【作者】 马瑾；

【导师】 王纪森；

【作者基本信息】 西北工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 汽车防抱死制动控制系统(ABS)的研究与开发已成为国内汽车业的技术热点,寻找理想的控制规律是汽车防抱死制动系统控制器研究与开发的重点。本论文对汽车防抱死制动系统控制方法进行了深入的研究,提出了基于自寻优控制理论的防抱死制动系统控制方法,为研制具有自主知识产权的汽车防抱死制动控制器指明了一个新的方向。 建立了车辆动力学数学模型、车轮轮胎模型、制动系统模型,采用Matlab/Simulink软件搭建了汽车液压ABS系统的仿真模型。在对国内外使用的主要ABS系统控制方法进行了深入细致的论述和分析比较的基础上,重点介绍了四相控制方法,详细推导了其基本理论公式和门限值选择,并将其应用于单轮车辆模型进行了仿真,为新的控制方法的研究提供了可对比参考的依据。 根据自寻优控制理论连续理解和连续测量的原理,采用步进搜索和步进探测的方法,针对汽车防抱死制动系统特点,提出了ABS自寻优控制方法。将该方法应用于单轮车辆模型进行了三种典型路面及干—冰—干突变路面的仿真,可以在各种路面上车轮几乎没有抱死,显示了自寻优避免车轮抱死的能力;滑移率的值基本上一直接近并围绕最佳滑移率变化,说明该方法充分利用了路面性能,制动性能较好;制动力矩及制动力随着路面条件的变化自动做出相应调整,实现了路面自动识别的功能。将该方法应用于双轮及四轮车辆在对称路面直线制动状况下仿真,仿真效果较好,说明ABS自寻优方法是可行的并且是值得推广的。 开发以DSP为基础的新一代的ABS控制器的硬件与软件,并将控制器进行了半物理仿真,为实现产品化奠定了坚实的基础。 总之,研究结果可以看出自寻优控制方法用于汽车防抱死制动系统不仅具有理论意义,而且具有实用价值,是一种简单、方便、具有较好操纵性、制动性,并且有较好适应性的方法。进一步的研究工作一定要继续开展下去。更多还原

【Abstract】 The research and development of Anti-lock Braking system (ABS), which emphasizes on searching for ideal control logic, have already been a technical focus in domestic automobile fields. This paper makes some deep research on ABS, proposes a control method based on self-optimizing control method and points out a new direction for researches on ABS controller possessing independent knowledge property right.This paper establishes vehicle dynamical mathematical model, tire model, braking system model, and uses Matlab/Simulink software to set up automobile’s hydraulic ABS simulation model. Basing on the deep meticulous discuss and analysis of dominating ABS control methods used in domestic and overseas, the paper concentrates on four-phase control method, analyzes its basic principle formula and threshold in detail and applies it to the simulation of single-wheel-vehicle model, providing the new control method with contrastively reference.According to the principle of successive comprehension and successive measurement of self-optimizing control theories, step-by-step searching and step-by-step detecting methods have been applied in ABS. Self-optimizing control method is provided. This method is applied to the single-wheel model to do simulation based on three typical road surfaces and dry-icy-dry sudden-change road surface, and the results of simulation show that automobiles which install self-optimizing ABS equipment hardly lock on any road surface, which shows anti-lock ability of self-optimizing;slip ratio approximates and surrounds the optimum slip which shows that this ABS system makes full use of road surface performance and makes good braking performance;braking torque and braking force regulate with varies of road condition, which realizes road self-identification function. This method has been applied to the simulation of two-wheel and four-wheel vehicle model in symmetrical road surface status and has got good results, which shows the method is feasible and worthy being popularized.Developing new generation ABS controller’s hardware and software basing on DSP and making hard-in-loop simulation of the controller have established stablebasis for the realization of productiveness.In a word, the research results show that self-optimizing control method used in ABS has not only theoretical meaning but also realistic value. It is a simple, convenient system with better driving stability and braking, and meanwhile better adaptability. Further research is worthy and required.更多还原