【作者】 杨小林；

【导师】 刘晓明； 张睿；

【作者基本信息】 重庆大学 ， 工程硕士（车辆工程领域）（专业学位）， 2016， 硕士

【摘要】 当今,由传统汽车引发的能源问题和环境污染日益严重,各国都积极地寻求解决方案,而纯电动客车正是有效方案之一。基于CAN总线的电机控制器(MCU)与整车控制器(VCU)是纯电动客车发展中的关键技术,也是推广中的技术难点。因此,亟需对MCU与VCU进行深入的研究。通过对当前的MCU与VCU研究现状进行分析,本文针对某城市客车完成了系统方案设计,包括参数匹配和控制策略制定。对动力源和电机进行了参数匹配,同时从底层、整车工作模式和CAN网络的角度对整车控制策略进行了设计,并利用模糊控制方法将行车模式划分为经济型、常规型和动力型,由此提升整车运行的经济性和动力性。为深入研究基于直接转矩控制(DTC)的电机及其驱动整车的性能,通过数学模型在Simulink软件上建立了简化的异步电机——整车动力学模型。由于简化模型没有考虑非线性因素对驱动过程的影响,故基于匹配参数和整车参数在ADVISOR软件上搭建了仿真平台,以验证整车的性能。根据设计的系统方案,本文选取了Freescale公司的MC9S08DZ60为MCU微控制器,MCU的软件设计主要分为系统初始化、转速采集和PWM波输出,完成了MCU节点的功能需求。VCU硬件选取NXP公司基于ARM内核的LPC1768为核心控制器,为增强软件的可扩展性,软件设计基于μC/OS-Ⅱ操作系统。在主程序的控制思想下,本文设计了CAN程序、信号采集程序和任务函数选择程序。其中,通过比较多种滤波算法的性能,提出了一种限幅滑动中值滤波算法。对异步电机——整车动力学模型进行仿真,验证了所设计的DTC的控制性能,和DTC控制电机驱动整车的可行性。ADVISOR仿真试验表明匹配参数较为正确,具有合理性和可行性,基本满足了拟定的初步指标。限幅滑动中值滤波算法性能测试结果较好,其窗口大小确定为5。最后系统实物模型试验,结果表明CAN网络通信正常,软件功能可靠,具有较好的效果,基本完成了预期的研发目标。更多还原

【Abstract】 Nowdays, with the energy and environmental problems that caused by traditional automotive becoming increasingly serious, many countries are seeking effective solutions actively, such as pure electric vehicles. It is Motor and vehicle control unit(MCU & VCU) based on CAN-bus that is not only the key technology of pure electric vehicle, but also the difficulty in promotion. Therefore, we must make in-depth study about MCU and VCU.By analyzing the research status of MCU and VCU, a system design for a city bus is carried out,including parameter match and control strategy design. Parameter match is calculated for power source and asynchronous motor. While control strategy is designed based on bottom, working mode and CAN network. And driving mode is divided into three types, which is consisted of the economy, normal, and power, by using fuzzy control to enhance vehicle economy and power.For studying asynchronous motor based the direct torque control(DTC) and its driving performance for vehicle, asynchronous motor model is established by the mathematical model in Simulink. Then simplified asynchronous motor- vehicle dynamics model is also established to test the driving performance of the motor model. Since vehicle dynamics model is too simplified to assess the effect of nonlinear factors in driving process, simulation platform is achieved in ADVISOR software to test the performance of vehicle by using match parameters and vehicle parameters finally.According to the system design, Freescale’s MC9S08DZ60 is selected as MCU’s microcontroller. And the functional of MCU node is completed by using software design, including system initialization, speed signal acquisition and PWM output. NXP’s LPC1768,which is based on ARM kernel, is selected as VCU’s key microcontroller. Software programing is designed on μC/OS-Ⅱ operating system platform to enhance scalability of software. Accoding to the control thought of main program, some programs and flow charts, which is consisted of CAN programing, signal acquisition and task selection, are designed. Meanwhile, by comparing the advantages and disadvantages betwwen some different filtering algorithm for speed, a limiting & sliding median filtering algorithm is proposed.The control performance of DTC designed and the feasibility motor-driven vehicle are verified by the simulation of Asynchronous motor- vehicle dynamics model. The match parameters are correct, reasonable and feasible which are verified by ADVISOR simulation tests, as well as basically meet the proposed indicators. By comparing the effect of different filtering algorithms for speed, the performance of limiting & sliding median filtering algorithm is better than other’s, whose window size is 5. The results of system phsical model tests show that the CAN network can communicate normally and software function is reliable, which has good effect. The development goals desired are basically completed.更多还原