System for testing controller of magnetorheological suspension

Abstract

The invention relates to a system for testing a controller of a magnetorheological suspension, and the system comprises an acceleration sensor testing unit which is configured to move based on a first control instruction outputted by a hardware testing device, so as to change the posture of an acceleration sensor to be tested; the inertial sensor testing unit is configured to move based on a second control instruction output by the hardware testing device so as to change the posture of the inertial sensor to be tested; the coil load is used for simulating a coil load of a shock absorber of the magnetorheological suspension; and the hardware testing device is configured to output a first control instruction and a second control instruction based on a received testing instruction of a to-be-tested controller of the magnetorheological suspension, so that the to-be-tested controller receives a detection signal of the to-be-tested acceleration sensor and a detection signal of the to-be-tested inertial sensor. According to the invention, the controller of the magneto-rheological suspension can be tested, and in-loop testing of hardware of other vehicle types can be effectively compatible.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to the field of vehicle-mounted device testing, and more particularly to a system for testing a controller of a magnetorheological suspension. Background Art

[0002] The traditional vehicle controller test system is usually tested by hardware-in-the-loop (HIL) testing. The hardware, that is, the object under test, is generally a physical controller, such as a vehicle controller VCU, an ADAS controller, or an autonomous driving computing platform. The in-loop emphasizes that the controller under test must be in a closed loop, that is, the controller receives the state of the controlled object and issues control instructions, obtains feedback from the controlled object and issues control instructions again. After the test closed loop is formed, the controller can be tested by setting different states of the object under test to test whether it can correctly handle different working conditions and whether its various functions can work normally.

[0003] In the above-mentioned traditional vehicle-mounted controller test system, it is difficult to test the magnetorheological suspension controller. Moreover, as the test vehicle model changes, the test hardware platform needs to be modified, which makes it difficult to be compatible with the in-the-loop test of the hardware of other models.

[0004] In summary, the shortcomings of the traditional vehicle-mounted controller test system are that it is difficult to test the magnetorheological suspension controller and it is not compatible with the in-the-loop testing of the hardware of other models. Summary of the invention

[0005] In view of the above problems, the present invention provides a system for testing a controller of a magnetorheological suspension, which can test the controller of the magnetorheological suspension and is effectively compatible with in-the-loop testing of hardware of other vehicle models.

[0006] According to a first aspect of the present invention, a system for testing a controller of a magnetorheological suspension is provided, the system comprising: an acceleration sensor test unit, configured to move based on a first control instruction output by a hardware test device to change the posture of the acceleration sensor to be tested; an inertial sensor test unit, configured to move based on a second control instruction output by the hardware test device to change the posture of the inertial sensor to be tested; a coil load, used to simulate the coil load of a shock absorber of the magnetorheological suspension, one end of the coil load is electrically connected to a drive output of the controller to be tested, and the other end is grounded; and a hardware test device, configured to output a first control instruction and a second control instruction based on a received test instruction of the controller to be tested of the magnetorheological suspension, so that the controller to be tested receives a detection signal of the acceleration sensor to be tested and a detection signal of the inertial sensor to be tested.

[0007] In some embodiments, the system includes multiple acceleration sensor testing units, each of which includes: a first cylinder for driving the acceleration sensor fixing platform to move up and down based on a first control instruction; and an acceleration sensor fixing platform for fixing the acceleration sensor to be tested.

[0008] In some embodiments, each acceleration sensor test unit further includes: a first solenoid valve, configured to connect or disconnect a gas supply path of a corresponding first cylinder.

[0009] In some embodiments, the inertial sensor testing unit includes: a second cylinder, used to drive the inertial sensor fixing platform to move up and down based on a second control instruction; a deflection motor, used to drive the inertial sensor fixing platform to rotate based on the second control instruction; and an inertial sensor fixing platform, used to fix the inertial sensor to be tested.

[0010] In some embodiments, the inertial sensor test unit further includes: a second solenoid valve, configured to connect or disconnect a gas supply path of a corresponding second cylinder.

[0011] In some embodiments, the system for testing the controller of the magnetorheological suspension also includes: a power supply, which supplies power to the controller to be tested and a hardware testing device to simulate a vehicle battery; and a CAN bus acquisition card, which is electrically or communicatively connected to the controller to be tested and a host computer, and the CAN bus acquisition card is configured to obtain detection signals of an acceleration sensor and an inertial sensor to send to the host computer.

[0012] In some embodiments, the hardware testing device is configured to: in response to receiving a first operation of the user on the operating switch or a test instruction regarding the acceleration sensor output by the host computer, output a first control instruction to activate the corresponding first solenoid valve, thereby driving the corresponding first cylinder to drive the acceleration sensor fixed platform to move up and down; in response to receiving a second operation of the user on the operating switch or a test instruction regarding the inertial sensor output by the host computer, output a second control instruction to activate the second solenoid valve, thereby driving the second cylinder to drive the inertial sensor fixed platform to move up and down; and in response to receiving a third operation of the user on the operating switch or a test instruction regarding the inertial sensor output by the host computer, control the controller to be tested to output a driving current for driving the coil load.

[0013] In some embodiments, the system for testing a controller of a magnetorheological suspension further includes: an ammeter connected in series in an electrical connection path between a corresponding coil load and a drive output of the controller to be tested, for indicating a current flowing through the corresponding coil load.

[0014] In some embodiments, the system for testing the controller of the magnetorheological suspension also includes: a main frame, the upper surface of the main frame is provided with multiple acceleration sensor test units and one inertial sensor test unit, and the multiple acceleration sensor test units are used to respectively test the left front spring under-acceleration sensor, the left front spring on-acceleration sensor, the right front spring under-acceleration sensor, the right front spring on-acceleration sensor, the left rear spring under-acceleration sensor, the left rear spring on-acceleration sensor, the right rear spring under-acceleration sensor, and the right rear spring on-acceleration sensor of the magnetorheological suspension.

[0015] In some embodiments, the system for testing the controller of the magnetorheological suspension also includes: a plurality of coil loads are arranged inside the main frame, for respectively simulating the corresponding coil loads of the left front magnetorheological shock absorber, the corresponding coil loads of the left rear magnetorheological shock absorber, the corresponding coil loads of the right front magnetorheological shock absorber, and the corresponding coil loads of the right rear magnetorheological shock absorber.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0018] Figure 1 A schematic diagram of a system for testing a controller of a magnetorheological suspension according to an embodiment of the present invention is shown.

[0019] Figure 2 A schematic diagram of electrical connections of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown.

[0020] Figure 3 A system block diagram of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown.

[0021] Figure 4A A front view schematic diagram of the structure of the main part of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown.

[0022] Figure 4B A side structural schematic diagram of the main part of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown.

[0023] Figure 5 The block diagram of an electronic device suitable for implementing the embodiments of the present invention is schematically shown. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0025] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] As described above, it is difficult to test the magnetorheological suspension controller in the traditional vehicle-mounted controller test system. Moreover, as the test vehicle model changes, the test hardware platform needs to be modified, which makes it difficult to be compatible with the in-the-loop testing of the hardware of other models.

[0027] In order to at least partially solve one or more of the above problems and other potential problems, an exemplary embodiment of the present invention proposes a system for testing a magnetorheological suspension controller, by making the test system include: an acceleration sensor test unit, an inertial sensor test unit, a coil load for simulating the coil load of the shock absorber of the magnetorheological suspension, and a hardware test device, and making the acceleration sensor test unit and the inertial sensor test unit respectively act based on the output of the hardware test device first control instruction and the second control instruction to change the posture of the acceleration sensor and the inertial sensor to be tested, so that the controller to be tested receives the detection signal of the acceleration sensor to be tested and the detection signal of the inertial sensor to be tested; the present invention can be applied to the test of the controller of the magnetorheological suspension, and can be online and quickly tested to obtain the position of the acceleration sensor and the inertial sensor of the magnetorheological suspension controller. Moreover, the present invention can replace the actual vehicle test of the magnetorheological suspension system, realize the advanced and efficient testing of the controller of the magnetorheological suspension, shorten the test time of the controller of the magnetorheological suspension, save costs and effectively improve the efficiency of the controller test of the magnetorheological suspension.

[0028] Figure 1 A schematic diagram of a system 100 for testing a controller of a magnetorheological suspension according to an embodiment of the present invention is shown.

[0029] like Figure 1 As shown, the system 100 includes: one or more acceleration sensor test units 118, an inertial sensor test unit 120, one or more coil loads 112, a hardware test device 114 and a controller to be tested 116. The acceleration sensor test unit 118 is used to move based on the first control instruction output by the hardware test device 114 to change the posture of the acceleration sensor to be tested; the inertial sensor test unit 120 is used to move based on the second control instruction output by the hardware test device 114 to change the posture of the inertial sensor to be tested. The coil load 112 is used to simulate the coil load of the shock absorber of the magnetorheological suspension. The hardware test device 114 is used to output the first control instruction and the second control instruction based on the received test instruction of the controller to be tested 116 of the magnetorheological suspension, so that the controller to be tested 116 receives the detection signal of the acceleration sensor to be tested and the detection signal of the inertial sensor to be tested. In some embodiments, the system 100, for example, also includes: a host computer 122.

[0030] The acceleration sensor testing unit 118 is used to move the acceleration sensor to be tested, and is configured to move (e.g., move up and down) based on the first control instruction output by the hardware testing device 114 to change the posture of the acceleration sensor to be tested. It should be understood that the acceleration sensor testing unit 118 can move up and down in a variety of ways.

[0031] Regarding the inertial sensor test unit 120, it is used to move the inertial sensor to be tested, and is configured to move (for example, move up and down, and / or rotate) based on the second control instruction output by the hardware test device 114 to change the posture of the inertial sensor to be tested. It should be understood that the acceleration sensor test unit 120 can move up and down and rotate in a variety of ways.

[0032] Regarding the coil load 112, there may be a plurality of coil loads 112. One end of each coil load 112 is electrically connected to the driving output of the controller under test 116, and the other end is grounded.

[0033] Regarding the hardware testing device 114, it is configured to output a first control instruction and a second control instruction based on a received test instruction regarding the controller to be tested of the magnetorheological suspension (the test instruction is, for example, generated by a user's first operation of an operating switch, or is a test instruction regarding an acceleration sensor output by the host computer 122), so that the controller to be tested receives the detection signal of the acceleration sensor to be tested and the detection signal of the inertial sensor to be tested.

[0034] Regarding the controller under test 116, it is used to obtain detection signals of one or more acceleration sensor test units 118 and inertial sensor test units 120, and output drive outputs to detect the current flowing through the coil load 112. In some embodiments, the detection signal of the acceleration sensor of the acceleration sensor test unit 118 is transmitted to the controller under test 116 via a CAN (Controller Area Network) acquisition card. The detection signal of the inertial sensor of the inertial sensor test unit 120 is transmitted to the controller under test 116 via PSI5.

[0035] Regarding the host computer 122, it is used to output test instructions about the controller of the magnetorheological suspension to be tested to the hardware testing device 114; and provide test instructions about the coil load of the magnetorheological suspension controller to be tested to the controller to be tested 116. It should be understood that the test instructions about the magnetorheological suspension controller to be tested and the test instructions about the coil load of the magnetorheological suspension to be tested can also be provided to the hardware testing device 114 by the user operating the corresponding operation switch. In some embodiments, data is exchanged between the host computer 122 and the hardware testing device 114 through the RS232 interface. The detection signal of the acceleration sensor and the detection signal of the inertial sensor obtained by the controller to be tested 116 are transmitted to the host computer 122, for example, through a CAN acquisition card.

[0036] By adopting the above-mentioned means, the hardware testing device 114 can generate the first control instruction and the second control instruction based on the test instruction of the controller of the magnetorheological suspension to be tested input by the user or from the upper computer, and the acceleration sensor testing unit 118 and the inertial sensor testing unit 120 move based on the first control instruction and the second control instruction respectively, thereby changing the posture of the acceleration sensor and the inertial sensor to be tested, so that the controller 116 to be tested obtains the detection signals of the acceleration sensor and the inertial sensor, thereby conveniently completing the hardware online loop test of the magnetorheological suspension controller 116 to be tested.

[0037] Figure 2 The electrical connection diagram of a system 200 for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown. The system 200 includes: a host computer 122, a hardware testing device 114, a plurality of operating switches 202, a driving unit 206, a deflection motor 208, a power supply 210, and an emergency stop button 224.

[0038] Regarding the host computer 122, it is electrically connected or communicatively connected to the hardware testing device 114. In some embodiments, the host computer 122 and the hardware testing device 114 perform signal interaction via an RS232 interface. The host computer 122 is used to generate a test instruction for testing a controller of a magnetorheological suspension, and obtain test result feedback on the controller of the magnetorheological suspension. In some embodiments, the host computer 122 can send a test instruction for an acceleration sensor of a magnetorheological suspension, a test instruction for an inertial sensor, and a test instruction for a coil load of a magnetorheological suspension to the hardware testing device 114.

[0039] Regarding the hardware testing device 114, it includes a power input terminal, a multi-channel signal input, and a multi-channel signal output. The power input terminal of the hardware testing device 114 (the power input terminal includes, for example, a positive voltage terminal and a ground terminal, and the positive voltage is, for example, 24V) is connected to the power output of the power supply 210. It should be understood that the hardware testing device 114 can be implemented, for example, by using an MCU (MicroController Unit), a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

[0040] In some embodiments, the multi-channel signal output of the hardware testing device 114 includes: a first solenoid valve drive output (e.g., OUT2-OUT5, OUT16-OUT19), a second solenoid valve drive output (e.g., OUT1) and a motor rotation output (e.g., OUT14, OUT15, OUT20).

[0041] The first solenoid valve drive output (e.g., OUT2-OUT5, OUT16-OUT19) is, for example, respectively connected to a plurality of first solenoid valves 220 for connecting the gas circuits of the plurality of first cylinders. Each first cylinder is, for example, used to drive the corresponding acceleration sensor to move up and down. The second solenoid valve drive output (e.g., OUT1) is, for example, connected to a second solenoid valve 226 for connecting the gas circuit of the second cylinder. The second cylinder is used to drive the inertial sensor to move up and down. Figure 2As shown, one end of the first solenoid valve 220 or the second solenoid valve 226 is connected to a high level (for example, 24V), and the other end is connected to the signal output of the hardware testing device 114. When the hardware testing device 114 receives a test instruction for testing a certain acceleration sensor, the corresponding signal output is low level, so that there is a voltage difference between the two ends of the corresponding first solenoid valve 220, and then the air path of the corresponding first cylinder 230 is connected, so that the first cylinder 230 moves up or down. Similarly, when the hardware testing device 114 receives a test instruction for the up and down movement of the inertial sensor, the corresponding signal output is low level, so that there is a voltage difference between the two ends of the second solenoid valve 226, and then the air path of the second cylinder 232 is connected, so that the second cylinder 232 moves up or down.

[0042] The motor rotation outputs (e.g., OUT14, OUT15, and OUT20) are, for example, respectively: PLUS-signal output, DIR-signal output, and EN-signal output. The above three signal outputs are connected to the corresponding input terminals of the drive unit 206, and the drive unit 206 generates the corresponding left turn signal and right turn signal of the deflection motor 208 (i.e., Figure 2 The deflection motor 208 is, for example, a servo motor, and its left-turn signal and right-turn signal are, for example, PWM signals.

[0043] The multi-channel signal inputs of the hardware testing device 114 are respectively connected to multiple operating switches (or buttons), for example, the multiple operating switches include operating switches for operating to control the left and right turns of the inertial sensor, and operating switches for operating to control the up and down movements of the inertial sensor and multiple acceleration sensors.

[0044] It should be understood that by using a host computer or button operation to generate control instructions for testing the controller of the magnetorheological suspension, the present invention can automatically and manually test the controller of the magnetorheological suspension.

[0045] The driving unit 206 is used to generate left and right turn signals of the motor 208 based on the motor rotation output of the inertial sensor output by the hardware testing device 114 (ie, Figure 2 A+, A- signals, or B+, B- signals in the inertial sensor 200 are used to drive the motor 208 to turn left or right, thereby driving the inertial sensor to turn left or right accordingly.

[0046] Regarding the power supply 210, it is used to power the hardware test device 114. In some embodiments, the voltage and current limit output by the power supply 210 are used to simulate the vehicle battery. Figure 2As shown, the positive input terminal of the power supply 210 is connected to the positive pole L of the power supply via the emergency stop button 224, and the negative input terminal of the power supply 210 is connected to the negative pole N of the power supply. By adopting the above means, it is convenient to quickly stop the power supply of the test system in an emergency.

[0047] The motor 208 is used to drive the inertial sensor to rotate. The left turn and right turn signals (i.e., Figure 2 The A+, A- signal, or the B+, B- signal) is provided to the input terminal of the motor 208.

[0048] Figure 3 The system block diagram of a system 200 for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown. The system 200 includes: a host computer 122, a hardware testing device 114, a plurality of operating switches 202, a plurality of acceleration sensor testing units 118, and an inertial sensor testing unit 120. A controller to be tested 116, a plurality of acceleration sensors 130, an inertial sensor 132, a CAN acquisition card 115, a controller to be tested 116, a coil load 112, and an ammeter 113.

[0049] Each acceleration sensor test unit 118 includes: a first solenoid valve 220, a first cylinder 230, an acceleration sensor fixing platform ( Figure 3 The first solenoid valve 220 is used to connect or disconnect the gas supply path of the corresponding first cylinder 230. The first cylinder 230 is used to drive the acceleration sensor fixing platform to move up and down based on the first control instruction output by the hardware testing device 114. The acceleration sensor fixing platform is used to fix the acceleration sensor 130 to be tested.

[0050] The inertial sensor test unit 120 includes, for example, a second solenoid valve 226, a second cylinder 232, a deflection motor 208, an inertial sensor fixing platform ( Figure 3 The second solenoid valve 226 is used to connect or disconnect the gas supply path of the second cylinder 232. The second cylinder 232 is used to drive the inertial sensor fixing platform to move up and down based on the second control instruction output by the hardware testing device 114, thereby driving the inertial sensor to be tested to move up and down. The deflection motor 208 is used to drive the inertial sensor fixing platform to rotate based on the second control instruction, thereby driving the inertial sensor to be tested to rotate. The inertial sensor fixing platform is used to fix the inertial sensor to be tested 132.

[0051] Regarding the CAN acquisition card 115, it is electrically connected or communicatively connected to the controller to be tested 116 and the host computer 122. The CAN acquisition card 115 is used to obtain the detection signals of the acceleration sensor 130 and the inertial sensor 132, and send them to the host computer 122. For example, the CAN acquisition card 115 obtains the detection signals of the acceleration sensor 130 and the inertial sensor 132 from the controller to be tested 116, and then sends the obtained detection signals to the host computer 122.

[0052] Regarding the controller to be tested 116, it is used to receive the detection signal of the inertial sensor to be tested 132 driven by the up and down movement of the inertial sensor fixed platform, and the detection signal of the acceleration sensor to be tested 130 driven by the up and down movement or rotation of the acceleration sensor fixed platform. For example, the detection signal of the inertial sensor to be tested 132 and the detection signal of the acceleration sensor to be tested 130 are provided to the controller to be tested 116 via the peripheral sensor interface (PSI5). The controller to be tested 116 then provides the above detection signal to the host computer 122 via the CAN interface. Thus, the hardware online loop test is completed. The controller to be tested 116 is also used to output the driving current of one or more coil loads 112. The ammeter 113 is connected between the coil load 112 and the output of the controller to be tested 116, and is used to detect the driving current flowing through the coil load 112.

[0053] The power supply 210 is used to supply power to the controller under test 116 . In some embodiments, the power supply 210 is also used to supply power to the hardware testing device 114 .

[0054] Regarding the hardware testing device 114, its output is connected to a plurality of first solenoid valves 220 (e.g., first air valves), second solenoid valves 226 (e.g., second air valves), a deflection motor 208 and a driving unit thereof. The hardware testing device 114 is configured to output a first control instruction to actuate a corresponding first solenoid valve 220 among the first solenoid valves if a first operation of the user on the operating switch or a test instruction on the acceleration sensor output by the host computer 122 is received, thereby driving the corresponding first cylinder 230 to drive the acceleration sensor fixing platform to move up and down, thereby driving the acceleration sensor to be tested to move, so that the detection signal of the acceleration sensor is transmitted to the controller 116 to be tested. The hardware testing device 114 is further configured to output a second control instruction to actuate the second solenoid valve 226 if it receives a second operation of the user on the operating switch or a test command outputted by the host computer 122 regarding the up and down movement of the inertial sensor, thereby driving the second cylinder 232 to drive the inertial sensor fixing platform to move up and down, thereby driving the inertial sensor to be tested 132 to move up and down, so that the detection signal of the inertial sensor 132 is transmitted to the controller to be tested 116. The hardware testing device 114 is further configured to output a control instruction on the deflection motor 208 if it receives a third operation of the user on the operating switch or a test command outputted by the host computer 122 regarding the rotation of the inertial sensor, thereby driving the inertial sensor to be tested to rotate by the deflection motor 208, thereby transmitting the detection signal of the inertial sensor 132 to the controller to be tested 116.

[0055] Figure 4A A front view schematic diagram of the structure of a main body 300 of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown. Figure 4B A side view schematic diagram of the main part 300 of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown. The main part 300 of the system includes: a main frame 119, eight acceleration sensor test units 118, one inertial sensor test unit 120, and a controller to be tested 116.

[0056] The main frame 119 is a hollow shell in a roughly cubic shape. Eight acceleration sensor test units 118 and one inertial sensor test unit 120 are arranged on the upper surface of the main frame 119. The eight acceleration sensor test units 118 are used to test the left front spring under-acceleration sensor, the left front spring on-acceleration sensor, the right front spring under-acceleration sensor, the right front spring on-acceleration sensor, the left rear spring under-acceleration sensor, the left rear spring on-acceleration sensor, the right rear spring under-acceleration sensor, and the right rear spring on-acceleration sensor. Each acceleration sensor test unit 118 includes an acceleration sensor fixing platform 131 and a first cylinder 230 respectively arranged from top to bottom. An acceleration sensor 130 is fixed on each acceleration sensor fixing platform 131. An indicator 117 is arranged on the front side of each first cylinder 230 to indicate the identification of the acceleration sensor to be tested and the corresponding manual operation switch. In some embodiments, the eight acceleration sensor test units 118 are arranged together on the acceleration sensor control platform 129. The acceleration sensor control platform 129 includes: a first surface parallel to the upper surface of the main frame 119 , and several columns used to support the first surface and perpendicular to the upper surface of the main frame 119 .

[0057] like Figure 4A As shown, the inertial sensor test unit 120 includes: an inertial sensor fixing platform 133, a deflection motor 208, and a second cylinder 232 are arranged from top to bottom. The upper surface of the inertial sensor fixing platform 133 is fixed with the inertial sensor 132 to be tested.

[0058] At least an emergency stop button 224 and a controller to be tested 116 are also provided on the upper surface of the main frame 119. A plurality of operating switches 202 and a plurality of ammeters 113 are provided on the front surface of the main frame 119. The plurality of operating switches 202 are used, for example, for a user to input operating actions on the left front under-sprung acceleration sensor, the left front under-sprung acceleration sensor, the right front under-sprung acceleration sensor, the left rear under-sprung acceleration sensor, the right rear under-sprung acceleration sensor, and the right rear under-sprung acceleration sensor. The plurality of ammeters 113 are used, for example, to indicate the driving current flowing through the corresponding coil load of the left front magnetorheological damper, the driving current flowing through the corresponding coil load of the left rear magnetorheological damper, the driving current flowing through the corresponding coil load of the right front magnetorheological damper, and the driving current of the corresponding coil load of the right rear magnetorheological damper.

[0059] An RS232 interface 123, a CAN interface 125, a power input terminal 127, and a gas circuit main interface 135 are provided on the rear surface of the main frame 119. The CAN interface 125 is used for data interaction between the controller 116 to be tested and the host computer 122. The RS232 interface 123 is used for data interaction between the hardware testing device 114 and the host computer 122. For example, the host computer 122 sends a test instruction about testing the acceleration sensor, the inertial sensor, and the coil load to the hardware testing device 114 via the RS232 interface 123. The power input terminal 127 is used to transfer external power to the power supply 210. The gas circuit main interface 135 is used to connect an external input gas source. The gas input through the gas circuit main interface 135 is provided to the input interface of the gas circuit of the first solenoid valve 220 and a second solenoid valve 226.

[0060] like Figure 4B As shown, for example, four coil loads and a plurality of first solenoid valves 220 (e.g., eight first solenoid valves) and a second solenoid valve 226 are provided inside the main frame 119. The four coil loads are used to respectively simulate the corresponding coil loads of the left front magnetorheological damper, the corresponding coil loads of the left rear magnetorheological damper, the corresponding coil loads of the right front magnetorheological damper, and the corresponding coil loads of the right rear magnetorheological damper. Each of the first solenoid valve 220 and the second solenoid valve 226 includes an input interface and an output interface of the gas circuit. The gas circuit connected to the first solenoid valve 220 provides gas to the first cylinder 230 through the gas circuit tail interface 221. It should be understood that each of the first cylinder 230 or the second cylinder 232 is connected to two gas circuit tail interfaces to respectively control the cylinder to move upward or downward.

[0061] Figure 5 The block diagram of an electronic device 500 suitable for implementing the embodiment of the present invention is schematically shown. The device 500 may be used to implement the host computer 122 or the hardware testing device 114. Figure 5 As shown, the device 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 502 or computer program instructions loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0062] A plurality of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and the processing unit 501 performs the various processes described above. For example, in some embodiments, the various processes or operations described above may be implemented as computer software programs, which are stored in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the CPU 501, the various processes or operations described above may be performed. Alternatively, in other embodiments, the CPU 501 may be configured to perform one or more actions of the various processes or operations described above by any other appropriate means (e.g., by means of firmware).

[0063] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0064] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0065] These computer-readable program instructions can be provided to a processor in a voice interaction device, a general-purpose computer, a special-purpose computer, or a processing unit of other programmable data processing devices, thereby producing a machine, so that when these instructions are executed by the processing unit of a computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other device to work in a specific manner.

[0066] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

[0067] The above are only optional embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A system for testing a controller of a magnetorheological suspension, characterized in that: include: The acceleration sensor testing unit is configured to move based on the first control instruction output by the hardware testing device to change the posture of the acceleration sensor to be tested; an inertial sensor testing unit, configured to move based on a second control instruction output by the hardware testing device to change the posture of the inertial sensor to be tested; A coil load, used to simulate the coil load of the shock absorber of the magnetorheological suspension, one end of the coil load is electrically connected to the drive output of the controller to be tested, and the other end is grounded; as well as The hardware testing device is configured to output a first control instruction and a second control instruction based on a received test instruction of a controller to be tested of a magnetorheological suspension, so that the controller to be tested receives a detection signal of an acceleration sensor to be tested and a detection signal of an inertial sensor to be tested.

2. The system according to claim 1, characterized in that The system includes a plurality of acceleration sensor testing units, each of which includes: A first cylinder is used to drive the acceleration sensor fixing platform to move up and down based on a first control instruction; and The acceleration sensor fixing platform is used to fix the acceleration sensor to be tested.

3. The system according to claim 1, characterized in that Each accelerometer test unit also includes: The first solenoid valve is used to connect or disconnect the gas supply path of the corresponding first cylinder.

4. The system according to claim 1, characterized in that The inertial sensor test unit includes: The second cylinder is used to drive the inertial sensor fixed platform to move up and down based on the second control instruction; a deflection motor, configured to drive the inertial sensor fixed platform to rotate based on a second control instruction; and The inertial sensor fixing platform is used to fix the inertial sensor to be tested.

5. The system according to claim 4, characterized in that The inertial sensor test unit also includes: The second solenoid valve is used to connect or disconnect the gas supply path of the corresponding second cylinder.

6. The system according to claim 1, characterized in that Also includes: A power supply to power the controller under test and the hardware test device to simulate the vehicle battery; and The CAN bus acquisition card is electrically connected or communicatively connected to the controller to be tested and the host computer. The CAN bus acquisition card is configured to obtain detection signals of the acceleration sensor and the inertial sensor to send them to the host computer.

7. The system according to claim 1, characterized in that The hardware test setup was configured as: In response to receiving a first operation of the user on the operating switch or a test instruction on the acceleration sensor output by the host computer, output a first control instruction to activate the corresponding first solenoid valve, thereby driving the corresponding first cylinder to drive the acceleration sensor fixing platform to move up and down; In response to receiving a second operation of the user on the operating switch or a test instruction on the inertial sensor output by the host computer, output a second control instruction to activate the second solenoid valve, thereby driving the second cylinder to drive the inertial sensor fixing platform to move up and down; and In response to receiving a third operation of the user on the operation switch or a test instruction on the inertial sensor output by the host computer, the controller to be tested is controlled to output a driving current for driving the coil load.

8. The system according to claim 1, characterized in that Also includes: The ammeter is connected in series in the electrical connection path between the corresponding coil load and the driving output of the controller to be tested, and is used to indicate the current flowing through the corresponding coil load.

9. The system according to claim 1, characterized in that Also includes: A main frame, the upper surface of the main frame is provided with a plurality of acceleration sensor test units and an inertial sensor test unit, the plurality of acceleration sensor test units are used to respectively test the left front spring under-acceleration sensor, the left front spring on-acceleration sensor, the right front spring under-acceleration sensor, the right front spring on-acceleration sensor, the left rear spring under-acceleration sensor, the left rear spring on-acceleration sensor, the right rear spring under-acceleration sensor, and the right rear spring on-acceleration sensor of the magnetorheological suspension.

10. The system according to claim 1, characterized in that A plurality of coil loads are arranged inside the main frame, which are used to respectively simulate the corresponding coil load of the left front magnetorheological shock absorber, the corresponding coil load of the left rear magnetorheological shock absorber, the corresponding coil load of the right front magnetorheological shock absorber, and the corresponding coil load of the right rear magnetorheological shock absorber.

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