Denna rapport handlar om utveckling av ett undervisningsmaterial för elever på fordonsprogrammet inom området elektroniska styrsystem. Rapporten beskriver processen från idé fram till färdigt undervisningsmaterial. Detta har tagits fram för att ge eleverna en bredare, mer generell kunskap inom detta ämnesområde än vad som är möjligt att få genom enbart teoretisk undervisning kring utvalda märkesspecifika system.  Undervisningsmaterialet bygger på teoretiska avsnitt som varvas med praktiska övningar kring en mikrokontroller med tillhörande sensorer och aktuatorer. Genom att skapa korta styrprogram som hanterar dessa sensorer kan olika funktioner skapas med hjälp av mikrokontrollen. Detta gör att många av de delfunktioner som används inom fordonselektroniska styrsystem kan simuleras.

Abstract available in digital copy. / Thesis (M.Sc.Eng.)-University of Natal, Durban, 2003.

A typical automobile system consists of many Electronic Control Units (ECUs) for the purposes of safety, comfort, and entertainment applications. FlexRay is a high bandwidth protocol for such automotive requirements, which facilitates communication between distributed ECUs. This thesis addresses some of the issues associated with the design and implementation of the FlexRay protocol. The number of ECUs that are used in automobiles has an increasing trend to implement more functionality, which demands more bandwidth. By minimizing bandwidth requirements for servicing a given workload of periodic and sporadic real-time tasks, one can connect more ECUs to the same FlexRay bus. With this motivation, the first part of this thesis proposes new algorithms for minimizing bandwidth usage of ECUs in both the static and the dynamic segments of FlexRay. FlexRay provides a time-triggered static segment for the transmission of time critical periodic messages. The static segment consists of a fixed number of static slots each with a fixed duration. The duration of the static slot and the number of slots are design parameters which need to be fixed so as to meet all the deadline requirements of the workload in the application. The static slot duration can be minimized by packing the signals into message frames, while respecting scheduling constraints. Since message frames also contain overhead information, the duration of message frames can be optimized by proper signal packing, based on the network utilization constraints of individual ECUs. The thesis proposes a novel algorithm for packing of signals into message frames and fixing the static slot duration so that the total duration of the static segment is minimized. The dynamic segment of FlexRay caters to the transmission of event-triggered signals. A novel algorithm has been proposed to obtain the minimum duration of the dynamic segment while meeting the deadline constraints of all sporadic messages in their worst-case arrival instances. We also extend all these algorithms to the case of slot multiplexing scheme provided by FlexRay 3.0. Modern automobiles provide infotainment and in-car telemetry functions, which produce a high volume of soft deadline messages. This makes the problem of analyzing scheduling algorithms for such traffic important. The dynamic segment of the FlexRay cycle is used for transmission of such soft deadline messages. The second part of this thesis addresses the issue of analyzing the quality of performance in servicing of the soft deadline tasks in the FlexRay protocol. Two quality measures, namely, the average delay in servicing of the soft deadline tasks and the fraction of tasks that miss their deadlines, are considered. The generation of different soft deadline messages is modeled as independent Poisson processes. The generated messages are queued in different queues and are serviced according to pre-assigned priorities for different queues as per the FlexRay protocol. By analyzing this multiple queue model under some mild assumptions, upper bounds on the arrival rates for different messages are derived so that all the queues are stable. Analytical expressions are also derived for average delay and for deadline miss ratio. The correctness of these approximate analytical expressions are demonstrated through simulation studies.

Orientador: Franco Giuseppe Dedini / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-17T17:46:09Z (GMT). No. of bitstreams: 1 Silva_LudmilaCorreaAlkmine_D.pdf: 6413492 bytes, checksum: 8a07a3a7a3d0737b4eb13c9f02f909e2 (MD5) Previous issue date: 2011 / Resumo: Neste trabalho foi estudada a modelagem do contato roda-piso e a teoria de controle de uma cadeira de rodas. Logo, para complementar os testes e estudos, foi desenvolvido um laboratório virtual objetivando o estudo da dinâmica veicular e da modelagem do contato roda-piso. Esse laboratório, criado em programas multicorpos como o Working Model 2D ® e o MSC Adams?, foi usado para a visualização do comportamento dinâmico de uma cadeira de rodas em diversas situações. Nesta aplicação, observa-se que as características dos pneus são alguns dos parâmetros mais importantes da modelagem do contato roda-piso de um veículo. Deste modo, para a obtenção desses parâmetros foi construída uma bancada experimental. Esta bancada experimental é constituída basicamente de uma mesa fixada por células de cargas e uma estrutura onde a roda é presa. Vários testes experimentais foram propostos e os parâmetros, ou seja, as características do pneu foram levantados, implementados e comparados entre si, através de imagens e gráficos. Para o estudo da teoria de controle, foi construído um protótipo funcional de uma cadeira de rodas motorizada no qual o principal objetivo é seguir uma linha desenhada no chão. A utilização de sensores, microcontroladores e estratégias de controle foram necessárias a fim de atingir este alvo. Diferentes tipos de controle robusto foram simulados levando em consideração as características do pneu e o controlador PID foi implementado no protótipo funcional apresentando resultado satisfatórios ao seguir uma trilha desenhada no chão / Abstract: In this work was studied the model of the contact between the tire and the ground and the control theory of a wheelchair. Thus, for the tests and studies was developed a virtual laboratory for the dynamic vehicle and the contact between tire and ground model. This laboratory was created in a multibody program as Working Model 2D® and MSC Adams®, also was used to visualize the dynamic behavior of a wheelchair in various situations. The characteristics of tires are the most important parameters of the contact between ground and tire, so for that an experimental device was built. This test rig consists basically of a table fixed by the load cells and a structure where the wheel is attached. Several experimental tests have been proposed and the parameters or the characteristics of a tire were investigated, compared and implemented with each other by images and graphs. For the control theory was built a prototype of a electric wheelchair in which the main objective is to follow a path drawn on the floor. For this goal was necessary to use sensors, microcontrollers and control strategies as a PID / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica

Nas últimas décadas, a indústria automobilística mundial vem investindo no desenvolvimento tecnológico dos motores, com o objetivo de alcançar melhor eficiência energética e atender às legislações que limitam a quantidade de resíduos tóxicos nos gases de exaustão e menor consumo de combustível. Isso resultou na implantação dos sistemas de gerenciamento eletrônico do motor, que possibilitam funcionalidades para se controlar diversas variáveis do motor, aumentando consideravelmente o rendimento do motor. Este trabalho tem como objetivos explorar a dinâmica de um motor de combustão interna ciclo Otto, os sinais elétricos associados, e os componentes de seu gerenciamento eletrônico. A partir dessas informações, o trabalho apresenta o processo de analise dos sinais elétricos e as estratégias de controle utilizadas em um sistema de gerenciamento real. Assim, são desenvolvidos o hardware e o firmware de uma unidade microcontroladora para gerenciamento eletrônico do motor. O hardware foi elaborado com uma concepção centralizada, ou seja, foi usado apenas um microcontrolador de 32-bit para gerenciar todas as funções. O firmware de controle foi desenvolvido de forma modular baseado em modelos de malha fechada. O modelo matemático do motor foi identificado utilizando técnicas de controle em um veículo real, e a avalidação do modelo foi obtida através de testes em um dinamômetro inercial. / In the last few decades, the world automotive industry has invested in the technological development of the engines, aiming to get better energetic efficiency and comply with legislations that limit the amount of toxic exhaustion gases. This resulted in electronic management systems for engines, which allowed flexibility to control several engine-related variables, considerably increasing the engine efficiency. This work aims to explore the Otto cycle combustion engine dynamics, its electronic signals, and the elements of its electronic management. Based on that information, this work presents the analysis process of the electronic signals, and the control strategies used in a real management system. Then, the hardware and firmware of a microcontroller unity are developed for the electronic management of the engine. The hardware was elaborated with a centralized concept, i.e., only one 32-bit microcontroller was used to control all functions. The control firmware was developed in a modular scheme, based on the closed loop models. The engine mathematical model was identified using control techniques in a real engine. The results were obtained by tests in an inertial dynamometer.

The concept of translating source code into other target programming languages is extensively used in a wide area of applications. Danfoss Power Solutions AB, a company located in Älmhult, strives to streamline their way of software development for microcontrollers by implementing this idea. Their proprietary software tool PLUS+1 GUIDE is based on the CAN bus communication network, which allows electronic control units to share data represented in the XML format. Due to compatibility problems, the application in the electronic control units requires this data to be translated into the source code in the low-level C programming language. This thesis project proposes an approach for facilitating this task by implementing a source-to-source compiler that performs the translation with a reduced level of manual user involvement. A literature review was conducted in order to find the existing solutions relevant to our project task. An analysis of the provided XML input files was thereafter performed to clarify a software design suitable for the problem. By using a general XML parser, a solution was then constructed. The implementation resulted in a fully functional source-to-source compiler, producing the generated C code within a time range of 73–85 milliseconds for the input test files of typical size. The feedback received from the domain experts at Danfoss confirms the usability of the proposed solution.

Nowadays almost all motorized vehicles use electronic control units (ECUs) to control parts of a vehicle’s function. A good way to understand a vehicle’s behaviour is to analyse logging data containing ECU internal variables. Data must then be transferred from the ECU to a computer in order to study such data. Today, Keyword Protocol (KWP) requests are used to read data from the ECUs at Scania. The method is not suitable if many signals should be logged with a higher transfer rate than the one used today. In this thesis, communication protocols, that allow an ECU to communicate with a computer, are studied. The purpose of this master’s thesis is to examine how the transfer rate of variables from Scania’s ECUs to a computer can become faster compared to the method used today in order to get a more frequent logging of the variables. The method that was chosen was implemented, evaluated and also compared to the method used today. The busload, total CPU load and CPU load for the frequency used during the experiments, 100 Hz, was also examined and evaluated. The experiments performed show that the method chosen, data acquisition (DAQ) with CAN Calibration Protocol (CCP), increased the transfer rate of the internal ECU variables significantly compared to the method using KWP requests. The results also show that the number of signals have a major impact on the busload for DAQ. The busload is the parameter that limits the number of signals that can be logged. The total CPU load and the CPU load for 100 Hz are not affected significantly compared to when no transmissions are performed. Even though the busload can become high if many variables are used in DAQ, DAQ with CCP is preferable over KWP requests. This is due to the great increase in transfer rate of the ECU internal variables and thus a great increase in the logging frequency. / Nuförtiden används styrenheter (ECUer) för att styra delar av ett fordons funktion i så gott som alla motoriserade fordon. Ett bra sätt att förstå ett fordons beteende är att analysera loggningsdata som innehåller interna styrenhetsvariabler. Data måste då överföras från styrenheten till en dator för att data ska kunna studeras. Idag används Keyword Protocol-förfrågningar (KWP-förfrågningar) för att läsa data från Scanias styrenheter. Metoden är inte lämplig om man vill logga många variabler med en högre överföringshastighet än den som används idag. I detta examensarbete studeras kommunikationsprotokoll som tillåter en styrenhet att kommunicera med en dator. Examensarbetets syfte är undersöka hur överföringshastigheten av variablerna, från Scanias styrenheter till en dator, kan ökas jämfört med den metod som används idag för att få en mer frekvent loggning av variablerna. Metoden som valdes implementerades, utvärderades och jämfördes med metoden som används idag. Busslasten, totala CPU-lasten och CPU-lasten för den frekvens som användes under experimenten 100 Hz har också undersökts och evaluerats. De utförda experimenten visar att den valda metoden, data acquisition (DAQ) med CAN Calibration Protocol (CCP), ökade överföringshastigheten av de interna styrenhetsvariablerna betydligt jämfört med metoden KWP-förfrågningar. Experimenten visar också att antalet signaler har stor inverkan på busslasten för DAQ. Busslasten är den parameter som begränsar antalet signaler som kan loggas. Den totala CPU-lasten och CPU-lasten för 100 Hz påverkas inte betydligt jämfört med när inga överföringar görs. DAQ med CCP är att föredra framför KWP-förfrågningar även om busslasten blir hög för DAQ då den stora ökningen i överföringshastighet av de interna styrenhetsvariablerna medför en mer frekvent loggning av variablerna.

Automotive industry has moved from manufacturing automobiles using mechanical units to using Electronic Control Units (ECUs). One of the integral parts of ECUs are the microcontrollers. Selecting the right microcontroller unit for the ECU in automotive industry, involves high time and cost factors, as several criteria need to be examined for each microcontroller in the market. There is a need for a methodology for selection of the microcontroller based on the given requirements, with the aid of some tools, to reduce the time and cost factors. This thesis involves determining criteria for automotive microcontrollers and selection of the microcontroller by following a systematic process. A part of the systematic process involves filtering or ranking microcontrollers according to the requirements and plotting microcontrollers for the required criteria along with pareto-front analysis of rank versus cost. Ranking of microcontrollers is done using Goal Programming and Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) methods. The result from the thesis shows various criteria for the microcontroller in an ECU and the methodology to be followed for microcontroller selection using case study of Exterior Lighting System. The results of Goal Programming and TOPSIS methods show that they could provide good aid in selection by ranking the microcontrollers along with pareto-front analysis. Finally, a selection methodology guideline has been formulated to aid the selection process with the help of the methods. / Fordonsindustrin har gått från att tillverka bilar med mekaniska styrsystem till att använda elektroniska styrenheter (ECU:er). En central del i styrenheterna är mikrokontrollers. Att välja rätt mikrokontroller för en ECU i fordonsindustrin är tidskrävande och kostnadsintensivt eftersom många faktorer behöver tas i beaktning och undersökas för varje mikrokontroller på marknaden. Det finns ett behov för en metod att välja mikrokontroller utifrån en given kravställning, med hjälp av olika verktyg, för att minska utvecklingstid och kostnad. Detta examensarbete handlar om att fastställa relevanta kriterier för fordonsrelaterade applikationer som använder mikrokontrollers samt urval av mikrokontrollers genom att följa en systematisk metod. En del av den metoden är filtrering och rangordning av alternativen utifrån kravställningen och visualisering hur jämförelsealternativen uppfyller kravställningen jämte Pareto-front analys mellan rangordning och kostnad. Rangordning görs med hjälp av metoderna Målprogrammering och Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS). Resultatet av examensarbetet visar olika kriterier för en mikrokontroller i en ECU och metoderna att använda sig av för val av mikrokontroller i studieexemplet ett belysningsstyrningssystem. Resultaten av metoderna målprogrammering och TOPSIS visar att de kan vara till god hjälp i valet genom rangordning av mikrokontrollers med tillägg av Pareto-front-analys. Slutligen har en guide för urvalsmetod skapats för att hjälpa urvalsprocessen med hjälp av metoderna.

The experience of electric energy shortage in 2001 demonstrated that our dependence almost exclusively on hydroelectricity could fetch great problems to Brazil. Thus being, the existence of trustworthy alternatives of energy must exist, at the very least, as a reserve. For this reason, the perspective of decentralizing the energy production as a form of promoting the socioeconomic development of remote communities not connected to the public distribution system as well for mass production of electricity, are the motivations of this work. Such situation justified the analysis of performance and development of the integration of diverse types of alternative primary sources by transforming them into current sources as a means of preventing the circulation of current due to voltage differences across the sources. Control of the load voltage uses the modulation of a secondary load in parallel with a primary load in such a way that current excesses from the current sources are drained only through the secondary load, remaining unchanged the conditions for the primary load. To manage the voltage and current distribution in the main load, a module, dedicated and expandable controller is proposed for hybrid systems of electric energy generation such as those using wind-solar-storage for generation of electric energy in a trustworthy form, unassisted and independent. The proposed integrated system of energy does allow the control and integration of the most usual forms of energy generation such as hydraulic, wind, storage of energy, specially, in batteries. The control program is also adjusted to integrate other forms of generation, independent of its origin. The control as a whole is based on the algorithm "Hill Climbing Control" (HCC) for individual maximization of the generated power and rotation in each source and regulating the voltage across the load, in order to get the best advantage from the installations. In this dissertation is also shown some practical results about the proposed theory on a prototype of control based on the micro controller PIC18F452 for distribution of energy from a power plant of electric energy generation installed and operating in the CEEMA-UFSM campus. Furthermore, the controller module of power as presented in this work is more useful among others because it allows the use of hybrid electronics and microelectronics that are able of concentrating several circuits in a only "chip", including control functions for power conversion, A/D devices, program memory, data memory, modules for capture and comparison, timers and PWM modules. / A experiência do racionamento de energia elétrica no ano de 2001 no Brasil demonstrou que nossa dependência quase que exclusivamente da hidroeletricidade pode nos trazer grandes problemas. Assim sendo, a existência de alternativas de energia confiáveis deve existir, no mínimo, como reserva. Por esse motivo, a perspectiva da descentralização da produção de energia como forma de promoção do desenvolvimento sócio-econômico de comunidades não atendidas pelas formas convencionais de energia bem como para produção em massa de energias alternativas para grandes sistemas de potência, foram as motivações deste trabalho. A necessidade de um conhecimento melhor da integração entre as fontes de energia. Tais temas justificaram a realização da análise do desempenho e o desenvolvimento de tecnologia para a integração de diversos tipos de fontes alternativas transformadas em fontes de corrente como forma de se evitar a circulação de correntes entre as fontes por diferenças individuais de tensão. O controle da tensão de carga usa a modulação de uma carga secundária em paralelo com outra primária tal que os excessos de corrente das fontes sejam drenados apenas para a carga secundária mantendo-se inalteradas as condições da carga primária. Para gerenciar a distribuição das correntes e a tensão na carga principal, utilizou-se um controlador modular, dedicado e expansível para sistemas híbridos de geração de energia elétrica tais como o eólico-solararmazenamento para geração de energia elétrica de forma confiável, desassistida e autônoma. O sistema de energia desenvolvido permite o controle e o acionamento integrados das formas mais conhecidas de geração de energia envolvendo fontes como a hidráulica, a eólica, armazenadores de energia, em especial, as baterias. O programa de controle é adequado para integrar outras formas de geração, independente de sua origem. O controle como um todo, baseia-se no algoritmo "Hill Climbing Control" (HCC) para maximização individual da potência gerada em cada fonte e para o contingenciamento da rotação pela carga, de modo a se obter o melhor proveito das instalações. Por outro lado, a tensão de saída é modulada através da carga secundária de tal forma a compor uma impedância a ser vista pela fonte de corrente resultante das fontes primárias que estabilize em torno da tensão nominal. Esta dissertação mostra os resultados práticos relativos a um protótipo de controle baseado no PIC18F452 para distribuição de energia a partir de uma central de geração de energia elétrica instalado e funcionando no campus da UFSM. O módulo controlador de potência como se apresenta, presta-se para a utilização dos recursos da eletrônica híbrida e da microeletrônica que podem concentrar num único "chip" diversos circuitos, incluindo conversores de potência, conversores A/D, memória de programa, memória de dados, módulos de captura e comparação, temporizadores e módulos PWM, entre outros.

Práce se zabývá návrhem automobilové elektronické řídicí jednotky (ECU) s funkcí partial networking definovanou normou ISO 11898-6. Cílem je navrhnout a vytvořit demonstrační ECU s použitím system basis chip NCV7471. Protože NCV7471 obsahuje standardní CAN transceiver, funkce partial networking je realizována pouze softwarem řídicí jednotky. Práce zvažuje možné způsoby realizace jak HW, tak SW části, tak aby byla zajištěna nízká spotřeba ECU v různých operačních módech, a snaží se sledovat současné trendy v automobilovém průmyslu.