USST_Arts_112360363基于CAN总线的车辆方向盘角度传感器测量及其数据分析研究

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󰄭 󲙖

󰊎󱎭󲚧󱇽󰐺󱎦󰨠󰊎󱎭󱍙󲱁󲚧󰌄󱂅󲰻󱍙󱚢󲖚󱱃

󳝓󳝋󰂥󱍙󳝓󳝋󰏢󱳡󰏉󱇽󰊎󱎭󰊎󱎭󲚧

󲰻󲮀󱈊󱜈󱧐󱮴Electronic Stability Program󲲰󲔡󱮨󲙖󰋋

󲩌󳝓󳝋󱠫󱈺󰂥󰏉󱍙󰁼󰠹󱍙󱷒󰓜󰌄󲲓

󳕙󰏴󲙖󰤗󲰻󲮀󱈊󱧐󱮴󱍙󱜈󳐵󲺢󲙖

󱇽󱍙󲚧󲷒󲨫󲲰󲚧󲚧󱍙󰓶󲷒

󲨫 Vector CANoeCANalyzer 󱠞󱍙󱏴󰨠󲢪󲺜󱇽󲲮󱏴󰨠󲢪

󱍙󰓶󰊎󰦪󰐁󲱘󳞭󰠹󲳗󱇽󲺤󱇴󱍙󲚧󰉅󰁃󰓶󱏃

󱰏 CAN 󱮔󱍙󲰻󲱛󰊎󱎭󲚧󰨠󲺤󱍙󲫊

󲢏󰉜󰂥󱚢 CAN󱮔󱍙󲰻󲱛󰊎󱎭󲚧󰨠󲺤󰉅󰁃󰑥󱓩

󱝋󰊎󰦪󰏢󲨫󱏴󰨠󲢪󰐁󳞭󳎓󲺤󱇽󱍙󱰏󳍌󰠹

󰉅󰁃󱍙󰑥󱓩󱝋󲲭󰏞󱂅󰏞󱍙󲚧󲢓󲡶󰊎󰔝󱡬󰦪

󱂅󲳅󱏃󰓜󰐁󲢏󰉜󱓩󱝋󲢓󲡶 CAN 󱮔󱍙󲰻󲱛󰊎󱎭󲚧

󰨠󲺤󲖚󱱃 CAN 󱮔CAN/RS232 󱮔󲳗󲸢RS232 󱮔󱎦󰨠

󲡶󱡬󰐏󰽎󰶎󰌄󱎦󰨠󲡶󱡬󰐏󰓜󱮤󱈆 RS232 󱮔󲳖󱻈

CAN/RS232 󲳗󲸢󲱁󰀷 CAN 󱮔󰓜󱮤󱈆 CAN 󱮔󲳖󱻈󲚧

󱇽󰓜󲚧󲚧󰊎󱎭󲚧󱈊󱯫󱓖

󰊎󱎭󲚧󱈊󲷒󱮤󱈆 CAN 󱮔󲳖󱻈 CAN/RS232 󲳗󲸢󲱁󰀷

RS232 󱮔󰓜󱮤󱈆 RS232 󱮔󲳖󱻈󱎦󰨠󲡶󱡬󰐏

󲢺󲢓󲡶󱍙󱝖󰈝󰑱󰌄 CAN󱮔󰁺󱍙󰊎󱎭󲚧󱯫󱓖

󱮤󱈆 CAN/RS232 󱮔󲳗󲸢󱻈󱎦󰨠󲡶󱡬󰐏󰐏󲱄Angle Sensor

Monitor󲚧󱯫󱓖󲲰󲔡󰉅󰁃󰌓󱘏󳇮󲣄󲠻

󰋋󰐏󲚧󲲰󲔡󰓜,󱂅󰊎󱎭󲚧󲲥󲱁

󱍙󱎦󰨠󰓶󰓶󱦓󳞭󰐁

󳈃󲢢CAN 󱮔 RS232 󱮔 󲚧 󱯫󱓖

ABSTRACT

Angle sensor is used to test steering wheel angle. It provides essential equipment to

use the steering wheel conveniently and safely for modern car. It provides a safer

driving dynamic control, combined with electronic stability program. The performance

of angle sensor is important for the stability and reliability of ESP.

Angle sensor depends on imports in China, and the angle calibration is also

depends on Vector CANoe, CANalyzer, ect. For the high cost of the simulators, it is not

suitable for data testing of angle sensor in the factory. At present, our country is lack of

development practices about angle sensor based on CAN bus.

In order to solve the high cost problem, this paper introduces a data-testing method

to determine the accuracy of the angle sensor.

Technical solution of this paper is: a set of data-testing device for angle sensor

based on CAN bus, including CAN bus, CAN/RS232 converter, RS232, PC. The PC

send calibration signal, then it transfers to CAN/RS232 adapter through the RS232, and

converted to CAN bus standard signal next, finnally received by Angle sensor and

calibrate the sensor angle. Angle sensors and photoelectric encoder send angle signals

respectively. then it transfers to CAN/RS232 adapter through the CAN, and converted to

RS232 bus standard signal next, finnally received by PC.

The beneficial effects of this paper is: the angle signal of the steering wheel, and

the encoder signal via the CAN/RS232 adapter to monitoring computer, the upper

computer software (Angle Sensor Monitor) save the Angle Sensor signal and the

encoder signal, display dynamicly and report error. At the same time, the PC can also

calibrate the Angle sensor. This paper can monitor the operating conditions of the

steering wheel Angle sensor. The calibration precision is high, but the cost is low.

Key Word: CAN bus, RS232, Angle sensor, Encoder

󱏃 

󰉜󰄭󲙖

ABSTRACT

󱠁󱞵 󱮿󲢏 ................................................................................................................1

1.1 󲛕 ..............................................................................................................1

1.2 󲣓󳕭󱍙󱓩󱝋󱂅󰾋...........................................................................................1

1.3 󰐁󲣓󳕭󱓩󱝋...........................................................................................2

1.4 󰐁󰉜󱓩󱝋󱍙󰊒󰊎󰔝....................................................................2

󱠁󱞵 󱧐󱮴󱮨󰑙󲢓󲡶󱮙............................................................................4

2.1 󱧐󱮴󰐁󱮨󰑙...............................................................................................4

2.1.1 󱧐󱮴󰐁󰛶󱮙..............................................................................4

2.1.2 󱧐󱮴󰐁󰔛󰒋 .....................................................................................5

2.2 󰐁󱞵󱮨.......................................................................................................6

󱠁󱞵 CAN 󲱁RS232 󲳯󲳗󲸢󲢓󲡶....................................................................7

3.1 CAN-RS232 󱧐󱮴󱮨󰑙..................................................................................7

3.2 󲳗󲸢󱍙󱕁󲢓󲡶 .......................................................................................8

3.2.1 󰼜󰐏󰏕󱧐󱮴󰛶󲢓󲡶..................................................................8

3.2.2 CAN 󲳯󰛶.................................................................................. 11

3.2.3 RS232 󰛶 .......................................................................................12

3.3 󲳯󲳗󲸢󱍙󲱄󲢓󲡶 .............................................................................14

3.4 󰐁󱞵󱮨.....................................................................................................20

󱠁󱞵 󱯫󱓖󱃛󰛶 ...................................................................................21

4.1 󱯫󱓖󱍙󱥐.............................................................................................21

4.1.1 󲺤󱯫󱓖 ...................................................................................21

4.1.2 󱮲󱯫󱓖 ...................................................................................24

4.2 󱯫󱓖󲱨󱷞󱍙󲡶󰉅󰊎󰦪......................................................................26

4.2.1 󱯫󱓖󲽉󱏍󱃛 ...............................................................................26

4.2.2 󱇽󲱄󱂅󱷞󱍙󲽉󱏍󲡶󰉅 ....................................................27

4.2.3 󱇽󱕁󱂅󱷞󱍙󲽉󱏍󲡶󰉅 ....................................................27

4.3 󱯫󱓖󲡶󰉅󰊎󰔝.........................................................................................28

4.4 󰐁󱞵󱮨.....................................................................................................30

󱠁󱞵  VB 󱍙󱎦󰁼󰓶󲱄 ....................................................................31

5.1  Visual Basic 6.0..................................................................................31

5.2  VB 󱍙󰐏󲱄󱷒󱡕 ..............................................................31

5.3 󲳯󰊎󱡕 .....................................................................................32

5.3.1 󲳯󰁼 MSComm..........................................................................33

5.3.2 MSComm 󱍙..............................................................................33

5.3.3 MSComm 󱍙..............................................................................33

5.3.4 MSComm 󰁼󱂅󲳯󱍙󱼁󰠺󳝹 .......................................34

5.3.5 󰐁󳝡󱍙󲳯....................................................................34

5.4 󰏇󱮔󱍙󰌓󱘏 .................................................................................35

5.5 󱍙󰉜.........................................................................................36

5.5.1 󰉜󱍙󰏞󰙗 ...............................................................................36

5.5.2 󳕏󲢔󳋃󰛶 ...................................................................................36

5.5.3 󳍤󰐏󲢔󳋃󰛶 ...................................................................................37

5.5.4 󲲰󲢔󳋃󰛶 ...............................................................................38

5.5.5 󰐁󱧐󱮴󰉅󰁃 ...............................................................................38

5.6 󰐁󱞵󱮨.....................................................................................................39

󱠁󱞵 󲚧󰉅󰁃󰨠󲢪󳝡............................................................................40

6.1 󲚧󱡕.........................................................................................40

6.1.1 󳏢󰈝...........................................................................................40

6.1.2 󳏢 .......................................................................................40

6.2 󲚧󰓶󲢓󲡶󰨖󱛠 ..............................................................41

6.3 󰉅󰁃󰉅󰁃󱃛......................................................................41

6.4 󰐁󱞵󱮨.....................................................................................................47

󱠁󱞵 󱮨󰏰...................................................................................................49

7.1 󱮨.....................................................................................................49

7.2 󰏰.....................................................................................................49

󳌙 ........................................................................................................................50

󱳘󰉜󱀃....................................................................................................................54

󲣐󰏴󳋉󲔽󱍙󲢏󰉜󱚦󱓩󳕎󱏃󰑱...........................................56

󱻉 󲣷........................................................................................................................57

󱠁󱞵 󱮿󲢏

1.1 󲛕

󲚧󰌄󱇽󰐺󰖕󰨠󲚧󱍙󲲳󰁺󲱉󲱉󲱁󲲜󲚧

󰋋󲚧󲡶󰉅󰟶󱾺󰊎󲱁󰋋󲡶󰉅󱏍󰊎󲱁

󲡶󰉅󱳡󲚧󲡶󰉅󱱃󰏞󱧐󲚧

󱍙󰋋󱍙󲡶󰉅󲖀󰫚󳏋󰑱󰏞󳏕󲙖󱇽󱛠󲺢󰊅󱱃󳏋

󰦰󱇽󰐏󰖅󳆐󰩌󰵀󲰻󱠞󳕛󰊎󰁌

󱕃󱍙󱂅󱍙󱎦󰨠󱮤󳏕󲙖󲳀󲚸󱍙󳋃󳕭

󲲦󰐺󳍤󱐕󲡶󱡬󰐏󰐄󱍙󳖳󲳴󲩟󰐺󲩟󱍙󱚦󱓩󲢪

󰁺󰐏󲲮󲳯󲲜󲡶󱡬󰐏󲲰󲔡󱍙󰨠󲺤󱷒󱂅󲡶󱡬󰐏

󱚢󱇽󰂥󱍙󰐏󱈡󳐷󱳡󲲰󲡶󱡬󰐏󰐄󱍙󰁽󲳯󲲜󰉅󰁃

󲱨󲳗󲸢󱞠󱍙󱎦󰨠󱧐󱮴󱂅󲚧󱍙󰋋󱍙󱎦󰁼󰁼

󱳡󱾆󲨎󰋨󲂌󲲮󳞭󰓶󱚦󱓩󰐏󰑙󱮤󱓩󰠸

󱓩󱎦󰨠󱧐󱮴

1.2 󲣓󳕭󱍙󱓩󱝋󱂅󰾋

󰊎󱎭󲚧󱚢󲰻󲱒󰌄󰥒󲰻󱈊󲱁󱧐󱮴(Electric

Power Steering) [1]󰥒󲰻󱜈󰁼󱧐󱮴(Electronic Stability Program) [2]󱍙󲺢

󲙖󱮙󲶽󱜈󳐵󰨠󲺤󱦓󱏉󰁺󱧐󱐕󲰻󲱛󱍙󳝓󳝋󱍙

󰆢󱮊󱻧󲳗󰠹󲢓󰨠󲢪󰊎󱎭󲚧󱜈󳐵

󱦓󲳀󱏞󱑀

󰊎󱎭󲚧󱍙󱓩󱇴󲩌󰠺󲱘󰌯󰠹󰨠󲺤󰓶

󰊎󳐷󱰏󱮤󳝡󱏃󲙖󲺜󱇽󲲰󱳚󱍙󰊎󲲰󲲰

󱍙󱏴󰨠󲢪 Vector CANoeCANalyzer 󱠞󲲮󱚢󰓶󰊎󰦪󰐁󲱘󳞭󲳗󱇽

󲺤󲚧󱍙󰉅󰁃󰓶󲽉󱏃󱍙󱂅󰾋󱦓󱍙󰨠󲺤󰉅󰁃

󰑥󰛶󱍙󱓩󱝋󱯨󳏕󰠓󱎦󰨠󲖚󱱃󱂅󰊎󱎭󲚧

󱍙󲺤󰓶󰉅󰁃󱍙󰑥󱓩󱝋

󰩌󱃛󱔪󲢏󰉜

1.3 󰐁󲣓󳕭󱓩󱝋

󱏃󰥒󲰻󱈡󱿘󰟸󰟸󲀸󳖳󲳴󱳡󰌄󰥒󲰻󲔡󱍙󱇴

󰩝󲨎󰏞󳋩󱍙󰰱󱝏󳋉󰥒󲰻󱠁󰈄󰓆

󱂅󱍙󰐄󱂅󰥒󲰻󰦰󱇽󰂥󳞭󰥒󲰻󱜈

󱦓󱎦󰨠󳐵󰌄󰥒󲰻󱍙󰊎󰌄󱈡󰥒

󲰻󳏋󲶽󱍙󲙖󱓩󱝋󳕛[3]-[4]

󰐁󲣓󳕭󰩞󱍙󰌄󰥒󲰻󰊎󱎭󲚧󰌄󳏢󱍙󱚢󰊎

󱎭󲚧󰌄󱈊󲱁󱧐󱮴(EPS)󰥒󲰻󱜈󰁼󱧐󱮴(ESP)󱍙

󲙖󰭥󱦓󳐵󲱁󱧐󱮴󰥒󲰻󱜈󱧐󱮴󲩌󱐕󰑖

󲺢󲙖󱍙󱇽󳞭󱕃󳐵󱍙󰊎󱎭󲚧󰏞󰈎󰥒󲰻󱈊

󲱁󱧐󱮴󰥒󲰻󱜈󱧐󱮴󰂥󳞭󰥒󲰻󰉉󱷒󰁃󲨙󰉮󱮴󲡶󱏃󱈊

󲱁󱧐󱮴󲖚󲰻󲺤󲳥󰥒󲰻󱈊󲱁󱧐󱮴󲙖󱈆󲚧󲰻

󲳴󱈊󰐏󲳴󰐏󰑙󱈊󰁼(ECU)󱠞󱮙󲚧󱍙

󲙖󰐺󰭥󲲭󰸋󲨫󲲰󱈆󱰏󱽄󱍙󱎦󰨠󰓶󲖚󱱃󱓩󱍙󲚧

󱳚󲲓󲙖󰤗󱍙󱦓󱳚󱷒󰮶󲪈󲺤󳏕󰤗󰠹󲚧

󱎦󰨠󲖚󱱃󱍙󱓩󱝋󰏞󲺢󲙖󱍙󱂅

󰐁󲢏󰉜󰌄󳅝󰊎󱎭󲱁󲚧󰉅󰁃󱍙󰨠󲢪󰑥󰊎󳐷󰂥󳞭󱦓󰨠󲢪

󱍙󳐵󰊎󳐷󰏞󰊎󱎭󲚧󰂥󳞭󱷒

1.4 󰐁󰉜󱓩󱝋󱍙󰊒󰊎󰔝

󰐁󲢏󰉜󰐁󰉜󰂥󱚢 CAN󱮔󱍙󲰻󲱛󰊎󱎭󲚧󰨠󲺤󰉅󰁃

󰑥󱓩󱝋󰊎󰦪󱎦󰨠󲡶󱡬󰐏󰓜󱮤󱈆 RS232 󱮔󲳖󱻈 CAN/RS232

󲳗󲸢󲱁󰀷 CAN 󱮔󰓜󱮤󱈆 CAN 󱮔󲳖󱻈󲚧󱯫󱓖

󱟄󲚧󱈊󱯫󱓖󰊎󱎭󲚧󰊎󱎭󲚧

󱈊󱮤󱈆 CAN 󱮔󲳖󱻈 CAN/RS232 󲳗󲸢󲱁󰀷 RS232 󱮔󰓜

󱮤󱈆 RS232 󱮔󲳖󱻈󱎦󰨠󲡶󱡬󰐏

CAN 󱮔󰁺󱍙󰊎󱎭󲚧󱯫󱓖󱮤󱈆 CAN/RS232 

󱮔󲳗󲸢󱻈󱎦󰨠󲡶󱡬󰐏󲚧󱯫󱓖󲲰󲔡󰉅󰁃

󰌓󱘏󳇮󲣄󲠻󰋋󱎦󰨠󲡶󱡬󰐏󲚧󲲰󲔡󰓜󲲮

󱚢󰊎󰦪󱂅󰊎󱎭󲚧󲲥󲱁󱍙󱎦󰨠󰓶󰊎󰦪󱡕󰋨

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USST_Arts_112360363基于CAN总线的车辆方向盘角度传感器测量及其数据分析研究.pdf

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USST_Arts_112360363基于CAN总线的车辆方向盘角度传感器测量及其数据分析研究

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