三轴汽车气压ABS自适应控制及硬件在环研究

Three-axle Vehicle Pneumatic ABS Adaptive Control and Hardware in the Loop Research

基于LabVIEW和TruckSim搭建了三轴汽车ABS硬件在环平台,通过TruckSim建立了整车的参数化模型,使用LabVIEW并以PXI实时系统为运行环境,可以有效地解决软硬件实时运行的问题,降低了开发周期和成本;在Matlab/Simulink中设计了两种ABS控制策略,并研究了路面对于制动性能的影响,比较了基于路面附着特性辨识设计的模糊PID控制策略与常规PID控制策略的制动效果,并进行了硬件在环试验。试验结果表明:该硬件在环平台有很好的试验效果;基于路面附着特性辨识的模糊PID控制策略能够有效缩短制动距离,同时具有较好的方向稳定性。研究结果为ABS实际控制器的开发提供了依据。

Based on the graphical programming software LabVIEW and the dynamic simulation software TruckSim,the three-axle vehicle Automatic Brake System(ABS)hardware in the loop test platform is established.The parametric model of the whole vehicle was established by TruckSim,the real-time operation of software and hardware was guaranteed with LabVIEW and PXI as an environment,which further made the online real-time adjustment feasible and reduced the development cycle and cost.Two kinds of ABS control strategy were proposed in Matlab/Simulink,and the influence of road condition on braking performance was researched,the braking effect of the fuzzy Proportion Integral Derivative(PID)control strategy based on the peak adhesion coefficient of the pavement and the conventional PID control strategy were compared and Hardware in the Loop(HIL)experiments were carried out.The result shows that satisfactory effect can be obtained by the test platform of HIL,the fuzzy PID control strategy considering road adhesion coefficient can effectively reduce the braking distance and braking time with better directional performance,which provides a basis for development of the actual ABS controller.