关键词: 电子控制；制动系统；硬件在环；液压试验台；CANopen

Abstract: In order to improve the electrical connection and control independence of the bench, aiming at the integration requirements of the brake hydraulic test bench for the Hardwarein-the-loop simulation test of the electronic brake control system in the intelligent chassis, the control of the test bench based on CANopen communication mode is proposed. The object dictionary of CANopen communication sub-protocol, servo sub-protocol and the format of CANopen communication message are analyzed. The conversion relationship between each state of servo driver and the setting of Process Data Object (PDO) mapping message in three modes of position, speed and torque are detailed. Using the HIL simulator, servo driver and electronic cylinder based on CANopen communication and closed loop control in three modes of position, speed and torque based on Matlab/Simulink. The test results show that the control of servo electric cylinder is fast response, high repeatability, high precision by using CANopen communication. By relating the brake pedal signal with the vehicle dynamic model, the user can achieve a variety of complex conditions on test bench.

Key words: Electronic control; Brake system; Hardware-in-the-loop; Hydraulic test bench; CANopen