摘要
基于传统汽车电动助力转向系统的基本结构,文中设计转向角度控制器模块和扭矩控制器模块,实现线控转向控制系统,以用于自动驾驶汽车的自动转向控制。其中转向角度控制器硬件使用STM32F4系列单片机,主要用于实时计算出转向扭矩值,实现转向角度的闭环控制;扭矩控制器模块主要由STM32单片机和扭矩信号生成电路构成,用于检测扭矩传感器输入及模拟扭矩传感器输出。分别设计转向角度控制器软件和扭矩控制器软件,最后在某轿车上部署测试,车辆的转向角度控制快速精准,实现了自动驾驶车辆平台的转向控制功能。
The design is about the steering-by-wire control system for realizing the automatic steering control of the automatic driving vehicle,based on the basic structure of the traditional electric power steering system,by adding the steering angle controller module and the torque controller module.STM32 F4 series single chip microcomputer is used in the hardware of steering angle controller,which is mainly used to calculate the steering torque value on real time and realize the closed-loop control of steering angle.The module of torque controller is mainly composed of STM32 single chip microcomputer and torque signal processing circuit,which is used to detect the input of torque sensor and the output of analog torque sensor.The steering angle controller software and torque controller software are designed respectively.Finally,the test is deployed on a car.The steering angle control of the vehicle is fast and accurate,and the steering control function of the automatic driving vehicles platform is realized.
作者
朱琳琳
张梦炎
张晓丹
俞侃
ZHU Lin-lin;ZHANG Meng-yan;ZHANG Xiao-dan;YU Kan(Department of Information Science and Technology,Wenhua College,Wuhan 430074,China;WISDRI Urban Construction Engineering&Research Incorporation Limited,Wuhan 430000,China)
出处
《信息技术》
2020年第8期45-49,54,共6页
Information Technology
基金
教育部科技发展中心高校产学研基金(2018A01004)
湖北省高等学校优秀中青年科技创新团队(T201735)
湖北省教育厅科学研究计划指导性项目(B2018336)
文华学院校科研基金项目(2018Y06)。
关键词
自动驾驶汽车
线控转向系统
角度控制器
扭矩控制器
automatic driving vehicles
steering-by-wire system
angle controller
torque controller
