毕业设计论文-汽车防抱制动的控制仿真研究.pdf

沈阳理工大学
硕士学位论文
汽车防抱制动的控制仿真研究
姓名:田立国
申请学位级别:硕士
专业:车辆工程
指导教师:王铁
2011-03-15
沈阳理工大学硕士学位论文

摘要


汽车防抱死制动系统(Anti-lock Braking System,简称 ABS)是现代汽车
提高安全性能的主动安全装置,通过安装 ABS 来控制汽车制动时的方向稳定性、
转向操纵能力以及制动距离,但是汽车制动时本身具有非线性、时变性和不确定
性,因此,制动系统的控制方法是决定其制动性能的主要因素之一。本文围绕 ABS
的控制技术展开研究,主要工作如下:
阅读大量文献,分析 ABS 的基本组成、构造、类型、布置形式,以及工作原
理。建立单轮车辆模型、双轮车辆模型、整车模型,并采用双线性模型建立轮胎
模型,使车轮在各种典型路面的滑移率曲线简化为两段直线,以保证研究防抱制
动系统的控制逻辑精度。
在 Matlab/Simulink 环境下建立汽车防抱死制动的仿真模型,包括控制系统
模型模块、制动系统模型模块、轮胎模型模块等。本文以滑移率为研究对象,运
用逻辑门限值控制、Bang-Bang 控制、模糊 PID 控制、神经网络控制等控制方法,
分别在高、中、低三种典型附着系数路面上进行制动仿真。并对仿真的制动力矩
曲线、车速与轮速关系曲线、滑移率曲线进行制动仿真研究,结果表明神经网络
控制效果较好,具有很强的适应性和鲁棒性。

关键词:汽车,ABS,控制方法,模型,仿真
沈阳理工大学硕士学位论文

Abstract


Automobile anti-lock braking system (Anti-lock Braking System, ABS) is a kind
of modern automotive active safety device that used to improve the safety performance.
The control of the stability of the direction, the ability of steering and the braking
distance were controlled by the Anti-lock Braking System. The control method of that
system is one of the main factors which determine the braking performance, because of
the nonlinear, time variability and uncertainty of the braking system. The research of
control techniques about ABS was listed as follow:
The single-wheel model, double-wheel model and full vehicle model were
established based on the introduction of the position, structure, type, layout
and the work principle of the system in this paper. In order to guarantee the control
logic precision of ABS,bilinear model of which the curve of slip rate at different
typical pavement could be simplified into two straight line was applied to model the
tire.
The simulated model which includes control system model block, brake system
block and tire model block is established as the automobile anti-lock system on the
platform of Matlab/Simulink. The control methods such as logic threshold, Bang-Bang
control, fuzzy PID control and work co