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人工势场法路径规划的仿真程序，用matlab仿真实现

本文档主要定义了汽车故障码，以及汽车故障码的定义。可以帮助大家很快的了解汽车诊断故障码soDs15031-63ContentsForewardIntroduction,…,…,Scope..…n-n-n-……n1Normative references…,2345Terms and definitionsGeneral specifications.…,,,…,,,Format structure5.1 Description256675.2 ISO/SAE controlled codes(core DTCs5.3 Manufacturer controlled codes(non-uniform DTCs)....5.4 Body system groupings85.4.1 B0XXX ISO/SAE controlled542B1 XXX manufacturer contro∥ep∴885. 4.3 B2XXX manufacturer controlled8544B3 XXX reserved by document.…..,,,…,…,…………………85.5Chassis system groupings.85.5.1 COXXX ISO/SAE controlled85.52c1XXXmanufacturercontroled..85.5.3 C2XXX manufacturer controlled8Powertrain system groupings -DTC numbers and descriptions are given in AnnexB. BM,....5.5. 4 C3XXX reserved by document85.65.6.1 POXXX ISO/SAE controlled85.6.2 P1XXX manufacturer control85.63P2XXX|SOSAEcontoed…85.6.4 P3XXX manufacturer controlled and iso/sae reserved5.7Network groupings- dtc numbers and descriptions are given in Annex c5.7.1 UOXXX ISO/SAE controlled5.7.2 U1XXX manufacturer controlled5.7.3 U2XXX manufacturer controlled5.7.4 3XXX reserved88888896Diagnostic trouble code descriptions.……Change requests,.,,,,,,,,,…,…,10Annex a (normative)Diagnostic trouble code naming guidelines11A1 DiscussionAnnex B(normative) Powertrain system diagnostic trouble code...14B. 1 PooXX Fuel and air metering and auxiliary emission controls.14B2P01 XX Fuel and air metering-….…17B.3P02XX Fuel and air metering20B.4P03 XX Ignition system or misfire……………,……,.,…………………………………23B5P04 XX Auxiliary emission controls.……,…,………,……,,……………,………………27B6P05 XX Vehicle speed, idle control, and auxiliary inputs,,,,,,…,…,…,…,…30o Iso 2002- All rights reservedso/D|s15031-6.3B7 P06XX Computer and auxiliary outputs3B.8P07XX Transmission画画画画国面面国面面画画面B国画面画国36B 9P08 XX Transmission…………39B.10P09XXTransmissSion.42B11 P0AXX Hybrid Propulsion..l量amB12 POBXX Reservedn47B13 PoCXX Reserved by Document画B47B14 PODXX Reserved by Document………47B15 POEXX Reserved by documentB16P0 FXX Reserved by d。 cument…,,,,,…,,…47B 17 P10XX Manufacturer controlled fuel and air metering and auxiliary emission controls....... ....47B 18 P11XX Manufacturer controlled fuel and air metering....47B19P12 XX Manufacturer controlled fuel and air metering……….…....….…..….…….…….47B20P13 XX Manufacturer controlled ignition system or misfire…………47B21 P14XX Manufacturer controlled auxiliary emission controls.................47B22 P15XX Manufacturer controlled vehicle speed, idle control,B23 P16XX Manufacturer controlled computer and auxiliary outputs......47B24 P17XX Manufacturer controlled transmission47B.25P18XXManufacturercontro|ledtransmission∴…47B26 P19XX Manufacturer controlled transmission47B27 P20XX Fuel and air metering and auxiliary emission controls48B28 P21XX Fuel and air metering and auxiliary emission controls..m..8…………51B 29 P22XX Fuel and air metering and auxiliary emission controls54B 30 P23XX Ignition system or58B31 P24XX Auxiliary Emission Controls59B32 P25XX Auxiliary Inputs61B33P26 XX Computer& Auxiliary outputs.……63B, 34 P27XX Transmission66B,35 P28XX ISO/SAE reserved69B 36 P29XX Fuel and air metering and auxiliary emission controls69B 37 P30XX Fuel and air metering and auxiliary emission controls69B38 P31XX Fuel and air metering and auxiliary emission controls........69B39P32 XX Fuel and air metering and auxiliary emission controls……………a69B40 P33XX ignition system or misfire69B41 P34XX Cylinder Deactivation...n69B, 42 P35XX ISO/SAE reservedB.43P36XS0SAEeserved.73B.44P37XXSOSAEreserVved173B, 45 P38XX ISO/SAE reserved∴73B, 46 P39XX ISO/SAE reserved73Annex C(normative)Network communication groupings74C,1 U00XX Network electricala74C2 U01XX Network Communication77C,3 U02XX Network Communication80C, 4 U03X Network Software81C 5 U04XX Network Data83o ISo 2002- All rights reservedsoDs15031-6.3ForewardISo(the International Organization for Standardization) is a worldwide federation of national standards bodies(Isomember bodies). The work of preparing International Standards is normally carried out through ISo technicalcommittees. Each member body interested in a subject for which a technical committee has been established hasthe right to be represented on that committee International organizations, governmental and non-governmental, inliaison with Iso, also take part in the work. Iso collaborates closely with the International ElectrotechnicalCommission(EC)on all matters of electrotechnical standardizationInternational Standards are drafted in accordance with the rules given in the iSo/EC Directives, Part 3Draft International Standards adopted by the technical committees are circulated to the member bodies for votingPublication as an International Standard requires approval by at least 75 of the member bodies casting a voteAttention is drawn to the possibility that some of the elements of this part of iso 15031 may be the subject of patentrights. ISo shall not be held responsible for identifying any or all such patent rightsInternational Standard ISo 15031-6 was prepared by Technical Committee ISo/C 22, Road vehiclesSubcommittee SC3, Electric and electronic eguipmentThis second edition cancels and replaces the first edition (1.DIs) dated June 2000 of which has been technicallyrevisedISo 15031 consists of the following parts, under the general title Road vehicles-Communication between vehicleand external test equipment for emissions-related diagnosticsPart 1: Genera/ informationPart 2: Terms, definitions, abbreviations, and acronymsPart 3: Diagnostic connector and related electrical circuits: specification and usePart 4: EXternal test equipment- Part 5: Emissions-related diagnostic servicesPart 6: Diagnostic trouble code definitionso Iso 2002- All rights reservedso/D|s15031-6.3IntroductionIso 15031 consists of a number of parts which taken together provides a coherent self consistent set ofspecifications to facilitate emissions-related diagnostics. Parts 2 through 7 are based on SAE recommendedracticesThis part is based on SAE J2012: MAR99(Recommended Practice for Diagnostic Trouble Code Definitions)ISo 15031-1 General information, provides an introduction to the standardMost automobile manufacturers are equipping at least a portion of their product line with some on-board diagnostic(OBD) capability. These systems provide an indication as to the general location of the diagnosed malfunction. Thisinformation is provided through an alphanumeric codeo ISo 2002- All rights reservedDRAFT INTERNATIONAL STANDARDlso/D|s150316.3Road vehicles -Communication between vehicle and externaltest equipment for emissions-related diagnostics- Part 6Diagnostic trouble code definitions1 ScopeThis part of iso 15031 provides some recommended uniformity for alphanumeric trouble codes. It further providesguidance for uniform messages associated with these codesIt specifies several sections addressing format, structure, messages, and a few examples, and is applicable toelectricallelectronic systems diagnostics of motor vehiclesAnnex A specifies the diagnostic trouble code naming guidelines for signals from componentsAnnex B specifies the actual code assignments and description for Powertrain system diagnostic trouble codesAnnex C specifies the actual code assignments and description for network communicationAdditional annexes for body systems and chassis systems are under preparation2 Normative referencesThe following normative documents contain provisions, which through reference in this text, constitute provisions ofthis part of iso 15031. For dated references, subsequent amendments to, or revisions of, any of these publicationsdo not apply. However, parties to agreements based on this part of iso 15031 are encouraged to investigate thepossibility of applying the most recent editions of the normative documents indicated below. For undatedreferences, the latest edition of the normative document referred to applies. Members of iso and IEC maintainregisters of currently valid International StandardsSo15031-2Road vehicles -Communication between vehicle and external equipment for emissionsrelated diagnostics- Part 2: Terms, definitions, abbreviations, and acronymsSO15031-5Road vehicles- Communication between vehicle and external equipment for emissionsrelated diagnostics- Part 5: Emissions-related diagnostic serviceso Iso 2002- All rights reservedso/D|s15031-6.33 Terms and definitionsFor the purpose of this part of Iso 15031, the following definitions apply. terms and definitions of iso 15031 -1 maybe used to hold definitions of terms used within more than one part of iso 15031. It is not intended to be used forterms and definitions of vehicle component terminology: these may appear in ISo 15031-23.1circuit/openfixed value or no response from the system where specific high or low detection is not feasible or can be used inconjunction with circuit low and high codes where all three circuit conditions can be detectedNOTEThe term"malfunction"has, in most cases, been deleted from the dtC description3.2range/performancecircuit is in the normal operating range, but not correct for current operating conditions, it may be used to indicatestuck or skewed values indicating poor performance of a circuit, component, or system3.3low inputcircuit voltage, frequency, or other characteristic measured at the control module input terminal or pin that is belowthe normal operating range3.4high inputcircuit voltage, frequency, or other characteristic measured at the control module input terminal or pin that is abovethe normal operating range3.5bankspecific group of cylinders sharing a common control sensor, bank 1 always contains cylinder number 1, bank 2 isthe opposite bankNOTE If there is only one bank, use bank #1 DTCs and the word bank may be omitted. With a single"bank"system usingmultiple sensors, use bank #13.6sensor locationlocation of a sensor in relation the engine air flow, starting from the fresh air intake through to the vehicle tailpipe orfuel flow from the fuel tank to the engine in order numbering 1, 2, 3 and so onNOTEsee figures 1-42o ISo 2002- All rights reservedso/Ds15031-63B1 S3B1 S1B1S2(wide range)(heated)CatalystCatalystTail PipeCyl.1 Cylinder Bank 1V6/8/V12 CylinderEngingCylinder Bank 2Exhaust Bank 2analystCatalystTail PipeB2 S12S2(Bank 2- Sensor 1) Bank 2-Sensor 2B2 S3(Bank 2-Sensor 3)Figure 1-V6/v8/12 Cylinder Engine with 2 exhaust banks and 4 Catalysts example1s1(Bank 1- Sensor 1)(Banκ1- Sensor2)CaiystExhaust bankB1 S3yC ylinder bank 1(heatedV6/V8/V12 CylinderCatalystTail PipeEngineC ylinder bank 2Exhaust Bank 2B2 S2(Bank 2- sensor 2)32S1heated(Bank2· sensor1)Figure 2-V6/8/V12 Cylinder Engine with 2 exhaust banks and 3 Catalysts exampleo Iso 2002- All rights reservedso/D|s15031-6.3B1 S3B1 S1B1 S2(Bank 1-Sensor 1)(Bank 1-Sensor 2)(Bank 1-Sensor 3(heated(wide range)(heated)兰∞Sx山CatalystCatalystTail PipeFigure 3-L4/L5/L6 Cylinder Engine with 1 exhaust bank and 2 Catalysts exampleB1 S1B1 S2(Bank 1- Sensor 1)(Bank 1-Sensor 2(wide range)(heated)=2CatalystTail Pipe834Figure 4-L4/L5/L6 Cylinder Engine with 1 exhaust bank and 1 Catalyst example3.7eft/right and front/rearcomponent identified by its position as if it can be viewed from the drivers seating position3.8ABwhere components are indicated by a letter (i.e., A,B, C, etc. this would be manufacturer defined, starting withcomponent A3.9intermittent/erraticthe signal is temporarily discontinuous, the duration of the fault is not sufficient to be considered an open or shortor the rate of change is excessiveo ISo 2002- All rights reserved

最近在学习ADRC，随手按韩京清教授的《自抗扰控制技术》一书中的公式，写了MATLAB仿真程序（注意，不是simulink仿真）。另外附上《自抗扰控制技术》一书的PDF版（拍摄盗版），和离散ADRC的公式整理。希望对也在学习ADRC的同学有所帮助。仿真参数只简单调试了一下，输出还是会有一些波动的情况。

目 录 前 言 第 1 章 数字 PID 控制………………………………………………………………(1) 1.1PID 控制原理 ……………………………………………………………………(1)1.2 连续系统的模拟 PID 仿真…………………………………………………………(2)1.3 数字 PID 控制……………………………………………………………………(3)1.3.1 位置式 PID 控制算法……………………………………………………………(3)1.3.2 连续系统的数字 PID 控制仿真…………………………………………………(4)1.3.3 离散系统的数字 PID 控制仿真……………………

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