產業脈動｜ABS/TCS控制器的開發與測試：基於雙軸動力計HIL平台

Introduction

ABS/TCS control technology has been developed for a long time. So far, many ABS/TCS control algorithms have been proposed. For example, Dankan et al. [1] used on-off control to switch the brake oil pressure output between boost and buck states. Stefan Solyom et al. [2] proposed a set of adaptive control architecture, by estimating vehicle slip ratio, friction and vehicle speed to adjust the gain value of the PI controller. Fuzzy control can adjust response according to the input information and existing rules, and it can simplify the complexity of the controllers. Fuzzy control algorithms have been widely used in ABS systems. In [3], Zhang Jing-ming et al. took the slip ratio and friction coefficients as the input of the fuzzy controller to control the brake oil pressure. Based on the PID controller, Bo Lu et al. [4] used the fuzzy controller to adjust the PID gain value and established a fuzzy PID control structure.
The TCS and the ABS have the same goal, both are to prevent the vehicle from slipping, losing control, and maintain the direction of the vehicle. Akiba et al. [5] proposed a model tracking traction controller, which simplified the vehicle drive system into a set of transfer functions, and judged whether the tires were idling on the basis of this transfer function. Yin et al. [6] proposed the use of maximum transmissible torque estimation (MTTE) for TCS control.
In order to validate the control algorithms and strategies before vehicle test, X-In-the-Loop including Model-In-the-Loop (MIL), Software-In-the-Loop (SIL), Hardware-In-the-Loop (HIL) is indispensable. HIL test is a simulation technique widely used in the development and verification of real-time embedded hardware [7]. Real-time simulation system must contain device under test (DUT), sensors, real-time controllers, and system dynamic models to simulate the real environment. Through the HIL system, the hardware and control strategy can be verified in the early stage of development. Moreover, the application of integrated models can be used to test DUT under unsafe working conditions, which are difficult to achieve in vehicle testing [8]. For HIL test, a real-time simulation architecture is necessary, such as CarSim, dSAPCE, NI PXI, Speedgoat and so on. Joshi [9] built a powertrain and chassis HIL test bench based on CarSim model and dSPACE HIL Simulator. Delavari et al. [10] used OPAL-RT and Speedgoat Simulators for real-time modeling and simulation of the reactive and active power control of neutral-point clamped multilevel Voltage Source Inverter. Daoyuan Sun et al. [11] developed and verified electronic stability controller with NI-PXI simulator and actual steering/throttle/braking actuator. Zhao Weiqiang et al. [12] described a flexible integrated test bench for pneumatic ABS control unit validation based on dSPACE real-time simulation system and multi-axis wheel speed simulator.  
From above of all, the HIL test bench seems to be a suitable tool for the controller development. Therefore, this paper proposes a HIL platform, which consists of Chroma dual-axis dynamometer, real-time simulator, and the drive and brake systems to verify the effect of developed ABS/TCS controllers.

Hardware-in-the-Loop Platform

In the presented HIL system, the ABS/TCS control strategy is built in Simulink model and deployed to target computer. For the closed-loop simulation, the vehicle model is built in Simulink and deployed to real-time simulator.

The architecture and configuration of platform is shown in Figure 1 and Figure 2. This platform can be divided into two parts: a software part and a hardware part. The software part is composed of a high degree of freedom vehicle model, real-time simulator (hosted by a desktop computer), target computer (hosted by a laptop). The real-time simulator equipped with Controller Area Network (CAN) interface to receive torque, speed, oil pressure data from sensors and send the speed information to dynamometer. Control and operation are allowed on the laptop used to send command to target computer. Target computer is deployed with ABS/TCS control model (Figure 3).

As shown in Figure 2, the hardware part consists of DUT and Chroma test bench. DUT of this platform includes driving motor, ABS/TCS controller, hydraulic control unit (HCU) and all the components of the braking system such as the brake actuator, brake valve control unit, master cylinder, and oil pressure sensor. The brake force is applied by brake actuator and HCU to the drum brake. The Chroma test bench includes torque sensor and dynamometer, which are used as tire load force and speed simulator receiving the speed signal from the vehicle dynamics calculation results. The specific information of dynamometer is shown in Table 1.

Hardware-In-the-Loop Test

In order to check the effect of developed ABS/TCS control strategy in different surroundings, the different vehicle road condition is set as Table 2.