CN101181894A - ABS brake anti-lock device based on DSP56F8346 - Google Patents
ABS brake anti-lock device based on DSP56F8346 Download PDFInfo
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- CN101181894A CN101181894A CNA2007100603028A CN200710060302A CN101181894A CN 101181894 A CN101181894 A CN 101181894A CN A2007100603028 A CNA2007100603028 A CN A2007100603028A CN 200710060302 A CN200710060302 A CN 200710060302A CN 101181894 A CN101181894 A CN 101181894A
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Abstract
The invention provides an ABS brake anti-lock device based on DSP 56F8346. The device comprises an electric control device which takes the high-performance digital signal processor 56F8346 as a CPU, a vehicle wheel rotation speed sensor and a hydraulic system. The electric control device outputs sine wave electric signals according to the four vehicle wheel rotation speed sensors; the signals are then converted to the counting pulses in direct proportion with the wheel speed through a hardware circuit; the CPU collects the counting values and calculates the rotation speed of the four vehicle wheels; the electric control device controls the work of the hydraulic system according to a certain control principle, thus respectively implementing the anti-lock brake and control to the two front wheels respectively and the two rear wheels synchronously and implementing the safe deceleration and the stable driving of the vehicle. The ABS brake anti-lock device of the invention implements the intelligentization and the integration and has wide market application prospect.
Description
[technical field]:
The invention belongs to the auto electronic control technology field, realize a kind of abs braking anti-lock device based on DSP56F8346.
[background technology]:
The abs braking anti-lock device is a class vehicle active safety feature, be used for the transportation means that travels is carried out control of braking, being widely used in industries such as highway communications such as car, motor bike, passenger vehicle and lorry, train and railway transportation and aircraft dispatch, is the visual plant in the electron steering.
Anti-blocking brake system is used for the train of 20 beginnings of the century the earliest, and the steel wheel locking causes local friction when preventing train braking, and heat is concentrated and caused wheel and rail early failure to damage.Afterwards, the ABS device was used aboard, prevent to land the back braking deviation or before plant, shorten coasting distance.Before and after World War II, developed the Purely mechanical anti-lock brake system of automobile.The Eltec of the sixties in last century has solved a complicated logic control difficult problem, but function and performance are subjected to the restriction of machine manufacture and Analog Electronics Technique level; In addition, cost and reliability become the major cause of restriction practical application abs braking anti-lock device.To the beginning of the seventies, ABS appears in the optional equipment of luxury car; In the later stage eighties, the application of ABS on automobile is more and more general, has become the standard facility of most type automobiles.At present, the passenger vehicle of West Europe and North America and lorry are standard configurations, and the equipment rate of ABS reaches 100%, and the equipment rate of car is about 80%.This is the impetus of rules on the one hand, and all there are corresponding rules in Europe and North America related organization, guarantees the entrucking rate of sedan-chair passenger vehicle and lorry abs braking anti-lock device, is that people give birth to the awakening that can realize to automotive safety on the other hand.At present, there is the laws and regulations requirement of forcing equipment abs braking anti-lock device in China to passenger and freight car, and the equipment rate of the vehicle ABS of new production reaches 100%; In the domestic car, medium-to-high grade car basic equipment abs braking anti-lock device.
At present, the abs braking anti-lock device generally is made up of three parts: electronic control package, hydraulic efficiency pressure system, wheel speed sensor.Its principle of work is: the output signal that electronic control package receives from wheel speed sensor calculates vehicle wheel rotational speed, and according to the moving velocity of vehicle wheel rotational speed signal estimation vehicle, gather the brake signal of brake pedal, adopt suitable control policy and control algorithm, the electromagnetic valve action of controlled hydraulic system and the start and stop of motor-drive pump, the brake fluid pressure of regulator solution pressing system, make brake cylinder work, thereby control brake shoe plate locking or unclamp wheel, being in of wheel connected roll the sliding rotary state of band, reach and make vehicle safety, Reduced Speed Now apace, shorten stopping distance, improve the purpose of road-holding property.
Existing abs braking anti-lock device mainly adopts with the control algorithm based on Threshold Control Method of cireular frequency as controlled variable, various threshold values and dwell time all are the empirical values that draws through repetition test under the different road conditions of this algorithm, the ten minutes clear theory foundation is not controlled quality and is difficult to guarantee; And this control algorithm is a kind of open loop control, the empirical data that needs a large amount of financial resources of consumption and material resources could pass relevantly, and cost is higher.
[summary of the invention]:
The objective of the invention is to realize vehicle ' braking anti-lock function, a kind of abs braking anti-lock device based on DSP56F8346 is provided.
For achieving the above object, the invention discloses a kind of abs braking anti-lock device based on DSP56F8346, comprise electronic control package, wheel speed sensor and hydraulic efficiency pressure system, it is characterized in that described electronic control package comprises: vehicle wheel rotational speed testing circuit, A/D change-over circuit, speed-slackening signal Acquisition Circuit, central processing circuit, driving circuit for electromagnetic valve, motor-drive pump driving circuit, status alert circuit and communication interface circuit based on DSP56F8346; Wherein:
Described vehicle wheel rotational speed testing circuit: detect the wheel rotative speed by wheel speed sensor, with detected sine wave signal isolate, the input central process unit is counted after amplification, filtering and the shaping;
Described A/D change-over circuit, the temperature of detective liquid pressing system and pressure signal, and with signal amplify, the A/D modular converter of input central process unit after the filtering;
Described speed-slackening signal Acquisition Circuit, the switching value signal of collection brake pedal is through the digital input port of input central process unit after isolation, the filtering;
Described central processing circuit, image data to vehicle wheel rotational speed testing circuit, A/D convertor circuit and the input of speed-slackening signal Acquisition Circuit is carried out calculation process, and control signal is transported to driving circuit for electromagnetic valve through the photoelectricity isolated location, control electromagnetic valve driving circuit, pump driving circuit and communication interface.
Advantage of the present invention and good effect:
1, utilizes high performance digital signal process chip DSP 56F8346 to realize the abs braking anti-lock device, improve the driving safety of vehicle, increase vehicle handling stability;
2, the present invention can adopt the anti-interference process measure, the rotative speed of accurate Calculation wheel according to the sine wave signal of wheel speed sensor output;
3, according to the rotative speed of four wheels, make full use of the high speed data processing capacity of DSP56F8346, adopt kalman filter method, accurately estimate the moving velocity of vehicle.
4, the present invention is with wheel slip controlled variable the most, and the slew mode of control wheel maintains near the optimization point 20% wheel slip.
5, set up slip rate predictive control math modeling.The slip rate of at first given wheel is 20%, according to the current vehicle wheel rotational speed and the estimation speed of a motor vehicle, estimates to analyze condition of road surface, calculates the slip rate of each current wheel.If the slip rate that calculates is not equal to 20%, electronic control package will be implemented Prediction and Control Technology according to slip rate predictive control math modeling, different wheel is implemented anti-lock control, calculate the currency of slip rate and the difference of expected value, the adjusting control value maintains about 20% slip rate.Promptly use Prediction and Control Technology, make the actual slip rate of wheel and the error of forecast model output carry out feedback compensation, online rolling optimization controlled variable, slip rate is controlled near 20%, the enhanced system robustness realizes safety traffic and the enhancing vehicle handling stability of vehicle under the braking situation;
6, reduced measurement, processing and control hysteresis and the not high defective of precision that causes with the restriction of common microprocessor processing speed, made the The whole control device have good Performance And Reliability;
7, ECU (Electrical Control Unit) hardware circuit of the present invention is simple, integrated level is high, the wheel revolutions counting is safe and reliable, precision of real time control is high, can improve the stability and the reliability of device greatly;
8, whole abs braking anti-lock device adopts modular design, select the control core of the DSP56F8346 of Freescale company chip for use as system and device, and have demarcation and monitor-interface and with the communication interface of other controller of vehicle, improved the comfort feature of the monitoring and the demarcation of system; The external interface of ECU (Electrical Control Unit) adopts photoelectricity to isolate as far as possible, has improved the reliability of device;
9, abs braking anti-lock device of the present invention has been realized intellectuality, digitalisation, intelligent diagnostics.
[description of drawings]:
Fig. 1 is based on the abs braking anti-lock device scheme drawing of DSP56F8346;
Fig. 2 is the electronic control package block diagram.
Fig. 3 is an ABS device hydraulic efficiency pressure system scheme drawing;
Fig. 4 is an abs braking anti-lock device central data treatment circuit constructional drawing;
Fig. 5 is an abs braking anti-lock device system power supply circuit;
Fig. 6 is a vehicle wheel rotational speed testing circuit constructional drawing;
Fig. 7 is A/D converting circuit structure figure;
Fig. 8 is the solenoid valve control circuit constructional drawing;
Fig. 9 is a speed-slackening signal Acquisition Circuit constructional drawing;
Figure 10 is motor-drive pump driving circuit structure figure;
Figure 11 is the status alert circuit structure diagram;
Figure 12 is communication interface (RS232 and CAN bus) circuit structure diagram.
[specific embodiment]:
A kind of abs braking anti-lock device based on DSP56F8346 provided by the invention comprises;
(1) electronic control package comprises: vehicle wheel rotational speed testing circuit, A/D change-over circuit, speed-slackening signal Acquisition Circuit, central processing circuit, driving circuit for electromagnetic valve, motor-drive pump driving circuit, status alert circuit, communication interface circuit.
Vehicle wheel rotational speed testing circuit: be used to detect the wheel rotative speed, detected sine wave signal is isolated, imported central process unit after amplification, filtering and the shaping.
A/D change-over circuit: be used for the temperature and the pressure signal collection of detective liquid pressing system, and signal is amplified, imports central process unit after the filtering.
The speed-slackening signal Acquisition Circuit: with the switching value signal of brake pedal through isolating, importing central process unit after the filtering.
Central processing circuit: the image data that is used for paired pulses testing circuit, A/D convertor circuit, the input of speed-slackening signal Acquisition Circuit is carried out calculation process, and the control signal of result is transported to driving circuit for electromagnetic valve through the photoelectricity isolated location, realize control to driving circuit for electromagnetic valve, pump driving circuit, communication interface;
Driving circuit for electromagnetic valve: be used to accept the control signal that central process unit is carried, and then the cut-offfing of control electromagnetic valve, realize the unlatching of electromagnetic valve or close;
Motor-drive pump driving circuit: be used to accept the control signal that central process unit is carried, the operation of control motor-drive pump and stopping.
Status alert circuit: be used to accept the control signal that central process unit is carried, show the running state of ABS device.
Communication interface circuit: be connected with central processing circuit is two-way, and link to each other with upper computer with RS232 interface and communication cable, upload ECU (Electrical Control Unit) ECU status information, be convenient to upper computer and implement monitoring to upper computer by the CAN bus; By this interface, can demarcate system parameter.
(2) wheel speed sensor
Constitute by the electromagnetic induction pulse transducer.On wheel nave, process annular gear ring, drive the gear ring rotation during wheel, the sine wave signal that sensor output is directly proportional with vehicle wheel rotational speed.
(3) hydraulic efficiency pressure system (brake-power regulator): comprise master brake cylinder, braking liquid, brake-power regulator, four brake cylinders, hydraulic tubing, six electromagnetic valves, motor-drive pump and pressure accumulators etc.Hydraulic efficiency pressure system is by the action of electronic control package control control electromagnetic valve, makes the brake fluid pressure of brake cylinder on the different wheel become big rapidly or diminishes, to prevent that wheel is by locking fully.The near front wheel, off front wheel respectively have a brake cylinder in four brake cylinders; Left rear wheel, each brake cylinder of off hind wheel, but latter two brake cylinder is connected in parallel by hydraulic tubing.Motor-drive pump and pressure accumulator provide the braking liquid operation pressure that needs for hydraulic efficiency pressure system.
The present invention said based on DSP56F8346 abs braking anti-lock device principle of work be: control unit is controlled and is monitored the running state of vehicle, export the rotating speed of measuring wheel by the sine wave signal of wheel speed sensor, and handle by interlock circuit and central process unit and to calculate each vehicle wheel rotational speed and to estimate the speed of a motor vehicle, and the start and stop of the break-make of control electromagnetic valve and control motor-drive pump, provide suitable pressure to hydraulic efficiency pressure system, be switched on or switched off the hydraulic circuit of brake cylinder on the corresponding vehicle hub, carry out the control of wheel ABS (Anti-lock Braking System).Information and correlation computations that the electronic control package utilization is measured by the control Driver Circuit action, open or the locking wheel brake strap on the wheel, thereby make wheel lockup or unclamp, to realize the purpose of wheel braking anti-lock.Communication interface modules can communicate by RS232 interface and upper PC, receives the calibration information such as parameter setting of upper computer, is convenient to upper computer and monitors.Based on DSP56F8346 the abs braking anti-lock device, finish simultaneously by the CAN bus interface and send the related system and the status information of abs braking anti-lock device to other vehicle control device, realize information sharing and information interaction.
Embodiment:
Shown in Fig. 1,2,3.Abs braking anti-lock device based on DSP56F8346, the high performance digital signal controller DSP56F8346 that adopts Freescale company is made up of electronic control package, wheel speed sensor, hydraulic efficiency pressure system (brake-power regulator), motor-drive pump and pressure accumulator as central process unit.Electronic control package comprises: vehicle wheel rotational speed testing circuit, A/D change-over circuit, speed-slackening signal Acquisition Circuit, central processing circuit, driving circuit for electromagnetic valve, motor-drive pump driving circuit, status alert circuit, communication interface circuit.Wheel speed sensor is made of the electromagnetic induction pulse transducer, and annular gear ring is arranged on wheel nave, drives the gear ring rotation during wheel, the sine wave signal that sensor output is directly proportional with vehicle wheel rotational speed.Hydraulic efficiency pressure system comprises hydraulic tubing, motor-drive pump, brake cylinder, braking liquid, brake main pump, brake-pressure regulation piece etc.Control electromagnetic valve action that is installed on the brake-pressure regulation piece and the start and stop of controlling motor-drive pump by electronic control package, change the brake fluid pressure and the brake oil flow of brake cylinder in the hydraulic efficiency pressure system, thereby the work of control brake wheel cylinder, make the brake strap that is installed on the wheel nave fit with brake wheel or separate, make wheel lockup or unclamp, impel wheel revolutions speed to reduce.Motor-drive pump and pressure accumulator provide the braking liquid operation pressure for hydraulic efficiency pressure system.
Shown in Fig. 4,5.Central processing circuit in the said electronic control package comprises: the crystal oscillating circuit, reset circuit and the VREF (Voltage Reference) source circuit that DSP56F8346 chip that 12 road PWM control waves had both had the high speed processing data capability are provided, are made of resistance R 91 and crystal oscillator body Y1; The software program of compiling by setting executive condition, control DSP56F8346 chip detects the temperature and the pressure signal of vehicle wheel rotational speed signal detection, speed-slackening signal detection, cell pressure, braking liquid; Send control command, controlled hydraulic system work.Crystal oscillating circuit provides clock signal to the DSP56F8346 chip; Reset circuit provides power-on reset signal.The VREF (Voltage Reference) source circuit provides A/D conversion VREF (Voltage Reference).System and device feed circuit (see figure 5) has added fuse, has prevented the diode D51 of power supply reversal connection, DC/DC power module B1205LS-5W, DC/DC power module B1205LS-1W, 5V changes the DC/DC switching device 7805 of DC/DC switching device AS1117, the 12V commentaries on classics 5V of 3.3V, and capacitor filter, system's power supply shows the diode drive circuit of usefulness etc.
Referring to shown in Figure 6.Vehicle wheel rotational speed testing circuit in the said electronic control package: the sine wave signal that detects four vehicle wheel rotational speeds by four bus wheel speed sensors, form filtering and amplifying circuit by op amp LM258 and resistance capacitance, LM393 carries out voltage ratio the signal input, sine wave signal is converted to square-wave signal, again input central process unit counting machine inlet after 74HC14 carries out the square-wave signal shaping.Described wheel speed sensor is the Hall electromagnetic induction sensor, processes annular gear ring on the wheel nave, during wheel, and sensor sine wave output signal; The rolling counters forward value of central process unit is directly proportional with vehicle wheel rotational speed.
Referring to shown in Figure 7.A/D change-over circuit in the said electronic control package: temperature sensor Pt100 produces braking liquid owing to temperature traverse voltage output, piezoelectric type pressure sensor is because brake fluid pressure changes the voltage output that produces, the terminal voltage of vehicle 12V nominal boosting battery is through the electric resistance partial pressure value, form the RC filter circuit with the analog signals Filtering Processing by resistance and electric capacity, by amplifier LM258 and linear light lotus root device LOC110 analog quantity is isolated from the outside then and is amplified to the required voltage amplitude, then analog signals is imported the ADA0 of A/D modular converter on the sheet of 12 precision among the central process unit DSP56F8346, ADA1, the ADA2 port.
Referring to shown in Figure 8.Driving circuit for electromagnetic valve in the said electronic control package: form by actuator MC33289 and driving circuit thereof.Receive the control signal of central process unit output, isolate through TLP521, control signal horsepower input device MC33289 (OUT1～OUT6 among the MC33289 connects the control coil of electromagnetic valve) then, and then the break-make of control electromagnetic valve, make the electromagnetic valve action, be switched on or switched off the braking liquid path of different braking wheel cylinder, thereby realize the control of wheel anti-lock.
Referring to shown in Figure 9.Speed-slackening signal Acquisition Circuit in the electronic control package of being washed: the switching value signal of brake pedal is isolated through TLP521, then signal is imported the input interface GPIOA11 of central process unit DSP56F8346.
Referring to shown in Figure 10.Motor-drive pump driving circuit in the said electronic control package: receive the control signal that central process unit is carried, isolate through TLP521, control signal horsepower input device MC33289 (OUT7 among the MC33289 connects the motor-drive pump excitation coil) goes to control the rotation of motor-drive pump or stop then.When hydraulic system pressure was reduced to certain limit, it is low excessively that electronic control package detects system pressure, will start motor-drive pump, and system pressure is raise; When control system detects pressure and is raised to the higher limit of setting, will cut off the supply access of motor-drive pump automatically, motor-drive pump is quit work.
Referring to shown in Figure 11.Status alert circuit in the said electronic control package: form by switching value signal output and buffer circuit, provide warning and state to export by the light-emitting diode signal aspect and indication.Central process unit is analyzed according to the various operational factors of brake anti-lock device and comprehensively, is carried out state of the system by light-emitting diode and show.If system's shape is pointed out existing fault, central process unit will be exported control signal, and control signal is isolated through TLP521, drive light-emitting diode then and will make it luminous, to show the mode of operation of ABS device.
Referring to shown in Figure 12.Communication interface circuit in the said electronic control package: the isolation and the interface chip for driving that comprise CAN and RS232, be connected with central processing circuit is two-way, and link to each other with upper computer with RS232 interface and communication cable by the CAN bus, upload ECU (Electrical Control Unit) ECU status information to upper computer, be convenient to upper computer and implement monitoring; By this interface, can demarcate system parameter.Brake anti-lock device can communicate to other vehicle control device by the CAN bus, realizes information sharing and information interaction.RS232 communication interface MAX3221 chip wherein, and CAN Bus Interface Chip PCA82C250, between PCA82C250 and central process unit 56F8346, realize electronic control package and extraneous electrical isolation, to increase the device anti-interference resistance with high speed optoelectronic isolating device 6N137.
The present invention at first studies the application embedded technology, use the high-speed high-performance embedded dsp to realize the high precision collecting and the fast processing of signal, utilize the signal conditioning special chip, realization has the low-cost design plan of anti-lock function, various data are required to be transferred to central process unit according to difference, by monitoring and the analytic function of central process unit realization to the vehicle ' operation conditions, this abs braking anti-lock device has the intelligent diagnostics function, realized intellectuality, digitalisation makes the abs braking anti-lock device better adapt to the requirement of modern automobile industrial expansion.
Claims (10)
1. abs braking anti-lock device based on DSP56F8346, comprise electronic control package, wheel speed sensor and hydraulic efficiency pressure system, it is characterized in that described electronic control package comprises: speed of a motor vehicle speed detect circuit, A/D change-over circuit, speed-slackening signal Acquisition Circuit, central processing circuit, driving circuit for electromagnetic valve, motor-drive pump driving circuit, status alert circuit and communication interface circuit based on DSP56F8346; Wherein:
Described vehicle wheel rotational speed testing circuit: detect the wheel rotative speed by wheel speed sensor, with detected sine wave signal isolate, the input central process unit is counted after amplification, filtering and the shaping;
Described A/D change-over circuit, the temperature of detective liquid pressing system and pressure signal, and with signal amplify, the A/D modular converter of input central process unit after the filtering;
Described speed-slackening signal Acquisition Circuit, the switching value signal of collection brake pedal is through the digital input port of input central process unit after isolation, the filtering;
Described central processing circuit, the image data of paired pulses testing circuit, A/D convertor circuit and the input of speed-slackening signal Acquisition Circuit is carried out calculation process, and control signal is transported to driving circuit for electromagnetic valve through the photoelectricity isolated location, control electromagnetic valve driving circuit, pump driving circuit and communication interface.
2. the abs braking anti-lock device based on DSP56F8346 according to claim 1, it is characterized in that described pulse-detecting circuit: the sine wave signal of four vehicle wheel rotational speeds that detect by four bus wheel speed sensors, form filtering and amplifying circuit by op amp LM258 and resistance capacitance, LM393 carries out voltage ratio the signal input, sine wave signal is converted to square-wave signal, again input central process unit counting machine inlet after 74HC14 carries out the square-wave signal shaping.
3. the abs braking anti-lock device based on DSP56F8346 according to claim 2, it is characterized in that described wheel speed sensor is a Hall electromagnetic induction pulse transducer, process annular gear ring on the wheel nave, the sine wave signal that sensor output is directly proportional with vehicle wheel rotational speed.
4. the abs braking anti-lock device based on DSP56F8346 according to claim 1, it is characterized in that described A/D change-over circuit: temperature sensor Pt100 produces braking liquid owing to temperature traverse voltage output, piezoelectric type pressure sensor is because brake fluid pressure changes the voltage output that produces, the terminal voltage of vehicle 12V nominal boosting battery is through the electric resistance partial pressure value, form the RC filter circuit with the analog signals Filtering Processing by resistance and electric capacity, by amplifier LM258 and linear light lotus root device LOC110 analog quantity is isolated from the outside then and is amplified to the required voltage amplitude, then analog signals is imported the ADA0 of A/D modular converter on the sheet of 12 precision among the central process unit DSP56F8346, ADA1, the ADA2 port.
5. the abs braking anti-lock device based on DSP56F8346 according to claim 1, it is characterized in that described speed-slackening signal Acquisition Circuit: the switching value signal of brake pedal is isolated through TLP521, then signal is imported the digital-quantity input interface GPIOA11 of central process unit.
6. the abs braking anti-lock device based on DSP56F8346 according to claim 1 is characterized in that described central processing circuit comprises: DSP56F8346 chip, crystal oscillating circuit, reset circuit and VREF (Voltage Reference) source circuit; Temperature and pressure signal that software program is set the detection of executive condition control DSP56F8346 chip pulse signals, speed-slackening signal detection, cell pressure, braking liquid detect, and send control command; Crystal oscillating circuit provides clock signal to the DSP56F8346 chip; Reset circuit provides power-on reset signal; The VREF (Voltage Reference) source circuit provides A/D conversion VREF (Voltage Reference).
7. the abs braking anti-lock device based on DSP56F8346 according to claim 1, it is characterized in that described motor-drive pump driving circuit: receive the control signal that central process unit is carried, isolate through TLP521, the OUT7 of control signal horsepower input device MC33289 then, connect the motor-drive pump excitation coil again, the work of control motor-drive pump.
8. the abs braking anti-lock device based on DSP56F8346 according to claim 1 is characterized in that described status alert circuit: be made up of switching value signal output and buffer circuit, provide warning and state to be exported by the light-emitting diode signal aspect and indication.
9. the abs braking anti-lock device based on DSP56F8346 according to claim 1, it is characterized in that described communication interface circuit: be connected with central processing circuit is two-way, link to each other with upper computer with RS232 interface and communication cable by the CAN bus, upload ECU (Electrical Control Unit) ECU status information to upper computer, system parameter is demarcated.
10. the abs braking anti-lock device based on DSP56F8346 according to claim 1, it is characterized in that described driving circuit for electromagnetic valve and motor-drive pump driving circuit: form by actuator MC33289 and driving circuit thereof, finish Signal Spacing, signal transmission, switch on and off electromagnetic valve and motor-drive pump coil circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2007100603028A CN101181894A (en) | 2007-12-17 | 2007-12-17 | ABS brake anti-lock device based on DSP56F8346 |
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| CNA2007100603028A CN101181894A (en) | 2007-12-17 | 2007-12-17 | ABS brake anti-lock device based on DSP56F8346 |
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