摘要
据GBl276规定2003年10月1日:总质量大于12吨的大客车和总质量大于16吨的载重车都必须装用防抱死制动系统.据交通部调查数据显示,装用ABS的机动车辆中,在降低交通事故发生率方面,轿车可降低8%,重型货车可降低10%,公共汽车可降低4%.ABS控制器是防抱死系统的核心,探索一种有效的控制方式一直是ABS系统发展的关键,故对ABS控制器的研究有广阔的发展前景和强大的现实意义.
在本设计中,以改进ABS控制器的性能为目的,以优化ABS控制器的算法为途径,以控制器的设计步骤为脉络,以汲取前人的设计经验为基础.主要阐述了ABS发展前景,比较了ABS控制器的四种算法优劣,分析了汽车制动特性,探讨了整车协调动力分配方法,提出了控制器的两种设计方案,仿真了PID控制器,评价了仿真结果,验证PID控制算法在ABS控制器设计中的可行性.
通过此次设计,提出三条值得学习和借鉴的心得:1,在设计单输入单输出(SISO)系统时,参数整定用根轨迹法较其他传统的方法具有快速高效的的特点.2,在PID算法中,用增量式PID较位置式PID在仿真速度,出错率等方面有绝对优势.3,鉴于纯粹的模糊控制器和纯粹的PID控制器优点和不足,提出设计模糊PID控制器的设计思想.
最后,在设计的结尾,对全文做了总结,对控制算法的提出了展望,对本课题的后续工作提出自己的看法.其中附录中给出的仿真结果不仅验证MATLAB强大的数学功能,同时也再一次验证了PID控制算法在ABS控制器设计中的可行性!
关键词:PID 防抱死制动系统 滑移率 模糊控制 制动效能
Abstract
According to the GB1276 of October 1st ,2003,the bus must dress up anti-braking system if his total quality is more than 12t ,and the edict is same to the truck whose total quality more than 16t.the bus ,the car ,the truck are much more safety if they dress up anti-braking system .According to data of survey come from ministry of communications, the dressing up anti-braking system bus reduce 4% in the accident .the car is 8%,the truck is 10%.the controller is the heart of Anti breaking System, so the key to the development of anti-braking system is a strong efficient control manner. At last, we can get an idea as follows: the research to the controller of anti-braking system has developing foreground and mightiness flesh and blood values!
In this project, based on develop the performance of anti breaking system controller, optimize arithmetic of anti breaking system controller, take the step for designing anti breaking system controller for skeleton, draw the experience of former to groundwork. In my design, the development of foreground of anti breaking system is expounded, the four kind of arithmetic of anti breaking system is compared, the controlling characteristic of auto is analyzed, the balance of the wheel is discussed, two kind of blue print for anti breaking system controller is brought forward, the performance of PID controller is imitated, the simulated result is given appraises, at last, the feasibility of PID controller arithmetic applying in ABS is validated.

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