ABS客车制动性能半实物仿真测试

发布时间：2018-02-04 14:48

本文关键词： 制动性能硬件在环仿真整车动力学模型 ABS控制算法　出处：《中国计量大学》2016年硕士论文　论文类型：学位论文

【摘要】：在客车ABS的开发方式中,纯数值仿真环境过于理想化,实车试验周期长、成本高。硬件在环仿真(即半实物仿真)结合以上两者的优点,将试验中仿真模型难以表现的硬件设备通过计算机嵌入到仿真环境中,进行客车制动试验。硬件在环仿真技术的出现缩短了客车ABS的研发周期,降低了开发成本。在综合国内外关于硬件在环仿真平台、ABS控制算法研究成果的基础上,提出了基于xPC目标实时仿真平台的客车ABS硬件在环测试系统的方案。该系统可以实现客车ABS制动性能的实时仿真,为评价客车直线制动性能提供了一种简单、高效的方式。本文主要研究内容包括:(1)采用基于xPC目标的实时仿真平台,建立起宿主机和目标机的通讯连接,实现数据传输。使用c语言编写数据采集卡的驱动程序,利用数据采集卡实现对气制动系统的传感器信号采集和ABS调节器控制信号数字量输出。(2)按照真实客车气制动系统设计并搭建客车ABS硬件在环测试系统的气制动系统,其拥有两条制动回路,主要包括储气罐、四回路保护阀、总阀、前继动阀、后继动阀、制动气室、ABS调节器等部件。(3)分析客车整车动力学的数学模型,并利用Simulink建立客车整车动力学仿真模型,包括轮胎模型、七自由度车辆模型、制动器模型、辅助计算模型等。(4)设计参数自整定模糊PID控制以及逻辑门限值控制方法,并根据GB7258-2012《机动车运行安全技术条件》在搭建好的客车ABS硬件在环测试系统上进行了客车在高附着系数路面、低附着系数路面、对开路面及对接路面上的ABS制动试验,并将试验结果与相同试验条件下无ABS客车的试验结果进行了对比和分析。本文就客车ABS硬件在环仿真技术进行研究,成果对硬件在环仿真及客车ABS控制算法研究具有一定的促进作用,预期成果能为客车ABS制动领域提供点滴帮助。
[Abstract]:In the bus ABS development mode, the pure numerical simulation environment is too ideal, the real vehicle test cycle is long, the cost is high. The hardware in the loop simulation (i.e. semi physical simulation) by combining the advantages of both of the above, the simulation model is difficult to test the performance through the computer hardware embedded simulation environment, bus braking test. The hardware shortens the development cycle of ABS bus in the loop simulation technology, reduces the cost of development at home and abroad. On the hardware in the loop simulation platform based on ABS control algorithm on the research results, proposed based on the xPC bus target real time simulation platform ABS hardware in the loop test system for real-time simulation of the system. ABS can realize the braking performance of bus, bus for straight line braking performance evaluation provides a simple, efficient way. The main contents of this paper include: (1) the real-time simulation based on xPC target The platform, establish the host and target machine communication, data transmission. C language is used to write the driver of data acquisition card, data acquisition card was used to realize sensor signal acquisition and ABS on the air brake system control signal with digital output. (2) according to the design and build real bus passenger air braking system ABS hardware in the loop test system for pneumatic braking system, the braking circuit has two, including gas tank, four circuit protection valve, the valve, the relay valve, subsequent pneumatic valve, brake chamber, ABS regulator and other parts. (3) analysis of mathematical model of vehicle dynamics, and the use of the vehicle a dynamic simulation model of bus Simulink, including tire model, seven degrees of freedom vehicle model, brake model, auxiliary calculation model. (4) the design of parameter self tuning fuzzy PID control and the logic threshold control method, and according to GB7258-2 012< technical conditions for the safe operation of motor vehicles in the bus to build a good > ABS hardware in the loop test system of bus on high adhesion road, low adhesion coefficient road, on the ABS brake test on the road pavement and open docking, and no ABS bus test results and test results under the same experimental conditions were compared and the Airbus ABS analysis. The hardware in the loop simulation technology research results on the hardware has a certain role in the loop simulation and control algorithm of ABS bus, the expected results can provide help for ABS passenger car brake bit field.

【学位授予单位】：中国计量大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.5;TP391.9

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