Vehicle electronically controlled air suspension simulation test method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle electronically controlled air suspension simulation test method, device, equipment and storage medium. The method constructs an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model; performs interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; inputs a control signal to the configured target interface, performs a MIL simulation test on the electronically controlled air suspension model according to the control signal, obtains a simulation test result, and can realize closed-loop control of the height of the whole vehicle, thereby ensuring the accuracy of the vehicle electronically controlled air suspension simulation test, effectively reducing the development and testing costs, improving the development efficiency, and improving the speed and efficiency of the vehicle electronically controlled air suspension simulation test.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial vehicle suspension, and in particular to a vehicle electronically controlled air suspension simulation test method, device, equipment and storage medium. Background Art

[0002] In the current commercial vehicle controller development process, software function testing is overly dependent on real vehicle testing. Most test items are directly carried on the entire vehicle for functional verification, which occupies too many test vehicle resources and has low testing efficiency. Summary of the invention

[0003] The main purpose of the present invention is to provide a vehicle electronic air suspension simulation test method, device, equipment and storage medium, aiming to solve the technical problems in the prior art of over-reliance on actual test, excessive occupation of vehicle resources and low test efficiency.

[0004] In a first aspect, the present invention provides a vehicle electronically controlled air suspension simulation test method, the vehicle electronically controlled air suspension simulation test method comprising the following steps:

[0005] Construct electronically controlled air suspension models, air suspension vehicle models and air suspension simulation models;

[0006] Performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model;

[0007] A control signal is input to the configured target interface, and a MIL simulation test is performed on the electronically controlled air suspension model according to the control signal to obtain a simulation test result.

[0008] Optionally, the constructing of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model includes:

[0009] The electronically controlled air suspension model based on Simulink is constructed using the functional control module, control decision module and height control module;

[0010] Acquire the actual vehicle parameters of the vehicle to be tested, use the coil spring to equivalently replace the air spring in the actual vehicle parameters, and use ADAMS to build an air suspension vehicle model according to the actual vehicle parameters;

[0011] An air spring model and a solenoid valve model based on AMEsim are constructed, and an air suspension simulation model is constructed according to the air spring model, the solenoid valve model and a communication interface.

[0012] Optionally, the use of the function control module, the control decision module and the height control module to construct an electronically controlled air suspension model based on Simulink includes:

[0013] The function control module receives the control signal and the vehicle driving signal, and transmits the control request and the control target corresponding to each vehicle height control function to the control decision module;

[0014] Using the control decision module to make a decision based on the current vehicle state, function priority and fault state, and sending the height control command to the height control module;

[0015] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and utilizing a PID control algorithm to output a duty cycle and a drive signal of each solenoid valve according to the target altitude request signal and the difference between the target request value and the current actual altitude;

[0016] An electronically controlled air suspension model is constructed based on Simulink in combination with the functional control module, the control decision module and the height control module.

[0017] Optionally, the using the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and outputting a duty cycle and a drive signal of each solenoid valve using a PID control algorithm according to a difference between the target altitude request signal and the target request value and a current actual altitude, comprises:

[0018] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command;

[0019] The left-right height difference of the current vehicle is obtained according to the target height request signal, the target request value and the current actual height, the main valve control signal is determined according to the left-right height difference, and the duty cycle signal of the solenoid valve channel and the drive signal for driving the vehicle drive axle and the vehicle lifting axle are calculated using the PID control algorithm.

[0020] Optionally, the constructing of an air spring model and a solenoid valve model based on AMEsim, and constructing an air suspension simulation model according to the air spring model, the solenoid valve model and a communication interface, includes:

[0021] Acquire an initial state of the air spring and an amount of air charged and discharged, and determine a volume and an internal pressure of the air spring according to the initial state of the air spring and the amount of air charged and discharged;

[0022] Calculating the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculating the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure;

[0023] The friction force is used to simulate the output force hysteresis phenomenon of the air spring during the extension and compression process, and the damping force is used to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim;

[0024] A two-position three-way valve is used as a main valve, and two two-position two-way valves are used as two channel valves. The main valve and the channel valves are combined into a solenoid valve, and a solenoid valve test result of the solenoid valve is obtained. The flow rate and delay of the solenoid valve are corrected according to the solenoid valve test result, and a solenoid valve model is constructed according to the corrected solenoid valve;

[0025] An air suspension simulation model is constructed according to the air spring model, the solenoid valve model and the communication interface.

[0026] Optionally, the interface configuration of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model includes:

[0027] Determining that the output signal of the air suspension vehicle model is an air spring height signal, and the input signal of the air suspension vehicle model is an air spring force;

[0028] Determine that the output signals of the air suspension simulation model are an air spring height signal, an air spring pressure signal and an air spring force, and the input signals of the air suspension simulation model are a driving signal and a duty cycle signal of a solenoid valve;

[0029] The air suspension vehicle model is re-established in the AMEsim, an air suspension simulation model based on AMEsim is built according to the ADAMS vehicle model parameters, and the ADAMS vehicle model is used to benchmark the vehicle parameters;

[0030] Acquiring environmental variables, and connecting the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables;

[0031] The air suspension simulation model is called in the Simulink environment of the electronically controlled air suspension model.

[0032] Optionally, the inputting the control signal to the configured target interface, performing a MIL simulation test on the electronically controlled air suspension model according to the control signal, and obtaining a simulation test result includes:

[0033] Input a control signal to the configured target interface, and obtain a preset height value according to the control signal;

[0034] Acquire the current drive axle height, compare the current drive axle height with the preset height value, and generate a comparison result;

[0035] The airbag pressures of the vehicle drive axle and the vehicle lifting axle are adjusted according to the comparison results, and the state of the solenoid valve is adjusted. According to the state of the solenoid valve, a MIL simulation test is performed on the electronically controlled air suspension model to obtain a simulation test result.

[0036] In a second aspect, in order to achieve the above-mentioned purpose, the present invention further proposes a vehicle electronically controlled air suspension simulation test device, the vehicle electronically controlled air suspension simulation test device comprising:

[0037] Model building module, used to build electronically controlled air suspension model, air suspension vehicle model and air suspension simulation model;

[0038] An interface configuration module, used for performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model;

[0039] The simulation test module is used to input a control signal to the configured target interface, perform a MIL simulation test on the electronically controlled air suspension model according to the control signal, and obtain a simulation test result.

[0040] In the third aspect, to achieve the above-mentioned purpose, the present invention also proposes a vehicle electronically controlled air suspension simulation test device, which includes: a memory, a processor, and a vehicle electronically controlled air suspension simulation test program stored in the memory and executable on the processor, wherein the vehicle electronically controlled air suspension simulation test program is configured to implement the steps of the vehicle electronically controlled air suspension simulation test method as described above.

[0041] In a fourth aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle electronically controlled air suspension simulation test program is stored, and when the vehicle electronically controlled air suspension simulation test program is executed by a processor, the steps of the vehicle electronically controlled air suspension simulation test method as described above are implemented.

[0042] The vehicle electronically controlled air suspension simulation test method proposed in the present invention constructs an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model; performs interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; inputs a control signal to the configured target interface, performs a MIL simulation test on the electronically controlled air suspension model according to the control signal, obtains a simulation test result, and can achieve closed-loop control of the height of the whole vehicle, thereby ensuring the accuracy of the vehicle electronically controlled air suspension simulation test, effectively reducing development and testing costs, improving development efficiency, and improving the speed and efficiency of the vehicle electronically controlled air suspension simulation test. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0044] Figure 2 It is a flow chart of a first embodiment of a simulation test method for an electronically controlled air suspension of a vehicle according to the present invention;

[0045] Figure 3 A schematic flow chart of a second embodiment of a vehicle electronically controlled air suspension simulation test method according to the present invention;

[0046] Figure 4 A schematic flow chart of a third embodiment of a simulation test method for an electronically controlled air suspension of a vehicle according to the present invention;

[0047] Figure 5 A schematic flow chart of a fourth embodiment of a vehicle electronically controlled air suspension simulation test method according to the present invention;

[0048] Figure 6 A schematic flow chart of a fifth embodiment of a vehicle electronically controlled air suspension simulation test method according to the present invention;

[0049] Figure 7 A schematic flow chart of a sixth embodiment of a vehicle electronically controlled air suspension simulation test method according to the present invention;

[0050] Figure 8 A schematic flow chart of a seventh embodiment of a vehicle electronically controlled air suspension simulation test method according to the present invention;

[0051] Fig. 9 It is a functional module diagram of the first embodiment of the vehicle electronically controlled air suspension simulation test device of the present invention.

[0052] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0054] The solution of the embodiment of the present invention is mainly: by constructing an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model; configuring the interface of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; inputting a control signal to the configured target interface, and performing a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result, which can realize closed-loop control of the height of the whole vehicle, ensure the accuracy of the vehicle electronically controlled air suspension simulation test, effectively reduce the development and testing costs, improve the development efficiency, and improve the speed and efficiency of the vehicle electronically controlled air suspension simulation test, and solve the technical problems in the prior art of over-reliance on actual test, excessive occupation of vehicle resources, and low testing efficiency.

[0055] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (Non- Volatile Memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating device, a network communication module, a user interface module, and a vehicle electronically controlled air suspension simulation test program.

[0059] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0060] Construct electronically controlled air suspension models, air suspension vehicle models and air suspension simulation models;

[0061] Performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model;

[0062] A control signal is input to the configured target interface, and a MIL simulation test is performed on the electronically controlled air suspension model according to the control signal to obtain a simulation test result.

[0063] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0064] The electronically controlled air suspension model based on Simulink is constructed using the functional control module, control decision module and height control module;

[0065] Acquire the actual vehicle parameters of the vehicle to be tested, use the coil spring to equivalently replace the air spring in the actual vehicle parameters, and use ADAMS to build an air suspension vehicle model according to the actual vehicle parameters;

[0066] An air spring model and a solenoid valve model based on AMEsim are constructed, and an air suspension simulation model is constructed according to the air spring model, the solenoid valve model and a communication interface.

[0067] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0068] The function control module receives the control signal and the vehicle driving signal, and transmits the control request and the control target corresponding to each vehicle height control function to the control decision module;

[0069] Using the control decision module to make a decision based on the current vehicle state, function priority and fault state, and sending the height control command to the height control module;

[0070] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and utilizing a PID control algorithm to output a duty cycle and a drive signal of each solenoid valve according to the target altitude request signal and the difference between the target request value and the current actual altitude;

[0071] An electronically controlled air suspension model is constructed based on Simulink in combination with the functional control module, the control decision module and the height control module.

[0072] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0073] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command;

[0074] The left-right height difference of the current vehicle is obtained according to the target height request signal, the target request value and the current actual height, the main valve control signal is determined according to the left-right height difference, and the duty cycle signal of the solenoid valve channel and the drive signal for driving the vehicle drive axle and the vehicle lifting axle are calculated using the PID control algorithm.

[0075] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0076] Acquire an initial state of the air spring and an amount of air charged and discharged, and determine a volume and an internal pressure of the air spring according to the initial state of the air spring and the amount of air charged and discharged;

[0077] Calculating the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculating the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure;

[0078] The friction force is used to simulate the output force hysteresis phenomenon of the air spring during the extension and compression process, and the damping force is used to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim;

[0079] A two-position three-way valve is used as a main valve, and two two-position two-way valves are used as two channel valves. The main valve and the channel valves are combined into a solenoid valve, and a solenoid valve test result of the solenoid valve is obtained. The flow rate and delay of the solenoid valve are corrected according to the solenoid valve test result, and a solenoid valve model is constructed according to the corrected solenoid valve;

[0080] An air suspension simulation model is constructed according to the air spring model, the solenoid valve model and the communication interface.

[0081] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0082] Determining that the output signal of the air suspension vehicle model is an air spring height signal, and the input signal of the air suspension vehicle model is an air spring force;

[0083] Determine that the output signals of the air suspension simulation model are an air spring height signal, an air spring pressure signal and an air spring force, and the input signals of the air suspension simulation model are a driving signal and a duty cycle signal of a solenoid valve;

[0084] The air suspension vehicle model is re-established in the AMEsim, an air suspension simulation model based on AMEsim is built according to the ADAMS vehicle model parameters, and the ADAMS vehicle model is used to benchmark the vehicle parameters;

[0085] Acquiring environmental variables, and connecting the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables;

[0086] The air suspension simulation model is called in the Simulink environment of the electronically controlled air suspension model.

[0087] The device of the present invention calls the vehicle electronically controlled air suspension simulation test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0088] Input a control signal to the configured target interface, and obtain a preset height value according to the control signal;

[0089] Acquire the current drive axle height, compare the current drive axle height with the preset height value, and generate a comparison result;

[0090] The airbag pressures of the vehicle drive axle and the vehicle lifting axle are adjusted according to the comparison results, and the state of the solenoid valve is adjusted. According to the state of the solenoid valve, a MIL simulation test is performed on the electronically controlled air suspension model to obtain a simulation test result.

[0091] This embodiment adopts the above scheme to construct an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model; configure the interfaces of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; input a control signal to the configured target interface, and perform a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result, thereby realizing closed-loop control of the height of the whole vehicle, ensuring the accuracy of the simulation test of the electronically controlled air suspension of the vehicle, effectively reducing the development and testing costs, improving the development efficiency, and improving the speed and efficiency of the simulation test of the electronically controlled air suspension of the vehicle.

[0092] Based on the above hardware structure, an embodiment of a vehicle electronically controlled air suspension simulation test method of the present invention is proposed.

[0093] Reference Figure 2 , Figure 2 It is a flow chart of the first embodiment of the vehicle electronically controlled air suspension simulation test method of the present invention.

[0094] In a first embodiment, the vehicle electronically controlled air suspension simulation test method comprises the following steps:

[0095] Step S10: construct an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model.

[0096] It should be noted that for vehicles that require simulation testing, a corresponding multi-software electronically controlled air suspension simulation test platform can be designed. First, it is necessary to build an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model.

[0097] Step S20, performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model.

[0098] It can be understood that after the interfaces of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model are configured, the communication between the models can be facilitated.

[0099] Step S30: input a control signal to the configured target interface, and perform a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result.

[0100] It should be understood that after the control signal is sent to the configured target interface, the electronically controlled air suspension model can be subjected to a MIL simulation test according to the control signal to obtain a simulation test result.

[0101] This embodiment adopts the above scheme to construct an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model; configure the interfaces of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; input a control signal to the configured target interface, and perform a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result, thereby realizing closed-loop control of the height of the whole vehicle, ensuring the accuracy of the simulation test of the electronically controlled air suspension of the vehicle, effectively reducing the development and testing costs, improving the development efficiency, and improving the speed and efficiency of the simulation test of the electronically controlled air suspension of the vehicle.

[0102] Further, Figure 3 FIG. 1 is a flow chart of a second embodiment of a vehicle electronically controlled air suspension simulation test method according to the present invention. Figure 3 As shown, a second embodiment of the vehicle electronically controlled air suspension simulation test method of the present invention is proposed based on the first embodiment. In this embodiment, the step S10 specifically includes the following steps:

[0103] Step S11, constructing an electronically controlled air suspension model based on Simulink using the function control module, the control decision module and the height control module.

[0104] It should be noted that the electronically controlled air suspension model is designed based on Simulink, and the electronically controlled air suspension model mainly includes a function control module, a control decision module and a height control module.

[0105] Step S12, obtaining the actual vehicle parameters of the vehicle to be tested, using the coil spring to equivalently replace the air spring in the actual vehicle parameters, and using ADAMS to build an air suspension vehicle model according to the actual vehicle parameters.

[0106] It can be understood that the vehicle to be tested is a vehicle prepared for simulation testing, and the vehicle to be tested has corresponding real vehicle parameters. Taking a 6*2 commercial vehicle with a trailer as an example, a three-dimensional simulation model can be established according to its corresponding real vehicle parameters, including wheels, suspension, steering, body and other systems. The suspension system is designed as an air suspension, and coil springs are used to replace air springs equivalently.

[0107] Step S13, constructing an air spring model and a solenoid valve model based on AMEsim, and constructing an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface.

[0108] It should be understood that in the AMEsim software, a simulation model can be established based on the hysteresis and nonlinearity characteristics of the air spring combined with the bench test data of the air spring, that is, based on the air spring model and solenoid valve model of AMEsim, and then the air suspension simulation model is constructed according to the air spring model, the solenoid valve model and the communication interface.

[0109] Through the above scheme, this embodiment constructs an electronically controlled air suspension model based on Simulink by using a functional control module, a control decision module and a height control module; obtains the actual vehicle parameters of the vehicle to be tested, uses a coil spring to equivalently replace the air spring in the actual vehicle parameters, and uses ADAMS to construct an air suspension vehicle model according to the actual vehicle parameters; constructs an air spring model and a solenoid valve model based on AMEsim, and constructs an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface; the simulation model can be quickly constructed, the closed-loop control of the height of the whole vehicle is realized, and the accuracy of the vehicle electronically controlled air suspension simulation test is ensured.

[0110] Further, Figure 4 FIG. 1 is a flow chart of a third embodiment of a simulation test method for an electronically controlled air suspension of a vehicle according to the present invention. Figure 4 As shown, a third embodiment of the vehicle electronically controlled air suspension simulation test method of the present invention is proposed based on the second embodiment. In this embodiment, the step S11 specifically includes the following steps:

[0111] Step S111: Utilize the function control module to receive the control signal and the vehicle driving signal, and transmit the control request and control target corresponding to each vehicle height control function to the control decision module.

[0112] It should be noted that the electronically controlled air suspension model is designed based on Simulink, and the electronically controlled air suspension model mainly includes a functional control module, a control decision module and a height control module, wherein the functional control module receives control signals and vehicle driving status signals, implements corresponding vehicle height control functions such as height gear control, lifting control, traction assist, axle load control and remote control functions, and transmits the control requests and control targets of each function to the control decision module.

[0113] Step S112: using the control decision module to make a decision according to the current vehicle state, function priority and fault state, and sending the height control command to the height control module.

[0114] It can be understood that the control decision module makes a decision based on the current vehicle status, function priority and fault status, and sends the height control command to the height control module.

[0115] Step S113, using the altitude control module to receive the target altitude request signal and the target request value corresponding to the altitude control command, and using the PID control algorithm to output the duty cycle and drive signal of each solenoid valve according to the difference between the target altitude request signal and the target request value and the current actual altitude.

[0116] It should be understood that after receiving the target height request signal and request value, the height control module can obtain the actual height of the current test vehicle, and then calculate the difference between the target height request signal and the target request value and the current actual height, and use the Proportional Integration Differentiation (PID) control algorithm to output the duty cycle and drive signal of each solenoid valve.

[0117] Furthermore, the step S113 specifically includes the following steps:

[0118] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command;

[0119] The left-right height difference of the current vehicle is obtained according to the target height request signal, the target request value and the current actual height, the main valve control signal is determined according to the left-right height difference, and the duty cycle signal of the solenoid valve channel and the drive signal for driving the vehicle drive axle and the vehicle lifting axle are calculated using the PID control algorithm.

[0120] Understandably, Figure 5 This is the logic diagram of the height control module in the vehicle electronically controlled air suspension simulation test method of the present invention, see Figure 5 , the process is described as follows:

[0121] 1) The altitude decision module sends an altitude control request Rq and a target altitude value RqVal, and then calculates the altitude difference Δh between the left and right sides;

[0122] 2) Determine the main valve control signal required on the left and right sides based on the height difference. When Δh>0, the main valve is connected to the airbag, and when Δh<0, the main valve is connected to the atmosphere; and calculate the duty cycle signal of solenoid valve channel 1 and channel 2;

[0123] a) The duty cycle of the solenoid valve channel is controlled by PD, where the P value needs to be obtained by looking up the table based on the lifting / dropping state of the lifting bridge, the airbag pressure, and the vehicle height value;

[0124] b) To avoid the solenoid valve from opening smoothly due to too small a duty cycle, when the solenoid valve channel duty cycle calculated by PD control is less than the minimum duty cycle, the output signal takes the minimum duty cycle;

[0125] c) The minimum duty cycle needs to be obtained by looking up the table based on the airbag pressure, and the data is all derived from bench testing.

[0126] 3) When the height difference between the left and right sides is the same, the required main valve control signal is the same, that is, the left and right sides need to be inflated / deflated at the same time; when the height difference between the left and right sides is positive, the side with the positive height difference is deflated first, and when it is deflated to the lower limit of the steady-state threshold, the other side is inflated;

[0127] 4) To ensure the driving force of the vehicle, the driving axle and the lifting axle must be maintained at the set pressure ratio value (P 驱 : P 提 =1:α). While the driving axle is performing height control, the lifting axle also needs to perform corresponding inflation and deflation control, which has the following functions: ① During the height raising control process, the time for adjusting the front and rear pressure ratio can be reduced; ② During the height lowering control process, the vehicle height cannot be lowered due to the lifting axle being too high, which can also shorten the control time:

[0128] a) When the drive axle load-bearing airbag is inflated, if "P 驱 *α-P 提 <-P 差Max ”, where P 差Max is the calibration quantity (currently set to 20), which can be calibrated according to the actual situation, indicating that the internal pressure of the lifting bridge bearing airbag is relatively large, and it is not necessary to inflate at this time. Set the lifting bridge solenoid valve main valve drive signal, duty cycle signal, channel 1 drive signal, and channel 1 duty cycle signal to 0; as the driving bridge bearing airbag is inflated, when "P 驱 *α-P 提 >0”, the lifting axle load-bearing airbag and the driving axle load-bearing airbag are controlled to inflate together, and the duty ratio Duty is set 驱动桥 *β=Duty 提升桥, where β is the calibration value (currently set to 1), which can be calibrated according to actual conditions;

[0129] b) When the drive axle load-bearing airbag is deflated, if "P 驱 *α-P 提 >P 差Max ”, where P 差Max is the calibration quantity (currently set to 20), which can be calibrated according to the actual situation, indicating that the internal pressure of the lifting bridge bearing airbag is small, and there is no need to deflate at this time. Set the lifting bridge solenoid valve main valve drive signal, duty cycle signal, channel 1 drive signal, and channel 1 duty cycle signal to 0; as the driving bridge bearing airbag deflates, when "P 驱 *α-P 提 <0", the lifting axle load-bearing airbag and the driving axle load-bearing airbag are controlled to deflate together, and the duty ratio Duty is set. 驱动桥 *β=Duty 提升桥 .

[0130] 5) When the height difference between the left and right sides of the driving axle is less than the lower limit of the steady-state threshold and the maintenance time is greater than 1s, the height control is completed;

[0131] 6) After the height of the drive axle is adjusted to the target value, check the pressure ratio of the airbags of the drive axle and the lifting axle, and control the inflation and deflation of the lifting axle to ensure that the front and rear pressure ratio reaches |P 驱 *α-P 提 | <P 差Min , where P 差Min This is the calibration amount (currently set to 5), which can be calibrated according to actual conditions.

[0132] In the specific implementation, the height control module is designed with three sub-modules for the height control of the left and right sides of the vehicle's drive axle and the pressure control of the lifting axle, and then outputs the solenoid valve control signal through the three sub-modules. During the control process of the drive axle's load-bearing airbag, the inflation and deflation processes of the left and right sides need to be taken into account (because it is impossible to inflate one side and deflate the other side at the same time, so when the demands on both sides are opposite, the control signal of one side is turned off and only the other side is controlled); in the pressure adjustment process, only the control signal of the lifting axle's load-bearing airbag is output.

[0133] Step S114, constructing an electronically controlled air suspension model based on Simulink in combination with the functional control module, the control decision module and the height control module.

[0134] It can be understood that the electronically controlled air suspension model is designed based on Simulink, that is, the electronically controlled air suspension model is constructed based on Simulink in combination with the functional control module, the control decision module and the height control module.

[0135] Through the above scheme, this embodiment uses the function control module to receive control signals and vehicle driving signals, and transmits the control requests and control targets corresponding to each vehicle height control function to the control decision module; uses the control decision module to make decisions according to the current vehicle status, function priority and fault status, and sends the height control command to the height control module; uses the height control module to receive the target height request signal and target request value corresponding to the height control command, and uses the PID control algorithm to output the duty cycle and drive signal of each solenoid valve according to the difference between the target height request signal and the target request value and the current actual height; constructs an electronically controlled air suspension model based on Simulink combined with the function control module, the control decision module and the height control module, which can quickly control the electronic air suspension model, realize closed-loop control of the height of the whole vehicle, and ensure the accuracy of the vehicle electronically controlled air suspension simulation test.

[0136] Further, Figure 6 FIG. 4 is a flow chart of a fourth embodiment of a simulation test method for an electronically controlled air suspension of a vehicle according to the present invention. Figure 6 As shown, a fourth embodiment of the vehicle electronically controlled air suspension simulation test method of the present invention is proposed based on the second embodiment. In this embodiment, the step S13 specifically includes the following steps:

[0137] Step S131, obtaining an initial state of the air spring and the amount of inflation and deflation, and determining the volume and internal pressure of the air spring according to the initial state of the air spring and the amount of inflation and deflation.

[0138] It should be noted that during the inflation process of the air spring, the dynamic change of its volume is equivalent to the piston module (inflation will cause the volume of the piston cylinder to increase). According to the initial state of the air spring (volume V0 and internal pressure P0), the changes in the volume V and internal pressure P of the air spring are calculated in combination with the inflation and deflation volume.

[0139] Step S132, calculating the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculating the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure.

[0140] It should be understood that the changes in the air spring height H and the force F are calculated based on the equivalent cross-sectional area S of the air spring calculated from the isobaric curve (H=V / S, F=P*S).

[0141] Step S133: Use friction force to simulate the hysteresis phenomenon of the output force of the air spring during the extension and compression process, and use damping force to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim.

[0142] It can be understood that by carrying out isobaric test data and static spring test data of air springs, friction force is used to simulate the output force hysteresis phenomenon during the extension and compression of air springs, and damping force is used to correct the dynamic stiffness characteristics of air springs.

[0143] Step S134, using a two-position three-way valve as a main valve and two two-position two-way valves as two channel valves, the main valve and the channel valves form a solenoid valve, obtaining a solenoid valve test result of the solenoid valve, correcting the flow rate and delay of the solenoid valve according to the solenoid valve test result, and constructing a solenoid valve model according to the corrected solenoid valve.

[0144] It should be understood that in the model, a two-position three-way valve represents the main valve, and two two-position two-way valves represent the channel 1 valve and the channel 2 valve respectively, that is, a combined solenoid valve is composed of a main valve and two channel valves. The solenoid valve corresponds to a corresponding solenoid valve test result, and then the flow and delay of the solenoid valve are corrected according to the solenoid valve test result, so as to construct a solenoid valve model based on the corrected solenoid valve.

[0145] In the specific implementation, the solenoid valve opening signal is set to 1, that is, for a two-position two-way valve, the signal is 1 when it is fully open, and the signal is between 0-1, and the flow rate is the product of the signal value and the flow rate when fully open; for a two-position three-way valve, the signal is 1 when it is fully open for inflation, and the signal is -1 when it is fully open for deflation. Signals between 0-1 and -1-0 represent the opening degree of inflation and deflation, and the flow rate is the same as above. According to the solenoid valve test results, the flow rate and delay of the solenoid valve are corrected, and the correction value of the flow rate is determined by a 2D table lookup of the known duty cycle signal value and the pressure difference value between the air source and the airbag; the delay signal is determined by a table lookup of the pressure difference between the air source and the airbag.

[0146] Step S135 , constructing an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface.

[0147] It can be understood that an air suspension simulation model can be constructed through the air spring model, the solenoid valve model and the communication interface. The air suspension simulation model based on AMEsim is mainly composed of air spring and solenoid valve AMEsim models, and AMEsim and MATLAB communication interface.

[0148] This embodiment adopts the above scheme, obtains the initial state of the air spring and the amount of inflation and deflation, and determines the volume and internal pressure of the air spring according to the initial state of the air spring and the amount of inflation and deflation; calculates the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculates the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure; uses friction force to simulate the output force hysteresis phenomenon of the air spring during the stretching and compression process, and uses damping force to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim; uses a two-position three-way valve as a main valve, and two two-position two-way valves as two channel valves, and the main valve and the channel valve form a solenoid valve, obtains the solenoid valve test results of the solenoid valve, corrects the flow and delay of the solenoid valve according to the solenoid valve test results, and constructs a solenoid valve model according to the corrected solenoid valve; constructs an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface, which can quickly construct a simulation model, realize closed-loop control of the height of the whole vehicle, and ensure the accuracy of the vehicle electronic air suspension simulation test.

[0149] Further, Figure 7 FIG. 5 is a flow chart of a fifth embodiment of a simulation test method for an electronically controlled air suspension of a vehicle according to the present invention. Figure 7 As shown, a fifth embodiment of the vehicle electronically controlled air suspension simulation test method of the present invention is proposed based on the first embodiment. In this embodiment, the step S20 specifically includes the following steps:

[0150] Step S21, determining that the output signal of the air suspension vehicle model is an air spring height signal, and the input signal of the air suspension vehicle model is an air spring force.

[0151] It should be noted that AMESim establishes the controlled object model, namely the AMEsim air suspension simulation model, Simulink establishes the electronically controlled air suspension model, and ADAMS performs dynamic simulation of vehicle height control. The joint simulation test system of commercial vehicle electronically controlled air suspension is established by using Simulink, AMEsim, and ADAMS.

[0152] It can be understood that the interface configuration between AMEsim and ADAMS is as follows: the input signal of AMEsim is the air spring force, and the output signal is the air spring height signal.

[0153] Step S22, determining that the output signals of the air suspension simulation model are an air spring height signal, an air spring pressure signal and an air spring force, and the input signals of the air suspension simulation model are a driving signal and a duty cycle signal of the solenoid valve.

[0154] It should be understood that the interface configuration between AMEsim and Simulink is as follows: the output signals of AMEsim are the air spring height signal, air spring pressure signal and air spring force, and the input signals are the drive signals and duty cycle signals of the drive axle and lifting axle solenoid valves.

[0155] Step S23, re-establishing the air suspension vehicle model in the AMEsim, building an air suspension simulation model based on AMEsim according to the ADAMS vehicle model parameters, and using the ADAMS vehicle model to perform vehicle parameter benchmarking.

[0156] It is understandable that AMEsim software cannot call ADAMS and Matlab at the same time, so we need to re-establish the ADAMS vehicle model in AMEsim, build an AMEsim-based air suspension simulation model according to the ADAMS vehicle model parameters, and use the ADAMS vehicle model to benchmark the vehicle parameters.

[0157] It should be understood that the AMEsim vehicle model and the air suspension simulation model are integrated through the interface setting between the unsprung suspension model and the air spring, and the AMEsim vehicle model and the ADAMS vehicle model are indirectly associated.

[0158] Step S24: Acquire environmental variables, and connect the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables.

[0159] It can be understood that the environment variables are obtained, and the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model is connected according to the environment variables, that is, the joint simulation interface of AMEsim and Simulink is connected by setting the environment variables.

[0160] Step S25, calling the air suspension simulation model in the Simulink environment of the electronically controlled air suspension model.

[0161] It should be understood that the AMEsim controlled object model is called in the Simulink environment. Here, the controlled object model is the AMESim vehicle ECAS model developed previously. In Simulink, the ECAS height control module and the AEMSim controlled object model are connected through interface signals, and the control signal is input to run the simulation.

[0162] This embodiment adopts the above scheme, by determining that the output signal of the air suspension vehicle model is the air spring height signal, and the input signal of the air suspension vehicle model is the air spring force; determining that the output signal of the air suspension simulation model is the air spring height signal, the air spring pressure signal and the air spring force, and the input signal of the air suspension simulation model is the drive signal and the duty cycle signal of the solenoid valve; re-establishing the air suspension vehicle model in the AMEsim, building an air suspension simulation model based on AMEsim according to the ADAMS vehicle model parameters, and using the ADAMS vehicle model to benchmark the vehicle parameters; obtaining environmental variables, and connecting the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables; calling the air suspension simulation model in the Simulink environment of the electronically controlled air suspension model, so as to realize closed-loop control of the vehicle height, ensure the accuracy of the vehicle electronically controlled air suspension simulation test, effectively reduce the development and testing costs, and improve the development efficiency.

[0163] Further, Figure 8 FIG. 6 is a flow chart of a sixth embodiment of a simulation test method for an electronically controlled air suspension of a vehicle according to the present invention. Figure 8 As shown, a sixth embodiment of the vehicle electronically controlled air suspension simulation test method of the present invention is proposed based on the first embodiment. In this embodiment, the step S30 specifically includes the following steps:

[0164] Step S31, input a control signal to the configured target interface, and obtain a preset height value according to the control signal.

[0165] It should be noted that after inputting a control signal to the configured target interface, a preset height value can be obtained according to the control signal.

[0166] Step S32, obtaining the current drive axle height, comparing the current drive axle height with the preset height value, and generating a comparison result.

[0167] It is understandable that after obtaining the current drive axle height and comparing the current drive axle height with a preset height value, a corresponding comparison result can be generated.

[0168] Step S33: adjusting the airbag pressure of the vehicle drive axle and the vehicle lifting axle according to the comparison result, and adjusting the state of the solenoid valve, and performing a MIL simulation test on the electronically controlled air suspension model according to the state of the solenoid valve to obtain a simulation test result.

[0169] It should be understood that the airbag pressure of the vehicle drive axle and the vehicle lifting axle can be adjusted through the comparison result, and then the solenoid valve state can be adjusted, and then the electronically controlled air suspension model can be subjected to a model in the loop (MIL) simulation test according to the solenoid valve state to obtain a simulation test result.

[0170] In the specific implementation, taking the preset height value of 1080mm as an example, the MIL test can realize the control function of height increase and decrease; when the height of the drive axle is maintained at 1080mm, the lifting axle load-bearing airbag is deflated, the load-bearing airbag pressure is reduced and reaches a certain stable value, and the drive axle load-bearing airbag pressure remains unchanged. This process realizes that the pressure ratio of the two axles' airbags reaches the target value; when the height of the drive axle is reduced to the target value, the system reaches a stable state, and the solenoid valves are all closed; under S road conditions, due to the wheel load transfer, the height of the airbags on the left and right sides of the rear suspension changes greatly; on bumpy roads, the rear suspension airbag load and the acceleration of the upper and lower ends of the airbag change greatly.

[0171] Through the above scheme, this embodiment obtains a preset height value according to the control signal by inputting a control signal to the configured target interface; obtains the current drive axle height, compares the current drive axle height with the preset height value, and generates a comparison result; adjusts the airbag pressure of the vehicle drive axle and the vehicle lifting axle according to the comparison result, and adjusts the solenoid valve state, and performs a MIL simulation test on the electronically controlled air suspension model according to the solenoid valve state to obtain a simulation test result; it can realize closed-loop control of the height of the whole vehicle, ensure the accuracy of the simulation test of the vehicle electronically controlled air suspension, effectively reduce the development and testing costs, improve the development efficiency, and improve the speed and efficiency of the simulation test of the vehicle electronically controlled air suspension.

[0172] Accordingly, the present invention further provides a vehicle electronically controlled air suspension simulation test device.

[0173] Reference Fig. 9 , Fig. 9 It is a functional module diagram of the first embodiment of the vehicle electronically controlled air suspension simulation test device of the present invention.

[0174] In a first embodiment of the vehicle electronically controlled air suspension simulation test device of the present invention, the vehicle electronically controlled air suspension simulation test device comprises:

[0175] The model building module 10 is used to build an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model.

[0176] The interface configuration module 20 is used to perform interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model.

[0177] The simulation test module 30 is used to input a control signal to the configured target interface, and perform a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result.

[0178] The model building module 10 is also used to build an electronically controlled air suspension model based on Simulink using a functional control module, a control decision module and a height control module; obtain actual vehicle parameters of the vehicle to be tested, use a coil spring to equivalently replace the air spring in the actual vehicle parameters, and use ADAMS to build an air suspension vehicle model according to the actual vehicle parameters; build an air spring model and a solenoid valve model based on AMEsim, and build an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface.

[0179] The model building module 10 is also used to use the function control module to receive control signals and vehicle driving signals, and transmit the control requests and control targets corresponding to each vehicle height control function to the control decision module; use the control decision module to make decisions according to the current vehicle status, function priority and fault status, and send the height control command to the height control module; use the height control module to receive the target height request signal and target request value corresponding to the height control command, and use the PID control algorithm to output the duty cycle and drive signal of each solenoid valve according to the difference between the target height request signal and the target request value and the current actual height; construct an electronically controlled air suspension model based on Simulink combined with the function control module, the control decision module and the height control module.

[0180] The model building module 10 is also used to use the height control module to receive the target height request signal and the target request value corresponding to the height control command; obtain the left and right side height difference of the current vehicle according to the target height request signal, the target request value and the current actual height, determine the main valve control signal according to the left and right side height difference, and use the PID control algorithm to calculate the duty cycle signal of the solenoid valve channel and the drive signal for driving the vehicle drive axle and the vehicle lifting axle based on the difference with the current actual height.

[0181] The model building module 10 is also used to obtain the initial air spring state and the amount of air charged and discharged, and determine the volume and internal pressure of the air spring according to the initial air spring state and the amount of air charged and discharged; calculate the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculate the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure; use friction force to simulate the output force hysteresis phenomenon of the air spring during the stretching and compression process, and use damping force to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim; use a two-position three-way valve as the main valve, and two two-position two-way valves as two channel valves, and form the main valve and the channel valve into a solenoid valve, obtain the solenoid valve test results of the solenoid valve, correct the flow and delay of the solenoid valve according to the solenoid valve test results, and construct a solenoid valve model based on the corrected solenoid valve; construct an air suspension simulation model based on the air spring model, the solenoid valve model and the communication interface.

[0182] The interface configuration module 20 is also used to determine that the output signal of the air suspension vehicle model is the air spring height signal, and the input signal of the air suspension vehicle model is the air spring force; determine that the output signal of the air suspension simulation model is the air spring height signal, the air spring pressure signal and the air spring force, and the input signal of the air suspension simulation model is the drive signal and duty cycle signal of the solenoid valve; re-establish the air suspension vehicle model in the AMEsim, build an air suspension simulation model based on AMEsim according to the ADAMS vehicle model parameters, and use the ADAMS vehicle model to benchmark the vehicle parameters; obtain environmental variables, and connect the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables; call the air suspension simulation model in the Simulink environment of the electronically controlled air suspension model.

[0183] The simulation test module 30 is also used to input a control signal to the configured target interface, obtain a preset height value according to the control signal; obtain the current drive axle height, compare the current drive axle height with the preset height value, and generate a comparison result; adjust the airbag pressure of the vehicle drive axle and the vehicle lifting axle according to the comparison result, and adjust the solenoid valve state, and perform MIL simulation test on the electronically controlled air suspension model according to the solenoid valve state to obtain a simulation test result.

[0184] Among them, the steps implemented by each functional module of the vehicle electronically controlled air suspension simulation test device can refer to the various embodiments of the vehicle electronically controlled air suspension simulation test method of the present invention, and will not be repeated here.

[0185] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle electronically controlled air suspension simulation test program is stored. When the vehicle electronically controlled air suspension simulation test program is executed by a processor, the following operations are implemented:

[0186] Construct electronically controlled air suspension models, air suspension vehicle models and air suspension simulation models;

[0187] Performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model;

[0188] A control signal is input to the configured target interface, and a MIL simulation test is performed on the electronically controlled air suspension model according to the control signal to obtain a simulation test result.

[0189] Furthermore, when the vehicle electronically controlled air suspension simulation test program is executed by the processor, the following operations are also implemented:

[0190] The electronically controlled air suspension model based on Simulink is constructed using the functional control module, control decision module and height control module;

[0191] Acquire the actual vehicle parameters of the vehicle to be tested, use the coil spring to equivalently replace the air spring in the actual vehicle parameters, and use ADAMS to build an air suspension vehicle model according to the actual vehicle parameters;

[0192] An air spring model and a solenoid valve model based on AMEsim are constructed, and an air suspension simulation model is constructed according to the air spring model, the solenoid valve model and a communication interface.

[0193] Furthermore, when the vehicle electronically controlled air suspension simulation test program is executed by the processor, the following operations are also implemented:

[0194] The function control module receives the control signal and the vehicle driving signal, and transmits the control request and the control target corresponding to each vehicle height control function to the control decision module;

[0195] Using the control decision module to make a decision based on the current vehicle state, function priority and fault state, and sending the height control command to the height control module;

[0196] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and utilizing a PID control algorithm to output a duty cycle and a drive signal of each solenoid valve according to the target altitude request signal and the difference between the target request value and the current actual altitude;

[0197] An electronically controlled air suspension model is constructed based on Simulink in combination with the functional control module, the control decision module and the height control module.

[0198] Furthermore, when the vehicle electronically controlled air suspension simulation test program is executed by the processor, the following operations are also implemented:

[0199] Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command;

[0200] The left-right height difference of the current vehicle is obtained according to the target height request signal, the target request value and the current actual height, the main valve control signal is determined according to the left-right height difference, and the duty cycle signal of the solenoid valve channel and the drive signal for driving the vehicle drive axle and the vehicle lifting axle are calculated using the PID control algorithm.

[0201] Furthermore, when the vehicle electronically controlled air suspension simulation test program is executed by the processor, the following operations are also implemented:

[0202] Acquire an initial state of the air spring and an amount of air charged and discharged, and determine a volume and an internal pressure of the air spring according to the initial state of the air spring and the amount of air charged and discharged;

[0203] Calculating the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculating the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure;

[0204] The friction force is used to simulate the output force hysteresis phenomenon of the air spring during the extension and compression process, and the damping force is used to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim;

[0205] A two-position three-way valve is used as a main valve, and two two-position two-way valves are used as two channel valves. The main valve and the channel valves are combined into a solenoid valve, and a solenoid valve test result of the solenoid valve is obtained. The flow rate and delay of the solenoid valve are corrected according to the solenoid valve test result, and a solenoid valve model is constructed according to the corrected solenoid valve;

[0206] An air suspension simulation model is constructed according to the air spring model, the solenoid valve model and the communication interface.

[0207] Furthermore, when the vehicle electronically controlled air suspension simulation test program is executed by the processor, the following operations are also implemented:

[0208] Determining that the output signal of the air suspension vehicle model is an air spring height signal, and the input signal of the air suspension vehicle model is an air spring force;

[0209] Determine that the output signals of the air suspension simulation model are an air spring height signal, an air spring pressure signal and an air spring force, and the input signals of the air suspension simulation model are a driving signal and a duty cycle signal of a solenoid valve;

[0210] The air suspension vehicle model is re-established in the AMEsim, an air suspension simulation model based on AMEsim is built according to the ADAMS vehicle model parameters, and the ADAMS vehicle model is used to benchmark the vehicle parameters;

[0211] Acquiring environmental variables, and connecting the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables;

[0212] The air suspension simulation model is called in the Simulink environment of the electronically controlled air suspension model.

[0213] Furthermore, when the vehicle electronically controlled air suspension simulation test program is executed by the processor, the following operations are also implemented:

[0214] Input a control signal to the configured target interface, and obtain a preset height value according to the control signal;

[0215] Acquire the current drive axle height, compare the current drive axle height with the preset height value, and generate a comparison result;

[0216] The airbag pressures of the vehicle drive axle and the vehicle lifting axle are adjusted according to the comparison results, and the state of the solenoid valve is adjusted. According to the state of the solenoid valve, a MIL simulation test is performed on the electronically controlled air suspension model to obtain a simulation test result.

[0217] This embodiment adopts the above scheme to construct an electronically controlled air suspension model, an air suspension vehicle model and an air suspension simulation model; configure the interfaces of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; input a control signal to the configured target interface, and perform a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result, thereby realizing closed-loop control of the height of the whole vehicle, ensuring the accuracy of the simulation test of the electronically controlled air suspension of the vehicle, effectively reducing the development and testing costs, improving the development efficiency, and improving the speed and efficiency of the simulation test of the electronically controlled air suspension of the vehicle.

[0218] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0219] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0220] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle electronically controlled air suspension simulation test method, It is characterized in that The vehicle electronically controlled air suspension simulation test method comprises: Construct electronically controlled air suspension models, air suspension vehicle models and air suspension simulation models; Performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; Inputting a control signal to the configured target interface, performing a MIL simulation test on the electronically controlled air suspension model according to the control signal, and obtaining a simulation test result; The construction of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model includes: The electronically controlled air suspension model based on Simulink is constructed using the functional control module, control decision module and height control module; Acquire the actual vehicle parameters of the vehicle to be tested, use the coil spring to equivalently replace the air spring in the actual vehicle parameters, and use ADAMS to build an air suspension vehicle model according to the actual vehicle parameters; Constructing an air spring model and a solenoid valve model based on AMEsim, and constructing an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface; The electronically controlled air suspension model based on Simulink is constructed by using the functional control module, the control decision module and the height control module, including: The function control module receives the control signal and the vehicle driving signal, and transmits the control request and the control target corresponding to each vehicle height control function to the control decision module; Using the control decision module to make a decision based on the current vehicle state, function priority and fault state, and sending the height control command to the height control module; Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and utilizing a PID control algorithm to output a duty cycle and a drive signal of each solenoid valve according to the target altitude request signal and the difference between the target request value and the current actual altitude; An electronically controlled air suspension model is constructed based on Simulink in combination with the functional control module, the control decision module and the height control module.

2. The vehicle electronically controlled air suspension simulation test method according to claim 1, It is characterized in that The method of using the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and using a PID control algorithm to output a duty cycle and a drive signal of each solenoid valve according to the difference between the target altitude request signal and the target request value and the current actual altitude includes: Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command; The left-right height difference of the current vehicle is obtained according to the target height request signal, the target request value and the current actual height, the main valve control signal is determined according to the left-right height difference, and the duty cycle signal of the solenoid valve channel and the drive signal for driving the vehicle drive axle and the vehicle lifting axle are calculated.

3. The vehicle electronically controlled air suspension simulation test method according to claim 1, It is characterized in that The air spring model and the solenoid valve model based on AMEsim are constructed, and the air suspension simulation model is constructed according to the air spring model, the solenoid valve model and the communication interface, including: Acquire an initial state of the air spring and an amount of air charged and discharged, and determine a volume and an internal pressure of the air spring according to the initial state of the air spring and the amount of air charged and discharged; Calculating the equivalent cross-sectional area of ​​the air spring according to a preset isobaric curve, and calculating the height and force of the air spring according to the equivalent cross-sectional area, the volume of the air spring and the internal pressure; The friction force is used to simulate the output force hysteresis phenomenon of the air spring during the extension and compression process, and the damping force is used to correct the dynamic stiffness characteristics of the air spring to construct an air spring model based on AMEsim; A two-position three-way valve is used as a main valve, and two two-position two-way valves are used as two channel valves. The main valve and the channel valves are combined into a solenoid valve, and a solenoid valve test result of the solenoid valve is obtained. The flow rate and delay of the solenoid valve are corrected according to the solenoid valve test result, and a solenoid valve model is constructed according to the corrected solenoid valve; An air suspension simulation model is constructed according to the air spring model, the solenoid valve model and the communication interface.

4. The vehicle electronically controlled air suspension simulation test method according to claim 1, It is characterized in that The interface configuration of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model includes: Determining that the output signal of the air suspension vehicle model is an air spring height signal, and the input signal of the air suspension vehicle model is an air spring force; Determine that the output signals of the air suspension simulation model are an air spring height signal, an air spring pressure signal and an air spring force, and the input signals of the air suspension simulation model are a driving signal and a duty cycle signal of a solenoid valve; The air suspension vehicle model is re-established in the AMEsim, an air suspension simulation model based on AMEsim is built according to the ADAMS vehicle model parameters, and the ADAMS vehicle model is used to benchmark the vehicle parameters; Acquiring environmental variables, and connecting the joint simulation interface of the electronically controlled air suspension model and the air suspension simulation model according to the environmental variables; The air suspension simulation model is called in the Simulink environment of the electronically controlled air suspension model.

5. The vehicle electronically controlled air suspension simulation test method according to claim 1, It is characterized in that The input control signal to the configured target interface, and performing a MIL simulation test on the electronically controlled air suspension model according to the control signal to obtain a simulation test result, including: Input a control signal to the configured target interface, and obtain a preset height value according to the control signal; Acquire the current drive axle height, compare the current drive axle height with the preset height value, and generate a comparison result; The airbag pressures of the vehicle drive axle and the vehicle lifting axle are adjusted according to the comparison results, and the state of the solenoid valve is adjusted. According to the state of the solenoid valve, a MIL simulation test is performed on the electronically controlled air suspension model to obtain a simulation test result.

6. A vehicle electronically controlled air suspension simulation test device, It is characterized in that The vehicle electronically controlled air suspension simulation test device comprises: Model building module, used to build electronically controlled air suspension model, air suspension vehicle model and air suspension simulation model; An interface configuration module, used for performing interface configuration on the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model; A simulation test module, used for inputting a control signal to the configured target interface, performing a MIL simulation test on the electronically controlled air suspension model according to the control signal, and obtaining a simulation test result; The construction of the electronically controlled air suspension model, the air suspension vehicle model and the air suspension simulation model includes: The electronically controlled air suspension model based on Simulink is constructed using the functional control module, control decision module and height control module; Acquire the actual vehicle parameters of the vehicle to be tested, use the coil spring to equivalently replace the air spring in the actual vehicle parameters, and use ADAMS to build an air suspension vehicle model according to the actual vehicle parameters; Constructing an air spring model and a solenoid valve model based on AMEsim, and constructing an air suspension simulation model according to the air spring model, the solenoid valve model and the communication interface; The electronically controlled air suspension model based on Simulink is constructed by using the functional control module, the control decision module and the height control module, including: The function control module receives the control signal and the vehicle driving signal, and transmits the control request and the control target corresponding to each vehicle height control function to the control decision module; Using the control decision module to make a decision based on the current vehicle state, function priority and fault state, and sending the height control command to the height control module; Utilizing the altitude control module to receive a target altitude request signal and a target request value corresponding to the altitude control command, and utilizing a PID control algorithm to output a duty cycle and a drive signal of each solenoid valve according to the target altitude request signal and the difference between the target request value and the current actual altitude; An electronically controlled air suspension model is constructed based on Simulink in combination with the functional control module, the control decision module and the height control module.

7. A vehicle electronically controlled air suspension simulation test device, It is characterized in that The vehicle electronically controlled air suspension simulation test equipment comprises: a memory, a processor and a vehicle electronically controlled air suspension simulation test program stored in the memory and executable on the processor, wherein the vehicle electronically controlled air suspension simulation test program is configured to implement the steps of the vehicle electronically controlled air suspension simulation test method as described in any one of claims 1 to 5.

8. A storage medium, It is characterized in that The storage medium stores a vehicle electronically controlled air suspension simulation test program, which, when executed by a processor, implements the steps of a vehicle electronically controlled air suspension simulation test method as described in any one of claims 1 to 5.

Images