CN101332814A - Vehicle chassis integrated control system and method - Google Patents
Vehicle chassis integrated control system and method Download PDFInfo
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- CN101332814A CN101332814A CNA2008100212989A CN200810021298A CN101332814A CN 101332814 A CN101332814 A CN 101332814A CN A2008100212989 A CNA2008100212989 A CN A2008100212989A CN 200810021298 A CN200810021298 A CN 200810021298A CN 101332814 A CN101332814 A CN 101332814A
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Abstract
The invention relates to a vehicle control field, in particular to a vehicle chassis integrated control system and a control method. The system detects the wheel speed signal, the torque signal, the engine rotation speed signal, the vertical acceleration speed signal and the brake pedal signal of the vehicle by a sensor and inputs the signals into a primal coordination CPU; the primal coordination CPU transmits the signals to an ABS CPU, an EPS CPU and an ASS CPU respectively as well as sends out a coordination command according to the analysis on the signals simultaneously; while the ABS CPU, the EPS CPU and an ASS CPU control a corresponding drive module according to the sensor signal and the coordination command received respectively. The problem of mutual interference among the three systems of EPS, ASS and ABS in the existing vehicle, realizes the coordination control on the three systems and fully improves the running smoothness and safety as well as the operation stability of the vehicle.
Description
Technical field
The present invention relates to field of automobile control.
Background technology
Current, each subsystem of car chassis electron steering that everybody knows generally is made up of sensor, electronic control unit (ECU) and actuating unit, and this subsystem is controlled separately in the course of the work, and promptly a subsystem has an ECU.At first, by the main control parameters signal of sensor to subsystem, pass to the ECU of this system then, output command is realized control to system to actuating unit after ECU handles.Yet, car chassis comprises many automatically controlled subsystems, exist between them and connect each other and influence and primary and secondary relation, have some common controlled variable between some subsystems, independent improvement to a certain automatically controlled subsystem, direct or indirect influence certainly will be arranged the function of other subsystem, also can influence the control effect of this subsystem conversely.At present, the electric power steering (EPS), active suspension (ASS) and the anti-blocking brake system (ABS) that are installed on the car chassis all are to make an integral body separately, each system works alone under the instruction of control unit separately, do not consider influencing each other and being coupled between the three, influencing each other between three separate payments can not be solved in the prior art, the optimal control state can't be reached.
Summary of the invention
Technical matters to be solved by this invention provides a kind ofly can control EPS, ASS and three sub-system coordination work of ABS, reduce the mutual adverse effect between the three as much as possible, make the control effect reach best car chassis integrated control system and control method.
The technical solution adopted in the present invention is:
Car chassis integrated control method: by wheel speed signal, dtc signal, engine rotational speed signal, vertical acceleration signal and the brake pedal signal of sensor automobile, and with these signal input primal coordinations CPU, primal coordination CPU is sent to ABS CPU, EPS CPU, ASSCPU respectively with described signal, and basis is sent the analysis of described signal and is coordinated order simultaneously, and ABS CPU, EPS CPU, ASS CPU are according to sensor signal that receives separately and coordination order control respective drive module.
The car chassis integrated control system, comprise primal coordination CPU1, ABS CPU2, EPS CPU3, ASS CPU4, wheel speed signal processing module 5, dtc signal processing module 6, engine rotational speed signal processing module 7, brake pedal signal processing module 8, vertical acceleration signal processing module 9, diagnostic circuit module 10, abs pump motor drive module 11, ABS solenoid-driven module 12, EPS assist motor driver module 13, EPS magnetic clutch driver module 14 and ASS magneto-rheological vibration damper driver module 15, wherein: wheel speed signal processing module 5, dtc signal processing module 6, engine rotational speed signal processing module 7, brake pedal signal processing module 8, heavy straight acceleration signal processing module 9, diagnostic circuit module 10 inputs to primal coordination CPU1 with detected sensor signal, primal coordination CPU1 delivers to ABS CPU2 respectively with output signal, EPS CPU3 and ASS CPU4, ABS CPU2 delivers to abs pump motor drive module 11 and ABS solenoid-driven module 12 respectively with output signal, EPSCPU3 delivers to EPS assist motor driver module 13 and EPS magnetic clutch driver module 14 respectively with output signal, and ASS CPU4 delivers to ASS magneto-rheological vibration damper driver module 15 with output signal.
The good effect that the present invention had is:
The present invention has overcome influencing each other between existing automobile EPS/ASS/ABS three systems, on the interrelation basis in analyzing the EPS/ASS/ABS system between main control parameters and these parameters, three subsystems is carried out co-operative control simultaneously.Controller adopts a total ECU (Electrical Control Unit), and this ECU (Electrical Control Unit) comprises four processing units, and one of them is the primal coordination processing unit, other three sub-processing units that are respectively EPS, ASS, ABS.The primal coordination processing unit sends signal to three sub-processing units respectively on the basis to actual detected set signalling comprehensive result, control EPS, ASS and three sub-system coordination work of ABS.The actual numerical value of comprehensive each signal that this integrated manipulator energy is more convenient, reduce the mutual adverse effect between the three as much as possible, make the control effect reach best, eliminate the phase mutual interference between the subsystem, can improve ride of vehicle, safety and road-holding property better.
Description of drawings
Fig. 1 is a functional-block diagram of the present invention,
Fig. 2 is a wheel speed signal processing module circuit diagram,
Fig. 3 is a dtc signal processing module circuit diagram,
Fig. 4 is an engine rotational speed signal processing module circuit diagram,
Fig. 5 is a brake pedal processing module circuit diagram,
Fig. 6 is a vertical acceleration signal processing module circuit diagram,
Fig. 7 is fault diagnostic code transtation mission circuit figure,
Fig. 8 is the diagnostic code memory circuit,
Fig. 9 is abs pump motor-drive circuit figure,
Figure 10 is driving circuit for electromagnetic valve figure,
Figure 11 is assist motor driving circuit figure,
Figure 12 is magnetic clutch driving circuit figure,
Figure 13 is ASS magneto-rheological vibration damper driving circuit figure,
Figure 14 is ABS system works flow process figure,
Figure 15 is EPS system works flow process figure,
Figure 16 is ASS system works flow process figure.
The specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
The EPS/ASS/ABS integrated manipulator is made up of primal coordination CPU1, ABS CPU2, EPS CPU3, ASS CPU4.Primal coordination CPU adopts 32 ARM micro controller system LPC2292, collection is from wheel speed signal, dtc signal, engine rotational speed signal, vertical acceleration signal and the brake pedal signal of automobile, and will gather the signal that comes and pass to sub-controller by the CAN bus, monitor the attitude of automobile simultaneously, coordinate the operation of sub-controller.ABS CPU adopts 32 ARM micro controller system LPC2129, accepts the sensor signal that the primal coordination controller transmits, and comprises wheel speed sensors signal and brake pedal signal.When brake pedal is operated, when the speed of a motor vehicle was greater than 15km/h simultaneously, ABS CPU control electromagnetic valve and pump motor were regulated brake-pressure, and ABS CPU accepts the coordination instruction of primal coordination CPU simultaneously, changes control algorithm, made the control effect reach best; EPS CPU adopts 32 ARM micro controller system LPC2129, accepts the sensor signal that the primal coordination controller transmits, and comprises engine rotational speed signal and dtc signal.After engine operation, promptly detect engine rotational speed signal after, by detecting the variation size of dtc signal, the control assist motor, the size of current of change assist motor, EPS CPU accepts the coordination instruction of primal coordination CPU simultaneously, change control algorithm, make the control effect reach best; ASSCPU adopts 32 ARM micro controller system LPC2129, accept the sensor signal that the primal coordination controller transmits, be mainly vertical acceleration signal, size by detected normal acceleration, judge how to control magneto-rheological vibration damper, ASS CPU accepts the coordination instruction of primal coordination CPU simultaneously, changes control algorithm, makes the control effect reach best; To be fault that sensor is existed deposit E in the form of fault diagnosis code to the deagnostic communication module
2Among the PROM, when fault takes place, fault diagnosis code is dealt on the failure diagnostic apparatus by serial ports, to differentiate the reason that fault takes place.
The signal that sensor detected mainly contains:
1. wheel speed signal is a frequency signal, mainly judges the signal of wheel velocity, and frequency is big more, and wheel speed is big more.
2. dtc signal is a voltage signal, and main judgement is added in the size of moment on the steering handwheel, and change of voltage is big more, and moment is big more.
3. engine rotational speed signal is a frequency signal, mainly judges the size of engine speed, and frequency is big more, and rotating speed is big more.
4. the brake pedal signal is an on-off signal, judges mainly whether automobile is damped condition, when stepping on brake pedal, and switch connection, expression enters braking mode, and ABS is in readiness for operation.
5. vertical acceleration signal is a charge signal, mainly judges automobile normal acceleration size, and quantity of electric charge is many more, and acceleration/accel is big more.
The design of concrete control method is:
As the speed of a motor vehicle≤20km/h;
ASS judges whether normal operation by vehicle body normal acceleration size;
EPS is by judging whether normal operation to level of torque and direction;
This moment, ABS did not work;
Combinator is judged the size of vehicle body normal acceleration, pitch angle acceleration/accel and roll angle acceleration, determine the state of kinematic motion of vehicle body, ASS is sent control command, adjust damping and rigidity value among the ASS, (vehicle body normal acceleration mean effective value is not more than 0.10m/s within small range for normal acceleration, angle of roll and the pitch angle of assurance vehicle body
2, angle of roll is not more than 2 °, and pitch angle is not more than 3.5 °), to guarantee the traveling comfort and the safety of automobile; The EPS power-assisted is bigger, and combinator sends control command to EPS, adjusts the power torque size according to the actual torque size and Orientation on the steering swivel system, guarantees that automobile has turning efficiency preferably;
As 20km/h＜speed of a motor vehicle≤50km/h;
ASS judges normal operation by vehicle body normal acceleration size;
The EPS power-assisted is bigger, adjusts the power torque size according to the actual torque size and Orientation on the steering swivel system, guarantees that automobile has turning efficiency preferably;
This moment the ABS normal operation;
Combinator is judged the size of vehicle body normal acceleration, pitch angle acceleration/accel and roll angle acceleration, ASS is sent control command, adjust damping and rigidity value among the ASS, (vehicle body normal acceleration mean effective value is not higher than 0.13m/s within small range for the normal acceleration of assurance vehicle body and angle of roll
2, angle of roll is not more than 2.5 °, and pitch angle is not more than 4.0 °), to guarantee the traveling comfort and the safety of automobile; Simultaneously combinator is judged angular deceleration and slip rate size, and ABS is sent control command, guarantees that the ABS slip rate remains near the peak adhesion coefficient (slip rate 0.1 to 0.3 near), with the assurance braking performance of automobile; Simultaneously, combinator is adjusted the power torque size according to the actual torque size and Orientation on the steering swivel system, guarantees that automobile has turning efficiency preferably;
As the speed of a motor vehicle＞50km/h;
ASS judges normal operation by vehicle body normal acceleration size; EPS does not work;
This moment the ABS normal operation;
Combinator is judged the size of vehicle body normal acceleration, pitch angle acceleration/accel and roll angle acceleration, ASS is sent control command, adjust damping and rigidity value among the ASS, (vehicle body normal acceleration mean effective value is not higher than 0.13m/s within small range for the normal acceleration of assurance vehicle body and angle of roll
2, angle of roll is not more than 3 °, and pitch angle is not more than 4.5 °, to guarantee the traveling comfort and the safety of automobile; Combinator is judged angular deceleration and slip rate size, and ABS is sent control command, guarantees that the ABS slip rate remains near the peak adhesion coefficient, to guarantee braking performance of automobile.；
The overall structure of car chassis integrated control system as shown in Figure 1, comprise primal coordination CPU1, ABS CPU2, EPS CPU3, ASS CPU4, wheel speed signal processing module 5, dtc signal processing module 6, engine rotational speed signal processing module 7, brake pedal signal processing module 8, vertical acceleration signal processing module 9, diagnostic circuit module 10, abs pump motor drive module 11, ABS solenoid-driven module 12, EPS assist motor driver module 13, EPS magnetic clutch driver module 14 and ASS magneto-rheological vibration damper driver module 15, wheel speed signal processing module 5, dtc signal processing module 6, engine rotational speed signal processing module 7, brake pedal signal processing module 8, heavy straight acceleration signal processing module 9, diagnostic circuit module 10 inputs to primal coordination CPU1 with detected sensor signal, primal coordination CPU1 delivers to ABS CPU2 respectively with output signal, EPS CPU3 and ASSCPU4, ABS CPU2 delivers to abs pump motor drive module 11 and ABS solenoid-driven module 12 respectively with output signal, EPS CPU3 delivers to EPS assist motor driver module 13 and EPS magnetic clutch driver module 14 respectively with output signal, and ASS CPU4 delivers to ASS magneto-rheological vibration damper driver module 15 with output signal.
The concrete structure and the principle of each module are described as follows:
1, primal coordination CPU:
Adopt 32 High Performance Chip Microcomputer A RMLPC2292, gather from the sensor signal of automobile etc., comprise 1. 2. 3. 4. 5., and signal is passed to each sub-controller, monitor the attitude of automobile simultaneously, coordinate the sub-controller operation.
2、ARS?CPU：
Adopt 32 High Performance ARM micro controller system LPC2129, accept the sensor signal (comprising 1. 4.) among the primal coordination CPU and coordinate order, regulate brake-pressure, prevent that effectively automotive wheel is by locking.
3、EPS?CPU：
Adopt 32 High Performance Chip Microcomputer A RM micro controller system LPC2129, accept the sensor signal (1. 2. 3.) among the primal coordination CPU and coordinate order, control steer motor and magnetic clutch have good assist characteristic.
4、ASS?CPU：
Adopt 32 High Performance Chip Microcomputer A RM micro controller system LPC2129, accept the sensor signal (comprising 5.) among the primal coordination CPU and coordinate order, regulate dumping force, reduce to vibrate and improved the traveling comfort of car load.
5, wheel speed signal processing module:
Wheel speed signal is a pseudo-sine signal, the wheel speed processing module is exactly that the amplitude of sensor output, frequency all are transformed into the square-wave signal that micro controller system can be discerned at the pseudo-sine signal that changes, thereby obtains wheel speed so that micro controller system is counted square-wave signal.The wheel speed signal treatment circuit as shown in Figure 2, the pseudo-sine signal that comes out from wheel speed sensors carries out filtering through the RC low-pass filter of being made up of R1 and C1, then by R2, the voltage comparator that R3 and op amp U1 constitute carries out shaping to signal, through constituting emitter follower signal is isolated disturbance rejection again by op amp U2, prevent to disturb, pseudo-sine signal can be converted into the square-wave signal of same frequency, in order to prevent to export the excessive voltage signal process chip is caused damage, in the end the signal process is by R4, the limiter circuit that R5 and D1 form is received the mouth of catching of micro controller system then.
6, dtc signal processing module:
Dtc signal is an analog signal, and the dtc signal processing module is exactly to utilize the A/D mouth of primal coordination CPU to gather dtc signal, and when judge needs power-assisted.The dtc signal treatment circuit as shown in Figure 3, NJ1 and NJ2 are two torque signals, respectively after the dividing potential drop and filtering of R6, R7 and C2 and R8, R9 and C3, the emitter follower of forming through op amp U3 and U4 respectively again, Shu Chu signal AIN4 and the AIN5 A/D mouth that connects treater at last, thus collect torque signal.
7, engine rotational speed signal processing module
Engine rotational speed signal mainly is whether detection of engine starts and the speed during engine starting.The engine rotational speed signal treatment circuit as shown in Figure 4, FDJSU promptly is by the engine rotational speed signal of drawing on the gauge panel, it is a square-wave signal, amplitude is about 14V, and our process chip is operated in about 3.3V, maximum also only can be born 5V, so this signal FDJSU must carry out LPF through R10 and C4, carry out just being connected to behind the amplitude limit mouth of catching of micro controller system through R10, D2 and R11.
8, brake pedal signal processing module
The brake pedal signal mainly is to be used for detecting automobile whether to be in damped condition, the brake pedal signal processing circuit as shown in Figure 5, S1 is a brake pedal, the S1 closure promptly is to step on brake pedal, to produce an on-off signal, be the brake pedal signal, the brake pedal signal TABAN that carries out obtaining behind filtering, dividing potential drop and the amplitude limit through R12, R13, C5 and zener diode D4 receives the middle fracture (also can make the I/O mouth uses) of micro controller system again.
9, normal acceleration processing module:
By the charge conversion circuit charge signal is converted into voltage signal, utilizes the A/D mouth of primal coordination CPU to gather voltage signal then.The normal acceleration treatment circuit as shown in Figure 6, acceleration/accel charge signal by the output of charge type piezoelectric acceleration transducer, charge amplifier by being made of high input impedance amplifier U5 and R14, R15, R16 and C6 is converted to voltage signal with charge signal.Then, by the emitter follower circuit that constitutes by U6 with by the second-order low-pass filter circuit that R17, R18, C7, C8 and U7 constitute signal is isolated disturbance rejection and filtering.The signal that obtains thus is converted into positive signal to positive negative signal by a level shifting circuit that is made of R19, R20, R21 and U8 again, to satisfy the A/D changing voltage scope of ARM chip LPC2219, at last signal is linked the A/D switched pins of treater, carried out the A/D conversion.
10, deagnostic communication processing module
Deposit fault diagnosis code in E
2Among the PROM, when fault takes place, fault diagnosis code is dealt on the failure diagnostic apparatus by serial ports, to differentiate the reason that fault takes place.The deagnostic communication treatment circuit is made up of fault diagnosis code transtation mission circuit and fault diagnosis code memory circuit.The fault diagnosis code transtation mission circuit as shown in Figure 7, by failure diagnostic apparatus fault diagnosis code is sent on the computing machine by serial ports, because the level of used treater is the CMOS level, and the level of computer interface is the RS232 level, wherein TXD0 and RXD0 connect the pin of treater transmission and received signal respectively, it is the CMOS level, and RS232_OUT and RS232_IN connect the pin that computing machine received and sent signal respectively, it is the RS232 level, J3 is the translation interface of DB9, directly is connected on the com port of computing machine.In order to realize communicating by letter of treater and computing machine, the level conversion of carrying out must be arranged, used U9 to carry out the level conversion of serial ports in the level shifting circuit, the vibration that C9, C10, C11 and four condensers of C12 are used for the U9 internal charge pump realizes level conversion and signal transmission with the variation of controlling four phase voltages.The fault diagnosis code memory circuit as shown in Figure 8, the Serial E of 2K position that chip U10 is integrated
2PROM, memory device adopts the I of 400KHz
2The C bus interface comes fault diagnosis code is stored with it.S1 is a reset key, thereby nREST can make processor reset for the reset pin of treater output low level after the S1 closure.I
2The C bus is made up of R23, R24, R25, R26, R27 and U10, and the universal serial bus that data line SDA and clock SCL constitute can transmit and receive data.Between CPU and the controlled IC, carry out two-way transmission, the highest transfer rate 100kbps between IC and the IC.When circuit breaks down, I
2The C bus will pass to diagnostic code the Serial E of 2K position
2PROM can read E then
2Diagnostic code among the PROM carries out trouble diagnosing, and the I2C bus has three types of signals in transmitting data procedures, and they are respectively: commencing signal, end signal and acknowledge signal.When commencing signal: SCL was high level, SDA to low transition, began to transmit data by high level.When end signal: SCL was low level, SDA to the high level saltus step, finished to transmit data by low level.Acknowledge signal: the IC that receives data sends specific low level pulse to the IC that sends data after receiving the 8bit data, data have been received in expression.CPU waits for that controlled cell sends an acknowledge signal after controlled cell sends a signal, after CPU receives acknowledge signal, make whether continuing to transmit signal judgment according to actual conditions.Break down acknowledge signal if do not receive by being judged as controlled cell.
11, abs pump motor drive module:
The abs pump motor drive module is used for the driving pump motor, combines the purpose that reaches supercharging, pressurize and decompression with the electromagnetic valve module.The abs pump motor-drive circuit is selected the smart power chip BTS6510 of Infeneon company production as shown in Figure 9, promptly is the Q2 among the figure.When IN_DJ end during for high level, aerotron Q1 conducting, power switch pipe Q2 conducting is returned liquid pump motor M1 and is started working, and this moment, R31 and light-emitting diode D7 had electric current to flow through, and D7 is luminous to be used to indicate pump motor work.When the IN_DJ end was low level, aerotron Q1 ended, and power switch Q2 pipe ends, and returned liquid pump motor M1 and quit work, and this moment, R31 and light-emitting diode D7 no current flow through, and D7 is not luminous to be used to indicate pump motor to quit work.Wherein R28, R29 and R30 are current-limiting resistance, prevent that electric current is excessive and burn out pipe.D5 and D6 are the backflow diode, prevent that surge current from burning out power tube.Return liquid pump motor M1 mouth also by a feedback network, its mode of operation is fed back to micro controller system with signal djfd, so that the mode of operation that returns liquid pump motor is detected.Because when returning liquid pump motor work, its positive terminal voltage is BAT1=12V, can not directly link CPU, therefore, be through by the input end that just can be connected to micro controller system after the dividing potential drop of R32, R33, D8 and the voltage stabilizing.Simultaneously, BTS6510 also has the current feedback function, can monitor the mode of operation of motor in real time.
12, ABS solenoid-driven module:
ABS solenoid-driven module is used for driving the electromagnetic valve in the abs braking pressure regulator, changes with control presssure.The ABS driving circuit for electromagnetic valve is selected the smart power chip MC33289 of motorola inc's production as shown in figure 10, promptly is the U11 among the figure, realizes valve opening solenoid and closes two states.Each chip can drive two way solenoid valves, is that example illustrates its working process with a way solenoid valve wherein.The IN1 pin of chip connects micro controller system, and the 1OUT1 pin connects electromagnetic valve, and whether D9 is a light-emitting diode, in order to indicating circuit whether output is arranged, promptly work.When IN1 was high level, 1OUT1 was a high level, has electric current to pass through in the magnet coil of electromagnetic valve, electromagnetic valve work and closure, the luminous indication electromagnetic valve work of D9; Otherwise when IN1 was low level, 1OUT1 was a low level, did not have electric current in the magnet coil of electromagnetic valve by being in opening, and D9 extinguishes the indication electromagnetic valve and do not work.Because the high level voltage at electromagnetic valve 1OUT1 place is 12V, can not directly link CPU, therefore, after R36 and R37 dividing potential drop again through stabilivolt D10 with voltage stabilization at 3.3V.The mouth of electromagnetic valve also by a feedback network, feeds back to micro controller system with its mode of operation, detects with the mode of operation to electromagnetic valve, 1ST1 is the feedback of status signal of output signal 1OUT1, receive a pin of treater, when exporting just often, 1ST1 is a high level; Output is during mal, and 1ST1 is a low level, and treater can be judged the mode of operation of this chip and carry out trouble diagnosing after detecting the level of 1ST1.U11 pin VBAT meets 12V, is power supply voltage.
13, EPS assist motor driver module:
EPS assist motor driver module is mainly used to drive the assist motor among the EPS, to reach power-assisted purpose.EPS assist motor circuit is selected the full-bridge chip VNH2SP30 of single encapsulation, i.e. U12 among the figure as shown in figure 11.Have trouble prevention functions commonly used such as current detecting and open-circuited load, short circuit load, excess temperature, overvoltage, under-voltage, overcurrent, hardware circuit is simplified greatly, saved the cost of system.Motor is connected between OUTA and the OUTB, is connected on the connector J4.Light-emitting diode D11 and D12 and R49 form indication motor and turn to.P1.20_INA and P1.21_INB can be used to control motor drive direction.Work as P1.20_INA=0, during P1.21_INB=1, motor just changes, and D11 gives out light, and D12 extinguishes; Work as P1.20_INA=1, during P1.21_INB=0, the motor counter-rotating, D12 gives out light, and D11 extinguishes; Work as P1.20_INA=0, P1.21_INB=0 or P1.20_INA=1, during P1.21_INB=1, motor braking, D11 and D12 extinguish.By the size of current that the duty of regulating PWM port signal P0.21_PWM1 is recently regulated motor, CS port signal P0.27_ADC0 is used for detecting the size of current of motor, realizes electric current is carried out closed loop control, makes control current consistent with target current; P0.17_ENA and P0.15_ENB are diagnostic signals, are high level when the motor trouble free, are low level when motor has fault, have monitored the state of motor effectively.Q3 is the N-channel MOS pipe of a low on-resistance, is used for realizing the power supply reverse connecting protection.Wherein R38, R39, R40, R41, R42, R43, R44, R45, R46, R47 and R48 are current-limiting resistance; C14 is a filter capacitor.
14, EPS magnetic clutch driver module:
EPS magnetic clutch driver module is mainly used to drive the magnetic clutch among the EPS, with the disconnection of control motor output booster torquemoment and manual steering gear with engage.The magnetic clutch driving circuit is selected chip for driving i.e. the Q4 in figure of IRFR3707Z as it as shown in figure 12, and connector J5 receives magnetic clutch.Signal P1.19_IN_LHQ receives the control output pin of treater.When P1.19_IN_LHQ is high level, the Q5 conducting, and R52 is equivalent to ground connection at this moment, and then also not conducting of Q4, magnetic clutch is not worked; When P1.19_IN_LHQ was low level, Q5 ended, and R52 is equivalent to receive 12V at this moment, then Q4 conducting, and magnetic clutch is started working.The magnetic clutch mouth is made up of R53, R54 and D13 also by a feedback network, owing to the high level voltage at electromagnetic valve OUT1 place is 12V, can not directly link CPU, therefore, dividing potential drop after stabilivolt D58 with voltage stabilization at 3.3V.Its mode of operation can be fed back to micro controller system with signal P0.23_LHQFD, detect with the mode of operation to magnetic clutch, wherein R50, R51 and R52 are current-limiting resistance.
15, ASS magneto-rheological vibration damper driver module:
ASS magneto-rheological vibration damper driver module radical function is to drive controlled source, changes the size of current on the magneto-rheological vibration damper, thereby regulates the dumping force size.ASS magneto-rheological vibration damper driving circuit adopts low power consumption high-precision D/A DAC7512 control voltage controlled current source as shown in figure 13, and then the viscosity of the magnetic flow liquid by constant current source outgoing current control magneto-rheological vibration damper changes its dumping force.The pwm control signal FL_PWM6 of treater output amplifies to improve power-handling capability control signal FL_PWM6 via the amplifying circuit that R55, R56 and U13 form, the high-frequency signal of the filter circuit filtering L_PWM6 that forms through R57 and C15 obtains direct current signal again, the signal that obtains is exported to constant current source through the amplitude limit mu balanced circuit of R59 and D15 composition on the one hand, export to the indicating circuit that R58 and D14 form on the other hand, D14 is luminous when L_PWM6 has output, and D14 extinguishes when the L_PWM6 no-output.
The control principle and the flow process of three subsystems (three systems of EPS, ASS and ABS) are as follows:
The ABS system
ABS CPU accepts the coordination instruction of primal coordination controller, and according to detected wheel speed, the speed of a motor vehicle and brake pedal signal, is used for control electromagnetic valve and pump motor, and the timely adjustment brake-pressure is so that the braking effect of ABS system reaches best.Workflow as shown in figure 14.
The EPS system
EPS CPU accepts the coordination instruction of primal coordination controller, and according to the variation size of dtc signal on the detected steering handwheel and vehicle speed signal, is used for controlling assist motor, changes its size of current, so that the power-assisted effect of EPS system reaches best in good time.Workflow as shown in figure 15.
The ASS system
ASS CPU accepts the coordination instruction of primal coordination controller, and according to the variation of detected vehicle body normal acceleration, pitch angle acceleration/accel and roll angle acceleration signal, be used for controlling magneto-rheological vibration damper, change its size of current in good time, so that the effectiveness in vibration suppression of ASS system reaches best.Workflow as shown in figure 16.
Claims (2)
1, car chassis integrated control method, it is characterized in that: by wheel speed signal, dtc signal, engine rotational speed signal, vertical acceleration signal and the brake pedal signal of sensor automobile, and with these signal input primal coordinations CPU, primal coordination CPU is sent to ABSCPU, EPS CPU, ASS CPU respectively with described signal, and basis is sent the analysis of described signal and is coordinated order simultaneously, and ABS CPU, EPS CPU, ASS CPU are according to sensor signal that receives separately and coordination order control respective drive module.
2, car chassis integrated control system as claimed in claim 1, comprise primal coordination CPU[1], ABS CPU[2], EPS CPU[3], ASS CPU[4], wheel speed signal processing module [5], dtc signal processing module [6], engine rotational speed signal processing module [7], brake pedal signal processing module [8], vertical acceleration signal processing module [9], diagnostic circuit module [10], abs pump motor drive module [11], ABS solenoid-driven module [12], EPS assist motor driver module [13], EPS magnetic clutch driver module [14] and ASS magneto-rheological vibration damper driver module [15] is characterized in that:
Wheel speed signal processing module [5], dtc signal processing module [6], engine rotational speed signal processing module [7], brake pedal signal processing module [8], heavy straight acceleration signal processing module [9], diagnostic circuit module [10] inputs to primal coordination CPU[1 with detected sensor signal], primal coordination CPU[1] output signal is delivered to ABS CPU[2 respectively], EPS CPU[3] and ASS CPU[4], ABS CPU[2] output signal is delivered to abs pump motor drive module [11] and ABS solenoid-driven module [12] respectively, EPS CPU[3] output signal is delivered to EPS assist motor driver module [13] and EPS magnetic clutch driver module [14], ASS CPU[4 respectively] output signal is delivered to ASS magneto-rheological vibration damper driver module [15].
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435781A (en) * | 2011-10-28 | 2012-05-02 | 奇瑞汽车股份有限公司 | Collecting circuit for wheel speed of vehicle |
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| CN101178581A (en) * | 2007-09-19 | 2008-05-14 | 同济大学 | Integrated control device and method of motorcar chassis |
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| CN103797348A (en) * | 2011-09-16 | 2014-05-14 | Zf腓德烈斯哈芬股份公司 | Method and device for the diagnosis of defects in components of chassis systems of motor vehicles |
| CN102435781A (en) * | 2011-10-28 | 2012-05-02 | 奇瑞汽车股份有限公司 | Collecting circuit for wheel speed of vehicle |
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN102616104A (en) * | 2012-03-27 | 2012-08-01 | 万向钱潮股份有限公司 | Electronic control semi-active suspension ECU (electronic control unit) system based on magnetorheological fluid shock absorber |
| CN103204157A (en) * | 2013-04-16 | 2013-07-17 | 同济大学 | Electronic antilock brake integrated controller with vehicle control function |
| CN103204157B (en) * | 2013-04-16 | 2015-10-28 | 同济大学 | A kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function |
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| CN111674220A (en) * | 2020-05-08 | 2020-09-18 | 江苏大学 | Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof |
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| CN112542972A (en) * | 2020-12-10 | 2021-03-23 | 重庆市新众誉科技有限公司 | Vector control high-voltage synchronous motor driving system for deviation correction controller |
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