ABS逻辑门限值自调整控制方法研究与试验验证  

Research and Verification of the Logic Threshold Self-adjusting Control Method for ABS

作　　者：王伟达[1] 丁能根[2] 张为[2] 余贵珍[2] 徐向阳[2] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京航空航天大学交通科学与工程学院,北京100191

出　　处：《机械工程学报》2010年第22期90-95,104,共7页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划;2009AA11Z216);国家自然科学基金(50908008)资助项目

摘　　要：自主研发防抱死制动系统(Anti-lock brakingsystem,ABS)是掌握车辆底盘动力学主动控制技术的基础。依照广泛的道路试验数据和目前产业化ABS普遍采用的逻辑门限值控制方法,结合试验数据分析各门限值对防抱死控制效果的影响,从而确立门限值标定与调整的基本原则。在此基础上,借鉴自适应控制中的自校正调节器思想,提出一种逻辑门限值自调整算法,依据有限的轮速传感器信号在线辨识当前路面的最佳制动滑移率与计算参考车速,根据车轮滑移率与最佳滑移率的偏差自动调整各主要门限值,以达到最佳的制动控制。通过在各种工况下的道路试验标定了控制参数,验证了该方法的控制效果。试验结果表明,提出的门限值自调整方法克服了不同路面附着系数、车速、载荷诸因素对防抱死控制的影响,实现了在各典型工况都较优的ABS控制。开发的ABS系统具有较好的控制效果,满足了开发要求,为ABS产业化提供了前提。Independently developing anti-lock braking system（ABS） is the basis of mastering the active dynamic control technology of vehicle chassis.According to the experimental data and the logic threshold control method widely used in the industrial ABS,the impact on ABS control of every logic threshold is analyzed and the basic rules of calibrating the logic thresholds is established.By borrowing the idea from the self-tuning regulator in adaptive control,a logic threshold self-adjusting algorithm is presented.The algorithm identifies the optimal brake slip ratio of the road and calculates the reference speed on-line.The main logic thresholds are adjusted automatically according to the error between the wheel slip ratio and the optimal slip ratio in order to improve the control performance.The control parameters are calibrated and the control performance of the self-adjusting algorithm is verified by road tests under various conditions.The test results indicate that the presented logic threshold self-adjusting algorithm overcomes the influence of different factors,such as road adhesion coefficient,speed and load,on the ABS,thereby the optimal ABS control under every condition is realized.The developed ABS has good control effect and meets the development requirement.It provides a foundation for ABS industrialization.

关 键 词：逻辑门限值 自校正调节器 试验验证 

分 类 号：U461.1[机械工程—车辆工程]