机电一体化系统设计(implementation)学习指导书.pptVIP

Computer Architecture Trends Present proposals for future billion-transistor computers: Desktop uniprocessors for technical applications Multiprocessor servers for transaction processing Large continuous data-processing capability Future embedded system computers: Harsh environment tolerance; temperature, vibration, radiation Low power dissipation, power down modes On-chip input-output units, communication and memory Predictable behavior, support for concurrency Technology basis Characteristics of embedded control systems Variety of types of functionality/domains Hierarchical structure Distributed systems Environment constraints RT constraints ET and TT, parallelism Roughness Resource constrained implementation Dependability Why not a single processor? Example application: stability control Reklamfilm Example application: stability control Example application: vehicle stability control ESP follow up; summarizing characteristics Several modes of operation Multiple input, multiple output Availability critical (graceful degradation) Hierarchical and cascaded control Safety critical, real-time operation Redundancy in hardware (sensors, actuators, processors), information and algorithms Upgrades? Buy or make components? Driver vs. computer control decides? How to define a suitable architecture? How to organize the development? Ingredients in vehicle dynamics control Longitudinal control Lateral control Roll, pitch and yaw Basic force generation between vehicle and road takes place in contact patches of the four tires: - Road surface determines available friction - These forces provide feedback (“feel”) to the driver about vehicle behavior and road conditions. Ingredients in vehicle dynamics control Available actuators: Wheel acceleration and deceleration - Wheel slip: Vehicle speed vs. wheel speed ?? Anti-blocking system (ABS) ?? Anti-spin (or traction) control Wheel steering Dampers ?? Active body control (ABC) Longitudinal control: ?? Cruise and adaptive cruise c