基于滑移率的车辆防抱死制动系统的研究
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摘要
汽车防抱死制动系统(ABS)对提高汽车的主动安全性和经济性、减小事故风险等具有重要的意义,因而具有广阔的应用前景。结合车辆动力学控制的最佳ABS系统是以车轮滑移率为控制目标的ABS系统,它涉及到一系列关键技术研究,如轮速信号的处理方法和轮加速度信号的计算方法、车身速度估计方法、最佳滑移率估计方法和ABS的控制方法等。为了改进传统的逻辑门限ABS的局限性,本文对基于滑移率的汽车防抱死制动系统的上述关键技术及实现方法进行了研究,并以研究成果为基础完成了相应工程项目的研制任务。
本文的研究工作包括以下几个部分:
(1)根据车辆运动参数,采用牛顿力学建立了车辆的九自由度制动模型,然后逐步简化为双轮车辆制动模型和单轮车辆制动模型。在对比几种常用的轮胎模型基础上,选择了魔术公式作为车辆制动模型中的轮胎模型。
(2)描述了轮速信号的采集和预处理过程,研究了轮速信号的测量误差,通过试验给出了测量误差随轮速的变化关系;给出了等角度采样信号变换到等周期采样信号的计算方法,应用指数平滑滤波器实现了轮速信号的滤波;设计了一种基于FIR滤波器的轮加速度信号的计算方法,在使误差方差最小的准则下,求解了滤波器的系数和滤波器的长度。
(3)对基于多传感器融合技术的车速估计方法进行了研究。该方法是利用加速度传感器测量汽车制动过程中车身加速度信号,结合轮速信号,建立系统状态方程和测量方程,并采用卡尔曼滤波技术来估计车速的。为减少微控制器的计算量和增加系统可靠性,对四个轮速信号应用中值滤波方法,给出了一种实用的车速计算方法。
(4)在比较各种路面识别技术优缺点基础上,对基于μ-λ函数参数模型的最佳滑移率估计方法进行了研究。为了能迅速跟踪路面的跃变,设计了基于累积和(CUSUM)算法的路面跃变监视器。
(5)在考虑风阻和轮胎滚动阻力的工况下,对以最短制动距离为目标的ABS控制律进行了研究,并利用基于初值猜测技术的打靶法进行了数值仿真。对基于模型的自适应滑模变结构控制方法进行了理论研究与改进,将其应用到基于滑移率的ABS系统中,并进行了仿真验证。
(6)给出了ABS系统的软硬件设计,包括轮速信号处理电路及其仿真验证、车辆加速度传感器应用电路和DSP在ABS系统中的应用电路;设计了ABS实时闭环模拟系统,并在该平台上验证了所提出的ABS参数自适应滑模变结构控制方法的有效性和可行性;最后,利用研制的ABS系统进行了道路试验。
上述研究工作对自主开发ABS系统和进一步开展汽车主动安全性理论和技术研究有一定的参考价值和现实意义。
Anti-lock Braking system (ABS) has important significance for improving the active safety of vehicle, economizing money and alleviating damage induced by accidents, so ABS has broad future. The optimal Anti-lock Braking system combining with vehicle dynamics control, which can keep slip-ratio optimal and stable, is an ideal ABS control system. The key technologies of ABS based on slip-ratio consist of processing of wheel speed and calculation of wheel acceleration, estimation of vehicle velocity, estimation of the optimal slip-ratio, and the control strategy of ABS. In order to improve the performance of conventional ABS, the above mentioned key technologies and corresponding realization algorithms had been investigated in this paper, and the ABS product equipped in vehicle for performance test had been manufactured.
The research scope of this paper includes:
(1) According to the vehicle motion parameters, the 9 degrees of freedom vehicle brake model has been established by utilizing Newtonian mechanics, which can be reduced step by step to a double-wheel vehicle brake model and to a single-wheel vehicle brake model. On the basis of comparing a few kinds of tire models accepted widely, the Magic Formula tire model is selected as the tire model in the vehicle brake model.
(2) The acquisition and pre-process of wheel speed signal have been described, and the measurement error of wheel speed signal has been investigated. The main factor which influences the wheel speed threshold is the trigger error whose variation with the wheel speed has been measured by experiment. The calculation method of converting equal-angle sample signal into equal-period sample signal has been surveyed, and the filter technology of wheel speed signal has been realized. An estimation algorithm based on FIR filter to calculate wheel acceleration has been proposed, which is optimal in the sense of minimizing the error variance and its filter coefficient and length have been solved.
(3) The estimation method based on multi-sensor fusion has been surveyed. By using the wheel speed signals and vehicle body acceleration signal, the system state equations and measurement equations have been implemented, and the vehicle velocity is estimated by Kalman Filter technology. In order to reduce the calculation work and increase the reliability of system, this paper applies the technology of Median Filter to the four wheel speed signals, and proposes a kind of practical method for calculating vehicle velocity. The trial results verified the feasibility and validity of this method.
(4) On the basis of comparing current technologies of road identification, an estimation method of optimal slip-ratio, based on approximate parameters ofμ-λ function, has been proposed. In order to track the abrupt change of road surface, a road surface change monitor based on CUSUM algorithm has been illustrated.
(5) By considering wind resistance and wheel rolling resistance in vehicle single wheel brake model, the control technology of realizing the shortest brake distance has been studied by utilizing the optimal control theory, and the shooting methods based on initial variable guess technique has been provided to realize numerical calculation. The adaptive sliding mode variable structure based on model has been studied and been improved further, and its application in slip-ratio based ABS has been realized. The ABS parameter adaptation sliding mode variable structure has been simulated and tested on real vehicle.
(6) The hardware and software designs of ABS system, which consist of wheel signal processing circuit and its simulation and verification, vehicle acceleration sensor measurement circuit and DSP application circuit, have been illustrated. An ABS real-time loop experiment platform, on which the validity and feasibility of ABS parameter adaptive sliding mode control method proposed in this paper were verified, has been designed. The road experiment has been realized by the development of ABS product.
The above-mentioned investigations have definite reference values and practical meanings for developing our own ABS and exploring theoretical and technical study of vehicle active safety farther.
本文的研究工作包括以下几个部分:
(1)根据车辆运动参数,采用牛顿力学建立了车辆的九自由度制动模型,然后逐步简化为双轮车辆制动模型和单轮车辆制动模型。在对比几种常用的轮胎模型基础上,选择了魔术公式作为车辆制动模型中的轮胎模型。
(2)描述了轮速信号的采集和预处理过程,研究了轮速信号的测量误差,通过试验给出了测量误差随轮速的变化关系;给出了等角度采样信号变换到等周期采样信号的计算方法,应用指数平滑滤波器实现了轮速信号的滤波;设计了一种基于FIR滤波器的轮加速度信号的计算方法,在使误差方差最小的准则下,求解了滤波器的系数和滤波器的长度。
(3)对基于多传感器融合技术的车速估计方法进行了研究。该方法是利用加速度传感器测量汽车制动过程中车身加速度信号,结合轮速信号,建立系统状态方程和测量方程,并采用卡尔曼滤波技术来估计车速的。为减少微控制器的计算量和增加系统可靠性,对四个轮速信号应用中值滤波方法,给出了一种实用的车速计算方法。
(4)在比较各种路面识别技术优缺点基础上,对基于μ-λ函数参数模型的最佳滑移率估计方法进行了研究。为了能迅速跟踪路面的跃变,设计了基于累积和(CUSUM)算法的路面跃变监视器。
(5)在考虑风阻和轮胎滚动阻力的工况下,对以最短制动距离为目标的ABS控制律进行了研究,并利用基于初值猜测技术的打靶法进行了数值仿真。对基于模型的自适应滑模变结构控制方法进行了理论研究与改进,将其应用到基于滑移率的ABS系统中,并进行了仿真验证。
(6)给出了ABS系统的软硬件设计,包括轮速信号处理电路及其仿真验证、车辆加速度传感器应用电路和DSP在ABS系统中的应用电路;设计了ABS实时闭环模拟系统,并在该平台上验证了所提出的ABS参数自适应滑模变结构控制方法的有效性和可行性;最后,利用研制的ABS系统进行了道路试验。
上述研究工作对自主开发ABS系统和进一步开展汽车主动安全性理论和技术研究有一定的参考价值和现实意义。
Anti-lock Braking system (ABS) has important significance for improving the active safety of vehicle, economizing money and alleviating damage induced by accidents, so ABS has broad future. The optimal Anti-lock Braking system combining with vehicle dynamics control, which can keep slip-ratio optimal and stable, is an ideal ABS control system. The key technologies of ABS based on slip-ratio consist of processing of wheel speed and calculation of wheel acceleration, estimation of vehicle velocity, estimation of the optimal slip-ratio, and the control strategy of ABS. In order to improve the performance of conventional ABS, the above mentioned key technologies and corresponding realization algorithms had been investigated in this paper, and the ABS product equipped in vehicle for performance test had been manufactured.
The research scope of this paper includes:
(1) According to the vehicle motion parameters, the 9 degrees of freedom vehicle brake model has been established by utilizing Newtonian mechanics, which can be reduced step by step to a double-wheel vehicle brake model and to a single-wheel vehicle brake model. On the basis of comparing a few kinds of tire models accepted widely, the Magic Formula tire model is selected as the tire model in the vehicle brake model.
(2) The acquisition and pre-process of wheel speed signal have been described, and the measurement error of wheel speed signal has been investigated. The main factor which influences the wheel speed threshold is the trigger error whose variation with the wheel speed has been measured by experiment. The calculation method of converting equal-angle sample signal into equal-period sample signal has been surveyed, and the filter technology of wheel speed signal has been realized. An estimation algorithm based on FIR filter to calculate wheel acceleration has been proposed, which is optimal in the sense of minimizing the error variance and its filter coefficient and length have been solved.
(3) The estimation method based on multi-sensor fusion has been surveyed. By using the wheel speed signals and vehicle body acceleration signal, the system state equations and measurement equations have been implemented, and the vehicle velocity is estimated by Kalman Filter technology. In order to reduce the calculation work and increase the reliability of system, this paper applies the technology of Median Filter to the four wheel speed signals, and proposes a kind of practical method for calculating vehicle velocity. The trial results verified the feasibility and validity of this method.
(4) On the basis of comparing current technologies of road identification, an estimation method of optimal slip-ratio, based on approximate parameters ofμ-λ function, has been proposed. In order to track the abrupt change of road surface, a road surface change monitor based on CUSUM algorithm has been illustrated.
(5) By considering wind resistance and wheel rolling resistance in vehicle single wheel brake model, the control technology of realizing the shortest brake distance has been studied by utilizing the optimal control theory, and the shooting methods based on initial variable guess technique has been provided to realize numerical calculation. The adaptive sliding mode variable structure based on model has been studied and been improved further, and its application in slip-ratio based ABS has been realized. The ABS parameter adaptation sliding mode variable structure has been simulated and tested on real vehicle.
(6) The hardware and software designs of ABS system, which consist of wheel signal processing circuit and its simulation and verification, vehicle acceleration sensor measurement circuit and DSP application circuit, have been illustrated. An ABS real-time loop experiment platform, on which the validity and feasibility of ABS parameter adaptive sliding mode control method proposed in this paper were verified, has been designed. The road experiment has been realized by the development of ABS product.
The above-mentioned investigations have definite reference values and practical meanings for developing our own ABS and exploring theoretical and technical study of vehicle active safety farther.
引文
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