电控悬架论文电控悬架的硬件在环仿真研究

1、电控悬架论文：电控悬架的硬件在环仿真研究【中文摘要】电控悬架核心部分就是ECU,即电控控制单元。以往对于ECU的开发采用串行开发模式,这种模式开发周期较长。现代电子产品更新速度愈来愈快,串行模式难以满足开发要求,因而V模式开发流程应运而生。硬件在环仿真(HIL)是一种硬件在线实时技术,它把实物通过计算机I/O接口与软件结合,并要求系统的软、硬件实时运行,能够真实的模拟实物实际的运行状况,既具有纯数字仿真的高效性,又具有实物实验的准确性,是V模式开发流程的关键技术。因此,对硬件在环仿真技术的研究具有重要现实意义。本文将某型轿车的电控空气半主动悬架系统作为研究对象,在对汽车及悬架系统性能分析的基础

2、上,在MATLAB/Simulink里建立了四分之一车悬架模型。通过试验的方法获取了减振器阻尼系数和空气弹簧的刚度,并将该电控悬架进行了台架试验,经过对试验数据的处理和分析,试验的结果表明通过试验所得到的减振器阻尼系数和空气弹簧的刚度值是理想的。基于V模式开发理念：首先,对电控悬架进行了功能设计和离线仿真,针对某型轿车的电控空气半主动悬架系统,设计适合于该电控悬架的模糊逻辑控制器,分别以随机位移信号、阶跃信号和正弦位移信号作为激励,进行了离线仿真,得到了被动悬架和电控半主动悬架的车身加速度对比曲线,结果表明电控半主动悬架系统比被动悬架具有更好的减振性能,同时也说明了本文所设计的模糊控制策略是可

3、行的,改善了乘坐舒适性。其次,为了进一步验证控制器的效果,利用西南交通大学汽车工程研究所和成都欧内斯特科技有限公司联合开发的电控半主动悬架试验平台,在该平台基础上,在宿主机中利用MATLAB/Simulink软件搭建了汽车电控悬架硬件在环仿真模型,然后把实物嵌入到闭环系统中。通过双机仿真模式,利用MATLAB实时工具xPC Target,将在宿主机中建立的硬件在环仿真模型经编译后下载到目标机中,以目标机来替代实际的电子控制单元(ECU)控制电控半主动悬架,实现电控悬架的硬件在环实时仿真。结果表明,本文所设计的模糊控制器具有一定的效果。【英文摘要】The ECU is the core part

4、 of Electronically controlled suspension, the Electronic Control Unit. In the past for the development of ECU serial development model, with a longer development cycle. The speed of modern electronic product updates more quickly, the serial model can not meet the development requirements, and then V

5、 model development process came into being. Hardware in Loop Simulation (HIL) is a hardware-line real-time technology, It is the kind of computer I/O interfaces and software integration, and require the system software and hardware running in real time, to simulate the real operating conditions in t

6、he actual physical. Both a computer simulation of the efficiency, but also has real experimental accuracy, V model is the key technology development process. Therefore, the hardware in the loop simulation study has important practical significance.This car will be a certain type of semi-active elect

7、ronically controlled air suspension system as the research object, In the automotive and suspension system performance analysis, based on the MATLAB/Simulink in the establishment of a quarter car suspension model. Test method to get through the shock absorber damping and stiffness of air springs and

8、 electronically controlled suspension of the bench test conducted after the test data processing and analysis, test results show that the damping obtained by experiment Control damping and air spring stiffness is correct.V model development based on the concept:Firstly, electronically controlled sus

9、pension by the functional design and offline simulation. For a particular cars electronic control semi-active air suspension system, designed for electronically controlled suspension of the fuzzy logic controller. Random displacement of each signal, the displacement step signal and sine signal as an

10、 incentive to carry out the off-line simulation, the passive suspension and electronically controlled semi-active suspension, body acceleration contrast curve. The results show that semi-active suspension system, electronically controlled suspension is better than passive damping performance, but al

11、so to illustrate that the fuzzy control strategy is feasible, can significantly improve the ride comfort. Secondly, in order to further verify the effect of the controller, the use of Southwest Jiaotong University Automotive Engineering Research Institute and Chengdu, anyest technic CO.Ltd.co-develo

12、ped semi-active suspension electronic control test platform, based on the platform, a host computer using MATLAB/Simulink software to build a vehicle electronic control suspension hardware in the loop simulation model, and then embedded into the closed-loop system in the physical. Two-machine simula

13、tion model by using real-time tool MATLAB xPC Target, will host the hardware in the loop simulation model established by the compiled downloaded to the target machine to target machine instead of the actual electronic control unit (ECU) controlled electronically controlled semi-Active suspension, el

14、ectronically controlled suspension to achieve hardware in the loop simulation, results show that the fuzzy controller has a certain effect.【关键词】电控悬架 V模式 硬件在环仿真 模糊控制 xPC Target【英文关键词】Electronically controlled semi-active suspension V model HIL Fuzzy control xPC Target【目录】电控悬架的硬件在环仿真研究摘要6-7Abstract7-8

15、第1章 绪论12-211.1 电控悬架控制方法及其研究现状12-151.2 硬件在环仿真技术15-171.2.1 V模式的开发方法15-171.2.2 硬件在环仿真技术开发方法171.3 汽车电子硬件在环仿真技术国内外现状分析17-191.4 本文主要研究内容19-21第2章 汽车悬架模型的建立及验证21-312.1 电控悬架的类型212.2 电控悬架的功能21-222.2.1 减振力和弹簧刚度的控制21-222.2.2 车身高度的控制222.3 电控悬架的结构与工作原理22-252.3.1 电控悬架的组成22-232.3.2 电控悬架的工作原理23-252.4 路面谱模型的建立25-262.

16、5 汽车被动悬架和半主动悬架动力学模型26-282.5.1 两自由度的单轮车辆动力学模型26-272.5.2 二自由度被动悬架Simu¨nk模型的建立27-282.6 四分之一车悬架模型的验证28-292.6.1 试验目的282.6.2 试验步骤282.6.3 试验参数282.6.4 试验与仿真结果的对比28-292.7 本章小结29-31第3章 电控悬架系统特性试验及分析31-433.1 电控悬架特性试验31-323.1.1 试验目的313.1.2 试验系统31-323.1.3 试验条件323.1.4 试验方案323.2 试验数据处理32-373.2.1 可调减振器阻尼32-363.2.2 空气弹簧刚度36-373.3 减振器阻尼与步进电机转角间的关系37-383.4 验证电控悬架的参数38-423.4.1 试验目的383.4.2 试验方案383.4.3 数据处理38-423.5 本章小结42-43第4章 电控悬架系统的功能设计及离线仿真43-544.1 模糊理论概述43-444.2 模糊控制器的设计44-474.2.1 模糊控制器的组成444.2.2 输入输出变量的模糊化44-464.2.3 确定模糊控制规则46-474.3 二自由度半主动