汽车制动控制系统@中英文翻译@外文翻译

附录 A 未来汽车制动控制系统的新技术及其发展趋势 从汽车诞生时起，车辆制动系统在车辆的安全方面就扮演着至关重要的角色。近年来，随着车辆技术的进步和汽车行驶速度的提高，这种重要性表现得越来越明显。 随着科学技术的发展及汽车工业的发展，尤其是军用车辆及军用技术的发展，车辆制动有了新的突破，液压制动是继机械制动后的又一重大革新。 Duesenberg Eight 车率先使用了轿车液压制动器。克莱斯勒的四轮液压制动器于 1924 年问世。通用和福特分别于 1934年和 1939 年采用了液压制动技术。到 20 世纪 50 年代，液压助力 制动器才成为现实。 目前，车辆防抱制动控制系统 (ABS)已发展成为成熟的产品，并在各种车辆上得到了广泛的应用，但是这些产品基本都是基于车轮加、减速门限及参考滑移率方法设计的。方法虽然简单实用，但是其调试比较困难，不同的车辆需要不同的匹配技术，在许多不同的道路上加以验证；从理论上来说，整个控制过程车轮滑移率不是保持在最佳滑移率上，并未达到最佳的制动效果。另外，由于编制逻辑门限 ABS 有许多局限性，所以近年来在 ABS的基础上发展了车辆动力学控制系统 (VDC)。结合动力学控制的最佳 ABS 是以滑移率为控制目标的 ABS，它是以连续量控制形式，使制动过程中保持最佳的、稳定的滑移率，理论上是一种理想的 ABS 控制系统。滑移率控制的难点在于确定各种路况下的最佳滑移率，另一个难点是车辆速度的测量问题，它应是低成本可靠的技术，并最终能发展成为使用的产品。对以滑移率为目标的 ABS 而言，控制精度并不是十分突出的问题，并且达到高精度的控制也比较困难；因为路面及车辆运动状态的变化很大，多种干扰影响较大，所以重要的问题在于控制的稳定性，即系统鲁棒性，应保持在各种条件下不失控。防抱系统要求高可靠性，否则会导致人身伤亡及车辆损坏。因此，发展鲁棒性 的 ABS 控制系统成为关键。现在，多种鲁棒控制系统应用到 ABS 的控制逻辑中来。除传统的逻辑门限方法是以比较为目的外，增益调度 PID 控制、变结构控制和模糊控制是常用的鲁棒控制系统，是目前所采用的以滑移率为目标的连续控制系统。模糊控制法是基于经验规则的控制，与系统的模型无关，具有很好的鲁棒性和控制规则的灵活性，但调整控制参数比较困难，无理论而言，基本上是靠试凑的方法。然而对大多数基于目标值的控制而言，控制规律有一定的规律。另外，也有采用其它的控制方法，如基于状态空门及线性反馈理论的方法，模糊神经网络控孙瑜：货车制动系液压系统设 计 2 制系统等。各 种控制方法并不是单独应用在汽车上，通常是几种控制方法组合起来实施。如可以将模糊控制和 PID 结合起来，兼顾模糊控制的鲁棒性和 PID 控制的高精度，能达到很好的控制效果。 测控一体化制动控制系统 (简称为 SBC)，是充满创意的电子控制式制动系统，把它安装在未来的乘用车上，将成为提高汽车驾驶安全性的一个新里程碑。 SBC 就是使用电子脉冲，将驾驶员的制动命令传送到一个微处理器中，由它同步处理各种不同传感器信号，并根据特定行驶状态计算每一个车轮的最优制动力。这样，当在拐弯或者湿滑路面上制动时，SBC 能提供比传统制动系统更好 的主动安全性。 SBC 系统的高压储能及电控阀装置能保证最大制动压力更快产生作用。另外，该系统提供的附加功能能减少驾驶员驾车中的操作强度。如交通拥挤辅助功能：在走走停停的交通状态下，汽车可以在驾驶员松开加速踏板时自动制动。它的柔和停车功能则可以让汽车在城市交通中特别柔和而平顺地停下来。 目前采用的制动器工作原理是：驾驶员踩下制动踏板，推动与制动调压器及制动主缸相连的活塞连杆。制动主缸将根据踏板力的大小，在制动路线上形成相应的压力，在机械和液力相互作用下，通过轮边制动缸推动制动压向制动盘。在未来测控一体化的电控制 动系统中，电子元件将替代当前制动系统中大量使用的机械元件，调压器也不再需要，取而代之的是用传感器来测量制动主缸内的压力以及制动踏板运动的速度，并将这些资料用电子脉冲的形式传送到 SBC 的处理器中。为了让驾驶员能够有相似的制动感觉，工程师们开发了一个特别的模拟器，将它连接到前后制动主缸上，用弹簧力和液压力来推动制动踏板。也就是说：在制动过程中，执行元件是完全和系统的其余部分断开的，它只负责记录发出的任何制动命令。只有出现严重错误或 12V 车辆电池内发生问题时， SBC 才会自动使用前后制动主缸，并在制动踏板和前轮制动 器之间迅速建立液力联系，以保证车辆安全减速。 在电子液压技术的帮助下，制动辅助系统的性能也得到了进一步提高。当这个系统执行制动命令、实现自动紧急停车时，迅速产生的制动压力和车轮制动器的自动预装可以缩短制动距距。 SBC 不仅是在紧急制动时体现其价值，其他关键情况也同样。例如，在突然转向的危险情况下， SBC 系统会与电子稳定程式 (ESP)相互作用，通过向各个车轮发出精确的制动脉冲以及 /或者减小发动机转速，来保证车辆在突然转向过程中的安全性。 SBC 在此显示了强大的动态性和精确性。正是由于有来自 SBC 高压储能器更快、更 精确的制动脉冲，ESP 才能在车辆即将脱距行驶轨道时，及时、平稳将其稳定下来。试验表明，在 SBC 的参与下， ESP 可以通过快速、精确的制动脉冲工作更加有效，并能显着地减少汽车的突然转向。同时 ,驾驶员的转向压力随之减少。有了 SBC 和 EPS，驾驶员在控制行驶中的汽车时就 可以减少很多困难。在弯道上制动， SBC 能提供比传统制动系统更高的安全性。可变制动力分配在积极影响汽车的转向跟随性方面有独到的优势。 近些年， ABS/ASR 已经成为欧美和日本等发达国家汽车的标准设备。车辆制动控制系统的发展主要是控制技术的发展。一方面是 扩大控制范围、增加控制功能；另一方面是采用优化控制理论，实施伺服控制和高精度控制。 ABS 功能的扩充除 ASR 外，同时把悬架和转向控制扩展进来，使 ABS 不仅仅是防抱死系统，而成为更综合的车辆控制系统。制动器开发厂商还提出了未来将 ABS/TCS 和 VDC 与智能化运输系统一体化运用的构想。随着电子控制传动、悬架系统及转向装置的发展，将产生电子控制系统之间的联系网络，从而产生一些新的功能，如：采用电子控制的离合器可大大提高汽车静止启动的效率；在制动过程中，通过输入一个驱动命令给电子悬架系统，能防止车辆的俯仰。一些智能控 制技术如神经网络控制技术是现在比较新的控制技术，已经有人将其应用在汽车的制动控制系统中。ABS/ASR 并不能解决汽车制动中的所有问题。因此由 ABS/ASR 进一步发展演变成电子控制制动系统 (EBS)，这将是控制系统发展的一个重要的方向。但是 EBS 要想在实际中应用开来，并不是一个简单的问题。除技术外，系统的成本和相关的法规是其投入应用的关键。 经过了一百多年的发展，汽车制动系统的形式已经基本固定下来。随着电子，特别是大规模、超大规模集成电路的发展，汽车制动系统的形式也将发生变化。如凯西 -海斯 (K-H)公司在一辆 实验车上安装了一种电 -液 (EH)制动系统，该系统彻底改变了制动器的操作机理。通过采用 4 个比例阀和电力电子控制装置， K-H 公司的 EBM 就能考虑到基本制动、 ABS、牵引力控制、巡航控制制动干预等情况，而不需另外增加任何一种附加装置。 EBM 系统潜在的优点是比标准制动器能更加有效地分配基本制动力，从而使制动距离缩短 5%。一种完全无油液、完全的电路制动 BBW(Brake-By-Wire)的开发，使传统的液压制动装置成为历史。 全电制动控制系统是一个全新的系统，给制动控制系统带来了巨大的变革，为将来的车辆智能控制提供条 件。要想全面推广，还有不少问题需要解决：首先是驱动能源问题。采用全电路制动控制系统，需要较多的能源，一个盘式制动器大约需要 1kW 的驱动能量。目前车辆 12V 电力系统提供不了这么大的能量，因此，将来车辆动力系统采用高压电，加大能源供应，可以满足制动能量要求，同时需要解决高电压带来的安全问题。其次是控制系统失效处理。全电制动控制系统面临的一个难题是制动失效的处理。因为不存在独立的主动备用制动系统，因此需要一个备用系统保证制动安全，不论是 ECU 元件失效，传感器失效还是制动器本身、线束失效，都能保证制动的基本性能。实 现全电制动控制的一个关键技术是系统失效时的信息交流协议，如 TTP/C。系统一旦出现故障，立即发出信息，确孙瑜：货车制动系液压系统设 计 4 保信息传递符合法规最适合的方法是多重通道分时区 (TDMA)，它可以保证不出现不可预测的信息滞后。 TTP/C 协议是根据 TDMA 制定的。第三是抗干扰处理。车辆在运行过程中会有各种干扰信号，如何消除这些干扰信号造成的影响，目前存在多种抗干扰控制系统，基本上分为两种：即对称式和非对称式抗干扰控制系统。 综上所述，现代汽车制动控制技术正朝着电子制动控制方向发展。全电制动控制因其巨大的优越性，将取代传统的以液压为主的 传统制动控制系统。同时，随着其他汽车电子技术特别是超大规模集成电路的发展，电子元件的成本及尺寸不断下降。汽车制动控制技术的发展受整个汽车工业发展的制约。有一个巨大的现有及潜在的汽车市场的吸引，各种先进的电子技术、生物技术、信息技术以及各种智能技术才不断应用到汽车制动控制系统中来。同时需要各种国际及国内的相关法规的健全，这样装备新的制动技术的汽车就会真正应用到汽车的批量生产中。电子技术在制动系统中的出现，为工程师们带来了崭新而前景无限的机会，它不仅只限于改善汽车的安全性和舒适性。因为汽车制动控制技术，使他们在 实现长期目标上又前进了一大步。借助于摄影机、近距雷达和先进的遥控导航系统，可使未来的汽车沿着道路自动行驶。 附录 B Future the automobile brake control system new technology and its the development will Is born from the automobile when, the vehicles braking system is acting the very important role in the vehicles security aspect. In recent years, along with the vehicles technology progress and the automobile moving velocity enhancement, this importance displayed more and more obviously Along with the science and technology development and the auto mobile industry development, the army vehicle and the military technical development, the vehicles applied the brake to have the new breakthrough, hydraulic brake are in particular apply the brake an after significant innovation following the machinery. Duesenberg the Eight vehicle took the lead to use the passenger vehicle hydraulic brake. Chryslers four turns of hydraulic brake was published in 1924. General and Ford separately and in 1939 has used the hydraulic brake technology in 1934. To the 20th century 50s, the hydraulic pressure boosts the brake only then to become the reality. At present, the vehicles guard against hold the brake control system (ABS) to develop into the mature product, and obtained the widespread application on each kind of vehicles, but these products are basic all are add, decelerate the threshold and the reference slipping rate methods design based on the wheel. Method although simple practical, but its debugging quite is difficult, the different vehicles need the different match technology, performs on many different paths to confirm； Theoritically speaking, entire controlled process wheel skidding rate is not maintains in the best slipping rate, achieved by no means best applies the brake the effect. Moreover, because establishment logic threshold ABS has many limitations, in recent years therefore has developed the vehicles dynamics control system in the ABS foundation (VDC). Union dynamics control best ABS is take the slipping rate as control goal ABS, it is by continuously measures the types of control, causes to apply the brake in the process best to maintain, the stable slipping rate, 孙瑜：货车制动系液压系统设 计 6 theoretically is one kind of ideal ABS control system. The slipping rate control difficulty lies in determined under each kind of state of roads the best slipping rate, another difficulty is the vehicles speed survey question, it should be the low cost reliable technology, and finally can develop into the use product. Speaking of take the slipping rate as goal ABS, the control precision certainly is not the extremely prominent question, and achieved the high accuracy the control quite is also difficult； Because road surface and vehicles state of motion change very big, the many kinds of disturbing effect is bigger, therefore the important questio n lies in the control the stability, namely system robustness, should maintain under each kind of condition does not lose control. Guards against holds the system request redundant reliability, otherwise can cause the person casualties and the vehicles damage. Therefore, the development robust ABS control system becomes the key. Now, the many kinds of Lu stick control system applies ABS in the control logic. Besides the traditional logical threshold method is take compares as the goal, the gain dispatches the PID control, changes the structure control and the fuzzy control is the commonly used Lu stick control system, is take slipping rate which at present uses as goal stepless control system. Fuzzily controls the facture is based on the thumb rule control, has nothing to do with with the system model, has very good robust and the control rule flexibility, but adjustment controlled variable quite difficult, does not have the theory to say, basically the method which is depends on tries to collect. However speaking of the majority based on the target value control, the control rule has the certain rule. Moreover, also has uses other control methods, like based on condition spatial gate and linear feedback theory method, fuzzy nerve network control system and so on. Each control method certainly is not alone applies on the automobile, usually is several control methods combines the implementation. If may blur controls and PID unifies, proper attention to both fuzzy control robustness and the PID control high accuracy, can achieve the very good control effect. The observation and control integration brake control system (abbreviation is SBC), is fills the creativity the electron to control the service pattern braking system, will install it in the future while with the vehicle on, will become enhances an automobile driving secure new milestone. SBC uses the electronic pulse, applies the brake the order the pilot to transmit to a microprocessor in, by its synchronous processing each kind of different sensor signal, and calculates each wheel according to the specific travel condition to be most superior. Thus, when applies the brake when the corner or the wet slippery road surface, SBC can provide compared to a tradition braking system better is initiative security. The SBC system high-pressured stored energy and the electrically controlled valve mechanism can guarantee most greatly the brake pressure quickly has the function. Moreover, this system provides the attachment function can reduce the pilot to drive the operation intensity. If traffic congestion auxiliary function: In under the transportation condition which stops from time to time, the automobile may operates the accelerator pedal when the pilot pine self-braking. It gently stops the function to be allowed to let the automobile specially gently and smoothly stops in the municipal transportation. At present uses the brake principle of work is: The pilot steps on the lower clamp footboard, impels with to apply the brake the pressure regulator and the brake master cylinder connected piston connecting rod. The brake master cylinder will act according to the footboard strength the size, in will apply the brake in the route to form the corresponding pressure, in the machinery and under the fluid strength mutual function, will apply the brake the cylinder through the wheel nearby to impel to apply the brake to press to. Will observe and control integrated in the future in the electric control braking system, the electronic component will substitute in the current braking system the massive uses mechanical part, the pressure regulator also no longer need, will displace will be surveys in the brake master cylinder with the sensor the pressure as well as the brake pedal movement speed, and will transmit these materials with the electronic pulse form to in the SBC processor. In order to let the pilot be able to have similarly applies the brake the feeling, engineers have developed a special simulator, connects it around on the brake master cylinder, impels the brake pedal with the spring strength and the hydraulic pressure. In other words: In applies the brake in the process, the functional element is completely separates with the system other parts, it is only responsible to record sends out any applies the brake to order. Around only appears when the grave mistake or in the 12V vehicles battery gives rise to a question or problem, SBC only then can automatically use the brake master cylinder, and in brake pedal and between front wheel brake rapid establishment fluid strength relation, guaranteed the vehicles safely decelerate. In under the electronic hydraulic pressure technology help, applied the brake the servosystem performance also to obtain further enhanced. When this system execution applies 孙瑜：货车制动系液压系统设 计 8 the brake orders, realization automatic emergency stop, rapidly produces the brake pressure and the wheel brake is automatic pre-installed may reduce applies the brake the distance. SBC not only is when emergency brake manifests its value, other essential situations also same. For example, in the dangerous situation which suddenly changes, the SBC system meets and the electronic stable formula (ESP) mutually affects, through sends out to each wheel precise applies the brake the pulse as well as/or reduces the engine speed, guaranteed the vehicles suddenly are changing in the process the security. SBC has demonstrated formidable dynamic in this and the accuracy. Is precisely because has from the SBC high pressure energy storer quicker, more precise applies the brake the pulse, ESP can soon escape when the vehicles is apart from the travel track, is prompt, steadily it stably gets down. The experiment indicated that, under the SBC participation, ESP may through fast, precise apply the brake the pulse work to be more effective, and can reveal is reducing the automobile suddenly to change. At the same time, the pilot changes the pressure along with it reduction. Had SBC and EPS, pilots when control travel automobile may reduce very many difficulties. Applies the brake on the curve, SBC can provide compared to a tradition braking system higher security. Invariable assigns positively is affecting the automobile to change the following aspect to have the original superiority. The recent years, ABS/ASR already became Europe and America and Japan and so on the developed country automobile standard equipment. The vehicles brake control system development mainly is controls technical the development. On the one hand is expands the control area, the increase control function； On the other hand uses the optimized control theory, implements the servo-control and the high accuracy control. The ABS function expansion besides ASR, simultaneously and changes the control to expand, causes ABS not merely is guards against holds the dead system, but becomes the more comprehensive vehicle control system. The brake development merchant also proposed future ABS/TCS and VDC and the intellectualization transportation system integration utilization conception. Along with the electronic control transmission, the system and the diverting device development, will have between the electronic control system relation network, thus will have some new functions, for example: Uses the electronic control the coupling to be possible greatly to enhance the automobile static start the efficiency； In applies the brake in the process, through inputs an actuation order for the electronic system, can prevent the vehicles dealing with. Some intelligent control technology like nerve network control technologies are the present quite new control technologies, already some people its application in automobile brake control system. ABS/ASR certainly cannot solve all problems which the automobile applies the brake to hit. Therefore further develops by ABS/ASR evolves the electronic control braking system (EBS), this will be a control system development important direction. But EBS must want in to be actual applies, certainly is not a simple question. Besides the technology, the system cost and the correlation laws and regulations are its investment application key. After more than 100 years development, the automobile braking system form basic fixedly has already gotten down. Along with the electron, specially large-scale, the ultra large scale integrated circuit development, the automobile braking system form also will change. If Hayes (K-H) the company has installed one kind of electricity - fluid on an experimental vehicle (EH) the braking system, this system completely changed the brake operation mechanism. Through uses 4 proportions valves and the electric power electronic control, K-H Corporations EBM can consider basically applies the brake, ABS, the force of traction control, the cruise control applies the brake to intervene and so on the situation, but does not have moreover to increase any kind of add-on component. The EBM system latent merit is can effectively assign compared to the standard system motion basically, thus causes the stopping distance to reduce 5%. One kind completely does not have the fat liquor, the complete electric circuit applies the brake BBW (Brake-By-Wire) the development, causes traditional the hydromatic brake into history. The entire electric brake control system is a brand-new system, has brought the huge transformation for the brake control system, will provide the condition for the future vehicles intelligence control. Must want comprehensively to promote, but also has many questions to need to solve: First actuates the energy question. Uses the entire electric circuit brake control system, need more energys, a disc brake probably needs 1kW the actuation energy. At present the vehicles 12V electrical power system could not provide the such big energy, therefore, future the vehicles dynamic system will use the high-voltage, enlarged the energy supply, was allowed satisfiedly to apply the brake the energy request, simultaneously needed to solve the security problem which the high voltage brought. Next is control system expiration processing. The entire electric brake control system faces a difficult problem is brake fade processing. Because does not 孙瑜：货车制动系液压系统设 计 10 have the independent initiative spare braking system, therefore needs a backup system to guarantee applies the brake the security, no matter is the ECU component failure, the sensor expires or brake itself, the group of lines expires, all can guarantee applies the brake basic performance. Realizes an essential technology which the entire electric brake controls is time the system expiration information exchange agreement, like TTP/C. The system once appears the breakdown, sends out the information immediately, guarantees the information transmission to conform to the laws and regulations most suitable method is a multiple channel minute time zone (TDMA), it may guarantee does not appear the information lag which cannot be forecast. The TTP/C agreement acts ac