奔驰300SEL轿车车轮防抱死系统（ABS）的故障分析

车轮防抱死系统（ＡＢＳ）能保证车辆在任何恶劣的路况主紧急制动时获得最佳制动效果。本文阐明了ＡＢＳ的控制原理及发展前景，介绍了奔驰３００ＳＥＬ轿车ＡＢＳ故障的排除方法。     

凌志LS400汽车电子控制防滑驱动系统

凌志ＬＳ４００汽车采用了发动机控制和车轮制动器控制两种防滑驱动控制装置，可有效地防止驱动轮打滑，获得尽可能大的驱动力，本文分析了凌志ＬＳ４００汽车的两种防滑驱动控制系统的结构和工作原理，并且对其电路控制进行了分析。     

凌志LS400型轿车的废气再循环装置

废气再循环（ＥＧＲ）就是将废气引入气缸内，与可燃混合气一起混合燃烧，由于废气的热容量大，会明显地降低燃烧温度和速度，从而减少ＮＯｘ生成量。详细介绍了凌志ＬＳ４００型轿车装用的机电控制式和全电脑控制式废气再循环装置的结构和工作原理。     

电子控制牵引力调节装置

丰田公司凌志ＬＳ４００型１９８０所型轿车装用电子控制牵引力调节有完全调节发动机的扭矩和后驱动轮的制和，并根据路面情况给出一个最佳的驱动力，它主要由制动主继电器，前轮速度传感器，牵引力调节系统执行器等１８个零部件组成，对各零部件的结构和功用进行了详细地介绍。     

丰口凌志巡航控制系统

阐述丰田凌志ＬＳ４００型轿车巡航控制系统的组成，工作原理及故障诊断。     

奔驰300SEL轿车ABS故障

奔驰 30 0ＳＥＬ轿车ＡＢＳ系统的电子控制单元 ,装在驾驶室内刮水器的下部 ,它使用了一个 2 0线接插件。该车ＡＢＳ系统在左右两前轮上分别装有转速传感器 ,在后桥传动轴连接处也装有一转速传感器。电子控制单元对传感器系统以及它所控制的 1 2Ｖ液压调节阀、各轮制动电磁阀的故障均可通过ＡＢＳ故障指示灯来加以指示。该故障指示灯在使用中有 3种情况 ,分别与汽车制动系非自诊部分有关。1 )ＡＢＳ指示灯不熄 ,ＡＢＳ系统工作正常。ＡＢＳ指示灯只有在ＡＢＳ系统起动或手制动时才会发亮。若常亮不熄 ,大多是手制动开关短路故障所致 ,故遇此…     

桑塔纳2000GSi（时代超人）轿车防抱死制动系统

介绍桑塔纳２０００ＧＳｉ（时代超人）轿车ＡＢＳ控制系统的组成、工作原理及性能特点，并详细叙述了ＡＢＳ控制系统的整个控制过程。     

浅谈凌志LS400轿车的悬架装置及其维护保养

介绍了凌志ＬＳ４００轿车悬架装置的结构特点和维护保养，对电子调整空气悬架的功能和故障排除方法作了系统的说明。     

丰田LAND CRUISER吉普车ABS系统分析

简要介绍ＡＢＳ系统的作用，结合丰田ＬＡＮＤ ＣＲＵＩＳＥＲ吉普车装用的ＡＢＳ系统，详细分析了车轮转速传感器，负加速度传感器，ＡＢＳ ＣＥＵ和油压调节器的结构和工作原理，同时给出了该系统自动故障检测的代码，以及代码的意义。     

凌志LS400的悬架装置

介绍了凌志ＬＳ４００轿车悬架装置的结构和维护，系统说明了电子调整空气悬架的功能和故障排除方法。     

基于Matlab的ABS不同控制方式的仿真

汽车防抱制动系统（ABS）能实时控制车辆产生最佳的制动力矩,避免产生过大的车轮滑移,从而保持汽车的操纵性和稳定性。文中分别采用PID控制、逻辑开关控制两种方法对单轮汽车模型进行了模拟仿真。然后与没有ABS的情况进行对比,通过对仿真图形曲线的分析,得出ABS的防抱死效果明显。     

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.     

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.     

Development of a slip control anti-lock braking system model

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.     

车轮防抱死制动滑移模式控制律的理论研究

本文通过建立轮制动时的力学模型，运用现代控制理论中的滑移模式控制方法，对汽车防抱死制动控制律进行了理论分析与研究。     

Nonlinear tire-road friction control based on tire model parameter identification

A hierarchical control structure is a more suitable structural scheme for integrated chassis control. Generally, this type of structure has two main functions. The upper layer manages global control and force allocation, while the bottom layer allocates realized forces with 4 independent local tire controllers. The way to properly allocate these target forces poses a difficult task for the bottom layer. There are two key problems that require attention: obtaining the nonlinear time-varying coefficient of friction between the tire and different road surfaces and accurately tracking the desired forces from the upper layer. This paper mainly focuses on longitudinal tire-road friction allocation and control strategies that are based on the antilock braking system (ABS). Although it is difficult to precisely measure longitudinal tire-road friction forces for frequently changing road surface conditions, they can be estimated with a real-time measurement of brake force and angular acceleration at the wheels. The Magic Formula model is proposed as the reference model, and its key parameters are identified online using a constrained hybrid genetic algorithm to describe the evolution of tire-road friction with respect to the wheel slip. The desired wheel slip, with respect to the reference tire-road friction force from the top layer, is estimated with the inverse quadratic interpolation method. The tire-road friction controller of the extended anti-lock braking system (Ext-ABS) is designed through use of the nonlinear sliding mode control method. Simulation results indicate that acceptable modifications to changes in road surface conditions and adequate stability can be expected from the proposed control strategy.     

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.     

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.     

Wheel slip control with torque blending using linear and nonlinear model predictive control

Modern hybrid electric vehicles employ electric braking to recuperate energy during deceleration. However, currently anti-lock braking system (ABS) functionality is delivered solely by friction brakes. Hence regenerative braking is typically deactivated at a low deceleration threshold in case high slip develops at the wheels and ABS activation is required. If blending of friction and electric braking can be achieved during ABS events, there would be no need to impose conservative thresholds for deactivation of regenerative braking and the recuperation capacity of the vehicle would increase significantly. In addition, electric actuators are typically significantly faster responding and would deliver better control of wheel slip than friction brakes. In this work we present a control strategy for ABS on a fully electric vehicle with each wheel independently driven by an electric machine and friction brake independently applied at each wheel. In particular we develop linear and nonlinear model predictive control strategies for optimal performance and enforcement of critical control and state constraints. The capability for real-time implementation of these controllers is assessed and their performance is validated in high fidelity simulation.     

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.