外文翻译

广陵学院毕业设计（论文）外文资料翻译

教科部：车辆与农业装备工程

专业：机械设计制造及其自动化（汽车工程）姓名：韩清华

学号：080007209

外文出处：IEEE Vehicle Power and Propulsion Conference (VPPC)

附件：

ABS制动系统动能转化建模

针对汽车制动系统,提出一种基于动能转化建立其模型的新方法,并与传统模型在有无防抱死制动系统(ABS)下进行比较;依据汽车的制动原理和自寻最优理论,设计能随路况的不同而自动搜寻最佳滑移率的ABS自寻最优控制策略,同时与逻辑门限值控制下的制动性能指标进行了对比分析.仿真结果表明,基于动能转化建立的制动模型与传统模型在有无ABs的制动过程中制动性能参数的变化趋势均是一致的;无论是在干混凝土路面还是在湿沥青路面下,采用ABS自寻最优控制获得的制动时间和制动距离都优于逻辑门限值控制;可以为汽车制动性能的研究提供有效的制动模型和ABS控制策略.

一引言

汽车是最重要的交通工具之一。安全性和舒适性是人们关注的重点。制动能力的主要指标关系着汽车在道路上运行的安全性。汽车在紧急刹车情况下，与一宗致命交通意外有关的是制动和侧滑距离。随着汽车数量的增加和汽车速度的加快，交通意外所给人带来的损失是越来越严重，改进和提高汽车的制动性能变得非常重要。文献2指出防抱死制动系统（ABS）是积极的增加制动能力的方法。ABS控制器是ABS的关键所在。建模与仿真可用于汽车制动系统ABS控制器的设计。

通过分析车身的力量建立一般制动的模型，是很难做到。在[3][4]。本文介绍了一种新方法建立制动模型。汽车制动时，汽车的动能为在制动距离s的距离内车轮和道路的和制动块的摩擦所产生的热。利用汽车单轮的数学模型，推导出这个公式。为了验证这种模式，在Matlab / Simulink环境有ABS和没有ABS 模型来模拟。

二制动系统的模型和建立

制动模式取决与汽车在制动过程中动能的减少，它有动能转换模型，速度模型，液力制动模型和滑移率与附着系数制动模型类型。

A.动能转换模型

主要是车轮和地面摩擦刹车片和制动盘在制动的过程中导致动能的损失。

E k0是汽车的初始动能，

m是汽车的总质量，v0是汽车的初速度，从0到t汽车动能第一阶段的损失。

其中t为秒（s）的制动时间; Vv汽车制动过程中的身体速度（米/秒）;ω为

角速度轮（弧度/秒）;μ0是摩擦车轮与地面之间的系数，R是制动盘半径（m）。

从0到t，制动所消耗的动能第二阶段可在数学上表示，

其中p是在轮缸的压力（MPA），S分泵面积（M2）;μm是制动片和制动盘之间的系数。

根据能量守恒得到以下方程：

（5）式是汽车动能转换模型。

B. 滑移率与附着系数制动模型

地面和车轮之间的附着力影响汽车的制动过程。附着力与附着系数有密切关系。

附着系数是附着力与车轮法向（与路面垂直的方向）压力的比值。附着力系数主要取决于道路，轮胎和滑移率。

滑移率的计算公式：

在不同的道路滑移率和附着力之间的关系如图所示[5]

滑移率

C.速度模型

其中ω0是初始角速度; mw是质量车轮（千克），T是导致车轮转向的转矩（N.m），它满足

因此，汽车的速度模型可以为（7）所述。

D.液力制动模型

内轮缸的压力决定制动力矩，它可以写成：

其中PZ之间的制动管路内的压力分泵，ABS控制器（MPA）; PL是内无制动轮缸压力（MPA）

Cp是口径，主要是由制动管路和制动液的粘度系数决定。

三模拟实验

为了验证上述制动模型的建立，通过动能转换，模拟实验在Matlab /

Simulink环境进行。

制动系统的数学模型推导产生制动系统的仿真模型。图2说明了这种模式。

图2。制动系统的仿真模型

在这种模式下，M1代表动能模块;M2是由轮和地面的动能转换模块; M3描述滑移率计算模块;M4表示制动片和制动盘之间的摩擦动能转换模块; M5的代表液力制动模块; M6显示的当前模块。初始速度使用C符号表示，它是由输入设置。这个模型模拟汽车的速度，制动距离和车轮的速度。

ABS控制器，可以考虑使用个在模型。这是能够被添加到液制动模块。图3表示制动模块的内部结构。

ABS控制器机械延迟惯性系统

图。3，机械延迟时间为0.1秒;液力惯性元素是类似一阶惯性元素。输入IN1代表车轮制动管内的压力输出的滑动率。 ABS控制器在规范下滑移率为20％[4]。在图1可以看出，附着系数达到在这段时间最大。该方法控制下这个模拟的速度是PID。

四仿真结果及其分析

图4没有ABS的身体速度和轮速曲线

基于制动系统的仿真模型和在ABS，Matlab / Simulink环境下的模拟。图4显示了车轮的速度，制动曲线和汽车的速度，在制动速度28米/秒随时间变化。1轮速曲线实现使用本文提出的制动模型。曲线2轮速得到使用一般制动模型中的大多数情况。由此可以看出，两条曲线几乎重叠，车轮被锁定在0.3秒和制动时间是4.3s。

[6]中的数据显示，模拟的与ABS比较相近。 ABS的方法是PID控制下滑速度。如图5所示的曲线。1轮转速和车轮的转速2曲线是相同的。这意味着与那些图验证轮锁定和制动时间为3.9s，也验证ABS有较好的效果。

比较结果列于表一显示，基于所建模型的模拟制动距离的结果相一致[6]。

图5汽车速度和ABS轮速曲线

表一比较结果

因此，它证明，制动模型为基础动能转换是正确的，可以在使用研究汽车的制动性能。

五，结论

基于动能的转换，汽车制动系统的数学模型。本文推导：模拟在Matlab / Simulink的制动系统和ABS成立。。制动距离通过仿真得到与已知数据相比较，结果表明，制动模型在动能转换基础上是可靠的。这种方法可以提供一种新的方法来分析汽车制动的过程。

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