四輪驅(qū)動汽車驅(qū)防滑控制系統(tǒng)的設計

1、Classified Index: 461.6 University Code：10213Dissertation for the Masters Degree in EngineeringDESIGN OF ACCELERATION SLIPREGULATION FOR FOUR WHEEL DRIVEVEHICLECandidate ：Wang Liangliang Supervisor ：Prof. Bian Wenfeng Academic Degree Applied for：Master of Engineering Speciality ：Vehicle Engineering

2、Affiliation ：School of Automobile Engineering Date of Defence：June, 2009 Degree-Conferring-Institution ： Harbin Institute of Technology-II-哈爾濱工業(yè)大學工學碩士學位論文摘要驅(qū)動防滑控制系統(tǒng) ASR 的基礎是 ABS ，是在 ABS 為基礎上的延伸，ABS 和 ASR 統(tǒng)稱為防滑控制系統(tǒng)。驅(qū)動防滑控制系統(tǒng)通過調(diào)節(jié)作用于驅(qū)動輪的驅(qū)動力矩來控制驅(qū)動輪的滑轉(zhuǎn)率，從而使汽車的操縱性、橫向穩(wěn)定性、動力性以及燃油經(jīng)濟性都得到提高。四輪驅(qū)動汽車與二輪驅(qū)動汽車相比，因為其每

3、個輪胎所受的驅(qū)動力只有二輪驅(qū)動汽車的一半，故具有更好的越野性能，然而，四輪驅(qū)動汽車本身存在許多不足，比如：短時四輪驅(qū)動汽車操作繁瑣；常時四輪驅(qū)動汽車由于前后驅(qū)動橋之間以及左右驅(qū)動輪之間通過差速器連接，只要一個車輪處于低附著系數(shù)路面上時，整車驅(qū)動力幾乎喪失。將驅(qū)動防滑控制系統(tǒng)用于四輪驅(qū)動汽車將有可能解決四輪驅(qū)動汽車打滑的問題。本文主要從輪胎的滑轉(zhuǎn)以及整車的動力性等方面來分析驅(qū)動防滑控制系統(tǒng)對于四輪驅(qū)動汽車的影響，主要內(nèi)容包括以下幾個部分：1、分析四輪驅(qū)動汽車的驅(qū)動特點，制定出四輪驅(qū)動汽車驅(qū)動防滑控制系統(tǒng)的控制策略。通過調(diào)節(jié)發(fā)動機的輸出扭矩以及控制制動器來控制車輪的相對滑轉(zhuǎn)。原始輸入?yún)⒖寄Ｐ蛙嚢l(fā)動

4、機輸出數(shù)據(jù)。2、建立四輪驅(qū)動汽車驅(qū)動的簡化數(shù)學模型。本文主要為控制算法的研究，故數(shù)學模型可適當簡化，并將汽車行駛的條件設置為相對簡單的路面情況。 3、進行 ASR 系統(tǒng)的控制算法研究。并主要探討了模糊控制在四輪驅(qū)動汽車 ASR 系統(tǒng)上的應用。分別設計了發(fā)動機輸出扭矩控制器和制動力矩模糊控制器。 4、根據(jù)所建立的數(shù)學模型在 MATLAB/SIMULINK 環(huán)境下建立仿真模型，并進行了不同路面上的仿真分析。仿真結(jié)果表明驅(qū)動防滑控制系統(tǒng)對于四輪驅(qū)動汽車的驅(qū)動輪滑轉(zhuǎn)起到了較好的抑制作用，并且使得四輪驅(qū)動汽車的動力性得到一定的提高，同時也驗證了控制策略的正確性以及控制算法的可行性。關鍵詞：驅(qū)動防滑；四輪

5、驅(qū)動；輪胎模型；MATLAB 仿真；模糊控制-I-AbstractAcceleration slip regulation (ASR was developed based on Anti-lock Brake System (ABS. It is the extension of ABS to the driving course. So ABS and ASR are called a control system preventing slide by a joint name. ASR can control the slippages of the driving wheels by

6、 adjusting the driving moments acting on the driving wheels. Accordingly improves the handling performance 、 transverse stability 、dynamic performance and economics. Four wheel drive vehicle has better cross-country performance than two wheel drive vehicle. So it usually passes for SUV. However, fou

7、r wheel drive vehicle has many shortages. To drive a short-time four wheel drive vehicle is very troublesome. Because the front and rare driving bridges of a long-time four wheel drive vehicle are connected through a differential as well as the left and right driving wheels, certain wheel on the roa

8、d with low coefficient of friction will result in else wheels driving power descend much, so the power to drive the car become almost zero. ASR can possibly solve the four wheel drive vehicle s problem of slip. So this paper mainly analysis the ASR s effect on the four -wheel-drive vehicle from the

9、angle of dynamic performance. This paper mainly includes several parts as follows:1. The control strategies were set down by analysis the character of four wheel drive vehicle when driving. That is, the exceed slips of driving wheels are regulated by controlling the gun, and the relative slips of dr

10、iving wheels are regulated by controlling the brake. The means of estimating the vehicles velocity used on the ABS was used for reference. 2. The mathematic model of a four wheel drive vehicle was established. Establish a simple 、convenience 、obvious 、accurate systems mathematic model. In this paper

11、, the model of the system was established and the state-space of the system was deduced.3. Made some researches of the ASR s control algorithms. Then discuss the application of fuzzy control means on the ASR of four wheel drive vehicle. The gun controller and brake controller were designed.-II-4. Th

12、e simulation model was established under the circumstance of MATLAB/SIMULINK according to the established mathematic model. And three different road conditions were simulated and analysis. The results of simulation have shown that ASR can effectively regulated the driving wheels slippages, furthermore, the dynamic performance be improved. At the same