| As the main carrier of modern transportation, the commercial vehicle driving safety hasbeen paid more and more attention. The commercial vehicle braking safety is one of themain indicators of the commercial vehicle driving safety. In recent years, with the rapiddevelopment of automotive technology and the surge of ownership in car, the commercialvehicle traffic accidents are becoming increasingly prominent, what is worse, they arebecoming more and more serious. The pneumatic anti-lock braking (Anti-Lock BrakingSystem, referred to as pneumatic ABS) system for Commercial vehicle conforms to therequirements of the times and speeds up the pace of upgrading. However, owing to thecharacteristics of the pneumatic transmission, the hysteresis characteristics of pneumaticABS system for commercial vehicle become the bottleneck which restricts the performanceof pneumatic ABS. Whether the existing pressure ABS technologies, or the future ABStechnologies, the control of pneumatic hysteresis will be the hot spot of attention and thefocus of the research on the pneumatic ABS technology.This article relies on the National Natural Science Foundation Project (ID:51075176)"Multi-objective control of the kinetic stability for heavy-duty semi-trailer based on the modelprediction ", based on the analysis, summary and study for the key technologies research onthe pneumatic ABS system for commercial vehicle at home and abroad, as the goal ofdeveloping the control strategy of the commercial vehicles pneumatic ABS based on thehysteresis characteristics,this paper has a careful analysis of the phenomenon and the causes of hysteresis characteristics for the commercial vehicle pneumatic ABS system; has built asimply model of the pneumatic ABS system which is satisfied with the development ofpneumatic ABS control strategy for commercial vehicle; developed the control strategy ofpneumatic ABS based on the control for hysteresis characteristics. Taking thehardware-in-the-loop test bench for commercial vehicle pneumatic ABS system as theexperimental platform, this paper validates the model of commercial vehicle pneumatic ABSsystem; designed the hardware-in-the-loop test to verify commercial vehicle pneumatic ABScontrol strategies, conducted the hardware-in-the-loop test, and achieved the satisfactoryresults. The test validation results show that the commercial vehicle ABS control strategydesigned in this paper based on the control of the system hysteresis characteristics hassatisfied the control requirements of the system hysteresis characteristics, and effectivelyimproved the performance of the pneumatic ABS system..The paper is mainly the following aspects：1.Research on the hysteresis characteristics of the Pneumatic ABS system forcommercial vehicleAccording to a detailed description of the commercial vehicle pneumatic ABS system,the phenomenon of hysteresis characteristics and its causes in the pneumatic ABS system areanalyzed, and then find out the influencing factors for the hysteresis characteristics. Byanalyzing the adverse effects on the braking performance of commercial vehicles which wascaused by the pneumatic hysteresis characteristics of the ABS system for commercial vehicle,in order to reduce system hysteresis characteristics and improve braking performance, thispaper find out the solution of lowering or inhibiting the pneumatic hysteresis characteristicsof the pneumatic ABS system for commercial vehicle.2. The modeling and validation for Commercial vehicle pneumatic ABS systemBased on the analysis of the kinetics mechanism and influence factors for commercialvehicle pneumatic ABS system, in Matlab/Simulink software environment, this paperestablished a simplified model of the commercial vehicle ABS system and the model of thecommercial vehicle brakes which shows the hysteresis characteristics. Based on the hardware-in-the-loop test bench for commercial vehicle pneumatic ABS system, the modelwas validated and obtained the model which has an accurate description of the pneumatichysteresis characteristics of the ABS system of commercial vehicle. This lay the foundationfor the development of commercial vehicle pneumatic ABS control algorithm based on thecontrol of pneumatic hysteresis characteristics.3.Development of commercial vehicle pneumatic ABS control Strategy based on thecontrol of pneumatic hysteresis characteristics.In the research on the control strategy of Commercial vehicle pneumatic ABS system,the pressure ABS control strategy based on the angular deceleration of the wheel speed logicthreshold control was introduced, but taking into account the hysteresis characteristics of thepneumatic ABS system, the compensation of hysteresis characteristics was taken intoaccount in the design of control strategy: when the system is working, the growth rate ofIncreasing and decreasing pressure was controlled by using a ladder step for Increasing anddecreasing pressure, which can control the effect on the entire brake system performancecaused by the hysteresis characteristics of the pneumatic ABS system. In short, the effect ofthe hysteresis characteristics can be rapidly reduced by adjusting the rate of pressurizationand decompression according to the needs of the system, thus improving the active safety ofcommercial vehicle.4. Research on the co-simulation of the hardware-in-the-loop test bench for commercialvehicle pneumatic ABS system and Trucksim softwareThe control strategy of pneumatic ABS for commercial vehicles was validated byjointing the hardware-in-the-loop test bench for commercial vehicle pneumatic ABS systemand the joint of Trucksim commercial software, and then the control effect of commercialvehicle pneumatic ABS control algorithm based on the compensation control of pneumatichysteresis characteristics. As a result, the advantages and disadvantages of commercialvehicle pneumatic ABS control algorithm based on the compensation control of pneumatichysteresis characteristics was studied, what is more, the foundation for development ofcommercial vehicles EBS controller and the optimized design of the system was established. |
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