Rapid prototyping of chassis control systems
M. DePoyster, J.F. Hoying, K.N. Majeed · 2002
The process of developing and testing chassis systems control algorithms has improved significantly from earlier methods. Previously, ideas were implemented in assembly language targeted for a fixed-point processor for real-time implementation in a vehicle controller. In this paper an example is presented that illustrates the use of rapid prototyping tools in the development of chassis control algorithms. The development of a new brake algorithm using a Simulink block diagram model is described. The multiprocessor development system employs a microprocessor-based brake controller acting as the master with a DSP-based dSPACE Autobox serving as a slave processor. The base braking algorithm resides in the microprocessor-based controller allowing utilization of all of the original brake system inputs and outputs. The advanced braking algorithm resides in the dSPACE Autobox. Sensor inputs are read by the brake controller and passed to the Autobox over a high speed optical CAN bus. The Autobox performs the necessary computations and sends the results back to the brake controller which adjusts the outputs accordingly. The development control system architecture is described in detail in the paper. The advantages of rapid prototyping over previous methods are also outlined with estimated savings in development time given.