Automatic Cruise Control of a Mechatronically Steered Vehicle Convoy

In this paper a convoy of two vehicles is considered where the second one is mechatronically operated. The convoy model used for simulation and controller design is derived by the method of multibody systems. A nonlinear cruise controller based on the concept of flat outputs in connection with exact state linearization is derived. A nonlinear local observer is also implemented. It is shown that such a system responds properly to arbitrary maneuvers performed by the driver of the leading vehicle.     

Automatic Cruise Control of a Mechatronically Steered Vehicle Convoy

In this paper a convoy of two vehicles is considered where the second one is mechatronically operated. The convoy model used for simulation and controller design is derived by the method of multibody systems. A nonlinear cruise controller based on the concept of flat outputs in connection with exact state linearization is derived. A nonlinear local observer is also implemented. It is shown that such a system responds properly to arbitrary maneuvers performed by the driver of the leading vehicle.     

纯电动汽车整车控制策略

整车控制器是纯电动汽车的核心部件之一,是整车的控制中心.为了更加深入研究纯电动汽车整车控制策略,文章介绍了纯电动汽车整车控制系统基本组成结构,并对整车控制器策略进行了详细的分析,阐述了整车控制器应用的开发流程.该整车控制器及其控制策略的设计和研发方法,对整车系统的开发具有较强的指导意义.     

纯电动汽车整车控制器硬件设计

整车控制器是纯电动汽车的核心部件,它在电动汽车的正常行驶、制动能量回收、网络管理、故障诊断以及安全运行等方面起着关键作用.根据整车控制器的功能需求与可靠性要求,通过安全监控芯片CIC61508与控制器TC1782的搭配使用,使整车控制器的可靠性达到ISO26262定义的ASIL-D的安全等级.实现了整车控制器功能性与可靠性的高度统一,提高了整车的性能与能量的利用率.     

电动汽车整车控制器自动检测技术

基于PXI的一种专为工业数据采集与自动化应用量身定制的模块化仪器平台在汽车电子产品的测试领域被广泛应用.文章在此基础上介绍了一种简易的电动汽车整车控制器自动检测技术.利用PXI模块化仪器模拟电动汽车运行时的电气系统的各个信号,通过与整车控制器进行应答式的信息交互的方法来对整车控制器进行检测.同时,文章对检测电路的电气原理,用于检测的数据流向,以及检测方法等进行了详细说明.     

Slip-Angle Estimation for Vehicle Stability Control

Recently, some direct yaw-moment control systems have been in development. Obviously, such systems need accurate slip-angle information. This paper describes a strategy of vehicle slip angle estimation. The difficulty in slip angle estimation is due to nonlinear characteristics of tyres and influence of relative slant of the road surface. To solve this difficulty, a combined method of model observer and direct integration method is proposed. In this method, two kinds of values of the side forces of the wheels are provided, i.e., direct detected values by the G-sensor and values from a tyre model. Then those values are combined appropriately which results in the combination of model observer and direct integration. A feedback algorithm, redesigned to suppress the influence of tyre model error, is applied in the observer. Considering interference of road surface and its avoidance, road slant angle is estimated and consequently vehicle model is corrected. The estimated value of the road friction coefficient is given by the acceleration, and an adequate bias, depending on yaw-deviation, is added. The calculation method of reference yaw-velocity is improved, in order to avoid interference of road slant and variation of dynamic characteristic of vehicle.     

Slip-Angle Estimation for Vehicle Stability Control

Recently, some direct yaw-moment control systems have been in development. Obviously, such systems need accurate slip-angle information. This paper describes a strategy of vehicle slip angle estimation. The difficulty in slip angle estimation is due to nonlinear characteristics of tyres and influence of relative slant of the road surface. To solve this difficulty, a combined method of model observer and direct integration method is proposed. In this method, two kinds of values of the side forces of the wheels are provided, i.e., direct detected values by the G-sensor and values from a tyre model. Then those values are combined appropriately which results in the combination of model observer and direct integration. A feedback algorithm, redesigned to suppress the influence of tyre model error, is applied in the observer. Considering interference of road surface and its avoidance, road slant angle is estimated and consequently vehicle model is corrected. The estimated value of the road friction coefficient is given by the acceleration, and an adequate bias, depending on yaw-deviation, is added. The calculation method of reference yaw-velocity is improved, in order to avoid interference of road slant and variation of dynamic characteristic of vehicle.     

混合动力车辆控制策略研究

针对某串联混合动力装甲车,建立了以燃油消耗最小化为目标的最优控制模型,应用动态优化算法对问题进行求解.选择某重型车辆典型城郊工况CYC-CSHVR进行仿真分析,并将结果与"恒温式"控制策略的结果作比较,结果表明动态规划算法的燃油经济性比"恒温式"有较大提高.最后根据仿真分析,得到该串联混合动力装甲车的发动机输出功率与需...     

AMT车辆巡航模糊神经网络控制

巡航控制系统是一个复杂的变参数非线性系统,因此很难获得其精确数学模型。基于精确数学模型控制的现代控制论和古典控制论很难解决这一问题,本文利用模糊神经网络在不能获得精确数学模型的非线形系统中能够达到最优控制的特性,建立了车辆巡航模糊神经网络控制模型,并对其离线训练后应用于AMT车辆巡航控制,取得满意效果。     

AMT车辆自动巡航控制系统

车辆自动巡航即指当车辆在高速公路上行驶时，驾驶员即使不踏加速踏板，车辆仍可按驾驶员所希望的车速自动保持行驶的功能。运用该系统可以减轻驾驶员因长时间控制油门而产生的疲劳，从而减少或避免了交通事故的发生；同时又避免了不必要的油门变动，从而改善了车辆的燃料经济性和排放。本文开发了基于机械式自动变速器的车辆巡航电控系统，并且在装有机械式自动变速器的桑塔纳２０００试验样车上进行了道路巡航试验，取得满意结果。     

某混合动力汽车整车控制器硬件设计

整车控制器是混合动力汽车的核心部件,负责车辆各个控制单元的信息交互、网络管理,控制车辆安全行驶.英飞凌主控芯片TC265配合安全监控芯片ATIC139,提高了整车控制器的可靠性.     

ISG混合动力汽车整车控制器的设计

根据ISG用于带增压柴油机的混合动力汽车的特点,设计了基于CAN总线的ISG混合动力汽车的整车控制器,包括硬件的模块化设计、CAN总线的应用设计及针对废气涡轮增压柴油机的ISG混合动力汽车控制策略设计,并且详细介绍了其硬件设计方法以及部分主要模块和算法的程序流程图.实验结果表明,该控制器功能强大、性能可靠,能准确实现带增压柴油机的ISG混合动力汽车的整车控制策略.     

电动汽车矢量控制的模糊-PID复合控制方式

在异步电机矢量控制方法的基础上，提出了电动汽车交流异步电机驱动矢量控制系统的模糊－PID复合控制方式，以使汽车在起步和加速时获得最大的加速度，并设计了具体的控制策略。然后基于MATLAB／SIMULINK仿真平台建立了整个控制系统的仿真模型，并给出了仿真结果。结果表明，采用模糊PID矢量控制的交流驱动电动汽车在各种附着系数路面均具有良好的起步、加速和稳速性能。     

插电式燃料电池轿车整车控制策略研究

针对插电式燃料电池轿车系统方案,设计了整车能量管理策略,燃料电池系统工作在准稳态,提高了燃料电池寿命和系统效率;设计了整车转矩控制策略,包括驻坡、再生制动、怠速爬行等功能,以满足整车驾驶性能要求;设计了故障诊断策略,以满足整车安全和可靠性的要求.最后利用试验结果对设计的控制策略进行了验证.     

混合动力汽车整车控制器开发与试验

基于飞思卡尔公司的双核微控制器9S12XDT512开发了一款通用的混合动力汽车（HEV）整车控制器（VehicleControl Unit-VCU）,设计时考虑硬件的通用性,使之能够适用于多种混合动力汽车的整车控制。为验证VCU功能,本文以某款并联混合动力公交车为控制对象,在基于dSPACE的硬件在环仿真系统上进行了一系列仿真试验。试验结果表明：VCU能够准确地控制整车实现混合动力工作状态,进而验证了VCU硬件的有效性。     

纯电动轿车整车驱动控制策略开发实践

针对纯电动轿车系统方案,设计了整车驱动控制策略,包括加速转矩控制、制动能回馈、驻坡、怠速爬行等功能,以满足整车驾驶性能要求,最后通过道路试验数据对设计的控制策略进行验证.     

汽车转向控制

本文研究侧偏角有约束条件下，汽车四轮转向控制系统的设计问题。根据汽车转向动力学的特点，建立了具有不确定的汽车转向模型，给出了车体质心处侧偏角有约束条件下，二自由度鲁棒四轮转向控制器的设计方法，最后基于ＬＭＩＴｏｏｌ给出了控制器的迭代算法，并给出了仿真计算实例。     

Fault Diagnostics for GPS-based Lateral Vehicle Control

Summary This paper develops a fault diagnostic system to monitor the health of the lateral motion sensors on an instrumented highway vehicle. The fault diagnostic system utilizes observer design with the observer gains chosen so as to ensure that each sensor failure causes estimation errors to grow in an unique direction. The performance of the fault diagnostic system is verified through extensive experimental results obtained from an instrumented truck called the “Safetruck”. The fault diagnostic system is able to monitor the health of a GPS system, a gyroscope and an accelerometer on the Safetruck. It can correctly detect a failure in any one of the three sensors and accurately identify the source of the failure. A GPS-based geographic database containing information on road coordinates, curvature and bank angles plays a key role in ensuring accurate experimental performance of the observers.