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Bukhara Engineering Technological Institute

Independent work

Mechatronic systems for road transport

Plan

Introduction

1. Purpose and problem statement

2. Laws of control (programs) gear shifting

3. Modern car

4. Advantages of the novelty

Bibliography

Introduction

Mechatronics arose as a complex science from the fusion of separate parts of mechanics and microelectronics. It can be defined as a science dealing with the analysis and synthesis of complex systems that use mechanical and electronic control devices to the same extent.

All mechatronic systems of cars are divided into three main groups according to their functional purpose:

Engine control systems;

Transmission and chassis control systems;

Cabin equipment control systems.

The engine management system is subdivided into gasoline and diesel engine management systems. By design, they are monofunctional and complex.

In monofunctional systems, the ECU only sends signals to the injection system. The injection can be carried out continuously and in pulses. With a constant supply of fuel, its amount changes due to a change in pressure in the fuel line, and with a pulse, due to the duration of the pulse and its frequency. Today, automobiles are one of the most promising areas of mechatronic systems application. If we consider the automotive industry, the introduction of such systems will allow us to achieve sufficient production flexibility, better catch fashion trends, quickly introduce advanced developments of scientists, designers, and thereby obtain a new quality for car buyers. The car itself, especially a modern car, is an object of close scrutiny from a design point of view. The modern use of a car requires from it increased requirements for driving safety, due to the ever increasing motorization of countries and tightening standards for environmental friendliness. This is especially true for megacities. The answer to today's challenges of urbanism is the design of mobile tracking systems that control and adjust the performance of components and assemblies, achieving optimal performance in terms of environmental friendliness, safety, and operational comfort of the vehicle. The urgent need to equip car engines with more complex and expensive fuel systems is largely due to the introduction of more and more stringent requirements for the content of harmful substances in exhaust gases, which, unfortunately, is just beginning to be worked out.

In complex systems, one electronic unit controls several subsystems: fuel injection, ignition, valve timing, self-diagnostics, etc. The electronic diesel engine control system controls the amount of injected fuel, the moment of injection start, the current of the torch plug, etc. In an electronic transmission control system, the subject of regulation is mainly an automatic transmission. Based on the signals from the throttle angle sensors and the vehicle speed, the ECU selects the optimal transmission ratio, which improves fuel efficiency and controllability. Chassis control includes driving, trajectory changes and vehicle braking. They act on the suspension, steering and braking system and maintain the set speed. The interior equipment management is designed to increase the comfort and consumer value of the vehicle. For this purpose, an air conditioner, an electronic instrument panel, a multifunctional information system, a compass, headlights, an intermittent wiper, an indicator of burned out lamps, an obstacle detection device when reversing, anti-theft devices, communication equipment, central door locks are used, glass lifters, variable position seats, safety mode, etc.

1. Purpose and problem statement

The decisive importance that belongs to the electronic system in the car makes us pay increased attention to the problems associated with their maintenance. The solution to these problems is to incorporate self-diagnostic functions into the electronic system. The implementation of these functions is based on the capabilities of electronic systems already used on the vehicle for continuous monitoring and troubleshooting for the purpose of storing this information and diagnostics. Self-diagnosis of vehicle mechatronic systems. The development of electronic control systems for the engine and transmission has led to an improvement in the performance of the vehicle.

Based on the signals from the sensors, the ECU generates commands to engage and disengage the clutch. These commands are sent to the solenoid valve, which engages and disengages the clutch drive. Two solenoid valves are used to shift gears. The hydraulic system sets the four gear positions (1, 2, 3 and overdrive) by combining the open-close states of the two valves. When changing gears, the clutch is disengaged, thereby eliminating the consequences of changing the moment associated with gear shifting.

Control laws (programs) gear shifting in an automatic transmission, they provide optimal transmission of engine energy to the vehicle wheels, taking into account the required traction and speed properties and fuel economy. At the same time, the programs for achieving optimal traction-speed properties and minimum fuel consumption differ from each other, since the simultaneous achievement of these goals is not always possible. Therefore, depending on the driving conditions and the driver's wishes, it is possible to select the "economy" program to reduce fuel consumption, the "power" program using a special switch. What were the parameters of your desktop computer five or seven years ago? Today, the system blocks of the end of the 20th century seem to be an atavism and only claim to be a typewriter. The situation is similar with automotive electronics.

3. Modern car

A modern car is now impossible to imagine without compact control units and actuators - actuators. Despite some skepticism, their implementation is proceeding by leaps and bounds: we will no longer be surprised by electronic fuel injection, servos for mirrors, sunroofs and windows, electric power steering and multimedia entertainment systems. And how not to remember that the introduction of electronics into the car, in fact, was started from the most responsible body - the brakes. Now, back in 1970, the joint development of Bosch and Mercedes-Benz under the modest abbreviation ABS revolutionized active safety. The anti-lock braking system not only ensured control of the car with the pedal pressed "to the floor", but also prompted the creation of several adjacent devices - for example, the traction control system (TCS). This idea was first implemented back in 1987 by one of the leading developers of onboard electronics - the Bosch company. In essence, traction control is the opposite of ABS: the latter prevents the wheels from sliding when braking, and TCS when accelerating. The electronics module monitors the wheel traction through several speed sensors. Should the driver "stomp" on the accelerator pedal harder than usual, creating a threat of wheel slip, the device will simply "strangle" the engine. The design "appetite" grew from year to year. Just a few years later, ESP, the Electronic Stability Program, was created. Equipping the car with sensors for steering angle, wheel speed and lateral acceleration, the brakes began to help the driver in the most difficult situations that arise. By braking one or another wheel, the electronics minimizes the risk of the car drifting at high-speed passage of difficult turns. The next stage: the on-board computer was taught to slow down ... 3 wheels at the same time. Under some circumstances on the road, this is the only way to stabilize the car, which the centrifugal forces of movement will try to divert from a safe trajectory. But so far electronics have only been trusted with a "supervisory" function. The chauffeur continued to create pressure in the hydraulic drive with the pedal. The tradition was broken by the electro-hydraulic SBC (Sensotronic Brake Control), which has been serially installed on some Mercedes-Benz models since 2006. The hydraulic part of the system is represented by a pressure accumulator, a master brake cylinder and lines. Electric - pump-pump, creating a pressure of 140-160 atm. , pressure sensors, wheel speed and brake pedal travel. By pressing the latter, the driver does not move the usual rod of the vacuum booster, but presses his foot on the "button", giving a signal to the computer, as if he is controlling some kind of household appliance. The same computer calculates the optimal pressure for each circuit, and the pump, through control valves, supplies fluid to the working cylinders.

4. Advantages of the novelty

Advantages of the novelty- performance, combining the functions of the ABS and the stabilization system in one device. There are other benefits as well. For example, if you suddenly kick off the accelerator pedal, the brake cylinders will feed the pads to the disc in preparation for emergency braking. The system is even linked to ... windshield wipers. According to the intensity of the work of the "windshield wipers", the computer concludes that it is moving in the rain. The reaction is short and imperceptible for the driver to touch the pads on the drying discs. Well, if you are "lucky" to get stuck in a traffic jam on the rise, do not worry: the car will not roll back while the driver moves his foot from the brake to the gas. Finally, at a speed of less than 15 km / h, the so-called soft deceleration function can be activated: when the gas is released, the car will stop so gently that the driver does not even feel the final "bite". mechatronics microelectronics engine transmission

What if the electronics fail? It's okay: the special valves will open completely, and the system will work like a traditional one, albeit without a vacuum booster. So far, the designers do not dare to completely abandon the hydraulic brakes, although eminent companies are already developing "liquid-free" systems with might and main. For example, Delphi announced the solution to most of the technical problems that seemed dead-end until recently: powerful electric motors - replacement for brake cylinders were developed, and electric actuators were made even more compact than hydraulic ones.

List l iterations

1. Butylin V.G., Ivanov V.G., Lepeshko I.I. et al. Analysis and development prospects of mechatronic wheel braking control systems // Mechatronics. Mechanics. Automation. Electronics. Computer science. - 2000. - No. 2. - S. 33 - 38.

2. Danov B.A., Titov E.I. Electronic equipment of foreign cars: Transmission, suspension and brake control systems. - M .: Transport, 1998 .-- 78 p.

3. Danov BA Electronic control systems of foreign cars. - M .: Hot line - Telecom, 2002 .-- 224 p.

4. Shiga H., Mizutani S. Introduction to automotive electronics: Per. from Japanese. - M .: Mir, 1989 .-- 232 p.

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Advantages of mechatronic systems and devices (MS&D) The main advantages of MS&D in comparison with traditional automation tools include the following. 1. Relatively low cost due to the high degree of integration, unification and standardization of all elements and interfaces. 2. High quality of implementation of complex and precise movements due to the use of intelligent control methods. 1

3. High reliability, durability, noise immunity. 4. Constructive compactness of modules (up to miniaturization in micromachines). 5. Improved weight, size and dynamic characteristics of machines due to the simplification of kinematic chains; 6. Possibility of integrating functional modules into complex mechatronic systems and complexes for specific customer tasks. 2

Application of Mechatronic Modules (MM) and Mechatronic Systems (MS) Today MM and MS are used in the following areas. Machine-tool building and equipment for the automation of production processes. Robotics (industrial and special). Aviation, space and military equipment. Automotive (for example, vehicle stabilization and automatic parking systems). Non-traditional means of transport (E-bicycles, cargo carts, wheelchairs, etc.). 3

Office equipment (such as photocopiers). Computing equipment (for example, printers, hard drives). Medical equipment (rehabilitation, clinical, service). Household appliances (washing, sewing, dishwashers, etc.). Micromachines (for medicine, biotechnology, communications and telecommunications). Control and measuring devices and machines; Photo and video equipment. Simulators for training pilots and operators. Show is an industry. 4

Development of mechatronics The rapid development of mechatronics in the 90s and now, as a new scientific and technical direction, is due to 3 main factors. 1) New trends in world industrial development. 2) Development of the fundamental foundations and methodology of mechatronics (basic scientific ideas, fundamentally new technical and technological solutions); 3) The activity of specialists in research and educational fields. 6

The main requirements of the world market in the field of mechatronic systems The need to produce and service equipment in accordance with the international system of quality standards formulated in the ISO9000 standard. Internationalization of the market for scientific and technical products and, as a result, the need for active implementation in practice of forms and methods of international engineering and technology transfer. eight

Increasing the role of small and medium-sized manufacturing enterprises in the economy due to their ability to quickly and flexibly respond to changing market requirements, The rapid development of computer systems and technologies, telecommunications (in the EEC countries, up to 60% of the growth of the aggregate national product is provided precisely due to these industries). A direct consequence of this trend is the intellectualization of mechanical motion control systems and technological functions of modern machines. nine

Modern enterprises embarking on the development of mechatronic products must solve the following main tasks. 1. Structural integration of departments of mechanical, electronic and informational profiles into unified design and production teams. 2. Training of mechatronic-oriented engineers and managers, capable of system integration and supervising the work of highly specialized specialists of various qualifications. 3. Integration of information technologies from various scientific and technical areas - mechanics, electronics, computer control, into a single toolkit for computer support of mechatronic tasks. eleven

The level of integration of the constituent elements is taken as the main classification criterion in mechatronics. In accordance with this feature, MCs can be divided by levels or generations, if we consider their appearance on the market of science-intensive products chronologically. 12

Generation MM 1st generation Basic element electric motor Motor-module High-torque motor Motor-working element module Second generation Mechatronic motion modules (rotary and linear) Third generation intelligent mechatronic modules Additional element Power converter Mechanical device Working element Feedback sensors Information sensors Microcomputer (controller) Development diagram of mechatronic movement modules 13

MMs of the 1st level are the union of only two original elements. In 1927, the firm "Bauer" (Germany) developed a fundamentally new design that combines an electric motor and a gearbox, which later became widespread and was called a motor-gearbox. Thus, the motor-reducer is a compact structural module in which an electric motor and a motion converter-reducer are combined. fourteen

MMs of the 2nd generation appeared in the 80s in connection with the development of new electronic technologies, which made it possible to create miniature sensors and electronic units for signal processing. The combination of drive modules with these elements led to the emergence of MM movement, on the basis of which controlled power machines were created, in particular, PR and CNC machines. 15

A motion module is a functionally and structurally independent product that includes mechanical and electrical parts that can be used individually and in various combinations with other modules. Mechatronic movement module - a movement module that additionally includes an information part, which includes sensors for various purposes. 16

The main feature that distinguishes the motion module from the general industrial drive is the use of the motor shaft as one of the elements of the mechanical converter. Examples of motion modules are gear motor, wheel motor, drum motor, electric spindle, etc. 17

MM 3rd generation. Their development is due to the appearance on the market of relatively inexpensive microprocessors and controllers based on them. As a result, it became possible to intellectualize the processes taking place in the MS, first of all, the processes of controlling the functional movements of machines and assemblies. An intelligent mechatronic module (IMM) is a mechatronic movement module that additionally includes a microprocessor-based computing device and a power converter. eighteen

Mechatronic devices of the 4th generation are information-measuring and control mechatronic microsystems and micro-robots (for example, penetrating the vessels into the body to fight cancer, atherosclerosis, and operate on damaged organs and tissues). These are robots for detecting and repairing defects inside pipelines, nuclear reactors, spacecraft, etc. 19

In mechatronic devices of the 5th generation, traditional computer and software tools for numerical control will be replaced by neurochips and neurocomputers based on the principles of the brain and capable of expedient activity in a changing environment. twenty

Automobile transport plays an important role in the society, the transport system of the country, the economy. The car is widely used for delivering goods to railways, river and sea berths, servicing industrial trade enterprises, agricultural workers, and providing passenger transportation. The share of road transport accounts for about half of passenger and cargo transportation (Figure 12.1)

Figure 12.1- Distribution of transport

Literally a little over a hundred years have passed since the first car appeared, and there is practically no sphere of activity in which it was not used. Therefore, the automotive industry in the economies of developed countries is now the leading branch of mechanical engineering. There are reasons for this:

First, people every day need more and more cars to solve various economic problems;

Secondly, this industry is knowledge-intensive and high-tech. She "pulls" many other industries, the enterprises of which carry out her numerous orders. The innovations introduced in the automotive industry inevitably force these industries to improve their production. Due to the fact that there are a lot of such industries, as a result, there is a rise in the entire industry, and, consequently, the economy as a whole;

Thirdly, the automotive industry in all developed countries is one of the most profitable sectors of the national economy, since it contributes to an increase in trade turnover and brings considerable income to the state treasury through sales on the domestic and world markets;

Fourth, the automotive industry is a strategically important industry. The development of this industry makes the country economically strong and therefore more independent. The widespread use of the best examples of automotive technology in the army undoubtedly increases the country's defensive power.

Now in the automotive industry, there are a number of trends that indicate its importance and significance, as well as related industries in the economies of industrialized countries. There is a completely new approach to the technical development of the car, the organization and technology of its production. Scientific and technical trends are focused on reducing fuel consumption and emissions, developing an ultralight vehicle, improving safety, quality, reliability and durability, as well as developing intelligent road and road systems.

The development of mechatronics in cars (Fig. 12.2) and on production machines has its own characteristics. In automobiles, the expansion of automation, and therefore of mechatronics, began primarily in the field of comfort devices. The first of the mechatronic units, as is historically the custom, there was an engine with a fuel supply system and automatic control of it. The second is the Power Attachment Control (EHR) system, the world leader in the production of which is Bosch. The third is the transmission. Here the process began with the advent of mechanical transmissions with gear shifting under load. They were equipped with hydraulic, then electro-hydraulic switching devices, and then electronic automatic control of switching. Western firms (German ZF and others) began to supply car factories and produce for sale transmissions in such a complete set

The power and benefit of the mechatronic design of the units is especially clearly visible on the example of transmissions, which, in the presence and absence of automatic control with the same other components of the complex, show a striking contrast in the characteristics of both themselves and the vehicles equipped with them. In mechatronic form, they provide an order of magnitude more favorable characteristics in almost all indicators of machine operation: technical, economic and ergonomic.

Comparing mechatronic complexes with their non-mechatronic prototypes in terms of technical perfection, it is easy to see that the former are significantly superior to the latter, not only in general indicators, but also in the level and quality of design. This is not surprising: the synergistic effect is manifested not only in the final product, but also in the design process due to the new design approach.

Figure 12.2- Classification of vehicle mechatronic systems

When controlling the operation of a car engine, various systems are used:

- AVCS (Active Valve Control System)- The variable valve timing system on Subaru vehicles changes the valve lift depending on the instantaneous engine load. Common rail(Nissan) is an injection system that supplies fuel to the cylinders through a common rail at high pressure. Differs in a number of advantages thanks to which driving brings the driver more pleasure: diesel engines with Common Rail are characterized by both excellent throttle response and low fuel consumption, eliminating the need to often stop at gas stations.

- GDI- Gasoline Direct Injection, which can be translated as "direct fuel injection", that is, fuel on such an engine is injected not into the intake manifold, but directly into the engine cylinders. M-Fire- control system of the combustion process - the smokiness of the exhaust gases and the content of nitrogen oxides in them are significantly reduced, while the power is increased and the noise level is reduced.

- MIVEC(Mitsubishi) - optimally controls the moment of opening of the intake valves in accordance with the operating conditions of the engine, which improves the stability of the engine at idle speed, power and torque characteristics for the entire operating range.

- VTEC(Honda) - Variable valve timing system. They are used to improve the torque characteristics over a wide rpm range, as well as to improve the economy and environmental performance of the engine. Also applies to Mazda vehicles.

- DPS- Dual Pump System - two oil pumps connected in series (i.e. one after the other). At the same speed of rotation of both oil pumps, a "uniform" oil circulation takes place, i. E. there are no areas with high and low pressure (Fig. 12.3).

Figure 12.3- Dual Pump Sysytem

- Common rail(eng. common highway) - modern technology of fuel supply systems in diesel engines with direct injection. In the common rail system, the pump pumps fuel at high pressure (250 - 1800 bar, depending on the engine operating mode) into the common rail. Electronically controlled injectors with solenoid or piezoelectric valves inject fuel into the cylinders. Depending on the design, the injectors produce from 2 to 5 injections per cycle. Accurate calculation of the injection angle and the amount of fuel injected allows diesel engines to meet the increased environmental and economic requirements. In addition, diesel engines with a common rail system in their power and dynamic characteristics have come close to, and in some cases have surpassed gasoline engines.

There are different types of mechatronic transmission device:

- CVT- automatic transmission with a variator. It is a mechanism with a gear ratio change range greater than that of a 5-speed manual transmission.

- DAC- Downhill Assist Control - the system controls the behavior of the car on steep slopes. The wheels are equipped with sensors that measure the speed of rotation of the wheels and constantly compare it with the speed of the car. Analyzing the data obtained, the electronics brakes the front wheels in time to a speed of about 5 km / h.

- DDS- Downhill Drive Support - a motion control system in Nissan vehicles on steep slopes. DDS automatically maintains a speed of 7 km / h when descending, preventing the wheels from locking.

- Drive Select 4x4- All-wheel drive can be switched on and off on the move at speeds up to 100 km / h.

- TSA(Trailer Stability Assist) - vehicle stabilization system while driving with a trailer. When the vehicle loses its stability, it usually begins to chatter on the road. In this case, the TSA brakes the wheels "diagonally" (front left - rear right or front right - rear left) in antiphase, while reducing vehicle speed by reducing the fuel supply to the engine. Used on Honda vehicles.

- Easy Select 4WD- the all-wheel drive system, widely used in Mitsubishi cars, allows you to change 2WD to 4WD, and vice versa, while the car is moving.

- Grade Logic Control- the system of "smart" gear selection, provides uniform traction, which is especially important when going uphill.

- Hypertronic CVT-M6(Nissan) - Delivers smooth, stepless acceleration without the jerkiness of traditional automatic transmissions. They are also more economical than traditional automatic transmissions. CVT-M6 is designed for drivers who want to combine the advantages of automatic and manual transmissions in water. By moving the gear lever to the slot farthest from the driver, you get the opportunity to shift six gears with fixed gear ratios.

- INVECS-II- adaptive automatic machine (Mitsubishi) - automatic transmission with sport mode and the possibility of mechanical control.

- EBA- an electronic pressure control system in the hydraulic brake system, which, in case of emergency braking and insufficient effort on the brake pedal, independently increases the pressure in the brake line, doing it many times faster than a person. And the EBD system evenly distributes braking forces and works in conjunction with ABS - anti-lock braking system.

- ESP +- anti-skid stabilization system ESP - the most complex system using the capabilities of anti-lock, traction control with traction control and electronic throttle control systems. The control unit receives information from the sensors of the vehicle's angular acceleration, steering wheel angle, information about the vehicle's speed and the rotation of each of the wheels. The system analyzes this data and calculates the trajectory of movement, and if in turns or maneuvers the real speed does not coincide with the calculated one and the car "takes out" outside or inside the corner, corrects the trajectory of movement, braking the wheels and reducing engine thrust.

- HAC- Hill-start Assist Control - the system controls the behavior of the machine on steep inclines. HAC not only prevents wheel spin when starting up a slippery slope, but it can also prevent rolling back if the vehicle speed is too slow and it slides down under the weight of the body.

- Нill Holder- with the help of this device, the car is held on the brakes even after the brake pedal is released, the Нill Holder is disengaged only after the clutch pedal is released. Designed to start moving uphill.

- AIRMATIC Dual Control- active air suspension with electronic control and adaptive damping system ADS II works in fully automatic mode (Fig. 12.4). Compared to traditional steel suspension, it significantly improves ride comfort and safety. AIRMATIC DC works with air cushions, which electronics make them harder or softer depending on the road situation. If the sensors, for example, have detected a sporty driving style, the air suspension that is comfortable in normal operation is automatically stiffer. The suspension and damping behavior can also be manually adjusted to Sport or Comfort using a switch.

The electronics work with four different damping modes (ADS II), which adapt automatically on each wheel to the road conditions. Thus, the vehicle rolls smoothly, even on rough roads, without compromising stability.

Figure 12.4- AIRMATIC Dual Control

The system is also equipped with a function for adjusting the vehicle level. It provides an almost constant ground clearance even with a loaded vehicle, which gives the vehicle stability. When driving at high speed, the vehicle can automatically lower itself to reduce body tilts. Above 140 km / h, the vehicle is automatically lowered by 15 mm, and below 70 km / h, the normal level is restored again. In addition, for poor road conditions, it is possible to manually raise the vehicle by 25 mm. Continuously driving at a speed of about 80 km / h or exceeding the speed of 120 km / h will automatically return to the normal level.

Also in cars, various braking systems are used, which are used to significantly reduce the braking distance, correctly interpret the driver's behavior during braking, and activate the maximum braking force in the event of emergency braking.

- Brake Assist (BAS) standard on all Mercedes-Benz passenger cars, interprets the behavior of the driver during braking and, if emergency braking is detected, generates maximum braking force if the driver does not press the brake pedal himself sufficiently. The development of the brake assist is based on the data received by the Mercedes-Benz Accident Research Department: in a critical situation, drivers press the brake pedal quickly, but not hard enough. In this way, the brake assistant can effectively support the driver.

For a better understanding, let's make a brief overview of the technology of modern braking systems: the brake booster, which increases the pressure created by the driver's foot, consists of two chambers, which are separated by a movable membrane. If no braking is performed, then there is a vacuum in both chambers. By pressing the brake pedal in the brake booster, a mechanical control valve is opened, which bypasses air into the rear chamber and changes the pressure ratio in the two chambers. The maximum effort is created when atmospheric pressure reigns in the second chamber. In the brake assist (BAS), a so-called diaphragm movement sensor detects whether the braking is extreme. It detects the movement of the diaphragm between the chambers and transmits the value to the BAS control unit. Constantly comparing the values, the microcomputer recognizes the moment when the speed of pressing the brake pedal (equal to the speed of movement of the diaphragm in the brake booster) exceeds the standard value - this is emergency braking. In this case, the system activates a solenoid valve, through which the rear chamber is instantly filled with air and the maximum braking force is generated. Despite this automatic full braking, the wheels are not blocked, because the well-known anti-lock braking system ABS measures the braking force, optimally keeping it on the verge of blocking, thereby maintaining the vehicle's controllability. If the driver takes his foot off the brake pedal, a special actuation sensor closes the solenoid valve and the automatic brake assist is deactivated.

Figure 12.6- Brake assistant (BAS) Mercedes

- Anti-lock braking system (ABS)(German antiblockiersystem English Anti-lock Brake System (ABS)) - a system that prevents the vehicle wheels from locking when braking. The main purpose of the system is to reduce the braking distance and ensure vehicle controllability during hard braking, and to exclude the possibility of uncontrolled slipping.

The ABS consists of the following main components:

Speed or acceleration (deceleration) sensors installed on the vehicle wheel hubs.

Control valves, which are elements of the pressure modulator, installed in the line of the main brake system.

A control unit that receives signals from sensors and controls the operation of the valves.

After the start of braking, the ABS begins a constant and fairly accurate determination of the speed of rotation of each wheel. In the event that a particular wheel starts to rotate much slower than the others (which means that the wheel is close to blocking), a valve in the brake line limits the braking force on that wheel. As soon as the wheel starts to rotate faster than the others, the braking force is restored.

This process is repeated several times (or several tens of times) per second, and usually leads to a noticeable pulsation of the brake pedal. The braking force can be limited both in the entire braking system at the same time (single-channel ABS), and in the braking system of the bead (two-channel ABS) or even an individual wheel (multi-channel ABS). Single-channel systems provide fairly effective deceleration, but only if the traction conditions of all wheels are more or less the same. Multi-channel systems are more expensive and more complicated than single-channel systems, but they are more effective when braking on uneven surfaces, if, for example, during braking, one or more wheels hit the ice, a wet section of the road, or the side of the road.

Control and navigation systems are becoming widespread in modern cars. .

- System DISTRONIC- carries out electronic regulation of the distance to the vehicle in front using a radar, simple control using the TEMPOMAT lever, provides additional comfort on the autobahns and similar roads, maintains the driver's working condition.

The DISTRONIC distance adjuster maintains the required distance to the vehicle in front. If the distance decreases, the braking system is activated. If there is no vehicle ahead, DISTRONIC maintains the speed set by the driver. DISTRONIC provides additional comfort for driving on the Autobahn and similar roads. The microcomputer processes the signals of the radar, which is installed behind the radiator grill, at a speed of 30 to 180 km / h. The radar pulses are reflected from the vehicle in front, processed and, based on this information, the distance to the front vehicle and its speed are calculated. If a Mercedes-Benz with DISTRONIC comes too close to the front vehicle, DISTRONIC automatically reduces throttle and applies the brake to maintain the set distance. If it is necessary to brake strongly, the driver is informed of this by means of an acoustic signal and a warning light - this means that the driver must press the brake pedal himself. If the distance increases, the DISTRONIC again maintains the required distance and accelerates the vehicle to the set speed. DISTRONIC is a further development of the standard TEMPOMAT function with variable speed limit SPEEDTRONIC

Figure 12.7- Control and navigation system

Mercedes-Benz has introduced the first mechatronic air suspension, AIR-matic, with ADS damper control as standard on S-Class sedans.

In the AIR-matic system, the pillar of the S-class sedan contains a pneumatic elastic element: the role of springs we are used to is compressed air, enclosed under a rubber-cord shell. Also in the rack there is a shock absorber with an unusual "extension" on the side. Naturally, a full-fledged pneumatic system is provided in the car (compressor, receiver, lines, valve devices). And also a network of sensors and, of course, a processor. How the system works. At the command of the processor, the valves open the air from the pneumatic system to the elastic elements (or bleed air from there). Thus, the level of the floor of the body changes: the system incorporates its dependence on the speed of the vehicle. The driver can also "show will" - to raise the car, say, to move over significant irregularities.

ADS performs more "delicate" work - controls shock absorbers. During the stroke of the shock absorber rod, part of the fluid flows not only through the valves in the piston, but also through the very "extension", inside which the actuator is a valve system that provides four possible modes of shock absorber operation. Based on the information received from the sensors and in accordance with the algorithm chosen by the driver (“sport” or “comfortable”), the processor selects for each shock absorber the mode most appropriate to the “current moment” and sends commands to the actuators.

Modern cars are equipped with climate control system... This system is designed to create and automatically maintain a microclimate in the vehicle interior. The system ensures the joint operation of heating, ventilation and air conditioning systems through electronic control.

The use of electronics made it possible to achieve zonal climate control in the passenger compartment. Depending on the number of temperature zones, the following climate control systems are distinguished:

· One-zone climate control;

· Two-zone climate control;

· Three-zone climate control;

· Four-zone climate control.

The climate control system has the following general arrangement:

· Climatic installation;

· control system.

Climatic installation includes structural elements of heating, ventilation and air conditioning systems, including:

· Heater radiator;

Supply air fan;

· An air conditioner consisting of an evaporator, a compressor, a condenser and a receiver.

The main elements climate control systems are:

· Input sensors;

· Control block;

· Executive devices.

Input sensors measure the corresponding physical parameters and convert them into electrical signals. Control system input sensors include:

· Outside air temperature sensor;

· Solar radiation level sensor (photodiode);

· Output temperature sensors;

· Potentiometers for flaps;

· Evaporator temperature sensor;

· Pressure sensor in the air conditioning system.

The number of outlet temperature sensors is determined by the design of the climate control system. A footwell outlet temperature sensor can be added to the outlet temperature sensor. In a two-zone climate control system, the number of output temperature sensors doubles (sensors on the left and right), and in a three-zone climate control system, it triples (left, right and rear).

The damper potentiometers record the current position of the air damper. Evaporator temperature and pressure sensors ensure the operation of the air conditioning system. The electronic control unit receives signals from sensors and, in accordance with the programmed program, generates control actions on the actuators.

Actuators include damper drives and a supply air fan motor, with the help of which a given temperature regime is created and maintained. The dampers can be mechanically or electrically driven. The following dampers can be used in the air conditioner design:

· Intake air damper;

· Central flap;

· Temperature control dampers (in systems with 2 or more control zones);

· Recirculation damper;

· Shutters for defrosting glasses.

The climate control system provides automatic temperature control in the vehicle interior within the range of 16-30 ° C.

The desired temperature value is set using the controls on the vehicle dashboard. The signal from the regulator goes to the electronic control unit, where the corresponding program is activated. In accordance with the established algorithm, the control unit processes the signals from the input sensors and activates the necessary actuators. The air conditioner turns on if necessary.

The modern car is a source of increased danger. The steady increase in the power and speed of the car, the density of traffic in car flows significantly increase the likelihood of an emergency.

To protect passengers in an accident, technical safety devices are being actively developed and implemented. At the end of the 50s of the last century, seat belts designed to keep passengers in place in a collision. In the early 80s were applied airbags.

The set of structural elements used to protect passengers from injury in an accident makes up the vehicle's passive safety system. The system should provide protection not only for passengers and a specific vehicle, but also for other road users.

The most important components of the vehicle passive safety system are:

· seat belts;

· Seat belt tensioners;

· Active head restraints;

· Airbags;

· Car body, resistant to deformation;

· Emergency battery disconnector;

· A number of other devices (rollover protection system on a convertible; child safety systems - mounts, seats, seat belts).

The modern passive safety system of the car is electronically controlled, which ensures the effective interaction of most of the components.

Control system includes:

· Input sensors;

· Control block;

· Executive devices of system components.

Input sensors record the parameters at which an emergency occurs and convert them into electrical signals. The input sensors are:

· Shock sensor;

· Switch of the seat belt buckle;

· Seat occupancy sensor of the front passenger;

· Seat position sensor for driver and front passenger.

As a rule, two are installed on each side of the car. shock sensor... They ensure the operation of the appropriate airbags. At the rear, impact sensors are used when equipping the vehicle with electrically powered active head restraints. The seat belt switch locks in the use of the seat belt.

The seat occupancy sensor of the front passenger allows in the event of an emergency and the absence of a passenger in the front seat to keep the corresponding airbag.

Depending on the position of the driver's and front passenger's seats, which is recorded by the corresponding sensors, the order and intensity of use of the system components change.

Based on the comparison of the sensor signals with the control parameters, the control unit recognizes the onset of an emergency situation and activates the necessary actuators of the system elements.

The actuators of the elements of the passive safety system are:

· Airbag squib;

· Squib of the seat belt tensioner;

· Squib (relay) of the emergency battery disconnector;

· Squib of the drive mechanism of active head restraints (when using head restraints with electric drive);

· A warning lamp that indicates that the seat belts are not fastened.

The activation of the executive devices is carried out in a certain combination in accordance with the installed software.

ISOFIX- Isofix - child seat mounting system. Externally, child seats with this system are distinguished by two compact locks located on the back of the sled. The locks grip a 6mm bar hidden behind plugs in the base of the seat back.

Areas of application of mechatronic systems. The main advantages of mechatronic devices in comparison with traditional automation means: relatively low cost due to a high degree of integration, unification and standardization of all elements and interfaces; high quality of implementation of complex and precise movements due to the use of intelligent control methods; high reliability, durability and noise immunity; constructive compactness of modules up to miniaturization and micromachines improved ...

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Lecture 4. Areas of application of mechatronic systems.

The main advantages of mechatronic devices in comparison with traditional automation tools include:

Relatively low cost due to a high degree of integration, unification and standardization of all elements and interfaces;

High quality of implementation of complex and precise movements due to the use of intelligent control methods;

High reliability, durability and noise immunity;

Constructive compactness of modules (up to miniaturization and micromachines),

Improved weight, size and dynamic characteristics of machines due to the simplification of kinematic chains;

The ability to integrate functional modules into complex mechatronic systems and complexes for specific customer tasks.

The volume of the world production of mechatronic devices is increasing annually, covering more and more new areas. Today mechatronic modules and systems are widely used in the following areas:

Machine tools and equipment for the automation of technological
processes;

Robotics (industrial and special);

aviation, space and military equipment;

automotive industry (e.g. anti-lock braking systems,
vehicle motion stabilization and automatic parking systems);

non-traditional vehicles (e-bicycles, cargo
carts, electric rollers, wheelchairs);

office equipment (for example, photocopiers and fax machines);

elements of computing technology (for example, printers, plotters,
floppy drives);

medical equipment (rehabilitation, clinical, service);

household appliances (washing, sewing, dishwashing and other
cars);

micromachines (for medicine, biotechnology, communications and
telecommunications);

control and measuring devices and machines;

photo and video equipment;

simulators for training pilots and operators;

Show industry (sound and lighting systems).

Of course, this list can be expanded.

The rapid development of mechatronics in the 90s as a new scientific and technical direction is due to three main factors:

New trends in world industrial development;

Development of the fundamental foundations and methodology of mechatronics (basic
scientific ideas, fundamentally new technical and technological
solutions);

activity of specialists in research and educational
spheres.

The current stage in the development of automated mechanical engineering in our country is taking place in new economic realities, when there is a question about the technological viability of the country and the competitiveness of products.

The following trends can be identified in the key requirements of the world market in the area under consideration:

the need for the release and service of equipment in accordance with
international system of quality standards formulated in
standard ISO 9000;

internationalization of the market for scientific and technical products and how
consequence, the need for active implementation of forms and methods in practice
international engineering and technology transfer;

increasing the role of small and medium-sized manufacturing enterprises in
the economy due to their ability to respond quickly and flexibly
to the changing demands of the market;

The rapid development of computer systems and technologies, telecommunications (in the EEC countries in 2000, 60% of the
The National Product came about precisely due to these industries);
a direct consequence of this general trend is the intellectualization
control systems for mechanical movement and technological
functions of modern machines.

It seems expedient to take the level of integration of the constituent elements as the main classification criterion in mechatronics.In accordance with this feature, mechatronic systems can be divided by levels or by generations, if we consider their appearance on the market of high technology products, historically, mechatronic modules of the first level are a combination of only two initial elements. A typical example of a first generation module is a "geared motor", where a mechanical gearbox and a controlled motor are produced as a single functional unit. Mechatronic systems based on these modules have found wide application in the creation of various means of complex automation of production (conveyors, conveyors, rotary tables, auxiliary manipulators).

Mechatronic modules of the second level appeared in the 80s in connection with the development of new electronic technologies, which made it possible to create miniature sensors and electronic units for processing their signals. The combination of drive modules with these elements led to the emergence of mechatronic motion modules, the composition of which fully corresponds to the above definition, when the integration of three devices of different physical nature is achieved: mechanical, electrical and electronic. Controlled power machines (turbines and generators), machine tools and industrial robots with numerical control have been created on the basis of mechatronic modules of this class.

The development of the third generation of mechatronic systems is due to the appearance on the market of relatively inexpensive microprocessors and controllers based on them and is aimed at intellectualizing all processes occurring in the mechatronic system, primarily the process of controlling the functional movements of machines and assemblies. At the same time, the development of new principles and technologies for the manufacture of high-precision and compact mechanical units, as well as new types of electric motors (primarily high-torque brushless and linear), feedback and information sensors. The synthesis of new precision, information and measurement science-intensive technologies provides the basis for the design and production of intelligent mechatronic modules and systems.

In the future, mechatronic machines and systems will be combined and mechatronic complexes based on common integration platforms. The purpose of creating such complexes is to achieve a combination of high productivity and at the same time flexibility of the technical and technological environment due to the possibility of its reconfiguration, which will ensure competitiveness and high quality of products.

Modern enterprises embarking on the development and production of mechatronic products must solve the following main tasks in this regard:

Structural integration of departments of mechanical, electronic and information profiles (which, as a rule, functioned autonomously and separately) into unified design and production teams;

Training of "mechatronic-oriented" engineers and managers, capable of system integration and management of the work of highly specialized specialists of various qualifications;

Integration of information technologies from various scientific and technical fields (mechanics, electronics, computer control) into a single toolkit for computer support of mechatronic tasks;

Standardization and unification of all elements and processes used in the design and manufacture of MS.

The solution of the listed problems often requires overcoming the traditions of management that have developed at the enterprise and the ambitions of middle managers who are accustomed to solving only their narrow-profile tasks. That is why medium and small enterprises, which can easily and flexibly vary their structure, are more prepared for the transition to the production of mechatronic products.

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The main advantages of mechatronic devices in comparison with traditional automation tools include:

Relatively low cost due to a high degree of integration, unification and standardization of all elements and interfaces;

High quality of implementation of complex and precise movements due to the use of intelligent control methods;

High reliability, durability and noise immunity;

Constructive compactness of modules (up to miniaturization and micromachines),

Improved weight, size and dynamic characteristics of machines due to the simplification of kinematic chains;

The ability to integrate functional modules into complex mechatronic systems and complexes for specific customer tasks.

The volume of the world production of mechatronic devices is increasing annually, covering more and more new areas. Today mechatronic modules and systems are widely used in the following areas:

Machine-tool building and equipment for the automation of technological processes;

Robotics (industrial and special);

Aviation, space and military equipment;

Automotive (for example, anti-lock braking systems, vehicle stabilization and automatic parking systems);

Non-traditional vehicles (electric bicycles, cargo carts, electric rollers, wheelchairs);

Office equipment (for example, photocopiers and fax machines);

Elements of computing technology (for example, printers, plotters, floppy drives);

Medical equipment (rehabilitation, clinical, service);

Household appliances (washing, sewing, dishwashers and other machines);

Micromachines (for medicine, biotechnology, communications and telecommunications);

Control and measuring devices and machines;

Photo and video equipment;

Simulators for training pilots and operators;

Show industry (sound and lighting systems).

Of course, this list can be expanded.

The rapid development of mechatronics in the 90s as a new scientific and technical direction is due to three main factors:

New trends in world industrial development;

Development of the fundamental foundations and methodology of mechatronics (basic scientific ideas, fundamentally new technical and technological solutions);

The activity of specialists in research and educational fields.

The following trends can be identified in the key requirements of the world market in the area under consideration:

The need to produce and service equipment in accordance with the international system of quality standards formulated in the standards ISO series 9000 ;

Internationalization of the market for scientific and technical products and, as a result, the need for active implementation of forms and methods into practice
international engineering and technology transfer;

Increasing the role of small and medium-sized manufacturing enterprises in the economy due to their ability to respond quickly and flexibly to changing market requirements;

The rapid development of computer systems and technologies, telecommunications (in the EEC countries in 2000, 60% of the growth of the Total National Product was due to these industries); a direct consequence of this general trend is the intellectualization of mechanical motion control systems and technological functions of modern machines.

It seems expedient to take the level of integration of the constituent elements as the main classification criterion in mechatronics. In accordance with this feature, mechatronic systems can be divided by levels or by generations, if we consider their appearance on the market of high technology products, historically, mechatronic modules of the first level are a combination of only two initial elements. A typical example of a first generation module is a "geared motor", where a mechanical gearbox and a controlled motor are produced as a single functional unit. Mechatronic systems based on these modules have found wide application in the creation of various means of complex automation of production (conveyors, conveyors, rotary tables, auxiliary manipulators).

Mechatronic modules of the second level appeared in the 80s in connection with the development of new electronic technologies, which made it possible to create miniature sensors and electronic units for processing their signals. The combination of drive modules with these elements led to the emergence of mechatronic motion modules, the composition of which fully corresponds to the above definition, when the integration of three devices of different physical nature has been achieved: 1) mechanical, 2) electrical and 3) electronic. On the basis of mechatronic modules of this class, 1) controlled power machines (turbines and generators), 2) machine tools and industrial robots with numerical control have been created.

The development of the third generation of mechatronic systems is due to the appearance on the market of relatively inexpensive microprocessors and controllers based on them and is aimed at intellectualizing all processes occurring in the mechatronic system, primarily the process of controlling the functional movements of machines and assemblies. At the same time, the development of new principles and technologies for the manufacture of high-precision and compact mechanical units, as well as new types of electric motors (primarily high-torque brushless and linear), feedback and information sensors. The synthesis of new 1) precision, 2) information and 3) measuring science-intensive technologies provides the basis for the design and production of intelligent mechatronic modules and systems.

In the future, mechatronic machines and systems will be combined into mechatronic complexes based on common integration platforms. The purpose of creating such complexes is to achieve a combination of high productivity and at the same time flexibility of the technical and technological environment due to the possibility of its reconfiguration, which will ensure competitiveness and high quality of products.

Modern enterprises embarking on the development and production of mechatronic products must solve the following main tasks in this regard:

Structural integration of departments of mechanical, electronic and information profiles (which, as a rule, functioned autonomously and separately) into unified design and production teams;

Training of "mechatronic-oriented" engineers and managers, capable of system integration and management of the work of highly specialized specialists of various qualifications;

Integration of information technologies from various scientific and technical fields (mechanics, electronics, computer control) into a single toolkit for computer support of mechatronic tasks;

Standardization and unification of all elements and processes used in the design and manufacture of MS.

The solution of these problems often requires overcoming the traditions in management that have developed at the enterprise and the ambitions of middle managers who are accustomed to solving only their narrow-profile tasks. That is why medium and small enterprises, which can easily and flexibly vary their structure, are more prepared for the transition to the production of mechatronic products.

Similar information.