基于横摆角速度的汽车ABS控制策略的研究

Research on ABS Control Strategy Based on Yaw Velocity

研究汽车制动系统中,为了保证缩短制动距离的同时,改善汽车在附着系数分离的非对称路面上行驶制动的方向稳定性,结合单轮独立控制与低选控制方式,以横摆角速度为控制参数,提出一种兼顾制动距离和方向稳定性的ABS整车控制策略:ABS混合控制策略。建立汽车制动相关模型,对4种控制方式进行仿真分析。比较4种不同控制策略的仿真结果,表明以横摆角速度为控制参数的ABS混合控制策略能在制动距离与制动方向稳定性中找到合理的平衡点,既能充分利用每个车轮的路面附着系数,又能防止汽车在非对称路面行驶时产生较大的制动跑偏量,提高汽车制动时的方向稳定性。综合考虑制动距离和制动方向稳定性两项指标,以横摆角速度为控制参数的ABS混合控制方式制动效果最优。

To improve the direction stability and guarantee braking distance while braking on the separate road, in conjunction with the Individual Regulation and Selecting Low Regulation, using yaw velocity as the controlling parameter, a new ABS control strategy named Hybrid Control Strategy is proposed. Models pertinent to vehicle braking performance are found and the 4 control strategies are simulated and analyzed. Compared the simulation results of the 4 control strategies, the result shows that ABS Hybrid Control Strategy can find middleground between braking distance and direction stability, as the ABS Hybrid Control Strategy can take full advantage of the adhesion coefficient of each wheel and prevent the vehicle from running away off its orbit badly, so that to improve the direction stability. Both the braking distance and braking direction stability arc considered, ABS Hybrid Control Strategy with yaw velocity as its controlling parameter is the optimum one.