基于CAN总线的电动轮汽车底盘集成控制

发布时间：2018-05-08 14:08

本文选题：电动轮汽车 + 底盘集成控制　；参考：《沈阳工业大学》2016年硕士论文

【摘要】：采用轮毂电机驱动的电动轮汽车,在提高驱动能力和整车操纵性方面有很大优势,但汽车底盘相对于传统燃油汽车有很大改变,这对底盘集成控制系统的性能提出了更高的要求。论文在沈阳市科学计划项目“电动汽车双馈全驱差速及操纵稳定性控制关键技术研究”(F12-277-1-11)的资助下,研究并设计了电动轮汽车底盘集成控制系统。底盘集成控制系统采用协调控制结构,各子系统进行独立设计,协调控制系统根据工况协调各子系统工作。根据车辆动力学原理建立四轮全驱电动轮汽车七自由度非线性模型。基于所建立的车辆模型,分别独立设计开发主动前轮转向子系统(AFS)、刹车防抱死子系统(ABS)及横摆力矩控制子系统(DYC),并对其进行仿真分析,验证其有效性。提出底盘集成控制系统总体设计方案,采用协调控制结构。AFS与DYC子系统之间相互耦合,为充分发挥各自优势,对二者进行大量仿真分析,判断其有效工作区域。对车辆行驶工况进行辨识,根据各子系统适用工况进行任务逻辑的分配。设计协调控制系统,基于模糊算法调整AFS与DYC之间的权值,实现二者之间控制的柔性切换。仿真结果表明:所设计底盘集成控制系统可提高车辆在转向行驶时的侧向稳定性。为提高对底盘集成控制系统试验的准确性,基于xPCTarget平台,建立了底盘集成控制系统硬件在环仿真试验平台。其主要结构包括:目标机、宿主机、数据采集卡、上位控制器和下位控制器。宿主机通过TCP/IP协议将C代码化的车辆模型下载到目标机中;数据采集卡实现目标机与控制器之间的数据交换;上位控制器与下位控制器间采用CAN总线技术进行通讯。通讯测试实验结果表明,所设计硬件在环仿真平台满足设计要求。
[Abstract]:The electric wheel vehicle driven by hub motor has great advantages in improving the driving ability and the maneuverability of the whole vehicle, but the chassis of the vehicle has a great change compared with the traditional fuel vehicle. This puts forward higher requirements for the performance of chassis integrated control system. This paper studies and designs the integrated control system of the chassis of electric wheeled vehicle with the aid of Shenyang Science Project "Research on key Technologies of differential Speed and handling Stability Control for Electric vehicle doubly-fed Drive". The chassis integrated control system adopts a coordinated control structure, each subsystem is designed independently, and the coordinated control system coordinates the work of each subsystem according to the working conditions. According to the principle of vehicle dynamics, a 7 DOF nonlinear model of four wheel full drive electric wheel motor vehicle is established. Based on the established vehicle model, the active front wheel steering subsystem (AFS), the brake anti-lock braking subsystem (ABS) and the yaw torque control subsystem (DYCU) are designed and developed independently, and their effectiveness is verified by simulation and analysis. The overall design scheme of chassis integrated control system is put forward. The coordinated control structure. AFS and DYC subsystem are coupled to each other. In order to give full play to their respective advantages, a large number of simulation and analysis are carried out to judge their effective working area. The vehicle operating conditions are identified and the task logic is assigned according to the applicable working conditions of each subsystem. The coordinated control system is designed and the weights between AFS and DYC are adjusted based on fuzzy algorithm to realize the flexible switching between them. The simulation results show that the designed chassis integrated control system can improve the lateral stability of the vehicle during steering. In order to improve the accuracy of chassis integrated control system test, a hardware in loop simulation test platform of chassis integrated control system is established based on xPCTarget platform. Its main structure includes: target machine, host computer, data acquisition card, upper controller and lower controller. The host computer downloads the C coded vehicle model to the target machine through TCP/IP protocol; the data acquisition card realizes the data exchange between the target computer and the controller; and the upper controller and the lower controller communicate with each other using CAN bus technology. The communication test results show that the designed hardware in loop simulation platform meets the design requirements.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.1

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