A vehicle bench synchronous load simulation method with network delay compensation function

Abstract

The application discloses a vehicle bench synchronous load simulation method with a network delay compensation function, and the method comprises the following steps: simulating and calculating target rotating speeds of left and right dynamometers, and measuring actual rotating speeds of the left and right dynamometers; calculating target torques of the left and right dynamometers according to the target rotating speeds and the actual rotating speeds respectively; and controlling the left and right dynamometers to operate by using a torque closed-loop control mode according to the target torques of the left and right dynamometers. The application can effectively eliminate the influence of network delay on vehicle bench synchronous load simulation control, and greatly improves the networked vehicle bench synchronous load simulation performance. Moreover, the network delay problem existing in the vehicle bench synchronous load simulation system is solved from the software level, the structure is simple, the method is easy to implement, and the method is suitable for engineering development and industrialization.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle testing, and in particular to a vehicle bench synchronous load simulation method with network delay compensation function. BACKGROUND

[0002] Bench test is one of the key test methods widely used in the automobile industry, and its core technology lies in dynamic load simulation of the bench. In order to fully verify the performance of each component of the vehicle, domestic and foreign research institutions have developed some vehicle benches with real vehicle powertrains, including driving motor, transmission, differential, brake system, left and right half shafts and left and right dynamometers. In order to support the development of the above vehicle bench test, it is required that the left and right dynamometers can achieve synchronous load simulation, so as to avoid the negative effects caused by the asynchronization of load simulation between the dynamometers. Therefore, on the basis of improving the load simulation accuracy of single dynamometer, the vehicle bench load simulation method needs to consider the synchronization performance of load simulation between the coaxial dynamometers.

[0003] In recent years, with the rapid development of field bus technology, vehicle benches are developing towards integration and networking, gradually evolving from traditional point-to-point vehicle benches to networked vehicle benches. In the traditional point-to-point vehicle bench, sensors, controllers and actuators are directly connected; compared with the point-to-point vehicle bench, the networked vehicle bench exchanges information between sensors, controllers and actuators through a communication network, has the advantages of large amount of data transmission, convenient remote operation and maintenance, etc., and is the mainstream development trend of vehicle benches at present. However, limited by network communication priority and network bandwidth, the information exchange between sensors, controllers and actuators is prone to network-induced delay, which seriously deteriorates the dynamic load simulation performance of the vehicle bench, and even leads to system instability. Therefore, it is urgent to develop a vehicle bench synchronous load simulation method and system with network delay compensation function. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, the present application aims to provide a vehicle bench synchronous load simulation method, system, device and storage medium with network delay compensation function, in order to improve the load simulation performance of the existing vehicle bench and adapt to the vehicle bench test under complex communication control network conditions.

[0006] To achieve the above purpose, the present application provides a vehicle bench synchronous load simulation method with network delay compensation function, comprising:

[0007] simulating the target speed of the left dynamometer and the right dynamometer, and measuring the actual speed of the left dynamometer and the right dynamometer;

[0008] According to the target rotating speed and the actual rotating speed, target torques of the left dynamometer and the right dynamometer are calculated respectively;

[0009] According to the target torques of the left dynamometer and the right dynamometer, the left dynamometer and the right dynamometer are controlled to operate respectively by using a torque closed-loop control mode.

[0010] The vehicle bench synchronous load simulation method with the network delay compensation function according to the embodiment of the present application can further have the following additional technical features:

[0011] Further, in an embodiment of the present application, the target torques of the left dynamometer and the right dynamometer are calculated according to the target rotating speed and the actual rotating speed, which includes: filtering the target rotating speed and the actual rotating speed; calculating target tracking torques and target synchronous torques of the left dynamometer and the right dynamometer according to the filtered target rotating speed and actual rotating speed; and obtaining the target torques of the left dynamometer and the right dynamometer according to the target tracking torques and the target synchronous torques.

[0012] Further, in an embodiment of the present application, after the target torques of the left dynamometer and the right dynamometer are obtained, the method further includes: correcting the target torques of the left dynamometer and the right dynamometer according to the actual rotating speed and the equivalent delay disturbance torque of the left dynamometer and the right dynamometer.

[0013] Further, in an embodiment of the present application, the target rotating speed of the left dynamometer and the right dynamometer is simulated and calculated, and the actual rotating speed of the left dynamometer and the right dynamometer is measured, which includes: simulating and calculating the target rotating speed of the left dynamometer and the right dynamometer based on a preset vehicle model; and measuring the actual rotating speed of the left dynamometer and the right dynamometer online by using a sensing device.

[0014] To achieve the above object, another aspect of the present application provides a vehicle bench synchronous load simulation system with a network delay compensation function, which comprises:

[0015] A calculation and measurement module is configured to simulate and calculate the target rotating speed of the left dynamometer and the right dynamometer and measure the actual rotating speed of the left dynamometer and the right dynamometer.

[0016] A torque determination module is configured to calculate the target torques of the left dynamometer and the right dynamometer according to the target rotating speed and the actual rotating speed respectively.

[0017] According to the target torques of the left dynamometer and the right dynamometer, the left dynamometer and the right dynamometer are controlled to operate respectively by using a torque closed-loop control mode.

[0018] The third aspect of the present application provides a computer device, which comprises a processor and a memory.

[0019] The processor runs a program corresponding to executable program code stored in the memory by reading the executable program code, to implement the vehicle bench synchronous load simulation method with network delay compensation function.

[0020] The fourth aspect of the present application provides a non-transitory computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the vehicle bench synchronous load simulation method with network delay compensation function.

[0021] The vehicle bench synchronous load simulation method, device, equipment and storage medium with network delay compensation function can effectively eliminate the influence of network delay on vehicle bench synchronous load simulation control, and greatly improve the networked vehicle bench synchronous load simulation performance. The uncertain disturbance estimator is introduced to observe the equivalent delay disturbance of the vehicle bench and compensate, thereby realizing the network delay compensation function. This method does not require accurate numerical value of network delay and real-time detection of network delay, and simplifies the control program. The network delay problem existing in the vehicle bench synchronous load simulation system is solved from the software level, and the structure is simple, easy to implement, and suitable for engineering development and industrialization.

[0022] Additional aspects and advantages of the application will be described in part below, will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 The flow chart of the vehicle bench synchronous load simulation method with network delay compensation function according to the embodiment of the present application is shown in the figure.

[0025] Figure 2 The flow chart of the target torque calculation of the left dynamometer and the right dynamometer according to the embodiment of the present application is shown in the figure.

[0026] Figure 3 The structure schematic diagram of the vehicle bench synchronous load simulation system with network delay compensation function according to the embodiment of the present application is shown in the figure.

[0027] Figure 4 The structure diagram of the vehicle bench network synchronous control device according to the embodiment of the present application is shown in the figure.

[0028] Figure 5 The computer equipment according to the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0029] It should be noted that the embodiments and features in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0030] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0031] The method, device and equipment for simulating synchronous load of vehicle bench with network delay compensation function and the storage medium according to the embodiments of the present application are described below with reference to the drawings.

[0032] Figure 1 The flow chart of the method for simulating synchronous load of vehicle bench with network delay compensation function according to an embodiment of the present application is shown in the figure.

[0033] As shown in the figure, the method includes but is not limited to the following steps: Figure 1

[0034] S1, simulate and calculate the target speed of the left dynamometer and the right dynamometer, and measure the actual speed of the left dynamometer and the right dynamometer.

[0035] Specifically, according to the built-in vehicle model, the target speed of the dynamometer system is calculated by using the simulation calculation device, and is sent to the dynamometer network synchronization control device through the CAN network.

[0036] The actual speed of the left dynamometer and the right dynamometer is measured online by using the sensing device, and is sent to the dynamometer network synchronization control device through the CAN network. The sensing device includes but is not limited to a sensor.

[0037] S2, calculate the target torque of the left dynamometer and the right dynamometer according to the target speed and the actual speed.

[0038] Specifically, according to the target speed and the actual speed of the left dynamometer and the right dynamometer received by the CAN network, the target torque of the left dynamometer and the right dynamometer is calculated by the dynamometer network control device, and is sent to the dynamometer system through the CAN network.

[0039] Further, as shown in the figure, the step S2 specifically includes the following steps: Figure 2

[0040] S21, filter the target speed and the actual speed;

[0041] ​​S22, calculating target tracking torques and target synchronous torques of the left dynamometer and the right dynamometer according to the target rotational speeds and the actual rotational speeds after the filtering processing;

[0042] S23, obtaining the target torques of the left dynamometer and the right dynamometer according to the target tracking torques and the target synchronous torques.

[0043] Specifically, the filtering module performs filtering processing on the target rotational speeds and the actual rotational speeds of the left dynamometer and the right dynamometer; the left dynamometer control module and the right dynamometer control module respectively calculate the target tracking torques of the left dynamometer and the right dynamometer according to the target rotational speeds and the actual rotational speeds of the left dynamometer and the right dynamometer; the network synchronous control module calculates the target synchronous torques of the left dynamometer and the right dynamometer according to the target rotational speeds and the actual rotational speeds of the left dynamometer and the right dynamometer;

[0044] Further, the left dynamometer delay compensation module and the right dynamometer delay compensation module respectively observe the equivalent delay disturbance torques of the left dynamometer and the right dynamometer according to the actual rotational speeds of the left dynamometer and the right dynamometer and the target torques of the left dynamometer and the right dynamometer after the correction by the torque correction module, and calculate the target torques of the left dynamometer and the right dynamometer.

[0045] Further, the torque correction module is used to correct the target torques of the left dynamometer and the right dynamometer.

[0046] Further, the left dynamometer control module and the right dynamometer control module respectively calculate the target tracking torques of the left dynamometer and the right dynamometer in the above steps, and the specific formula is as follows:

[0047]

[0048] Wherein, u LT and u RT are the target tracking torques of the left dynamometer and the right dynamometer respectively.e L is the rotational speed tracking error of the left dynamometer, and e L = ω * - ω L ; wherein, ω L is the actual rotational speed of the left dynamometer.e R is the rotational speed tracking error of the right dynamometer, and e R = ω * - ω R ; wherein, ω R is the actual rotational speed of the right dynamometer.K PLT and K ILT are the proportional control gain and the integral control gain of the left dynamometer tracking control respectively.K PRT and K IRTare the proportional control gain and the integral control gain of the right dynamometer tracking control, respectively.

[0049] Further, the network synchronization control module in the above step calculates the target synchronization torques of the left and right dynamometers according to the following formula:

[0050]

[0051] wherein u LS and u RS are the target synchronization torques of the left and right dynamometers, respectively. S is the speed synchronization error between the left and right dynamometers, and e S = ω L - ω R . K PS and K IS are the proportional control gain and the integral control gain of the left and right dynamometer synchronization control, respectively.

[0052] Further, the left and right dynamometer delay compensation modules in the above step observe the equivalent delay disturbance torques of the left and right dynamometers, respectively, and calculate the target torques of the left and right dynamometers according to the following formula:

[0053]

[0054] wherein u L and u R are the target torques of the left and right dynamometers, respectively. B L and B R are the control input matrices of the left and right dynamometers, respectively. and are the estimated values of the equivalent delay disturbances D L and D R of the left and right dynamometers, respectively, and are expressed as follows:

[0055]

[0056] wherein, and are the first-order low-pass filtered speed values of ω L and ω R , i.e. and wherein β is a filter parameter. and are u LM and u RMThe target torque value after first-order low-pass filtering, i.e. and u LM and u RM are the left dynamometer target torque and the right dynamometer target torque respectively after correction by the torque correction module. The dynamical equations of the left dynamometer and the right dynamometer are expressed as follows:

[0057]

[0058] Further, the target torque of the left and right dynamometers is corrected by the torque correction module in the above steps, and the specific formula is as follows:

[0059]

[0060] wherein U is the torque amplitude limit value of the left dynamometer and the right dynamometer.

[0061] S3, according to the target torque of the left dynamometer and the right dynamometer, the torque closed-loop control mode is used to control the operation of the left dynamometer and the right dynamometer respectively.

[0062] Specifically, according to the corrected left dynamometer target torque and the right dynamometer target torque received by the CAN network, the torque closed-loop control mode is adopted by the local controller of the left dynamometer and the right dynamometer to control the operation of the left dynamometer and the right dynamometer respectively.

[0063] The vehicle bench synchronous load simulation method with network delay compensation function according to the embodiment of the application can effectively eliminate the influence of network delay on vehicle bench synchronous load simulation control, and greatly improve the networked vehicle bench synchronous load simulation performance. The equivalent delay disturbance of the vehicle bench is observed by introducing an uncertain disturbance estimator, and compensation is performed, thereby realizing the network delay compensation function. This method does not require accurate numerical value of network delay, and does not require real-time detection of network delay, thereby simplifying the control program. The network delay problem existing in the vehicle bench synchronous load simulation system is solved from the software level, and the structure is simple, easy to implement, and suitable for engineering development and industrialization.

[0064] In order to realize the above-mentioned embodiment, as Figure 3 shown, the embodiment further provides a vehicle bench synchronous load simulation system with network delay compensation function, which comprises a bench control device 1, a sensing device 3 and a dynamometer system 4.

[0065] The bench control device 1 is used for simulating and calculating the target speed of the left dynamometer 42 and the right dynamometer 44.

[0066] The sensing device 3 is used for measuring the actual speed of the left dynamometer 42 and the right dynamometer 44.

[0067] The test rig control device 1 is further configured to calculate target torques of the left dynamometer 42 and the right dynamometer 44 according to the target speed and the actual speed, respectively.

[0068] The dynamometer system 4 is configured to control the left dynamometer 42 and the right dynamometer 44 to operate in a torque closed-loop control mode according to the target torques of the left dynamometer 42 and the right dynamometer 44, respectively.

[0069] Further, the system further comprises a vehicle powertrain system 2,

[0070] The test rig control device 1 comprises a simulation calculation device 11 and a dynamometer network synchronization control device 12, the simulation calculation device 11 is configured to calculate control instructions of the vehicle powertrain system 2 according to a preset vehicle model.

[0071] As an example, as Figure 3As shown, the system of this embodiment of the invention specifically includes: a test bench control device 1, a vehicle powertrain system 2, a sensing device 3, a dynamometer system 4, and a CAN communication network 5. The test bench control device 1 includes a simulation calculation device 11 and a dynamometer network synchronization control device 12; the vehicle powertrain system 2 includes a drive motor controller 21, a drive motor 22, a transmission 23, a differential 24, a left half-shaft 25, and a right half-shaft 26; the sensing device 3 includes a left speed sensor 31 and a right speed sensor 32; the dynamometer system 4 includes a left dynamometer local controller 41, a left dynamometer 42, a right dynamometer local controller 43, and a right dynamometer 44. The left dynamometer 42 and the right dynamometer 44 are mechanically connected to the left half-shaft 25 and the right half-shaft 26 respectively via couplings; the left speed sensor 31 and the right speed sensor 32 are respectively installed at the output shafts of the left dynamometer 42 and the right dynamometer 44. The simulation computing device 11 calculates the control commands of the vehicle powertrain system 2 and the target speed of the dynamometer system 4 based on the built-in vehicle model; the vehicle powertrain system 2 drives the vehicle to run according to the control commands received from the vehicle powertrain system 2 via the CAN network; the left speed sensor 31 and the right speed sensor 32 measure the actual speeds of the left dynamometer 42 and the right dynamometer 44 respectively, and send them to the dynamometer network synchronization control device 12 via the CAN communication network 5; the dynamometer network synchronization control device 12 calculates the target torque of the left dynamometer 42 and the right dynamometer 44 based on the target speed and the actual speed of the left dynamometer 42 and the right dynamometer 44, and sends it to the left dynamometer local controller 41 and the right dynamometer local controller 43 respectively via the CAN communication network 5; the dynamometer system 4 adopts torque control mode, and controls the operation of the left dynamometer 42 and the right dynamometer 44 through the left dynamometer local controller 41 and the right dynamometer local controller 43 to load the vehicle powertrain system 2.

[0072] Furthermore, such as Figure 4 As shown, the aforementioned dynamometer network synchronization control device 12 specifically includes:

[0073] The filtering module 121 is used to filter the target speed and the actual speed;

[0074] The left dynamometer control module 122 and the right dynamometer control module 123 are used to calculate the target tracking torque of the left dynamometer 42 and the right dynamometer 44 respectively based on the target speed and the actual speed after filtering.

[0075] The network synchronization control module 124 is used to calculate the target synchronization torque of the left dynamometer 42 and the right dynamometer 44 based on the filtered target speed and the actual speed.

[0076] The left dynamometer delay compensation module 125 and the right dynamometer delay compensation module 126 are configured to obtain target torques of the left dynamometer 42 and the right dynamometer 44 according to the target tracking torques and the target synchronous torques and equivalent delay disturbance torques of the left dynamometer 42 and the right dynamometer 44.

[0077] Further, as shown in the figure, Figure 5 The dynamometer network synchronous control device 12 further includes a torque correction module 127 configured to correct the target torques of the left dynamometer 42 and the right dynamometer 44.

[0078] Further, as shown in the figure, Figure 4 The dynamometer network synchronous control device 12 specifically includes a filtering module 121, a left dynamometer control module 122, a right dynamometer control module 123, a network synchronous control module 124, a left dynamometer delay compensation module 125, a right dynamometer delay compensation module 126, and a torque correction module 127. The filtering module 121 filters target speeds and actual speeds of the left dynamometer 42 and the right dynamometer 44. The left dynamometer control module 41 calculates target tracking torques of the left dynamometer 42 according to the target speed and the actual speed of the left dynamometer 42. The right dynamometer control module 123 calculates target tracking torques of the right dynamometer 44 according to the target speed and the actual speed of the right dynamometer 44. The network synchronous control module 124 calculates target synchronous torques of the left dynamometer 42 and the right dynamometer 44 according to the actual speeds of the left dynamometer 42 and the right dynamometer 44. The left dynamometer delay compensation module 125 estimates equivalent delay disturbances of the left dynamometer 42 and calculates target torques of the left dynamometer 42. The right dynamometer delay compensation module 126 estimates equivalent delay disturbances of the right dynamometer 44 and calculates target torques of the right dynamometer 44. The torque correction module 127 corrects the target torques of the left dynamometer 42 and the right dynamometer 44.

[0079] According to the vehicle bench synchronous load simulation system with the network delay compensation function, the influence of the network delay on the vehicle bench synchronous load simulation control can be effectively eliminated, and the networked vehicle bench synchronous load simulation performance is greatly improved. The uncertain disturbance estimator is introduced to observe the equivalent delay disturbance of the vehicle bench and compensate, thereby realizing the network delay compensation function. This method does not require the accurate value of the network delay and real-time detection of the network delay, and simplifies the control program. The network delay problem existing in the vehicle bench synchronous load simulation system is solved from the software level, and the structure is simple and easy to implement, and is suitable for engineering development and industrialization.

[0080] In order to realize the method of the above-mentioned embodiments, the present application further provides a computer device, as shown in the figure, Figure 5As shown, the computer device 600 comprises a memory 601, a processor 602; wherein the processor 602 runs a program corresponding to an executable program code stored in the memory 601 by reading the executable program code, so as to implement each step of the vehicle bench synchronous load simulation method with network delay compensation function described above.

[0081] In order to implement the method of the above-mentioned embodiments, the application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle bench synchronous load simulation method with network delay compensation function.

[0082] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0083] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0084] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A method for simulating vehicle bench synchronous load with network latency compensation function, characterized in that, Includes the following steps: The simulation calculates the target speeds of the left and right dynamometers and measures their actual speeds; this includes: calculating the target speed of the dynamometer system using a simulation calculation device based on a built-in vehicle model, and sending the result to the dynamometer network synchronization control device via a CAN network; and calculating the target speed of the dynamometer system using a simulation calculation device based on a built-in vehicle model, and sending the result to the dynamometer network synchronization control device via a CAN network. Calculate the target torque of the left and right dynamometers based on the target speed and the actual speed, respectively. Based on the target torques of the left and right dynamometers, the left and right dynamometers are controlled to operate using a torque closed-loop control mode, respectively. The step of calculating the target torque of the left and right dynamometers based on the target speed and the actual speed respectively includes: The target speed and the actual speed are filtered. Based on the target speed and actual speed after filtering, calculate the target tracking torque and target synchronization torque of the left and right dynamometers. The target torques of the left and right dynamometers are obtained based on the target tracking torque, the target synchronization torque, and the equivalent delay disturbance torques of the left and right dynamometers. Specifically, based on the actual rotational speeds of the left and right dynamometers and the target torques of the left and right dynamometers corrected by the torque correction module, the left dynamometer delay compensation module and the right dynamometer delay compensation module respectively observe the equivalent delay disturbance torques of the left and right dynamometers. The target tracking torque of the left and right dynamometers is calculated using the left and right dynamometer control modules respectively. The specific formula is as follows: in, and These are the target tracking torques of the left and right dynamometers, respectively. It is the speed tracking error of the left dynamometer, and ;in, This is the actual rotational speed of the left dynamometer. It is the speed tracking error of the right dynamometer, and ;in, This is the actual rotational speed of the right dynamometer. and These are the proportional control gain and integral control gain of the left dynamometer tracking control, respectively. and These are the proportional control gain and integral control gain of the right dynamometer tracking control, respectively. The target synchronous torque of the left and right dynamometers is calculated using the network synchronization control module, and the specific formula is as follows: in, and These are the target synchronous torques of the left and right dynamometers, respectively. It is the speed synchronization error between the left dynamometer and the right dynamometer, and , and These are the proportional control gain and integral control gain of the left dynamometer and the right dynamometer, respectively, for synchronous control. The left and right dynamometer delay compensation modules observe the equivalent delay disturbance torques of the left and right dynamometers, respectively, and calculate the target torques of the left and right dynamometers. The specific formulas are as follows: in, and These are the target torques of the left dynamometer and the right dynamometer, respectively. and These are the control input matrices for the left dynamometer and the right dynamometer, respectively. and These are the equivalent delay disturbances of the left and right dynamometers, respectively. and The estimated value, and The expression is as follows: in, and They are and The rotational speed value after first-order low-pass filtering, i.e. ;in, These are the filter parameters; and They are and The target torque value after first-order low-pass filtering, i.e. ; and These are the target torques of the left dynamometer and the right dynamometer after correction by the torque correction module.

2. The method according to claim 1, characterized in that, After obtaining the target torques of the left and right dynamometers, the method further includes: The target torques of the left and right dynamometers are corrected.

3. The method according to claim 1, characterized in that, The simulation calculation of the target speeds of the left and right dynamometers and the measurement of the actual speeds of the left and right dynamometers include: The target rotational speeds of the left and right dynamometers are calculated based on a pre-set vehicle model simulation; and, The actual rotational speeds of the left and right dynamometers are measured online using a sensing device.

4. A vehicle bench synchronous load simulation system with network latency compensation function using the method described in claim 1, characterized in that, include: A bench control device is used to simulate and calculate the target rotational speeds of the left and right dynamometers. The sensing device is used to measure the actual rotational speed of the left and right dynamometers; The test bench control device is also used to calculate the target torque of the left dynamometer and the right dynamometer based on the target speed and the actual speed, respectively. The dynamometer system is used to control the operation of the left and right dynamometers respectively using a torque closed-loop control mode based on the target torque of the left and right dynamometers.

5. The system according to claim 4, characterized in that, The system also includes a vehicle powertrain system. The test bench control device includes a simulation calculation device and a dynamometer network synchronization control device. The simulation calculation device is used to calculate the control commands of the vehicle powertrain system based on a preset vehicle model.

6. The system according to claim 5, characterized in that, The dynamometer network synchronization control device specifically includes: The filtering module is used to filter the target speed and the actual speed. The left dynamometer control module and the right dynamometer control module are used to calculate the target tracking torque of the left dynamometer and the right dynamometer respectively based on the target speed and the actual speed after filtering. The network synchronization control module is used to calculate the target synchronization torque of the left and right dynamometers based on the filtered target speed and the actual speed. The left dynamometer delay compensation module and the right dynamometer delay compensation module are used to obtain the target torque of the left dynamometer and the right dynamometer based on the target tracking torque, the target synchronization torque, and the equivalent delay disturbance torque of the left dynamometer and the right dynamometer.

7. The system according to claim 6, characterized in that, The dynamometer network synchronization control device further includes a torque correction module for correcting the target torque of the left and right dynamometers.

8. A computer device, characterized in that, Including processor and memory; The processor reads executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the vehicle bench synchronous load simulation method with network latency compensation function as described in any one of claims 1-3.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle bench synchronous load simulation method with network latency compensation function as described in any one of claims 1-3.

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