气压ABS的模糊自寻优控制器设计与硬件在环验证

根据轮胎与路面间附着系数-滑移率关系曲线的单峰极值特性,将模糊自寻优控制算法应用到车辆气压ABS系统控制器的研究中,并通过硬件在环测试验证了该算法对车辆气压ABS系统的有效控制.与传统的逻辑门限值算法相比,该算法具有结构更简单,且能自适应路面变化的特点.     

汽车ABS自适应模糊滑模控制算法研究

基于纵向附着系数一滑移率曲线特性,设计了可进行最佳滑移率估计和校正的自适应调节器,并根据滑移率跟踪最佳滑移率的误差,设计了可进行滑模参数自适应调节的模糊逻辑调节器.利用Simulink建立了ABS的自适应模糊滑模控制器模型和自适应滑模控制器模型,分别对单一路面和不同路面进行了仿真和比较研究,结果显示所提出的汽车ABS自适应模糊滑模控制算法可行,并且利用自适应模糊滑模控制器的ABS纵向附着系数利用率更高、稳定性更好、制动时间和制动距离更短.     

汽车ABS制动过程中道路识别方法研究

车辆防抱死控制系统（ABS）的目标控制参数在不同路面上存在很大差异,所以在不同路况下汽车电控系统所采取的控制策略和算法也有所差别。以汽车主动安全装置ABS为基础,在建立了车辆模型和进行滑移率估算的前提下．设计了道路识别控制器。考虑到轮胎非线性的影响,对变附着系数路面进行了ABS制动模拟试验。结果表明：基于路面识别技术的ABS控制系统能准确判断出路面状况,并据此调整控制策略,以使车辆获得最大的制动减速度和最短的制动距离。试验表明．该系统具有较好的跟踪性。     

基于盘式制动器的电磁制动系统的仿真研究

在一种新型电磁制动器的基础上,应用ABS的控制原理和基于路面附着系数的方法对其实施控制,利用Matlab/Simulink建立了车辆动力学、电磁制动器以及基于路面附着系数控制器的数学模型,并进行仿真计算,为这种新技术的设计和实现提供了理论依据。     

A Research on the ABS Test Method for Four-Wheel-Drive Vehicle Equipped with Viscous Coupler

装备黏性联轴器的四驱车辆在进行防抱死制动系统的试验中,按照传统的使单轴制动失效的办法获得的低附路面附着系数远高于试验路面实际的附着系数.文中通过分析揭示了其原因是:单轴制动失效时前、后轴轮胎滑移率变化造成转速差过大而产生驼峰现象,前、后轴形成准刚性连接而共同参与制动.因此,装备黏性联轴器的四驱车辆在进行ABS路面附着系数试验时应将黏性联轴器输入轴拆除,使之仅有单轴参与制动,才能获得正确的路面附着系数.     

基于修正因子智能权函数的汽车ABS模糊控制算法仿真研究

根据汽车ABS相关知识和模糊控制理论,建立了基于修正因子智能权函数的模糊控制算法．利用Matlab建立了ABS模糊控制总模型及模糊控制器模型,对其进行仿真。结果显示,基于修正因子智能权函数的控制算法能使车轮的附着系数在最大附着系数附近微小波动,最佳的利用路面的附着潜力,故此控制算法的制动效果较好。     

一种附着系数-滑移率曲线的测定方法

汽车防抱死制动系统（ABS）依据附着系数-滑移率曲线对车辆轮速进行调节,使车辆达到最好的制动效果。但不同路面的附着系数-滑移率曲线不同,且附着系数的峰值和对应的最佳滑移率也不同。为便于车辆在不同路面均达到更好的ABS控制效果,文章提出一种附着系数-滑移率曲线的测定方法,可实时计算附着系数-滑移率曲线。     

基于自适应模糊PID控制的ABS仿真研究

在Matlab/Simulink中建立一种两轮的汽车动力模型,以自适应模糊PID和道路识别控制器作为控制模块,通过在高低附着路面和高低附着对接路面进行紧急制动仿真的研究。仿真结果表明道路识别控制器能够快速准确的识别路面不同附着路面最优滑移率,自适应模糊PID控制的ABS相于常规制动性能有了很大程度的提高,具有在线自整定参数的特点,具有很好的稳定性、适应性和鲁棒性。     

基于模糊神经网络道路纵向附着系数预测

为了研究路面状况及使用年限对道路纵向附着系数的影响,通过对不同年限、不同干湿状况的路面进行测试纵向附着系数,建立了基于模糊神经网络道路纵向附着系数预测模型,并通过实车制动试验进行验证。试验结果表明:预测模型误差率小于6%,实车制动试验制动车速与实际车速误差也在6%内,验证了模型的有效性和实用性。因此,为交通事故再现提供了一个快速有效的方法。     

考虑道路因素的智能车辆纵向运动决策与控制研究

针对智能车辆纵向运动时的交通道路适应性问题,考虑路面附着系数和前车运动速度等因素,研究了智能车辆纵向运动决策与控制方法。论文研究了基于车头时距的纵向运动决策方法并建立不同驾驶行为的目标车速模型,运用变论域模糊推理算法设计了目标加速度模型。基于纵向动力学模型,运用自适应反演滑模控制算法建立了驱动控制器和制动控制器。对高附着系数路面和低附着系数路面的行驶工况进行仿真试验验证,结果表明,在不同的附着系数路面和前车变速行驶条件下,智能车辆能实时、合理地决策目标车速、目标加速度,实现安全、高效、稳定的跟驰。     

汽车制动性能比较分析

汽车的制动性能关系剑汽车安全行驶性能。ABS防抱死系统的应用是汽车安全性方面最重要的技术进展。通过对装备ABS汽车与普通汽车制动距离的计算比较分析发现,在湿滑的道路上突然制动,ABS系统可以使驾驶员能够保持车辆行驶平稳,在较短的距离内将汽车刹住。但在不湿滑的路面上,缩短刹车距离的范同值比较小。而在冰雪路面上行驶的车辆,没有装备ABS的汽车在湿路面或冻路面上制动时,制动距离会过长且不能猛烈转向。而装备ABS系统的汽车也是如此,因为尽管ABS能提供附加的制动控制和转向控制,但它不能解决这样一个客观的物理事实：那就是在较滑的路面上,可利用的牵引力很小。     

Cooperative control of the motor and the electric booster brake to improve the stability of an in-wheel electric vehicle

A cooperative control algorithm for an in-wheel motor and an electric booster brake is proposed to improve the stability of an in-wheel electric vehicle. The in-wheel system was modeled by dividing it into motor and mechanical parts, and the electric booster brake was modeled through tests. In addition, the response characteristics of the in-wheel system and the electric booster brake were compared through a frequency response analysis. In the cooperative control, the road friction coefficient was estimated using the wheel speed, motor torque, and braking torque of each wheel, and the torque limit of the wheel to the road was determined using the estimated road friction coefficient. Based on the estimated road friction coefficient and torque limit, a cooperative algorithm to control the motor and the electric booster brake was proposed to improve the stability of the in-wheel electric vehicle. The performance of the proposed cooperative control algorithm was evaluated through a hardware-in-the-loop simulation (HILS). Furthermore, to verify the performance of the proposed cooperative control algorithm, a test environment was constructed for the anti-lock braking system (ABS) hydraulic module hardware, and the performance of the cooperative control algorithm was compared with that of the ABS by means of a HILS test.     

从整车试验看ABS控制技术的改进方向

对ABS基本功能和控制原理进行阐述,并基于国标GB/T13594-2003从试验方法、试验项目、试验结果分析等方面对ABS整车道路试验进行研究,最后提出了基于路面附着系数变化的ABS识别预测技术和修正控制算法。     

基于车身减速度估计的ABS路面识别方法

为改善制动防抱死系统(ABS)的控制效果,进行了大量实车道路试验,通过深入分析试验数据,提出了一种基于车身减速度估计的路面识别方法,从理论上证明了该方法的合理性,并结合试验数据说明了该方法的原理。将路面识别模块嵌入到ABS软件中,以捷达GTX轿车为试验车进行了干路面和雪路面工况下的实车试验。结果表明:基于车身减速度估计的路面识别方法能准确识别路面类型,ABS可根据路面识别结果采取不同的控制算法,最终改善了制动控制效果,提高了ABS对路面的适应性。     

Experimental investigations on continuous regenerative anti-lock braking system of full electric vehicle

Functions of anti-lock braking for full electric vehicles (EV) with individually controlled wheel drive can be realized through conventional brake system actuating friction brakes and regenerative brake system actuating electric motors. To analyze advantages and limitations of both variants of anti-lock braking systems (ABS), the presented study introduces results of experimental investigations obtained from proving ground tests of all-wheel drive EV. The brake performance is assessed for three different configurations: hydraulic ABS; regenerative ABS only on the front axle; blended hydraulic and regenerative ABS on the front axle and hydraulic ABS on the rear axle. The hydraulic ABS is based on a rule-based controller, and the continuous regenerative ABS uses the gain-scheduled proportional-integral direct slip control with feedforward and feedback control parts. The results of tests on low-friction road surface demonstrated that all the ABS configurations guarantee considerable reduction of the brake distance compared to the vehicle without ABS. In addition, braking manoeuvres with the regenerative ABS are characterized by accurate tracking of the reference wheel slip that results in less oscillatory time profile of the vehicle deceleration and, as consequence, in better driving comfort. The results of the presented experimental investigations can be used in the process of selection of ABS architecture for upcoming generations of full electric vehicles with individual wheel drive.     

具有ABS的汽车制动性能实验模拟系统

介绍了一种在室内模拟汽车道路制动试验的测试系统,该系统不仅可作为汽车防抱死制动系统(ABS)实验教学的设备,亦可作为开发ABS的前期试验装置。     

Self-tuning control algorithm design for vehicle adaptive cruise control system through real-time estimation of vehicle parameters and road grade

The main purpose of this paper is to design a self-tuning control algorithm for an adaptive cruise control (ACC) system that can adapt its behaviour to variations of vehicle dynamics and uncertain road grade. To this aim, short-time linear quadratic form (STLQF) estimation technique is developed so as to track simultaneously the trend of the time-varying parameters of vehicle longitudinal dynamics with a small delay. These parameters are vehicle mass, road grade and aerodynamic drag-area coefficient. Next, the values of estimated parameters are used to tune the throttle and brake control inputs and to regulate the throttle/brake switching logic that governs the throttle and brake switching. The performance of the designed STLQF-based self-tuning control (STLQF-STC) algorithm for ACC system is compared with the conventional method based on fixed control structure regarding the speed/distance tracking control modes. Simulation results show that the proposed control algorithm improves the performance of throttle and brake controllers, providing more comfort while travelling, enhancing driving safety and giving a satisfactory performance in the presence of different payloads and road grade variations.     

汽车用无石棉制动器衬片的研制

传统的汽车制动器衬片是以石棉纤维为基材经混合热压而成，但其污染环境，对新研制的无石棉（水镁石）制动器衬片进行了介绍，经台架试验和装车道路试验表明，其各项性能均满足技术条件要求，道路试验里程均达到设计里程２５０００ｋｍ。     

Modeling and Analysis of Automotive Antilock Brake Systems Subject to Vehicle Payload Shifting

The steerability and stability of vehicles must be maintained during emergency stopping and evasive driving maneuvers on degraded road surfaces. The introduction of antilock brake and traction control systems (ABS/TCS) has expanded the envelope of safe vehicle operation for the majority of drivers. These mechatronic systems combine an electronic controller with wheel speed sensors, an electro-mechanical hydraulic brake actuator, and in some instances, engine intervention through the engine control unit, to regulate wheel slip. The development of ABS systems has traditionally depended on extensive in-vehicle testing, at cold weather proving grounds, which contribute to lengthy product development cycles. However, recent attention has been focused on the use of simulation and hardware-in-the-loop strategies to emulate test conditions in a controlled setting to shorten product design time and methodically address critical safety issues. In this paper, the effect of transient load shifting due to cargo movement on ABS performance in light-duty vehicles will be investigated. Analytical and empirical mathematical models are presented to describe the chassis, tire/road interface, wheel, brake modulator, and cargo dynamics. Two strategies, a model-free table lookup and model-based discrete nonlinear controller, are presented to regulate the ABS modulator's operation. These vehicle and controller dynamics have been integrated into a simulation tool to investigate the effect of transient weight transfers on the vehicle's overall stopping distance and time. Representative numerical results are presented and discussed to quantify the ABS systems' performance for various loading and operating conditions.     

Feedforward and Crone Feedback Control Strategies for Automobile ABS

Summary As mechatronic subsystems and especially new emerging technologies for brake systems are more and more developed, a new control architecture for ABS is proposed. The control architecture is designed using both feedback and feedforward controls that command pressure-controlled proportional servo-valves. The methods are developed to compensate for the uncertainty associated with the state of the road surface. The advantages of this strategy compared to the existing ABS strategy are discussed including simulations results using a complete vehicle and brake system model.