摘要
针对后轮独立驱动轻型低速电动汽车协调控制问题,以阿克曼转向为基础建立了电子差速控制模型。CANoe-MATLAB接口软件可以整合CANoe和MATLAB的优势,在SIMULINK中将所建立的差速模型用对应的CAN模块进行封装,并自动生成执行代码。同时,在CANoe中建立电子差速与电机通信的CAN网络,将生成的DLL文件加载到CANoe电子差速节点中进行仿真验证。结果表明,该电子差速控制模型能够完成轻型低速电动汽车的差速功能。同时,验证了整个控制网络的有效性、实时性和准确性。该方法具有一定的扩展性,能够在开发实际控制器之前验证控制算法的正确性。
In order to solve the coordinated control of lightweight and low-speed EV（electric vehicle） drived by the independent dual-rear-wheel, a model of electronic differential was established on the basis of the Ackerman steering principle. The CANoe-MATLAB interface software can combine advantages of CANoe and MATLAB. The inputs and outputs of the model of electronic differential were replaced with the corresponding block in the Vector CANoe library. And the model was then compiled into a file with a.dll suffix in the SIMULINK. In the meantime, a controller area network was established in CANoe, including an electronic differential node and two motor controller nodes. Then the simulation was conducted in the circumstance of CANoe with the file ending in. dll. The result showed that this model of electronic differential can accomplish the functions and demands, and that the simulation is feasible, which can validate the control algorithm before designing the controller.
出处
《自动化与仪器仪表》
2015年第2期189-191,共3页
Automation & Instrumentation
基金
国家"863计划"资助项目(2012AA111106-02)
