重型车AMT网络化电控系统的研究与开发
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摘要
电控机械式自动变速器(AMT)是在传统的固定轴式变速器和干式离合器的基础上,通过增加电控单元(ECU)、传感器以及相应的执行机构实现自动变速的。由于它具有传动效率高、成本低和易制造等优点,从上世纪70年代中期起,就成为自动变速器发展的一个重要方向。
随着电子技术和现代控制理论在自动变速器系统中的应用,AMT技术得到了不断发展和完善,性能也有很大提高。特别是上世纪90年代中期,车载网络在车辆上的普及应用更提高了AMT系统的控制性能、减少了传感器数量和线束,为AMT的商业应用打好了基础。
课题结合重庆市科技攻关项目《重型车辆机械自动变速传动系统研制及产品开发》以及“863”计划资助项目《重型商用车机械自动变速器(AMT)开发》,按照重型车辆对现代AMT电控系统的要求,基于SAE J1939 CAN通信协议,把AMT电控系统作为车载CAN通信网络的一个智能节点,采用数字信号处理芯片TMS320LF2407A设计开发了AMT电控系统。
本研究以构建与实现网络化AMT电控系统为目标,以电控发动机(EDC7UC31)和法士特变速器为研究对象,制定了相关的离合器接合与选换档控制策略,并开发了相应模块的控制程序,具体做了如下几项工作:
(1)通过对国内外AMT发展现状及发展趋势进行分析,提出智能化和网络化控制是AMT的发展方向;指出在AMT系统中,发动机、离合器和变速器之间存在相互关联、相互影响的关系,需要各子控制系统的相互协调配合;分析了现代AMT系统的组成部分和构建网络化AMT电控系统的基本要素。
(2)分析了CAN总线网络的特点、J1939协议内容以及EDC7UC31电控发动机的PGN定义,制定了基于SAE J1939协议的网络化AMT智能节点PDU编码,为实现网络化AMT控制系统提供了网络控制协议标准。
(3)对AMT中离合器、变速器的控制进行了研究,制定相关的离合器接合与选换档控制策略,讨论了离合器模糊控制和最佳动力三参数换档规律在DSP系统中的实现过程,为系统设计和实现提供了控制依据。
(4)基于TI公司DSP TMS320LF2407A处理器开发智能AMT控制节点主控板、采集驱动板和设定及监控模块硬件系统;讨论了汽车控制器电磁兼容与DSP系统抗干扰设计。
(5)基于前面的硬件系统设计了信号采集与处理、SAE J1939通信、串口通信、离合器控制、选换档控制等系统底层软件模块,为系统集成和实验奠定了坚实的基础。
Automated Mechanical Transmission (AMT) is formed to implement automatic shift through combining the traditional fixed shaft transmission and dry-type clutch with electric control unit (ECU), sensors and the corresponding actuator. AMT had been a very important trend since the middle of 70s last century because its transmission efficiency is higher, its cost is lower and its manufacture is easy.
The performance of AMT is improved, perfected and enhanced with the application of electric technology and modern control technology. Especially in the middle of 90s last century, the equipped network on the vehicle was permeated to improve the control performance of AMT system and reduce the amount of sensor and wiring harness, which paved the way for the trade of AMT.
The research is the important part of the science and technology tackle key project of chongqing—“The development of automatic mechanic transmission system and product for heavy-duty vehicle”and is an item—“The development of automatic mechanic transmission for heavy-duty commercial vehicle”which is sponsored by the“863”plan. According to the requirement of heavy-duty vehicle to modern AMT electric control system, based on the SAE J1939 protocol,the electric control system is regarded as a intelligence node of CAN communication network on board and designed by adopting digital signal processing chip (DSP)—TMS320LF2407A.
This research is aiming at constructing and implementing the networked AMT electric control system. The electric injection engine (EDC7UC31) and the transmission of FAST are my research objects. The control strategies of clutch-engaging and select-shifting are established and the control programs for the corresponding blocks are developed.
(1)The development trend of intelligence and networked control for AMT is presented based on the analyses for the progress and trend of AMT. The relation between engine, clutch and transmission in the AMT system is pointed out and the cooperation of each control subsystem is necessary. The constituents of the modern AMT system and the basic essential factors of constructing the networked AMT electric control system are analyzed.
(2)The characteristics of CAN network and the contents of J1939 protocol and the PGN definition for electric control unit of EDC7UC31 engine are analyzed.Based on SAE J1939 protocol, the intelligent pitch point PDU code of the networked AMT are formulated, which lay the network control foundation for realizing networked AMT control system.
(3)The control for clutch and transmission in AMT are studied, which provided some foundation for control system design and realization. The optimal dynamical shift rule of heavy-duty vehicle is constituted and the implement process of appling fuzzy logic to control clutch in the DSP system is discussed.
(4)The main control board, sampling drive board and monitor block hardware system of intelligent AMT control node are developed based on DSP TMS320LF240A processor of TI corporation. At the same time, electromagnetism compatibility of vehicle controller and anti-jamming design for DSP system is discussed.
(5)The signals sampling and processing block, SAE J1939 communication program, serial communication program, clutch control and select-shift control block are designed on the foundation of the above hardware system, which establish a solid foundation for the system integration and system test in the future.
随着电子技术和现代控制理论在自动变速器系统中的应用,AMT技术得到了不断发展和完善,性能也有很大提高。特别是上世纪90年代中期,车载网络在车辆上的普及应用更提高了AMT系统的控制性能、减少了传感器数量和线束,为AMT的商业应用打好了基础。
课题结合重庆市科技攻关项目《重型车辆机械自动变速传动系统研制及产品开发》以及“863”计划资助项目《重型商用车机械自动变速器(AMT)开发》,按照重型车辆对现代AMT电控系统的要求,基于SAE J1939 CAN通信协议,把AMT电控系统作为车载CAN通信网络的一个智能节点,采用数字信号处理芯片TMS320LF2407A设计开发了AMT电控系统。
本研究以构建与实现网络化AMT电控系统为目标,以电控发动机(EDC7UC31)和法士特变速器为研究对象,制定了相关的离合器接合与选换档控制策略,并开发了相应模块的控制程序,具体做了如下几项工作:
(1)通过对国内外AMT发展现状及发展趋势进行分析,提出智能化和网络化控制是AMT的发展方向;指出在AMT系统中,发动机、离合器和变速器之间存在相互关联、相互影响的关系,需要各子控制系统的相互协调配合;分析了现代AMT系统的组成部分和构建网络化AMT电控系统的基本要素。
(2)分析了CAN总线网络的特点、J1939协议内容以及EDC7UC31电控发动机的PGN定义,制定了基于SAE J1939协议的网络化AMT智能节点PDU编码,为实现网络化AMT控制系统提供了网络控制协议标准。
(3)对AMT中离合器、变速器的控制进行了研究,制定相关的离合器接合与选换档控制策略,讨论了离合器模糊控制和最佳动力三参数换档规律在DSP系统中的实现过程,为系统设计和实现提供了控制依据。
(4)基于TI公司DSP TMS320LF2407A处理器开发智能AMT控制节点主控板、采集驱动板和设定及监控模块硬件系统;讨论了汽车控制器电磁兼容与DSP系统抗干扰设计。
(5)基于前面的硬件系统设计了信号采集与处理、SAE J1939通信、串口通信、离合器控制、选换档控制等系统底层软件模块,为系统集成和实验奠定了坚实的基础。
Automated Mechanical Transmission (AMT) is formed to implement automatic shift through combining the traditional fixed shaft transmission and dry-type clutch with electric control unit (ECU), sensors and the corresponding actuator. AMT had been a very important trend since the middle of 70s last century because its transmission efficiency is higher, its cost is lower and its manufacture is easy.
The performance of AMT is improved, perfected and enhanced with the application of electric technology and modern control technology. Especially in the middle of 90s last century, the equipped network on the vehicle was permeated to improve the control performance of AMT system and reduce the amount of sensor and wiring harness, which paved the way for the trade of AMT.
The research is the important part of the science and technology tackle key project of chongqing—“The development of automatic mechanic transmission system and product for heavy-duty vehicle”and is an item—“The development of automatic mechanic transmission for heavy-duty commercial vehicle”which is sponsored by the“863”plan. According to the requirement of heavy-duty vehicle to modern AMT electric control system, based on the SAE J1939 protocol,the electric control system is regarded as a intelligence node of CAN communication network on board and designed by adopting digital signal processing chip (DSP)—TMS320LF2407A.
This research is aiming at constructing and implementing the networked AMT electric control system. The electric injection engine (EDC7UC31) and the transmission of FAST are my research objects. The control strategies of clutch-engaging and select-shifting are established and the control programs for the corresponding blocks are developed.
(1)The development trend of intelligence and networked control for AMT is presented based on the analyses for the progress and trend of AMT. The relation between engine, clutch and transmission in the AMT system is pointed out and the cooperation of each control subsystem is necessary. The constituents of the modern AMT system and the basic essential factors of constructing the networked AMT electric control system are analyzed.
(2)The characteristics of CAN network and the contents of J1939 protocol and the PGN definition for electric control unit of EDC7UC31 engine are analyzed.Based on SAE J1939 protocol, the intelligent pitch point PDU code of the networked AMT are formulated, which lay the network control foundation for realizing networked AMT control system.
(3)The control for clutch and transmission in AMT are studied, which provided some foundation for control system design and realization. The optimal dynamical shift rule of heavy-duty vehicle is constituted and the implement process of appling fuzzy logic to control clutch in the DSP system is discussed.
(4)The main control board, sampling drive board and monitor block hardware system of intelligent AMT control node are developed based on DSP TMS320LF240A processor of TI corporation. At the same time, electromagnetism compatibility of vehicle controller and anti-jamming design for DSP system is discussed.
(5)The signals sampling and processing block, SAE J1939 communication program, serial communication program, clutch control and select-shift control block are designed on the foundation of the above hardware system, which establish a solid foundation for the system integration and system test in the future.
引文
[1] 刘振军, 秦大同, 胡建军.重型车辆自动变速技术及发展趋势.重庆大学学报, 2003,26(10): 10～14
[2] 杨亚联, 秦大同, 谢勇.汽车无级变速器的类型及原理.汽车技术, 1997(3):57～59
[3] 程振彪.国外重型载货车青睐自动变速.重型汽车, 2000(4):29～31
[4] 刘振军.基于人—车—路环境下的汽车 AMT 智能控制研究[博士学位论文].重庆:重庆大学, 2005:10～15
[5] 雷雨龙, 阴小峰, 谭晶星.基于 CAN 总线的 AMT 综合控制策略研究.公路交通科技 2005(3): 15～118
[6] 国际模具网.汽车变速器:面临“控制革命”.2005-11-21 15:49:45
[7] 葛安林.车辆自动变速理论设计.北京:机械工业出版社, 1993
[8] 申水文, 张建武等.AMT 离合器的综合模糊控制.汽车工程, 1997(6):23～25
[9] 葛舜, 葛安林, 武文治.自动变速离合器的模糊控制.汽车技术, 1996(2):7～11
[10] SAE J1939 Standards Collection, Recommended Practice for a Serial Control and Communication Vehicle Network .Society of Automotive Engineers.1993
[11] 吕京建.现代汽车的核心技术-SAEJ1939.今日电子, 2004(01):37～38
[12] 朱飞, 李光辉, 陈志英.基于 CAN 总线的分布式控制网络智能节点设计.微计算机, 2003.19(1):7～10
[13] 邬宽明编著.CAN 总线原理和应用系统设计.北京:北京航空航天大学, 1996
[14] 程军, 崔继波, 苟凯英.车辆控制系统 CAN 通信的实施方法.汽车工程, 2001, 23(5):300～305
[15] Bosch.CAN specification, Version2.0, 1991, Robert Bosch GmbH
[16] ISO-IS 11898 Road Vehicles—Interchange of digital information—Controller Area Network (CAN )for high speed communication.1993, 340～379
[17] SAE Standard. Vehicle Application Layer SAE J1939/71 Issued 1997:8～68
[18] 刘耿, 陈慧岩.SAEJ1939 通信标准在车辆动力传动电控系统中的应用研究.汽车研究与开发.2003(05):36～40
[19] 沈秀娟, 卢珞先, 黄涛.基于 CAN 总线的多 ECU 通信平台设计.单片机与嵌入式系统应用, 2004(9):12～14
[20] 李永强, 宋希庚, 薛冬梅.CAN 局域网及 J1939 协议在货车和客车上的运用.汽车工程, 2003.25(4):377～379
[21] Robert Bosch India Lid.Introduction to CAN in EDC7UC31 system for Truck/Busapplication.2005
[22] Gregory C Walsh and Hong Ye and Linda Bushnell.Stability analysis of networked control systems.Control Conf 1999:2876～2880
[23] WeiZhang, Michael.S.Branichy.Stability networked control systems.IEEEContr.Syst.Mag, 2001. 01, 2(1):84～99
[24] 葛安林.AMT 液压系统仿真及应用.吉林.吉林大学.2001:2～10
[25] 葛安林, 李焕松等.动态三参数最佳换档规律的研究.汽车工程, 1992
[26] 饶运涛, 邹继军, 郑勇芸.现场总线原理与应用技术.北京:北京航天航空大学出版社, 2003
[27] TMS320LF/LC240xA DSP Controllers System and Peripherals Reference Guide Texas Instruments.2004.
[28] 刘和平, 王维俊, 江渝等.TMS320LF240X DSP C 语言开发应用.北京:北京航空航天大学出版社, 2003:1～5
[29] TMS320LF240X User’s Guide. America. Texas Instruments. 2004:1～6
[30] TPS7301:Low-dropout voltage regulators with integrated delayed reset function. Datasheet.America.Texas instruments.1999:10～16
[31] CY7C1021BV33-12ZC:64K × 16 Static RAM. Datasheet. Cypress Semi –connductor Corporation. 2001:1～2
[32] PCA82C250 product specification. Philips Semiconductors.2000
[33] H. Johnson and M. Graham, High-Speed Digital Design, Prentice-Hall PTR, Englewood Cliffs, N.J., 1993:187～188
[34] BROOKS D.Signal Integrity Issues and Printed Board Design[M].Upper Saddle River (NJ, USA):Prentice Hall, 2003:383～385
[35] C.R. Paul, Introduction to Electromagnetic Compatibility, John Wiley & Sons, New York, 1992
[36] C.R.Paul.Effectiveness of multiple decoupling capacitors,IEEE Trans. Comp [Z], EMC -34 1992:130～132
[37] 沙斐.机电一体化系统的电磁兼容技术.中国电力出版社, 1999.
[38] 时伟 王福源 路铃.基于 CPLD 的片内振荡器设计.电子技术应用.2007(3)
[39] 陈群阳, 戴曙光, 穆平安等.DSP 系统抗干扰技术的研究.仪表技术.2004(4):60～65
[40] 宋宝华.C 语言嵌入式系统编程.电子设计应用.2004
[41] TMS320C2x/C2xx/C5xOptlmizing CCompiler Users’s Guide. America. Texas Instru -ments. 2004:5～20
[42] 伊勇, 欧光军, 关荣锋.DSP 集成开发环境 CCS 使用指南.北京.北京航空航天大学出版社2004:9～15
[43] Texas Instruments Incorporated.[译]彭启琮, 张诗雅, 常冉等.TI DSP 集成化开发环境(CCS)使用手册.北京.清华大学出版社.2005:5～16
[44] 李士勇.模糊控制、神经控制和智能控制理论.哈尔宾工业大学出版社.1996
[45] 张平安, 高春华等译.神经—模糊和软计算.西安:西安交通大学出版社.1999:40～60
[46] 章卫国, 杨向忠.模糊控制理论与应用.西安:西北工业大学出版社, 1999:6～54
[2] 杨亚联, 秦大同, 谢勇.汽车无级变速器的类型及原理.汽车技术, 1997(3):57～59
[3] 程振彪.国外重型载货车青睐自动变速.重型汽车, 2000(4):29～31
[4] 刘振军.基于人—车—路环境下的汽车 AMT 智能控制研究[博士学位论文].重庆:重庆大学, 2005:10～15
[5] 雷雨龙, 阴小峰, 谭晶星.基于 CAN 总线的 AMT 综合控制策略研究.公路交通科技 2005(3): 15～118
[6] 国际模具网.汽车变速器:面临“控制革命”.2005-11-21 15:49:45
[7] 葛安林.车辆自动变速理论设计.北京:机械工业出版社, 1993
[8] 申水文, 张建武等.AMT 离合器的综合模糊控制.汽车工程, 1997(6):23～25
[9] 葛舜, 葛安林, 武文治.自动变速离合器的模糊控制.汽车技术, 1996(2):7～11
[10] SAE J1939 Standards Collection, Recommended Practice for a Serial Control and Communication Vehicle Network .Society of Automotive Engineers.1993
[11] 吕京建.现代汽车的核心技术-SAEJ1939.今日电子, 2004(01):37～38
[12] 朱飞, 李光辉, 陈志英.基于 CAN 总线的分布式控制网络智能节点设计.微计算机, 2003.19(1):7～10
[13] 邬宽明编著.CAN 总线原理和应用系统设计.北京:北京航空航天大学, 1996
[14] 程军, 崔继波, 苟凯英.车辆控制系统 CAN 通信的实施方法.汽车工程, 2001, 23(5):300～305
[15] Bosch.CAN specification, Version2.0, 1991, Robert Bosch GmbH
[16] ISO-IS 11898 Road Vehicles—Interchange of digital information—Controller Area Network (CAN )for high speed communication.1993, 340～379
[17] SAE Standard. Vehicle Application Layer SAE J1939/71 Issued 1997:8～68
[18] 刘耿, 陈慧岩.SAEJ1939 通信标准在车辆动力传动电控系统中的应用研究.汽车研究与开发.2003(05):36～40
[19] 沈秀娟, 卢珞先, 黄涛.基于 CAN 总线的多 ECU 通信平台设计.单片机与嵌入式系统应用, 2004(9):12～14
[20] 李永强, 宋希庚, 薛冬梅.CAN 局域网及 J1939 协议在货车和客车上的运用.汽车工程, 2003.25(4):377～379
[21] Robert Bosch India Lid.Introduction to CAN in EDC7UC31 system for Truck/Busapplication.2005
[22] Gregory C Walsh and Hong Ye and Linda Bushnell.Stability analysis of networked control systems.Control Conf 1999:2876～2880
[23] WeiZhang, Michael.S.Branichy.Stability networked control systems.IEEEContr.Syst.Mag, 2001. 01, 2(1):84～99
[24] 葛安林.AMT 液压系统仿真及应用.吉林.吉林大学.2001:2～10
[25] 葛安林, 李焕松等.动态三参数最佳换档规律的研究.汽车工程, 1992
[26] 饶运涛, 邹继军, 郑勇芸.现场总线原理与应用技术.北京:北京航天航空大学出版社, 2003
[27] TMS320LF/LC240xA DSP Controllers System and Peripherals Reference Guide Texas Instruments.2004.
[28] 刘和平, 王维俊, 江渝等.TMS320LF240X DSP C 语言开发应用.北京:北京航空航天大学出版社, 2003:1～5
[29] TMS320LF240X User’s Guide. America. Texas Instruments. 2004:1～6
[30] TPS7301:Low-dropout voltage regulators with integrated delayed reset function. Datasheet.America.Texas instruments.1999:10～16
[31] CY7C1021BV33-12ZC:64K × 16 Static RAM. Datasheet. Cypress Semi –connductor Corporation. 2001:1～2
[32] PCA82C250 product specification. Philips Semiconductors.2000
[33] H. Johnson and M. Graham, High-Speed Digital Design, Prentice-Hall PTR, Englewood Cliffs, N.J., 1993:187～188
[34] BROOKS D.Signal Integrity Issues and Printed Board Design[M].Upper Saddle River (NJ, USA):Prentice Hall, 2003:383～385
[35] C.R. Paul, Introduction to Electromagnetic Compatibility, John Wiley & Sons, New York, 1992
[36] C.R.Paul.Effectiveness of multiple decoupling capacitors,IEEE Trans. Comp [Z], EMC -34 1992:130～132
[37] 沙斐.机电一体化系统的电磁兼容技术.中国电力出版社, 1999.
[38] 时伟 王福源 路铃.基于 CPLD 的片内振荡器设计.电子技术应用.2007(3)
[39] 陈群阳, 戴曙光, 穆平安等.DSP 系统抗干扰技术的研究.仪表技术.2004(4):60～65
[40] 宋宝华.C 语言嵌入式系统编程.电子设计应用.2004
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