Test object online closed-loop testing system and method

Abstract

The present invention discloses an online closed-loop test system and method for a test object. The online closed-loop test system for a test object includes: a simulation operation unit, which is provided with a vehicle scene and a vehicle dynamics model, the vehicle dynamics model is connected to the test object and operates in real time according to an input signal to output a first signal to the test object, so that the integrated electromagnetic brake controls the operation of the motor and / or the solenoid valve coil in response to the first signal; a signal processing unit, which is connected to the test object and the simulation operation unit, and is configured to obtain the current operation signal of the test object and form a second signal and transmit it to the simulation operation unit to adjust the virtual vehicle posture and vehicle dynamics model in the vehicle scene, wherein the operation signal includes the operation signal of the motor and / or the solenoid valve coil, and the input signal includes the second signal. The present invention can comprehensively improve the test level of the integrated electromagnetic brake, and save costs and time.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment testing, and in particular to an online closed-loop testing system and method for a testing object. Background Art

[0002] Integrated electromagnetic brake (or integrated dynamic brake, Integrated Dynamic Brake, IDB) is a device that uses a motor to drive a pressure piston to generate brake pressure. It can be directly used as an integrated brake device that can realize all the functions of the current mainstream ESC (Electronic Stability Control) + iBooster (electronic brake booster), and can be used to replace the traditional vacuum booster.

[0003] In order to ensure the stability, effectiveness and safety of equipment such as vehicles equipped with integrated electromagnetic brakes, it is necessary to test the basic functions and safety performance of the integrated electromagnetic brakes before production, which has become an important link. However, in terms of hardware and software testing of integrated electromagnetic brakes, the existing technology still has defects and shortcomings. For example, not only are there few test methods that can be provided at present, and the test level is not high, but also these known technical solutions are usually based on real vehicle testing, and there are also deficiencies in the testing of some functional safety items of integrated electromagnetic brakes. For example, there is currently a lack of an efficient, convenient and reliable test environment for judging the braking performance of the integrated electromagnetic brake in the event of a failure of the master cylinder pressure sensor, simulated pedal pressure sensor, pedal travel sensor, solenoid valve sensor or wheel speed sensor on the vehicle. Summary of the invention

[0004] In view of this, the present invention provides an online closed-loop testing system and method for a test object, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] First, according to one aspect of the present invention, there is provided an online closed-loop test system for a test object, wherein the test object includes an integrated electromagnetic brake with a motor and an electromagnetic valve coil, and the online closed-loop test system for the test object includes:

[0006] a simulation operation unit, which is provided with a vehicle scenario and a vehicle dynamics model, wherein the vehicle dynamics model is connected to the test object and operates in real time according to an input signal to output a first signal to the test object, so that the integrated electromagnetic brake controls the operation of the motor and / or the electromagnetic valve coil in response to the first signal; and

[0007] A signal processing unit is connected to the test object and the simulation operation unit, and is configured to obtain a current operation signal of the test object, form a second signal, and transmit the second signal to the simulation operation unit to adjust the virtual vehicle posture and the vehicle dynamics model in the vehicle scene, wherein the operation signal includes an operation signal of the motor and / or the solenoid valve coil, and the input signal includes the second signal.

[0008] In the test object online closed-loop test system according to the present invention, optionally, the test object online closed-loop test system further includes:

[0009] a load unit connected to the simulation operation unit, the signal processing unit and the test object, and configured to provide a load force to the motor according to a third signal from the simulation operation unit so that the motor outputs a preset load force when it is running, and the load unit collects a current output torque signal of the motor and transmits it to the signal processing unit, the operation signal including the output torque signal; and / or

[0010] The solenoid valve coil current acquisition unit is connected to the signal processing unit and the test object, and is used to acquire the current current signal of the solenoid valve coil and transmit it to the signal processing unit. The operation signal includes the current signal.

[0011] In the online closed-loop test system for the test object according to the present invention, optionally, the load unit comprises:

[0012] a load motor connected to the output shaft of the motor via a coupling; and

[0013] A torque acquisition module is installed on the coupling and is used to collect the output torque signal.

[0014] In the online closed-loop test system for the test object according to the present invention, optionally, the torque acquisition module includes a torque sensor, and the solenoid valve coil current acquisition unit includes a Hall sensor.

[0015] In the online closed-loop test system for a test object according to the present invention, optionally, the simulation operation unit includes:

[0016] a real-time operation module, comprising the vehicle dynamics model, the vehicle dynamics model being connected to the signal processing unit and the test object and receiving the second signal; and

[0017] A host computer is connected to the real-time operation module to input a command signal thereto and receive an operation signal from the vehicle dynamics model, and the host computer is provided with the vehicle scene to adjust the virtual vehicle posture according to the operation signal of the vehicle dynamics model, wherein the input signal includes the command signal.

[0018] In the online closed-loop test system for the test object according to the present invention, optionally, the instruction signal includes:

[0019] a signal list, which is used to enable the vehicle dynamics model to run a corresponding real-time scenario, the signal list including road environment parameters, external environment parameters, and driver operation information; and / or

[0020] A fault test signal is used to test the response of the test object to a corresponding fault, wherein the fault test signal includes a master cylinder pressure sensor parameter, a simulated pedal pressure sensor parameter, a pedal travel sensor parameter and a wheel speed sensor parameter.

[0021] In the online closed-loop test system for the test object according to the present invention, optionally, the real-time operation module is connected to the test object via a communication component and an IO component, the communication component is used to transmit corresponding bus signals between the vehicle dynamics model and the test object, and the IO component is used to transmit corresponding simulation operation signals between the vehicle dynamics model and the test object, and the simulation operation signals include the first signal.

[0022] In the online closed-loop test system for the test object according to the present invention, optionally, the real-time operation module is connected to the host computer via a network cable medium based on a high-speed bus.

[0023] In the online closed-loop test system for the test object according to the present invention, optionally, the signal processing unit, the real-time operation module and the test object are connected in a serial manner using a PCI protocol.

[0024] In the online closed-loop test system of the test object according to the present invention, optionally, the vehicle dynamics model includes a road environment model, a test condition vehicle operating environment model, a vehicle parameter model, a driver operation model, a hydraulic model, a wheel speed model, a transmission system model and a steering system model, and the hydraulic model includes a master cylinder pressure sensor model, a simulated pedal pressure sensor model, a pedal travel sensor model and a solenoid valve sensor model.

[0025] In addition, according to another aspect of the present invention, there is also provided an online closed-loop testing method for a test object, comprising the steps of:

[0026] Providing an online closed-loop test system for a test object as described in any one of the above, and connecting the test object with the simulation operation unit and the signal processing unit, wherein the test object includes an integrated electromagnetic brake with a motor and an electromagnetic valve coil;

[0027] The simulation operation unit, the signal processing unit and the test object are operated, and a closed-loop test is performed on the test object based on the first signal and the second signal.

[0028] In the online closed-loop testing method of the test object according to the present invention, optionally, it also includes the steps of: inputting a fault test signal into the simulation operation unit, the fault test signal corresponding to a component fault in the vehicle dynamics model, and then judging whether the test performance of the test object meets expectations based on the virtual vehicle posture in the vehicle scene adjusted accordingly by the simulation operation unit after the test object responds.

[0029] Compared with the prior art, the present invention can realize effective testing of the working performance, safety functions and other aspects of the integrated electromagnetic brake by adopting a semi-simulation and semi-physical testing method. In particular, during the testing process, targeted tests can be performed on the fault behaviors of oil pressure sensors, simulated pedal force sensors, pedal travel sensors, solenoid valve sensors, wheel speed sensors, etc., which can not only shorten the testing time and save costs, but also provide an efficient, complete and reliable comprehensive testing environment for high-difficulty braking scenario testing and flexible combination of various sensors for improved verification of braking design solutions after failures, braking effect judgment, etc. This has a very positive and important significance for improving the product quality of integrated electromagnetic brakes and enhancing the safety performance of vehicles and other equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. However, it should be noted that these drawings are designed for explanatory purposes only and are only intended to conceptually illustrate the structural configurations described herein, and are not necessarily drawn to scale.

[0031] Figure 1 The figure is a schematic block diagram of the structure of an embodiment of an online closed-loop test system for a test object according to the present invention, and also shows a block diagram of a test object to be tested.

[0032] Figure 2 The figure is a flow chart of an embodiment of an online closed-loop testing method for a test object according to the present invention. DETAILED DESCRIPTION

[0033] First of all, it should be noted that the following will illustrate the steps, components, features and advantages of the online closed-loop test system and method of the test object according to the present invention by way of example, but all descriptions should not be used to form any limitation on the present invention. In this article, the technical terms "first", "second" and "third" are only used for distinguishing purposes and are not intended to indicate their order and relative importance. The technical term "connected (or connected, etc.)" covers the situation where one component is directly and / or indirectly connected to another component.

[0034] In addition, for any single technical feature described or implied in the embodiments mentioned in this document, or any single technical feature displayed or implied in the drawings, the present invention still allows these technical features (or their equivalents) to be combined or deleted at will without any technical obstacles, so it should be considered that these more embodiments according to the present invention are within the scope of this document. In addition, for the sake of brevity, general matters that are already known to those skilled in the art, such as the meaning, construction, use and working principles of various sensors, vehicle scenes, road environments, vehicle dynamics models, signal processing methods, etc., are not elaborated in this document.

[0035] exist Figure 1 The schematic diagram shows the general structure of an embodiment of an online closed-loop test system for a test object according to the present invention, and the test system can be used to perform test operations on a real test object actually provided. It should be understood that the specific test object can be directly the integrated electromagnetic brake itself provided with a motor and a solenoid valve coil, or any possible device, mechanism or equipment including such an integrated electromagnetic brake, that is, the present invention allows the use of the test system to perform hardware online closed-loop testing on the integrated electromagnetic brakes in these devices, mechanisms or equipment.

[0036] like Figure 1 As shown, in this given test system example, there are two main parts, namely, a simulation operation unit 11 and a signal processing unit 12, both of which are connected to a test object 13 to perform corresponding processing such as data information transmission to complete the test operation.

[0037] Specifically, for the simulation operation unit 11, the corresponding vehicle scene and vehicle dynamics model can be set according to the actual test needs, so that the vehicle dynamics model can run in real time according to the input signal, and then output the first signal to the test object 13 in real time based on the running status, so that the integrated electromagnetic brake in the test object 13 (or the test object 13 is the integrated electromagnetic brake itself) will respond after receiving the above first signal, thereby correspondingly controlling the operation of the motor and / or the solenoid valve coil. In the above process, the feedback signal (such as the running signal of the motor and / or the solenoid valve coil in the integrated electromagnetic brake) formed by the test object 13 in the closed-loop test process will be provided to the simulation operation unit 11 through the signal processing unit 12, which is collectively referred to as the second signal in this article. The virtual vehicle posture and vehicle dynamics model in the vehicle scene can be adjusted according to the second signal, so as to analyze and judge whether the test items of the integrated electromagnetic brake meet the standards.

[0038] exist Figure 1 In the given embodiment, as an optional method, the simulation operation unit 11 can be set to include two parts, namely the real-time operation module 111 and the host computer 112. The corresponding vehicle dynamics model required for the test is set in the real-time operation module 111, and these vehicle dynamics models can be constructed according to the test requirements using any feasible existing technology, for example, software Simulink, Matlab, etc. that can be purchased on the market can be used. The real-time operation module 111 is used as an operation carrier of the vehicle dynamics model, and the vehicle dynamics model is connected to the signal processing unit 12 and the test object 13, so that the vehicle dynamics model can be used to provide a real peripheral total hard-line environment for the test object 13.

[0039] Regarding the specific types of vehicle dynamics models, they may include, but are not limited to, for example, road environment models, test condition vehicle operating environment models, vehicle parameter models, driver operation models, hydraulic models, wheel speed models, transmission system models, and steering system models. For example, for the hydraulic model, it may further include, but is not limited to, for example, one or more of a master cylinder pressure sensor model, a simulated pedal pressure sensor model, a pedal travel sensor model, and a solenoid valve sensor model. The data information transmission between these models and the test object 13 may adopt any feasible protocol form, such as the SENT protocol. For another example, for the wheel speed model, it is configured to convert the vehicle speed information calculated when the actual test object 13 is in the in-loop test state into a protocol form (such as the AK protocol, etc.) that is suitable for the test object 13 to accept and transmit it to the test object 13 via the communication connection path.

[0040] As an optional method, each vehicle dynamics model in the real-time operation module 111 can run in real time with an appropriate step size (such as 1ms, 1.5ms or 2ms, etc.) as needed. They can receive data information transmitted from the outside world through a mapping relationship, and can also transmit bus messages obtained by their simulation calculations to the outside through a mapping relationship, for example, to the test object 13, etc.

[0041] The host computer 112 is connected to the real-time operation module 111, for example, they can be connected by a network cable medium based on a high-speed bus. The host computer 112 is a carrier for the operation of simulated virtual vehicle scenes and operating environments. For example, the vehicle scenes running therein can be used to provide parameters such as road environment (such as low-attachment or high-attachment road environments), driver operations (such as acceleration conditions, emergency braking conditions, steering conditions) as command signals for the vehicle dynamics model in the real-time operation module 111. In addition, for the operation and braking effects of the vehicle under different road environments and different test conditions, an optional method can be used, for example, to jointly calculate the vehicle model and the test object 13, and then the calculation results can be fed back to the vehicle dynamics model and the vehicle scene in real time.

[0042] The command signal transmitted from the host computer 112 to the real-time operation module 111 may constitute a part of the input signal for the vehicle dynamics model. As an example, such a command signal may include a signal list (such as road environment parameters, external environment parameters, driver operation information, etc.) so as to enable the vehicle dynamics model to run the corresponding real-time scene. It should be noted that the command signal may also include a fault test signal (such as master cylinder pressure sensor parameters, simulated pedal pressure sensor parameters, pedal travel sensor parameters, solenoid valve sensor parameters, wheel speed sensor parameters, etc.) so as to test the corresponding response performance of the test object 13 in the event of one or more faults.

[0043] In addition, the host computer 112 is also configured to receive the operation signal of the vehicle dynamics model in the real-time operation module 111, and then through the vehicle scene set in the host computer 112, the operation signal of the vehicle dynamics model can be used to adjust the virtual vehicle posture in the vehicle scene.

[0044] As an optional implementation, the host computer 112 can directly use a PC very conveniently. More specifically, the model building software Simulink / Matlab, the vehicle model and scenario software Dyna4, and the operating environment software VeriStand can be installed in the PC to realize the corresponding functions mentioned above. For example, with the help of VeriStand or similar operating environment software, the real-time bus information observation, recording and other operations (such as vehicle acceleration, wheel speed information) can be directly performed on the host computer 112, and the corresponding parameter data can be transmitted to the corresponding vehicle dynamics model (such as master cylinder pressure sensor, simulation pedal pressure sensor, pedal travel sensor, solenoid valve sensor, wheel speed sensor, etc.) in the real-time operation module 111 according to the fault test needs. By obtaining the above data information, it is possible to judge and analyze the performance of the vehicle braking posture adjustment of the current version of the test object under certain or certain fault conditions, which can be used as a reliable basis for optimizing and improving it. By performing comparative analysis before and after the improvement, the function and working performance of the test object can be effectively improved, and the product quality and competitiveness can be enhanced.

[0045] Continuing with the example, Figure 1 As shown, the real-time operation module 111 can be optionally connected to the test object 13 through the IO component 16 and the communication component 17 respectively. In this way, on the one hand, the IO component 16 can be used to transmit the corresponding simulation operation signal between the vehicle dynamics model and the test object 13, and the first signal mentioned above can be used as one of the simulation operation signals for communication transmission through the IO component 16. On the other hand, the communication component 17 can be used to transmit the corresponding bus signal between the vehicle dynamics model and the test object 13. Regarding the IO component 16 and the communication component 17, they can both be in the form of a board with various electronic components that meet the application requirements. The specific configuration of the board can be set up in the upper computer 112. It should also be noted that the communication component 17 can adopt any communication protocol bus such as CAN (Controller Area Network).

[0046] The communication connection between different parts of the entire test system should be understood to be implemented by any feasible wired and / or wireless method, as long as the required data information transmission processing can be completed. For example, the PCI protocol can be used between the signal processing unit 12, the real-time operation module 111 and the test object 13 to perform wired communication connection in a serial manner, and of course, wireless communication connection can also be performed in the form of a wireless network card.

[0047] refer to Figure 1The signal processing unit 12 is connected to the test object 13 and the simulation operation unit 11. It is configured to obtain the current operation signal of the test object 13 (e.g., the operation signal of the solenoid valve coil, the operation signal of the motor, which can be selected and set according to the test requirements), and then process the obtained operation signal to form a second signal and provide it to the simulation operation unit 11. It should be understood that the second signal can be used as part of the input signal for the vehicle dynamics model mentioned above. It should be understood that according to different application requirements, the signal processing unit 12 allows any feasible method to process the various types of received signals, such as using signal conditioning to convert some signals into standard signals, and can specifically use one or more processing methods such as debouncing, filtering, isolation, protection, level conversion, etc., which will not be discussed in this article.

[0048] According to the solution of the present invention, in some optional implementations, some units can be further set in the system to achieve more functions, meet more application requirements, etc. For example, a load unit 14 can be set, and a solenoid valve coil current acquisition unit 15 can also be set. Figure 1 An exemplary display is given in .

[0049] The load unit 14 can be connected to the simulation operation unit 11, the signal processing unit 12 and the test object 13, for example, it can be connected and communicated with the signal processing unit 12 through a communication component 18 (such as a pluggable communication board, etc.). The load unit 14 can be configured to provide a load force to the motor in the integrated electromagnetic brake according to the third signal from the simulation operation unit 11, so that the motor in the integrated electromagnetic brake can output a preset load force that meets the requirements when it is running. At the same time, the load unit 14 can also be used to collect the current output torque signal of the motor in the integrated electromagnetic brake (which can be used as the running signal of the motor), and then provide the collected output torque signal to the signal processing unit 12.

[0050] As an example, the load unit 14 can have a load motor and a torque acquisition module. The load motor can be connected to the output shaft of the motor in the integrated electromagnetic brake through a coupling to provide load force thereto. The torque acquisition module can be directly installed on the coupling to collect the output torque signal of the motor in the integrated electromagnetic brake. The torque acquisition module can very conveniently use a torque sensor to implement data acquisition operations.

[0051] For the solenoid valve coil current acquisition unit 15, it can be connected to the signal processing unit 12 and the test object 13 by any feasible connection method such as a plug-in connector, so as to collect the current current signal of the solenoid valve coil in the integrated electromagnetic brake (which can be used as the operation signal of the solenoid valve coil), and then provide the collected current signal to the signal processing unit 12. In actual application scenarios, the solenoid valve coil current acquisition unit 15 can be implemented by a Hall sensor, and the specific setting quantity, model, layout position, etc. of the Hall sensor can be set according to the actual application requirements. For example, a Hall sensor can be configured for each solenoid valve coil in the integrated electromagnetic brake, and corresponding peripheral components such as filtering and amplifying circuits can be configured to better and more accurately detect and obtain the opening and closing operation information of these solenoid valve coils.

[0052] The above only roughly introduces the basic situation of the online closed-loop test system of the test object according to the present invention in an example discussion manner. Compared with the ordinary real vehicle testing scheme adopted in the prior art, the present invention can significantly shorten the product design improvement and verification cycle of the integrated electromagnetic brake in the event of failure of the master cylinder pressure sensor, simulation pedal pressure sensor, pedal travel sensor, solenoid valve sensor and / or wheel speed sensor, by providing a semi-simulation and semi-physical closed-loop real-time testing system. It not only effectively saves the cost of real vehicle testing, but also improves the safety of testing in extreme cases compared with real vehicle testing, and also provides a complete and reliable comprehensive testing environment for high-difficulty braking scenario testing and braking scheme improvement verification and braking effect judgment after failure of the combined sensor.

[0053] exist Figure 2 FIG. 4 shows a basic processing flow of an embodiment of an online closed-loop test method for a test object according to the present invention. Figure 2 As described above, by executing the exemplary steps discussed below, an online closed-loop test of a test object can be implemented. The method embodiment may include the following steps:

[0054] In step S100, an online closed-loop test system for a test object designed according to the present invention may be provided, and the test object may be connected to a simulation operation unit and a signal processing unit in the online closed-loop test system for the test object. As mentioned above, the test object may be an integrated electromagnetic brake with a motor and an electromagnetic valve coil, or any possible device, mechanism or equipment including the above-mentioned integrated electromagnetic brake.

[0055] In step S200, according to actual test requirements, the simulation operation unit and the signal processing unit in the online closed-loop test system of the test object can be operated, and the test object connected to the above two can be operated, so that a closed-loop test operation can be performed on the test object based on the first signal and the second signal.

[0056] As an example, in some embodiments, when it is necessary to test the corresponding performance of the test object when one or more components (such as sensors) fail, the corresponding fault test signal can be input to the simulation operation unit in the online closed-loop test system of the test object, that is, such a fault test signal corresponds to the corresponding component failure in the vehicle dynamics model, and then after the test object responds to the input operation of the above fault test signal, the simulation operation unit then performs a corresponding virtual vehicle posture adjustment operation in the vehicle scene, thereby analyzing and judging whether the test performance of the test object in the case of the above component failure meets expectations. The above fault test operation can be performed on different components in different vehicle dynamics models, and the entire fault test process is basically the same or similar. The entire operation is very convenient and reliable, and saves time and effort.

[0057] Since the previous text has described in great detail the functions, composition and application of the simulation operation unit, vehicle scenario, vehicle dynamics model, signal processing unit, etc. in the online closed-loop test system of the test object, various signal types and corresponding processing and other technical contents, you can directly refer to the specific description of the corresponding parts mentioned above to implement more possible operation steps that can be added, modified or replaced in the online closed-loop test method of the test object according to the present invention, which will not be repeated here.

[0058] The above only illustrates the online closed-loop test system and method of the test object according to the present invention in detail by way of example. These examples are only used to illustrate the principles and implementation methods of the present invention, but not to limit the present invention. Without departing from the spirit and scope of the present invention, those skilled in the art can also make various modifications and improvements. Therefore, all equivalent technical solutions should belong to the scope of the present invention and be defined by the claims of the present invention.

Claims

1. An online closed-loop test system for a test object, wherein the test object comprises an integrated electromagnetic brake with a motor and an electromagnetic valve coil, characterized in that: The test object online closed-loop test system comprises: a simulation operation unit, which is provided with a vehicle scenario and a vehicle dynamics model, wherein the vehicle dynamics model is connected to the test object and operates in real time according to an input signal to output a first signal to the test object, so that the integrated electromagnetic brake controls the operation of the motor and / or the electromagnetic valve coil in response to the first signal; and a signal processing unit connected to the test object and the simulation operation unit, and configured to obtain a current operation signal of the test object, form a second signal, and transmit the second signal to the simulation operation unit to adjust the virtual vehicle posture and the vehicle dynamics model in the vehicle scene, wherein the operation signal includes an operation signal of the motor and / or the solenoid valve coil; Wherein, the simulation operation unit includes: a real-time operation module, comprising the vehicle dynamics model, the vehicle dynamics model being connected to the signal processing unit and the test object and receiving the second signal; and A host computer connected to the real-time operation module for inputting command signals thereto and receiving operation signals from the vehicle dynamics model, and the host computer is provided with the vehicle scene for adjusting the virtual vehicle posture according to the operation signals of the vehicle dynamics model; and Wherein, the input signal includes the second signal and the command signal, and the command signal includes: a signal list for causing the vehicle dynamics model to run a corresponding real-time scenario; and A fault test signal is used to test the response of the test object to a corresponding fault, wherein the fault test signal includes a master cylinder pressure sensor parameter, a simulated pedal pressure sensor parameter, a pedal travel sensor parameter and a wheel speed sensor parameter.

2. The online closed-loop test system for a test object according to claim 1, wherein: The test object online closed-loop test system also includes: a load unit connected to the simulation operation unit, the signal processing unit and the test object, and configured to provide a load force to the motor according to a third signal from the simulation operation unit so that the motor outputs a preset load force when it is running, and the load unit collects a current output torque signal of the motor and transmits it to the signal processing unit, the operation signal including the output torque signal; and / or The solenoid valve coil current acquisition unit is connected to the signal processing unit and the test object, and is used to acquire the current current signal of the solenoid valve coil and transmit it to the signal processing unit. The operation signal includes the current signal.

3. The online closed-loop test system for a test object according to claim 2, wherein: The load unit comprises: a load motor connected to the output shaft of the motor via a coupling; and A torque acquisition module is installed on the coupling and is used to collect the output torque signal.

4. The online closed-loop test system for a test object according to claim 3, wherein: The torque acquisition module includes a torque sensor, and the solenoid valve coil current acquisition unit includes a Hall sensor.

5. The online closed-loop test system for a test object according to claim 1, wherein: The signal list includes road environment parameters, external environment parameters, and driver operation information.

6. The online closed-loop test system for a test object according to claim 5, wherein: The real-time operation module is connected to the test object through a communication component and an IO component, the communication component is used to transmit corresponding bus signals between the vehicle dynamics model and the test object, and the IO component is used to transmit corresponding simulation operation signals between the vehicle dynamics model and the test object, and the simulation operation signals include the first signal.

7. The test object online closed-loop test system according to claim 1, wherein: The real-time operation module is connected to the host computer via a network cable medium based on a high-speed bus.

8. The online closed-loop test system for a test object according to any one of claims 1 to 7, wherein: The signal processing unit, the real-time operation module and the test object are connected in a serial manner using the PCI protocol.

9. The online closed-loop test system for a test object according to any one of claims 1 to 7, wherein: The vehicle dynamics model includes a road environment model, a test condition vehicle operating environment model, a vehicle parameter model, a driver operation model, a hydraulic model, a wheel speed model, a transmission system model and a steering system model. The hydraulic model includes a master cylinder pressure sensor model, a simulation pedal pressure sensor model, a pedal travel sensor model and a solenoid valve sensor model.

10. A method for online closed-loop testing of a test object, characterized in that: Includes steps: Providing an online closed-loop test system for a test object according to any one of claims 1 to 9, and connecting the test object with the simulation operation unit and the signal processing unit, wherein the test object includes an integrated electromagnetic brake with a motor and an electromagnetic valve coil; as well as The simulation operation unit, the signal processing unit and the test object are operated, and a closed-loop test is performed on the test object based on the first signal and the second signal.

11. The online closed-loop testing method for a test object according to claim 10, wherein: The method further includes the steps of: inputting a fault test signal into the simulation operation unit, wherein the fault test signal corresponds to a component fault in the vehicle dynamics model; and then judging whether the test performance of the test object meets expectations based on the virtual vehicle posture in the vehicle scene adjusted accordingly by the simulation operation unit after the test object responds.

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