System for testing a controller of a magnetorheological suspension
By designing a test system for accelerometer and inertial sensor test units and coil loads, the problem of traditional test systems being unable to test magnetorheological suspension controllers was solved, achieving efficient testing compatible with multiple vehicle models and improving testing efficiency and adaptability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN UPWARD TECH CO LTD
- Filing Date
- 2023-10-23
- Publication Date
- 2026-06-05
AI Technical Summary
Traditional vehicle controller testing systems are difficult to use for testing magnetorheological suspension controllers and are not compatible with hardware-in-the-loop testing of other vehicle models, resulting in frequent modifications to the testing platform.
A test system was designed, which includes an acceleration sensor test unit, an inertial sensor test unit, a coil load, and a hardware test device. By driving these units with control commands, the system simulates the motion of the magnetorheological suspension, realizes the test of the magnetorheological suspension controller, and supports multi-vehicle compatibility.
It enables efficient testing of magnetorheological suspension controllers, shortens testing time, saves costs, and improves testing efficiency, and can quickly adapt to hardware-in-the-loop testing of different vehicle models.
Smart Images
Figure CN119882656B_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present invention generally relate to the field of vehicle equipment testing, and more specifically to a system for testing a controller for a magnetorheological suspension. Background Technology
[0002] Traditional vehicle controller testing systems typically employ hardware-in-the-loop (HIL) testing methods. The hardware, or object under test (DUT), is generally the physical controller, such as the vehicle control unit (VCU), ADAS controller, or autonomous driving computing platform. The "in-the-loop" aspect emphasizes that the DUT must be within a closed loop; that is, the controller receives the state of the controlled object and issues control commands, receives feedback from the controlled object, and issues control commands again. Once the test loop is established, different states of the DUT can be set to test whether the controller can correctly handle different operating conditions and whether its various functions work properly.
[0003] In the aforementioned traditional vehicle controller testing system, it is difficult to test magnetorheological suspension controllers. Moreover, as the test vehicle model changes, the test hardware platform needs to be modified, making it difficult to perform in-loop testing compatible with the hardware of other vehicle models.
[0004] In summary, the shortcomings of traditional vehicle controller testing systems are: difficulty in testing magnetorheological suspension controllers, and incompatibility with in-loop testing of hardware from other vehicle models. Summary of the Invention
[0005] To address the aforementioned issues, this invention provides a system for testing the controller of a magnetorheological suspension, which can test the controller of the magnetorheological suspension and is effectively compatible with the hardware-in-the-loop testing 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 includes: an accelerometer testing unit configured to move based on a first control command output by a hardware testing device to change the attitude of an accelerometer under test; an inertial sensor testing unit configured to move based on a second control command output by the hardware testing device to change the attitude of an inertial sensor under test; a coil load for simulating the coil load of a damper of a magnetorheological suspension, one end of the coil load being electrically connected to a drive output of the controller under test and the other end being grounded; and a hardware testing device configured to output the first control command and the second control command based on received test commands concerning the controller under test of the magnetorheological suspension, so that the controller under test receives detection signals from the accelerometer under test and detection signals from the inertial sensor under test.
[0007] In some embodiments, the system includes multiple acceleration sensor testing units, each acceleration sensor testing unit including: a first cylinder for driving an acceleration sensor fixing platform to move up and down based on a first control command; 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, used to connect or disconnect the gas supply path of the corresponding first cylinder.
[0009] In some embodiments, the inertial sensor testing unit includes: a second cylinder for driving an inertial sensor mounting platform to move up and down based on a second control command; a deflection motor for driving the inertial sensor mounting platform to rotate based on the second control command; and an inertial sensor mounting platform for fixing the inertial sensor under test.
[0010] In some embodiments, the inertial sensor testing unit further includes a second solenoid valve for connecting or disconnecting the gas supply path of the corresponding second cylinder.
[0011] In some embodiments, the system for testing the controller of a magnetorheological suspension further includes: a power supply for powering the controller under test and the hardware testing device to simulate an on-board battery; and a CAN bus acquisition card electrically or communicatively connected to the controller under test and the host computer, the CAN bus acquisition card being configured to acquire detection signals from the accelerometer and the 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 from a user on an operating switch or a test command for an accelerometer output by a host computer, output a first control command to activate a corresponding first solenoid valve, thereby driving a corresponding first cylinder to move the accelerometer mounting platform up and down; in response to receiving a second operation from a user on an operating switch or a test command for an inertial sensor output by a host computer, output a second control command to activate a second solenoid valve, thereby driving a second cylinder to move the inertial sensor mounting platform up and down; and in response to receiving a third operation from a user on an operating switch or a test command for an inertial sensor output by a host computer, control the controller under test to output a drive current for driving the coil load.
[0013] In some embodiments, the system for testing the controller of the magnetorheological suspension further includes an ammeter connected in series in the electrical connection path between the corresponding coil load and the drive output of the controller under test, for indicating the current flowing through the corresponding coil load.
[0014] In some embodiments, the system for testing the controller of the magnetorheological suspension further includes: a main frame, the upper surface of which is provided with a plurality of acceleration sensor test units and an inertial sensor test unit, the plurality of acceleration sensor test units being used to test the left front unsprung acceleration sensor, left front suprung acceleration sensor, right front unsprung acceleration sensor, right front suprung acceleration sensor, left rear unsprung acceleration sensor, left rear suprung acceleration sensor, right rear unsprung acceleration sensor, and right rear suprung acceleration sensor of the magnetorheological suspension respectively.
[0015] In some embodiments, the system for testing the controller of the magnetorheological suspension further includes: a plurality of coil loads disposed inside the main frame for simulating the corresponding coil loads of the left front magnetorheological damper, the left rear magnetorheological damper, the right front magnetorheological damper, and the right rear magnetorheological damper, respectively.
[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description
[0017] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements.
[0018] Figure 1 A schematic diagram of a system for testing a magnetorheological suspension controller according to an embodiment of the present invention is shown.
[0019] Figure 2 A schematic diagram of the electrical connections of a system for testing a magnetorheological suspension controller according to some embodiments of the present invention is shown.
[0020] Figure 3 A system block diagram of a system for testing a magnetorheological suspension controller is shown according to some embodiments of the present invention.
[0021] Figure 4A A front view structural schematic diagram of the main body of a system for testing a magnetorheological suspension controller according to some embodiments of the present invention is shown.
[0022] Figure 4B A side view of the main body of a system for testing a controller of a magnetorheological suspension, according to some embodiments of the present invention, is shown.
[0023] Figure 5 A block diagram schematically illustrates an electronic device suitable for implementing embodiments of the present invention. Detailed Implementation
[0024] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0025] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one 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 magnetorheological suspension controllers in traditional vehicle controller testing systems. Moreover, as the test vehicle model changes, the test hardware platform needs to be modified, making it difficult to perform in-loop testing compatible with the hardware of other vehicle models.
[0027] To at least partially address one or more of the aforementioned problems and other potential issues, exemplary embodiments of the present invention propose a system for testing magnetorheological suspension controllers. This system comprises: an acceleration sensor testing unit, an inertial sensor testing unit, a coil load for simulating the coil load of a damper in a magnetorheological suspension, and a hardware testing device. The acceleration sensor testing unit and the inertial sensor testing unit operate based on first and second control commands output from the hardware testing device, respectively, to change the attitude of the acceleration sensor and the inertial sensor under test, so that the controller under test receives the detection signals from the acceleration sensor and the inertial sensor under test. The present invention can be applied to the testing of magnetorheological suspension controllers and can rapidly test the magnetorheological suspension controller by acquiring the acceleration sensor and the inertial sensor. Furthermore, the present invention can replace real-vehicle testing of magnetorheological suspension systems, enabling advanced and efficient testing of magnetorheological suspension controllers, shortening testing time, saving costs, and effectively improving the efficiency of magnetorheological suspension controller testing.
[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, system 100 includes: one or more accelerometer test units 118, inertial sensor test units 120, one or more coil loads 112, hardware test device 114, and controller under test 116. Accelerometer test units 118 are used to move according to a first control command output by hardware test device 114 to change the attitude of the accelerometer under test; inertial sensor test units 120 are used to move according to a second control command output by hardware test device 114 to change the attitude of the inertial sensor under test. Coil loads 112 are used to simulate the coil load of the damper of a magnetorheological suspension. Hardware test device 114 is used to output a first control command and a second control command based on received test commands regarding the controller under test 116 of the magnetorheological suspension, so that the controller under test 116 receives the detection signals of the accelerometer under test and the inertial sensor under test. In some embodiments, system 100 may further include, for example, a host computer 122.
[0030] Regarding the accelerometer test unit 118, it is used to move the accelerometer under test and is configured to move (e.g., move up and down) based on a first control command output by the hardware test device 114 to change the attitude of the accelerometer under test. It should be understood that the accelerometer test unit 118 can move up and down in various ways.
[0031] Regarding the inertial sensor test unit 120, it is used to move the inertial sensor under test and is configured to move (e.g., move up and down, and / or rotate) based on a second control command output by the hardware test device 114 to change the attitude of the inertial sensor under test. It should be understood that the accelerometer test unit 120 can move up and down and rotate in a variety of ways.
[0032] Regarding the coil load 112, there can be multiple coil loads 112. One end of each coil load 112 is electrically connected to the drive 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 command and a second control command based on the received test command for the controller under test of the magnetorheological suspension (the test command is generated by the user for a first operation of the operating switch, or by the test command for the accelerometer output by the host computer 122), so that the controller under test can receive the detection signal of the accelerometer under test and the detection signal of the inertial sensor under test.
[0034] Regarding the controller under test 116, it is used to acquire detection signals from one or more accelerometer test units 118 and inertial sensor test units 120, and to output drive outputs for detecting the current flowing through the coil load 112. In some embodiments, the detection signal from the accelerometer of the accelerometer test unit 118 is transmitted to the controller under test 116 via a CAN (Controller Area Network) acquisition card. The detection signal from the inertial sensor of the inertial sensor test unit 120 is transmitted to the controller under test 116 via a PSI5.
[0035] Regarding the host computer 122, it is used to output test commands regarding the controller of the magnetorheological suspension under test to the hardware testing device 114; and to provide test commands regarding the coil load of the magnetorheological suspension controller to the controller under test 116. It should be understood that the test commands regarding the magnetorheological suspension controller and the coil load of the magnetorheological suspension under test can also be provided to the hardware testing device 114 by the user operating the corresponding operation switches. In some embodiments, the host computer 122 and the hardware testing device 114 exchange data via an RS232 interface. The detection signals from the accelerometer and inertial sensor acquired by the controller under test 116 are transmitted to the host computer 122, for example, via a CAN acquisition card.
[0036] By employing the above methods, the hardware testing device 114 can generate a first control command and a second control command based on the test command input by the user or from the host computer regarding the controller of the magnetorheological suspension under test. The accelerometer testing unit 118 and the inertial sensor testing unit 120 move according to the first control command and the second control command, respectively, thereby changing the attitude of the accelerometer and inertial sensor under test, so that the controller under test 116 can acquire the detection signals of the accelerometer and inertial sensor. Thus, the online hardware loopback test of the magnetorheological suspension controller 116 under test can be conveniently completed.
[0037] Figure 2 A schematic diagram of the electrical connections of a system 200 for testing a magnetorheological suspension controller according to some embodiments of the present invention is shown. The system 200 includes: a host computer 122, a hardware testing device 114, multiple operating switches 202, a drive unit 206, a deflection motor 208, a power supply 210, and an emergency stop button 224.
[0038] The host computer 122 is electrically or communicatively connected to the hardware testing device 114. In some embodiments, the host computer 122 and the hardware testing device 114 interact via an RS232 interface. The host computer 122 is used to generate test commands for testing the controller of the magnetorheological suspension and to obtain test result feedback for the controller of the magnetorheological suspension. In some embodiments, the host computer 122 may send test commands to the hardware testing device 114 for the accelerometer sensor of the magnetorheological suspension, the inertial sensor, and the coil load of the magnetorheological suspension.
[0039] The hardware test device 114 includes a power input terminal, multiple signal inputs, and multiple signal outputs. The power input terminal of the hardware test device 114 (which includes, for example, a positive voltage terminal and a ground terminal, with the positive voltage being, for example, 24V) is connected to the power output of the power supply 210. It should be understood that the hardware test device 114 can be implemented using, for example, an MCU (Microcontroller Unit), a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or 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 connected, for example, to multiple first solenoid valves 220 that respectively connect to the air paths of multiple first cylinders. Each first cylinder, for example, is used to drive the vertical movement of a corresponding accelerometer. The second solenoid valve drive output (e.g., OUT1) is connected, for example, to a second solenoid valve 226 that connects to the air path of a second cylinder. The second cylinder is used to drive the vertical movement of an inertial sensor. Figure 2As shown, one end of the first solenoid valve 220 or the second solenoid valve 226 is connected to a high level (e.g., 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 command for testing a certain accelerometer, it causes the corresponding signal output to be low, resulting in a voltage difference across the first solenoid valve 220, which in turn connects the air path of the first cylinder 230, causing the first cylinder 230 to move up or down. Similarly, when the hardware testing device 114 receives a test command for the up-and-down movement of an inertial sensor, it causes the corresponding signal output to be low, resulting in a voltage difference across the second solenoid valve 226, which in turn connects the air path of the second cylinder 232, causing the second cylinder 232 to move up or down.
[0042] The motor rotation outputs (e.g., OUT14, OUT15, and OUT20) are, for example, PLUS signal output, DIR signal output, and EN signal output, respectively. These three signal outputs are connected to the corresponding input terminals of the drive unit 206, which generates the corresponding left-turn and right-turn signals for the deflection motor 208 (i.e., Figure 2 (The A+, A- signals, or B+, B- signals). The deflection motor 208 is, for example, a servo motor, and its left-turn and right-turn signals are, for example, PWM signals.
[0043] The hardware testing device 114 has multiple signal inputs, for example, connected to multiple operation switches (or buttons). The multiple operation switches include, for example, operation switches for operating to control the left and right turns of the inertial sensor, and operation switches for operating to control the up and down movement of the inertial sensor and multiple accelerometers.
[0044] It should be understood that by using a host computer or button operation to generate control commands for testing the controller of the magnetorheological suspension, the present invention can automatically and manually test the controller of the magnetorheological suspension.
[0045] Regarding the drive unit 206, it is used to generate left and right rotation signals for the motor 208 based on the motor rotation output of the inertial sensor output by the hardware testing device 114 (i.e., Figure 2 The A+, A-, or B+, B- signals in the signal are used to drive the motor 208 to turn left or right, thereby causing the inertial sensor to turn left or right accordingly.
[0046] Regarding power supply 210, it is used to power hardware testing apparatus 114. In some embodiments, the voltage and current limits output by power supply 210 are used to simulate an onboard battery. For example... Figure 2As shown, the positive input terminal of power supply 210 is connected to the positive terminal L of the power supply via emergency stop button 224, and the negative input terminal of power supply 210 is connected to the negative terminal N of the power supply. By adopting the above method, it is convenient to quickly stop the power supply to the test system in an emergency.
[0047] Regarding motor 208, it is used to drive the inertial sensor to rotate. The left and right turn signals generated by drive unit 206 (i.e., Figure 2 The A+, A- signals or B+, B- signals are provided to the input terminal of motor 208.
[0048] Figure 3 A system block diagram of a system 200 for testing a magnetorheological suspension controller according to some embodiments of the present invention is shown. System 200 includes: a host computer 122, a hardware testing device 114, multiple operating switches 202, multiple accelerometer test units 118, and an inertial sensor test unit 120. It also includes a controller under test 116, multiple accelerometers 130, an inertial sensor 132, a CAN acquisition card 115, 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, and an acceleration sensor mounting platform. Figure 3 (Not shown in the image). 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 accelerometer mounting platform to move up and down based on the first control command output by the hardware testing device 114. The accelerometer mounting platform is used to fix the accelerometer 130 under test.
[0050] Regarding the inertial sensor test unit 120, it includes, for example, a second solenoid valve 226, a second cylinder 232, a deflection motor 208, and an inertial sensor mounting platform. Figure 3 (Not shown in the image). 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 mounting platform to move up and down based on the second control command output by the hardware testing device 114, thereby driving the inertial sensor under test to move up and down. The deflection motor 208 is used to drive the inertial sensor mounting platform to rotate based on the second control command, thereby driving the inertial sensor under test to rotate. The inertial sensor mounting platform is used to fix the inertial sensor under test 132.
[0051] Regarding the CAN acquisition card 115, it is electrically or communicatively connected to the controller under test 116 and the host computer 122. The CAN acquisition card 115 is used to acquire the detection signals from the accelerometer 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 from the accelerometer 130 and the inertial sensor 132 from the controller under test 116, and then sends the acquired detection signals to the host computer 122.
[0052] Regarding the controller under test (DUT) 116, it is used to receive the detection signals from the inertial sensor 132 driven by the up-and-down movement of the inertial sensor mounting platform, and the detection signals from the accelerometer 130 driven by the up-and-down movement or rotation of the accelerometer mounting platform. For example, the detection signals from the inertial sensor 132 and the accelerometer 130 are provided to the DUT 116 via the peripheral sensor interface (PSI5). The DUT 116 then provides the above detection signals to the host computer 122 via the CAN interface. Thus, the hardware online loopback test is completed. The DUT 116 is also used to output the drive current of one or more coil loads 112. An ammeter 113 is connected between the coil load 112 and the output of the DUT 116 to detect the drive current flowing through the coil load 112.
[0053] Regarding power supply 210, it is used to supply power to controller under test 116. In some embodiments, power supply 210 is also used to supply power to hardware test apparatus 114.
[0054] Regarding the hardware testing device 114, its output is connected to multiple first solenoid valves 220 (e.g., first air valves), second solenoid valves 226 (e.g., second air valves), deflection motor 208, and its drive unit. The hardware testing device 114 is configured to, upon receiving a first operation from a user on an operating switch or a test command for the accelerometer output by the host computer 122, output a first control command to activate the corresponding first solenoid valve 220, thereby driving the corresponding first cylinder 230 to move the accelerometer mounting platform up and down, and thus moving the accelerometer under test, thereby transmitting the detection signal of the accelerometer to the controller under test 116. The hardware testing device 114 is further configured to, upon receiving a second operation from the user on the operating switch or a test command from the host computer 122 regarding the vertical movement of the inertial sensor, output a second control command to activate the second solenoid valve 226, thereby driving the second cylinder 232 to move the inertial sensor mounting platform vertically, which in turn moves the inertial sensor 132 under test vertically, thus transmitting the detection signal of the inertial sensor 132 to the controller under test 116. The hardware testing device 114 is also configured to, upon receiving a third operation from the user on the operating switch or a test command from the host computer 122 regarding the rotation of the inertial sensor, output a control command for the deflection motor 208, which in turn drives the inertial sensor under test to rotate, thus transmitting the detection signal of the inertial sensor 132 to the controller under test 116.
[0055] Figure 4A A front view structural schematic diagram of the 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 of the main body 300 of a system for testing a controller of a magnetorheological suspension according to some embodiments of the present invention is shown. The main body 300 includes: a main frame 119, eight acceleration sensor test units 118, one inertial sensor test unit 120, and a controller under test 116.
[0056] The main frame 119 is a roughly cubic hollow shell. Eight accelerometer test units 118 and one inertial sensor test unit 120 are arranged on the upper surface of the main frame 119. The eight accelerometer test units 118 are used to test the left front unsprung accelerometer, left front suprung accelerometer, right front unsprung accelerometer, right front suprung accelerometer, left rear unsprung accelerometer, left rear suprung accelerometer, right rear unsprung accelerometer, and right rear suprung accelerometer, respectively. Each accelerometer test unit 118 includes an accelerometer mounting platform 131 and a first cylinder 230 arranged from top to bottom. An accelerometer 130 is fixed on each accelerometer mounting platform 131. An indicator 117 is provided on the front side of each first cylinder 230 to indicate the identifier of the accelerometer under test and its corresponding manual operation switch. In some embodiments, the eight accelerometer test units 118 are jointly arranged on an accelerometer 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 for supporting the first surface and perpendicular to the upper surface of the main frame 119.
[0057] like Figure 4A As shown, the inertial sensor testing unit 120 includes, from top to bottom, an inertial sensor fixing platform 133, a deflection motor 208, and a second cylinder 232. The inertial sensor to be tested 132 is fixed on the upper surface of the inertial sensor fixing platform 133.
[0058] At least an emergency stop button 224 and a test controller 116 are also provided on the upper surface of the main frame 119. Multiple operating switches 202 and multiple ammeters 113 are provided on the front surface of the main frame 119. The multiple operating switches 202 are used, for example, for user input regarding the operation of the left front unsprung acceleration sensor, left front suprung acceleration sensor, right front unsprung acceleration sensor, right front suprung acceleration sensor, left rear unsprung acceleration sensor, left rear suprung acceleration sensor, right rear unsprung acceleration sensor, and right rear suprung acceleration sensor. The multiple ammeters 113 are used, for example, to indicate the drive current flowing through the corresponding coil load of the left front magnetorheological damper, the corresponding coil load of the left rear magnetorheological damper, the corresponding coil load of the right front magnetorheological damper, and the corresponding coil load of the right rear magnetorheological damper, respectively.
[0059] An RS232 interface 123, a CAN interface 125, a power input terminal 127, and a main air path interface 135 are provided on the rear surface of the main frame 119. The CAN interface 125 is used for data exchange between the controller under test 116 and the host computer 122. The RS232 interface 123 is used for data exchange between the hardware testing device 114 and the host computer 122; for example, the host computer 122 sends test commands regarding the testing of the accelerometer, inertial sensor, and coil load to the hardware testing device 114 via the RS232 interface 123. The power input terminal 127 is used to transmit external power to the power supply 210. The main air path interface 135 is used to connect an external air source. The gas input via the main air path interface 135 is provided to the air path input interfaces of the first solenoid valve 220 and the second solenoid valve 226.
[0060] like Figure 4B As shown, within the main frame 119, for example, four coil loads and multiple first solenoid valves 220 (e.g., eight first solenoid valves) and one second solenoid valve 226 are arranged. The four coil loads are used to simulate the corresponding coil loads of the left front magnetorheological damper, the left rear magnetorheological damper, the right front magnetorheological damper, and the right rear magnetorheological damper, respectively. Each of the first solenoid valves 220 and the second solenoid valve 226 includes an input interface and an output interface for a pneumatic path. The pneumatic path connected to the first solenoid valve 220 supplies gas to the first cylinder 230 through the pneumatic path tail interface 221. It should be understood that each of the first cylinder 230 or the second cylinder 232 is connected to two pneumatic path tail interfaces for controlling the cylinder to move upward or downward, respectively.
[0061] Figure 5 A block diagram schematically illustrates an electronic device 500 suitable for implementing embodiments of the present invention. Device 500 may be used to implement a host computer 122 or a hardware testing device 114. Figure 5 As shown, device 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to computer program instructions stored in read-only memory (ROM) 502 or loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. CPU 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.
[0062] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, output unit 507, and storage unit 508. 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 stored in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by CPU 501, the various processes or operations described above may be performed. Alternatively, in other embodiments, CPU 501 may be configured by any other suitable means (e.g., by means of firmware) to perform one or more actions of the various processes or operations described above.
[0063] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.
[0064] The computer program instructions used to perform the operations of this 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 the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving 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., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.
[0065] These computer-readable program instructions can be provided to a processor, general-purpose computer, special-purpose computer, or other programmable data processing unit in a voice interaction device to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing device, these instructions create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, causing a computer, programmable data processing device, and / or other device to operate in a particular manner.
[0066] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.
[0067] The above are merely optional embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A system for testing a controller of a magnetorheological suspension, characterized in that, include: The accelerometer test unit is configured to move based on the first control command output by the hardware test device to change the attitude of the accelerometer under test. The inertial sensor test unit is configured to move based on the second control command output by the hardware test device to change the attitude of the inertial sensor under test. The coil load is used to simulate the coil load of the damper of the magnetorheological suspension. One end of the coil load is electrically connected to the drive output of the controller under test, and the other end is grounded. as well as The hardware testing device is configured to output a first control command and a second control command based on the received test command for the controller under test of the magnetorheological suspension, so that the controller under test can receive the detection signal of the acceleration sensor under test and the detection signal of the inertial sensor under test. The inertial sensor testing unit includes a second cylinder, used to drive the inertial sensor fixed platform to move up and down based on a second control command.
2. The system according to claim 1, characterized in that, The system includes multiple acceleration sensor test units, each acceleration sensor test unit comprising: The first cylinder is used to drive the acceleration sensor fixed platform to move up and down based on the first control command; and An accelerometer mounting platform is used to fix the accelerometer under test.
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 testing unit also includes: A deflection motor, used to drive the inertial sensor-fixed platform to rotate based on a second control command; and An inertial sensor mounting platform is used to mount the inertial sensor under test.
5. The system according to claim 4, characterized in that, The inertial sensor testing 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: The power supply provides power to the controller under test and the hardware testing equipment to simulate an onboard battery; and The CAN bus acquisition card is electrically or communicatively connected to the controller under test and the host computer. The CAN bus acquisition card is configured to acquire detection signals from the accelerometer and inertial sensor and send them to the host computer.
7. The system according to claim 1, characterized in that, The hardware testing equipment is configured as follows: In response to receiving a first operation from the user on the operating switch or a test command for the acceleration sensor from the host computer, a first control command is output to activate the corresponding first solenoid valve, thereby driving the corresponding first cylinder to move the acceleration sensor fixed platform up and down. In response to receiving a second operation from the user regarding the operating switch or a test command for the inertial sensor output by the host computer, a second control command is output to activate the second solenoid valve, thereby driving the second cylinder to move the inertial sensor mounting platform up and down; and In response to receiving a third operation from the user on the operating switch or a test command for the inertial sensor output by the host computer, the controller under test is controlled to output a drive current for driving the coil load.
8. The system according to claim 1, characterized in that, Also includes: An ammeter, connected in series in the electrical connection path between the corresponding coil load and the drive output of the controller under test, is used to indicate the current flowing through the corresponding coil load.
9. The system according to claim 1, characterized in that, Also includes: The main frame has multiple acceleration sensor test units and one inertial sensor test unit on its upper surface. The multiple acceleration sensor test units are used to test the left front unsprung acceleration sensor, left front suprung acceleration sensor, right front unsprung acceleration sensor, right front suprung acceleration sensor, left rear unsprung acceleration sensor, left rear suprung acceleration sensor, right rear unsprung acceleration sensor, and right rear suprung acceleration sensor of the magnetorheological suspension, respectively.
10. The system according to claim 1, characterized in that, The main frame is equipped with multiple coil loads to simulate the corresponding coil loads of the left front magnetorheological damper, the left rear magnetorheological damper, the right front magnetorheological damper, and the right rear magnetorheological damper, respectively.