ABS硬件在环仿真的车辆系统建模

200811Nov.2008296Vol.29No.6ABS,,,,(,100083):HIL,7DugoffABS,MATLAB/Simulink.,dSPACEABSHIL.,,ABS,.:;;;:TP391.9:A:1671-7775(2008)06-0478-04ModelingofvehiclesystemforABShardware2in2loopsimulationDINGNeng2gen,ZOUHong2ming,YUGui2zhen,WANGWei2da,ZHANGJian(DepartmentofAutomobileEngineering,BeijingUniversityofAeronauticsandAstronautics,Beijing100083,China)Abstract:Amathematicalmodelforvehiclesystemwasdevelopedthroughtheoreticalderivation,empiri2calformulasummaryandparametricmeasurement.Themodelincludesa72DOFand42wheelmodelofvehiclebrakingdynamics,hydrauliccircuitsystemmodel,brakemodel,DugofftiremodelandABScon2trolmodel.ItwasbuiltandsimulatedintheMATLAB/Simulinkenvironment.TheABScontrollerHILsimulationwasimplementedonthedSPACEsystemplatformusingthevehiclemodel.Theexperimentalresultsshowthatthethresholdsofcontrollogicaredeterminedthroughonlineparametermodification,andthevehiclesystemmodelisvalidatedbyABSroadtest.Keywords:vehiclebrakingdynamics;anti2lockbrakingsystem(ABS);hardware2in2loopsimulation;modeling:2008-06-30:(50475003):(1965),,,,([e-mail]),.(1982),,,([e-mail]),.ABS,ABS[1].ABS,,,.,.ABS.ABS,[2].,,MATLAB/Simu2link(HIL)ABS.HIL,,.HIL,,.6:ABS47911.17,71.,4.1Fig.1Fourwheelsvehicledynamicmodel1vx,vyÛ();ij4(i=f,r,;j=l,r,.ij,fr);m;Izz;;Fxij,FyijFzij;Fw(Fw=CDAu2a/21.15,CD,A,ua);ij;a,b;hg;hw;L;Cw.ax=Ûvx-vyÛ,ay=Ûvy+vxÛ.mÛvx-mvyÛ=-(Fxfl+Fxfr)cos-(Fyfl+Fyfr)sin-Fxrl-Fxrr-Fw(1)mÛvy+mvxÛ=(Fyfl+Fyfr)cos+Fyrl-(Fxfl+Fxfr)sin+Fyrr(2)Iz=(Fxflcos+Fyflsin+Fxrl-Fxrr-Fxfrcos-Fyfrsin)Cw2-b(Fyrl+Fyrr)+a[(Fyfl+Fyfr)cos-(Fxfl+Fxfr)sin](3)fj=tan-1vy+aÛvxCwÛ/2-j=l,r(4)rj=tan-1vy-bÛvxCwÛ/2j=l,r(5)+-,.Sij=1-Rijviji=f,r,j=l,r(6)R;vij,vfj=(vxCwÛ/2)cos+(vy+aÛ)sinj=l,r(7)vrj=vxCwÛ/2j=l,r(8),Fzfj=m2bgL-axhgL-FwhwmLayhgCwKfKj=l,r(9)Fzrj=m2agL+axhgL+FwhwmLayhgCwKrKj=l,r(10)g;Kf,KrK.IwiÛij=FxijR-Tbiji=f,r,j=l,r(11)IwfIwr;Tbij.,:Fxij=Fzijij(Sij)i=f,r,j=l,r(12)ij(Sij),Sij.1.2ABSHIL,.ABS,48029[3]dPwdt=u1CATKV(Pm-Pw)k(t-VP)-u2CATKV(Pw-Pr)k(t-VP)(13)C;AT;K;V;k,0.51.0;C,AT,k;Pm;Pr;Pw;VP;VP;u1u2;u1=1,u2=0;u1=0,u2=1;u1=0,u2=0.1.3,Tb=BFFdRm(14)Fd=4d2wc(Pw-Pr)(15)Tb;BF;Fd;Rm;dwc.,:Tbdyn(s)Tb(s)=11+bS(16)Tbdyn;b.1.4,.HIL,,Dugoff[4].Fx=KxS1+Sf()(17)Fy=Ctan1+Sf()(18)Kx;C;;,f()=Fz(1+S)2(KxS)2+(Ctan)2(19)f()=(2-),11,1(20)=0(1-AS);0;Fz;A,0A,.2ABSABSHIL,2,3.,,dSPACEDS1103SL-DSP-D2F,.dSPACERTIDS1103MUX-ADC-CONx(x=14).46(0.88)HIL.HFJ7100,m=1089kg;zIz=1757.93kgm2;a=0.946m,b=1.526m;hg=0.469m;Cw=1.42m;Iw=0.87kgm2;CD=0.335;A=2.3m2;R=0.29m.2ABSFig.2ABSofflinesimulationmodel3ABSHILFig.3ABSHILsimulationmodel6:ABS4814Fig.4Highadhesionofflinesimulationwheelspeedandvelocitycurve5HILFig.5HighadhesionHILsimulationwheelspeedandvelocitycurve6ABSFig.6HighadhesionABSactualvehiclebrakingwheelspeedcurveHIL,.,,0.2.,.HIL,,,.31.,.1Tab.1Comparisonofaveragedeceleration,brakeintensity&brakeefficiencyHIL/(ms-2)6.1886.9206.3130.6310.7060.644/%71.7080.2373.183(1)ABSHIL,.(2),,.(3)ABS,HIL.(4)HIL,.(References)[1].[D].:,1996.[2].ABS[D].:,2007.[3],,,.[J].:,1999,29(4):1-5.GUOKong2hui,LIULi,DINGHai2tao,etal.Studyonhydrauliccharacteristicsofanti2lockbrakingsystem[J].JournalofJilinUniversityofTechnology:NaturalScienceEdition,1999,29(4):1-5.(inChinese)[4]RajeshRajamani.VehicleDynamicsandControl[M].USA:SpringerPress,2006:425-427.()