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.
引文
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