基于制动工况的路面识别方法研究
发布时间：2018-12-19 10:13
【摘要】：汽车电控制动系统的关键在于调整路面对轮胎的切向作用力,而该作用力受到路面附着条件的制约,要使汽车在不同路面上制动时都能充分利用当前路面的附着条件,获得最大的制动力,需要在制动过程中对当前路面进行识别,同时根据识别结果调整ABS控制器的目标滑移率。为了在制动工况下完成路面识别,本文主要进行了以下研究内容：(1)提出基于平均附着系数的识别方法,以滑移率区间[0.08,0.11]上的平均附着系数作为参数指标进行路面识别,避免了附着系数曲线交叉重叠带来的不便,克服了附着系数瞬间波动对识别结果的影响。(2)提出基于路面特征系数的识别方法,根据T(s)曲线特点建立了动态识别区间,实现了实时滑移率下的动态识别,避免了附着系数或附着系数曲线斜率单独作为识别参数时,附着系数曲线或附着系数斜率曲线交叉重叠的对识别的影响,克服了个别滑移率下不同路面参数指标相等带来的不便。(3)提出基于峰值附着系数变化范围的识别方法,在Burckhardt轮胎-路面模型的基础上得到了6种典型路面峰值附着系数的变化范围,以峰值附着系数的变化范围为识别区间,以路面附着系数为识别参数进行路面识别。(4)将制动力矩和轮速作为输入变量,将含有路面附着系数μ的项mgR/Jμ考虑为外加干扰,建立具有高增益反馈的扩张观测器对路面附着系数进行估算。(5)建立四分之一车辆ABS滑模变结构控制模型,通过MATLAB/Simulink软件进行仿真实验,分别在单一路面和跃变路面上进行制动,有效验证三种识别方法的可行性和正确性。通过车载六分力测试系统在干沥青路面上进行道路试验,对基于峰值附着系数变化范围的识别方法做了进一步验证。(6)通过VB和ACCESS数据库建立六分力测试数据管理系统,能够快速准确的进行实验数据的查找和提取,弥补了六分力测试系统在数据管理上存在的不足。(7)根据峰值附着系数对路面进行分类,以附着系数为参数对路面类别进行识别,在制动时根据当前路面的类别对前后制动力进行二次分配。研究结果表明：基于制动工况的三种路面识别方法能够快速准确地完成路面识别,基于高增益反馈的扩张观测器能够快速准确地估算出路面附着系数,制动过程中根据路面识别进行前后制动力分配能够提高路面附着条件的利用率。
[Abstract]:The key of automobile electronic-controlled braking system is to adjust the tangential force of the road facing the tire, which is restricted by the adhesion condition of the road surface, so that the vehicle can make full use of the adhesion condition of the current road surface when braking on different road surface. To obtain the maximum braking force, it is necessary to identify the current pavement during the braking process and adjust the target slip ratio of the ABS controller according to the recognition results. In order to identify the road surface under braking condition, the following research contents are carried out in this paper: (1) A method based on average adhesion coefficient is proposed. The average adhesion coefficient on the slip ratio range [0.08 ~ 0.11] is used as the parameter index to identify the road surface, which avoids the inconvenience caused by the overlapping of the adhesion coefficient curve. It overcomes the influence of instantaneous fluctuation of adhesion coefficient on the recognition result. (2) A method based on pavement characteristic coefficient is proposed, and the dynamic identification interval is established according to the characteristic of T (s) curve, and the dynamic identification is realized under the real-time slip ratio. Avoiding the influence of overlapping of adhesion coefficient curve or adhesion coefficient slope curve on recognition when the slope of attachment coefficient curve is taken as identification parameter separately, The inconvenience caused by the equality of different pavement parameters under individual slip ratio is overcome. (3) A method based on the range of peak adhesion coefficient is proposed. On the basis of Burckhardt tire pavement model, the range of peak adhesion coefficient of six typical pavements is obtained, and the range of peak adhesion coefficient is used as the identification interval. Pavement adhesion coefficient is taken as identification parameter. (4) braking moment and wheel speed are taken as input variables, and mgR/J 渭, which contains road adhesion coefficient 渭, is considered as external disturbance. An expansion observer with high gain feedback is established to estimate the road adhesion coefficient. (5) the ABS sliding mode variable structure control model of 1/4 vehicle is established and simulated by MATLAB/Simulink software. Braking on single pavement and jump pavement is carried out, which effectively verifies the feasibility and correctness of the three recognition methods. The road test is carried out on the dry asphalt pavement by the on-board six-component force test system, and the identification method based on the range of the peak adhesion coefficient is further verified. (6) the data management system of the six-component force test is established through VB and ACCESS database. It can find and extract the experimental data quickly and accurately, which makes up for the deficiency in the data management of the six-component force test system. (7) classifying the pavement according to the peak adhesion coefficient, The road surface category is identified with the adhesion coefficient as the parameter, and the braking force before and after braking is redistributed according to the current road surface category. The results show that the three road recognition methods based on braking condition can quickly and accurately identify the road surface, and the expansion observer based on high gain feedback can estimate the road adhesion coefficient quickly and accurately. Braking force distribution according to pavement identification can improve the utilization ratio of road adhesion condition.
【学位授予单位】：西华大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.5
本文编号：2386779
[Abstract]:The key of automobile electronic-controlled braking system is to adjust the tangential force of the road facing the tire, which is restricted by the adhesion condition of the road surface, so that the vehicle can make full use of the adhesion condition of the current road surface when braking on different road surface. To obtain the maximum braking force, it is necessary to identify the current pavement during the braking process and adjust the target slip ratio of the ABS controller according to the recognition results. In order to identify the road surface under braking condition, the following research contents are carried out in this paper: (1) A method based on average adhesion coefficient is proposed. The average adhesion coefficient on the slip ratio range [0.08 ~ 0.11] is used as the parameter index to identify the road surface, which avoids the inconvenience caused by the overlapping of the adhesion coefficient curve. It overcomes the influence of instantaneous fluctuation of adhesion coefficient on the recognition result. (2) A method based on pavement characteristic coefficient is proposed, and the dynamic identification interval is established according to the characteristic of T (s) curve, and the dynamic identification is realized under the real-time slip ratio. Avoiding the influence of overlapping of adhesion coefficient curve or adhesion coefficient slope curve on recognition when the slope of attachment coefficient curve is taken as identification parameter separately, The inconvenience caused by the equality of different pavement parameters under individual slip ratio is overcome. (3) A method based on the range of peak adhesion coefficient is proposed. On the basis of Burckhardt tire pavement model, the range of peak adhesion coefficient of six typical pavements is obtained, and the range of peak adhesion coefficient is used as the identification interval. Pavement adhesion coefficient is taken as identification parameter. (4) braking moment and wheel speed are taken as input variables, and mgR/J 渭, which contains road adhesion coefficient 渭, is considered as external disturbance. An expansion observer with high gain feedback is established to estimate the road adhesion coefficient. (5) the ABS sliding mode variable structure control model of 1/4 vehicle is established and simulated by MATLAB/Simulink software. Braking on single pavement and jump pavement is carried out, which effectively verifies the feasibility and correctness of the three recognition methods. The road test is carried out on the dry asphalt pavement by the on-board six-component force test system, and the identification method based on the range of the peak adhesion coefficient is further verified. (6) the data management system of the six-component force test is established through VB and ACCESS database. It can find and extract the experimental data quickly and accurately, which makes up for the deficiency in the data management of the six-component force test system. (7) classifying the pavement according to the peak adhesion coefficient, The road surface category is identified with the adhesion coefficient as the parameter, and the braking force before and after braking is redistributed according to the current road surface category. The results show that the three road recognition methods based on braking condition can quickly and accurately identify the road surface, and the expansion observer based on high gain feedback can estimate the road adhesion coefficient quickly and accurately. Braking force distribution according to pavement identification can improve the utilization ratio of road adhesion condition.
【学位授予单位】：西华大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.5
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