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【机械类毕业论文中英文对照文献翻译】汽车防抱死制动系统（ABS）,机械类毕业论文中英文对照文献翻译,机械类,毕业论文,中英文,对照,文献,翻译,汽车,抱死,制动,系统,ABS

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英文技术资料中文翻译：汽车防抱死制动系统（ABS）摘要：本文简要介绍了汽车防抱死制动系统（Anti-lock Braking System，简称ABS）的控制原理，对目前汽车防抱死制动系统所采用的控制技术进行了综述，并对其发展趋势进行了预测。 关键词：汽车；防抱死制动系统；控制技术1.概述 随着汽车工业的迅猛发展和高速公路的不断修建，汽车的行驶安全性越来越为人们重视。为了全面满足制动过程中汽车对制动的要求，使制动器制动力分配更趋合理。汽车防抱死制动系统（简称ABS）已越来越多地应用在汽车上。 “ABS”中文译为“防锁死刹车系统”.它是一种具有防滑、防锁死等优点的汽车安全控制系统。ABS是常规刹车装置基础上的改进型技术，可分机械式和电子式两种。 现代汽车上大量安装防抱死制动系统，ABS既有普通制动系统的制动功能，又能防止车轮锁死，使汽车在制动状态下仍能转向，保证汽车的制动方向稳定性，防止产生侧滑和跑偏，是目前汽车上最先进、制动效果最佳的制动装置。 普通制动系统在湿滑路面上制动，或在紧急制动的时候，车轮容易因制动力超过轮胎与地面的摩擦力而安全抱死。 汽车防抱死制动系统是指汽车在制动过程中能实时判定车轮的滑动率，自动调节作用在车轮上的制动力矩，防止车轮抱死。从而获得最佳制动效能的电子装置。它能把车轮的滑动率控制在一定的范围之内，充分地利用轮胎与路面之间的附着力，有效地缩短制动距离，显著地提高车辆制动时的可操纵性和稳定性，从而避免了车轮抱死时易出现的各种交通事故。 随着制动强度的增加，车轮滚动成分越来越少，而滑动成分越来越多，一般用滑动率S 来说明制动过程中滑动成分的多少。滑动率越大，滑动成分越少。 S=1-其中： u车轮中心的速度； r没有地面制动力时的车轮滚动半径； w车轮的角速度。 纵向和侧向附着系数可表达为车轮滑动率的函数（如图1）。最大纵向附着系数所对应的滑动率称为临界稳定点SK。根据控制理论把滑动率小于SK 的区域称为稳定制动区，SK 以后的为非稳定制动区。ABS 正是利用道路与轮胎之间的关系，强制性地把车轮滑动率控制在临界稳定点SK 附近，使路面附着性能得到最充分的发挥，从而达到最佳的制动效果。 图1 附着系数-滑动率曲线目前所采用的ABS 主要由轮速传感器，电子控制单元，压力控制阀和线束、管路等附件组成。ABS 的开发主要是研究设计优化运算和控制程序软件，实现实时精确制动调节的技术，同时提高硬件的水平。 2.目前ABS 所采用的控制技术 ABS 的控制效果很大程度上取决于系统所采用的控制技术4。目前所采用的主要是逻辑门限值控制技术。为进一步提高ABS 的性能，还提出了一些基于滑动率的控制技术，如PID 控制，滑动模态变结构控制，模糊控制等。每种控制均以不同的控制规律逼近期望的点。 2.1 PID 控制 定义期望滑动率S0 与实际滑动率S 之差为控制误差e=S-S0，则PID 的控制规律可表示为：因此，ABS 控制器的设计最后就归结为，根据ABS 动态系统，确定出一组最佳的参数Kp、Ki 和Kd，使车轮的滑动率以最快的方式逼近设定目标S0。 2.2 滑动模态变结构控制 由汽车防抱死制动的基本原理可知，其制动过程的本质问题是把车轮的滑动率控制在附着系数的峰值点Sk，则滑动模态变结构根据系统当时的状态、偏差及其导数值，在不同的控制区域，以理想开关的方式切换控制量的大小和符号，以保证系统在滑动区域很小的范围内，状态轨迹（S，S）沿滑动换节曲线滑向控制目标（Sk，0）。 通常取制动力矩为控制变量U，切换条件为： 其中 Mb- 、Mb+分别代表由调节系统所决定的制动力矩减少、增加两种不同的状态。 为切换函数，e=SSk 为实际滑动率相对目标点的偏差。 2.3 模糊控制 对于以滑动率为控制对象的防抱死制动系统，其输入量取期望滑动率与车轮实际滑动率的偏差E 以及偏差的变化率EC，输出量为制动管路油压。采用带修正因子的模糊控制器，把用模糊推理算法形成的控制表概括为一个解析式： U = E + (1-)EC 其中为修正因子，值的大小直接反映了对偏差及偏差变化率的加权程度。通过调整修正因子，就可以改变控制规则。当较大时，表明对偏差的加权大，阶跃响应快，控制能量主要用于减少偏差，但易出现超调；当较小时，控制目的是减少超调，但响应过程较慢。通常采用带两个值的修正因子表达式就可满足性能要求，即： 其中，修正因子1 、2(0，1)且12 ，控制系统在判断E 值的大小之后，选择控制规则表达式。 2.4 逻辑门限值控制 此方法预先对若干个控制参数设定一些控制极限（门限）值，制动时，根据计算的实时参数值与对应门限值的大小关系，来判定车轮的运动状态，从而控制调节制动压力，以获取足够大的制动强度和良好的方向稳定性。常作为ABS 控制参数的有：车轮滑移率S，车轮转动的角加（减）速度及其变化率.等三种描述车轮运动情况或动力学状态的参数。由于仅用一个控制参数难于保证ABS 在各种行驶条件下都具有良好的性能，因此，目前逻辑门限值控制方法通常将车轮转动的角加（减）速度作为主要控制参数，而将车轮的滑动率S 作为辅助控制参数。其中滑动率是从各轮速信号按一定逻辑确定汽车的参考速度后，计算出的参考滑动率，与实际滑动率存在着差异。 25双参数控制 双参数控制的 ABS ，由车速传感器 ( 测速雷达 ) 、轮速传感器、控制装置 ( 电脑 ) 和执行机构组成。 其工作原理是车速传感器和轮速传感器，分别将车速和轮速信号输入电脑，由电脑计算出实际滑移率，并与理想滑移率 15 一 20 作比较，再通过电磁阀增减制动器的制动力。 这种曳速传感器常用多普勒测速雷达。当汽车行驶时，多普勒雷达天线以一定频率不断向地面发射电磁波，同时又接收反射回来的电磁波，测量汽车雷达发射与接收的差值，便可以准确计算出汽车车速。而轮速传感器装在变速器外壳，由变速器输出轴驱动，它是一个脉冲电机，所产生的频率与轮速成正比。 执行机构由电磁阀及继电器等组成。电磁阀调整制动力，以便保持理想的滑移率。 这种 ABS 可保证滑移率的理想控制，防抱制动性能好，但由于增加了一个测速雷达，因此结构较复杂，成本也较高。26单参数控制 它以控制车轮的角减速度为对象，控制车轮的制动力，实现防抱死制动，其结构主要由轮速传感器、控制器 ( 电脑 ) 及电磁阀组成。 为了准确无误地测量轮速，传感头与车轮齿圈间应留有 1mm 间隙。为避免水、泥、灰尘对传感器的影响，安装前应将传感器加注黄油。电磁阀用于车轮制动器的压力调节。对于四通道制动系统，一个车轮圈有一个电磁阀；三通道制动系统，每个前轮拥有一个，两个后轮共用一个。电磁阀有三个液压孔，分别与制动主缸与车轮制动分缸相连，并能实现压力升高、压力保持、压力降低的调压功能。工作原理如下:1) 升压 在电磁阀不工作时，制动主缸接口和各制动分缸接口直通。由于主弹簧强度大，使进油阀开启，制动器压力增加。 2) 压力保持 当车轮的制动分缸中的压力增长到一定值时，进油阀切断关闭。支架就保持在中间状态，三个孔间相互密封，保持制动压力。 3) 降压 当电磁阀工作时，支架克服两个弹簧的弹力，打开卸荷肉使制动分缸压力降低。压力一旦降低，电磁阀就转换到压力保持状态，或升压的准备状态。 控制装置 ECU 的主要任务是把各车轮的传感器传回来的信号进行计算、分析、放大和判别，再由输出级将指令信号输出到电磁阀，去执行制动压力调节任务。电子控制装置，由四大部分组成，输入级 A 、控制器 B 、输出级 C ，稳压与保护装置 D 。 电子控制器以 4 一 101tz 的频率驱动电磁阀，这是驾驶员无法做到的。 这种单参数控制方式的 ABS ，由于结构简单、成本低，故目前使用较广。 在美国克莱斯勒型高级轿车中大多配备了这种单参数控制方式的 ABS 。它在轿车的四个轮上都装有轮速传感器。 在车轮轴上安装有 45 齿或 100 齿的齿圈，轮速传感器的传感头装在齿圈的顶上。当车轮转动时，使传感器不断产生电压信号，并输入电脑，与 RoM 中理想速度比较，算出车轮的增速或减速，向电磁阀发出升压或卸压的指令，以控制制动分缸制动力。3. ABS 使用中注意的问题 1) 更换制动器或更换液压制动系部件后，应排净制动管路中的空气，以免影响制动系统的正常工作。 2) 装有 ABS 的汽车，每年应更换一次制动液。否则，制动液吸湿性很强，含水后不仅会降低沸点，产生腐蚀，而且还会造成制动效能衰退。 3) 检查 ABS 防抱死制动系统前应先拔去电源。4. 发展趋势 采用逻辑门限值控制算法，可避免一系列繁杂的理论分析和对一些不确定因素的定量计量。简化了控制器的设计，而且因仅需测定车轮的角速度，便于实现，所以装车成本低。该算法现已趋近成熟，为当前汽车ABS 系统所普遍采用，但它并非最佳的控制算法。由于不同路况下各种门限值及保压时间都是经过反复试验得出的经验数值，没有十分明确的理论依据，故ABS 开发的周期长，且控制品质难以保证。 基于滑动率的控制算法容易实现连续控制，且有十分明确的理论加以指导，但目前制约其发展的瓶颈主要是实现的成本问题，根据我们的研究认为，今后ABS 控制算法的发展方向将在以下几方面。 (1) 针对当前广泛采用的逻辑门限值控制算法所存在的缺点，研究能跟踪路面特性变化，使ABS 各项性能指标始终处于最佳状态的控制算法。其中预测控制技术值得重视。由于在制动过程中，轮胎与路面间的摩擦特性导致防抱死制动系统具有非常明显的非线性、时变性和不确定性。因而难于建立其精确的数学模型，而预测控制具有预测模型、滚动优化和反馈校正的基本特性，可根据某一优化指标设计控制系统，确定一个控制量的时间序列，使未来一段时间内被调量与经过柔化后的期望轨迹之间的误差为最小。由于该算法采用的是不断在线滚动优化，且在优化过程中不断通过实测系统输出与预测模型输出的误差来进行反馈校正，所以能在一定程度上克服由于预测模型误差和某些不确定性干扰等的影响，使系统的鲁棒性得到增强。 (2) 随着体积更小，价格更便宜，可靠性更高的车速传感器的出现，ABS 系统中增加车速传感器成为可能，确定车轮滑动率将变得准确而快速。其中非接触式的车速传感器（如光电式、多谱勒仪等）今后最有可能应用于汽车ABS 系统中。此时基于滑动率的控制算法就可被重视。其中模糊控制将以其不依赖对象的数学模型，便于利用人的经验知识，鲁棒性好，简单实用等特点而会被广泛采用。(3) 由单一的ABS 控制目标转向多目标的综合控制10，其中已出现的牵引力控制系统（TCS）不仅能够在制动过程中防止车轮发生抱死，而且能够在驱动过程中（特别是在起步、加速、转弯等过程中）防止驱动轮发生滑转，使汽车在驱动过程中的方向稳定性、转向操纵能力和加速性能等也都得到提高。未来汽车电子控制系统将朝着从多电子控制单元（ECU）的分散的独立控制向单一ECU 的整车控制，以网络的方式实现数据共享和综合控制的方向发展；或者向动态递阶控制方向发展，即各分散控制系统的ECU 不仅是各自独立地构造自己的动态补偿器，而且要再统一地建立一个高层的动态协调器来帮助确定各ECU 的控制策略，以增强各ECU 的控制能力，解决分散控制系统存在不稳定模时不能用动态分散控制镇定的问题11，使整车综合性能得到保证。 5. 总结 汽车防抱死制动系统（ABS）能提高汽车在低附着系数或变附着系数路面条件下的制动性能。目前ABS 的控制技术主要采用逻辑门限值控制方法，但随着车速传感器技术的发展，基于车轮滑动率的各种控制算法将被广泛的重视和采用。另外。未来汽车电子控制技术与装置将以网络的方式实现资源共享和综合控制，并朝着多目标综合控制，以提高系统性能成本比的方向发展。附录1外文翻译 Automobile anti-lock braking system (ABS)Abstract: This article introduced briefly the automobile anti-lock braking system (Anti-lock Braking System, is called ABS) the control principle, the control technology which used in the present automobile anti-lock braking system has carried on the summary, and has carried on the forecast to its trend of development.Key word: Automobile anti-lock braking system control technology1. outlineAlong with automobile industrys rapid development and highways unceasing construction, automobiles travel security more and more takes seriously for the people. To satisfy in comprehensively the brake process the automobile to the brake request, causes the brake braking force assignment to hasten reasonably. The automobile anti-lock braking system (i.e. ABS) more and more has applied on the automobile.“ABS” Chinese translates is “against deadlocks the brake system”. It is one kind has the skid prevention, against to deadlock and so on merit auto safety control systems. ABS is in the convention brake system foundation advanced version technology, separable mechanical and electronic formula two kinds.On the modern automobile installs the anti-lock braking system massively, ABS both has the ordinary braking systems brake function, and could prevent the wheel to deadlock, enables the automobile still to change under the stopping, guaranteed that automobiles brake yawing stability, prevented to have the side-slipping and to run, was on the present automobile is most advanced, the brake effect best arresting gear.The ordinary braking system applies the brake in the slippery road surface, or in emergency brake, because the wheel is easy the braking force to surpass the tire and the ground friction force hugs safely dies.The automobile anti-lock braking system is refers to the automobile in the brake process to be able the real-time determination wheels glide rate, the automatic control function on wheels braking moment, prevents the wheel to hug dies. Thus obtains the best brake potency the electronic installation. It can wheels glide rate control in certain scope, use fully between the tire and the road surface adhesion, reduces the stopping distance effectively, obviously enhances when the car braking controllability and stability, when each kind of traffic accident which has avoided the wheel hugs dies easy to appear. along with brake intensitys increase, the wheel rolling ingredient are getting fewer and fewer, but skids the ingredient to be getting more and more, generally explains in the brake process with glide rate S to skid ingredient how many. The glide rate is bigger, the glide ingredient are less.S=1-And: u- wheel center speed; r- does not have time the ground braking force wheel rolling radius; w- wheels angular speed.Longitudinal and the lateral adhesion coefficient may express for the wheel slip rate function (e.g. Figure 1). The most greatly longitudinal coefficient of adhesion corresponds the glide rate is called critical point of fixity SK. Grips fast the pace according to the control theory is smaller than the SK region is called the stable brake area, what SK later has custom-made unstable moves the area. ABS is precisely uses between the path and tires relations, compulsory wheel slip rate control nearby critical point of fixity SK, enables the road surface adhesion property to obtain the fullest display, thus achieves the best brake effect.Figure 1 coefficient of adhesion - glide rate curveAt present uses ABS mainly by a round fast sensor, the electronic control unit, appendices and so on pressure control valve and group of lines, pipeline is composed. The ABS development is mainly studies the design optimization operation and the control procedure software, realizes the real-time precise brake adjustment technology, simultaneously raises hardwares level.2. Control technology used by ABS nowThe ABS control effect is decided control technology 4 which to a great extent uses in the system. At present uses is mainly the logical threshold value control technology. To further enhance ABS the performance, but also proposed some based on the glide rate control technology, like the PID control, the glide modality change the structure controls, fuzzy control and so on. Each kind of control approaches the expectation by the different control rule the spot. 2.1 PID controlsThe definition expects glide rate S0 and difference of the actual glide rate S for ning error e=S-S0, then the PID control rule may be represented as:Therefore, the ABS controllers design sums up finally as, according to the ABS dynamic system, determined group of best parameter Kp, Ki and Kd, enable wheels glide rate to approach hypothesis goal S0 by the quickest way.2.2 The glide modality changes the structure controlAgainst holds the dead brake by the automobile the basic principle to be possible to know, its brake processs essential question is wheels glide rate control in coefficient of adhesion peak point Sk, then the glide modality changed structure basis system condition, the deviation and the derivative value then, in the different controlled area, by perfect switchs way hand-off control quantitys size and the mark, the guarantee system in the glide region very small scope, the state point locus (S,S) along moved the festival curve to slide slippery to the control objective (Sk,0). usually takes the braking moment for controlled variable U, the cut condition is:And Mb-, Mb+ represent the braking moment which decided by the governing system to reduce, to increase two different conditions separately.For the cut function, e=S-Sk is the actual glide rate relative target point deviation.2.3 Fuzzy controlRegarding take the glide rate as controlled members anti-lock braking system, its input value takes the expectation glide rate and wheel actual glide rate deviation E as well as deviations rate of change EC, the output for the brake line flowing tubing head pressure. Uses the belt modification factor the fuzzy controller, uses the control list summary which the fuzzy reasoning algorithm forms is an analysis formula:U = E + (1-)ECAnd Alpha is the modification factor, Alpha the value size has reflected directly to the deviation and the deviation rate of change weighting degree. Through the adjustment modification factor Alpha, may change the control rule. When Alpha is big, indicated that is big to deviations weighting, the step response is quick, the control energy mainly uses in reducing the deviation, but easy to present the over modulation; When Alpha is small, the control goal reduces the over modulation, but the response process is slow. Usually uses the belt two Alpha values the modification factor expressions to be able to request on the satisfiability, namely:And, modification factor 1, 2 (0,1), and 12.4 Logical threshold value controlThis method establishes some control limit in advance to certain controlled variable (threshold) the value, when applies the brake, according to the computation real-time parameter value and the corresponding threshold values size relations, determines wheels state of motion, thus the control adjustment brake pressure, gains enough big brake intensity and the good yawing stability. Often includes as the ABS controlled variable: Wheel skidding rate S, the wheel rotates the angle adds (reduces) the speed Omega and the rate of change .2.5 Double parameter controlDouble parameter controls ABS, by the vehicle speed sensor (velocity radar), a round fast sensor, the control device (computer) and the implementing agency is composed.Its principle of work is the vehicle speed sensor and a round fast sensor, separately signal input the vehicle speed and round fast the computer, calculates the actual slipping rate based on the computer, and 15% one 20% does with the ideal slipping rate compares, fluctuates brakes braking force again through the solenoid valve. this kind tows the fast sensor commonly used Doppler velocity radar. When the which unceasingly reflects, surveys the automobile radar launch and the receive differential value, then may calculate the automobile vehicle speed accurately. But turns the fast sensor to install in the transmission gearbox outer covering, actuates by the transmission gearbox output shaft, it is a pulse electrical machinery, produces frequency and round intensive direct proportion. The implementing agency and so on is composed of the solenoid valve and the relay. Solenoid valve adjustment braking force, with the aim of maintaining the ideal slipping rate. This kind of ABS may guarantee that the slipping rate ideal control, against holds the braking quality to be good, but because increased a velocity radar, therefore the structure is complex, the cost is also high.2.6 Single parameter controlIt take controls wheels angle retarded velocity as the object, controls wheels braking force, realizes against holds the dead brake, its structure mainly by a round fast sensor, the controller (computer) and the solenoid valve is composed. For accurate meter wheel fast, the sensing and between the wheel tooth ring should leave leeway the 1mm gap. In order to avoid the water, the putty, the dust to the sensor the influence, before the installment, should the sensor replenishment butter. The solenoid valve uses in wheel brakes pressure control. Regarding four channel braking system, a vehicle rim has a solenoid valve; Three channel braking system, each front wheel has one, two trailing wheels use in common one. The solenoid valve has three hydraulic pressure holes, separately applies the brake with the brake master cylinder and the wheel to divide the cylinder to be connected, and can realize pressure lifting, pressure maintenance, the pressure drop accent to press the function. The principle of work is as follows:1) Pressure-rise when the solenoid valve does not work, the brake master cylinder connection and applies the brake to divide the cylinder connection respectively to go nonstop. Because the main spring intensity is big, makes charging valve opening, the brake pressure to increase. 2) pressure maintenance, when wheels brake divides in cylinders pressure grows to certain value, charging valve cut-off closure. The support maintains at the compound state, three panels seal, maintain the brake pressures mutually. 3) voltage dropping, when the solenoid valve works, the support overcomes two springs tension, opens the discharge meat to cause to apply the brake to divide cylinder pressure drop. Once the pressure reduces, the solenoid valve transforms to the pressure maintenance condition, or pressure-rise ready condition.The control device ECU primary mission is the signal which passes on various wheels sensor carries on the computation, the analysis, the enlargement and the distinction, outputs again from the output stage the command signal the solenoid valve, carries out the brake pressure adjustment task. The electronic control, by four major part is composed, input level A, controller B, output stage C, constant voltage and protective device D. Electronic controller by 4 101tz frequency actuation solenoid valves, this is the pilot is unable to achieve. This kind of single parameter control mode ABS, because the structure is simple, the cost is low, therefore the present use is broad.Mostly has provided this kind of single parameter control mode ABS in the American Chrysler custom car. It is loaded with a round fast sensor on passenger vehicles four wheels. The installment has 45 teeth or 100 tooths tooth rings on the axle tree, turns a fast sensors sensing attire to go against in the tooth ring. When the wheel rotates, causes the sensor to produce the voltage signal unceasingly, and inputs the computer, the ideal speed compares with RoM, figures out wheels speed-up or the deceleration, issues pressure-rise or the release of pressure instruction to the solenoid valve, controls applies the brake to divide the cylinder braking force.3. The problems by used the ABS system(1) replaces the brake or the replacement hydraulic pressure braking system part, should arrange only in brake lines air, in order to avoid influence braking systems normal work. (2) is loaded with the ABS automobile, every year should replace a brake fluid. Otherwise, the brake fluid water absorbability is very strong, after the watery, not only will reduce the boiling point, will have the corrosion, will also create the brake potency decline. (3) inspects the ABS anti-lock braking system, to cramp out the power source first. 4. Trend of developmentUses the logical threshold value control algorithm, may avoid a series of numerous and diverse theoretical analysis and to some element of certainty quota measurement. Simplified controllers design, because moreover only need determine wheels angular speed, is advantageous realizes, therefore the load cost is low. This algorithm already drew close maturely, for current automobile ABS system universal use, but it by no means best control algorithm. Because under the different state of roads each kind of threshold value and guarantees presses the time is the empirical value which obtains after the repeated test, does not have the very explicit theory basis, therefore the ABS developments cycle is long, and the control quality guaranteed with difficulty.Easy to realize the stepless control based on the glide rate control algorithm, and has the very explicit theory to instruct, but present restricts the cost question which its development the bottleneck is mainly realizes, believed according to ours research, from now on ABS control algorithm development direction in the following several aspects.(1) aims at current widely uses the logical threshold value control algorithm which exists, the research can track the road surface characteristic change, causes the ABS each performance index to be at the optimum condition throughout the control algorithm. And the predictive control technology is worth taking seriously. Because when the brake process, friction characteristic between the tire and the road surface causes the anti-lock braking system has the very obvious misalignment, the denaturation and the uncertainty. Therefore difficulty with establishes its precise mathematical model, but the predictive control has the basic characteristic which the forecast model, the trundle optimize and feed back adjust, may act according to some optimized target design control system, determined that a control quantity the time series, after causing in period of time to move the quantity and the process will soften between the expectation paths error to be smallest in the future. What because this algorithm uses is the online trundle optimizes unceasingly, and unceasingly carries on the feedback in the optimal process through the actual system output and the forecast model outputs error to adjust, can therefore overcome to a certain extent as a result of the forecast model error and certain uncertainty disturbance and so on influence, enables systems robustness to obtain the enhancement.(2) Is smaller along with the volume, the price is cheaper, the reliable higher vehicle speed sensors appearance, in the ABS system will increase the vehicle speed sensor to become possible, the definite wheel slip rate will become is accurate and is fast. And the non-contact types vehicle speed sensor (for example electro-optical type, Doppler and so on) the present will most have the possibility to apply in the automobile ABS system. This time may take seriously based on the glide rate contr