汽车ABS性能的台架测试方法研究
摘要
汽车制动性能是汽车主要性能之一，它关系到汽车的行驶安全性。ABS(Anti-Lock Braking System)制动防抱死系统是防止车轮抱死，减少汽车滑动和防止车辆侧滑的主要装置。然而，随着车辆的使用以及一些其它因素，都可能导致ABS性能下降，给车辆的安全行驶带来了隐患。因此，ABS的检测对于评估其性能十分重要。
ABS的检测手段包括道路试验检测和台架试验检测。目前的ABS测试试验主要以道路试验为主，但是国内的汽车制动试验场在路面的组成、结构及其各路面附着系数的组合上只有少数场地达到国家标准。另外，ABS台架测试仍然脱离不了实车测试，而且占地面积较大，且检验车型范围受到一定限制，给测试带来不便。
本课题就是为了能够在实验室环境下测试ABS综合性能，充分研究ABS结构原理及性能指标后，依据国外最新的台架测试方法，结合混合仿真平台dSPACE和车辆动力学模型Tesis，设计出了一种新的台架测试方案。设计方案分为两步：开环测试和闭环测试。开环测试采用信号发生器模拟轮速信号，信号传送到ABS模块，促使电磁阀动作，观察电磁阀动作；进一步采用电动机带动齿圈转动模拟轮速信号，轮速传感器接收并传送到ABS模块，通过压力传感器测试各轮缸压力变化值。闭环测试将ABS部件信号输入输出接口通过dSPACE的I／O接口相连组成回路，首先配置Tesis中的车辆动力学模型，在离线情况下验证模型的配置，最终采用回路仿真实现对ABS各种性能参数的采集以及分析。通过上述的试验方案，可以测试ABS的几大性能指标：①滑移率均值(?)、②滑移率均方差s_s、③稳定系数S_稳、④制动压力均值(?)、⑤制动压力均方差D_p。
课题初步拟定了ABS综合性能试验台架设计方案，但是基于仿真技术还不够成熟，车辆动力学模型不能与实际车辆相比，以及电磁阀控制管路压力变化中存在时间延迟等因素影响了仿真试验台架的准确性、实时性。总体上来说，该课题为ABS综合性能测试提供了具有参考价值的试验方法。
Automobile brake performance is one of automobile major performance, it concerns the safety of automobile traveling. Anti-Lock Braking System prevent wheels from locking, reduce the slide of automobile and prevent slide of side direction of vehicle. However, with the using of vehicle and some other factors, it can cause automobile ABS to lose its function or make its function drop, and it can bring hidden troubles for vehicle traveling.
ABS testing methods include road-testing and bed-testing, actual ABS testing method is road-testing, but road surface situation and friction coefficients of the internal automobile break proving ground is not accorded with nation standard. Otherwise, actual ABS bed-testing still need whole vehicle test, and need big area of test ground. The bound of test vehicle is limited by test-bed, so that method is not applied in every test situation.
The aim of this subject is to design a new scheme of test-bed for ABS in lab. According the overseas latest new method, the test-bed merge the mix simulation platform-dSPACE and vehicle model- Tesis, after the sufficient research of ABS configuration, theory and index of performance. The scheme have two step: open loop test and closed loop test. Open loop test, first use signal generator simulate the wheel speed signal, after the speed signal sent to the ABS ECU,then solenoids have action. Then electromotor drive the toothed exciter wheels, wheel speed sensors bring the signal to the ABS ECU, finally pressure sensors test the variability of pressure of every wheel pumps;Closed loop test, connect the ABS signal I/O interface in loop with dSPACE I/O interface, first configure the vehicle dynamics model of Tesis, in open loop situation validate the vehicle dynamics model, lastly, use the hardware in the loop method collect and analyse several index of performance, the average of slip ratio, stabilization coefficient, the average of break pressure etc.
This subject pilot study the bed-testing evaluation method of ABS performance, But the simulation technology has not very well recently, the vehicle dynamics model can not substitute the actual vehicle, the hysteresis of hardware influence the veracity and real-time of simulation. Generally, this subject provide a new and constructive testing method of ABS performance.
ABS的检测手段包括道路试验检测和台架试验检测。目前的ABS测试试验主要以道路试验为主，但是国内的汽车制动试验场在路面的组成、结构及其各路面附着系数的组合上只有少数场地达到国家标准。另外，ABS台架测试仍然脱离不了实车测试，而且占地面积较大，且检验车型范围受到一定限制，给测试带来不便。
本课题就是为了能够在实验室环境下测试ABS综合性能，充分研究ABS结构原理及性能指标后，依据国外最新的台架测试方法，结合混合仿真平台dSPACE和车辆动力学模型Tesis，设计出了一种新的台架测试方案。设计方案分为两步：开环测试和闭环测试。开环测试采用信号发生器模拟轮速信号，信号传送到ABS模块，促使电磁阀动作，观察电磁阀动作；进一步采用电动机带动齿圈转动模拟轮速信号，轮速传感器接收并传送到ABS模块，通过压力传感器测试各轮缸压力变化值。闭环测试将ABS部件信号输入输出接口通过dSPACE的I／O接口相连组成回路，首先配置Tesis中的车辆动力学模型，在离线情况下验证模型的配置，最终采用回路仿真实现对ABS各种性能参数的采集以及分析。通过上述的试验方案，可以测试ABS的几大性能指标：①滑移率均值(?)、②滑移率均方差s_s、③稳定系数S_稳、④制动压力均值(?)、⑤制动压力均方差D_p。
课题初步拟定了ABS综合性能试验台架设计方案，但是基于仿真技术还不够成熟，车辆动力学模型不能与实际车辆相比，以及电磁阀控制管路压力变化中存在时间延迟等因素影响了仿真试验台架的准确性、实时性。总体上来说，该课题为ABS综合性能测试提供了具有参考价值的试验方法。
Automobile brake performance is one of automobile major performance, it concerns the safety of automobile traveling. Anti-Lock Braking System prevent wheels from locking, reduce the slide of automobile and prevent slide of side direction of vehicle. However, with the using of vehicle and some other factors, it can cause automobile ABS to lose its function or make its function drop, and it can bring hidden troubles for vehicle traveling.
ABS testing methods include road-testing and bed-testing, actual ABS testing method is road-testing, but road surface situation and friction coefficients of the internal automobile break proving ground is not accorded with nation standard. Otherwise, actual ABS bed-testing still need whole vehicle test, and need big area of test ground. The bound of test vehicle is limited by test-bed, so that method is not applied in every test situation.
The aim of this subject is to design a new scheme of test-bed for ABS in lab. According the overseas latest new method, the test-bed merge the mix simulation platform-dSPACE and vehicle model- Tesis, after the sufficient research of ABS configuration, theory and index of performance. The scheme have two step: open loop test and closed loop test. Open loop test, first use signal generator simulate the wheel speed signal, after the speed signal sent to the ABS ECU,then solenoids have action. Then electromotor drive the toothed exciter wheels, wheel speed sensors bring the signal to the ABS ECU, finally pressure sensors test the variability of pressure of every wheel pumps;Closed loop test, connect the ABS signal I/O interface in loop with dSPACE I/O interface, first configure the vehicle dynamics model of Tesis, in open loop situation validate the vehicle dynamics model, lastly, use the hardware in the loop method collect and analyse several index of performance, the average of slip ratio, stabilization coefficient, the average of break pressure etc.
This subject pilot study the bed-testing evaluation method of ABS performance, But the simulation technology has not very well recently, the vehicle dynamics model can not substitute the actual vehicle, the hysteresis of hardware influence the veracity and real-time of simulation. Generally, this subject provide a new and constructive testing method of ABS performance.
引文
[1]．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]．李朝禄等．汽车制动防抱装置(ABS)构造与原理．ABS株式会社．北京：机械工业出版社，1995．
[3]．余志生．汽车理论(第三版)．机械工业出版社，2000，10
[4]．陈家瑞，汽车构造(上、下册)，人民交通出版社，2003
[5]．郭孔辉．汽车操纵动力学，长春：吉林科学技术出版社．1991：96-588
[6]．GBl3594—2003 机动车和挂车防抱死性能和试验方法
[7]．GBl2676—1999 汽车制动系统结构、性能和试验方法
[8]．陈其志，汪祥本．制动防抱死系统(ABS)的现状与发展．城市公共交通，2004．3
[9]．陈桂明，张明字，戚红梅．Matlab建模与仿真．北京：科学出版社，2002，214-233
[10]．王会义，高博，宋健．汽车ABS电磁阀动作响应测试与分析．汽车工程，2002(1)：29-31
[11]．郭孔辉，刘溧，丁海涛，等．汽车防抱制动系统的液压特性．吉林工业大学自然科学学报，1999(4)：1-5
[12]．洪涛，叶楠，张震宇．吉林工业大学，ABS的轮速信号及其传感器．专用汽车，1997．2，40-44
[13]．陈友谊，苏建．汽车ABS制动防抱死系统检验与测试方法研究．东北汽车运输2002 (4)11-14
[14]．郭孔辉，丁海涛，刘溧．汽车ABS混合仿真试验台的开发与研究[J]．中国机械工程，2000，(12)
[15]．程军．计算机测控系统在汽车零部件实验台上的应用—采集系统的设计．汽车研究与开发．1994．
[16]．周建友，吴诰硅等．汽车防抱死制动系统(ABS)微机测试平台．汽车科技．1998．4，39-43
[17]．刘侃，唐薪蓬，谢正超．ABS混合仿真系统中软硬件接口的设计与实现．汽车电器．2003．2
[18]．康定鉴，成国真．汽车ABS液压单元计算机辅助测试系统的研制．机床与压．2004．10 238-239
[19]．林波，夏群生，何乐．ABS液压混合仿真试验台的研究和应用．清华大学学报(自然科学版)2002．2 262-265
[20]．吴昭润，彭美春，曹华．计算机仿真汽车ABS性能评价方法．交通与计算机，2005．3 67-69
[21]．曹华，彭美春，林怡青．汽车ABS性能虚拟测试系统的研究．车辆与动力技术，2005．1 1-5
[22]．刑成波，孙志杰．车辆ABS建模及仿真研究．机床与液压，2003．6 244-246
[23]．宋小毅，傅值全，夏群生．多功能气压ABS开发测试系统的设计与应用．公路与交通科技，2004．7 116-122
[24]．王新郧．ABS性能评价方法的研究．汽车技术，2002．2 22-23
[25]．程军．防抱死系统的性能评价．汽车研究与开发，1999．4 23-27
[26]．李玉璇，蒋爱琴．仿真分析中对ABS性能的评价．上海汽车，2002．3 1-3
[27]．马培蓓，吴进华，纪军．dSPACE实时仿真平台软件环境及应用．系统仿真学报．2004．4 667-670
[28]．董霖，张永相．基于dSPACE的ABS控制器一体化设计．新技术新工艺．2004．7 4-5
[29]．孙仁云．汽车ABS试验台传感器与系统灵敏度的确定[J]．四川大学学报(工程科学版)，2001，(5)
[30]．杨启梁，严运兵．具有ABS的汽车制动性能试验模拟系统．汽车科技，2003．5 40-41
[31]．刘佳琦，吴伟国，张新．汽车ABS控制器集成开发系统的研究．汽车科技，2004．5
[32]．程军，崔继波，徐光辉．车辆控制系统集成开发系统．汽车工程，2000．2 109-114
[33]．石晓明．汽车电子防抱制动系统仿真的研究．汽车工程，1996．5
[34]．赵奇平，陈汉讯，徐达伟．汽车、摩托车ABS性能试验台开发．武汉理工大学报，2002．5
[35]．赵奇平，陈汉讯，郑安文．汽车、摩托车ABS试验台的计算机辅助设计．武汉理工大学学报，2002．8
[36]．马明星，仇屺珏．基于MATLAB的车辆制动过程仿真研究．现代设计技术，2004．3
[37]．陈友谊．汽车ABS台架检测方法研究．吉林大学硕士学位论文，2003
[38]. Ferdinand svaricek. Automatic Valuafion and Verification of ABS Controllers by Using a Hardware-In-The-Loop Simulation. SAE paper 980241
[39]. Alan Strickland, Ken Dagg. ABS Braking Performance and Steering Input. SAE paper 980242
[40]. Suh, M. W., Chung, J. H, Him, S. M, Kim, Y. J. Lee. Hardware-in-the-Loop Simulation for ABS. SAE paper 980244
[41]. Soo-Jin Lee, Young-Jun Kim. Development of Hardware-in-the-Loop Simulator and Vehicle Dynamic Model for Testing ABS. SAE paper 2003-01-0858
[42]. dSPACE implementation guide, dSPACE Inc, 2001,
[43]. Thomas S, Charles N. Real-time-Heavy-Duty Truck Simulation for Testing and Debug of ECU Networks[J]. SAE paper 1999-01-3778.
[44]. Cem H, Amer M. Simulation Based ABS Algorithm Development[J], SAE paper 1999-01-3174.
[45]. William P A, Mark A B. Verificafion of Heavy Truck EBS and ABS Using Matrix Hardware in the Loop Tools[J]. SAE paper 1999-01-3713.
[46]. Suh M W, Chung J H, Seok C S, Kim Y J. Hardware-in-the-lop simulation for ABS based on PC[J]. Int. J of Vehicle Design, 2000, 24(2/3).
[47]. Mark Bennett, Michael Tober. ABS System Validation: Integrating Tone Rings and Wheel Speed Sensors in HIL Simulation. SAE paper 2002-01-3123.
[48]. Yoshiyuki Yasui, Hirofumi Nitta and Tsuyoshi Yoshida. Experimental Approach for Evaluating Tire Characteristics and ABS Performance. SAE paper 2000-01-0110.
[49]. Terry D. Day and Sydney G. Roberts. A Simulation Model for Vehicle Braking Systems Fitted with ABS. SAE paper 2002-01-0559.
[50]. Huiyi Wang, Bo Gao and Jian Song. Approach of Debugging Control Laws of ABS Combined with Hardware-in-the-Loop Simulation and Road Experiment. SAE paper 2001-01-2729.
[51]. Doh-Young Park, Don-Ha Hwang, Ki-Chang Lee, Jeong-Woo Jeon and Yong-Joo Kim. Development of HILS System for ABS ECU of Commercial Vehicles. SAE paper 2001-01-3186.
[52]. Cem Hatipoglu and Amer Malik. Simulation Based ABS Algorithm Development. SAE paper 1999-01-3714.
[2]．李朝禄等．汽车制动防抱装置(ABS)构造与原理．ABS株式会社．北京：机械工业出版社，1995．
[3]．余志生．汽车理论(第三版)．机械工业出版社，2000，10
[4]．陈家瑞，汽车构造(上、下册)，人民交通出版社，2003
[5]．郭孔辉．汽车操纵动力学，长春：吉林科学技术出版社．1991：96-588
[6]．GBl3594—2003 机动车和挂车防抱死性能和试验方法
[7]．GBl2676—1999 汽车制动系统结构、性能和试验方法
[8]．陈其志，汪祥本．制动防抱死系统(ABS)的现状与发展．城市公共交通，2004．3
[9]．陈桂明，张明字，戚红梅．Matlab建模与仿真．北京：科学出版社，2002，214-233
[10]．王会义，高博，宋健．汽车ABS电磁阀动作响应测试与分析．汽车工程，2002(1)：29-31
[11]．郭孔辉，刘溧，丁海涛，等．汽车防抱制动系统的液压特性．吉林工业大学自然科学学报，1999(4)：1-5
[12]．洪涛，叶楠，张震宇．吉林工业大学，ABS的轮速信号及其传感器．专用汽车，1997．2，40-44
[13]．陈友谊，苏建．汽车ABS制动防抱死系统检验与测试方法研究．东北汽车运输2002 (4)11-14
[14]．郭孔辉，丁海涛，刘溧．汽车ABS混合仿真试验台的开发与研究[J]．中国机械工程，2000，(12)
[15]．程军．计算机测控系统在汽车零部件实验台上的应用—采集系统的设计．汽车研究与开发．1994．
[16]．周建友，吴诰硅等．汽车防抱死制动系统(ABS)微机测试平台．汽车科技．1998．4，39-43
[17]．刘侃，唐薪蓬，谢正超．ABS混合仿真系统中软硬件接口的设计与实现．汽车电器．2003．2
[18]．康定鉴，成国真．汽车ABS液压单元计算机辅助测试系统的研制．机床与压．2004．10 238-239
[19]．林波，夏群生，何乐．ABS液压混合仿真试验台的研究和应用．清华大学学报(自然科学版)2002．2 262-265
[20]．吴昭润，彭美春，曹华．计算机仿真汽车ABS性能评价方法．交通与计算机，2005．3 67-69
[21]．曹华，彭美春，林怡青．汽车ABS性能虚拟测试系统的研究．车辆与动力技术，2005．1 1-5
[22]．刑成波，孙志杰．车辆ABS建模及仿真研究．机床与液压，2003．6 244-246
[23]．宋小毅，傅值全，夏群生．多功能气压ABS开发测试系统的设计与应用．公路与交通科技，2004．7 116-122
[24]．王新郧．ABS性能评价方法的研究．汽车技术，2002．2 22-23
[25]．程军．防抱死系统的性能评价．汽车研究与开发，1999．4 23-27
[26]．李玉璇，蒋爱琴．仿真分析中对ABS性能的评价．上海汽车，2002．3 1-3
[27]．马培蓓，吴进华，纪军．dSPACE实时仿真平台软件环境及应用．系统仿真学报．2004．4 667-670
[28]．董霖，张永相．基于dSPACE的ABS控制器一体化设计．新技术新工艺．2004．7 4-5
[29]．孙仁云．汽车ABS试验台传感器与系统灵敏度的确定[J]．四川大学学报(工程科学版)，2001，(5)
[30]．杨启梁，严运兵．具有ABS的汽车制动性能试验模拟系统．汽车科技，2003．5 40-41
[31]．刘佳琦，吴伟国，张新．汽车ABS控制器集成开发系统的研究．汽车科技，2004．5
[32]．程军，崔继波，徐光辉．车辆控制系统集成开发系统．汽车工程，2000．2 109-114
[33]．石晓明．汽车电子防抱制动系统仿真的研究．汽车工程，1996．5
[34]．赵奇平，陈汉讯，徐达伟．汽车、摩托车ABS性能试验台开发．武汉理工大学报，2002．5
[35]．赵奇平，陈汉讯，郑安文．汽车、摩托车ABS试验台的计算机辅助设计．武汉理工大学学报，2002．8
[36]．马明星，仇屺珏．基于MATLAB的车辆制动过程仿真研究．现代设计技术，2004．3
[37]．陈友谊．汽车ABS台架检测方法研究．吉林大学硕士学位论文，2003
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