【作者】 廖旭晖；

【导师】 王仲范；

【作者基本信息】 武汉理工大学 ， 车辆工程， 2005， 硕士

【摘要】 驱动防滑控制系统是在ABS的基础上发展起来的,是ABS在汽车驱动过程中的延伸,ABS和ASR统称为防滑控制系统。驱动防滑控制系统通过调节作用于驱动轮的驱动力矩来控制驱动轮的滑转率,从而使汽车的操纵性、横向稳定性、动力性以及燃油经济性都得到提高。 四轮驱动汽车与二轮驱动汽车相比具有更好的越野性能,因此,通常也被称为越野车。然而,四轮驱动汽车本身存在许多不足。短时四轮驱动汽车操作繁琐,而常时四轮驱动汽车由于前后驱动桥之间以及左右驱动轮之间通过差速器连接,当某一个车轮处于低附着系数路面上时,其它三个车轮的驱动力将大幅下降,整车驱动力几乎为零。 将驱动防滑控制系统用于四轮驱动汽车将有可能解决四轮驱动汽车打滑的问题。本文主要从动力性方面来分析驱动防滑控制系统对于四轮驱动汽车的影响,主要内容包括以下几个部分: 一、分析四轮驱动汽车的驱动特点,制定出四轮驱动汽车驱动防滑控制系统的控制策略。即通过控制油门来控制车轮的过度滑转,通过控制制动器来控制车轮的相对滑转。在参考车速的估取上借鉴了ABS估取参考车速的方法。 二、建立四轮驱动汽车驱动的数学模型。键合图理论用于系统的数学建模具有简单、方便、直观、精确等优点。本文首先利用键合图理论建立系统的键合图模型,然后推导系统的状态方程。 三、进行ASR系统的控制算法研究。并主要探讨了模糊PID控制在四轮驱动汽车ASR系统上的应用。分别设计了油门模糊PID控制器和制动器模糊PID控制器。 四、根据所建立的数学模型在MATLAB/SIMULINK环境下建立仿真模型,并进行了三种不同路面上的仿真分析。 仿真结果表明驱动防滑控制系统对于四轮驱动汽车的驱动轮滑转起到了较好的抑制作用,并且使得四轮驱动汽车的动力性得到较大的改善,同时也验证了控制策略的正确性以及控制算法的可行性。更多还原

【Abstract】 Acceleration slip regulation (ASR) was developed based on Anti-lock Brake System (ABS). It is the extension of ABS to the driving course. So ABS and ASR are called a control system preventing slide by a joint name. ASR can control the slippages of the driving wheels by adjusting the driving moments acting on the driving wheels. Accordingly improves the handling performance、 transverse stability, dynamic performance and economics.Four wheel drive vehicle has better cross-country performance than two wheel drive vehicle. So it usually passes for SUV. However, four wheel drive vehicle has many shortages. To drive a short-time four wheel drive vehicle is very troublesome. Because the front and rare driving bridges of a long-time four wheel drive vehicle are connected through a differential as well as the left and right driving wheels, certain wheel on the road with low coefficient of friction will result in else wheels’ driving power descend much, so the power to drive the car become almost zero.ASR can possibly solve the four wheel drive vehicle’s problem of slip. So this paper mainly analysis the ASR’s effect on the four-wheel-drive vehicle from the angle of dynamic performance. This paper mainly includes several parts below.1. The control strategies were setted down by analysising the character of four wheel drive vehicle when driving. That is, the exceed slips of driving wheels are regulated by controlling the gun, and the relative slips of driving wheels are regulated by controlling the brake. The means of estimating the vehicle’s velocity used on the ABS was used for reference.2. The mathematic model of a four wheel drive vehicle was established. Using bond-graph theory to establish systems’ mathematic model is simple , convenience, obvious, accurate. In this paper, the bond-graph model of the system was established using bond-graph theory, then the state-space of the system was deduced.3. Made some researches of the ASR’s control algorithms. Then discuss the application of fuzzy-PID control means on the ASR of four wheel drivevehicle. The gun controller and brake controller were designed.4. The simulation model was established under the circumstance of MATLAB/SIMULINK according to the established mathematic model. And three different road conditions were simulated and analysised.The results of simulation have shown that ASR can effectively regulated the driving wheels’ slippages, furthermore, the dynamic performance be improved. At the sane time, it proved the control strategies were correct and the control algorithms were feasible.更多还原