【正文】 電動(dòng)汽車 ABS 控制半實(shí)物 仿真系統(tǒng)設(shè)計(jì) Design of The Hardwareintheloop Simulation System for ABS Control in Electric Vehicle 學(xué) 院：電氣工程學(xué)院 專 業(yè) 班 級(jí)：自動(dòng)化 0802 學(xué) 號(hào)： 080302035 學(xué) 生 姓 名：劉 瀟 指 導(dǎo) 教 師：丁惜瀛 （教授） 2020 年 06 月 密級(jí)：公開 I 摘 要 作為一種有效的汽車主動(dòng)安全裝置，電動(dòng)汽車防抱死制動(dòng)系統(tǒng) (ABS)能夠在電動(dòng)汽車制動(dòng)過程中通過對(duì)四個(gè)車輪制動(dòng)力矩的自動(dòng)調(diào)節(jié)來防止車輪抱死，并使四個(gè)輪的滑移率維持在最佳滑移率附近，從而提高了汽車的制動(dòng)效果以及方向穩(wěn)定性。 傳統(tǒng) ABS 控制研究采用 Matlab/Simulink 數(shù)學(xué)仿真，置信度有限，而對(duì)車輛進(jìn)行路面制動(dòng)試驗(yàn)受許多條件的限制。 硬件在環(huán)仿真技術(shù)能夠根據(jù)實(shí)際情況建立基于真實(shí)硬件設(shè)備的模型代替原仿真系統(tǒng)的部分?jǐn)?shù)學(xué)模型，大大縮短了控制器的開發(fā)周期和開發(fā)成本，并且比理論模型具有更高的可靠性，因此更適用于電動(dòng)汽 車 ABS 研究。 為了改進(jìn)傳統(tǒng) ABS 系統(tǒng)的局限性，進(jìn)一步提高電動(dòng)汽車制動(dòng)系統(tǒng)的性能，本文在綜述國內(nèi)外相關(guān)文獻(xiàn)的基礎(chǔ)上，對(duì)基于滑移率的 ABS 控制半實(shí)物仿真系統(tǒng)進(jìn)行了關(guān)鍵技術(shù)的分析和實(shí)現(xiàn)方法的研究，主要包括以下 幾個(gè) 方面： 第一， ABS 控制器結(jié)構(gòu)及控制原理研究。在深入研究汽車制動(dòng)系統(tǒng)、 ABS 的工作原理及其性能指標(biāo)的基礎(chǔ)上，對(duì) ABS 控制進(jìn)行理論分析，并確定了基于滑移率的 PID控制算法。 第二，電動(dòng)汽車 ABS 控制實(shí)半實(shí)物仿真平臺(tái)的設(shè)計(jì)?；?xPC Target 實(shí)時(shí)仿真系統(tǒng)，搭建 ABS 控制硬件在環(huán)仿真平臺(tái)，硬件控制器采用 TI 公司的定點(diǎn)式 32 位 DSP 芯片 TMS320F2812。宿主機(jī)中的整車數(shù)學(xué)模型通過 TCP/IP 通訊協(xié)議下載到目標(biāo)機(jī)中，設(shè)計(jì)合適的通訊接口實(shí)現(xiàn)目標(biāo)機(jī)與 DSP 的同步通訊。 第三， PID 算法的 C 程序設(shè)計(jì)。建立 CCS 工程文件，主程序完成初始化功能， PID 控制算法在外部中斷服務(wù)子程序中實(shí)現(xiàn)。 第四，程序調(diào)試及仿真實(shí)驗(yàn)。在 CCS 環(huán)境下調(diào)試程序，整定 PID 參數(shù)，實(shí)現(xiàn)滑移率的控制。在不同初始條件下進(jìn)行仿真，比較滑移率的控制效果，得出結(jié)論。 關(guān)鍵詞：電動(dòng)汽車；硬件在環(huán)； xPCTarget； DSP； ABS； PID 控制 II Abstract As an effective vehicle active safety device, the electric vehicle Antilock Braking System (ABS) can automatically control the brake torque of each wheel to prevent it from getting locked in the process of braking, and maintain the wheel slip ratio near the optimal slip ratio. Thus, it improves the braking performance and directional stability of vehicle. At present, the traditional research of ABS control uses mathematical simulation under the environment of Matlab/Simulink, where the confidence level is limited. And the brake test of electric vehicle on road is restricted by a number of conditions. The hardwareintheloop simulation technology, which replaces the mathematical model in the simulation system, is more reliable than theoretical models. What’s more, it has a shorter development cycle and lower costs. So, it is more suitable for the study of electric vehicle ABS. In order to obtain higher braking efficiency, a study on hardwareintheloop simulation of ABS control based on slip ratio has been investigated after reviewing relevant research literatures, focusing on its key technology as well as realization algorithms. The research scope of this paper is illustrated as follows: First, the research of ABS controller structure and control theory. The electric vehicle braking system, ABS working principle and performance are deeply studied. PID control algorithm based on the slip rate is chose for the ABS control. Second, the design of Hardwareintheloop Simulation System for ABS control in Electric Vehicle. Based on xPC Target, the system uses TMS320F2812 which is a 32 bits fixedpoint DSP of TI as the hardware controller. Mathematical model of electric vehicle in HostPC is downloaded to the TargetPC via TCP/IP. An appropriate munication interface is designed to achieve synchronous munication between TargetPC and DSP. Third, the build of a project for ABS control in CCS . PID algorithm is piled in external interrupt Subroutine. Fourth, program debug and simulation test. Debug programs and tune PID parameters in CCS . Simulations are conducted under different initial conditions. Different performances of slip ratio control are pared to draw the final conclusion. Keywords: electric vehicle。 hardwareintheloop。 xPCTarget。 DSP。 ABS。 PID control I 目 錄 摘 要 ......................................................................................................................... I Abstract ......................................................................................................................... II 第 1 章 緒 論 ...........................................................................................................1 電動(dòng)汽車概述 ................................................................................................1 電動(dòng)汽車特點(diǎn) .....................................................................................1 電動(dòng)汽車發(fā)展現(xiàn)狀 .............................................................................1 汽車 ABS 發(fā)展現(xiàn)狀 .......................................................................................2 國外汽車 ABS 發(fā)展現(xiàn)狀 ....................................................................3 國內(nèi)汽車 ABS 發(fā)展現(xiàn)狀 ....................................................................4 本文采用的 ABS 控制研究方法 ...................................................................5 ABS 控制半實(shí)物仿真及其意義 ..........................................................5 ABS 控制半實(shí)物仿真平臺(tái) ..................................................................6 本文主要研究內(nèi)容和工作 ............................................................................6 第 2 章 電動(dòng)汽車 ABS 控制 ......................................................................................8 四分之一車輛模型 ........................................................................................8 電動(dòng)汽車 ABS 控制原理 ...............................................................................9 車輪制動(dòng)時(shí)的受力分析 .....................................................................9 滑移率與附著系數(shù)的關(guān)系 ...............................................................11 電動(dòng)汽車 ABS 控制原理 ..................................................................12 電動(dòng)汽車 ABS 控制結(jié)構(gòu)及控制算法 .........................................................13 電動(dòng)汽車 ABS 控制結(jié)構(gòu) ..................................................................13 電動(dòng)汽車 ABS 控制算法 ..................................................................13 本章小結(jié) ......................................................................................................15 第 3 章 電動(dòng)汽車 ABS 控制半實(shí)物仿真平臺(tái)的設(shè)計(jì) ............................................16 總體設(shè)計(jì) ...........................................