Student Projects
Competition Year: 2016
University: Southeast University
Main Members (with year of graduation): Shen Tianyue (2019) / Suo Chuanzhe (2017)
Faculty Advisers: Zhang Zhisheng
Email Address: versmannyt@outlook.com
Submission Language: English/Chinese
Title: Formula Student Electric Car Drive Control System
大学生电动方程式赛车驱动控制系统
Description 综述:
The purpose of this project was to design, build integrated FSE car drive control system and apply to the first FSE car of Southeast University eRacing Team.
本项目的目的是设计并构建一套完整的FSE赛车驱动控制系统，并应用于东南大学纯电动方程式车队的首款赛车中。
Software:
LabVIEW 2014
LabVIEW FPGA
LabVIEW RealTime
LabVIEW Control Design and Simulation Module
LabVIEW Xilinx
NI CAN
NI XNET
NI cRIO
CANoe
Hardware:
NI cRIO-9068
NI 9401
NI 9025
NI 9853
EMRAX 207 motors
UNITEK D3
SensorWay steering angle sensor
Sanhe Pedal sensor
Sanhe Wheel speed sensor.
Landzo 3-Axis gyro
The Challenge 任务挑战:
The Formula Student Electric China is developed from the Formula Student China, on the aim of injecting fresh blood to the increasingly sophisticated electric vehicle, and leading the college students pay more attention to the auto sector of new energy. As an electric vehicle drive control centre, it requires stable performance, high-speed and high-performance in computing.
中国大学生纯电动方程式汽车大赛是在大学生方程式汽车大赛基础上发展而来，旨在为日益成熟的纯电动汽车注入新鲜血液，带领大学生更多关注新能源汽车板块。作为纯电动汽车的控制核心，要求性能稳定、运算高速。
The dual-motor rear wheel drive system we chose enabled us to apply electric differential and anti-spin function, which is relatively advanced in Chinese FSE cars, on our racing car. In this case, our cRIO based electronic control unit effectively offered support of data collection, status analyse, driving strategy and safety ensuring.
我们选用的双电机驱动模式使我们可以在赛车上部署电子差速、驱动防滑等在中国FSE比赛中相对先进的功能。在这种情况下，我们选用的基于cRIO的赛车电控系统有效的完成了信号采集、状态分析、控制策略部署和赛车安全保障功能。
Figure 1 The car SRU15e
The Solution解决方案
Overview 总体布局
The system is made up of the following elements: 1) main controller 2) motor controller 3) motors 4) sensors 5) LV battery 6) HV battery 7) BMS 😎 safety circuit.
控制系统包括以下基本组成部分：1.主控制器 2.电机控制器 3.电机 4.传感器 5.低压电源 6.高压电源 7.电池控制系统 6.安全回路。
Sensors 传感器
There are dozens of sensors monitoring different parts of our racing car in different output data structure. 4 analog rotary sensor measure throttle and brake pedal angles. A 3-axis analog gyro measures turning performance. 2 front wheel speed sensor send pulse signal output. Meanwhile, sensors in the motors detecting rotation speed and temperature, in BMS detecting every single battery’s working situation, and in the steering mechanics measuring steering angles are transmitted by CAN BUS.
整车共分布了使用不同数据结构输出的数十个传感器。四个模拟量角度传感器监测油门和刹车踏板的位置，三轴陀螺仪测量赛车过弯表现，两个脉冲轮速传感器检测前轮转速。另外，集成在电机内的传感器监测转速和温度，集成在BMS中的传感器检测每个电池块工作状态，安装在转向机构内的转向角度传感器监测转向角度。以上数据则是通过CAN总线传输。
With NI 9205 input module can we collect analog signal, and with NI 9853 CAN module can we make data exchange with CAN BUS, then use NI XNET software module to shift CAN signal to actual data. Thanks to the parallel programming function of FPGA, controller can collect data rapidly. And we insert watchdog to FPGA to recover when system crashed.
通过NI 9205模拟输入模块可采集模拟信号，NI 9853 CAN通信模块则可实现CAN信号交换，并使用NI XNET软件模块可对CAN数据进行转换，提取所需要的真实数据。FPGA模块的多并行硬件编程特点可以快速进行数据采集，并加入了“看门狗”使系统宕机后能够快速恢复。
Figure 2 The FPGA Front Panel/FPGA 前面板
Control Strategy 控制策略
As the core of the controlling system, this is the most vital thread. Any other thread, like data collecting, without exception, are providing data to supply the control arithmetic, and generate control instructions to other control threads. We developed an advanced control arithmetic method, which contains torque distribution, slippage rate calculation and anti-spin system. We use NI Control Design and Simulation Module to migrate the arithmetic and create a graphic simulation module on LabVIEW, then we can take advantage of I/O integration to design and apply simple or complex arithmetic to our car. In this case, we can effectively reduce the spin of the driving wheels to reduce the difficulty for the driver.
这是本项目中最关键的进程，作为程序中的控制核心，其他线程，例如采集，均为其提供数据作为算法的计算数据支持，并生成指令下达到控制线程。我们研究出了包含扭矩分配、滑转率计算与防滑的整车控制算法，采用 NI Control Design and Simulation Module，进行控制模型算法移植，在 LabVIEW 中创建图形化的新仿真模型，可以利用 I/O 集成, 设计并执行简单和复杂的控制算法。通过这些算法，我们可以有效减小赛车的侧滑与驱动轮空转，大幅降低驾驶难度。
Figure 3 Control Arthmatic 控制算法
Figure 4 Slippage rate 滑移率计算
Figure 5 Torque distribution 扭矩分配
In this system, we adopt the queue based on Message Queue.lvilb to be the communication agent between different threads. 3 queue were used to communicate: Control, Sensor and Logdata.
在本系统中，我们采用基于Message Queue.lvlib队列库的队列消息处理器作为程序中各线程数据信息交互的通信机制，共采用三条队列进行信息通信：Control、Sensor、Logdata。
Remote Monitoring and Data Logging 远程监控与数据采集
Remote work station uses routers to establish LAN network, and make real time communication between our car and the pit station by TCP and WebDAV protocol in order to monitor car’s real time situation, with the aim of virtual smart meter by NI Data Dashboard. And we use TDMS binary file to read and save data at up to 360MB/S. After the race we can visualise the data, reanalyse and adjust the setting comparing with the recommend parameter.
远程工作站利用路由器组建局域网，利用 TCP 协议以及 WebDAV 协议构建远程工作站与赛车的数据通信桥梁，将 CompactRIO 采集的数据实时推送到远程工作站，使用NI Data Dashboard开发虚拟化智能仪表。并且采用TDMS 二进制文件进行读取存储，数据存储速度可达 360MB/s。赛后还可以将记录下来的数据可视化处理，重新阅读分析，结合最佳性能参数调整设定。
Figure 6 Remote monitor panel 远程监控面板
Figure 7 Data logging 数据记录
Why NI? 为什么使用NI？
1. Industrial level compactRIO with ARM+FPGA provides fast operation rate and fast parallel data handler. 结合ARM和FPGA的工业级CompactRIO处理器提供了高速计算能力和高速平行数据处理能力。
2. Easy-to-use graphic programming software LabVIEW increased the programming efficiency. LabVIEW图形化编程易于上手，开发效率高。
3. Virtual dashboard by NI Data Dashboard supplies portable work station. 基于NI Data Dashboard的虚拟仪表提供了便携工作站的可能。
Poster
Video:http://v.youku.com/v_show/id_XMTM4Nzg4NzMyMA==.html?from=s1.8-1-1.2
Additional information 附加信息
Level of completion: Fully functional.
Time to build: Dec 2014 to Nov 2015.
