threaded through hole (32) of the second support frame and is vertically pressed on the top of the static vertical load pressure sensor (26), and the static vertical load pressure sensor (26) is placed on the In the second square groove (42) of the bearing plate of the electric wheel suspension device; Dynamic loading device is made up of dynamic loading device motor (9), dynamic vertical load pressure sensor (10), dynamic loading device screw mandrel (23), dynamic loading device worm wheel (53) and dynamic loading device worm (54); Dynamic loading device The worm gear (53) and the dynamic loading device worm (54) cooperate with each other; the output shaft of the motor (9) is fixedly connected with the dynamic loading device worm (54), and the axes of the two coincide; the dynamic loading device worm gear (53) and the dynamic loading device wire The axis of bar (23) coincides with each other, and the two are connected by threads; the dynamic loading device screw mandrel (23) passes through the first support frame circular through hole (30) on the first support frame support plate (6) and is vertically pressed on Above the dynamic vertical load pressure sensor (10), the dynamic vertical load pressure sensor (10) is placed in the square groove (61) of the U-shaped frame above the second support rod (11) of the U-shaped frame.