- 學位論文
嵌入式電動車行車控制器設計及系統整合
The Design of Embedded Electric Vehicle Driving Controller and System Integration
摘要
本研究採用嵌入式系統ARM9 為核心之行車控制器，並搭配μC/OS-II作為即時作業系統，利用CAN Bus通訊技術作為傳輸訊息介面。使用μC/OS-II作業系統中的週期性時脈機制，依CAN Bus規劃之訊息循環率準確發送訊息給其他控制器模組，執行行車時所需的前進與後退驅動控制、轉向控制及煞車控制等行車所需的基本功能。其中CAN Bus通訊協定則參照SAE J1939架構，規劃出電動車之應用層架構。 本研究針對電動車CAN Bus網路之應用層規劃，藉以測試出符合電動車CAN Bus網路設計。CAN Bus網路系統整合測試包括獨立測試和整合測試，其中獨立測試為行車控制器模組與電動車各模組作個別測試，藉由各模組CAN Bus網路通訊連線，測試傳送及接收訊息的正確性與時間準確性。整合測試為全車各模組測試，包括行車控制模組、馬達控制器模組、能源管理模組及行車動態控制模組所組成電動車系統架構，其測試項目包括馬達作動測試與EPS馬達測試。測試結果顯示，各模組能夠準確發送及接收CAN Bus訊息，並使驅動馬達與EPS馬達能依命令訊號正常動作，符合本研究電動車通訊網路規劃之需求。
並列摘要
This study uses the ARM9 family embedded microprocessor as the core of the hardware architecture and collcates the timing mechanism of the μC/OS II real-time operating system as the software core to send message to various controller module accurately by using the CAN Bus communication interface technology according to the planed message cycle rate. Therefore, it can perform the required forward, backward, steering, braking, and control basic functions when the vehicle is driving. When we designed the CAN Bus application layer the SAE J1939 protocol is referred to. This study aimed at the planning of the application layer for electric vehicle to testify the accomplished design we have made to be conform to the requirement for the CAN Bus communication network. The CAN Bus network system integration includes an individual and the whole system integration test. By using the CAN Bus communication capability the individual test can check the correctness for the sent and received message as well as timing accuracy when individually connected to other control module of the electric vehicle. The system integration test connect the whole constituted system module for the electric vehicle including vehicle driving module, motor control module, power management system module and vehicle dynamic module. Their testing items include the spinning of the in-wheel driving motor and EPS motor. The results showed that the vehicle driving control module can accurately transmit and receive CAN Bus messages and the in-wheel driving motor and the EPS motor can correctly move following the command signals which is sent by the specific control module.