基于逻辑门限值的客车ABS硬件在环测试研究

Research on Hardware-In-the-Loop Test of Bus ABS Based on Logic Threshold

针对ABS控制器开发过程中纯数值仿真过于理想化,实车试验成本高、周期长等缺点,设计并搭建了客车ABS硬件在环仿真测试系统;系统由xPC目标实时仿真环境、气制动系统及整车动力学模型组成;气制动系统按照真实客车制动系统并配合力传感器搭建;整车动力学模型由轮胎模型、七自由度车辆模型、制动器模型等组成,并利用Simulink建模;在ABS控制策略中引入逻辑门限值控制,在客车ABS硬件在环仿真测试系统上测试了客车在高附着系数、低附着系数及对接路面上的制动情况;试验表明:逻辑门限值控制能很好地将车轮滑移率控制在最佳滑移率附近,具有较好的控制精度及鲁棒性。

In the development process of ABS controller,the pure numerical simulation is too ideal,the cost of real vehicle test is high and the cycle is long,so the bus ABS hardware-in-the-loop simulation test system is designed and built.The system is composed of xPC target real-time simulation environment,air brake system and vehicle dynamics model.The air brake system is built according to the real bus brake system.In addition,there are four force sensors.The vehicle dynamics model is composed of tire model,seven degrees of freedom vehicle model,arrester model and so on.And the simulation model was built by using Simulink.In the ABS control strategy,the logic threshold control is introduced.The brake tests at high adhesion coefficient road,low adhesion coefficient road and joint road were done on Bus ABS hardware-in-the-loop simulation test system.The results show that the logic threshold control can control the wheel slip ratio near optimal slip ratio.It has good control accuracy and robustness.