Design And Realization Of The Automatic Drive Electric Vehicle Substrate Control System

Research on the Intelligent Transportation System become more and more popular and the Automatic Vehicle plays an important role in these researches. The substrate control system is the motion control part of the Automatic drive vehicle. It plays an important part in the automatic drive electric vehicle system. Based on an electric motor vehicle, the thesis build up the substrate control system with DSP controller as the kernel chip to realize automatic drive on the vehicle. This provides a platform to the other research.The main hardwired connection is designed and debugged. The work contains: select the main controller, analyze the steering motor and driving motor, design the communication system and the power system. The highlight is that through the analysis and experiment of the control property of series motor and separately excited motor, the separately excited motor is chosen to be the driving motor of the vehicle. CAN bus communication and USB bus communication are designed to improve the reliability and fault-tolerance ability of the communication system. Basis on these works, the control software for the control system is designed. The program of each function module is programmed and debugged. The speed control of the vehicle is studied. According to the comfortability requirement, the new PID algorithm with acceleration control is designed and demonstrated right with a lot of experiments.