基于驾驶模拟器汽车电子稳定程序的硬件在环仿真系统

湖南大学硕士学位论文基于驾驶模拟器汽车电子稳定程序的硬件在环仿真系统姓名：易高申请学位级别：硕士专业：车辆工程指导教师：宋晓琳;郭孔辉20070423ISimmon32PCIIAbstractThisthesisconstructsahardware-in-the-loopsimulationsystemofvehicleelectronicstabilityprogrambasedondrivingsimulator.Vehicleelectronicstabilityprogramisanewactivesafetydevice,whichimprovesroadholdinganddrivingsafty.Whileinourcountry,itisatthebeginningoftheresearchonthisfiled.Sostudyingonithasbroadapplicationprospect.Afteranalyzingtheeffectandapplicationofthetechniqueofhardware-in-the-loopontheR&Dofvehiclecontrolsystemsandthesoftwareandhardwareresourcewehave,thethesisbringforwardtoconstructthesystemtoprovideavalidationandtestbenchfortheelectroniccontrolunit(ECU)ofelectronicstabilityprogram(ESP).Firstly,basedonthecharacteristicofhardware-in-the-loopsystems,thesystemconsistsofvehicledrivingsimulator(DS),ESPinputsignalsimulator(EISS),brakingsystemandmonitorsystem.Furthermore,EISSconsistsofsignaladaptermodule,controllermodule,actuatormoduleandsensormodule.Thenthethesisanalysesthetimeandfrequencyattributesofyawvelocity,lateralacceleration,wheelspeedandsteeringwheelangleusingDS’sroadtest,thenconfiguresthesoftwareandhardwareofinputandoutputinterfacetoinputandoutputthestateinformationofDS’sdynamicmodelinrealtime.TheEISSisdesignedtosimulatethesingalofyawvelocity,lateralaccelerationandwheelspeedbythemotorsofactuatormoduleandsensorsofmodulebasedonrelatedphysicallaw.ThesignalfromEISStoESPECUlikesthesignalfromthesensorsthatequippedontherealvehicle.ThebrakingsystemisconstructedpreliminarytoprovidetherealhardwareactuatorforthetestofESPECU.ThesystemusestheconsoleSimmon32andthemonitorandcommunicationmoduleachievedbyserialcommunicationbetweenPCandTMS320F2812tomonitorandcontrolthewholesystem.Thesystemcanbeusedtotestandmatchthecommercialandself-developedESPECU.inaddition,itcanbeusedtoanalysethecharacteristicofgyrosensor,lateralaccelerationsensorandwheelspeedsensors.KeyWords:Hardware-in-the-loopsimulation;ElectronicStabilityProgram;DrivingSimulator1______2111.1(ElectronicStabilityProgramESP)Anti-LockBrakeSystemABSTractionControlSystemTCSABS-[1]TCSABSTCS[2]ABSTCSESPABS/TCSESPESPECUESPECUCANECU[3]2[4~7]--[8]ESPESPESPESP1.2(Hardware-in-the-loopSimulation,HILS)1.2.1ECU1.1ECU“V”(ASAM/ASAP),[9]1.1VECU(1)(2)3(3)(4)(5)(6)1.2.21.ECUECUU.VarchminMOSIGADIdSPACEECUECUDSPTMS320C31240PC4JB1VE[10]2.[11]3.4[12]4.---[13]5.,[14]Matlab/Simulink/dSPACEµ6.ABS/TCS/ESPABS/TCS/ESPJ.M.Cho14AlphaABSABS[15]Ki-ChangLeeABSABS[16]Jae-CheonLee8PCABSTCSABSECUESP[17]Soo-JinLeeCarSimABSTCSABSTCSECU[18]ABS5ABS[19]7.AMT,[20]1.3ADSL61.4(1)(2)(3)(4)SimMon32722.12.260km/h3602.13602.260km/h3602.33602.4100km/h3602.53602.6100km/h3602.73602.82.12.8-1.1rad/s~1.1rad/s0Hz~4Hz-1.2rad/s~1.2rad/s25Hz805101520253035-0.2-0.100.10.20.30.40.50.60.70.80.911.11.2(s)(rad/s)00.511.522.533.540100200300400500600700800(Hz)(rad)a)b)2.160km/h36001020304050-1.4-1.3-1.2-1.1-1-0.9-0.8-0.7-0.6-0.5-0.4-0.3-0.2-0.10(s)(rad/s)00.511.522.533.54020040060080010001200(Hz)(rad)a)b)2.260km/h36000.511.522.533.54-0.4-0.3-0.2-0.100.10.20.30.40.50.6(s)(rad/s)00.511.522.533.540510152025(Hz)(rad)a)b)2.360km/h360900.511.522.533.5-0.7-0.6-0.5-0.4-0.3-0.2-0.100.10.20.3(s)(rad/s)00.511.522.533.540510152025(Hz)(rad)a)b)2.460km/h360051015202530354000.10.20.30.40.50.60.70.80.911.11.21.31.4(s)(rad/s)00.511.522.533.540100200300400500600700800900(Hz)(rad)a)b)2.5100km/h36001020304050-1.4-1.3-1.2-1.1-1-0.9-0.8-0.7-0.6-0.5-0.4-0.3-0.2-0.10(s)(rad/s)00.511.522.533.540100200300400500600700800900(Hz)(rad)a)b)2.6100km/h3601005101520-1.5-1-0.500.511.5(s)(rad/s)00.511.522.533.540102030405060(Hz)(rad)a)b)2.7100km/h360051015202530-1.5-1-0.500.511.5(s)(rad/s)00.511.522.533.5401020304050607080(Hz)(rad)a)b)2.8100km/h3602.360km/h3602.93602.1060km/h3602.113602.12100km/h3602.133602.14100km/h360112.153602.162.92.16-9.5m/s2~9.5m/s20Hz~4Hz-9.8m/s2~9.8m/s225Hz0510152025303500.511.522.533.544.555.566.577.588.599.510(s)(m/s2)00.511.522.533.54010002000300040005000600070008000(Hz)(m/s)a)b)2.960km/h36001020304050-10-9.5-9-8.5-8-7.5-7-6.5-6-5.5-5-4.5-4-3.5-3-2.5-2-1.5-1-0.50(s)(m/s2)01234010002000300040005000600070008000900010000(Hz)(m/s)a)b)2.1060km/h3601200.511.522.533.54-5-4.5-4-3.5-3-2.5-2-1.5-1-0.500.511.522.533.544.555.566.577.588.599.510(s)(m/s2)00.511.522.533.54050100150200250300350400(Hz)(m/s)a)b)2.1160km/h36000.511.522.533.5-10-9.5-9-8.5-8-7.5-7-6.5-6-5.5-5-4.5-4-3.5-3-2.5-2-1.5-1-0.500.511.522.533.54(s)(m/s2)00.511.522.533.54050100150200250300350400(Hz)(m/s)a)b)2.1260km/h360051015202530354000.511.522.533.544.555.566.577.588.599.510(s)(m/s2)00.511.522.533.54010002000300040005000600070008000(Hz)(m/s)a)b)2.13100km/h3601301020304050-10-9.5-9-8.5-8-7.5-7-6.5-6-5.5-5-4.5-4-3.5-3-2.5-2-1.5-1-0.50(s)(m/s2)00.511.522.533.540100020003000400050006000700080009000(Hz)(m/s)a)b)2.14100km/h36005101520-10-9-8-7-6-5-4-3-2-1012345678910(s)(m/s2)00.511.522.533.540100200300400500600700800(Hz)(m/s)a)b)2.15100km/h360051015202530-10-9-8-7-6-5-4-3-2-1012345678910(s)(m/s2)00.511.522.533.54020040060080010001200(Hz)(m/s)a)b)2.16100km/h360142.402.172.170r/min~1480r/min