Matlab汽车防抱死制动系统PID控制的建模与仿真

摘要汽车制动时，防抱死制动系统能够令其有更理想的行驶稳定性、抗横向干扰能力和制动距离。因为时变性、非线性及不确定性是汽车的属性，所以影响后者制动本领的关键条件是控制算法。文章阐述了PID控制的基础概念，以及它的参数整定等。通过制动过程中车辆的受力分析，建立了车辆制动过程中的必要模型，简化的车辆的动力学模型，汽车的轮胎模型，并在Matlab／Simulink的界面下进行了仿真。分析了不同路面条件下ABS特性。23709
传统制动系统刹车时间5.5s左右，刹车路程大约80m左右，0.5s车轮抱死；ABS刹车时间4s，刹车路程60m，没有出现抱死，可见ABS有明显的优越性。
毕业论文关键词 ABS 控制算法建模   Simulink仿真
毕业设计说明书（论文）外文摘要
Title    Modeling and Simulation of PID Control     of the Vehicle Anti-lock Braking System
Abstract
During braking, ABS can make it more ideal driving stability, anti-jamming ability and braking distance.
Time-varying, nonlinear and uncertainties are the properties of the car, so the control arithmetic of the braking system is the main factors affecting the braking performance. It introduces the basic concepts of PID control and parameter tuning of PID controllers and so on. By forcing analysis of the vehicle during braking, it sets up the necessary model of the vehicle, simplified dynamic model of vehicle, tire model based on the “Magic Formula”, and carrying out the simulation in MATLAB/Simulink environment. Still, vehicle anti-lock braking characteristic is analyzed On different road conditions.
Traditional braking system has about 5.5 seconds braking time, about 80 meters braking distance and need 0.5 seconds lock wheel. ABS has 4 seconds braking time, 60 meters braking distance and no locking. It means that ABS has obvious advantages.
Keywords ABS Control Arithmetic Mathematics Models Simulation
目次
1 绪论   1
1．1 ABS的概述   1
1．2 ABS的发展历程与研究   1
1．3 ABS的优点   2
1．4 ABS的发展趋势与前景   2
1．5 本文研究的内容   4
2 ABS的简介   5
2．1 ABS的基本原理和组成   5
2．2 ABS的类型   7
2．3 ABS的控制原理   9
2．4 ABS的几种控制算法简介   10
2. 5 本章小结   12
3　ABS数学模型的建立   13
3. 1 1/4车辆动力学模型的建立   13
3．2 轮胎模型的建立   14
3．3 制动系统模型的建立   15
3．4 滑移率计算模型的建立   17
3．5 ABS的建模及仿真方法   17
3．6 本章小结   18
4　PID控制器设计及仿真分析   19
4．1 逻辑开关控制和PID控制   19
4．2 PID控制器设计   20
4．3 仿真结果及分析   22
4．4 本章小结   27
结论   28
致谢   29
参考文献   30
附录A   32
附录B   35 Matlab汽车防抱死制动系统PID控制的建模与仿真:http://www.751com.cn/jixie/lunwen_16902.html