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

摘要： 为了提高试验台的电气连接及控制独立性，针对智能底盘中电子制动控制系统硬件在 环仿真测试对制动液压试验台的集成需求，提出基于 CANopen 通信方式实现试验台控制。分 析 CANopen 通信和驱动器子协议的对象字典及 CANopen 通信报文格式，详述了伺服驱动器 各状态之间的转化关系及三种控制模式下过程数据对象（PDO）映射报文的设置。利用硬件 在环系统、伺服驱动器及电动缸总成构成硬件在环仿真测试系统平台，基于 Matlab/Simulink 实现基于 CANopen 通信的伺服电动缸通信映射以及位置、速度、扭矩三种模式下的闭环控制 模型。试验结果表明，利用 CANopen 通信实现伺服电动缸的控制响应速度快、可重复性高、 精度高，通过将制动踏板开度信号和整车模型进行关联，可以很好地实现多种复杂工况的台 架试验。

关键词: 电子控制；制动系统；硬件在环；液压试验台；CANopen