文档介绍：上海交通大学
硕士学位论文
无人驾驶电动车的底层控制系统设计与实现
姓名:夏永峰
申请学位级别:硕士
专业:机械电子工程
指导教师:杨汝清
20071201
上海交通大学硕士学位论文摘要

无人驾驶电动车的底层控制系统设计与实现

摘要

智能交通的研究越来越广,无人驾驶车辆的性能直接影响到这些研
究的顺利进行。无人驾驶电动车底层控制系统是无人驾驶电动车的运动
控制部件,对于无人驾驶电动车的稳定运行起着重要的作用。本文以普
通电动车为平台设计了以 DSP 为核心控制器的底层控制系统,实现了电
动车的无人驾驶,为其他研究工作提供一个稳定的实验平台。
本文完成了主要硬件电路的设计与调试,包括:主控制器的选型,
转向、驱动电机的分析,通信系统的设计以及电源电路的实现。重点对
串励电机和他励电机的控制性能进行了理论分析和实验验证,选择了性
能优异的他励电机作为无人驾驶电动车的驱动电机,满足了车辆的纵向
控制要求。将 CAN 总线技术与 USB 总线技术结合起来构筑了容错通信
系统,提高了底层控制系统与上位机之间通信的可靠性和安全性。在此
基础上,设计了控制软件的体系结构,对各个功能模块进行程序编写和
调试。并对车辆的速度控制进行了深入研究,提出了带加速度控制的 PID
算法,满足了车辆的舒适性要求。通过大量的实验证实了算法的有效性。
关键词:无人驾驶电动车,他励电机,PID 控制,CAN 总线
- I -
上海交通大学硕士学位论文 Abstract
DESIGN AND REALIZATION OF THE
AUTOMATIC DRIVE ELECTRIC VEHICLE
SUBSTRATE CONTROL SYSTEM

ABSTRACT

Research on the Intelligent Transportation System e more and
more popular and the Automatic Vehicle plays an important role in these
researches. The substrate control system is the motion control part of the
Automatic drive vehicle. It plays an important part in the automatic drive
electric vehicle system. Based on an electric motor vehicle, the thesis build
up the substrate control system with DSP controller as the kernel chip to
realize automatic drive on the vehicle. This provides a platform to the other
research.
The main hardwired connection is designed and debugged. The work
contains: select the main controller, analyze the steering motor and driving
motor, design munication system and the power system. The
highlight is that through the analysis and experiment of the control property
of series motor and separately excited motor, the separately excited motor is
chosen to be the driving motor of the vehicle. CAN munication and
- II -
上海交通大学硕士学位论文 Abstract
USB munication are designed to improve the reliability and
fault-tolerance ability of munication system. Basis on these works,
the control software for the control system is designed. The pr