汽车电子差速锁系统（EDS）自动控制策略及技术研究
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摘要
军用越野及载重汽车,为保证战时后勤需要,对汽车在特殊道路和环境下的机动性能与通过性能提出了较高的要求。汽车电子差速锁系统(Electronic Differential System,简称EDS)是改善车辆机动性与通过性能的有效方法之一,其根据各驱动轮的附着状况,对差速锁适时锁止与分离,充分发挥地面附着力,可有效提高汽车的通过性能。因此,EDS自动控制策略及技术的研究对提高部队战时机动能力和运输能力有着重大的意义。
论文介绍了汽车差速锁的国内外研究现状,以及汽车防滑控制的一些方法,分析了这些方法的优缺点。针对汽车EDS,按照发动机、离合器、变速器、差速锁、轮胎进行了传动系结构分析,建立了整车动力学模型。在模型的基础上,对EDS进行控制策略分析,提出了相应的控制策略,即先对发动机输出功率进行控制(汽油机:减少喷油量、推迟点火时间、节气门位置调整及采用辅助空气装置;柴油机:控制供油量和供油时刻),当达到一定限值时锁止驱动轮滑移率相对大的两轮间差速器。论文基于模糊控制对汽车单轮和双轮分别进行了Simulink仿真,通过对汽车EDS的需求分析完成了电子控制单元(ECU)和差速锁机械结构总体设计,并基于步进电机对差速锁执行机构进行了结构设计和控制实验与分析。
汽车电子差速锁控制策略及技术研究结果表明:(1)在各种驱动防滑方法中,强制锁止式差速器和自锁式差速器由于其机械结构和执行方式等缺点,在汽车中已运用得很少了;驱动防滑控制系统(ASR)可与防抱死系统(ABS)相融合,在中高档小型车辆中运用较广泛,但在军用越野及载重汽车的运用上受到限制;EDS能克服强制锁止式差速器、自锁式差速器和ASR的缺点,具有无噪音、锁止方便、驱动力强的特点;(2)在不同附着系数道路条件下,EDS能够在轮速差达到设定限值时,有效锁止差速锁,使转矩合理分配到每个车轮上,充分利用地面附着力,带动汽车平稳起动,显著提高汽车特殊路面的驱动防滑及越野能力。
To ensure the wartime logistical needs, cross-country and the truck of military are requested a higher degree of performance. Electronic differential lock System(or EDS), which is based on the appendiculate conditions of the driving wheel, lock and unlock at appropriate time, give the vehicle full play to the ground friction and improve the vehicle performance through. Therefore, the research of EDS control strategy and technology have enormous significance to improve the mobility and capability in wartime troop transport capacity.
This paper introduces the status at home and abroad of automobile differential lock and some methods of anti-skid control, analyses the advantages and disadvantages of these methods, analyses the transmission system structure for the EDS, and it establishes the vehicle dynamics model according to the engine, clutch, transmission, differential lock, and the tires for the automotive. On the basis of the model, this paper analysis and put forward the corresponding control strategy, that is, first of control the output power of engine (gasoline engine: to reduce fuel injection, ignition delay time, throttle position adjustment and the use of auxiliary air devices; Diesel: control the supply quantity and time of oil), when driving wheel slip ratio up to a certain limit, lock the larger differential one. Papers simulated automobile with two-wheel and single-wheel on based on fuzzy control by Simulink, completed structure design of the electronic control unit (ECU) and the differential lock mechanical through the analysis of the EDS demand, and completed structural design and control experiments and analysis for the differential lock based on step motor.
Control strategy and technology research results of automotive electronic differential lock indicate that :(1)Mandatory lock-differential and self-locking differential has been little use in a variety of drive anti-skid ways because of its mechanical structure and mode of implementation shortcomings. Anti-skid control system (ASR) ,which have can more extensive use in the top grade small vehicle, combine with the Anti-lock Braking System (ABS), but it was restricted in the cross-country and the truck of military. EDS ,which have no noise, lock convenience; the characteristics of the strong drive, can overcome the shortcomings of mandatory lock-differential, self-locking differential and ASR; (2)EDS can locking differential lock attachment effectively coefficient in different road conditions when difference of wheel speed reach to the set limits, make a rational allocation of torque to each wheel, make full use of ground adhesion, drive the automobile start smoothly, improve drive anti-skid and off-road capability significantly on the special road .
论文介绍了汽车差速锁的国内外研究现状,以及汽车防滑控制的一些方法,分析了这些方法的优缺点。针对汽车EDS,按照发动机、离合器、变速器、差速锁、轮胎进行了传动系结构分析,建立了整车动力学模型。在模型的基础上,对EDS进行控制策略分析,提出了相应的控制策略,即先对发动机输出功率进行控制(汽油机:减少喷油量、推迟点火时间、节气门位置调整及采用辅助空气装置;柴油机:控制供油量和供油时刻),当达到一定限值时锁止驱动轮滑移率相对大的两轮间差速器。论文基于模糊控制对汽车单轮和双轮分别进行了Simulink仿真,通过对汽车EDS的需求分析完成了电子控制单元(ECU)和差速锁机械结构总体设计,并基于步进电机对差速锁执行机构进行了结构设计和控制实验与分析。
汽车电子差速锁控制策略及技术研究结果表明:(1)在各种驱动防滑方法中,强制锁止式差速器和自锁式差速器由于其机械结构和执行方式等缺点,在汽车中已运用得很少了;驱动防滑控制系统(ASR)可与防抱死系统(ABS)相融合,在中高档小型车辆中运用较广泛,但在军用越野及载重汽车的运用上受到限制;EDS能克服强制锁止式差速器、自锁式差速器和ASR的缺点,具有无噪音、锁止方便、驱动力强的特点;(2)在不同附着系数道路条件下,EDS能够在轮速差达到设定限值时,有效锁止差速锁,使转矩合理分配到每个车轮上,充分利用地面附着力,带动汽车平稳起动,显著提高汽车特殊路面的驱动防滑及越野能力。
To ensure the wartime logistical needs, cross-country and the truck of military are requested a higher degree of performance. Electronic differential lock System(or EDS), which is based on the appendiculate conditions of the driving wheel, lock and unlock at appropriate time, give the vehicle full play to the ground friction and improve the vehicle performance through. Therefore, the research of EDS control strategy and technology have enormous significance to improve the mobility and capability in wartime troop transport capacity.
This paper introduces the status at home and abroad of automobile differential lock and some methods of anti-skid control, analyses the advantages and disadvantages of these methods, analyses the transmission system structure for the EDS, and it establishes the vehicle dynamics model according to the engine, clutch, transmission, differential lock, and the tires for the automotive. On the basis of the model, this paper analysis and put forward the corresponding control strategy, that is, first of control the output power of engine (gasoline engine: to reduce fuel injection, ignition delay time, throttle position adjustment and the use of auxiliary air devices; Diesel: control the supply quantity and time of oil), when driving wheel slip ratio up to a certain limit, lock the larger differential one. Papers simulated automobile with two-wheel and single-wheel on based on fuzzy control by Simulink, completed structure design of the electronic control unit (ECU) and the differential lock mechanical through the analysis of the EDS demand, and completed structural design and control experiments and analysis for the differential lock based on step motor.
Control strategy and technology research results of automotive electronic differential lock indicate that :(1)Mandatory lock-differential and self-locking differential has been little use in a variety of drive anti-skid ways because of its mechanical structure and mode of implementation shortcomings. Anti-skid control system (ASR) ,which have can more extensive use in the top grade small vehicle, combine with the Anti-lock Braking System (ABS), but it was restricted in the cross-country and the truck of military. EDS ,which have no noise, lock convenience; the characteristics of the strong drive, can overcome the shortcomings of mandatory lock-differential, self-locking differential and ASR; (2)EDS can locking differential lock attachment effectively coefficient in different road conditions when difference of wheel speed reach to the set limits, make a rational allocation of torque to each wheel, make full use of ground adhesion, drive the automobile start smoothly, improve drive anti-skid and off-road capability significantly on the special road .
引文
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[4][3]牛四波,姜丁,朱先民,李明喜.用于越野汽车差速锁止控制系统的动力学模型仿真[J].科学技术与工程, 2007,(17)
[6][4]张厚忠,李劲松. ABS与ASR控制算法研究及对比分析.农机化研究,2004,(06)
[8][5]廖旭晖,王仲范.四轮驱动汽车的ASR技术研究.北京汽车,2005,(03)
[9][6]赵方庚,姜丁,朱先民,赵慧敏,唐静远.越野汽车差速锁止机构自动控制系统控制策略研究.汽车工程,2005,(01)
[10][7]刘惟信汽车车桥设计北京:清华大学出版社,2004
[11][8]郭丽萍.汽车驱动防滑系统(ASR)工作原理初探[J]城市公共交通,2003,(03) .
[12][9]杨宇,杨毅,余达太,林琳.电动汽车驱动防滑控制系统(ASR)的研究.自动化技术与应用,2004,(02)
[13][10]赵方庚,姜丁,朱先民,赵慧敏,刘金华.越野汽车差速锁止机构自动控制系统电子控制单元软件设计.电子技术,2004,(11)
[14][11] Wang Jun2min. Alexander Lee, Rajamani Rajesh. Frictionestimation on highway vehicles using longitudinal meas2urements [ J ]. Journal ofDynamic Systems,Measurement,and Control, 2004, 126 (2) : 2652275.
[15][12]杨生辉越野汽车差速锁止机构自动控制技术的研究学位论文吉林大学2001
[16][13]代汝泉汽车运行性能北京:国防工业出版社,2003
[17][14]姜丁,朱先民,李明喜,高波,王天颖.越野汽车差速器同步锁止机构自动控制系统控制门限的研究.汽车工程,2001,(03)
[18][15]硬汉——枭龙越野汽车.汽车时代,2005,(01)
[19][16]张天如,凌俊洁.陕汽SX2300型越野汽车简介.汽车运用,2004,(01)
[20][17]李建友越野汽车差速锁止机构自动控制系统道路试验方法与研究学位论文中国农业大学2004
[21][18] Broggi Alberto. Intelligent Vehicle App licationsWorldwide [ J ].IEEE Intelligent Systems, 2000 (1) : 78 - 81.
[22][19]李劲松,周孔亢.车辆ABS控制算法的研究及探讨.拖拉机与农用运输车,2005,(02)
[23][20]杨宇,杨毅,余达太,林琳.电动汽车驱动防滑控制系统(ASR)的研究.自动化技术与应用,2004,(02)
[24][21]朱先民,高波,姜丁,李明喜,王天颖.越野汽车差速器同步锁止机构自动控制系统中牙嵌式离合器强度和运动的分析.汽车技术,2001,(02)
[25][22]高波,朱先民,姜丁,李明喜,王天颖.一种可动态接合的牙嵌式离合器牙形设计方法.机械设计,2001,(09)
[26][23]陈昌巨,刘家良,刘晓军.汽车ABS的控制方法研究[J]武汉理工大学学报(信息与管理工程版) ,2003,(01) .
[24]诸静.模糊控制原理与应用.北京:机械工业出版社,2005
[25]张国良等.模糊控制及其MATLAB应用.西安:西安交通大学出版社,2002
[26] Jiang Hai-bo,et al .Modeling and simulation of brushless DC motor fuzzy control system. Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University, 2005,39(10):1116-1120
[27]吴昌扣,孙骏.汽车ABS/ASR技术及发展趋势[J]安徽科技,2003,(05) .
[28] Müller Steffen. Estimation of the maximum tire2road fric2tion coefficient [ J ]. Journal of Dynamic Systems,Meas2urement, and Control, 2003, 125 (4) : 6072617.1]
[29]杨宇,杨毅,余达太,林琳.电动汽车驱动防滑控制系统(ASR)的研究[J]自动化技术与应用,2004,(02)
[30] Zadeh L A.Fuzzy Sets.Information Control,1965(8):338-353
[30][31]尹安东,孙骏,赵虎,王荣贵.汽车驱动防滑控制系统的控制模式与技术[J]合肥工业大学学报(自然科学版) ,2004,(03) .
[7][32] Andrew Petersen. Driver-training and emergency brake performance in cars with antilock braking systems. afety Science 44 (2006) 905–917.
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