三轴重载汽车自寻最优制动及硬件在环验证  

Self-optimizing braking and hardware-in-the-loop verification for three-axle heavy-load vehicles

作　　者：杨绍普 贾长旺 路永婕 刘鹏 YANG Shaopu;JIA Changwang;LU Yongjie;LIU Peng(Department of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang 050043,China)

机构地区：[1]石家庄铁道大学机械工程学院

出　　处：《北京交通大学学报》2019年第5期135-141,共7页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金(11572207,11472180);河北省自然科学基金(A2016210103)~~

摘　　要：为了提高三轴重载汽车的制动安全性能,搭建了制动动力学模型,基于TruckSim建立了三轴重载汽车整车模型.在对Burckhardt“轮胎-路面”模型和以往自寻最优制动理论研究的基础上,设计了应用于整车模型的三轴汽车自寻最优ABS控制器.采用硬件在环实验的方法,在高附路面、低附路面和对开路面3种工况下验证了控制器的可行性,加入传统ABS作为比较.实验结果证明,在3种工况下,自寻最优ABS将车辆控制在不同的滑移率下,低附路面下的制动效果最明显,制动时间减少0.96s,制动距离减少2.77m,横摆角速度峰值减少1°/s,说明自寻最优ABS可以自动搜索车辆当前路面下的最优滑移率,提高了三轴重载汽车的制动性能和制动过程中的稳定性.The braking dynamical model is built in order to improve the braking security perform-ance of three-axle heavy-load vehicles,of which the full vehicle model is built based on TruckSim.Combined with Burckhardt’s"tire-road"model and self-optimizing braking theory,a self-optimi-zing ABS controller applied in the whole vehicle model is designed.Through the hardware-in-the-loop experiment,the feasibility of the controller under three working conditions including high-attachment,low-attachment and split road is verified.The traditional ABS is added for com-parison.The experimental results show that the self-optimizing ABS controls the vehicle at dif-ferent slip ratios under three working conditions.The braking effect on the low attached road is the most obvious with the braking time reduced by 0.96s,the braking distance reduced by 2.77m and the peak yaw rate reduced by 1°/s.It is proved that the self-optimizing ABS can automati-cally search the optimal slip rate of the current road,which improves the braking performance and the stability during braking for three-axle heavy-load vehicles.

关 键 词：汽车工程 重载车辆特性 制动安全性 自寻最优制动 硬件在环 

分 类 号：U461.3[机械工程—车辆工程]