A hardware-in-the-loop test bench for wheel slip systems

The components of modem slip control systems con be reliably tested on a hardware-in-the-loop (HIL) test bench. The HIL test bench described here consists of the ''brake assembly rack'' (hardware) and the vehicle simulator. The brake assembly rack comprises an electronic control unit, a brake actuator, a broke master cylinder, hydraulic pipes, a hydraulic unit, a vacuum reservoir, four disk brakes with calipers, and five pressure sensors. The vehicle simulator is composed of the real-time simulation computer, an animation PC and a PC for controling and evaluating the simulation. The vehicle dynamic; is realistically described by a realtime simulation model which is composed of modules representing engine characteristic map, gear ratios, differentials, front and rear axles modeled with its elastokinematics, and a tire model. Based on EDL acceleration, the measurements token on the HIL test bench are compared to those taken on the car.