CN102706565B - Real automobile testing system for controlling automotive active anti-rollover - Google Patents

Abstract

The invention discloses an actual vehicle test system for active anti-rollover control of automobiles. The test system is composed of a real-time platform, a sensor, an active steering actuator, an active hydraulic brake actuator and an active anti-rollover controller. The active anti-rollover controller includes a single-chip microcomputer, a power supply circuit, a clock circuit, a reset circuit, an electrically isolated pulse shaping circuit, 6 first filter circuits, 6 second filter circuits, a shaping filter operational amplifier circuit, a first power drive circuit, The second power drive circuit, the third power drive circuit, the fourth power drive circuit and the CAN transceiver module. There is an electrical connection between the single-chip microcomputer and each circuit: the clock circuit is electrically connected to the XTAL32, EXTAL32, EXTAL and XTAL pins of the single-chip microcomputer; the photoelectric isolation pulse shaping circuit is electrically connected to the MDA11 to MDA14 pins of the single-chip microcomputer; the CAN transceiver module and the A -CNRX0 is electrically connected to the A-CNTX0 pin.

Description

Vehicle active anti-rollover control real vehicle test system

technical field

The invention relates to a test system belonging to the technical field of automobiles, more specifically, the invention relates to a real vehicle test system for active anti-rollover control of automobiles.

Background technique

With the improvement of automobile performance, the average driving speed of automobiles is also getting higher and higher, and the traffic accidents produced thereupon are also more and more frequent. And in all traffic accidents because the loss that vehicle rollover causes is particularly serious. Therefore, it has become a research hotspot to prevent vehicle rollover by providing accurate early warning of vehicle rollover and applying active control to reduce rollover accidents. At present, the anti-rollover technologies adopted and being researched at home and abroad mainly include methods based on active suspension, semi-active suspension, four-wheel steering, active braking and active lateral stabilizer. However, using a certain system alone will have certain limitations, and the ideal control effect cannot be achieved: the active braking technology is to improve the anti-rollover ability of the vehicle by controlling the braking force of the front and rear wheels of the vehicle, and it needs to control 4 wheels, so the control The method is relatively difficult to realize; the active steering angle input generated by the active steering technology is opposite to the steering wheel angle applied by the driver, which changes the vehicle's driving trajectory according to the driver's intention, which is not suitable for application in emergency avoidance conditions; active suspension The technical response speed is slow, and the real-time performance of the control is poor. However, if these active control systems are simply combined and installed, certain coupling and interference will occur. At the same time, the effective working areas of each system are not the same, and it is difficult to achieve the ideal anti-rollover control effect.

The vehicle active anti-rollover control system based on chassis integrated control can effectively integrate and configure the existing sensor and actuator resources of the vehicle, eliminate the interference and coupling between the dynamic subsystems, and optimize the overall performance of the vehicle system. Turn control effect is more ideal. During the development and verification of the vehicle anti-rollover system based on integrated control, an efficient and comprehensive real vehicle development and test system is needed.

Contents of the invention

The technical problem to be solved by the invention is to overcome the problems existing in the prior art and provide a real vehicle test system for active anti-rollover control of automobiles.

In order to solve the above-mentioned technical problems, the present invention is realized by adopting the following technical scheme: the real vehicle test system for active anti-rollover control of automobiles includes a real-time platform, sensors, active steering actuators, active hydraulic brake actuators and active anti-rollover control Flip the controller. The real-time platform is used to realize the collection and recording of test data and real-time debugging of control algorithms; the sensors include a yaw rate sensor, an acceleration sensor, an accelerator position sensor, a steering wheel angle sensor, four wheel speed sensors and six brakes The pressure sensor; the system control actuator includes an active steering actuator and an active hydraulic brake actuator; the active anti-rollover controller includes a single-chip microcomputer model MPC565 and its minimum system, a signal input circuit, a control output circuit and a model of 82C250 CAN transceiver module.

The minimum system of the MPC565 MCU includes a power supply circuit, a clock circuit and a reset circuit.

The 2.6V voltage output terminal of the power supply circuit is electrically connected with the VDD_RTC pin, KAPWR pin, VDDSYN pin, VDDF pin, VDDSRAM1 pin, VDDSRAM2 pin and VDDSRAM3 pin of the MPC565 microcontroller; the 2.6V power supply circuit The voltage output terminal is electrically connected to the XFC pin of the single-chip microcomputer of the model MPC565 through the capacitor C24; the 5V voltage output terminal of the power supply circuit is connected to the VFLASH pin, VDDH1 pin, VDDH2 pin, VDDH3 pin, VDDH4 of the single-chip microcomputer of the model MPC565 Pin and VDDH5 pin are electrically connected; the No. 6 pin of the chip model TLE6361 in the power supply circuit is electrically connected with the IRQ0 pin of the single-chip microcomputer MPC565; one end of the resistors R4, R5, R6, and R7 in the power supply circuit are respectively connected to The A_SCK pin, A_PCS0 pin, A_MOSI pin, and A_MISO pin of the MPC565 MCU are electrically connected; one end of the capacitor C17 in the power supply circuit is electrically connected to the PRESET pin of the MPC565 MCU.

One end of the resistor R18 in the clock circuit is electrically connected to the XTAL32 pin of the MPC565 MCU, the other end of the resistor R18 is electrically connected to the EXTAL32 pin of the MPC565 MCU, and one end of the resistor R19 in the clock circuit is connected to the MPC565 MPC The XTAL pin of the single-chip microcomputer is electrically connected, and the other end of the resistor R19 is electrically connected with the EXTAL pin of the single-chip microcomputer whose model is MPC565.

One end of the resistor R15 in the reset circuit is electrically connected to the PRESET pin of the MPC565 MCU, one end of the resistor R17 in the reset circuit is electrically connected to the HRESET pin of the MPC565 MCU, and one end of the resistor R16 in the reset circuit is connected to the MPC of the model The SRESET pin of the single-chip microcomputer of MPC565 is electrically connected, the No. 2 pin of the BDM interface in the reset circuit is electrically connected with the SRESET pin of the single-chip microcomputer whose model is MPC565, and the No. 4 pin of the BDM interface in the reset circuit is connected with the single-chip microcomputer whose model is MPC565 The DSCK pin is electrically connected, the No. 8 pin of the BDM interface in the reset circuit is electrically connected to the DSDI pin of the MPC565 MCU, and the No. 10 pin of the BDM interface in the reset circuit is electrically connected to the DSDO pin of the MPC565 MCU. Connection, the No. 1 pin of the Schottky diode D6 whose model is BAT54C in the reset circuit is electrically connected with the IQR7 pin of the single-chip microcomputer whose model is MPC565, and the No. 2 pin of the Schottky diode D6 whose model is BAT54C in the reset circuit The pin is electrically connected with the IQR5 pin of the single-chip microcomputer whose model is MPC565.

The signal input circuit includes a photoelectric isolation pulse shaping circuit, six first filter circuits with the same structure and six second filter circuits with the same structure.

In the photoelectric isolation pulse shaping circuit, the pins 2, 4, 6 and 8 of the Schmitt trigger inverter model 74HC14 are in turn connected with the MDA11 pin of the MPC565 MCU. MDA14 pins are electrically connected.

One end of the resistor R30 in the six first filter circuits with the same structure is electrically connected to the AN66 pin to the AN71 pin of the MPC565 MCU in turn.

One end of the resistor R34 in the six second filter circuits with the same structure is electrically connected to the AN72 pin to the AN77 pin of the MPC565 MCU in turn.

The control output circuit includes a shaping filter operational amplifier circuit, a first power drive circuit, a second power drive circuit, a third power drive circuit and a fourth power drive circuit.

In the first power drive circuit, pins 4 to 8 of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 are electrically connected to pins MGPIO0 to MGPIO4 of the single-chip microcomputer whose model is MPC565 in turn, and the first power drive In the circuit, the No. 9 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the MGPIO7 pin of the MPC565 MCU, and the No. 1 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is connected to the model It is electrically connected to the IRQ3 pin of the single-chip microcomputer of MPC565, and the 10th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the B_PCS2 pin of the single-chip computer of the model MPC565, and the 6-channel serial-parallel driver chip whose model is TPIC46L01 The 11th pin of U5 is electrically connected to the B_MISO pin of the MPC565 MCU, and the 12th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the B_MOSI pin of the MPC565 MCU. Pin 13 of the 6-channel serial-parallel driver chip U1 of TPIC46L01 is electrically connected to the B_SCK pin of the MPC565 MCU.

The No. 4 pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 in the second power drive circuit is electrically connected with the MGPIO8 pin of the single-chip microcomputer whose model is MPC565, and No. 1 of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 The pin is electrically connected to the IRQ4 pin of the single-chip microcomputer of the model MPC565, and the 10th pin of the 6-channel serial-parallel driver chip U6 of the model TPIC46L01 is electrically connected to the B_PCS3 pin of the single-chip microcomputer of the model MPC565, and the 6-channel of the model TPIC46L01 The 11th pin of the serial-parallel driver chip U6 is electrically connected to the B_MISO pin of the MPC565 MCU, and the 12th pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 is connected to the B_MOSI pin of the MPC 565 MCU Electrically connected, the 13th pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 is electrically connected with the B_SCK pin of the single-chip microcomputer whose model is MPC565.

In the third power drive circuit, pins 4 to 9 of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 are in turn electrically connected to pins PWM0 to PWM5 of a single-chip microcomputer whose model is MPC565, and the model is Pin 1 of the 6-channel serial-parallel driver chip U7 of TPIC46L01 is electrically connected to the IRQ1 pin of the single-chip microcomputer whose model is MPC565, and pin 10 of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is connected to the pin of the single-chip microcomputer whose model is MPC565. The B_PCS0 pin is electrically connected, the No. 11 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the B_MISO pin of the single-chip microcomputer whose model is MPC565, and the No. 12 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 The pin is electrically connected to the B_MOSI pin of the MPC565 MCU, and the 13th pin of the 6-channel serial-parallel driver chip U7 of the TPIC46L01 is electrically connected to the B_SCK pin of the MPC565 MCU.

The No. 4 and No. 5 pins of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 in the fourth power drive circuit are electrically connected with the PWM16 pin and PWM17 pin of the single-chip microcomputer whose model is MPC565, and the model is TPIC46L01 The No. 1 pin of the 6-channel serial-parallel driver chip U8 is electrically connected to the IRQ2 pin of the single-chip microcomputer whose model is MPC565, and the No. 10 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is connected to the B_PCS1 pin of the single-chip microcomputer whose model is MPC565. Pin electrical connection, the No. 11 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected with the B_MISO pin of the single-chip microcomputer whose model is MPC565, and the No. 12 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is connected with The B_MOSI pin of the single-chip microcomputer whose model is MPC565 is electrically connected, and the 13th pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the B_SCK pin of the single-chip microcomputer whose model is MPC565.

One end of the resistor R66 and the resistor R69 in the shaping filter operational amplifier circuit is electrically connected with the MDA27 pin and the MDA28 pin of the MPC565 MCU in turn.

The TXD pin of the CAN transceiver module model 82C250 is connected to the A-CNRX0 pin wire of the MPC565 MCU, and the RXD pin of the CAN transceiver module model 82C250 is connected to the A-CNTX0 pin wire of the MPC565 MCU connect.

The power supply circuit described in the technical solution includes a chip of type TLE6361, inductors L1 to L6, resistors R1 to R11, capacitors C1 to C24, and diodes D1 to D5. The No. 2 pin of the TLE6361 chip is electrically connected to one end of the resistor R4, the No. 3 pin of the TLE6361 chip is electrically connected to one end of the resistor R5, and the No. 4 pin of the TLE6361 chip is connected to the resistor R6. One end is electrically connected, the No. 5 pin of the TLE6361 chip is electrically connected to one end of the resistor R7, the No. 7 pin of the TLE6361 chip is electrically connected to the ground wire through the capacitor C5, and the No. 8, Pins No. 9, No. 10, No. 11, No. 12 and No. 13 are connected to one point by wires and connected to the positive electrode of capacitor C18, capacitor C19, capacitor C20, capacitor C21, capacitor C22 and capacitor C23. Capacitor C18, capacitor C19, The negative electrode of capacitor C20, capacitor C21, capacitor C22 and capacitor C23 is electrically connected to the ground wire. The No. 14 pin of the chip whose model is TLE6361 is electrically connected to the capacitor C15 and the ground wire through capacitor C14. The pins are electrically connected to one end of the inductance L6 at the same time. The pins 15, 16 and 17 of the chip of the type TLE6361 are electrically connected to the resistor R3, the resistor R2 and the resistor R1 in turn, and the pins 15 and 16 of the chip of the model TLE6361 It is electrically connected to the No. 17 pin through the capacitor C17, and the No. 20 pin of the TLE6361 chip is electrically connected to the No. 21 pin through the capacitor C7. The No. 22 pin of the TLE6361 chip is connected to the ground through the capacitor C8. Wire electrical connection, pin 23 and pin 27 of the chip model TLE6361 are electrically connected to capacitor C11 and the ground wire through capacitor C10, pin 23 and pin 27 of the chip model TLE6361 are connected to the inductor L3 at the same time It is electrically connected to one end of the inductor L4. The No. 24 pin of the chip whose model is TLE6361 is electrically connected to the ground wire through the capacitor C12 and the capacitor C13. The No. 24 pin of the chip whose model is TLE6361 is also electrically connected to one end of the inductor L5. The No. 25 pin of the TLE6361 chip is electrically connected to the No. 26 pin, and is electrically connected to the ground wire through the diode D4. The No. 28 pin of the TLE6361 chip is connected through the capacitor C6 and the No. The pin is electrically connected to the No. 31 pin, the No. 29 pin of the TLE6361 chip is electrically connected to the No. 31 pin through the diode D3 and the ground wire, and the No. 29 pin of the TLE6361 chip is connected to the No. 31 through the inductor L2 and The positive electrode of capacitor C9 is electrically connected, the positive electrode of electrolytic capacitor C9 is electrically connected to the ground wire through diode D4, the negative electrode of capacitor C9 is electrically connected to the ground wire, and pin 30 and pin 32 of the TLE6361 chip are connected to capacitor C3 through capacitor C4 It is electrically connected to the ground wire. Pin 30 and pin 32 of the TLE6361 chip are electrically connected to one end of the inductor L1, and the other end of the inductor L1 is electrically connected to the diode D1 and the ground wire through the capacitor C1. The cathode of the diode D1 is connected to the ground wire. 24V voltage, at the same time, the cathode of diode D1 is connected to 24V voltage through diode D5, the No. 33 pin of the TLE6361 chip is electrically connected to the positive poles of capacitor C2 and capacitor C3 through diode D2, and the positive pole of diode D2 is connected to capacitor C9 through resistor R9 The positive electrode of the TLE6361 chip is electrically connected to the positive electrode, and the No. 34 pin of the TLE6361 chip is electrically connected to the ground wire through a capacitor 16. The No. 34 pin of the TLE6361 chip is electrically connected to the resistor R10 and the cathode of the diode D5 through the resistor R8. The model is Pin No. 35 of the TLE6361 chip is electrically connected to the ground wire through a resistor R11; the clock circuit described in the technical proposal includes a crystal oscillator Y1, a crystal oscillator Y2, capacitors X1 to X4, resistors R18 and resistors R19. One end of the parallel connection of the crystal oscillator Y1 and the resistor R19 is connected to one end of the capacitor X4, the other end of the capacitor X4 is electrically connected to the ground wire, the other end of the parallel connection of the crystal oscillator Y1 and the resistor R19 is connected to one end of the capacitor X3, and the other end of the capacitor X3 One end is electrically connected to the ground wire; one end of the parallel connection of the crystal oscillator Y2 and the resistor R18 is connected to one end of the capacitor X2, the other end of the capacitor X2 is electrically connected to the ground wire, and the other end of the parallel connection of the crystal oscillator Y2 and the resistor R18 is connected to the capacitor X1 One end of the capacitor X1 is electrically connected to the ground wire; the reset circuit described in the technical solution includes a BDM interface, a Schottky diode D6, a switch, a capacitor C25, resistors R12 to R17 and a resistor R20. One end of resistor R15, resistor R16 and resistor R17 is connected to 2.6V voltage, the other end of resistor R17 is electrically connected to the ground wire through a switch, and the other end of resistor R17 is simultaneously connected to pin 3 of Schottky diode D6 of model BAT54C and The No. 7 pin of the BDM interface is electrically connected, the No. 1 pin of the BDM interface is connected to 2.6V voltage through the resistor R20, the No. 3 pin of the BDM interface is electrically connected to the No. 5 pin and the ground wire, and the No. 9 pin of the BDM interface Connect one end of the capacitor C25 to the 2.6V power supply, the other end of the capacitor C25 is electrically connected to the ground wire, the No. 4 pin of the BDM interface is electrically connected to the ground wire through the resistor R14, and the No. 6 pin of the BDM interface is connected to 2.6V through the resistor R12 Power supply, the No. 8 pin of the BDM interface is electrically connected to the ground wire through the resistor R13; the photoelectric isolation pulse shaping circuit described in the technical proposal includes the optical couple U1 of the model PC410 to the optical couple U4 of the PC410 model, and the optical couple U4 of the model 74HC14 Schmitt trigger inverter, resistor R21 to resistor R28. The No. 1 pins of photocouple U1 of model PC410 to photocouple U4 of model PC410 are respectively connected to 24V voltage through resistor R21, resistor R23, resistor R25 and resistor R27, and photocoupler U1 of model PC410 to photocoupler of model PC410 Pin 4 of U4 is electrically connected to the ground wire, pin 6 of photocouple U1 of model PC410 to photocouple U4 of model PC410 is connected to 5V voltage, photocouple U1 of model PC410 is connected to photocoupler U1 of model PC410 The No. 5 pin of even U4 is respectively connected to 5V voltage through resistor R22, resistor R24, resistor R26 and resistor R28. At the same time, the No. 5 pins of photocouple U1 of model PC410 to photocouple U4 of model PC410 are respectively connected to 74HC14 The No. 1 pin, No. 3 pin, No. 5 pin and No. 9 pin of the Schmitt trigger inverter are electrically connected; the first filter circuit described in the technical solution includes a resistor R29, a resistor R30, and a resistor R31 , resistor R32 and capacitor C26. Resistor R29, resistor R30, resistor R31 are electrically connected to one end of resistor R32, the other end of R29 is connected to 5V voltage, the other end of resistor R30 is electrically connected to the ground wire through capacitor C26, and the other end of resistor R31 is electrically connected to the ground wire. The other end of R32 is electrically connected to the ground wire. The second filtering circuit includes a resistor R33, a resistor R34, a resistor R35 and a capacitor C27. Resistor R33, resistor R34 are electrically connected to one end of resistor R35, the other end of resistor R33 is connected to 5V voltage, the other end of resistor R34 is electrically connected to ground wire through capacitor C27, and the other end of resistor R35 is electrically connected to ground wire; in the technical scheme The first power drive circuit includes a 6-channel serial-parallel driver chip U5 of model TPIC46L01, TMOS power driver chip Q1 of model MTD10N10EL to TMOS power driver chip Q6 of model MTD10N10EL, and resistors R36 to R4. The 27th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL through the resistor R37, and the S terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL through the resistor R36, and the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U5 of model TPIC46L01 is electrically connected to pin 15 and the ground wire. The No. 25 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL through the resistor R39, and the S terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL is connected to the ground wire For electrical connection, the 24th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL through a resistor R38. The 22nd pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL through the resistor R41, and the S terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL is connected to the ground wire For electrical connection, the No. 23 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL through a resistor R40. The No. 21 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL through the resistor R43, and the S terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL is connected to the ground wire For electrical connection, the No. 20 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL through a resistor R42. The 18th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q5 of the model MTD10N10EL through the resistor R45, and the S terminal of the TMOS power driver chip Q5 of the model MTD10N10EL is connected to the ground wire For electrical connection, the 19th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q5 whose model is MTD10N10EL through a resistor R44. The 16th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL through the resistor R47, and the S terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL is connected to the ground wire For electrical connection, the 17th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL through a resistor R46. The second power drive circuit includes a 6-channel serial-parallel drive chip U6 modeled as TPIC46L01, a TMOS power drive chip Q7 modeled as MTD10N10EL, resistors R48 and R49. The 27th pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL through the resistor R49, and the S terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL through the resistor R48, and the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U6 of model TPIC46L01 is electrically connected to pin 15 and the ground wire; The third power drive circuit includes a 6-channel serial-parallel drive chip U7 of model TPIC46L01, a TMOS power drive chip Q8 of model MTD10N10EL to a TMOS power drive chip Q13 of model MTD10N10EL, and resistors R50 and R61. The 27th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q8 whose model is MTD10N10EL through the resistor R51, and the S terminal of the TMOS power driver chip Q8 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q8 whose model is MTD10N10EL through the resistor R50, and the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U7 of model TPIC46L01 is electrically connected to pin 15 and the ground wire. The No. 25 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q9 whose model is MTD10N10EL through the resistor R53, and the S terminal of the TMOS power driver chip Q9 whose model is MTD10N10El is connected to the ground wire For electrical connection, the No. 24 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q9 whose model is MTD10N10EL through a resistor R52. The 22nd pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q10 whose model is MTD10N10EL through the resistor R55, and the S terminal of the TMOS power driver chip Q10 whose model is MTD10N10El is connected to the ground wire For electrical connection, the No. 23 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q10 whose model is MTD10N10EL through a resistor R54. The 21st pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q11 whose model is MTD10N10EL through the resistor R57, and the S terminal of the TMOS power driver chip Q11 whose model is MTD10N10El is connected to the ground wire For electrical connection, the 20th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q11 whose model is MTD10N10EL through a resistor R56. The 18th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q12 whose model is MTD10N10EL through the resistor R59, and the S terminal of the TMOS power driver chip Q12 whose model is MTD10N10El is connected to the ground wire Electrical connection, the 19th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q12 whose model is MTD10N10EL through a resistor R58. The 16th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q13 whose model is MTD10N10EL through the resistor R61, and the S terminal of the TMOS power driver chip Q13 whose model is MTD10N10El is connected to the ground wire For electrical connection, the 17th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q13 whose model is MTD10N10EL through a resistor R60. The fourth power drive circuit includes a 6-channel serial-parallel drive chip U8 of model TPIC46L01, a TMOS power drive chip Q14 of model MTD10N10EL, a TMOS power drive chip Q15 of model MTD10N10EL, and resistors R62 to R65. The No. 27 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q14 whose model is MTD10N10EL through the resistor R63, and the S terminal of the TMOS power driver chip Q14 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q14 whose model is MTD10N10EL through the resistor R62, and the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U8 of model TPIC46L01 is electrically connected to pin 15 and the ground wire. The No. 25 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q15 whose model is MTD10N10EL through the resistor R65, and the S terminal of the TMOS power driver chip Q15 whose model is MTD10N10El is connected to the ground wire Electrically connected, the No. 24 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q15 whose model is MTD10N10EL through a resistor R64; the shaping filter operational amplifier circuit described in the technical proposal includes Operational amplifier model MAX4169, diode Z1, diode Z2, resistor R66 to resistor R71, and capacitor C28 to capacitor C33. Resistor R66 and resistor R67 are electrically connected to one end of capacitor C28, the other end of capacitor C28 is electrically connected to the ground wire, the other end of resistor R67 is electrically connected to pin 2 of the operational amplifier model MAX4169 through capacitor C29, and the resistor R67 The other end is electrically connected to the No. 3 pin of the operational amplifier model MAX4169 through the resistor R68 at the same time; the resistor R69 and the resistor R70 are electrically connected to one end of the capacitor C31, the other end of the capacitor C31 is electrically connected to the ground wire, and the other end of the resistor R70 One end is electrically connected to the No. 6 pin of the MAX4169 operational amplifier through the capacitor C32, and the other end of the resistor R70 is electrically connected to the No. 5 pin of the MAX4169 operational amplifier through the resistor R71 at the same time; the MAX4169 operational amplifier’s Pin 1 is electrically connected to pin 2, pin 6 of the operational amplifier model MAX4169 is electrically connected to pin 7, and pin 1 of the operational amplifier model MAX4169 is electrically connected to the ground wire through diode Z1 , the 7th pin of the operational amplifier model MAX4169 is electrically connected to the ground through the diode Z2, the 3rd pin of the MAX4169 is electrically connected to the ground through the capacitor C30, and the 5th pin of the MAX4169 is connected to the ground through the capacitor C33 The ground wire is electrically connected, the No. 4 pin of the operational amplifier whose model is MAX4169 is connected to the 5V voltage, and the No. 11 pin of the operational amplifier whose model is MAX4169 is electrically connected to the ground wire.

Compared with prior art, the beneficial effects of the present invention are:

1. The vehicle active anti-rollover control real vehicle test system of the present invention realizes the active anti-rollover control of the vehicle based on chassis integrated control, eliminates the interference and coupling between the subsystems, and effectively overcomes the problem of using separate control systems. The limitation of the system, the control effect is more ideal.

2. Utilizing the real vehicle test system for active anti-rollover control of automobiles described in the present invention can make debugging and modification of the control system easier during the test process, and can store test data in real time, improving the efficiency of system debugging in the road test stage .

3. Various vehicle performance parameters and optimized control algorithm parameters obtained through the actual vehicle test system for active anti-rollover control of automobiles described in the present invention are relatively close to the actual vehicle test.

Description of drawings

Below in conjunction with accompanying drawing, the present invention will be further described:

Fig. 1 is a schematic block diagram of the structural composition and working principle of the active anti-rollover control real vehicle test system for automobiles according to the present invention;

Fig. 2 is a schematic block diagram of the structural composition and working principle of the active steering actuator, that is, the active front steering system (AFS) adopted in the actual vehicle test system for active anti-rollover control of automobiles according to the present invention;

Fig. 3 is a schematic block diagram of the structural composition and working principle of the active hydraulic brake actuator, that is, the four-channel hydraulic control unit (Hydraulic Control Unit, HCU) adopted in the actual vehicle test system for active anti-rollover control of the automobile according to the present invention;

Fig. 4 is a schematic block diagram of the structural composition and working principle of the active anti-rollover controller adopted in the automotive active anti-rollover control real vehicle test system of the present invention;

Fig. 5 is the power supply circuit connection diagram in the minimum system of the MPC565 single-chip microcomputer in the active anti-rollover controller adopted in the active anti-rollover control real vehicle test system of the automobile according to the present invention;

Fig. 6 is the clock circuit connection diagram in the minimum system of the MPC565 single-chip microcomputer in the active anti-rollover controller adopted in the active anti-rollover control real vehicle test system of the automobile according to the present invention;

Fig. 7 is the reset circuit connection diagram in the minimum system of the MPC565 single-chip microcomputer in the active anti-rollover controller adopted in the active anti-rollover control real vehicle test system of the automobile according to the present invention;

Fig. 8 is a connection diagram of the photoelectric isolation pulse shaping circuit in the active anti-rollover controller adopted in the actual vehicle test system for active anti-rollover control of automobiles according to the present invention;

Fig. 9-a is a connection diagram of the first filtering circuit in the active anti-rollover controller adopted in the real vehicle test system for active anti-rollover control of automobiles according to the present invention;

Figure 9-b is a connection diagram of the second filter circuit in the active anti-rollover controller used in the actual vehicle active anti-rollover control test system of the present invention;

Figure 10-a is a connection diagram of the first power drive circuit in the active anti-rollover controller used in the actual vehicle active anti-rollover control test system of the present invention;

Figure 10-b is a connection diagram of the second power drive circuit in the active anti-rollover controller used in the actual vehicle active anti-rollover control test system of the present invention;

Figure 11-a is a connection diagram of the third power drive circuit in the active anti-rollover controller used in the actual vehicle active anti-rollover control test system of the present invention;

Figure 11-b is a connection diagram of the fourth power drive circuit in the active anti-rollover controller used in the actual vehicle active anti-rollover control test system of the present invention;

Fig. 12 is a connection diagram of the shaping filter op-amp circuit in the active anti-rollover controller adopted in the real vehicle test system for active anti-rollover control of automobiles according to the present invention;

Fig. 13 is the CAN transceiver module circuit connection diagram of the model 82C250 adopted in the automobile active anti-rollover control real vehicle test system of the present invention;

Fig. 14 is a workflow block diagram of the actual vehicle test system for active anti-rollover control of automobiles according to the present invention;

In the figure: 1. Front left wheel pressure sensor, 2. Front right wheel pressure sensor, 3. Rear left wheel pressure sensor, 4. Rear right wheel pressure sensor, 5. Brake master cylinder front cavity pressure sensor, 6. Brake master cylinder Rear cavity pressure sensor, 7. Front left wheel speed sensor, 8. Front right wheel speed sensor, 9. Rear left wheel speed sensor, 10. Rear right wheel speed sensor.

Detailed ways

The present invention is described in detail below in conjunction with accompanying drawing:

Referring to Fig. 1, the actual vehicle test system for active anti-rollover control of automobiles according to the present invention consists of a real-time platform, sensors, active steering actuators, active hydraulic brake actuators and active anti-rollover controllers.

1. Real-time platform

Referring to Figure 1, the real-time platform of the vehicle active anti-rollover control real-vehicle test system is composed of a ThinkPad T500 host computer and a dSPACE real-time simulation system.

1. PC

The main functions of the upper computer are: the integrated test process management software ControlDesk, the automatic code generation software TargetLink, the vehicle rollover warning algorithm and the active anti-rollover control algorithm written by Matlab/Simulink; the automatic code generation software TargetLink Algorithms and active anti-rollover control algorithms are compiled into real-time code that can run on dSPACE hardware. The test process comprehensive management software ControlDesk can perform dynamic data exchange with real-time programs, perform online parameter debugging, and record data in real time. The upper computer of this real-time platform adopts the model ThinkPad T500, the processor is Intel Core 2 Duo P840, and the memory is 2GB.

2. dSPACE real-time simulation system

dSPACE real-time simulation system includes AutoBox, processor board model DS1005, multi-channel I/O board model DS2202. The processor board model DS1005 and the multi-channel I/O board model DS2202 are connected to the AutoBox by the PHS bus. The functions of the real-time simulation system are: as a real-time platform to run the real-time code of the early warning algorithm and control algorithm; as an I/O board The carrier of the card completes the collection and output of various signals.

(1) Processor board model DS1005

The processor board model DS1005 is a processor board with PHS bus interface, which uses IBMPowerPC750 GX processor, operating frequency 1GHz. Realize the communication connection with the Autobox and the multi-channel I/O board whose model is DS2202 through the PHS bus.

(2) Multi-channel I/O board model DS2202

The multi-channel I/O board model DS2202 is a multi-channel I/O device with PHS bus interface. It has 16 channels of 14-bit differential A/D channels (multiplexing); 20 channels of 12-bit D/A channels (with Independent ground readout line); 24 channels of PWM measurement input (50ns resolution, 0.01Hz ~ 100kHz); 16 channels of digital input (shared with PWM input); 16 channels of digital output; 9 channels of PWM output (16-bit resolution, 0.01 Hz～100kHz); 2 CAN and serial interfaces (RS232, RS422). The multi-channel I/O board model DS2202 is used to collect lateral acceleration, longitudinal acceleration and yaw rate signals.

To be precise, the first to second A/D channels of the model DS2202 multi-channel I/O board are connected with the output wires of the acceleration sensor to collect lateral acceleration and longitudinal acceleration signals; the multi-channel I/O board model DS2202 The 3rd A/D channel of the I/O board is connected with the output terminal wire of the yaw rate sensor to collect the yaw rate signal. The 4th to 5th A/D channels of the model DS2202 multi-channel I/O board are connected with the output end wires of the steering wheel angle sensor to collect the steering wheel angle signal; the 6th channel of the model DS2202 multi-channel I/O board The A/D channel of the road is connected with the output end wire of the throttle position sensor to collect the throttle position signal.

2. Sensor

1. Pressure sensor

Referring to Fig. 1, the automobile active anti-rollover control real vehicle test system of the present invention has adopted front left wheel pressure sensor 1, front right wheel pressure sensor 2, rear left wheel pressure sensor 3, rear right wheel pressure sensor 4, brake master Cylinder front cavity pressure sensor 5 and brake master cylinder rear cavity pressure sensor 6 are respectively used to measure the braking pressure of the front left wheel brake wheel cylinder, the front right wheel brake wheel cylinder brake pressure, and the rear left wheel brake wheel cylinder brake pressure. Pressure, rear right wheel brake wheel cylinder brake pressure, brake master cylinder front cavity pressure and brake master cylinder rear cavity pressure. The front left wheel pressure sensor 1, the front right wheel pressure sensor 2, the rear left wheel pressure sensor 3, the rear right wheel pressure sensor 4, and the front chamber pressure of the brake master cylinder adopted by the automobile active anti-rollover control real vehicle test system according to the present invention Both the sensor 5 and the pressure sensor 6 in the rear chamber of the brake master cylinder are pressure sensors of the model PA-21S-80520.3-200 produced by the Swiss company Keller. 250Ω precision variable resistors in series can convert the current signal output by the pressure sensor into a standard voltage signal of 1-5V, the power supply voltage is 8-28V DC voltage, the maximum demand current is 25mA, and the load impedance RΩ=(U-8V)/0.02A , the accuracy can reach 0.5%. The pressure sensor is installed between the brake lines through a tee.

2. Steering wheel angle sensor

Referring to Fig. 1, the steering wheel angle sensor is used to measure the steering input of the driver. The automobile steering sensor adopting the model LH3 produced by BI Technology Company in the present invention outputs angle of rotation and torque. The maximum working voltage is 16V and the range can reach ±720°. The angle output accuracy is 1.5%, and the torque output accuracy is 3%. The steering wheel angle sensor is installed on the steering column, and the output end of the steering wheel angle sensor is connected to the 4th to 5th A/D channel wires of the multi-channel I/O board model DS2202, and is connected to the AN76 of the single-chip microcomputer model MPC565 The AN77 pin is connected through the second filter circuit wire, and this test bench uses a steering wheel angle sensor.

3. Throttle position sensor

Accelerator position sensor is used for monitoring driver's acceleration input, adopts the accelerator pedal of model TBQ-7 that Nanjing Aolian Automotive Electronics Company produces among the present invention, and its position sensor is an angular displacement sensor, and the angular displacement of pedal can be amplified through mechanical device , and converted into a rotating magnetic field, the angular displacement of the pedal is measured through a non-contact Hall sensor. The sensor output is 5V independent linearity dual output, and the output voltages are 0.35-2.1V and 0.7-4.2V respectively. The output terminal of the throttle position sensor model TBQ-7 is connected to the 6th A/D channel wire of the multi-channel I/O board model DS2202, and is connected to the AN73 pin of the single chip microcomputer model MPC565 through the second filter circuit wire connection.

4. Wheel speed sensor

Wheel speed sensors are used to detect the wheel speeds of the four wheels. The Hall effect gear sensor with model number 1GT101DC is adopted in the present invention. Its power supply voltage is 4.5 to 24VDC; the output is current sinking digital output (open collector); the built-in surge voltage protection is in the range of +60V～-40V. The front and rear sensor connecting brackets and ring gears are designed and processed by ourselves. The front ring gear is installed on the front ball cage universal joint, and the rear ring gear is installed on the wheel hub. This invention adopts four wheel speed sensors with the same structure and the model is 1GT101DC, namely Front left wheel speed sensor 7, front right wheel speed sensor 8, rear left wheel speed sensor 9 and rear right wheel speed sensor 10. The output terminals of the front left wheel speed sensor 7, the front right wheel speed sensor 8, the rear left wheel speed sensor 9 and the rear right wheel speed sensor 10 and the MDA11 to MDA14 pins of the MPC565 single-chip microcomputer pass through the photoelectric isolation pulse shaping circuit wire connection.

5. Acceleration sensor

The acceleration sensor is used to measure the longitudinal acceleration and lateral acceleration of the vehicle. The model that adopts VTI company to produce is the acceleration sensor of SCA1000-N1000070 in the present invention, and its measurement range is ± 4g; Rated voltage is 4.75～5.25V; Sensitivity is 0.55V/g; Sensitivity in the temperature range of -40～+125 ℃ The error is ±2.5%. The acceleration sensor is installed at the center of mass of the car body, and the output terminal of the acceleration sensor is connected with the first to second A/D channel wires of the multi-channel I/O board model DS2202, and is connected with the active anti-rollover controller. The model is that the AN74 to AN75 pins of the single-chip microcomputer of MPC565 are connected by the second filter circuit electric wire, and the present invention has adopted 1 acceleration sensor.

6. Yaw rate sensor

The yaw rate sensor is used to measure the yaw rate of the vehicle. The yaw rate sensor of model CRS03-01 is adopted in the present invention, and its measuring range is ±100°/s; the scale factor is 20mV/(°/s); and the power supply voltage is +4.75～+5.25V. The yaw rate sensor is installed at the center of mass of the vehicle body. The output terminal of the yaw rate sensor is connected to the third A/D channel wire of the multi-channel I/O board modeled as DS2202, and is connected to the active anti-rollover controller. The model is that the AN72 pin of the single-chip microcomputer of MPC565 is connected by the electric wire of the second filter circuit, and the present invention adopts 1 yaw rate sensor.

3. Active steering actuator

Referring to Figure 2, the active steering actuator in the vehicle active anti-rollover control real vehicle test system adopts an active front steering system (Active Front Steering, AFS). The Active Front Steering System (AFS) retains the mechanical components in the traditional steering system: steering wheel, steering column, rack and pinion steering and tie rods, etc. The steering column between the steering wheel and the rack and pinion A set of double planetary gear mechanism is integrated on the steering wheel to provide superimposed steering angle to the steering wheel. Its working principle is: the active anti-rollover controller (ARC) collects the driver's steering torque input and steering wheel angle input transmitted by the steering column, and then according to the vehicle speed and steering angle torque input, the active anti-rollover controller (ARC) The torque control signal is transmitted to the servo mechanism for power assist control, while the steering angle input is controlled by the active anti-rollover controller (ARC) to control the double planetary gear mechanism driven by the servo motor to superimpose the steering angle, and the total steering angle after superposition is transmitted Give the final angle of rotation for the rack and pinion steering mechanism.

4. Active hydraulic brake actuator

Referring to Figure 3, the active hydraulic brake actuator in the actual vehicle active anti-rollover control test system uses a four-channel hydraulic control unit (Hydraulic Control Unit, HCU). The hydraulic control unit (HCU) is mainly composed of solenoid valves (including: No. 1 isolation valve, No. 2 isolation valve, No. 1 liquid inlet valve, No. 2 liquid inlet valve, No. 1 boost valve, No. Pressure valve, No. 4 booster valve, No. 1 pressure reducing valve, No. 2 pressure reducing valve, No. 3 pressure reducing valve and No. 4 pressure reducing valve), DC motor, electric pump, low pressure accumulator, a series of check valves Composed with the valve body. Its working principle is: during normal braking, all components of the hydraulic control unit (HCU) are not powered, and the brake fluid can pass through No. 1 isolation valve, No. 2 isolation valve, No. 1 boost valve, No. 2 boost valve, and No. No. booster valve and No. 4 booster valve enter the front left wheel brake cylinder, the front right wheel brake cylinder, the rear left wheel brake cylinder and the rear right wheel brake cylinder for braking. For a specific single-track wheel, its control rules are shown in Table 1:

Table 1 HCU control rule table

5. Active anti-rollover controller (ARC)

Referring to FIG. 4 , it is a structural composition and working principle diagram of the active anti-rollover controller adopted in the actual vehicle active anti-rollover control system of the present invention. The active anti-rollover controller includes MPC565 MCU and its minimum system, signal input circuit, control output circuit and CAN transceiver module.

1. MPC565 MCU and its minimum system

Referring to Fig. 4, the single-chip microcomputer model that the present invention adopts is MPC565, and its minimum system includes power supply circuit, clock circuit and reset circuit. The minimum system of the MPC565 MCU is used to ensure the normal operation of its internal program.

1) Power supply circuit

Referring to FIG. 4 and FIG. 5 , the power supply circuit includes a TLE6361 chip, inductors L1 to L6 , resistors R1 to R11 , capacitors C1 to C24 , and diodes D1 to D5 .

Pins 1, 18, 19, and 36 of the TLE6361 chip are electrically connected to the ground wire respectively; pin 2 of the TLE6361 chip is connected to the single-chip microcomputer of the model MPC565 through a resistor R4 with a resistance value of 10KΩ. The A_SCK pin of the model TLE6361 is electrically connected to the A_PCS0 pin of the MPC565 through a resistor R5 with a resistance value of 10KΩ; the No. 4 pin of the TLE6361 chip is connected through a resistor R5 The resistor R6 with a value of 10KΩ is electrically connected to the A_MOSI pin of the MPC565; the No. 5 pin of the TLE6361 chip is electrically connected to the A_MISO pin of the MPC565 through a resistor R7 with a resistance of 10KΩ; The No. 6 pin of the TLE6361 chip is electrically connected to the IRQ0 pin of the MPC565 MCU; the No. 7 pin of the TLE6361 chip is electrically connected to the ground wire through a capacitor C5 with a capacitance value of 100nF; the model is TLE6361 The 8th, 9th, 10th, 11th, 12th and 13th pins of the chip are connected to one point with wires and the capacitor C18, capacitor C19, capacitor C20, capacitor C21, capacitor C22 and capacitor C23 with a capacitance value of 1 μF The positive electrode of the capacitor is electrically connected, and the negative electrode of the capacitor C18, capacitor C19, capacitor C20, capacitor C21, capacitor C22, and capacitor C23 with a capacitance value of 1 μF is electrically connected to the ground wire; the No. 14 pin of the chip model TLE6361 passes through the capacitance value of 470nF The capacitor C14 is electrically connected to the electrolytic capacitor C15 with a capacitance value of 4.7μF and the ground wire. The 14th pin of the chip with the model TLE6361 outputs a 3.3V voltage through the inductor L6 with an inductance value of 10μH at the same time; the 15th pin of the chip with the model TLE6361 No., No. 16, and No. 17 pins are electrically connected to the resistor R1 and the No. 27 pin of the chip whose model is TLE6361 through the resistor R3 and the resistor R2 with a resistance value of 10KΩ. At the same time, No. 15 and No. 16 of the chip , Pin 17 is connected to the PRESET pin wire of the MPC565 microcontroller, and is electrically connected to the ground wire through a capacitor C17 with a capacitance value of 1μF; pin 20 and pin 21 of the chip model TLE6361 are connected through a capacitor The capacitor C7 with a value of 100nF is electrically connected; the No. 22 pin of the TLE6361 chip is electrically connected with the ground wire through the capacitor C8 with a capacitance value of 220nF; the No. 23 pin of the TLE6361 chip is electrically connected with the No. 27 pin , and through the capacitance value of 470nF capacitor C10 and the capacitance value of 4.7μF electrolytic capacitor C11 and the ground wire, at the same time through the inductance value of 10μH inductance L3 and inductance L4 output 5V voltage, inductance L3 and inductance L4 in parallel; model The 24th pin of the TLE6361 chip has a capacitor value of 470n The capacitor C12 of F is electrically connected with the electrolytic capacitor C13 with a capacitance value of 4.7μF and the ground wire, and the No. 24 pin of the chip whose model is TLE6361 outputs a 2.6V voltage through the inductor L5 with an inductance value of 10μH at the same time; the chip of the model TLE6361 Pins 25 and 26 are electrically connected, and are electrically connected to the ground wire through diode D4; pin 28 of the chip whose model is TLE6361 is electrically connected to pin 31 through capacitor C6 with a capacitance value of 680nF and pin 29, and the model The No. 29 and No. 31 pins of the TLE6361 chip are electrically connected to the diode D3 and the ground wire, and the No. 29 and No. 31 pins of the TLE6361 chip are electrically connected to the positive electrode of the electrolytic capacitor C9 with a capacitance value of 47 μF through the inductor L2 , the anode of the electrolytic capacitor C9 is electrically connected to the ground wire through the diode D4, and the negative electrode of the electrolytic capacitor C9 is electrically connected to the ground wire; the 30th pin and the 32nd pin of the TLE6361 chip are connected to the capacitor C4 with a capacitance value of 100nF. The 47μF electrolytic capacitor C3 is electrically connected to the ground wire, the 30th and 32nd pins of the TLE6361 chip are electrically connected to one end of the inductance L1 with an inductance value of 47μH, and the other end of the inductance L1 passes through a capacitor with a capacitance value of 100nF C1 is electrically connected with diode D1 (diode D1 and capacitor C1 in parallel) and the ground wire; the cathode of diode D1 is connected to 24V voltage, and the cathode of diode D1 is connected to 24V voltage through diode D5; the 33rd pin of the chip model TLE6361 is connected to the diode D2 and capacitor C2 with a capacitance value of 100nF are electrically connected to the anode of electrolytic capacitor C3, and at the same time, the anode of diode D2 is electrically connected to the anode of electrolytic capacitor C9 through a resistor R9 with a resistance value of 22Ω; pin 34 of the chip whose model is TLE6361 The capacitor 16 with a capacitance value of 0.1 μF is electrically connected to the ground wire, and the No. 34 pin of the chip of the type TLE6361 is electrically connected to the cathode of the diode D5 through a resistor R8 with a resistance value of 1KΩ and a resistor R10 with a resistance value of 10KΩ; Pin 35 of the TLE6361 chip is electrically connected to the ground wire through a resistor R11 with a resistance value of 10KΩ.

The VSS_RTC pin, VSSSYN pin of the MPC565 MCU is electrically connected to the VSSF pin and the ground wire; the VDD_RTC pin, KAPWR pin, VDDSYN pin, VDDF pin, VDDSRAM1 pin, VDDSRAM2 of the MPC565 MCU The pin and the VDDSRAM3 pin are connected to 2.6V voltage; the XFC pin of the MPC565 is connected to the 2.6V voltage through the capacitor C24 with a capacitance value of 0.01μF; the VFLASH pin, VDDH1 pin, VDDH2 pin of the MPC565 MPC Pin, VDDH3 pin, VDDH4 pin and VDDH5 pin are connected to 5V voltage.

2) Clock circuit

Referring to FIG. 4 and FIG. 6 , the clock circuit includes a crystal oscillator Y1 , a crystal oscillator Y2 , capacitors X1 to X4 , resistors R18 and R19 .

The EXTAL pin of the MPC565 MPC is electrically connected to the ground wire through a capacitor X4 with a capacitance value of 33PF, and the XTAL pin of the MPC565 MPC is electrically connected to the ground wire through a capacitor X3 with a capacitance value of 33PF, and the frequency is 4MHz. The crystal oscillator Y1 and the resistor R19 with a resistance value of 1MΩ are connected in parallel between the EXTAL pin and the XTAL pin of the single-chip microcomputer of the model MPC565, and between the capacitor X4 and the capacitor X3. The capacitor X2 is electrically connected to the ground wire, the XTAL32 pin of the MPC565 microcontroller is electrically connected to the ground wire through a capacitor X1 with a capacitance value of 33PF, and the crystal oscillator Y2 with a frequency of 32.768KHz is connected in parallel with a resistor R18 with a resistance value of 10MΩ Between the EXTAL32 pin and the XTAL32 pin and the capacitor X1 and the capacitor X2 of the MPC565 MCU.

3) Reset circuit

4 and 7, the reset circuit includes a BDM interface, a Schottky diode D6, a switch, a capacitor C25, resistors R12 to R17 and a resistor R20.

The PRESET pin of MPC565 is connected to 2.6V voltage through resistor R15 with a resistance value of 4.7KΩ; the HRESET pin of MPC565 is connected to 2.6V voltage through resistor R17 with a resistance value of 4.7KΩ, and the model is MPC565 The HRESET pin of the microcontroller is electrically connected to the ground wire through a switch, the HRESET pin of the MPC565 is electrically connected to the No. 3 pin of the Schottky diode D6 of the model BAT54C, and the No. 2 pin of the Schottky diode D6 The pin is electrically connected to the IQR5 pin of the MPC565, the No. 1 pin of the Schottky diode D6 is electrically connected to the IQR7 pin of the MPC565, and the HRESET pin of the MPC565 is connected to the BDM interface. Pin 7 is electrically connected, pin 1 of the BDM interface is connected to 2.6V voltage through a resistor R20 with a resistance value of 10KΩ, pin 3 and pin 5 of the BDM interface are electrically connected to the ground wire, pin 9 of the BDM interface One end of capacitor C25 with a capacitance value of 0.1 μF is connected to 2.6V voltage, the other end of capacitor C25 with a capacitance value of 0.1 μF is electrically connected to the ground wire, and the No. 4 interface of the BDM interface is electrically connected to the DSCK pin of the MPC565 MCU. At the same time, pin 4 of the BDM interface is electrically connected to the ground wire through a resistor R14 with a resistance value of 4.7KΩ, pin 6 of the BDM interface is connected to a 2.6V voltage through a resistor R12 with a resistance value of 10KΩ, and pin 8 of the BDM interface The pin is electrically connected to the DSDI pin of the MPC565 MCU, and the No. 8 pin of the BDM interface is electrically connected to the ground wire through a resistor R13 with a resistance value of 4.7KΩ. The DSDO pin of the single-chip microcomputer is electrically connected; the SRESET pin of the single-chip microcomputer of the model MPC565 is connected to a 2.6V voltage through a resistor R16 with a resistance value of 4.7KΩ, and the SRESET pin is electrically connected to the No. 2 pin of the BDM interface.

2. Signal input circuit

The signal input circuit includes a photoelectric isolation pulse shaping circuit, six first filter circuits with the same structure and six second filter circuits with the same structure.

Referring to Figure 4, the signal input circuit mainly processes the externally collected signals. Including wheel speed pulse signal processing, active front wheel steering system (AFS) position sensor signal processing and analog input signal processing. The wheel speed pulse signal is generated by the wheel speed sensor, the position sensor signal in the active front wheel steering system (AFS) is generated by the position sensor in the active front wheel steering system (AFS), and the analog input signal is generated by the accelerator position sensor, acceleration sensor, yaw rate sensor, pressure sensor and steering wheel angle sensor.

Referring to FIG. 8 , the photoelectrically isolated pulse shaping circuit includes optocoupler U1 of model PC410 to photocoupler U4 of model PC410, Schmitt trigger inverter of model 74HC14, resistor R21 and resistor R28.

The output terminals of the four wheel speed sensors are electrically connected to the MDA11 to MDA14 pins of the MPC565 microcontroller through the photoelectric isolation pulse shaping circuit. Specifically, the output ends of the front left wheel speed sensor 7, the front right wheel speed sensor 8, the rear left wheel speed sensor 9, and the rear right wheel speed sensor 10 are sequentially connected with the optical couple U1 and the optical couple U2 of the model PC410. , Optocoupler U3 and No. 3 pins of optocoupler U4 are electrically connected, and No. 1 pins of optocoupler U1, optocoupler U2, optocoupler U3, and optocoupler U4 of PC410 pass through resistors R21 with a resistance value of 2KΩ in turn. , resistor R23, resistor R25 and resistor R27 are connected to 24V voltage, the No. 4 pins of photocouple U1, photocouple U2, photocouple U3 and photocouple U4 of PC410 are electrically connected to the ground wire, and photocouple U1 of model PC410 The No. 6 pins of optocoupler U2, optocoupler U3 and optocoupler U4 are connected to 5V voltage. The 4.7KΩ resistor R22, resistor R24, resistor R26 and resistor R28 are connected to the 5V voltage, and the 5th pins of the photocouple U1, photocouple U2, photocouple U3 and photocouple U4 of the model PC410 are sequentially connected with the 74HC14 Pin 1, pin 3, pin 5 of the Schmitt trigger inverter are electrically connected to pin 9, pin 2 and pin 4 of the Schmitt trigger inverter model 74HC14 Pin, No. 6 pin and No. 8 pin are electrically connected with the MDA11 pin, MDA12 pin, MDA13 pin and MDA14 pin of the single-chip microcomputer whose model is MPC565.

The output terminals of the pressure sensor, accelerator position sensor, acceleration sensor, yaw rate sensor, and steering wheel angle sensor pass through the filter circuit (the first filter circuit and the second filter circuit) and connect with the AN66 pin to the AN77 pin of the MPC565 MCU wire connection.

Referring to FIG. 4 and FIG. 9-a, the first filter circuit includes a resistor R29, a resistor R30, a resistor R31, a resistor R32 and a capacitor C26. Specifically, the output terminal of the front left wheel pressure sensor 1 is electrically connected to the ground wire through a resistor R31 with a resistance value of 250Ω, and at the same time, the output terminal of the front left wheel pressure sensor 1 is also connected to the resistors R29, R30 and R32 with a resistance value of 100Ω. One end of R29 is electrically connected to 5V, the other end of resistor R30 is electrically connected to the ground wire through capacitor C26 with a capacitance value of 0.01μF, and the other end of resistor R30 is electrically connected to AN66 pin of MPC565 MCU connected, and the other end of the resistor R32 is electrically connected to the ground wire. Similarly, the front right wheel pressure sensor 2, the rear left wheel pressure sensor 3, the rear right wheel pressure sensor 4, the brake master cylinder front cavity pressure sensor 5, and the brake master cylinder rear cavity pressure sensor 6 pass through five first A filter circuit is connected with the AN67 pin to the AN71 pin wire of the MPC565 microcontroller, so no more details will be given.

Referring to FIG. 9-b, the second filter circuit includes a resistor R33, a resistor R34, a resistor R35 and a capacitor C27.

The output terminal of the yaw rate sensor is electrically connected to the resistor R33 with a resistance value of 100Ω, the resistor R34 with a resistance value of 100Ω and one end of the resistor R35 with a resistance value of 100Ω, the other end of the resistor R33 is connected to 5V voltage, and the other end of the resistor R35 The capacitor C27 with a capacitance value of 0.01μF is electrically connected to the ground wire, and the other end of the resistor R34 is electrically connected to the AN72 pin of the MPC565 MCU at the same time, and the other end of the resistor R35 is electrically connected to the ground wire, similarly to the accelerator position sensor Through a second filter circuit with the same structure and the AN73 pin wire of the MPC565 MCU, the acceleration sensor is connected with the AN74 to AN75 channel wires of the MPC565 MPC through two second filter circuits with the same structure, and the steering wheel The angle sensor is connected with the AN76 to AN77 channel wires of the MPC565 single-chip microcomputer through two second filter circuits with the same structure, so no more details are given.

The output terminals of the three position sensors in the Active Front Steering System (AFS) are connected with the MDA29 to MDA31 pin wires of the single-chip microcomputer model MPC565.

3. Control output circuit

The control output circuit mainly includes a shaping filter operational amplifier circuit, a first power drive circuit, a second power drive circuit, a third power drive circuit and a fourth power drive circuit.

Referring to Figure 4, the control output circuit mainly performs power amplification to drive the action of the actuator to complete specific functions and converts digital signals into analog signals for output. It includes driving solenoid valves in the hydraulic control unit (HCU), relays, active front steering system (AFS) servo motor drivers, solenoid locks, steering valves, and converting digital signals into analog signals for output.

Referring to Figure 10-a, the first power drive circuit includes a 6-channel serial-parallel drive chip U5 of model TPIC46L01, TMOS power drive chip Q1 of model MTD10N10EL to TMOS power drive chip Q6 of model MTD10N10EL, resistor R36 and Resistor R47; referring to Figure 10-b, the second power drive circuit includes a 6-channel serial-parallel drive chip U6 of model TPIC46L01, a TMOS power drive chip Q7 of model MTD10N10EL, resistor R48 and resistor R49.

Refer to Figure 4, Figure 10-a and Figure 10-b, the MGPIO0 to MGPIO3 pins of the MPC565 MCU pass through the first power drive circuit and the No. 1 isolation valve and No. 2 isolation valve in the hydraulic control unit (HCU) , No. 1 liquid inlet valve is electrically connected to No. 2 liquid inlet valve; the MGPIO4 pin of the MPC 565 is connected to the relay wire in the hydraulic control unit (HCU) after passing through the first power drive circuit; the MPC 565 MCU The MGPIO7 pin of the first power drive circuit is connected to the electromagnetic lock wire in the active front wheel steering system (AFS); the MGPIO8 pin of the MPC565 microcontroller is connected to the active front wheel steering system (AFS) after the second power drive circuit AFS) to the steering valve wire connection. Specifically, the MGPIO0 pin of the MPC565 microcontroller is electrically connected to the 4th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01, and the 27th pin of the 6-channel serial-parallel driver chip of the model TPIC46L01 is connected through a resistor The resistor R37 with a value of 100Ω is electrically connected to the G terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL is electrically connected to the ground wire, and the 6-channel serial-parallel driver chip whose model is TPIC46L01 Pin 26 of U5 is electrically connected to the D terminal of the TMOS power driver chip Q1 of the model MTD10N10EL through the resistor R36 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q1 of the model MTD10N10EL is connected to the hydraulic control unit (HCU) at the same time No. 1 isolation valve in the electrical connection; the 14th and 28th pins of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 are connected to the 5V voltage and the 12V voltage in turn, and the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 Pin No. 2 and Pin No. 15 are electrically connected to the ground wire. Pin No. 1 of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 is electrically connected to the IRQ3 pin of the single-chip microcomputer of the model MPC565. The 6-channel driver chip of the model TPIC46L01 The No. 10 pin of the serial-parallel driver chip U5 is electrically connected to the B_PCS2 pin of the single-chip microcomputer whose model is MPC565, and the No. 11 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the B_MISO pin of the single-chip microcomputer whose model is MPC565. Connection, the 12th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected with the B_MOSI pin of the single-chip microcomputer whose model is MPC565, the 13th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is connected with the model The B_SCK pin of MPC565 MCU is electrically connected.

In the same way: the MGPIO1 pin of MPC565 is electrically connected to the 5th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01, and the 25th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 is passed through the resistor The resistor R39 with a value of 100Ω is electrically connected to the G terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL is electrically connected to the ground wire, and the 6-channel serial-parallel driver chip whose model is TPIC46L01 Pin 24 of U5 is electrically connected to the D terminal of the TMOS power driver chip Q2 of the model MTD10N10EL through the resistor R38 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q2 of the model MTD10N10EL is connected to the hydraulic control unit (HCU) at the same time No. 2 isolation valve in the electrical connection.

The MGPIO2 pin of MPC565 MCU is electrically connected to the 6th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01, and the 22nd pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 has a resistance value of 100Ω The resistor R41 is electrically connected to the G terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL is electrically connected to the ground wire, and the 23 of the 6-channel serial parallel driver chip U5 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q3 of the model MTD10N10EL through a resistor R40 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q3 of the model MTD10N10EL is simultaneously connected to the 1 No. Inlet valve electrical connection.

The MGPIO3 pin of the MPC565 MCU is electrically connected to the 7th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01, and the 21st pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 has a resistance value of 100Ω The resistor R43 is electrically connected to the G terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL is electrically connected to the ground wire, and the 20 terminals of the 6-channel serial parallel driver chip U5 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q4 of the model MTD10N10EL through the resistor R42 with a resistance value of 1KΩ. No. Inlet valve electrical connection.

The MGPIO4 pin of MPC565 MCU is electrically connected to the 8th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01, and the 18th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 has a resistance value of 100Ω The resistor R45 is electrically connected to the G terminal of the TMOS power driver chip Q5 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q5 whose model is MTD10N10EL is electrically connected to the ground wire, and the 19th terminal of the 6-channel serial parallel driver chip U5 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q5 of the model MTD10N10EL through a resistor R44 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q5 of the model MTD10N10EL is simultaneously connected to the relay in the hydraulic control unit (HCU) electrical connection.

The MGPIO7 pin of the MPC565 MCU is electrically connected to the 9th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01, and the 16th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 has a resistance value of 100Ω The resistor R47 is electrically connected to the G terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL is electrically connected to the ground wire, and the 17th terminal of the 6-channel serial parallel driver chip U5 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q6 of the model MTD10N10EL through a resistor R46 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q6 of the model MTD10N10EL is simultaneously connected to Electromagnetic lock electrical connection.

The MGPIO8 pin of the MPC565 MCU is electrically connected to the 4th pin of the 6-channel serial-parallel driver chip U6 of the model TPIC46L01, and the 27th pin of the 6-channel serial-parallel driver chip U6 of the model TPIC46L01 has a resistance value of 100Ω The resistor R49 is electrically connected to the G terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL is electrically connected to the ground wire, and the 26-channel serial parallel driver chip U7 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q7 of the model MTD10N10EL through a resistor R48 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q7 of the model MTD10N10EL is simultaneously connected to The steering valve electrical connection.

Referring to Figure 11-a, the third power drive circuit includes a 6-channel serial-parallel drive chip U7 of model TPIC46L01, TMOS power drive chip Q8 of model MTD10N10EL to TMOS power drive chip Q13 of model MTD10N10EL, resistor R50 and Resistor R61; refer to Figure 11-b. The fourth power drive circuit includes a 6-channel serial-parallel drive chip U8 of model TPIC46L01, TMOS power drive chips Q14 and Q15 of model MTD10N10EL, and resistors R62 to R65.

Referring to Figure 4, Figure 11-a and Figure 11-b, the PWM0 to PWM5 pins of the MPC565 single-chip microcomputer pass through the third power drive circuit and then connect with No. 1 booster valve and No. 2 booster valve in the hydraulic control unit (HCU). The booster valve, the No. 3 booster valve, the No. 4 booster valve, the No. 1 pressure relief valve are connected with the No. 2 pressure relief valve wires. The PWM16 to PWM17 pins of the MPC565 microcontroller are connected to the No. 3 pressure reducing valve and the No. 4 pressure reducing valve wires in the hydraulic control unit (HCU) in sequence after passing through the fourth power drive circuit. Specifically, the PWM0 pin of the MPC565 microcontroller is electrically connected to the 4th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01, and the 27th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 is connected to the The resistor R51 with a resistance value of 100Ω is electrically connected to the G terminal of the TMOS power driver chip Q8 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q8 whose model is MTD10N10El is electrically connected to the ground wire, and the 6-channel serial-parallel driver whose model is TPIC46L01 Pin 26 of the chip U7 is electrically connected to the D terminal of the TMOS power driver chip Q8 of the model MTD10N10EL through a resistor R50 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q8 of the model MTD10N10EL is simultaneously connected to the hydraulic control unit (HCU ), the No. 1 booster valve in ) is electrically connected, the 14th and 28th pins of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 are respectively connected to the 5V voltage and the 12V voltage, and the 6-channel serial-parallel driver chip of the model TPIC46L01 Pin 2 of U7 is electrically connected to pin 15 and the ground wire, and pin 1 of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 is electrically connected to the IRQ1 pin of the single-chip microcomputer of the model MPC565, and the model is TPIC46L01 Pin No. 10 of the 6-channel serial-parallel driver chip U7 is electrically connected to the B_PCS0 pin of the single-chip microcomputer whose model is MPC565, and pin No. 11 of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is connected to the B_MISO pin of the single-chip microcomputer whose model is MPC565. Pin electrical connection, the No. 12 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the B_MOSI pin of the single-chip microcomputer whose model is MPC565, and the No. 13 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is connected with The B_SCK pin of the MPC565 microcontroller is electrically connected.

In the same way: the PWM1 pin of the MPC565 is electrically connected to the 5th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01, and the 25th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 is passed through the resistor The resistor R53 with a value of 100Ω is electrically connected to the G terminal of the TMOS power driver chip Q9 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q9 whose model is MTD10N10El is electrically connected to the ground wire, and the 6-channel serial-parallel driver chip whose model is TPIC46L01 Pin 24 of U7 is electrically connected to the D terminal of the TMOS power driver chip Q9 with the model MTD10N10EL through the resistor R52 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q9 with the model MTD10N10EL is connected to the hydraulic control unit (HCU) at the same time No. 2 booster valve in the electrical connection.

The PWM2 pin of the MPC565 MCU is electrically connected to the No. 6 pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01, and the 22nd pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 has a resistance value of 100Ω The resistor R55 is electrically connected to the G terminal of the TMOS power driver chip Q10 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q10 whose model is MTD10N10El is electrically connected to the ground wire, and the 23 of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q10 of the model MTD10N10EL through a resistor R54 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q10 of the model MTD10N10EL is simultaneously connected to the 3 No. booster valve electrical connection.

The PWM3 pin of the MPC565 is electrically connected to the 7th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01, and the 21st pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 has a resistance value of 100Ω The resistor R57 is electrically connected to the G terminal of the TMOS power driver chip Q11 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q11 whose model is MTD10N10El is electrically connected to the ground wire, and the 20 of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q11 of the model MTD10N10EL through a resistor R56 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q11 of the model MTD10N10EL is simultaneously connected to the 4 terminals in the hydraulic control unit (HCU). No. booster valve electrical connection.

The PWM4 pin of the MPC565 microcontroller is electrically connected to the 8th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01, and the 18th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 has a resistance value of 100Ω The resistor R59 is electrically connected to the G terminal of the TMOS power driver chip Q12 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q12 whose model is MTD10N10El is electrically connected to the ground wire, and the 19th terminal of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q12 of the model MTD10N10EL through the resistor R58 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q12 of the model MTD10N10EL is simultaneously connected to the 1 No. pressure reducing valve electrical connection.

The PWM5 pin of the MPC565 microcontroller is electrically connected to the 9th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01, and the 16th pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 has a resistance value of 100Ω The resistor R61 is electrically connected to the G terminal of the TMOS power driver chip Q13 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q13 whose model is MTD10N10El is electrically connected to the ground wire, and the 17th terminal of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q13 of the model MTD10N10EL through a resistor R60 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q13 of the model MTD10N10EL is simultaneously connected to the 2 No. pressure reducing valve electrical connection.

The PWM16 pin of the MPC565 microcontroller is electrically connected to the 4th pin of the 6-channel serial-parallel driver chip U8 of the model TPIC46L01, and the 27th pin of the 6-channel serial-parallel driver chip U8 of the model TPIC46L01 has a resistance value of 100Ω The resistor R63 is electrically connected to the G terminal of the TMOS power driver chip Q14 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q14 whose model is MTD10N10El is electrically connected to the ground wire, and the 26-channel serial parallel driver chip U8 whose model is TPIC46L01 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q14 of the model MTD10N10EL through a resistor R62 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q14 of the model MTD10N10EL is simultaneously connected to the 3 No. pressure reducing valve electrical connection.

The PWM17 pin of the MPC565 microcontroller is electrically connected to the 5th pin of the 6-channel serial-parallel driver chip U8 of the model TPIC46L01, and the 25th pin of the 6-channel serial-parallel driver chip U8 of the model TPIC46L01 has a resistance value of 100Ω The resistor R65 is electrically connected to the G terminal of the TMOS power driver chip Q15 whose model is MTD10N10EL, the S terminal of the TMOS power driver chip Q15 whose model is MTD10N10El is electrically connected to the ground wire, and the 24 Pin No. 1 is electrically connected to the D terminal of the TMOS power driver chip Q15 of the model MTD10N10EL through a resistor R64 with a resistance value of 1KΩ, and the D terminal of the TMOS power driver chip Q15 of the model MTD10N10EL is simultaneously connected to the 4 No. pressure reducing valve electrical connection.

Referring to Figure 4, the MDA15 pin of the MPC565 MCU is connected to the servo motor driver wire in the Active Front Steering System (AFS).

Referring to FIG. 12 , the shaping filter operational amplifier circuit includes an operational amplifier model MAX4169, a diode Z1, a diode Z2, resistors R66 to R71, and capacitors C28 to C33.

The MDA27 and MDA28 pins of the MPC 565 microcontroller are connected to the electronic throttle wire after passing through the shaping and filtering operational amplifier circuit. Specifically, the MDA27 pin and the MDA28 pin of the single-chip microcomputer model MPC565 are electrically connected to the resistor R66 with a resistance value of 1.6KΩ and one end of the resistor R69, and the other end of the resistor R66 is connected to the resistor R67 with a resistance value of 2.4KΩ. It is electrically connected to one end of capacitor C28 with a capacitance value of 0.1μF, the other end of capacitor C28 is electrically connected to the ground wire, and the other end of resistor R67 is electrically connected to capacitor C29 and one end of resistor R68 with a resistance value of 7.5KΩ. The other end of the 7.5KΩ resistor R68 and one end of the capacitor C30 with a capacitance value of 0.01μF are electrically connected to the No. 3 pin of the operational amplifier model MAX4169, and the other end of the resistor R69 with a resistance value of 1.6KΩ and a resistance value of The 2.4KΩ resistor R70 is electrically connected to one end of the capacitor C31 with a capacitance value of 0.1 μF, the other end of the capacitor C31 is electrically connected to the ground wire, and the other end of the resistor R70 is operated by the capacitor C32 with a capacitance value of 0.047 μF and the model MAX4169 The No. 6 pin of the amplifier is electrically connected, and the other end of the resistor R70 is electrically connected to the No. 5 pin of the operational amplifier model MAX4169 through the resistor R71 with a resistance value of 7.5KΩ. The No. 1 and 7 pins of the operational amplifier model MAX4169 Pin No. 1 and pin No. 7 of the operational amplifier model MAX4169 are electrically connected to the ground wire through diode Z1 and diode Z2 respectively, and pin No. 3 and pin No. 5 of the model MAX4169 are respectively connected through Capacitors C30 and C33 with a capacitance value of 0.01 μF are electrically connected to the ground wire, pin 4 of the operational amplifier model MAX4169 is connected to 5V, and pin 11 of the operational amplifier model MAX4169 is electrically connected to the ground wire.

4. CAN transceiver module

Refer to Figure 4 and Figure 13, the TXD pin of the CAN transceiver module model 82C250 is connected to the A-CNRX0 pin wire of the single-chip microcomputer model MPC565, the RXD pin of the CAN transceiver module model 82C250 is connected to the single-chip microcomputer model MPC565 The A-CNTX0 pin wire connection of the 82C250 CAN transceiver module is electrically connected to the GND pin and the ground wire, the VCC pin of the 82C250 CAN transceiver module is connected to 5V voltage, and the CAN transceiver module 82C250 The CANH pin of the transceiver module is connected to the CANL pin and the CAN bus, and the CANH pin and the CANL pin of the CAN transceiver module of model 82C250 are electrically connected by a resistor R72 with a resistance value of 120Ω.

The single-chip microcomputer of model MPC565 is connected with the downloader of model BDI2000 through the BDM interface, and the downloader of model BDI2000 is connected with the upper computer through a network cable to realize the communication between the active anti-rollover controller (ARC) and the upper computer.

The working principle of the vehicle active anti-rollover control real vehicle test system:

There are dSPACE, ControlDesk, TargetLink and vehicle control algorithms installed in the host computer. The vehicle control algorithm mainly refers to the vehicle rollover warning algorithm and the active anti-rollover control algorithm, which run in the active anti-rollover controller (ARC).

Referring to Figure 1, the active anti-rollover controller (ARC) first collects the angle signal of the steering wheel angle sensor and the wheel speed sensor 7 of the front left wheel, the wheel speed sensor 8 of the front right wheel, the wheel speed sensor 9 of the rear left wheel and the wheel speed of the rear right wheel. Wheel speed signal from sensor 10. The rollover early warning time value is calculated by the early warning algorithm. The active anti-rollover controller (ARC) respectively collects the front left wheel pressure sensor 1, front right wheel pressure sensor 2, rear left wheel pressure sensor 3, rear right wheel pressure sensor 4, brake master cylinder front chamber pressure sensor 5 and brake master The pressure signal of the cylinder rear chamber pressure sensor 6, the rotation angle signal of the steering wheel angle sensor, the driver's acceleration signal of the accelerator position sensor, the yaw rate signal of the yaw rate sensor, the front left wheel speed sensor 7, and the front right wheel speed sensor 8 , the wheel speed signals of the rear left wheel speed sensor 9 and the rear right wheel speed sensor 10 and the acceleration signal of the acceleration sensor, the active steering and active braking control signals are given by the active anti-rollover control algorithm, and then output to the corresponding execution The mechanism controls the action of the corresponding actuator. During this process, use ControlDesk to monitor the whole experiment in real time, carry out online debugging of control parameters, realize real-time display of data, record and save the test results, modify the parameters of the real-time test through parameter files, and study the effect of different parameters and parameter groups on the test. Influence.

Referring to Fig. 13, it is a flowchart block diagram of the work of the active anti-rollover control real vehicle test system of the automobile according to the present invention:

1. At the beginning of the test, the upper computer converts the vehicle rollover warning algorithm and active anti-rollover control algorithm into codes that can run in the active anti-rollover (ARC) controller through TargetLink, and downloads them to the active anti-rollover controller ( ARC);

2. After the initialization is completed, the vehicle sensor collects state information such as vehicle wheel speed, acceleration, and yaw rate, and performs state estimation according to the driver's intention;

3. The active anti-rollover controller (ARC) calculates the rollover warning time through the vehicle rollover warning algorithm according to the collected state information;

4. Judging whether active anti-rollover control is needed according to the rollover warning time, if not, return to step 2 and continue state estimation;

5. If active anti-rollover control is required, the active anti-rollover controller (ARC) selects the corresponding control strategy according to the output of the sensor, and calculates the expected active yaw moment and active front wheel angle;

6. The steering angle superposition control is carried out by the active steering actuator, and then the obtained active yaw moment is converted into the braking pressure of each wheel cylinder by the optimal distribution method, and finally the driving signal is output to the active hydraulic brake actuator and active steering execution mechanism.

During the whole process, the upper computer monitors the operation of the early warning algorithm and the control algorithm in real time, displays the changes of key parameters in real time, and records the relevant data in the whole test process.

Claims (1)

1. A kind of automobile active anti-rollover control real vehicle test system, comprises active anti-rollover controller, it is characterized in that, described active anti-rollover controller comprises the single-chip microcomputer and minimum system thereof, signal input circuit that model is MPC565 , control output circuit and CAN transceiver module of model 82C250; Described model is that the minimum system of the single-chip microcomputer of MPC565 comprises power supply circuit, clock circuit and reset circuit; The 2.6V voltage output terminal of the power supply circuit is electrically connected with the VDD_RTC pin, KAPWR pin, VDDSYN pin, VDDF pin, VDDSRAM1 pin, VDDSRAM2 pin and VDDSRAM3 pin of the MPC565 microcontroller; the 2.6V power supply circuit The voltage output terminal is electrically connected to the XFC pin of the single-chip microcomputer of the model MPC565 through the capacitor C24; the 5V voltage output terminal of the power supply circuit is connected to the VFLASH pin, VDDH1 pin, VDDH2 pin, VDDH3 pin, VDDH4 of the single-chip microcomputer of the model MPC565 Pin and VDDH5 pin are electrically connected; the No. 6 pin of the chip model TLE6361 in the power supply circuit is electrically connected with the IRQ0 pin of the single-chip microcomputer MPC565; one end of the resistors R4, R5, R6, and R7 in the power supply circuit are respectively connected to The A_SCK pin, A_PCS0 pin, A_MOSI pin, and A_MISO pin of the MPC565 MCU are electrically connected; one end of the capacitor C17 in the power supply circuit is electrically connected to the PRESET pin of the MPC565 MCU; The power supply circuit includes a TLE6361 chip, inductors L1 to L6, resistors R1 to R11, capacitors C1 to C24, and diodes D1 to D5; The No. 2 pin of the TLE6361 chip is electrically connected to one end of the resistor R4, the No. 3 pin of the TLE6361 chip is electrically connected to one end of the resistor R5, and the No. 4 pin of the TLE6361 chip is connected to the resistor R6. One end is electrically connected, the No. 5 pin of the TLE6361 chip is electrically connected to one end of the resistor R7, the No. 7 pin of the TLE6361 chip is electrically connected to the ground wire through the capacitor C5, and the No. 8, Pins No. 9, No. 10, No. 11, No. 12 and No. 13 are connected to one point by wires and connected to the positive electrode of capacitor C18, capacitor C19, capacitor C20, capacitor C21, capacitor C22 and capacitor C23. Capacitor C18, capacitor C19, Capacitor C20, capacitor C21, capacitor C22 and the negative electrode of capacitor C23 are electrically connected to the ground wire. The No. 14 pin of the chip whose model is TLE6361 is electrically connected to capacitor C15 and the ground wire through capacitor C14. Capacitor C14 and capacitor C15 are connected in parallel, and the model is The 14th pin of the TLE6361 chip is electrically connected to one end of the inductor L6 at the same time, and the 15th, 16th and 17th pins of the TLE6361 chip are electrically connected to the resistor R3, the resistor R2 and the resistor R1 in turn, and the model is TLE6361 The 15th, 16th and 17th pins of the chip are electrically connected to the ground wire through the capacitor C17, the 20th pin and the 21st pin of the TLE6361 chip are electrically connected through the capacitor C7, and the 22nd pin of the TLE6361 chip The pin is electrically connected to the ground wire through the capacitor C8, and the No. 23 pin of the TLE6361 chip is electrically connected to the No. 27 pin, and is also electrically connected to one end of the capacitor C10 and the capacitor C11, and the other end of the capacitor C10 and the capacitor C11 They are electrically connected to the ground wire respectively, the capacitor C10 and the capacitor C11 are connected in parallel, the No. 23 pin and the No. The pin is electrically connected to the ground wire through the capacitor C12 and the capacitor C13, and the capacitor C12 is connected in parallel with the capacitor C13. The 24th pin of the TLE6361 chip is electrically connected to one end of the inductor L5 at the same time, and the 25th pin of the TLE6361 chip is connected to the The No. 26 pin is electrically connected, and is electrically connected to the ground wire through the diode D4. The No. 28 pin of the TLE6361 chip is electrically connected to the No. 31 pin through the capacitor C6 and the No. 29 pin of the TLE6361 chip. The model The pin 29 and pin 31 of the TLE6361 chip are electrically connected through the diode D3 and the ground wire, and the pin 29 and pin 31 of the chip model TLE6361 are electrically connected through the positive electrode of the inductor L2 and the capacitor C9. The positive electrode of capacitor C9 is electrically connected to the ground wire through diode D4, the negative electrode of capacitor C9 is electrically connected to the ground wire, the No. 30 pin of the TLE6361 chip is electrically connected to No. 32 pin, and at the same time is connected to the capacitor C 3. One end of capacitor C4 is electrically connected, capacitor C3 and the other end of capacitor C4 are electrically connected to the ground wire respectively, capacitor C3 and capacitor C4 are connected in parallel, and the No. 30 pin and No. 32 pin of the TLE6361 chip and the inductor L1 One end is electrically connected, the other end of the inductor L1 is electrically connected to the diode D1 and the ground wire through the capacitor C1, the capacitor C1 is connected in parallel with the diode D1, the cathode of the diode D1 is connected to the 24V voltage, and the cathode of the diode D1 is connected to the 24V voltage through the diode D5, and the model is Pin 33 of the TLE6361 chip is electrically connected to the negative pole of the diode D2, the positive pole of the diode D2 is electrically connected to the positive pole of the capacitor C3 through the capacitor C2, and the positive pole of the diode D2 is electrically connected to the positive pole of the capacitor C9 through the resistor R9, and the capacitor C2 is electrically connected to the positive pole of the capacitor C9. Resistor R9 is connected in parallel, the No. 34 pin of the TLE6361 chip is electrically connected to the ground wire through the capacitor 16, the No. 34 pin of the TLE6361 chip is electrically connected to the resistor R10 and the cathode of the diode D5 through the resistor R8, and the resistor R8 is connected to the negative pole of the diode D5. Resistor R10 is connected in series, and pin 35 of the TLE6361 chip is electrically connected to the ground wire through resistor R11; One end of the resistor R18 in the clock circuit is electrically connected to the XTAL32 pin of the MPC565 MCU, the other end of the resistor R18 is electrically connected to the EXTAL32 pin of the MPC565 MCU, and one end of the resistor R19 in the clock circuit is connected to the MPC565 MPC The XTAL pin of the single-chip microcomputer is electrically connected, and the other end of the resistor R19 is electrically connected to the EXTAL pin of the single-chip microcomputer whose model is MPC565; The clock circuit includes a crystal oscillator Y1, a crystal oscillator Y2, capacitors X1 to X4, resistors R18 and R19; One end of the parallel connection of the crystal oscillator Y1 and the resistor R19 is connected to one end of the capacitor X4, the other end of the capacitor X4 is electrically connected to the ground wire, the other end of the parallel connection of the crystal oscillator Y1 and the resistor R19 is connected to one end of the capacitor X3, and the other end of the capacitor X3 One end is electrically connected to the ground wire; one end of the parallel connection of the crystal oscillator Y2 and the resistor R18 is connected to one end of the capacitor X2, the other end of the capacitor X2 is electrically connected to the ground wire, and the other end of the parallel connection of the crystal oscillator Y2 and the resistor R18 is connected to the capacitor X1 One end of the capacitor X1 is electrically connected to the ground wire; One end of the resistor R15 in the reset circuit is electrically connected to the PRESET pin of the MPC565 MCU, one end of the resistor R17 in the reset circuit is electrically connected to the HRESET pin of the MPC565 MCU, and one end of the resistor R16 in the reset circuit is connected to the MPC of the model The SRESET pin of the single-chip microcomputer of MPC565 is electrically connected, the No. 2 pin of the BDM interface in the reset circuit is electrically connected with the SRESET pin of the single-chip microcomputer whose model is MPC565, and the No. 4 pin of the BDM interface in the reset circuit is connected with the single-chip microcomputer whose model is MPC565 The DSCK pin is electrically connected, the No. 8 pin of the BDM interface in the reset circuit is electrically connected to the DSDI pin of the MPC565 MCU, and the No. 10 pin of the BDM interface in the reset circuit is electrically connected to the DSDO pin of the MPC565 MCU. Connection, the No. 1 pin of the Schottky diode D6 whose model is BAT54C in the reset circuit is electrically connected with the IQR7 pin of the single-chip microcomputer whose model is MPC565, and the No. 2 pin of the Schottky diode D6 whose model is BAT54C in the reset circuit The pin is electrically connected to the IQR5 pin of the single-chip microcomputer whose model is MPC565; The reset circuit includes a BDM interface, a Schottky diode D6, a switch, a capacitor C25, resistors R12 to R17 and a resistor R20; One end of resistor R15, resistor R16 and resistor R17 is connected to 2.6V voltage, the other end of resistor R17 is electrically connected to the ground wire through a switch, and the other end of resistor R17 is simultaneously connected to pin 3 of Schottky diode D6 of model BAT54C and The No. 7 pin of the BDM interface is electrically connected, the No. 1 pin of the BDM interface is connected to 2.6V voltage through the resistor R20, the No. 3 pin of the BDM interface is electrically connected to the No. 5 pin and the ground wire, and the No. 9 pin of the BDM interface Connect one end of the capacitor C25 to the 2.6V power supply, the other end of the capacitor C25 is electrically connected to the ground wire, the No. 4 pin of the BDM interface is electrically connected to the ground wire through the resistor R14, and the No. 6 pin of the BDM interface is connected to 2.6V through the resistor R12 Power supply, pin 8 of the BDM interface is electrically connected to the ground wire through the resistor R13; The signal input circuit includes a photoelectric isolation pulse shaping circuit, 6 first filter circuits with the same structure and 6 second filter circuits with the same structure; In the photoelectric isolation pulse shaping circuit, the pins 2, 4, 6 and 8 of the Schmitt trigger inverter model 74HC14 are in turn connected with the MDA11 pin of the MPC565 MCU. MDA14 pin electrical connection; The photoelectric isolation pulse shaping circuit includes a model of optocoupler U1 to PC410, a model of Schmitt trigger inverter of 74HC14, resistors R21 to resistors R28; The No. 1 pins of photocouple U1 of model PC410 to photocouple U4 of model PC410 are respectively connected to 24V voltage through resistor R21, resistor R23, resistor R25 and resistor R27, and photocoupler U1 of model PC410 to photocoupler of model PC410 Pin 4 of U4 is electrically connected to the ground wire, pin 6 of photocouple U1 of model PC410 to photocouple U4 of model PC410 is connected to 5V voltage, photocouple U1 of model PC410 is connected to photocoupler U1 of model PC410 The No. 5 pin of even U4 is respectively connected to 5V voltage through resistor R22, resistor R24, resistor R26 and resistor R28. At the same time, the No. 5 pins of photocouple U1 of model PC410 to photocouple U4 of model PC410 are respectively connected to 74HC14 The No. 1 pin, No. 3 pin, No. 5 pin and No. 9 pin of the Schmitt trigger inverter are electrically connected; One end of the resistor R30 in the 6 first filter circuits with the same structure is electrically connected to the AN66 pin to the AN71 pin of the single-chip microcomputer whose model is MPC565; One end of the resistor R34 in the 6 second filter circuits with the same structure is electrically connected to the AN72 pin to the AN77 pin of the single-chip microcomputer whose model is MPC565; The first filter circuit includes a resistor R29, a resistor R30, a resistor R31, a resistor R32 and a capacitor C26; Resistor R29, resistor R30, resistor R31 are electrically connected to one end of resistor R32, the other end of R29 is connected to 5V voltage, the other end of resistor R30 is electrically connected to the ground wire through capacitor C26, and the other end of resistor R31 is electrically connected to the ground wire. The other end of R32 is electrically connected to the ground wire; The second filtering circuit includes a resistor R33, a resistor R34, a resistor R35 and a capacitor C27; Resistor R33, resistor R34 are electrically connected to one end of resistor R35, the other end of resistor R33 is connected to 5V voltage, the other end of resistor R34 is electrically connected to ground wire through capacitor C27, and the other end of resistor R35 is electrically connected to ground wire; The control output circuit includes a shaping filter operational amplifier circuit, a first power drive circuit, a second power drive circuit, a third power drive circuit and a fourth power drive circuit; In the first power drive circuit, pins 4 to 8 of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 are electrically connected to pins MGPIO0 to MGPIO4 of the single-chip microcomputer whose model is MPC565 in turn, and the first power drive In the circuit, the No. 9 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the MGPIO7 pin of the MPC565 MCU, and the No. 1 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is connected to the model It is electrically connected to the IRQ3 pin of the single-chip microcomputer of MPC565, and the 10th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the B_PCS2 pin of the single-chip computer of the model MPC565, and the 6-channel serial-parallel driver chip whose model is TPIC46L01 The 11th pin of U5 is electrically connected to the B_MISO pin of the MPC565 MCU, and the 12th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the B_MOSI pin of the MPC565 MCU. The 13th pin of the 6-channel serial-parallel driver chip U1 of TPIC46L01 is electrically connected to the B_SCK pin of the MPC565 MCU; The first power drive circuit includes a 6-channel serial-parallel drive chip U5 of model TPIC46L01, TMOS power drive chip Q1 of model MTD10N10EL to TMOS power drive chip Q6 of model MTD10N10EL, and resistors R36 to R47; The 27th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL through the resistor R37, and the S terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q1 whose model is MTD10N10EL through the resistor R36, and the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U5 of model TPIC46L01 is electrically connected to pin 15 and the ground wire; The No. 25 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL through the resistor R39, and the S terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 24 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q2 whose model is MTD10N10EL through a resistor R38; The 22nd pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL through the resistor R41, and the S terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 23 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q3 whose model is MTD10N10EL through a resistor R40; The No. 21 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL through the resistor R43, and the S terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 20 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q4 whose model is MTD10N10EL through the resistor R42; The 18th pin of the 6-channel serial-parallel driver chip U5 of the model TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q5 of the model MTD10N10EL through the resistor R45, and the S terminal of the TMOS power driver chip Q5 of the model MTD10N10EL is connected to the ground wire Electrical connection, the No. 19 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q5 whose model is MTD10N10EL through a resistor R44; The 16th pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL through the resistor R47, and the S terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 17 pin of the 6-channel serial-parallel driver chip U5 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q6 whose model is MTD10N10EL through the resistor R46; The No. 4 pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 in the second power drive circuit is electrically connected with the MGPIO8 pin of the single-chip microcomputer whose model is MPC565, and No. 1 of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 The pin is electrically connected to the IRQ4 pin of the single-chip microcomputer of the model MPC565, and the 10th pin of the 6-channel serial-parallel driver chip U6 of the model TPIC46L01 is electrically connected to the B_PCS3 pin of the single-chip microcomputer of the model MPC565, and the 6-channel of the model TPIC46L01 The 11th pin of the serial-parallel driver chip U6 is electrically connected to the B_MISO pin of the MPC565 MCU, and the 12th pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 is electrically connected to the B_MOSI pin of the MPC565 MCU. Connection, the 13th pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 is electrically connected with the B_SCK pin of the single-chip microcomputer whose model is MPC565; The second power drive circuit includes a 6-channel serial-parallel drive chip U6 of model TPIC46L01, a TMOS power drive chip Q7 of model MTD10N10EL, resistor R48 and resistor R49; The 27th pin of the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL through the resistor R49, and the S terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q7 whose model is MTD10N10EL through the resistor R48, and the 6-channel serial-parallel driver chip U6 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U6 of model TPIC46L01 is electrically connected to pin 15 and the ground wire; In the third power drive circuit, pins 4 to 9 of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 are electrically connected to pins PWM0 to PWM5 of a single-chip microcomputer whose model is MPC565, and the model is TPIC46L01. The No. 1 pin of the 6-channel serial-parallel driver chip U7 is electrically connected to the IRQ1 pin of the MPC565, and the No. 10 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is connected to the B_PCS0 pin of the MPC565 MCU. Pin electrical connection, the No. 11 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the B_MISO pin of the single-chip microcomputer whose model is MPC565, and the No. 12 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is connected with The B_MOSI pin of the single-chip microcomputer whose model is MPC565 is electrically connected, and the 13th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the B_SCK pin of the single-chip microcomputer whose model is MPC565; The third power drive circuit includes a 6-channel serial-parallel drive chip U7 of model TPIC46L01, TMOS power drive chip Q8 of model MTD10N10EL to TMOS power drive chip Q13 of model MTD10N10EL, resistor R50 and resistor R61; The 27th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q8 whose model is MTD10N10EL through the resistor R51, and the S terminal of the TMOS power driver chip Q8 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q8 whose model is MTD10N10EL through the resistor R50, and the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 The 14th pin and the 28th pin are connected to the 5V voltage and the 12V voltage in turn, and the 2nd pin of the 6-channel serial-parallel driver chip U7 of the model TPIC46L01 is electrically connected to the 15th pin and the ground wire; The No. 25 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q9 whose model is MTD10N10EL through the resistor R53, and the S terminal of the TMOS power driver chip Q9 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 24 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q9 whose model is MTD10N10EL through a resistor R52; The 22nd pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q10 whose model is MTD10N10EL through the resistor R55, and the S terminal of the TMOS power driver chip Q10 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 23 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q10 whose model is MTD10N10EL through a resistor R54; The 21st pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q11 whose model is MTD10N10EL through the resistor R57, and the S terminal of the TMOS power driver chip Q11 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 20 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q11 whose model is MTD10N10EL through a resistor R56; The 18th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q12 whose model is MTD10N10EL through the resistor R59, and the S terminal of the TMOS power driver chip Q12 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 19 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q12 whose model is MTD10N10EL through a resistor R58; The 16th pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q13 whose model is MTD10N10EL through the resistor R61, and the S terminal of the TMOS power driver chip Q13 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 17 pin of the 6-channel serial-parallel driver chip U7 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q13 whose model is MTD10N10EL through a resistor R60; The No. 4 and No. 5 pins of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 in the fourth power drive circuit are electrically connected with the PWM16 pin and PWM17 pin of the single-chip microcomputer whose model is MPC565, and the model is TPIC46L01 The No. 1 pin of the 6-channel serial-parallel driver chip U8 is electrically connected to the IRQ2 pin of the single-chip microcomputer whose model is MPC565, and the No. 10 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is connected to the B_PCS1 pin of the single-chip microcomputer whose model is MPC565. Pin electrical connection, the No. 11 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected with the B_MISO pin of the single-chip microcomputer whose model is MPC565, and the No. 12 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is connected with The B_MOSI pin of the single-chip microcomputer whose model is MPC565 is electrically connected, and the 13th pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the B_SCK pin of the single-chip microcomputer whose model is MPC565; The fourth power drive circuit includes a 6-channel serial-parallel drive chip U8 with a model TPIC46L01, a TMOS power drive chip Q14 with a model MTD10N10EL, a TMOS power drive chip Q15 with a model MTD10N10EL, and resistors R62 to R65; The No. 27 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q14 whose model is MTD10N10EL through the resistor R63, and the S terminal of the TMOS power driver chip Q14 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 26 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected with the D terminal of the TMOS power driver chip Q14 whose model is MTD10N10EL through the resistor R62, and the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 Pin 14 and pin 28 are connected to 5V voltage and 12V voltage in turn, and pin 2 of the 6-channel serial-parallel driver chip U8 of model TPIC46L01 is electrically connected to pin 15 and the ground wire; The No. 25 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the G terminal of the TMOS power driver chip Q15 whose model is MTD10N10EL through the resistor R65, and the S terminal of the TMOS power driver chip Q15 whose model is MTD10N10El is connected to the ground wire Electrical connection, the No. 24 pin of the 6-channel serial-parallel driver chip U8 whose model is TPIC46L01 is electrically connected to the D terminal of the TMOS power driver chip Q15 whose model is MTD10N10EL through a resistor R64; Resistor R66 and one end of resistor R69 in the shaping filter operational amplifier circuit are electrically connected with the MDA27 pin and the MDA28 pin of the single-chip microcomputer whose model is MPC565; The TXD pin of the CAN transceiver module model 82C250 is connected to the A-CNRX0 pin wire of the MPC565 MCU, and the RXD pin of the CAN transceiver module model 82C250 is connected to the A-CNTX0 pin wire of the MPC565 MCU connect; The described shaping and filtering op-amp circuit includes an operational amplifier model of MAX4169, a diode Z1, a diode Z2, a resistor R66 to a resistor R71, and a capacitor C28 to a capacitor C33; Resistor R66 and resistor R67 are electrically connected to one end of capacitor C28, the other end of capacitor C28 is electrically connected to the ground wire, the other end of resistor R67 is electrically connected to pin 2 of the operational amplifier model MAX4169 through capacitor C29, and the resistor R67 The other end is electrically connected to the No. 3 pin of the operational amplifier model MAX4169 through the resistor R68 at the same time; the resistor R69 and the resistor R70 are electrically connected to one end of the capacitor C31, the other end of the capacitor C31 is electrically connected to the ground wire, and the other end of the resistor R70 The capacitor C32 is electrically connected to the No. 6 pin of the MAX4169 operational amplifier, and the other end of the resistor R70 is electrically connected to the No. 5 pin of the MAX4169 operational amplifier through the resistor R71; the 1st pin of the MAX4169 operational amplifier is electrically connected. Pin No. 2 is electrically connected to pin No. 2, pin No. 6 of the operational amplifier model MAX4169 is electrically connected to pin No. 7, and pin No. 1 of the operational amplifier model MAX4169 is electrically connected to the ground wire through diode Z1. The 7th pin of the operational amplifier model MAX4169 is electrically connected to the ground through the diode Z2, the 3rd pin of the MAX4169 model is electrically connected to the ground through the capacitor C30, and the 5th pin of the MAX4169 model is connected to the ground through the capacitor C33 Wire connection, the No. 4 pin of the operational amplifier whose model is MAX4169 is connected to 5V voltage, and the No. 11 pin of the operational amplifier whose model is MAX4169 is electrically connected to the ground wire.