PID在汽车防抱死系统中的仿真应用  

PID Simulation in Automobile Anti-lock Braking System

作　　者：郭忠庆[1,2] 史本伟[1] 乔睿[1] 

机构地区：[1]长安大学汽车学院,陕西西安710064 [2]交通运输部公路科学研究院,北京100088

出　　处：《交通节能与环保》2016年第1期37-43,共7页Transport Energy Conservation & Environmental Protection

摘　　要：本文通过数学建模建立了车辆动力学模型、滑移率模型、制动系统模型、轮胎模型、PID控制器等主要模型,然后建立了基于二轮车辆无ABS系统仿真模型、有PID控制器仿真模型,接着分别在高附着系数路面、低附着系数路面和对接路面上进行仿真试验。将三种不同车辆系统的制动时间、制动距离以及车轮是否抱死等性能参数进行对比分析,结果表明无ABS系统的车辆无论在哪种路况下制动,车轮均很快抱死,且制动时间最长,制动距离最大;有PID控制器的车辆可以使车轮滑移率在较短的时间内稳定在最佳滑移率处,避免了车轮抱死,制动距离与制动时间相比无ABS车辆都有明显改善。This paper uses mathematical modeling to establish some major models,such as the vehicle dynamic model,slip rate model,braking system model,tire model and PID controller,And then this paper constructs the non-ABS system vehicle model,the PID controller vehicle model to conduct simulation experiments on high road friction coefficient surface,low road friction coefficient surface,and joint road surface. The paper compares these three vehicle models in car braking time,braking distance and the car locking situation and the results show that the non-ABS system model vehicles in whatever road conditions lose steering control very quickly, have the longest braking time, and have the farthest braking distance; the PID controller vehicles make the slip ratio stabilize at the optical slip ratio in a short time in order to avoid losing steering control and these vehicles have significant improvement compared with non- ABS system model vehicles.

关 键 词：制动防抱死系统 PID 对接路面 二轮车辆模型 

分 类 号：U462.32[机械工程—车辆工程]