Commercial vehicle EBS performance test control system

Abstract

The invention discloses a commercial vehicle EBS performance test control system which adopts six wheel speed motors to simulate wheels of a vehicle, the wheel speed motors are in spline connection with a code disc, a rotation speed sensor detects the rotation speed of the wheel speed motors and feeds back the rotation speed to an EBS controller, and the speed detection function of an EBS system is detected by giving a wheel speed motor instruction or replacing the code disc with the incomplete tooth number; the brake pedal motor simulates the braking process of a driver, and the pedal force sensor is connected with the brake pedal, detects the braking force and is connected into the EBS controller. An inner frame motor, a middle frame motor and an outer frame motor of a three-axis rotary table motor are adopted to simulate the transverse acceleration, the longitudinal acceleration and the yaw velocity of the whole vehicle respectively, a vehicle body attitude sensor is installed on the inner frame motor, and signals of the vehicle body attitude sensor are connected into an EBS system. According to the invention, the vehicle operation is dynamically simulated, the EBS system is subjected to closed-loop verification, and the vehicle model can be further checked; the fault diagnosis simulates a hardware circuit fault and verifies a fault processing function of the EBS system.

Description

Technical Field

[0001] The invention belongs to the technical field of commercial vehicle braking and relates to an EBS performance test control system for a commercial vehicle. Background Art

[0002] EBS electronic brake control system uses electronically controlled air brakes to improve braking comfort and safety. The EBS system adds brake management functions to the anti-lock braking control (ABS) function, and can expand many brake assist systems, such as the ESC body stability braking system, the ASR drive anti-skid system, etc.

[0003] Before the EBS system is officially launched on the market, sufficient performance testing must be carried out, but there are many problems with the performance testing of commercial vehicle EBS systems. Patent CN 212300862 U discloses an EBS system performance testing simulation platform, including an ECU control unit, a wheel mechanism and a brake mechanism; it provides a more realistic test environment, but the system's motor control method is simple, making it difficult to simulate the actual vehicle's road spectrum, and it does not have signal inputs such as vehicle body posture and steering wheel angle. Patent CN116088478 A proposes a road durability test method, equipment and storage medium for a vehicle electronic braking system, including controlling the target vehicle to operate in accordance with preset test specifications under preset working conditions, and monitoring preset parameters during operation, but the test system and method require actual vehicle testing, with a long test cycle and high costs, and are more suitable for the final verification stage of the EBS system. Patent CN201910861016 provides a test bench and test method for a commercial vehicle anti-lock braking system. The test system uses a whole vehicle model and a brake air chamber to dynamically test the built-in control strategy. However, this method has high requirements on the accuracy of the whole vehicle model and cannot accurately build a real vehicle test environment.

[0004] It can be seen from the above-mentioned prior art that commercial vehicle EBS performance testing has problems such as long verification cycle, many test items, and inability to simulate the whole vehicle environment for sufficient verification. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a commercial vehicle EBS performance test control system that can truly simulate the actual vehicle environment, shorten the EBS development and verification cycle, facilitate system operation, simulate multiple test methods, and verify the EBS system performance in multiple aspects.

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

[0007] A commercial vehicle EBS performance test control system, including an electrical system, a control system, a measurement system, a host computer, and a fault diagnosis system;

[0008] The electrical system uses Inovance AC702 CPU, which supports 16 Ethercat axes. This system is connected with 11 axes, including 6 wheel speed axes, 1 brake pedal axis, 3 three-axis turntable axes and 1 steering wheel axis. The CPU is connected in series with the servo controller and IO coupler through the Ethercat industrial bus.

[0009] The control system includes a PLC, a wheel speed motor, a brake pedal motor, a three-axis turntable motor, a steering wheel motor, an accelerator pedal, a brake pedal, a gear lever, and a steering wheel;

[0010] The host computer can realize human-computer interaction, data display and data collection. The user configures the host computer and issues action instructions to the control system; the control system and the measurement system feed back the data to the host computer;

[0011] The measurement system includes an AI module to collect brake air pressure, accelerator pedal opening, pedal force sensor and pedal displacement signals;

[0012] The fault diagnosis system controls the Omron 16-way relay module coil K01 through the DO module, the relay terminal is led to the console and made into a quick-plug connector, and then the EBS harness sensor or module connector is plugged into the quick-plug connector; the DO module is used to control the fault simulation, and supports the simultaneous injection of different types of faults such as short circuit, open circuit, overvoltage and undervoltage, and sets a control parameter for the duration of the fault; the fault diagnosis system verifies the EBS system's response strategy to various hardware faults that may occur in the component parts.

[0013] The present invention also includes the following technical features:

[0014] Specifically, the servo controller model is SV660N, and the power varies according to the power of the servo motor. The servo motor uses a 24-bit encoder with high control accuracy.

[0015] Specifically, the brake pedal motor, three-axis turntable motor and steering wheel motor have a braking function. When the servo controller is in a non-operating state, the servo motor remains locked in position and will not move due to the weight of the mechanical parts or external forces, thereby improving the safety of the system.

[0016] Specifically, after the wheel speed motor is connected to the encoder, it simulates the wheel speed of the six wheels of the vehicle, including three control modes:

[0017] Method 1: Manual test: Manually set the speed, acceleration, and deceleration of the six wheel motors, and modify the target values ​​according to test requirements;

[0018] Method 2: Road spectrum test: During the actual vehicle working condition test, the road spectrum data is collected, processed, and loaded into the control system. The six wheel speed motors operate according to a specific road spectrum. This control method can replicate the specific test conditions or fault reproduction of the actual vehicle, thereby testing the performance of the EBS system.

[0019] Method three, formula test: divided into ABS function simulation and ASR function simulation, this control method can test the control strategy of the EBS system under different slip rates and slip rates.

[0020] Specifically, in the ABS function simulation, the ABS calculation formula is as follows:

[0021]

[0022] Among them, WSpd FL is the left front wheel motor speed, V is the target vehicle speed; R is the wheel radius, S FL is the left front wheel slip rate;

[0023] In the ASR function simulation, the ASR calculation formula is as follows:

[0024]

[0025] Among them, WSpd FL is the left front wheel motor speed, V is the target vehicle speed; R is the wheel radius, T FL is the left front wheel slip rate;

[0026] Set the vehicle speed and wheel radius, set the slip rate and slip ratio parameters of the six wheel speeds respectively, and the wheel speed motor runs at a specific speed; this control method can test the control strategy of the EBS system under different slip rates and slip ratios.

[0027] Specifically, the brake pedal motor includes two control modes:

[0028] Manual test: Manually set the brake pedal motor position, speed, acceleration, and deceleration, and can set target values ​​at will for flexible testing;

[0029] Driving intention: Develop driver intention test cases, load test files, and the brake pedal motor can simulate braking and emergency braking test conditions; used to verify the control strategy of the EBS system under different braking conditions.

[0030] Specifically, the three-axis turntable motor includes an inner frame motor, a middle frame motor, and an outer frame motor, which are used to simulate the vehicle body posture signal, including two control modes:

[0031] Manual test: control the position, speed, acceleration and deceleration parameters of each motor separately;

[0032] ESC simulation: used to verify the body stability control strategy of the EBS system under vehicle posture conditions.

[0033] Specifically, the ESC simulation corresponding formula is as follows:

[0034] β=arcsin(a X / g)

[0035] α=arcsin(a Y / (g·cosβ))

[0036] W Z =ω Z / (cosα·cosβ)

[0037] Among them, a X is the target longitudinal acceleration, a Y is the target lateral acceleration, g is the gravitational acceleration, ω Z is the target yaw rate, β is the rotation angle of the inner frame motor, α is the rotation angle of the middle frame motor, W Z is the angular velocity of the outer frame motor.

[0038] Specifically, the steering wheel motor simulates the resistance of the steering wheel by setting the torque value, and at the same time feeds back the steering wheel angle in real time.

[0039] The dynamic simulation test method using the commercial vehicle EBS performance test control system includes the following steps:

[0040] Step 1: Install the EBS system and check the gas connection;

[0041] Step 2: Set the specific parameters of the vehicle dynamics model, such as road conditions and vehicle information, start the model, step on the accelerator pedal, and use the gear lever to shift gears. The wheel speed motor gradually accelerates, and the three-axis turntable motor runs according to the vehicle model and changes its position in real time. The operator can step on the brake pedal to simulate braking and turn the steering wheel to make the real vehicle model turn.

[0042] Step 3: During operation, the host computer sends the accelerator pedal opening signal, steering wheel angle signal, and brake chamber pressure value to the vehicle dynamics model through CAN communication, and at the same time receives the target speed of the six wheel speed motors, the target angle and target speed of the three-axis turntable motor, and the target torque signal of the steering wheel motor of the vehicle dynamics model through CAN communication;

[0043] Step 4: The host computer sends the vehicle gear position, weight, and throttle position signals to the EBS system through CAN communication, and receives the ESC trigger and ABS trigger signals of the EBS system;

[0044] Step 5: The vehicle dynamics model adjusts the wheel speed target speed according to the brake chamber pressure value. The EBS system monitors the wheel speed and vehicle posture changes. If the ABS or ESC is triggered, the solenoid valve is controlled to adjust the brake chamber pressure.

[0045] Repeat steps 2 to 5 to implement dynamic simulation testing of the EBS system. By inputting different road condition parameters into the vehicle dynamics model and the operator's different control methods of the accelerator pedal, brake pedal, and steering wheel, verify whether the ABS function of the EBS system is triggered normally and whether it can identify the driver's intended control strategy. During the test, add a fault system to simulate an EBS sensor short circuit or open circuit fault to verify the fault diagnosis strategy of the EBS system.

[0046] Compared with the prior art, the present invention has the following technical effects:

[0047] The present invention provides an intuitive and clear testing environment. The speed of the wheel speed motor, the action of the brake air chamber, the operation of the pedal motor, etc. can allow the tester to check the control function of the EBS system in time. The computer displays the wheel speed motor speed curve, brake air pressure value, steering wheel angle and other parameters, and has a data acquisition function, which helps the tester to further analyze and verify the performance of the EBS system. The wheel speed motor, steering wheel, brake pedal, brake air chamber, etc. truly simulate the operating conditions of the whole vehicle. The wheel speed motor, brake pedal, and three-axis turntable provide a variety of control methods.

[0048] The present invention provides hardware development testing, software development testing, and software and algorithm debugging for the brake signal transmitter module, central ECU module, front and rear axle module, and trailer module in an electronically controlled braking system (EBS), and provides a real and comprehensive testing environment with powerful functions, simple operation, and intuitive effects. It fully verifies the performance of the EBS system and effectively shortens the development cycle of the EBS system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is the electrical topology diagram of the system.

[0050] Figure 2 For the overall layout.

[0051] Figure 3 Simulate wiring for faults.

[0052] The meaning of each number in the figure is:

[0053] 1. PLC; 2. Servo controller; 3. IO coupler; 4. Wheel speed motor; 5. Brake pedal motor; 6. Three-axis turntable motor; 7. Steering wheel motor; 8. DI module; 9. DO module; 10. AI module; 11. Host computer; 12. EBS system; 13. EBS valve body; 14. Brake air chamber; 15. Air tank; 16. Accelerator pedal; 17. Brake pedal; 18. Shift handle; 19. Steering wheel; 20. Vehicle dynamics model; 21. Control system; 22. Measurement system; 23. Fault diagnosis system. DETAILED DESCRIPTION

[0054] The present invention provides a commercial vehicle EBS performance test control system, which uses 6 wheel speed motors to simulate the wheels of the vehicle. The wheel speed motors have three control modes: manual, road spectrum, and formula. The wheel speed motors are spline-connected to the code disc. The speed sensor detects the speed of the wheel speed motor and feeds it back to the EBS controller. By giving the wheel speed motor command or replacing the code disc with incomplete teeth, the speed detection function of the EBS system is tested. The system of the present invention also includes a brake pedal motor to simulate the driver's braking process. The brake pedal has two test modes: manual and automatic. The pedal force sensor is connected to the brake pedal to detect the braking force and connect to the EBS controller. The system of the present invention uses three motors: the inner frame motor, the middle frame motor, and the outer frame motor to form a three-axis turntable motor, which are respectively used to simulate the lateral acceleration, longitudinal acceleration, and yaw angular velocity of the whole vehicle. The body posture sensor is installed on the inner frame motor, and the sensor signal is connected to the EBS system. Dynamic simulation simulates the operation of the whole vehicle, performs closed-loop verification on the EBS system, and can further test the whole vehicle model. Fault diagnosis simulates hardware circuit failures and verifies the fault handling function of the EBS system.

[0055] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0056] Example:

[0057] like Figures 1 to 3 As shown, this embodiment provides a commercial vehicle EBS performance test control system, including an electrical system, a control system 21, a measurement system 22, a host computer 11, and a fault diagnosis system 23.

[0058] Electrical system such as Figure 1 As shown, the Inovance AC702 CPU is used. This model of CPU supports 16 Ethercat axes. This system is connected with 11 axes in total, including 6 wheel speed axes, 1 brake pedal axis, 3 three-axis turntable axes and 1 steering wheel axis. It can be seen that this system is highly complex; the CPU is connected in series with the servo controller 2 and the IO coupler 3 using the Ethercat industrial bus.

[0059] The control system 21 includes a PLC 1, a wheel speed motor 4, a brake pedal motor 5, a three-axis turntable motor 6, a steering wheel motor 7, an accelerator pedal 16, a brake pedal 17, a gear lever 18, a steering wheel 19, and a DI module 8, wherein the DI module 8 is mainly used to monitor Figure 1 Power-on signals for the 11 servo axes and desktop emergency stop signals.

[0060] The host computer 11 can realize functions such as human-computer interaction, data display, and data collection. The user configures the host computer 11 and sends action instructions to the control system 21; the control system 21 and the measurement system 22 feed back data to the host computer 11.

[0061] The measurement system 22 mainly includes Figure 1 The AI ​​module 10 in the control unit collects brake pressure, accelerator pedal opening, pedal force sensor and pedal displacement signals.

[0062] Fault diagnosis system 23 Figure 3 , the Omron 16-way relay module coil K01 is controlled through the DO module 9, the relay terminal is led to the console, and a quick-plug connector is made, and then the EBS harness sensor or module connector is plugged into the quick-plug connector. The fault simulation is controlled by the DO module 9, which is convenient and fast. It supports the simultaneous injection of different types of faults such as short circuit, open circuit, over-voltage and under-voltage, and sets the control parameters for the duration of the fault; the fault diagnosis system 23 verifies the EBS system's response strategies for various hardware faults that may occur in the components including sensors, valve bodies, power supplies, etc.

[0063] Specifically, the model of the servo controller 2 is SV660N. The power of the servo controller 2 varies according to the power of the servo motor. The servo motor adopts a 24-bit encoder with high control accuracy.

[0064] The brake pedal motor 5, the three-axis turntable motor 6 and the steering wheel motor 7 have a brake function. When the servo controller 2 is not in operation, the servo motor remains locked in position and will not move due to the weight of the mechanical parts or external forces, thereby improving the safety of the system.

[0065] After the wheel speed motor 4 is connected to the encoder, it simulates the wheel speed of the six wheels of the vehicle, including three control modes:

[0066] Method 1: Manual test: Manually set the speed, acceleration, and deceleration of the six wheel motors, modify the target value according to the test requirements, and conduct flexible testing;

[0067] Method 2: Road spectrum test: During the actual vehicle working condition test, the road spectrum data is collected, processed, and loaded into the control system. The six wheel speed motors operate according to a specific road spectrum. This control method can replicate the specific test conditions or fault reproduction of the actual vehicle, thereby testing the performance of the EBS system.

[0068] Method three, formula test: divided into ABS function simulation and ASR function simulation, this control method can test the control strategy of the EBS system under different slip rates and slip rates.

[0069] In the ABS function simulation, the ABS calculation formula is as follows:

[0070]

[0071] Among them, WSpd FL is the left front wheel motor speed, V is the target vehicle speed; R is the wheel radius, S FL is the left front wheel slip rate;

[0072] In the ASR function simulation, the ASR calculation formula is as follows:

[0073]

[0074] Among them, WSpd FL is the left front wheel motor speed, V is the target vehicle speed; R is the wheel radius, T FL is the left front wheel slip rate;

[0075] Set the vehicle speed and wheel radius, set the slip rate and slip ratio parameters of the six wheel speeds respectively, and the wheel speed motor runs at a specific speed; this control method can test the control strategy of the EBS system under different slip rates and slip ratios.

[0076] The brake pedal motor 5 includes two control modes:

[0077] Manual test: Manually set the brake pedal motor position, speed, acceleration, and deceleration, and can set target values ​​at will for flexible testing;

[0078] Driving intention: Develop driver intention test cases, load test files, and the brake pedal motor can simulate test conditions such as braking and emergency braking; used to verify the control strategy of the EBS system under different braking conditions.

[0079] The three-axis turntable motor 6 includes an inner frame motor, a middle frame motor, and an outer frame motor, which are used to simulate the vehicle body posture signal and include two control modes:

[0080] Manual test: control the position, speed, acceleration and deceleration parameters of each motor separately;

[0081] ESC simulation: used to verify the body stability control strategy of the EBS system under vehicle posture conditions.

[0082] The corresponding formula for ESC simulation is as follows:

[0083] β=arcsin(a X / g)

[0084] α=arcsin(a Y / (g·cosβ))

[0085] W Z =ω Z / (cosα·cosβ)

[0086] Among them, a X is the target longitudinal acceleration, a Y is the target lateral acceleration, g is the gravitational acceleration, ω Z is the target yaw rate, β is the rotation angle of the inner frame motor, α is the rotation angle of the middle frame motor, W Z is the angular velocity of the outer frame motor.

[0087] The steering wheel motor 7 simulates the resistance of the steering wheel by setting the torque value and simultaneously feeds back the steering wheel angle in real time.

[0088] The dynamic simulation test method using the commercial vehicle EBS performance test control system includes the following steps:

[0089] Step 1, install the EBS system 12, including the front axle module, rear axle module, trailer module, etc., install the EBS valve body 13, including the front axle valve, rear axle valve, trailer valve, ABS valve, etc., and check the gas circuit connection;

[0090] Step 2, set the specific parameters of the vehicle dynamics model 20, such as road conditions, vehicle information, etc., start the model, step on the accelerator pedal 16, and use the gear lever 18 to shift gears, the wheel speed motor 4 gradually accelerates, the three-axis turntable motor 6 runs according to the vehicle model and changes position in real time, the operator can step on the brake pedal 17 to simulate braking, and turn the steering wheel 19 to make the real vehicle model turn;

[0091] Step 3, during operation, the host computer 11 sends the accelerator pedal 16 opening signal, the steering wheel 19 angle signal, and the brake air chamber 14 pressure value to the vehicle dynamics model 20 through CAN communication, and at the same time receives the target speed of the six wheel speed motors, the target angle and target speed of the three-axis turntable motor, and the steering wheel motor target torque signal of the vehicle dynamics model 20 through CAN communication;

[0092] Step 4, the host computer 11 sends vehicle gear position, weight, throttle position and other signals to the EBS system 12 through CAN communication, and receives ESC trigger, ABS trigger and other signals from the EBS system 12;

[0093] Step 5, the vehicle dynamics model 20 adjusts the wheel speed target speed according to the brake chamber pressure value, and the EBS system monitors the wheel speed and vehicle posture changes. If the ABS or ESC is triggered, the solenoid valve is controlled to adjust the brake chamber 14 pressure;

[0094] Repeat steps 2-5 to implement dynamic simulation test of the EBS system; by inputting different road condition parameters into the vehicle dynamics model 20 and the operator's different control methods of the accelerator pedal 16, the brake pedal 17, and the steering wheel 19, verify whether the ABS function of the EBS system is triggered normally and whether it can recognize the control strategies such as the driver's intention.

[0095] During the test, a fault system 23 may be added to simulate a short circuit or open circuit fault of the EBS sensor to verify the fault diagnosis strategy of the EBS system.

[0096] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0097] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0098] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A commercial vehicle EBS performance test control system, characterized in that: Including electrical system, control system, measurement system, host computer, fault diagnosis system; The electrical system uses Inovance AC702 CPU, which supports 16 Ethercat axes. This system is connected with 11 axes, including 6 wheel speed axes, 1 brake pedal axis, 3 three-axis turntable axes and 1 steering wheel axis. The CPU is connected in series with the servo controller and IO coupler through the Ethercat industrial bus. The control system includes a PLC, a wheel speed motor, a brake pedal motor, a three-axis turntable motor, a steering wheel motor, an accelerator pedal, a brake pedal, a gear lever, and a steering wheel; The host computer can realize human-computer interaction, data display and data collection. The user configures the host computer and issues action instructions to the control system; the control system and the measurement system feed back the data to the host computer; The measurement system includes an AI module to collect brake air pressure, accelerator pedal opening, pedal force sensor and pedal displacement signals; The fault diagnosis system controls the Omron 16-way relay module coil K01 through the DO module, the relay terminal is led to the console and made into a quick-plug connector, and then the EBS harness sensor or module connector is plugged into the quick-plug connector; the DO module is used to control the fault simulation, and supports the simultaneous injection of different types of faults such as short circuit, open circuit, overvoltage and undervoltage, and sets a control parameter for the duration of the fault; the fault diagnosis system verifies the EBS system's response strategy to various hardware faults that may occur in the component parts.

2. The commercial vehicle EBS performance test control system according to claim 1, characterized in that: The servo controller model is SV660N, and the power varies according to the power of the servo motor. The servo motor uses a 24-bit encoder with high control accuracy.

3. The commercial vehicle EBS performance test control system according to claim 1, characterized in that: The brake pedal motor, three-axis turntable motor and steering wheel motor have a brake function. When the servo controller is in a non-operating state, the servo motor remains locked in position and will not move due to the deadweight of the mechanical parts or external forces, thereby improving the safety of the system.

4. The commercial vehicle EBS performance test control system according to claim 1, characterized in that: After the wheel speed motor is connected to the encoder, it simulates the wheel speed of the six wheels of the vehicle, including three control modes: Method 1: Manual test: Manually set the speed, acceleration, and deceleration of the six wheel motors, and modify the target values ​​according to test requirements; Method 2: Road spectrum test: During the actual vehicle working condition test, the road spectrum data is collected, processed, and loaded into the control system. The six wheel speed motors operate according to a specific road spectrum. This control method can replicate the specific test conditions or fault reproduction of the actual vehicle, thereby testing the performance of the EBS system. Method three, formula test: divided into ABS function simulation and ASR function simulation, this control method can test the control strategy of the EBS system under different slip rates and slip rates.

5. The commercial vehicle EBS performance test control system according to claim 4, characterized in that: In the ABS function simulation, the ABS calculation formula is as follows: Among them, WSpd FL is the left front wheel motor speed, V is the target vehicle speed; R is the wheel radius, S FL is the left front wheel slip rate; In the ASR function simulation, the ASR calculation formula is as follows: Among them, WSpd FL is the left front wheel motor speed, V is the target vehicle speed; R is the wheel radius, T FL is the left front wheel slip rate; Set the vehicle speed and wheel radius, set the slip rate and slip ratio parameters of the six wheel speeds respectively, and the wheel speed motor runs at a specific speed; this control method can test the control strategy of the EBS system under different slip rates and slip ratios.

6. The commercial vehicle EBS performance test control system according to claim 1, characterized in that: The brake pedal motor includes two control modes: Manual test: Manually set the brake pedal motor position, speed, acceleration, and deceleration, and can set target values ​​at will for flexible testing; Driving intention: Develop driver intention test cases, load test files, and the brake pedal motor can simulate braking and emergency braking test conditions; used to verify the control strategy of the EBS system under different braking conditions.

7. The commercial vehicle EBS performance test control system according to claim 1, characterized in that: The three-axis turntable motor includes an inner frame motor, a middle frame motor, and an outer frame motor, which are used to simulate the body posture signal and include two control modes: Manual test: control the position, speed, acceleration and deceleration parameters of each motor separately; ESC simulation: used to verify the body stability control strategy of the EBS system under vehicle posture conditions.

8. The commercial vehicle EBS performance test control system according to claim 7, characterized in that: The ESC simulation corresponding formula is as follows: β=arcsin(a X / g) α=arcsin(a Y / (g·cosβ)) W Z =ω Z / (cosα·cosβ) Among them, a X is the target longitudinal acceleration, a Y is the target lateral acceleration, g is the gravitational acceleration, ω Z is the target yaw rate, β is the rotation angle of the inner frame motor, α is the rotation angle of the middle frame motor, W Z is the angular velocity of the outer frame motor.

9. The commercial vehicle EBS performance test control system according to claim 1, characterized in that: The steering wheel motor simulates the resistance of the steering wheel by setting the torque value and simultaneously feeds back the steering wheel angle in real time.

10. A dynamic simulation test method using the commercial vehicle EBS performance test control system according to claim 1, characterized in that: The following steps are involved: Step 1: Install the EBS system and check the gas connection; Step 2: Set the specific parameters of the vehicle dynamics model, such as road conditions and vehicle information, start the model, step on the accelerator pedal, and use the gear lever to shift gears. The wheel speed motor gradually accelerates, and the three-axis turntable motor runs according to the vehicle model and changes its position in real time. The operator can step on the brake pedal to simulate braking and turn the steering wheel to make the real vehicle model turn. Step 3: During operation, the host computer sends the accelerator pedal opening signal, steering wheel angle signal, and brake chamber pressure value to the vehicle dynamics model through CAN communication, and at the same time receives the target speed of the six wheel speed motors, the target angle and target speed of the three-axis turntable motor, and the target torque signal of the steering wheel motor of the vehicle dynamics model through CAN communication; Step 4: The host computer sends the vehicle gear position, weight, and throttle position signals to the EBS system through CAN communication, and receives the ESC trigger and ABS trigger signals of the EBS system; Step 5: The vehicle dynamics model adjusts the wheel speed target speed according to the brake chamber pressure value. The EBS system monitors the wheel speed and vehicle posture changes. If the ABS or ESC is triggered, the solenoid valve is controlled to adjust the brake chamber pressure. Repeat steps 2 to 5 to implement dynamic simulation test of the EBS system. By inputting different road condition parameters into the vehicle dynamics model and the operator's different control methods of the accelerator pedal, brake pedal and steering wheel, verify whether the ABS function of the EBS system is triggered normally and whether it can identify the driver's intended control strategy. During the test, a faulty system is added to simulate an EBS sensor short circuit or open circuit fault to verify the fault diagnosis strategy of the EBS system.

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