车辆驾驶模拟器的ABS逻辑控制算法仿真研究

【作者】 刘颖姣；

【导师】 王贵勇；

【作者基本信息】 昆明理工大学 ， 载运工具运用工程， 2008， 硕士

【摘要】 随着汽车行驶速度的提高及道路行车密度的增大,人们对汽车行驶安全性能的要求也越来越高。防抱制动系统(简称ABS)能够最大限度地保证车辆紧急制动时的操纵稳定性和制动性能,从而较大地提高了行车安全性。自八十年代中、后期以来,ABS得到了广泛而迅速的普及,在汽车发达国家,ABS已经成为中、高档轿车的标准装配部件。ABS控制逻辑种类较多,但目前车辆上比较实用且有效的控制逻辑为逻辑门限值控制。在汽车动力学的研究中,对研究对象进行数学建模是一种非常普遍的方法。而在此基础上发展起来的动态仿真技术则是进行汽车性能研究的一种非常行之有效的手段。本文以实验室的驾驶模拟器为对象,对其防抱制动系统的控制原理及其控制算法进行了研究。首先介绍了ABS的基本工作原理,讨论了ABS目前常用的几种控制方法,重点研究了逻辑门限控制方法的控制过程,建立了适合于驾驶模拟器仿真研究的数学模型,其中包括整车、制动器、轮胎以及控制器四个子模型。并用Matlab6.0软件中的SIMULINK和STATEFLOW工具包对所建立的数学模型编制了仿真软件。通过计算模拟,比较了常规制动与防抱制动的不同效果,探讨了影响ABS性能的主要因素,找出了适合该车的控制逻辑和门限值。本文建立的动力学模型可以对汽车制动性能进行仿真,为汽车制动系统的设计研究提供参考。同时,在此基础上可以进一步对驾驶模拟器的防抱制动系统进行开发研究。为以后将ABS控制系统仿真模块应用于驾驶模拟器,使驾驶模拟器的动力学模型得到进一步的完善提供了平台和经验。更多还原

【Abstract】 With the increase of the vehicle velocity and augment of the running vehicle’s density on the road, the requirement which people want about the performance of running vehicle for security is higher and higher. Anti-lock Brake System (ABS) makes an essential contribution to the traffic safety for it ensures optimal stability, steering and stopping distance during hard braking. ABS has been widely used since the mid of 1980’s and has become a standard assembled part in the middle and top grade cars.There are many kinds of control algorithms of ABS, but, in the present, the utility and effective control logic on the vehicle is logic limit values. A good method to study vehicle dynamics is to construct a vehicle mathematical model. The dynamic simulation is one of the best means for vehicle performance research, which is developing based on the model.In this paper, we researched and exploited the Anti-lock Brake System utilizing the driving simulator. It first describes the fundamental principle of ABS and discusses several control methods of ABS in common use, emphasis on the logic gate control. A mathematical model is set up for driving simulator with air braking system, including vehicle model, brake model, tire model and controller model. A computer simulation program is written with Matlab6.0. It is easy to modify and debug because of its block construction. Through the computer simulation, compares braking performance with and without ABS, discusses the main factors which influence the performance of ABS, and finds suitable control logic, threshold values for this kind of vehicle.The dynamics model which is built in this thesis is helpful for the vehicle design and ABS developing. It will provide the console and experiences while the Anti-lock Brake System model which is built in this dissertation could be applied on the simulator Driving Simulator in the future.更多还原