四轮驱动汽车驱防滑控制系统的设计

1、Classified Index: 461.6 University Code：10213Dissertation for the Masters Degree in EngineeringDESIGN OF ACCELERATION SLIPREGULATION FOR FOUR WHEEL DRIVEVEHICLECandidate ：Wang Liangliang Supervisor ：Prof. Bian Wenfeng Academic Degree Applied for：Master of Engineering Speciality ：Vehicle Engineering

2、Affiliation ：School of Automobile Engineering Date of Defence：June, 2009 Degree-Conferring-Institution ： Harbin Institute of Technology-II-哈尔滨工业大学工学硕士学位论文摘要驱动防滑控制系统 ASR 的基础是 ABS ，是在 ABS 为基础上的延伸，ABS 和 ASR 统称为防滑控制系统。驱动防滑控制系统通过调节作用于驱动轮的驱动力矩来控制驱动轮的滑转率，从而使汽车的操纵性、横向稳定性、动力性以及燃油经济性都得到提高。四轮驱动汽车与二轮驱动汽车相比，因为其每

3、个轮胎所受的驱动力只有二轮驱动汽车的一半，故具有更好的越野性能，然而，四轮驱动汽车本身存在许多不足，比如：短时四轮驱动汽车操作繁琐；常时四轮驱动汽车由于前后驱动桥之间以及左右驱动轮之间通过差速器连接，只要一个车轮处于低附着系数路面上时，整车驱动力几乎丧失。将驱动防滑控制系统用于四轮驱动汽车将有可能解决四轮驱动汽车打滑的问题。本文主要从轮胎的滑转以及整车的动力性等方面来分析驱动防滑控制系统对于四轮驱动汽车的影响，主要内容包括以下几个部分：1、分析四轮驱动汽车的驱动特点，制定出四轮驱动汽车驱动防滑控制系统的控制策略。通过调节发动机的输出扭矩以及控制制动器来控制车轮的相对滑转。原始输入参考模型车发动

4、机输出数据。2、建立四轮驱动汽车驱动的简化数学模型。本文主要为控制算法的研究，故数学模型可适当简化，并将汽车行驶的条件设置为相对简单的路面情况。 3、进行 ASR 系统的控制算法研究。并主要探讨了模糊控制在四轮驱动汽车 ASR 系统上的应用。分别设计了发动机输出扭矩控制器和制动力矩模糊控制器。 4、根据所建立的数学模型在 MATLAB/SIMULINK 环境下建立仿真模型，并进行了不同路面上的仿真分析。仿真结果表明驱动防滑控制系统对于四轮驱动汽车的驱动轮滑转起到了较好的抑制作用，并且使得四轮驱动汽车的动力性得到一定的提高，同时也验证了控制策略的正确性以及控制算法的可行性。关键词：驱动防滑；四轮

5、驱动；轮胎模型；MATLAB 仿真；模糊控制-I-AbstractAcceleration slip regulation (ASR was developed based on Anti-lock Brake System (ABS. It is the extension of ABS to the driving course. So ABS and ASR are called a control system preventing slide by a joint name. ASR can control the slippages of the driving wheels by

6、 adjusting the driving moments acting on the driving wheels. Accordingly improves the handling performance 、 transverse stability 、dynamic performance and economics. Four wheel drive vehicle has better cross-country performance than two wheel drive vehicle. So it usually passes for SUV. However, fou

7、r wheel drive vehicle has many shortages. To drive a short-time four wheel drive vehicle is very troublesome. Because the front and rare driving bridges of a long-time four wheel drive vehicle are connected through a differential as well as the left and right driving wheels, certain wheel on the roa

8、d with low coefficient of friction will result in else wheels driving power descend much, so the power to drive the car become almost zero. ASR can possibly solve the four wheel drive vehicle s problem of slip. So this paper mainly analysis the ASR s effect on the four -wheel-drive vehicle from the

9、angle of dynamic performance. This paper mainly includes several parts as follows:1. The control strategies were set down by analysis the character of four wheel drive vehicle when driving. That is, the exceed slips of driving wheels are regulated by controlling the gun, and the relative slips of dr

10、iving wheels are regulated by controlling the brake. The means of estimating the vehicles velocity used on the ABS was used for reference. 2. The mathematic model of a four wheel drive vehicle was established. Establish a simple 、convenience 、obvious 、accurate systems mathematic model. In this paper

11、, the model of the system was established and the state-space of the system was deduced.3. Made some researches of the ASR s control algorithms. Then discuss the application of fuzzy control means on the ASR of four wheel drive vehicle. The gun controller and brake controller were designed.-II-4. Th

12、e simulation model was established under the circumstance of MATLAB/SIMULINK according to the established mathematic model. And three different road conditions were simulated and analysis. The results of simulation have shown that ASR can effectively regulated the driving wheels slippages, furthermore, the dynamic performance be improved. At the same