共查询到20条相似文献,搜索用时 15 毫秒
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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。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(1):139-164
Progress in reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, little has been published on slip controllers for air-braked heavy vehicles, or the effects of slow pneumatic actuation on their design and performance. This paper introduces a sliding mode slip controller for air-braked heavy vehicles. The effects of pneumatic actuator delays and flow rates on stopping performance and air (energy) consumption are presented through vehicle simulations. Finally, the simulations are validated with experiments using a hardware-in-the-loop rig. It is shown that for each wheel, pneumatic valves with delays smaller than 3 ms and orifice diameters around 8 mm provide the best performance. 相似文献
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为提升汽车的主动安全,对车辆自动紧急制动系统控制策略进行研究。利用分层控制的思想对控制策略进行建模,上层控制器为对车辆制动减速度进行决策的预碰撞时间模型,根据汽车追尾事故深度调查的驾驶员紧急制动数据分析制动系统的制动减速度,在考虑舒适性的条件下确定预碰撞时间阈值。下层控制器按照上层控制器输出的制动减速度,分析车辆轮胎模型和制动系统的关系,通过PID控制调节制动压力对车辆进行控制。在安全评价规程标准工况下验证控制策略的可靠性,通过追尾事故场景的重建来验证控制策略的有效性。仿真结果表明:设计的控制策略在相对车速65km/h以内时能有效避撞,而高于65km/h时能最大程度地降低碰撞车速,减小伤害。 相似文献
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EBS系统作为制动系统的重要构成,能够给重卡车型提供快速、稳定和合理的制动性能,其也是重型汽车自动驾驶系统中的重要组成部分,能够为车辆提供线控制动的相关控制接口,能够快速响应其他系统(如智能驾驶控制系统)的减速和制动请求。本文主要介绍重型汽车EBS电子制动系统的组成、系统电路,以及制动控制的相关内容,为重型汽车的后期自动驾驶的开发和应用提供支持。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(10):1597-1621
This paper is concerned with the synthesis of a robust gain-scheduled ?∞ MIMO vehicle dynamic stability controller (VDSC) involving both steering and rear braking actuators. This VDSC aims at improving automotive vehicle yaw stability and lateral performances. The aim of this work is to provide a methodology to synthesise such a controller while taking into account the braking actuator limitations and use the steering actuator only if it is necessary. These objectives are treated in an original way by the synthesis of a parameter-dependent controller built in the LPV framework and by the solution of an LMI problem. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete. Nonlinear time and frequency domain simulations on a complex full vehicle model (which has been validated on a real car), subject to critical driving situations, show the efficiency and robustness of the proposed solution. 相似文献
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A Sliding Mode Controller for Wheel Slip Ratio Control System 总被引:1,自引:0,他引:1
Taketoshi Kawabe Masao Nakazawa Ikuro Notsu Yoshito Watanabe 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1997,27(5):393-408
A sliding mode controller has been developed for a wheel slip ratio control system for commercial vehicles with sluggish braking actuators to replace conventional if-then rule-like ABS control laws. New techniques overcome the tendency of sliding mode controllers to chatter. Computer simulation (hardware-in-the-loop simulation) and actual vehicle tests verified the effectiveness of this method to suppress chattering and keep the wheel slip ratio in a desirable range during braking on low-friction road surfaces. 相似文献
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Vignesh Rajaram 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2016,54(7):871-901
An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Hardware-in-Loop experimental results showed that the SMC and full state feedback controller were able to prevent the collision. However, when the discrepancies in the form of parametric variations were included, the SMC provided better results in terms of reduced stopping distance and lower controller effort compared to the full state feedback controller. 相似文献
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B. Ozdalyan 《International Journal of Automotive Technology》2008,9(1):71-80
This paper describes the initial phase of work carried out as part of an on going study investigating the interaction between
the tyre, suspension system and an antilock braking system (ABS). The modelling, analysis simulations and integration of results
have been performed using an industry standard Multibody Systems Analysis (MBS) program. A quarter vehicle model has been
used together with an individual front suspension system represented by interconnected rigid bodies. The tyre model used can
be integrated into vehicle handling simulations but only the theory associated with the generation of longitudinal braking
forces is described here. An ABS model based on slip control has been used to formulate the braking forces described in this
paper. The simulations, which have been performed braking on wet and dry road surfaces, compare the performance of two different
tyres. 相似文献
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针对多轴分布式电机驱动车辆电液复合制动中易出现的车辆制动抖动问题,提出了一种建压阶段电机制动力修正策略和一种基于前馈-反馈的协调控制策略,分别在建压阶段和其他阶段通过协调复合制动力来解决制动抖动的问题。针对防抱死控制系统与电机制动系统共同作用时的制动矛盾,提出了一种基于PID 控制的ABS控制策略,主要通过改变电机制动力来解决制动矛盾的问题。通过TruckSim、Matlab/Simulink及AMESim联合仿真验证,制动冲击度在建压阶段下降了 20.66%,在电机退出阶段下降了 92.59%,驾驶感觉得到明显改善。而 ABS控制策略也可在保证理想滑移率的同时完成制动能量回收;结合整车制动试验,表明协调控制策略在保证制动效果良好的同时实现了制动能量回收,效果显著。 相似文献
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Modeling and Analysis of Automotive Antilock Brake Systems Subject to Vehicle Payload Shifting 总被引:4,自引:0,他引:4
Val Mills Bernard Samuel John Wagner 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2002,37(4):283-310
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. 相似文献
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Combined control of a regenerative braking and antilock braking system for hybrid electric vehicles 总被引:1,自引:0,他引:1
D. Peng Y. Zhang C. -L. Yin J. -W. Zhang 《International Journal of Automotive Technology》2008,9(6):749-757
Most parallel hybrid electric vehicles (HEV) employ both a hydraulic braking system and a regenerative braking system to provide
enhanced braking performance and energy regeneration. A new design of a combined braking control strategy (CBCS) is presented
in this paper. The design is based on a new method of HEV braking torque distribution that makes the hydraulic braking system
work together with the regenerative braking system. The control system meets the requirements of a vehicle longitudinal braking
performance and gets more regenerative energy charge back to the battery. In the described system, a logic threshold control
strategy (LTCS) is developed to adjust the hydraulic braking torque dynamically, and a fuzzy logic control strategy (FCS)
is applied to adjust the regenerative braking torque dynamically. With the control strategy, the hydraulic braking system
and the regenerative braking system work synchronously to assure high regenerative efficiency and good braking performance,
even on roads with a low adhesion coefficient when emergency braking is required. The proposed braking control strategy is
steady and effective, as demonstrated by the experiment and the simulation. 相似文献
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There are basically two methods to control yaw moment which is the most efficient way to improve vehicle stability and handling.
The first method is indirect yaw moment control, which works based on control of the lateral tire force through steering angle
control. It is mainly known as active steering control (ASC). Nowadays, the most practical approach to steering control is
active front steering (AFS). The other method is direct yaw moment control (DYC), in which an unequal distribution of longitudinal
tire forces (mainly braking forces) produces a compensating external yaw moment. It is well known that the AFS performance
is limited in the non-linear vehicle handling region. On the other hand, in spite of a good performance of DYC in both the
linear and non-linear vehicle handling regions, continued DYC activation could lead to uncomfortable driving conditions and
an increase in the stopping distance in the case of emergency braking. It is recommended that DYC be used only in high-g critical
maneuvers. In this paper, an integrated fuzzy/optimal AFS/DYC controller has been designed. The control system includes five
individual optimal LQR control strategies; each one, has been designed for a specific driving condition. The strategies can
cover low, medium, and high lateral acceleration maneuvers on high-μ or low-μ roads. A fuzzy blending logic also has been utilized to mange each LQR control strategy contribution level in the final control
action. The simulation results show the advantages of the proposed control system over the individual AFS or DYC controllers. 相似文献
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电动汽车复合制动由电机再生制动与机械摩擦制动两部分构成,其控制性能直接影响车辆的能量利用效率、制动安全性以及舒适性。围绕静态制动转矩分配控制、动态复合制动协调控制、制动换挡控制、智能辅助驾驶中的复合制动控制4个方面的研究现状与关键技术展开综述,并对复合制动控制未来研究方向进行了展望。对文献的梳理分析表明:制动转矩分配决定着复合制动系统能量回收能力与车辆制动稳定性,基于规则的分配策略面对复杂多变工况自适应性欠佳,而基于优化的分配策略各方面性能表现良好,但需要兼顾控制实时性与优化效果;利用电机响应迅速与控制精确的优势完成复合制动协调控制,能够提升制动模式切换过渡工况与紧急制动工况的控制性能,改善驾驶舒适性;制动过程中实施合理换挡可以进一步提升能量回收效率,同时通过补偿控制解决换挡过程中动力中断和转矩冲击等问题,保证换挡平顺性;随着电动汽车智能化和网联化发展,复合制动控制与驾驶人辅助系统相结合有助于在保证系统功能的同时实现能量回收效益最大化。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(8):1245-1265
A traction control system (TCS) for two-wheel-drive vehicles can conveniently be realised by means of slip control. Such a TCS is modified in this paper in order to be applicable to four-wheel-drive vehicles and anti-lock braking systems, where slip information is not readily available. A reference vehicle model is used to estimate the vehicle velocity. The reference model is excited by a saw-tooth signal in order to adapt the slip for maximum tyre traction performance. The model-based TCS is made robust to vehicle modelling errors by extending it with (i) a superimposed loop of tyre static curve gradient control or (ii) a robust switching controller based on a bi-directional saw-tooth excitation signal. The proposed traction control strategies are verified by experiments and computer simulations. 相似文献
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一汽丰田开发的普锐斯混动汽车,可以将制动能量回收来充电,提高了能源利用率。而汽车的制动性能直接影响汽车使用安全性,是汽车安全行车的重要因素之一,是汽车检测诊断的重点。基于雷达测速技术及装备,在LabVIEW软件平台的支持下,测试混动汽车制动过程中的速度、距离、加速度、时间等参数的变化,对混动汽车道路制动性能进行评价分析。 相似文献