CN207466285U - Binary channels electric motor type control system of active stabilizer bar - Google Patents
Binary channels electric motor type control system of active stabilizer bar Download PDFInfo
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- CN207466285U CN207466285U CN201721478000.8U CN201721478000U CN207466285U CN 207466285 U CN207466285 U CN 207466285U CN 201721478000 U CN201721478000 U CN 201721478000U CN 207466285 U CN207466285 U CN 207466285U
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Abstract
The utility model discloses a kind of binary channels electric motor type control system of active stabilizer bar, including the prepass control unit (1) connected by vehicle-mounted CAN bus (84) two-way signaling and rear channel control unit (2)；The input terminal of forward and backward channel control unit (1,2) is connected with the output end signal of lateral acceleration sensor (81), steering wheel angle sensor (82), vehicle speed sensor (83), vehicle-mounted CAN bus (84), prepass motor rotor position sensor (85)；The premenstrual channel DC brushless motor (86) of output terminal of prepass control unit (1) and prepass retarder (87) effect prepass electric motor type active stabilizer bar (6)；Afterwards the output terminal of channel control unit (2) after channel DC brushless motor (96) and rear channel retarder (97) effect after channel electric motor type active stabilizer bar (7).The control system of the utility model, antero-posterior pathway control unit independence is strong, and reliability is high.
Description
Technical field
The utility model belongs to automotive control system technical field, particularly a kind of antero-posterior pathway control unit independence
By force, the high binary channels electric motor type control system of active stabilizer bar of reliability.
Background technology
Automobile can generate roll motion when high speed steering operating mode or traveling are in uneven road surface, and excessive inclination can serious shadow
The roll stability and control stability of vehicle are rung, even results in the generation of rollover event.Mainly installation is passive on vehicle at present
Formula stabiliser bar adjusts roll stiffness, and to achieve the purpose that control body roll, still, passive type stabiliser bar is consolidated by stiffness by itself
Fixed limitation, can only reduce the angle of heel of vehicle body to a certain extent, and the roll stability that can not take into account vehicle is flat with travelling
It is pliable.Therefore some scholars propose the concept of Dynamic.Drive and are studied.Dynamic.Drive system is in original quilt
Controller and executing agency are increased on the basis of dynamic formula stabiliser bar, it is anti-to vehicle fast application when vehicle generates inclination trend
Moment resulting from sidesway so as to reduce vehicle roll angle, realizes vehicle active suppression body roll under high speed steering or uneven road surface
Target.Therefore, the research of Dynamic.Drive control system is one of hot spot of current field of automotive active safety research.
Chinese invention patent application " control system and its control method of binary channels hydraulic motor formula active stabilizer bar " (Shen
Please number：201410730661.X publication date：2015.04.22), a kind of binary channels hydraulic motor formula active stabilizer bar is disclosed
Control system and its control method, the control system are sensed by steering wheel angle sensor, lateral acceleration sensor, speed
Device, fuel level sensor, control unit and driving circuit are formed, and antero-posterior pathway uses same control unit, simplifies controller number
Amount.But the control system the problem is that：Once control unit breaks down, forward and backward channel stabiliser bar all can be ineffective.
Chinese invention patent application " a kind of control system and its control method of two-channel electric formula active stabilizer bar " (Shen
Please numbers 201510068648.7, publication date 2015.06.10), disclose a kind of control system of two-channel electric formula active stabilizer bar
System and its control method, the control system is by vehicle speed sensor, lateral acceleration sensor, front/rear channel motor rotor position
Sensor and front/rear control unit are formed, which respectively has a control unit, the acquisition of prepass control unit
Speed and lateral acceleration information simultaneously pass through iic bus and are transmitted to rear control unit, and antero-posterior pathway control unit is according to sensor
Information calculates anti-moment resulting from sidesway control antero-posterior pathway stabiliser bar work respectively.But the control system the problem is that：It is once preceding
Channel control system is out of order, and rear channel stabiliser bar can not work independently.
In short, problem of the existing technology is：The independence of active stabilizer bar antero-posterior pathway control unit is not strong, reliably
Property is not high.
Invention content
The purpose of this utility model is to provide a kind of binary channels electric motor type control system of active stabilizer bar, antero-posterior pathway controls
Unit independence processed is strong, and reliability is high.
Realize the utility model aim technical solution be：
A kind of binary channels electric motor type control system of active stabilizer bar, it is single including prepass control unit 1 and the control of rear channel
Member 2 is connected between the two by 84 two-way signaling of vehicle-mounted CAN bus；
The input terminal of the prepass control unit 1 and lateral acceleration sensor 81, steering wheel angle sensor 82, vehicle
Fast sensor 83, vehicle-mounted CAN bus 84, prepass motor rotor position sensor 85 output end signal be connected；It is logical before described
The output terminal of road control unit 1 is connected with the control signal signal of prepass DC brushless motor 86, prepass brush DC
The torque output terminal of motor 86 is applied to by prepass retarder 87 on prepass electric motor type active stabilizer bar 6；
2 input terminal of channel control unit and lateral acceleration sensor 81, steering wheel angle sensor 82, speed after described
Sensor 83, vehicle-mounted CAN bus 84, rear channel motor rotor position sensor 95 output end signal be connected；Channel after described
The output terminal of control unit 2 is connected with the control signal signal of rear channel DC brushless motor 96, the rear brushless electricity of channel DC
The torque output terminal of machine 96 is applied to by rear channel retarder 97 on rear channel electric motor type active stabilizer bar 7.
Compared with prior art, remarkable advantage is the utility model：Independence is strong, and reliability is high.Its reason is：
1st, during forward and backward channel control system normal work, prepass control system is master control system, rear channel control system
It unites as from control system, master control system is mainly responsible for the calculating of the anti-moment resulting from sidesway of forward and backward channel and the control of prepass motor,
The control to the malfunction monitoring and rear channel motor of whole system is mainly responsible for from control system.
2nd, when prepass control system or rear channel control system break down, another channel control system can be independent
Work；
3rd, compared with passive stabilization bar, when vehicle high-speed turns to or travels in uneven road surface, which can lead
It is dynamic to inhibit body roll, and the ride performance and operational stability of vehicle can be taken into account.
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the Control system architecture block diagram of the utility model
Fig. 2 is the circuit diagram of MC9S12DG128 microcontrollers in front/rear control unit
Fig. 3 is the circuit diagram of front/rear channel speed signal processing circuit
Fig. 4 is the circuit diagram of front/rear channel transverse acceleration signal processing circuit
Fig. 5 is the circuit diagram of front/rear channel direction disk angular signal processing circuit
Fig. 6 is the circuit diagram of front/rear channel C AN signal transmitting and receiving circuits
Fig. 7 is the circuit diagram of front/rear channel motor rotor position signal processing circuit
Fig. 8 is the circuit structure block diagram of front/rear channel motor-drive circuit
Fig. 9 is the circuit diagram of optical coupling isolation circuit
Figure 10 is driving chip and peripheral circuit schematic diagram
Figure 11 is motor vector driver circuit schematic diagram
Figure 12 software flow figures in order to control
In figure：1 prepass control unit；Channel control unit after 2；6 prepass electric motor type active stabilizer bars；Channel after 7
Electric motor type active stabilizer bar；
81 lateral acceleration sensors；82 steering wheel angle sensors；83 vehicle speed sensor；84 vehicle-mounted CAN buses； 85
Prepass motor rotor position sensor；86 prepass DC brushless motors；87 prepass retarders；Channel rotor after 95
Position sensor；Channel DC brushless motor after 96；Channel retarder after 97；
11 prepass transverse acceleration signal processing circuits；12 prepass steering wheel angle signal processing circuits；Lead to before 13
Road speed signal processing circuit；14 prepass CAN bus circuits；15 prepass brushless DC motor position signals processing electricity
Road；16 prepass main control chips；18 prepass motor-drive circuits；
Channel transverse acceleration signal processing circuit after 21；Channel direction disk angular signal processing circuit after 22；Lead to after 23
Road speed signal processing circuit；Channel C AN bus circuits after 24；Channel DC position of rotor of brushless motor signal processing electricity after 25
Road；Channel main control chip after 26；Channel motor-drive circuit after 28.
Specific embodiment
As shown in Figure 1, the utility model binary channels electric motor type control system of active stabilizer bar, including prepass control unit
1 and rear channel control unit 2, pass through 84 two-way signaling of vehicle-mounted CAN bus between the two and connect；
The input terminal of the prepass control unit 1 and lateral acceleration sensor 81, steering wheel angle sensor 82, vehicle
Fast sensor 83, vehicle-mounted CAN bus 84, prepass motor rotor position sensor 85 output end signal be connected；It is logical before described
The output terminal of road control unit 1 is connected with the control signal signal of prepass DC brushless motor 86, prepass brush DC
The torque output terminal of motor 86 is applied to by prepass retarder 87 on prepass electric motor type active stabilizer bar 6；
2 input terminal of channel control unit and lateral acceleration sensor 81, steering wheel angle sensor 82, speed after described
Sensor 83, vehicle-mounted CAN bus 84, rear channel motor rotor position sensor 95 output end signal be connected；Channel after described
The output terminal of control unit 2 is connected with the control signal signal of rear channel DC brushless motor 96, the rear brushless electricity of channel DC
The torque output terminal of machine 96 is applied to by rear channel retarder 97 on rear channel electric motor type active stabilizer bar 7.
Preferably, as shown in Figure 1, the prepass control unit 1 includes prepass transverse acceleration signal processing circuit
11st, prepass steering wheel angle signal processing circuit 12, prepass speed signal processing circuit 13, prepass CAN bus circuit
14th, prepass brushless DC motor position signal processing circuit 15, prepass main control chip 16 and the driving of prepass motor
Circuit 18；
The input terminal of the prepass main control chip 16 respectively with prepass transverse acceleration signal processing circuit 11, preceding logical
It is road steering wheel angle signal processing circuit 12, prepass speed signal processing circuit 13, prepass CAN bus circuit 14, preceding logical
The output terminal of road brushless DC motor position signal processing circuit 15 is connected, prepass transverse acceleration signal processing circuit
11 input terminal is connected with the output terminal of lateral acceleration sensor 81, prepass steering wheel angle signal processing circuit 12 it is defeated
The output terminal for entering end with steering wheel angle sensor 82 is connected, input terminal and the vehicle-mounted CAN bus of prepass CAN bus circuit 14
84 output terminal is connected, input terminal and the prepass direct current of prepass brushless DC motor position signal processing circuit 15
The output terminal of position of rotor of brushless motor sensor 85 is connected；The output terminal of prepass main control chip 16 is on the one hand by preceding logical
Road CAN bus circuit 14 and vehicle-mounted CAN bus 84 are communicated with rear channel control unit 2, are on the other hand driven with prepass motor
The input terminal of circuit 18 is connected, the output terminal of prepass motor-drive circuit 18 and the input terminal of prepass DC brushless motor 86
It is connected.
Preferably, the prepass main control chip 16 uses the MC9S12DG128 model microcontrollers of Freescale companies.
The prepass control unit passes through prepass transverse acceleration signal processing circuit 11, prepass steering wheel angle
The horizontal stroke of 14 collection vehicle of signal processing circuit 11, prepass speed signal processing circuit 13 or prepass CAN bus transmission circuit
Prepass main control chip 16 is sent to signals such as acceleration, steering wheel angle and speeds, and by collected information.Before described
Channel main control chip 16 by internal algorithm logic and software programming, by collected transverse acceleration, steering wheel angle and
The information such as speed carry out processing operation, obtain the forward and backward stabiliser bar required anti-moment resulting from sidesway M of output respectivelyf,ARCAnd Mr,ARC, and lead to
Cross the anti-moment resulting from sidesway information M that vehicle-mounted CAN bus 84 will export needed for rear channel stabiliser barr,ARCWith 1 work of prepass control unit
Rear channel control unit 2 is sent to as status information.The prepass main control chip 16 is anti-to what is exported needed for prepass stabiliser bar
After moment resulting from sidesway carries out processing operation, six road pwm signals are exported.Six road pwm signal control prepass motor driving electricity
The break-make of metal-oxide-semiconductor in road 18, and then prepass DC brushless motor 86 is controlled to export corresponding torque, drive 6 work of front stabilizer
Make.
Preferably, as shown in Figure 1, channel control unit 2 includes rear channel transverse acceleration signal processing circuit after described
21st, rear channel direction disk angular signal processing circuit 22, rear channel speed signal processing circuit 23, rear channel C AN bus circuits
24th, rear channel DC position of rotor of brushless motor signal processing circuit 25, rear channel main control chip 26 and the driving of rear channel motor
Circuit 28；
The input terminal of channel main control chip 26 leads to respectively with rear channel transverse acceleration signal processing circuit 21, afterwards after described
Road steering wheel angle signal processing circuit 22, rear channel C AN bus circuits 24, is led to rear channel speed signal processing circuit 23 afterwards
The output terminal of road brushless DC motor position signal processing circuit 25 is connected, rear channel transverse acceleration signal processing circuit
21 input terminal is connected with the output terminal of lateral acceleration sensor 81, rear channel direction disk angular signal processing circuit 22 it is defeated
The output terminal for entering end with steering wheel angle sensor 82 is connected, input terminal and the vehicle-mounted CAN bus of rear channel C AN bus circuits 24
84 output terminal is connected, input terminal and the rear channel DC of rear channel DC position of rotor of brushless motor signal processing circuit 25
The output terminal of position of rotor of brushless motor sensor 95 is connected；The output terminal of channel main control chip 26 is on the one hand by rear logical afterwards
Road CAN bus circuit 24 and vehicle-mounted CAN bus 84 are communicated with prepass control unit 1, are on the other hand driven with rear channel motor
The input terminal of circuit 28 is connected, the input terminal of the output terminal of rear channel motor-drive circuit 28 and rear channel DC brushless motor 96
It is connected.
Preferably, the rear channel main control chip 26 uses the MC9S12DG128 model microcontrollers of Freescale companies.
Channel control unit 2 is steady by the rear channel that the reception prepass of vehicle-mounted CAN bus 84 control unit 1 is sent after described
The anti-moment resulting from sidesway information M exported needed for fixed pole 7r,ARCWith 1 work state information of prepass control unit.When diagnosis prepass control
When unit 1 processed is normal operating conditions, it is described after channel main control chip 26 toss about and incline to output needed for the rear stabilizer bar that receives
Moment information carries out processing operation, output corresponding six road pwm signal to rear channel motor-drive circuit 28, and then leads to after controlling
Road brshless DC motor 96 acts, and channel stabiliser bar 7 works after drive.When it is malfunction to diagnose prepass control unit 1,
The sensor signals such as 26 individual reception direction disk corner of channel main control chip, speed and transverse acceleration after described, and according to
Upper information calculates the anti-moment resulting from sidesway of output needed for rear channel stabiliser bar 7, to the anti-moment resulting from sidesway information of output needed for rear stabilizer bar 7
Processing operation, output corresponding six road pwm signal to rear channel motor-drive circuit 28 are carried out, and then channel is brushless straight after control
Galvanic electricity machine 96 acts, and channel stabiliser bar 7 works independently after drive.
The operation principle of the utility model is as follows：
Normal condition：
When the forward and backward channel control unit 1,2 works normally, prepass control unit 1 is main control unit, after
Channel control unit 2 is from control unit, and real time monitoring main control unit is communicated from control unit by vehicle-mounted CAN bus 84
Working condition；
The lateral acceleration sensor 81, steering wheel angle sensor 82, vehicle speed sensor 83 are by collected signal
Prepass control unit 1 is sent to, prepass control unit 1 judges vehicle running state according to above-mentioned signal, calculates forward and backward
The anti-moment resulting from sidesway M that stabiliser bar need to respectively exportf,ARCAnd Mr,ARC；The prepass control unit 1 is controlling motor movement, before making
Channel stabiliser bar exports M of corresponding sizef,ARCWhile, by the anti-moment resulting from sidesway M of output needed for rear channel stabiliser barr,ARCPass through
Vehicle-mounted CAN bus is sent to rear channel control unit 2；
It is described after channel control unit 2 by vehicle-mounted CAN bus 84 receive prepass control unit 1 work state information and
The anti-moment resulting from sidesway M of channel afterwardsr,ARCInformation, after diagnosis prepass control unit 1 is normal operating conditions, according to Mr,ARCTo rear
Channel motor is controlled.
Partial fault state：
When channel control unit 2 monitors that prepass control unit 1 breaks down after described, rear channel control unit 2
Start sensor information and receive program, the lateral acceleration sensor 81, steering wheel angle sensor 82, vehicle speed sensor 83
Collected information is sent to rear channel control unit 2, rear channel control unit 2 works independently of prepass control unit 1；
When channel control unit 2 breaks down after described, prepass control unit 1 is sent to rear channel control unit 2
Anti- moment resulting from sidesway no longer work, prepass control unit 1 works independently of rear channel control unit 1.
As shown in Fig. 2, the prepass main control chip and rear channel main control chip using MC9S12DG128 microcontrollers and its
Peripheral circuit, the peripheral circuit include power circuit, power indicating circuit, crystal oscillating circuit, reset circuit, BDM debug circuits
With PLL phase-locked loop circuits.
As shown in figure 3, the speed signal processing circuit, which includes current-limiting resistance R4, R5 and the first of diode D1 compositions, makes electricity
Road, diode D1 use the common rectifier diodes of S3M, and the output terminal of resistance R5 is connected with the input terminal of voltage amplifier circuit.Electricity
It hinders R1 triodes Q1 and resistance R7 and forms voltage amplifier circuit, resistance R7 inputs are adjusted by pull-up resistor R1 and switching tube Q1
The voltage swing at end.The input terminal of resistance R2 is connected with the input terminal of resistance R7, and the output terminal of resistance R2 is via optic coupling element U1
It is connected with ground wire.Optic coupling element uses TLP281-1 chips, and 4 pins are connected with 5V power supplys, and 3 pin, one branch passes through pull down resistor
R6 is connected with ground wire, and another branch is connected to 60 pins of MC9S12DG128 microcontrollers by current-limiting resistance R3.
As shown in figure 4, the transverse acceleration signal processing circuit is by resistance R11, capacitance C3, capacitance C2 and resistance R12
The bandwidth-limited circuit of composition, the input terminal of resistance R11 are connected with lateral acceleration sensor output terminal, bandwidth-limited circuit
Output terminal is connected with the normal phase input end of operational amplifier U4, the output terminal of operational amplifier U4 respectively with resistance R13, resistance
R15 is connected with 67 pins of main control chip.The input terminal of negative feedback resistor R13 is connected with the output terminal of operational amplifier U4, electricity
It hinders input terminal of the output terminal of R13 respectively with the reverse input end of operational amplifier U4 and resistance R14 to be connected, resistance R14's is defeated
Outlet is connected to the ground.The operational amplifier U4 uses NE5532P chips.
As shown in figure 5, the steering wheel angle signal processing circuit is included by resistance R16, resistance R17, capacitance C4 and electricity
Hold the second-order active power filter circuit of C5 compositions, the input terminal of resistance R16 is connected with angle of heel sensor output, second order active filter
The output terminal of wave circuit is connected with the input terminal of operational amplifier U5, the output terminal of operational amplifier U5 respectively with resistance R18, C4
It is connected with 68 pins of main control chip, the reverse input end of operational amplifier U5 is connected to the ground by R19, the operational amplifier
U5 uses NE5532P chips.
As shown in fig. 6, the CAN signal transmission circuit provides connecing between main control chip CAN module and physical bus
Mouthful, it is mainly made of CAN signal transceiver U2 and traffic filter U3, signal transceiver uses TJA1050 chips, and wave filter is adopted
With B82790 chips.EX_CANH pins are connected with EX_CANL pins with vehicle-mounted physical bus, and TX_CAN pins draw with EX_CAN
Foot is connected with 104 pins of main control chip and 105 pins.Needed for a kind of binary channels electric motor type control system of active stabilizer bar
The CAN signal of reception after EX_CANH pins and the filtered device U3 filtering of EX_CANL pins by being transported to data collector U2, number
104,105 pins for passing the signal to main control chip with EX_CAN pins by TX_CAN pins again according to transceiver are connected.It is described
A kind of binary channels electric motor type control system of active stabilizer bar is sent to by 104 pins and 105 pins of main control chip by required
The signal of CAN bus is transferred to via signal transceiver U2 and wave filter U3 in physics CAN bus.
As shown in fig. 7, the rotor of the front/rear channel motor rotor position signal processing circuit input terminal and motor senses
Device is connected, and output terminal is connected with the I/O mouth pins of main control chip.Signal processing circuit by handling Hall rotor position sensing respectively
Three circuits of three road signal of device are formed, and three circuit theories are identical, by taking H_A signal processing circuits as an example, H_A signal processings
Circuit is mainly made of current-limiting resistance R24, current-limiting resistance R25, voltage amplifier circuit and optical coupling isolation circuit.Resistance R25's is defeated
Outlet is connected with the input terminal of voltage amplifier circuit, and resistance R21, triode Q21 and resistance 27 form voltage amplifier circuit, pass through
The voltage swing of pull-up resistor R21 and switching tube Q21 adjustment resistance R27 input terminals, the input terminal of resistance R22 is with resistance R27's
Input terminal is connected, and the output terminal of resistance R22 is connected via optic coupling element U21 with ground wire.Optic coupling element U21 uses TLP281-1 cores
Piece, 4 pins of U21 are connected with 5V power supplys, and a branch of 3 pins output is connected by pull down resistor R26 with ground wire, another branch
Road is connected to 57 pins of MC9S12DG128 microcontrollers by current-limiting resistance R23.The place of same principle, H_B signals and H_C signals
Reason circuit output end is connected respectively with 58 pins of main control chip and 59 pins.
As shown in figure 8, the front/rear channel motor-drive circuit by optical coupling isolation circuit, driving chip and peripheral circuit,
Vector driving circuit and current detection circuit are formed.As shown in figure 9, the optical coupling isolation circuit uses binary channels light-coupled isolation core
The pwm signal of piece HCPL2630 isolation control panel outputs, prevents driving circuit from generating interference to main control chip；As shown in Figure 10,
The driving chip and peripheral circuit are amplified processing using full-bridge driving chip IR2136 to six road pwm signals；Such as Figure 11
Shown, the motor vector driving circuit uses the field-effect tube of IRF540S models, controls the break-make of six road current of electric, right
Current of electric carries out inversion commutation；As shown in figure 11, the current sampling circuit uses checking of great current chip ACS712 to driving
Mutually stream size is acquired the electricity of dynamic bridge, and passes through AD mouthfuls of input main control chips.
As shown in figure 12, the control system is using target motor corner as output target, based on steering wheel angle signal δ and vehicle
Fast signal v is according to formulaEstimate vehicle lateral acceleration signal aye, by estimation gained ayeWith reality
The a that border lateral acceleration sensor measuresyrBy formula ay*=K1aye+(1-K1)ayrIt is weighted and determines to be actually used in control
Transverse acceleration ay *；Based on control transverse acceleration ay *It tables look-up determining target roll angle, by target roll angle and control horizontal stroke
To acceleration ay *Calculate the anti-moment resulting from sidesway M of output needed for stabiliser barARC, according to MARCWinged, stabilizator rod structure parameter and retarder
Gear ratio calculation goes out target motor corner and target motor electric current；Motor target rotation angle and target current input motor are performed into mould
Block, the six road PWM values exported as needed for motor execution module calculates control chip, controls motor in real time.
Claims (7)
1. a kind of binary channels electric motor type control system of active stabilizer bar, single including prepass control unit (1) and the control of rear channel
First (2) are connected between the two by vehicle-mounted CAN bus (84) two-way signaling；It is characterized in that：
The input terminal of the prepass control unit (1) and lateral acceleration sensor (81), steering wheel angle sensor (82),
Vehicle speed sensor (83), vehicle-mounted CAN bus (84), prepass motor rotor position sensor (85) output end signal be connected；
The output terminal of the prepass control unit (1) is connected with the control signal signal of prepass DC brushless motor (86), preceding
The torque output terminal of channel DC brushless motor (86) by prepass retarder (87) be applied to prepass electric motor type actively it is steady
In fixed pole (6)；
Channel control unit (2) input terminal and lateral acceleration sensor (81), steering wheel angle sensor (82), vehicle after described
Fast sensor (83), vehicle-mounted CAN bus (84), rear channel motor rotor position sensor (95) output end signal be connected；Institute
The output terminal for stating rear channel control unit (2) is connected with the control signal signal of rear channel DC brushless motor (96), rear logical
The torque output terminal of road DC brushless motor (96) is applied to rear channel electric motor type active stabilization by rear channel retarder (97)
On bar (7).
2. control system according to claim 1, it is characterised in that：
The prepass control unit (1) turns including prepass transverse acceleration signal processing circuit (11), prepass steering wheel
Angle signal processing circuit (12), prepass speed signal processing circuit (13), prepass CAN bus circuit (14), prepass are straight
Flow position of rotor of brushless motor signal processing circuit (15), prepass main control chip (16) and prepass motor-drive circuit
(18)；
The input terminal of the prepass main control chip (16) respectively with prepass transverse acceleration signal processing circuit (11), preceding logical
Road steering wheel angle signal processing circuit (12), prepass speed signal processing circuit (13), prepass CAN bus circuit
(14), the output terminal of prepass brushless DC motor position signal processing circuit (15) is connected, prepass transverse acceleration
The input terminal of signal processing circuit (11) is connected with the output terminal of lateral acceleration sensor (81), prepass steering wheel angle letter
The input terminal of number processing circuit (12) is connected with the output terminal of steering wheel angle sensor (82), prepass CAN bus circuit
(14) input terminal is connected with the output terminal of vehicle-mounted CAN bus (84), the processing of prepass brushless DC motor position signal
The input terminal of circuit (15) is connected with the output terminal of prepass brushless DC motor position sensor (85)；Prepass master control
The output terminal of chip (16) is on the one hand controlled by prepass CAN bus circuit (14) and vehicle-mounted CAN bus (84) with rear channel
Unit (2) communicates, and on the other hand the input terminal with prepass motor-drive circuit (18) is connected, prepass motor-drive circuit
(18) output terminal is connected with the input terminal of prepass DC brushless motor (86).
3. control system according to claim 2, it is characterised in that：
The prepass main control chip (16) using Freescale companies MC9S12DG128 model microcontrollers.
4. control system according to claim 2, it is characterised in that：
Channel control unit (2) turns including rear channel transverse acceleration signal processing circuit (21), rear channel direction disk after described
Angle signal processing circuit (22), rear channel speed signal processing circuit (23), rear channel C AN bus circuits (24), rear channel are straight
Flow position of rotor of brushless motor signal processing circuit (25), rear channel main control chip (26) and rear channel motor-drive circuit
(28)；
The input terminal of channel main control chip (26) leads to respectively with rear channel transverse acceleration signal processing circuit (21), afterwards after described
Road steering wheel angle signal processing circuit (22), rear channel speed signal processing circuit (23), rear channel C AN bus circuits
(24), the output terminal of rear channel DC position of rotor of brushless motor signal processing circuit (25) is connected, rear channel transverse acceleration
The input terminal of signal processing circuit (21) is connected with the output terminal of lateral acceleration sensor (81), rear channel direction disk corner letter
The input terminal of number processing circuit (22) is connected with the output terminal of steering wheel angle sensor (82), rear channel C AN bus circuits
(24) input terminal is connected with the output terminal of vehicle-mounted CAN bus (84), rear channel DC position of rotor of brushless motor signal processing
The input terminal of circuit (25) is connected with the output terminal of rear channel DC position of rotor of brushless motor sensor (95)；Channel master control afterwards
The output terminal of chip (26) is on the one hand controlled by rear channel C AN bus circuits (24) and vehicle-mounted CAN bus (84) with prepass
Unit (1) communicates, and on the other hand the input terminal with rear channel motor-drive circuit (28) is connected, rear channel motor-drive circuit
(28) output terminal is connected with the input terminal of rear channel DC brushless motor (96).
5. control system according to claim 4, it is characterised in that：
It is described after channel main control chip (26) using Freescale companies MC9S12DG128 model microcontrollers.
6. according to the control system described in one of claim 1,2 or 4, it is characterised in that：
When the forward and backward channel control unit (1,2) works normally, prepass control unit (1) is main control unit, after
Channel control unit (2) is from control unit, and real time monitoring main control list is communicated from control unit by vehicle-mounted CAN bus (84)
The working condition of member；
The lateral acceleration sensor (81), steering wheel angle sensor (82), vehicle speed sensor (83) are by collected letter
Number prepass control unit (1) is sent to, prepass control unit (1) judges vehicle running state according to above-mentioned signal, calculates
Go out the anti-moment resulting from sidesway M that forward and backward stabiliser bar need to respectively exportf,ARCAnd Mr,ARC；The prepass control unit (1) is in control motor
Movement makes prepass stabiliser bar export M of corresponding sizef,ARCWhile, by the anti-moment resulting from sidesway of output needed for rear channel stabiliser bar
Mr,ARCRear channel control unit (2) is sent to by vehicle-mounted CAN bus；
Channel control unit (2) is received the work state information of prepass control unit (1) by vehicle-mounted CAN bus (84) after described
With the anti-moment resulting from sidesway M of rear channelr,ARCInformation, after diagnosis prepass control unit (1) is normal operating conditions, according to Mr,ARC
Rear channel motor is controlled.
7. according to the control system described in one of claim 1,2 or 4, it is characterised in that：
When channel control unit (2) monitors that prepass control unit (1) breaks down after described, rear channel control unit
(2) start sensor information and receive program, the lateral acceleration sensor (81), steering wheel angle sensor (82), speed
Collected information is sent to rear channel control unit (2) by sensor (83), and rear channel control unit (2) is independently of prepass
Control unit (1) works；
When channel control unit (2) breaks down after described, prepass control unit (1) is sent to rear channel control unit
(2) anti-moment resulting from sidesway no longer works, and prepass control unit (1) works independently of rear channel control unit (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721478000.8U CN207466285U (en) | 2017-11-08 | 2017-11-08 | Binary channels electric motor type control system of active stabilizer bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721478000.8U CN207466285U (en) | 2017-11-08 | 2017-11-08 | Binary channels electric motor type control system of active stabilizer bar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207466285U true CN207466285U (en) | 2018-06-08 |
Family
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111839345A (en) * | 2019-04-24 | 2020-10-30 | 苏州市春菊电器有限公司 | Automatic suction adjusting method and system of dust collector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111839345A (en) * | 2019-04-24 | 2020-10-30 | 苏州市春菊电器有限公司 | Automatic suction adjusting method and system of dust collector |
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