【正文】 guaranteed with difficulty. Easy to realize the stepless control based on the glide rate control algorithmand has the very explicit theory to instructbut present restricts the cost question which its development the bottleneck is mainly realizes believed according to ours research om now on ABS control algorithm development direction in the following several aspects. (1) aims at current widely uses the logical threshold value control algorithm which exists the research can track the road surface characteristic changecauses the ABS each performance index to be at the optimum condition throughout the control algorithm. And the predictive control technology is worth taking seriously. Because when the brake process iction characteristic between the tire and the road surface causes the antilock braking system has the very obvious misalignmentthe denaturation and the uncertainty. Therefore difficulty with establishes its precise mathematical modelbut the predictive control has the basic characteristic which the forecast model the undle optimize and feed back adjust may act according to some optimized target design control systemdetermined that a control quantity the time seriesafter causing in period of time to move the quantity and the process will soften between the expectation path39。 air,in order to avoid influence braking system39。s four installment has 45 teeth or 100 tooth39。s brake divides in cylinder39。s angle tetarded velocity as the object,controls wheel39。 s glide tate S the secondary control the glide rate is from each wheel fast signal after certain logic determined automobile39。s weighting,the step response is quick,the control energy mainly uses in reducing the deviation,but easy to present the over modulation。 way handoff control quantity39。s design sums up finally as,according to the AB S dynamic system,determined group of best arameter Kp,Ki and Kd,enable wheel39。wwheel39。s braking moment,prevents the wheel to hug obtains the best brake potency the electronic can wheel39。 unceasing construction,automobile39。s rapid development and highway39。s glide rate,the automatic control function on wheel39。rdoes not have time the ground braking force wheel rolling radius。s level. 2. Conrtol technology used by ABS now The ABS control effect is decided control technology[4]which to a great extent uses in the present uses is mainly the logical threshold value control further enhance ABS the performance,but also proposed some based on the glide tate control technology,like the PID control,the glide modality change the srtucture controls,fuzzycontrol and so kind of control approaches the expectation by the different control rule the spot. PID controls The definition expects glide rate S0 and difference of the actual glide rate S for e=SS0,then the PID control rule may be represented as: 西安工程大學畢業(yè)設計英文譯文 3 Therefore,the ABS controller39。s glide tate control in coefficient of adhesion peak point SK,then the glide modality changed structure basis system condition,the deviation and the derivative value then,in the different controlled area,by perfect switch39。s rate of change EC,the output for the brake line flowing tubing head the belt modification factor the fuzzy controller,uses the control list summary which the fuzzy reasoning algorithm forms is an analysis formula: And Alpha is the modification factor,Alpha the value size has reflected directly to 西安工程大學畢業(yè)設計英文譯文 4 the deviation and the debiation rate of change weighting the adjustment modification factor Alpha,may change the control Alpha is big,indicated that is big to deviation39。s state of motion,thus the control adjustment brake pressure,gains enough big brake intensity and the good yawing includes as the ABS controlled variable:Wheel skidding rate S,the wheel rotates the angle adds(reduces)the speed Omega and the rate of and so on three kind of descrimtion wheel movement situation or danamics condition only uses a controlled variable difficulty with to guarantee that ABS has the good performance under each kind of travel condition,therefore,the logical threshold value control method rotates at present the wheel the angle adds(reduce)the speed to take the primary control parameter,but takes wheel39。s braking force again through the solenoid kind tows the fast sensor monly used Doppler velocity the automobile goes the Doppler radar antenna by certain frequency to the earth launching electromagic wave,simultaneously receives the electromagic wave which unceasingly reflects,surveys the automobile radar lanch and the receive differential value,then may calculate the automobile vehicle speed turns the fast sensor to install in the transmission gearbox outer covering,acuates by the transmission gearbox output shaft,it is a pulse electrical machinery,procuces frequency and round intensive direct impiementing agency and so on is