【正文】
附錄BFuture the automobile brake control system new technology and its the development willIs born from the automobile when, the vehicles braking system is acting the very important role in the vehicles security aspect. In recent years, along with the vehicles technology progress and the automobile moving velocity enhancement, this importance displayed more and more obviouslyAlong with the science and technology development and the automobile industry development, the army vehicle and the military technical development, the vehicles applied the brake to have the new breakthrough, hydraulic brake are in particular apply the brake an after significant innovation following the machinery. Duesenberg the Eight vehicle took the lead to use the passenger vehicle hydraulic brake. Chrysler39。s four turns of hydraulic brake was published in 1924. General and Ford separately and in 1939 has used the hydraulic brake technology in 1934. To the 20th century 5039。s, the hydraulic pressure boosts the brake only then to bee the reality.At present, the vehicles guard against hold the brake control system (ABS) to develop into the mature product, and obtained the widespread application on each kind of vehicles, but these products are basic all are add, decelerate the threshold and the reference slipping rate methods design based on the wheel. Method although simple practical, but its debugging quite is difficult, the different vehicles need the different match technology, performs on many different paths to confirm。 Theoritically speaking, entire controlled process wheel skidding rate is not maintains in the best slipping rate, achieved by no means best applies the brake the effect. Moreover, because establishment logic threshold ABS has many limitations, in recent years therefore has developed the vehicles dynamics control system in the ABS foundation (VDC). Union dynamics control best ABS is take the slipping rate as control goal ABS, it is by continuously measures the types of control, causes to apply the brake in the process best to maintain, the stable slipping rate, theoretically is one kind of ideal ABS control system. The slipping rate control difficulty lies in determined under each kind of state of roads the best slipping rate, another difficulty is the vehicles speed survey question, it should be the low cost reliable technology, and finally can develop into the use product. Speaking of take the slipping rate as goal ABS, the control precision certainly is not the extremely prominent question, and achieved the high accuracy the control quite is also difficult。 Because road surface and vehicles state of motion change very big, the many kinds of disturbing effect is bigger, therefore the important question lies in the control the stability, namely system robustness, should maintain under each kind of condition does not lose control. Guards against holds the system request redundant reliability, otherwise can cause the person casualties and the vehicles damage. Therefore, the development robust ABS control system bees the key. Now, the many kinds of Lu stick control system applies ABS in the control logic. Besides the traditional logical threshold method is take pares as the goal, the gain dispatches the PID control, changes the structure control and the fuzzy control is the monly used Lu stick control system, is take slipping rate which at present uses as goal stepless control system. Fuzzily controls the facture is based on the thumb rule control, has nothing to do with with the system model, has very good robust and the control rule flexibility, but adjustment controlled variable quite difficult, does not have the theory to say, basically the method which is depends on tries to collect. However speaking of the majority based on the target value control, the control rule has the certain rule. Moreover, also has uses other control methods, like based on condit