A testing method and system for a controller of a semi-active damping shock absorber

Abstract

The present invention relates to the technical field of the performance development and testing of vehicle semi-active damping shock absorber controllers, and particularly relates to a method and system for testing a semi-active damping shock absorber controller. The method includes: collecting road unevenness information and road scene information through a real vehicle; constructing a servo test bench to simulate the operation of the semi-active damping shock absorber system; detecting obstacle information and transmitting it to the controller, and the controller performs pulse width adjustment on the solenoid valve of the semi-active damping shock absorber according to the current vehicle speed and the obstacle information to actively adjust the damping force of the shock absorber; according to the sensor signals on the semi-active damping shock absorber, calculating the state information of the vehicle at this time through the vehicle dynamics model in the real-time simulator to evaluate the control performance of the semi-active damping shock absorber controller. The present invention effectively reduces the need for vehicle road experiments and greatly improves the system development and testing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of performance testing of vehicle semi-active damping shock absorber controllers, and particularly to a testing method and system for vehicle shock absorber controllers based on semi-physical hardware-in-the-loop. Background Art

[0002] In order to ensure the ride comfort and handling stability during vehicle driving, some vehicles use a controller to control the semi-active damping shock absorber accordingly. Specifically, the vehicle-mounted camera is used to collect the road section that the vehicle is about to drive on, and the vertical displacement information and road surface information of the vehicle about to be performed are analyzed and used as control features to adjust the speed damping characteristics of the shock absorber, so as to achieve better comfort and handling stability.

[0003] However, the existing testing and evaluation of the controller are often carried out through vehicle experiments, which require high costs, large occupied site areas, and low testing efficiency.

[0004] Therefore, we have developed a testing method and system for the controller of the semi-active damping shock absorber of the present invention. Summary of the Invention

[0005] The purpose of the present invention is to provide a testing method and system for the controller of the semi-active damping shock absorber.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] The present invention provides a testing method for the controller of the semi-active damping shock absorber based on semi-physical hardware-in-the-loop simulation, including the following steps:

[0008] Collect road roughness information and road scene information through a real vehicle, record the sensor data on the real vehicle semi-active damping shock absorber and its corresponding vehicle state information, and use it as the true input signal of the vehicle dynamics model stored in the real-time simulator;

[0009] Build a servo test bench, use the road roughness information as the input excitation signal of the hydraulic actuator of the servo test bench, and simulate the operation of the semi-active damping shock absorber system on the servo test bench;

[0010] Play the road scene information through a display screen, collect the road surface information in the video stream of the road scene information played on the display screen through a camera, detect the obstacle information therein and transmit it to the controller, and the controller adjusts the pulse width of the solenoid valve of the semi-active damping shock absorber according to the current vehicle speed and the obstacle information to actively adjust the damping force of the shock absorber;

[0011] Based on the sensor signals on the semi-active damping shock absorber, calculate the vehicle's state information at this time through the vehicle dynamics model in the real-time simulator, and evaluate the control performance of the semi-active damping shock absorber controller.

[0012] Further, wherein the road scene information is played through the display screen, and the road surface information in the video stream of the road scene information in the display screen is collected through the camera. It further includes:

[0013] An optical convex mirror is provided between the display screen and the on-vehicle camera for adjusting the optical path to reduce the camera's field of view angle and reduce the volume of the video black box.

[0014] Further, the obstacle information includes: speed bump type, speed bump size, speed bump position, pothole type, pothole size, pothole position.

[0015] Further, the sensors on the semi-active damping shock absorber include a height sensor, an acceleration sensor, and a solenoid valve;

[0016] The state information of the vehicle includes vehicle roll angle, yaw angle, pitch angle, body vibration, and acceleration information.

[0017] The present invention also provides a controller test system for a vehicle semi-active damping shock absorber based on semi-physical hardware-in-the-loop simulation. The system includes:

[0018] Video black box, electro-hydraulic servo test bench, camera ecu, controller, and real-time simulator;

[0019] The electro-hydraulic servo test bench includes a semi-active damping shock absorber and a hydraulic actuator for applying test actions to it;

[0020] The video black box is used to play the pre-collected road scene information, and perform video acquisition through the on-vehicle camera, and send it to the camera ecu. The camera ecu is used to analyze the obstacle information in the video and transmit it to the controller;

[0021] The real-time simulator includes a real-time processor, and the real-time processor internally stores a vehicle dynamics model and the road information collected from the actual vehicle;

[0022] The real-time simulator also includes a data acquisition card for real-time collecting the sensor data on the semi-active damping shock absorber, and calculating the corresponding vehicle state information in the vehicle dynamics model according to the sensor data on the semi-active damping shock absorber;

[0023] The real-time simulator also includes a hydraulic actuator control module for driving the output rod movement instruction of the hydraulic actuator according to the road roughness information and transmitting it to the controller to load the semi-active damping shock absorber;

[0024] The controller is used to perform pulse width adjustment on the solenoid valve of the semi-active damping shock absorber.

[0025] The present invention also provides a electro-hydraulic servo test bench, which includes a bottom plate, and a plurality of columns are fixed at the side positions of the bottom plate;

[0026] A hydraulic actuator is further fixed on the surface of the bottom plate;

[0027] A moving crossbeam is fixed in the middle of the plurality of columns, and a semi-active damping shock absorber to be tested is assembled between the moving crossbeam and the output rod of the hydraulic actuator;

[0028] A tension and compression sensor is further installed between the semi-active damping shock absorber to be tested and the output rod of the hydraulic actuator.

[0029] Further, the tension and compression sensor is fixed at the top of the output rod of the hydraulic actuator, and a lower ball head assembly is installed between the tension and compression sensor and the support disc of the semi-active damping shock absorber to be tested;

[0030] A crossbeam connection disc is fixed at the bottom of the moving crossbeam, and an upper ball head assembly is installed between the crossbeam connection disc and the top of the semi-active damping shock absorber to be tested.

[0031] Further, the plurality of columns are fixedly connected by a crossbeam.

[0032] The present invention has at least the following beneficial effects:

[0033] By collecting road information in advance and constructing a vehicle dynamics model, and accordingly controlling the hydraulic actuator to apply an external force to the shock absorber, simulating the compression or stretching state of the shock absorber on a real road section, and controlling the speed damping force of the shock absorber by the controller according to the road information, and at the same time collecting the sensor data of the controller to obtain the vehicle state of the whole vehicle, as the control performance evaluation of the controller. Thereby effectively reducing the number of vehicle experiments, greatly improving the experimental efficiency, and also effectively saving manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic diagram of the system composition of the present invention;

[0036] Figure 2It is a schematic diagram of an electro-hydraulic servo test bench for a shock absorber;

[0037] Figure 3 It is a schematic diagram of a video black box. Specific implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. 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.

[0039] Refer to Figure 1 The present invention provides a controller test system for a vehicle semi-active damping shock absorber based on semi-physical hardware-in-the-loop simulation.

[0040] Specifically, it includes: a video black box, an electro-hydraulic servo test bench, a camera ECU, a controller, and a real-time simulator (HIL simulator).

[0041] It should be noted that the objective of the present invention is to test the control performance of a semi-active damping shock absorber controller.

[0042] (1) Real-time simulator

[0043] The real-time simulator mainly includes a data acquisition card, a real-time processor, etc.

[0044] Road information such as road vertical displacement and road scene collected offline in advance by a real vehicle is stored in the real-time processor, and the operation of the vehicle dynamics model is also implemented and run in the real-time processor;

[0045] Specifically, the vehicle dynamics model is also obtained by real vehicle acquisition. During the real vehicle recording process, the data of the sensors on the real vehicle shock absorber and the corresponding vehicle state information such as vehicle vertical vibration, vehicle roll, vehicle yaw, and vehicle pitch states are recorded, and the corresponding information is stored in the real-time processor as the input of the vehicle dynamics model;

[0046] By analyzing the sensor data on the shock absorber in the test system, the corresponding vehicle state information of the vehicle can be obtained. Therefore, it is not necessary to perform a whole vehicle test, and only the shock absorber needs to be tested;

[0047] The data acquisition card collects the acceleration vibration signal installed on the semi-active damping shock absorber and the video signal collected by the on-vehicle camera, and calculates the corresponding vehicle state information in the vehicle dynamics model according to the sensor data on the semi-active damping shock absorber;

[0048] The HIL simulator further includes a hydraulic actuator control module, which drives the output rod movement instruction of the hydraulic actuator according to the road roughness information and transmits it to the controller to load the semi-active damping shock absorber.

[0049] (2) Video black box

[0050] Refer to Figure 3 , a vehicle-mounted camera, an optical convex mirror, and a display screen are installed inside the black box. The road scene stored in the HIL control cabinet is displayed on the display screen to simulate the operation of the vehicle in a real environment; the function of the optical convex mirror is to adjust the position of the convex mirror so that the optical center of the camera, the center of the convex mirror, and the center of the screen are on the same axis, and the field of view is reduced by adjusting the optical path, so that the size of the display screen can be reduced, avoiding the black box from being too large; the vehicle-mounted camera is used to collect the road scene video.

[0051] The road scene video collected is sent to the camera ecu, and the camera ecu is used to analyze the obstacle information in the video and transmit it to the controller.

[0052] (3) Electro-hydraulic servo test bench

[0053] Refer to Figure 2 , including the semi-active shock absorber to be measured and a hydraulic actuator arranged at the bottom of the shock absorber.

[0054] The specific structure is as follows:

[0055] A plurality of columns are fixed at the side positions of the bottom plate; the plurality of columns are fixedly connected by a cross beam to form an integral frame structure.

[0056] A moving cross beam is also fixedly installed in the middle of the plurality of columns through a moving cross beam support.

[0057] A cross beam connecting disc, an upper ball head assembly, the semi-active damping shock absorber to be measured, a support disc of the semi-active damping shock absorber, a lower ball head assembly, a tension and compression sensor, a hydraulic actuator, and a backing plate are sequentially installed between the moving cross beam and the bottom plate from top to bottom.

[0058] The real-time simulator includes a hydraulic actuator control module, which generates a control electrical signal according to the road unevenness information, that is, the vertical displacement, and amplifies the input electrical signal to the action signal of the servo valve of the hydraulic actuator through a servo amplifier. The working state of the servo valve is completely controlled by the input signal of the servo control amplifier; the oil pump provides a certain amount of high-pressure oil to enter the electro-hydraulic servo cylinder through the electro-hydraulic servo valve, pushing the piston to move and loading the shock absorber.

[0059] (4) Semi-active damping controller

[0060] The controller is the device under test, communicates with the real-time simulator through the CAN bus, and communicates with the vehicle-mounted camera through the Ethernet. The solenoid valve duty ratio signal output by the controller is amplified by the solenoid valve drive circuit in the controller to control the shock absorber solenoid valve in the test bench.

[0061] Here, the process of the specific controller test method of the system of the present invention is as follows:

[0062] Collect road unevenness information and road scene information through a real vehicle, record the sensor data on the semi-active damping shock absorber of the real vehicle and its corresponding vehicle state information, and use them as the true input signals of the vehicle dynamics model stored in the real-time simulator;

[0063] Construct a servo test bench, use the road unevenness information as the input excitation signal of the hydraulic actuator of the servo test bench, and simulate the operation of the semi-active damping shock absorber system on the servo test bench;

[0064] Play the road scene information through a display screen, collect the road surface information in the video stream of the road scene information played on the display screen through a camera, detect the obstacle information therein and transmit it to the controller, and the controller adjusts the pulse width of the solenoid valve of the semi-active damping shock absorber according to the current vehicle speed and the obstacle information to actively adjust the damping force of the shock absorber;

[0065] According to the sensor signals on the semi-active damping shock absorber, calculate the vehicle state information at this time through the vehicle dynamics model in the real-time simulator, and evaluate the control performance of the semi-active damping shock absorber controller.

[0066] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A controller test method for a semi-active damping shock absorber based on hardware-in-the-loop simulation, characterized in that, It includes the following steps: Collect road unevenness information and road scene information through a real vehicle, record the sensor data on the semi-active damping shock absorber of the real vehicle and its corresponding vehicle state information, and use it as the real input signal of the vehicle dynamics model stored in the real-time simulator; Construct a servo test bench, use the road unevenness information as the input excitation signal of the hydraulic actuator of the servo test bench, and simulate the operation of the semi-active damping shock absorber system on the servo test bench; Play the road scene information through a display screen, collect the road surface information in the video stream of the road scene information played on the display screen through a camera, detect the obstacle information therein and transmit it to the controller, and the controller adjusts the pulse width of the solenoid valve of the semi-active damping shock absorber according to the current vehicle speed and the obstacle information to actively adjust the damping force of the shock absorber; According to the sensor signal on the semi-active damping shock absorber, calculate the vehicle state information at this time through the vehicle dynamics model in the real-time simulator, and evaluate the control performance of the semi-active damping shock absorber controller.

2. The controller testing method for the semi-active damping shock absorber based on hardware-in-the-loop simulation with semi-physical objects according to claim 1, wherein, Among them, Play the road scene information through a display screen, collect the road surface information in the video stream of the road scene information on the display screen through a camera, and further include: setting an optical convex lens between the display screen and the on-vehicle camera, which is used to adjust the optical path to reduce the camera field of view angle to reduce the volume of the video black box.

3. The controller test method for the semi-active damping shock absorber based on the hardware-in-the-loop simulation of semi-physical objects according to claim 1, wherein The obstacle information includes: speed bump type, speed bump size, speed bump position, pothole type, pothole size, pothole position.

4. The controller testing method for the semi-active damping shock absorber based on the hardware-in-the-loop simulation with semi-physical objects according to claim 1, wherein The sensors on the semi-active damping shock absorber include a height sensor, an acceleration sensor, and a solenoid valve; The vehicle state information includes vehicle roll angle, yaw angle, pitch angle, body vibration, and acceleration information.

5. A test system for the controller test method of the semi-active damping shock absorber based on hardware-in-the-loop simulation with semi-physical hardware according to any one of claims 1-4, characterized in that, The system includes: a video black box, an electro-hydraulic servo test bench, a camera ecu, a controller, and a real-time simulator; The electro-hydraulic servo test bench includes a semi-active damping shock absorber and a hydraulic actuator for applying test actions to it; The video black box is used to play the pre-collected road scene information, and perform video acquisition through an on-vehicle camera and send it to the camera ecu. The camera ecu is used to analyze the obstacle information in the video and transmit it to the controller; The real-time simulator includes a real-time processor, and the real-time processor internally stores a vehicle dynamics model and the road information collected by the real vehicle; The real-time simulator also includes a data acquisition card, which is used to collect the sensor data on the semi-active damping shock absorber in real time, and calculate the corresponding vehicle state information in the vehicle dynamics model according to the sensor data on the semi-active damping shock absorber; The real-time simulator also includes a hydraulic actuator control module, which is used to drive the output rod movement instruction of the hydraulic actuator according to the road unevenness information and transmit it to the controller to load the semi-active damping shock absorber; The controller is used to adjust the pulse width of the solenoid valve of the semi-active damping shock absorber.

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