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汽车ABS防抱制动特性及其不解体检测技术研究
【作者】 赵祥模；
【导师】 郭晓汾；
【作者基本信息】 长安大学 ， 载运工具运用工程， 2006， 博士
【摘要】 随着汽车行驶速度的不断提高和道路行车密度的增大,对汽车行驶安全性提出了越来越高的要求。汽车防抱死制动系统ABS(Anti-lock Braking System)能够通过控制和调节车轮的制动力,防止车轮在制动时的滑转,最大限度的利用路面附着系数以缩短制动距离、防止侧滑、提高制动时的方向稳定性,从而大大改善汽车的制动性能,提高汽车的安全性。因此,ABS装置目前得到了非常快速的发展和广泛应用。对于ABS工作性能的检测和评价,通常采用的是道路试验的方法。但是,道路试验方法试验费用高、测试周期长、精度低,受环境及道路条件的影响大,只适合对部分车辆的抽检,不能适应大批量车辆的定期检测。如何实现对装有ABS车辆的制动性能进行不解体台架测试的问题,是我国汽车安全和综合性能检测行业以及汽车制造与维修企业急需解决的技术难题。针对这一问题,本文在深入分析汽车ABS防抱制动特性的基础上,对汽车ABS不解体台架检测理论进行了研究,提出了一种能够在不同路面组合工况下对ABS的工作性能进行不解体检测的方法。该方法在台架上利用惯性飞轮的转动动能来模拟汽车旋转体的转动动能及汽车直线运动的平动动能,通过扭矩控制器控制滚筒来实现对道路附着系数的模拟,通过计算机控制系统对道路附着系数模拟系统进行自动调节与控制,模拟出单一附着系数路面、对开附着系数路面和对接附着系数路面这三种ABS最典型的工况以及滚筒摩擦系数可以达到的其它任意组合形式,在车辆固定装置等安全措施保障下,完成对车辆各种制动过程的动态模拟,实现对车辆ABS系统工作性能的试验与检测。论文通过对汽车制动过程中车轮抱死影响因素的分析以及对汽车制动过程中的运动学和动力学分析,总结出了汽车ABS系统的防抱制动特性以及理想的汽车ABS防抱制动控制过程；建立了汽车制动过程中基于ABS的驾驶员反应距离数学模型、制动距离数学模型和停车距离数学模型。通过对汽车ABS的种类、装车形式及其控制原理的分析和研究,总结了ABS各个控制参数控制制动压力的方法及其适应场合；通过对ABS各种控制方案和控制算法的分析和仿真研究,提出采用多参数预测控制与模仿控制相结合作为ABS的控制方案和采用模糊控制作为ABS的控制算法更为合理。论文还对ABS试验台及测控系统的总体技术方案及其实现技术进行了深入的研究,采用协同设计及设计过程建模的方法,建立了基于扩展对象Petri网的ABS不解体试验台的设计过程模型,并对该模型进行了仿真和性能分析,提出了相应的设计过程改造和优化的途径。为了解决ABS试验台测控系统与汽车检测线的联网通信问题,论文在深入分析了串行通信、文件共享、网络数据库等三种传统的汽车检测线联网通信方式的基础上,提出了一种新的基于Winsocket技术的ABS试验台测控系统与汽车检测线联网通信的方式,在C/S模式下,解决了整个联网控制系统的车辆调度和检测数据实时传输等网络通信问题。对于检测数据的处理问题,论文在分析传统的汽车制动力检测数据拟合方法存在不足的基础上,提出了采用三次B样条函数拟合与优化的新方法,并对该方法进行了深入的理论分析和软件实现。试验结果和标定情况表明：该方法很好地解决了汽车性能检测中难以解决的制动力检测数据的分析与处理问题,使其检测精度、数据重复性乃至整个检测系统稳定性与可靠性都大为提高。本文的研究属于汽车检测技术领域的前沿课题。通过ABS不解体试验台及测试分析系统的研制,可以有效地解决我国现有的各种汽车检测试验台无法对装有ABS车辆的制动性能进行不解体测试的这一困扰我国汽车检测行业多年的技术难题,从而填补我国在汽车ABS不解体室内台架试验方面的空白,对于促进我国汽车检测技术及其装备的发展具有重要意义。
【Abstract】 With the speed acceleration of automobiles and the density of the traffic, there come higher and stricter requirements for the safety of driving. Anti-lock Braking System(ABS) of automobiles, through regulating and adjusting the braking of wheels, can make the greatest use of the road surface adhesive coefficient to shorten the braking distance, prevent side slippery, improve the steadiness of steering in braking performance, thus greatly enhance automobiles’braking performance and improve the safety of automobiles. As a result, ABS comes into quick and wide use. The testing and evaluation of the performance of ABS is often carried out through road testing. However, road testing, on the one hand, involves expensive experimenting fees, long testing cycles, low precision, and great influence by the conditions of roads and the environment, but on the other hand, it can only applies to spot checks of certain automobiles, but not to the regular testing of a host of automobiles. How to test the braking performance of automobiles equipped with ABS without disintegrating platforms remains a technological problem to be solved immediately for our country’s safety and comprehensive testing industry as well as automobile manufacturing and automobiles service industry.As far as this problem is concerned, the paper, on the basis of thorough analysis of the properties of ABS and the research on testing theories of ABS without disintegrating platforms, the paper puts forward a new testing method of the performance of ABS without disintegrating platforms in different road conditions. This method makes use of inertia flywheel turning dynamics on the platform to simulate the dynamics of the automobile’s revolver and the horizontal dynamics of automobile’s rectilinear motion. The simulation of the road surface adhesive coefficient is conducted by the torsion control over the revolver. In other words, the surface of the roller is used to substitute the surface of roads, on which wheels spin. The computer control system automatically regulates and controls the simulating system of the road surface adhesive coefficient, which makes it possible to simulate the three typical working conditions (single adhesive coefficient of the road surface, reciprocal adhesive coefficient of the road surface, docking adhesive coefficient of the road surface), and the fricative coefficient of the roller and combine them together at will. As a result, the dynamic simulation of different braking process of automobiles is available, and the trial and testing of the performance of ABS with the safety guarantee of automobile’s fixed equipment is available, too.The paper, through the analysis of the locking factors of automobile’s braking process and kinematics dynamics, summarizes the anti-locking properties of ABS and the ideal anti-locking process of ABS; in the meanwhile, it constructs the mathematic model of reactive distance of drivers with ABS, the mathematic model of transportation braking distance as well as the mathematic model of parking distance. With the analysis of the types, loading and the controlling theories of ABS, the paper explores the methods of the braking pressure of ABS’different regulating parameters and its appliances. With the regulating schemes of ABS and the simulated research, the paper comes up with the conception that that it is more rational to adopt fuzzy control as the regulating algorithm of ABS by combining multi-parameters’detective control and simulated test.The paper, conducting a thorough research of the overall technological scheme and its technological fulfillment of ABS’testing platform and monitoring system, uses the methods of coordinative designing and model construction in the designing process, builds the designing process model of ABS without disintegrating platforms based on the expanded target—Petri net, and simulates and analyzes the properties of the models. Meanwhile it also put forwards the innovating and optimizing methods in the designing process. In order to solve the communication problems of monitoring system of testing platform monitoring system and automobile’s testing line, the paper, after the thorough analysis of the three traditional automobile testing networking methods of skipping communication, data sharing, net data bank, proposes a new monitoring system of ABS testing platform and automobile testing networking communication based on the technology of Winsocket, which solves the networking problems of automobile dispatch in networking control system and networking communicative methods of automobile testing under the pattern of C/S. In terms of the procession of testing data, this paper analyze the shortcomings of quasi-harmony of the traditional method of testing data, recommends the adoption of the new quasi-harmony and optimizing methods of three B functions, and undertake further theoretic analysis and software realization. The testing results and standardization shows that this method solves the difficult tasks of the analyzing and procession of braking testing data, thus greatly improve the precision, data repetitiveness and even the steadiness and reliability of the whole testing system.The research of this paper is a frontier research topic in automobile performance test. Through the development of testing platform without disintegration as well as the testing and analyzing system, the technological problems of testing braking system of automobiles with ABS by all existing automobile testing platform can be effectively solved, which baffle our country’s automobile’s testing industry for years. This research fills the gaps in this field; meanwhile, it is of great significance to our country’s development in automobile testing technology and equipment.