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對駕駛過程中轉向反作用力的仿真一直是動態變化的，因為它取決于車速、轉向角度以及道路狀況。另外，此仿真系統還必須具備快速響應時間，以便通過部件產生反作用力。

  在車速、轉向角度、轉向角加速度數據的基礎上我們得到了轉向力矩數據圖，并根據此圖計算出最終的反作用力。然后，我們把這些值傳給一個液壓系統來仿真實現最終的反作用力。我們設計系統邏輯，從不同傳感器獲得數據、計算數據、匹配地圖數據，產生輸出，并可靠、快速地執行一系列實時任務。

  系統概述

  我們選擇LabVIEW和CompactRIO來創建我們的系統。我們選擇了可擴展的8槽NI cRIO-9116機箱。它有一個Xilinx Virtex-5現場可編程門陣列（FPGA），以幫助實現控制邏輯，并保證快速響應時間。我們還選擇了 NI的一款配備了實時操作系統（VxWorks）的cRIO-9024實時控制器。

  cRIO-9024控制器具有4 GB的存儲空間，512 MB DRAM和800 MHz的CPU，這將有助于快速采集、記錄和處理大量數據。此外，借助兩個以太網端口和一個RS232接口，系統很容易便可與外部設備相連。USB端口可以很容易地用于擴展外部存儲器介質。

  我們使用兩個4通道NI9215模擬輸入模塊處理8路模擬傳感器信號。使用一個2端口NI9853控制器區域網絡（CAN）模塊來與正在開發的電子穩定程序（ESP）電子控制單元（ECU）進行CAN通信。

  我們使用NI9474模塊產生8路數字輸出作為脈沖寬度調制（PWM）信號，仿真車輛速度。然后將此PWM信號發送到EPS ECU來虛擬一個車輛。這個信號會使用通道間相互隔離的NI9269模塊來進行模擬信號輸出，從而消除了信號之間的干擾，以確保用于液壓系統的模擬輸出足夠精確。

  除了精確控制數字和模擬輸出，CompactRIO的配置還可以仿真車輛中動態變化的傳感器信號和CAN信號（一種車輛通信信號）。我們利用FPGA和實時操作系統創建了一個快速并且高度可靠的車輛仿真系統。

REXROTH PSK60-1465-300-00-OF01-11 USPP PSK60146530000OF

REXROTH 4WRKE-16-E200L-32/6EG24K31 USPP 4WRKE16E200L326

REXROTH VT1600S3X Servo Amplifier PLC Module NEW NIB

REXROTH MANNESMANN V T3006 AMPLIFIER

NIB REXROTH VT5008-17B AMPLIFIER VT5OXX

REXROTH R978700223 REPAIR FOR PUMP

INDRAMAT REXROTH DSS 1.3 SERCOS INTERFACE CARD

REXROTH VT-SWMA-1-10A/V0/0 NSFP VTSWMA110AV00

REXROTH R978915085 USPP R978915085

BOSCH REXROTH MASTER COMMUNICATION CARD (BRAND NEW)

REXROTH VT5004S2X/R1E NSPP VT5004S2XR1E

REXROTH 0-811-024-120 USPP 0811024120

REXROTH BOSCH BALL SCREW R151045085 NEW

REXROTH R978918724 CONTROLLER

Rexroth Prop Amplifier VT5005 VT5005-S16-R5 VT5005S16R5

REXROTH INDRAMAT COMMUNICATIONS MODULE RMK12.2-IBS-BKL

Rexroth Prop. Amplifier VT3006 Part# VT3006-S35-R5 Used

Rexroth Prop. Verstarker VT5022 S13 R1

Bosch Rexroth IndraDrive C HCS02.1E-W0028 - A-03-NNNN

Rexroth Indramat Interface controller Display CTA10-1

Rexroth Bosch VT5008-17b vt50xx proportional amplifier

Bosch Rexroth IndraDrive Fc 5.5kW 400V 3ph AC Inverter
FCS01.1E-W0025-A-04

REXROTH VT-5012 USPP VT5012

Mannesman Rexroth VT1600S3X Servo Amplifier

REXROTH VT3017 S36 R5 PROP. AMPLIFIER VT3017

REXROTH RMA02.2-16-DC024-200 NEW RMA02216DC024200

Rexroth VT5008-17 proportional Amplifier VT50XX NEW

NIB REXROTH DIRECTIONAL CONTROL VALVE 4WE10E4X/CW110N9D

Rexroth Bosch Hydraulic Valve 4WH 22 Y76/19 S0614 210 b

MATSUURA MC600V MC-600V REXROTH PUMP 43AHAG-8597-0-0-0

Rexroth Directional Valve H-4WMM-22-Y70/43 Hand Lever

Rexroth Bosch CSB01.1N-AN-ENS-NNN-NN-S-NN-FW Card NIB

RexRoth VT 5041-23/10V& VT 17155 #2 (4540)

Bosch Rexroth Directional Control Valve 9810232070

Rexroth Mannesman Proportional Card VT2000-52-A VT2000

Mannesmann Rexroth Amplifier Card VT11023-16 (3648)

Indramat Rexroth VT-3013 VT-5006 Cards

UCHIDA REXROTH RELIEF VALVE DBW10B2-41/350/6AW 100NPL

UCHIDA REXROTH RELIEF VALVE DBW20A1-41/350/6AW 100NPL

Rexroth Servo Amplifier #VT1600-3171E~Rebuilt~w/Warrany

Indramat Rexroth AS151/204-000 Module Card

Rexroth Valve Driver 43 02 002 337 500 005 0 (3234)

BOSCH REXROTH VT5015S-3X/R5E VT5015-37/R5E AMPLIFIER

REXROTH Linear bearings & rails L900mm cnc router thk

REXROTH INDRAMAT RECO MTS-R02.2-M2-B1-S4-NN-FW

Rexroth Valve 4WEH16U60/6AG24N9TK4V #29424

New Rexroth Hydraulic Valve 4WE6J62/EW110N9DK #28188

New Rexroth Hydraulic Valve 4WE6J62/EW110N9DK #28189

HYDRONORMA REXROTH HYDRAULIC PUMP W/ASYNCHRONOUS MOTOR

Rexroth VT11013-12 Control Module VT1101312

REXROTH R-415-000-149 NSFP R415000149

REXROTH VT-3000-S34-R5 USPP VT3000S34R5

BOSCH REXROTH MOVING STRIP R402003522 ~ New

BOSCH REXROTH MOVING STRIP R402003523 ~ New

REXROTH INDRAMAT RMG12.2-NN INTERBUS GATEWAY MODULE

rexroth 3 gang proportional 4 way hydraulic valve & mt

REXROTH R9004244278 DBDS20P18/315 VALVE NEW

REXROTH R-480-024-694 NSPP R480024694

REXROTH COMPACT MODULE CKK 12-90 R036030000 D=370

REXROTH R480053019 NSFP R480053019

REXROTH HYDRAULIC VALVE 10 pcs

REXROTH LINEAR BEARING CARTRIDGES P/N: R165179420

Unused Rexroth Directional Control Valve R900592338

REXROTH MANNESMANN AMPLIFIER BOARD VT5005-17A VT50XX

Rexroth Hydraulic Pressure Comp Vane Pump 915PSI

REXROTH VT3006 S35 R5 PROP. AMPLIFIER

NEW REXROTH VT3006-36 A AMPLIFIER VT3006

REXROTH 3-842-999-759 USPP 3842999759

INDRAMAT REXROTH DAA1.1 DAA11 ANALOG INTERFACE

INDRAMAT REXROTH DSS1.1 DSS11 INTERFACE BOARD

REXROTH RK1-S30 USPP RK1S30

REXROTH VT5011-S42-R1 USPP VT5011S42R1

REXROTH VT-5011 USPP VT5011

REXROTH 1815503095 NSPP 1815503095

Rexroth Amplifier Card VT3024-36 Rebuilt

NEW BOSCH REXROTH 9810231276 DIRECTIONAL CONTROL VALVE

Bosch Rexroth R900979885 VT-VRPA2-1-10/V0/T5 Amp Card

LOT OF 5 NIB REXROTH 1622-294-10 RUNNER BLOCK/BALL RAIL

REXROTH LINEAR BEARING MNR R165131420 (LOT OF 2) NEW

REXROTH 0-608-800-031 USPP 0608800031

Bosch Rexroth R900979888 VT-VRPA2-2-10/V0/T5 Amp Card

Bosch Rexroth/Indramat BZM01.3-01-07 (R911285743)

REXROTH VT-VRPA2-2-10/VO/T5 AMPLIFIER CARD VRPA2-2 NEW

9511290012 AZ-M-F-12-022-UQR12ML BOSCH REXROTH

BOSCH REXROTH MOVING STRIP 8985420952 ~ New

INDRAMAT REXROTH CLC-D02.2 PC BOARD

REXROTH BOSCH BALL SCREW R151034990 NEW

Rexroth Prop. Amplifier VT5004 S23 R1E~EUC

REXROTH PV7-20/20-20RA01MA0-10 PUMP

NEW AZ-PN-12-032RQR12MB BOSCH REXROTH

Rexroth Hydraulic Valve H-4WH22C76MT S043A-1718 New

REXROTH 0-608-830-238 NSPP 0608830238

REXROTH 0-608-830-248 NSPP 0608830248

REXROTH 0-608-830-167 NSPP 0608830167

Rexroth Durr Transducer 561 010 503 0 Mac P 7.5 bar

Rexroth/Mannesmann VT3006-S36 #1 VT 3006-S 36 #1

Rexroth R151047349, 7210-68301.1 Ballscrew & nut NEW

Rexroth RMA12.2-32-DC024-050 NEW RMA12232DC024050

Rexroth Control Valve W4RA6E15-20/G249K4/V NEW

Rexroth Prop. Amplifier VT3014 Part# VT3014-S36-R5 Used

Rexroth Prop. Amplifier VT3014 Part# VT3014-S37-R5 Used

Rexroth Hydraulic Directional Valve # H4WEH25J63/6EG24N

Rexroth R9170060226 R917005837 Valve Actuator New

NANCY REXROTH - IOWA (platinotype) - 1st ED OOP FINE

2- Rexroth Bosch Hydraulic Cylinder CD201C40 F03696831

Rexroth Bosch amplifiier card QV60 0 811 405 099

REXROTH R978003440 NSPP R978003440

REXROTH INDRAMAT ECODRIVE Cs DKC10.3-012-3-MGP-01VRS

Rexroth electro hydraulic diretional valve

Rexroth Solenoid Valve DRE 4 K31/30G24-10NM

REXROTH 410-WRTE-E PC BOARD FOR CNC

Indramat Rexroth Module Card DEA5.2

Rexroth Linear Ball Screw Actuator R005516519 460L CKK

Rexroth Amplifier Card VT-VSPA1-1-11B VT-VSPA1

Indramat Rexroth Module Card DEA5.2 used

REXROTH PRECISION ROLLED THREAD BALL SCREW

REXROTH LINEAR BEARING CARTRIDGES, P/N: R165149410

REXROTH 0-608-830-166 NSPP 0608830166

Rexroth prop. amplifier VT2013 VT2013-S-16/E

REXROTH HYDRAULIC PISTON PUMP A10V071

REXROTH BDG-ED6 USPP BDGED6

REXROTH 1070079749 USPP 1070079749

REXROTH VT2000K40 USPP VT2000K40

INDRAMAT REXROTH DEA 5.2 INPUT INTERFACE CARD

REXROTH 3-842-519-243 USPP 3842519243

REXROTH P-032024-00125 NSFP P03202400125

REXROTH 272-021-681-0 NSPP 2720216810

REXROTH 4WE10C11/LG24N24 NSPP 4WE10C11LG24N24

USED REXROTH 4WE6J53/ AG24NZ4 DIRECTIONAL CONTROL VALVE

REXROTH 8-981-001-675 NSPP 8981001675

REXROTH DBW20B1-52/100-6EW110N9K4/12 NSPP DBW20B1521006

REXROTH VTVSPA25010/T5 USPP VTVSPA25010T5

REXROTH 0-608-800-077 NSPP 0608800077

Rexroth DR30-5-52/100YV/12 Valve DR30552100YV12 USED

Rexroth VT-VRPA1-50-10 NIB w/paperwork VTVRPA15010

REXROTH GL62-4-A NSPP GL624A

REXROTH 0-820-215-102 USPP 0820215102

REXROTH VT3006 S35 R5 PROP. AMPLIFIER

REXROTH 0-390-257-699 NSFP 0390257699

REXROTH 3-608-870-347 USPP 3608870347

REXROTH LINEAR BEARING CARTRIDGES, P/N: R162331420

REXROTH INDRAMAT ECODRIVE Cs DKC10.3-012-3-MGP-01VRS

Rexroth VT 11011-12 UB 24V VT1101112UB24V NEW

REXROTH VT2000K USPP VT2000K

REXROTH VT2000S/K USPP VT2000SK

REXROTH LC50DB20E7X/V USPP LC50DB20E7XV

Rexroth Pressure Relief Valve #DB20-2-52/350/12

Rexroth Mannesmann Prop Amplifier Module VT 5006 VT5006

Rexroth Analog Amplifier VRPA1-50 *NEW* #22521

Rexroth VT5003 S32 R1 Proportional Amplifier #25592

Rexroth VT5003 S32 R1 Proportional Amplifier #25591

Rexroth VT5003 S32 R1 Proportional Amplifier #25585

Rexroth VT5003 S32 R1 Proportional Amplifier #25594

REXROTH Magnetic Exchange Valve ZDR6DB2-4X/210YM

Salvagnini Rexroth Hydraulic pump R900931138-1x/040ra

REXROTH VT3024S35 USPP VT3024S35

RexRoth VT11025-16 Control Module (4535)

INDRAMAT REXROTH DEA28.1 I/O MODULE ISOLATED 32IN 24OUT

REXROTH 1PF2G241/008RA01MB GEAR TYPE HYDRAULIC PUMP-NEW

REXROTH IKS0257 CABLE 30 M

REXROTH HYDRAULIC PISTON PUMP A10V045

REXROTH 1-070-080-744 NSPP 1070080744

REXROTH 081WV10P1V1014WS024/00/D51/11 USPP 081WV10P1V10

REXROTH 0-608-830-177 NSPP 0608830177

MANNESMANN REXROTH 4WE10E40/CW110N9DA USPP 4WE10E40CW11

REXROTH VT3014S36-R5 USPP VT3014S36R5

REXROTH 038767-2037 USPP 0387672037

New Rexroth Proportional Solenoid Valve, 561-014-131-0

REXROTH VT-5003 PROP AMPLIFIER

MANNESMANN REXROTH VT5000S20R5ENGL USPP VT5000S20R5ENGL

Rexroth Mannesmann VT2000 S/K Amplifier Valve control

REXROTH 0-608-800-006 USPP 0608800006

REXROTH 0-608-800-062 USPP 0608800062

REXROTH VT3006-S35-R5-E USPP VT3006S35R5E

REXROTH VT5012-S43-R1-E USPP VT5012S43R1E

MANNESMANN REXROTH 4WE10E4X/CW110N9DA USPP 4WE10E4XCW11

Bosch Rexroth power cables IKG4060/000.0

REXROTH 4WF10D31/CW110N USPP 4WF10D31CW110N

MANNESMANN REXROTH VT-11029-11 USPP VT1102911

MANNESMANN REXROTH VT-11132-10 USPP VT1113210

Mannesman/Rexroth Joystick SR20 S033 Rebuilt

REXROTH ANALOG AMPLIFER VT 3014