Simulink-based electronic control air compressor physical model device and HIL rack system
By integrating the Simulink-based physical model device of the electronically controlled air compressor in the HIL bench, the problem of the lack of accurate models when integrating the physical model of the electronically controlled air compressor is solved, and the rapid verification and testing of ECAPU functions are achieved, improving the accuracy and reliability of the test.
Patent Information
- Application Number
- CN202510017456.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-06
- Publication Date
- 2025-05-02
AI Technical Summary
When the existing HIL bench integrates the physical model of the electronically controlled air compressor, the lack of accurate physical models, which leads to a deviation from the actual vehicle operation, and it is impossible to effectively verify the functions of the ECAPU in a complex and changing driving environment.
A physical model device of the electronically controlled air compressor based on Simulink is designed, including a gas pumping capacity calculation module, a gas leakage capacity calculation module, a regeneration capacity calculation module and a gas storage tank pressure calculation module. These modules are used to calculate the gas pumping capacity, air leakage capacity and regeneration capacity of the air compressor, and adjust the pressure of the gas storage tank in real time based on these calculation results, and integrate it into the existing HIL mount.
It realizes rapid verification and testing of ECAPU functions, shortens development cycle, reduces testing costs, improves test accuracy and reliability, and can more accurately simulate the operating status of the actual vehicle.
Smart Images
Figure CN119918277A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of electronically controlled air compressor simulation, and in particular relates to an electronically controlled air compressor physical model device and a HIL bench system based on Simulink. Background Art
[0002] In modern automobile systems, the electronically controlled air compressor (ECAPU) is an important part of the air brake system, and its performance directly affects the braking effect and safety of the vehicle. With the rapid development of the automobile industry, the electronically controlled air compressor technology (ECAPU) is becoming more and more perfect.
[0003] Traditional development and testing methods rely on actual vehicles and complex test environments, which is not only time-consuming and labor-intensive, but also costly and requires a long project development cycle. In order to accelerate the development process and reduce testing costs, hardware-in-the-loop (HIL) testing technology has emerged. HIL testing can efficiently perform functional verification and performance testing of ECAPU by simulating the operating status of a real vehicle in a laboratory environment.
[0004] However, when integrating the physical model of the electronically controlled air compressor, the existing HIL test bench often lacks an accurate physical model, resulting in deviations between the test results and the actual vehicle operation. Especially in complex and changeable driving environments, it is impossible to perform bench verification on the ECAPU function. In order to be able to perform comprehensive functional verification on the control function of the electronically controlled air compressor, it is necessary to develop a physical model device of the electronically controlled air compressor based on Simulink and integrate the physical model device into the existing HIL test bench to realize bench verification of the ECAPU function. Summary of the invention
[0005] In order to perform comprehensive functional verification on the control function of the electric-controlled air compressor, the present invention designs a physical model device of the electric-controlled air compressor and a HIL bench system based on Simulink, and performs automated testing on the functions of the electric-controlled air compressor in the HIL, thereby speeding up the development and testing progress of the project.
[0006] In a first aspect, the technical solution of the present invention provides a physical model device of an electronically controlled air compressor based on Simulink, including an air volume calculation module, an air leakage calculation module, a regeneration volume calculation module and an air tank pressure calculation module; The air volume calculation module calculates the air volume of each cycle of the air compressor according to the engine speed and the air tank pressure of the previous cycle; The air leakage calculation module calculates the vehicle air leakage in each cycle according to the foot brake opening, vehicle speed, gear change signal, and hand brake or foot brake change signal; The regeneration amount calculation module calculates the regeneration amount of each cycle according to the gas tank pressure of the previous cycle; The air tank pressure calculation module makes a mode judgment according to the unloading valve state and the regeneration valve state, and calculates the current pressure of the air tank in each mode according to the calculated inflation volume, leakage volume and regeneration volume.
[0007] As a further limitation of the technical solution of the present invention, the inflation volume calculation module calculates the inflation volume per second according to the engine speed and the air tank pressure in the previous cycle according to the characteristics of the air compressor, and then converts it into the inflation volume of each cycle, generating an inflation volume MAP based on the engine speed and air tank pressure.
[0008] As a further limitation of the technical solution of the present invention, the air leakage calculation module includes a foot brake air leakage calculation unit, a vehicle pipeline air leakage calculation unit, a hand brake or foot brake air leakage calculation unit, a gear shift air leakage calculation unit and a vehicle air leakage calculation unit; The foot brake leakage calculation unit obtains the brake leakage per second according to the foot brake opening curve, and then converts it into the brake leakage per cycle; The vehicle pipeline leakage calculation unit obtains the vehicle pipeline leakage per second according to the vehicle speed curve, and then converts it into the vehicle pipeline leakage per cycle; The handbrake or footbrake brake leakage calculation unit obtains the leakage amount each time according to the change of the footbrake or handbrake signal, and obtains the brake leakage amount of each cycle in combination with the brake enable state constant of each cycle; The gear shift leakage calculation unit obtains the leakage volume of each gear shift according to the actual gear change of the transmission, and obtains the gear shift leakage volume of each cycle in combination with the gear shift enable state constant of each cycle; The vehicle leakage calculation unit sums the braking leakage of each cycle, the vehicle pipeline leakage of each cycle, the braking leakage of each cycle and the gear shift leakage of each cycle to obtain the vehicle leakage.
[0009] As a further limitation of the technical solution of the present invention, the regeneration amount calculation module calculates the regeneration amount per second according to the gas tank pressure of the previous cycle, and then converts it into the regeneration amount of each cycle.
[0010] As a further limitation of the technical solution of the present invention, the gas tank pressure calculation module includes a mode judgment unit and a mode pressure calculation unit; The mode judgment unit performs mode judgment according to the state of the unloading valve and the state of the regeneration valve; The mode pressure calculation unit calculates the current pressure of the gas tank in each mode according to the gas tank pressure of the previous cycle combined with the inflation volume of each cycle, the gas leakage volume of the whole vehicle in each cycle and the regeneration volume of each cycle.
[0011] As a further limitation of the technical solution of the present invention, when the unloading valve state is 0 and the regeneration valve state is 0, the mode judgment unit judges that the current mode is the inflation mode; When the unloading valve state is 1 and the regeneration valve state is 1, the mode determination unit determines that the current mode is the regeneration mode; When the unloading valve state is 1 and the regeneration valve state is 0, the mode determination unit determines that the current mode is the pressure maintaining mode.
[0012] As a further limitation of the technical solution of the present invention, when the mode pressure calculation unit performs calculation, in the inflation mode, the air pressure value of the current air storage tank is the air pressure value of the air storage tank in the previous cycle, plus the air pressure of the inflation amount of one cycle, minus the air pressure of the leakage amount of one cycle; In the regeneration mode, the current air pressure of the gas tank is the air pressure of the previous cycle, minus the air pressure of the leakage in one cycle, minus the air pressure of the regeneration in one cycle, and the current air pressure of the gas tank is not higher than the maximum air pressure of the gas tank; In the pressure-maintaining mode, the current air pressure value of the gas tank is the air pressure value of the gas tank in the previous cycle, minus the air pressure of one cycle of leakage, and the current air pressure value of the gas tank is not lower than the minimum air pressure of the gas tank.
[0013] As a further limitation of the technical solution of the present invention, the air pressure of one cycle of inflation volume Pu_d=s*up_d; The air pressure of the leakage in one cycle Pd_l = s*down_l; The air pressure of one cycle regeneration amount P d_z=s* down_z; s = KT / V; Where up_d is the inflation volume in one cycle, down_l is the leakage volume in one cycle, down_z is the regeneration volume in one cycle, T is the temperature of the gas in the gas tank, V is the volume of the gas tank, and K is a constant.
[0014] In a second aspect, the present invention provides a HIL bench system, wherein the HIL bench system integrates the Simulink-based electronically controlled air compressor physical model device as described in the first aspect.
[0015] As a further limitation of the technical solution of the present invention, the input signal in the electronically controlled air compressor physical model device is derived from the internal signal of the HIL test bench and the hard-wired signal of the vehicle controller. The electronically controlled air compressor physical model device calculates the final output pressure signal in the air storage tank and sends it to the CAN line through an AIR message.
[0016] By building a physical model of the electronically controlled air compressor based on Simulink and integrating it into the HIL test bench, the rapid verification and testing of the ECAPU function is achieved, greatly shortening the development cycle. Compared with the traditional real vehicle testing method, HIL testing does not require actual vehicles and complex testing environments, reducing testing costs. The model takes into account a variety of influencing factors, such as inflation volume, air leakage, and regeneration volume, and can more accurately simulate the operating status of the actual vehicle, improving the accuracy and reliability of the test.
[0017] Beneficial effects of the technical solution of the present invention: The device is designed with an air volume calculation module, which calculates the air volume of the air compressor in each cycle in real time according to the engine speed and the air tank pressure of the previous cycle, thereby realizing the calculation of the air volume. The leakage volume calculation module is designed to comprehensively consider the foot brake opening, vehicle speed, gear change, and hand brake or foot brake change signal, and can more accurately calculate the vehicle leakage volume of each cycle. The regeneration volume calculation module is designed to calculate the regeneration volume of each cycle according to the air tank pressure of the previous cycle; the air tank pressure calculation module is designed to perform mode judgment according to the status of the unloading valve and the regeneration valve, and adjusts and calculates the current pressure of the air tank in real time according to the calculation results of the air volume, leakage volume and regeneration volume. This model device enables the air tank pressure to be maintained within a reasonable range, realizes the comprehensive verification and testing of the ECAPU function, reduces human intervention and errors, and improves the test efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.
[0019] Figure 1 The present invention provides an input and output connection diagram of the device in the bench system.
[0020] Figure 2 This is a logical connection diagram of the device provided by the present invention.
[0021] Figure 3 It is a flow chart of calculating the pressure of the gas storage tank of the present invention. DETAILED DESCRIPTION
[0022] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.
[0023] like Figure 2 As shown, the technical solution of the present invention provides a physical model device of an electronically controlled air compressor based on Simulink, including an air volume calculation module, an air leakage calculation module, a regeneration volume calculation module and an air storage tank pressure calculation module; The air volume calculation module calculates the air volume of each cycle of the air compressor according to the engine speed and the air tank pressure of the previous cycle; The air leakage calculation module calculates the vehicle air leakage in each cycle according to the foot brake opening, vehicle speed, gear change signal, and hand brake or foot brake change signal; The regeneration amount calculation module calculates the regeneration amount of each cycle according to the gas tank pressure of the previous cycle; The air tank pressure calculation module makes a mode judgment according to the unloading valve state and the regeneration valve state, and calculates the current pressure of the air tank in each mode according to the calculated inflation volume, leakage volume and regeneration volume.
[0024] The physical model of the electronically controlled air compressor is built using the Simulink tool. The model includes an air volume calculation module, a leakage volume calculation module, and a regeneration volume calculation module. The air volume calculation module obtains the air volume per minute by looking up a table based on the engine speed and the pressure in the air tank, and converts it into the air volume of each cycle of the test bench. The leakage volume calculation module considers multiple factors such as foot brake leakage, vehicle pipeline leakage, hand brake leakage, and shift leakage to calculate the leakage volume of each cycle. The regeneration volume calculation module obtains the regeneration volume of each cycle by looking up the curve based on the pressure in the air tank. The air tank pressure calculation module makes mode judgments based on the unloading valve status and the regeneration valve status, and calculates the current pressure of the air tank in each mode based on the calculated air volume, leakage volume, and regeneration volume.
[0025] The input signals of the model device of the present invention include: the regeneration valve state signal comes from the hard line of the controller, the unloading valve state signal comes from the hard line of the controller, the engine speed signal comes from the HIL internal variable, the foot brake opening signal comes from the HIL internal variable, the foot brake signal comes from the HIL internal variable, the vehicle speed signal comes from the HIL internal variable, the handbrake signal comes from the HIL internal variable, and the current gear signal comes from the HIL internal variable.
[0026] Signal output: Output the pressure signal of the gas tank.
[0027] In some embodiments, the air volume calculation module calculates the air volume per second according to the engine speed and the air tank pressure in the previous cycle according to the characteristics of the air compressor, and then converts it into the air volume of each cycle, generating an air volume MAP based on the engine speed and air tank pressure lookup table, where X, Y, and Z are the speed, air tank pressure, and air volume up_d, respectively.
[0028] In some embodiments, the air leakage calculation module includes a foot brake air leakage calculation unit, a vehicle pipeline air leakage calculation unit, a hand brake or foot brake air leakage calculation unit, a gear shift air leakage calculation unit, and a vehicle air leakage calculation unit; The foot brake leakage calculation unit obtains the brake leakage per second according to the foot brake opening curve, and then converts it into the brake leakage per cycle; The vehicle pipeline leakage calculation unit obtains the vehicle pipeline leakage per second according to the vehicle speed curve, and then converts it into the vehicle pipeline leakage per cycle; The handbrake or footbrake brake leakage calculation unit obtains the leakage amount each time according to the change of the footbrake or handbrake signal, and obtains the brake leakage amount of each cycle in combination with the brake enable state constant of each cycle; The gear shift leakage calculation unit obtains the leakage volume of each gear shift according to the actual gear change of the transmission, and obtains the gear shift leakage volume of each cycle in combination with the gear shift enable state constant of each cycle; The vehicle leakage calculation unit sums the braking leakage of each cycle, the vehicle pipeline leakage of each cycle, the braking leakage of each cycle and the gear shift leakage of each cycle to obtain the vehicle leakage.
[0029] Foot brake air leakage l_1: according to the foot brake opening, check the curve to get the air leakage volume l_1 per cycle; Vehicle pipeline leakage l_2: According to the vehicle speed, the curve is checked to obtain the leakage volume l_2 per cycle; Handbrake or footbrake brake leakage l_3: According to the change of footbrake and handbrake signals, the leakage volume l_3 each time is obtained, that is, the rising edge detection of the signal, one rising edge, the enabling state a sends a cycle of 1, and each leakage volume is simulated as a fixed value; Gear shift leakage l_4: The leakage volume l_3 of each gear shift is obtained according to the actual gear change of the gearbox. When the current gear is inconsistent with the gear of the previous cycle, the enabling state b sends a cycle of 1, and the leakage volume of each gear shift is simulated as a fixed value; That is, the leakage in each cycle is down_l=l_1 + l_2 + l_3*a+ l_4*b; The regeneration amount calculation module calculates the regeneration amount per second based on the gas tank pressure of the previous cycle, and then converts it into the regeneration amount of each cycle.
[0030] The electronically controlled air compressor will have a regeneration process after a long period of inflation or a certain amount of inflation. The amount of each regeneration is related to the time and the pressure in the gas tank. The regeneration amount down_z: the regeneration amount of each cycle is obtained by checking the curve based on the pressure in the gas tank.
[0031] In some embodiments, the gas tank pressure calculation module includes a mode determination unit and a mode pressure calculation unit; The mode judgment unit performs mode judgment according to the state of the unloading valve and the state of the regeneration valve; The mode pressure calculation unit calculates the current pressure of the gas tank in each mode according to the gas tank pressure of the previous cycle combined with the inflation volume of each cycle, the gas leakage volume of the whole vehicle in each cycle and the regeneration volume of each cycle.
[0032] When the unloading valve state is 0 and the regeneration valve state is 0, the mode determination unit determines that the current mode is the inflation mode; When the unloading valve state is 1 and the regeneration valve state is 1, the mode determination unit determines that the current mode is the regeneration mode; When the unloading valve state is 1 and the regeneration valve state is 0, the mode determination unit determines that the current mode is the pressure maintaining mode.
[0033] When the mode pressure calculation unit performs calculation, in the inflation mode, the air pressure value of the current gas tank is the air pressure value of the gas tank in the previous cycle, plus the air pressure of the inflation amount of one cycle, minus the air pressure of the leakage amount of one cycle; In the regeneration mode, the current air pressure of the gas tank is the air pressure of the previous cycle, minus the air pressure of the leakage in one cycle, minus the air pressure of the regeneration in one cycle, and the current air pressure of the gas tank is not higher than the maximum air pressure of the gas tank; In the pressure-maintaining mode, the current air pressure of the gas tank is the air pressure of the previous cycle, minus the air pressure of one cycle of leakage, and the current air pressure of the gas tank is not lower than the minimum air pressure of the gas tank. It should be noted that the air pressure of one cycle of inflation, Pu_d = s*up_d; The air pressure of the leakage in one cycle Pd_l = s*down_l; The air pressure of one cycle regeneration amount P d_z=s* down_z; s = KT / V; Where up_d is the inflation volume in one cycle, down_l is the leakage volume in one cycle, down_z is the regeneration volume in one cycle, T is the temperature of the gas in the gas tank, V is the volume of the gas tank, and K is a constant.
[0034] The gas tank is used to store gas, and its pressure formula is P=(m / M)*R*T / V. P is the pressure of the gas in the gas tank; m is the mass of the gas; M is the molar mass of the gas; R is the gas constant; T is the temperature of the gas in the gas tank, which can be used as a configuration parameter of the gas tank to simulate different environments; V is the volume of the gas tank, which can be used as a configuration parameter of the gas tank to simulate gas tanks of different volumes.
[0035] Since the density of air is ρ = 1.29 kg / m3, according to the formula mass = volume * density, we can get that the mass of air = volume of air ÷ density of air = 1 m3 * 1.29 kg / m3 = 1.29 kg. That is, the mass of a cubic meter of air m is 1.29 kg.
[0036] Therefore, under certain temperature and gas tank volume, the pressure inside the gas tank is proportional to the mass inside the gas tank, that is, P=KTm / V=P_0+△P= P_0+KT△m / V= P_0+s△m; K is a constant, and the corresponding air pressure information can be collected from the vehicle for conversion; P_0 is the initial pressure of the gas tank; △m is the mass change in the gas tank; P_min is the minimum air pressure of the gas tank, 1 bar; P_max is the minimum air pressure of the gas tank, 15 bar; like Figure 3 As shown, in the inflation mode, the current air pressure value P is the air pressure value P(-1) of the previous cycle, plus the air pressure of one cycle of inflation, minus the air pressure of one cycle of leakage; Inflation mode P = P (-1) + s * (up_d-down_l) In regeneration mode, the current air pressure value P is the air pressure value P(-1) of the previous cycle, minus the air pressure of one cycle leakage, minus the air pressure of one cycle regeneration, and the final air pressure value will not be higher than P_max; Regeneration mode P = P (-1) - s * (down_l + down_z); In the pressure-maintaining mode, the current air pressure value P is the air pressure value P(-1) of the previous cycle, minus the air pressure leaked in one cycle, and the final air pressure value will not be lower than P_min; Pressure holding mode P=P(-1)-s*down_l.
[0037] like Figure 1 As shown, the present invention provides a HIL bench system, wherein the HIL bench system integrates the Simulink-based electronically controlled air compressor physical model device as described in the first aspect.
[0038] As a further limitation of the technical solution of the present invention, the input signal in the electronically controlled air compressor physical model device is derived from the internal signal of the HIL test bench and the hard-wired signal of the vehicle controller. The electronically controlled air compressor physical model device calculates the final output pressure signal in the air storage tank and sends it to the CAN line through an AIR message.
[0039] In the embodiment of the present invention, the model built according to the actual vehicle data simulates the air leakage of the whole vehicle; the model built according to the actual vehicle data simulates the regeneration amount of the whole vehicle; the model built according to the actual vehicle data simulates the air inflation amount of the whole vehicle; the physical model of the electronically controlled air compressor built according to the actual vehicle data is integrated into the HIL; the model is integrated into the existing HIL bench, and the input signal in the model is derived from the internal signal of the HIL and the hard-wired signal of the controller. The pressure signal in the gas tank is finally output by calculation and sent to the CAN line through the AIR message. In this way, the function of the ECAPU can be bench verified, and automated test cases can be written to speed up the development and testing progress of the project and reduce the development cost and testing cost of the project.
[0040] The model built based on actual vehicle data simulates the air leakage of the whole vehicle, and can simulate pipeline leakage, brake air consumption, and gear shifting air consumption to reduce the pressure in the air tank; the model built based on actual vehicle data simulates the regeneration of the whole vehicle, and can simulate the air compressor pumping a certain amount of air or a certain period of time to back-blow the device to reduce the pressure in the air tank; the model built based on actual vehicle data simulates the air pumping volume of the whole vehicle, and can simulate the air compressor at different speeds, different temperatures, and different air tank volumes to increase the pressure in the air tank; the physical model of the electronically controlled air compressor built based on actual vehicle data is integrated into the HIL, and the ECAPU function can be simulated and tested in multiple states to achieve 100% coverage.
[0041] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A physical model device of an electronically controlled air compressor based on Simulink, characterized in that: It includes a gas tank pressure calculation module and an air volume calculation module, a gas leakage calculation module, and a regeneration volume calculation module respectively connected to the gas tank pressure calculation module; The air volume calculation module calculates the air volume of each cycle of the air compressor according to the engine speed and the air tank pressure of the previous cycle; The air leakage calculation module calculates the vehicle air leakage in each cycle according to the foot brake opening, vehicle speed, gear change signal, and hand brake or foot brake change signal; The regeneration amount calculation module calculates the regeneration amount of each cycle according to the gas tank pressure of the previous cycle; The air tank pressure calculation module makes a mode judgment according to the unloading valve state and the regeneration valve state, and calculates the current pressure of the air tank in each mode according to the calculated inflation volume, leakage volume and regeneration volume.
2. The electronically controlled air compressor physical model device based on Simulink according to claim 1 is characterized in that: The air volume calculation module calculates the air volume per second according to the engine speed and the air tank pressure in the previous cycle according to the characteristics of the air compressor, and then converts it into the air volume of each cycle, generating an air volume MAP based on the engine speed and air tank pressure.
3. The electronically controlled air compressor physical model device based on Simulink according to claim 2 is characterized in that: The air leakage calculation module includes a foot brake air leakage calculation unit, a vehicle pipeline air leakage calculation unit, a hand brake or foot brake air leakage calculation unit, a gear shift air leakage calculation unit and a vehicle air leakage calculation unit; The foot brake leakage calculation unit obtains the brake leakage per second according to the foot brake opening curve, and then converts it into the brake leakage per cycle; The vehicle pipeline leakage calculation unit obtains the vehicle pipeline leakage per second according to the vehicle speed curve, and then converts it into the vehicle pipeline leakage per cycle; The handbrake or footbrake brake leakage calculation unit obtains the leakage amount each time according to the change of the footbrake or handbrake signal, and obtains the brake leakage amount of each cycle in combination with the brake enable state constant of each cycle; The gear shift leakage calculation unit obtains the leakage volume of each gear shift according to the actual gear change of the transmission, and obtains the gear shift leakage volume of each cycle in combination with the gear shift enable state constant of each cycle; The vehicle leakage calculation unit sums the braking leakage of each cycle, the vehicle pipeline leakage of each cycle, the braking leakage of each cycle and the gear shift leakage of each cycle to obtain the vehicle leakage.
4. The electronically controlled air compressor physical model device based on Simulink according to claim 3 is characterized in that: The regeneration amount calculation module calculates the regeneration amount per second based on the gas tank pressure of the previous cycle, and then converts it into the regeneration amount of each cycle.
5. The electronically controlled air compressor physical model device based on Simulink according to claim 4 is characterized in that: The gas tank pressure calculation module includes a mode judgment unit and a mode pressure calculation unit; The mode judgment unit performs mode judgment according to the state of the unloading valve and the state of the regeneration valve; The mode pressure calculation unit calculates the current pressure of the gas tank in each mode according to the gas tank pressure of the previous cycle combined with the inflation volume of each cycle, the gas leakage volume of the whole vehicle in each cycle and the regeneration volume of each cycle.
6. The electronically controlled air compressor physical model device based on Simulink according to claim 5, characterized in that: When the unloading valve state is 0 and the regeneration valve state is 0, the mode determination unit determines that the current mode is the inflation mode; When the unloading valve state is 1 and the regeneration valve state is 1, the mode determination unit determines that the current mode is the regeneration mode; When the unloading valve state is 1 and the regeneration valve state is 0, the mode determination unit determines that the current mode is the pressure maintaining mode.
7. The electronically controlled air compressor physical model device based on Simulink according to claim 6 is characterized in that: When the mode pressure calculation unit performs calculation, in the inflation mode, the air pressure value of the current gas tank is the air pressure value of the gas tank in the previous cycle, plus the air pressure of the inflation amount of one cycle, minus the air pressure of the leakage amount of one cycle; In the regeneration mode, the current air pressure of the gas tank is the air pressure of the previous cycle, minus the air pressure of the leakage in one cycle, minus the air pressure of the regeneration in one cycle, and the current air pressure of the gas tank is not higher than the maximum air pressure of the gas tank; In the pressure-maintaining mode, the current air pressure value of the gas tank is the air pressure value of the gas tank in the previous cycle, minus the air pressure of one cycle of leakage, and the current air pressure value of the gas tank is not lower than the minimum air pressure of the gas tank.
8. The electronically controlled air compressor physical model device based on Simulink according to claim 7, characterized in that: The air pressure of one cycle of inflation is Pu_d=s*up_d; The air pressure of the leakage in one cycle Pd_l = s*down_l; The air pressure of one cycle regeneration amount P d_z=s* down_z; s = KT / V; Where up_d is the inflation volume in one cycle, down_l is the leakage volume in one cycle, down_z is the regeneration volume in one cycle, T is the temperature of the gas in the gas tank, V is the volume of the gas tank, and K is a constant.
9. A HIL bench system, characterized in that: The HIL bench system is integrated with a Simulink-based electronically controlled air compressor physical model device as described in any one of claims 1 to 8.
10. The HIL bench system according to claim 9, characterized in that: The input signal in the electronically controlled air compressor physical model device comes from the internal signal of the HIL bench and the hard-line signal of the vehicle controller. The electronically controlled air compressor physical model device calculates the final output pressure signal in the air storage tank and sends it to the CAN line through the AIR message.