Power (Kw) |
Frequency (Hz) |
Torque $N\cdot m$ |
Speed (r/min) |
Moment of inertia (kg$\cdot$ m$^2$) |
235.6 | 250 | 360 | 5000 | 0.042 |
A dynamic simulation approach for performing emulation experiments on vehicle driveline test bench is discussed in this paper. In order to reduce costs and shorten new vehicle development cycle time, vehicle simulation on the driveline test bench is an attractive alternative at the development phase to reduce the quantity of proto vehicles. This test method moves the test site from the road to the bench without the need for real chassis parts. Dynamic emulation of mechanical loads is a Hardware-in-the-loop (HIL) procedure, which can be used as a supplement of the conventional simulations in testing of the operation of algorithms without the need for the prototypes. The combustion engine is replaced by a electric drive motor, which replicates the torque and speed signature of an actual engine, The road load resistance of the vehicle on a real test road is accurately simulated on load dynamometer motor. On the basis of analyzing and comparing the advantages and disadvantages of the inverse dynamics model and the forward model based on speed closed loop control method, in view of the high order, nonlinear and multi variable characteristics of test bench system, a load simulation method based on speed adaptive predictive control is presented. It avoids the complex algorithm of closed loop speed compensation, and reduces the influence of inaccurate model parameters on the control precision of the simulation system. The vehicle start and dynamic shift process were simulated on the test bench.
Citation: |
Table 1. The technical data of drive motor
Power (Kw) |
Frequency (Hz) |
Torque $N\cdot m$ |
Speed (r/min) |
Moment of inertia (kg$\cdot$ m$^2$) |
235.6 | 250 | 360 | 5000 | 0.042 |
Table 2. The technical data of load motor
Power (Kw) |
Frequency (Hz) |
Torque ($N\cdot m$) |
Speed (r/min) |
Moment of inertia (kg$\cdot$ m$^2$) |
310 | 27.2 | 3701 | 800 | 6.3 |
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Mechanical Load Dynamic Emulation Control System
Inverse Dynamic Model
Speed Closed Loop Control Algorithm
Speed closed loop control with feed-forward compensation
Speed Closed-loop Control with Feed-forward Compensation
Speed adaptive predictive control
Schematic diagram of vehicle acceleration resistance
Control model of speed adaptive predictive control
The characteristic curves of drive motor and engine
The characteristic curves of load motor
Simulation range of electrical inertia on the platform system
Acceleration inertia simulation curve
The setup of vehicle driveline test bench
The clutch control unit of the test bench
The starting characteristics curves of simulated vehicle
The shift control unit of the test bench
Dynamic simulation curves of upshift
Dynamic simulation curves of downshift
Dynamic simulation curves of continuous shifting process