New Control Technique for Maximizing Braking Force on Antilock Braking System

In this paper, we propose a new control strategy for an antilock braking system (ABS) to maintain the braking force at maximum. The popularization of the ABS that prevents the wheels from locking has resulted in an improvement of the vehicle stability and shortening of the braking distance. Further improvement is anticipated if the maximization of the braking force is realized. We found an interesting phenomenon in which the characteristics of the resonance system composed of the vehicle body and the wheel and road surface reflects the slip condition of the road surface. Using this phenomenon, we realized a control method for maintaining the maximum value of the braking force.     

随机不平路面上的ABS制动研究

在ADAMS中建立整车和各种等级随机不平路面的模型,在MATLAB/simu link中建立逻辑门限值ABS控制方法,利用联合仿真技术研究随机不平路面对ABS的影响,得到随机不平路面上ABS制动过程中轮胎纵向力、角速度和制动距离等重要参数的变化规律,为ABS在随机不平路面上的抗干扰措施提供依据。     

低附着弯道路面车辆制动力控制策略研究

分析了车辆ABS系统在弯道制动时存在的横向稳定性问题,提出了一种低附着弯道路面车辆制动力控制策略.它综合考虑车轮防抱死与车辆发生侧滑时所能承受的最大侧向力,根据两者所允许的最大制动力中较小值确定施加于车辆的制动力.所进行的数值仿真结果表明该控制方法能提高车辆在低附着弯道路面上的横向稳定性.     

防抱死制动系统模糊自学习控制研究

由于车辆参数和运行工况的复杂多变，针对特定参数和路面条件所设计的防抱死制动系统往往难以适应。为解决这一问题，文中首先建立了带有盘式制动器的双轮车辆直线制动系统的数学模型；而后提出了模糊自学习控制策略，该方案通过引入模糊学习机制以调整模糊控制器的规则集，可使车辆对象输出跟踪理想参考模型的输出；接着对所设计控制算法在不同路面条件下进行了性能模拟；最后开发了模糊自学习微控制器，基于硬件在环仿真技术，对设计控制器的性能进行了实验验证。     

汽车防抱死制动系统的自抗扰控制研究

汽车防抱死制动系统（Anti-lock Braking System,ABS）的作用是确保汽车制动时行驶方向的稳定性、可靠性,但是目前仍存在非线性、时变性以及参数不确定性等问题。为保证汽车制动行驶过程中的操纵稳定性和安全性,进一步实现各工况下防抱死制动系统的优化控制,以影响整车稳定的变量滑移率为研究对象,分析所设计策略的控制效果。搭建汽车动力学模型、制动系统模型、轮胎模型和滑移率模型等主要模型,设计基于滑移率的ABS二阶非线性自抗扰控制器。运用MATLAB/Simulink软件对基于自抗扰控制（Active Disturbance Rejection Control,ADRC）的ABS制动过程和基于模糊PID控制的ABS制动过程进行仿真,对比研究最佳滑移率、载荷、水泥-冰对接路面、扰动等对制动过程中的轮速、车速以及滑移率等动态性征反映的稳定性和抗扰能力的影响,同时研究其对最终制动距离和最终制动时间反映的制动性能的影响。最后,将自抗扰控制器和模糊PID控制器装配于试验车辆的ABS,进行水泥路面和冰-水泥对接路面制动过程的实车试验。研究结果表明：基于二阶非线性自抗扰控制算法的ABS制动的最终制动距离和最终制动时间更短、制动效果更优,制动过程中的轮速、车速和滑移率在响应速度、稳定性和抗扰能力等方面均更佳;试验结果与仿真结果吻合,证明了仿真模型及其仿真结果的可行性和正确性。     

重型汽车低附着路面制动稳定性的仿真研究

文章利用trucksim重型汽车动力学仿真软件,对六轮双轴重型汽车在低附着路面左右车轮附着系数不一致情况下进行紧急制动的行驶工况进行了仿真研究。研究结果表明在低附着路面进行紧急制动时,对制动轮进行制动压力控制,有ABS控制的重型汽车比没有ABS控制的重型汽车具有更好地行驶稳定性。但在低附着路面上,有ABS控制的重型汽车比没有ABS控制的重型汽车的制动距离增加了很多,这对重型汽车的行车安全性非常不利。     

对开路面弯道制动ABS控制策略研究

在对开路面弯道制动工况下分析了轮胎受力情况,提出一种基于转角预测前馈、路径偏移量反馈的车辆最佳滑移率动态调节方法,在SIMPACK中建立汽车多体模型,在MATLAB/Simulink中搭建控制系统,并进行了虚拟在环试验。试验结果显示,与传统ABS相比,所提出的控制方法可以显著改善车辆的侧偏位移、横摆角速度以及制动时方向的稳定性,保证了制动效能,使车辆侧向稳定性得到显著提高。     

新型液压ABS系统的道路试验研究

对自主开发的汽车液压防抱制动系统 (ABS)按国家标准进行了实车道路试验研究工作 ,并与德国BOSCH公司的ABS5 3系统进行了性能对比试验。     

Design of Regenerative Anti-Lock Braking System Controller for 4 In-Wheel-Motor Drive Electric Vehicle with Road Surface Estimation

This paper presents a regenerative anti-lock braking system control method with road detection capability. The aim of the proposed methodology is to improve electric vehicle safety and energy economy during braking maneuvers. Vehicle body longitudinal deceleration is used to estimate a road surface. Based on the estimation results, the controller generates an appropriate braking torque to keep an optimal for various road surfaces wheel slip and to regenerate for a given motor the maximum possible amount of energy during vehicle deceleration. A fuzzy logic controller is applied to fulfill the task. The control method is tested on a four in-wheel-motor drive sport utility electric vehicle model. The model is constructed and parametrized according to the specifications provided by the vehicle manufacturer. The simulation results conducted on different road surfaces, including dry, wet and icy, are introduced.     

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。     

Emergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement

Summary A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LMI) techniques. The analysis shows that using the wheel angular speed information exclusively is not sufficient to rapidly estimate the velocity and relative velocity, due to the fact that the dynamical system is almost unobservable with this measurement as output. Findings are confirmed by simulation results that show that the estimated vehicle velocity and relative velocity converge slowly to their true values, even though the internal friction state and friction parameters converge quickly. The proposed control system has two main advantages when compared with an antilock braking system (ABS): (1) it produces a source of a priori information regarding safe spacing between vehicles that can be used to increase safety levels in the highway; and (2) it achieves a near optimal braking strategy with less chattering.     

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.     

Emergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement

Summary A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LMI) techniques. The analysis shows that using the wheel angular speed information exclusively is not sufficient to rapidly estimate the velocity and relative velocity, due to the fact that the dynamical system is almost unobservable with this measurement as output. Findings are confirmed by simulation results that show that the estimated vehicle velocity and relative velocity converge slowly to their true values, even though the internal friction state and friction parameters converge quickly. The proposed control system has two main advantages when compared with an antilock braking system (ABS): (1) it produces a source of a priori information regarding safe spacing between vehicles that can be used to increase safety levels in the highway; and (2) it achieves a near optimal braking strategy with less chattering.     

汽车防抱死制动系统控制技术

汽车防抱死制动系统（ABS）可以控制汽车制动时的滑移程度,防止车轮抱死拖滑,提高汽车制动时的操纵稳定性。文章介绍了ABS的基本功能和控制原理,阐述了目前ABS所采用的控制技术及发展方向。指出随着车速传感器技术的发展,基于车轮滑移率的各种控制算法将被广泛重视和采用;将各种控制算法结合起来是ABS控制技术的一个重要发展方向。     

An ABS control logic based on wheel force measurement

The paper presents an anti-lock braking system (ABS) control logic based on the measurement of the longitudinal forces at the hub bearings. The availability of force information allows to design a logic that does not rely on the estimation of the tyre–road friction coefficient, since it continuously tries to exploit the maximum longitudinal tyre force.

The logic is designed by means of computer simulation and then tested on a specific hardware in the loop test bench: the experimental results confirm that measured wheel force can lead to a significant improvement of the ABS performances in terms of stopping distance also in the presence of road with variable friction coefficient.     

Improvement of drivability and fuel economy with a hybrid antiskid braking system in hybrid electric vehicles

When braking on wet roads, Antilock Braking System (ABS) control can be triggered because the available brake torque is not sufficient. When the ABS system is active, for a hybrid electric vehicle, the regenerative brake is switched off to safeguard the normal ABS function. When the ABS control is terminated, it would be favorable to reactivate the regenerative brake. However, recurring cycles from ABS to motor regenerative braking could occur. This condition is felt to be unpleasant by the driver and has adverse effects on driving stability. In this paper, a novel hybrid antiskid braking system using fuzzy logic is proposed for a hybrid electric vehicle that has a regenerative braking system operatively connected to an electric traction motor and a separate hydraulic braking system. This control strategy and the method for coordination between regenerative and hydraulic braking are developed. The motor regenerative braking controller is designed. Control of regenerative and hydraulic braking force distribution is investigated. The simulation and experimental results show that vehicle braking performance and fuel economy can be improved and the proposed control strategy and method are effective and robust.     

Improved Vehicle Performance Using Combined Suspension and Braking Forces

This work presents a preliminary investigation into the integration of particular subsystems of an automobile's chassis. The specific focus of this research is the integration of Active Suspension components with Anti-Lock braking (ABS) mechanisms. The performance objective for the integrated approach is defined as a reduction in braking distance over just anti-lock brakes. Several models, of varying degrees of complexity, are presented to determine the effect of modeling accuracy on the potential performance improvement. In the most detailed model, a four degree of freedom Half Car vehicle model is developed along with models for a hydraulic Active Suspension and an ABS system. For both subsystems, actuator dynamics are included. The tire-road interface is modeled using the Magic Formula tire model. Individual controllers are developed for the subsystems and a governing algorithm is constructed to coordinate the two controllers. Simulations of the integrated controller and an ABS system, for each system model, demonstrate a significant increase in performance.     

新能源汽车制动系统的发展趋势

伴随着新能源汽车的快速发展,使得越来越多的人员开始关注新能源汽车技术的提升。其中,制动系统作为保障汽车安全运行的主要系统之一,其利用制动器与车轮的摩擦来强制性控制行驶中的汽车达成减速或者停车的目的。制动系统在汽车行驶期间同样起到了保持汽车速度稳定、在各种道路状态下保持汽车停车时稳定不动的作用。而在本文当中,则主要针对新能源汽车制动系统的发展趋势展开了探讨与分析。     

汽车全工况操纵和制动动力学17自由度的建模与仿真

本文描述了１７自由度汽车全工况操纵与制动过程动力学模型的建模，仿真与验证。该模型考虑了侧风，有无防抱系统，高速，变车速，双移线转变制动等各种极端工况，仿真结果与美国密执安大学的仿真结果十分吻合，证实了该算法与模型具有很好的精度。     

全挂汽车列车制动防抱死系统的协调控制

以某型全挂汽车列车为研究对象,分别安装牵引车及挂车两套制动防抱死系统,并建立相关协调模块使两套系统协调工作。运用Matlab/Simulink软件对未安装及安装ABS系统的全挂汽车列车在高附着系数路面上进行直线制动仿真。分析对比仿真结果,证明协调模块使得两套ABS系统顺利工作,挂车与牵引车制动强度相协调,显著提高了列车制动稳定性。