ABS匹配流程与标定技术研究
摘要
防抱制动系统(ABS)是车辆底盘控制系统的重要组成部分,可以显著改善车辆制动性能,增强车辆主动安全性。随着我国汽车工业的发展,以产业化为目标的ABS研究意义重大,其中ABS匹配流程与标定技术是较为关键的课题。
ABS匹配流程是开展ABS匹配工作的指导性纲要,是规范匹配项目,保障匹配质量的基础。在匹配实践中总结归纳了ABS主要匹配任务和匹配管理过程,制定了ABS标准匹配流程,建立了匹配关键路径,并基于客户需求开发了快速匹配流程,在实际应用中有效的控制了匹配周期。通过分析ABS质量因素,制定了实用的质量标准,研究了质量指标中制动效能与制动稳定性的关系,提出了以附着系数利用率为目标,以转向盘修正转角为约束的ABS质量控制方法,解决了ABS综合性能标定的困难。
ABS硬件匹配决定ABS标定工作的难易程度,并影响ABS的性能。为提高ABS硬件选型的效率,建立了ABS的总泵、分泵和液压控制单元(HCU)关键元件的理论模型,分析了制动分泵以及HCU增、减压阀的流量与压力特性,提出了制动分泵液压灵敏度和HCU流量分辨率的概念,以此研究了HCU硬件选型的理论方法,仿真表明与装车试验的结果吻合的较好。分析了轮速传感器输出电压特性与ABS轮速计算方法,提出了基于最低轮速的传感器选型方法,较好的满足了ABS控制对轮速的要求。
ABS性能的完善需要扩展功能控制算法。仿真研究了直线制动工况下前后轴制动力分配与路面附着系数的关系,提出了基于减速度参数的电子制动力分配(EBD)控制算法。为解决系统噪音与振动问题,分析了ABS开关阀在PWM控制方式下的流量特性,提出了采用高频PWM信号实现开关阀连续流量控制的方法。为改善ABS转向控制性能,研究了转向工况下的轮速特征,提出了基于ABS控制信息的转向识别和参数修正算法。为增强系统故障检测功能,结合轮速传感器的最低测量轮速和车轮运行的动力学参数限值,提出了基于轮速特征的传感器故障检测算法。实车试验验证了这些算法的有效性。
ABS软件标定技术能提高ABS标定的质量和效率。为提高ABS性能稳健性,分析了ABS噪声因子对控制的影响,提出了ABS参数的稳健性标定试验方法。为辅助标定工作,开发了基于CCP协议和COM通讯接口的ABS标定软件,设计了开放式和指导式两种标定界面,并在实车标定中成功应用。
Anti-lock braking system (ABS) is an important part of the vehicle chassis control systems, which can improve braking performance and enhance active safety of vehicle. With the development of Chinese automotive industry, the studies on ABS for industrialization are highly significant, the ABS matching process and calibration technologies are key issues.
ABS matching process is the guiding framework to carry out the matching work, it is also the basis to standardize matching project and guarantee matching quality. The main tasks and management process of the ABS matching work are summarized and the standard matching process is developed in practice. Using critical path analysis, a fast matching process is developed based on customer demand, which can effectively control the matching period in the application. By analyzing the ABS quality factors, practical quality standards are developed. The relationship between efficiency and stability of braking is researched, a quality control method aiming at adhesion coefficient utilization is proposed with the steering wheel angle correction constraints, which can solve problems in ABS comprehensive performance calibration.
ABS hardware matching determines the difficulty of the calibration and affects ABS performance. To improve the efficiency of hardware selection, the theoretical models of the master cylinder, wheel cylinder and key components of hydraulic control unit (HCU) of ABS are established, the flow and pressure characteristics of wheel cylinder and HCU inlet and outlet valves are researched, the hydraulic sensitivity of wheel cylinder and flow resolution of HCU valves are proposed, based on which the theoretical method of the HCU hardware selection is studied and the simulation results fit the actual test well. By analyzing output voltage characteristics of the wheel speed sensor and the ABS wheel speed calculation method, the sensor selection method is proposed based on the lowest wheel speed, which can meet the ABS requirements better.
The extended control algorithms are necessary to improve ABS performance. The braking force distribution of front and rear axles under straight-line braking is simulated with different road friction coefficients, and the electronic braking force distribution (EBD) control algorithm using deceleration parameters is proposed. To solve the system noise and vibration problems, the flow characteristics of ABS switching valve under PWM control mode are analyzed, and the valve control mode using high frequency PWM signal is proposed to achieve continuous flow characteristics. To improve ABS performance of steering braking, the characteristics of wheel speed under steering condition are studied. The algorithms of turning identification and parameter correction are proposed based on ABS control information. To enhance the system fault detection, combined with the lowest measurable wheel speed of sensor and wheel running kinetic parameters, the sensor fault detection algorithm based on wheel speed characteristics is proposed. Vehicle road tests verify the effectiveness of these algorithms.
ABS software calibration technique can improve the calibration quality and efficiency. To improve ABS robust performance, the influence of the noise factors to ABS control is analyzed, and ABS robust calibration test method is proposed. To assist the calibration work, ABS calibration software is developed based on CAN calibration protocol (CCP) and COM communication interface. The free-type and directed-type calibration interfaces are designed. These are successfully applied in the vehicle ABS calibration.
ABS匹配流程是开展ABS匹配工作的指导性纲要,是规范匹配项目,保障匹配质量的基础。在匹配实践中总结归纳了ABS主要匹配任务和匹配管理过程,制定了ABS标准匹配流程,建立了匹配关键路径,并基于客户需求开发了快速匹配流程,在实际应用中有效的控制了匹配周期。通过分析ABS质量因素,制定了实用的质量标准,研究了质量指标中制动效能与制动稳定性的关系,提出了以附着系数利用率为目标,以转向盘修正转角为约束的ABS质量控制方法,解决了ABS综合性能标定的困难。
ABS硬件匹配决定ABS标定工作的难易程度,并影响ABS的性能。为提高ABS硬件选型的效率,建立了ABS的总泵、分泵和液压控制单元(HCU)关键元件的理论模型,分析了制动分泵以及HCU增、减压阀的流量与压力特性,提出了制动分泵液压灵敏度和HCU流量分辨率的概念,以此研究了HCU硬件选型的理论方法,仿真表明与装车试验的结果吻合的较好。分析了轮速传感器输出电压特性与ABS轮速计算方法,提出了基于最低轮速的传感器选型方法,较好的满足了ABS控制对轮速的要求。
ABS性能的完善需要扩展功能控制算法。仿真研究了直线制动工况下前后轴制动力分配与路面附着系数的关系,提出了基于减速度参数的电子制动力分配(EBD)控制算法。为解决系统噪音与振动问题,分析了ABS开关阀在PWM控制方式下的流量特性,提出了采用高频PWM信号实现开关阀连续流量控制的方法。为改善ABS转向控制性能,研究了转向工况下的轮速特征,提出了基于ABS控制信息的转向识别和参数修正算法。为增强系统故障检测功能,结合轮速传感器的最低测量轮速和车轮运行的动力学参数限值,提出了基于轮速特征的传感器故障检测算法。实车试验验证了这些算法的有效性。
ABS软件标定技术能提高ABS标定的质量和效率。为提高ABS性能稳健性,分析了ABS噪声因子对控制的影响,提出了ABS参数的稳健性标定试验方法。为辅助标定工作,开发了基于CCP协议和COM通讯接口的ABS标定软件,设计了开放式和指导式两种标定界面,并在实车标定中成功应用。
Anti-lock braking system (ABS) is an important part of the vehicle chassis control systems, which can improve braking performance and enhance active safety of vehicle. With the development of Chinese automotive industry, the studies on ABS for industrialization are highly significant, the ABS matching process and calibration technologies are key issues.
ABS matching process is the guiding framework to carry out the matching work, it is also the basis to standardize matching project and guarantee matching quality. The main tasks and management process of the ABS matching work are summarized and the standard matching process is developed in practice. Using critical path analysis, a fast matching process is developed based on customer demand, which can effectively control the matching period in the application. By analyzing the ABS quality factors, practical quality standards are developed. The relationship between efficiency and stability of braking is researched, a quality control method aiming at adhesion coefficient utilization is proposed with the steering wheel angle correction constraints, which can solve problems in ABS comprehensive performance calibration.
ABS hardware matching determines the difficulty of the calibration and affects ABS performance. To improve the efficiency of hardware selection, the theoretical models of the master cylinder, wheel cylinder and key components of hydraulic control unit (HCU) of ABS are established, the flow and pressure characteristics of wheel cylinder and HCU inlet and outlet valves are researched, the hydraulic sensitivity of wheel cylinder and flow resolution of HCU valves are proposed, based on which the theoretical method of the HCU hardware selection is studied and the simulation results fit the actual test well. By analyzing output voltage characteristics of the wheel speed sensor and the ABS wheel speed calculation method, the sensor selection method is proposed based on the lowest wheel speed, which can meet the ABS requirements better.
The extended control algorithms are necessary to improve ABS performance. The braking force distribution of front and rear axles under straight-line braking is simulated with different road friction coefficients, and the electronic braking force distribution (EBD) control algorithm using deceleration parameters is proposed. To solve the system noise and vibration problems, the flow characteristics of ABS switching valve under PWM control mode are analyzed, and the valve control mode using high frequency PWM signal is proposed to achieve continuous flow characteristics. To improve ABS performance of steering braking, the characteristics of wheel speed under steering condition are studied. The algorithms of turning identification and parameter correction are proposed based on ABS control information. To enhance the system fault detection, combined with the lowest measurable wheel speed of sensor and wheel running kinetic parameters, the sensor fault detection algorithm based on wheel speed characteristics is proposed. Vehicle road tests verify the effectiveness of these algorithms.
ABS software calibration technique can improve the calibration quality and efficiency. To improve ABS robust performance, the influence of the noise factors to ABS control is analyzed, and ABS robust calibration test method is proposed. To assist the calibration work, ABS calibration software is developed based on CAN calibration protocol (CCP) and COM communication interface. The free-type and directed-type calibration interfaces are designed. These are successfully applied in the vehicle ABS calibration.
引文
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