Method and system for building controlled object model for AMT controller model-in-the-loop testing

Abstract

The present invention discloses a controlled object model construction method and system for in-the-loop testing of an automated mechanical transmission (AMT) controller. The method comprises determining a controlled object model based on the control logic of the AMT controller, wherein the controlled object model includes a signal input module, a controlled object body module, and a signal output module. Input and output interfaces of the signal input module, the controlled object body module, and the signal output module are established, and the output interface of the signal input module is connected to the input interface of the controlled object body module, and the output interface of the controlled object body module is connected to the input interface of the signal output module. Based on the test requirements of the in-the-loop testing of the AMT controller model, the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module are determined. The controlled object body module is determined based on the power transmission route of the vehicle driveline containing the AMT controller to be tested. The present invention improves the accuracy of AMT controller testing.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile transmissions, and in particular relates to a method and system for building a controlled object model for in-the-loop testing of an AMT controller model. Background Art

[0002] People's demands for vehicle power, economy, comfort, and safety are constantly increasing, and this demand has also extended to the commercial vehicle sector. For heavy-duty commercial vehicles, automatic transmissions are the main technical feature of their advancement, significantly improving comfort and safety, and also contributing to economic efficiency. Currently, the most common type is the electronically controlled automatic mechanical transmission (AMT).

[0003] The core of the AMT is the Transmission Control Unit (TCU), which plays a vital role in vehicle starting performance, gear selection, and reliable transmission operation. It determines the driver's driving intent by collecting signals from the vehicle's accelerator, brake pedal, and shift lever. It also monitors operating status information such as vehicle speed, engine speed, and torque, issuing commands such as starting or shifting. It also transmits key signals such as gear position and output shaft speed to the vehicle's CAN bus.

[0004] According to the current mainstream automotive electronic control software development process, controller testing can be categorized into model-in-the-loop (MIL) testing, hardware-in-the-loop (HIL) testing, and on-vehicle testing. On-vehicle testing is typically performed during the final verification phase and is not recommended for initial testing due to its low safety, high cost, and low test coverage. Hardware-in-the-loop testing addresses these issues, but it also requires specialized test benches and expensive hardware, making it less costly. In the early stages of software development, model-in-the-loop testing is a relatively cost-effective and efficient testing method.

[0005] The key to model-in-the-loop testing is to build a reasonable plant model, or plant model, to simulate the real-world plant. However, a problem with AMT controller model-in-the-loop testing is that the modeling fails to address the specific characteristics of the AMT, resulting in an inaccurate description of the plant model. Using an automatic transmission model from a previous project for testing, while the test process works, accuracy is limited. Summary of the Invention

[0006] In response to the problems existing in the prior art, the present invention provides a method and system for building a controlled object model for AMT controller model-in-the-loop testing, which improves the accuracy of AMT controller testing.

[0007] In order to solve the above technical problems, the present invention is implemented through the following technical solutions:

[0008] A method for constructing a controlled object model for an AMT controller model-in-the-loop test, comprising:

[0009] Determine a controlled object model according to the control logic of the AMT controller, wherein the controlled object model includes a signal input module, a controlled object body module, and a signal output module;

[0010] Establishing input and output interfaces of the signal input module, input and output interfaces of the controlled object body module, and input and output interfaces of the signal output module, and connecting the output interface of the signal input module to the input interface of the controlled object body module, and connecting the output interface of the controlled object body module to the input interface of the signal output module;

[0011] Determining the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module according to the test requirements of the AMT controller model in the loop test;

[0012] The controlled object body module is determined according to the power transmission route of the vehicle transmission system including the AMT controller to be tested.

[0013] Furthermore, the step of determining the input signal required by the input interface of the signal input module according to the test requirements of the AMT controller model-in-the-loop test includes:

[0014] Obtain test data required for AMT controller model-in-the-loop testing;

[0015] The test signal in the test data is an input signal required by the input interface of the signal input module.

[0016] Furthermore, it also includes:

[0017] Obtain control instructions for controlling the actuator solenoid valve in the AMT controller;

[0018] According to the control instruction for controlling the actuator solenoid valve in the AMT controller, the input signal required by the input interface of the signal input module is determined.

[0019] Furthermore, the determining of the output signal required by the output interface of the signal output module according to the test requirements of the AMT controller model-in-the-loop test includes:

[0020] Obtain test data required for AMT controller model-in-the-loop testing;

[0021] The monitoring signal in the test data is the output signal required by the output interface of the signal output module.

[0022] Furthermore, it also includes:

[0023] Obtain the signal representing the actuator displacement in the AMT controller;

[0024] The signal used to represent the displacement of the actuator in the AMT controller is used as the output signal required by the output interface of the signal output module.

[0025] Furthermore, the controlled object body module includes a powertrain module, a transmission actuator module and a clutch torque module;

[0026] According to the power transmission routes of each transmission component in the vehicle transmission system, each transmission component is simplified, and Simulink software is used to establish an engine module, a brake system module, a power take-off module, a retarder module, a vehicle resistance module, a transmission actuator module, and a clutch torque module. The engine module, the brake system module, the power take-off module, the retarder module, and the vehicle resistance module constitute the powertrain module;

[0027] The powertrain module is used to calculate the torque of each transmission component in the vehicle transmission system;

[0028] The clutch torque module is used to determine the clutch torque transmission state according to the torque of each transmission component in the vehicle transmission system, and feed back the clutch torque transmission state to the powertrain module;

[0029] The transmission actuator module is used to calculate the displacement of the transmission actuator.

[0030] A controlled object model building system for AMT controller model-in-the-loop testing, comprising:

[0031] A controlled object model determination module, configured to determine a controlled object model according to the control logic of the AMT controller, wherein the controlled object model includes a signal input module, a controlled object body module, and a signal output module;

[0032] an input / output interface establishment module, configured to establish the input / output interfaces of the signal input module, the input / output interfaces of the controlled object body module, and the input / output interfaces of the signal output module, and to connect the output interface of the signal input module with the input interface of the controlled object body module, and to connect the output interface of the controlled object body module with the input interface of the signal output module;

[0033] An input and output signal determination module, configured to determine the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module according to the test requirements of the AMT controller model in the loop test;

[0034] The controlled object body module determination module is used to determine the controlled object body module according to the power transmission route of the vehicle transmission system including the AMT controller to be tested.

[0035] Furthermore, the input and output signal determination module includes:

[0036] An acquisition unit, used for acquiring test data required for the in-the-loop test of the AMT controller model;

[0037] a first determining unit, configured to determine that a test signal in the test data is an input signal required by an input interface of the signal input module;

[0038] The second determining unit is configured to determine that the monitoring signal in the test data is an output signal required by the output interface of the signal output module.

[0039] Furthermore, the system construction also includes:

[0040] A first acquisition module is used to acquire a control instruction for controlling the actuator solenoid valve in the AMT controller;

[0041] A second acquisition module is used to obtain a signal representing the displacement of the actuator in the AMT controller;

[0042] The input-output signal determination module is also used to determine the input signal required by the input interface of the signal input module based on the control instructions for controlling the actuator solenoid valve in the AMT controller; and is also used to use the signal in the AMT controller used to represent the actuator displacement as the output signal required by the output interface of the signal output module.

[0043] Compared with the prior art, the present invention has at least the following beneficial effects:

[0044] First, in the implementation method of the present invention, the controlled object model is determined according to the control logic of the AMT controller, and the controlled object model includes a signal input module, a controlled object body module and a signal output module. First, the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module are determined according to the requirements of the in-loop test of the actual AMT controller model, and can accurately reflect the signals required for the in-loop test of the AMT controller model. Second, the controlled object body module is determined based on the power transmission route of the vehicle transmission system including the AMT controller to be tested, and can accurately describe the situation of the powertrain when the actual vehicle is running. In summary, the present invention ensures the accuracy of the entire controlled object model.

[0045] Secondly, the controlled object body module includes a powertrain module, a transmission actuator module and a clutch torque module. The powertrain module includes an engine module, a braking system module, a power take-off module, a retarder module and a vehicle resistance module, which are used to calculate the torque of each transmission component in the vehicle transmission system. The clutch torque module is used to determine the clutch torque transmission state and feed back the clutch torque transmission state to the powertrain module; the transmission actuator module is used to calculate the displacement of the transmission actuator. The controlled object body module of the present invention adopts a simplified design method to model the working process of the transmission actuator, but only considers the torque and force conditions of other components in the powertrain except the transmission, without considering their internal working process. This simplified design can save test time and improve test efficiency.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the specific embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A schematic flow chart of a method for building a controlled plant model for an AMT controller model-in-the-loop test according to the present invention;

[0049] Figure 2 This is an implementation diagram of a method for building a controlled object model for an AMT controller model-in-the-loop test according to the present invention;

[0050] Figure 3This is a schematic diagram of a powertrain module for a method of building a controlled object model for in-the-loop testing of an AMT controller model according to the present invention. In the figure, T represents torque, C represents friction clutch, X represents axis, J represents moment of inertia, m represents vehicle weight, F represents force, i represents speed ratio, d represents spring damping coefficient, and k represents spring elastic coefficient.

[0051] Figure 4 A schematic diagram of a system for building a controlled object model for in-the-loop testing of an AMT controller model according to the present invention. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0053] As a specific embodiment of the present invention, Figure 1 As shown, the present invention provides a method for building a controlled object model for AMT controller model-in-the-loop testing, which specifically includes the following steps:

[0054] S1. Determine a controlled object model according to the control logic of the AMT controller, where the controlled object model includes a signal input module, a controlled object body module, and a signal output module.

[0055] S2. Establish the input and output interfaces of the signal input module, the input and output interfaces of the controlled object body module, and the input and output interfaces of the signal output module, and connect the output interface of the signal input module with the input interface of the controlled object body module, and connect the output interface of the controlled object body module with the input interface of the signal output module.

[0056] S3. According to the test requirements of the AMT controller model in-the-loop test, determine the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module.

[0057] Specifically, determining the input signal required by the input interface of the signal input module according to the test requirements of the AMT controller model-in-the-loop test includes:

[0058] Obtain test data required for AMT controller model-in-the-loop testing;

[0059] The test signal in the test data is an input signal required by the input interface of the signal input module.

[0060] Specifically, determining the output signal required by the output interface of the signal output module according to the test requirements of the AMT controller model-in-the-loop test includes:

[0061] Obtain test data required for AMT controller model-in-the-loop testing;

[0062] The monitoring signal in the test data is the output signal required by the output interface of the signal output module.

[0063] S4. Determine the controlled object body module according to the power transmission route of the vehicle transmission system including the AMT controller to be tested.

[0064] Specifically, if Figure 2 As shown, the controlled object body module includes a powertrain module 202, a transmission actuator module 204 and a clutch torque module 203;

[0065] According to the power transmission routes of each transmission component in the vehicle transmission system, each transmission component is simplified, and Simulink software is used to establish an engine module, a brake system module, a power take-off module, a retarder module, a vehicle resistance module, a transmission actuator module, and a clutch torque module. The engine module, the brake system module, the power take-off module, the retarder module, and the vehicle resistance module constitute the powertrain module;

[0066] The powertrain module is used to calculate the torque of each transmission component in the vehicle transmission system. Figure 3 As shown, in this embodiment, the theoretical basis of the calculation is as follows:

[0067] a: Torque is generated by the engine and transmitted to the clutch. To analyze the clutch torque transmission process, simplify the actual components: the engine flywheel is shaft X1, the clutch plate is shaft X2, the spring is X3, and the connection between the flywheel and clutch plate is a friction clutch C1. Based on Newton's second law, three equations can be established:

[0068]

[0069]

[0070]

[0071] Where: J fw represents the flywheel moment of inertia, J cd Indicates the clutch driven plate moment of inertia, T e Indicates engine torque, T C1 represents the torque of friction clutch 1, ω cd represents the clutch driven plate speed, ω inIndicates the input shaft speed, d C represents the spring damping coefficient, k C represents the spring elastic coefficient, Indicates the spring deformation.

[0072] b: After passing through the clutch, the torque is transmitted to the transmission. The internal torque transmission process of the transmission is analyzed and the actual components are simplified: input shaft X4, intermediate shaft X5, main shaft X6, and output shaft X7. The front auxiliary box has two gears, two friction clutches C2 and C3, and two sets of gears with gear ratios of i1 and i2 respectively. The main box has five gears, five friction clutches C4, C5, C6, C7 and C8, and four sets of gears with gear ratios of i3, i4, i5 and i6 respectively. The rear auxiliary box has two gears, two friction clutches C9 and C10, and two sets of gears with gear ratios of i7 and i8 respectively. There is a friction clutch C11 at the connection between the intermediate shaft and the transmission case. According to Newton's second law, four equations can be established:

[0073]

[0074]

[0075]

[0076]

[0077] Where: J in Indicates the input shaft moment of inertia, J ls represents the intermediate shaft moment of inertia, J ms Indicates the spindle moment of inertia, J out Indicates the output shaft moment of inertia, i1, i2...i8 represent different speed ratios, i9 represents the rear axle speed ratio, T C2 、T C3 ...T C11 Respectively represent the torques of friction clutch 2, friction clutch 3, ..., friction clutch 11, ω out Indicates the output shaft speed, r w Indicates the wheel radius, V veh Indicates vehicle speed, d S represents the spring damping coefficient, k S represents the spring elastic coefficient, Indicates the spring deformation.

[0078] c: Torque passes through the transmission and is output to the drive shaft, the rear axle, and the wheels, thereby driving the vehicle. Simplifying the actual components, the spring is X8, the rear axle is X9, and the rear axle final reducer speed ratio is i9. Based on Newton's second law, two equations can be established:

[0079]

[0080]

[0081] Where: J w Represents the wheel moment of inertia, m veh Indicates vehicle weight, F res Indicates the vehicle resistance.

[0082] The clutch torque module 203 is used to determine the clutch torque transmission state according to the torque of each transmission component in the vehicle transmission system, and feed back the clutch torque transmission state to the powertrain module 202;

[0083] The transmission actuator module 204 is used to calculate the displacement of the transmission actuator.

[0084] As a preferred embodiment of the present invention, the construction method further includes:

[0085] Obtain control instructions for controlling the actuator solenoid valve in the AMT controller;

[0086] According to the control instruction for controlling the actuator solenoid valve in the AMT controller, the input signal required by the input interface of the signal input module is determined.

[0087] As a preferred embodiment of the present invention, the construction method further includes:

[0088] Obtain the signal representing the actuator displacement in the AMT controller;

[0089] The signal used to represent the displacement of the actuator in the AMT controller is used as the output signal required by the output interface of the signal output module.

[0090] like Figure 4 As shown, the present invention provides a controlled object model building system for AMT controller model-in-the-loop testing, which is used to implement the building method, specifically including:

[0091] The controlled plant model determination module 401 is configured to determine a controlled plant model according to the control logic of the AMT controller. The controlled plant model includes a signal input module, a controlled plant body module, and a signal output module.

[0092] The input / output interface establishment module 402 is used to establish the input / output interface of the signal input module, the input / output interface of the controlled object body module, and the input / output interface of the signal output module, and connect the output interface of the signal input module with the input interface of the controlled object body module, and connect the output interface of the controlled object body module with the input interface of the signal output module.

[0093] The input and output signal determination module 403 is used to determine the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module according to the test requirements of the AMT controller model in the loop test.

[0094] The controlled object body module determination module 404 is configured to determine the controlled object body module according to a power transmission path of a vehicle transmission system including the AMT controller to be tested.

[0095] Preferably, the input / output signal determination module 403 includes:

[0096] An acquisition unit, used for acquiring test data required for the in-the-loop test of the AMT controller model;

[0097] a first determining unit, configured to determine that a test signal in the test data is an input signal required by an input interface of the signal input module;

[0098] The second determining unit is configured to determine that the monitoring signal in the test data is an output signal required by the output interface of the signal output module.

[0099] As a preferred embodiment of the present invention, the construction system further includes:

[0100] A first acquisition module is used to acquire a control instruction for controlling the actuator solenoid valve in the AMT controller;

[0101] A second acquisition module is used to obtain a signal representing the displacement of the actuator in the AMT controller;

[0102] The input-output signal determination module is also used to determine the input signal required by the input interface of the signal input module based on the control instructions for controlling the actuator solenoid valve in the AMT controller; and is also used to use the signal in the AMT controller used to represent the actuator displacement as the output signal required by the output interface of the signal output module.

[0103] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for building a controlled object model for AMT controller model-in-the-loop testing, characterized in that: include: Determine a controlled object model according to the control logic of the AMT controller, wherein the controlled object model includes a signal input module, a controlled object body module, and a signal output module; Establishing input and output interfaces of the signal input module, input and output interfaces of the controlled object body module, and input and output interfaces of the signal output module, and connecting the output interface of the signal input module to the input interface of the controlled object body module, and connecting the output interface of the controlled object body module to the input interface of the signal output module; According to the test requirements of the AMT controller model in the loop test, the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module are determined, specifically: Obtain test data required for AMT controller model-in-the-loop testing; The test signal in the test data is the input signal required by the input interface of the signal input module; The monitoring signal in the test data is the output signal required by the output interface of the signal output module; Determining the controlled object body module according to the power transmission route of the vehicle transmission system including the AMT controller to be tested, wherein the controlled object body module includes a powertrain module, a transmission actuator module, and a clutch torque module; According to the power transmission routes of each transmission component in the vehicle transmission system, each transmission component is simplified, and Simulink software is used to establish an engine module, a brake system module, a power take-off module, a retarder module, a vehicle resistance module, a transmission actuator module, and a clutch torque module. The engine module, the brake system module, the power take-off module, the retarder module, and the vehicle resistance module constitute the powertrain module; The powertrain module is used to calculate the torque of each transmission component in the vehicle transmission system; The clutch torque module is used to determine the clutch torque transmission state according to the torque of each transmission component in the vehicle transmission system, and feed back the clutch torque transmission state to the powertrain module; The transmission actuator module is used to calculate the displacement of the transmission actuator.

2. The method for building a controlled object model for an AMT controller model-in-the-loop test according to claim 1, characterized in that: Also includes: Obtain control instructions for controlling the actuator solenoid valve in the AMT controller; According to the control instruction for controlling the actuator solenoid valve in the AMT controller, the input signal required by the input interface of the signal input module is determined.

3. The method for building a controlled object model for AMT controller model-in-the-loop testing according to claim 1, characterized in that: Also includes: Obtain the signal representing the actuator displacement in the AMT controller; The signal used to represent the displacement of the actuator in the AMT controller is used as the output signal required by the output interface of the signal output module.

4. A controlled object model building system for AMT controller model-in-the-loop testing, characterized in that: A method for building a controlled object model for implementing an AMT controller model-in-the-loop test according to any one of claims 1 to 3, comprising: A controlled object model determination module, configured to determine a controlled object model according to the control logic of the AMT controller, wherein the controlled object model includes a signal input module, a controlled object body module, and a signal output module; an input / output interface establishment module, configured to establish the input / output interfaces of the signal input module, the input / output interfaces of the controlled object body module, and the input / output interfaces of the signal output module, and to connect the output interface of the signal input module with the input interface of the controlled object body module, and to connect the output interface of the controlled object body module with the input interface of the signal output module; An input and output signal determination module, configured to determine the input signal required by the input interface of the signal input module and the output signal required by the output interface of the signal output module according to the test requirements of the AMT controller model in the loop test; The controlled object body module determination module is used to determine the controlled object body module according to the power transmission route of the vehicle transmission system including the AMT controller to be tested.

5. The controlled object model building system for AMT controller model-in-the-loop testing according to claim 4, characterized in that: The input and output signal determination module includes: An acquisition unit, used for acquiring test data required for the in-the-loop test of the AMT controller model; a first determining unit, configured to determine that a test signal in the test data is an input signal required by an input interface of the signal input module; The second determining unit is configured to determine that the monitoring signal in the test data is an output signal required by the output interface of the signal output module.

6. The controlled object model building system for AMT controller model-in-the-loop testing according to claim 4, characterized in that: The build system also includes: A first acquisition module is used to acquire a control instruction for controlling the actuator solenoid valve in the AMT controller; A second acquisition module is used to obtain a signal representing the displacement of the actuator in the AMT controller; The input-output signal determination module is also used to determine the input signal required by the input interface of the signal input module based on the control instructions for controlling the actuator solenoid valve in the AMT controller; and is also used to use the signal in the AMT controller used to represent the actuator displacement as the output signal required by the output interface of the signal output module.

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