Development of a Robotic Vehicle Control System

摘要

This thesis presents the design stages in creating a robotic driving system for performing in-lab driving schedule playback using a chassis dynamometer. This equipment is intended to assist research in improving the power train system in Hybrid Electric Vehicles (HEV). The design stage layout contributes to showing how to effectively breakdown a mechatronics related project into manageable steps. The process includes background research, system requirements, system design and validation. Design stages are further broken up into three subsystems, mechanical, electrical and software. Two actuators control the gas and brake pedals of the test vehicle. An active control system allows the vehicle to follow a speed vs. time driving schedule. The control feedback loop uses two cascading Proportional-Integral (PI) controllers (vehicle speed and pedal position). Feedback signals come from the onboard diagnostics (OBD-II) port. The control software is implemented on a dSPACE MicroAutoBox capable of multiple inputs and outputs including a built in CAN Bus controller to receive messages from the OBD-II port. The control software is implemented in Simulink and provides a modular, maintainable architecture for future development. The system design steps lead to a practical system obtained through a systematic approach. Design documentation will allow for further development of this test system to meet future requirements.