基于DSP的车内智能座椅控制系统研究
摘要
随着汽车制造技术的不断发展,人们对于汽车的要求也越来越高,如何进一步满足用户个性化的需求以及更强调乘座舒适性、安全性和环保性已经成为车身控制的重要课题。本文运用CAN总线技术,阐述了汽车局域网的结构,并针对汽车内智能座椅部分,设计了汽车座椅的减震模块和动力节点调节模块,实现了汽车座椅控制的自动化,在低成本的情况下提高了汽车座椅控制的可靠性、准确性、可维护性,满足了现在汽车得控制和管理要求。具体内容如下:
论文首先介绍了汽车车身控制技术的发展,同时,介绍了汽车智能座椅的现状。从成本、性能方面阐述了减震系统与座椅转动调节系统,在此基础上,对座椅调节模块的的硬件,软件进行了详细的总体分析与设计。
其次,确定座椅减震系统和座椅转动结点的控制方案,采用运算速度较快的DSP处理芯片有效的实现了PID控制在减震系统和电机速度控制中的运用。通过对TI公司DSP的选型以及外围电路的设计,CAN收发芯片选型以及通信接口硬件电路的设计、减震系统硬件电路设计,无刷直流电机驱动芯片的选择和控制电路的设计,霍尔位置传感器器件的选择和电动座椅位置的检测设计,实现了车身控制系统中汽车座椅控制模块的设计。
通过对系统软件总体开发流程的设计,详细描述了PID控制的具体实现流程。对减震系统的电流控制,转动结点的电机控制的流程进行了详细的设计。此外,详细分析了CAN通信的软件开发流程。实现了座椅调节模块的准确性与可靠性。
最后,给出了测试系统软件平台,并且给出了控制电机的PWM波形,通过测试证明了PID控制算法在具体运用中的可行性,系统具有良好的性能,较高的智能化程度,具有广阔的应用前景。
With the development of automobile manufacture technology,the consumers have more and more expectation for automobile,how to meet the customer's requirement and improve the comfort ,safety ,and environmental-protection has been a study topic of vehicle control. This paper describe the CAN bus technology and describe the structure of the vehicle LAN.We designed a case of the Vibration conditioning modules and power conditioning modules which used in the part of car-intelligence seat.This system Implement the Automatic Control of car-seat and improve the reliability, accuracy and maintainability of the seat which fit the vehicle requirements in the control and management. The detailed content as follows:
Firstly, this paper introduce the development of automobile's control technology and the status of intelligence seat. It from the cost and features to description the Vibration conditioning system and the seat rotating conditioning systems,Base on this,it also make a details design to the software and hardware module of this system.
Secondly ,we choose the case of the vibration conditioning system and Rotation system.We use the DSP chip which has high speed calaculate capacity and PED control technology in the vibration conditioning system and the motor speed control. Except of it we also make a detail description about the control chip and control circuit. For one thing we choose the Model of DSP which made in TI company, the chip which used in CAN module, the BLDCM driver chip, and the Hall position sensor device.The other thing we designed of external circuit of DSP, the communication circuit of CAN, vibration conditioning system circuit,the driver circuit of BLDCM, and the position detective system.It achieve the seat module's function
Through the software design of the system. Describe the process of PID control. and make a detail illumination to the current control of vibration conditioning system and the process of motor control of the rotation node. Furthermore,make a detail describe to the software process of CAN communication. So,because of this function make the Seat-conditioning units accuracy and reliability.
Finally, the paper display the test platform, and the pwm wave of motor control.Thought the test, the PID control algorithm is effective in the system, and the system has a good capability, high Intelligence level and has a good prospective.
论文首先介绍了汽车车身控制技术的发展,同时,介绍了汽车智能座椅的现状。从成本、性能方面阐述了减震系统与座椅转动调节系统,在此基础上,对座椅调节模块的的硬件,软件进行了详细的总体分析与设计。
其次,确定座椅减震系统和座椅转动结点的控制方案,采用运算速度较快的DSP处理芯片有效的实现了PID控制在减震系统和电机速度控制中的运用。通过对TI公司DSP的选型以及外围电路的设计,CAN收发芯片选型以及通信接口硬件电路的设计、减震系统硬件电路设计,无刷直流电机驱动芯片的选择和控制电路的设计,霍尔位置传感器器件的选择和电动座椅位置的检测设计,实现了车身控制系统中汽车座椅控制模块的设计。
通过对系统软件总体开发流程的设计,详细描述了PID控制的具体实现流程。对减震系统的电流控制,转动结点的电机控制的流程进行了详细的设计。此外,详细分析了CAN通信的软件开发流程。实现了座椅调节模块的准确性与可靠性。
最后,给出了测试系统软件平台,并且给出了控制电机的PWM波形,通过测试证明了PID控制算法在具体运用中的可行性,系统具有良好的性能,较高的智能化程度,具有广阔的应用前景。
With the development of automobile manufacture technology,the consumers have more and more expectation for automobile,how to meet the customer's requirement and improve the comfort ,safety ,and environmental-protection has been a study topic of vehicle control. This paper describe the CAN bus technology and describe the structure of the vehicle LAN.We designed a case of the Vibration conditioning modules and power conditioning modules which used in the part of car-intelligence seat.This system Implement the Automatic Control of car-seat and improve the reliability, accuracy and maintainability of the seat which fit the vehicle requirements in the control and management. The detailed content as follows:
Firstly, this paper introduce the development of automobile's control technology and the status of intelligence seat. It from the cost and features to description the Vibration conditioning system and the seat rotating conditioning systems,Base on this,it also make a details design to the software and hardware module of this system.
Secondly ,we choose the case of the vibration conditioning system and Rotation system.We use the DSP chip which has high speed calaculate capacity and PED control technology in the vibration conditioning system and the motor speed control. Except of it we also make a detail description about the control chip and control circuit. For one thing we choose the Model of DSP which made in TI company, the chip which used in CAN module, the BLDCM driver chip, and the Hall position sensor device.The other thing we designed of external circuit of DSP, the communication circuit of CAN, vibration conditioning system circuit,the driver circuit of BLDCM, and the position detective system.It achieve the seat module's function
Through the software design of the system. Describe the process of PID control. and make a detail illumination to the current control of vibration conditioning system and the process of motor control of the rotation node. Furthermore,make a detail describe to the software process of CAN communication. So,because of this function make the Seat-conditioning units accuracy and reliability.
Finally, the paper display the test platform, and the pwm wave of motor control.Thought the test, the PID control algorithm is effective in the system, and the system has a good capability, high Intelligence level and has a good prospective.
引文
[1]马力,孙大森.国外轿车车身技术发展现状.世界汽车,2000.3.
[2]张孟俊,孙鸿航.汽车电子技术的现状与发展.汽车电子,2004.6.
[3]Sangiovanni-Vincentelli Alberto.Electronic-System Design in the Automobile Industry.IEEE Computer Society,May-June 2003,pp.8-18.
[4]R.Pusea,YAit,Amriat,A.Berhtno,J.M.Kauffillann.Advanced Cnotorl Applied to Hybrid EleCtrleal Vehide,EVS19 Busan 2002.
[5]D.Norway.Distributed Control System.IEEE Transactions on Automatic Control,1999.7:4144.
[6]郑兰霞,江斌,胡修池.车辆悬架控制系统的发展及应用现状研究.农业装备与车辆工程,2006年第3期
[7]刘旭辉.磁流变液阻尼减震器及其振动控制的研究:[硕士学位论文].天津:天津理工大学机械设计及理论,2005.12.
[8]裴畅贵,郭张霞.磁流变液特性分析.机械管理开发,2007.4
[9]郭岩峰,闵坚,陈栋华等.磁流变液减震器的设计开发和试验验证.中国工程机械学报,2007.1
[10]汪建晓,.孟光.磁流变液研究进展.航空学报,2002.23(1):6-12
[11]谢世杰.数字PID算法在无刷直流电机控制器中的应用.现代电子技术2004,(2):59-61
[12]郑雪梅,姜成国,周广铭.模糊PID控制器结构.大庆石油学院学报.2000.3
[13]张清华.一种可调整模糊强度的FUZZY-PID控制器.自动化与仪表.2000.6.
[14]李卓,萧德云,何世忠.基于Fuzzy推理的自调整PID控制器.控制理论与应用,1997.2
[15]GeorgeK.1.Mann,Bao - GangHuandRaymondG.oosine,Two - Level Tuningof Fuzzy PID Controllers,IEEE Transaetionson Systems,man,and Cybernetics - partB:Cybernetics,Vol.31,No.2,APril2001263-269.
[16]YusukeHorii,JitsutakaTakeo,Yutasusuki,YoihciroKono,Swne Ruppert,Eugen Holl.A Hybrid Eleertie Drvie Sysetem for Low - Floor City Bus.EVS19 Busna 2002.
[17]Yih-ping Luh.Design of Distributed Control System Software Using Client-Server Architecture.IEEE International Conference on Industrial Technology,1996.10(7):348351
[18]Thomas J.Crowe,Edward J.Stahlman.A Proposed Structure for Distributed Control IEEE Transactions on Automatic Control,1998.6(1):79-93.
[19]邬宽明.CAN总线原理和应用系统设计.北京:北京航空航天大学出版社,2002.
[20]甘永梅,李庆丰,刘晓娟等.现场总线技术及其应用.北京:机械工业出版社,2004.5.
[21]王华平.基于低速CAN总线的车门控制系统:[硕士学位论文].天津工业大学,2004.12
[22]王贵建.基于CAN总线的分布式发动机控制系统设计:[硕士学位论文].哈尔滨工程大学,2006.2.
[23]程鑫,廖传书.基于CAN的车用无刷电机控制节点设计.第七届(2006)年会暨学术研讨会论文集,2006.10.
[24]蔡耀成.无刷直流电动机中的霍尔位置传感器.微特电机,1999.5.
[25]涂有瑞.霍尔器件在汽车上的应用.汽车电器,2000.2.
[26]王念旭.DSP基础与应用系统设计.北京:北京航空航天大学出版社,2002.78-79
[27]TMS320C28X DSP Controllers CPU and Instruction Set Reference Guide,2003
[28]TMS320C28X DSP Controllers System and Peripherals Reference Guide,2003
[29]TMS320F28x DSP Event Manager(EV)Reference Guide,2003
[30]张卫宁.TMS320C28x系列DSP的CPU与外设[M].北京,清华大学出版社,2004.36-38
[31]Th.Ringler,J.Steiner,R.Belschner and B.H edenetz,Increasing Systems safety for by-wire Applications in Vehicles by using a Time Triggered Architecture,1998.
[32]FlexRayTM Consortium Being Formed to Drive Initiative for Advanced Automotive Communication System,2001:33-51.
[33]谢运祥.IR2130驱动器及其在逆变器中的应用.微电机,2001,34(2):50-52
[34]逢海萍.IR2130在PWM直流伺服系统中的应用.电气传动自动化,2001,23(3):20-22
[35]International Rectifier.1R2130 3-Phase Bridge Driver.Control Integrated Circuit Designer's Manual,2003:135-155
[36]陈朝辉,杜秀华.采用智能模块控制的电机变频调速.自动化仪表,2004
[37]曹正策,混合动力电动公交车动力系统的研制:[硕士学位论文].武汉:武汉理工大学汽车工程学院,2003
[38]Hong-xing Wu,Shu-kang Cheng,Shu-mei cui.A Controller of Brushless DC Motor for Electric Vehicle.IEEE Transactions on magnetics,2005,41(1):509-513.
[39]Bon-Ho Bae,Nitin Patel,Steven Schulz.New Field Weakening Technique for High Saliency Interior Permanent Magnet Motor.IEEE Transactions on Power Electronics,July 2003:898-901
[40]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社,2004.229-235
[41]章玮,姚维,潘再平等.数字信号处理器(DSP)在电机控制中的应用.中小型电机,2001.28(4):32-34
[42]汪锐.基于DSP芯片的永磁无刷直流电机控制器.微电机,2000,(4):43-46
[43]Joong H S,lck C.Commutation Torque Ripple Reduction in Brushless DC Motor Drives Using a Single DC Current Sensor[J].IEEE Trans on Power Electronics,2004,19(2):312-319
[44]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的影响.电机与控制学报,2003,7(2):87-91
[2]张孟俊,孙鸿航.汽车电子技术的现状与发展.汽车电子,2004.6.
[3]Sangiovanni-Vincentelli Alberto.Electronic-System Design in the Automobile Industry.IEEE Computer Society,May-June 2003,pp.8-18.
[4]R.Pusea,YAit,Amriat,A.Berhtno,J.M.Kauffillann.Advanced Cnotorl Applied to Hybrid EleCtrleal Vehide,EVS19 Busan 2002.
[5]D.Norway.Distributed Control System.IEEE Transactions on Automatic Control,1999.7:4144.
[6]郑兰霞,江斌,胡修池.车辆悬架控制系统的发展及应用现状研究.农业装备与车辆工程,2006年第3期
[7]刘旭辉.磁流变液阻尼减震器及其振动控制的研究:[硕士学位论文].天津:天津理工大学机械设计及理论,2005.12.
[8]裴畅贵,郭张霞.磁流变液特性分析.机械管理开发,2007.4
[9]郭岩峰,闵坚,陈栋华等.磁流变液减震器的设计开发和试验验证.中国工程机械学报,2007.1
[10]汪建晓,.孟光.磁流变液研究进展.航空学报,2002.23(1):6-12
[11]谢世杰.数字PID算法在无刷直流电机控制器中的应用.现代电子技术2004,(2):59-61
[12]郑雪梅,姜成国,周广铭.模糊PID控制器结构.大庆石油学院学报.2000.3
[13]张清华.一种可调整模糊强度的FUZZY-PID控制器.自动化与仪表.2000.6.
[14]李卓,萧德云,何世忠.基于Fuzzy推理的自调整PID控制器.控制理论与应用,1997.2
[15]GeorgeK.1.Mann,Bao - GangHuandRaymondG.oosine,Two - Level Tuningof Fuzzy PID Controllers,IEEE Transaetionson Systems,man,and Cybernetics - partB:Cybernetics,Vol.31,No.2,APril2001263-269.
[16]YusukeHorii,JitsutakaTakeo,Yutasusuki,YoihciroKono,Swne Ruppert,Eugen Holl.A Hybrid Eleertie Drvie Sysetem for Low - Floor City Bus.EVS19 Busna 2002.
[17]Yih-ping Luh.Design of Distributed Control System Software Using Client-Server Architecture.IEEE International Conference on Industrial Technology,1996.10(7):348351
[18]Thomas J.Crowe,Edward J.Stahlman.A Proposed Structure for Distributed Control IEEE Transactions on Automatic Control,1998.6(1):79-93.
[19]邬宽明.CAN总线原理和应用系统设计.北京:北京航空航天大学出版社,2002.
[20]甘永梅,李庆丰,刘晓娟等.现场总线技术及其应用.北京:机械工业出版社,2004.5.
[21]王华平.基于低速CAN总线的车门控制系统:[硕士学位论文].天津工业大学,2004.12
[22]王贵建.基于CAN总线的分布式发动机控制系统设计:[硕士学位论文].哈尔滨工程大学,2006.2.
[23]程鑫,廖传书.基于CAN的车用无刷电机控制节点设计.第七届(2006)年会暨学术研讨会论文集,2006.10.
[24]蔡耀成.无刷直流电动机中的霍尔位置传感器.微特电机,1999.5.
[25]涂有瑞.霍尔器件在汽车上的应用.汽车电器,2000.2.
[26]王念旭.DSP基础与应用系统设计.北京:北京航空航天大学出版社,2002.78-79
[27]TMS320C28X DSP Controllers CPU and Instruction Set Reference Guide,2003
[28]TMS320C28X DSP Controllers System and Peripherals Reference Guide,2003
[29]TMS320F28x DSP Event Manager(EV)Reference Guide,2003
[30]张卫宁.TMS320C28x系列DSP的CPU与外设[M].北京,清华大学出版社,2004.36-38
[31]Th.Ringler,J.Steiner,R.Belschner and B.H edenetz,Increasing Systems safety for by-wire Applications in Vehicles by using a Time Triggered Architecture,1998.
[32]FlexRayTM Consortium Being Formed to Drive Initiative for Advanced Automotive Communication System,2001:33-51.
[33]谢运祥.IR2130驱动器及其在逆变器中的应用.微电机,2001,34(2):50-52
[34]逢海萍.IR2130在PWM直流伺服系统中的应用.电气传动自动化,2001,23(3):20-22
[35]International Rectifier.1R2130 3-Phase Bridge Driver.Control Integrated Circuit Designer's Manual,2003:135-155
[36]陈朝辉,杜秀华.采用智能模块控制的电机变频调速.自动化仪表,2004
[37]曹正策,混合动力电动公交车动力系统的研制:[硕士学位论文].武汉:武汉理工大学汽车工程学院,2003
[38]Hong-xing Wu,Shu-kang Cheng,Shu-mei cui.A Controller of Brushless DC Motor for Electric Vehicle.IEEE Transactions on magnetics,2005,41(1):509-513.
[39]Bon-Ho Bae,Nitin Patel,Steven Schulz.New Field Weakening Technique for High Saliency Interior Permanent Magnet Motor.IEEE Transactions on Power Electronics,July 2003:898-901
[40]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社,2004.229-235
[41]章玮,姚维,潘再平等.数字信号处理器(DSP)在电机控制中的应用.中小型电机,2001.28(4):32-34
[42]汪锐.基于DSP芯片的永磁无刷直流电机控制器.微电机,2000,(4):43-46
[43]Joong H S,lck C.Commutation Torque Ripple Reduction in Brushless DC Motor Drives Using a Single DC Current Sensor[J].IEEE Trans on Power Electronics,2004,19(2):312-319
[44]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的影响.电机与控制学报,2003,7(2):87-91