基于dSPACE的4WS车辆硬件在环控制仿真研究  

Study on Hardware in Loop Control Simulation for Four-wheel Steering Vehicle Based on dSPACE

作　　者：陈建松[1] 陈南[1] 殷国栋[1] 任祖平[1] 

机构地区：[1]东南大学机械工程学院,南京210096

出　　处：《系统仿真学报》2010年第7期1622-1626,共5页Journal of System Simulation

基　　金：国家自然科学基金(50575041);Ford-NSFC福特-中国研究与发展基金(50122153)

摘　　要：基于Matlab/Simulink/dSPACE开发了四轮转向(4WS,Four-wheel Steering)车辆控制系统的硬件在环仿真(HILS,Hardware In the Loop Simulation)快速开发平台。在此平台的基础上,利用HILS技术实现了各控制算法鲁棒性能的评价和实际车辆执行电机死区的控制,结果表明基于μ综合鲁棒控制方法有较好的综合性能。因此设计开发的4WS硬件在环仿真开发平台为先进控制算法的分析与设计、开发和评价及ECU的开发提供理论指导和技术支持。A Hardware in the Loop Simulation（HILS） platform for four-wheel steering（4WS） based on Matlab/Simulink/dSPACE was developed,which could realtimely adjust the control parameters and measure the different inputs and response.With the HILS platform,the robustness and other performances for different control arithmetics were compared and operating motor deadtime for real vehicle was controlled.The results show that the μ-synthesis robust controller has better general performance.So the platform provides the theory direction and the technology support for analysis,design,development and estimate of advanced control arithmetic and design of ECU.

关 键 词：四轮转向 硬件在环仿真 DSPACE 鲁棒控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] U461.6[自动化与计算机技术—控制科学与工程]