汽车转弯制动性能分析与防抱控制仿真研究
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摘要
车辆在转弯制动过程中同时施加制动，是一种复杂且危险的工况。在这一过程中所发生的侧滑、激转和轨道偏离常常是行车事故的主要原因。本文针对该工况进行了专题研究。
由于轮胎在转弯制动工况下的附着特性是研究整车性能的关键所在，所以，本文首先在前人所建立的轮胎力学模型的基础上，根据大量的轮胎试验数据，运用统计拟合方法建立了轮胎转弯制动附着特性力学模型。该模型计算简单，拟合精度高，与实际情况接近，对汽车动力学模拟计算比较合适。
目前，国内对制动防抱死系统(ABS)的理论研究还不够充分，对其在特定工况中的具体表现尚缺乏足够的认识。为解决制动器制动力的控制问题，本文提出了一种新的防抱死控制方式，并利用该方式对汽车进行紧急制动仿真，取得了较好的效果。
本文对汽车转弯制动工况作了深入的理论分析。在所建立的轮胎力学模型的基础上，建立了整车十自由度数学模型和仿真模型，并以捷达前卫轿车为例进行了转弯制动工况仿真分析，验证了所建模型的可行性。可以利用所建模型在汽车设计初期对其制动性和操纵稳定性进行预测和有关指标的评价，缩短研发周期。
最后，本文对转弯制动时未安装ABS和安装ABS两种情况的仿真结果作了比较，证明了ABS对提高车辆的制动性和操纵稳定性有很大帮助，为ABS在汽车上的普遍安装提供了理论依据。
Appling brake force when vehicle in cornering is a complicated and dangerous situation. Sideslip, sharp steer and obit deviation are the often occurrence of accidents during this process. So this paper makes a special research for such situation.
The adhesive characteristics of tires in cornering with braking are the bottlenecks in the research of entire car performance. So on the basis of the tire mechanical models founded by predecessors and numerous experimental data, a tire mechanical model set up by using statistical fitting methods. The calculation of the model is simple. The fitting result is at the approach to the practical situation. So the model can be used in the simulating calculation of vehicle dynamics.
Nowadays, in domestic, the theory research and the knowledge of ABS concrete role in special situation are not enough. In order to find a solution to control the detent brake force, the paper propounded a new anti-lock control method and made use of the method to simulate the emergency braking of vehicles. The desired result has achieved.
The paper makes an intensive theoretic study on vehicles in cornering with braking. On the basis of the tire model, ten-freedom degrees vehicle model was set up. By the use of the car Jetta Vanguard as an example, simulating analysis of vehicle in cornering with braking was carried out. The result has shown that the simulation model built up by this paper is feasible. The model can be used to pre-estimate braking ability and direction stability of vehicles in the early days of design, shorten the periods of research and development.
At last, by making comparison of the simulation results between
uninstalled ABS and installed ABS, the biggish bestead of ABS to braking ability and direction stability of vehicles was certified. It proffers a theoretical thereunder to in general use ABS in vehicles.
由于轮胎在转弯制动工况下的附着特性是研究整车性能的关键所在，所以，本文首先在前人所建立的轮胎力学模型的基础上，根据大量的轮胎试验数据，运用统计拟合方法建立了轮胎转弯制动附着特性力学模型。该模型计算简单，拟合精度高，与实际情况接近，对汽车动力学模拟计算比较合适。
目前，国内对制动防抱死系统(ABS)的理论研究还不够充分，对其在特定工况中的具体表现尚缺乏足够的认识。为解决制动器制动力的控制问题，本文提出了一种新的防抱死控制方式，并利用该方式对汽车进行紧急制动仿真，取得了较好的效果。
本文对汽车转弯制动工况作了深入的理论分析。在所建立的轮胎力学模型的基础上，建立了整车十自由度数学模型和仿真模型，并以捷达前卫轿车为例进行了转弯制动工况仿真分析，验证了所建模型的可行性。可以利用所建模型在汽车设计初期对其制动性和操纵稳定性进行预测和有关指标的评价，缩短研发周期。
最后，本文对转弯制动时未安装ABS和安装ABS两种情况的仿真结果作了比较，证明了ABS对提高车辆的制动性和操纵稳定性有很大帮助，为ABS在汽车上的普遍安装提供了理论依据。
Appling brake force when vehicle in cornering is a complicated and dangerous situation. Sideslip, sharp steer and obit deviation are the often occurrence of accidents during this process. So this paper makes a special research for such situation.
The adhesive characteristics of tires in cornering with braking are the bottlenecks in the research of entire car performance. So on the basis of the tire mechanical models founded by predecessors and numerous experimental data, a tire mechanical model set up by using statistical fitting methods. The calculation of the model is simple. The fitting result is at the approach to the practical situation. So the model can be used in the simulating calculation of vehicle dynamics.
Nowadays, in domestic, the theory research and the knowledge of ABS concrete role in special situation are not enough. In order to find a solution to control the detent brake force, the paper propounded a new anti-lock control method and made use of the method to simulate the emergency braking of vehicles. The desired result has achieved.
The paper makes an intensive theoretic study on vehicles in cornering with braking. On the basis of the tire model, ten-freedom degrees vehicle model was set up. By the use of the car Jetta Vanguard as an example, simulating analysis of vehicle in cornering with braking was carried out. The result has shown that the simulation model built up by this paper is feasible. The model can be used to pre-estimate braking ability and direction stability of vehicles in the early days of design, shorten the periods of research and development.
At last, by making comparison of the simulation results between
uninstalled ABS and installed ABS, the biggish bestead of ABS to braking ability and direction stability of vehicles was certified. It proffers a theoretical thereunder to in general use ABS in vehicles.
引文
1 庄继德．汽车轮胎学．北京：北京理工大学出版社，1996：102-104
2 瞿宏敏，程军．汽车动力学模拟中的轮胎模型述评．汽车技术，1996，(7)：1-8
3 H B Pacejka, R S Sharp. Shear Force Development by Pneumatic Tyres in Steady State Conditions: a Review of Modeling Aspects [J]. Vehicle System Dynamics, 1991,20(3/4):121-176
4 G Gim, P E Nikravesh. An Analytical Model of Pneumatic Tyres for Vehicle Dynamics Simulations. Part Ⅰ [J]: Pure Slips, International Journal of Vehicle Design, 1990,11 (6):589-618
5 G Gim, P E Nikravesh. An Analytical Model of Pneumatic Tyres for Vehicle Dynamics Simulations. Part 2[J]: Comprehensive Slips, International Journal of Vehicle Design, 1991,12(1):19-39
6 G Gim, P E Nikravesh. An Analytical Model of Pneumatic Tyres for Vehicle Dynami- cs Simulations. Part 3[J]: Validation against experimental data, International Journal of Vehicle Design, 1991,12(2):217-228
7 郭应时，魏朗．汽车轮胎理论模型的分析．西安公路交通大学学报，1998，(4)：65-68
8 赵桂范，崔胜民，杜星文．汽车轮胎侧偏力学发展综述．轮胎工业，2000，20(3)：131-134
9 Doguff. An Analysis of The Tyre Traction Properties and Their Influence on Vehicle Dynamic Perfermance.SAE700877, 1970:341-367
10 E Bakker, L Nyborg, H B Pacejka. Tyre Modeling for Use in Vehicle Dynamics. SAE paper No.870421.1987.96 (2):190-204
11 E Bakker, H B Pacejka, L Lidner. A New Tire Model with an Application in Vehicle System Studies [J]. SAE Transactions 890087,1989,98(6): 101-113
12 郭孔辉．汽车操纵动力学．长春：吉林科学技术出版社，1991：148-163，479-498
13 郭孔辉，刘青．稳态条件下用于车辆动力学分析的轮胎模型．汽车工程，1998，20(3)：129-134
14 刘青，郭孔辉．轮胎侧偏特性研究的特点及发展．汽车技术，1997，(10)：1-8
15 郭孔辉，刘青．考虑胎体复杂变形的轮胎非稳态侧偏特性理论模型．汽车工程，1997，19(2)：65-71
16 郭孔辉，隋军．轮胎垂直载荷分布与侧向力模型及纵向力之问的关系．汽车研究与
开发，1995，(1)：22-25
17 韩宗奇．适用于转弯制动工况的轮胎力学模型与车辆转弯制动响应．[清华大学工学硕士论文]．1987：19-51，37，80-108
18 张越今．多体动力学在轿车动力学仿真及优化研究中的运用．[清华大学工学博士论文]．1997：6
19 Taichi Shiiba, Yoshihiro Suda.Development of Driving Simulator with Full Vehicle Model of Multibody Dynamics. JSAE Review, 2002,(23):223-230
20 J. Anthonis, P. Kennes, H. Ramon. Design and Evaluation of a Low-power Mobile Shaker for Vibration Tests on Heavy Wheeled Vehicles. Journal of Terramechanics, 2000,(37): 191-205
21 Katsushi Matsuda, Hiroyuki Shinjyo, Masaharu Harada and others. A Study on Heavy Duty Truck Stability Control by Braking Force Control. JSAE Review, 1999,(20): 87-91
22 Nagai Masao, Shino Motoki Gao, Feng.Study on Integrated Control of Active Front Steer Angle and Direct Yaw Moment. JSAE Review, 2002,(23):309-315
23 张春淮，前驱动轿车的操纵稳定性研究．[清华大学工学硕士论文]．1991：29-45
24 程军．汽车防抱死制动系统的理论与实践．北京：北京理工大学出版社，1999：2
25 霍亚军．汽车防抱技术的发展．客车技术与研究，1994，(4)：216-218
26 G. L. Gissinger, C. Menard, A. Constans. A Mechatronic Conception of a New Intelligent Braking System. Control Engineering Practice, 2003,(11): 163-170
27 Masayuki Kuwasaki, Hideaki Matsumura, Akihiro Shin.A Study of High Performance ABS. JSAE Review, 1995,(16):241-244
28 程军．防抱制动系统不同制动方法的模拟研究．汽车技术，1998，(8)：1-8
29 程军．车轮最佳滑移率控制的研究．汽车研究与开发，2000，(1)：36-39
30 肖世．ABS液压制动系统及车辆防抱制动过程的仿真计算．[清华大学博士后研究报告]．1998：29
31 陈在峰，宋健．利用遗传算法求解防抱死制动系统的控制律．汽车技术，1998，(4)：6-9
32 宋健，李永．汽车防抱死制动系统控制方法的研究进展．公路交通科技，2002，(12)：140-145
33 何渝生．现代控制理论在汽车防抱制动系统中的应用．重庆工业管理学院学报，1994，(9)：17-23
34 程军．用MATLAB／SIMULINK进行车辆控制系统的设计．汽车研究与开发，1997,(3)：7-10
35 H Kousaka, M Yamashita, Y. Hirano. Continuing Education for Applying Control Theory to Automobiles at Toyota. Control Engineering Practice, March, 1995:723-727
36 T. Markel, A. Brooker, T. Hendricks and others. ADVISOR: a Systems Analysis Tool for Advanced Vehicle Modeling. Journal of Power Sources, August, 2002:255-266
37 魏朗．用于碰撞事故中车辆动力学模拟的轮胎模型分析．西安公路交通大学学报，1999，(4)：73-76
38 S.K.Clark and others. Mechanics of Pneumatic Tires. 1981:441-451
39 T．P．纽康姆．汽车制动文集．吴植民，李明丽．北京：人民交通出版社，1984：243
40 崔胜民，余群．汽车轮胎行驶性能与测试．北京：机械工业出版社，1995：70，100，57，103
41 庄继德．现代汽车轮胎技术．北京：北京理工大学出版社，2001：204
42 安部正人．汽车的运动和操纵．陈辛波．北京：机械工业出版社，1998：20，36
43 余卓平，管迪华．汽车防抱制动装置控制机理研究．同济大学学报，1997，(8)：476-481
44 吴广政．轮胎纵向附着特性数学模型．北京汽车，2000，(6)：1-4
45 一汽-大众汽车有限公司．捷达．北京：北京理工大学出版社，1998：216
46 Utzvon Wagner. On non-linear stochastic dynamics of quarter car models. International Journal of Non-linear Mechanics, 2004, (39):753-765
47 魏朗，王囤．现代汽车制动防抱步死系统实用技术．北京：人民交通出版社，2001：17-18
48 Morita Takao, Matsukawa Tsutomu. Study on Effective Use of Rear Braking Force. JSAE Review, April, 1995:473-478
49 吴诰珪，华柯清，注新潮，等．汽车制动防抱死系统机理的研究．机械工程学报，1997，(12)：43-47
50 范刚，吴诰珪，钟声龙．汽车防抱制动系统仿真及控制逻辑分析．华南理工大学学报，1998，26(10)：40-46
51 程军．车轮最佳滑移率控制的研究．汽车研究与开发，2000，(1)：36-39
52 Ito Takayuki, Yasui Yoshiyuki, Tozu Kenji and others. Brake Force Distribution Control System using Hydraulic Brake Actuator. JSAE Review, April, 1997:188-189
53 Nakazawa Masao, Kawabe Taketoshi, Takahashi Sadahiro and others. A Study on Electronic Brake Force Control for Medium-Duty Commercial Vehicles Part 2:
AppIication of Sliding Mode Control Method to Slip Rate Control. JSAE Review,January, 1996:86
54 余志生．汽车理论．第2版．北京：机械工业出版社，1999：97
55 Farmer, M.Charles. New Evidence Concerning Fatal Crashes of Passenger Vehicles before and after Adding Antilock Braking Systems. Accident Analysis and Prevention, May,2001:361-369
56 程军，崔继波，高发廷，等．防抱制动系统在低附着系数路面上复杂制动工况试验研究．汽车研究与开发，2000，(3)：42-45
2 瞿宏敏，程军．汽车动力学模拟中的轮胎模型述评．汽车技术，1996，(7)：1-8
3 H B Pacejka, R S Sharp. Shear Force Development by Pneumatic Tyres in Steady State Conditions: a Review of Modeling Aspects [J]. Vehicle System Dynamics, 1991,20(3/4):121-176
4 G Gim, P E Nikravesh. An Analytical Model of Pneumatic Tyres for Vehicle Dynamics Simulations. Part Ⅰ [J]: Pure Slips, International Journal of Vehicle Design, 1990,11 (6):589-618
5 G Gim, P E Nikravesh. An Analytical Model of Pneumatic Tyres for Vehicle Dynamics Simulations. Part 2[J]: Comprehensive Slips, International Journal of Vehicle Design, 1991,12(1):19-39
6 G Gim, P E Nikravesh. An Analytical Model of Pneumatic Tyres for Vehicle Dynami- cs Simulations. Part 3[J]: Validation against experimental data, International Journal of Vehicle Design, 1991,12(2):217-228
7 郭应时，魏朗．汽车轮胎理论模型的分析．西安公路交通大学学报，1998，(4)：65-68
8 赵桂范，崔胜民，杜星文．汽车轮胎侧偏力学发展综述．轮胎工业，2000，20(3)：131-134
9 Doguff. An Analysis of The Tyre Traction Properties and Their Influence on Vehicle Dynamic Perfermance.SAE700877, 1970:341-367
10 E Bakker, L Nyborg, H B Pacejka. Tyre Modeling for Use in Vehicle Dynamics. SAE paper No.870421.1987.96 (2):190-204
11 E Bakker, H B Pacejka, L Lidner. A New Tire Model with an Application in Vehicle System Studies [J]. SAE Transactions 890087,1989,98(6): 101-113
12 郭孔辉．汽车操纵动力学．长春：吉林科学技术出版社，1991：148-163，479-498
13 郭孔辉，刘青．稳态条件下用于车辆动力学分析的轮胎模型．汽车工程，1998，20(3)：129-134
14 刘青，郭孔辉．轮胎侧偏特性研究的特点及发展．汽车技术，1997，(10)：1-8
15 郭孔辉，刘青．考虑胎体复杂变形的轮胎非稳态侧偏特性理论模型．汽车工程，1997，19(2)：65-71
16 郭孔辉，隋军．轮胎垂直载荷分布与侧向力模型及纵向力之问的关系．汽车研究与
开发，1995，(1)：22-25
17 韩宗奇．适用于转弯制动工况的轮胎力学模型与车辆转弯制动响应．[清华大学工学硕士论文]．1987：19-51，37，80-108
18 张越今．多体动力学在轿车动力学仿真及优化研究中的运用．[清华大学工学博士论文]．1997：6
19 Taichi Shiiba, Yoshihiro Suda.Development of Driving Simulator with Full Vehicle Model of Multibody Dynamics. JSAE Review, 2002,(23):223-230
20 J. Anthonis, P. Kennes, H. Ramon. Design and Evaluation of a Low-power Mobile Shaker for Vibration Tests on Heavy Wheeled Vehicles. Journal of Terramechanics, 2000,(37): 191-205
21 Katsushi Matsuda, Hiroyuki Shinjyo, Masaharu Harada and others. A Study on Heavy Duty Truck Stability Control by Braking Force Control. JSAE Review, 1999,(20): 87-91
22 Nagai Masao, Shino Motoki Gao, Feng.Study on Integrated Control of Active Front Steer Angle and Direct Yaw Moment. JSAE Review, 2002,(23):309-315
23 张春淮，前驱动轿车的操纵稳定性研究．[清华大学工学硕士论文]．1991：29-45
24 程军．汽车防抱死制动系统的理论与实践．北京：北京理工大学出版社，1999：2
25 霍亚军．汽车防抱技术的发展．客车技术与研究，1994，(4)：216-218
26 G. L. Gissinger, C. Menard, A. Constans. A Mechatronic Conception of a New Intelligent Braking System. Control Engineering Practice, 2003,(11): 163-170
27 Masayuki Kuwasaki, Hideaki Matsumura, Akihiro Shin.A Study of High Performance ABS. JSAE Review, 1995,(16):241-244
28 程军．防抱制动系统不同制动方法的模拟研究．汽车技术，1998，(8)：1-8
29 程军．车轮最佳滑移率控制的研究．汽车研究与开发，2000，(1)：36-39
30 肖世．ABS液压制动系统及车辆防抱制动过程的仿真计算．[清华大学博士后研究报告]．1998：29
31 陈在峰，宋健．利用遗传算法求解防抱死制动系统的控制律．汽车技术，1998，(4)：6-9
32 宋健，李永．汽车防抱死制动系统控制方法的研究进展．公路交通科技，2002，(12)：140-145
33 何渝生．现代控制理论在汽车防抱制动系统中的应用．重庆工业管理学院学报，1994，(9)：17-23
34 程军．用MATLAB／SIMULINK进行车辆控制系统的设计．汽车研究与开发，1997,(3)：7-10
35 H Kousaka, M Yamashita, Y. Hirano. Continuing Education for Applying Control Theory to Automobiles at Toyota. Control Engineering Practice, March, 1995:723-727
36 T. Markel, A. Brooker, T. Hendricks and others. ADVISOR: a Systems Analysis Tool for Advanced Vehicle Modeling. Journal of Power Sources, August, 2002:255-266
37 魏朗．用于碰撞事故中车辆动力学模拟的轮胎模型分析．西安公路交通大学学报，1999，(4)：73-76
38 S.K.Clark and others. Mechanics of Pneumatic Tires. 1981:441-451
39 T．P．纽康姆．汽车制动文集．吴植民，李明丽．北京：人民交通出版社，1984：243
40 崔胜民，余群．汽车轮胎行驶性能与测试．北京：机械工业出版社，1995：70，100，57，103
41 庄继德．现代汽车轮胎技术．北京：北京理工大学出版社，2001：204
42 安部正人．汽车的运动和操纵．陈辛波．北京：机械工业出版社，1998：20，36
43 余卓平，管迪华．汽车防抱制动装置控制机理研究．同济大学学报，1997，(8)：476-481
44 吴广政．轮胎纵向附着特性数学模型．北京汽车，2000，(6)：1-4
45 一汽-大众汽车有限公司．捷达．北京：北京理工大学出版社，1998：216
46 Utzvon Wagner. On non-linear stochastic dynamics of quarter car models. International Journal of Non-linear Mechanics, 2004, (39):753-765
47 魏朗，王囤．现代汽车制动防抱步死系统实用技术．北京：人民交通出版社，2001：17-18
48 Morita Takao, Matsukawa Tsutomu. Study on Effective Use of Rear Braking Force. JSAE Review, April, 1995:473-478
49 吴诰珪，华柯清，注新潮，等．汽车制动防抱死系统机理的研究．机械工程学报，1997，(12)：43-47
50 范刚，吴诰珪，钟声龙．汽车防抱制动系统仿真及控制逻辑分析．华南理工大学学报，1998，26(10)：40-46
51 程军．车轮最佳滑移率控制的研究．汽车研究与开发，2000，(1)：36-39
52 Ito Takayuki, Yasui Yoshiyuki, Tozu Kenji and others. Brake Force Distribution Control System using Hydraulic Brake Actuator. JSAE Review, April, 1997:188-189
53 Nakazawa Masao, Kawabe Taketoshi, Takahashi Sadahiro and others. A Study on Electronic Brake Force Control for Medium-Duty Commercial Vehicles Part 2:
AppIication of Sliding Mode Control Method to Slip Rate Control. JSAE Review,January, 1996:86
54 余志生．汽车理论．第2版．北京：机械工业出版社，1999：97
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