汽车ABS技术及其发展趋势外文文献翻译、中英文翻译

附录附录A.CarABSTechnologyandDevelopmentTrendInthecarbeforetheemergenceofabs,usedcaristheopenloopbrakesystem.Itscharacteristicisthebraketorqueonlyanddriversofthesizeofthemanipulationoftheforce,brakingforcedistributionregulationandthesizeofthebrakesonandtype.Withnowheelthemotionoffeedbacksignalmeasurement,can'tknowduringwheelbrakespeedandholdingindeath,caryoumayadjustaccordinglywheelcylinderorthegaschamberofthesizeofthebrakepressure.Soinanemergencybrake,inevitablyappearwheelontheground,holdingindeathdraggedthephenomenonofsliding.Whenthewheellock,thegroundoftheperformancewaspoor,thelateralattachedcanprovidethelateraladhesionissmall,carbyexternalforceinanyminuteundertheactionofwillappeardirection,easilyhappenedinstabilityproblemsoftrafficaccidents.Inthewetpavementorsnowandiceontheroad,thedirectionofbraketheinstabilityofthephenomenoncanmoreserious.towingItisthroughthebasicfunctionofsensors'wheeleachtransientstateofmotion,andaccordingtothemotioncorrespondinglyadjustthesizeofthebraketorqueintoavoidthewheelsholdingindeath,itisaphenomenonofclosed-loopbrakesystem.Itistheelectroniccontroltechnologyincarsofthemostsuccessfulapplicationproject,oneofautobrakeantilockbrakesystemscanmakethecarinthebrakingmaintainstabilityandshortenthedirectionbrakingdistance,effectivelyimprovethedrivingsafety.CarABScansayisthemostimportantcarsafetyhistoryofthethreegreatinventions(theothertwoareairbagwithseatbelt),ABSisalsoothersafetydevice(suchasESPdrivingdynamicstabilitysystemandEBDbrakingforcesbaseddistributionsystem)Becausemoneyspenttoobig,ABSthepracticaluseoftheearlyrailwayvehicleoraircraft.70s,digitalelectronictechnologyandlargescaleintegratedcircuit,fortherapiddevelopmentofABSsystemlaysafoundationtopracticalapplication.Boschcompanyin1978firstlaunchedthedigitalelectroniccontrolunitofthebrakesystem,andABS2BoschholdingdeviceintheMercedesBenz,whichopenedonthemodernABSsystemdevelopmentsequenceAlthoughtheBoschABS2ofelectroniccontroldeviceisaseparationofthecomponents,butduetothedigitalelectroniccontroldeviceandanalogelectroniccontroldevice,thereactionspeed,comparedtothecontrolaccuracyandreliabilityaresignificantlyimproved,therefore,BoschABS2controleffectalreadyisquitegood.Fromthenon,Europe,AmericaandJapan,manyprofessionalcompanyandbrakecarcompanieshavedevelopedavarietyofABSsystem.Accordingtostatistics,thewholeworldhasmorethan60%ofnewcarsequippedwithABSdevice.Whenthecarbrakewheelspeedandthedifferencesbetweenbodyspeed,canleadtothewheelandtheroad,whenthewheelslippagebetweenproducepurerollingwayandthepavementatcontact,thesliprateiszero,andwheellockthesliprateis100%.Whentheslipratebetween10%~30%,thelargesttransferofpower.Thebasicprincipleofbrakingantilockbrakesystem(2,3]isbasedontheaboveresearch,throughthecontrolregulationsysteminpower,brakingprocess,tothewheelintheslipratecontrol,withinthescopeoftherighttoobtainthebestbrakingeffect.ABSsystemhardwaremainlybythewheelsensor,electroniccontroldevices,brakepressureregulatorthreemajorcomponents,constituteatothesliprateisthecontrolofthetargetoftheclosed-loopcontrolsystem.Thewheelspeedsensorandthedatatransfertotheelectroniccontroldevice.Controldeviceisamicroprocessor,accordingtothewheelspeedsensorsignaltocalculatethespeedofthecar.Inthebrakingprocess,reducingspeedandcontroldeviceofprogrammedidealreducingthespeedofcharacteristiccurveincomparison.Ifcontroldevicejudgethewheelreducingspeedtoolargeandthewheelwillembracedied,signaltohydraulicregulator,hydraulicregulatorisaccordingtothecontroldeviceofthesignaltothebrakewheelcylinderofhydrauliccontrol(theboost,thepressureorbloodpressure).Brakepressuretoadjustthefrequencyofthecycleupto6~20Hz.ABStechnologyatthecoreoftheproblemisthecontrolalgorithmofresearch.ThecontrolcarABSisacomplex,essentialnonlinearcontrolproblem.Inrecentyears,domesticandforeignscholarsinthecontrolofABScalculateMethodonthemanytheoreticalresearch,mainlyinthefollowingseveralcontrolmethods.NowautomotiveABSsystemmostoftheproductsaretheaddition,subtractionspeedcontrol,andadditionalthresholdsomeauxiliarythreshold,notinvolvespecificmathematicalmodel.Thresholdcontrolfornonlinearsystemsisaneffectivecontrolmethod.Inthebrakingprocess,canbeaprimaryangularvelocitythreshold,whenactualangularvelocityoverthethreshold,thecontrollerordertorelease,thewheelbrakepressuretorotatefaster;AAngleacceleration,whenthethresholdofangularvelocitytoreachthisthreshold,controllerandissuecommandstocontrolmoment,increased,andthewheelasslowmovement.Canuseawheelangularvelocitysensorasasinglewheelsignal,andelectroniccontrollerinsetreasonableadd,subtractspeedthresholdmethod,cancometruetotheembraceofthebrakecycle.Logicthresholdcontrolthefaultisthatcontrolsystemofthevariousthresholdandtheholdingtimeisfromrepeatedtestthatexperience,andnosufficientdatathetheoreticalbasisofthestabilityofthesystemandthequalityisdifficulttoevaluation.Theoptimalcontrolmethodisbasedonstatespacemethodofmoderncontroltheorymethod.Theoptimalcontrolmethodandthresholdcontrolmethodisdifferent,itisakindofbasedontheanalysisofthemodelcontrolmethod.Theideaisbasedontheabsallthecontrolrequirements,accordingtotheprincipleofoptimizationforbrakeantilockbrakesystemoptimalcontrolgoals.Thiscontrolmethodisconsideredthecontrolprocessofstatechangescourseandmakethecontrolprocesssmoothly;Defectisthecontroleffectofqualitymainlydependsonthemathematicalmodelofthesystem,qualitycontrolisdifficulttoaccurately.TheclassicofPIDcontrolparameterssettingissetuponthebasisofgathertogetherintry,aslongasthescenesettingPIDparameters,youcangetrightbettercontroleffect.IntheABSinadefinitionoftheexpectedslidingrateSandactualslidingratefortheinputofthedifferenceofthePID,thePIDcontrolalgorithmiscalculatecontrolairpressurevaluefeedbacktobrakesystem,atypicalfeedbackcontrol.Itsdefectiscontroleffectqualitydependsontheaccuracyoftheparametersetting.Fuzzycontrolisbasedonexperienceoftherulesofthecontrol,andhavenotrelyonthemathematicalmodeloftheobject,easytousetheexperience,knowledgeisrobustandsimplepractical.Controlrulestothelawofthinking.Defectisnoeffectivegeneralcalculationmethod,canonlyrelyonindustrialautomationinstrumentandaplanofthedeviceexperienceandrepeatedtest.Byautomobilebrakingantilockbrakethebasicprincipleofthebrakingprocess,itisknownthatthenatureoftheproblemistothewheeltheslipratecontroladhesioncoefficientinthepeaksoftheSk,theslidingmodevariablestructureaccordingtothesystemofthestate,anddeviationandatthattime,indifferentderivativevaluearea,inordertocontroltheidealswitchmodeswitchcontroltheamountofandsymbols,inordertoensurethatthesysteminslidingareaissmall,withinthescopeofthestatetrajectorySslidinginthepitchcurveslidingintoacontroltargettsinghuauniversitysongjianandothercarbrakingprocessaccordingtothephysicalnatureofinternationalproposedfirsttobrakedissipationpowerasthetargetofthecontrolmethod.Consideringthecarofthedecelerationprocess,infact,istheaveragekineticenergyofthecarintootherformsofenergydissipationprocess.Accordingly,ifyoutakethereasoningbrakefrictionpower(orsaysdissipationpower)maximumcontroltargetsofABS,havethepotentialtogiveconsiderationtothebrakingstabilityandbrakeperformance.Thismethodthanthethresholdmethodhasgoodstability,highefficiencyofbraking,strongadaptabilityandcontrolofroadsurfacefeaturesobviousetc.Characteristics.Researchshowsthatthecontrolmethodcanhaveagoodapplicationprospect.Drivetorquesystem(hereinafterreferredtotheASR)isperfectandadded.ABSASRsystemcanimprovethecarisinthemostslipperyroadstabilityandaccelerationoftheelectronicdevice.Itsroleismainlythroughthecontrolenginetorqueandacarbrakingsystemmeanstocontrolthedrivingforce,topreventthewheelsidlingsliding,maintainthebestdrivingforce.ABSguaranteeThecarbrakingprocess,thestabilityofthedirectionisguaranteedthecarASRprocess(beginning,thedirectionoftheacceleration)stabilityandhandling.Manyofthecars,themodernelectroniccontroldeviceequippedwithABSASRelectroniccontrolsignaldevicestoexchangeinterface.AndASRandamajorpartoftheABS(suchaselectroniccontroller,wheelsensor,brakepressureregulators)canbeusedwithorSharedwiththecarwiththeABSASRsystem,justthepremise,differentialcontrolvalvesandenginecontrolcylinderenginecan.Thisshows,ABSandASRcombination,canmakefulluseoftherelevantpartsofthecar,andactivesafetywillbemoreassured.Vehiclestabilitycontroldevice(hereinafterreferredtoasVSC)usetwosensorsweresensorcaryaw-rateandlateralacceleration,andcarwillshifttoAngleandtheactualdirectionarecompared.Whenitfoundthecarisnotaccordingtotheintentionofmotoristsroad,immediatelysenttotheASRandABScorrectionsignal,indicatingtheytakemeasurestomakethecartothecorrectdirection.Thesesystemalthoughfunctionsandthestructureisdifferent,buttheworkissimilartotheprocessissensorsignal,sheiscalculated,theexecutionprocessingECUinstitutionstakecorrespondingactions.Inthesystemcomposition,picktheaccuracyofthesensorsignaldirectlyinfluencetheresultsofECU,additional,wheelsensormostisinstalledinthebadenvironment,especiallyneartoheatresistant,vibrationresistantsex,themagnetic,corrosionresistancehashighrequest,totheimprovementoftheperformanceofthesensorisveryimportant.ABSandelectronicthrottlecontrolsystem,electronicallcontroltype(orhalfcontrolled)suspension,electroniccontrolfour-wheelsteering,electroniccontrolhydraulicturnTotheelectroniccontrol,automatictransmission,cruisecontrolsystem,globalpositioningsystem,etc.Variouskindsofelectroniccontrolsystem,canmakethecombineduseofcarmovementremainsinthebeststate.Alongwiththeelectroniccontrolunitsincarhasmoreandmoreapplication,vehicleelectronicequipmentofthedatacommunicationbetweenbecomesmoreandmoreimportant,thedistributedcontrolsystemforinfrastructureautomobilevehicleelectronicnetworksystemisverynecessary.Largeamountsofdataexchange,highreliabilityandrapidsexischeaptoautomobileelectronicnetworksystemrequirements.Thenetworksystem,theprocessorindependentoperation,thecontroltoimprovetheperformanceofthecaronsomething,andintheotherprocessorsneedtoprovideaccordingtoservice.WhenThestructureofthenetworkinsidethecarreliesmainlyonthebustransmissiontechnology.Carthroughakindofcommunicationisbustransfersofagreementwillcarelectroniccontrolunits(engine,ABS,automatictransmission,etc.),intelligentsensor,intelligentinstrument,andlinkupacarinteriornetwork.Itsadvantagesare:reducedthenumberofcableandwireharnessinvolume,improvetheelectronicsystemreliabilityandmaintainability;Thegeneralsensors,achievethepurposeofsharingdata;Improvetheflexibilityofthesystem,thatis,throughthesystemsoftwarecanrealizethechangeofsystemfunction.CarABStechnologyhasbeenacknowledgedastheworld,ABSchangeGoodthecarbrakeperformance,andtheshorterthebrakingdistance.Avoidthewheellocksoastoavoidthelossofcartoability,losethedirectionstabilityofthephenomenon.Itwouldbeexpectedthattherecentallkindsofvehicleswillbeequippedwiththetechnology.Ofcourse,ABStechnologyisstillhavedefects,suchasthestabilityofsystemstillneedtoimprove,controlalgorithmoffurtherresearchandimprovement.Throughthesimulationshows,inthedesignoffuzzycontroller,throughtheadjustmentofthefuzzycontrollermembershipfunctions,theerrorinthebasicfuzzysubsetsofdomainnon-uniformdistributionandZOintervaloftheretreattosmallenough,withoutanyincreaseinthecontrolstrategyofthecase,makethesteady-stateerrorofthefuzzycontrollerisgreatlyreduced,hasthegoodcontroleffect,shortsettingtime,noovershoot,theimprovedfuzzycontrollerinsteadyprecisionatthesametime,continuedtoparametertime-varianceandfuzzycontrollerofinterferencehasstrongadaptability.Allinall,thismethodimprovesthefuzzycontrolthesystemsteadycontrolprecision,toimprovethesystemdynamicandstaticquality.Duetotheadjustmentofthefuzzycontrollermembershipfunctionisveryconvenient,andtherefore,thismethodissimpleandusefulforthefuzzycontrolleriswidelyused,provideaneasymethod.

附录B.汽车ABS技术及其发展趋势在汽车防抱死制动系统出现之前,汽车所用的都是开环制动系统。其特点[1,2]是制动器制动力矩的大小仅与驾驶员的操纵力、制动力的分配调节以及制动器的尺寸和型式有关。由于没有车轮运动状态的反馈信号,无法测知制动过程中车轮的速度和抱死情况,汽车就不可能据此调节轮缸或气室制动压力的大小。因此在紧急制动时,不可避免地出现车轮在地面上抱死拖滑的现象。当车轮抱死时,地面的侧向附着性能很差,所能提供的侧向附着力很小,汽车在受到任何微小外力的作用下就会出现方向失稳问题,极易发生交通事故。在潮湿路面或冰雪路面上制动时,这种方向失稳的现象会更加严重。汽车防抱死制动系统(AntilockBrakingSystem简称ABS)的出现从根本上解决了汽车在制动过程中的车轮抱死问题。它基本功能就是通过传感器感知车轮每一瞬时的运动状态,并根据其运动状态相应地调节制动器制动力矩的大小以避免出现车轮的抱死现象,因而是一个闭环制动系统。它是电子控制技术在汽车上最有成就的应用项目之一,汽车制动防抱死系统可使汽车在制动时维持方向稳定性和缩短制动距离,有效提高行车的安全性。汽车ABS可以说是汽车安全历史上最重要的三大发明之一(另外两个是安全气囊与安全带),ABS也是其他安全装置(如ESP行车动态稳定系统与EBD刹车力分配系统)的基础。精于汽车电子技术的德国博世(Bosch)公司研发ABS系统的起源要追溯到1936年,当年博世申请了机动车辆防止刹车抱死装置的专利。1964年(集成电路诞生)博世公司再度开始ABS的研发,最后有了通过电子装工业仪表与自动化装置置控制来防止车轮抱死是可行的结论,这是ABS名词在历史上第一次出现。世界上第一具ABS原型机于1966年出现,向世人证明缩短刹车距离并非不可能。因为投入的资金过于庞大,ABS初期的应用仅限于铁路车辆或航空器。70年代后期,数字式电子技术和大规模集成电路的迅速发展,为ABS系统向实用化发展奠定了基础。博世公司在1978年首先推出了采用数字式电子控制装置的制动防抱系统博世ABS2,并且装置在奔驰轿车上,由此揭开了现代ABS系统发展的序幕。尽管博世ABS2的电子控制装置是由分离元件组成的,但由于数字式电子控制装置与模拟式电子控制装置相比,其反应速度、控制精度和可靠性都显著提高,因此,博世ABS2的控制效果已相当理想。从此以后,欧、美、日的许多制动器专业公司和汽车公司相继研制了形式多样的ABS系统。据统计,目前全世界已有超过60%的新车装有ABS装置。汽车制动时由于车轮速度与车身速度之间存在着差异,会导致车轮与路面之间产生滑移,当车轮以纯滚动方式与路面接触时,滑移率为零,而车轮抱死时其滑移率为100%。当滑移率在10%~30%之间时,传递最大的制动力。制动防抱死系统的基本原理[2,3]就是依据上述研究成果,通过控制调节制动力,在制动过程中,把车轮滑移率控制在合适的范围内,取得最佳的制动效果。ABS系统硬件构成主要由轮速传感器、电子控制装置、制动压力调节器3大部分组成,构成一个以滑移率为控制目标的闭环控制系统。传感器测量车轮转速并这一数据传送至电子控制装置上。控制装置是一个微处理器,根据车轮转速传感器信号来计算车速。在制动过程中,减速度与控制装置中预先编制的理想减速度的特性曲线相比较。如果控制装置判断出车轮减速度太大和车轮即将抱死时,就发出信号给液压调节器,液压调节器就根据控制装置的信号对制动轮缸的油压进行控制(升压、保压或降压)。制动压力调节循环的频率可达6~20Hz。ABS技术的一个核心问题就是控制算法的研究。汽车ABS的控制是一个复杂的、本质非线性的控制问题。近年来,国内外学者对ABS的控制算法进行了很多理论研究,主要有以下几种控制方法。目前汽车ABS系统绝大多数产品都是采用加、减速度门限值控制,并附加一些辅助的门限值,并不涉及具体的数学模型。门限控制是对非线性系统的一种有效控制方法。在制动过程中,可以预选一个角速度门限值,当实际的角速度超过此门限值时,控制器发出指令,开始释放制动压力使车轮得以加速旋转;一个角加速度门限值,当车轮的角速度达到此门限值时,控制器又发出指令,使控制力矩增大,车轮作减速运动。可以采用一个车轮角速度传感器作为单轮信号,同时在电子控制器中设置合理的加、减速度门限值,就可以实现防抱制动的循环。逻辑门限控制的缺点在于控制系统中的各种门限及保压时间都是从反复试验中得出的经验数据,而无充分的理论依据,系统的稳定性等品质难以评价。最优控制方法是基于状态空间法的现代控制理论方法。它可以根据车辆地面系统的数学模型,采用状态空间的概念,在时间域内研究汽车防抱死制动系统。最优控制方法和门限值控制方法不同,它是一种基于模型分析的控制方法。其思路是根据防抱死制动系统的各项控制要求,按照最优化的原理来求得制动防抱死系统的最优控制目标。这种控制方法的优点是考虑了控制过程中状态变化的历程而使控制过程平稳;缺点是控制效果的优劣主要依赖于系统的数学模型,控制质量难以准确把握。经典PID控制的参数整定是建立在试凑基础上的,只要现场整定PID参数合适,就会得到较好的控制效果。在ABS中定义期望的滑移率S与实际滑移率之差为PID的输入,由PID控制算法算出控制气压值反馈给制动系统,构成典型的反馈控制。其缺点是控制效果的好坏依赖于参数整定的准确度。模糊控制是基于经验规则的控制,具有不依赖对象的数学模型,便于利用人的经验知识,具有鲁棒性强和简单实用等优点。控制规则符合人的思维规律。缺点是没有有效通用的计算方法,只能依靠设工业仪表与自动化装置计者的经验和反复调试。由汽车防抱死制动的基本原理可知,其制