基于TrueTime的分布式主动转向网络控制的仿真研究  

A Simulation Study on the Active Steering Control with Distributed Network Based on TrueTime

作　　者：孙宁[1,2] 陈南[1] 王金湘[1] 张丙军 钟国华 

机构地区：[1]东南大学机械工程学院,南京211189 [2]南京林业大学汽车与交通工程学院,南京210037 [3]上汽集团南京汽车工程研究院,南京210028

出　　处：《汽车工程》2011年第6期531-536,共6页Automotive Engineering

基　　金：国家自然科学基金项目(50975047,50575041);江苏省“六大人才高峰”项目(2008148);南京汽车集团研发基金项目(20070101)资助

摘　　要：为揭示网络的介入对系统控制性能的影响,首先基于MATLAB/Simulink和滑模控制理论,建立了2自由度线性车辆模型和8自由度非线性车辆模型,设计了主动转向控制器。接着,提出了基于CAN网络通信的分布式主动转向控制网络架构,应用仿真工具箱TrueTime建立了网络控制系统模型,在不同网络服务品质下对网络控制性能进行了仿真分析。结果表明,不同网络环境对系统控制性能具有不同程度的影响,通信负载一定时,通信时延和数据丢包是网络产生不良影响的主要因素,在系统设计时应予以考虑。For revealing the effects of network involvement on system control performance,firstly 2 DOF linear vehicle model and 8 DOF nonlinear vehicle model are set up and an active steering controller is designed based on MATLAB/Simulink and sliding mode control theory.Then a distributed network configuration for active steering control based on CAN network communications is proposed,a network control system model is built by using simulation tool box TrueTime,and a simulation on network control performance with different network service qualities is conducted.The results indicate that different network environments have effects on system control performance to different extents,the communication delay and data package missing are the main factors of adverse effects caused by network,which have to be considered in system design.

关 键 词：主动转向控制 分布式网络控制 控制器局域网 TRUETIME 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]