采用CAN总线的双电机同步控制雨刷系统控制器
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摘要
目前汽车上普遍采用的单电机雨刷系统是通过机械连接实现的雨刷臂同步摆动,这种结构具有占用空间大和故障时维修不便等缺点,采用的双电机雨刷系统克服了这些不足,同时还减小了系统的重量和机械噪音,但必须采用合理的方式解决双电机的运行同步问题。针对这一问题,设计了采用CAN(controller area network)总线的双电机同步控制雨刷系统控制器。搭建了控制器各部分的硬件电路,依据雨刷臂摆动过程中约束条件,建立了参考运行轨迹,并通过曲线拟合的方式将实验采集到的雨刷臂的位置信息绘制成实际运行轨迹。通过主从同步控制方式,采用CAN总线作为两侧控制器信息传递的通讯总线,解决了双电机的同步控制问题,并在实际车辆上进行了相关实验,且已投入使用。实验结果表明:采用CAN总线的双电机雨刷系统控制器能够实现雨刷臂同步稳定运行,并且能够对其参考运行轨迹进行密切跟踪。
Single-motor wiper system through a mechanical connection to swing synchronously is widely used.This structure has the disadvantages such as large space occupation,inconvenient maintenance and so on. Dualmotor wiper system overcomes all these problems and reduces the system weight and mechanical noise,but reasonable solution of synchronous operation should be adopted. To solve this problem,this design adopted dualmotor synchronous control wiper system based on CAN(Controller Area Network) bus. The circuit of the controller was built and the reference trajectories of wiper arms were established according to the constraints of the swing process while the actual trajectory was drawn through fitting the collected position information. Based on the CAN bus,the dual-motor synchronous control was realized through master-slave synchronous control method. The results of experiments show that: dual-motor wiper system controller based on CAN bus could achieve synchronous operation of the wiper arms tracking those reference trajectories.
Single-motor wiper system through a mechanical connection to swing synchronously is widely used.This structure has the disadvantages such as large space occupation,inconvenient maintenance and so on. Dualmotor wiper system overcomes all these problems and reduces the system weight and mechanical noise,but reasonable solution of synchronous operation should be adopted. To solve this problem,this design adopted dualmotor synchronous control wiper system based on CAN(Controller Area Network) bus. The circuit of the controller was built and the reference trajectories of wiper arms were established according to the constraints of the swing process while the actual trajectory was drawn through fitting the collected position information. Based on the CAN bus,the dual-motor synchronous control was realized through master-slave synchronous control method. The results of experiments show that: dual-motor wiper system controller based on CAN bus could achieve synchronous operation of the wiper arms tracking those reference trajectories.
引文
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[2]邵卫.汽车雨刷机构创新设计研究[J].现代制造技术与装备,2016(1):32-33.
[3]JEAN L.On the Synchronization of a Pair of Independent Windshield Wipers[J].IEEE Transactionson Control System Technology,2004,12(5):787-795.
[4]张生平,刘继,杜琛.新型城市轨道车辆雨刮器的研制[J].城市轨道交通研究,2013(10):48-49.
[5]CATALIN A,CLAUDIU P.Dynamic Modeling and Control of the Windshield Wiper Mechanisms[C].Wseas Transactions on Systems,2009:825-834.
[6]徐明浩.双电机雨刷器硬件平台与控制算法研究[D].长春:吉林大学,2012:24-34.
[7]RAHUL D Pawar,SHAH S K.A Review:Front Windshield Wiper Controller System for Synchronisation of Two Wiper Motors[C]//International Conference on Pervasive Computing(ICPC).University of Southern California,2015:100-105.
[8]BOUDJIT K,LARBES C.A New A approach for Synchronisation Multiple Motors using DSP[C]//International Conference on Systems,Signal Processing and Electronics Engineering(ICSSEE),Dubai,2014:216-220.
[9]赵海燕,陈虹,李姝,等.基于微分平坦的双电机雨刷系统控制器设计[C]//Proceedings of the 29th Chinese Control Conference,Beijing,July 2010:29-31.
[10]蒋磊.双电机驱动雨刷系统控制方法研[D].哈尔滨:哈尔滨工业大学.2014:34-38.
[11]王仲文,马原,段瑞珍,等.智能窗CAN总线控制系统设计[J].哈尔滨理工大学学报,2013,18(4):20-24.
[12]杨建军.CAN总线技术在汽车中的应用[J].上海汽车,2007(6):32-34.
[13]朱元,肖宇,吴志红.基于XC886单片机的门控系统LIN总线通信模块设计[J].电子元器件应用,2009(8):25-28.
[14]黄俭波,朱文.AT25256与XC886的接口设计与实现[J].自动控制与检测,2011(5):56-59.
[15]曹平军,于晓东,窦珂,等.基于MLX90316的磁性角度传感器设计[J].电子世界,2013(18):135-136.