|
|
|
| Research on Hardware-in-the-Loop Test of Bus Antilock Brake System Based on Fuzzy PID |
| LU Yi,XU Bo-wen,WU Jia-wei,GUO Bin |
| College of Metrology & Measurement Engineering, China Jiliang University, Hangzhou 310018, China |
|
|
|
|
Abstract Due to hardware-In-the-loop test method , the hardware-In-the-loop test system of bus antilock brake system was built. The system consists of three parts: Matlab/xPC target real-time environment, pneumatic brake system and vehicle dynamics model. The data of the braking force of the bus can be collected to calculate results and display. For vehicle braking parameter self-tuning fuzzy PID control algorithm was introduced in the control strategy of ABS. The braking condition of the bus in large and small adhesion coefficient road, bisectional road and joint road was tested. Test results show that the method can be used for real-time tuning of the PID parameters according to the braking condition, and the wheel slip rate stay stably in the vicinity of the best slip rate 0.2(large adhesion coefficient road)and 0.1(small adhesion coefficient road), which has good adaptability and control precision.
|
|
Received: 23 March 2016
Published: 11 February 2018
|
|
|
|
Corresponding Authors:
Yi LU
E-mail: luyi9798paper@163.com
|
|
|
|
［1］孙骏, 尹安东, 蒋维龙, 等. 基于卡尔曼滤波的ABS轮速信号与处理［J］. 计量学报, 2011, 32(3):266-268.
［2］吴利军, 王建强. 汽车驾驶辅助实时仿真系统的整车动力学模型［J］. 农业机械学报, 2008, 39(10):10-14.
［3］Gawthrop P J, Virden D W, Neild S A, et al. Emulator-based control for actuator-based hardware-in-the-loop testing ［J］. Control Engineering Practice, 2008, 16(12):897-908.
［4］Guvenc B A, Karaman S. Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle［J］. Vehicular Technology, IEEE Transactions, 2009, 58(2): 555-571.
［5］陆艺,朱蔷,夏文杰,等. 基于解析模型的气制动系统泄漏故障诊断研究［J］. 计量学报,2016,37(4): 402-405.
［6］国家质量监督检验检疫总局. GB 7258—2012, 机动车运行安全技术条件［S］. 2012.
［7］国家质量监督检验检疫总局. GB 12676—1999, 汽车制动系结构、性能和试验方法［S］. 1999.
［8］杨涤, 李立涛, 杨旭, 等. 系统实时仿真开发环境与应用［M］. 北京:清华大学出版社, 2002:249-252.
［9］席本强, 何毅, 丘文森. 汽车ABS的模糊自适应PID控制［J］. 辽宁工程技术大学学报(自然科学版), 2014,33(11):1551-1554.
［10］于振中,郑为凑,丁亮,等. 动态高精度伺服称重计量秤及其智能PID控制［J］. 计量学报,2013,34(3):231-236.
［11］付荣荣, 李东玉, 时培明. 有约束复杂随动系统模型建立与控制研究［J］. 计量学报, 2017, 38(4): 444-448. |
|
|
|
2018, Vol. 39 
