汽车转向盘回正模拟系统的研究与实现
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摘要
随着我国经济建设的发展,交通事故率也大幅增长,严重威胁着人们的生命财产安全,给个人和社会造成重大损失。因此,研究人-车-路闭环系统中的安全因素,对于预防和避免交通事故的发生,具有重要的现实意义和应用价值。论文研究的汽车转向盘回正模拟系统作为汽车驾驶模拟器触感模拟系统的一部分,其对真实车辆中转向盘回正的模拟,可以加强汽车驾驶模拟器的逼真度与沉浸感,使交通安全实验的驾驶者的操作行为更加真实,从而为道路交通事故致因实验数据的可靠提供保证。
论文介绍了汽车驾驶模拟器与汽车转向系统的发展及研究现状,以汽车机械转向系统为研究对象,分析其转向盘回正力矩的数学模型,并设定了汽车转向盘转角脉冲函数,选取实验用车神龙富康轿车的汽车参数,建立与汽车车速和转向盘转角有关的转向盘回正力矩模型。在转向盘回正力矩建模的基础上,分析系统需求,以汽车转向盘为控制对象,选择力矩电机作为回正力矩的生成部件,并构建了由直流力矩电机、直流稳压电源、位移传感器、采集卡、单片机控制电路板和工控机组成的汽车转向盘回正模拟系统。系统基于现有汽车驾驶模拟器的机械结构,对其部分机械结构进行了改造,便于设备的安装、运行。
研究了汽车转向盘回正模拟系统的硬件结构和软件流程。硬件部分以AT89S51单片机为核心,分析了硬件设计的主要内容,介绍了数模转换电路、电机驱动控制电路、串口通信电路的设计,并完成了系统硬件电路焊接、调试,从硬件抗干扰方面分析了PCB印制电路板设计,给出了PCB印制电路板实体图。在完成系统硬件设计的基础上,论文还介绍了系统软件设计的主要内容,从上位机、下位机两方面的程序设计对串口通信模块、信号采集模块、数模转换模块、电机驱动模块进行软件实现,并绘制相应的程序流程图,给出部分关键代码。
对汽车转向盘回正模拟系统进行了系统调试和实验,根据实验调整了适合于汽车驾驶模拟器的回正力矩参数,并给出了部分转向盘回正性实验采集数据,通过采集数据的分析表明系统满足设计要求。
With the development of economic construction,the rate of traffic accidents has increased.It seriously threats people's lives and property,and causes the losses for the society and the individuals.Therefore,the research of the safety factors of people-vehicle-road closed-loop system has important practical significance and application value for preventing and avoiding traffic accidents.Base on vehicle driving simulator,our group have researched deeply on the factor of traffic accidents. This paper researches on steering wheel return simulation system as a part of touching simulation system of vehicle driving simulator.Steering wheel return simulation system which imitates real steering wheel return system can enhance the fidelity and immersion of vehicle driving simulator,increase the tactility of driver's action and be more reliable of the traffic safety experimental date.
First of all,this paper introduces the development and present situation of vehicle driving simulator and vehicle steering system.And then,the paper takes vehicle mechanical steering system as studying object,analyses mathematical model of steering aligning torque,and establishes the model of steering aligning torque for experimental car.Base on the model of steering aligning torque,the paper sets steering wheel angle pulse function for simplifying mathematical model.And the paper analyses system requirements and chooses moment motor as generating component.It constructs steering wheel return simulation system which is composed of DC torque motor,DC regulated power supply,displacement sensor,collecting card,SCM circuit board and industrial computer.Based on the existing mechanism of vehicle driving simulator,the system has transformed a part of mechanical structure for installment and movement.
Thesis focuses on the hardware and software of steering wheel return simulation system.Digital-to-analog conversion circuit,motor drive control circuit, serial communication circuit,etc is introduced in hardware design part.Therefore, the paper analyses PBC design and gives the picture of it.Based on the analysis of the main content of the software design,serial communication module,signal acquisition module,digital-to-analog conversion module and motor driver module is introduced in detail.Also process flow chart was drawn and some of the key code was given in the software part.
Finally,the paper has carried on the test experiment.According to the experiment,the parameters of the model of steering wheel aligning torque is regulated for suiting vehicle driving simulator better.And some of the collection data of steering wheel return experiment is given,which indicates that the steering wheel return simulation system meets the design requirements.
论文介绍了汽车驾驶模拟器与汽车转向系统的发展及研究现状,以汽车机械转向系统为研究对象,分析其转向盘回正力矩的数学模型,并设定了汽车转向盘转角脉冲函数,选取实验用车神龙富康轿车的汽车参数,建立与汽车车速和转向盘转角有关的转向盘回正力矩模型。在转向盘回正力矩建模的基础上,分析系统需求,以汽车转向盘为控制对象,选择力矩电机作为回正力矩的生成部件,并构建了由直流力矩电机、直流稳压电源、位移传感器、采集卡、单片机控制电路板和工控机组成的汽车转向盘回正模拟系统。系统基于现有汽车驾驶模拟器的机械结构,对其部分机械结构进行了改造,便于设备的安装、运行。
研究了汽车转向盘回正模拟系统的硬件结构和软件流程。硬件部分以AT89S51单片机为核心,分析了硬件设计的主要内容,介绍了数模转换电路、电机驱动控制电路、串口通信电路的设计,并完成了系统硬件电路焊接、调试,从硬件抗干扰方面分析了PCB印制电路板设计,给出了PCB印制电路板实体图。在完成系统硬件设计的基础上,论文还介绍了系统软件设计的主要内容,从上位机、下位机两方面的程序设计对串口通信模块、信号采集模块、数模转换模块、电机驱动模块进行软件实现,并绘制相应的程序流程图,给出部分关键代码。
对汽车转向盘回正模拟系统进行了系统调试和实验,根据实验调整了适合于汽车驾驶模拟器的回正力矩参数,并给出了部分转向盘回正性实验采集数据,通过采集数据的分析表明系统满足设计要求。
With the development of economic construction,the rate of traffic accidents has increased.It seriously threats people's lives and property,and causes the losses for the society and the individuals.Therefore,the research of the safety factors of people-vehicle-road closed-loop system has important practical significance and application value for preventing and avoiding traffic accidents.Base on vehicle driving simulator,our group have researched deeply on the factor of traffic accidents. This paper researches on steering wheel return simulation system as a part of touching simulation system of vehicle driving simulator.Steering wheel return simulation system which imitates real steering wheel return system can enhance the fidelity and immersion of vehicle driving simulator,increase the tactility of driver's action and be more reliable of the traffic safety experimental date.
First of all,this paper introduces the development and present situation of vehicle driving simulator and vehicle steering system.And then,the paper takes vehicle mechanical steering system as studying object,analyses mathematical model of steering aligning torque,and establishes the model of steering aligning torque for experimental car.Base on the model of steering aligning torque,the paper sets steering wheel angle pulse function for simplifying mathematical model.And the paper analyses system requirements and chooses moment motor as generating component.It constructs steering wheel return simulation system which is composed of DC torque motor,DC regulated power supply,displacement sensor,collecting card,SCM circuit board and industrial computer.Based on the existing mechanism of vehicle driving simulator,the system has transformed a part of mechanical structure for installment and movement.
Thesis focuses on the hardware and software of steering wheel return simulation system.Digital-to-analog conversion circuit,motor drive control circuit, serial communication circuit,etc is introduced in hardware design part.Therefore, the paper analyses PBC design and gives the picture of it.Based on the analysis of the main content of the software design,serial communication module,signal acquisition module,digital-to-analog conversion module and motor driver module is introduced in detail.Also process flow chart was drawn and some of the key code was given in the software part.
Finally,the paper has carried on the test experiment.According to the experiment,the parameters of the model of steering wheel aligning torque is regulated for suiting vehicle driving simulator better.And some of the collection data of steering wheel return experiment is given,which indicates that the steering wheel return simulation system meets the design requirements.
引文
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[17]Manuele Bertoluzzo,Giuseppe Buja,Roberto Menis.An approach to SBW system design.IEEE,2005:443-447
[18]李涛涛.线控转向系统操纵性改善策略与转向柱回正力矩研究:[学位论文].长春:吉林大学.2007
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[23]叶耿,杨家军,刘照,等.汽车电动式动力转向系统转向路感研究.华中科技大学学报(自然科学版),2002(2):24-26
[24]余志生.汽车理论.北京:机械工业出版社,2003:54-58
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[26]唐新蓬,杨树.电动助力转向系统与汽车转向盘力特性的仿真研究.机械科学与技术,2005(12):1387-1390
[27]杨树,唐新蓬.汽车电动助力转向系转向盘力特性的初步研究.汽车科技,2003(3):19-21
[28]刘斌,陈万忠.方向盘回正力矩的动态模拟.实验技术与管理,2006.23(3):32-34
[29]宗长富,麦莉,王德平,李雅娟.基于驾驶模拟器的驾驶员所偏好的转向盘力矩特性研究.中国机械工程,2007.18(8):1001-1005
[30]宗长富,麦莉,郭学立.汽车前轮电子转向系统.中国机械工程,2004.15(11):1022-1025
[31]Yasuo Shimizu,Toshitake kawai.Development of electric power steering.SAE paper,No.91001
[32]Masahiko Kurishige,Shunichi Wada,Takayuki Kifuku,etal.A new EPS control strategy to improve steering wheel returnability.SAE paper,2000.1
[33]Toshihiro Hiraoka,Osamu Nishihara,Hiromitsu Kumamoto.Steering reactive torque control for steer-by-wire Vehicle.AVEC060136
[34]王威,王文,陈子辰.汽车设计中的疲劳寿命估计方法及其最新发展.机电工程,1999(5):206-208
[35]朱鸣根.家用轿车性能目标车选择对比试验.上海汽车,1995(6):28-31
[36]王沬然.MATLAB与科学计算.北京:电子工业出版社,2004:1-3
[37]Peter Kaub.Selecting the proper fuel flow meter for engine testing.SAE,930396.1999
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[39]陈晓封.DAC0832数模转换器转换速度的测试与研究.福建师范大学学报(自然科学版),2003.19(3):19-21
[40]DAC0832.National Semiconductor.2002.3:1
[41]李晓静,罗永革,佘建强.基于AMT直流电机的H桥驱动电路硬件研制.湖北汽车工业学院学报,2007.21(1):22-25
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[2]方圆传真.2008年全国道路交通安全形势总体平稳.汽车与安全,2009(1):14-15
[3]熊坚,曾纪国,管欣.驾驶模拟器用于交通系统仿真的研究.系统仿真学报,2001(1):385-387
[4]孙显营,熊坚.车辆驾驶模拟器的发展综述.交通科技,2001(6):48-55
[5]尹念东.汽车驾驶模拟器研究现状与技术关键.湖北汽车工业学院学报,2002(12):7-10
[6]范正伟,贺秀良,姜丁,唐静远.汽车驾驶模拟器研究现状与未来展望.汽车运用,2004(10):31-32
[7]高嵩.基于OGRE和ODE的驾驶模拟系统的设计与实现:[学位论文].武汉:武汉理工大学.2006
[8]高晶.基于VISSIM的驾驶模拟系统交通流仿真研究:[学位论文].昆明:昆明理工大学.2007
[9]李刚.汽车驾驶模拟器新一代实时场景系统的开发:[学位论文].长春:吉林大学.2003
[10]Konghui Guo,Hsin Guan.Development and Applications of JUT-ADSL Driving Simulator.Vehicle Electronics Conference,1999(1):1-5
[11]左建令,吴浩.汽车转向系统的发展及展望.上海汽车,2005(1):37-40
[12]王若平,杨信刚,高翔.汽车液压助力转向系统对操纵稳定性影响的实验研究.机械设计与制造,2007(12):24-25
[13]马南,刘元成,刘耀武,等.汽车电动助力转向系统.汽车电器,2007(2):16-18
[14]Masaga Segawa,Shiro Nakano,Osamu Nishihara,Hiromitsu Kumamoto.Vehicle stability control strategy for steer by wire system,JSAE Review 2001(22):383-388
[15]Se-Wook Oh,Seok-chan Yun.The development of anadvanced control method for the steer -by wire system to improve the vehicle maneuverability and stability.SAE Paper,2003.1:30-32
[16]Odenthal D,Buente T,Heitzer H-D,etal.How to make steer-by-wire feel like power steering.15th IFAC World Congress,Barcelona,2002
[17]Manuele Bertoluzzo,Giuseppe Buja,Roberto Menis.An approach to SBW system design.IEEE,2005:443-447
[18]李涛涛.线控转向系统操纵性改善策略与转向柱回正力矩研究:[学位论文].长春:吉林大学.2007
[19]李伟,刘晓.汽车电动助力转向系统特性研究.客车技术与研究,2005(4):1-5
[20]Se-WooK OH,Ho-Chol Chae,Seok-Chan Yun,etal.The design of a controller for the steer-by-wire system.JSME International Journal,Series C,Vol 47,No.3.2004
[21]Sanket Amberkar,Farhad Bolourchi,Jon Demerly.A control system methodology for steer by wire systems.Steering and Suspension Technology Symposium,2004
[22]O denthal D,Bunte T,Heitzer HD.How to make steer-by-wire feel like power steering.15th IFAC World Congress on Automatic Control,2002
[23]叶耿,杨家军,刘照,等.汽车电动式动力转向系统转向路感研究.华中科技大学学报(自然科学版),2002(2):24-26
[24]余志生.汽车理论.北京:机械工业出版社,2003:54-58
[25]Dave Crolla,喻凡.车辆动力学及其控制.北京:人民交通出版社,2004:188-190
[26]唐新蓬,杨树.电动助力转向系统与汽车转向盘力特性的仿真研究.机械科学与技术,2005(12):1387-1390
[27]杨树,唐新蓬.汽车电动助力转向系转向盘力特性的初步研究.汽车科技,2003(3):19-21
[28]刘斌,陈万忠.方向盘回正力矩的动态模拟.实验技术与管理,2006.23(3):32-34
[29]宗长富,麦莉,王德平,李雅娟.基于驾驶模拟器的驾驶员所偏好的转向盘力矩特性研究.中国机械工程,2007.18(8):1001-1005
[30]宗长富,麦莉,郭学立.汽车前轮电子转向系统.中国机械工程,2004.15(11):1022-1025
[31]Yasuo Shimizu,Toshitake kawai.Development of electric power steering.SAE paper,No.91001
[32]Masahiko Kurishige,Shunichi Wada,Takayuki Kifuku,etal.A new EPS control strategy to improve steering wheel returnability.SAE paper,2000.1
[33]Toshihiro Hiraoka,Osamu Nishihara,Hiromitsu Kumamoto.Steering reactive torque control for steer-by-wire Vehicle.AVEC060136
[34]王威,王文,陈子辰.汽车设计中的疲劳寿命估计方法及其最新发展.机电工程,1999(5):206-208
[35]朱鸣根.家用轿车性能目标车选择对比试验.上海汽车,1995(6):28-31
[36]王沬然.MATLAB与科学计算.北京:电子工业出版社,2004:1-3
[37]Peter Kaub.Selecting the proper fuel flow meter for engine testing.SAE,930396.1999
[38]范立南,李雪飞,尹授远.单片微型计算机控制系统设计.北京:人民邮电出版社,2004:211-215
[39]陈晓封.DAC0832数模转换器转换速度的测试与研究.福建师范大学学报(自然科学版),2003.19(3):19-21
[40]DAC0832.National Semiconductor.2002.3:1
[41]李晓静,罗永革,佘建强.基于AMT直流电机的H桥驱动电路硬件研制.湖北汽车工业学院学报,2007.21(1):22-25
[42]MSK4201.M.S.KENNEDY CORP.2007.1:1-3
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