CN104960569A - Realizing method of rapid control prototyping of active front wheel steering - Google Patents
Realizing method of rapid control prototyping of active front wheel steering Download PDFInfo
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- CN104960569A CN104960569A CN201510366462.XA CN201510366462A CN104960569A CN 104960569 A CN104960569 A CN 104960569A CN 201510366462 A CN201510366462 A CN 201510366462A CN 104960569 A CN104960569 A CN 104960569A
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Abstract
The invention discloses a rapid control prototyping of active front wheel steering, and belongs to the field of steering control systems. The rapid control prototyping is characterized by comprising an active front wheel steering system, a motor controller and a host machine, wherein the active front wheel steering system comprises a steering wheel, a bearing, a steering wheel corner sensor, a steering wheel torque sensor, a steering shaft, a steering shaft corner sensor, a steering device and a motor; the steering wheel is connected with a bearing outer ring; the top end of the steering shaft is connected with a bearing inner ring; the bottom of the steering shaft is mechanically connected with the steering device; a data acquisition board card and an AFS controller are arranged in the host machine; the sensors are connected with the data acquisition board card through signal lines. According to the rapid control prototyping disclosed by the invention, a conventional motor and a conventional steering device of an electric power steering system are reserved, and the structure of the system of the rapid control prototyping is simplified, so that the cost is reduced. The steering wheel and the steering shaft are connected through the bearing, so that good road feel can be kept, and the function of a line control system can be realized. Through the adoption of the rapid control prototyping disclosed by the invention, the correctness and the feasibility of an AFS control algorithm and strategy can be quickly validated, so that the developing efficiency is improved.
Description
Technical field
The present invention relates to a kind of rapid control prototyping implementation method of active front wheel steering, belong to steering control system field.
Background technology
Along with the maturation of electric boosting steering system with after generally using, active front wheel steering technology becomes the exploitation focus of current this area.
Active front wheel steering technology is exactly: according to traveling state of vehicle, by stablizing vehicle independent of the steering engagement of chaufeur, initiatively changes the given steering wheel angle of chaufeur and makes the vehicle feature of the response of vehicle as much as possible with desirable consistent.Its core is to improve the road-holding property of vehicle by applying an additional rotation angle not relying on the input of chaufeur steering handwheel to front-wheel.But Vehicle Electronic Control relates to machinery, electronics, software and hardware system etc., and Exploitation degree is very complicated, use quick development method to control to develop to AFS, can raise the efficiency, shorten time-to-market, reduce development cost.
Rapid control prototyping refers to the initial stage in product development, by setting up the model of control object and controller rapidly, carries out to corresponding model or control algorithm the feasibility that off-line repeatedly and online test carry out access control system hardware and software scheme.In the middle and later periods of product development, when after the correctness demonstrating design, by downloading for the real time workshop of target and code, complete the whole process of final products research and development.
Realize AFS and control fast Development, just need integrated modeling good, easy to use and design, off-line simulation, develop and testing tool in real time.Real-time development system must have revises pattern layout repeatedly, carries out the function of off-line and real-time simulation.Like this, just can be easy to the correctness verifying developing way, mistake control algorithm can developed and impropriety are eliminated and the design initial stage, make Change In Design expense reduce to minimum, shorten time-to-market.
Summary of the invention
Various aspects of the present invention are devoted to the rapid control prototyping implementation method providing a kind of active front wheel steering, are applicable to analog control system software, debug products level system, are particularly useful for the exploitation of AFS controller.
For achieving the above object, the invention provides a kind of rapid control prototyping of active front wheel steering, it is characterized in that, comprise active front steering system, electric machine controller (9), main frame (14), telltale (15); Described active front steering system comprises steering handwheel (1), bearing (2), steering wheel angle sensor (3), steering-wheel torque sensor (4), steering shaft (5), steering shaft rotary angle transmitter (6), deflector (7) and motor (8);
Steering handwheel (1) is connected with bearing (2) outer ring, and steering shaft (5) top is connected with bearing (2) inner ring, and steering shaft (5) bottom is mechanically connected with deflector (7); Comprise data collecting plate card (10) in described main frame (14), steering wheel angle sensor (3), steering-wheel torque sensor (4) are connected with data collecting plate card (10) by signal wire (SW) with steering shaft rotary angle transmitter (6); Described electric machine controller (9) and motor (8) are electrically connected, and motor (8) is arranged on steering shaft (5).
The rapid control prototyping implementation method of described a kind of active front wheel steering, is characterized in that step is as follows:
1) control process of active front wheel steering and method are analyzed, founding mathematical models and control algorithm;
2) data collecting plate card (10) is inserted in the draw-in groove of main frame (14), is connected by real-time data port, creates the real-time communication environment between main frame and data collecting plate card;
3) in main frame, carry out pure digi-tal emulation, analyze and verify the correctness of math modeling and control algorithm;
4) telltale (15), sensor, electric machine controller (9) and main frame (14) is connected respectively, digital quantity signal is exported to electric machine controller (9) by data collecting plate card (10), drive motor works, and then drives wheel active steering to realize the control of motor turning stability;
5) telltale (15) and main frame (14) serial communication, the control effects of the rapid control prototyping model designed by observation, according to the performance requriements of active front wheel steering control system to step 1) in math modeling and control algorithm in step 4) in carry out online modification, till reaching the control overflow that control effects meets designed by user.
The advantage that the present invention gives prominence to is as follows:
1, the active front steering system that the present invention adopts is newly-designed on the basis of electric power steering mechanical mechanism, remains the original motor of electric boosting steering system and steering hardware, simplifies the structure of system, reduce cost.By bearing, steering handwheel and steering shaft are coupled together, good road feel can be kept, and the function of line control system can be realized.
2, the present invention can fast verification AFS control algorithm with strategy correctness and feasibility, the mistake of design and defect can be made to solve before product development, reduce cost of development, improve development efficiency, shorten time-to-market.
3, the present invention can be converted into C code migrating in real controllers by using the related softwares such as MATLAB/Simulink, reduces controller development difficulty and cost, improves development rate.
Accompanying drawing explanation
The structural representation of the rapid control prototyping implementation method of a kind of active front wheel steering of Fig. 1.
Detailed description of the invention
Below with reference to the accompanying drawings exemplary embodiment of the present invention is described in detail.
As shown in Figure 1, a kind of structural representation of rapid control prototyping implementation method of active front wheel steering, first active front steering system is analyzed, set up its math modeling, according to built math modeling, in main frame, set up AFS control module (13), signal processing module (11).In MATLAB, emulation tool is utilized to carry out the validity of offline digital simulation access control device to active front steering system.Hardware mainly contains electric machine controller (9), data collecting plate card (10), main frame (14) and telltale (15).Telltale (15) and main frame (14) are serial communications, for monitoring operation result; Data acquisition board board (10) can directly be inserted in the corresponding expansion slot of main frame, for data acquisition, and the signal gathered is input in signal processing module; Electric machine controller (9) is connected with data collecting plate card by signal wire (SW), realizes the output of signal.Incoming signal is wherein all analog quantitys, and output signal is all digital quantities.
Software (MATLAB/Simulink) is housed in described main frame, in main frame, creates software system, for running designed control software design, described software system comprise AFS control module, signal processing module.
Described data collecting plate card is for sensor, Signal transmissions between electric machine controller and signal processing module.Incoming signal is wherein all analog quantitys, and output signal is all digital quantities.
Described electric machine controller is connected with motor wire, is mainly used to drive motor work, and then drives wheel active steering, and the stability realizing vehicle controls.
Concrete steps are as follows:
(1) control process of active front wheel steering and method are analyzed, set up corresponding math modeling and control algorithm;
(2) data collecting plate card (10) is inserted in the draw-in groove of main frame (14), be configured with MTALAB/Simulink software simultaneously, be connected by real-time data port, create the real-time communication environment between software system and data collecting plate card;
(3) in main frame, set up MATLAB/Simulink model, carry out pure digi-tal emulation, analyze and the correctness of verification model and control method;
(4) according to Fig. 1, connect telltale (15), main frame (14), steering wheel angle sensor (3), steering-wheel torque sensor (4), steering shaft rotary angle transmitter (6), electric machine controller (9), realize the communication between software restraint.Operation MATLAB/Simulink program also exports digital quantity signal to electric machine controller (9) by data collecting plate card (10), drive motor work, and then drives wheel active steering to realize the control of motor turning stability.The sensor die analog quantity signal collected feeds back in AFS control module (13) after amplitude limit, filtering by data collecting plate card (10) in signal processing module (11);
(5) telltale (15) and main frame (14) serial communication, the control effects of designed rapid control prototyping model can be observed, according to the performance requriements of active front wheel steering control system, in step (4), online modification is carried out to model in step (1) and control algorithm, until reaching till control effects meets the requirements.
Claims (2)
1. a rapid control prototyping for active front wheel steering, is characterized in that, comprises active front steering system, electric machine controller (9), main frame (14), telltale (15); Described active front steering system comprises steering handwheel (1), bearing (2), steering wheel angle sensor (3), steering-wheel torque sensor (4), steering shaft (5), steering shaft rotary angle transmitter (6), deflector (7) and motor (8);
Steering handwheel (1) is connected with bearing (2) outer ring, and steering shaft (5) top is connected with bearing (2) inner ring, and steering shaft (5) bottom is mechanically connected with deflector (7); Comprise data collecting plate card (10) in described main frame (14), steering wheel angle sensor (3), steering-wheel torque sensor (4) are connected with data collecting plate card (10) by signal wire (SW) with steering shaft rotary angle transmitter (6); Described electric machine controller (9) and motor (8) are electrically connected, and motor (8) is arranged on steering shaft (5).
2. the rapid control prototyping implementation method of a kind of active front wheel steering as claimed in claim 1, is characterized in that step is as follows:
1) control process of active front wheel steering and method are analyzed, founding mathematical models and control algorithm;
2) data collecting plate card (10) is inserted in the draw-in groove of main frame (14), is connected by real-time data port, creates the real-time communication environment between main frame and data collecting plate card;
3) in main frame, carry out pure digi-tal emulation, analyze and verify the correctness of math modeling and control algorithm;
4) telltale (15), sensor, electric machine controller (9) and main frame (14) is connected respectively, digital quantity signal is exported to electric machine controller (9) by data collecting plate card (10), drive motor works, and then drives wheel active steering to realize the control of motor turning stability;
5) telltale (15) and main frame (14) serial communication, the control effects of the rapid control prototyping model designed by observation, according to the performance requriements of active front wheel steering control system to step 1) in math modeling and control algorithm in step 4) in carry out online modification, till reaching the control overflow that control effects meets designed by user.
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| CN201510366462.XA CN104960569A (en) | 2015-06-29 | 2015-06-29 | Realizing method of rapid control prototyping of active front wheel steering |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241678A (en) * | 2015-11-15 | 2016-01-13 | 北京工业大学 | Fast control prototype realization method of active rear wheel steering |
| CN109533009A (en) * | 2017-09-22 | 2019-03-29 | 通用汽车环球科技运作有限责任公司 | Fluid flow control mechanism for steering wheel emulator |
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| KR20010009295A (en) * | 1999-07-08 | 2001-02-05 | 김영환 | Electric power steering system |
| CN101561353A (en) * | 2009-05-21 | 2009-10-21 | 吉林大学 | Brake-by-wire and steer-by-wire hardware-in-the-loop test bench for vehicle |
| JP2010058672A (en) * | 2008-09-04 | 2010-03-18 | Toyota Motor Corp | Vehicular steering device |
| CN102530059A (en) * | 2011-12-25 | 2012-07-04 | 东方久乐汽车安全气囊有限公司 | Electric power assisted steering system |
| CN204750280U (en) * | 2015-06-29 | 2015-11-11 | 北京工业大学 | Aplit -second control prototype of initiative front -wheel steer |
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2015
- 2015-06-29 CN CN201510366462.XA patent/CN104960569A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010009295A (en) * | 1999-07-08 | 2001-02-05 | 김영환 | Electric power steering system |
| JP2010058672A (en) * | 2008-09-04 | 2010-03-18 | Toyota Motor Corp | Vehicular steering device |
| CN101561353A (en) * | 2009-05-21 | 2009-10-21 | 吉林大学 | Brake-by-wire and steer-by-wire hardware-in-the-loop test bench for vehicle |
| CN102530059A (en) * | 2011-12-25 | 2012-07-04 | 东方久乐汽车安全气囊有限公司 | Electric power assisted steering system |
| CN204750280U (en) * | 2015-06-29 | 2015-11-11 | 北京工业大学 | Aplit -second control prototype of initiative front -wheel steer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241678A (en) * | 2015-11-15 | 2016-01-13 | 北京工业大学 | Fast control prototype realization method of active rear wheel steering |
| CN109533009A (en) * | 2017-09-22 | 2019-03-29 | 通用汽车环球科技运作有限责任公司 | Fluid flow control mechanism for steering wheel emulator |
| CN109533009B (en) * | 2017-09-22 | 2021-06-15 | 通用汽车环球科技运作有限责任公司 | Fluid flow control mechanism for steering wheel emulator |
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Application publication date: 20151007 |