Method and device for testing mechanical durability of angle module of hub motor and electronic equipment

Abstract

The invention relates to the technical field of testing of structural components or equipment, in particular to a method and a device for testing mechanical durability of a wheel hub motor angle module and electronic equipment, and the method comprises the following steps: calculating the mechanical durability of the wheel hub motor angle module on the basis of actual driving data and whole vehicle parameters of a vehicle carrying the wheel hub motor angle module; a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of a vehicle are constructed, a whole vehicle durability simulation working condition of the vehicle is established in combination with test field condition constraints, a test driving file is iterated based on a simulation analysis result, a tool clamp is designed by utilizing the rim size of a hub motor angle module and the position of a suspension mounting point, and a test result is obtained. Therefore, a target test bench is constructed, and the target test bench is used for executing the durability test task of the wheel hub motor angle module. Therefore, the technical problem that in the related technology, a vehicle carrying a wheel hub motor angle module can collect less data and does not have the real vehicle spectrum collection condition under the long-term and severe road condition, so that the durability test is difficult to carry out is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of testing structural components or equipment, and in particular to a method, device and electronic equipment for testing the mechanical durability of a hub motor angle module. Background Art

[0002] The wheel hub motor angle module integrates core functions such as driving, braking, steering and suspension, reducing the overall complexity of the vehicle and improving the integration and reliability of the system. The distributed drive design based on the wheel hub motor angle module has completely overturned the traditional vehicle chassis structure. It can not only better improve the driving performance of new energy vehicles and wire-controlled chassis vehicles and achieve more efficient energy utilization, but also greatly enhance the handling performance. It is a forward-looking technology in the vehicle field that is widely favored. As a core system assembly, the durability of the wheel hub motor angle module determines the quality of the entire vehicle and is one of the key factors in whether this technology can be widely promoted.

[0003] In the related technologies, the target load spectrum of the system assembly mechanical durability bench test is derived from the vehicle social road spectrum collection or the enhanced durability road spectrum collection in the vehicle test field. However, the overall technology of vehicles equipped with wheel hub motor corner modules is not yet mature and is in the concept car or simple prototype stage. It does not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions and needs to be improved. Summary of the invention

[0004] The present invention provides a method, device and electronic equipment for testing the mechanical durability of a wheel hub motor angle module, so as to solve the technical problem in the related art that a vehicle equipped with a wheel hub motor angle module can collect less data and does not have the conditions for real vehicle spectrum collection under long-term and severe road conditions, thus making it difficult to conduct durability testing.

[0005] A first aspect of the present invention provides a method for testing the mechanical durability of a wheel hub motor angle module, which is applied to a test bench construction stage, wherein the method comprises the following steps: based on actual driving data and vehicle parameters of a vehicle equipped with a wheel hub motor angle module, constructing a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle; establishing a whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and test field condition constraints, and iterating a test drive file based on the simulation analysis results of a durability virtual test field of the vehicle to obtain an actual test drive file; designing a tooling fixture for installing the wheel hub motor angle module using the wheel rim size and suspension mounting point position of the wheel hub motor angle module, and constructing a target test bench using the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform a durability test task on the wheel hub motor angle module.

[0006] Optionally, in one embodiment of the present invention, the whole vehicle multi-body dynamics-control joint simulation platform of the vehicle is constructed based on the actual driving data and vehicle parameters of the vehicle equipped with the hub motor angle module, including: collecting acceleration data of the vehicle when passing through a speed bump; obtaining a whole vehicle multi-body dynamics model based on the whole vehicle parameters of the vehicle and the tire multi-body dynamics model; and constructing a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle in combination with the whole vehicle multi-body dynamics model and a four-wheel steering integrated control model with preset input and output channels.

[0007] Optionally, in one embodiment of the present invention, before establishing the whole vehicle durability simulation working condition of the vehicle in combination with the test field condition constraints, and iterating the test drive file based on the durability virtual test field simulation analysis results of the vehicle, it also includes: using the actual driving data to construct a speed bump road model on the whole vehicle multi-body dynamics-control joint simulation platform to simulate the simulation working condition of the vehicle passing through the speed bump road model at a uniform speed, and obtaining the three-dimensional acceleration at the wheel center of multiple hub motor angle modules of the vehicle; based on the three-dimensional acceleration, judging whether the whole vehicle multi-body dynamics model meets the preset accuracy requirements; if the whole vehicle multi-body dynamics model does not meet the preset accuracy requirements, adjusting the elastic element parameters in the hub motor angle module suspension and the nonlinear parameters in the tire dynamics model of the vehicle until the whole vehicle multi-body dynamics model meets the preset accuracy requirements.

[0008] Optionally, in one embodiment of the present invention, the whole vehicle durability simulation working condition of the vehicle is established in combination with the test field condition constraints, and the test drive file is iterated based on the durability virtual test field simulation analysis results of the vehicle to obtain the actual test drive file, including: performing a durability virtual test field simulation analysis of the vehicle based on the whole vehicle durability simulation working condition to obtain the wheel center force of the target vehicle of the vehicle; and using the wheel center force to iterate the test drive file to obtain the actual test drive file.

[0009] A second aspect of the present invention provides a method for testing the mechanical durability of a wheel hub motor angle module, which is applied in a testing phase, wherein the method comprises the following steps: installing the wheel hub motor angle module to be tested on a target test bench, wherein the target test bench is composed of a pre-designed fixture, a whole vehicle multi-body dynamics-control joint simulation platform and an actual test drive file; formulating a test plan for the wheel hub motor angle module to be tested based on the actual test drive file and the vehicle test field durability driving test specification; and performing a durability test on the wheel hub motor angle module to be tested using the test plan to obtain corresponding test results.

[0010] A third aspect of the present invention provides a mechanical durability test device for a hub motor angle module, which is applied to a test step construction stage, wherein the device comprises: a first construction module, for constructing a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle based on actual driving data and whole vehicle parameters of a vehicle equipped with a hub motor angle module; an establishment module, for establishing a whole vehicle durability simulation condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and test field condition constraints, and iterating a test drive file based on the simulation analysis results of the durability virtual test field of the vehicle to obtain an actual test drive file; a second construction module, for designing a tooling fixture for installing the hub motor angle module using the rim size and suspension mounting point position of the hub motor angle module, and using the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file to construct a target test bench, so as to use the target test bench to perform a durability test task on the hub motor angle module.

[0011] Optionally, in one embodiment of the present invention, the first construction module includes: a collection unit, used to collect acceleration data of the vehicle when passing through a speed bump; a first construction unit, used to obtain a whole-vehicle multi-body dynamics model based on the whole-vehicle parameters of the vehicle and the tire multi-body dynamics model; a second construction unit, used to combine the whole-vehicle multi-body dynamics model and the four-wheel steering integrated control model with preset input and output channels to construct a whole-vehicle multi-body dynamics-control joint simulation platform for the vehicle.

[0012] Optionally, in one embodiment of the present invention, it also includes: a third construction module, used to use the actual driving data to construct a speed bump road model on the whole vehicle multi-body dynamics-control joint simulation platform to simulate the simulation condition of a vehicle passing through the speed bump road model at a uniform speed, and obtain the three-dimensional acceleration at the wheel center of multiple hub motor angle modules of the vehicle; a judgment module, used to judge whether the whole vehicle multi-body dynamics model meets the preset accuracy requirements based on the three-dimensional acceleration; an adjustment module, used to adjust the elastic element parameters in the hub motor angle module suspension and the nonlinear parameters in the tire dynamics model of the vehicle when the whole vehicle multi-body dynamics model does not meet the preset accuracy requirements, until the whole vehicle multi-body dynamics model meets the preset accuracy requirements.

[0013] Optionally, in one embodiment of the present invention, the establishment module includes: an analysis unit, used to perform a durability virtual test field simulation analysis of the vehicle based on the whole vehicle durability simulation condition to obtain the wheel center force of the target vehicle of the vehicle; an iteration unit, used to iterate the test drive file using the wheel center force to obtain the actual test drive file.

[0014] A fourth aspect of the present invention provides a mechanical durability test device for a hub motor angle module, which is applied in a testing phase, wherein the device comprises: an installation module, used to install the hub motor angle module to be tested on a target test bench, wherein the target test bench is composed of a pre-designed fixture, a whole vehicle multi-body dynamics-control joint simulation platform and an actual test drive file; a formulation module, used to formulate a test plan for the hub motor angle module to be tested based on the actual test drive file and the vehicle test field durability driving test specification; a testing module, used to use the test plan to perform a durability test on the hub motor angle module to be tested to obtain corresponding test results.

[0015] A fifth aspect of the present invention provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the mechanical durability test method of the hub motor angle module as described in the above embodiment.

[0016] A sixth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the mechanical durability test method of the hub motor angle module as described in the above embodiment.

[0017] A seventh aspect of the present invention provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned method for testing the mechanical durability of a hub motor angle module.

[0018] The embodiment of the present invention can construct a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle based on the actual driving data and whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to establish the whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterate the test drive file according to the simulation analysis results, and use the rim size and suspension mounting point position of the wheel hub motor angle module to design a tooling fixture for installing the wheel hub motor angle module, and combine the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file to build a target test bench, so as to use the target test bench to perform durability test tasks on the wheel hub motor angle module, ensure the effectiveness of conducting mechanical durability tests on the wheel hub motor angle module under the condition that real vehicle spectrum sampling and testing cannot be carried out, provide technical support for the development of vehicle models equipped with wheel hub motor angle modules, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the research and development cycle. This solves the technical problem in related technologies that vehicles equipped with wheel hub motor angle modules can collect less data and do not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions, making it difficult to conduct durability tests.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A flowchart of a method for testing the mechanical durability of a wheel hub motor corner module according to an embodiment of the present invention; Figure 2 A schematic diagram of an iterative process of testing a drive file according to an embodiment of the present invention; Figure 3 is a flow chart of a method for testing the mechanical durability of a wheel hub motor angle module according to an embodiment of the present invention; Figure 4 It is a schematic structural diagram of a mechanical durability testing device for a wheel hub motor corner module provided according to an embodiment of the present invention; Figure 5 A flowchart of another method for testing the mechanical durability of a wheel hub motor angle module provided according to an embodiment of the present invention; Figure 6 It is a schematic structural diagram of another in-wheel motor angle module mechanical durability testing device provided according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0022] The following describes the mechanical durability test method, device and electronic device of the wheel hub motor angle module of the embodiment of the present invention with reference to the accompanying drawings. In view of the technical problem that in the related technologies mentioned in the above background technology, the vehicle equipped with the wheel hub motor angle module can collect less data and does not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions, making it difficult to conduct durability tests, the present invention provides a mechanical durability test method for the wheel hub motor angle module. In this method, based on the actual driving data and vehicle parameters of the vehicle equipped with the wheel hub motor angle module, a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform can be constructed, thereby combining the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints to establish the vehicle's whole vehicle durability simulation working conditions, and According to the simulation analysis results, the test drive file is iterated, and the rim size and suspension mounting point position of the wheel hub motor angle module are used to design the fixture for installing the wheel hub motor angle module. The target test bench is built in combination with the vehicle multi-body dynamics-control joint simulation platform, the fixture and the actual test drive file, so as to use the target test bench to perform durability test tasks on the wheel hub motor angle module, ensure the effectiveness of the mechanical durability test of the wheel hub motor angle module under the condition that the actual vehicle spectrum sampling and testing cannot be carried out, provide technical support for the development of models equipped with wheel hub motor angle modules, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the R&D cycle. In this way, the technical problem in the related technology that the vehicle equipped with the wheel hub motor angle module can collect less data and does not have the conditions for real vehicle spectrum sampling under long-term and harsh road conditions, making it difficult to conduct durability tests is solved.

[0023] Specifically, Figure 1 A schematic flow chart of a method for testing the mechanical durability of a hub motor corner module provided in an embodiment of the present invention.

[0024] like Figure 1 As shown, the wheel hub motor corner module mechanical durability test method is applied in the test bench construction stage, wherein the method comprises the following steps: In step S101, based on the actual driving data and vehicle parameters of the vehicle equipped with the wheel hub motor angle module, a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform are constructed.

[0025] In the actual implementation process, the embodiment of the present invention can form a whole vehicle multi-body dynamics model by assembling the information such as the suspension hard point position, elastic element properties, wheel load and moment of inertia of the vehicle equipped with the wheel hub motor angle module, combined with the tire multi-body dynamics model. After creating a four-wheel steering integrated control model and defining the input and output channels, a whole vehicle multi-body dynamics-control joint simulation platform for vehicles equipped with wheel hub motor angle modules is constructed.

[0026] Optionally, in one embodiment of the present invention, a whole-vehicle multi-body dynamics-control joint simulation platform of the vehicle is constructed based on actual driving data and vehicle parameters of a vehicle equipped with a hub motor angle module, including: collecting acceleration data of the vehicle when passing through a speed bump; obtaining a whole-vehicle multi-body dynamics model based on the vehicle parameters and tire multi-body dynamics model; and constructing a whole-vehicle multi-body dynamics-control joint simulation platform of the vehicle by combining the whole-vehicle multi-body dynamics model and a four-wheel steering integrated control model with preset input and output channels.

[0027] For example, the embodiment of the present invention can mount a 3-axis acceleration sensor at the rigid position corresponding to the wheel center of the four wheel hub motor corner modules, connect it to the data acquisition system through a signal line, the data acquisition system relies on the vehicle power supply, and is connected to the data processing terminal, such as a laptop computer, etc., and calibrate the sensor direction in the data acquisition system software on the data processing terminal. After the vehicle accelerates to a speed of 30km / h in a straight line, keep the speed constant and pass through the speed bump in the venue, and record the acceleration values ​​of the four sensors and the corresponding time.

[0028] The embodiment of the present invention can establish a CDTire model of a tire, build a corresponding topological structure in the Adams / Car software based on the hard point information of each system, set the spring, shock absorber and bushing attribute files of each wheel hub motor corner module, use the communicator module to establish the connection relationship between the systems, and assemble each system into a whole vehicle model in combination with the mass inertia distribution of the whole vehicle and the corner module. The embodiment of the present invention can use Matlab / Simulink software to build a four-wheel steering integrated control model, in the Adams template file, through the mechatronics plug-in, establish the sensor, that is, the output parameter of Adams, establish the actuator signal, that is, the input parameter of Adams, in the assembly, associate the mechanical parts with the signal of the control system, and form a whole vehicle multi-body dynamics-control joint simulation platform.

[0029] In step S102, the vehicle durability simulation condition of the vehicle is established in combination with the vehicle multi-body dynamics model, the vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and the test drive file is iterated based on the vehicle durability virtual test field simulation analysis results to obtain the actual test drive file.

[0030] As a possible implementation method, an embodiment of the present invention can establish a speed bump road model of the same size as the actual vehicle test, establish a whole vehicle smoothness simulation condition based on the multi-body dynamics model of the vehicle equipped with a hub motor angle module, obtain simulation results, and iterate the test drive file.

[0031] Optionally, in one embodiment of the present invention, before establishing the whole vehicle durability simulation working condition of the vehicle in combination with the test field condition constraints, and iterating the test drive file based on the vehicle's durability virtual test field simulation analysis results, it also includes: using actual driving data to construct a speed bump road model on the whole vehicle multi-body dynamics-control joint simulation platform to simulate the simulation working condition of the vehicle passing through the speed bump road model at a uniform speed, and obtaining the three-dimensional acceleration at the wheel center of multiple hub motor angle modules of the vehicle; judging whether the whole vehicle multi-body dynamics model meets the preset accuracy requirements based on the three-dimensional acceleration; if the whole vehicle multi-body dynamics model does not meet the preset accuracy requirements, adjusting the elastic element parameters in the hub motor angle module suspension and the nonlinear parameters in the tire dynamics model of the vehicle until the whole vehicle multi-body dynamics model meets the preset accuracy requirements.

[0032] In the embodiment of the present invention, a 3D model can be established in the Hyperworks software based on the geometric dimensions of the speed bump in the actual vehicle test, and exported as a digital road surface in the CRG format. The speed is set to 30 km / h, and a smoothness virtual simulation condition is established in the Adams software in combination with the multi-body dynamics model of the whole vehicle, and the three-dimensional acceleration at the wheel center of the four hub motor corner modules when passing the speed bump at a uniform speed is calculated.

[0033] Furthermore, the embodiment of the present invention can determine whether the accuracy of the vehicle multi-body dynamics model meets the requirements based on the following formula: , in, and Respectively represent the extreme value of acceleration and the RMS value of acceleration during the time when the front and rear axles of the vehicle pass through the speed bump; x and z Represents the direction of acceleration; superscript t and s Represent the test value and simulation value respectively.

[0034] If the accuracy of the vehicle multi-body dynamics model does not meet the preset accuracy requirements, the embodiment of the present invention can adjust the stiffness and damping of the bushing in the hub motor corner module suspension, the moment of inertia of the rim, and the LDE_CNL, LDE_CLIN, LDE_RNL and LDE_RLIN nonlinear mechanical parameters in the CDTire tire model.

[0035] Optionally, in one embodiment of the present invention, a whole vehicle durability simulation condition of the vehicle is established in combination with the test field condition constraints, and a test drive file is iterated based on the vehicle's durability virtual test field simulation analysis results to obtain an actual test drive file, including: performing a durability virtual test field simulation analysis of the vehicle based on the whole vehicle durability simulation condition to obtain the wheel center force of the target vehicle; and using the wheel center force to iterate the test drive file to obtain the actual test drive file.

[0036] Based on the calibrated whole-vehicle multi-body dynamics model, the embodiment of the present invention can combine 3D enhanced durable CRG format digital road surfaces such as Belgian road, cobblestone road, vibration road, 30° angle obstacle road and square pit road in a certain test site, match the driving speed for each enhanced durable road surface according to the test specifications of the test site, and establish a whole-vehicle durability simulation condition of a vehicle equipped with a hub motor angle module in the Adams software.

[0037] Based on the constructed vehicle durability simulation working condition, the embodiment of the present invention can carry out a virtual test field simulation analysis of the durability of the vehicle equipped with the wheel hub motor angle module, and extract the wheel center F of the wheel with heavier wheel load. x 、F z With M y Three-dimensional force time domain data.

[0038] Furthermore, after the tire is disassembled, the embodiment of the present invention can install the hub motor angle module on the shaft-coupled durability test bench through a fixture, input the wheel center three-component force load spectrum under the reinforced durability road of each test field into the bench control software, perform a convolution operation on the inverse of the frequency response function and the target road signal of the wheel center six-component force load spectrum to obtain a starting drive signal, run the starting drive signal and calculate the acquired response of the bench sensor, the difference between the target road data and the acquired response is defined as a response error, and a correction value of the drive signal is obtained by performing a convolution operation on the response error and the inverse of the frequency response function, and the drive correction value is added to the previous drive signal to obtain the next round of drive signals, and the bench sensor response is obtained after running, and the above iterative process is repeated, such as Figure 2 As shown, until F x 、F z、 M y The pseudo damage ratio is 0.8-1.25, and the bench test drive file corresponding to the reinforced pavement of each test site is obtained, that is, the actual test drive file.

[0039] Among them, the tooling fixture will be explained below.

[0040] In step S103, the rim size and suspension mounting point position of the wheel hub motor angle module are used to design a fixture for installing the wheel hub motor angle module, and the target test bench is constructed using the vehicle multi-body dynamics-control joint simulation platform, the fixture and the actual test drive file to perform durability test tasks on the wheel hub motor angle module using the target test bench.

[0041] The embodiment of the present invention can design a fixture suitable for installation on the shaft-coupled durability test bench based on the wheel rim size and suspension mounting point position of the wheel hub motor angle module, so that after the tire is removed, the wheel hub motor angle module can be installed on the shaft-coupled durability test bench using the fixture to implement the iteration of the test drive file. The embodiment of the present invention can combine the whole vehicle multi-body dynamics-control joint simulation platform, the fixture and the actual test drive file to build a target test bench, so as to perform the wheel hub motor angle module durability test.

[0042] In summary, the mechanical durability test method of the wheel hub motor angle module according to the embodiment of the present invention can be as follows: Figure 3 As shown, the following steps may be included: Step S1: actual vehicle ride comfort test. A three-way acceleration sensor is arranged at the wheel center of a vehicle equipped with a wheel hub motor angle module to collect acceleration data when the vehicle passes through a speed bump.

[0043] Step S2: Building a whole vehicle joint simulation platform (building a whole vehicle multi-body dynamics model). The embodiment of the present invention can form a whole vehicle multi-body dynamics model by assembling the tire multi-body dynamics model based on the information such as the suspension hard point position, elastic element properties, wheel load and moment of inertia. Create a four-wheel steering integrated control model, define the input and output channels, and build a whole vehicle multi-body dynamics-control joint simulation platform for vehicles equipped with wheel hub motor angle modules.

[0044] Step S3: vehicle ride comfort simulation. The embodiment of the present invention can establish a speed bump road model of the same size as the actual vehicle test in step S1, establish a vehicle ride comfort simulation condition based on a multi-body dynamics model of a vehicle equipped with a wheel hub motor angle module, and calculate and obtain wheel center acceleration data.

[0045] Step S4: Determine the accuracy of the vehicle multi-body dynamics model. The embodiment of the present invention can compare the key data such as the extreme value and root mean square value of the wheel center acceleration obtained by the vehicle ride comfort simulation and the test, and proceed to step S6 if the requirements are met, and proceed to step S5 if the requirements are not met.

[0046] Step S5: Calibration of the multi-body dynamics model of the whole vehicle. The embodiment of the present invention can adjust the elastic element parameters in the suspension of the wheel hub motor corner module and the nonlinear parameters in the tire dynamics model.

[0047] Step S6: Establishment of the whole vehicle durability virtual test field simulation working condition. The embodiment of the present invention can establish the whole vehicle durability simulation working condition of the vehicle equipped with the wheel hub motor angle module based on the calibrated whole vehicle multi-body dynamics model, combined with the 3D reinforced durable digital road surface and test specifications of the test field.

[0048] Step S7: Wheel center force extraction. The embodiment of the present invention can carry out a virtual test field simulation analysis of the durability of a vehicle equipped with a wheel hub motor angle module, and extract the wheel center force time domain data of a wheel with a heavier wheel load.

[0049] Step S8: Design and manufacture of tooling fixtures. In the embodiment of the present invention, based on the wheel rim size of the wheel hub motor corner module and the position of the suspension mounting point, a tooling fixture suitable for installation on the shaft coupling durability test bench can be designed.

[0050] Step S9: Development of bench drive files. After the tire is removed, the embodiment of the present invention can install the wheel hub motor angle module on the shaft coupling durability test bench through a fixture, input the wheel center force load spectrum obtained in step S7, and iteratively obtain the bench test drive files corresponding to the reinforced road surface of each test site.

[0051] Step S10: Execution of mechanical durability test. The embodiment of the present invention can formulate the number of axle coupling durability test bench drive files to be played corresponding to different test field reinforced durable roads based on the vehicle test field durability driving test specification, and carry out the mechanical durability test of the wheel hub motor corner module.

[0052] Step S11: Test completion inspection. After the test, check whether the wheel hub motor angle module structural parts and connectors are cracked, whether the wheel hub motor and steering motor can work normally, etc. to form a report.

[0053] In summary, the embodiments of the present invention adopt a virtual test field of a whole vehicle model to obtain the target load spectrum and develop a test method for a virtual-real combination in combination with an axle-coupled durability bench test program to ensure the effectiveness of conducting mechanical durability tests on the hub motor angle module under conditions where real vehicle spectrum sampling and testing are impossible, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the R&D cycle.

[0054] According to the mechanical durability test method of the wheel hub motor angle module proposed in the embodiment of the present invention, the whole vehicle multi-body dynamics model and the whole vehicle multi-body dynamics-control joint simulation platform of the vehicle can be constructed based on the actual driving data and vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to establish the whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterate the test drive file according to the simulation analysis results, design a tooling fixture for installing the wheel hub motor angle module by using the rim size and suspension mounting point position of the wheel hub motor angle module, and construct a target test bench in combination with the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform the durability test task of the wheel hub motor angle module, ensure the effectiveness of carrying out the mechanical durability test of the wheel hub motor angle module under the condition that the actual vehicle cannot be sampled and tested, provide technical support for the development of vehicle models equipped with wheel hub motor angle modules, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the research and development cycle. This solves the technical problem in related technologies that vehicles equipped with wheel hub motor angle modules can collect less data and do not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions, making it difficult to conduct durability tests.

[0055] Next, a mechanical durability testing device for a wheel hub motor angle module according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0056] Figure 4 4 is a block diagram of a mechanical durability testing device for a wheel hub motor corner module according to an embodiment of the present invention.

[0057] like Figure 4 As shown, the wheel hub motor corner module mechanical durability testing device 10 is applied to the test bench construction stage, wherein the wheel hub motor corner module mechanical durability testing device 10 includes: a first construction module 101, a building module 102 and a second construction module 103.

[0058] Specifically, the first construction module 101 is used to construct a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle based on actual driving data and whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module.

[0059] Establish module 102, which is used to establish the vehicle durability simulation working condition of the vehicle in combination with the vehicle multi-body dynamics model, the vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterate the test drive file based on the vehicle durability virtual test field simulation analysis results to obtain the actual test drive file.

[0060] The second construction module 103 is used to design a tooling fixture for installing the hub motor angle module using the rim size and suspension mounting point position of the hub motor angle module, and to build a target test bench using the vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform durability test tasks on the hub motor angle module.

[0061] Optionally, in one embodiment of the present invention, the first building module 101 includes: a collection unit, a first building unit and a second building unit.

[0062] Among them, the collection unit is used to collect acceleration data when the vehicle passes through the speed bump.

[0063] The first construction unit is used to obtain a whole vehicle multi-body dynamics model based on the whole vehicle parameters of the vehicle and the tire multi-body dynamics model.

[0064] The second construction unit is used to combine the whole vehicle multi-body dynamics model and the four-wheel steering integrated control model with preset input and output channels to build a whole vehicle multi-body dynamics-control joint simulation platform for the vehicle.

[0065] Optionally, in one embodiment of the present invention, the hub motor angle module mechanical durability testing device 10 further includes: a third building module, a judgment module and an adjustment module.

[0066] Among them, the third construction module is used to use actual driving data to construct a speed bump road model on the whole vehicle multi-body dynamics-control joint simulation platform to simulate the simulation condition of the vehicle passing through the speed bump road model at a uniform speed, and obtain the three-dimensional acceleration at the wheel center of the vehicle's multiple hub motor angle modules.

[0067] The judgment module is used to judge whether the multi-body dynamics model of the whole vehicle meets the preset accuracy requirements based on the three-axis acceleration.

[0068] The adjustment module is used to adjust the elastic element parameters in the wheel hub motor angle module suspension and the nonlinear parameters in the vehicle's tire dynamics model when the vehicle's multi-body dynamics model does not meet the preset accuracy requirements, until the vehicle's multi-body dynamics model meets the preset accuracy requirements.

[0069] Optionally, in one embodiment of the present invention, the establishing module 102 includes: an analyzing unit and an iterating unit.

[0070] The analysis unit is used to perform a virtual test field simulation analysis of the vehicle's durability based on the whole vehicle's durability simulation working condition to obtain the wheel center force of the target vehicle.

[0071] The iteration unit is used to iterate the test drive file using the wheel center force to obtain the actual test drive file.

[0072] It should be noted that the above explanation of the embodiment of the method for testing the mechanical durability of the hub motor angle module is also applicable to the device for testing the mechanical durability of the hub motor angle module of this embodiment, and will not be repeated here.

[0073] According to the mechanical durability test device of the wheel hub motor angle module proposed in the embodiment of the present invention, the whole vehicle multi-body dynamics model and the whole vehicle multi-body dynamics-control joint simulation platform of the vehicle can be constructed based on the actual driving data and whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to establish the whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterate the test drive file according to the simulation analysis result, design the tooling fixture for installing the wheel hub motor angle module by using the rim size and suspension mounting point position of the wheel hub motor angle module, and construct the target test bench by combining the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform the durability test task of the wheel hub motor angle module, ensure the effectiveness of carrying out the mechanical durability test of the wheel hub motor angle module under the condition that the actual vehicle cannot be sampled and tested, provide technical support for the development of vehicle models equipped with wheel hub motor angle modules, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the research and development cycle. This solves the technical problem in related technologies that vehicles equipped with wheel hub motor angle modules can collect less data and do not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions, making it difficult to conduct durability tests.

[0074] The above is an explanation of the embodiment of the present invention at the test bench construction stage. The following is an explanation of the working principle of the embodiment of the present invention at the test stage.

[0075] Specifically, Figure 5 A schematic flow chart of a method for testing the mechanical durability of a hub motor corner module provided in an embodiment of the present invention.

[0076] like Figure 5 As shown, the wheel hub motor corner module mechanical durability test method is applied in the testing stage, wherein the method comprises the following steps: In step S501, the wheel hub motor angle module to be tested is installed on a target test bench, wherein the target test bench is composed of a pre-designed fixture, a vehicle multi-body dynamics-control joint simulation platform and an actual test drive file.

[0077] In step S502, a test plan for the wheel hub motor angle module to be tested is formulated based on the actual test drive file and the vehicle proving ground durability driving test specification.

[0078] In step S503, a durability test of the wheel hub motor corner module to be tested is performed using the test scheme to obtain corresponding test results.

[0079] In summary, the embodiments of the present invention can be based on the vehicle proving ground durability driving test specification, and the number of driving cycles of different reinforced durability roads is equivalent to the number of playbacks of the corresponding axle coupling durability test bench drive file.

[0080] The embodiment of the present invention can check whether the structural parts and connectors of the wheel hub motor corner module are cracked after testing, and whether the drive system, brake system, steering system and suspension system can work normally, and generate a report.

[0081] According to the mechanical durability test method of the wheel hub motor angle module proposed in the embodiment of the present invention, the whole vehicle multi-body dynamics model and the whole vehicle multi-body dynamics-control joint simulation platform of the vehicle can be constructed based on the actual driving data and vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to establish the whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterate the test drive file according to the simulation analysis results, design a tooling fixture for installing the wheel hub motor angle module by using the rim size and suspension mounting point position of the wheel hub motor angle module, and construct a target test bench in combination with the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform the durability test task of the wheel hub motor angle module, ensure the effectiveness of carrying out the mechanical durability test of the wheel hub motor angle module under the condition that the actual vehicle cannot be sampled and tested, provide technical support for the development of vehicle models equipped with wheel hub motor angle modules, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the research and development cycle. This solves the technical problem in related technologies that vehicles equipped with wheel hub motor angle modules can collect less data and do not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions, making it difficult to conduct durability tests.

[0082] Next, a mechanical durability testing device for a wheel hub motor angle module according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0083] Figure 6 4 is a block diagram of a mechanical durability testing device for a wheel hub motor corner module according to an embodiment of the present invention.

[0084] like Figure 6 As shown, the wheel hub motor angle module mechanical durability testing device 20 is applied in the testing phase, wherein the wheel hub motor angle module mechanical durability testing device 20 includes: an installation module 201 , a formulation module 202 and a testing module 203 .

[0085] Specifically, the installation module 201 is used to install the wheel hub motor angle module to be tested on a target test bench, wherein the target test bench is composed of a pre-designed fixture, a whole vehicle multi-body dynamics-control joint simulation platform and an actual test drive file.

[0086] The formulation module 202 is used to formulate a test plan for the wheel hub motor angle module to be tested based on the actual test drive file and the vehicle test field durability driving test specification.

[0087] The test module 203 is used to perform a durability test on the wheel hub motor angle module to be tested using the test scheme to obtain corresponding test results.

[0088] It should be noted that the above explanation of the embodiment of the method for testing the mechanical durability of the wheel hub motor angle module is also applicable to the device for testing the mechanical durability of the wheel hub motor angle module of this embodiment, and will not be repeated here.

[0089] According to the mechanical durability test device of the wheel hub motor angle module proposed in the embodiment of the present invention, the whole vehicle multi-body dynamics model and the whole vehicle multi-body dynamics-control joint simulation platform of the vehicle can be constructed based on the actual driving data and whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to establish the whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterate the test drive file according to the simulation analysis result, design the tooling fixture for installing the wheel hub motor angle module by using the rim size and suspension mounting point position of the wheel hub motor angle module, and construct the target test bench by combining the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform the durability test task of the wheel hub motor angle module, ensure the effectiveness of carrying out the mechanical durability test of the wheel hub motor angle module under the condition that the actual vehicle cannot be sampled and tested, provide technical support for the development of vehicle models equipped with wheel hub motor angle modules, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the research and development cycle. This solves the technical problem in related technologies that vehicles equipped with wheel hub motor angle modules can collect less data and do not have the conditions for real vehicle spectrum collection under long-term and harsh road conditions, making it difficult to conduct durability tests.

[0090] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device may include: A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0091] When the processor 702 executes the program, the wheel hub motor angle module mechanical durability testing method provided in the above embodiment is implemented.

[0092] Furthermore, the electronic device further comprises: The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0093] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0094] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0095] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, 7 Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0096] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0097] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0098] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for testing the mechanical durability of a hub motor angle module.

[0099] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the method for testing the mechanical durability of a hub motor angle module provided by an embodiment of the present invention.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0101] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0102] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0103] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0104] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0106] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0107] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for testing the mechanical durability of a wheel hub motor corner module, characterized in that: Applied to the test bench construction stage, wherein the method comprises the following steps: Based on the actual driving data and vehicle parameters of the vehicle equipped with the wheel hub motor angle module, a vehicle multi-body dynamics model and a vehicle multi-body dynamics-control joint simulation platform are constructed; Establishing a whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterating a test drive file based on the durability virtual test field simulation analysis result of the vehicle to obtain an actual test drive file; A tooling fixture for installing the wheel hub motor angle module is designed using the wheel rim size and suspension mounting point position of the wheel hub motor angle module, and a target test bench is constructed using the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform durability test tasks on the wheel hub motor angle module.

2. The method for testing the mechanical durability of a wheel hub motor angle module according to claim 1, characterized in that: The vehicle multi-body dynamics-control joint simulation platform of the vehicle is constructed based on the actual driving data of the vehicle equipped with the wheel hub motor angle module and the vehicle parameters, including: Collecting acceleration data of the vehicle when passing through a speed bump; Obtaining a whole vehicle multi-body dynamics model based on the whole vehicle parameters of the vehicle and the tire multi-body dynamics model; By combining the whole vehicle multi-body dynamics model and the four-wheel steering integrated control model with preset input and output channels, a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle is constructed.

3. The method for testing the mechanical durability of a wheel hub motor angle module according to claim 1, characterized in that: Before establishing the whole vehicle durability simulation working condition of the vehicle in combination with the test field condition constraint and iterating the test drive file based on the durability virtual test field simulation analysis result of the vehicle, it also includes: Using the actual driving data, a speed bump road model is constructed on the vehicle multi-body dynamics-control joint simulation platform to simulate a simulation condition in which a vehicle passes through the speed bump road model at a uniform speed, and obtain three-dimensional accelerations at the wheel centers of multiple wheel hub motor angle modules of the vehicle; Determining whether the vehicle multi-body dynamics model meets preset accuracy requirements based on the three-axis acceleration; If the whole vehicle multi-body dynamics model does not meet the preset accuracy requirement, the elastic element parameters in the wheel hub motor angle module suspension and the nonlinear parameters in the tire dynamics model of the vehicle are adjusted until the whole vehicle multi-body dynamics model meets the preset accuracy requirement.

4. The method for testing the mechanical durability of a wheel hub motor angle module according to claim 1, characterized in that: The whole vehicle durability simulation working condition of the vehicle is established by combining the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and the test drive file is iterated based on the durability virtual test field simulation analysis result of the vehicle to obtain the actual test drive file, including: Performing a durability virtual test field simulation analysis of the vehicle based on the whole vehicle durability simulation working condition to obtain the wheel center force of the target vehicle of the vehicle; The test drive file is iterated using the wheel center force to obtain the actual test drive file.

5. A method for testing the mechanical durability of a wheel hub motor corner module, characterized in that: Applied in the testing phase, it includes the following steps: The wheel hub motor angle module to be tested is installed on a target test bench, wherein the target test bench is composed of a pre-designed fixture, a vehicle multi-body dynamics-control joint simulation platform and an actual test drive file; Formulate a test plan for the wheel hub motor angle module to be tested based on the actual test drive file and the vehicle proving ground durability driving test specification; The test scheme is used to perform a durability test on the wheel hub motor angle module to be tested, and corresponding test results are obtained.

6. A mechanical durability test device for a wheel hub motor angle module, characterized in that: Applied to the test bench construction stage, wherein the device comprises: The first construction module is used to construct a whole vehicle multi-body dynamics model and a whole vehicle multi-body dynamics-control joint simulation platform of the vehicle based on actual driving data and whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module; Establishing a module for establishing a whole vehicle durability simulation working condition of the vehicle in combination with the whole vehicle multi-body dynamics model, the whole vehicle multi-body dynamics-control joint simulation platform and the test field condition constraints, and iterating a test drive file based on the simulation analysis result of the durability virtual test field of the vehicle to obtain an actual test drive file; The second construction module is used to design a tooling fixture for installing the wheel hub motor angle module using the rim size and suspension mounting point position of the wheel hub motor angle module, and to build a target test bench using the whole vehicle multi-body dynamics-control joint simulation platform, the tooling fixture and the actual test drive file, so as to use the target test bench to perform durability test tasks on the wheel hub motor angle module.

7. The mechanical durability testing device for the wheel hub motor angle module according to claim 6, characterized in that: The first building block comprises: A collection unit, used to collect acceleration data when the vehicle passes through a speed bump; A first construction unit is used to obtain a whole vehicle multi-body dynamics model based on the whole vehicle parameters of the vehicle and the tire multi-body dynamics model; The second construction unit is used to combine the whole vehicle multi-body dynamics model and the four-wheel steering integrated control model with preset input and output channels to construct a whole vehicle multi-body dynamics-control joint simulation platform for the vehicle.

8. A mechanical durability test device for a wheel hub motor angle module, characterized in that: Applied in the testing phase, wherein the device comprises the following steps: An installation module is used to install the wheel hub motor angle module to be tested on a target test bench, wherein the target test bench is composed of a pre-designed fixture, a vehicle multi-body dynamics-control joint simulation platform and an actual test drive file; A formulation module, used to formulate a test plan for the wheel hub motor angle module to be tested based on the actual test drive file and the vehicle proving ground durability driving test specification; The test module is used to perform a durability test on the wheel hub motor angle module to be tested using the test scheme to obtain corresponding test results.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the mechanical durability testing method for the wheel hub motor angle module as described in any one of claims 1-4 or 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the mechanical durability testing method of a hub motor angle module as described in any one of claims 1-4 or 5.

Images