车辆防抱制动系统的仿真研究
|
摘要
汽车制动性能是汽车主要性能之一,汽车转弯行驶时施加制动是一种复杂情况。在这一过程中所发生的侧滑、激转和轨道偏离常常导致交通事故。论文针对该情况进行了专题研究。
防抱制动系统(ABS)是一种在制动时能自动调节制动管路压力,使车轮不致抱死,以提高汽车行驶稳定性和制动安全性的制动力调节系统。论文建立了国内某商务车八自由度转弯制动仿真数学模型,主要包括:整车模型、制动器模型和ABS模型。运用MATLAB/SIMULINK软件,对转弯制动时未安装ABS和安装ABS两种情况的仿真结果作了比较,证明了基于逻辑门限控制的ABS系统对提高车辆的制动性和操纵稳定性有很大帮助。论文还将直线路面下仿真结果和试验结论进行了比较。
论文建立的包括ABS模型的整车模型可以在汽车设计初期对其制动性能进行预测和有关指标的评价,从而缩短研发周期。
The braking ability is one of the main performances of a vehicle. It is a kind of complex situation to apply the brake when a vehicle is cornering. Sideslips,sharp turns and deviations from a path that occurring during this process can frequently result in a traffic accident. This paper has conducted a special study for such situation.Anti-lock Braking System(ABS) is a kind of brake adjusting system.It can improve a vehicle's directional stability and steering ability and enhance the braking safety by adjusting the braking pressure automatically to avoid the lock-up of wheels. This paper has established an simulational digital model of 8 freedom degrees for a domestic commercial vehicle ,and it mainly includes : whole vehicle model, brake model and ABS model. By using the MATLAB/SIMULINK software to make comparison of the simulation results between uninstalled ABS and installed ABS ,I've got it that the ABS system based on the logical threshold control has a very great help for a vehicle's braking ability and direction stability. And this paper has also made comparison between simulation results and experimental conclusions on a straight road.The whole vehicle model (including the ABS model)can predicts the braking ability and estimate correlative indexes during the early period of a car's design ,and thus shorten the cycle of research and development.
防抱制动系统(ABS)是一种在制动时能自动调节制动管路压力,使车轮不致抱死,以提高汽车行驶稳定性和制动安全性的制动力调节系统。论文建立了国内某商务车八自由度转弯制动仿真数学模型,主要包括:整车模型、制动器模型和ABS模型。运用MATLAB/SIMULINK软件,对转弯制动时未安装ABS和安装ABS两种情况的仿真结果作了比较,证明了基于逻辑门限控制的ABS系统对提高车辆的制动性和操纵稳定性有很大帮助。论文还将直线路面下仿真结果和试验结论进行了比较。
论文建立的包括ABS模型的整车模型可以在汽车设计初期对其制动性能进行预测和有关指标的评价,从而缩短研发周期。
The braking ability is one of the main performances of a vehicle. It is a kind of complex situation to apply the brake when a vehicle is cornering. Sideslips,sharp turns and deviations from a path that occurring during this process can frequently result in a traffic accident. This paper has conducted a special study for such situation.Anti-lock Braking System(ABS) is a kind of brake adjusting system.It can improve a vehicle's directional stability and steering ability and enhance the braking safety by adjusting the braking pressure automatically to avoid the lock-up of wheels. This paper has established an simulational digital model of 8 freedom degrees for a domestic commercial vehicle ,and it mainly includes : whole vehicle model, brake model and ABS model. By using the MATLAB/SIMULINK software to make comparison of the simulation results between uninstalled ABS and installed ABS ,I've got it that the ABS system based on the logical threshold control has a very great help for a vehicle's braking ability and direction stability. And this paper has also made comparison between simulation results and experimental conclusions on a straight road.The whole vehicle model (including the ABS model)can predicts the braking ability and estimate correlative indexes during the early period of a car's design ,and thus shorten the cycle of research and development.
引文
[1] 重庆市宏安汽车ABS技术有限公司,制动防抱技术的发展状况[J],汽车杂志,1994,6
[2] 程军,国外防抱制动系统及其法规的历史、现状、未来,客车技术,1995,2
[3] 宋健,李永,汽车防抱死制动系统控制方法的研究进展[J],公路交通科技,19(6),2002,140-145
[4] 齐志权,刘昭度,时开斌等,基于汽车ABS/ASR/ACC集成化系统的ABS参考车速确定方法的研究[J],汽车工程,25(6),2003,617-620
[5] 马瑾,王纪森,何长安等,一种新型ABS控制策略的仿真研究[J],系统仿真学报,16(7),2004,1612-1614
[6] 王新郧,候永平,李左龙等,ABS性能评价方法的研究[J],汽车技术,22-24
[7] 程军,汽车防抱制动系统的理论与实践[M],北京,北京理工大学出版社,1999
[8] Mark Akey, Development of Fuzzy Logic ABS Control for Commercial Trucks, SAE Paper 952673
[9] 张代胜,李伟,基于滑移率的汽车防抱模糊控制方法与仿真[J],农业机械学报,33(2),2002,28-31
[10] 羊拯民,张代胜,郑海波,轻型客车防抱制动系统计算机仿真[J],合肥工业大学学报,22(3),1999,10-16
[11] Yeh Edge C et al, Conjugate Boundary Method for Control Law Design of Anti-Skid Brake System, Int. J. Vehicle Design, 1990, 11
[12] 程军,防抱制动系统防抱逻辑的研究[J],汽车工程,1,1995
[13] 程军,实际防抱控制算法的相平面分析及验证[J],汽车运输研究,1996,2
[14] Reinhold. sturm. Brakes and ABS on four wheels drive vehicle, SAE Paper 880321,1988
[15] Andrew Alleyne, Improved Vehicle Performance Using Combined Suspension and Braking System, Vehicle System Dynamics, 1997,27
[16] 陈在峰,汽车防抱死制动系统控制方法的研究[D],博士论文,清华大学,1997
[17] 程军,防抱制动系统不同控制方法的模拟研究,汽车技术,1998,8
[18] Y. Chamaillard, O.L. Gissinger, C. Menard, Braking Regulation of a Vehicle, Application and Comparison of Control Algorithms of Unstable or Pseudo-Stable Fast Systems, SAE Paper 940837
[19] 赵治国,方宗德,李杰,防抱制动系统参数自适应滑模变结构控制器的研究[J],机械科学与技术,21(1),2002,1
[20] Jeffery R. Layne, Kevin M. Passio, Stephen Yurkovich, Fuzzy Learing Control for Anti-skid Braking systems, IEEE Transanctions on Control Systems Technology, 1993,1(2)
[21] Mark Akey, Development of Fuzzy Logic ABS Control for Commercial Trucks, SAE Paper 952673
[22] Georg F, Mauer et al, Fuzzy Logic Continuous and Quantizing Control of an ABS Braking System, SAE Paper 940830
[23] 程军,基于模糊控制方法德防抱控制系统德研究,汽车工程,1997,4
[24] 任国清,轻型客车防抱制动系统的仿真研究[D],硕士论文,合肥工业大学,2003
[25] L.埃克霍恩,D.克林恩乔克,J.厄尔贾维克,汽车制动系统[M],北京,机械工业出版社,1998
[26] A.E.斯卡沃勒尔,汽车构造原理与维修应用(底盘和附件篇)[M],北京,机械工业出版社,2004
[27] 方泳龙,汽车制动理论与设计[M],北京,国防工业出版社,2005
[28] 余志生等,汽车理论[M].北京,机械工业出版社,2000
[29] 张利鹏 汽车转弯制动性能分析与防抱控制仿真研究[D],硕士论文,燕京大学,2004
[30] 殷承良,车辆防抱死制动系统(ABS)实用化技术控制逻辑与实车试验研究[D],上海交通大学博士后出站工作报告,2002
[31] 苟凯英,程军,基于MATLAB仿真环境实现防抱制动控制逻辑[J],测控技术,21(1),2002,25-27
[32] 李君,车辆ABS控制系统快速开发研究[D],博士论文,上海交通大学,2002
[33] 苗建明,权龙,陈高红,基于有限状态机理论的汽车防抱死系统仿真[J],太原理工大学学报,35(6),2004,651—654
[34] 马湛华 车辆动力学建模及仿真[D],硕士论文,同济大学,2001
[35] 袁士杰,吕哲勤,多刚体系统动力学[M],北京,北京理工大学出版社,1992
[36] 庄继德,汽车轮胎学[M],北京,北京理工大学出版社,1998
[37] 张志涌,精通MATLAB6.5版[M],北京,北京航空航天大学出版社,2004
[38] 汽车制动系统结构、性能和试验方法,GB12676-1999
[2] 程军,国外防抱制动系统及其法规的历史、现状、未来,客车技术,1995,2
[3] 宋健,李永,汽车防抱死制动系统控制方法的研究进展[J],公路交通科技,19(6),2002,140-145
[4] 齐志权,刘昭度,时开斌等,基于汽车ABS/ASR/ACC集成化系统的ABS参考车速确定方法的研究[J],汽车工程,25(6),2003,617-620
[5] 马瑾,王纪森,何长安等,一种新型ABS控制策略的仿真研究[J],系统仿真学报,16(7),2004,1612-1614
[6] 王新郧,候永平,李左龙等,ABS性能评价方法的研究[J],汽车技术,22-24
[7] 程军,汽车防抱制动系统的理论与实践[M],北京,北京理工大学出版社,1999
[8] Mark Akey, Development of Fuzzy Logic ABS Control for Commercial Trucks, SAE Paper 952673
[9] 张代胜,李伟,基于滑移率的汽车防抱模糊控制方法与仿真[J],农业机械学报,33(2),2002,28-31
[10] 羊拯民,张代胜,郑海波,轻型客车防抱制动系统计算机仿真[J],合肥工业大学学报,22(3),1999,10-16
[11] Yeh Edge C et al, Conjugate Boundary Method for Control Law Design of Anti-Skid Brake System, Int. J. Vehicle Design, 1990, 11
[12] 程军,防抱制动系统防抱逻辑的研究[J],汽车工程,1,1995
[13] 程军,实际防抱控制算法的相平面分析及验证[J],汽车运输研究,1996,2
[14] Reinhold. sturm. Brakes and ABS on four wheels drive vehicle, SAE Paper 880321,1988
[15] Andrew Alleyne, Improved Vehicle Performance Using Combined Suspension and Braking System, Vehicle System Dynamics, 1997,27
[16] 陈在峰,汽车防抱死制动系统控制方法的研究[D],博士论文,清华大学,1997
[17] 程军,防抱制动系统不同控制方法的模拟研究,汽车技术,1998,8
[18] Y. Chamaillard, O.L. Gissinger, C. Menard, Braking Regulation of a Vehicle, Application and Comparison of Control Algorithms of Unstable or Pseudo-Stable Fast Systems, SAE Paper 940837
[19] 赵治国,方宗德,李杰,防抱制动系统参数自适应滑模变结构控制器的研究[J],机械科学与技术,21(1),2002,1
[20] Jeffery R. Layne, Kevin M. Passio, Stephen Yurkovich, Fuzzy Learing Control for Anti-skid Braking systems, IEEE Transanctions on Control Systems Technology, 1993,1(2)
[21] Mark Akey, Development of Fuzzy Logic ABS Control for Commercial Trucks, SAE Paper 952673
[22] Georg F, Mauer et al, Fuzzy Logic Continuous and Quantizing Control of an ABS Braking System, SAE Paper 940830
[23] 程军,基于模糊控制方法德防抱控制系统德研究,汽车工程,1997,4
[24] 任国清,轻型客车防抱制动系统的仿真研究[D],硕士论文,合肥工业大学,2003
[25] L.埃克霍恩,D.克林恩乔克,J.厄尔贾维克,汽车制动系统[M],北京,机械工业出版社,1998
[26] A.E.斯卡沃勒尔,汽车构造原理与维修应用(底盘和附件篇)[M],北京,机械工业出版社,2004
[27] 方泳龙,汽车制动理论与设计[M],北京,国防工业出版社,2005
[28] 余志生等,汽车理论[M].北京,机械工业出版社,2000
[29] 张利鹏 汽车转弯制动性能分析与防抱控制仿真研究[D],硕士论文,燕京大学,2004
[30] 殷承良,车辆防抱死制动系统(ABS)实用化技术控制逻辑与实车试验研究[D],上海交通大学博士后出站工作报告,2002
[31] 苟凯英,程军,基于MATLAB仿真环境实现防抱制动控制逻辑[J],测控技术,21(1),2002,25-27
[32] 李君,车辆ABS控制系统快速开发研究[D],博士论文,上海交通大学,2002
[33] 苗建明,权龙,陈高红,基于有限状态机理论的汽车防抱死系统仿真[J],太原理工大学学报,35(6),2004,651—654
[34] 马湛华 车辆动力学建模及仿真[D],硕士论文,同济大学,2001
[35] 袁士杰,吕哲勤,多刚体系统动力学[M],北京,北京理工大学出版社,1992
[36] 庄继德,汽车轮胎学[M],北京,北京理工大学出版社,1998
[37] 张志涌,精通MATLAB6.5版[M],北京,北京航空航天大学出版社,2004
[38] 汽车制动系统结构、性能和试验方法,GB12676-1999