Commercial vehicle ebs performance test control system

Abstract

The application discloses a kind of commercial vehicle EBS performance test control systems, six wheel speed motors are used to simulate the wheels of vehicle, wheel speed motor is connected with code disc spline, and speed sensor detects wheel speed motor speed and is fed back to EBS controller, by giving wheel speed motor instruction or replacing the code disc of incomplete tooth number, the speed detection function of EBS system is verified;Brake pedal motor simulates the braking process of driver, pedal force sensor is connected with brake pedal, detects brake intensity and is connected into EBS controller;The inner frame motor of three-axis turntable motor, middle frame motor, outer frame motor are used to simulate the lateral acceleration, longitudinal acceleration and yaw angular velocity of whole vehicle respectively, vehicle body posture sensor is installed on the inner frame motor, and its signal is connected into EBS system.The application dynamically simulates the operation of whole vehicle, and carries out closed-loop verification on EBS system, and can further verify the whole vehicle model;Fault diagnosis simulates hardware circuit fault, and verifies the fault handling function of EBS system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of commercial vehicle braking, and relates to a commercial vehicle EBS performance test control system. BACKGROUND

[0002] The EBS (Electronic Brake System) is an electronic brake control system that uses electric control and pneumatic braking to improve braking comfort and safety. The EBS system adds a brake management function to the anti-lock braking system (ABS) function, and can also expand many brake assistance systems, such as the ESC vehicle body stability braking system and the ASR drive anti-skid system.

[0003] Before the EBS system is officially put on the market, it needs to be fully tested for performance, but there are many problems with the performance testing of the commercial vehicle EBS system. Patent CN 212300862 U discloses an EBS system performance detection simulation table, which includes an ECU control unit, a wheel mechanism and a brake mechanism. It provides a relatively realistic test environment, but the motor control method of the system is simple, it is difficult to realize simulation of the real vehicle road spectrum, and it does not have signal inputs such as vehicle body posture and steering wheel angle. Patent CN 116088478 A proposes a vehicle electronic brake system road durability test method, device and storage medium, which includes controlling the target vehicle to run under a predetermined working condition according to a predetermined test specification, and monitoring the predetermined parameters during the running process. However, this test system and method require real vehicle testing, which has a long test cycle and is expensive, and is more suitable for the final verification stage of the EBS system. Patent CN 201910861016 provides a test bench for a commercial vehicle anti-lock system and a test method thereof. The test system uses a vehicle model and a brake chamber to test the dynamic control strategy built-in, but this method has high requirements for the accuracy of the vehicle model and cannot accurately build a real vehicle test environment.

[0004] From the above prior art, it can be seen that the performance testing of the commercial vehicle EBS has problems such as long verification period, many test items, and inability to simulate the whole vehicle environment for full verification. SUMMARY

[0005] In view of the deficiencies in the prior art, the purpose of the present application is to provide a commercial vehicle EBS performance test control system that can simulate real vehicle environments, shorten the EBS development verification period, is easy to operate, simulates multiple test methods, and verifies the performance of the EBS system in multiple aspects.

[0006] To solve the above technical problems, the present application adopts the following technical solutions:

[0007] A commercial vehicle EBS performance test control system includes an electrical system, a control system, a measurement system, an upper computer, and a fault diagnosis system.

[0008] The electrical system adopts a Huitong AC702 CPU, the CPU supports 16 axes of Ethercat axis, 11 axes are connected in the system, 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 through an Ethercat industrial bus between the servo controller and the IO coupler;

[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 handle and a steering wheel;

[0010] The upper computer can realize man-machine interaction, data display and data acquisition, a user configures the upper computer, and action instructions are issued to the control system; the control system and the measurement system feed back data to the upper computer;

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

[0012] The fault diagnosis system controls the Omron 16-channel relay module coil K01 through the DO module, the relay wiring end is led to the control console to form a quick plug connector, and the EBS wire harness sensor or module connector is plugged into the quick plug connector; the DO module is used for fault simulation, different types of faults such as short circuit, open circuit, overvoltage and undervoltage are supported, and time control parameters are set for faults; the fault diagnosis system verifies the response strategy of the EBS system to various hardware faults that may occur in the components.

[0013] The application also includes the following technical features:

[0014] Specifically, the servo controller is of the SV660N type, and the power is different according to the power of the servo motor; the servo motor uses a 24-bit encoder, and the control accuracy is high.

[0015] Specifically, the brake pedal motor, the three-axis turntable motor and the steering wheel motor have a brake holding function, when the servo controller is in a non-running state, the servo motor keeps position locking, and will not move due to the weight of the mechanical part or external force, thereby improving the safety of the system.

[0016] Specifically, after the wheel speed motor is connected with a code disc, the wheel speed of the whole vehicle is simulated, including three control modes:

[0017] Mode one, manual test: manually set the speed, acceleration and deceleration of the six wheel speed motors, and modify the target value according to the test requirements;

[0018] Second, road test: in the real vehicle test conditions to collect road data, the data processing, loading to the control system, 6 wheel speed motor according to the specific road operation, the control mode can reproduce the real vehicle specific test conditions or fault reproduction, so as to test the EBS system performance;

[0019] Third, formula test: divided into ABS function simulation, ASR function simulation, the control mode can test the different slip rate, slip rate under the control strategy of EBS system.

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

[0021]

[0022] Wherein, WSpd FL is the left front wheel speed motor speed, V is the target 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] Wherein, WSpd FL is the left front wheel speed motor speed, V is the target speed; R is the wheel radius, T FL is the left front wheel slip rate;

[0026] Set the vehicle speed, wheel radius, set the slip rate, slip rate parameters of 6 wheel speed respectively, the wheel speed motor according to the specific speed operation; the control mode can test the control strategy of EBS system under different slip rate, slip rate.

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

[0028] Manual test: manually set the brake pedal motor position, speed, acceleration, deceleration, can be given target value, flexible test;

[0029] Driving intention: formulate the driver intention test case, load test file, brake pedal motor can simulate the point brake, emergency brake test conditions; for verifying the control strategy of EBS system under different braking conditions.

[0030] Specifically, the three-axis turntable motor includes inner frame motor, middle frame motor and outer frame motor, which is used for simulating the vehicle body posture signal and includes two control modes:

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

[0032] ESC simulation: used to verify the EBS system in the body posture case body stability control strategy.

[0033] Specifically, the ESC simulation corresponds to the formula as follows:

[0034] β = arcsin (a X / g)

[0035] α = arcsin (a Y / (g cos β))

[0036] W Z = ω Z / (cos α cos β)

[0037] Wherein, a X is the target longitudinal acceleration, a Y is the target lateral acceleration, g is the acceleration of gravity, ω Z is the target yaw rate, β is the inner frame motor rotation angle, α is the middle frame motor rotation angle, and W Z is the outer frame motor rotation speed.

[0038] Specifically, 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.

[0039] The commercial vehicle EBS performance test control system is used for dynamic simulation test method, comprising the following steps:

[0040] Step 1, install the EBS system, check the gas connection;

[0041] Step 2, set the specific parameters of the vehicle dynamics model, such as road conditions, vehicle information, start the model, step on the accelerator pedal, and change gear with the gear handle, the wheel speed motor gradually accelerates, the three-axis turntable motor runs according to the vehicle model, changes the position in real time, the operator can step on the brake pedal to simulate the brake, and turn the steering wheel to steer the real vehicle model;

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

[0043] Step 4, the host computer sends the vehicle gear, weight and accelerator position signal to the EBS system through CAN communication, and receives the ESC trigger and ABS trigger signal from the EBS system;

[0044] Step 5, the whole vehicle dynamics model adjusts the wheel speed target speed according to the brake chamber pressure value, the EBS system monitors the wheel speed and the vehicle body posture change, and if the ABS or ESC is triggered, the control electromagnetic valve adjusts the brake chamber pressure;

[0045] Steps 2-5 are repeated to realize dynamic simulation test of the EBS system; different road condition parameters are input into the whole vehicle dynamics model, and different control modes of the accelerator pedal, the brake pedal and the steering wheel are operated by the operator to verify whether the ABS function of the EBS system is normally triggered and whether the EBS system can identify the driver's intended control strategy; during the test process, a fault system is added to simulate the short circuit or open circuit fault of the EBS sensor, and the fault diagnosis strategy of the EBS system is verified.

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

[0047] The present application provides an intuitive and clear test environment, the speed of the wheel speed motor, the action of the brake chamber, the operation of the pedal motor and the like can be viewed by the tester in time to control the effect of the EBS system. The speed curve of the wheel speed motor, the brake air pressure value, the steering wheel angle and the like are displayed on the computer, and the data acquisition function is also provided, which is helpful for the tester to further analyze and verify the performance of the EBS system. The wheel speed motor, the steering wheel, the brake pedal, the brake chamber and the like simulate the whole vehicle running condition, and the wheel speed motor, the brake pedal and the three-axis turntable provide a variety of control modes.

[0048] The present application provides hardware development test, software development test and software and algorithm debugging for the brake signal transmitter module, the central ECU module, the front and rear axle modules and the trailer module in the electric control brake system (EBS), provides a real and comprehensive test environment, is powerful, simple to operate, and the effect is intuitive, and the performance of the EBS system is fully verified, and the development cycle of the EBS system is effectively shortened. BRIEF DESCRIPTION OF DRAWINGS

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

[0050] Figure 2 It is the overall layout.

[0051] Figure 3 It is the fault simulation wiring.

[0052] The meanings of various labels in the figure are as follows:

[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 chamber; 15. Air tank; 16. Accelerator pedal; 17. Brake pedal; 18. Gear shift lever; 19. Steering wheel; 20. Vehicle dynamics model; 21. Control system; 22. Measurement system; 23. Fault diagnosis system. Detailed Implementation

[0054] This invention provides an EBS performance testing and control system for commercial vehicles. It employs six wheel speed motors to simulate vehicle wheels, with three control modes: manual, road spectrum, and formula. The wheel speed motors are splinedly connected to an encoder, and speed sensors detect the motor speeds and feed them back to the EBS controller. The speed detection function of the EBS system is verified by providing commands to the wheel speed motors or replacing the encoder with one that has missing teeth. The system also includes a brake pedal motor to simulate the driver's braking process. The brake pedal has two testing modes: manual and automatic. A pedal force sensor is connected to the brake pedal to detect braking force and input it to the EBS controller. The system uses three motors—an inner frame motor, a middle frame motor, and an outer frame motor—to form a three-axis turntable motor, used to simulate the vehicle's lateral acceleration, longitudinal acceleration, and yaw rate, respectively. A vehicle attitude sensor is mounted on the inner frame motor, and the sensor signals are input to the EBS system. Dynamic simulation simulates the entire vehicle's operation, performing closed-loop verification of the EBS system and further verifying the vehicle model. Fault diagnosis simulates hardware circuit faults, verifying the EBS system's fault handling function.

[0055] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions 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 and 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 systems such as Figure 1 As shown, the system uses the Huichuan AC702 CPU, which supports 16 Ethercat axes. This system connects 11 axes, including 6 wheel speed axes, 1 brake pedal axis, 3 three-axis turntable axes, and 1 steering wheel axis, indicating the high complexity of the system. The CPU, servo controller 2, and IO coupler 3 are connected in series via an Ethercat industrial bus.

[0059] The control system 21 comprises PLC1, wheel speed motor 4, brake pedal motor 5, three-axis turntable motor 6, steering wheel motor 7, accelerator pedal 16, brake pedal 17, gear handle 18, steering wheel 19, DI module 8, wherein the DI module 8 is mainly used for monitoring Figure 1 power-on signals of 11 servo axes and a desktop emergency stop signal.

[0060] The upper computer 11 can realize human-computer interaction, data display, data acquisition and the like, and a user configures in the upper computer 11 and issues an action instruction to the control system 21; the control system 21 and the measurement system 22 feed back data to the upper computer 11.

[0061] The measurement system 22 mainly comprises Figure 1 the AI module 10 in the control system 21, which collects brake air pressure, accelerator pedal opening, pedal force sensor and pedal displacement signals.

[0062] The fault diagnosis system 23 is like Figure 3 , controls the Omron 16-way relay module coil K01 through the DO module 9, the relay wiring terminal is led to the control console to make a quick plug connector, and then the EBS wire harness sensor or module connector is plugged into the quick plug connector. The DO module 9 is used for fault simulation, which is convenient and fast, supports simultaneous injection of different types of faults such as short circuit, open circuit, overvoltage and undervoltage, and sets a time control parameter for the fault; the fault diagnosis system 23 verifies the response strategy of the EBS system to various hardware faults that may occur in the components including sensors, valve bodies and power supplies.

[0063] Specifically, the servo controller 2 is of the type SV660N, and the power of the servo controller 2 is different according to the power of the servo motor. The servo motor uses a 24-bit encoder, which has high control accuracy.

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

[0065] After the wheel speed motor 4 is connected with a code disc, the wheel speed of six wheels of the whole vehicle is simulated, including three control modes.

[0066] Mode one, manual test: manually set the speed, acceleration and deceleration of the six wheel speed motors, modify the target value according to the test requirements, and flexibly test;

[0067] Second, road test: in the real vehicle test conditions to collect road data, data processing, loading to the control system, six wheel speed motor according to the specific road operation, the control mode can reproduce the real vehicle specific test conditions or fault reproduction, so as to test the EBS system performance;

[0068] Third, formula test: divided into ABS function simulation, ASR function simulation, the control mode can test the different slip rate, slip rate under the control strategy of EBS system.

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

[0070]

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

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

[0073]

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

[0075] Set the vehicle speed, wheel radius, respectively set the six wheel speed slip rate, slip rate parameters, wheel speed motor according to the specific speed operation; the control mode can test the different slip rate, slip rate under the control strategy of EBS system.

[0076] Brake pedal motor 5 includes two kinds of control mode:

[0077] Manual test: manual setting brake pedal motor position, speed, acceleration, deceleration, can be given the target value, flexible test;

[0078] Driving intention: to develop the driver intention test case, load test file, brake pedal motor can simulate the point brake, emergency brake test conditions; for verifying the control strategy of EBS system under different braking conditions.

[0079] Three axis turntable motor 6 includes inner frame motor, middle frame motor, outer frame motor, for simulating the vehicle body posture signal, including two kinds of control mode:

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

[0081] ESC simulation: used to verify the EBS system in the body posture case body stability control strategy.

[0082] The ESC simulation formula is as follows:

[0083] β = arcsin (a X / g)

[0084] α = arcsin (a Y / (g cos β))

[0085] W Z = ω Z / (cos α cos β)

[0086] Where a X is the target longitudinal acceleration, a Y is the target lateral acceleration, g is the acceleration of gravity, ω Z is the target yaw rate, β is the inner frame motor rotation angle, α is the middle frame motor rotation angle, and W Z is the outer frame motor rotation speed.

[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 above commercial vehicle EBS performance test control system includes the following steps:

[0089] Step 1, install the EBS system 12, including the front axle module, the rear axle module, the trailer module, etc., install the EBS valve body 13, including the front axle valve, the rear axle valve, the trailer valve, the 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 shift gears with the gear lever 18, gradually accelerate the wheel speed motor 4, the three-axis turntable motor 6 changes position in real time according to the vehicle model operation, the operator can step on the brake pedal 17 to simulate braking, and turn the steering wheel 19 to steer the real vehicle model;

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

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

[0093] Step 5, the whole 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 the change of the vehicle body posture, if the ABS or ESC is triggered, the control solenoid valve adjusts the brake chamber 14 pressure;

[0094] Repeat steps 2-5 to realize the dynamic simulation test of the EBS system; by inputting different road condition parameters to the whole vehicle dynamics model 20, and the different control modes of the operator to the throttle pedal 16, brake pedal 17 and steering wheel 19, verify whether the ABS function of the EBS system is normally triggered, whether the control strategy can identify the driver's intention, etc.

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

[0096] The preferred embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the specific details in the above-described embodiments, and various simple modifications can be made to the technical solutions of the present application within the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application.

[0097] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present application.

[0098] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the technical concept of the present application, and it should be considered as disclosed by the present application.

Claims

1. A commercial vehicle EBS performance test control system, characterized in that, It comprises an electrical system, a control system, a measurement system, an upper computer, and a fault diagnosis system. The electrical system adopts a HuiChuan AC702 CPU which supports 16 axes of Ethercat shafts. The 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. The CPU is connected with servo controllers and IO couplers through an Ethercat industrial bus in series. The control system comprises a PLC, wheel speed motors, a brake pedal motor, three-axis turntable motors, a steering wheel motor, an accelerator pedal, a brake pedal, a gear handle, and a steering wheel. The upper computer can realize human-computer interaction, data display, and data acquisition. Users configure the upper computer and issue action instructions to the control system. The control system and the measurement system feed back data to the upper computer. The measurement system comprises an AI module which collects brake air pressure, accelerator pedal opening, pedal force sensor, and pedal displacement signals. The fault diagnosis system controls an Omron 16-channel relay module coil K01 through a DO module. The relay wiring terminal is connected to the control console to form a quick plug connector. The EBS wire harness sensor or module connector is plugged into the quick plug connector. The DO module is used to control fault simulation, support simultaneous injection of different types of faults such as short circuit, open circuit, overvoltage, and undervoltage, and set time control parameters for faults. The fault diagnosis system verifies the response strategy of the EBS system to various hardware faults that may occur in the components. The commercial vehicle EBS performance test control system performs dynamic simulation testing, which comprises the following steps: Step 1: Install the EBS system and check the air path connection. Step 2: Set the specific parameters of the vehicle dynamics model, including road conditions and vehicle information. Start the model, step on the accelerator pedal, and shift gears with the gear handle. The wheel speed motor gradually accelerates, and the three-axis turntable motor changes position in real time according to the vehicle model. The operator can step on the brake pedal to simulate braking and turn the steering wheel to steer the vehicle model. Step 3: During operation, the upper computer sends the accelerator pedal opening signal, steering wheel angle signal, and brake chamber pressure value to the vehicle dynamics model through CAN communication. It also receives the target speed of the 6 wheel speed motors, the target angle and speed of the three-axis turntable motor, and the target torque signal of the steering wheel motor from the vehicle dynamics model through CAN communication. Step 4: The upper computer sends the vehicle gear position, weight, and accelerator position signal to the EBS system through CAN communication and receives the ESC trigger and ABS trigger signals from 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 body posture changes. If ABS or ESC is triggered, the electromagnetic valve adjusts the brake chamber pressure. Repeat steps 2-5 to achieve dynamic simulation test of the EBS system; by inputting different road condition parameters and different control modes of the accelerator pedal, brake pedal and steering wheel of the operator, verify whether the ABS function of the EBS system is normally triggered and whether the EBS system can identify the driver's intention control strategy; in the test process, add the fault diagnosis system to simulate the short circuit or open circuit fault of the EBS sensor and verify the fault diagnosis strategy of the EBS system.

2. The commercial vehicle EBS performance test control system of claim 1, wherein, The servo controller model is SV660N, and the power is different according to the power of the servo motor. The servo motor adopts a 24-bit encoder, and the control precision is high.

3. The commercial vehicle EBS performance test control system of claim 1, wherein, The brake pedal motor, three-axis turntable motor and steering wheel motor have a brake holding function. When the servo controller is in a non-running state, the servo motor keeps the position locked and will not move due to the weight of the mechanical part or external force, thereby improving the safety of the system.

4. The commercial vehicle EBS performance test control system of claim 1, wherein, The wheel speed motor is connected with a code disc to simulate the wheel speed of six wheels of the whole vehicle, including three control modes: Mode one: manual test: manually set the speed, acceleration and deceleration of the six wheel speed motors, and modify the target value according to the test requirements; Mode two: road spectrum test: collect road spectrum data during real vehicle test, process the data, load them into the control system, and make the six wheel speed motors run according to the specific road spectrum. This control mode can reproduce specific test conditions or fault reproduction of the real vehicle, so as to test the performance of the EBS system; Mode three: formula test: divided into ABS function simulation and ASR function simulation. This control mode can test the control strategy of the EBS system under different slip rates and slip ratios.

5. The commercial vehicle EBS performance test control system of claim 4, wherein, In the ABS function simulation, the ABS calculation formula is as follows: WSpd FL = wherein, WSpd FL V is the target vehicle speed; R is the wheel radius, S FL is the left front wheel slip ratio; In the ASR function simulation, the ASR calculation formula is as follows: WSpd FL = wherein, WSpd FL V is the target vehicle speed; R is the wheel radius, T FL is the left front wheel slip ratio; Set the vehicle speed and wheel radius, and set the slip rate and slip ratio parameters of the six wheel speeds respectively, and make the wheel speed motor run at a specific speed. This control mode 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 of claim 1, wherein, The brake pedal motor includes two control modes: Manual test: manually set the position, speed, acceleration and deceleration of the brake pedal motor, and randomly give the target value for flexible test; Driving intention: develop a test case for the driver's intention, load the test file, and make the brake pedal motor simulate the point brake and emergency brake 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 of claim 1, wherein, The three-axis turntable motor includes an inner frame motor, a middle frame motor and an outer frame motor, which is used to simulate the vehicle body posture signal and includes two control modes: Manual test: control the position, speed, acceleration and deceleration parameters of each motor respectively; ESC simulation: used to verify the vehicle body stability control strategy of the EBS system under the vehicle body posture condition.

8. The commercial vehicle EBS performance test control system of claim 7, wherein, The corresponding formula of the ESC simulation is as follows: β = arcsin (a X / g) a = arcsin (a Y / (g cos β) W Z =ω Z / (cosα∙cosβ ) Wherein, a X is the target longitudinal acceleration, a Y is the target lateral acceleration, g is the acceleration of gravity, ω Z is the target yaw rate, β is the inner frame motor rotation angle, α is the middle frame motor rotation angle, and W Z is the outer frame motor rotation angular velocity.

9. The commercial vehicle EBS performance test control system of claim 1, wherein, 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.

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