外文翻译汽车防抱死制动系统ABS

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1、附录附录1Automobile anti-lock braking system (ABS)Abstract: This article introduced briefly the automobile anti-lock braking system (Anti-lock Braking System, is called ABS) the control principle, the control technology which used in the present automobile anti-lock braking system has carried on the sum

2、mary, and has carried on the forecast to its trend of development.Key word: Automobile anti-lock braking system control technology1. outlineAlong with automobile industrys rapid development and highways unceasing construction, automobiles travel security more and more takes seriously for the people.

3、 To satisfy in comprehensively the brake process the automobile to the brake request, causes the brake braking force assignment to hasten reasonably. The automobile anti-lock braking system (i.e. ABS) more and more has applied on the automobile.“ABS” Chinese translates is “against deadlocks the brak

4、e system”. It is one kind has the skid prevention, against to deadlock and so on merit auto safety control systems. ABS is in the convention brake system foundation advanced version technology, separable mechanical and electronic formula two kinds.On the modern automobile installs the anti-lock brak

5、ing system massively, ABS both has the ordinary braking systems brake function, and could prevent the wheel to deadlock, enables the automobile still to change under the stopping, guaranteed that automobiles brake yawing stability, prevented to have the side-slipping and to run, was on the present a

6、utomobile is most advanced, the brake effect best arresting gear.The ordinary braking system applies the brake in the slippery road surface, or in emergency brake, because the wheel is easy the braking force to surpass the tire and the ground friction force hugs safely dies.The automobile anti-lock

7、braking system is refers to the automobile in the brake process to be able the real-time determination wheels glide rate, the automatic control function on wheels braking moment, prevents the wheel to hug dies. Thus obtains the best brake potency the electronic installation. It can wheels glide rate

8、 control in certain scope, use fully between the tire and the road surface adhesion, reduces the stopping distance effectively, obviously enhances when the car braking controllability and stability, when each kind of traffic accident which has avoided the wheel hugs dies easy to appear. along with b

9、rake intensitys increase, the wheel rolling ingredient are getting fewer and fewer, but skids the ingredient to be getting more and more, generally explains in the brake process with glide rate S to skid ingredient how many. The glide rate is bigger, the glide ingredient are less.And: u- wheel cente

10、r speed; r- does not have time the ground braking force wheel rolling radius; w- wheels angular speed.Longitudinal and the lateral adhesion coefficient may express for the wheel slip rate function (e.g. Figure 1). The most greatly longitudinal coefficient of adhesion corresponds the glide rate is ca

11、lled critical point of fixity SK. Grips fast the pace according to the control theory is smaller than the SK region is called the stable brake area, what SK later has custom-made unstable moves the area. ABS is precisely uses between the path and tires relations, compulsory wheel slip rate control n

12、earby critical point of fixity SK, enables the road surface adhesion property to obtain the fullest display, thus achieves the best brake effect.Figure 1 coefficient of adhesion - glide rate curveAt present uses ABS mainly by a round fast sensor, the electronic control unit, appendices and so on pre

13、ssure control valve and group of lines, pipeline is composed. The ABS development is mainly studies the design optimization operation and the control procedure software, realizes the real-time precise brake adjustment technology, simultaneously raises hardwares level.2. Control technology used by AB

14、S nowThe ABS control effect is decided control technology 4 which to a great extent uses in the system. At present uses is mainly the logical threshold value control technology. To further enhance ABS the performance, but also proposed some based on the glide rate control technology, like the PID co

15、ntrol, the glide modality change the structure controls, fuzzy control and so on. Each kind of control approaches the expectation by the different control rule the spot. 2.1 PID controlsThe definition expects glide rate S0 and difference of the actual glide rate S for ning error e=S-S0, then the PID

16、 control rule may be represented as:Therefore, the ABS controllers design sums up finally as, according to the ABS dynamic system, determined group of best parameter Kp, Ki and Kd, enable wheels glide rate to approach hypothesis goal S0 by the quickest way.2.2 The glide modality changes the structur

17、e controlAgainst holds the dead brake by the automobile the basic principle to be possible to know, its brake processs essential question is wheels glide rate control in coefficient of adhesion peak point Sk, then the glide modality changed structure basis system condition, the deviation and the der

18、ivative value then, in the different controlled area, by perfect switchs way hand-off control quantitys size and the mark, the guarantee system in the glide region very small scope, the state point locus (S,S) along moved the festival curve to slide slippery to the control objective (Sk,0). usually

19、takes the braking moment for controlled variable U, the cut condition is:And Mb-, Mb+ represent the braking moment which decided by the governing system to reduce, to increase two different conditions separately.For the cut function, e=S-Sk is the actual glide rate relative target point deviation.2.

20、3 Fuzzy controlRegarding take the glide rate as controlled members anti-lock braking system, its input value takes the expectation glide rate and wheel actual glide rate deviation E as well as deviations rate of change EC, the output for the brake line flowing tubing head pressure. Uses the belt mod

21、ification factor the fuzzy controller, uses the control list summary which the fuzzy reasoning algorithm forms is an analysis formula:U = E + (1-)ECAnd Alpha is the modification factor, Alpha the value size has reflected directly to the deviation and the deviation rate of change weighting degree. Th

22、rough the adjustment modification factor Alpha, may change the control rule. When Alpha is big, indicated that is big to deviations weighting, the step response is quick, the control energy mainly uses in reducing the deviation, but easy to present the over modulation; When Alpha is small, the contr

23、ol goal reduces the over modulation, but the response process is slow. Usually uses the belt two Alpha values the modification factor expressions to be able to request on the satisfiability, namely:And, modification factor 1, 2 (0,1), and 12.4 Logical threshold value controlThis method establishes s

24、ome control limit in advance to certain controlled variable (threshold) the value, when applies the brake, according to the computation real-time parameter value and the corresponding threshold values size relations, determines wheels state of motion, thus the control adjustment brake pressure, gain

25、s enough big brake intensity and the good yawing stability. Often includes as the ABS controlled variable: Wheel skidding rate S, the wheel rotates the angle adds (reduces) the speed Omega and the rate of change . and so on three kind of description wheel movement situation or dynamics condition par

26、ameter. Because only uses a controlled variable difficulty with to guarantee that ABS has the good performance under each kind of travel condition, therefore, the logical threshold value control method usually rotates at present the wheel the angle adds (reduces) the speed to take the primary contro

27、l parameter, but takes wheels glide rate S the secondary control parameter. And the glide rate is from each wheel fast signal after certain logic determined automobiles reference velocity, calculates the reference glide rate, has the difference with the actual glide rate.2.5 Double parameter control

28、Double parameter controls ABS, by the vehicle speed sensor (velocity radar), a round fast sensor, the control device (computer) and the implementing agency is composed.Its principle of work is the vehicle speed sensor and a round fast sensor, separately signal input the vehicle speed and round fast

29、the computer, calculates the actual slipping rate based on the computer, and 15% one 20% does with the ideal slipping rate compares, fluctuates brakes braking force again through the solenoid valve. this kind tows the fast sensor commonly used Doppler velocity radar. When the automobile goes, the Do

30、ppler radar antenna by certain frequency to the earth launching electromagnetic wave, simultaneously receives the electromagnetic wave which unceasingly reflects, surveys the automobile radar launch and the receive differential value, then may calculate the automobile vehicle speed accurately. But t

31、urns the fast sensor to install in the transmission gearbox outer covering, actuates by the transmission gearbox output shaft, it is a pulse electrical machinery, produces frequency and round intensive direct proportion. The implementing agency and so on is composed of the solenoid valve and the rel

32、ay. Solenoid valve adjustment braking force, with the aim of maintaining the ideal slipping rate. This kind of ABS may guarantee that the slipping rate ideal control, against holds the braking quality to be good, but because increased a velocity radar, therefore the structure is complex, the cost is

33、 also high.2.6 Single parameter controlIt take controls wheels angle retarded velocity as the object, controls wheels braking force, realizes against holds the dead brake, its structure mainly by a round fast sensor, the controller (computer) and the solenoid valve is composed. For accurate meter wh

34、eel fast, the sensing and between the wheel tooth ring should leave leeway the 1mm gap. In order to avoid the water, the putty, the dust to the sensor the influence, before the installment, should the sensor replenishment butter. The solenoid valve uses in wheel brakes pressure control. Regarding fo

35、ur channel braking system, a vehicle rim has a solenoid valve; Three channel braking system, each front wheel has one, two trailing wheels use in common one. The solenoid valve has three hydraulic pressure holes, separately applies the brake with the brake master cylinder and the wheel to divide the

36、 cylinder to be connected, and can realize pressure lifting, pressure maintenance, the pressure drop accent to press the function. The principle of work is as follows:1) Pressure-rise when the solenoid valve does not work, the brake master cylinder connection and applies the brake to divide the cyli

37、nder connection respectively to go nonstop. Because the main spring intensity is big, makes charging valve opening, the brake pressure to increase. 2) pressure maintenance, when wheels brake divides in cylinders pressure grows to certain value, charging valve cut-off closure. The support maintains a

38、t the compound state, three panels seal, maintain the brake pressures mutually. 3) voltage dropping, when the solenoid valve works, the support overcomes two springs tension, opens the discharge meat to cause to apply the brake to divide cylinder pressure drop. Once the pressure reduces, the solenoi

39、d valve transforms to the pressure maintenance condition, or pressure-rise ready condition.The control device ECU primary mission is the signal which passes on various wheels sensor carries on the computation, the analysis, the enlargement and the distinction, outputs again from the output stage the

40、 command signal the solenoid valve, carries out the brake pressure adjustment task. The electronic control, by four major part is composed, input level A, controller B, output stage C, constant voltage and protective device D. Electronic controller by 4 101tz frequency actuation solenoid valves, thi

41、s is the pilot is unable to achieve. This kind of single parameter control mode ABS, because the structure is simple, the cost is low, therefore the present use is broad.Mostly has provided this kind of single parameter control mode ABS in the American Chrysler custom car. It is loaded with a round

42、fast sensor on passenger vehicles four wheels. The installment has 45 teeth or 100 tooths tooth rings on the axle tree, turns a fast sensors sensing attire to go against in the tooth ring. When the wheel rotates, causes the sensor to produce the voltage signal unceasingly, and inputs the computer, t

43、he ideal speed compares with RoM, figures out wheels speed-up or the deceleration, issues pressure-rise or the release of pressure instruction to the solenoid valve, controls applies the brake to divide the cylinder braking force.3. The problems by used the ABS system(1) replaces the brake or the re

44、placement hydraulic pressure braking system part, should arrange only in brake lines air, in order to avoid influence braking systems normal work. (2) is loaded with the ABS automobile, every year should replace a brake fluid. Otherwise, the brake fluid water absorbability is very strong, after the

45、watery, not only will reduce the boiling point, will have the corrosion, will also create the brake potency decline. (3) inspects the ABS anti-lock braking system, to cramp out the power source first. 4. Trend of developmentUses the logical threshold value control algorithm, may avoid a series of nu

46、merous and diverse theoretical analysis and to some element of certainty quota measurement. Simplified controllers design, because moreover only need determine wheels angular speed, is advantageous realizes, therefore the load cost is low. This algorithm already drew close maturely, for current auto

47、mobile ABS system universal use, but it by no means best control algorithm. Because under the different state of roads each kind of threshold value and guarantees presses the time is the empirical value which obtains after the repeated test, does not have the very explicit theory basis, therefore th

48、e ABS developments cycle is long, and the control quality guaranteed with difficulty.Easy to realize the stepless control based on the glide rate control algorithm, and has the very explicit theory to instruct, but present restricts the cost question which its development the bottleneck is mainly re

49、alizes, believed according to ours research, from now on ABS control algorithm development direction in the following several aspects.(1) aims at current widely uses the logical threshold value control algorithm which exists, the research can track the road surface characteristic change, causes the

50、ABS each performance index to be at the optimum condition throughout the control algorithm. And the predictive control technology is worth taking seriously. Because when the brake process, friction characteristic between the tire and the road surface causes the anti-lock braking system has the very

51、obvious misalignment, the denaturation and the uncertainty. Therefore difficulty with establishes its precise mathematical model, but the predictive control has the basic characteristic which the forecast model, the trundle optimize and feed back adjust, may act according to some optimized target de

52、sign control system, determined that a control quantity the time series, after causing in period of time to move the quantity and the process will soften between the expectation paths error to be smallest in the future. What because this algorithm uses is the online trundle optimizes unceasingly, an

53、d unceasingly carries on the feedback in the optimal process through the actual system output and the forecast model outputs error to adjust, can therefore overcome to a certain extent as a result of the forecast model error and certain uncertainty disturbance and so on influence, enables systems ro

54、bustness to obtain the enhancement.(2) Is smaller along with the volume, the price is cheaper, the reliable higher vehicle speed sensors appearance, in the ABS system will increase the vehicle speed sensor to become possible, the definite wheel slip rate will become is accurate and is fast. And the

55、non-contact types vehicle speed sensor (for example electro-optical type, Doppler and so on) the present will most have the possibility to apply in the automobile ABS system. This time may take seriously based on the glide rate control algorithm. And the fuzzy control will not rely on the object by

56、it the mathematical model, is advantageous uses persons experience knowledge, robustness is good, simple practical and so on characteristics, but widely will be used. (3) Changes the multi-objectives by the sole ABS control objective integrated control 10, appeared not only the force of traction con

57、trol system (TCS) can prevent the wheel in the brake process to occur hugs dies, moreover can in the actuation process (be specially in processes and so on start, acceleration, curve) prevents the driving gear to have the slipping, causes automobiles in actuation process yawing stability, to change

58、the operation ability and the pick-up and so on also has the enhancement. In the future automobile electronic control system toward from multi-electronic control unit (ECU) the scattered independent control to the sole ECU complete bikes control, realizes data sharing and the integrated control dire

59、ction by the network way develops; Or develops to the dynamic hierarchical control direction, namely each dispersion control systems ECU is not only the respective independence constructs own dynamic compensator, moreover must establish a high-level dynamic synchronizer to help unified again to dete

60、rmine each ECU the control policy, strengthens each ECU the control, when the solution dispersion control system existence unstable mold cannot use dynamic dispersion control calm question 11, enables the complete bikes overall performance to obtain the guarantee.5. SummaryThe automobile anti-lock b

61、raking system (ABS) can enhance the automobile, in the low coefficient of adhesion or changes under the coefficient of adhesion road surface condition the braking quality. At present the ABS control technology mainly uses the logical threshold value control method, but along with vehicle speed senso

62、r technology development, based on wheel slip rate each kind of control algorithm by widespread value and use. Moreover. In the future the automobile electronic control technology and the equipment will realize the resource sharing and the integrated control by the network way, and toward the multi-

63、objective integrated controls, enhances the system performance cost ratio the direction to develop.汽车防抱死制动系统（ABS）摘要：本文简要介绍了汽车防抱死制动系统（Anti-lock Braking System，简称ABS）的控制原理，对目前汽车防抱死制动系统所采用的控制技术进行了综述，并对其发展趋势进行了预测。 关键词：汽车；防抱死制动系统；控制技术 随着汽车工业的迅猛发展和高速公路的不断修建，汽车的行驶安全性越来越为人们重视。为了全面满足制动过程中汽车对制动的要求，使制动器制动力分配更趋

64、合理。汽车防抱死制动系统（简称ABS）已越来越多地应用在汽车上。 “ABS”中文译为“防锁死刹车系统”.它是一种具有防滑、防锁死等优点的汽车安全控制系统。ABS是常规刹车装置基础上的改进型技术，可分机械式和电子式两种。 现代汽车上大量安装防抱死制动系统，ABS既有普通制动系统的制动功能，又能防止车轮锁死，使汽车在制动状态下仍能转向，保证汽车的制动方向稳定性，防止产生侧滑和跑偏，是目前汽车上最先进、制动效果最佳的制动装置。 普通制动系统在湿滑路面上制动，或在紧急制动的时候，车轮容易因制动力超过轮胎与地面的摩擦力而安全抱死。 汽车防抱死制动系统是指汽车在制动过程中能实时判定车轮的滑动率，自动调节作

65、用在车轮上的制动力矩，防止车轮抱死。从而获得最佳制动效能的电子装置。它能把车轮的滑动率控制在一定的范围之内，充分地利用轮胎与路面之间的附着力，有效地缩短制动距离，显著地提高车辆制动时的可操纵性和稳定性，从而避免了车轮抱死时易出现的各种交通事故。 随着制动强度的增加，车轮滚动成分越来越少，而滑动成分越来越多，一般用滑动率S 来说明制动过程中滑动成分的多少。滑动率越大，滑动成分越少。 其中： u车轮中心的速度； r没有地面制动力时的车轮滚动半径； w车轮的角速度。 纵向和侧向附着系数可表达为车轮滑动率的函数（如图1）。最大纵向附着系数所对应的滑动率称为临界稳定点SK。根据控制理论把滑动率小于SK 的区域称为稳定制动区，SK 以后的为非稳定制动区。ABS 正是利用道路与轮胎之间的关系，强制性地把车轮滑动率控制在临界稳定点SK 附近，使路面附着性能得到最充分的发挥，从而达到最佳的制动效果。 图1 附着系数-滑动率曲线目前所采用的ABS 主要由轮速传感器，电子控制单元，压力控制阀和线束、管路等附件组成。ABS 的开发主要是研究设计优化运算和控制程序软件，实现实时精确制动调节的技术，同时提高硬件的水平。 2.目前ABS 所采用的控制技术