基于ARM的汽车电磁悬挂控制器的设计与研究

发布时间：2018-04-27 11:57

本文选题：电磁悬架 + 主动悬架　；参考：《安徽理工大学》2017年硕士论文

【摘要】：随着国内经济的稳步上升,人们在生活出行中使用小汽车的频率越来越高。人们对于舒适性和操控性能的追求,使得电磁悬架逐渐成为汽车不可缺失的组成部分,本研究设计了一种利用ARM7微处理器和实时操作系统μc/os-II相结合来控制汽车电磁悬挂的控制器。控制单元将采集到的汽车加速度和前方路面的起伏数据送入ECU,然后ECU采用基于遗传算法的LQR控制器给出输出控制信号,控制电磁动作器反应实现对汽车姿态的控制。本设计全面的阐述了所设计电磁悬挂控制器的系统组成、系统结构硬件和控制系统软件的具体规划方案。首先,介绍了选题背景及意义,接着比较了三种类型悬挂的结构及其性能、电磁悬架的原理和控制策略。之后介绍了系统硬件方面的设计,采用Phillip公司研制的LPC2292作为本设计的控制模块(ECU),围绕所选用的控制芯片设计了本设计的硬件电路,其中包含了传感器数据处理、电磁动作器、液晶显示、外部输入以及最小系统等模块电路。然后,对于控制模块软件方面,主要是把ARM的操作系统μc/os-II移植到控制模块LPC2292上;将系统的所有任务划分成一个个模块然后确定其优先级顺序。完成了各任务的划分、优先级的确立和各任务间的互相通讯,以及每个任务的编写,包括系统任务、数据采集任务、姿态的综合调节任务、显示任务、键盘扫描任务等。最后,先对路面进行了仿真,得到两种不同的路型。构建主、被动悬挂系统的1/4车辆振动模型,确定控制算法的流程,设计基于遗传算法的LQR控制器的模型,让构建系统模型在MATILAB上进行对比仿真。
[Abstract]:With the steady rise of domestic economy, people use cars more and more frequently. Because of the pursuit of comfort and control performance, electromagnetic suspension has gradually become an integral part of the automobile. In this paper, a controller which uses ARM7 microprocessor and real time operating system 渭 c/os-II to control vehicle electromagnetic suspension is designed. The control unit sends the collected acceleration data and the undulating data of the road ahead into ECU, then ECU uses the LQR controller based on genetic algorithm to give the output control signal, and controls the electromagnetic actuator response to realize the vehicle attitude control. The system composition, system structure hardware and control system software of the designed electromagnetic suspension controller are described in detail. Firstly, the background and significance of the topic are introduced. Then, the structure and performance of three types of suspension, the principle and control strategy of electromagnetic suspension are compared. Then the hardware design of the system is introduced. The LPC2292 developed by Phillip Company is used as the control module of this design. The hardware circuit is designed around the selected control chip, which includes sensor data processing, electromagnetic actuator. LCD, external input and minimum system module circuit. Then, for the control module software, we transplant the operating system 渭 c/os-II of ARM to the control module LPC2292, and divide all the tasks of the system into one module and determine its priority order. The tasks include system task, data acquisition task, attitude adjustment task, display task, keyboard scan task and so on. Finally, the road surface is simulated and two different road types are obtained. The 1 / 4 vehicle vibration model of active and passive suspension system is constructed, the flow of control algorithm is determined, the model of LQR controller based on genetic algorithm is designed, and the system model is compared and simulated on MATILAB.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;U463.33

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