CN103204157B - A kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function - Google Patents
A kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function Download PDFInfo
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- CN103204157B CN103204157B CN201310132482.1A CN201310132482A CN103204157B CN 103204157 B CN103204157 B CN 103204157B CN 201310132482 A CN201310132482 A CN 201310132482A CN 103204157 B CN103204157 B CN 103204157B
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Abstract
The present invention relates to a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function, comprise full-vehicle control microprocessor and EABS control microprocessor, full-vehicle control microprocessor controls microprocessor communication by two-port RAM chip with EABS and is connected, full-vehicle control microprocessor connects electric machine controller and relay respectively, and EABS controls microprocessor and connects ABS motor and ABS electromagnetic valve respectively; Full-vehicle control microprocessor obtains chaufeur driving torque demand according to incoming signal, and torque-demand instruction sent to EABS to control microprocessor and electric machine controller, the torque command that electric machine controller distributes according to entire car controller, control motor and implement regenerative brake, EABS controls microprocessor according to torque command, control ABS electromagnetic valve and ABS motor.Compared with prior art, the present invention has the advantages such as integrated level is high, reduction controller manufacturing cost, raising stability of control system.
Description
Technical field
The present invention relates to Control of Electric Vehicles field, especially relate to a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function.
Background technology
Anti-skid brake system (Anti-lock Brake System, be called for short ABS) become standard configuration in car field, it can not only effectively shorten automobile brake distance, prevent wheel locking when braking, and the brake direction steady of vehicle can be ensured, prevent it from producing and break away and sideslip.
Whole-control system is the center of electronlmobil communication interior and control, is responsible for gathering each parts electronic control unit information of carrying out and implementing scheduling, carries out Real-Time Monitoring to network state, and to the diagnosing malfunction occurred and process.Meanwhile, it also to receive all to driving and brake relevant driver's operation signal, driving intention is identified, needs to carry out allocation manager according to the operation information of travel condition of vehicle and chaufeur to Automobile drive power.In addition, in the braking system of electric car braked based on ABS hydraulic pressure (or air pressure), entire car controller also carries out brakig force distribution decision-making, and carries out real-time Communication for Power with the electric machine controller implementing regenerative brake with the abs controller implementing hydraulic pressure (or air pressure) mechanical braking.
The domestic patent not yet had whole-control system and electronics anti-lock brake control system (Electronic Anti-lock Brake System, EABS) integrated aspect at present.
Summary of the invention
Object of the present invention is exactly provide to overcome defect that above-mentioned prior art exists the electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function that a kind of integrated level is high, reduce controller manufacturing cost, improve stability of control system.
Object of the present invention can be achieved through the following technical solutions:
A kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function, connect electric machine controller respectively, relay, ABS motor and ABS electromagnetic valve, described electric machine controller is connected with motor, described ABS motor is all connected with ABS hydraulic control unit with ABS electromagnetic valve, described integrated manipulator comprises full-vehicle control microprocessor and EABS controls microprocessor, described full-vehicle control microprocessor controls microprocessor communication by two-port RAM chip with EABS and is connected, described full-vehicle control microprocessor connects electric machine controller and relay respectively, described EABS controls microprocessor and connects ABS motor and ABS electromagnetic valve respectively,
Full-vehicle control microprocessor obtains chaufeur driving torque demand according to incoming signal, and send to EABS to control microprocessor and electric machine controller torque-demand instruction by CAN network, the torque command that electric machine controller distributes according to entire car controller, control motor and implement regenerative brake, realize regenerative brake, EABS controls microprocessor according to torque command, control ABS electromagnetic valve and ABS motor, adjustable brake cylinder pressure, EABS controls the brake-cylinder pressure value that microprocessor receives feedback simultaneously, realizes pressure closed loop and controls.
Described full-vehicle control microprocessor comprises the first minimum system, the first power circuit, the first signal processing circuit, the first CAN communication circuit, a SPI circuit and the first driving circuit, the first described power circuit connects the first minimum system, the first signal processing circuit, the first CAN communication circuit, a SPI circuit and the first driving circuit respectively, the first described driving circuit is connected with relay, and the first described CAN communication circuit is connected with electric machine controller by CAN network.
Described EABS controls microprocessor and comprises the second minimum system, second source circuit, secondary signal treatment circuit, the second CAN communication circuit, the 2nd SPI circuit and the second driving circuit, described second source circuit connects the second minimum system, secondary signal treatment circuit, the second CAN communication circuit, the 2nd SPI circuit and the second driving circuit respectively, the second described driving circuit connects ABS motor and ABS electromagnetic valve respectively, and the second described CAN communication circuit connects the first CAN communication circuit by CAN network.
Described two-port RAM chip is the dual-port static RAM chip id T70V28 realizing left and right port reading-white-writing data.
The first described minimum system and the second minimum system are 32-bit number signal processor, and described digital signal processor comprises electric source filter circuit, reset circuit, crystal oscillating circuit, cpu model arrange circuit and debugging download circuit.
The incoming signal of the first described signal processing circuit comprises throttle position signal, brake pedal signal, acceleration pedal signal, bar handle signal and key switch signal; The incoming signal of described secondary signal treatment circuit comprises master brake cylinder pressure simulation signal, pressure of wheel cylinder analog signal and wheel speed pulses signal.
The first described driving circuit is flash driving circuit or low limit driving circuit; The second described driving circuit comprises a sub-driving circuit of ABS motor and eight sub-driving circuits of ABS electromagnetic valve.
The first described CAN communication circuit and the second CAN communication circuit all adopt dual CAN bus, and a road bus of the first described CAN communication circuit is connected with high-speed CAN network, and another road bus is connected with low speed CAN network; One tunnel bus of the second described CAN communication circuit is connected with high-speed CAN network, and another road bus is reserved.
A described SPI circuit is used for the download program of full-vehicle control microprocessor, variable is measured and parameter calibration; The 2nd described SPI circuit is used for that EABS controls the download program of microprocessor, variable is measured and parameter calibration.
The first described power circuit and second source circuit include that 12V turns 5V circuit, 5V turns 3.3V/1.9V circuit, insulating power supply circuit and sensor feed circuit.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention achieves the effective integration of entire car controller and electronics controller anti-lick brake on same pcb board, full-vehicle control microprocessor realizes the judgement to driver intention, network management is implemented to vehicle, and realize car load and drive, braking energy management and optimization, EABS control microprocessor realizes the driving to ABS electromagnetic valve and motor, and use two-port RAM chip and full-vehicle control microprocessor to carry out quick and convenient and safe and reliable data communication, not only there is full-vehicle control, the adjustment of process of regenerative braking hydraulic pressure (or air pressure) braking force and braking anti-lock function, the effective enforcement that can be composite brakig cooperation control provides unified hardware platform, and controller integrated level is high, and save controller manufacturing cost,
2,2 main control chips of the present invention all adopt the strong and fireballing DSP of arithmetic capability, single EABS controls the work capacity that microprocessor just can complete conventional ABS dual processor, as wheel wheel speed signal calculating, monitoring power line voltage, trouble diagnosing, ABS control logic operation etc., two CSTR can realize the effect of monitoring mutually simultaneously, improves stability of control system.
Accompanying drawing explanation
Fig. 1 is structure of the present invention and controls schematic diagram;
Fig. 2 is principle of work schematic diagram of the present invention;
Fig. 3 is analog signal input processing circuit schematic diagram;
Fig. 4 is gear signal input processing circuit schematic diagram;
Fig. 5 is key signal input processing circuit schematic diagram;
Fig. 6 is wheel speed signal input processing circuit schematic diagram;
Fig. 7 is low limit driving circuit schematic diagram;
Fig. 8 is flash driving circuit schematic diagram;
Fig. 9 is ABS motor-drive circuit schematic diagram;
Figure 10 is ABS driving circuit for electromagnetic valve schematic diagram;
Figure 11 is CAN circuit diagram;
Figure 12 is two-port RAM chip circuit schematic diagram;
Figure 13 is that power supply 12V turns 5V circuit diagram;
Figure 14 is insulating power supply circuit diagram;
Figure 15 is sensor feed circuit schematic diagram.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function, be connected with vehicular control unit, described vehicular control unit comprises electric machine controller 4, relay 5, ABS motor 6 and ABS electromagnetic valve 7, described electric machine controller 4 connects motor 8 and wheel 9 successively, described ABS motor 6 is all connected with ABS hydraulic control unit 10 with ABS electromagnetic valve 7, described integrated manipulator comprises full-vehicle control microprocessor 1 and EABS controls microprocessor 3, described full-vehicle control microprocessor 1 controls microprocessor 3 by two-port RAM chip 2 with EABS and communicates to connect, described full-vehicle control microprocessor 1 connects electric machine controller 4 and relay 5 respectively, described EABS controls microprocessor 3 and connects ABS motor 6 and ABS electromagnetic valve 7 respectively.
As Figure 1-Figure 2, full-vehicle control microprocessor 1 gathers acceleration pedal signal, gear bar handle signal key switch signal determination chaufeur driving torque demand, and driving torque to be distributed and gear carries out decision-making, by CAN network, the vehicular control units such as driving engine, motor, speed change system and meter displaying device are managed and controlled.EABS controls microprocessor 3 and gathers master brake cylinder pressure, pressure of wheel cylinder, wheel rotation speed signals, by two-port RAM chip 2 and full-vehicle control microprocessor 1 high-speed traffic.Simultaneously, full-vehicle control microprocessor 1 determines braking torque demand according to brake pedal signal, vehicle-state etc., according to braking torque allocation strategy determination hydraulic brake torque and regenerative brake torque, and signal is issued respectively EABS control microprocessor 3 and electric machine controller 4.EABS controls microprocessor 3 according to hydraulic pressure (or air pressure) braking torque demand, control ABS electromagnetic valve 7 and ABS motor 6, adjustable brake pressure of wheel braking cylinder, and by sensor measurement pressure of wheel braking cylinder value, realizes accurate pressure of wheel braking cylinder closed loop control.The regenerative brake torque that electric machine controller 4 distributes according to full-vehicle control microprocessor, controls motor and implements regenerative brake.
Full-vehicle control microprocessor 1 is by bottom communication and information acquisition program, collect driver's operation signal and other whole vehicle state information, total propulsive effort or demand braking force is gone out according to Driver intention recognition module analysis, the moment provided needed for different driving source or braking source is provided through propulsive effort allocation strategy or Brake force distribution strategy, and sends to correlator control unit by bottom communication program.EABS controls microprocessor 3 by bottom communication and information acquisition program, gather the hydraulic braking force information that full-vehicle control microprocessor 1 sends, according to hydraulic braking force regulation strategy control ABS actuating unit (ABS motor 6 and ABS electromagnetic valve 7), and whether monitor vehicle will there is locking situation, occur if any locking situation, then run ABS anti-lock strategy, keep vehicle stability.
As shown in Figure 1, described full-vehicle control microprocessor 1 comprises the first minimum system 11, first power circuit 12, first signal processing circuit 13, first CAN communication circuit 14, SPI circuit 15 and first driving circuit 16, the first described power circuit 12 connects the first minimum system 11, first signal processing circuit 13, first CAN communication circuit 14, SPI circuit 15 and first driving circuit 16 respectively, the first described driving circuit 16 is connected with relay 5, and the first described CAN communication circuit 14 is connected with electric machine controller 4 by CAN network.Described EABS controls microprocessor 3 and comprises the second minimum system 31, second source circuit 32, secondary signal treatment circuit 33, second CAN communication circuit 34, 2nd SPI circuit 35 and the second driving circuit 36, described second source circuit 32 connects the second minimum system 31 respectively, secondary signal treatment circuit 33, second CAN communication circuit 34, 2nd SPI circuit 35 and the second driving circuit 36, the second described driving circuit 36 connects ABS motor 6 and ABS electromagnetic valve 7 respectively, the second described CAN communication circuit 34 connects the first CAN communication circuit 14 by CAN network.
The first described minimum system 11 and the second minimum system 31 are Texas Instrument's 32 TMS320F28335 digital signal processors (DSP), and described digital signal processor comprises electric source filter circuit, reset circuit, crystal oscillating circuit, cpu model arrange circuit and debugging download circuit (JTAG).Wherein, the jtag interface of 2 DSP connects in " daisy chain " mode, and reset circuit provides a low level signal that DSP is resetted when system electrification, and crystal oscillating circuit employing frequency is the passive crystal oscillator of 30M, improves processor speed by the inner frequency multiplication of DSP; Whether each DSP respectively connects a LED, normally run for display routine.
The incoming signal of the first described signal processing circuit 13 comprises throttle position signal, brake pedal signal, acceleration pedal signal, bar handle signal and key switch signal; The incoming signal of described secondary signal treatment circuit 33 comprises master brake cylinder pressure simulation signal, pressure of wheel cylinder analog signal and wheel speed pulses signal.Signal processing circuit comprises Throttle Position, accelerator pedal position, brake pedal position, master brake cylinder pressure, pressure of wheel cylinder analog signal processing circuit, shift control handle signal, key switch signal treatment circuit, vehicle wheel rotational speed isopulse signal processing circuit.
Be illustrated in figure 3 analog signal input processing circuit, master brake cylinder pressure signal, pressure of wheel cylinder signal, acceleration pedal signal and brake pedal signal realize dividing potential drop, high frequency noise filtering and voltage follow through RC network and amplifier TLV2254AID, are finally sent to the A/D modular converter input end of DSP.
Be illustrated in figure 4 pilot control gear level bar position signal, gear signal input processing circuit, its incoming signal level is 0 ~ 12V, and be low level when keeping off, after RC LPF, realize level conversion by Darlington transistor MC1413, namely realize 0 ~ 12V to 0 ~ 3.3V level conversion, realize anti-phase process simultaneously, when the signal inputting MC1413 is 12V, being 0V from MC1413 output signal, when the signal inputting MC1413 is 0V, is 3.3V from MC1413 output signal.
Key signal input processing circuit as shown in Figure 5, level conversion and Phototube Coupling is realized by opto-coupler chip FOD060L, electric signal KeyOnIn and key actuation signal KeyStartIn is 0 ~ 12V level on the key, wherein KeyOnIn signal 12V level time is far longer than 0V level time, KeyStartIn signal 0V level time is far longer than 12V level time, scheme shown in accompanying drawing 5 can ensure that the optocoupler FOD060L most of the time is operated in cut-off region, thus reduces power consumption.
Wheel speed signal input processing circuit as shown in Figure 6, wheel speed signal is first through RC filtering and stabilivolt voltage stabilizing, become the periodic signal between 0 ~ 3V, then the square-wave signal of 0 ~ 3.3V is obtained by amplifier TLV2254AID, wherein VREF (Voltage Reference) is obtained by divider resistance, eventually pass 0 ~ 3.3V square-wave signal that two Schmidt trigger SN74VC14 Shape corrections obtain rule, be input to the capture unit port of DSP.
The first described driving circuit 16 is flash driving circuit or low limit driving circuit.Fig. 7 is low limit driving circuit, and main driving chip is TLE6225, and 4 tunnels export, and every road drive current 350mA, control signal IN1 ~ IN4 control separately 4 tunnels and export break-make, and ENA is chip enable end, and FAULT is error diagnostics port, represents wrong when low level.Fig. 8 is flash driving circuit, and main driving chip is BTS724, and 4 tunnels export, and every road drive current 3.3A, control signal IN1 ~ IN4 control separately 4 tunnels and export break-make, and ST1 ~ ST4 can carry out open circuit, excess temperature diagnosis, four paths of LEDs.
The second described driving circuit 36 comprises a sub-driving circuit of ABS motor and eight sub-driving circuits of ABS electromagnetic valve.Fig. 9 is ABS motor-drive circuit, and wherein master chip is DRV8432.This chip is that Texas Instruments produces, compatible with 3.3V control signal, includes 4 half-bridges, arranged by pattern and can select composition two H-bridge circuit, the peak current of each H bridge can reach 12A, and continuous output current can reach 7A, meets motor normal operation and stall requirement completely.Figure 10 is ABS driving circuit for electromagnetic valve, wherein master chip is MC33289, this chip includes two MOSFET pipes, pin OLDE is enable signal, when OLDE connects high level, chip normally works, when OLDE connects low level, chip quits work, pin IN1, IN2 are control signal, control the break-make of two MOSFET respectively, when for high level, MOSFET conducting, 12V power supply drives electromagnetic valve by MOSFET, and when for low level, MOSFET turns off, pin ST1, ST2 are error detection, can detect excess temperature, excess current, overvoltage, under-voltage etc.
As shown in figure 11, the first CAN communication circuit 14 and the second CAN communication circuit 34 all adopt dual CAN bus, and a road bus of the first described CAN communication circuit 14 is connected with high-speed CAN network, and another road bus is connected with low speed CAN network; One tunnel bus of the second described CAN communication circuit 34 is connected with high-speed CAN network, and another road bus is reserved, for later function upgrading uses.Four tunnel CAN circuit are consistent, and all realize Phototube Coupling through optocoupler FOD060L, CAN transceiver is SN65HVD230Q.
Described two-port RAM chip is the dual-port static RAM chip id T70V28 realizing left and right port reading-white-writing data.As shown in figure 12, two-port RAM chip is IDT70V28, capacity is 64K × 16bit, address port AL0 ~ AL15, AR0 ~ AR15 and FPDP IOL0 ~ IOL15, IOR0 ~ IOR15 respectively 16 bit data bus low with the XINTF of two DSP, address bus are connected, read/write signal R/W in control signal, chip selection signal CE0, status signal BUSY are connected with the corresponding control signal of XINTF respectively, and this dual port RAM is mapped to the region 6 of DSP.
A described SPI circuit 15 and the 2nd SPI circuit 35 are respectively used to that full-vehicle control microprocessor and EABS control the download program of microprocessor, variable is measured and parameter calibration etc.
The first described power circuit 12 and second source circuit 32 include that 12V turns 5V circuit, 5V turns 3.3V/1.9V circuit, insulating power supply circuit and sensor feed circuit.
Figure 13 is that power supply 12V turns 5V circuit, is made up of the front-end protection circuit of power supply resettable fuse, zener diode and Transient Suppression Diode.Wherein common mode choke coil eliminates the common mode current in power supply; Alminium electrolytic condenser, big current wire-wound inductor form the input decoupling filter circuit of Switching Power Supply; And GM7130 is the switching power source chip of main power circuit, need the wire-wound inductor of configuration big current, schottky diode MBR360 and bulky capacitor to provide inductance continuous current circuit, this power supply maximum current output reaches 3A, meets system maximum load demand completely.
The master chip that power supply 5V turns 3.3V/1.9V circuit is TPS767D301.This power conversion chip realizes 5V and turns 3.3V and 5V and turn 1.9V, at chip input end configuration electric capacity, to improve load transient response restraint speckle; Output port 2 output voltage is fixed as 3.3V, and output port 1 is output voltage 1.9V by resistance configuration; Export 3.3V, 1.9V voltage sending and receiving optical diode, whether normal for observing power circuit; Export 3.3V, 1.9V and realize high-frequency isolation by inductance, as the analog power of DSP.
Figure 14 is insulating power supply circuit, and master chip is DCP020503SSO-28, realizes 5V and turns 3.3V level conversion, and realize electromagnetic isolation, and for powering to CAN transceiver, this circuit only need configure electric capacity.
Figure 15 is sensor feed circuit, master chip is TL431ACD, the filling current capacity of 1mA ~ 100mA, realize 5V voltage by configuration resistance R42, R47 to export, resistance R38, for being configured in 1K Ω, both can making chip stable operation, reduce power consumption again, electric capacity is configured with respectively, for filtering and decoupling before and after chip.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively in detail concrete, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. one kind has the electronics ABS (Anti-lock Braking System) integrated manipulator of whole automobile control function, connect electric machine controller respectively, relay, ABS motor and ABS electromagnetic valve, described electric machine controller is connected with motor, described ABS motor is all connected with ABS hydraulic control unit with ABS electromagnetic valve, it is characterized in that, described integrated manipulator comprises full-vehicle control microprocessor and EABS controls microprocessor, described full-vehicle control microprocessor controls microprocessor communication by two-port RAM chip with EABS and is connected, described full-vehicle control microprocessor connects electric machine controller and relay respectively, described EABS controls microprocessor and connects ABS motor and ABS electromagnetic valve respectively,
Described full-vehicle control microprocessor comprises the first minimum system, the first power circuit, the first signal processing circuit, the first CAN communication circuit, a SPI circuit and the first driving circuit, the first described power circuit connects the first minimum system, the first signal processing circuit, the first CAN communication circuit, a SPI circuit and the first driving circuit respectively, the first described driving circuit is connected with relay, and the first described CAN communication circuit is connected with electric machine controller by CAN network;
Full-vehicle control microprocessor obtains chaufeur driving torque demand according to incoming signal, and send to EABS to control microprocessor and electric machine controller torque-demand instruction by CAN network, the torque command that electric machine controller distributes according to entire car controller, control motor and implement regenerative brake, realize regenerative brake, EABS controls microprocessor according to torque command, control ABS electromagnetic valve and ABS motor, adjustable brake cylinder pressure, EABS controls the brake-cylinder pressure value that microprocessor receives feedback simultaneously, realizes pressure closed loop and controls.
2. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 1, it is characterized in that, described EABS controls microprocessor and comprises the second minimum system, second source circuit, secondary signal treatment circuit, second CAN communication circuit, 2nd SPI circuit and the second driving circuit, described second source circuit connects the second minimum system respectively, secondary signal treatment circuit, second CAN communication circuit, 2nd SPI circuit and the second driving circuit, the second described driving circuit connects ABS motor and ABS electromagnetic valve respectively, the second described CAN communication circuit connects the first CAN communication circuit by CAN network.
3. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 1, is characterized in that, described two-port RAM chip is the dual-port static RAM chip id T70V28 realizing left and right port reading-white-writing data.
4. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 2, it is characterized in that, the first described minimum system and the second minimum system are 32-bit number signal processor, and described digital signal processor comprises electric source filter circuit, reset circuit, crystal oscillating circuit, cpu model arrange circuit and debugging download circuit.
5. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 2, it is characterized in that, the incoming signal of the first described signal processing circuit comprises throttle position signal, brake pedal signal, acceleration pedal signal, bar handle signal and key switch signal; The incoming signal of described secondary signal treatment circuit comprises master brake cylinder pressure simulation signal, pressure of wheel cylinder analog signal and wheel speed pulses signal.
6. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 2, is characterized in that, the first described driving circuit is flash driving circuit or low limit driving circuit; The second described driving circuit comprises a sub-driving circuit of ABS motor and eight sub-driving circuits of ABS electromagnetic valve.
7. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 2, it is characterized in that, the first described CAN communication circuit and the second CAN communication circuit all adopt dual CAN bus, one tunnel bus of the first described CAN communication circuit is connected with high-speed CAN network, and another road bus is connected with low speed CAN network; One tunnel bus of the second described CAN communication circuit is connected with high-speed CAN network, and another road bus is reserved.
8. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 2, is characterized in that, a described SPI circuit is used for the download program of full-vehicle control microprocessor, variable is measured and parameter calibration; The 2nd described SPI circuit is used for that EABS controls the download program of microprocessor, variable is measured and parameter calibration.
9. a kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function according to claim 2, it is characterized in that, the first described power circuit and second source circuit include that 12V turns 5V circuit, 5V turns 3.3V/1.9V circuit, insulating power supply circuit and sensor feed circuit.
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| CN104192107A (en) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Precursor electric automobile regenerative braking and ABS matching control method |
| CN107339421A (en) * | 2017-06-14 | 2017-11-10 | 同济大学 | A kind of two gear electronic gearshift controllers of gearbox of pure electric drive automobile |
| CN107487305A (en) * | 2017-06-28 | 2017-12-19 | 北汽福田汽车股份有限公司 | ABS control systems and vehicle |
| CN113511078B (en) * | 2020-04-10 | 2024-03-26 | 广州汽车集团股份有限公司 | Low-speed reactive torque braking method and device, automobile and computer readable storage medium |
| CN113616163A (en) * | 2021-10-14 | 2021-11-09 | 慕思健康睡眠股份有限公司 | Sleep monitoring circuit and sleep monitoring system |
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