Multi-gear gearbox controller simulation test method and device, storage medium and equipment

Abstract

The invention relates to a multi-gear gearbox controller simulation test method and device, a storage medium and equipment, and the method comprises the steps: constructing a multi-gear gearbox simulation model, a gearbox controller model and a whole vehicle dynamics model, and configuring a joint simulation channel, the gearbox simulation model at least comprises three gear shifting synchronizers and three position sensors, the joint simulation channel is used for transmitting a gear shifting signal and position information; enabling the vehicle dynamics model to generate target gear information and send the target gear information to a gearbox controller model, and sending a gear shifting signal to a gear shifting synchronizer through a joint simulation channel by the gearbox controller model based on the target gear information; acquiring actual position information of the gear shifting synchronizer through a position sensor, and returning the actual position information to the gearbox controller model through a joint simulation channel to complete model verification; and deploying the verified multi-gear gearbox simulation model and the vehicle dynamics model to a hardware test platform, and carrying out hardware-in-the-loop test on an actual gearbox controller.

Description

Technical Field

[0001] The present invention relates to the technical field of gear shift simulation, and in particular to a multi-speed gearbox controller simulation test method, device, storage medium and equipment. Background Art

[0002] In the development process of new energy vehicle control systems, the test of the transmission controller (TCU) is an important link. The current mainstream test solution is to use hardware in the loop (HIL) simulation test technology, which combines the physical shift actuator with the HIL test bench to test the TCU.

[0003] In the existing test system, the HIL test bench mainly provides basic functions such as power supply, signal transmission board and real-time model operation. The entire test process includes the following steps: first, the vehicle dynamics model generates the target gear command and sends it to the TCU; then the TCU sends a shift signal to the shift actuator based on the current actual position; then the shift actuator responds to the signal and moves to the set gear position range; finally, the shift actuator feeds back the position information to the TCU through the position sensor, and the TCU sends the actual gear information to the vehicle dynamics model, thus completing the entire shift process.

[0004] However, there are several problems with the existing technical solutions: first, due to the use of a physical shift mechanism, insufficient sensor accuracy may lead to shift failure; second, there is a strong dependency between the test system and the physical shift mechanism. Once the shift mechanism is damaged, the entire test work will be unable to proceed; third, the number of shiftable gears of the physical shift mechanism is fixed. When the number of gears controlled by the TCU needs to be adjusted, the existing shift mechanism may not be able to meet the testing requirements of all gears and lacks sufficient flexibility. Summary of the invention

[0005] The invention discloses a multi-speed gearbox controller simulation test method and device, aiming to solve the technical problems existing in the prior art.

[0006] The present invention adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a multi-speed gearbox controller simulation test method, the method comprising:

[0008] A multi-speed gearbox simulation model, a gearbox controller model and a vehicle dynamics model are constructed respectively, and a joint simulation channel of the three models is configured, wherein the gearbox simulation model includes at least three gear shift synchronizers and three position sensors, and the joint simulation channel is used to transmit gear shift signals and position information;

[0009] The vehicle dynamics model generates target gear information and sends it to the transmission controller model, and the transmission controller model sends a shift signal to the shift synchronizer through the joint simulation channel based on the target gear information;

[0010] Acquiring actual position information of the shift synchronizer through a position sensor, and returning the actual position information to the transmission controller model through the joint simulation channel to complete model verification;

[0011] The verified multi-speed transmission simulation model and the vehicle dynamics model are deployed to a hardware testing platform for hardware-in-the-loop testing of an actual transmission controller.

[0012] In some embodiments, the step of building a multi-speed gearbox simulation model includes:

[0013] Constructing a dual-power source transmission system, connecting the first power source and the first shift mechanism in transmission connection, and connecting the second power source, the second shift mechanism and the third shift mechanism in transmission connection in sequence;

[0014] An output transmission system is constructed, and the output shaft of the first shift mechanism and the output shaft of the third shift mechanism are respectively connected to the main transmission shaft to form a dual power transmission path for simulating wheel drive.

[0015] In some embodiments, the step of building a dual power source transmission system includes:

[0016] Configure the transmission connection relationship between the input shaft, shift synchronizer and output shaft of each shift mechanism;

[0017] The left and right movement strokes of each shift synchronizer are set to realize the shifting operation of different gears;

[0018] A position sensor is configured for each gear shift synchronizer to collect the actual position information of the gear shift synchronizer in real time.

[0019] In some embodiments, the step of setting the left and right movement strokes of each shift synchronizer to realize the shifting operation of different gears includes:

[0020] The first shift mechanism, the second shift mechanism and the third shift mechanism are respectively equipped with a first shift synchronizer, a second shift synchronizer and a third shift synchronizer;

[0021] The working positions of the first shift synchronizer, the second shift synchronizer and the third shift synchronizer are configured respectively, and a shift operation of up to eight gears is performed through a combination of the working positions of the three shift synchronizers, wherein the first shift synchronizer selects a transmission path of the first power source by moving left and right, the second shift synchronizer selects a transmission path of the second power source by moving left and right, and the third shift synchronizer selects a transmission path between the second shift mechanism and the main transmission shaft by moving left and right;

[0022] By controlling different position combinations of the three shift synchronizers, power output with different transmission ratios can be achieved.

[0023] In some embodiments, the step of configuring the joint simulation channel of the three models includes:

[0024] Establishing a first channel from the vehicle dynamics model to the gearbox controller model for transmitting target gear information and vehicle operating condition information;

[0025] Establishing a second channel from the transmission controller model to the multi-speed transmission simulation model for transmitting a shift control signal, wherein the shift control signal includes target position information of each shift synchronizer;

[0026] Establishing a third channel from the multi-speed gearbox simulation model to the gearbox controller model for transmitting the actual position information detected by each position sensor;

[0027] A fourth channel from the multi-speed gearbox simulation model to the vehicle dynamics model is established to transmit the speed and torque information of the main drive shaft.

[0028] In some embodiments, the step of causing the vehicle dynamics model to generate target gear information and send it to the transmission controller model, and the transmission controller model sending a shift signal to the shift synchronizer through the joint simulation channel based on the target gear information, includes:

[0029] Set the initial parameters of the drive motor speed, vehicle speed, accelerator pedal opening, and brake pedal opening in the simulation environment;

[0030] Obtain real-time drive motor speed and vehicle speed data through simulation calculation to determine the gear switching point;

[0031] During the simulation, based on the preset driving conditions, the change of the accelerator pedal opening or the brake pedal opening is simulated, and whether a gear shift is required is determined according to the gear switching point;

[0032] If a gear shift is required, the vehicle dynamics model generates target gear information, and sends the target gear information to the gearbox controller model through the joint simulation channel;

[0033] The transmission controller model generates a simulated shift signal according to a preset control strategy, and sends the simulated shift signal to the multi-speed transmission simulation model through the joint simulation channel.

[0034] In some embodiments, the step of acquiring the actual position information of the shift synchronizer through the position sensor and returning the actual position information to the transmission controller model through the joint simulation channel to complete the model verification includes:

[0035] Set the sampling time step of the position sensor in the simulation environment;

[0036] Based on the sampling time step, periodically obtaining the actual position information of each shift synchronizer in the multi-speed gearbox simulation model during the simulation process;

[0037] transmitting the actual position information to the gearbox controller model via the joint simulation channel;

[0038] The transmission controller model compares the received actual position information with the target position information to determine whether the simulated shifting process is completed;

[0039] The simulated shifting process data under different gear conditions is recorded to verify the control strategy of the transmission controller model.

[0040] In some embodiments, the step of deploying the verified multi-speed transmission simulation model and the vehicle dynamics model to a hardware test platform for performing hardware-in-the-loop testing on an actual transmission controller includes:

[0041] Configuring an input and output interface of an actual gearbox controller on the hardware test platform, wherein the input and output interface includes a shift control signal interface and a position sensor signal interface;

[0042] Deploying the multi-speed gearbox simulation model and the vehicle dynamics model to a real-time simulation system of the hardware test platform;

[0043] Establishing a signal connection between the real-time simulation system and the actual transmission controller so that the actual transmission controller can receive vehicle dynamics information and output a shift control signal;

[0044] Running the real-time simulation system based on a preset test condition to collect shift control process data of the actual transmission controller;

[0045] The shift control process data is compared and analyzed with the data from the model verification phase to evaluate the control performance of the actual transmission controller.

[0046] In a second aspect, an embodiment of the present invention provides a multi-speed gearbox controller simulation test device, comprising:

[0047] A simulation model building module, used to respectively build a multi-speed gearbox simulation model, a gearbox controller model and a vehicle dynamics model, and configure a joint simulation channel of the three models, wherein the gearbox simulation model includes at least three gear shift synchronizers and three position sensors, and the joint simulation channel is used to transmit gear shift signals and position information;

[0048] A working condition simulation module, used for enabling the vehicle dynamics model to generate target gear information and send it to the transmission controller model, and the transmission controller model sends a shift signal to the shift synchronizer through the joint simulation channel based on the target gear information;

[0049] A model verification module, used for obtaining actual position information of the shift synchronizer through a position sensor, and returning the actual position information to the transmission controller model through the joint simulation channel to complete model verification;

[0050] The hardware configuration module is used to deploy the verified multi-speed transmission simulation model and the vehicle dynamics model to the hardware test platform for hardware-in-the-loop testing of the actual transmission controller.

[0051] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded by a processor and executed to implement a multi-speed transmission controller simulation test method as described in any one of the above items.

[0052] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement a multi-speed transmission controller simulation test method as described in any one of the above items.

[0053] One embodiment of the above invention has the following advantages or beneficial effects:

[0054] The embodiment of the present invention mainly provides a multi-speed gearbox controller simulation test method, device, storage medium and equipment. The simulation test method establishes a complete progressive test verification system. First, in the simulation environment, through the joint simulation of the vehicle dynamics model, the gearbox controller model and the gearbox simulation model, the three models interact with each other through the simulation channel to form a closed simulation verification environment to verify the correctness of the control strategy; then the verified model is deployed to the hardware test platform to test the actual controller. This test method from software to hardware, from virtual to actual, reduces development risks and testing costs, ensures the integrity and accuracy of various types of information in the simulation process, and also improves test efficiency and fault tolerance.

[0055] Specifically, the multi-speed transmission simulation model constructed in the simulation environment is configured as a dual-power source architecture. Through the combination of three shift mechanisms, it can achieve shifting operations of up to 8 gears. It not only avoids many problems existing in the use of physical shift mechanisms, saves hardware resources and space, but also weakens the requirements of the existing Simu link simulation model for calculation formulas. By converting the formulas into specific graphic modules, it not only simplifies the modeling process, but also improves the readability and maintainability of the model. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments, which constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions explain the present invention and do not constitute improper limitations on the present invention. In the drawings:

[0057] Figure 1 A simulation schematic diagram of a multi-speed gearbox simulation model provided by an embodiment of the present invention;

[0058] Figure 2 A flowchart of a multi-speed gearbox controller simulation test method provided by one embodiment of the present invention;

[0059] Figure 3 A structural block diagram of a multi-speed transmission controller simulation test device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. In the description of the present invention, it should be noted that the term "or" is usually used in the sense of including "and / or", unless the content clearly indicates otherwise.

[0061] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In the research and development process of new energy vehicles, various types of tests are covered, including model-in-the-loop (MIL), software-in-the-loop (SIL), hardware-in-the-loop (HIL) and other simulation tests. Among them, MIL testing is mainly used in the early stages and modeling stages of embedded system development. It verifies whether the control algorithm model accurately meets the requirements in the application layer software development stage through a model-driven approach; SIL is mainly used in the verification stage after the control algorithm code is generated. By jointly simulating the automatically generated code with the simulation model, it verifies whether the code implementation is consistent with the function of the control algorithm model, thereby ensuring the correctness of the code.

[0063] The test of the transmission controller (TCU) generally uses the HIL test. During the HIL process, the vehicle and environmental inputs of the TCU under test need to be simulated to simulate actual driving conditions. The vehicle dynamics model then sends the target gear command to the TCU, which then sends the shift signal to the physical shift actuator. The shift actuator feeds back the position information to the TCU through the position sensor, and the TCU then sends the actual gear information to the vehicle dynamics model, thus completing the entire shift process.

[0064] Since real hardware needs to be used in the HIL process, the hardware requirements are relatively high. When the sensor accuracy is insufficient, the shift mechanism is damaged, or the number of test gears needs to be adjusted, new hardware needs to be replaced. The test cost is high and the space occupied is large, resulting in low test efficiency.

[0065] refer to Figure 2 In order to solve the deficiencies in the prior art, an embodiment of the present invention provides a multi-speed gearbox controller simulation test method, the method comprising at least the following steps:

[0066] Step S110, respectively construct a multi-speed transmission simulation model, a transmission controller model and a vehicle dynamics model, and configure a joint simulation channel of the three models. The transmission simulation model includes at least three shift synchronizers and three position sensors. The joint simulation channel is used to transmit shift signals and position information.

[0067] In one embodiment of the present invention, a multi-speed transmission simulation model is built based on the graphic module of the AMESim platform, and a transmission controller model and a vehicle dynamics model are built based on the SimuLink platform. At the same time, a joint simulation channel with the AMESim platform is configured through an S-Function interface in the SimuLink platform.

[0068] Specifically, the AMESim platform excels in mechanical system modeling, especially in the simulation of mechanical structures such as gear transmissions and hydraulic systems, and can accurately simulate the dynamic characteristics and shifting process of the internal mechanism of the gearbox; while the Simulink platform has good performance in control algorithm development and vehicle dynamics modeling, making it easy to realize complex control logic and dynamic calculations.

[0069] By establishing a joint simulation channel between the two platforms, the advantages of each can be fully utilized: on the one hand, the AMESim platform is used to accurately simulate the mechanical characteristics of the gearbox, and on the other hand, the Simulink platform is used to develop control strategies and simulate vehicle operating conditions. This joint simulation method not only improves the accuracy of the overall simulation, but also simplifies the difficulty of model development, making the development and verification of the gearbox controller more efficient and reliable.

[0070] like Figure 1 In one embodiment of the present invention, the multi-speed gearbox simulation model includes a dual-power source transmission system and an output transmission system; the dual-power source transmission system includes a first power source, a second power source, a first shift mechanism, a second shift mechanism and a third shift mechanism, the first power source and the second power source both simulate drive motors, the first power source and the first shift mechanism are transmission-connected, the second power source, the second shift mechanism and the third shift mechanism are transmission-connected in sequence; the output transmission system includes an active transmission shaft and a tire transmission-connected thereto, the input end of the main transmission shaft is transmission-connected to the output ends of the first shift mechanism and the third shift mechanism respectively, forming a dual-power transmission path, and simulating wheel drive.

[0071] In one embodiment of the present invention, when constructing a dual-power source transmission system, the transmission connection relationship between the input shaft, shift synchronizer and output shaft of each shift mechanism is first configured, and then the left and right movement stroke of each shift synchronizer is set to realize the shifting operation of different gears, and finally a position sensor is configured for each shift synchronizer to collect the actual position information of the shift synchronizer in real time.

[0072] In one embodiment of the present invention, the first shift mechanism includes a first input shaft, a first shift synchronizer and a first output shaft, the first power source is connected to the first input shaft, and the first input shaft is connected to the first output shaft through the first shift synchronizer; the second shift mechanism includes a second input shaft, a second shift synchronizer and a second output shaft, the second power source is connected to the second input shaft, and the second input shaft is connected to the second output shaft through the second shift synchronizer; the third shift mechanism includes a third input shaft, a third shift synchronizer and a third output shaft, the third input shaft is connected to the second input shaft, and the third input shaft is connected to the third output shaft through the third shift synchronizer; the first output shaft and the third output shaft are connected to the main transmission shaft; the first shift synchronizer, the second shift synchronizer and the third shift synchronizer are each provided with a corresponding position sensor for detecting the position information of the corresponding synchronizer.

[0073] In one embodiment of the present invention, when configuring the left and right movement strokes of each shift synchronizer, the working positions of the first shift synchronizer, the second shift synchronizer and the third shift synchronizer are first configured respectively, and each shift synchronizer is provided with two working positions, namely, left and right, and each working position can engage a group of gears with different transmission ratios, that is, the three shift synchronizers correspond to six groups of gear sets with different transmission ratios, and a shifting operation of up to eight gears is performed through a combination of the working positions of the three shift synchronizers, wherein the first shift synchronizer selects the transmission path of the first power source by moving left and right, the second shift synchronizer selects the transmission path of the second power source by moving left and right, and the third shift synchronizer selects the transmission path between the second shift mechanism and the main drive shaft by moving left and right; power output with different transmission ratios is achieved by controlling different position combinations of the three shift synchronizers.

[0074] In one embodiment of the present invention, since the shifting process of five gears is sufficient to fully verify the basic functions of the gearbox and the control strategy of the gearbox controller, by verifying the upshift and downshift processes between adjacent gears, as well as the cross-gear shifting process, the control performance of the controller in different shifting scenarios can be fully tested, and more gears are rarely used in actual new energy vehicles, especially new energy commercial vehicles, so the shifting control process of more gears is no longer discussed. However, it should be noted that the test method provided in the embodiment of the present invention is also applicable to the development and verification of gearboxes and gearbox controllers with more gears.

[0075] In one embodiment of the present invention, when the first shift synchronizer moves to the left end working position, the second shift synchronizer moves to the right end working position, and the third shift synchronizer moves to the left end working position, it is configured as a first gear transmission state; when the first shift synchronizer moves to the left end working position, the second shift synchronizer moves to the left end working position, and the third shift synchronizer moves to the left end working position, it is configured as a second gear transmission state; when the first shift synchronizer moves to the left end working position, the second shift synchronizer moves to the right end working position, and the third shift synchronizer moves to the right end working position, it is configured as a third gear transmission state; when the first shift synchronizer moves to the right end working position, the second shift synchronizer moves to the right end working position, and the third shift synchronizer moves to the right end working position, it is configured as a fourth gear transmission state; when the first shift synchronizer moves to the right end working position, the second shift synchronizer moves to the left end working position, and the third shift synchronizer moves to the right end working position, it is configured as a fifth gear transmission state.

[0076] In one embodiment of the present invention, the vehicle dynamics model constructed based on the Simullink platform is configured with at least a driving condition unit, a vehicle dynamics unit, a drive motor unit and a condition judgment unit, wherein the driving condition unit is used to simulate the driver's acceleration and braking requirements and generate a pedal opening signal; the vehicle dynamics unit is used to calculate the vehicle's driving resistance, acceleration, speed and other parameters; the drive motor unit is used to calculate the output torque and speed of the drive motor according to the condition requirements; the condition judgment unit is used to generate target gear information based on the vehicle state parameters.

[0077] In one embodiment of the present invention, the transmission controller model is configured with at least a shift strategy unit, a shift execution unit, and a position feedback unit, wherein the shift strategy unit is used to determine whether a gear shift is required and the target gear position based on information such as vehicle speed, drive motor speed, accelerator pedal opening, and brake pedal opening; the shift execution unit can generate a shift signal based on a preset control strategy, including a displacement instruction and timing control of a shift synchronizer; the position feedback unit can receive position sensor information, monitor the position status of the shift synchronizer in real time, and determine whether the shift process is completed.

[0078] In one embodiment of the present invention, the joint simulation channel can be configured with a first channel, a second channel, a third channel and a fourth channel respectively, wherein the first channel is configured from the vehicle dynamics model to the transmission controller model, for transmitting target gear information and vehicle operating condition information; the second channel is configured from the transmission controller model to the multi-speed transmission simulation model, for transmitting the shift control signal, the shift control signal includes the target position information of each shift synchronizer, that is, the left end working position or the right end working position; the third channel is configured from the multi-speed transmission simulation model to the transmission controller model, for transmitting the actual position information detected by each position sensor; the fourth channel is configured from the multi-speed transmission simulation model to the vehicle dynamics model, for transmitting the speed and torque information of the main drive shaft.

[0079] In one embodiment of the present invention, the number of joint simulation channels can also be flexibly adjusted according to different test schemes, which is not specifically limited here.

[0080] Step S120, the vehicle dynamics model generates target gear information and sends it to the transmission controller model. The transmission controller model sends a shift signal to the shift synchronizer through a joint simulation channel based on the target gear information.

[0081] In one embodiment of the present invention, the initial parameters of the drive motor speed, vehicle speed, accelerator pedal opening and brake pedal opening are first set in a simulation environment, and then the real-time drive motor speed and vehicle speed data are obtained through simulation calculation to determine the gear switching point; during the simulation process, the vehicle dynamics model simulates the change of the accelerator pedal opening or the brake pedal opening based on the preset driving conditions, and determines whether a gear shift is required according to the gear switching point; if a gear shift is required, the vehicle dynamics model generates target gear information, and sends the target gear information to the transmission controller model through a joint simulation channel, and the transmission controller model generates a simulated shift signal according to a preset control strategy, and sends it to the multi-speed transmission simulation model through the joint simulation channel.

[0082] In one embodiment of the present invention, the setting of initial parameters is crucial to the simulation process. The initial value of the drive motor speed can be set to an idle state, such as 500rpm; the initial value of the vehicle speed can be set to 0km / h to simulate the vehicle starting state; the initial values ​​of the accelerator pedal and brake pedal opening are both set to 0%, indicating that the vehicle is stationary.

[0083] In one embodiment of the present invention, when determining the gear switching point, it can be determined based on the vehicle speed, motor speed, accelerator pedal opening change rate, brake pedal opening change rate, etc. For example, when the gear shift threshold is set based on the vehicle speed, the shift speed threshold from the first gear to the second gear can be set to 20km / h. When the gear shift threshold is set according to the motor speed, the upshift can be triggered when the motor speed exceeds 4000rpm. The accelerator pedal opening change rate is used to determine the driver's power demand intention, and the brake pedal opening change rate is used to determine whether a downshift is required.

[0084] Specifically, the gear switching point can be adaptively adjusted according to different test schemes, which is not specifically limited or elaborated in this embodiment.

[0085] In one embodiment of the present invention, the preset driving conditions are configured with at least conventional starting acceleration conditions, overtaking conditions, deceleration conditions and climbing conditions, wherein the conventional starting acceleration conditions are used to simulate the upshifting process of the vehicle from stationary to high speed, the overtaking conditions are used to simulate the downshift-upshift combination during rapid acceleration, the deceleration conditions are used to simulate the downshift control during vehicle deceleration, and the climbing conditions are used to simulate the gear shifting strategy when driving on a slope.

[0086] In one embodiment of the present invention, when the gear shift condition is triggered, the transmission controller model first determines the current gear position and the target gear position, determines whether the gear shift type is upshift or downshift, and then generates a gear shift execution instruction, including the displacement amount or displacement position of each gear shift synchronizer, and the gear shift timing, and then monitors the gear shift process in fact, and finally confirms that the gear shift is completed.

[0087] Step S130, obtaining the actual position information of the shift synchronizer through the position sensor, and returning the actual position information to the transmission controller model through the joint simulation channel to complete the model verification.

[0088] In one embodiment of the present invention, a sampling time step of a position sensor is set in a simulation environment. Based on the sampling time step, actual position information of each shift synchronizer in a multi-speed transmission simulation model is periodically obtained during the simulation process. Then, the actual position information is transmitted to a transmission controller model through a joint simulation channel. The transmission controller model compares the received actual position information with the target position information to determine whether the simulated shifting process is completed. Finally, the simulated shifting process data under different gear working conditions is recorded to verify the control strategy of the transmission controller model.

[0089] Specifically, the sampling time step setting of the position sensor needs to comprehensively consider the simulation accuracy and computational efficiency. Preferably, the sampling time step can be set within the range of 1ms-10ms. It should be noted that although a smaller sampling step can more accurately capture the motion state of the shift synchronizer, it will increase the computational load.

[0090] In one embodiment of the present invention, when the position sensor obtains the actual position information of each shift synchronizer, the actual position information may include the real-time displacement of the shift synchronizer, the displacement speed of the shift synchronizer, and the in-position status of the shift synchronizer, so as to judge the progress of the shift execution and whether the shift is completed.

[0091] In one embodiment of the present invention, when the transmission controller model performs position comparison, the specific comparison includes at least: calculating the error size of the shift position and determining whether the error is within an allowable range; calculating the position change trend and evaluating whether the shift process meets expectations; confirming the arrival time and verifying whether the shift time meets the requirements.

[0092] In one embodiment of the present invention, the different gear operating conditions recorded include at least the gear shifting performance under different vehicle speeds, the gear shifting response under different acceleration requirements, the upshifting and downshifting process between adjacent gears, and the cross-gear shifting process.

[0093] Step S140, deploying the verified multi-speed transmission simulation model and vehicle dynamics model to a hardware test platform for hardware-in-the-loop testing of the actual transmission controller.

[0094] In one embodiment of the present invention, an input and output interface of an actual transmission controller is configured on a hardware test platform, the input and output interface including a shift control signal interface and a position sensor signal interface, and then a multi-speed transmission simulation model and a vehicle dynamics model are deployed to a real-time simulation system of the hardware test platform, and a signal connection is established between the real-time simulation system and the actual transmission controller, so that the actual transmission controller can receive vehicle dynamics information and output a shift control signal; further, the real-time simulation system is operated based on a preset test condition, the shift control process data of the actual transmission controller is collected, the shift control process data is compared and analyzed with the data in the model verification stage, and the control performance of the actual transmission controller is evaluated.

[0095] Compared with the prior art, this embodiment realizes efficient verification of the transmission control strategy by constructing a three-layer simulation architecture of a multi-speed transmission simulation model, a transmission controller model and a vehicle dynamics model, and establishing a joint simulation channel between the two platforms of AMESim and Simulink. Among them, the multi-speed transmission simulation model constructed by the embodiment of the present invention can directly simulate the five-speed shifting process without using a physical transmission to test and verify the control strategy of the transmission controller: through the transmission mechanical structure model constructed in the AMESim platform, the dynamic characteristics and response process of the shifting mechanism can be accurately simulated, including key links such as synchronizer displacement and gear meshing, which not only significantly reduces the test cost and test risk, but also can conveniently set and adjust various working condition parameters, providing an efficient and convenient verification platform for the development and optimization of the control strategy. The embodiment of the present invention provides an efficient and reliable test verification means for the development of the transmission controller of new energy vehicles by adopting a progressive verification method from software simulation to hardware testing.

[0096] like Figure 3 In an embodiment of the present invention, a multi-speed transmission controller simulation test device 200 is also provided, which includes at least a simulation model building module 210, a working condition simulation module 220, a model verification module 230 and a hardware configuration module 240.

[0097] In one embodiment of the present invention, the simulation model construction module 210 is used to respectively construct a multi-speed transmission simulation model, a transmission controller model and a vehicle dynamics model, and configure a joint simulation channel for the three models. The transmission simulation model includes at least three shift synchronizers and three position sensors, and the joint simulation channel is used to transmit shift signals and position information.

[0098] In one embodiment of the present invention, the operating condition simulation module 220 is used to enable the vehicle dynamics model to generate target gear information and send it to the transmission controller model. Based on the target gear information, the transmission controller model sends a shift signal to the shift synchronizer through the joint simulation channel.

[0099] In one embodiment of the present invention, the model verification module 230 is used to obtain actual position information of the shift synchronizer through a position sensor, and return the actual position information to the transmission controller model through the joint simulation channel to complete model verification.

[0100] In one embodiment of the present invention, the hardware configuration module 240 is used to deploy the verified multi-speed transmission simulation model and the vehicle dynamics model to a hardware testing platform for performing hardware-in-the-loop testing on an actual transmission controller.

[0101] It should be noted that the multi-speed transmission controller simulation test device 200 provided in the above embodiment and the embodiment of the multi-speed transmission controller simulation test method belong to the same concept, and the specific implementation process is detailed in the embodiment of the control method, which will not be repeated here.

[0102] An embodiment of the present invention further provides an electronic device, which includes a memory and a processor, wherein a computer program executed by the processor is stored in the memory, and when the computer program is executed by the processor, the processor executes the multi-speed gearbox controller simulation test method described above. Various applications and various data, such as various data used and / or generated by the application, can also be stored in the memory. The processor can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other forms of processing units having data processing capabilities and / or instruction execution capabilities.

[0103] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program executed by a processor is stored. When the computer program is executed by the processor, the processor executes the multi-speed transmission controller simulation test method as described above. Exemplarily, the computer storage medium may include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0104] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0105] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0106] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0107] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0108] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A multi-speed gearbox controller simulation test method, characterized in that: The method comprises: A multi-speed gearbox simulation model, a gearbox controller model and a vehicle dynamics model are constructed respectively, and a joint simulation channel of the three models is configured, wherein the gearbox simulation model includes at least three gear shift synchronizers and three position sensors, and the joint simulation channel is used to transmit gear shift signals and position information; The vehicle dynamics model generates target gear information and sends it to the transmission controller model, and the transmission controller model sends a shift signal to the shift synchronizer through the joint simulation channel based on the target gear information; Acquiring actual position information of the shift synchronizer through a position sensor, and returning the actual position information to the transmission controller model through the joint simulation channel to complete model verification; The verified multi-speed transmission simulation model and the vehicle dynamics model are deployed to a hardware testing platform for hardware-in-the-loop testing of an actual transmission controller.

2. The multi-speed gearbox controller simulation test method according to claim 1, characterized in that: The step of constructing a multi-speed gearbox simulation model includes: Constructing a dual-power source transmission system, connecting the first power source and the first shift mechanism in transmission connection, and connecting the second power source, the second shift mechanism and the third shift mechanism in transmission connection in sequence; An output transmission system is constructed, and the output shaft of the first shift mechanism and the output shaft of the third shift mechanism are respectively connected to the main transmission shaft to form a dual power transmission path for simulating wheel drive.

3. The multi-speed gearbox controller simulation test method according to claim 2, characterized in that: The steps of constructing the dual power source transmission system include: Configure the transmission connection relationship between the input shaft, shift synchronizer and output shaft of each shift mechanism; The left and right movement strokes of each shift synchronizer are set to realize the shifting operation of different gears; A position sensor is configured for each gear shift synchronizer to collect the actual position information of the gear shift synchronizer in real time.

4. The multi-speed gearbox controller simulation test method according to claim 3, characterized in that: The step of setting the left and right movement strokes of each shift synchronizer to realize the shifting operation of different gears includes: The first shift mechanism, the second shift mechanism and the third shift mechanism are respectively equipped with a first shift synchronizer, a second shift synchronizer and a third shift synchronizer; The working positions of the first shift synchronizer, the second shift synchronizer and the third shift synchronizer are configured respectively, and a shift operation of up to eight gears is performed through a combination of the working positions of the three shift synchronizers, wherein the first shift synchronizer selects a transmission path of the first power source by moving left and right, the second shift synchronizer selects a transmission path of the second power source by moving left and right, and the third shift synchronizer selects a transmission path between the second shift mechanism and the main transmission shaft by moving left and right; By controlling different position combinations of the three shift synchronizers, power output with different transmission ratios can be achieved.

5. The multi-speed gearbox controller simulation test method according to claim 2, characterized in that: The step of configuring the joint simulation channel of the three models includes: Establishing a first channel from the vehicle dynamics model to the transmission controller model for transmitting target gear information and vehicle operating condition information; Establishing a second channel from the transmission controller model to the multi-speed transmission simulation model for transmitting a shift control signal, wherein the shift control signal includes target position information of each shift synchronizer; Establishing a third channel from the multi-speed gearbox simulation model to the gearbox controller model for transmitting the actual position information detected by each position sensor; A fourth channel from the multi-speed gearbox simulation model to the vehicle dynamics model is established to transmit the speed and torque information of the main drive shaft.

6. The multi-speed gearbox controller simulation test method according to claim 5, characterized in that: In the step of causing the vehicle dynamics model to generate target gear information and send it to the transmission controller model, and the transmission controller model sends a shift signal to the shift synchronizer through the joint simulation channel based on the target gear information, the step includes: Set the initial parameters of the drive motor speed, vehicle speed, accelerator pedal opening, and brake pedal opening in the simulation environment; Obtain real-time drive motor speed and vehicle speed data through simulation calculation to determine the gear switching point; During the simulation, based on the preset driving conditions, the change of the accelerator pedal opening or the brake pedal opening is simulated, and whether a gear shift is required is determined according to the gear switching point; If a gear shift is required, the vehicle dynamics model generates target gear information, and sends the target gear information to the gearbox controller model through the joint simulation channel; The transmission controller model generates a simulated shift signal according to a preset control strategy, and sends the simulated shift signal to the multi-speed transmission simulation model through the joint simulation channel.

7. The multi-speed gearbox controller simulation test method according to claim 5, characterized in that: The step of acquiring the actual position information of the shift synchronizer through the position sensor and returning the actual position information to the transmission controller model through the joint simulation channel to complete the model verification includes: Set the sampling time step of the position sensor in the simulation environment; Based on the sampling time step, periodically obtaining the actual position information of each shift synchronizer in the multi-speed gearbox simulation model during the simulation process; transmitting the actual position information to the gearbox controller model via the joint simulation channel; The transmission controller model compares the received actual position information with the target position information to determine whether the simulated shifting process is completed; The simulated shifting process data under different gear conditions is recorded to verify the control strategy of the transmission controller model.

8. The multi-speed gearbox controller simulation test method according to claim 1, characterized in that: The step of deploying the verified multi-speed gearbox simulation model and the vehicle dynamics model to a hardware test platform for performing hardware-in-the-loop testing on an actual gearbox controller includes: An input and output interface of an actual gearbox controller is configured on the hardware test platform, wherein the input and output interface includes a shift control signal interface and a position sensor signal interface; Deploying the multi-speed gearbox simulation model and the vehicle dynamics model to a real-time simulation system of the hardware test platform; Establishing a signal connection between the real-time simulation system and the actual transmission controller so that the actual transmission controller can receive vehicle dynamics information and output a shift control signal; Running the real-time simulation system based on a preset test condition to collect shift control process data of the actual transmission controller; The shift control process data is compared and analyzed with the data from the model verification phase to evaluate the control performance of the actual transmission controller.

9. A multi-speed gearbox controller simulation test device, characterized in that: include: A simulation model building module, used to respectively build a multi-speed gearbox simulation model, a gearbox controller model and a vehicle dynamics model, and configure a joint simulation channel of the three models, wherein the gearbox simulation model includes at least three gear shift synchronizers and three position sensors, and the joint simulation channel is used to transmit gear shift signals and position information; A working condition simulation module, used for enabling the vehicle dynamics model to generate target gear information and send it to the transmission controller model, and the transmission controller model sends a shift signal to the shift synchronizer through the joint simulation channel based on the target gear information; A model verification module, used for obtaining actual position information of the shift synchronizer through a position sensor, and returning the actual position information to the transmission controller model through the joint simulation channel to complete model verification; The hardware configuration module is used to deploy the verified multi-speed transmission simulation model and the vehicle dynamics model to the hardware test platform for hardware-in-the-loop testing of the actual transmission controller.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded by a processor and executed to implement the multi-speed transmission controller simulation test method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement the multi-speed transmission controller simulation test method according to any one of claims 1 to 8.

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