基于TruckSim的三轴汽车自寻最优ABS控制设计

为提高三轴汽车的制动安全性能,在TruckSim中建立了三轴整车模型,针对以往研究中自寻最优理论不能应用到整车模型的问题,设计了简单可行的控制逻辑,将该理论应用到三轴整车模型。在TruckSim中建立了对开路面、对接路面、低附着路面、高附着路面四种工况,采用TruckSim与Simulink联合仿真,加入传统逻辑门限ABS作为对比,验证控制器的可行性。仿真结果表明,在四种工况下,自寻最优ABS的制动性能都要优于传统ABS,其中,在低附着路面工况下,自寻最优ABS的优越性最突出,制动距离减少24.5m,制动时间减少2.04s。说明自寻最优ABS可以自动搜索轮胎的最佳滑移率,提高三轴汽车的制动安全性能。

Self-Seeking Optimal ABS Control Design for Three-Axle Car Based on TruckSim

A three-axis vehicle model was established based on TruckSim.Aiming at the problem that the self-seeking optimal theory can not be applied to the whole vehicle model in the previous research,a simple and feasible control logic was designed and applied to the three-axis vehicle model,in order to improve the brake safety performance of three-axle vehicles.Four conditions have been established for the pavement,butt road,low adhesion road and high adhesion road in the TruckSim software.The feasibility of the controller was verified by using TruckSim and Simulink co-simulation,adding the traditional logic threshold ABS as a comparison.The simulation results show that the self-seeking optimal ABS braking performances are all better than the traditional logic threshold ABS under four conditions.The superiority of self-seeking optimal ABS is most obvious,for the braking distance reduces by 24.5 m and the braking time reduces by 2.04 s on the low adhesion road surface.This shows that the self-seeking optimal ABS can automatically search for the optimal slip ratio of the tire and improve the braking safety performance of the three-axis vehicle.