摘要
为了便于汽车研发工作,减少开发周期,搭建了基于实时仿真系统x PC-Target的汽车动力学硬件在环仿真实验平台。根据高精度车辆动力学仿真软件ve DYNA的Light车辆模型构架,自主开发了红旗HQ430型轿车车辆模型,并嵌入了方向盘、油门踏板、制动踏板和51单片机等硬件实物。最后采用51单片机作为硬件控制器,设计了基于PID控制算法的车辆横摆稳定性控制策略。针对驾驶员在高速紧急转向、低附着路面连续转向和对开路面转向等极限工况,进行了硬件在环仿真实验。实验结果表明,该硬件在环实验平台可以反应汽车动力学特性,能够在线的验证横摆稳定性控制算法的实时性及有效性。
In order to facilitate the vehicle research work and shorten the development cycle, a vehicle dynamic hardware-in-the-loop simulation test platform has been built based on the real-time simulation system xPC-Target. Based on the high-precision vehicle dynamics simulation software veDYNA, we develop Hong qi HQ430 vehicle model and embed steering wheel, accelerator pedal, brake pedal and 51 MCU. Based on the PID algorithm, the vehicle yaw stability control strategy is developed utilising 51 MCU. The hardware-in-the-loop experiments have been conducted while the vehicle is in states of high-speed emergency steering, low adhesion surface continuous steering, off-road steering and other extreme conditions. The results indicate that the hardware-in-the-loop test plat form is able to reflect the vehicle dynamic characteristics and validate the real-time performance and effectiveness of vehicle stability control strategy online.
出处
《控制工程》
CSCD
北大核心
2015年第3期375-381,共7页
Control Engineering of China
基金
国家自然科学基金重大研究计划集成项目(91220301)
教育部创新团队(IRT1017)
973课题(2012CB821202)
