Electric-wheel Vehicle Chassis Integrated Control Based On CAN Bus

Electric-wheel vehicles have a great advantage in improving capacity of driving and maneuverability which used in-wheel motor to drive, due to chassis structure of electric-wheel vehicle is different from traditional fuel vehicle, which sets higher requirements to the chassis integrated control system. With the funding of Shenyang science project(F12-277-1-11) “The Key Technology of Differential and Handling Stability Control on Four-wheel Driving Electric Vehicle Drived by Doubly-Fed Motor”, the chassis integrated control system has been researched and designed.According vehicle dynamics to build four-wheel-driving electric-wheel vehicle seven degrees of freedom nonlinear vehicle dynamic model. Based on the vehicle model, active front system(AFS), anti-braking system(ABS) and direct yaw-rate control system(DYC) have been designed respectively and independently, the results of simulation show that the control systems could improve vehicle stability effectively.The chassis integrated control system design scheme which is proved used coordination control structure. AFS and DYC are coupled with each other, to display their respective advantages, there are a large number of simulations and analyzing, and deciding their own effective workspace. Recognizing vehicle driving cycle, and distributing logical missions based on the application workspace of each subsystem. To coordinate the weight of AFS and DYC based on the fuzzy algorithm and realize the soft switching of their control, designing coordination control system. The resualts of simulation show that the chassis integrated control system which is designed could improve vehicle lateral stability when vehicle steering.To improve test accuracy of the chassis integrated control system, establishing a hardware-in-the- loop simulation platform of the chassis integrated control system based on the xPCTarget. The platform main included: target mashine, host mashine, data acquisition card, upper controller and under controller. Host mashne downloads vehicle model which is switched C code to target mashine throughing TCP/IP; data exchange between hos t mashine and controller with data acquisition; data exchange between upper controller and under controller C AN-bus technology. The results of communication test show that the hardware-in-the- loop platform which is designed has a great profornance.