燃料电池汽车线控串行复合制动系统的开发

开发了具备机械备份的线控液压制动阀并对其控制性能进行了试验和分析.以线控制动系统为基础,建立了燃料电池汽车线控串行复合制动系统,并设计了与之相适应的电液复合制动控制算法.对串行复合制动过程进行了硬件在环仿真.结果表明,该系统实现了电机再生制动与液压摩擦制动的串行施加,有效提高了制动能量回收率.     

线控制动系统防抱死特性模糊控制方法的仿真研究

作者研究分析了直接影响汽车行驶安全性能的汽车制动系统的重要组成部分,阐述了以油或空气作为传力介质的传统制动系统必将被全电的制动系统——线控制动系统所取代,线控制动系统是未来制动系统的发展方向。介绍了线控制动系统的分类、结构和工作原理;建立了线控制动系统和制动执行器的数学模型,以1/4车辆模型为研究对象,设计了模糊控制器,并在Matlab/Simulink下进行了仿真分析。仿真结果表明,模糊控制对线控制动系统的防抱死特性取得了理想的控制效果。     

基于EHB的无人驾驶线控制动改装方案

无人驾驶汽车需要解决三个问题,即环境感知及实时定位,计算分析以及路径规划,最后还有就是控制执行。其中控制执行也就是汽车通过感知周围环境并结合路径规划后,实现车辆主控制功能,线控执行主要包括线控制动、转向和油门,而线控制动时最难的部分。目前发展中的汽车线控制动系统主要有两种类型,即电子液压式线控制动系统和电子机械式线控制动系统电子液压式线控制动系统是电子系统和液压系统相结合的产物,电子系统提供柔性控制,液压系统提供制动促动力,是从传统制动系统到电子制动系统的过渡传统tire1如博世开发的Ibooster,日产开发的EACT,大陆开发的MKC1等均已实现线控制动功能。但博世对国内厂家一般只开放ACC和ESP量产接口协议,刹车力度最大大约为0.5 g,标准的刹车力度在0.8g以上,0.5g是远远不够用。因此要实现无人驾驶车辆的线控制动功能,需另辟蹊径。EHB与ABS相结合是实现线控制动的方法之一。     

新一代线控底盘集成控制策略研究

针对汽车稳定性控制,提出了一种基于线控转向和线控制动的新一代底盘集成控制策略。分别设计制造了线控制动、线控转向系统样机,建立了相应的动力学模型。应用模型预测控制,设计了基于主动前轮转角调节和主动制动力调节的底盘集成控制系统。设计了针对目标汽车的底盘集成控制硬件在环试验台,并进行了典型工况测试试验。结果表明,本文所设计的控制策略可有效使汽车跟随期望状态,保证车辆行驶的稳定性,提升车辆的综合性能。     

基于视觉识别的线控制动压力滑模控制

制动安全是车辆主动安全的关键技术之一.制动决策和执行器控制是影响线控制动系统性能的两个主要因素.路面自适应性和控制器鲁棒性分别对制动决策和执行器控制有着重要影响,制约着线控制动系统的发展.本文中以一种液压调控的线控制动系统为基础,针对路面自适应性和控制器鲁棒性问题,提出一种双层结构的制动系统控制器,上层采用计算机视觉的...     

电液线控制动系统压力反步控制算法研究

为实现线控制动系统液压精确控制,本文中设计了一种新型线控制动系统,通过对该系统进行动力学分析,建立了面向控制的系统动力学模型,基于该系统模型设计出反步控制算法。利用径向基网络逼近连续函数特性,对与系统状态量相关的非线性摩擦力进行估计,作为反步控制器的补偿,并证明该算法李雅普诺夫稳定。基于电液线控制动系统台架开展了多组制动工况测试,结果表明,所设计的控制策略能实现对线控制动系统液压力的精确控制且反应迅速。     

线控汽车底盘控制技术研究进展及展望

对各国线控汽车发展现状,以及汽车线控转向系统、线控制动系统、线控驱动系统和线控悬架系统的各系统组成、工作原理和控制方法及研究现状进行了概述,总结了影响线控汽车发展的关键技术,并对信息传输、驾驶人意图与工况辨识、故障诊断与容错控制、底盘集成控制等技术的研究进展进行了综述.针对全线控汽车,给出了分层式集成控制系统框架,并对框架内容进行了分析,以期为线控汽车研究与发展提供新的视角和基础资料.     

汽车线控制动技术及发展

现代汽车制动控制技术止朝着线控制动控制方向发展，线控制动系统将取代以液压或气压为主的传统制动控制系统。介绍了汽车线控制动技术的研究现状，对电子液压式制动系统和电子机械式制动系统的结构及工作原理进行了介绍和比较，并对电子机械式制动系统的关键部件及其性能特点进行了分析，论述了线控制动系统的关键技术及发展。     

汽车线控制动技术的研究与分析

随着电子控制技术在汽车上的广泛运用,线控制动技术作为一种新技术被各大汽车制造厂家所推崇,有的厂家已投入研发或已在试验车上进行实验验证。线控制动与传统制动技术相比具有结构简单、功能完善、响应迅速等特点。因此,线控制动技术在未来被用于替代汽车传统的制动控制方式已是必然趋势。文章简述了线控制动技术与传统制动技术的区别,并对线控制动技术的两种主要形式,即电子液压制动和电子机械制动进行了简单分析和介绍。     

智能电动汽车的线控制动新技术应用与发展

随着制动控制技术的发展,制动系统线控化成为了该领域的关键技术路线。在智能电动汽车建立的新电子电气架构下,线控制动系统可以实现更多的新技术功能。线控制动系统将会是智能电动汽车线控底盘的技术核心,以及汽车行业新的研究热点。文章概述了汽车制动系统的发展;对两种典型的线控制动系统的结构特点、工作原理、系统性能进行了分析;结合智能电动汽车对线控制动系统的技术要求,介绍了几种线控制动系统新技术的特点与应用;最后展望了线控制动系统的技术研究趋势,为未来线控制动系统的发展方向提供参考。     

Understanding the limitations of different vehicle models for roll dynamics studies

An accurate and realistic vehicle model is essential for the development of effective vehicle control systems. Many different vehicle models have been developed for use in various vehicle control systems. The complexity of these models and the assumptions made in their development depend on their application. This article looks into the development and validity of vehicle models for prediction of roll behavior and their suitability for application in roll control systems. A 14 DOF vehicle model that includes dynamics of roll center and nonlinear effects due to vehicle geometry changes is developed. The limitations, validity of simplified equations, and various modeling assumptions are discussed by analyzing their effect on the model roll responses in various vehicle maneuvers. A formulation of the popular 8 DOF vehicle model that gives good correlation with the 14 DOF model is presented. The possible limitations of the 14 DOF model compared with an actual vehicle are also discussed.     

Understanding the limitations of different vehicle models for roll dynamics studies

An accurate and realistic vehicle model is essential for the development of effective vehicle control systems. Many different vehicle models have been developed for use in various vehicle control systems. The complexity of these models and the assumptions made in their development depend on their application. This article looks into the development and validity of vehicle models for prediction of roll behavior and their suitability for application in roll control systems. A 14 DOF vehicle model that includes dynamics of roll center and nonlinear effects due to vehicle geometry changes is developed. The limitations, validity of simplified equations, and various modeling assumptions are discussed by analyzing their effect on the model roll responses in various vehicle maneuvers. A formulation of the popular 8 DOF vehicle model that gives good correlation with the 14 DOF model is presented. The possible limitations of the 14 DOF model compared with an actual vehicle are also discussed.     

考虑路面不平度的汽车稳定性控制的研究

考虑路面不平度对汽车稳定性的影响，建立了一个含路面不平度激励的14自由度的汽车动力学模型。在主动悬架技术的基础上，运用直接的反馈控制制定了提高汽车操纵稳定性的控制策略。利用该模型进行了汽车稳定性的仿真研究。与没有稳定性控制系统的仿真结果相比，该控制器的应用能够较好地改善汽车的稳定性。     

Effects of model response on model following type of combined lateral force and yaw moment control performance for active vehicle handling safety

This paper presents a comparison study of the effect of model response on the performance of the model following type combined lateral force and yaw moment control. The combined controls aim to maximize stability limit as well as vehicle responsiveness. In order to realize this aim, two types of model responses are proposed to introduce the required lateral force and yaw moment control. The model responses (a) is the side-slip angle and yaw rate vehicle response of the two degree of freedom vehicle motion (bicycle model). The model responses (b) is an intentional modification from the model responses (a) to the side slip angle converging to zero and first order yaw rate. Three different cases of combining lateral force and yaw moment control have been investigated using the two types of model responses. The effect of model responses is proved by computer simulations of the vehicle response to a single sine wave steering input with braking for the combined control methods proposed. It is found that the influence of the model response has a significant effect on the combined control performance.     

A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is simulated with the vehicle velocity observer, the tyre/road friction coefficient estimator and the adaptive SMC algorithm. The results indicate that the estimated errors of the vehicle velocity and the tyre/road friction coefficients are acceptable and the vehicle ABS adaptive SMC algorithm is effective. So the proposed adaptive SMC algorithm can be used to control the vehicle ABS without the information of the vehicle velocity and the road conditions.     

Adaptive Throttle Control for Speed Tracking

Electronic throttle control is an important part of every advanced vehicle control system. In this paper we design an adaptive control scheme for electronic throttle that achieves good tracking of arbitrary constant speed commands in the presence of unknown disturbances. The design is based on a simplified linear vehicle model which is derived from a validated nonlinear one. The designed control scheme is simulated using the validated full order nonlinear vehicle model and tested on an actual vehicle. The simulation and vehicle test results are included in this paper to show the performance of the controller. Due to the learning capability of the adaptive control scheme, changes in the vehicle dynamics do not affect the performance of the controller in any significant manner.     

某电动车后轮转向系统控制策略开发研究

利用某电动车线性二自由度车辆模型和基于CarSim与MATLAB/Simulink的联合仿真模型,对所提出的后轮转向双参前馈控制策略进行仿真分析,并与前馈比例控制策略、前馈比例加横摆角速度反馈控制策略的控制效果进行对比分析,证明了双参前馈控制策略的有效性。     

预瞄驾驶员模型中车辆操控稳定性的分析

通过将驾驶员模型、汽车运动学模型与闭环控制系统相结合,给出了一种基于最大预瞄距离驾驶员模型的空间方程.采用Lyapunov-Krasovskii泛函方法,分析基于该模型的“人—车—路”闭环控制系统的指数稳定性条件.利用所建立的4轮车辆驾驶员模型,分别采用不同的最大预瞄距离值和驾驶员反应时滞值,对车辆路径跟随进行了仿真试...     

基于ADAMS与Matlab的ABS模糊控制仿真研究

将多体系统动力学与智能控制理论相结合对汽车制动防抱死控制系统进行了研究，利用ADAMS／CAR建立了汽车整车的多体力学模型，模型包含了前后悬架、动力总成、转向系统、稳定杆、制动系、轮胎力学模型以及车身，同时也考虑了轮胎、衬套、弹簧、减震器等部件的非线性，准确地表达了车辆的动态特性；利用Matlab／Simulink模糊控制工具箱建立了制动防抱死控制系统的模糊控制策略，利用ADAMS／Control接口进行模型的集成、协同仿真，并将仿真结果与另一种控制策略一逻辑门限值控制的仿真结果进行了比较和分析，仿真反映出模糊控制在整车制动防抱死控制系统上的应用效果，结果表明该控制算法稳定好并具有较强的鲁棒性。     

Adaptive Throttle Control for Speed Tracking

SUMMARY

Electronic throttle control is an important part of every advanced vehicle control system. In this paper we design an adaptive control scheme for electronic throttle that achieves good tracking of arbitrary constant speed commands in the presence of unknown disturbances. The design is based on a simplified linear vehicle model which is derived from a validated nonlinear one. The designed control scheme is simulated using the validated full order nonlinear vehicle model and tested on an actual vehicle. The simulation and vehicle test results are included in this paper to show the performance of the controller. Due to the learning capability of the adaptive control scheme, changes in the vehicle dynamics do not affect the performance of the controller in any significant manner.