防抱制动系统控制算法的仿真研究

本文用要平面法分析了目前汽车上广泛使用的Ｐ１Ｒ３逻辑控制算法在不同条件下的收敛性，因这种算法只能使车轮的滑移率在μ－Ｓ曲线的峰值点变化，故采用逻辑控制的ＡＢＳ系统不能充分发挥它的最佳效能，本文进一步通过仿真研究了基于滑移率Ｓ的控制算法，并根据逻辑控制和滑移率控制的缺陷，提出了基于路面附着系数μ的控制算法，在理想状态下的证实了所提算法的有效性。

Simulation Study of Control Algorithms for Auti-lock Braking System

Using phase plane method, the paper analyzes the convergence of the presently widely used P1R3 logic control algoritnm for anti lock braking system under different conditions. It is shown that the logic algorithm can only get marginal change of wheel slip around peak point of ?-S curve, but the optimal performance can not be achieved. The paper further investigates the features of the control algorithms based on wheel slip S through simulation. According, to the shortcomings of the logic-based and wheel slip based control algorithms, a new algorithm using the adhesion coefficient of road surface is proposed, the effectiveness of which is shown under ideal conditions.