客车气压制动系统时延分析及其控制技术研究
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摘要
客车气压制动系统在工作过程中,因为驾驶员反应、力与信号传递和执行机构动作等,致使车辆最终制动结果比期望的时间滞后,此即制动系统的时延；显然,这会影响客车的制动性能和制动过程中的行驶状态,并可能会因制动不良而导致交通事故。目前,在客车气压制动系统及其控制的研究中,没有充分考虑时延特性,多是依据经验或实验数据将系统时延设定为一个冗值,缺乏系统地理论分析。
随着车辆安全性能要求的不断提高,客车主动安全控制的研究与应用得到了不断发展；气压制动系统作为其中的重要组成部分,其时延及其主动控制问题也日益突出。客车电子和网络控制技术的飞速发展与应用为制动系统时延的实时动态控制提供了实施的基础；同时,也对时延及其控制的理论研究提出了新的要求,因为“精确的控制需要精确的理论模型”。本文针对客车气压制动系统的时延问题,采用理论研究、试验和仿真相结合的方法,系统深入地研究制动系统中气动回路压力响应、执行机构动作和控制网络信号传输等时延的理论特性,以及时延的控制策略与方法,旨在主动实时有效地控制客车气压制动系统的时延,减小对制动性能的影响,改善客车制动过程中的行驶状态。论文的主要研究工作如下：
(1)在介绍客车气压制动系统的结构及其工作过程的基础上,分析客车制动过程的时间特性,提出客车气压制动系统时延的组成；推导客车气压制动系统时延所引起的纵向制动距离偏差和横向漂移量的计算公式,从而分析客车气压制动系统时延对客车制动性能的影响。
(2)采用理论分析与试验相结合的方法,研究客车气压制动系统气动回路制动控制阀的时延特性；建立客车气压制动系统制动回路压力响应时延的数学模型；通过仿真与试验,分析客车气压制动系统气动回路的压力响应时延特性；采用PWM控制方式,对客车气压制动系统气动回路压力响应时延的控制进行试验研究,论证其可控性,提出控制方法。
(3)采用等效原理,将客车气压制动系统执行机构各构件产生的累积动作延迟问题等效为制动块与制动盘之间的距离变化问题,建立执行机构的动力学方程,推导接触力的计算公式,提出执行机构动作时延的计算方法,并通过仿真与试验予以验证。
(4)依据组态模式,构建客车气压制动控制网络系统,分析其信号传输时延的组成；根据CAN协议的通信规范,提出控制网络系统信号传输时延的计算方法；建立客车气压制动系统控制网络试验系统,进行信号传输的时延试验,进一步分析控制网络系统信号传输的时延特性。
(5)为了实施客车气压制动系统时延控制,建立客车气压制动过程的动力学模型,用于描述客车在制动过程中的行驶状况,并验证模型的正确性和有效性。以此为基础,针对客车气压制动系统的时延,提出客车气压制动系统时延控制的策略和方法。
论文的工作结果是客车气压制动系统的设计与开发,以及实现实时动态精确控制的理论基础和应用技术,将有利于增强客车气压制动系统及其控制的性能,提高客车气压制动的安全性、稳定性和精确性,保证客车在制动过程中的正确行驶状态,从而提升客车的主动安全性能。
Because of the driver reaction, force and signal transmission, actuator movement in the working process of bus pneumatic braking system, the braking time longer than the expectation, this is the delay time of braking system. Obviously, the delay time will affect bus braking performance, and may cause traffic accident due to undesired braking. At present, in the research fields of bus pneumatic braking system and its control, the designer do not consider the time delay characteristics sufficiently, and usually set the delay time for a redundancy value according to experience or experimental data, and that lack of systematic theoretical analysis.
Along with the continuously improvement of the requirement of vehicle safety performance, the research and application of bus active safty control problem have been rapidly developing. Pneumatic braking system is an important part of the bus, its time delay and active control problem become prominent. The rapidly development and application of bus electronic and network control technology provide an implementation basis for braking system delay time real-time dynamic control, and propose a new demand for the theory research of delay time and its control, because 'accurate control need accurate theory model'. The paper focuses on the delay time problem of bus pneumatic braking system, adopt the method that combines theoretical research, experiment and simulation, systematically study the theory characteristic of pneumatic circuit pressure response delay, actuator action delay and control network signal transmission delay, and delay time control strategy and method, in order to effectively active control bus pneumatic braking system's delay time, reduce its influence on braking performance, improve bus braking state. The main researches of this paper as follows:
(1) Based on the presentation of bus pneumatic brake system's structure and its working process, analyse the time characteristic of bus braking process, propose the delay time composition of bus pneumatic braking system, deduce the calculation formula of longitudinal braking distance deviation and lateral displacement which is caused by the delay time of bus pneumatic braking system, thus analyse delay time influence on bus braking performace.
(2) By means of the method that combines theoretical analysis and experiment, study the time delay characteristic of bus pneumatic braking system air circuit braking control valve. Establish pneumatic braking system braking circuit pressure response delay time mathematical model, analyse bus pneumatic braking air circuit pressure response delay characteristics by simulation and experiment. Use PWM control mode to carry out bus pneumatic braking system air circuit pressure response time delay control test, prove its controllability, and propose control method.
(3) Using equivalent principle, the cumulative action delay problem which is caused by bus pneumatic braking system actuator components is equivalent to the distance change between brake block and disc, establish actuator's dynamic equation, deduce contact force calculation formula, present actuator action delay time's calculation method, and verify it by simulation and experiment.
(4) Based on the configuration mode, construct the bus pneumatic braking control network system, analyse signal transmission delay time's composition. According to the communication specification of CAN, propose calculate method of control network's signal transmission delay time. Build bus pneumatic braking system control network test system, and carry on signal transmission delay test, further analyse its characteristics.
(5) In order to carry out bus pneumatic braking time delay control, establish bus pneumatic braking process dynamic model, which is used to describe bus running state in braking process, verify its validity and effectiveness. Based on this, aimed at bus pneumatic braking system time delay, present bus pneumatic braking system delay time control strategy and method.
Achievements of this paper are the theoretical basis and application technology of bus pneumatic braking system's design and development and realize dynamic accuracy control, this will be beneficial to enhance the performance of bus pneumatic braking system and its control, improve bus pneumatic braking safety, stability and accuracy, ensure bus have correct running state in braking, so as to enhance the bus active safety performance.
随着车辆安全性能要求的不断提高,客车主动安全控制的研究与应用得到了不断发展；气压制动系统作为其中的重要组成部分,其时延及其主动控制问题也日益突出。客车电子和网络控制技术的飞速发展与应用为制动系统时延的实时动态控制提供了实施的基础；同时,也对时延及其控制的理论研究提出了新的要求,因为“精确的控制需要精确的理论模型”。本文针对客车气压制动系统的时延问题,采用理论研究、试验和仿真相结合的方法,系统深入地研究制动系统中气动回路压力响应、执行机构动作和控制网络信号传输等时延的理论特性,以及时延的控制策略与方法,旨在主动实时有效地控制客车气压制动系统的时延,减小对制动性能的影响,改善客车制动过程中的行驶状态。论文的主要研究工作如下：
(1)在介绍客车气压制动系统的结构及其工作过程的基础上,分析客车制动过程的时间特性,提出客车气压制动系统时延的组成；推导客车气压制动系统时延所引起的纵向制动距离偏差和横向漂移量的计算公式,从而分析客车气压制动系统时延对客车制动性能的影响。
(2)采用理论分析与试验相结合的方法,研究客车气压制动系统气动回路制动控制阀的时延特性；建立客车气压制动系统制动回路压力响应时延的数学模型；通过仿真与试验,分析客车气压制动系统气动回路的压力响应时延特性；采用PWM控制方式,对客车气压制动系统气动回路压力响应时延的控制进行试验研究,论证其可控性,提出控制方法。
(3)采用等效原理,将客车气压制动系统执行机构各构件产生的累积动作延迟问题等效为制动块与制动盘之间的距离变化问题,建立执行机构的动力学方程,推导接触力的计算公式,提出执行机构动作时延的计算方法,并通过仿真与试验予以验证。
(4)依据组态模式,构建客车气压制动控制网络系统,分析其信号传输时延的组成；根据CAN协议的通信规范,提出控制网络系统信号传输时延的计算方法；建立客车气压制动系统控制网络试验系统,进行信号传输的时延试验,进一步分析控制网络系统信号传输的时延特性。
(5)为了实施客车气压制动系统时延控制,建立客车气压制动过程的动力学模型,用于描述客车在制动过程中的行驶状况,并验证模型的正确性和有效性。以此为基础,针对客车气压制动系统的时延,提出客车气压制动系统时延控制的策略和方法。
论文的工作结果是客车气压制动系统的设计与开发,以及实现实时动态精确控制的理论基础和应用技术,将有利于增强客车气压制动系统及其控制的性能,提高客车气压制动的安全性、稳定性和精确性,保证客车在制动过程中的正确行驶状态,从而提升客车的主动安全性能。
Because of the driver reaction, force and signal transmission, actuator movement in the working process of bus pneumatic braking system, the braking time longer than the expectation, this is the delay time of braking system. Obviously, the delay time will affect bus braking performance, and may cause traffic accident due to undesired braking. At present, in the research fields of bus pneumatic braking system and its control, the designer do not consider the time delay characteristics sufficiently, and usually set the delay time for a redundancy value according to experience or experimental data, and that lack of systematic theoretical analysis.
Along with the continuously improvement of the requirement of vehicle safety performance, the research and application of bus active safty control problem have been rapidly developing. Pneumatic braking system is an important part of the bus, its time delay and active control problem become prominent. The rapidly development and application of bus electronic and network control technology provide an implementation basis for braking system delay time real-time dynamic control, and propose a new demand for the theory research of delay time and its control, because 'accurate control need accurate theory model'. The paper focuses on the delay time problem of bus pneumatic braking system, adopt the method that combines theoretical research, experiment and simulation, systematically study the theory characteristic of pneumatic circuit pressure response delay, actuator action delay and control network signal transmission delay, and delay time control strategy and method, in order to effectively active control bus pneumatic braking system's delay time, reduce its influence on braking performance, improve bus braking state. The main researches of this paper as follows:
(1) Based on the presentation of bus pneumatic brake system's structure and its working process, analyse the time characteristic of bus braking process, propose the delay time composition of bus pneumatic braking system, deduce the calculation formula of longitudinal braking distance deviation and lateral displacement which is caused by the delay time of bus pneumatic braking system, thus analyse delay time influence on bus braking performace.
(2) By means of the method that combines theoretical analysis and experiment, study the time delay characteristic of bus pneumatic braking system air circuit braking control valve. Establish pneumatic braking system braking circuit pressure response delay time mathematical model, analyse bus pneumatic braking air circuit pressure response delay characteristics by simulation and experiment. Use PWM control mode to carry out bus pneumatic braking system air circuit pressure response time delay control test, prove its controllability, and propose control method.
(3) Using equivalent principle, the cumulative action delay problem which is caused by bus pneumatic braking system actuator components is equivalent to the distance change between brake block and disc, establish actuator's dynamic equation, deduce contact force calculation formula, present actuator action delay time's calculation method, and verify it by simulation and experiment.
(4) Based on the configuration mode, construct the bus pneumatic braking control network system, analyse signal transmission delay time's composition. According to the communication specification of CAN, propose calculate method of control network's signal transmission delay time. Build bus pneumatic braking system control network test system, and carry on signal transmission delay test, further analyse its characteristics.
(5) In order to carry out bus pneumatic braking time delay control, establish bus pneumatic braking process dynamic model, which is used to describe bus running state in braking process, verify its validity and effectiveness. Based on this, aimed at bus pneumatic braking system time delay, present bus pneumatic braking system delay time control strategy and method.
Achievements of this paper are the theoretical basis and application technology of bus pneumatic braking system's design and development and realize dynamic accuracy control, this will be beneficial to enhance the performance of bus pneumatic braking system and its control, improve bus pneumatic braking safety, stability and accuracy, ensure bus have correct running state in braking, so as to enhance the bus active safety performance.
引文
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