互逆式中央制动器的汽车制动稳定性分析
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摘要
汽车制动系是汽车安全行驶的重要保障,改善汽车制动性能始终是汽车设计制造的重要任务。当前汽车上广泛应用的行车制动模式是车轮制动,只有部分货车采用中央制动的轴制动作为驻车制动模式。本文分析汽车行车制动时使用中央制动器的可行性,设计出中央制动器的具体结构尺寸,因中央制动器两摩擦元件旋转方向互逆,根据其特点称其为互逆式中央制动器。
本文以捷达车为例进行分析。首先将原来的车轮制动系统改造成轴制动的中央制动系统。主要完成中央制动系统在整车的空间布置,中央制动器结构设计,制动驱动结构的设计计算。
然后,根据差速器的转矩分配特性,讨论在不同附着系数的路面上,采用互逆式中央制动器时可以分配到前后轴每个车轮的制动力矩。结合对前后轴的分析,考虑整车制动中各轮受到的制动力矩的分配情况。并对其进行制动效能和制动时方向稳定性分析。
最后,对轴制动模式的互逆式中央制动器的汽车整车进行数学建模,并建立轮胎、制动器等子系统的动力学数学模型。运用MATLAB/Simulink进行仿真,分析互逆式中央制动器在汽车制动时的制动性能并与传统的车轮制动进行对比,得出轴制动模式的优势。
The brake system is an important indemnification for automobile’s safety traffic. Currently, most of automobiles brake on wheel for traveling brake; only parts of trucks brake on transmission shaft for parking brake. This paper analyzes the feasibility of braking on transmission shaft for traveling brake. Then, design the mutual inversed center brake and analyze its braking performance. It is named mutual inversed center brake.
In this thesis, The JETTA is used as model to analyze. First of all, the primary wheel brake system is rebuilt to center brake system which brakes on transmission shaft. The main work includes: solve the problem of spatial arrangement; finish the structural design; design and calculate the brake drive mechanism and so on.
Then, theoretical analysis is proceeded according to the compensating gear’s torsion distribute characteristic. And calculate each wheel’s brake torque on different attachment coefficient road. Combined with the analyses of front and rear shaft, each wheel’s braking torque and automobile’s braking stability is analyzed when the automobile brakes.
In the end, I formulate the model of automobile based on braking on transmission shaft of mutual inversed center brake. Then, the subsystem’s dynamic mathematical model is established. The subsystems include tyre, brake detent and so on. Do simulation with MATLAB/Simulink. The center brake’s braking performance is analyzed, the center brake’s advantage according to contrast with conventional wheel brake is deduced.
本文以捷达车为例进行分析。首先将原来的车轮制动系统改造成轴制动的中央制动系统。主要完成中央制动系统在整车的空间布置,中央制动器结构设计,制动驱动结构的设计计算。
然后,根据差速器的转矩分配特性,讨论在不同附着系数的路面上,采用互逆式中央制动器时可以分配到前后轴每个车轮的制动力矩。结合对前后轴的分析,考虑整车制动中各轮受到的制动力矩的分配情况。并对其进行制动效能和制动时方向稳定性分析。
最后,对轴制动模式的互逆式中央制动器的汽车整车进行数学建模,并建立轮胎、制动器等子系统的动力学数学模型。运用MATLAB/Simulink进行仿真,分析互逆式中央制动器在汽车制动时的制动性能并与传统的车轮制动进行对比,得出轴制动模式的优势。
The brake system is an important indemnification for automobile’s safety traffic. Currently, most of automobiles brake on wheel for traveling brake; only parts of trucks brake on transmission shaft for parking brake. This paper analyzes the feasibility of braking on transmission shaft for traveling brake. Then, design the mutual inversed center brake and analyze its braking performance. It is named mutual inversed center brake.
In this thesis, The JETTA is used as model to analyze. First of all, the primary wheel brake system is rebuilt to center brake system which brakes on transmission shaft. The main work includes: solve the problem of spatial arrangement; finish the structural design; design and calculate the brake drive mechanism and so on.
Then, theoretical analysis is proceeded according to the compensating gear’s torsion distribute characteristic. And calculate each wheel’s brake torque on different attachment coefficient road. Combined with the analyses of front and rear shaft, each wheel’s braking torque and automobile’s braking stability is analyzed when the automobile brakes.
In the end, I formulate the model of automobile based on braking on transmission shaft of mutual inversed center brake. Then, the subsystem’s dynamic mathematical model is established. The subsystems include tyre, brake detent and so on. Do simulation with MATLAB/Simulink. The center brake’s braking performance is analyzed, the center brake’s advantage according to contrast with conventional wheel brake is deduced.
引文
1方泳龙.汽车制动理论与设计.国防工业出版社, 2005: 5～6
2国家质量技术监督局. GB12676 -1999汽车制动系统结构、性能和试验方法. 1999
3 M.S.A Hardy et al. An Investigation of Anti-lock Braking Strategies for Heavy Goods Vehicles. Journal of Automobile Engineering, 1995, 5(2):38～39
4吴诰珪,赵克刚,范刚等.附着系数——滑移率曲线的测定.华南理工大学学报. 2001, 29(9): 21～23
5王望予.汽车设计.机械工业出版社, 2004: 58～59 269～271 275～276
6林宁.汽车设计.机械工业出版社, 1999: 161～165
7刘惟信.汽车制动系的结构分析与设计计算.清华大学出版社, 2004: 25～27
8黄键,李薇,辜振宇.驻车制动装置的设计.设计技术.2007:93~97
9 Masayuki Kuwasaki, Hideaki Matsumura, Akihiro Shin. A Study of High Performance ABS. JSAE Review, 1995, (16): 241～244
10雷同飞.基于路面状况的汽车制动性能仿真研究.哈尔滨工业大学硕士学位论文.2007:28~32
11王家波,张成宝.汽车驱动防滑控制系统的研究.上海汽车. 2001, (2): 9～12
12王亚晴,张代胜,沈国清.汽车制动力分配比的优化设计与仿真计算.合肥工业大学学报. 2005, 28(11): 1393～1396
13毕再新.附着系数对制动距离的影响.内蒙古公路与运输.2003:48~49
14余志生.汽车理论.机械工业出版社, 2000: 72～92
15 Bakker E, Nyborg L, Pacejka H.B. Tyre Modelling for Use in Vehicle Dynamics Studies. SAE paper, No.870421,1987
16裴锦华,李以农.汽车电子稳定程序控制系统的研究现状及发展趋势.天津汽车. 2005, (2): 14～17
17黄永.汽车制动时方向稳定性研究.中国科技论文在线.2007:1~4
18刘鸿文.材料力学.高等教育出版社, 2004: 80～85
19陈家瑞.汽车构造(下册).机械工业出版社, 2005: 133～137
20许洪国.汽车运用工程基础.清华大学出版社, 2004: 62～81
21高延龄.汽车运用工程.人民交通出版社, 2004: 15～19
22姚时音,孙仁云.基于七自由度车辆模型的稳定性仿真研究.西华大学学报.2008:58~60
23袁忠诚,卢荡,郭孔辉. UniTire与MagicFormula稳态模型的对比研究.汽车技术. 2006, (2): 7～10
24刘岩,丁玉兰,张成宝.汽车制动稳定性的分析与试验研究.北京汽车. 2000, (2): 4～6
25 Yi, K. and Chung, J. Nonlinear Brake Control for Vehicle CW/CA Systems. IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2001, 6(1): 17～25
26宋进源.汽车防抱制动系统建模与控制仿真研究.广西大学硕士学位论文. 2007: 15～18
27郭孔辉.用于汽车制动驱动与转向运动模拟的轮胎力学统一模型.汽车技术. 1992, (1): 11～18
28郭孔辉.各向摩擦系数不同条件下轮胎力学特性的统一理论模型.中国机械工程. 1996, (4): 90～92
29郭孔辉,刘青.稳态条件下用于车辆动力学分析的轮胎模型.汽车工程. 1998, 20(3): 129～134
30 Y. Chamaillard, O. L. Gissinger, C. Menard. Braking Regulation of a Vehicle Application and Comparison of Control Algorithms of Unstable or Pseudo-Stable Fast Systems,SAE paper 940837
31郭芹凤,吴晴,徐喆,宋昱.重型卡车建模及ABS算法研究.交通与计算机. 2007, (1): 52～55
32 J. Anthonis, P. Kennes, H.Ramon. Design and Evaluation of a Low-power Mobile Shaker for Vibration Tests on Heavy Wheeled Vehicles. Journal of Terramechanics, 2000, (37): 191～205
33黄永,孙骏.结合VR技术的汽车制动方向稳定性探讨.湖北汽车工业学院学报. 2002, (3): 18～20
34 A. Ghazi Zadeh, A. Fahim, M.EI-Gindy. Neural Network and Fuzzy Logic Applications to Vehicle Systems: Literature Survey. Int. J. of Vehic1e Design, 1997, 18
35 Guo K H, Ren L. A Unified Semi-Empirical Tire Model with HigherAccuracy and Less Parameters. SAE Technical Paper Series, 1999-01-0785:37～44
36李艳彩.基于四轮模型的汽车ABS控制策略的研究.河北工业大学硕士学位论文. 2007: 11～13
37哈尔滨工业大学理论力学教研室.理论力学.高等教育出版社, 2004: 162～164
38程军.汽车防抱死制动系统的理论与实践.北京理工大学出版社, 1998: 18～19
39任国清.轻型客车防抱制动系统的仿真研究.合肥工业大学硕士学位论文. 2003: 24～26
40 Pacejka H B. Tyre and vehicle Dynamics. Butterworth-Heine-mana, 2002:198～202
41胡雄文.汽车防抱制动系统的建模与仿真.大连理工大学硕士学位论文, 2002: 35～36
42 Wei-Yen Wang, Guan Ming Chen. Stable Anti-Lock Braking System Using Output-Feedback Direct Adaptive Fuzzy Neural Control. IEEE, 2003
43解龙,陈家琪. ABS四轮车辆的Matlab/Simulink建模与仿真.上海理工大学学报. 2004, (2): 164～167
44 E. H. Mamdami. The application of fuzzy set theory to control system-A survey, in Fuzzy Automata and Decision Processes, Amsterdam, North Holland, 1977:77～88
45黄永安,马路,刘慧敏. MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用.清华大学出版社, 2005: 76～86
46 Yang, X, Rakheja, S. and Stiharu, I. Adapting an Articulated Vehicle to its Drivers. Trans. ASME, J. Mechanical Design, 2001, 123(3): 132～140
47邱晓林,李天柁,弟宇鸣,肖刚.基于MATLAB的动态模型与系统仿真工具——simulink3.0/4.X.西安交通大学出版社, 2003: 165～185
48高会生,李新叶,胡智奇等. MATLAB原理与工程应用.电子工业出版社, 2006: 159～180
49 Bart Kosko, Neural networks and fuzzy set theory to control system approach, Englewood Cliffs, N J : Prentice-Hall, 1992
50马明星,仇屹珏.基于MATLAB的车辆制动过程仿真研究.成组技术与生产现代化. 2004, (3): 11～14
2国家质量技术监督局. GB12676 -1999汽车制动系统结构、性能和试验方法. 1999
3 M.S.A Hardy et al. An Investigation of Anti-lock Braking Strategies for Heavy Goods Vehicles. Journal of Automobile Engineering, 1995, 5(2):38～39
4吴诰珪,赵克刚,范刚等.附着系数——滑移率曲线的测定.华南理工大学学报. 2001, 29(9): 21～23
5王望予.汽车设计.机械工业出版社, 2004: 58～59 269～271 275～276
6林宁.汽车设计.机械工业出版社, 1999: 161～165
7刘惟信.汽车制动系的结构分析与设计计算.清华大学出版社, 2004: 25～27
8黄键,李薇,辜振宇.驻车制动装置的设计.设计技术.2007:93~97
9 Masayuki Kuwasaki, Hideaki Matsumura, Akihiro Shin. A Study of High Performance ABS. JSAE Review, 1995, (16): 241～244
10雷同飞.基于路面状况的汽车制动性能仿真研究.哈尔滨工业大学硕士学位论文.2007:28~32
11王家波,张成宝.汽车驱动防滑控制系统的研究.上海汽车. 2001, (2): 9～12
12王亚晴,张代胜,沈国清.汽车制动力分配比的优化设计与仿真计算.合肥工业大学学报. 2005, 28(11): 1393～1396
13毕再新.附着系数对制动距离的影响.内蒙古公路与运输.2003:48~49
14余志生.汽车理论.机械工业出版社, 2000: 72～92
15 Bakker E, Nyborg L, Pacejka H.B. Tyre Modelling for Use in Vehicle Dynamics Studies. SAE paper, No.870421,1987
16裴锦华,李以农.汽车电子稳定程序控制系统的研究现状及发展趋势.天津汽车. 2005, (2): 14～17
17黄永.汽车制动时方向稳定性研究.中国科技论文在线.2007:1~4
18刘鸿文.材料力学.高等教育出版社, 2004: 80～85
19陈家瑞.汽车构造(下册).机械工业出版社, 2005: 133～137
20许洪国.汽车运用工程基础.清华大学出版社, 2004: 62～81
21高延龄.汽车运用工程.人民交通出版社, 2004: 15～19
22姚时音,孙仁云.基于七自由度车辆模型的稳定性仿真研究.西华大学学报.2008:58~60
23袁忠诚,卢荡,郭孔辉. UniTire与MagicFormula稳态模型的对比研究.汽车技术. 2006, (2): 7～10
24刘岩,丁玉兰,张成宝.汽车制动稳定性的分析与试验研究.北京汽车. 2000, (2): 4～6
25 Yi, K. and Chung, J. Nonlinear Brake Control for Vehicle CW/CA Systems. IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2001, 6(1): 17～25
26宋进源.汽车防抱制动系统建模与控制仿真研究.广西大学硕士学位论文. 2007: 15～18
27郭孔辉.用于汽车制动驱动与转向运动模拟的轮胎力学统一模型.汽车技术. 1992, (1): 11～18
28郭孔辉.各向摩擦系数不同条件下轮胎力学特性的统一理论模型.中国机械工程. 1996, (4): 90～92
29郭孔辉,刘青.稳态条件下用于车辆动力学分析的轮胎模型.汽车工程. 1998, 20(3): 129～134
30 Y. Chamaillard, O. L. Gissinger, C. Menard. Braking Regulation of a Vehicle Application and Comparison of Control Algorithms of Unstable or Pseudo-Stable Fast Systems,SAE paper 940837
31郭芹凤,吴晴,徐喆,宋昱.重型卡车建模及ABS算法研究.交通与计算机. 2007, (1): 52～55
32 J. Anthonis, P. Kennes, H.Ramon. Design and Evaluation of a Low-power Mobile Shaker for Vibration Tests on Heavy Wheeled Vehicles. Journal of Terramechanics, 2000, (37): 191～205
33黄永,孙骏.结合VR技术的汽车制动方向稳定性探讨.湖北汽车工业学院学报. 2002, (3): 18～20
34 A. Ghazi Zadeh, A. Fahim, M.EI-Gindy. Neural Network and Fuzzy Logic Applications to Vehicle Systems: Literature Survey. Int. J. of Vehic1e Design, 1997, 18
35 Guo K H, Ren L. A Unified Semi-Empirical Tire Model with HigherAccuracy and Less Parameters. SAE Technical Paper Series, 1999-01-0785:37～44
36李艳彩.基于四轮模型的汽车ABS控制策略的研究.河北工业大学硕士学位论文. 2007: 11～13
37哈尔滨工业大学理论力学教研室.理论力学.高等教育出版社, 2004: 162～164
38程军.汽车防抱死制动系统的理论与实践.北京理工大学出版社, 1998: 18～19
39任国清.轻型客车防抱制动系统的仿真研究.合肥工业大学硕士学位论文. 2003: 24～26
40 Pacejka H B. Tyre and vehicle Dynamics. Butterworth-Heine-mana, 2002:198～202
41胡雄文.汽车防抱制动系统的建模与仿真.大连理工大学硕士学位论文, 2002: 35～36
42 Wei-Yen Wang, Guan Ming Chen. Stable Anti-Lock Braking System Using Output-Feedback Direct Adaptive Fuzzy Neural Control. IEEE, 2003
43解龙,陈家琪. ABS四轮车辆的Matlab/Simulink建模与仿真.上海理工大学学报. 2004, (2): 164～167
44 E. H. Mamdami. The application of fuzzy set theory to control system-A survey, in Fuzzy Automata and Decision Processes, Amsterdam, North Holland, 1977:77～88
45黄永安,马路,刘慧敏. MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用.清华大学出版社, 2005: 76～86
46 Yang, X, Rakheja, S. and Stiharu, I. Adapting an Articulated Vehicle to its Drivers. Trans. ASME, J. Mechanical Design, 2001, 123(3): 132～140
47邱晓林,李天柁,弟宇鸣,肖刚.基于MATLAB的动态模型与系统仿真工具——simulink3.0/4.X.西安交通大学出版社, 2003: 165～185
48高会生,李新叶,胡智奇等. MATLAB原理与工程应用.电子工业出版社, 2006: 159～180
49 Bart Kosko, Neural networks and fuzzy set theory to control system approach, Englewood Cliffs, N J : Prentice-Hall, 1992
50马明星,仇屹珏.基于MATLAB的车辆制动过程仿真研究.成组技术与生产现代化. 2004, (3): 11～14