CN111624981B - Steering wheel angle calibration system and calibration method of automobile power-assisted steering system - Google Patents
Steering wheel angle calibration system and calibration method of automobile power-assisted steering system Download PDFInfo
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Abstract
A steering wheel angle calibration system of an automobile power-assisted steering system comprises a data communication connection module, a diagnosis command analysis module and a calibration function module. The data communication connection module determines initialization parameters according to the protocol type, so that the diagnostic device is connected with the automobile ECU and can be communicated with each other; the diagnosis command analysis module is connected with the automobile ECU through original factory equipment, sends commands to the ECU, obtains calibration command information by means of an OBD bus to perform data sampling, records sending and replying commands in a communication command form to obtain a sampling file, extracts data in the sampling file according to a data structure and records the data in an EXCEL document, and then makes the command information in the EXCEL document into a calibration database in an XML file format by utilizing XML language; the calibration function module is used for compiling a calibration function of C language according to an XML database obtained by protocol analysis, completing the setting of calibration steps and realizing the specific calibration function of the diagnostic apparatus.
Description
Technical Field
The invention relates to the field of automobile diagnosis equipment, in particular to a method for calibrating a steering wheel angle of an automobile power-assisted steering system and a calibration method.
Background
When the automobile is installed, the model and the appearance of the used automobile parts are matched with the installation effect of the whole automobile, and the performance and the quality of the matched automobile type are detected and diagnosed by using various tools, instruments, equipment, software and the like, so that the quality of the whole automobile is finally ensured. The calibration is a process of optimizing software data in order to obtain satisfactory performance of the whole vehicle, meet customer requirements and reach national standards after algorithms, control strategies and peripheral devices of an engine, the whole vehicle and a system are determined.
Generally, the calibration software has a function of acquiring experimental data from an automobile sensor, and writing the experimental data into an automobile ECU after technical processing, and meanwhile, the calibration software needs to have a strong data management function because a large amount of experimental data needs to be processed in a calibration test.
In the driving process of an automobile, the steering wheel in the automobile power-assisted steering system is easy to have the angle deviation phenomenon due to the influences of ground friction, flatness and four-wheel positioning deviation. In the existing method for calibrating the steering wheel angle, the calibration process needs to be compared with factory data of a whole vehicle, parameters are numerous, and the calculation process is complex. Along with the improvement of the intelligent automobile fault diagnosis technology, how to continuously improve the steering wheel angle calibration function of the automobile power-assisted steering system is a technical problem which needs to be solved urgently.
Disclosure of Invention
In order to overcome the technical problems in the prior art, the invention provides a steering wheel angle calibration system and a calibration method of an automobile power-assisted steering system.
In order to solve the technical problems, the invention adopts the following technical scheme:
a steering wheel angle calibration system of an automobile power-assisted steering system comprises a data communication connection module, a diagnosis command analysis module and a calibration function module. The calibration function module is realized by developing a computer diagnostic program and comprises a calibration operation confirmation module, a calibration condition judgment module and a calibration execution and result query module. The data communication connection module determines initialization parameters according to the protocol type, so that the diagnostic device is connected with the automobile ECU and can be communicated with each other; the diagnosis command analysis module is connected with the automobile ECU through original factory equipment, sends commands to the ECU, obtains calibration command information by means of an OBD bus to perform data sampling, records sending and replying commands in a communication command form to obtain a sampling file, extracts data in the sampling file according to a data structure and records the data in an EXCEL document, and then makes the command information in the EXCEL document into a calibration database in an XML file format by utilizing XML language; the calibration function module is used for compiling a calibration function of C language according to an XML database obtained by protocol analysis, completing the setting of calibration steps and realizing the specific calibration function of the diagnostic apparatus.
In a further technical scheme, the extraction of the data in the sampling file means that a certain packing transmission mode is provided in the data transmission process, and the data structure is as follows: and (4) customizing the frame header, the LEN data length, the COM command mode, the address information, the effective data length, the effective data and the CS check bit, extracting the effective data content and recording the effective data content into the EXCEL.
According to a further technical scheme, the recording in the form of a communication command refers to establishing an XML document in an UltraEdit text editor, recording a command of mutual communication between the automobile ECU and the diagnostic instrument in an XML language, and storing the command in a UTF-8 coding format.
In a further technical scheme, the calibration function module is realized by developing a computer diagnostic program and comprises a calibration operation confirmation module, a calibration condition judgment module and a calibration execution and result query module. The calibration operation confirming module comprises a calibration operation instruction sending and calibration information prompting module, the calibration condition judging module comprises a calibration condition setting instruction sending and control word calculation processing in return data, and the calibration execution and result inquiring module comprises a calibration execution instruction sending and control word state judging in return data, and prompts a calibration result and sends a calibration success instruction.
According to the further technical scheme, the calibration operation confirmation module comprises calibration operation instruction sending and calibration information prompting, and program control is carried out by using the TYPE attribute of the function. Sending a calibration operation instruction to the vehicle-mounted ECU by adopting a special function Spefunc _ General, wherein the TYPE attribute in the step is '0 c'; an information prompt function DISP _ INFO is adopted to prompt the service to be used for calibrating the steering angle of the EPS module, displaying prompt information, confirming and skipping, wherein the TYPE attribute of the step is '02' in the function; and adopting a function action execution function IN _ ACT _ MENU to send an explicit instruction, and jumping to a calibration condition judgment module.
According to the further technical scheme, the calibration condition judgment module comprises setting of three conditions including battery voltage, vehicle speed and engine speed. Taking the setting of the battery voltage check conditions as an example: 1) sending a battery voltage condition setting instruction to the vehicle-mounted ECU by adopting a special function S pefunc _ General number, wherein the TYPE attribute of the step in the function is '0 c'; 2) extracting byte information of a fixed position in data returned by the ECU by adopting a special function Spefunc _ General, comparing the byte information with the byte information in CMP, and calculating the data if the result is true, otherwise, displaying the result to be 0, wherein the TYPE attribute of the step in the function is '13'; the byte information comparison adopts control words CMP of 0102[ X03X04] <0801: CMP0002([ X03X04 ])/64.00; 0". Here, the X03X04 bytes are hexadecimal data, and if the X03X04 bytes of data are smaller than the hexadecimal number 0801 (i.e., the decimal value 2049), the original byte hexadecimal number is converted into a decimal number and divided by 64.00 according to a data stream calculation formula CMP0002([ X03X04])/64.00, so as to obtain a decimal cell voltage value, and the calculation result retains 2 decimal places. Finally, displaying UNIT ═ V "; 3) an explicit instruction is issued using the special function Spefunc _ General, with the TYPE attribute of this step in the function being "0 c".
4) The same steps 1), 2) and 3) above are employed to set the vehicle speed check condition. The byte information comparison uses the control word CMP ═ 0002([ X03X04] × 511.9922)/65535 ". Let UNIT be "km/h".
5) The same steps 1), 2) and 3) above were employed to set the engine speed check conditions. The byte information comparison uses the control word CMP ═ 0002([ X03X04] × 16383.75)/65535 ". UNIT is shown as "rpm".
6) Confirming by adopting a special function Spefunc _ General, wherein the TYPE attribute of the step in the function is '02', and jumping to the next node;
7) and sending an explicit instruction by adopting a function action execution function IN _ ACT _ MENU, and jumping to a calibration execution and result query module.
According to a further technical scheme, the calibration execution and result query module sends a calibration execution instruction, judges the state of a control word in returned data and prompts a calibration result.
1) A special function is adopted to send a calibration execution instruction to the vehicle-mounted ECU, and the TYPE attribute of the step in the function is '0 c'; the calibration parameter algorithm is as follows:
according to a rotation matrix R (R)00R01R02，R10R11R12，R20R21R22) The rotation axis can be obtained, and then the direction cosine is obtained, and the vector v rotating around an arbitrary axis (a straight line around which the rotation is performed) in 3D is assumed to be v' after rotating around the rotation axis n by a rotation angle θ, and the relationship is shown in formula 1:
v'＝cosθ(v-(v·n)n)+sinθ(n×v)+(v·n)n (1)
wherein n is a unit vector used to describe the rotation axis, and θ is the rotation angle;
from equation 1, equation 2 can be derived:
wherein p, q, l are the base vector coordinates of the 3D rotation around the rotation axis, the rotated coordinates of the base vectors of p ', q ', l ' (n)1,n2,n3) Is the directional cosine of the axis of rotation n;
from equation 2, equation 3 can be derived:
[p q l]R(n,θ)＝[p' q' l'] (3)
wherein the component R of the matrix Rij(i is less than or equal to 2, j is less than or equal to 2, and i, j belongs to N) is an optimized rotation matrix;
from equation 3, equation 4 can be derived:
wherein n is1、n2And n3Respectively substituting into n1 2+n2 2+n3 2The rotation angle theta of the calibration parameter around the rotation axis can be obtained as 1;
2) extracting byte information of a fixed position X04 in data returned by the ECU by adopting a special function Spefunc _ General, comparing the byte information with the byte information in CMP, and jumping to a node M007 if the result is false; if true, node M006 is entered and the TYPE attribute of this step in the function is "15". The byte information comparison adopts a control word CMP of 0102[ X04] of01: 0; executing 1 ' XTABLE (FUNC 00/STEP 0D) ' 01 ' represents switching value calculation, ' 02 ' represents two switching values, [ X04] represents a control word position needing comparison, ' X1 ' represents specific comparison content, if the comparison result is false, returning to a ' 0 ' program, jumping to the node position of the M007 in the following STEP 3), and displaying the failure of calibration by using an information prompt function, wherein the TYPE attribute of the STEP in the function is ' 02 '; if true, return "1" and run special function Spefunc _ General jumps to the M008 node position in step 4), indicating that the calibration was successful.
3) The DISP _ INFO function is used for displaying the failure of calibration, and the TYPE attribute of the step in the function is '02';
4) displaying a calibration operation step by using a DISP _ INFO function, and jumping to a next node, wherein the TYPE attribute of the step in the function is '02';
5) sending a successful calibration instruction by adopting a special function Spefunc _ General, and jumping to a node below, wherein the TYPE attribute of the step in the function is '0 c';
6) the calibration success is shown by using the DISP _ INFO function, and the TYPE attribute of the step in the function is "02".
Spefunc _ General is a custom special function. The system is composed of a plurality of types, each type has a function, and a small link in a special function is completed. The main type attributes are:
type01 represents a direct send command;
type02 represents setting prompt information or buttons;
type03 represents setting the delay time;
type04 represents setting wait information;
type05 represents remove dialog functionality;
type06 represents a condition judgment function, when the result of the CMP algorithm is true, the sub-function is skipped, otherwise, a command is sent all the time, and a non-true result is displayed;
type07 represents a jump directly to the XTABLE value node;
type08 indicates which path is executed according to the condition, and the path information is determined by CMP, when CMP is equal to 1, the branch is shifted to XTABLE1, and when CMP is equal to 0, the branch is shifted to XTABLE;
type09 represents a set insert box function;
type0a represents the conversion of characters to a 16-ary display;
type0c is a determination of whether to reply to a command and whether to answer the command negatively;
type0e represents converting a character to a 16-ary display and has only 4 bytes at most;
type10 represents modifying a byte, typically the last bit of a send command;
type11 represents sending the command "TIME" TIMEs in a loop;
type13 represents a reply command obtained by sending a command according to Type01 or 03, and the reply command is processed like version information;
type14 indicates that the written data is compared with the read data;
type15 represents that if the result obtained by the CMP algorithm is true, then jump to XTABLE;
DISP _ INFO is an information prompt function. The function first extracts the child node type attribute and converts it to hexadecimal, which is compared to FF, FE, 02, respectively. When the attribute value is equal to FF, insert a return button; when the attribute value is equal to FE, inserting child node text information; when the attribute value is equal to 02, a message box is set, the message box text is added with letter text, another section of the newly added text is provided, the paragraph number is provided by a framework program, and the default is at the top and is aligned at the left. If the child node is the XTBLE attribute, a message box is directly set, the message box text is added with the letter text, another section of the newly added text is provided by the framework program, and the default is at the top and is aligned to the left.
IN _ ACT _ MENU is an action execution function. The function firstly defines the number as 0, reads the maximum value of all data, extracts the MSG attribute of the child node, and sends the buf attribute value in the node to the number if the logic and operation result of the MSG attribute text information and the MSG attribute text information when the data value is 0 is not equal to 0; if the node contains a LOGIN attribute and the LOGIN processing function return value is 0, setting 3 dialog boxes to respectively show that the confirmation, the safe LOGIN and the LOGIN failure cannot complete the advanced function; if the node contains an XTABLE attribute, then a jump is made to the next XTABLE menu.
A calibration method of a steering wheel angle calibration system of an automobile power-assisted steering system comprises the following steps:
the data communication connection module determines initialization parameters according to the protocol type, so that the diagnostic apparatus is connected with the automobile ECU and can be communicated with each other;
the diagnosis command analysis module is connected with the automobile ECU through special equipment, sends commands to the ECU, obtains calibration command information by means of an OBD bus to perform data sampling, records sending and replying commands in the form of communication commands to obtain a sampling file, extracts data in the sampling file according to a data structure, records the commands and the like to an EXCEL document, and then makes the command information in the EXCEL document into a calibration database in an XML file format by utilizing XML language;
the calibration function module is used for compiling a calibration function of C language according to an XML database obtained by protocol analysis, completing the setting of calibration steps and realizing the specific calibration function of the diagnostic apparatus.
Advantageous effects
Compared with the prior art, the invention has the following advantages:
1. different vehicle models have different calibration functions, and different calibration methods for different functions of the same vehicle model have different functions, so that the development difficulty of the calibration functions is higher, and the research and development cost is higher. The invention divides the calibration system into four modules, adopts modular design, can share one module for different calibrations, and only needs to change the module parameters, thereby reducing the research and development cost, shortening the research and development period, and enhancing the applicability and expandability of software. The calibration system is suitable for mainstream vehicle types in the market and has wide vehicle type coverage. The calibration function of other vehicle types can be expanded only by modifying and replacing the data command in the database according to the data command in the tested vehicle type sampling file, the universality is strong, the development time is greatly saved, and the development difficulty is reduced.
2. The data format introduction adopted by the data transmission packaging mode of the invention has high communication efficiency and low error rate. The XML language is adopted to compile the file type database, so that the data access speed is high, and the CPU resource occupation is less. The calibration parameter algorithm has high analysis speed and high calibration precision.
3. The invention adds a calibration function to the special function part of the automobile fault diagnosis instrument, has low requirement on maintenance personnel, improves the diagnosis efficiency, ensures that the functions of the automobile do not conflict and simultaneously improves the driving safety coefficient.
Drawings
FIG. 1 is a block diagram of the process flow of the present invention.
FIG. 2 is a flow chart of the calibration function module of the present invention.
FIG. 3 is a flow chart of the calibration execution and result query module.
FIG. 4 is a calibration entry prompt user interface.
Fig. 5 shows calibration check conditions.
FIG. 6 is a calibration operation prompt user interface.
Fig. 7 is a calibration completion prompt interface.
FIG. 8 is a calibration real vehicle test.
Detailed Description
The present invention will be described in further detail with reference to the following examples and the accompanying drawings.
Examples
The angle of a steering wheel of a power-assisted steering system of a certain vehicle is defined as an example:
1. and (4) data communication connection. The lower computer and the diagnosis computer are in wireless connection through Bluetooth, and the lower computer and the vehicle-mounted ECU system adopt a standard CAN communication protocol.
2. And (5) confirming the calibration operation. Running a special function to send calibration operation instructions 22, F1 and 9E to the vehicle-mounted ECU, wherein the TYPE attribute in the step is '0 c'; and then prompting a user by means of an information prompt function, wherein the service is used for calibrating the steering angle of the EPS module, the TYPE attribute of the step in the function is 02, and a confirm button is set by means of the attribute, and the user clicks to confirm formal entering calibration. This part of the communication command is as follows, the interface is as shown in fig. 4.
rece:71 d9 00 0d 30 00 00 06 f1 0f 03 22 f1 9e 00 00 00 08
send:71 d9 00 0d 30 00 00 06 0f f1 06 62 f1 9e 00 00 00 c5
3. And (5) judging a calibration condition. The setting of the calibration condition judgment includes setting of three conditions of battery voltage, vehicle speed and engine speed.
1) Battery voltage: running a special function, firstly sending a battery voltage condition setting instruction 22, 10 and 82 to the vehicle-mounted ECU, wherein the TYPE attribute of the step is '0 c'; and then extracting byte information of a fixed position X03X04 in the data returned by the ECU, comparing the byte information with the byte information in the CMP, and if the result is true, performing data calculation, otherwise, displaying the result as 0. Here, the X03X04 bytes are hexadecimal data, if the X03X04 bytes of data are smaller than the hexadecimal number 0801 (i.e., the decimal value 2049), the original hexadecimal number is converted into a decimal number and divided by 64.00 according to a data stream calculation formula CMP0002([ X03X04])/64.00, so as to obtain a decimal cell voltage value, 2 decimal places are reserved in the calculation result, and finally, a UNIT is displayed as "V", and the TYPE attribute of this step is "13"; finally, an explicit instruction 10, 03 is sent, and the TYPE attribute of the step in the function is "0 c". The partial communication command is as follows:
rece:71 d9 00 0d 30 00 00 06 f1 0f 03 22 10 82 00 00 00 05
send:71 d9 00 0d 30 00 00 06 0f f1 06 62 50 82 07 ff 00 7c
rece:71 d9 00 0d 30 00 00 06 f1 14 02 10 03 00 00 00 00 a2
send:71 d9 00 0d 30 00 00 06 14 f1 06 50 03 00 00 00 00 5e
2) vehicle speed: running a special function, firstly sending a vehicle speed condition setting instruction 22, d1 and 01 to the vehicle-mounted ECU, wherein the TYPE attribute of the step is '0 c'; then extracting byte information of a fixed position X03X04 in data returned by the ECU, converting an original byte hexadecimal number into a decimal number according to a data flow calculation formula CMP (0002 ([ X03X04 ]. multidot. 511.9922)/65535, multiplying the decimal number by 511.9922, dividing the decimal number by 65535 to obtain a decimal vehicle speed value, reserving 2 decimal places in a calculation result, and finally displaying UNIT (km/h), wherein the TYP attribute of the step is '13'; finally, an explicit instruction 10, 03 is sent, and the TYPE attribute of the step in the function is "0 c". The partial communication command is as follows:
rece:71 d9 00 0d 30 00 00 06 f1 14 03 22 d0 01 00 00 00 c1
send:71 d9 00 0d 30 00 00 06 14 f1 06 62 d0 00 01 00 00 7e
rece:71 d9 00 0d 30 00 00 06 f1 14 02 10 03 00 00 00 00 a2
send:71 d9 00 0d 30 00 00 06 14 f1 06 50 03 00 00 00 00 5e
3) the rotating speed of the engine: running a special function, firstly sending an engine rotating speed setting instruction 22, 01 and 04 to the vehicle-mounted ECU, wherein the TYPE attribute of the step is '0 c'; extracting byte information of a fixed position X03X04 in data returned by the ECU, converting an original byte hexadecimal number into a decimal number according to a data flow calculation formula of ' CMP ═ 0002([ X03X04 ]. multidot. 16383.75)/65535 ', multiplying the decimal number by 16383.75, dividing the decimal number by 65535 to obtain a decimal engine speed value, reserving 2 decimal digits as a calculation result, and finally displaying UNIT ═ rpm ', wherein the TYPE attribute of the step is ' 13 '; finally, an explicit instruction 10, 03 is sent, and the TYPE attribute of the step in the function is "0 c". The partial communication command is as follows:
rece:71 d9 00 0d 30 00 00 06 f1 14 03 22 01 04 00 00 00 8d
send:71 d9 00 0d 30 00 00 06 14 f1 06 62 01 04 0f ff 00 3c
rece:71 d9 00 0d 30 00 00 06 f1 0f 02 10 03 00 00 00 00 a7
send:71 d9 00 0d 30 00 00 06 0f f1 02 50 03 00 00 00 00 67
setting three specific calibration conditions is completed, a special function is run to confirm the checking condition, the TYPE attribute of the step in the function is '02', and the next node is jumped to. The interface is shown in fig. 5.
4. And calibrating execution and result query. Running a special function, firstly sending a calibration execution instruction 31, 01, 10 and 80 to the vehicle-mounted ECU, wherein the TYPE attribute of the step in the function is '0 c'; then extracting byte information of a fixed position X04 in data returned by the ECU, and judging whether the byte information is '01', wherein the T YPE attribute of the step in the function is '15';
1) and if the judgment result is false, jumping to the M007 node position by the program, displaying a calibration result by the operation information prompt function, wherein the calibration result is ' calibration failure ', please flameout the vehicle, retry after 3 seconds ', and the TYPE attribute of the step in the function is ' 02 '. The partial communication command is as follows.
rece:71 d9 00 0d 30 00 00 06 f1 0f 04 31 01 10 80 00 00 f6
send:71 d9 00 0d 30 00 00 06 0f f1 06 71 01 10 80 00 00 b4
2) And if the judgment result is true, continuously operating the original special function, setting and jumping, and jumping the program to the M008 node position, wherein the TYPE attribute of the step in the function is '07'. Then, the information prompt function is operated to display the calibration operation information, i.e., the steering wheel is slowly turned to the left for half a turn and returns to the alignment position. And then turn right half a turn to return to the aligned position. After confirmation, please complete the procedure within 2 minutes. ", the TYPE attribute of this step in the function is" 02 ", and the interface is shown in FIG. 6; finally, a special function is operated, calibration success instructions 31, 02, 10, 80 and 14, ff and ff are sent to the vehicle-mounted ECU, and the TYPE attribute of the step in the function is '0 c'; and finally, operating an information prompt function to display a calibration result, namely successful calibration and initialization of the program, wherein the TYPE attribute of the step in the function is 02. This part of the communication command is as follows, the interface is as shown in fig. 7. The calibration real vehicle test is shown in fig. 8.
rece:71 d9 00 0d 30 00 00 06 f1 0f 04 31 01 10 80 00 00 f6
send:71 d9 00 0d 30 00 00 06 0f f1 06 71 01 10 80 01 00 b3
rece:71 d9 00 0d 30 00 00 06 f1 0f 04 31 02 10 80 00 00 f5
send:71 d9 00 0d 30 00 00 06 0f f1 06 71 02 10 80 00 00 b3
rece:71 d9 00 0d 30 00 00 06 f1 0f 04 14 ff ff ff 00 00 a7
send:71 d9 00 0d 30 00 00 06 0f f1 06 54 ff ff ff 00 00 65
rece:71 d9 00 0d 30 00 00 06 f1 0f 02 3e 00 00 00 00 00 7c
rece:71 d9 00 0d 30 00 00 06 f1 0f 02 3e 00 00 00 00 00 7c。
Claims (6)
1. A steering wheel angle calibration system of an automobile power-assisted steering system is characterized by comprising a data communication connection module, a diagnosis command analysis module and a calibration function module;
the data communication connection module is used for determining initialization parameters according to the protocol type so that the diagnostic instrument is connected with the automobile ECU and can be communicated with each other;
the system comprises a diagnosis command analysis module, an automobile fault diagnosis instrument, an automobile ECU (electronic control unit), an OBD (on-board diagnostics) and a calibration command information acquisition module, wherein the diagnosis command analysis module is connected with the automobile ECU through the automobile fault diagnosis instrument, sends a command to the ECU, acquires calibration command information by means of an OBD (on-board diagnostics) bus to perform data sampling, records sending and replying commands in a communication command form to obtain a sampling file, extracts data in the sampling file according to a data structure and records the data in an EXCEL document, and then makes the command information in the EX;
the calibration function module is used for compiling a calibration function according to the XML database obtained by protocol analysis, setting calibration steps and realizing the specific calibration function of the diagnostic instrument;
the calibration function module is realized by developing a computer diagnostic program and comprises a calibration operation confirmation module, a calibration condition judgment module and a calibration execution and result query module;
the calibration operation confirmation module is used for sending a calibration operation instruction and prompting calibration information;
the calibration condition judgment module is used for calculating and processing control words in the calibration condition setting instruction sending and returning data;
the calibration execution and result query module is used for sending a calibration execution instruction, judging the state of a control word in returned data and prompting a calibration result;
the calibration execution and result query module comprises a calibration execution instruction sending module, a calibration result prompting module and a calibration result query module, wherein the calibration execution instruction sending module sends and judges the state of a control word in returned data, and the calibration result prompting module prompts the calibration result, and the calibration result query module specifically comprises the following steps:
1) a special function Spefunc _ General is adopted to send a calibration execution instruction to the vehicle-mounted ECU, the TYPE attribute of the step in the function is '0 c', and a calibration parameter algorithm is as follows:
according to a rotation matrix R (R)00R01 R02，R10R11R12，R20R21R22) The rotation axis can be found, then the direction cosine can be found, and the vector v of the 3D rotation around an arbitrary axis (the line around which the rotation is made) is set to rotate aroundThe angle θ of rotation of the axis n is v', and the relationship is shown in equation 1:
v'＝cosθ(v-(v·n)n)+sinθ(n×v)+(v·n)n (1)
wherein n is a unit vector used to describe the rotation axis, and θ is the rotation angle;
from equation 1, equation 2 can be derived:
wherein p, q, l are the base vector coordinates of the 3D rotation around the rotation axis, the rotated coordinates of the base vectors of p ', q ', l ' (n)1,n2,n3) Is the directional cosine of the axis of rotation n;
from equation 2, equation 3 can be derived:
[p q l]R(n,θ)＝[p' q' l'] (3)
wherein the component R of the matrix Rij(i is less than or equal to 2, j is less than or equal to 2, and i, j belongs to N) is an optimized rotation matrix;
from equation 3, equation 4 can be derived:
wherein n is1、n2And n3Respectively substituting into n1 2+n2 2+n3 2The rotation angle theta of the calibration parameter around the rotation axis can be obtained as 1;
2) extracting byte information of a fixed position X04 in data returned by the ECU by adopting a function Spefunc _ General, comparing the byte information with the byte information in CMP, and jumping to a node M007 if the result is false, and entering step 3); if the result is true, the step 4) is carried out, the TYPE attribute of the step in the function is '15', and the byte information comparison adopts a control word CMP which is '0102 [ X04] whichis' 01: 0; executing by 1 ' XTABLE ═ FUNC00/M007, ' 01 ' represents switching value calculation, ' 02 ' represents two switching values, [ X04] represents control word positions needing comparison, ' X1 ' represents specific comparison contents, and if a comparison result is false, returning to ' 0 ', the node position of M007 in the following step 3) is jumped to, and the calibration fails; if the result is true, returning to '1' and jumping to the M008 node position in the step 4) by using a Spefunc _ General function to represent that the calibration is successful;
3) the DISP _ INFO function is used for displaying the failure of calibration, and the TYPE attribute of the step in the function is '02';
4) displaying a calibration operation step by using a DISP _ INFO function, and jumping to a next node, wherein the TYPE attribute of the step in the function is '02';
5) sending a successful calibration instruction by adopting a special function Spefunc _ General, and jumping to a node below, wherein the TYPE attribute of the step in the function is '0 c';
6) the calibration success is shown by using the DISP _ INFO function, and the TYPE attribute of the step in the function is "02".
2. The steering wheel angle scaling system of an automotive power steering system according to claim 1, characterized in that: the data extraction in the sampling file means that a certain packing transmission mode is provided in the data transmission process, and the data structure is as follows: and (4) customizing the frame header, the LEN data length, the COM command mode, the address information, the effective data length, the effective data and the CS check bit, extracting the effective data content and recording the effective data content into the EXCEL.
3. The steering wheel angle scaling system of an automotive power steering system according to claim 1, characterized in that: the recording in the form of the communication command refers to establishing an XML document in an UltraEdit text editor, recording the command of the mutual communication between the automobile ECU and the diagnostic instrument in an XML language, and storing the command in a UTF-8 coding format.
4. The steering wheel angle scaling system of an automotive power steering system according to claim 1, characterized in that: the calibration operation confirmation module sends a calibration operation instruction and prompts calibration information, and performs program control by using the TYPE attribute of the function, and the specific steps are as follows:
1) sending a calibration operation instruction to the vehicle-mounted ECU by adopting a special function Spefunc _ General, wherein the TYPE attribute in the step is '0 c';
2) an information prompt function DISP _ INFO prompt service is adopted for calibrating the steering angle of the EPS module, displaying prompt information, confirming and skipping, and the TYPE attribute of the step in the function is '02';
3) and adopting a function action execution function IN _ ACT _ MENU to send an explicit instruction, and jumping to a calibration condition judgment module.
5. The steering wheel angle scaling system of an automotive power steering system according to claim 1, characterized in that: the calibration condition judgment module is used for setting three conditions of battery voltage, vehicle speed and engine rotation, taking the set battery voltage check condition as an example, and comprises the following specific steps:
1) sending a battery voltage condition setting instruction to a vehicle-mounted ECU by adopting a special function Spefunc _ General, wherein the TYPE attribute of the step in the function is '0 c';
2) adopting a special function Spefunc _ General to extract byte information of a fixed position in data returned by the ECU, comparing the byte information with the byte information in CMP, and if the result is true, performing data calculation, otherwise, displaying the result to be 0, wherein the TYPE attribute of the step in the function is '13'; the byte information comparison adopts control words CMP of 0102[ X03X04] <0801: CMP0002([ X03X04 ])/64.00; 0', the X03X04 bytes are hexadecimal data, if the X03X04 bytes of data is less than the hexadecimal number 0801 (i.e. decimal value 2049), then according to the data flow calculation formula CMP0002([ X03X04])/64.00, the original byte hexadecimal number is converted into decimal and divided by 64.00 to obtain the decimal cell voltage value, and the calculation result retains 2 decimal places; finally, displaying UNIT ═ V ";
3) an explicit instruction is sent by adopting a special function Spefunc _ General, and the TYPE attribute of the step in the function is '0 c';
4) the same steps 1), 2), and 3) above are employed to set the vehicle speed check condition, and the byte information comparison employs the control word CMP ═ 0002([ X03X04] × 511.9922)/65535 "; shows UNIT ═ km/h;
5) the same steps 1), 2) and 3) above were used to set the engine speed check conditions, and the byte information comparison was performed using the control word CMP ═ 0002([ X03X04] × 16383.75)/65535 ", showing UNIT ═ rpm;
6) confirming by adopting a special function Spefunc _ General, wherein the TYPE attribute of the step in the function is '02', and jumping to the next node;
7) and sending an explicit instruction by adopting a function action execution function IN _ ACT _ MENU, and jumping to a calibration execution and result query module.
6. A method for calibrating a steering wheel angle calibration system of an automobile power steering system according to any one of claims 1-5, comprising the steps of:
the data communication connection module determines initialization parameters according to the protocol type, so that the diagnostic apparatus is connected with the automobile ECU and can be communicated with each other;
the diagnosis command analysis module is connected with the automobile ECU through special equipment, sends commands to the ECU, obtains calibration command information by means of an OBD bus to perform data sampling, records sending and replying commands in the form of communication commands to obtain a sampling file, extracts data in the sampling file according to a data structure, records the commands and the like to an EXCEL document, and then makes the command information in the EXCEL document into a calibration database in an XML file format by utilizing XML language;
the calibration function module is used for compiling a calibration function of C language according to an XML database obtained by protocol analysis, completing the setting of calibration steps and realizing the specific calibration function of the diagnostic apparatus.
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