基于嵌入式系统的自动变速器控制技术研究
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摘要
自动变速系统的应用是车辆发展的趋势,也是提高车辆使用性能,改善车辆动力性和经济性的有效措施。自动变速器电子控制单元(TCU)是自动变速系统的主要器件,是研究开发自动变速系统的关键。本课题主要从硬件设计、软件设计以及开发手段三个方面对自动变速器电子控制单元展开了研究,基于“系统功能集成化”和“功能电路模块化”的设计思路,开发了融合AMT、CVT并兼顾AT和DCT的控制要求的适应性与扩展性较强的控制单元,控制单元具体应用可根据不同被控对象要求通过硬件模块的不同组合来实现。
本文所作的研究工作主要包括:
1、TCU硬件电路的模块化设计,主要包括主控单元,接口和驱动电路的设计;
2、电路可靠性设计,研究如何提高系统的抗干扰能力,增强系统的稳定性;
3、操作系统的选取移植,选取合适的实时操作系统,并针对所选取的处理器进行操作系统的移植;
4、控制软件设计,基于所选取的实时操作系统和系统的功能要求,完成控制软件的编写;
5、系统开发流程的优化,研究在TCU实测之前,在试验室条件下采用硬件在环仿真技术完成对硬件电路和控制软件调试工作,以验证硬件可靠性和软件功能性;
6、针对一种无级变速器的无级变速单元完成TCU的台架试验。
The application of Automatic transmission system is now one of development trends in the automobile technique, which is also an effective way to improve the vehicle's economical and dynamic performances. TCU is the main and key device of the automation transmission system. In this paper the research work about TCU is mainly made up of three aspects including the hardware and software design and its development method. Based on the design idea of integrational system function and modular functional circuit the TCU designed in this researched can be used to control AMT, CVT, AT and DCT which is good at adaptability and expansibility. TCU can be used to control different objects by the different combination of modularized circuit.
The detail of this paper includes:
1. The modularization design for the hardware of TCU is carried out. It includes the design of main control unit, interface and driver circuit.
2. The reliability design for circuit is researched to enhance the ability of anti-jamming and the stability of system.
3. Based on the selected Micro-processor, the selection and migration of embedded real time operating system(RTOS) is accomplished.
4. The control software is developed based on the selected RTOS and the functional demands of system.
5. In order to optimize the development flow of TCU, in the lab the reliability of hardware circuit and the function control software is verified by making use of Hardware In the Loop Simulation(HILS) technique before the TCU is tested in the real condition.
6. The bench test for TCU is finished aimed at the unit of Continuously Variable Transmission.
本文所作的研究工作主要包括:
1、TCU硬件电路的模块化设计,主要包括主控单元,接口和驱动电路的设计;
2、电路可靠性设计,研究如何提高系统的抗干扰能力,增强系统的稳定性;
3、操作系统的选取移植,选取合适的实时操作系统,并针对所选取的处理器进行操作系统的移植;
4、控制软件设计,基于所选取的实时操作系统和系统的功能要求,完成控制软件的编写;
5、系统开发流程的优化,研究在TCU实测之前,在试验室条件下采用硬件在环仿真技术完成对硬件电路和控制软件调试工作,以验证硬件可靠性和软件功能性;
6、针对一种无级变速器的无级变速单元完成TCU的台架试验。
The application of Automatic transmission system is now one of development trends in the automobile technique, which is also an effective way to improve the vehicle's economical and dynamic performances. TCU is the main and key device of the automation transmission system. In this paper the research work about TCU is mainly made up of three aspects including the hardware and software design and its development method. Based on the design idea of integrational system function and modular functional circuit the TCU designed in this researched can be used to control AMT, CVT, AT and DCT which is good at adaptability and expansibility. TCU can be used to control different objects by the different combination of modularized circuit.
The detail of this paper includes:
1. The modularization design for the hardware of TCU is carried out. It includes the design of main control unit, interface and driver circuit.
2. The reliability design for circuit is researched to enhance the ability of anti-jamming and the stability of system.
3. Based on the selected Micro-processor, the selection and migration of embedded real time operating system(RTOS) is accomplished.
4. The control software is developed based on the selected RTOS and the functional demands of system.
5. In order to optimize the development flow of TCU, in the lab the reliability of hardware circuit and the function control software is verified by making use of Hardware In the Loop Simulation(HILS) technique before the TCU is tested in the real condition.
6. The bench test for TCU is finished aimed at the unit of Continuously Variable Transmission.
引文
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[2]常思勤.汽车动力装置[M].第1版.北京:机械工业出版社,2006.
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[6]彭瑞.汽车自动变速器电子控制单元的研究与实现[D].上海:同济大学,2003.
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[19]刘学瑜.dSPACE实时仿真系统在高压共轨ECU开发中的应用[J].现代车用动力,2003(1):20-25.
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[23]刘教瑜.基于嵌入式的燃料电池电动汽车能量及驱动控制策略的研究与设计[D].武汉:武汉理工大学,2006.
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[25]于建锋.柴油机高压共轨系统电控单元开发[D].杭州:浙江大学,2005.
[26]张详.汽车AMT系统的Matlab/Simulink建模与仿真[J].系统仿真学报,2007,19(14):3339-3343.
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[31]黄涛.嵌入式实时操作系统移植技术的分析与应用[J].计算机应用,2003,23(9):88-90.
[32]李勇.嵌入式μC/OS-Ⅱ在LPC2104上的移植及通信设计[J].微计算机信息,2006,22(2):69-71.
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[34]关平,周云山.金属带式无级变速器仿真及台架试验[J].轻型汽车技术,2006(4):12-14.
[35]周汉.LM331压频转换器的原理及应用[J].国外电子元器件,1999(10):20-22.
[36]梅近仁,秦贵和.基于嵌入式RTOS的AMT控制软件开发[J].吉林大学学报(信息科学版),2005,23(13):205-209.
[37]高炳创,葛安林,雷雨龙.AMT离合器微小位移的精确调整[J].机械工程学报,2002,38(10):86-89.
[38]程军,崔继波,等.车辆控制系统CAN总线通信的实施方法[J].汽车工程,2001,23(5):300-305.
[39]Mark Montrose.EMC and the Printed Board:Design,Theory,and Layout Made Simple[M].Beijing:Posts & Telecommunications Press,2002.
[40]刘建斌,孙军,等.电磁兼容与电路板的可靠性设计[J].电子工艺技术,2006,27(5):281-284.
[41]余世春,黄晓林.汽车电器抗干扰设计对策及其测试试验方法[J].电工技术,1999(9):36-39.
[42]周云山,于秀敏.汽车电控系统理论与设计[M].北京:北京理工大学出版社,1999.
[43]李永军,等.基于CAN总线的机械式自动变速器综合控制研究[J].农业机械学报,2000,31(2):12-15.
[44]廖文良,褚艺斌,等.基于ARM处理器的汽车电子控制单元设计 [EB/OL].[2008-02-20].http://www.robotsky.com/e/DoPrint/?classid=60&id=1022.
[45]Raj Kamal.嵌入式系统一体系结构、编程与设计[M].陈曙晖译.北京:清华大学出版社,2005.
[46]黄燕平.μC/OS ARM移植要点详解[M].北京:北京航空航天大学出版社,2005.
[47]周立功,等.ARM微控制器基础与实践[M].第2版.北京:北京航空航天大学出版社,2005.
[48]李现勇.VISUAL C++串口通信技术与工程实践[M].第2版.北京:人民邮电出版社,2004.
[49]张岳新.Visual C++程序设计[M].第1版.苏州:苏州大学出版社,2002.
[50]刘晓华.精通MFC[M].第1版.北京:电子工业出版社,2003.
[51]姚俊,马松辉.Simulink建模与仿真[M].西安:西安电子科技大学出版社,2002.
[52]黄永安,等.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].北京:清华大学大学出版社,2005.
[53]朱小佩.轿车自动变速器换挡规律的研究与仿真[D].上海:同济大学,2006.
[54]卢新田.轿车自动变速器换挡控制技术的研究[D].上海:同济大学,2001.
[55]张静,张凯.实时操作系统μC/OS-Ⅱ在ARM7上移植的研究与实现[J].计算机工程与应用,2004,40(4):100-102.
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[58]杨华.μC/OS-Ⅱ在混合动力汽车总控制中的应用.微计算机信息,2007,23(2):262-264.
[59]饶运涛.现场总线CAN原理与应用技术[M].第1版.北京:北京航空航天大学出版社,2004.
[2]常思勤.汽车动力装置[M].第1版.北京:机械工业出版社,2006.
[3]Nico Kelling,Ernst Katzmaier,Antonio Zarcone.Cost Efficient Partitioning for New Generation of Automatic Transmission Gearbox Controllers[C].SAE Paper No.2006-01-0403,2006.
[4]英飞凌科技公司.半导体技术[M].第2版.吴志红译.上海:同济大学出版社,2004.
[5]马友君.功率分流式自动变速器电子控制系统研究与工程化设计[D].南京:南京理工大学,2006.
[6]彭瑞.汽车自动变速器电子控制单元的研究与实现[D].上海:同济大学,2003.
[7]Jean J Labrosse.嵌入式实时操作系统μC/OS-Ⅱ[M].第2版.邵贝贝译.北京:北京航空航天大学出版社,2003.
[8]Broy M.Challenges in automotive software engineering[C].Proceedings of the 28th international conference on Software engineering,2006:33-42.
[9]PolednaS,MockenTh,SchiemannJ.ERCOS:An Operating System for Automotive Application[J].SAE PaPerNo.1996-01-0623,1996.
[10]Shoji Suzuki.A Distributed Control System Framework for Automotive Power-train Control with OSEK Standard and Can Network[C].SAE Paper No.1999-01-1276,1999.
[11]LPC2294 USER MANUAL.Philips Semiconductors.2004(2).
[12]魏英俊,常思勤,等.汽车磁粉离合器的设计与控制研究[J].机械制造,2004,42(482):12-14.
[13]金贝,等.实时操作系统在发动机转矩控制中的应用[J].清华大学学报(自然科学版),2004,44(2):252-254.
[14]杭勇,刘学瑜.利用代码自动生成技术实现柴油机电控系统控制算法的开发[J].内燃机工程,2005,26(2):9-12.
[15]祝轲卿.自动代码生成工具在电控柴油机喷油系统控制软件开发中的应用 [J].内燃机,2006(5):12-15.
[16]Michael Short,Michael Pont.Hardware in the Loop Simulation of Embedded Automotive Control Systems[C].IEEE Conference on Intelligent Transportation Systems,2005:13-16.
[17]李长文.ECU硬件在环柴油机控制仿真平台研究[J].北京理工大学学报,2004,24(5):407-410.
[18]于金泳,刘志远.基于快速控制原型的ABS控制器开发[J].汽车技术,2006(12):20-24.
[19]刘学瑜.dSPACE实时仿真系统在高压共轨ECU开发中的应用[J].现代车用动力,2003(1):20-25.
[20]王继春.嵌入式软件及其应用领域与发展趋势[J].信息技术与信息化,2004(4):41-43.
[21]Tian Shuo.Advanced ECU Software Development Method for Fuel Cell Systems[J].Tsinghua Science and Technology,2005,10(5):610-617.
[22]刘军良.基于嵌入式微控制器的发动机电控单元的设计与研究[D].镇江:江苏大学,2005.
[23]刘教瑜.基于嵌入式的燃料电池电动汽车能量及驱动控制策略的研究与设计[D].武汉:武汉理工大学,2006.
[24]张实民.嵌入式实时操作系统OSEKLinux设计与实现[D].北京:中国科学院软件研究所,2004.
[25]于建锋.柴油机高压共轨系统电控单元开发[D].杭州:浙江大学,2005.
[26]张详.汽车AMT系统的Matlab/Simulink建模与仿真[J].系统仿真学报,2007,19(14):3339-3343.
[27]Satoshi Tanaka.A New Risc Microcontroller With On-Chip Fpu to Introduce Adaptive Control Into Powertrain Management[C].SAE Paper No.1999-01-0865,1999.
[28]Kenji Hagiwara.Development of automatic transmission control system using hardware-in-the-loop simulation system[C].JSAE Review,2002(23):55-59.
[29]Bjorn Hori.如何选择面向汽车电子领域的处理器[EB/OL].[2008-03-05].http: //www.eefocus.com/article/08-03/35146_1s.html.
[30]程裕翔.ARM推ARMCortex-R4F新型车用处理器[EB/OL].[2006-10-17].http://gb-www.digitimes.com.tw.
[31]黄涛.嵌入式实时操作系统移植技术的分析与应用[J].计算机应用,2003,23(9):88-90.
[32]李勇.嵌入式μC/OS-Ⅱ在LPC2104上的移植及通信设计[J].微计算机信息,2006,22(2):69-71.
[33]王晓明.电动机的单片机控制[M].第2版.北京:北京航空航天大学出版社,2007.
[34]关平,周云山.金属带式无级变速器仿真及台架试验[J].轻型汽车技术,2006(4):12-14.
[35]周汉.LM331压频转换器的原理及应用[J].国外电子元器件,1999(10):20-22.
[36]梅近仁,秦贵和.基于嵌入式RTOS的AMT控制软件开发[J].吉林大学学报(信息科学版),2005,23(13):205-209.
[37]高炳创,葛安林,雷雨龙.AMT离合器微小位移的精确调整[J].机械工程学报,2002,38(10):86-89.
[38]程军,崔继波,等.车辆控制系统CAN总线通信的实施方法[J].汽车工程,2001,23(5):300-305.
[39]Mark Montrose.EMC and the Printed Board:Design,Theory,and Layout Made Simple[M].Beijing:Posts & Telecommunications Press,2002.
[40]刘建斌,孙军,等.电磁兼容与电路板的可靠性设计[J].电子工艺技术,2006,27(5):281-284.
[41]余世春,黄晓林.汽车电器抗干扰设计对策及其测试试验方法[J].电工技术,1999(9):36-39.
[42]周云山,于秀敏.汽车电控系统理论与设计[M].北京:北京理工大学出版社,1999.
[43]李永军,等.基于CAN总线的机械式自动变速器综合控制研究[J].农业机械学报,2000,31(2):12-15.
[44]廖文良,褚艺斌,等.基于ARM处理器的汽车电子控制单元设计 [EB/OL].[2008-02-20].http://www.robotsky.com/e/DoPrint/?classid=60&id=1022.
[45]Raj Kamal.嵌入式系统一体系结构、编程与设计[M].陈曙晖译.北京:清华大学出版社,2005.
[46]黄燕平.μC/OS ARM移植要点详解[M].北京:北京航空航天大学出版社,2005.
[47]周立功,等.ARM微控制器基础与实践[M].第2版.北京:北京航空航天大学出版社,2005.
[48]李现勇.VISUAL C++串口通信技术与工程实践[M].第2版.北京:人民邮电出版社,2004.
[49]张岳新.Visual C++程序设计[M].第1版.苏州:苏州大学出版社,2002.
[50]刘晓华.精通MFC[M].第1版.北京:电子工业出版社,2003.
[51]姚俊,马松辉.Simulink建模与仿真[M].西安:西安电子科技大学出版社,2002.
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