【正文】 ction namely each dispersion con 01 system39。 現(xiàn)在汽車上大量安裝防抱死制動(dòng)系統(tǒng)， ABS 既有普通制動(dòng)系統(tǒng)的制動(dòng)功能，又能防止車輪鎖死，使汽車在制動(dòng)狀態(tài)下仍能轉(zhuǎn)向，保證汽車的制動(dòng)方向穩(wěn)定性，防止產(chǎn)生側(cè)滑和跑偏，是目前汽車上最先進(jìn)、制動(dòng)效果最佳的制動(dòng)裝置。 縱向和側(cè)向附著系數(shù)課表達(dá)為車輪滑移率的函數(shù)（如圖 1）。為進(jìn)一步提高 ABS 的性能，還提出了一些基于滑移率的控制技術(shù)，如 PID 控制，滑移模態(tài)變結(jié)構(gòu)控制，模糊控制等。通過調(diào)整修正因子 α，就可以改變控制規(guī)則。 雙參數(shù)控制 雙參數(shù)控制的 ABS ，由車速傳感器 (測(cè)速雷達(dá)、輪速傳感器、控制裝置 (電腦 )和執(zhí)行機(jī)構(gòu) 組 成。 2. 6 單參數(shù)控制 它以控制車輪的角減速度為對(duì)象，控制車輪的制動(dòng)力，實(shí)現(xiàn)防抱死制動(dòng)，其結(jié)構(gòu)主要由輪速傳感器、控制器 (電腦 )及電磁閥組成。由于主彈簧強(qiáng)度大，使進(jìn)油閥開啟，制動(dòng)器壓力增加。 在美國(guó)克萊斯勒型高級(jí)轎車中大多配備了這種單參數(shù)控制方式的 ABS 0 它在轎車的四個(gè)輪上都裝有輪速傳感器。簡(jiǎn)化了控制器的設(shè)計(jì)，而且因僅需測(cè)定車輪的角速度，便于實(shí)現(xiàn)，所以裝車成本低。由于該算法采用的是不斷在線滾動(dòng)優(yōu)化，且在優(yōu)化過程中不斷通過實(shí)測(cè)系統(tǒng)輸出與預(yù)測(cè)模型輸出的誤差來進(jìn)行反饋校正，西安工程大學(xué)畢業(yè)設(shè)計(jì)英文譯文 13 所以能在一定程度上克服由于預(yù)測(cè)模型誤差和某些不確定性干擾等的影響，使系統(tǒng) 的魯棒性得到增強(qiáng)?；蛘呦騽?dòng)態(tài)遞階控制方向發(fā)展，即各分散控制系統(tǒng)的 ECU 不僅是各自獨(dú)立地構(gòu)造自己的動(dòng)態(tài)補(bǔ)償器，而且要再統(tǒng)一地建立一個(gè)高層的動(dòng)態(tài)協(xié)調(diào)器來幫助確定各 ECU 的控制策略，以增強(qiáng)各 ECU 的控制能力，解決分散控制系統(tǒng)存 在不穩(wěn)定模時(shí)不能用動(dòng)態(tài)分散控制的問題 [ll] ，使整車綜合性能得到保證。預(yù)測(cè)控制。 (3) 由單一的 ABS 控制目標(biāo)轉(zhuǎn)向多目標(biāo)的綜合控制 [10J ，其中己出現(xiàn)的牽引力控制系統(tǒng) CTCS) 不僅能夠在制動(dòng)過程中防止 車輪發(fā)生抱死，而且能夠在驅(qū)動(dòng)過程中 (特別是在起步、加速、轉(zhuǎn)彎等過程中 )防止驅(qū)動(dòng)輪發(fā)生滑轉(zhuǎn)，使汽車在驅(qū)動(dòng)過程中的方向穩(wěn)定性、轉(zhuǎn)向操縱能力和加速性能等也都得到提高。由于在制動(dòng)過程中，輪胎與路面間的摩擦特性導(dǎo)致防抱死制動(dòng)系統(tǒng)具有非常明顯的非線性、時(shí)變性和不確定性。 3) 檢查 ABS 防抱死制動(dòng)系統(tǒng)前應(yīng)先拔去電源。電子控制裝置 ? 由四大部分組成，輸入級(jí) A 、控 制器 B 、輸出 級(jí) C ， 穩(wěn)壓與保護(hù)裝置 D 0 電子控制器以 4 101tz 的頻率驅(qū)動(dòng)電磁閥，這是駕駛員無法做到的。電磁閥有三個(gè)液壓孔，分別與制動(dòng)主缸與車輪制動(dòng)分缸相連，并能實(shí)現(xiàn)壓力升高、壓力保持、壓力降低的調(diào)壓功能。電磁閥調(diào)整制動(dòng)力，以便保持理想的滑移率。由于僅用一個(gè) 控制參數(shù)難于保證 ABS在各種形式條件下都具有良好的性能，因此，目前邏輯門限值控制方法通常將車輪轉(zhuǎn)動(dòng)的角加（減）速度作為主要控制參數(shù)，而將車輪的華滑動(dòng)率 S 作為輔助控制參數(shù)。 模糊控制 對(duì)于以滑動(dòng)率為控制對(duì)象的防抱死制動(dòng)系統(tǒng)，其輸入量取得期望滑動(dòng)率與車輪實(shí)際滑動(dòng)率的偏差 E 以及偏差的變化率 EC，輸出量為制動(dòng)管路油壓。 2 目前 ABS 所采用的控制技術(shù) ABS 的控制效果很大程度上取決于系統(tǒng)所采用的控制技術(shù) [4]?；坡试酱螅瞥煞衷缴?。他是一種具有防滑、防鎖死等優(yōu)點(diǎn)的汽車安全控制系統(tǒng)。s experience knowledge robustness is good simple practical and so on characteristics but widely will be used. )Changes the multiobjectives by the sole ABS control objective integrated control [10]appeared not only the force of action control system (TCS) can prevent the wheel in the brake process to occur hugs dies moreover can in the actuation process (be specially in processes and so on state acceleration curve) prevents the driving gear to have the slipping causes automobile39。s design because moreover on1y need determine wheel39。s tension,opens the discharge meat to cause to apply the brake to divide cylinder presure the pressure reduces,the solenoid valve transformes to the pressure maintenance condition,or pressurerise ready condition. The control device ECU primary mission is the signal which passes on various wheel39。s ABS,by the vehicle speed sensor(velocity radar),a round fast sensor,the control device(puter)and the implementing agency is posed. Its principle of work is the vehicle speed sensor and a round fast sensor,separately singal input the vehicle speed and round fast the puter,calculates the actual slipping rate based on the puter,and 15% one 20% ?????dose with the ideal slipping tate pares,fluctuates brake39。s antilock braking system,its input value takes the expecatation glide rate and wheel actual glide tate deviation E as well as deviation39。s relations,pulsory wheel slid pate control nearby critical point of ficity SK,enables the toad surface adhesion property to botain the fullest display,thus achieves the best brake effect. Figure 1 coeffient of adhesionglide rate curve At present uses ABS mainly by a round fast sensor,the electronic control unit,appendices and so on pressure control valve and group of lines,pipeline is ABS development is mainly studies the design optimization operation and the control procedure software,realizes the realtime presise brake adjustment technology,simultaneously raises hardware39。s brake yawing stability,prevented to have the sideslipping and to run,was on the present automobile is most advanced,the brake effect best arresting gear. The ordinary braking system applies the brake in the slippery road surface,or in emergency brake,because the wheel is easy the braking force to surpass the tire and the ground friction force hugs safely dies. The automobile antilock braking system is refers to the automobile in the brake process to be able the realtime determination wheel39。 travel security more and more takes seriously for satisfy in prehensively the brake process the automobile to the brake request,cause the brake braking force assignment to hasten automobile antilock braking system()more and more has applied on the automobile. ABSChinese translates is against deadlocks the brake system.It is one kind has the skid prevention,against to deadlock and so on merit auto safety control is in the convention brake system foundation advanced version technology,separable mechanical and electronic formula two kinds. On the modern automobile installs the antilock braking system massively,ABS both has the automobile sill to change under the stopping,guaranteed that automobile39。s angular speed. 西安工程大學(xué)畢業(yè)設(shè)計(jì)英文譯文 2 Longitudinal and the lateral adhesion coefficient may express for the wheel slip rate is called critical point of fixity fast the pace according to the control theory is smaller than the SK