Thí nghiệm điều khiển hệ thống lái không trục lái qua phần mềm Lab View

NGHIEN CUfU - TRAO D6 |

THI NGHIEM DIEU KHIEN HE THONG

LAI KHONG TRUC LAI QUA PHAN MEM LAB VIEW

PGS.TS. Nguyin Van Bang, ThS. Triin Vdn Lcfi

Trfldng Dai hpc Giao thdng Van tdi

T OM TAT

Bdi bdo gidi thiiu nghien cdu bUdc ddu he thong lai khong true lai hao gom: Che tao mo hinh,

thudt todn dieu khien. He thdng Idi khong true lai gdm hai phdn chinh, phdn tren Id vdnh Idi, phan dUdi

Id bd chap hdnh. Hai phan ndy dUdc Hen kit vdi nhau qua ddy ddn, do vqy, phdt sinh mgt so vdn dephdi

gidi quyet. Thd nhdt, phdi ddm bdo ti le truyingiUa vdnh Idi vd true cd cau lai (tile 1:1). ThU hai, phdi

CO cdm gide Idi xdc thUc cho ngUdildi. Dd tien hdnh thiet ke, che tao mo hinh vd thi nghiem xdc dinh dieu

khiin ddp Ung tdc do gida vdnh Idi vd cd cdu Idi.

ABSTRACT

The main content of this paper concentrate on delay time of steer by wire. The Steer by wire con￾sists of two main parts, the upper part is hand-wheel and the lower part is actuator (steer actuator, pinion

angle, gear assembly). Because of the separation, there are some problems which must be solved. The first,

it must ensure that the motions of upper part (hand-wheel) and lower part have the same speed. The sec￾ond, it must ensure that Steer by wire has to produce realistic steering feel. A parameter is identified after

processing variety tests.

Keywords: Labview, The steer by wire, PID

I.DATVANDE

Ngdy nay, trong h? thdng lai d td, cung

vdi nhflng cdi tiln ca khi, dien tfl cung dflpc dp

dung rdng rai nham ddp flng cac yeu cdu chuyen

mdn mdt each chinh xdc. Xu hfldng tich hpp dilu

khien tfl ddng cho cae he thdng thuan ca khi cung

la xu hfldng chung hien nay. Trong tfldng lai, he

thdng lai dien cd the la lfla chpn cho cdc xe. Ddi

vdi cae xe sfl dung trong mdi trfldng dpc hai, ra

phd bom min, tau Ian thi he thdng lai dien la lUa

chpn tdi flu nhat.

Khi ket hpp eac phan tfl ca khi, diln va

dieu khiln trong he thdng Idi d td, chung can phdi

lam viec ddng bp vi moi phan tfl cd nhflng thupc

tinh rieng. Trong nghien cflu ndy, da sfl dung

phan mIm Lab View de thay ddi thudc tinh ciia

phan tfl dilu khien phu hpp vdi cdc phan tfl cfl

khi vd dien cho trfldc.

Q TAP CHf CO KHf VI£T NAM • Sd 4 (Thang 4 nam 2012)