【正文】 另外。此時(shí)基于滑動率的控制算法就可被重視?；诨瑒勇实目刂扑惴ㄈ菀讓?shí)現(xiàn)連續(xù)控制，且有十分明確的理論加以指導(dǎo)，但目前制約其發(fā)展的瓶頸主要是實(shí)現(xiàn)的成本問題，根據(jù)我們的研究認(rèn)為，今后ABS 控制算法的發(fā)展方向?qū)⒃谝韵聨追矫妗? ABS使用中注意的問題1) 更換制動器或更換液壓制動系部件后，應(yīng)排凈制動管路中的空氣，以免影響制動系統(tǒng)的正常工作。3) 降壓當(dāng)電磁閥工作時(shí)，支架克服兩個彈簧的彈力，打開卸荷肉使制動分缸壓力降低。電磁閥用于車輪制動器的壓力調(diào)節(jié)。當(dāng)汽車行駛時(shí)，多普勒雷達(dá)天線以一定頻率不斷向地面發(fā)射電磁波，同時(shí)又接收反射回來的電磁波，測量汽車?yán)走_(dá)發(fā)射與接收的差值， 便可以準(zhǔn)確計(jì)算出汽車車速。此方法預(yù)先對若干個控制參數(shù)設(shè)定一些控制極限（門限）值，制動時(shí)，根據(jù)計(jì)算的實(shí)時(shí)參數(shù)值與對應(yīng)門限值的大小關(guān)系，來判定車輪的運(yùn)動狀態(tài)，從而控制調(diào)節(jié)制動壓力，以獲取足夠大的制動強(qiáng)度和良好的方向穩(wěn)定性。由汽車發(fā)表深圳的的基本原理可知，其中的過程的本質(zhì)問題是把車輪的滑移率控制在附著系數(shù)的峰值點(diǎn)Sk，則滑動模態(tài)變結(jié)構(gòu)根據(jù)系統(tǒng)當(dāng)時(shí)的狀態(tài)、偏差及其導(dǎo)數(shù)值，在不同的控制區(qū)域，以理想帶開關(guān)的方式切換控制量的大小和符號，以保證系統(tǒng)在滑動區(qū)域很小的范圍內(nèi)，狀態(tài)軌跡（S,*S）焉滑動換節(jié)曲線滑向控制目標(biāo)（Sk，0）。ABS正是利用道路與輪胎之間的關(guān)系，強(qiáng)制性地把車輪滑移率控制在臨街穩(wěn)定點(diǎn)SK附近，使路面附著性能得到最充分的發(fā)揮，從而達(dá)到最佳的制動效果。從而獲得最佳制動效能的電子裝置。為了全面滿足制動過程中汽車對制動的要求，使制動器制動力分配更趨合理。s robustness to obtain the enhancement.)1s smaller along with the volume the price is cheaper the reliable higher vehicle speedsensor39。s speedup or the deceleration,issues pressurerise or the release of pressure instruction to the solenoid valve,controls applies the brake to divide the cylinder braking force. problems by used the ABS system(1)replaces the brake or the replacement hydraulic pressure braking system part,should arrange only in brake line39。Three channel braking system,each front wheel has one,two two trailing wheels use in mon solenoid valve has three hydraulic pressure holes,separately applies the brake with the brake master cylinder and the wheel to divide the cylinder to be connected the brake with the brake master cylinder and the wheel to divide the cylinder to be connected,and can realize pressure lifting,pressure maintenance,the pressure drop accent to press the principle of work is as follows:1)Pressurerise when the solenoid valve does not work,the brake master cylinder connection and applies the brake to divide the cylinder connection respectively to go the main spring intensity is big,makes charging valve openning,the brake pressure to increase.2)pressure maintenance,when wheel39。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 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。rdoes not have time the ground braking force wheel rolling radius。s rapid development and highway39。s braking moment,prevents the wheel to hug obtains the best brake potency the electronic can wheel39。s design sums up finally as,according to the AB S dynamic system,determined group of best arameter Kp,Ki and Kd,enable wheel39。s weighting,the step response is quick,the control energy mainly uses in reducing the deviation,but easy to present the over modulation。s angle tetarded velocity as the object,controls wheel39。s four installment has 45 teeth or 100 tooth39。s cycle is longand the control quality 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 performanceindex 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。 Or develops to the dynam