基于CAN总线的新一代客车组合仪表研制
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摘要
汽车仪表是指示车辆信息的重要窗口,对汽车的行驶安全具有重要的作用。随着汽车电子技术的迅速发展和新能源汽车的出现,原有的汽车仪表已经不能满足现代汽车对车辆信息的指示要求。本课题所研制的基于CAN总线的新一代客车组合仪表就是针对新能源汽车东风EQ6110HEV混合动力城市公交车所研制的一款新型仪表。
本文分析了混合动力城市公交车组合仪表系统的主要功能,并根据这些功能制定了组合仪表的总体设计方案。在硬件设计中,使用两片Freescale公司的MC9S12HZ256微控制器作为控制核心。组合仪表中使用了7个步进电机来指示车辆的信息;同时使用液晶显示模块来显示混合动力城市公交车运行中的能量状态和发动机、电动机、电池组的工作参数;仪表接入整车CAN网络,采用PCA82C250作为CAN收发器使组合仪表与整车控制器、电机控制单元、电池管理单元等电子控制模块之间进行数据通讯,使车辆的数据实时显示在仪表中。在控制软件设计中,步进电机驱动控制采用了细分控制和模糊调速的方法,使步进电机的运行更加平稳、快速,减少了步进电机的抖动;同时使用了MC9S12HZ256的步进电机失步检测模块(SSD)对步进电机进行归零操作,使步进电机更快的回到零刻度点;对液晶模块采用了动态显示和多屏显示的方法,对混合动力的能量状态进行动画效果显示,增强了液晶显示的可视效果,显示更多的车辆工作状态;系统对脉冲量和模拟量采样采用了数字滤波法,使获得的采样信息更为准确可靠。仪表系统调试方面,使用LabVIEW编写的上位机软件对组合仪表进行标定调试,确定了组合仪表采样值、真实物理量值、步进电机步进步距值之间的对应关系;组合仪表与混合动力硬件在环仿真系统和整车控制器组成CAN网络对组合仪表CAN总线功能进行调试,调试结果表明步进电机指针指示准确,CAN网络工作正常。
本课题研制的客车组合仪表具有很好的兼容性,不仅可以作为混合动力城市公交车的仪表,也可以根据不同的需要更换其中的某些显示设备,对软件程序进行修改就可作为其它类型客车的仪表使用。
Automotive instrumentation is not onlyan important interface to displaythe information ofthe vehicle, but also is an important part for the safe driving.As the development of theautomotive electronic technologyand the emergence of the new energyvehicles, the formerautomotive instrumentation can no longer meet the requirements of the information displayinthe modern vehicle. This paper is the new generation passenger car instrumentation developmentbased on CAN bus which is a new instrumentation made for the new energy vehicles DonfengEQ6110HEVhybrid bus.
The paper analyzes the main function of the hybrid bus instrumentation system, which theoverall design of the instrumentation is made based on. In hardware design, two FreescaleMC9S12HZ256 micro-controllers are used as the control core. Seven stepper motors are used toshow the information of the vehicle.An LCD module is used to displaythe energystate of thehybrid power system and the parameters of the engine, motor and the battery.The CANtransceiver PCA82C250 is used to make the instrumentation link into the CAN bus of the vehicle,so that the instrumentation can communicate with theVehicle Control Unit, Motor Control Unit,BatteryManagement Unit and displaythe parameters of these electronic modules. In softwaredesign, the micro-stepping mode and the fuzzycontrol to change the speed of the stepper motorsare used to drive the stepper motors, which makes the stepper motor run more smoothly, quicklyand reduce dither. Stepper Stall Detector module of MC9S12HZ256 is used to make the steppermotor return to zero faster, more accurately. In LCD module, the dynamic displaymethod andmulti-screen displaymethod are used to displaythe energystates and more working parametersof the HEV, which enhances LCD displayvisual effect.The digital filtering method is used inpulse sampling and analog sampling, so that the information obtained bysampling is moreaccurate and reliable. In instrumentation system debugging, a host computer software is made onthe platform of LabVIEW to determine the relationship of the sample value, the real physicalvalue and the steps of the stepper motor rotating; the instrumentation, the HEVhardware-in-loopsimulation system and theVehicle Control Unit are composed of the CAN bus network, whichdebug the CAN function of the instrumentation.The debugging results show that the steppermotor pointers indicate accurately and the CAN network works well.
The instrumentation that is developed in the subject has a good compatibility. It can not onlyuse in the HEVbus, but it can also use in other buses by changing some hardware and makingsome changes of the system software.
本文分析了混合动力城市公交车组合仪表系统的主要功能,并根据这些功能制定了组合仪表的总体设计方案。在硬件设计中,使用两片Freescale公司的MC9S12HZ256微控制器作为控制核心。组合仪表中使用了7个步进电机来指示车辆的信息;同时使用液晶显示模块来显示混合动力城市公交车运行中的能量状态和发动机、电动机、电池组的工作参数;仪表接入整车CAN网络,采用PCA82C250作为CAN收发器使组合仪表与整车控制器、电机控制单元、电池管理单元等电子控制模块之间进行数据通讯,使车辆的数据实时显示在仪表中。在控制软件设计中,步进电机驱动控制采用了细分控制和模糊调速的方法,使步进电机的运行更加平稳、快速,减少了步进电机的抖动;同时使用了MC9S12HZ256的步进电机失步检测模块(SSD)对步进电机进行归零操作,使步进电机更快的回到零刻度点;对液晶模块采用了动态显示和多屏显示的方法,对混合动力的能量状态进行动画效果显示,增强了液晶显示的可视效果,显示更多的车辆工作状态;系统对脉冲量和模拟量采样采用了数字滤波法,使获得的采样信息更为准确可靠。仪表系统调试方面,使用LabVIEW编写的上位机软件对组合仪表进行标定调试,确定了组合仪表采样值、真实物理量值、步进电机步进步距值之间的对应关系;组合仪表与混合动力硬件在环仿真系统和整车控制器组成CAN网络对组合仪表CAN总线功能进行调试,调试结果表明步进电机指针指示准确,CAN网络工作正常。
本课题研制的客车组合仪表具有很好的兼容性,不仅可以作为混合动力城市公交车的仪表,也可以根据不同的需要更换其中的某些显示设备,对软件程序进行修改就可作为其它类型客车的仪表使用。
Automotive instrumentation is not onlyan important interface to displaythe information ofthe vehicle, but also is an important part for the safe driving.As the development of theautomotive electronic technologyand the emergence of the new energyvehicles, the formerautomotive instrumentation can no longer meet the requirements of the information displayinthe modern vehicle. This paper is the new generation passenger car instrumentation developmentbased on CAN bus which is a new instrumentation made for the new energy vehicles DonfengEQ6110HEVhybrid bus.
The paper analyzes the main function of the hybrid bus instrumentation system, which theoverall design of the instrumentation is made based on. In hardware design, two FreescaleMC9S12HZ256 micro-controllers are used as the control core. Seven stepper motors are used toshow the information of the vehicle.An LCD module is used to displaythe energystate of thehybrid power system and the parameters of the engine, motor and the battery.The CANtransceiver PCA82C250 is used to make the instrumentation link into the CAN bus of the vehicle,so that the instrumentation can communicate with theVehicle Control Unit, Motor Control Unit,BatteryManagement Unit and displaythe parameters of these electronic modules. In softwaredesign, the micro-stepping mode and the fuzzycontrol to change the speed of the stepper motorsare used to drive the stepper motors, which makes the stepper motor run more smoothly, quicklyand reduce dither. Stepper Stall Detector module of MC9S12HZ256 is used to make the steppermotor return to zero faster, more accurately. In LCD module, the dynamic displaymethod andmulti-screen displaymethod are used to displaythe energystates and more working parametersof the HEV, which enhances LCD displayvisual effect.The digital filtering method is used inpulse sampling and analog sampling, so that the information obtained bysampling is moreaccurate and reliable. In instrumentation system debugging, a host computer software is made onthe platform of LabVIEW to determine the relationship of the sample value, the real physicalvalue and the steps of the stepper motor rotating; the instrumentation, the HEVhardware-in-loopsimulation system and theVehicle Control Unit are composed of the CAN bus network, whichdebug the CAN function of the instrumentation.The debugging results show that the steppermotor pointers indicate accurately and the CAN network works well.
The instrumentation that is developed in the subject has a good compatibility. It can not onlyuse in the HEVbus, but it can also use in other buses by changing some hardware and makingsome changes of the system software.
引文
[1]陈家瑞.汽车构造(第二版)下册[M].北京:机械工业出版社.2005
[2]杨忠敏.汽车仪表的发展现状[J].汽车电器.2004, 4:1-3
[3]许德章.现代汽车仪表技术与发展趋势[J].汽车电器.2002, 5:1-4
[4]李飞.汽车数字仪表总成的研究开发[D].武汉科技大学.2008
[5]陈无畏.汽车车身电子与控制技术[M].北京:机械工业出版社.2008
[6] William B. Ribbens. Ph.D. UnderstandingAutomotive Electronics(Fifth Edition) [M]. Oxford:Butterworth-Heinemann.1998
[7] GB 15082-2008汽车用车速表[S].北京:中国标准出版社,2009
[8] QC/T594-1999汽车、摩托车用电子车速里程表[S].天津:中国汽车标准技术研究中心,2000
[9] QC/T595-1999汽车、摩托车用电子转速表[S].天津:中国汽车标准技术研究中心, 2000
[10] QC/T596-1999汽车、摩托车用电压表[S].天津:中国汽车标准技术研究中心, 2000
[11] QC/T8-92汽车用压力表[S].天津:中国汽车标准技术研究中心, 2000
[12] RogerAllan.What's OnThe DashboardTonight [J]. Electronic Design. 11/6/2006,Vol. 54Issue 25, p37-46
[13] RogerAllan. Portable Craze Redeines the Dashboard [J]. Electronic Design. 8/28/2008,Vol.56 Issue 17, p30-36
[14]孙仁云,付百学.汽车电气与电子技术[M].北京:机械工业出版社.2008
[15] Heinz Heisler.AdvancedVehicleTechnology(Second edition) [M].Oxford: ButterworthHeinemann.2002
[16] Perfecto Mari?o, Francisco Poza, MiguelA. Domínguez, Santiago Otero. Electronics inAutomotive Engineering:ATop—DownApproach for Implementing Industrial FieldbusTechnologies in City Buses and Coaches [J]. IEEE Transactions on Industrial Electronics.Feb2009, Vol. 56 Issue 2, p589-600
[17]倪莹祥.汽车CAN总线组合仪表开发设计[D].吉林大学.2008
[18]王亚飞.基于CAN总线的混合动力车辆仪表系统设计[D].上海交通大学.2008
[19] A. Balluchi, L. Benvenuti,A. Ferrari,A. L. Sangiovanni-Vincentelli. Hybrid Systems inAutomotive Electronics Design [J]. International Journal of Control; May2006,Vol. 79Issue 5, p375-394
[20]AShrinath,AEmadi. Electronic Control Units forAutomotive Electrical Power Systems:Communication and Networks [J].Proceedings of the Institution of Mechanical Engineers --Part D -- Journal ofAutomobile Engineering. Nov2004,Vol. 218 Issue 11, p1217-1230
[21]李海林.汽车组合电子仪表的设计与实现[D].吉林大学.2008
[22] MC9S12HZ256 data sheet Rev. 2.05. Freescale Semiconductor.
[23]王晓明.电动机的单片机控制(第2版)[M].北京:北京航空航天大学出版社.2007
[24]王鸿钰.步进电机控制技术入门[M].上海:同济大学出版社[M].1990
[25]史敬灼.步进电动机伺服控制技术[M].北京:科学出版社.2006.7
[26]德国BOSCH公司著,魏春源等译.汽车电气与电子技术[M].北京:北京理工大学出版社.2004.7
[27] Stepper Motor 6405Rxxx Datasheet. SONCEBOZ
[28] LM2068R-4-Manual-Rev0.1.ShenzhenTopwayTechnologyCO.LTD.
[29] LM2576 Datasheet. National Semiconductor
[30] LM2940 Datasheet. National Semiconductor
[31]王宜怀,刘晓升.嵌入式系统——使用HCS12微控制器的设计与应用[M].北京:北京航空航天大学出版社.2008
[32]王威.HCS12微控制器原理及应用[M].北京:北京航空航天大学出版社.2007
[33]邵贝贝.单片机嵌入式应用的在线开发方法[M].北京:清华大学出版社.2004.10
[34] MC34064 Datasheet. ON Semiconductor
[35] MAX232 Datasheet.Texas Instrument
[36] RA8803/RA8822Two Layers Text/Graphic LCD ControllerApplication NoteVersion 1.3
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[38] RA8803 RA8822双图层中文文字/图形LCD控制器应用手册. RAiOTechnology Inc.
[39]舒志兵,袁佑新,周炜.现场总线运动控制系统[M].北京:电子工业出版社.2007
[40]南金瑞,刘波澜.汽车单片机及车载总线技术[M].北京:北京理工大学出版社.2005
[41]侯树梅.汽车单片机及局域网技术[M].北京:高等教育出版社.2005
[42]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社.2003
[43] BOSCH CAN SpecificationVersion 2.0.
[44] CAN bus规范V2.0版本.
[45] PCA82C250 Datasheet. Philips Semiconductors
[46]王辉堂,颜自勇,陈文芗.基于带PWM模块单片机的步进电机细分驱动技术[J].国外电子测量技术.2007, 3:9-11
[47]刘金琨.智能控制[M].北京:电子工业出版社.2007.12
[48]诸静.模糊控制理论与系统原理[M].北京:机械工业出版社. 2005.8
[49]张吉礼.模糊-神经网络控制原理与工程应用[M].哈尔滨:哈尔滨工业大学出版社.2004.6
[50] S12CPUV2 Reference Manual . Freescale Semiconductor.
[51] Introduction to the Stepper Stall Detector Module. Freescale Semiconductor.
[52] Mehrdad Ehsani,Yimen Gao,Ali Emadi. Modern Electric, Hybrid Electric and Fuel CellVehicles Fundamentals, Theoryand Design(Second edition) [M].NewYork: CRCPress.2007
[53]Amanjot Dhaliwal, Shreyas Nagaraj, Santhosh Jogi. Hardware-in-the-Loop Testing ForHybridVehicles[J].Evaluation Engineering. Nov2009,Vol. 48 Issue 11, p30-34
[54]朱磊,袁银南,周健豪,陈诗,陈笃红.并联混合动力控制系统硬件在环仿真平台研究[J].车用发动机, 2008, 12:45-48
[55] Freescale Motorola MC9S12DP256Advance information Manua1, 2000
[2]杨忠敏.汽车仪表的发展现状[J].汽车电器.2004, 4:1-3
[3]许德章.现代汽车仪表技术与发展趋势[J].汽车电器.2002, 5:1-4
[4]李飞.汽车数字仪表总成的研究开发[D].武汉科技大学.2008
[5]陈无畏.汽车车身电子与控制技术[M].北京:机械工业出版社.2008
[6] William B. Ribbens. Ph.D. UnderstandingAutomotive Electronics(Fifth Edition) [M]. Oxford:Butterworth-Heinemann.1998
[7] GB 15082-2008汽车用车速表[S].北京:中国标准出版社,2009
[8] QC/T594-1999汽车、摩托车用电子车速里程表[S].天津:中国汽车标准技术研究中心,2000
[9] QC/T595-1999汽车、摩托车用电子转速表[S].天津:中国汽车标准技术研究中心, 2000
[10] QC/T596-1999汽车、摩托车用电压表[S].天津:中国汽车标准技术研究中心, 2000
[11] QC/T8-92汽车用压力表[S].天津:中国汽车标准技术研究中心, 2000
[12] RogerAllan.What's OnThe DashboardTonight [J]. Electronic Design. 11/6/2006,Vol. 54Issue 25, p37-46
[13] RogerAllan. Portable Craze Redeines the Dashboard [J]. Electronic Design. 8/28/2008,Vol.56 Issue 17, p30-36
[14]孙仁云,付百学.汽车电气与电子技术[M].北京:机械工业出版社.2008
[15] Heinz Heisler.AdvancedVehicleTechnology(Second edition) [M].Oxford: ButterworthHeinemann.2002
[16] Perfecto Mari?o, Francisco Poza, MiguelA. Domínguez, Santiago Otero. Electronics inAutomotive Engineering:ATop—DownApproach for Implementing Industrial FieldbusTechnologies in City Buses and Coaches [J]. IEEE Transactions on Industrial Electronics.Feb2009, Vol. 56 Issue 2, p589-600
[17]倪莹祥.汽车CAN总线组合仪表开发设计[D].吉林大学.2008
[18]王亚飞.基于CAN总线的混合动力车辆仪表系统设计[D].上海交通大学.2008
[19] A. Balluchi, L. Benvenuti,A. Ferrari,A. L. Sangiovanni-Vincentelli. Hybrid Systems inAutomotive Electronics Design [J]. International Journal of Control; May2006,Vol. 79Issue 5, p375-394
[20]AShrinath,AEmadi. Electronic Control Units forAutomotive Electrical Power Systems:Communication and Networks [J].Proceedings of the Institution of Mechanical Engineers --Part D -- Journal ofAutomobile Engineering. Nov2004,Vol. 218 Issue 11, p1217-1230
[21]李海林.汽车组合电子仪表的设计与实现[D].吉林大学.2008
[22] MC9S12HZ256 data sheet Rev. 2.05. Freescale Semiconductor.
[23]王晓明.电动机的单片机控制(第2版)[M].北京:北京航空航天大学出版社.2007
[24]王鸿钰.步进电机控制技术入门[M].上海:同济大学出版社[M].1990
[25]史敬灼.步进电动机伺服控制技术[M].北京:科学出版社.2006.7
[26]德国BOSCH公司著,魏春源等译.汽车电气与电子技术[M].北京:北京理工大学出版社.2004.7
[27] Stepper Motor 6405Rxxx Datasheet. SONCEBOZ
[28] LM2068R-4-Manual-Rev0.1.ShenzhenTopwayTechnologyCO.LTD.
[29] LM2576 Datasheet. National Semiconductor
[30] LM2940 Datasheet. National Semiconductor
[31]王宜怀,刘晓升.嵌入式系统——使用HCS12微控制器的设计与应用[M].北京:北京航空航天大学出版社.2008
[32]王威.HCS12微控制器原理及应用[M].北京:北京航空航天大学出版社.2007
[33]邵贝贝.单片机嵌入式应用的在线开发方法[M].北京:清华大学出版社.2004.10
[34] MC34064 Datasheet. ON Semiconductor
[35] MAX232 Datasheet.Texas Instrument
[36] RA8803/RA8822Two Layers Text/Graphic LCD ControllerApplication NoteVersion 1.3
[37] RA8803/8822双图层中文文字/图形LCD控制器规格书. RAiOTechnology Inc.
[38] RA8803 RA8822双图层中文文字/图形LCD控制器应用手册. RAiOTechnology Inc.
[39]舒志兵,袁佑新,周炜.现场总线运动控制系统[M].北京:电子工业出版社.2007
[40]南金瑞,刘波澜.汽车单片机及车载总线技术[M].北京:北京理工大学出版社.2005
[41]侯树梅.汽车单片机及局域网技术[M].北京:高等教育出版社.2005
[42]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社.2003
[43] BOSCH CAN SpecificationVersion 2.0.
[44] CAN bus规范V2.0版本.
[45] PCA82C250 Datasheet. Philips Semiconductors
[46]王辉堂,颜自勇,陈文芗.基于带PWM模块单片机的步进电机细分驱动技术[J].国外电子测量技术.2007, 3:9-11
[47]刘金琨.智能控制[M].北京:电子工业出版社.2007.12
[48]诸静.模糊控制理论与系统原理[M].北京:机械工业出版社. 2005.8
[49]张吉礼.模糊-神经网络控制原理与工程应用[M].哈尔滨:哈尔滨工业大学出版社.2004.6
[50] S12CPUV2 Reference Manual . Freescale Semiconductor.
[51] Introduction to the Stepper Stall Detector Module. Freescale Semiconductor.
[52] Mehrdad Ehsani,Yimen Gao,Ali Emadi. Modern Electric, Hybrid Electric and Fuel CellVehicles Fundamentals, Theoryand Design(Second edition) [M].NewYork: CRCPress.2007
[53]Amanjot Dhaliwal, Shreyas Nagaraj, Santhosh Jogi. Hardware-in-the-Loop Testing ForHybridVehicles[J].Evaluation Engineering. Nov2009,Vol. 48 Issue 11, p30-34
[54]朱磊,袁银南,周健豪,陈诗,陈笃红.并联混合动力控制系统硬件在环仿真平台研究[J].车用发动机, 2008, 12:45-48
[55] Freescale Motorola MC9S12DP256Advance information Manua1, 2000