【作者】 宋进源；

【导师】 何小阳；

【作者基本信息】 广西大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 随着汽车工业的不断发展，人们越来越重视汽车的安全性问题。汽车防抱制动系统(ABS)作为一种主动安全装置，能够在汽车制动时自动调节车轮制动力，防止车轮抱死，保证车辆的侧向稳定性和转向操纵性，同时缩短制动距离以取得最佳的制动效果。在汽车日益高速化的今天，它的应用也越来越广泛。而控制方法是ABS的核心技术，对汽车防抱制动系统的研究及汽车制动性能的提高具有重要的现实意义。本文首先在阅读了大量文献的基础上，介绍了ABS的基本原理、组成、布置方式及国内外研究状况等。接着，采用人工图形建模的方法，在MATLAB／SIMULINK中建立了相应的车辆仿真模型，包括车辆系统的四分之一车体模型、轮胎模型和制动系统模型。并进行了不带ABS的系统仿真。然后，学习研究了Bang-Bang控制、PID控制、四项逻辑门限控制、基于路面附着系数的控制以及自寻优控制，并分别建立了相应的MATLAB／SIMULINK控制器模型。最后，分别在四种典型路面对这几种ABS控制方法进行了详细的仿真研究，讨论了各种控制方法应用于汽车防抱制动系统的车辆制动效果。并进行了认真地分析比较研究，最终得出的结论是：自寻优控制是5种控制方法中简单、实用、控制效果较好且具有较强适应性和鲁棒性的控制方法。更多还原

【Abstract】 With the development of automobile industry, more and more demands to vehicle active safety performance are taken into account. As an active safety device, the anti-lock braking systems (ABS) can prevent the wheels from locking by regulating the wheel’s braking force automatically, so that ensure the lateral stability and turning steering at the time of braking,. Besides it also can reduce the braking distance and acquire the best vehicle braking effect. With the increasingly high-speed of automobile, ABS is applied such widely and widely. What’s more, the ABS control solution is the core of the ABS technology, it is important to study the anti-lock braking systems and enhance the braking performance of automobile.Firstly, the basic principle, structure, arrangement scheme and the present situation of the ABS are introduced in this paper based on reading a lot of literature. Secondly, making use of graphical modeling, automotive simulation models without controller (including the quarter vehicle model, the tire model and the braking system model) are established and simulated in MATLAB/SIMULINK. Thirdly, five control methods are studied, such as the Bang-Bang control, the PID control, the four phase logical threshold control, the control based on the adhesion-slip curve and the self-optimization control. And then five controller models are built respectively in MATLAB/SIMULINK. At last, the simulation tests of these five ABS control methods on four special road surfaces are taken. And vehicle braking effects of each control method which is applied to automotive anti-lock braking systems are discussed. Then the comparison and analysis are given in detail to find the control method with the best performance. As a result, the self-optimization control is the simple and practical control method with better control effect, adaptability and stronger robustness in the five methods.更多还原