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Modeling method of vehicle dynamic model in loop simulation for hardware

A vehicle dynamics and model technology, applied in the field of vehicle dynamics model modeling, can solve problems such as low accuracy, inability to meet vehicle model testing requirements, and low real-time performance, and achieve the effect of improving accuracy and real-time performance.

Active Publication Date: 2012-06-06
BEIJING JINGWEI HIRAIN TECH CO INC
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Problems solved by technology

[0006] (2) Differentiate the difference quotient
[0013] The inventor found in the process of realizing the present invention that the vehicle model in the related art has low precision and low real-time performance in the hardware-in-the-loop simulation, and cannot meet the test requirements of the vehicle model

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  • Modeling method of vehicle dynamic model in loop simulation for hardware
  • Modeling method of vehicle dynamic model in loop simulation for hardware
  • Modeling method of vehicle dynamic model in loop simulation for hardware

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Embodiment Construction

[0025] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and the embodiments.

[0026] This embodiment provides a method for modeling a vehicle dynamics model of hardware-in-the-loop simulation, where the established vehicle model includes an engine model, a drive train model, a body model, an environment model, and a software TCU (Transmission Control Unit, gearbox). Control unit) model, etc.

[0027] The engine model includes a throttle control sub-model, and a fast and slow control sub-model of ESP (Electronic Stability Program). The drive train model includes a starter sub-model, a crankshaft motion sub-model, a clutch sub-model, a gearbox sub-model, a central differential sub-model, and a half shaft sub-model. The body model includes tire sub-models, wheel motion sub-models, suspension models, steering sub-models, body motion sub-models, aerodynamics sub-models, etc. The environment model includes a manipulator sub-mod...

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Abstract

The invention provides a modeling method of a vehicle dynamic model in loop simulation for hardware. The method includes the modeling of a driver submodel; in the modeling of the driver submodel, PID control is carried out on a Class-I path for simulation, and optimal control based on ordinary differential equations related to time is carried out on a Class-II path for simulation. The steps for obtaining a control quantity of the optimal control are as follows: a matrix index corresponding to the ordinary differential equations is calculated by adopting a residue theorem of a complex function; a solution of the ordinary differential equation is calculated according to the matrix index; finally, the obtained solution of the ordinary differential equation is adopted as the control quantity of the optimal control. By adopting the method of the complex function to obtain integral of the matrix index, the modeling method in the invention improves the precision and real-time performance of the vehicle model in the loop simulation for the hardware.

Description

Technical field [0001] The present invention relates to the field of vehicle modeling, and more specifically, to a modeling method of a vehicle dynamics model of hardware-in-the-loop simulation. Background technique [0002] With more and more vehicle controllers, more and more road test content, hardware-in-the-loop simulation research continues to develop, and vehicle dynamics models that can simulate vehicles in real time have emerged. Vehicle dynamics models are very important in automotive research and development, such as the structural models of ADAMS (Automatic Dynamic Analysis of Mechanical Systems). The vehicle dynamics model requires proper modeling of the various components of the vehicle. Only in this way, can the true movement of the vehicle be correctly reflected. [0003] At present, the core algorithms for realizing vehicle real-time simulation models mainly involve algorithms such as real-time integration, real-time differentiation, real-time solution of higher-o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
Inventor 张明薛俊亮万亮范志卿
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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