ABS系統之測試與性能分析研究

The Study of Test and Performance Analysis for an ABS System

洪佳煜(Hung Chia-Yu)

指導教授 ： 林秋豐

國立屏東科技大學/工學院/車輛工程系所/碩士(2018年)

https://doi.org/10.6346/THE.NPUST.VE.016.2018.E07

摘要

防鎖死煞車系統(Anti-lock Braking System,ABS)在汽車上已經是標準配備，防鎖死煞車系統之開發過程，需要先進行實驗室的測試平台測試驗證，然後再進行實車測試，以驗證系統是否符合各項性能指標。本研究目的為建立一種具有可擴充性的車輛防鎖死煞車系統的測試平台，以及性能評估與分析方法。目標為除了可分析測試ABS系統安裝於整車時之動態性能外，也可以測試各項關鍵元件之單體性能，如液壓控制電磁閥與煞車卡鉗等。
本研究以Hardware In the Loop的方式建立防鎖死煞車系統測試平台，利用Mototron-ECU做為控制器並接收測試平台之油壓感測器的真實油壓訊號，利用CAN-Bus作為控制器與模擬電腦之間資料的接收與傳送，將油壓訊號傳至CarSim RT作車輛動態模擬，Mototron-ECU控制器之防鎖死煞車系統控制策略以車速與輪速所計算出的滑差作為控制防鎖煞車系統作動的指標。為了模擬結果之準確性，須對測試平台進行驗證，其驗證對象包括油壓感測器、煞車總泵壓力值、減壓閥壓力值、CAN Bus傳輸速率、控制器驅動訊號與液壓作動器電磁閥響應。為了解防鎖死煞車系統的性能表現，於CarSim RT規劃實車測試，擷取相關動態變數作為數據的分析，其中性能指標包括抓地力利用率、滑差變化範圍和車輛煞車時的穩定性與方向操控性，做為評估防鎖死煞車系統之性能表現。
針對一個特定的控制策略，與特定車型測試結果顯示，抓地力利用率符合法規規定≥0.75，在車輛左右兩側車輪位於不同摩擦係數的路面下煞車測試時，能夠有效保持車輛的穩定性與方向操控性，然而從滑差變化範圍可知ABS控制時滑差在0.02~0.4之間，過程中車輪未鎖死，控制策略設定滑差目標值為0.14，控制過程中滑差變化範圍過大，直接運用於實車上進行測試會有相當大的風險造成車輪鎖死或是煞車力不足的情況發生，一個性能好的防鎖死煞車系統除了符合抓地力利用率、車輛穩定性與方向操控性兩項指標，還必須能將滑差控制在目標值。
本研究控制器Mototron-ECU使用MATLAB/Simulink進行程式設計，未來可將自行設計之控制策略利用MATLAB/Simulink撰寫並燒錄至控制器，即能進行防鎖死煞車系統性能測試，以驗證其控制策略。另外，可將欲測試關鍵元件如防鎖死煞車系統液壓控制電磁閥、煞車卡鉗等與平台作更換，就能進行測試。總結以上，本研究所建立的測試平台具有可擴充性、open software、open hardware的功能。

關鍵字

Hardware In the Loop ； 防鎖死煞車系統 ； CarSim RT

並列摘要

The Anti-lock Braking System (ABS) is already standard on the vehicle, the development process of the Anti-lock Braking System, need to carry on the test verification of the laboratory test platform first, and then proceed the real vehicle test , verify system whether meets the performance indexs. The purpose of this study is to establish a scalable test platform for vehicle anti-lock braking systems, as well as performance evaluation and analysis methods. The target in addition to analysis test ABS system dynamic performance installed on vehicle ,also can test the performance of each key component, such as hydraulic control solenoid valve and brake caliper.
This study establishes an anti-lock brake system test platform in the way of Hardware In the Loop, using Mototron-ECU as the controller and receiving the real oil pressure signal of the oil pressure sensor form the test platform,use the CAN-Bus to received and transmitted the datas between the controller and simulation computers,transfer the oil pressure signal to CarSim RT for vehicle dynamic simulation,the Anti-lock Braking System control law of the Mototron-ECU controller uses the slip calculated by the vehicle speed and the wheel speed as an index for control of the Anti-lock Braking System. In order to simulation the accuracy of the results,the test platform must be verified,the verification objects include oil pressure sensor、brake master cylinder pressure value、pressure reducing valve pressure value、CAN Bus transmission rate、 controller drive signal and hydraulic control solenoid valve response.In order to understand the performance of the Anti-lock Braking System, planning real vehicle test in the CarSim-RT,capture relevant dynamic variables are taken as data analysis, and the performance indexs include the utilization of adhesion,the range of slip variation and vehicle braking stability and direction maneuverability.
Against a specific control law, and specific vehicl models test results show that the utilization of the adhesion is compliance with the regulations ≥0.75,when the wheels on the left and right sides of the vehicle are on the different friction coefficients road, the stability and direction maneuverability of the vehicle can be effectively maintained, however, from the range of slip variation, it can be known that the slip of the ABS control is between 0.02 and 0.4. During the process, the wheel is not locked, and the control law sets the slip target value to 0.14,the range of slip change during control is too large, Direct use on a real vehicle for testing can have considerable risk of causing wheel locks or braking force not enough,in addition to the two indexs of utilization of adhesion, vehicle stability and direction, a good performance Anti-lock Braking System must control the slip to the target value.
This study controller Mototron-ECU uses MATLAB/Simulink for programming the self-designed control law can be written and burned to the controller using MATLAB/Simulink in the future, which can perform Anti-lock Braking System performance test and verify control law.In addition, the key components, such as the solenoid valve of the anti-lock brake system hydraulic actuator, the brake caliper, etc., can be tested and replaced with the platform. To sum up, the test platform established in this study has the functions of expandability, open software, and open hardware.

並列關鍵字

Hardware In the Loop ； Anti-lock Braking System ； CarSim RT

參考文獻

[1] BOSCH, 1999, “Driving-safety systems” ,pp 15~58,pp 239.

[2] 吳銘欽，2002，汽車防鎖死剎車系統控制之研究，博士論文，國立成功大學，機械工程學系

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