摘要
基于硬件在环测试方法,搭建了客车防抱死制动系统制动硬件在环测试系统。该系统包括Matlab/x PC目标实时环境、气制动系统和整车动力学模型3部分,可对客车制动输出力进行实时数据采集计算。针对整车制动ABS控制策略引入了参数自整定模糊PID控制算法,并测试了客车在高、低附着系数路面的制动情况。测试结果表明:本方法能够很好地根据制动情况对PID参数进行实时整定,始终将车轮滑移率稳定在最佳滑移率0.2(高附着系数)和0.1(低附着系数)附近,具有良好的自适应性和控制精度。
Due to hardware-In-the-loop test method , the hardware-In-the-loop test system of bus antilock brake system was built. The system consists of three parts： Matlab/xPC target real-time environment, pneumatic brake system and vehicle dynamics model. The data of the braking force of the bus can be collected to calculate results and display. For vehicle braking parameter self-tuning fuzzy PID control algorithm was introduced in the control strategy of ABS. The braking condition of the bus in large and small adhesion coefficient road, bisectional road and joint road was tested. Test results show that the method can be used for real-time tuning of the PID parameters according to the braking condition, and the wheel slip rate stay stably in the vicinity of the best slip rate 0.2（large adhesion coefficient road）and 0.1（small adhesion coefficient road）, which has good adaptability and control precision.
出处
《计量学报》
CSCD
北大核心
2018年第2期163-167,共5页
Acta Metrologica Sinica
基金
国家质检总局公益性行业科研专项(201310284)
浙江省科技计划项目(2014C31105)
关键词
计量学
防抱死制动系统
硬件在环测试
参数自整定
模糊控制
metrology
anti-lock braking system
hardware-in-the-loop test
parameter self tuning
fuzzy control
