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Cho đến nay, bướm ga được điều khiển bằng dây cáp trong hầu hết các xe hơi. Nhiều nhà sản xuất ô tô gần đây đã tiến hành nghiên cứu bướm gas điện tử để sử dụng chúng kết hợp với phun xăng điện tử nhằm tối ưu hóa mức tiêu thụ nhiên liệu và nâng cao độ an toàn. Mục đích của ETCS là điều khiển hệ thống một cách khoa học và chính xác hơn nhằm tối ưu hóa việc tiết kiệm năng lượng, tối ưu hóa hiệu suất và tăng hiệu suất của hệ thống tùy theo từng trường hợp khác nhau. Chính vì những ưu điểm nói trên, nhóm chúng tôi quyết định tìm hiểu và nghiên cứu thêm về Hệ thống điều khiển bướm ga điện.
Table of Contents List of Abbreviated words and Figures List of Abbreviated words ECT: Electronic Control Throttle CAN: Controller Area Network ECU: Electronic Control Unit SAE: Association of American Automotive Engineers ECM: Electronic control module TCM: Transmission control module BCM: Body control module ABS: Anti-block braking system ESP: Electronic stability programming List of Figures • Figure How does ECTs work • Figure 2: Can protocol • Figure 3: Front View of the Arduino Uno R3 • Figure 4: Front View of the Arduino Nano • Figure 5: MCP2515 Module • Figure 6: Throttle body model • Figure 7: Motor SG90 • Figure 8: Arduino software • Figure 9: Simulation ECT system model by Proteus • Figure 10: Real ECT system model • • • • • • • • • Chapter 1: INTRODUCTION ABOUT OVERVIEW OF TOPIC 1.1 Domestic and foreign research situation Electronic throttle control (ETC) system has worked its way to becoming a standard subsystem in most of the current automobiles as it has contributed much to the improvement of fuel economy, emissions, drivability and safety In view of a recent massive auto recalls due to the controversial uncontrollable engine accelerations, this topic may inspire further research interest on the automotive technology in the future There are many Domestic and foreign research on this topic 1.1.1 Domestic PGS.TS Đỗ Văn Dũng – Trang bị điện & điện tử ô tô đại – Nhà xuất Đại Học Quốc Gia TP Hồ Chí Minh – Năm 2004 Điều khiển bướm ga điện tử xe ô tô (Electric throttle Control) – K.s Đinh Trường Sơn Đại Học Cơng Nghệ, TP Hồ Chí Minh – Năm 2016 Nghiên cứu thiết kế chế tạo mạch điều khiển bướm ga, KS Lý Vĩnh Đạt, Trường Đại Học Sư Phạm Kỹ Thuật, Tp Hồ Chí Minh – Năm 2005 1.1.2 Foreign CAN bus applied to the vehicle throttle controller Computer Network Applications Langfang Teachers College Institute of Mathematics and Information Science,Hebei Langfang,China Electronic Throttle Control System: Modeling, Identification and Model-Based Control Designs Robert N K Loh1, Witt Thanom1,2, Jan S Pyko1,2, Anson Lee1,2 Center for Robotics and Advanced Automation, Department of Electrical and Computer Engineering Electrical & Electronic Systems Engineering, Chrysler Group LLC, Auburn Hills, USA, 2013 -Electronic throttle control - Delphi Automotive Systems and Hitachi Automotive Products Andreas Pechlaner, Hermann Kern, Frank Auer - Throttle Control with Smart Power Bridges and Microcontrollers of the C500 and the C16x-families – 1999 1.2 The necessary of topic Electronic throttle control system is more equipped in modern cars Throttle control by wire have become stably and accurately, so electronic throttle control system has replaced traditional throttles which has been controlled by cable In comparison with the conventional cable version, electronic throttle control system has some advantages such as: minimum adjustment and maintenance, absolute minimum harmful exhaust emissions cause pollution of surrounding environment 1.3 The objective of topic The application of automatic control technology to automobiles instead of mechanical control devices is inherently inaccurate and requires regular repair and maintenance Replacing electronic control systems, which gives cars a number of advantages in control, repair, maintenance and above all, the control by accurate electronic systems and stable has helped cars emit less toxic waste causing environmental pollution, fuel economy and control each mode of operation on the car Electronic throttle control system Electronic Throttle Control System is a superior system and has been fitted on most modern cars today Electronic throttle control circuit meets the dynamic requirements of throttle, in addition to basic control functions such as conventional throttle control, electronic throttle control circuit also combined control of modes Cruise control and Traction control with high accuracy and responsiveness 1.4 Method and research area Electronic throttle control is programmed by Adruino and applies Can-Bus communication Conducting research and manufacture of simulation model of electronic throttle operation in reality The objective is to control the opening and closing angle of the throttle in the engine Perform experiments Making premise for research, design and manufacture of electronic throttle control system Electronic throttle control circuit has been designed on the basis of: • Use the Volume Resistor to simulate the accelerator pedal position sensor Simulate the change in throttle position and the signal will be sent to the ECU • Adruino will tissue for ECU receive input signal of throttle position sensor, process information and output signal to control throttle opening angle • Using simulation servo motor for electronic throttle, receive signals from ECU and perform opening and closing 1.4.1 The method to solve problem The signal from the throttle pedal sensor is sent to the microcontroller, the microcontroller sends an output signal to control the throttle motor's rotating power circuit At the same time, there is a feedback signal from the throttle position sensor so that the microprocessor makes a comparison to control the throttle wings more accurately In addition, when there are control signals sent by Cruise control or Traction control, the microcontroller also controls the throttle corresponding to those modes Analog signals from throttle position sensors and throttle pedal position sensors are converted by the converter into digital signals before sending them to the microcontroller 1.4.2 Research area Andreas Pechlaner, Hermann Kern, Frank Auer - Throttle Control with Smart Power Bridges and Microcontrollers of the C500 and the C16x-families – 1999 Electronic throttle control - Delphi Automotive Systems and Hitachi Automotive Products Nghiên cứu thiết kế chế tạo mạch điều khiển bướm ga, KS Lý Vĩnh Đạt, Trường Đại Học Sư Phạm Kỹ Thuật, Tp Hồ Chí Minh – Năm 2005 Chapter 2: THEORETICAL FOUNDATIONS 2.1 Overview of the electronic throttle control system position in automotive industry Today, science and technology is growing rapidly Therefore, new technologies and innovations are constantly being launched to serve industries, which create products that make life more convenient Especially in the automotive industry, technology is indispensable, everything must be coordinated in a smooth and accurate way to give the driver a feeling of comfort and without much effort and can save fuel That is why when the electronic throttle control system came into being, it caused a great buzz in the automotive industry Based on geography, the automotive electronic throttle body market can be segmented into Asia Pacific, Europe, North America, Latin America, and Middle East & Africa Asia Pacific is a prominent producer of electronic throttle body systems followed by Europe The automotive electronic throttle body market in Asia Pacific is estimated to expand at a significant growth rate due to the increasing number of the vehicles manufactured in the region Key manufacturers operating in the automotive electronic throttle body market are Magneti Marelli S p A., Delphi Automotive PLC, Robert Bosch GmbH, Continental AG, Denso Corporation, Jenvey Dynamics Limited, Hitachi Automotive Systems Ltd., and Pacco Industrial Corporation 2.1.1 Definition of electronic throttle control system Electronic throttle control (ETC), also known as drive-by-wire is an automobile technology which electronically "connects" the accelerator pedal to the throttle, replacing a mechanical linkage 2.2 Role of electronic throttle control system Electronic throttle control (ETC) system has worked its way to become a standard subsystem in most of the current automobiles as it has contributed much to the improvement of fuel economy, emissions, drivability and safety Precision control of the subsystem, which consists of a DC motor driving a throttle plate, a pre-loaded return spring and a set of gear train to regulate airflow into the engine, seems rather straightforward and yet complex 2.3 Principle of electronic throttle control system operation In ETC systems, a vehicle's electronic control unit uses information from the throttle position sensor (TPS), accelerator pedal position sensor (APP sensor), wheel speed sensors, vehicle speed sensor and a variety of other sensors to determine how to adjust throttle position Figure How does ECTs work When you press on your car's gas pedal, instead of opening the throttle, you're activating an accelerator pedal module, which converts the pressure you put on the pedal into an electric signal That signal is then sent to an electronic control unit, which takes your inputs into account, as well as outside variables, to open the throttle for optimum efficiency and performance Chapter 3: CAN NETWORK COMMUNICATION 3.1 Overview of CAN network communication in automotive Communication network in particular and communication network on vehicles in general are a system of control boxes on the same vehicle including types such as ECM, TCM, BCM, ABS When operating, they can communicate and exchange information with each other without increasing the number of wires In order to optimize the control and restriction of wires, today, all vehicles from cars, trucks, tractors, construction machines, aircraft, military vehicles, even motorcycles are also use network communication And CAN network is the main communication protocol used in most cars today CAN is used in the automobile industry, making automotive electrical systems more stable, safe and energy-efficient, while reducing the complexity of connecting wires between thousands of devices in the car Researching and programming CAN system on the communication model between CAN module and ARDUINO UNO is the most effective approach and understanding of CAN system Understanding the development trend of the automobile industry, our team decided to select the topic "Electronic Throttle Control System using CAN network" to implement in the project plan 3.1.1 Defination of CAN network communication A Controller Area Network (CAN) bus is a communication system made for vehicle intercommunication This bus allows many microcontrollers and different types of devices to communicate with each other in real time and also without a host computer It using channel, CAN low and CAN high to transfer the information CAN low will use for normal signal which does not need to transfer fast and CAN high is use for real-time signal CAN also have a protocol to communicate When a signal is sent, it will follow that protocol Figure : Can protocol Out team goal is using CAN to transfer the information of the brake pedal to control the Electric Throttle Control module 3.1.2 History of the CAN network CAN is a serial communication protocol that strongly supports real-time distributed control systems with excellent stability, security, and noise resistance CAN has been developed by Bosch Gmbh since 1983, then officially launched in 1986 and accredited by the SAE, headquartered in Detroit Michigan In the first few years after its launch, Intel and Philips were the first two manufacturers to produce chips for CAN (1987) and Mercedes-Benz W140 was the first commercial vehicle to be equipped with CAN Today, almost all modern cars have CAN support and almost all major chip manufacturers in the world produce CAN integrated chips like Siemens, Motorola, NEO, etc Infineon, Mitsubishi, TI In addition to the automotive industry, CAN is also widely used in automation, shipbuilding, submarines, agriculture, medicine thanks to the advantages of its reliability 3.2 CAN network communication method CAN bus in automotive applications in the increasingly widespread, but the basis of the existing bus articulated electronic throttle module, and how to make it stable and reliable and practical, is the CAN bus, a new practical application 3.2.1 Standard CAN protocol The first standard of CAN is ISO 11898, which defines the characteristics of CAN, including high-speed CAN and low-speed CAN 3.2.2 Low speed CAN CAN-B is defined in ISO 11898-3 and operates at a bit rate of to 125kbit/s Many applications in vehicle body area and comfort/comfort This speed satisfies the real-time requirements required in this range Examples of such applications are: - Control the air conditioner system - Adjust the seat - Set of automatic windows - Control sliding doors on the roof of cars - Adjust the mirror - Light system - Control the steering system CAN bus is also used in vehicle diagnostics Here the electronic controller is directly connected to the CAN bus from which to receive the information it needs for instant diagnosis Previous diagnostic interfaces (KWP 2000) are becoming less common 3.2.3 High speed CAN CAN-C is defined in ISO 11898-2 and operates at speeds of 125kbit/s to 1Mbit/s Therefore the data transmission can satisfy the real-time requirements of the transmission The CAN-C bus is used for the network of the following systems: - Engine control system (Motronic for electronically controlled gasoline and diesel engines) - Control the power transmission system electronically - Vehicle balancing systems (ESP) - Cluster of equipment 3.2.4 Communication method The feature of CAN is the method of addressingand object-oriented communication, while most other field bus systems communicate based on the address of the stations Each information exchanged in the network is treated as an object, assigned an ID number Information sent on the bus according to the type of message transmission may vary in length Notifications are not sent to a specific address that any station can receive on demand The content of each message is distinguished by stations through an ID code The ID does not indicate the destination of the message, but only the meaning of the data in the message Therefore, each station on the network can decide whether to receive and process messages or not to receive messages through the message filtering method Also by using his message filtering method, multiple stations can simultaneously receive the same message and have different responses A station can request another station to send data by sending a request frame The station that provides the information content will return a frame containing the data with the same ID code as the request frame Along with the simple feature, the object-oriented communication mechanism in CAN also provides flexibility and data consistency of the system A CAN station does not need to know system configuration information (eg station address) Therefore, adding or removing a station in the network does not require any hardware or software changes at other stations In the CAN network, it is possible to ensure that a message is either received by all interested stations simultaneously, or not received by any station Data consistency is ensured through the methods of simultaneous sending and error handling 3.3 Advantages of ECT system using CAN network compare to traditional communication The use of modern vehicles ECT system with CAN bus has been completely replaced by sensors, electronic control units and actuators and electronic control unit between the line between the contacts, constitute the vehicle based on CAN bus control system network The network, including engine control, powertrain control, vehicle control and instrumentation, such as the four functions of an independent control unit, each control unit has its own ECU, can be run alone There is also a control system of the main ECU, the ECU control unit and between the main ECU to communicate through the CAN network CAN allows many microcontrollers and different types of devices to communicate with each other in real time and also without a host computer which is an advantage to the car because car have many ECU that work in the same time The CAN connection also reduce the cost and weight of the car because it only use wire CHAPTER 4: DESIGN OF ELECTRONIC THROTTLE CONTROL SYSTEM USING CAN NETWORK COMMUNICATION The purpose of redesigning an electronic throttle control system for the experimental engine activities was to not only learn about prototyping, controller design, and throttle actuation, but also provide a more capable engine control system in later subjects and graduation thesis This project was accomplished through the use of a microcontroller for signal processing and command control To cut down the price of model, we created a fake throttle and used a microprocessor as Arduino Uno, Nano,and was entirely responsibily for signal processing and motor control 4.1 Introduction about hardware 4.1.1 Arduino Microcontroller: Uno R3, Nano The Arduino Microcontrollers are the breadboard-friendly microcontroller carriers that are commonly used in technical projects, and simple electrical engineering projects They are excellent candidates for using in a throttle controlling project The board has over twenty input/output pins that can be used for sensing and control The boards have an internal voltage regulator capable of producing a steady and 3.3 volt supply Input/output pins include digital and analog signals were needed to achieve throttle angle control These analog input pins were used to send the user input signal and the throttle position sensor signal to ECU Arduino Uno R3/ Nano datasheet: Operating Voltage: Volts Input Voltage: to 20 Volts Digital I/O Pins: 14 (of which can provide PWM output) Analog Input Pins: DC Current per I/O Pin: 20 mA DC Current for 3.3V Pin: 50 mA Figure 3: Front View of the Arduino Uno R3 Flash Memory: 32 KB of which 0.5 KB used by bootloader SRAM: KB EEPROM: KB Figure 4: Front View of the Arduino Nano 4.1.2 Micro-controller CAN MCP2515 and module MCP2515 To program the CAN module we need to use the MCP2515 CAN Bus Controller It is a simple Module that supports CAN Protocol version 2.0B and can be used for communication at 1Mbps In order to setup a complete communication system, you will need two CAN Bus Module The following image shows the components and pins on a typical MCP2515 Module Figure 5: MCP2515 Module 4.1.3 Another electronic components 4.1.3a Throttle body Figure 6: Throttle body model The throttle body is usually located between the air filter box and the intake manifold, and it is usually attached to, or near, the mass airflow sensor In this project, instead of using real throttle valve, we invent new throttle body by form and recycle material like glass and plastic, Throttle body consists of a housing unit containing a throttle plate (butterfly valve) that rotates on a shaft When the accelerator (gas pedal) is pushed down, the throttle plate opens and allows air into the engine 4.1.3b Servo motor SG90 It is one of the tiny and lightweight motor with high output power This servo can rotate approximately 180 degrees (90 in each direction), and works the same as their types Servo motor SG90 is used any servo code, hardware or library to control them It comes with a horns (arms) and hardware Operating voltage: 4.8 V (~5V) Operating speed: 0.1 s/60 degree Stall torque: 1.8 kgf·cm Dead band width: 10 µs Temperature range: ºC – 55 ºC Figure 7: Servo motor 4.2 Introduction about software We use Arduino 1.8.10 software A program is designed for Arduino hardware It is also written in any programming language with compilers that produce binary machine code for the target processor Atmel provides a development environment for their 8-bit AVR and 32-bit ARM Cortex-M based microcontrollers, while AVR Studio is older and Atmel Studio is newer Anyway, we need download the library for CAN BUS and install the library to Arduino software To program the CAN module in adruino First we have to declare the library, we use mcp_can.h, SPI.h for the CAN connection Next we setup the CAN pin with MCP_CAN CAN (CAN pin).After that we setup the CAN bus is 500 kbps with Can.begin (CAN_500KBPS) The final command we need are CAN.senMsgBuf and CAN.readMsgBuf to send and read the signal from a CAN module to another CAN module Figure 8: Arduino software 4.3 Modeling result 4.3.1 Simulation model Figure : Simulation ECT system model by Proteus 4.3.2 Real model Figure 10: Real ECT system mode 4.4 Coding and explanation 4.4.1 Transmitter Module code 4.4.2 Receiver Module code 4.4.3 Check by the Serial.print of program: While, COM3: module and Transmitter module Receiver COM5: Comments and evaluation: After assembly the communication circuit between the transmitter and receive module, the result is an ECT system controlled by CAN network Chapter 5: CONCLUSION AND DEVELOPMENT ORIENTATION 5.1 These achievements Learn and know how to use the electronics board: Uno R3, Nano, Micro-controller CAN MCP2515 and module MCP2515 Know how to use data display software on computers such as Arduino and Proteus Program transmit and receive code between boards together Work in team 5.2 Limitations of the topic Time to research and research field is limited Lack of equipment to test 5.3 Development orientation topic Simulate TP sensor signals and read signals directly via CAN network Develop ECTS-I in future vehicle References Andreas Pechlaner, Hermann Kern, Frank Auer - Throttle Control with Smart Power Bridges and Microcontrollers of the C500 and the C16x-families – 1999 Nghiên cứu thiết kế chế tạo mạch điều khiển bướm ga, KS Lý Vĩnh Đạt, Trường Đại Học Sư Phạm Kỹ Thuật, Tp Hồ Chí Minh – Năm 2005 CAN bus applied to the vehicle throttle controller Computer Network Applications Langfang Teachers College Institute of Mathematics and Information Science,Hebei Langfang,China, 065000 Electronic throttle control Delphi Automotive Systems and Hitachi Automotive Products THE END! ... Analog Input Pins: DC Current per I/O Pin: 20 mA DC Current for 3. 3V Pin: 50 mA Figure 3: Front View of the Arduino Uno R3 Flash Memory: 32 KB of which 0.5 KB used by bootloader SRAM: KB EEPROM: KB... to another CAN module Figure 8: Arduino software 4 .3 Modeling result 4 .3. 1 Simulation model Figure : Simulation ECT system model by Proteus 4 .3. 2 Real model Figure 10: Real ECT system mode 4.4... practical application 3. 2.1 Standard CAN protocol The first standard of CAN is ISO 11898, which defines the characteristics of CAN, including high-speed CAN and low-speed CAN 3. 2.2 Low speed CAN