《汽车ASR的模糊控制》-毕业论文.doc

PAGE 摘要 本文研究的是对开路面驱动防滑系统，采用驱动轮制动力矩调节，也就是在发生打滑的驱动轮上施加制动力矩，使车轮转速降至最佳的滑转率范围内。探讨了基于PID控制和模糊PID控制这两种控制理论的ASR控制算法，使用MATALB/SIMULINK工具箱对这两种控制算法进行了仿真分析。 本文主要分为以下四个部分： 1．介绍ASR的研究意义，国内外研究现状，工作原理以及目前常用的控制方式和控制算法。 2．车辆系统动力学仿真模型是汽车牵引力控制的仿真分析基础，同时也对其理论分析具有一定的指导意义。动力传动系模型可用来分析各子系统的响应规律，并为整车动特性分析提供必要的数值依据，它包括发动机模型、传动系模型和轮胎模型。本文建立了包括动力传动系模型和整车模型的车辆系统Simulink模型. 3. 从理论上探讨了PID和模糊PID两种控制理论下的ASR控制算法，并设计了它们在对开路面条件下的Simulink模型。 4．根据所建立的控制算法，进行了参数选择，并在MATALB/SIMULINK环境下，分别在0.1/0.5、0.3/0.5对开路面使用制动控制对所建立的两种控制算法进行仿真分析，并且在验证算法适应性的时候采用了路面附着系数改变的状况进行仿真。 仿真结果表明汽车ASR系统能够改善车辆的牵引性、操纵性和稳定性，也验证了本文建立的基于PID控制和模糊PID控制两种控制理论的汽车牵引力控制算法正确。 关键字：ASR系统，PID，模糊PID，仿真 Abstract This paper studies the Anti-Slip Regulation control system onμ-Split Road，use driving wheel braking torque regulation, it is imposed braking torque on the skid driving wheel, the speed of wheel lows to the best slip coefficient. This paper has discussed three control algorithms that is based on PID control and fuzzy PID control, simulated these two control algorithms with MATALB/SIMULINK, and compared the performance with the situation without ASR. This thesis mainly includes four parts: 1. Introducing the significance of ASR system, the research status of domestic and overseas, the principle of the working and the usually control algorithm presently. 2. Vehicle system dynamics simulation model is the basis of ASR system simulation and analysis. Automobile transmission model is used to analyze the response of each subsystems, it includes engine model, transmission line model and the tire model. This paper established the Simulink model of vehicle system. 3. Theoretically discussed ASR control algorithm which under PID control and fuzzy PID control theory, and design their simulink model on μ-split road condition. 4. The parameters in the algorithms are selected and these algorithms are simulated with SIMULINK, using active brake control on 0.1/0.5,0.3/0.5 split-μ road surface respectively, and use the situation of road adhesion coe