Working condition durability testing method and device of wheel hub motor angle module and electronic equipment

Abstract

The invention relates to the technical field of testing of structural components or equipment, in particular to a working condition durability testing method and device for a wheel hub motor angle module and electronic equipment. The method comprises the steps that a whole vehicle longitudinal dynamics model and a longitudinal dynamic mechanics joint simulation platform of a vehicle are constructed based on whole vehicle parameters of the vehicle carrying a hub motor angle module, then whole vehicle CLTC working condition simulation analysis is conducted on the vehicle, a preset steering test is conducted on the vehicle, a working condition durability vehicle test program is generated based on test data and an analysis result, and the working condition durability vehicle test program is obtained. And designing a tool clamp meeting a preset test condition based on the whole vehicle drum test bench, and constructing a test bench in combination with the whole vehicle drum test bench, so as to perform a working condition durability test of the wheel hub motor angle module by using the test bench. Therefore, the technical problems that the universality of the related technology is poor, the related technology is difficult to adapt to the wheel hub motor angle module with a special structure, and the durability test of the longitudinal force working condition and the lateral force working condition cannot be considered during the durability test are 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, a device and an electronic device for testing the working condition 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 technology, the test object of the driving and braking durability bench acceleration test method is the electric drive assembly, but the wheel hub motor corner module integrates the actuators such as the rim and tire, so the above method is difficult to apply. In addition, in addition to the longitudinal force condition of driving and braking, the durability of the lateral force condition under the working state of the steering motor also needs to be examined and verified on the corner module assembly.

[0004] In summary, the relevant technology is difficult to apply to the durability test of the hub motor corner module and needs to be improved. Summary of the invention

[0005] The present invention provides a method, device and electronic equipment for testing the working condition durability of a hub motor angle module, so as to solve the technical problems that the related technology has poor versatility, is difficult to be applied to a hub motor angle module with a special structure, and cannot take into account the durability testing of both longitudinal force conditions and lateral force conditions when performing durability testing.

[0006] A first aspect of the present invention provides a method for testing the operating durability of a wheel hub motor angle module, which is applied to a test bench construction stage, wherein the method comprises the following steps: constructing a whole vehicle longitudinal dynamics model of the vehicle based on the whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module, and constructing a longitudinal dynamics joint simulation platform of the vehicle based on the whole vehicle longitudinal dynamics model; performing a whole vehicle CLTC (China Light-duty Vehicle Test Cycle, a test for evaluating vehicle range and energy consumption) operating condition simulation analysis on the vehicle using the whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to obtain analysis results; performing a preset steering test on the vehicle to obtain test data, and generating an operating condition durability vehicle test program based on the test data and the analysis results; designing a tooling fixture that meets preset test conditions based on a whole vehicle drum test bench, and constructing a test bench based on the whole vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the operating condition durability vehicle test program, so as to use the test bench to perform an operating condition durability test of the wheel hub motor angle module.

[0007] Optionally, in one embodiment of the present invention, before using the whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to perform whole vehicle CLTC working condition simulation analysis on the vehicle, it also includes: obtaining the actual sliding distance of the vehicle under the target working condition; using the longitudinal dynamics joint simulation platform to establish a simulation working condition corresponding to the target working condition, and calculating the simulated sliding distance under the simulation working condition; comparing the actual sliding distance with the simulated sliding distance to obtain a simulation error, and judging whether the whole vehicle longitudinal dynamics model meets the preset accuracy condition based on the simulation error; if the whole vehicle longitudinal dynamics model does not meet the preset accuracy condition, adjusting the friction correlation coefficient in the tire model of the vehicle until the whole vehicle longitudinal dynamics model meets the preset accuracy condition.

[0008] Optionally, in one embodiment of the present invention, the whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform are used to perform a whole vehicle CLTC operating condition simulation analysis on the vehicle to obtain an analysis result, including: using the whole vehicle longitudinal dynamics model to establish a driver model; combining the driver model and a preset CLTC vehicle speed-time curve to establish a battery model; based on the driver model and the battery model, performing a whole vehicle driving condition simulation on the longitudinal dynamics joint simulation platform, extracting the torque-speed curve of the target wheel hub end hub motor and the power consumption of a CLTC cycle of the vehicle, so as to obtain the number of whole vehicle CLTC driving cycles corresponding to the battery full life cycle charge and discharge cycle of the vehicle.

[0009] Optionally, in one embodiment of the present invention, the vehicle is subjected to a preset steering test to obtain test data, and a working condition durability vehicle test program is generated based on the test data and the analysis results, including: when the whole vehicle steering test of the vehicle is conducted in a test field, the wheel hub motor torque-speed and steering motor angle signals corresponding to the target end of the target wheel hub end during a test cycle at the same time are extracted from the whole vehicle steering test; a wheel hub motor driving condition is established based on the torque-speed curve, and after the wheel hub motor driving condition completes a preset number of cycles, the wheel hub motor torque-speed and steering motor angle signals are combined to obtain the wheel hub motor torque-speed curve of the target end under the whole vehicle steering test of the vehicle and the steering motor angle corresponding at the same time; and a working condition durability test program of the wheel hub motor angle module is established based on the wheel hub motor torque-speed curve and the steering motor angle corresponding at the same time.

[0010] Optionally, in one embodiment of the present invention, after constructing a test bench using the whole vehicle drum test bench, the fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program, it also includes: using the fixture to install the hub motor angle module on the test bench; using a preset verification strategy to drive the hub motor angle module, and recording the verification sliding distance of the hub motor angle module; based on the verification sliding distance and the actual sliding distance, judging whether the drum resistance of the test bench meets the preset test conditions; if the drum resistance does not meet the preset test conditions, adjusting the drum resistance until the drum resistance meets the preset test conditions, so as to use the test bench that meets the preset test conditions to perform the working condition durability test of the hub motor angle module.

[0011] A second aspect of the present invention provides a method for testing the operating 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 pre-constructed test bench, wherein the test bench is constructed by a vehicle rotation test bench, a tooling fixture, a longitudinal dynamics joint simulation platform and an operating durability test program; performing an operating durability test on the wheel hub motor angle module to be tested, and recording fault data during the test; and forming a corresponding test report based on the fault data.

[0012] The third aspect of the present invention provides a working condition durability test device for a hub motor angle module, which is applied to the test bench construction stage, wherein the device includes: a first construction module, which is used to construct a whole vehicle longitudinal dynamics model of the vehicle based on the whole vehicle parameters of the vehicle equipped with the hub motor angle module, and to construct a longitudinal dynamics joint simulation platform of the vehicle based on the whole vehicle longitudinal dynamics model; an analysis module, which is used to perform a whole vehicle CLTC working condition simulation analysis on the vehicle using the whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to obtain an analysis result; a generation module, which is used to perform a preset steering test on the vehicle to obtain test data, and to generate a working condition durability vehicle test program based on the test data and the analysis result; a second construction module, which is used to design a tooling fixture that meets the preset test conditions based on the whole vehicle drum test bench, and to construct a test bench based on the whole vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition durability vehicle test program, so as to use the test bench to perform a working condition durability test of the hub motor angle module.

[0013] Optionally, in one embodiment of the present invention, it also includes: an acquisition module, used to acquire the actual sliding distance of the vehicle under the target working condition; a calculation module, used to use the longitudinal dynamics joint simulation platform to establish a simulation working condition corresponding to the target working condition, and calculate the simulated sliding distance under the simulation working condition; a first judgment module, used to compare the actual sliding distance with the simulated sliding distance to obtain a simulation error, and judge whether the longitudinal dynamics model of the whole vehicle meets the preset accuracy condition based on the simulation error; a first adjustment module, used to adjust the friction correlation coefficient in the tire model of the vehicle when the longitudinal dynamics model of the whole vehicle does not meet the preset accuracy condition, until the longitudinal dynamics model of the whole vehicle meets the preset accuracy condition.

[0014] Optionally, in one embodiment of the present invention, the analysis module includes: a first establishment unit, used to establish a driver model using the vehicle longitudinal dynamics model; a second establishment unit, used to establish a battery model in combination with the driver model and a preset CLTC vehicle speed-time curve; a simulation unit, used to simulate the vehicle driving condition based on the driver model and the battery model on the longitudinal dynamics joint simulation platform, extract the torque-speed curve of the target wheel hub end hub motor and the power consumption of a CLTC cycle of the vehicle, so as to obtain the number of CLTC driving cycles of the vehicle corresponding to the battery's full life cycle charge and discharge cycle.

[0015] Optionally, in one embodiment of the present invention, the generation module includes: an extraction unit, used to extract the wheel hub motor torque-speed and steering motor angle signals corresponding to the target end of the target wheel hub end under a test cycle at the same time from the whole vehicle steering test when the whole vehicle steering test of the vehicle is performed in a test field; a calculation unit, used to establish a wheel hub motor driving condition based on the torque-speed curve, and after the wheel hub motor driving condition completes a preset number of cycles, combine the wheel hub motor torque-speed and the steering motor angle signals to obtain the wheel hub motor torque-speed curve of the target end under the whole vehicle steering test of the vehicle and the steering motor angle corresponding at the same time; a third establishment unit, used to establish a working condition durability test program of the wheel hub motor angle module based on the wheel hub motor torque-speed curve and the steering motor angle corresponding at the same time.

[0016] Optionally, in one embodiment of the present invention, it also includes: an installation module, used to install the hub motor angle module on the test bench using the tooling fixture; a recording module, used to drive the hub motor angle module using a preset verification strategy, and record the verification sliding distance of the hub motor angle module; a second judgment module, used to judge whether the drum resistance of the test bench meets the preset test conditions based on the verification sliding distance and the actual sliding distance; a second adjustment module, used to adjust the drum resistance if the drum resistance does not meet the preset test conditions, until the drum resistance meets the preset test conditions, so as to use the test bench that meets the preset test conditions to perform the working condition durability test of the hub motor angle module.

[0017] An embodiment of the fourth aspect of the present invention provides a working condition durability test device for a hub motor angle module, which is applied to a testing stage, wherein the device comprises: an installation module, used to install the hub motor angle module to be tested on a pre-built test bench, wherein the test bench is constructed by a whole vehicle rotation test bench, a tooling fixture, a longitudinal dynamics joint simulation platform and a working condition durability test program; a testing module, used to perform a working condition durability test on the hub motor angle module to be tested and record fault data during the test; a generation module, used to form a corresponding test report based on the fault data.

[0018] 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 operating durability test method of the hub motor angle module as described in the above embodiment.

[0019] 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 operating condition durability test method of the hub motor angle module as described in the above embodiment.

[0020] 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 operating durability of the hub motor angle module.

[0021] The embodiment of the present invention can construct a vehicle longitudinal dynamics model and a longitudinal dynamics joint simulation platform of the vehicle based on the vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to perform a vehicle CLTC working condition simulation analysis on the vehicle to obtain the analysis results, and generate a working condition endurance vehicle test program in combination with the test data of the vehicle steering test, design a fixture that meets the preset test conditions based on the vehicle drum test bench, and construct a test bench based on the vehicle drum test bench, the fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program, so as to use the test bench to perform the working condition durability test of the wheel hub motor angle module, and ensure the comprehensiveness and effectiveness of the test through the compilation of the vehicle CLTC driving and test program and the drum bench test method, so as to provide technical support for the development of vehicle models equipped with wheel hub motor angle modules. Thus, the technical problems that the relevant technology has poor versatility, is difficult to apply to wheel hub motor angle modules with special structures, and cannot take into account the durability test of longitudinal force working conditions and lateral force working conditions when performing durability tests are solved.

[0022] 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

[0023] 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 It is a flow chart of a working condition durability testing method of a wheel hub motor angle module provided according to an embodiment of the present invention; Figure 2 A schematic diagram of a longitudinal dynamics and mechanics joint simulation platform for a vehicle equipped with a wheel hub motor angle module according to an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a fixture according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a test bench according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the principle of a working condition durability test method of a wheel hub motor angle module according to an embodiment of the present invention; Figure 6 It is a schematic structural diagram of a working condition durability testing device of a wheel hub motor angle module provided according to an embodiment of the present invention; Figure 7 A flowchart of another working condition durability test method of a wheel hub motor angle module provided according to an embodiment of the present invention; Figure 8 It is a schematic structural diagram of another working condition durability testing device of a wheel hub motor angle module provided according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] The following describes the working condition 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 problems that the related technologies mentioned in the above background technology have poor versatility, are difficult to apply to wheel hub motor angle modules with special structures, and cannot take into account the durability tests of longitudinal force conditions and lateral force conditions when performing durability tests, the present invention provides a working condition durability test method for a wheel hub motor angle module. In this method, a vehicle longitudinal dynamics model and a longitudinal dynamics joint simulation platform can be constructed based on the vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to perform a whole vehicle CLTC working condition simulation analysis on the vehicle to obtain the analysis result. The test results are combined with the test data of the vehicle steering test to generate a working condition endurance vehicle test program, and a fixture that meets the preset test conditions is designed based on the vehicle drum test bench. A test bench is built based on the vehicle drum test bench, fixtures, longitudinal dynamics joint simulation platform and working condition endurance vehicle test program to use the test bench to perform working condition durability tests on the wheel hub motor angle module. Through the compilation of the vehicle CLTC driving and test program and the drum bench test method, the comprehensiveness and effectiveness of the test are ensured, providing technical support for the development of models equipped with wheel hub motor angle modules. In this way, the technical problems of poor versatility of related technologies, difficulty in applying to wheel hub motor angle modules with special structures, and inability to take into account the durability tests of longitudinal force conditions and lateral force conditions when conducting durability tests are solved.

[0026] Specifically, Figure 1 A schematic flow chart of a method for testing the operating durability of a hub motor angle module provided in an embodiment of the present invention.

[0027] like Figure 1 As shown, the working condition durability test method of the wheel hub motor angle module includes the following steps: In step S101, a whole vehicle longitudinal dynamics model of the vehicle is constructed based on the whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module, and a longitudinal dynamics joint simulation platform of the vehicle is constructed based on the whole vehicle longitudinal dynamics model.

[0028] In the actual implementation process, the embodiment of the present invention can use Carsim software to establish the longitudinal dynamic model of the whole vehicle based on the size, mass, inertia, subsystem characteristics, suspension characteristics and PAC dynamic model of the tire, set the power system to four-wheel drive and external power input, establish the dynamic model of the hub motor in Simulink software, and define the input and output software interface, such as Figure 2 As shown, a longitudinal dynamics joint simulation platform for vehicles equipped with wheel hub motor angle modules is formed.

[0029] In step S102, the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform are used to perform a CLTC working condition simulation analysis on the vehicle to obtain analysis results.

[0030] Furthermore, the embodiments of the present invention can perform vehicle CLTC operating condition simulation analysis of the vehicle based on the constructed vehicle longitudinal dynamics model and longitudinal dynamics joint simulation platform, so as to obtain analysis results for subsequent test program construction, such as the number of vehicle CLTC driving cycles corresponding to the battery's full life cycle charge and discharge cycle.

[0031] Optionally, in one embodiment of the present invention, before using the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to perform a whole-vehicle CLTC working condition simulation analysis on the vehicle, it also includes: obtaining the actual sliding distance of the vehicle under the target working condition; using the longitudinal dynamics joint simulation platform to establish a simulation working condition corresponding to the target working condition, and calculating the simulated sliding distance under the simulation working condition; comparing the actual sliding distance with the simulated sliding distance to obtain a simulation error, and judging whether the whole-vehicle longitudinal dynamics model meets a preset accuracy condition based on the simulation error; if the whole-vehicle longitudinal dynamics model does not meet the preset accuracy condition, adjusting the friction correlation coefficient in the vehicle's tire model until the whole-vehicle longitudinal dynamics model meets the preset accuracy condition.

[0032] For example, an embodiment of the present invention may first conduct a real vehicle coasting test, where a vehicle equipped with a wheel hub motor angle module is accelerated to a certain speed on a straight road, such as 50 km / h, and then decelerated to a stop in neutral, and parameters such as the vehicle's coasting distance are recorded.

[0033] The embodiment of the present invention can select a digital road surface and set the friction coefficient, establish a vehicle coasting simulation condition corresponding to the actual vehicle coasting test based on the longitudinal dynamics joint simulation platform of the vehicle equipped with the hub motor angle module, and obtain the coasting distance through simulation calculation.

[0034] The simulation error is obtained by comparing the sliding distance obtained by the whole vehicle sliding simulation with the sliding distance obtained by the test, so as to determine whether the simulation error is less than or equal to a certain value, such as 5%.

[0035] When the simulation error is less than or equal to a certain value, the vehicle longitudinal dynamics model is determined to meet the preset accuracy conditions; otherwise, the friction correlation coefficient in the PAC tire model and the road friction coefficient in the Carsim model are adjusted.

[0036] Optionally, in one embodiment of the present invention, a whole vehicle longitudinal dynamics model and a longitudinal dynamics joint simulation platform are used to perform a whole vehicle CLTC operating condition simulation analysis on the vehicle to obtain analysis results, including: using the whole vehicle longitudinal dynamics model to establish a driver model; combining the driver model and a preset CLTC vehicle speed-time curve to establish a battery model; based on the driver model and the battery model, performing a whole vehicle driving condition simulation on the longitudinal dynamics joint simulation platform, extracting the torque-speed curve of the target wheel hub end wheel hub motor and the power consumption of a CLTC cycle of the vehicle, so as to obtain the number of whole vehicle CLTC driving cycles corresponding to the vehicle's battery full life cycle charge and discharge cycle.

[0037] As a possible implementation method, the embodiment of the present invention can establish a driver model in the Carsim software based on the calibrated vehicle longitudinal dynamics model, input the CLTC vehicle speed-time curve, use Simulink software to establish a battery model, and carry out vehicle driving condition simulation based on the established Carsim-Simulink joint simulation platform to extract the torque-speed curve of the hub motor at the maximum load hub end and the power consumed by driving a CLTC cycle. , the number of CLTC driving cycles of the whole vehicle corresponding to the full life cycle charge and discharge cycle of the battery is calculated based on the following formula: n .

[0038] , in, The amount of electricity required for a battery charging cycle. m The number of charging cycles in the full life cycle of the battery.

[0039] In step S103, a preset steering test is performed on the vehicle to obtain test data, and a working condition endurance vehicle test program is generated based on the test data and analysis results.

[0040] The embodiments of the present invention can carry out preset steering tests on vehicles equipped with wheel hub motor angle modules in a test field, such as a figure-8 steering test for the entire vehicle, and generate a working condition endurance vehicle test program based on the test data and analysis results.

[0041] Optionally, in one embodiment of the present invention, a preset steering test is performed on the vehicle to obtain test data, and a working condition durability vehicle test program is generated based on the test data and analysis results, including: when a whole vehicle steering test of the vehicle is performed at a test site, the wheel hub motor torque-speed and steering motor angle signals corresponding to the target end of the target wheel hub end during a test cycle at the same time are extracted from the whole vehicle steering test; a wheel hub motor driving condition is established based on the torque-speed curve, and after the wheel hub motor driving condition completes a preset number of cycles, the wheel hub motor torque-speed and steering motor angle signals are combined to obtain the wheel hub motor torque-speed curve of the target end of the vehicle under the whole vehicle steering test and the steering motor angle corresponding at the same time; a working condition durability test program of the wheel hub motor angle module is established based on the wheel hub motor torque-speed curve and the steering motor angle corresponding at the same time.

[0042] In actual implementation, the embodiment of the present invention can carry out a figure-8 steering test of a vehicle equipped with a wheel hub motor angle module in a test field, and extract the wheel hub motor torque-speed and the steering motor angle signal corresponding to a test cycle at the heavier wheel load end at the same time through the CAN signal.

[0043] Based on the torque-torque curve of the hub motor at the heavier wheel load end under the single CLTC cycle driving condition of the whole vehicle obtained by simulation, a hub motor driving condition is established. After completing 15 cycles of this condition, a hub motor torque-speed curve at the heavier wheel load end under the figure-8 steering test of the whole vehicle and the corresponding steering motor angle at the same time are spliced ​​to establish the hub motor angle module condition durability test procedure.

[0044] In step S104, a fixture that meets preset test conditions is designed based on the whole vehicle drum test bench, and a test bench is constructed based on the whole vehicle drum test bench, the fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program to use the test bench to perform working condition durability testing of the hub motor angle module.

[0045] In some embodiments, Figure 3As shown, the embodiment of the present invention can design and manufacture a fixture based on the whole vehicle drum test bench, place the wheel hub motor angle module on one of the drums of the drum test bench, fit the tire to the drum surface, connect the suspension mounting point to the fixture, and change the compression of the suspension spring by tightening the bolts to simulate the application of the corresponding wheel load. The fixture space meets the tire's steering angle range of -30° to +30°. The fixture is fixed to the drum iron floor by bolts and connected to the four corners of the drum test bench with ropes. The wheel hub motor and steering motor are connected to the mobile battery simulator, and the computer host computer inputs signals to the wheel hub motor and steering motor. A circulating heat dissipation system is established based on an external water pump. The established test bench system topology diagram is shown as follows. Figure 4 shown.

[0046] Optionally, in one embodiment of the present invention, after constructing a test bench using a whole vehicle drum test bench, a fixture, a longitudinal dynamics joint simulation platform and a working condition endurance vehicle test program, it also includes: installing the hub motor angle module on the test bench using the fixture; driving the hub motor angle module using a preset verification strategy, and recording the verification sliding distance of the hub motor angle module; judging whether the drum resistance of the test bench meets the preset test conditions based on the verification sliding distance and the actual sliding distance; if the drum resistance does not meet the preset test conditions, adjusting the drum resistance until the drum resistance meets the preset test conditions, so as to use the test bench that meets the preset test conditions to perform the working condition durability test of the hub motor angle module.

[0047] That is to say, the embodiment of the present invention can be based on a test bench, drive the wheel hub motor angle module to accelerate to a certain speed, such as 50km / h, stop the battery power supply, record the sliding distance of the drive wheel hub motor angle module, and compare it with the sliding distance of the whole vehicle sliding test in step one. If the error is ≤ a certain value, such as 5%, it is considered that the drum resistance meets the requirement; if the error is > a certain value, such as 5%, the drum resistance is adjusted until the requirement is met.

[0048] In summary, the working condition durability test method of the wheel hub motor angle module of the embodiment of the present invention can be as follows: Figure 5 As shown, the following steps may be included: Step S1: Actual vehicle coasting test. The vehicle equipped with the wheel hub motor angle module is accelerated to 50 km / h on a straight road, then put in neutral and decelerate to a stop, and the vehicle coasting distance and other parameters are recorded.

[0049] Step S2: Longitudinal dynamics modeling of the whole vehicle. A longitudinal dynamics model of a vehicle equipped with a hub motor angle module is established based on parameters such as hub motor power.

[0050] Step S3: whole vehicle coasting simulation analysis: A coasting simulation condition corresponding to the first step is established based on the whole vehicle longitudinal dynamics model, and the coasting distance is calculated and obtained.

[0051] Step S4: Determine the accuracy of the vehicle longitudinal dynamics model. Compare the sliding distances obtained by the vehicle sliding simulation with the test, and if the requirements are met, proceed to step S6; if not, proceed to step S5.

[0052] Step S5: Calibration of the longitudinal dynamics model of the whole vehicle. Adjust the friction coefficient of the tire model in the wheel hub motor angle module and the friction coefficient of the road surface.

[0053] Step S6: CLTC working condition simulation analysis of the whole vehicle. Based on the calibrated longitudinal dynamics model of the whole vehicle, CLTC working condition simulation is carried out to extract the torque-speed of the maximum load wheel hub motor angle module, and the number of CLTC cycles of the whole vehicle under one battery charge and discharge cycle is calculated, based on the number of CLTC driving cycles of the whole vehicle corresponding to the charge and discharge cycle of the battery's full life cycle.

[0054] Step S7: Full vehicle figure-8 steering test. A full vehicle figure-8 steering test is carried out at the test site, and the wheel hub motor torque-speed and the steering motor angle signal in the same domain are extracted through the CAN signal.

[0055] Step S8: Development of working condition durability test program. Based on the CLTC cycle, the wheel hub motor torque-speed and the corresponding steering motor angle under the vehicle figure-8 steering test obtained in step 7 are spliced ​​every 15 cycles.

[0056] Step S9: Development of a test bench based on an indoor drum. Design and manufacture a fixture, place the wheel hub motor corner module on one of the drums of the indoor vehicle drum test bench, apply the corresponding wheel load through the fixture to make the tire of the wheel hub motor corner module fit the drum surface, fix the fixture to the floor and connect it to the four corners of the drum bench through ropes, connect the wheel hub motor and steering motor to the mobile battery simulator, input signals to the wheel hub motor and steering motor through the computer host, and establish a circulating cooling system based on an external water pump.

[0057] Step S10: Execution of the working condition durability test. Based on the working condition established in step S8, the working condition durability test of the wheel hub motor corner module is carried out, and the faults are recorded and classified during the test to form a test report.

[0058] In summary, the embodiments of the present invention can extract key signals such as the wheel hub motor driving braking torque speed and the steering motor angle under the vehicle's CLTC driving and figure-8 steering conditions, compile a test program spectrum for the wheel hub motor angle module, and design and develop a drum bench test method to ensure the comprehensiveness and effectiveness of the wheel hub motor angle module working condition durability test, provide support for product optimization and upgrading, save vehicle model development funds and time costs, and shorten the R&D cycle.

[0059] According to the working condition durability test method of the wheel hub motor angle module proposed in the embodiment of the present invention, the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform of the vehicle can be constructed based on the vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to perform the vehicle CLTC working condition simulation analysis on the vehicle to obtain the analysis results, and generate the working condition durability vehicle test program in combination with the test data of the vehicle steering test, design the tooling fixture that meets the preset test conditions based on the vehicle drum test bench, and construct the test bench based on the vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition durability vehicle test program, so as to use the test bench to perform the working condition durability test of the wheel hub motor angle module, and ensure the comprehensiveness and effectiveness of the test through the compilation of the vehicle CLTC driving and test program and the drum bench test method, so as to provide technical support for the development of vehicle models equipped with wheel hub motor angle modules. Thus, the technical problems that the relevant technology has poor versatility, is difficult to apply to the wheel hub motor angle module with a special structure, and cannot take into account the durability test of the longitudinal force working condition and the lateral force working condition when performing the durability test are solved.

[0060] Next, the operating condition durability testing device of the wheel hub motor angle module proposed in accordance with an embodiment of the present invention will be described with reference to the accompanying drawings.

[0061] Figure 6 It is a block diagram of a working condition durability testing device for a wheel hub motor angle module according to an embodiment of the present invention.

[0062] like Figure 6 As shown, the operating condition durability testing device 10 of the wheel hub motor angle module is applied to the test bench construction stage, wherein the operating condition durability testing device 10 of the wheel hub motor angle module includes: a first construction module 101, an analysis module 102, a generation module 103 and a second construction module 104.

[0063] Specifically, the first construction module 101 is used to construct a whole vehicle longitudinal dynamics model of the vehicle based on the whole vehicle parameters of the vehicle equipped with the wheel hub motor angle module, and to construct a longitudinal dynamics joint simulation platform of the vehicle based on the whole vehicle longitudinal dynamics model.

[0064] The analysis module 102 is used to perform a whole vehicle CLTC working condition simulation analysis on the vehicle using the whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to obtain analysis results.

[0065] The generation module 103 is used to perform a preset steering test on the vehicle to obtain test data, and generate a working condition endurance vehicle test program based on the test data and analysis results.

[0066] The second construction module 104 is used to design a tooling fixture that meets preset test conditions based on the whole vehicle drum test bench, and to build a test bench based on the whole vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program, so as to use the test bench to perform the working condition durability test of the hub motor angle module.

[0067] Optionally, in one embodiment of the present invention, the working condition durability testing device 10 of the hub motor angle module further includes: an acquisition module, a calculation module, a first judgment module and a first adjustment module.

[0068] The acquisition module is used to obtain the actual sliding distance of the vehicle under the target working condition.

[0069] The calculation module is used to establish a simulation condition corresponding to the target condition by using the longitudinal dynamics joint simulation platform, and calculate the simulated sliding distance under the simulation condition.

[0070] The first judgment module is used to compare the actual sliding distance with the simulated sliding distance to obtain a simulation error, and judge whether the longitudinal dynamics model of the whole vehicle meets a preset accuracy condition based on the simulation error.

[0071] The first adjustment module is used to adjust the friction correlation coefficient in the tire model of the vehicle when the longitudinal dynamics model of the whole vehicle does not meet the preset accuracy conditions until the longitudinal dynamics model of the whole vehicle meets the preset accuracy conditions.

[0072] Optionally, in one embodiment of the present invention, the analysis module 102 includes: a first establishing unit, a second establishing unit and a simulation unit.

[0073] The first establishing unit is used to establish a driver model using a vehicle longitudinal dynamics model.

[0074] The second establishing unit is used to establish a battery model by combining the driver model and a preset CLTC vehicle speed-time curve.

[0075] The simulation unit is used to simulate the driving condition of the whole vehicle on the longitudinal dynamics joint simulation platform based on the driver model and the battery model, extract the torque-speed curve of the hub motor at the target hub end and the power consumption of a CLTC cycle of the vehicle, so as to obtain the number of CLTC driving cycles of the whole vehicle corresponding to the charging and discharging cycle of the vehicle's battery throughout its life cycle.

[0076] Optionally, in one embodiment of the present invention, the generating module 103 includes: an extracting unit, a calculating unit and a third establishing unit.

[0077] Among them, the extraction unit is used to extract the corresponding wheel hub motor torque-speed and steering motor angle signal of the target wheel hub end wheel hub motor at the same time during a test cycle of the target wheel hub end wheel hub motor when the vehicle is subjected to a whole vehicle steering test in a test field.

[0078] The calculation unit is used to establish a hub motor driving condition based on the torque-speed curve, and after the hub motor driving condition completes a preset number of cycles, combine the hub motor torque-speed and the steering motor angle signal to obtain the hub motor torque-speed curve of the target end of the vehicle under the whole vehicle steering test and the corresponding steering motor angle at the same time.

[0079] The third establishing unit is used to establish a working condition durability test program of the hub motor angle module based on the hub motor torque-speed curve and the corresponding steering motor angle at the same moment.

[0080] Optionally, in one embodiment of the present invention, the working condition durability testing device 10 of the hub motor angle module further includes: a mounting module, a recording module, a second judging module and a second adjusting module.

[0081] Among them, the installation module is used to install the hub motor angle module on the test bench using a tooling fixture.

[0082] The recording module is used to drive the wheel hub motor angle module using a preset verification strategy and record the verification sliding distance of the wheel hub motor angle module.

[0083] The second judgment module is used to judge whether the drum resistance of the test bench meets the preset test conditions based on the verification sliding distance and the actual sliding distance.

[0084] The second adjustment module is used to adjust the drum resistance when the drum resistance does not meet the preset test conditions until the drum resistance meets the preset test conditions, so as to use the test bench that meets the preset test conditions to perform the working condition durability test of the hub motor angle module.

[0085] It should be noted that the above explanation of the embodiment of the working condition durability test method of the hub motor angle module is also applicable to the working condition durability test device of the hub motor angle module of this embodiment, and will not be repeated here.

[0086] According to the working condition durability test device of the wheel hub motor angle module proposed in the embodiment of the present invention, the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform of the vehicle can be constructed based on the vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to perform the vehicle CLTC working condition simulation analysis on the vehicle to obtain the analysis results, and generate the working condition durability vehicle test program in combination with the test data of the vehicle steering test, design the tooling fixture that meets the preset test conditions based on the vehicle drum test bench, and construct the test bench based on the vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition durability vehicle test program, so as to use the test bench to perform the working condition durability test of the wheel hub motor angle module, and ensure the comprehensiveness and effectiveness of the test through the compilation of the vehicle CLTC driving and test program and the drum bench test method, so as to provide technical support for the development of vehicle models equipped with wheel hub motor angle modules. Thus, the technical problems that the relevant technology has poor versatility, is difficult to apply to the wheel hub motor angle module with a special structure, and cannot take into account the durability test of the longitudinal force working condition and the lateral force working condition when performing the durability test are solved.

[0087] 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 prediction stage.

[0088] Specifically, Figure 7 A schematic flow chart of a method for testing the operating durability of a hub motor angle module provided in an embodiment of the present invention.

[0089] like Figure 7 As shown, the working condition durability test method of the wheel hub motor angle module is applied in the testing stage, wherein the method comprises the following steps: In step S701, the wheel hub motor angle module to be tested is installed on a pre-built test bench, wherein the test bench is constructed by a vehicle rotation test bench, a fixture, a longitudinal dynamics joint simulation platform and a working condition durability test program.

[0090] In step S702, a working condition durability test is performed on the wheel hub motor angle module to be tested, and fault data during the test is recorded.

[0091] In step S703, a corresponding test report is generated based on the fault data.

[0092] According to the working condition durability test method of the wheel hub motor angle module proposed in the embodiment of the present invention, the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform of the vehicle can be constructed based on the vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to perform the vehicle CLTC working condition simulation analysis on the vehicle to obtain the analysis results, and generate the working condition durability vehicle test program in combination with the test data of the vehicle steering test, design the tooling fixture that meets the preset test conditions based on the vehicle drum test bench, and construct the test bench based on the vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition durability vehicle test program, so as to use the test bench to perform the working condition durability test of the wheel hub motor angle module, and ensure the comprehensiveness and effectiveness of the test through the compilation of the vehicle CLTC driving and test program and the drum bench test method, so as to provide technical support for the development of vehicle models equipped with wheel hub motor angle modules. Thus, the technical problems that the relevant technology has poor versatility, is difficult to apply to the wheel hub motor angle module with a special structure, and cannot take into account the durability test of the longitudinal force working condition and the lateral force working condition when performing the durability test are solved.

[0093] Next, the operating condition durability testing device of the wheel hub motor angle module proposed in accordance with an embodiment of the present invention will be described with reference to the accompanying drawings.

[0094] Figure 8 It is a block diagram of a working condition durability testing device for a wheel hub motor angle module according to an embodiment of the present invention.

[0095] like Figure 8 As shown, the working condition durability testing device 20 of the wheel hub motor angle module is applied in the testing stage, wherein the working condition durability testing device 20 of the wheel hub motor angle module includes: an installation module 201, a testing module 202 and a generating module 203.

[0096] Specifically, the installation module 201 is used to install the wheel hub motor angle module to be tested on a pre-built test bench, wherein the test bench is constructed by a vehicle rotation test bench, a fixture, a longitudinal dynamics joint simulation platform and a working condition durability test program.

[0097] The test module 202 is used to perform a working condition durability test on the wheel hub motor angle module to be tested, and record fault data during the test.

[0098] The generating module 203 is used to generate a corresponding test report based on the fault data.

[0099] It should be noted that the above explanation of the embodiment of the working condition durability test method of the hub motor angle module is also applicable to the working condition durability test device of the hub motor angle module of this embodiment, and will not be repeated here.

[0100] According to the working condition durability test device of the wheel hub motor angle module proposed in the embodiment of the present invention, the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform of the vehicle can be constructed based on the vehicle parameters of the vehicle equipped with the wheel hub motor angle module, so as to perform the vehicle CLTC working condition simulation analysis on the vehicle to obtain the analysis results, and generate the working condition durability vehicle test program in combination with the test data of the vehicle steering test, design the tooling fixture that meets the preset test conditions based on the vehicle drum test bench, and construct the test bench based on the vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition durability vehicle test program, so as to use the test bench to perform the working condition durability test of the wheel hub motor angle module, and ensure the comprehensiveness and effectiveness of the test through the compilation of the vehicle CLTC driving and test program and the drum bench test method, so as to provide technical support for the development of vehicle models equipped with wheel hub motor angle modules. Thus, the technical problems that the relevant technology has poor versatility, is difficult to apply to the wheel hub motor angle module with a special structure, and cannot take into account the durability test of the longitudinal force working condition and the lateral force working condition when performing the durability test are solved.

[0101] Fig. 9 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 901 , a processor 902 , and a computer program stored in the memory 901 and executable on the processor 902 .

[0102] When the processor 902 executes the program, the operating condition durability test method of the hub motor angle module provided in the above embodiment is implemented.

[0103] Furthermore, the electronic device further comprises: The communication interface 903 is used for communication between the memory 901 and the processor 902 .

[0104] The memory 901 is used to store computer programs that can be executed on the processor 902 .

[0105] The memory 901 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.

[0106] If the memory 901, the processor 902 and the communication interface 903 are implemented independently, the communication interface 903, the memory 901 and the processor 902 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, Fig. 9 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.

[0107] Optionally, in a specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can communicate with each other through an internal interface.

[0108] The processor 902 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.

[0109] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned working condition durability test method of the hub motor angle module is implemented.

[0110] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the working condition durability testing method of the hub motor angle module provided by the embodiment of the present invention.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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 working condition durability of a wheel hub motor angle module, characterized in that: Applied to the test bench construction stage, wherein the method comprises the following steps: Building a longitudinal dynamics model of the vehicle based on vehicle parameters of the vehicle equipped with the wheel hub motor angle module, and building a longitudinal dynamics joint simulation platform of the vehicle based on the longitudinal dynamics model of the vehicle; Using the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to perform a vehicle CLTC working condition simulation analysis on the vehicle to obtain an analysis result; Performing a preset steering test on the vehicle to obtain test data, and generating a working condition endurance vehicle test program based on the test data and the analysis result; A tooling fixture that meets preset test conditions is designed based on the whole vehicle drum test bench, and a test bench is constructed based on the whole vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program, so as to use the test bench to perform working condition durability test of the hub motor angle module.

2. The working condition durability test method of the wheel hub motor angle module according to claim 1 is characterized in that: Before using the vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to perform a vehicle CLTC working condition simulation analysis on the vehicle, the method further includes: Obtaining an actual sliding distance of the vehicle under target working conditions; Using the longitudinal dynamics joint simulation platform to establish a simulation condition corresponding to the target condition, and calculating a simulated gliding distance under the simulation condition; Comparing the actual sliding distance with the simulated sliding distance to obtain a simulation error, and judging whether the longitudinal dynamics model of the whole vehicle meets a preset accuracy condition based on the simulation error; If the longitudinal dynamics model of the entire vehicle does not satisfy the preset accuracy condition, the friction correlation coefficient in the tire model of the vehicle is adjusted until the longitudinal dynamics model of the entire vehicle satisfies the preset accuracy condition.

3. The working condition durability test method of the wheel hub motor angle module according to claim 1, characterized in that: The whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform are used to perform whole vehicle CLTC working condition simulation analysis on the vehicle to obtain analysis results, including: Establishing a driver model using the vehicle longitudinal dynamics model; Establishing a battery model by combining the driver model and a preset CLTC vehicle speed-time curve; The whole vehicle driving condition simulation is performed on the longitudinal dynamics joint simulation platform based on the driver model and the battery model, and the torque-speed curve of the hub motor at the target hub end and the power consumption of a CLTC cycle of the vehicle are extracted to obtain the number of CLTC driving cycles of the whole vehicle corresponding to the charging and discharging cycle of the battery of the vehicle throughout its life cycle.

4. The working condition durability test method of the wheel hub motor angle module according to claim 3 is characterized in that: The method of performing a preset steering test on the vehicle to obtain test data, and generating a working condition endurance vehicle test program based on the test data and the analysis result, comprises: When a whole vehicle steering test of the vehicle is conducted at a test site, a wheel hub motor torque-speed and a steering motor angle signal corresponding to a target end of the wheel hub motor at the target wheel hub end at the same time in a test cycle are extracted from the whole vehicle steering test; Establishing a wheel hub motor driving condition based on the torque-speed curve, and after the wheel hub motor driving condition completes a preset number of cycles, combining the wheel hub motor torque-speed and the steering motor angle signal to obtain the wheel hub motor torque-speed curve of the target end under the vehicle steering test and the steering motor angle corresponding at the same time; A working condition durability test procedure of the wheel hub motor angle module is established based on the wheel hub motor torque-speed curve and the corresponding steering motor angle at the same moment.

5. The working condition durability test method of the wheel hub motor angle module according to claim 2, characterized in that: After the test bench is constructed by using the whole vehicle drum test bench, the fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program, the method further includes: Using the fixture to install the hub motor angle module on the test bench; Using a preset verification strategy to drive the wheel hub motor angle module, and recording the verification sliding distance of the wheel hub motor angle module; Determining whether the drum resistance of the test bench meets a preset test condition based on the verification sliding distance and the actual sliding distance; If the drum resistance does not meet the preset test condition, the drum resistance is adjusted until the drum resistance meets the preset test condition, so as to perform the operating durability test of the hub motor angle module using a test bench that meets the preset test condition.

6. A method for testing the working condition durability of a wheel hub motor angle module, characterized in that: Applied in the testing phase, wherein the method comprises the following steps: The wheel hub motor angle module to be tested is installed on a pre-built test bench, wherein the test bench is constructed by a vehicle rotation test bench, a fixture, a longitudinal dynamics joint simulation platform and a working condition durability test program; Performing a working condition durability test on the wheel hub motor angle module to be tested, and recording fault data during the test; A corresponding test report is generated based on the fault data.

7. A working condition durability test device for a wheel hub motor angle module, characterized in that: Applied to the test bench construction stage, wherein the device comprises: A first construction module is used to construct a whole vehicle longitudinal dynamics model of the vehicle equipped with the wheel hub motor angle module based on the whole vehicle parameters of the vehicle, and to construct a longitudinal dynamics joint simulation platform of the vehicle based on the whole vehicle longitudinal dynamics model; An analysis module, used for performing a whole vehicle CLTC working condition simulation analysis on the vehicle by using the whole vehicle longitudinal dynamics model and the longitudinal dynamics joint simulation platform to obtain an analysis result; A generating module, configured to perform a preset steering test on the vehicle to obtain test data, and to generate a working condition endurance vehicle test program based on the test data and the analysis result; The second construction module is used to design a tooling fixture that meets preset test conditions based on the whole vehicle drum test bench, and to build a test bench based on the whole vehicle drum test bench, the tooling fixture, the longitudinal dynamics joint simulation platform and the working condition endurance vehicle test program, so as to use the test bench to perform working condition durability test of the hub motor angle module.

8. A working condition durability test device for a wheel hub motor angle module, characterized in that: Applied in the testing phase, wherein the device comprises: An installation module is used to install the wheel hub motor angle module to be tested on a pre-built test bench, wherein the test bench is constructed by a vehicle transfer test bench, a fixture, a longitudinal dynamics joint simulation platform, and a working condition durability test program; A test module, used to perform a working condition durability test on the wheel hub motor angle module to be tested, and record fault data during the test; A generating module is used to generate a corresponding test report based on the fault data.

9. An electronic device, 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 operating durability test method for the hub motor angle module as described in any one of claims 1-5 or 6.

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 operating durability test method of the hub motor angle module as described in any one of claims 1-5 or 6.

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