汽车防抱制动系统（ABS）模糊控制系统的研究
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摘要
本文主要研究了在汽车防抱死制动系统(ABS)中基于滑移率的模糊模型参考自适应控制策略。
首先分析了现有的各种车辆动力学模型、轮胎模型和制动器模型，在此基础上，结合研究要求和现有条件，去掉轮胎的垂向阻尼，建立了适用于模拟汽车直线制动过程的新七自由度双轮车辆模型。随后采用Matlab语言和Simulink模块建立了汽车直线制动时的ABS系统模型(包括车辆模型、轮胎模型和制动器模型)。设计了基本模糊控制器和模糊模型参考自适应控制器。进行了两个车辆模型ABS系统制动的计算机仿真：四分之一车体模型的制动仿真验证了基本模糊控制器的正确性，七自由度双轮模型的制动仿真验证了模糊模型参考自适应控制器在制动过程中的自适应性。仿真结果证明，模糊模型参考自适应控制器对于在制动过程中由于车辆前倾和垂向振动引起的地面支承力的变化有较好的自适应能力，制动过程中轮胎纵向滑移率的变化更趋近于理想变化。
This paper discusses the fuzzy model reference adaptive control strategy on fuzzy model reference in ABS(Anti-lock Braking System).
Firstly, some existing vehicle dynamics models, mathematical models of tire and detent are discussed and studied. Based on these models, considering the study need and condition, and the tire dominated vertical damp, an unprecedented double-axis -seven-freedom vehicle model, which is applicable for the simulation of the vehicle straightaway braking process has been established. Secondly the ABS model of the vehicle straightaway braking process is developed with Matlab language and Simulink module. And then the basic fuzzy logic controller and fuzzy logic model reference adaptive controller are designed. Finally, the simulation of the braking process of two vehicle models is carried out: one proves the correctness of the basic fuzzy logic controller with the quarter-vehicle model; the other proves the adaptivity of the fuzzy logic model reference adaptive controller with the double-axis -seven-freedom vehicle model. It's proved by the simulation result that, the fuzzy logic model reference adaptive controller adapts the change to the grand crutch force well, which is brought from the vehicle pitch and vertical vibration during the brake process, and the change to the slippage ratio which is near to the perfectness.
首先分析了现有的各种车辆动力学模型、轮胎模型和制动器模型，在此基础上，结合研究要求和现有条件，去掉轮胎的垂向阻尼，建立了适用于模拟汽车直线制动过程的新七自由度双轮车辆模型。随后采用Matlab语言和Simulink模块建立了汽车直线制动时的ABS系统模型(包括车辆模型、轮胎模型和制动器模型)。设计了基本模糊控制器和模糊模型参考自适应控制器。进行了两个车辆模型ABS系统制动的计算机仿真：四分之一车体模型的制动仿真验证了基本模糊控制器的正确性，七自由度双轮模型的制动仿真验证了模糊模型参考自适应控制器在制动过程中的自适应性。仿真结果证明，模糊模型参考自适应控制器对于在制动过程中由于车辆前倾和垂向振动引起的地面支承力的变化有较好的自适应能力，制动过程中轮胎纵向滑移率的变化更趋近于理想变化。
This paper discusses the fuzzy model reference adaptive control strategy on fuzzy model reference in ABS(Anti-lock Braking System).
Firstly, some existing vehicle dynamics models, mathematical models of tire and detent are discussed and studied. Based on these models, considering the study need and condition, and the tire dominated vertical damp, an unprecedented double-axis -seven-freedom vehicle model, which is applicable for the simulation of the vehicle straightaway braking process has been established. Secondly the ABS model of the vehicle straightaway braking process is developed with Matlab language and Simulink module. And then the basic fuzzy logic controller and fuzzy logic model reference adaptive controller are designed. Finally, the simulation of the braking process of two vehicle models is carried out: one proves the correctness of the basic fuzzy logic controller with the quarter-vehicle model; the other proves the adaptivity of the fuzzy logic model reference adaptive controller with the double-axis -seven-freedom vehicle model. It's proved by the simulation result that, the fuzzy logic model reference adaptive controller adapts the change to the grand crutch force well, which is brought from the vehicle pitch and vertical vibration during the brake process, and the change to the slippage ratio which is near to the perfectness.
引文
[1] 程军，汽车防抱死制动系统的理论和实践，北京理工大学出版社，1999，9
[2] 邢亮亮，汽车动力学及ABS系统的计算机仿真研究，西北工业大学机械设计及理论专业
[3] 赵治国，方宗德，防抱制动系统模糊模型参考学习控制的研究，系统仿真学报，Vol．14 No．2，Feb．2002，P262～266
[4] 李君，喻凡，张建武，基于道路自动识别ABS模糊控制系统的研究，农业机械学报，2001(32—5)，26～29
[5] 诸静，模糊控制原理与应用，机械工业出版社，2003．3
[6] 王保华，陶健民，ABS模糊控制的研究，汽车科技，2000(2)38～42
[7] 陈昌巨，刘家良，基于滑移率的ABS的模糊控制研究，武汉理工大学学报，2002(24—10)，50～53
[8] Layne J R, Passino K M, Yurkorich S, Fuzzy learning control for anti-skid braking systems[A]. Proceedings of 31th Conference on Decision and Control[C], Tucson Arizona USA, 1992, 2523
[9] Mazumdar S K, Lim C C, The application of neural networks to anti-skid brake design[A]. Proceedings of 1995 IEEE International Conference on Neural Networks[C]. Perth Aust, 1995, 5:2409
[10] 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，汽车科技 2000．3，7～10
[11] Mauer G F, A fuzzy logic controller for ABS baking system, IEEE Transaction on Fuzzy System, 1995, 3:P381～388
[12] Mauer G F, et al. Fuzzy logic continuous and quantizing of an ABS braking system, SAE Paper No. 940830, 1994
[13] 莫友生，朱荣，李思恩，沈莉，汽车ABS模糊神经网络控制系统，上海交通大学学报，1999(33—5)，570～573
[14] 张玲，模糊模型参考自学习ABS控制系统，上海交通大学仪器工程系惯性技术及导航设备专业
[15] 沈莉，模糊神经网络汽车ABS控制系统，上海交通大学信息检测技术与仪器系导航自动化专业
[16] 苏金明，袁沈勇，MATLAB6.1实用指南，电子工业出版社，2002．1
[17] 姚俊，马松辉，SIMULINK建模与仿真，西安电子科技大学出版社，2002
[18] Kou C Y, E.C.Yeh, A four-phase control scheme of an anti-skid brake system for all road conditions, Pro.OfInst.OfMech.Engineers, Part d, Vol.206, No.4,1922:P275～284
[19] Edge.C Yeh et.al. A parametric study of anti-skid brake system using poincare map concept, Int.j.Vehicle Desigen, Vol. 13, No.3, 1992:P210～232
[20] 郭孔辉，刘青，考虑轮胎复杂变形的轮胎非稳态侧偏特性理论模型，汽
车工程，1997，第2期
[21] Bakker E, Nyborg L, Pacehka H.B. Tyre Modelling for Use in Vehicle Dynamics Studies, SAE paper, No.870481, 1987
[22] 陈宏伟，王铁山，具有迟滞模拟记忆功能的奥迪盘式制动器可变线性模型，汽车工程，2000(Vol22)No．2，P115～119，124
[23] 陈宏伟，王铁山，AUDI盘式制动器的幂函数乘积模型，汽车工程，2002(Vol24)No．3，P263～265
[24] Zadeh L A. Fuzzy Sets, Informat Control, 1965, 8.. P338～353
[25] M Bauer, Masayoshi Tomizuka. Fuzzy Logic Traction Controllers and Their Effect on Longitudinal Vehicle Platoon Systems. California PATH Research Report, UCB-ITS-PRR-95-14
[26] Y.S Kueon, J.S Bedi. Fuzzy Neural-Sliding Mode Controller and Its Applications to the Vehicle Anti-Lock Braking Systems. IEEE 00527594
[27] Pieter M. de Koker, J. Gouws, L. Pretorius. Fuzzy Control Algorithm for Automotive Traction Control Systems. IEEE 00550996
[28] Fangjun Jiang, Zhiqiang Gao. An Application of Nonlinear PID Control to a Class of Truck ABS Problems.
[29] Luca Piancastelli, Giuseppe Sarubbi. An EESP Control System For The Recover OF The Initial Direction After An Initial spin. Ⅻ ADM International Conference - Grand Hotel -Rimini - Italy -Sept. 5th-7th,2001
[30] Garrick Forkenbrock, Mark Flick, W.Riley Garrott. A Comprehensive Light Antilock Brake System Test Track Performance Evaluation. SAE 1999-01-1287
[31] Terry D. Day, Sydney G. Roberts, Allen R. York. SIMON: A New Vehicle Simulation Model for Vehicle Design and Safety Research. SAE 2001-01-0503
[32] Terry D. Day, Sydney G. Roberts. A Simulation Model for Vehicle Braking Systems Fitted with ABS. SAE 2002-01-0559
[33] Edge.G.C ecl Development of Fuzzy controller for Anti-skid brake system with a single chip Micro-cintroller. IEEE Transaction on Automatic control, 1995
[34] 胡国亮，模糊控制汽车ABS防抱死系统．，微计算机信息，1998(14-4) P27～2
[35] 徐志新，石莱德，制动器压力模型的研究，液压气动与密封，No．1(Serial No．73)，Feb．1999，P9～12
[36] 刘聚德，陈志芳，轮胎垂直振动动力学模型，汽车工程，1993年(第15卷)第5期，P263～271
[37] 周学建，周志立，张文春，车辆动力学仿真中的轮胎数学模型研究现状，拖拉机与农用运输车，2002年第1期，P8～11
[38] 程军，基于模糊控制方法的防抱制动系统的研究，汽车工程，1997年(第19卷)第4期，P193～199
[39] Terry D. Day, L. Daniel Metz, The Simulation of Driver Inputs Using a
Vehicle Driver Model. SAE TECHNICAL PAPER SERIES 2000-01-1313
[40] Terry D. Day, Sydney G. Roberts, A Simulation Model for Vehicle Braking Systems Fitted with ABS. SAE TECHNICAL PAPER SERIES 2002-01-0559
[41] Garrick Forkenbrock, Mark Flick, W. Riley Garrott, A Comprehensive Light Vehicle Antilock Brake System Test Track Performance Evaluation. SAE TECHNICAL PAPER SERIES 1999-01-1287
[42] Constantin von Altrock, Fuzzy Logic in Automotive Engineering. Circuit Cellar INK Issue88 November 1997, P1～9
[43] 韩曾晋，自适应控制，清华大学出版社，2003，2
[44] 雷雨成，汽车系统动力学及仿真，国防工业出版社，1997，8
[45] 吴晓莉，林哲辉等，MATLAB辅助模糊系统设计，西安电子科技大学出版社，2002，8
[46] 余志生，汽车理论，机械工业出版社，1999，5
[2] 邢亮亮，汽车动力学及ABS系统的计算机仿真研究，西北工业大学机械设计及理论专业
[3] 赵治国，方宗德，防抱制动系统模糊模型参考学习控制的研究，系统仿真学报，Vol．14 No．2，Feb．2002，P262～266
[4] 李君，喻凡，张建武，基于道路自动识别ABS模糊控制系统的研究，农业机械学报，2001(32—5)，26～29
[5] 诸静，模糊控制原理与应用，机械工业出版社，2003．3
[6] 王保华，陶健民，ABS模糊控制的研究，汽车科技，2000(2)38～42
[7] 陈昌巨，刘家良，基于滑移率的ABS的模糊控制研究，武汉理工大学学报，2002(24—10)，50～53
[8] Layne J R, Passino K M, Yurkorich S, Fuzzy learning control for anti-skid braking systems[A]. Proceedings of 31th Conference on Decision and Control[C], Tucson Arizona USA, 1992, 2523
[9] Mazumdar S K, Lim C C, The application of neural networks to anti-skid brake design[A]. Proceedings of 1995 IEEE International Conference on Neural Networks[C]. Perth Aust, 1995, 5:2409
[10] 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，汽车科技 2000．3，7～10
[11] Mauer G F, A fuzzy logic controller for ABS baking system, IEEE Transaction on Fuzzy System, 1995, 3:P381～388
[12] Mauer G F, et al. Fuzzy logic continuous and quantizing of an ABS braking system, SAE Paper No. 940830, 1994
[13] 莫友生，朱荣，李思恩，沈莉，汽车ABS模糊神经网络控制系统，上海交通大学学报，1999(33—5)，570～573
[14] 张玲，模糊模型参考自学习ABS控制系统，上海交通大学仪器工程系惯性技术及导航设备专业
[15] 沈莉，模糊神经网络汽车ABS控制系统，上海交通大学信息检测技术与仪器系导航自动化专业
[16] 苏金明，袁沈勇，MATLAB6.1实用指南，电子工业出版社，2002．1
[17] 姚俊，马松辉，SIMULINK建模与仿真，西安电子科技大学出版社，2002
[18] Kou C Y, E.C.Yeh, A four-phase control scheme of an anti-skid brake system for all road conditions, Pro.OfInst.OfMech.Engineers, Part d, Vol.206, No.4,1922:P275～284
[19] Edge.C Yeh et.al. A parametric study of anti-skid brake system using poincare map concept, Int.j.Vehicle Desigen, Vol. 13, No.3, 1992:P210～232
[20] 郭孔辉，刘青，考虑轮胎复杂变形的轮胎非稳态侧偏特性理论模型，汽
车工程，1997，第2期
[21] Bakker E, Nyborg L, Pacehka H.B. Tyre Modelling for Use in Vehicle Dynamics Studies, SAE paper, No.870481, 1987
[22] 陈宏伟，王铁山，具有迟滞模拟记忆功能的奥迪盘式制动器可变线性模型，汽车工程，2000(Vol22)No．2，P115～119，124
[23] 陈宏伟，王铁山，AUDI盘式制动器的幂函数乘积模型，汽车工程，2002(Vol24)No．3，P263～265
[24] Zadeh L A. Fuzzy Sets, Informat Control, 1965, 8.. P338～353
[25] M Bauer, Masayoshi Tomizuka. Fuzzy Logic Traction Controllers and Their Effect on Longitudinal Vehicle Platoon Systems. California PATH Research Report, UCB-ITS-PRR-95-14
[26] Y.S Kueon, J.S Bedi. Fuzzy Neural-Sliding Mode Controller and Its Applications to the Vehicle Anti-Lock Braking Systems. IEEE 00527594
[27] Pieter M. de Koker, J. Gouws, L. Pretorius. Fuzzy Control Algorithm for Automotive Traction Control Systems. IEEE 00550996
[28] Fangjun Jiang, Zhiqiang Gao. An Application of Nonlinear PID Control to a Class of Truck ABS Problems.
[29] Luca Piancastelli, Giuseppe Sarubbi. An EESP Control System For The Recover OF The Initial Direction After An Initial spin. Ⅻ ADM International Conference - Grand Hotel -Rimini - Italy -Sept. 5th-7th,2001
[30] Garrick Forkenbrock, Mark Flick, W.Riley Garrott. A Comprehensive Light Antilock Brake System Test Track Performance Evaluation. SAE 1999-01-1287
[31] Terry D. Day, Sydney G. Roberts, Allen R. York. SIMON: A New Vehicle Simulation Model for Vehicle Design and Safety Research. SAE 2001-01-0503
[32] Terry D. Day, Sydney G. Roberts. A Simulation Model for Vehicle Braking Systems Fitted with ABS. SAE 2002-01-0559
[33] Edge.G.C ecl Development of Fuzzy controller for Anti-skid brake system with a single chip Micro-cintroller. IEEE Transaction on Automatic control, 1995
[34] 胡国亮，模糊控制汽车ABS防抱死系统．，微计算机信息，1998(14-4) P27～2
[35] 徐志新，石莱德，制动器压力模型的研究，液压气动与密封，No．1(Serial No．73)，Feb．1999，P9～12
[36] 刘聚德，陈志芳，轮胎垂直振动动力学模型，汽车工程，1993年(第15卷)第5期，P263～271
[37] 周学建，周志立，张文春，车辆动力学仿真中的轮胎数学模型研究现状，拖拉机与农用运输车，2002年第1期，P8～11
[38] 程军，基于模糊控制方法的防抱制动系统的研究，汽车工程，1997年(第19卷)第4期，P193～199
[39] Terry D. Day, L. Daniel Metz, The Simulation of Driver Inputs Using a
Vehicle Driver Model. SAE TECHNICAL PAPER SERIES 2000-01-1313
[40] Terry D. Day, Sydney G. Roberts, A Simulation Model for Vehicle Braking Systems Fitted with ABS. SAE TECHNICAL PAPER SERIES 2002-01-0559
[41] Garrick Forkenbrock, Mark Flick, W. Riley Garrott, A Comprehensive Light Vehicle Antilock Brake System Test Track Performance Evaluation. SAE TECHNICAL PAPER SERIES 1999-01-1287
[42] Constantin von Altrock, Fuzzy Logic in Automotive Engineering. Circuit Cellar INK Issue88 November 1997, P1～9
[43] 韩曾晋，自适应控制，清华大学出版社，2003，2
[44] 雷雨成，汽车系统动力学及仿真，国防工业出版社，1997，8
[45] 吴晓莉，林哲辉等，MATLAB辅助模糊系统设计，西安电子科技大学出版社，2002，8
[46] 余志生，汽车理论，机械工业出版社，1999，5