汽车底盘系统分层式协调控制研究
|
摘要
随着汽车底盘一体化集成控制系统的不断发展,对底盘系统的集成控制研究愈加紧迫。基于此,本文对汽车底盘系统中的悬架系统、电动助力转向系统及制动系统进行了分层式协调控制研究。分层式协调控制策略与集中控制、分散控制相比,具有控制器设计复杂程度低、控制系统稳定性高、便于集成控制系统扩展等优点,为汽车底盘一体化集成控制提供了新思路。
本文以半车为研究对象,首先对悬架系统、电动助力转向系统及制动系统分别建立数学模型,模型的建立并不考虑子系统间的相互影响,采用不同控制方法对各子系统进行控制器设计,并进行了仿真研究。然后,利用前面设计好的各子系统控制器作为底层控制器,在深入分析悬架系统与制动系统、电动助力转向系统与制动系统以及三系统间的相互影响的基础上,设计了上层协调控制器。上层协调控制器是一个决策控制器,起到了对底层控制器决策、监控的作用。它相当于一个选择开关:当车辆正常行驶时,上层协调控制器起到了监控各底层控制器的作用,各传感器信号通过CAN总线传输到上层协调控制器,对主要指标进行监控;当出现异常情况时(如紧急制动),上层协调控制器对主要指标进行监控,发现异常后对底层控制器发出决策指令。仿真结果表明:采用分层式协调控制策略,在保证子系统性能良好的情况下,汽车综合性能得到提高。
本文的试验研究较为深入。首先基于LabVIEW开发平台进行了防抱制动系统硬件在环试验,缩短了ABS电子控制单元的开发周期;然后基于ARM7和protel开发平台进行了ABS、EPS实际控制器的开发;最后,基于分层协调控制策略,设计了上层协调控制器,以协调ABS、EPS之间的矛盾性。试验结果表明:底层ABS、EPS子控制器控制逻辑正确,上层协调器决策控制输出设计合理,在降低较少制动性能基础上,车辆的操纵性能、横向稳定性能得到较大提高,从而获得良好的综合性能。
Along with the development of vehicle chassis integrated control, research on it became more urgent. Under this circumstance, research on layered coordinated control among suspension system, electric power steering system and braking system was carried out. Compared with concentrated control and distributed control, advantages of layered coordinated control can be described as follows: complication of controller design is decreased, control stability is improved and it is easier to extend control subsystem. Layered coordinated control supplied a new method for vehicle chassis integrated control.
Based on semi-vehicle model, mathematical model was separately established for suspension system, electric power steering system (EPS) and braking system. During the course of model establishment, influences among subsystems were not taken into account. Different control methods were adopted for controllers' design of subsystems, the simulation research was carried out. Took controllers designed for subsystems as bottom controllers, upper coordinated controller was designed based on deeply analyzing the influences among suspension system, electric power steering system and braking system. Upper coordinated controller was a decision-making controller, the function was to make decisions and monitor bottom controllers. Just like a switch, upper coordinated controller only monitored bottom controllers when vehicle ran normally. Sensor signals were transmitted to upper coordinated controller through CAN bus; when exceptional circumstances happened such as emergency brake, main indexes were monitored and the decisions were made by upper coordinated controller. Simulation results show that vehicle synthesis performance is improved adopting layered coordinated control.
Deeply experimentation research was carried out. First, hardware in the loop(HIL) experiment of anti-lock braking system(ABS) was carried out, the developing periods of ABS electronic control unit (ECU)was obviously decreased. Second, controllers' development of ABS and EPS were carried out based on ARM7 and protel software platform. At last, based on layered coordinated control strategy, upper coordinated controller was designed in order to coordinate the contradictions between ABS and EPS. The experimentation results show that decision-making of upper coordinated controller is logical and control logic of bottom controllers is correct. Vehicle maneuver performance and lateral stabilization are obviously improved based on decreasing brake performance. A better vehicle synthesis performance can be achieved by using layered coordinated control.
本文以半车为研究对象,首先对悬架系统、电动助力转向系统及制动系统分别建立数学模型,模型的建立并不考虑子系统间的相互影响,采用不同控制方法对各子系统进行控制器设计,并进行了仿真研究。然后,利用前面设计好的各子系统控制器作为底层控制器,在深入分析悬架系统与制动系统、电动助力转向系统与制动系统以及三系统间的相互影响的基础上,设计了上层协调控制器。上层协调控制器是一个决策控制器,起到了对底层控制器决策、监控的作用。它相当于一个选择开关:当车辆正常行驶时,上层协调控制器起到了监控各底层控制器的作用,各传感器信号通过CAN总线传输到上层协调控制器,对主要指标进行监控;当出现异常情况时(如紧急制动),上层协调控制器对主要指标进行监控,发现异常后对底层控制器发出决策指令。仿真结果表明:采用分层式协调控制策略,在保证子系统性能良好的情况下,汽车综合性能得到提高。
本文的试验研究较为深入。首先基于LabVIEW开发平台进行了防抱制动系统硬件在环试验,缩短了ABS电子控制单元的开发周期;然后基于ARM7和protel开发平台进行了ABS、EPS实际控制器的开发;最后,基于分层协调控制策略,设计了上层协调控制器,以协调ABS、EPS之间的矛盾性。试验结果表明:底层ABS、EPS子控制器控制逻辑正确,上层协调器决策控制输出设计合理,在降低较少制动性能基础上,车辆的操纵性能、横向稳定性能得到较大提高,从而获得良好的综合性能。
Along with the development of vehicle chassis integrated control, research on it became more urgent. Under this circumstance, research on layered coordinated control among suspension system, electric power steering system and braking system was carried out. Compared with concentrated control and distributed control, advantages of layered coordinated control can be described as follows: complication of controller design is decreased, control stability is improved and it is easier to extend control subsystem. Layered coordinated control supplied a new method for vehicle chassis integrated control.
Based on semi-vehicle model, mathematical model was separately established for suspension system, electric power steering system (EPS) and braking system. During the course of model establishment, influences among subsystems were not taken into account. Different control methods were adopted for controllers' design of subsystems, the simulation research was carried out. Took controllers designed for subsystems as bottom controllers, upper coordinated controller was designed based on deeply analyzing the influences among suspension system, electric power steering system and braking system. Upper coordinated controller was a decision-making controller, the function was to make decisions and monitor bottom controllers. Just like a switch, upper coordinated controller only monitored bottom controllers when vehicle ran normally. Sensor signals were transmitted to upper coordinated controller through CAN bus; when exceptional circumstances happened such as emergency brake, main indexes were monitored and the decisions were made by upper coordinated controller. Simulation results show that vehicle synthesis performance is improved adopting layered coordinated control.
Deeply experimentation research was carried out. First, hardware in the loop(HIL) experiment of anti-lock braking system(ABS) was carried out, the developing periods of ABS electronic control unit (ECU)was obviously decreased. Second, controllers' development of ABS and EPS were carried out based on ARM7 and protel software platform. At last, based on layered coordinated control strategy, upper coordinated controller was designed in order to coordinate the contradictions between ABS and EPS. The experimentation results show that decision-making of upper coordinated controller is logical and control logic of bottom controllers is correct. Vehicle maneuver performance and lateral stabilization are obviously improved based on decreasing brake performance. A better vehicle synthesis performance can be achieved by using layered coordinated control.
引文
[1]郭顺生,李益兵,杨明忠.汽车电动动力转向的发展与研究.北京汽车,2001,No4,1-2.
[2]冯樱,肖生发,李春茂.电子控制式电动助力动力转向系统的控制.汽车研究与开发.2001(6),34-36、50.
[3]朱迅.新型电子控制电动助力转向系统.北京汽车,1996.4,33-37.
[4]张卫冬,余达太,晏蔚光等.一种智能电动助力转向系统.北京科技大学学报,2003,25(1):66-68.
[5]张增年,陈无畏,郁明.电动助力转向系统神经网络变结构控制器.农业机械学报,2007,38(7),1-4.
[6]J.S.Chen.Control of electric power steering system.SAE paper 981116.
[7]黄森仁.汽车电动助力转向系统(EPS)的研究:[硕士学位论文].合肥:合肥工业大学,2003.
[8]王启瑞,黄森仁,陈无畏等.基于模糊自调整PD控制的EPS助力特性研究.农业机械学报,2004,35(4),1-4.
[9]邱明,杨家军,刘照等.基于H_∞鲁棒控制原理的电动助力转向系统研究.华中科技大学学报,2002,30(12),71-73.
[10]刘照,杨家军,廖道训.基于混合灵敏度方法的电动助力转向系统控制.中国机械工程,2003,14(10),874-876.
[11]刘照,杨家军,廖道训.基于动态分析的电动助力转向系统设计与研究.华中科技大学学报,2001,29(12),24-26.
[12]林逸,施国标.汽车电动助力转向技术的发展现状与趋势.公路交通科技,2001,3,79-83.
[13]刘立强.基于输出反馈的汽车电动助力转向与主动悬架系统集成控制研究:[硕士学位论文].合肥:合肥工业大学,2005.
[14]刘朝红,韩进.汽车ABS的应用及发展方向.本溪冶金高等专科学校学报,2002.6.
[15]申荣卫,台晓虹.汽车制动防抱系统的历史及其发展趋势.邢台职业技术学院学报,2005.2.
[16]郭孔辉,丁海涛,刘溧.汽车ABS混合仿真试验台的开发与研究.中国机械工程,2000,11(12):1417-1421.
[17]王德平,郭孔辉.车辆动力学稳定性控制的控制原理与控制策略研究.机械工程学报,2000,36(3):97-99.
[18]郭孔辉,丁海涛.轮胎附着极限下差动制动对汽车横摆力矩的影响.汽车工程,2002,24(2):101-104.
[19]郭孔辉,王会义.模糊控制方法在汽车防抱制动系统中的应用.汽车技术,2000,3:7-10.
[20]郭孔辉,刘溧,丁海涛.汽车防抱制动系统的液压特性.吉林工业大学自然科学学报,1999,29(4):1-5.
[21]王会义,高博,宋健.汽车ABS电磁阀动作响应测试与分析.汽车工程,2002,24(1):29-31.
[22]厉朴,宋健,于良耀.ABS轮速信号抗干扰处理方法.汽车技术,2001,5:15-17.
[23]李永,宋健.基于制动器耗散的ABS实验方法研究.公路交通科技,2004,21(3):91-95.[24]厉朴,宋健,于良耀.汽车防抱制动系统轮速信号异点剔出预处理方法.公路交通科技,2001,18(4):120-122.
[25]吴诰珪,许季,刘绍辉.汽车防抱制动系统制动时的车速计算.华南理工大学学报(自然科学版),2002,30(2):76-78.
[26]吴诰珪,刘绍辉.汽车ABS制动轮缸压力函数的试验研究.机床与液压,2001,No.3:25-26.
[27]吴诰珪,周全,廖俊.汽车ABS制动过程车速的一种测量方法.机电工程技术,2005,34(4):90-92.
[28]吴诰珪,廖俊,周全.客车ABS制动的车速分析与试验.机床与液压,2005,No.9:101-103.
[29]吴诰珪,赵克刚,范刚等.附着系数-滑移率曲线的测定.华南理工大学学报(自然科学版),2001,29(9):20-22.
[30]郑伟峰,刘国福.国内ABS发展现状.汽车电器,2005年第11期.
[31]李春明.汽车底盘电控技术.北京:机械工业出版社,2004.
[32]鲁植雄编.汽车ABS.ASR和ESP维修图解.电子工业出版社,2006.
[33]陈励志.先进的底盘控制系统的发展趋势.汽车工程,2002(VoL.24)No.5
[34]李建勋,张春化.速度分段在ABS逻辑门限值控制法中的研究与应用.设计.计算.研究,2004.11.
[35]陶永华.PID控制原理与自整定策略.工业仪表与自动化装置,1997(4),60-64.
[36]Taketoshi Kawabe,Masao Nakazawa.etc.A Sliding Mode Controller for Anti-lock Brake System:Usage of Sluggish Actuators.Proceedings of the 35~(th) Conference on Decision and Control Kobe,Japan,Dec,1996.
[37]Michael Schinkel and Ken Hunt.Anti-Lock Braking Control using a Sliding Mode like Approach.Proceedings of the American Control Conference Anchorage,AK May8-10,2002.
[38]Sergey Drakunov,Peter Dix,etc ABS Control Using Optimum Search via Sliding Modes.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,VOL,3.NO.1.MARCH.1995.
[39]Guy Kokes,Tarunraj Singh.Adaptive Fuzzy Logic Control of an Anti-lock Braking System.Proceedings of the 1999 IEEE International Conference on Control Applications Kohala Coast-Island of Hawai' I,Hawai' I,USA.August 22-27,1999.
[40]Chih-Keng Chen*and Yu-Chi Wang.Fuzzy Control for the Anti-lock Brake System,IEEE,1996.
[41]F.Chikhi,A.El Hadri.ABS control design based on wheel-slip peak localization.Fifth International Workshop on Robot Motion and Control,June 23-25,2005.
[42]王望予.汽车设计.北京:机械工业出版社,2000.
[43]孙求理,张洪欣.主动悬架的发展和技术现状.世界汽车,1996年第5期,4-6.
[44]陈无畏等.汽车悬架的主动控制研究及发展.安徽工学院学报.1993,12(增刊),81-84.
[45]J.J.Kok,J.G.A.M.van Heck.Active and semi-active control of suspension systems for commercial vehicles based on preview.Proceedings of the American Control Conference.Albuquerque.New Mexico.June 1997
[46]H.Nakai,S.Oosaku,Y.Motozono.Application of practical observer to semi-active suspensions.Journal of Dynamic Systems,Measurement,and Control,Vol.122,No.2,284-289,2000.
[47]Katsuya Tanifuji,Satoshi Koizumi,Ryo-hei Shimamune.Mechatronics in Japanese rail vehicles:active and semi-active suspensions.Control Engineering Practice.2002,10:999-1004
[48]李栓成,王天颖.现代轿车电控悬架的结构原理和维修.北京理工大学出版社.1998.
[49]J.Bokor.Design of Active Suspension System in the Presence of physical Parameter Uncertainties.SAE,No.945062.
[50]A.S.Cherry and R.P.Jones.Fuzzy logic control of an automotive suspension system.IEE,1995,Vol 142,No.2,149-160.
[51]H.E.TSENG and J.K.HEDRICK.Semi-Active Control Laws-Optimal and Sub-optimal.VSD,23(1994),545-569.
[52]Nagai,M.and Hasegawa,T.,Vibration isolation analysis and semi-active control of vehicles with connected front and rear suspension dampers,JSAE Review 1997(18):22-26.
[53]Aleksandor HAC.Optimal Linear Preview Control of Active Vehicle Suspension.VSD,21(1992),167-195.
[54]Hung-Hsu Fred Chen and Dennis A.Guenther.Self-tuning Optimal Control of an Active Suspension.SAE paper,No892485.
[55]Moran Antonio and Nagai Masao.Optimal Preview Control of Rear Suspension Using Nonlinear Neural Networks.AVEC'92(1992.9).
[56]H.K.SACHS.An Adaptive Control for Vehicle Suspensions.VSD,8(1979).,201-206.
[57]A.HAC.Adaptive Control of Vehicle Suspension.VSD,16(1987),57-74.
[58]P.BARAK,D.HROVAT.Application of LQG approach to design of an automotive suspension for three dimensional vehicle models.C421/88,IMeche.1988.
[59]El-Madany,M.,Optimal Linear Active Suspensions with Multivariable Integral Control.Vehicle System Dynamics,1990(19):313-329.
[60]陈无畏,王志君,范迪彬等.汽车半主动悬架的神经网络自适应控制.汽车工程,1998,20(1):31-36.
[61]乔宇,王洪礼.汽车主动非线形振动的VOFB控制[J].机械工程学报,2002,38(12):21-24.
[62]李克强,高锋,永井正夫.基于多自由度车辆模型的主动悬架研究.中国机械工程,2003,14(14):1249-1251.
[63]王霞.汽车防抱制动与主动前轮转向系统协调控制研究:[硕士学位论文].合肥:合肥工业大学,2007.
[64]庄继德著.汽车电子控制系统工程.北京:北京理工大学出版社,1998.
[65]A.Tr(a|¨)chtler.Integrated vehicle dynamics control using active brake,steering and suspension systems.International Journal of Vehicle Design,2004,13(6):789-193
[66]R.S.Sharp and D.A.Crolla.Road Vehicle Suspension System Design-a review.VSD,16(1987),167-192.
[67]M.Harada and Harada.Analysis of lateral stability with integrated control of suspension and steering systems.JSAE Review,1999,20:465-570.
[68]E.Ono,K.Takanami,et al.Vehicle integrated control for steering and traction systems by μ-synthesis.Automatica,1994,30(11):1639-647.
[69]Y.Ghoneim,W.Lin,et al.Integrated chassis control system to enhance vehicle stability.International Journal of Vehicle Design,2000,23(1/2):124-144.
[70]李君,喻凡等.车辆转向制动防抱死系统仿真研究.系统仿真学报.2001,13(6)789-793.
[71]程军,崔继波,徐光辉等.车辆控制系统集成开发系统.汽车工程,2000,22(2:109-114.
[72]王启瑞,刘立强,陈无畏.基于随机次优控制的汽车电动助力转向与主动悬架集成控制.中国机械工程,2005.
[73]陈无畏,王妍旻,王其东等.电动助力转向与主动悬架系统多变量自适应集成控制.振动工程学报,2005.
[74]赵君卿,王其东.电动助力转向与主动悬架集成控制及其仿真.合肥工业大学学报(自然科学版),2005.
[75]孙启启.基于干扰抑制的汽车电动助力转向与主动悬架系统的集成控制研究:[硕士学位论文].合肥:合肥工业大学,2006.
[76][日]小林明等,汽车工程手册.北京:机械工业出版社,1985年第一版.
[77]Dave Crolla,喻凡.车辆动力学及其控制[M].北京:人民交通出版社,2004.
[78]Dave Crolla,俞凡著.车辆系统动力学.北京:人民交通出版社,2004.
[79]庄继德著.现代汽车轮胎技术.北京:北京理工大学出版社,2001.3.
[80]陈无畏,孙启启,初长宝.汽车电动助力转向与主动悬架系统的H_∞集成控制[J].振动工程学报,2007,20(1):45-51.
[81]Bakker E,Nyborg L,Pacejka B.Tyre modeling for use in vehicle dynamics studies.SAE paper No.870421,1987:2190-2198.
[82]C.SzcZepaniak,A.S.Szosland.Fuzzy logic control of motor vehicle.Intelligent Vehicle Symposium.IEEE.2002,2:364-369.
[83]郭孔辉,丁海涛,刘溧.汽车ABS混合仿真试验台的开发与研究[J].中国机械工程,2000,11(12):1417-1421.
[84]杨乐平,李海涛,杨磊编著.LABVIEW程序设计与应用[M].北京:电子工业出版社,2005.
[85]谢启,方玉.基于LabVIEW软件开发测试系统得关键技术研究.机床与液压,2005,10:151-153.
[86]陆亨雨,马法成,蔡其逢.LabVIEW在汽车ABS测试中的应用.国外电子测量技术,2006,25(1):54-57.
[87]龙涛,郁凯元,冯月贵.LabVIEW在汽车ABS制动管道动态特性测试中的应用.电子机械工程,2002,18(6):39-41.
[88]李微,王翠,彭永进.基于LabVIEW的汽车ABS轮速传感器测试系统的设计.中国仪器仪表,2006,5:69-71.
[89]刘剑飞,申琳,张云龙.电容储能式高速电磁阀驱动电路的研制.自控与测量,2005,(7):93-95.
[90]孙薇,汪志中.MC33289型驱动器在汽车制动系统中的应用.国外电子元器件,200B 11:43-45
[91]Infineon Semiconductor Corporation Technical Data.Smart Highside High Current Power Switch.Order Number:BTS6510,2003.
[92]高松,应启戛,魏民祥.CAN总线及其在汽车计算机控制系统中的应用.上海理工大学学报,2002.
[93]孙仁云,郭辛,龙行现.基于门限值控制的汽车ABS控制器的研制.西南交通大学学报,2003,(38):4.
[94]秦明辉.基于ARM的汽车防抱死制动系统设计:[硕士学位论文].合肥:合肥工业大学,2008.
[95]田泽.嵌入式系统开发与应用教程.北京:北京航空航天大学出版社,2005.
[96]周立功等.ARM嵌入式系统基础教程.北京:北京航空航天大学出版社.2005.
[97]周立功等.ARM嵌入式系统实验教程(一).北京:北京航空航天大学出版社.2005.
[98]周立功等.ARM嵌入式系统实验教程(二).北京:北京航空航天大学出版社.2005.
[99]周立功等.ARM嵌入式系统实验教程(三).北京:北京航空航天大学出版社.2005.
[100]周立功等.ARM嵌入式系统实验教程(三)-扩展实验.北京:北京航空航天大学出版社.2005.
[101]余卓平,管迪华.汽车防抱死制动装置抗路面不平度干扰的数字滤法.中国公路学报,1999,(1):95-99.
[2]冯樱,肖生发,李春茂.电子控制式电动助力动力转向系统的控制.汽车研究与开发.2001(6),34-36、50.
[3]朱迅.新型电子控制电动助力转向系统.北京汽车,1996.4,33-37.
[4]张卫冬,余达太,晏蔚光等.一种智能电动助力转向系统.北京科技大学学报,2003,25(1):66-68.
[5]张增年,陈无畏,郁明.电动助力转向系统神经网络变结构控制器.农业机械学报,2007,38(7),1-4.
[6]J.S.Chen.Control of electric power steering system.SAE paper 981116.
[7]黄森仁.汽车电动助力转向系统(EPS)的研究:[硕士学位论文].合肥:合肥工业大学,2003.
[8]王启瑞,黄森仁,陈无畏等.基于模糊自调整PD控制的EPS助力特性研究.农业机械学报,2004,35(4),1-4.
[9]邱明,杨家军,刘照等.基于H_∞鲁棒控制原理的电动助力转向系统研究.华中科技大学学报,2002,30(12),71-73.
[10]刘照,杨家军,廖道训.基于混合灵敏度方法的电动助力转向系统控制.中国机械工程,2003,14(10),874-876.
[11]刘照,杨家军,廖道训.基于动态分析的电动助力转向系统设计与研究.华中科技大学学报,2001,29(12),24-26.
[12]林逸,施国标.汽车电动助力转向技术的发展现状与趋势.公路交通科技,2001,3,79-83.
[13]刘立强.基于输出反馈的汽车电动助力转向与主动悬架系统集成控制研究:[硕士学位论文].合肥:合肥工业大学,2005.
[14]刘朝红,韩进.汽车ABS的应用及发展方向.本溪冶金高等专科学校学报,2002.6.
[15]申荣卫,台晓虹.汽车制动防抱系统的历史及其发展趋势.邢台职业技术学院学报,2005.2.
[16]郭孔辉,丁海涛,刘溧.汽车ABS混合仿真试验台的开发与研究.中国机械工程,2000,11(12):1417-1421.
[17]王德平,郭孔辉.车辆动力学稳定性控制的控制原理与控制策略研究.机械工程学报,2000,36(3):97-99.
[18]郭孔辉,丁海涛.轮胎附着极限下差动制动对汽车横摆力矩的影响.汽车工程,2002,24(2):101-104.
[19]郭孔辉,王会义.模糊控制方法在汽车防抱制动系统中的应用.汽车技术,2000,3:7-10.
[20]郭孔辉,刘溧,丁海涛.汽车防抱制动系统的液压特性.吉林工业大学自然科学学报,1999,29(4):1-5.
[21]王会义,高博,宋健.汽车ABS电磁阀动作响应测试与分析.汽车工程,2002,24(1):29-31.
[22]厉朴,宋健,于良耀.ABS轮速信号抗干扰处理方法.汽车技术,2001,5:15-17.
[23]李永,宋健.基于制动器耗散的ABS实验方法研究.公路交通科技,2004,21(3):91-95.[24]厉朴,宋健,于良耀.汽车防抱制动系统轮速信号异点剔出预处理方法.公路交通科技,2001,18(4):120-122.
[25]吴诰珪,许季,刘绍辉.汽车防抱制动系统制动时的车速计算.华南理工大学学报(自然科学版),2002,30(2):76-78.
[26]吴诰珪,刘绍辉.汽车ABS制动轮缸压力函数的试验研究.机床与液压,2001,No.3:25-26.
[27]吴诰珪,周全,廖俊.汽车ABS制动过程车速的一种测量方法.机电工程技术,2005,34(4):90-92.
[28]吴诰珪,廖俊,周全.客车ABS制动的车速分析与试验.机床与液压,2005,No.9:101-103.
[29]吴诰珪,赵克刚,范刚等.附着系数-滑移率曲线的测定.华南理工大学学报(自然科学版),2001,29(9):20-22.
[30]郑伟峰,刘国福.国内ABS发展现状.汽车电器,2005年第11期.
[31]李春明.汽车底盘电控技术.北京:机械工业出版社,2004.
[32]鲁植雄编.汽车ABS.ASR和ESP维修图解.电子工业出版社,2006.
[33]陈励志.先进的底盘控制系统的发展趋势.汽车工程,2002(VoL.24)No.5
[34]李建勋,张春化.速度分段在ABS逻辑门限值控制法中的研究与应用.设计.计算.研究,2004.11.
[35]陶永华.PID控制原理与自整定策略.工业仪表与自动化装置,1997(4),60-64.
[36]Taketoshi Kawabe,Masao Nakazawa.etc.A Sliding Mode Controller for Anti-lock Brake System:Usage of Sluggish Actuators.Proceedings of the 35~(th) Conference on Decision and Control Kobe,Japan,Dec,1996.
[37]Michael Schinkel and Ken Hunt.Anti-Lock Braking Control using a Sliding Mode like Approach.Proceedings of the American Control Conference Anchorage,AK May8-10,2002.
[38]Sergey Drakunov,Peter Dix,etc ABS Control Using Optimum Search via Sliding Modes.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,VOL,3.NO.1.MARCH.1995.
[39]Guy Kokes,Tarunraj Singh.Adaptive Fuzzy Logic Control of an Anti-lock Braking System.Proceedings of the 1999 IEEE International Conference on Control Applications Kohala Coast-Island of Hawai' I,Hawai' I,USA.August 22-27,1999.
[40]Chih-Keng Chen*and Yu-Chi Wang.Fuzzy Control for the Anti-lock Brake System,IEEE,1996.
[41]F.Chikhi,A.El Hadri.ABS control design based on wheel-slip peak localization.Fifth International Workshop on Robot Motion and Control,June 23-25,2005.
[42]王望予.汽车设计.北京:机械工业出版社,2000.
[43]孙求理,张洪欣.主动悬架的发展和技术现状.世界汽车,1996年第5期,4-6.
[44]陈无畏等.汽车悬架的主动控制研究及发展.安徽工学院学报.1993,12(增刊),81-84.
[45]J.J.Kok,J.G.A.M.van Heck.Active and semi-active control of suspension systems for commercial vehicles based on preview.Proceedings of the American Control Conference.Albuquerque.New Mexico.June 1997
[46]H.Nakai,S.Oosaku,Y.Motozono.Application of practical observer to semi-active suspensions.Journal of Dynamic Systems,Measurement,and Control,Vol.122,No.2,284-289,2000.
[47]Katsuya Tanifuji,Satoshi Koizumi,Ryo-hei Shimamune.Mechatronics in Japanese rail vehicles:active and semi-active suspensions.Control Engineering Practice.2002,10:999-1004
[48]李栓成,王天颖.现代轿车电控悬架的结构原理和维修.北京理工大学出版社.1998.
[49]J.Bokor.Design of Active Suspension System in the Presence of physical Parameter Uncertainties.SAE,No.945062.
[50]A.S.Cherry and R.P.Jones.Fuzzy logic control of an automotive suspension system.IEE,1995,Vol 142,No.2,149-160.
[51]H.E.TSENG and J.K.HEDRICK.Semi-Active Control Laws-Optimal and Sub-optimal.VSD,23(1994),545-569.
[52]Nagai,M.and Hasegawa,T.,Vibration isolation analysis and semi-active control of vehicles with connected front and rear suspension dampers,JSAE Review 1997(18):22-26.
[53]Aleksandor HAC.Optimal Linear Preview Control of Active Vehicle Suspension.VSD,21(1992),167-195.
[54]Hung-Hsu Fred Chen and Dennis A.Guenther.Self-tuning Optimal Control of an Active Suspension.SAE paper,No892485.
[55]Moran Antonio and Nagai Masao.Optimal Preview Control of Rear Suspension Using Nonlinear Neural Networks.AVEC'92(1992.9).
[56]H.K.SACHS.An Adaptive Control for Vehicle Suspensions.VSD,8(1979).,201-206.
[57]A.HAC.Adaptive Control of Vehicle Suspension.VSD,16(1987),57-74.
[58]P.BARAK,D.HROVAT.Application of LQG approach to design of an automotive suspension for three dimensional vehicle models.C421/88,IMeche.1988.
[59]El-Madany,M.,Optimal Linear Active Suspensions with Multivariable Integral Control.Vehicle System Dynamics,1990(19):313-329.
[60]陈无畏,王志君,范迪彬等.汽车半主动悬架的神经网络自适应控制.汽车工程,1998,20(1):31-36.
[61]乔宇,王洪礼.汽车主动非线形振动的VOFB控制[J].机械工程学报,2002,38(12):21-24.
[62]李克强,高锋,永井正夫.基于多自由度车辆模型的主动悬架研究.中国机械工程,2003,14(14):1249-1251.
[63]王霞.汽车防抱制动与主动前轮转向系统协调控制研究:[硕士学位论文].合肥:合肥工业大学,2007.
[64]庄继德著.汽车电子控制系统工程.北京:北京理工大学出版社,1998.
[65]A.Tr(a|¨)chtler.Integrated vehicle dynamics control using active brake,steering and suspension systems.International Journal of Vehicle Design,2004,13(6):789-193
[66]R.S.Sharp and D.A.Crolla.Road Vehicle Suspension System Design-a review.VSD,16(1987),167-192.
[67]M.Harada and Harada.Analysis of lateral stability with integrated control of suspension and steering systems.JSAE Review,1999,20:465-570.
[68]E.Ono,K.Takanami,et al.Vehicle integrated control for steering and traction systems by μ-synthesis.Automatica,1994,30(11):1639-647.
[69]Y.Ghoneim,W.Lin,et al.Integrated chassis control system to enhance vehicle stability.International Journal of Vehicle Design,2000,23(1/2):124-144.
[70]李君,喻凡等.车辆转向制动防抱死系统仿真研究.系统仿真学报.2001,13(6)789-793.
[71]程军,崔继波,徐光辉等.车辆控制系统集成开发系统.汽车工程,2000,22(2:109-114.
[72]王启瑞,刘立强,陈无畏.基于随机次优控制的汽车电动助力转向与主动悬架集成控制.中国机械工程,2005.
[73]陈无畏,王妍旻,王其东等.电动助力转向与主动悬架系统多变量自适应集成控制.振动工程学报,2005.
[74]赵君卿,王其东.电动助力转向与主动悬架集成控制及其仿真.合肥工业大学学报(自然科学版),2005.
[75]孙启启.基于干扰抑制的汽车电动助力转向与主动悬架系统的集成控制研究:[硕士学位论文].合肥:合肥工业大学,2006.
[76][日]小林明等,汽车工程手册.北京:机械工业出版社,1985年第一版.
[77]Dave Crolla,喻凡.车辆动力学及其控制[M].北京:人民交通出版社,2004.
[78]Dave Crolla,俞凡著.车辆系统动力学.北京:人民交通出版社,2004.
[79]庄继德著.现代汽车轮胎技术.北京:北京理工大学出版社,2001.3.
[80]陈无畏,孙启启,初长宝.汽车电动助力转向与主动悬架系统的H_∞集成控制[J].振动工程学报,2007,20(1):45-51.
[81]Bakker E,Nyborg L,Pacejka B.Tyre modeling for use in vehicle dynamics studies.SAE paper No.870421,1987:2190-2198.
[82]C.SzcZepaniak,A.S.Szosland.Fuzzy logic control of motor vehicle.Intelligent Vehicle Symposium.IEEE.2002,2:364-369.
[83]郭孔辉,丁海涛,刘溧.汽车ABS混合仿真试验台的开发与研究[J].中国机械工程,2000,11(12):1417-1421.
[84]杨乐平,李海涛,杨磊编著.LABVIEW程序设计与应用[M].北京:电子工业出版社,2005.
[85]谢启,方玉.基于LabVIEW软件开发测试系统得关键技术研究.机床与液压,2005,10:151-153.
[86]陆亨雨,马法成,蔡其逢.LabVIEW在汽车ABS测试中的应用.国外电子测量技术,2006,25(1):54-57.
[87]龙涛,郁凯元,冯月贵.LabVIEW在汽车ABS制动管道动态特性测试中的应用.电子机械工程,2002,18(6):39-41.
[88]李微,王翠,彭永进.基于LabVIEW的汽车ABS轮速传感器测试系统的设计.中国仪器仪表,2006,5:69-71.
[89]刘剑飞,申琳,张云龙.电容储能式高速电磁阀驱动电路的研制.自控与测量,2005,(7):93-95.
[90]孙薇,汪志中.MC33289型驱动器在汽车制动系统中的应用.国外电子元器件,200B 11:43-45
[91]Infineon Semiconductor Corporation Technical Data.Smart Highside High Current Power Switch.Order Number:BTS6510,2003.
[92]高松,应启戛,魏民祥.CAN总线及其在汽车计算机控制系统中的应用.上海理工大学学报,2002.
[93]孙仁云,郭辛,龙行现.基于门限值控制的汽车ABS控制器的研制.西南交通大学学报,2003,(38):4.
[94]秦明辉.基于ARM的汽车防抱死制动系统设计:[硕士学位论文].合肥:合肥工业大学,2008.
[95]田泽.嵌入式系统开发与应用教程.北京:北京航空航天大学出版社,2005.
[96]周立功等.ARM嵌入式系统基础教程.北京:北京航空航天大学出版社.2005.
[97]周立功等.ARM嵌入式系统实验教程(一).北京:北京航空航天大学出版社.2005.
[98]周立功等.ARM嵌入式系统实验教程(二).北京:北京航空航天大学出版社.2005.
[99]周立功等.ARM嵌入式系统实验教程(三).北京:北京航空航天大学出版社.2005.
[100]周立功等.ARM嵌入式系统实验教程(三)-扩展实验.北京:北京航空航天大学出版社.2005.
[101]余卓平,管迪华.汽车防抱死制动装置抗路面不平度干扰的数字滤法.中国公路学报,1999,(1):95-99.