Development Of Vehicle Robot Driver For Vehicle Emission Durability Test

Vehicle robot driver is used to operate a vehicle instead of the driver to carry on emission durability test, it can reduce the driver`s burden and has good repetition performance. The paper establishes the technique index according to the related datas. By absorbing the domestic and international advanced technique, according to the robot index, the prototype of machine structure and control parts of system were designed and intergrated ADAMS and SIMULINK simuliation of machine and control were carried out. Through the simulation, the kinematics of system was verified and structure parameter was optimized. After finish the simulation, the hardware of machine and control parts was designed in turn, and Finally, the control software was designed after designing the hardware.Firstly, according to National standard《Limits and measurement methods for emissions f rom light_duty vehicles》and many related technique characteristic parameters of light_duty vehicles, the fuction and technique index of robot driver were established which include maximum track deviation, maximum travel distance and maximum control force of the accelerator leg, brake leg, and clutch leg and gear shift arm.Based on the robot driver technique index, the principle of machine movement and control parts of clutch, accelerator, brake leg, and clutch leg and gear shift arm has been designed. Virtual test was carried out to verify possibility of the design. The whole process involves three steps as the three dimension entity model setted up base on mechanical principle and ADAMS, the control model base on control theory and SIMULINK, the entity model imported into control model for virtual test in order to verify the principle design and optimize structure parameters.After the virtual test, the hardware of machine and control parts was constructed. The whole process of machine design was as follows: three dimension entity model design, the parts assembly, the three dimension entity parts change into engineering draft for parts machining. The hardware design of control parts involves choise of sensor, choise of the serve motor, designing of the controller, designging of the PCB, designing of communication interface.After the hardware of controlling part, the software was designed. The developing environment is IDE with C developing language. The contents of sotware design...