電動(dòng)車門執(zhí)行器的設(shè)計(jì)
37000字      65頁(yè)

摘    要

電動(dòng)車窗是通過車載電源來驅(qū)動(dòng)車窗升降的，乘客和司機(jī)只需輕輕按下車門旁的電動(dòng)車窗升降開關(guān)，電動(dòng)車窗就會(huì)自動(dòng)上升下降，無(wú)需人為過多的干預(yù)。由于，車窗玻璃是自動(dòng)升降的，所以潛在著人身體被上升的車窗玻璃夾傷的危險(xiǎn)，因而，其安全性也成為一個(gè)越來越被人們關(guān)注的焦點(diǎn)。為了安全起見，一般在具有自動(dòng)關(guān)閉功能的電動(dòng)車窗上都要增加防夾功能，當(dāng)車窗關(guān)閉過程中檢測(cè)到異物時(shí)能自動(dòng)停止上升并下降一定距離，防止對(duì)物體尤其是對(duì)人身體夾傷事故的發(fā)生。這也就是防夾電動(dòng)車窗。
本文針對(duì)電動(dòng)車窗系統(tǒng)的安全性，提出了一種可以在單片機(jī)上實(shí)現(xiàn)的魯棒夾物檢測(cè)算法，并且設(shè)計(jì)出了相應(yīng)的完整的硬件電路。由于，電機(jī)軸負(fù)載轉(zhuǎn)矩變化率本身的快速響應(yīng)性和對(duì)電機(jī)參數(shù)不確定性的穩(wěn)健性，該算法選擇電機(jī)軸負(fù)載轉(zhuǎn)矩的變化率作為夾物檢測(cè)的判斷指標(biāo)。負(fù)載轉(zhuǎn)矩變化率的估計(jì)值可以通過對(duì)車窗系統(tǒng)的增廣模型應(yīng)用卡爾曼濾波算法推導(dǎo)出來，并且通過數(shù)學(xué)模型還可以進(jìn)一步確定轉(zhuǎn)矩變化率的閾值大小。硬件電路主要由微控制器，霍爾傳感器，繼電器，電源轉(zhuǎn)換芯片等組成，相對(duì)比較簡(jiǎn)單。通過霍爾傳感器的輸入信號(hào)來計(jì)算出車窗玻璃的當(dāng)前位置和車窗玻璃當(dāng)前的移動(dòng)速度。進(jìn)一步再判斷車窗玻璃是否在上升，是否進(jìn)入防夾區(qū)域，防夾力是否超限等來確定是否要實(shí)施防夾措施，避免危險(xiǎn)事故的發(fā)生。該設(shè)計(jì)具有穩(wěn)定、可靠、抗干擾能力強(qiáng)的特點(diǎn)。

關(guān)鍵詞：電動(dòng)車窗，夾物檢測(cè)，ST7單片機(jī)，卡爾曼濾波，轉(zhuǎn)矩變化率估算 

ABSTRACT

The power window is droved up and down by the vehicle power supply. Passengers and the driver only need to press the door switch next to the window, the power windows will automatically rise-and-fall, without too much human intervention. Because, the windows’ glasses are shut down automatically, so involve risks of pinching a part of human body on the window path. As a result, its safety has become an increasingly been the focus of attention. For security purposes, usually in a power window with self-closing function need to additional Anti-Pinch function. If detected other objects on the window path while the windows is closing, it can stop rising and automatically drop a certain distance to avoid objects in particular folder on the physical injury incidents. This is the Anti-Pinch power window.
 A robust pinch detection algorithm which can be implemented in a cheap microprocessor is proposed for safety power window systems in this paper. In this paper the corresponding complete hardware circuits is also designed. The torque rate, which will be used to detect the pinched condition on account of its fast response and robustness against the motor parameter uncertainty. This algorithm choice load torque of the motor shaft rate of change as a folder on the judgments of detection indicators. The pinch torque rate estimator is derived by applying the steady-state Karman Filter to the augmented model which includes the motor dynamics and an additional torque rate state. For the more through mathematical models can be further identified torque rate of change in the threshold size. The Hardware circuits mainly by the microcontrollers, Hall sensors, relays, power conversion chips and other components, is relatively simple. Through the Hall sensor’ output we can calculate the windows’ current location chute and the window glass’ current speed. For the more to determine whether the glass windows is rising, whether or not to entered the Anti-Pinch region, whether or not the Anti-Pinch Force is over standard such as to determine whether or not to implement Anti-Pinch measures to avoid the risk of accidents. The design’ advantages are stable, reliable, strong anti-interference capability.

Key words：Power window,  Pinch Detection,  ST7SCM,  Karman filter,
Torque Rate Estimation

目   錄

中文摘要 Ⅰ
ABSTRACT Ⅱ
1 緒論 1
1.1 課題背景 1
  1.2 國(guó)內(nèi)外的研究發(fā)展現(xiàn)狀 2
  1.3 論文研究的目的及意義 3
 2 系統(tǒng)的總體方案設(shè)計(jì) 4
 2.1 車窗機(jī)械傳動(dòng)機(jī)構(gòu)總體方案設(shè)計(jì) 4
2.1.1 車窗機(jī)械傳動(dòng)機(jī)構(gòu)常見類型 4
2.1.2 車窗機(jī)械傳動(dòng)機(jī)構(gòu)選型分析 5
2.2 控制系統(tǒng)的總體方案設(shè)計(jì) 6
2.2.1 控制系統(tǒng)的控制任務(wù)分析 6
2.2.2 電動(dòng)車窗的主要技術(shù)要求 7
2.2.3 控制系統(tǒng)的總體方案設(shè)計(jì) 7
2.3 本章小結(jié) 10
3 系統(tǒng)的硬件設(shè)計(jì) 11
3.1 玻璃升降器電機(jī)總成的設(shè)計(jì) 11
3.1.1 相關(guān)技術(shù)要求 11
3.1.2 主要組件設(shè)計(jì) 12
3.2 控制系統(tǒng)的硬件元器件選型及介紹 14
3.3 ST72324系列單片機(jī)介紹 14
3.3.1 ST公司單片機(jī)總體介紹 14
3.3.2 ST7通用系列單片機(jī)的特點(diǎn)介紹 15
3.3.3 ST72324系列單片機(jī)簡(jiǎn)介 17
3.4 控制系統(tǒng)的硬件電路設(shè)計(jì) 28
3.4.1 電壓轉(zhuǎn)換電路設(shè)計(jì) 28
3.4.2 霍爾傳感器采集電路設(shè)計(jì) 29
3.4.3 繼電器控制電路設(shè)計(jì) 31
3.4.4 電機(jī)電流檢測(cè)電路設(shè)計(jì) 32
3.4.5 串行通信接口電路設(shè)計(jì) 33
3.4.6 ICC編程接口電路設(shè)計(jì) 33
3.5 本章小結(jié) 35
4 系統(tǒng)的軟件設(shè)計(jì) 36
4.1 系統(tǒng)數(shù)學(xué)模型的建立 36
4.1.1 系統(tǒng)模型的抽象 36
4.1.2 系統(tǒng)微分方程模型的建立 37
4.1.3 系統(tǒng)卡爾曼濾波模型的建立 38
4.1.4 夾物檢測(cè)條件的確定 40
4.2 系統(tǒng)的程序設(shè)計(jì) 41
4.2.1 鍵盤按鍵識(shí)別子程序設(shè)計(jì) 41
4.2.2 A/D轉(zhuǎn)換子程序設(shè)計(jì) 44
4.2.3 速度位置檢測(cè)子程序設(shè)計(jì) 45
4.2.4 完整程序的設(shè)計(jì) 49
4.3 軟件仿真分析 56
4.4 本章小結(jié) 58
5 結(jié)論 59
致謝 60
參考文獻(xiàn) 61

參考文獻(xiàn)

[1] 宋磊，馬季雯.電動(dòng)窗防夾力的標(biāo)定[J].《汽車電器》2007(5):51-53
[2] 李魯.汽車電動(dòng)車窗控制電路設(shè)計(jì)[J]. 《汽車電器》2006(7):11-15
[3] 周易.汽車電動(dòng)窗防夾系統(tǒng)的研發(fā)[J].《北京汽車》2007.NO.4:31-34
[4] 徐宗炯,馬生寶,王坤東,徐云暉本田(HONDA)奧德賽(ODYSSEY)轎車電路——電動(dòng)車窗控制系統(tǒng)[J]. 《汽車電器》2005(11):12-18
[5] 祖業(yè)發(fā).現(xiàn)代機(jī)械制圖[M].北京：機(jī)械工業(yè)出版社.2002.7
[6] 段九州.電源電路實(shí)用設(shè)計(jì)手冊(cè)[M].沈陽(yáng)：遼寧科學(xué)技術(shù)出版社，2002.8
[7] 孫余凱，項(xiàng)綺明等.新型汽車常用集成電路實(shí)用手冊(cè)[M].北京：人民郵電出版社，2006.6
[8] 張迎新，雷文等.ST7通用單片機(jī)原理及應(yīng)用[M].北京：北京航空航天大學(xué)出版社，2004.8
[9] 趙建領(lǐng).Protel電路設(shè)計(jì)與制版寶典[M].北京：電子工業(yè)出版社，2007.1
[10] 劉瑞葉，任洪林，李志民.計(jì)算機(jī)仿真技術(shù)基礎(chǔ)[M].北京：電子工業(yè)出版社，2004.3
[11] G. S. Buja, R. Menis and M. I. Valla, “Disturbance Torque Estimation in a Sensorless DC Drive”,  IEEE Trans. Industrial Electronics, vol. 42, no. 4, 1995, pp. 351-357. 
[12] G.S. Buja, R. Menis and M.I. Valla, “Disturbance Torque Estimation in a Sensorless DC Drive”, IEEE Trans. Industrial Electronics, Vol. 42, No. 4, pp. 351-357, 1995.
[13] S.M.鮑齊克.數(shù)字濾波和卡爾曼濾波[M].凌云但，譯.北京：科學(xué)出版社，1984.2
[14] H. W. Kim and S. K. Sul, “A New Motor Speed Estimator Using Kalman Filter in Low-Speed Range”, IEEE Trans. Industrial Electronics, vol. 43, no. 4, 1996, pp. 498-504. 
[15] L. Salvatore and S. Stasi, “LKF Based Robust Control of Electrical Servodrives”,  IEE Proceedings of Electric Power Applications, 1995, vol. 142, no. 3, pp. 161-168.
[16] H.J. Lee, W.S. Ra, T.S. Yoon and J.B. Park, “Robust Pinch Estimation and Detection Algorithm for Low-Cost Anti-Pinch Window Control Systems”, The 31st Annual Conference of the IEEE Industrial Elec-tronics Society, Vol. 1, pp. 269-274, 2005.
[17] Won-Sang Ra, Hye-Jin Lee, Tae-Sung Yoon and Jin-Bae Park, “Real-Time Robust Pinch Detection Algorithm for Automotive Applications” Proceedings of the IEEE ITSC 2006，2006 IEEE Intelligent Transportation Systems Conference Toronto, Canada, September 17-20, 2006
[18] 譚浩強(qiáng).C程序設(shè)計(jì)[M].北京：清華大學(xué)出版社.2005.7
[19] 尹勇，王洪成.單片機(jī)開發(fā)環(huán)境μVision2使用指南及USB固件編程與調(diào)試[M]. 北京：北京航空航天大學(xué)出版社，2004.10