Study On Hardware-in-the-loop Simulation Test-bed For Steer-by-wire System Based On Model-based Design

Steer-by-wire (SBW) system is one kind of brand-new and complicated steer system combinedwith rapid development technology, such as computer, electronic, information and controltechnology. It cancels mechanical linkage between steering wheel and front wheels, uses the signalto transmit commands. It clears off constraints of traditional steer systems and brings hugerenovations of steer technique. Its reliability can’t meet with traditional steer system standard, so thetest-bed for software and hardware is essential to take some tests in lab absolutely. This thesisfocuses on building the test-bed for SBW system with Hardware-In-The-Loop Simulation (HILS),constructing system simulation platform based on model-based design, to lay the hardwarefoundations of research on the subsequent SBW system control algorithm in the future.The followings are primary contents in this thesis:(1) The first chapter of thesis introduces general developments of SBW system at home andabroad, meanwhile illustrates the developments of HILS and HILS technique of model-baseddesign. Finally, this chapter describes HILS platform for SBW system. Above thus it makes clearstudy backgrounds of this thesis.(2) The second chapter describes the constructions of SBW system and its working principle.Then the key points of simulation projects of steering feel and road resistance are put forward toanalysis. Several typical projects are compared comprehensively and the final simulation projects ofsteering feel and road resistance with motor are put forward. With thus projects, some necessaryassemblies and parts are selected and the corresponding models are built in Pro/E. Supporting frameis designed to support and install the assemblies or parts.(3) In third chapter, the software Maltb/Simulink and hardware YXDSP-F28335are choosedfor this system based on model-based design. The connection between the software and hardware isconfigured. Sine wave is processed by delaying and gaining to illustrating the debug of serialcommunication and the procedure of model-based design. Aimed at this platform, the user-definedMaltb/Simulink library for this platform is built for bring convenience in the following systemmodeling.(4) In forth chapter, the calibration of sensor is executed to make sure the experimentalaccuracy, including DA output and AD input of model. Taking test for motor with Stateflow to makesure that it can work efficiently. The functions of on-line tuning parameter and dynamic plot arerealized in Matlab/GUI with S-function to make it convenient to tuning the parameters in test. Because of signal noise, the signal filter is designed to get the stable signal.(5) The fifth chapter assemblies the whole test-bed and control box based on early work.Aimed at the main function of this test-bed of steering angle-tracking, angle-tracking test isexecuted and signals of steering wheel and front wheels are captured. The analysis of test datashows that this test-bed can realize steering function efficiently.(6) The last chapter is about the summarization of this thesis as well as the lacks andshortcomings. The prospects of the following task are also illustrated in this chapter.