本文選題：ABS系統(tǒng)　切入點(diǎn)：滑模控制　出處：《江西理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著汽車時代的發(fā)展,汽車與人們聯(lián)系越來越緊密,成了人民大眾最常用的交通工具。因此,中國消費(fèi)者不僅僅對汽車的數(shù)量有著很大的需求,對汽車的安全駕駛性能,尤其是ABS系統(tǒng)的安全性要求越來越高。ABS系統(tǒng)雖然還不能保證汽車達(dá)到完美控制狀態(tài),但它大大的提升了汽車制動過程中的安全性和穩(wěn)定性。如今ABS系統(tǒng)成為了一般乘用車的標(biāo)準(zhǔn)配置,科技的進(jìn)步、電子產(chǎn)業(yè)的飛速發(fā)展、電子產(chǎn)品的推陳出新也為ABS系統(tǒng)技術(shù)提供了廣發(fā)的發(fā)展空間。目前,市場上存在的ABS系統(tǒng)基本分為機(jī)械式與電子式兩大類。機(jī)械式ABS系統(tǒng)結(jié)構(gòu)簡單使用方便,主要安裝在一些皮卡和低檔配置的客車上,它的主要結(jié)構(gòu)是一個機(jī)械閥,在工作過程中系統(tǒng)通過閥體內(nèi)的橡膠氣囊對剎車壓力進(jìn)行檢測,然后根據(jù)剎車壓力的大小對車輪進(jìn)行循環(huán)的放松、制動,從而達(dá)到防止抱死的效果。電子式ABS系統(tǒng)相對于機(jī)械式而言結(jié)構(gòu)較為復(fù)雜體積更小,主要構(gòu)成部件構(gòu)成為輪速傳感器、導(dǎo)線、CPU、制動器、指示燈等,在電子式ABS系統(tǒng)工作過程中,首先由各個傳感器向CUP發(fā)送測量號,然后由CPU根據(jù)傳感器測量的信號按一定算法處理后向ABS控制器發(fā)出控制信號,控制發(fā)動機(jī)扭力輸出。由于電子式ABS系統(tǒng)可以根據(jù)不同的情況向各個車輪發(fā)出強(qiáng)弱不同的信號從而施加不同的剎車力度,因此電子式ABS系統(tǒng)能夠更加合理的分配制動力,極大地減少了緊急狀態(tài)下車輛跑偏、側(cè)滑、甩尾現(xiàn)象,從而達(dá)到了防患于未然的目的。然而,目前的汽車ABS系統(tǒng)在對汽車剎車過程中的滑移控制、在不同工況下的自適應(yīng)能力等方面還有待改進(jìn),同時,汽車ABS系統(tǒng)的系統(tǒng)性能沒有最好,只有更好,研究改進(jìn)性能更好的ABS系統(tǒng)也是業(yè)界一直在努力的課題。本文主要在總結(jié)前人工作的基礎(chǔ)上,結(jié)合汽車動力學(xué),以控制滑移率為目標(biāo),對汽車ABS系統(tǒng)控制技術(shù)進(jìn)行優(yōu)化研究。由于汽車ABS系統(tǒng)是一個時變非線性系統(tǒng),而滑模控制對系統(tǒng)存在的不確定性因素和外界干擾因素具有優(yōu)良的抗干擾性能,所以在建立ABS動力學(xué)系統(tǒng)模型(包括汽車動力學(xué)模型、輪胎模型、控制器模型、電機(jī)模型以及制動器模型等)的基礎(chǔ)上將滑模控制引入所建立的汽車ABS動力學(xué)系統(tǒng)模型中,并采用飽和函數(shù)法消除抖振現(xiàn)象。此外,針對防抱死制動系統(tǒng)研究中存在的最佳滑移率尋優(yōu)等關(guān)鍵問題,本文采用的基于LuGre模型的離線計算方法能夠很好的解決問題。最后利用神經(jīng)網(wǎng)絡(luò)算法,結(jié)合滑�？刂品椒ㄟM(jìn)一步設(shè)計了智能滑�？刂破鳌Ｔ贛ATLAB上對基于固定滑移率以及最優(yōu)滑移率的ABS系統(tǒng)進(jìn)行了仿真,仿真果表明,與普通滑�？刂破飨啾�,所設(shè)計的智能滑�？刂破餍阅芨觾�(yōu)越,控制效果更好。
[Abstract]:With the development of automobile age, cars are more and more closely connected with people and become the most commonly used means of transportation. Therefore, Chinese consumers not only have a great demand for the number of cars, but also have a great demand for their safe driving performance. Especially, the security requirement of ABS system is getting higher and higher. But it has greatly improved the safety and stability of automobile braking process. Nowadays, ABS system has become the standard configuration of passenger cars, the progress of science and technology, and the rapid development of electronic industry. The emergence of new electronic products also provides a broad development space for ABS system technology. At present, the existing ABS systems in the market are basically divided into two categories: mechanical and electronic. The structure of mechanical ABS system is simple and easy to use. Mainly installed on some pick-up trucks and low-grade passenger cars, its main structure is a mechanical valve, in the course of work, the brake pressure is detected through rubber airbags in the valve body. Then according to the size of brake pressure, the wheel is circularly relaxed and brake, so as to achieve the effect of preventing locking. The electronic ABS system has a smaller complex structure than the mechanical one, and the main component is the wheel speed sensor. In the working process of electronic ABS system, each sensor sends the measurement number to the CUP, and then the CPU processes the signal according to the signal measured by the sensor according to a certain algorithm and then sends out the control signal to the ABS controller. Control engine torque output. Because electronic ABS system can send different signals to each wheel according to different conditions and apply different braking force, electronic ABS system can distribute braking force more reasonably. The phenomenon of vehicle deviation, side slide and tail-flick is greatly reduced during the emergency. However, the current vehicle ABS system controls the slippage in the braking process of the vehicle. At the same time, the system performance of automobile ABS system is not the best, only better. The research of improving the ABS system with better performance is also a subject that the industry has been working on all the time. On the basis of summarizing the previous work and combining with the automobile dynamics, the aim of this paper is to control the slip ratio. The control technology of automobile ABS system is optimized. Because the automobile ABS system is a time-varying nonlinear system, the sliding mode control has excellent anti-interference performance to the uncertainty and external disturbance factors of the system. Therefore, the sliding mode control is introduced into the vehicle ABS dynamic system model based on the ABS dynamic system model (including automobile dynamics model, tire model, controller model, motor model and brake model, etc.). The saturation function method is used to eliminate the chattering phenomenon. In addition, the key problems in the study of anti-lock braking system, such as the optimization of the optimum slip ratio, are discussed. The off-line calculation method based on LuGre model can solve the problem well. Finally, the neural network algorithm is used to solve the problem. The intelligent sliding mode controller is further designed with the sliding mode control method. The ABS system based on the fixed slip ratio and the optimal slip ratio is simulated on MATLAB. The simulation results show that, compared with the ordinary sliding mode controller, The designed intelligent sliding mode controller has better performance and better control effect.
【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：U463.526

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