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附录附录1AUTOMOBILEANTILOCKBRAKINGSYSTEMABSABSTRACTTHISARTICLEINTRODUCEDBRIEFLYTHEAUTOMOBILEANTILOCKBRAKINGSYSTEMANTILOCKBRAKINGSYSTEM,ISCALLEDABSTHECONTROLPRINCIPLE,THECONTROLTECHNOLOGYWHICHUSEDINTHEPRESENTAUTOMOBILEANTILOCKBRAKINGSYSTEMHASCARRIEDONTHESUMMARY,ANDHASCARRIEDONTHEFORECASTTOITSTRENDOFDEVELOPMENTKEYWORDAUTOMOBILEANTILOCKBRAKINGSYSTEMCONTROLTECHNOLOGY1OUTLINEALONGWITHAUTOMOBILEINDUSTRYSRAPIDDEVELOPMENTANDHIGHWAYSUNCEASINGCONSTRUCTION,AUTOMOBILESTRAVELSECURITYMOREANDMORETAKESSERIOUSLYFORTHEPEOPLETOSATISFYINCOMPREHENSIVELYTHEBRAKEPROCESSTHEAUTOMOBILETOTHEBRAKEREQUEST,CAUSESTHEBRAKEBRAKINGFORCEASSIGNMENTTOHASTENREASONABLYTHEAUTOMOBILEANTILOCKBRAKINGSYSTEMIEABSMOREANDMOREHASAPPLIEDONTHEAUTOMOBILE“ABS”CHINESETRANSLATESIS“AGAINSTDEADLOCKSTHEBRAKESYSTEM”ITISONEKINDHASTHESKIDPREVENTION,AGAINSTTODEADLOCKANDSOONMERITAUTOSAFETYCONTROLSYSTEMSABSISINTHECONVENTIONBRAKESYSTEMFOUNDATIONADVANCEDVERSIONTECHNOLOGY,SEPARABLEMECHANICALANDELECTRONICFORMULATWOKINDSONTHEMODERNAUTOMOBILEINSTALLSTHEANTILOCKBRAKINGSYSTEMMASSIVELY,ABSBOTHHASTHEORDINARYBRAKINGSYSTEMSBRAKEFUNCTION,ANDCOULDPREVENTTHEWHEELTODEADLOCK,ENABLESTHEAUTOMOBILESTILLTOCHANGEUNDERTHESTOPPING,GUARANTEEDTHATAUTOMOBILESBRAKEYAWINGSTABILITY,PREVENTEDTOHAVETHESIDESLIPPINGANDTORUN,WASONTHEPRESENTAUTOMOBILEISMOSTADVANCED,THEBRAKEEFFECTBESTARRESTINGGEARTHEORDINARYBRAKINGSYSTEMAPPLIESTHEBRAKEINTHESLIPPERYROADSURFACE,ORINEMERGENCYBRAKE,BECAUSETHEWHEELISEASYTHEBRAKINGFORCETOSURPASSTHETIREANDTHEGROUNDFRICTIONFORCEHUGSSAFELYDIESTHEAUTOMOBILEANTILOCKBRAKINGSYSTEMISREFERSTOTHEAUTOMOBILEINTHEBRAKEPROCESSTOBEABLETHEREALTIMEDETERMINATIONWHEELSGLIDERATE,THEAUTOMATICCONTROLFUNCTIONONWHEELSBRAKINGMOMENT,PREVENTSTHEWHEELTOHUGDIESTHUSOBTAINSTHEBESTBRAKEPOTENCYTHEELECTRONICINSTALLATIONITCANWHEELSGLIDERATECONTROLINCERTAINSCOPE,USEFULLYBETWEENTHETIREANDTHEROADSURFACEADHESION,REDUCESTHESTOPPINGDISTANCEEFFECTIVELY,OBVIOUSLYENHANCESWHENTHECARBRAKINGCONTROLLABILITYANDSTABILITY,WHENEACHKINDOFTRAFFICACCIDENTWHICHHASAVOIDEDTHEWHEELHUGSDIESEASYTOAPPEARALONGWITHBRAKEINTENSITYSINCREASE,THEWHEELROLLINGINGREDIENTAREGETTINGFEWERANDFEWER,BUTSKIDSTHEINGREDIENTTOBEGETTINGMOREANDMORE,GENERALLYEXPLAINSINTHEBRAKEPROCESSWITHGLIDERATESTOSKIDINGREDIENTHOWMANYTHEGLIDERATEISBIGGER,THEGLIDEINGREDIENTARELESSANDUWHEELCENTERSPEED；RDOESNOTHAVETIMETHEGROUNDBRAKINGFORCEWHEELROLLINGRADIUS；WWHEELSANGULARSPEEDLONGITUDINALANDTHELATERALADHESIONCOEFFICIENTMAYEXPRESSFORTHEWHEELSLIPRATEFUNCTIONEGFIGURE1THEMOSTGREATLYLONGITUDINALCOEFFICIENTOFADHESIONCORRESPONDSTHEGLIDERATEISCALLEDCRITICALPOINTOFFIXITYSKGRIPSFASTTHEPACEACCORDINGTOTHECONTROLTHEORYISSMALLERTHANTHESKREGIONISCALLEDTHESTABLEBRAKEAREA,WHATSKLATERHASCUSTOMMADEUNSTABLEMOVESTHEAREAABSISPRECISELYUSESBETWEENTHEPATHANDTIRESRELATIONS,COMPULSORYWHEELSLIPRATECONTROLNEARBYCRITICALPOINTOFFIXITYSK,ENABLESTHEROADSURFACEADHESIONPROPERTYTOOBTAINTHEFULLESTDISPLAY,THUSACHIEVESTHEBESTBRAKEEFFECTFIGURE1COEFFICIENTOFADHESIONGLIDERATECURVEATPRESENTUSESABSMAINLYBYAROUNDFASTSENSOR,THEELECTRONICCONTROLUNIT,APPENDICESANDSOONPRESSURECONTROLVALVEANDGROUPOFLINES,PIPELINEISCOMPOSEDTHEABSDEVELOPMENTISMAINLYSTUDIESTHEDESIGNOPTIMIZATIONOPERATIONANDTHECONTROLPROCEDURESOFTWARE,REALIZESTHEREALTIMEPRECISEBRAKEADJUSTMENTTECHNOLOGY,SIMULTANEOUSLYRAISESHARDWARESLEVEL2CONTROLTECHNOLOGYUSEDBYABSNOWTHEABSCONTROLEFFECTISDECIDEDCONTROLTECHNOLOGY4WHICHTOAGREATEXTENTUSESINTHESYSTEMATPRESENTUSESISMAINLYTHELOGICALTHRESHOLDVALUECONTROLTECHNOLOGYTOFURTHERENHANCEABSTHEPERFORMANCE,BUTALSOPROPOSEDSOMEBASEDONTHEGLIDERATECONTROLTECHNOLOGY,LIKETHEPIDCONTROL,THEGLIDEMODALITYCHANGETHESTRUCTURECONTROLS,FUZZYCONTROLANDSOONEACHKINDOFCONTROLAPPROACHESTHEEXPECTATIONBYTHEDIFFERENTCONTROLRULETHESPOT21PIDCONTROLSTHEDEFINITIONEXPECTSGLIDERATES0ANDDIFFERENCEOFTHEACTUALGLIDERATESFORNINGERRORESS0,THENTHEPIDCONTROLRULEMAYBEREPRESENTEDASTHEREFORE,THEABSCONTROLLERSDESIGNSUMSUPFINALLYAS,ACCORDINGTOTHEABSDYNAMICSYSTEM,DETERMINEDGROUPOFBESTPARAMETERKP,KIANDKD,ENABLEWHEELSGLIDERATETOAPPROACHHYPOTHESISGOALS0BYTHEQUICKESTWAY22THEGLIDEMODALITYCHANGESTHESTRUCTURECONTROLAGAINSTHOLDSTHEDEADBRAKEBYTHEAUTOMOBILETHEBASICPRINCIPLETOBEPOSSIBLETOKNOW,ITSBRAKEPROCESSSESSENTIALQUESTIONISWHEELSGLIDERATECONTROLINCOEFFICIENTOFADHESIONPEAKPOINTSK,THENTHEGLIDEMODALITYCHANGEDSTRUCTUREBASISSYSTEMCONDITION,THEDEVIATIONANDTHEDERIVATIVEVALUETHEN,INTHEDIFFERENTCONTROLLEDAREA,BYPERFECTSWITCHSWAYHANDOFFCONTROLQUANTITYSSIZEANDTHEMARK,THEGUARANTEESYSTEMINTHEGLIDEREGIONVERYSMALLSCOPE,THESTATEPOINTLOCUSS,SALONGMOVEDTHEFESTIVALCURVETOSLIDESLIPPERYTOTHECONTROLOBJECTIVESK,0USUALLYTAKESTHEBRAKINGMOMENTFORCONTROLLEDVARIABLEU,THECUTCONDITIONISANDMB,MBREPRESENTTHEBRAKINGMOMENTWHICHDECIDEDBYTHEGOVERNINGSYSTEMTOREDUCE,TOINCREASETWODIFFERENTCONDITIONSSEPARATELYFORTHECUTFUNCTION,ESSKISTHEACTUALGLIDERATERELATIVETARGETPOINTDEVIATION23FUZZYCONTROLREGARDINGTAKETHEGLIDERATEASCONTROLLEDMEMBERSANTILOCKBRAKINGSYSTEM,ITSINPUTVALUETAKESTHEEXPECTATIONGLIDERATEANDWHEELACTUALGLIDERATEDEVIATIONEASWELLASDEVIATIONSRATEOFCHANGEEC,THEOUTPUTFORTHEBRAKELINEFLOWINGTUBINGHEADPRESSUREUSESTHEBELTMODIFICATIONFACTORTHEFUZZYCONTROLLER,USESTHECONTROLLISTSUMMARYWHICHTHEFUZZYREASONINGALGORITHMFORMSISANANALYSISFORMULAUΑE1ΑECANDALPHAISTHEMODIFICATIONFACTOR,ALPHATHEVALUESIZEHASREFLECTEDDIRECTLYTOTHEDEVIATIONANDTHEDEVIATIONRATEOFCHANGEWEIGHTINGDEGREETHROUGHTHEADJUSTMENTMODIFICATIONFACTORALPHA,MAYCHANGETHECONTROLRULEWHENALPHAISBIG,INDICATEDTHATISBIGTODEVIATIONSWEIGHTING,THESTEPRESPONSEISQUICK,THECONTROLENERGYMAINLYUSESINREDUCINGTHEDEVIATION,BUTEASYTOPRESENTTHEOVERMODULATION；WHENALPHAISSMALL,THECONTROLGOALREDUCESTHEOVERMODULATION,BUTTHERESPONSEPROCESSISSLOWUSUALLYUSESTHEBELTTWOALPHAVALUESTHEMODIFICATIONFACTOREXPRESSIONSTOBEABLETOREQUESTONTHESATISFIABILITY,NAMELYAND,MODIFICATIONFACTORΑ1,Α2∈0,1,ANDΑ124LOGICALTHRESHOLDVALUECONTROLTHISMETHODESTABLISHESSOMECONTROLLIMITINADVANCETOCERTAINCONTROLLEDVARIABLETHRESHOLDTHEVALUE,WHENAPPLIESTHEBRAKE,ACCORDINGTOTHECOMPUTATIONREALTIMEPARAMETERVALUEANDTHECORRESPONDINGTHRESHOLDVALUESSIZERELATIONS,DETERMINESWHEELSSTATEOFMOTION,THUSTHECONTROLADJUSTMENTBRAKEPRESSURE,GAINSENOUGHBIGBRAKEINTENSITYANDTHEGOODYAWINGSTABILITYOFTENINCLUDESASTHEABSCONTROLLEDVARIABLEWHEELSKIDDINGRATES,THEWHEELROTATESTHEANGLEADDSREDUCESTHESPEEDOMEGAANDTHERATEOFCHANGEΩANDSOONTHREEKINDOFDESCRIPTIONWHEELMOVEMENTSITUATIONORDYNAMICSCONDITIONPARAMETERBECAUSEONLYUSESACONTROLLEDVARIABLEDIFFICULTYWITHTOGUARANTEETHATABSHASTHEGOODPERFORMANCEUNDEREACHKINDOFTRAVELCONDITION,THEREFORE,THELOGICALTHRESHOLDVALUECONTROLMETHODUSUALLYROTATESATPRESENTTHEWHEELTHEANGLEADDSREDUCESTHESPEEDTOTAKETHEPRIMARYCONTROLPARAMETER,BUTTAKESWHEELSGLIDERATESTHESECONDARYCONTROLPARAMETERANDTHEGLIDERATEISFROMEACHWHEELFASTSIGNALAFTERCERTAINLOGICDETERMINEDAUTOMOBILESREFERENCEVELOCITY,CALCULATESTHEREFERENCEGLIDERATE,HASTHEDIFFERENCEWITHTHEACTUALGLIDERATE25DOUBLEPARAMETERCONTROLDOUBLEPARAMETERCONTROLSABS,BYTHEVEHICLESPEEDSENSORVELOCITYRADAR,AROUNDFASTSENSOR,THECONTROLDEVICECOMPUTERANDTHEIMPLEMENTINGAGENCYISCOMPOSEDITSPRINCIPLEOFWORKISTHEVEHICLESPEEDSENSORANDAROUNDFASTSENSOR,SEPARATELYSIGNALINPUTTHEVEHICLESPEEDANDROUNDFASTTHECOMPUTER,CALCULATESTHEACTUALSLIPPINGRATEBASEDONTHECOMPUTER,AND15ONE20DOESWITHTHEIDEALSLIPPINGRATECOMPARES,FLUCTUATESBRAKESBRAKINGFORCEAGAINTHROUGHTHESOLENOIDVALVETHISKINDTOWSTHEFASTSENSORCOMMONLYUSEDDOPPLERVELOCITYRADARWHENTHEAUTOMOBILEGOES,THEDOPPLERRADARANTENNABYCERTAINFREQUENCYTOTHEEARTHLAUNCHINGELECTROMAGNETICWAVE,SIMULTANEOUSLYRECEIVESTHEELECTROMAGNETICWAVEWHICHUNCEASINGLYREFLECTS,SURVEYSTHEAUTOMOBILERADARLAUNCHANDTHERECEIVEDIFFERENTIALVALUE,THENMAYCALCULATETHEAUTOMOBILEVEHICLESPEEDACCURATELYBUTTURNSTHEFASTSENSORTOINSTALLINTHETRANSMISSIONGEARBOXOUTERCOVERING,ACTUATESBYTHETRANSMISSIONGEARBOXOUTPUTSHAFT,ITISAPULSEELECTRICALMACHINERY,PRODUCESFREQUENCYANDROUNDINTENSIVEDIRECTPROPORTIONTHEIMPLEMENTINGAGENCYANDSOONISCOMPOSEDOFTHESOLENOIDVALVEANDTHERELAYSOLENOIDVALVEADJUSTMENTBRAKINGFORCE,WITHTHEAIMOFMAINTAININGTHEIDEALSLIPPINGRATETHISKINDOFABSMAYGUARANTEETHATTHESLIPPINGRATEIDEALCONTROL,AGAINSTHOLDSTHEBRAKINGQUALITYTOBEGOOD,BUTBECAUSEINCREASEDAVELOCITYRADAR,THEREFORETHESTRUCTUREISCOMPLEX,THECOSTISALSOHIGH26SINGLEPARAMETERCONTROLITTAKECONTROLSWHEELSANGLERETARDEDVELOCITYASTHEOBJECT,CONTROLSWHEELSBRAKINGFORCE,REALIZESAGAINSTHOLDSTHEDEADBRAKE,ITSSTRUCTUREMAINLYBYAROUNDFASTSENSOR,THECONTROLLER
