汽车ABS和ASR联合控制的研究
|
摘要
随着汽车工业的发展,汽车主动安全性问题日益突出。目前,汽车防滑控制主要体现在ABS和ASR这两种控制系统,由于在安全性能的前提下,尽量优化汽车结构设计,采取各控制系统集成设计,出现了ABS和ASR联合系统,称之为防滑控制系统。虽然此防滑控制系统广泛的应用,但控制方法还是以逻辑门限值控制为主,该控制方法虽比较简单,但逻辑复杂。现在智能控制技术如模糊控制、神经网络控制技术应用广泛,可以提高系统的自适应性和可靠性。本文基于滑移率的误差及误差变化值,采用模糊及模糊PID控制方法,进一步改进ABS和ASR联合控制系统。
本文采用模糊控制理论,通过MATLAB中的模糊控制工具箱,设计汽车ABS和ASR联合控制系统的模糊控制器。定义了汽车联合控制系统的模糊输入变量和输出变量,并且根据专家经验,给出了模糊控制器的隶属度函数和控制规则,通过观测器输出了模糊变量之间的关系。通过对汽车制动与驱动原理分析,建立了车辆系统的各主要部件的数学模型,包括发动机模型、传动系模型、轮胎模型、整车模型等,并基于Matlab/Simulink建立汽车部分仿真模型。根据所建立仿真模型及控制方法,在均一路面进行制动仿真分析,并且在均一及分离路面进行驱动仿真分析,在此过程中使用方法有制动控制、发动机转矩输出调节控制及发动机转矩输出联合驱动轮制动控制。
从各仿真结果和按照国家标准进行的仿真结果可以得出:(1)建立的汽车系统动力学模型正确合理,符合汽车防滑控制系统仿真的需要。(2)所设计的汽车防滑控制系统的Simulink仿真模型性能良好,能够完成仿真需要。(3)仿真结果符合实际理论分析,并且提出了需要改进之处。
With the development of automobile industry, vehicle active safety performance are increasingly taken into account.At the present time, the antiskid on the motorcar includes ABS and ASR. In precondition of safety performance,in order to optimize motorcar structural design, every control system can be adopted the method of integrated design,so the antiskid of ABS&ASR is created.Although the system is used broadly, the controls way with logistic is very simple and complex. The current control way about fuzzy control and NC—Neurocontrol can enhance capability of adaptability and dependability. The paper adopts control arithmetic with fuzzy and fuzzypid on the base of slippage ratio error and its diversification in order to ameliorate the control system.
This paper mainly utilizes the fuzzy logic theory and builds up the fuzzy logic control system with the toolbox of MATLAB, and the paper defines the variables of the fuzzy functions input and output. According to the expert experiences, the paper designs the fuzzy membership and fuzzy logic controller rules, and then exports the membership between inputs and output by the view observer.Studies the theory about motorcar brake and drive and builds vehicle dynamic models ,such as engine、transmission、tire、and whole vehicle and etc on the base of Matlab/simulink.On the base of models and control arithmetic, braking on the even road and driving on the even and separate road. In the course, the utilized methods are the brake control、engine control and cooperative control of brake and engine.
The simulations are carried out either on separate ones or according to our national standards and the results show that: (1) The antiskid model based on the fuzzy logic control is reasonable, and suitable for the antiskid simulation. (2)The model is in possession of high performance. It can be used to accomplish the simulation. (3)The result is accord with the theoretical analysis. Based on the analysis, the paper brings forward the improvement of the control system.
本文采用模糊控制理论,通过MATLAB中的模糊控制工具箱,设计汽车ABS和ASR联合控制系统的模糊控制器。定义了汽车联合控制系统的模糊输入变量和输出变量,并且根据专家经验,给出了模糊控制器的隶属度函数和控制规则,通过观测器输出了模糊变量之间的关系。通过对汽车制动与驱动原理分析,建立了车辆系统的各主要部件的数学模型,包括发动机模型、传动系模型、轮胎模型、整车模型等,并基于Matlab/Simulink建立汽车部分仿真模型。根据所建立仿真模型及控制方法,在均一路面进行制动仿真分析,并且在均一及分离路面进行驱动仿真分析,在此过程中使用方法有制动控制、发动机转矩输出调节控制及发动机转矩输出联合驱动轮制动控制。
从各仿真结果和按照国家标准进行的仿真结果可以得出:(1)建立的汽车系统动力学模型正确合理,符合汽车防滑控制系统仿真的需要。(2)所设计的汽车防滑控制系统的Simulink仿真模型性能良好,能够完成仿真需要。(3)仿真结果符合实际理论分析,并且提出了需要改进之处。
With the development of automobile industry, vehicle active safety performance are increasingly taken into account.At the present time, the antiskid on the motorcar includes ABS and ASR. In precondition of safety performance,in order to optimize motorcar structural design, every control system can be adopted the method of integrated design,so the antiskid of ABS&ASR is created.Although the system is used broadly, the controls way with logistic is very simple and complex. The current control way about fuzzy control and NC—Neurocontrol can enhance capability of adaptability and dependability. The paper adopts control arithmetic with fuzzy and fuzzypid on the base of slippage ratio error and its diversification in order to ameliorate the control system.
This paper mainly utilizes the fuzzy logic theory and builds up the fuzzy logic control system with the toolbox of MATLAB, and the paper defines the variables of the fuzzy functions input and output. According to the expert experiences, the paper designs the fuzzy membership and fuzzy logic controller rules, and then exports the membership between inputs and output by the view observer.Studies the theory about motorcar brake and drive and builds vehicle dynamic models ,such as engine、transmission、tire、and whole vehicle and etc on the base of Matlab/simulink.On the base of models and control arithmetic, braking on the even road and driving on the even and separate road. In the course, the utilized methods are the brake control、engine control and cooperative control of brake and engine.
The simulations are carried out either on separate ones or according to our national standards and the results show that: (1) The antiskid model based on the fuzzy logic control is reasonable, and suitable for the antiskid simulation. (2)The model is in possession of high performance. It can be used to accomplish the simulation. (3)The result is accord with the theoretical analysis. Based on the analysis, the paper brings forward the improvement of the control system.
引文
1付子一.以ABS为代表的提高汽车制动性新技术.机械制造与自动化. 2005, 34:18~22
2牛家忠,朱杏鹃.汽车卞动安全性与被动安全性的发展.重型汽车. 1997, 6: 29~31
3林清芝.基于模糊控制的越野汽车主动控制系统研究.哈尔滨工业大学硕士论文. 2006, 1~2
4 Helmult Fennel, Sascha Mahr, Rudiger Schleysing. Transpute-Based Real-time Simulator-A high Performance Tool for ABS and TCS Development. SAE. No.920643
5 Jae-Cheon Lee,Myung-Won Suh.Hardware-in-the Loop Simulator for ABS/TCS, Proceedings of the International Conference on Control Applications, Kohala Coast-Island of Hawai .USA, 1999, 8: 22~27
6 R Kazemi, M.Kabganian,M.R.Modir Zaare.A new sliding modecontroller for four- wheel anti-lock braking system(ABS). SAE. 2000, 1: 16~39
7 Jurgen Geerstenmeler.Traction Control(ASR)-An Extension of the Anti-lock- Braking System(ABS). SAE. Paper No.861033
8 Kaoru Sawase an,Yoshiaki Sano. Application of Active Yaw Control to Vehicle Dynamics by Utilizing Driving/Breaking Force. JSAE Review. 1999, 289~295.
9司利增.汽车防滑控制系统─ABS与ASR.人民交通出版社, 1997: 12~16
10冯崇毅,鲁直雄,何丹娅.汽车电子控制技术.人民交通出版社, 2005: 153~156, 171~179
11张月相,赵英君.电控汽车ABS培训教程.黑龙江科学技术出版社, 2007, 45~51
12李涵武,赵雨旸.汽车电器与电子技术.哈尔滨工业大学出版社, 2006, 323~329
13吴昌扣,孙俊.汽车ABS/ASR技术及发展趋势.安徽科技. 2003, 5: 40~41
14任少卿,陈慧岩,黄江波,宋士伟.汽车防滑控制系统ABS/ASR基本原理及发展趋势.汽车电器. 2006, 3: 1~4
15张厚忠,李劲松. ABS与ASR控制算法研究及对比分析.农机化研究. 2004, 6: 92~94
16余志生.汽车理论.机械工业出版社, 2003, 71~72
17 Anton T. van Zanten, Rainer Erhardt, Georg Pfaff. VDC, The Vehicle Dynamics Control System of Bosch .SAE paper. No.950759
18程军,袁金光,王西山.汽车防滑控制的研究.汽车工程, 1997: 96~102
19 L Austin,D Morrey.Recent advances in antilock braking systems and traction control systems. ImechE, D07199
20 KaC.Cheok, Francis B.Fuzzy logic approach to traction control design.SAE paper. No.960957
21 Youssef A.Ghoneim, William c.lin, David M.Integrated chassis control system to enhance vehicle stability J of Vehicle Design. 2000, 23
22田宏奇.滑模控制理论及其应用.武汉出版社,1995: 25~48
23周春光,梁艳春.计算智能.吉林大学出版社, 2001: 32~56
24熊小阳.基于模糊控制的ABS仿真研究.华中科技大学硕士论文. 2006:
12~15
25韩峻峰,李玉惠等编著.模糊控制技术.重庆大学出版社, 2003: 37~67
26张国良,曾静,柯熙政等.模糊控制及其MATLAB应用.西安交通大学出版社, 2002: 12~13
27 B.Qiu. A Predictive Fuzzy Logic Congestion Avoidance Scheme.Proc.IEEE GLOBECOM’97,Arizona,USA,vol.2:pp.967-971,Nov 1997
28 B.Qiu, S. Suthaharan, and H. R. Wu. Neuro-fuzzy Modeling and Prediction of VBR MPEG Video Sources. Journal of Real-Time Imaging,vol. 5:pp.359-363,1999
29 Asim Roy and Raymond Miranda. Fuzzy Logic, Neural Networks, and Brain-like Learning. 0-7803-4122-8/97,1997 IEEE
30刘曙光,魏俊民,竺志超.模糊控制技术.中国纺织出版社, 2001
31章为国,杨向忠.模糊控制理论与应用.西北工业大学出版社, 1999
32 Khedkar, P.S, Berenji. H. (1993). Generating Fuzzy Rules with Linear Consequents from Data. Proceedings of WCNN’93.Portland,Vol.Ⅱ, pp.18-21
33 M. Sugeno, M. Nishida(1986),”Fuzzy contrl of model car”, Fuzzy Sets andSydtems,86
34李士勇等.模糊控制和智能控制理论与应用.哈尔滨工业大学出版社, 1991
35 Dickerson, J. A. and Kosko, B. (1993). Fuzzy Function Approximation with Supervised Ellipsoidal Learning. Proceedings of the World Congress on Neuro Networks (WCNh"93), II, 9-17
36刘志新,殷嘉,武一民,张大伟.四轮驱动汽车牵引力模糊控制方法仿真研究.拖拉机与农用运输车. 2005, 4: 23~25
37朱伟兴,陈垠昶.模糊PID控制在汽车ABS中的应用与仿真研究.江苏大学学报. 2004, 4: 310~313
38瞿宏敏,程军.车辆动力学建模与模拟的研究.试验与研究. 1998: 30~34
39董敬等.汽车拖拉机发动机.机械工业出版社, 1995
40黎苏等.汽车发动机动态过程极其控制.人民交通出版社, 2001
41周龙保.内燃机学.机械工业出版社, 1999
42程军.用MATLAB/SIMULINK建立载重汽车驱动与制动的统一动力学模型.汽车研究与开发, 1997:3
43程军.汽车制动防抱死系统的理论与实践.北京理工大学出版社, 1999: 16~41
44 Ken Koibuchi, Masaki Yamamoto, Yoshiki Fukada, Shoji Inagaki.Vehicle Stability Control in Limit Cornering by Active Brake.SAE Paper, 1996,No.960487
45 Tohru Yoshioka, Tomohiko Adachi, Tetsuro Butsuen, Haruki Okazaki, Hirotaka Mochizuki. Application of Sliding-mode Theory to Direct Yaw-moment Control .JSAE Review ,1999,20:523-529
46 Masato Abe, Yoshio Kano, Kazuasa Suzuki, Yasuji Shibahata,Yoshimi Furukawa. Side-slip Control to Stabilize Vehicle Lateral Montion by Direct Yaw Moment. JSAE Review ,2001,22.
47 Jong Hyeon Park , Woo Sung Ahn.H∞Yaw-moment Control with Brakes for Improving Driving Performance and Stability. Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2004
48 Badih Jawad, Nabil Hachem, Sasa Cizmic .Traction Control Applications in Engine Control. SAE Paper ,No.2000: 34~64
49赵向东.汽车牵引力控制系统控制算法的研究及仿真分析.吉林大学硕士论文. 2004: 4~5
50刘徽徽.驱动防滑控制系统(TRC).汽车实用技术. 2003, 9: 37~40
2牛家忠,朱杏鹃.汽车卞动安全性与被动安全性的发展.重型汽车. 1997, 6: 29~31
3林清芝.基于模糊控制的越野汽车主动控制系统研究.哈尔滨工业大学硕士论文. 2006, 1~2
4 Helmult Fennel, Sascha Mahr, Rudiger Schleysing. Transpute-Based Real-time Simulator-A high Performance Tool for ABS and TCS Development. SAE. No.920643
5 Jae-Cheon Lee,Myung-Won Suh.Hardware-in-the Loop Simulator for ABS/TCS, Proceedings of the International Conference on Control Applications, Kohala Coast-Island of Hawai .USA, 1999, 8: 22~27
6 R Kazemi, M.Kabganian,M.R.Modir Zaare.A new sliding modecontroller for four- wheel anti-lock braking system(ABS). SAE. 2000, 1: 16~39
7 Jurgen Geerstenmeler.Traction Control(ASR)-An Extension of the Anti-lock- Braking System(ABS). SAE. Paper No.861033
8 Kaoru Sawase an,Yoshiaki Sano. Application of Active Yaw Control to Vehicle Dynamics by Utilizing Driving/Breaking Force. JSAE Review. 1999, 289~295.
9司利增.汽车防滑控制系统─ABS与ASR.人民交通出版社, 1997: 12~16
10冯崇毅,鲁直雄,何丹娅.汽车电子控制技术.人民交通出版社, 2005: 153~156, 171~179
11张月相,赵英君.电控汽车ABS培训教程.黑龙江科学技术出版社, 2007, 45~51
12李涵武,赵雨旸.汽车电器与电子技术.哈尔滨工业大学出版社, 2006, 323~329
13吴昌扣,孙俊.汽车ABS/ASR技术及发展趋势.安徽科技. 2003, 5: 40~41
14任少卿,陈慧岩,黄江波,宋士伟.汽车防滑控制系统ABS/ASR基本原理及发展趋势.汽车电器. 2006, 3: 1~4
15张厚忠,李劲松. ABS与ASR控制算法研究及对比分析.农机化研究. 2004, 6: 92~94
16余志生.汽车理论.机械工业出版社, 2003, 71~72
17 Anton T. van Zanten, Rainer Erhardt, Georg Pfaff. VDC, The Vehicle Dynamics Control System of Bosch .SAE paper. No.950759
18程军,袁金光,王西山.汽车防滑控制的研究.汽车工程, 1997: 96~102
19 L Austin,D Morrey.Recent advances in antilock braking systems and traction control systems. ImechE, D07199
20 KaC.Cheok, Francis B.Fuzzy logic approach to traction control design.SAE paper. No.960957
21 Youssef A.Ghoneim, William c.lin, David M.Integrated chassis control system to enhance vehicle stability J of Vehicle Design. 2000, 23
22田宏奇.滑模控制理论及其应用.武汉出版社,1995: 25~48
23周春光,梁艳春.计算智能.吉林大学出版社, 2001: 32~56
24熊小阳.基于模糊控制的ABS仿真研究.华中科技大学硕士论文. 2006:
12~15
25韩峻峰,李玉惠等编著.模糊控制技术.重庆大学出版社, 2003: 37~67
26张国良,曾静,柯熙政等.模糊控制及其MATLAB应用.西安交通大学出版社, 2002: 12~13
27 B.Qiu. A Predictive Fuzzy Logic Congestion Avoidance Scheme.Proc.IEEE GLOBECOM’97,Arizona,USA,vol.2:pp.967-971,Nov 1997
28 B.Qiu, S. Suthaharan, and H. R. Wu. Neuro-fuzzy Modeling and Prediction of VBR MPEG Video Sources. Journal of Real-Time Imaging,vol. 5:pp.359-363,1999
29 Asim Roy and Raymond Miranda. Fuzzy Logic, Neural Networks, and Brain-like Learning. 0-7803-4122-8/97,1997 IEEE
30刘曙光,魏俊民,竺志超.模糊控制技术.中国纺织出版社, 2001
31章为国,杨向忠.模糊控制理论与应用.西北工业大学出版社, 1999
32 Khedkar, P.S, Berenji. H. (1993). Generating Fuzzy Rules with Linear Consequents from Data. Proceedings of WCNN’93.Portland,Vol.Ⅱ, pp.18-21
33 M. Sugeno, M. Nishida(1986),”Fuzzy contrl of model car”, Fuzzy Sets andSydtems,86
34李士勇等.模糊控制和智能控制理论与应用.哈尔滨工业大学出版社, 1991
35 Dickerson, J. A. and Kosko, B. (1993). Fuzzy Function Approximation with Supervised Ellipsoidal Learning. Proceedings of the World Congress on Neuro Networks (WCNh"93), II, 9-17
36刘志新,殷嘉,武一民,张大伟.四轮驱动汽车牵引力模糊控制方法仿真研究.拖拉机与农用运输车. 2005, 4: 23~25
37朱伟兴,陈垠昶.模糊PID控制在汽车ABS中的应用与仿真研究.江苏大学学报. 2004, 4: 310~313
38瞿宏敏,程军.车辆动力学建模与模拟的研究.试验与研究. 1998: 30~34
39董敬等.汽车拖拉机发动机.机械工业出版社, 1995
40黎苏等.汽车发动机动态过程极其控制.人民交通出版社, 2001
41周龙保.内燃机学.机械工业出版社, 1999
42程军.用MATLAB/SIMULINK建立载重汽车驱动与制动的统一动力学模型.汽车研究与开发, 1997:3
43程军.汽车制动防抱死系统的理论与实践.北京理工大学出版社, 1999: 16~41
44 Ken Koibuchi, Masaki Yamamoto, Yoshiki Fukada, Shoji Inagaki.Vehicle Stability Control in Limit Cornering by Active Brake.SAE Paper, 1996,No.960487
45 Tohru Yoshioka, Tomohiko Adachi, Tetsuro Butsuen, Haruki Okazaki, Hirotaka Mochizuki. Application of Sliding-mode Theory to Direct Yaw-moment Control .JSAE Review ,1999,20:523-529
46 Masato Abe, Yoshio Kano, Kazuasa Suzuki, Yasuji Shibahata,Yoshimi Furukawa. Side-slip Control to Stabilize Vehicle Lateral Montion by Direct Yaw Moment. JSAE Review ,2001,22.
47 Jong Hyeon Park , Woo Sung Ahn.H∞Yaw-moment Control with Brakes for Improving Driving Performance and Stability. Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2004
48 Badih Jawad, Nabil Hachem, Sasa Cizmic .Traction Control Applications in Engine Control. SAE Paper ,No.2000: 34~64
49赵向东.汽车牵引力控制系统控制算法的研究及仿真分析.吉林大学硕士论文. 2004: 4~5
50刘徽徽.驱动防滑控制系统(TRC).汽车实用技术. 2003, 9: 37~40