CAN时滞对汽车ABS模糊控制的影响  

Effects of CAN communication delay on ABS fuzzy control

作　　者：孙宁[1] 陈南[1] 张丙军[2] 皮大伟[1] 钟国华[2] 

机构地区：[1]东南大学机械工程学院,江苏南京211189 [2]上海汽车集团股份有限公司商用车技术中心,江苏南京210028

出　　处：《江苏大学学报（自然科学版）》2010年第4期397-402,共6页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(50575041);江苏省汽车工程重点实验室开放基金资助项目(QC200501);南京汽车集团研发基金资助项目(20070101)

摘　　要：基于有限状态机(FSM)理论,在MATLAB/Simulink/Stateflow仿真环境下,建立了适合车辆底盘集成控制系统的CAN网络通信模型,分析了网络信息帧在最坏情况时的最大时滞。将该模型应用于7自由度车辆ABS控制模型,对比研究了控制器在3种典型单一路面和对接路面情况下,采用CAN网络通信时,信息的通信时滞及丢帧对ABS控制器控制车轮滑移率性能的影响,并记录了所有信息帧的通信时滞时间.仿真结果表明,在低附着系数路面上,通信时滞效应会加剧车轮滑移率控制的不稳定性,虽然存在丢帧现象,但控制器仍能够保证车辆制动的有效性.The Controller Area Network （CAN） communication simulation model of vehicle chassis integrated control system was established based on FSM theory in MATLAB/Simulink/Stateflow, and the maximum transmission time of the frame under the worst case scenario was analyzed. The network commutation model was applied on the vehicle of 7 degree of freedom for Anti-lock Braking System control models, and the effect of CAN message transmission delay on the slip ratio was investigated under the condition of three typical single adhesion road and changing adhesion road respectively. All of the CAN message transmission delay were recorded. The simulation results show that the instability of slip ratio caused by transmission delay under low friction road is more serious than under high friction load; however, the controller can still guarantee the vehicle＇s stability in braking process under losing frames conditions.

关 键 词：控制器局域网 网络建模 通信时滞 防抱死制动系统 模糊控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]