基于CAN总线的底盘综合控制系统设计

Design of Chassis Integrated Control System Based on CAN Bus

设计了基于CAN总线的底盘综合控制系统,主要包括对整车、四轮驱动、转向系统和制动系统的控制器设计。采用CAN总线实现电动汽车各控制器间的通信,并完成了CAN网络应用层协议的制订。在综合考虑相关影响因素基础上,设计了各控制器的硬件,建立伪逆控制分配算法实现常规的控制量分配,以及必要时实现控制再分配,保证车辆的操纵稳定性。系统的仿真结果表明,该系统可有效地完成常规和再分配控制量,兼顾电动汽车的灵活与稳定。

This paper completed the design of chassis integrated control system based on CAN bus.The design includes the vehicle,four-wheel drive,steering system and brake system controller.The system adopts CAN bus to realize electric vehicle controller,the communication between each formulation and the application layer protocol of the CAN network is completed.After considering relevant factors,the controller hardware is selected,pseudo-inverse control allocation algorithm is established to realize conventional control allocation.In the necessary case,the control of redistribution can be realized to ensure that the vehicle steering stability.The simulation results show that the system can effectively complete the conventional and redistribution control quantity,and give consideration to the flexibility and stability of electric vehicles.