CAN时滞对汽车ABS模糊控制的影响

孙宁; 陈南; 张丙军; 皮大伟; 钟国华

doi:10.3969/j.issn.1671-7775.2010.04.006

PDF(426 KB)

江苏大学学报（自然科学版） ›› 2010, Vol. 31 ›› Issue (4) : 397-402. DOI: 10.3969/j.issn.1671-7775.2010.04.006

论文

CAN时滞对汽车ABS模糊控制的影响

作者信息 +

Effects of CAN communication delay on ABS fuzzy control

Author information +

文章历史 +

摘要

基于有限状态机（FSM）理论,在MATLAB/Simulink/Stateflow仿真环境下,建立了适合车辆底盘集成控制系统的CAN网络通信模型,分析了网络信息帧在最坏情况时的最大时滞。将该模型应用于7自由度车辆ABS控制模型,对比研究了控制器在3种典型单一路面和对接路面情况下,采用CAN网络通信时,信息的通信时滞及丢帧对ABS控制器控制车轮滑移率性能的影响,并记录了所有信息帧的通信时滞时间.仿真结果表明,在低附着系数路面上,通信时滞效应会加剧车轮滑移率控制的不稳定性,虽然存在丢帧现象,但控制器仍能够保证车辆制动的有效性.

Abstract

The Controller Area Network （CAN） communication simulation model of vehicle chassis integrated control system was established based on FSM theory in MATLAB/Simulink/Stateflow, and the maximum transmission time of the frame under the worst case scenario was analyzed. The network commutation model was applied on the vehicle of 7 degree of freedom for Anti-lock Braking System control models, and the effect of CAN message transmission delay on the slip ratio was investigated under the condition of three typical single adhesion road and changing adhesion road respectively. All of the CAN message transmission delay were recorded. The simulation results show that the instability of slip ratio caused by transmission delay under low friction road is more serious than under high friction load; however, the controller can still guarantee the vehicle＇s stability in braking process under losing frames conditions.

导出引用

孙宁, 陈南, 张丙军, 等. CAN时滞对汽车ABS模糊控制的影响[J]. 江苏大学学报（自然科学版）, 2010, 31(4): 397-402 https://doi.org/10.3969/j.issn.1671-7775.2010.04.006

Sun Ning, Chen Nan, Zhang Bingjun, et al. Effects of CAN communication delay on ABS fuzzy control[J]. Journal of Jiangsu University(Natural Science Edition), 2010, 31(4): 397-402 https://doi.org/10.3969/j.issn.1671-7775.2010.04.006

参考文献

[1]Sevillano J L,Pascual A,Jimenez G,et al.Analysis of channel utilization for controller area network[J].Computer Communication,1998,21:1446-1451.
[2]Ronald G.Design and analysis of CAN network for vehicles[C] ∥SAE Technical Paper Series.USA:SAE Publication Group,Paper Number:2000-01-2585.
[3]Pinho L M,Vasques F.Reliable real-time communication in CAN network[J].IEEE Transaction on Compu-ters,2003,52(12):1594-1607.
[4]Schmidt K,Schmidt E G.Systematic message schedule construction for time-triggered CAN[J].IEEE Transactions on Vehicular Technology,2007,56(6):3431-3441.
[5]李雅博张俊智卢青春.混合动力电动汽车车上CAN网络设计实时性分析[J].汽车工程,2005,27(1):16-19.
[6]宋磊郑荣良.汽车局域网CAN总线在客车上的应用研究[J].江苏大学学报：自然科学版,:.
[7]张新波孙泽昌罗峰.使用CANoe对车身控制器局域网络仿真的研究[J].江苏大学学报：自然科学版,2003,24(5):.