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1、中南大學畢業(yè)設計英文譯文 中南大學 譯 文 原文題目：Automobile anti-lock braking system design 譯文題目： 汽車防抱死系統(tǒng)設計 學 院： 機電工程學院 專業(yè)班級： 車輛1002 學生姓

2、名： 董鎮(zhèn)山 學 號： 0806100714 Automobile 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 pre

3、sent automobile anti-lock braking system has carried on the summaym and has carried on the forecast to its trend of development. Key word:Automobile anti-lock braking system control technology 1.outline Along with automobile industry's rapid development and highway' unceasing construction,automob

4、ile' travel security more and more takes seriously for people.To satisfy in comprehensively the brake process the automobile to the brake request,cause 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.

5、 "ABS"Chinese translates is "against deadlocks the brake 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.

6、 On the modern automobile installs the anti-lock braking system massively,ABS both has the automobile sill to change under the stopping,guaranteed that automobile's brake yawing stability,prevented to have the side-slipping and to run,was on the present automobile is most advanced,the brake effect

7、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 braking system is refers to the automobile

8、 in the brake process to be able the real-time determination wheel's glide rate,the automatic control function on wheel's braking moment,prevents the wheel to hug dies.Thus obtains the best brake potency the electronic installation.It can wheel's glide rate control in certain scope,use fully between

9、 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 brake intensity's increase,the wheel rolling ingr

10、edient are getting fewer and fewer,but skids the ingredient to be getting more and more,generally expains 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 center speed;r--does not have time the ground braking f

11、orce wheel rolling radius;w--wheel's angular speed. Longitudinal and the lateral adhesion coefficient may express for the wheel slip rate is called 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,wha SK l

12、ater has custom-made unstable moves the area.ABS is precisely uses between the path and tire's relations,compulsory wheel slid pate control nearby critical point of ficity SK,enables the toad surface adhesion property to botain the fullest display,thus achieves the best brake effect. Figure 1 coe

13、ffient of adhesion-glide rate curve At present uses ABS mainly by a round fast sensor,the electronic control unit,appendices and so on pressure control valve and group of lines,pipeline is composed.The ABS development is mainly studies the design optimization operation and the control procedure so

14、ftware,realizes the real-time presise brake adjustment technology,simultaneously raises hardware's level. 2. Conrtol technology used by ABS now The 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 co

15、ntrol technology.To further enhance ABS the performance,but also proposed some based on the glide tate control technology,like the PID control,the glide modality change the srtucture controls,fuzzycontrol and so on.Each kind of control approaches the expectation by the different control rule the spo

16、t. 2.1 PID controls The definition expects glide rate S0 and difference of the actual glide rate S for e=S-S0,then the PID control rule may be represented as: Therefore,the ABS controller's design sums up finally as,according to the AB S dynamic system,determined group of best arameter Kp,Ki

17、 and Kd,enable wheel's glide rate to approach hypothesis goal S0 by the quickest way. 2.2 The glide modality changes the structure control Against holds the dead brake by the automobile basic principle to be possible to know,its brake process's essential question is wheel's glide tate control in

18、coefficient of adhesion peak point SK,then the glide modality changed structure basis system condition,the deviation and the derivative value then,in the different controlled area,by perfect switch' way hand-off control quantity's size and the mark,the guarantee system in the glide region very small

19、 scope,the state point locus(S,*S)along moved the festival curve to slide slippery to the control objective(SK,0). Usually 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 increas

20、e two different conditions separately. For the cut function,e=S-Sk is the actual glide rate telative target point devivation. 2.3 Fuzzy control Regarding take the glide tare as controlled member's anti-lock braking system,its input value takes the expecatation glide rate and wheel actual glid

21、e tate deviation E as well as deviation's rate of change EC,the output for the brake line flowing tubing head pressure.Uses the belt modification factor the fuzzy controller,uses the control list summary which the fuzzy reasoning algorithm forms is an analysis formula: And Alpha is the modificati

22、on factor,Alpha the value size has reflected directly to the deviation and the debiation rate of change weighting degree.Through the adjustment modification factor Alpha,may change the control rule.When Alpha is big,indicated that is big to deviation's weighting,the step response is quick,the contr

23、ol energy mainly uses in reducing the deviation,but easy to present the over modulation;When Alpja is small,the control goal reduces the over modulation,but the response process is slow.Usually uses the belt two Alpha values the modification factor exptessions to be able to request on the satisfiabi

24、lity,namely: u =α X E + (1-α )EC And,modification factor α1,α2 in (0,1). 2.4 Logical threshold value control This method establishes some control limit advance to certain controlled variable(threshold)the value,when applies the brake,according to the computation real-time parameter value an

25、d the corresponding threshold value's size relations,determines wheel's state of motion,thus the control adjustment brake pressure,gains 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(reduc

26、es)the speed Omega and the rate of change.ω and so on three kind of descrimtion wheel movement situation or danamics condition parameter.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 th

27、reshold value control method rotates at present the wheel the angle adds(reduce)the speed to take the primary control parameter,but takes wheel' s glide tate S the secondary control parameter.And the glide rate is from each wheel fast signal after certain logic determined automobile's velocity,calcu

28、lates the reference glide rate,has the difference with the actual glide rate. 2.5 Double parameter control Double parameter control's 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 t

29、he vehicle speed sensor and a round fast sensor,separately singal input the vehicle speed and round fast the computer,calculates the actual slipping rate based on the computer,and 15% one 20% ?????dose with the ideal slipping tate compares,fluctuates brake's braking force again through the solenoid

30、valve.This kind tows the fast sensor commonly used Doppler velocity radar.When the automobile goes the Doppler radar antenna by certain frequency to the earth launching electromagnetic wave,simultaneously receives the electromagnetic wave which unceasingly reflects,surveys the automobile radar lanch

31、 and the receive differential value,then may calculate the automobile vehicle speed accurately.But turns the fast sensor to install in the transmission gearbox outer covering,acuates by the transmission gearbox output shaft,it is a pulse electrical machinery,procuces frequency and round intensive d

32、irect proportion.The impiementing agency and so on is composed of the solenoid valve and the relay.Solenoid valve adjustment braking forve,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 g

33、ood,but because increased a velocity radar,there the structure is complex,the cost is also high. 2.6 Single parameter control It take controls wheel's angle tetarded velocity as the object,controls wheel's braking force,realizes against holds the dead brake,its structure mainly by a round fast sen

34、sor,the controller(computer)and the solenoid valve is composed.For accurate meter wheel 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 influence,before the installment,should the sensor replenishment butt

35、er.The solenoid valve uses in wheel brake's pressure control.Regarding four channel braking system,a vehicle rim has a solenoid valve;Three channel braking system,each front wheel has one,two two trailing wheels use in common one.The solenoid valve has three hydraulic pressure holes,separately appli

36、es the brake with the brake master cylinder and the wheel to divide the cylinder to be connected the brake with the brake master cylinder and the wheel to divide the cylinder to be connected,and can realize pressure lifting,pressure maintenance,the pressure drop accent to press the function.The prin

37、ciple 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 cylinder connection respectively to go nonstop.Because the main spring intensity is big,makes charging valve openning,the brake pressure to inc

38、rease. 2)pressure maintenance,when wheel's brake divides in cylinder's pressure grows to certain value,charging valve cut-off closure.The support maintains at the compound state,three panels seal,maintain the brake pressures mutually. 3)voltage dropping,when the solenoid valve works,the support ov

39、ercomes two spring's tension,opens the discharge meat to cause to apply the brake to divide cylinder presure drop.Once the pressure reduces,the solenoid valve transformes to the pressure maintenance condition,or pressure-rise ready condition. The control device ECU primary mission is the signal whi

40、ch passes on various wheel's sensor carries on the computation,the analysis,the enlargement and the distintion,outputs again from thc output stagc thc command signal thc solcnoid valvc,carrics out thc brac pressure adjustment task.The electronic control,by four major part is composed,input level A,c

41、onteoller B,output stage C,constant voltage and protective device D.Electronic controller by 4101tz frequency actuation solenoid valves,this is the polot is unable to achieve.This kind of single parameter control mode ABS,because the structure is simple,the cost is low,thereforce the present use is

42、broad. Mostly has provided this kind of single parameter control mode ABS in the American Chrysler custom car.Tt is loaded with a round fast sensor on passenger vehicle's four wheels.The installment has 45 teeth or 100 tooth's tooth rings on the axle tree,turns a fast sensor's sending attite to go

43、against in the tooth ring.When the wheel totates,causes the sensor to produce the voltage siglae unceasingly,and input the computer,the ideal speed compares with RoM,figures out wheel's speed-up or the deceleration,issues pressure-rise or the release of pressure instruction to the solenoid valve,co

44、ntrols applies the brake to divide the cylinder braking force. 3.The problems by used the ABS system (1)replaces the brake or the replacement hydraulic pressure braking system part,should arrange only in brake line' air,in order to avoid influence braking system's normal work. (2)is loaded with t

45、he ABS automobile,every year should replace a brake fluid.Otherwise,the brake fluid water absorbability is very strong,after the 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

46、 out the power source frrst. 4.Trend of development Uses the logical threshold value control algorithm may avoid a series of numerous and diverse theoretical analysis and to some element of certainty quota measurement. Simplified controller's design because moreover on1y need determine wheel'

47、s angular speed is advantageous realizes therefore the load cost is low. This algor hm already drew close maturely for current automobile ABS system universal usebut it by no means best control algorithm. Because under the different state of roads each kind of threshold value and guarantees press

48、es the time is the empirical value which obtains after the repeated test does not have the very explicit theory basistherefore the ABS development's cycle is longand the control quality guaranteed with difficulty. Easy to realize the stepless control based on the glide rate control algorithmand ha

49、s the very explicit theory to instructbut present restricts the cost question which its development the bottleneck is mainly realizes believed according to ours research om now on ABS control algorithm development direction in the following several aspects. (1) aims at current widely uses the logi

50、cal threshold value control algorithm which exists the research can track the road surface characteristic changecauses the 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

51、 brake process iction characteristic between the tire and the road surface causes the anti-lock braking system has the very obvious misalignmentthe denaturation and the uncertainty. Therefore difficulty with establishes its precise mathematical modelbut the predictive control has the basic characte

52、ristic which the forecast model the undle optimize and feed back adjust may act according to some optimized target design control systemdetermined that a control quantity the time seriesafter causing in period of time to move the quantity and the process will soften between the expectation path

53、's eηor to be smallest in the future. What because this algorithm uses is the online trundle optimizes unceasingly and unceasingly carries on the feedback in the optimal process through the actual system output and the forecast model output's eηor to adjust can therefore overcome to a certain extent

54、 as a result of the forecast model eηor and certain uncertainty disturbance and so on influence enables system's robustness to obtain the enhancement. )1s smaller along with the volume the price is cheaper the reliable higher vehicle speed sensor's appearance in the ABS system will increase the

55、 vehicle speed sensor to become possible the defmite wheel slip rate will become is accurate and is fast. And the non-contact type's 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

56、 may take seriously based on the glide rate control algorithm. And the fuzzy control will not rely on the object by the mathematical model is advantageous uses person's experience knowledge robustness is good simple practical and so on characteristics but widely will be used. )Changes the multi-

57、objectives by the sole ABS control objective integrated control [10]appeared not only the force of action control 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 state acceleration curve) prevents t

58、he driving gear to have the slipping causes automobile's in actuation process yawing stability to change the operation ability and the pick-up and so on also has the enhancement.1n the future automobile electronic control system toward om multi-electronic control unit (ECU) the scatlered independent

59、 con 01 to the sole ECU complete bikes control realizes data sharing and the integrated control direction by thenetwork way develops; Or develops to the dynamic hierarchical control direction namely each dispersion con 01 system's ECU is not on1y the respective independence constructs own d lamic co

60、mpensator moreover must establish a high-level d lamic synchronizer to help unified again to determine 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 [1]enables th

61、e complete bikes overall performance to obtain the guarantee. 5 Summary The automobi1e anti-lock braking system S) 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 te

62、chnology mainly uses the logical threshold value control method but along with vehicle speed sensor technology develop ment based on wheel slip rate each kind of control algorithm by widespread value and use. Moreover. 1n the future the automobile electronic control technology and the equipment will

63、 realize the resource sharing and the integrated control by the network way and toward the multi-objective integrated controls enhances the system performance cost ratio the direction to develop. 汽車防抱死制動系統(tǒng)（ABS） 摘 要 本文簡要介紹了汽車防抱死制動系統(tǒng)（Anti-lock Braking System，簡稱ABS）的控制原理，對目前汽車防抱死制動系統(tǒng)采用的控制技術(shù)進行了綜述，并

64、對其發(fā)展趨勢進行了預測。 關鍵詞：汽車；防抱死制動系統(tǒng)；控制技術(shù) 1 概述 隨著汽車工業(yè)的迅猛發(fā)展和高速公路的不斷修建，汽車的行駛安全性越來越為人們重視。為了全面滿足制動過程中汽車對制動的要求，使制動器制動力分配更趨合理。清楚防抱死制動系統(tǒng)（簡稱ABS）已越來越多地應用在汽車上。 “ABS”中文譯為“防鎖死剎車系統(tǒng)”。他是一種具有防滑、防鎖死等優(yōu)點的汽車安全控制系統(tǒng)。ABS是常規(guī)剎車裝置基礎上的改進型技術(shù)，可分為機械式和電子式兩種。 現(xiàn)在汽車上大量安裝防抱死制動系統(tǒng)，ABS既有普通制動系統(tǒng)的制動功能，又能防止車輪鎖死，使汽車在制動狀態(tài)下仍能轉(zhuǎn)向，保證汽車的制動方向穩(wěn)定性，防止產(chǎn)生

65、側(cè)滑和跑偏，是目前汽車上最先進、制動效果最佳的制動裝置。 普通制動系統(tǒng)在濕滑路面上制動，或在緊急制動的時候，車輪容易因制動力超過輪胎與地面的摩擦力而完全抱死。 清楚防抱死制動系統(tǒng)是指汽車在制動過程中能實時判定車輪的滑移率，自動調(diào)節(jié)作用在車輪上的制動力矩，防止車輪抱死。從而獲得最佳制動效能的電子裝置。它能把車輪的滑移率控制在一定的范圍之內(nèi)，充分地利用輪胎與路面之間的附著力，有效地縮短制動距離，顯著地提高車輛制動時的可操縱性和穩(wěn)定性，從而避免了車輪抱死時易出現(xiàn)的各種交通事故。 隨著制動強度增加，車輪滾動成分越來越少，而滑移成分越來越多，一般用滑移S來說明制動過程中滑移成分的多少?；坡试酱?，

66、滑移成分越少。 其中： u——車輪中心的速度； r——沒有地面制動力時的車輪滾動半徑； w——車輪的角速度。 縱向和側(cè)向附著系數(shù)課表達為車輪滑移率的函數(shù)（如圖1）。最大的縱向附著系數(shù)所對應的滑移率稱為臨街穩(wěn)定點SK。根據(jù)控制理論吧滑移率小語SK 的區(qū)域稱為穩(wěn)定最大區(qū)，SK以后的為非穩(wěn)定穩(wěn)定去。ABS正是利用道路與輪胎之間的關系，強制性地把車輪滑移率控制在臨街穩(wěn)定點SK附近，使路面附著性能得到最充分的發(fā)揮，從而達到最佳的制動效果。 目前所采用的ABS主要有輪速傳感器，電子控制單元，壓力控制閥和線束、管路等附件組成。ABS的開發(fā)主要是研究設計優(yōu)化運算和控制程序軟件，實現(xiàn)實時精確的控制調(diào)節(jié)的技術(shù)，同時提高硬件的水平。 2 目前ABS所采用的控制技術(shù) ABS的控制效果很大程度上取決于系統(tǒng)所采用的控制技術(shù)[4]。目前所采用的主要是邏輯門限控制技術(shù)。為進一步提高ABS的性能，還提出了一些基于滑移率的控制技術(shù)，如PID控制，滑移模態(tài)變結(jié)構(gòu)控制，模糊控制等。每種控制均以不同的控制規(guī)律逼近期望的點。 2.1PID控制 定義期望滑移率S0與實際滑移率S之差為控制誤差