附錄附錄1Automobileanti-lockbrakingsystem(ABS)Abstract:Thisarticleintroducedbrieflytheautomobileanti-lockbrakingsystem(Anti-lockBrakingSystem,iscalledABS)thecontrolprinciple,thecontroltechnologywhichusedinthepresentautomobileanti-lockbrakingsystemhascarriedonthesummary,andhascarriedontheforecasttoitstrendofdevelopment.Keyword:Automobileanti-lockbrakingsystemcontroltechnology1.outlineAlongwithautomobileindustrysrapiddevelopmentandhighwaysunceasingconstruction,automobilestravelsecuritymoreandmoretakesseriouslyforthepeople.Tosatisfyincomprehensivelythebrakeprocesstheautomobiletothebrakerequest,causesthebrakebrakingforceassignmenttohastenreasonably.Theautomobileanti-lockbrakingsystem(i.e.ABS)moreandmorehasappliedontheautomobile.“ABS”Chinesetranslatesis“againstdeadlocksthebrakesystem”.Itisonekindhastheskidprevention,againsttodeadlockandsoonmeritautosafetycontrolsystems.ABSisintheconventionbrakesystemfoundationadvancedversiontechnology,separablemechanicalandelectronicformulatwokinds.Onthemodernautomobileinstallstheanti-lockbrakingsystemmassively,ABSbothhastheordinarybrakingsystemsbrakefunction,andcouldpreventthewheeltodeadlock,enablestheautomobilestilltochangeunderthestopping,guaranteedthatautomobilesbrakeyawingstability,preventedtohavetheside-slippingandtorun,wasonthepresentautomobileismostadvanced,thebrakeeffectbestarrestinggear.Theordinarybrakingsystemappliesthebrakeintheslipperyroadsurface,orinemergencybrake,becausethewheeliseasythebrakingforcetosurpassthetireandthegroundfrictionforcehugssafelydies.Theautomobileanti-lockbrakingsystemisreferstotheautomobileinthebrakeprocesstobeablethereal-timedeterminationwheelsgliderate,theautomaticcontrolfunctiononwheelsbrakingmoment,preventsthewheeltohugdies.Thusobtainsthebestbrakepotencytheelectronicinstallation.Itcanwheelsglideratecontrolincertainscope,usefullybetweenthetireandtheroadsurfaceadhesion,reducesthestoppingdistanceeffectively,obviouslyenhanceswhenthecarbrakingcontrollabilityandstability,wheneachkindoftrafficaccidentwhichhasavoidedthewheelhugsdieseasytoappear.alongwithbrakeintensitysincrease,thewheelrollingingredientaregettingfewerandfewer,butskidstheingredienttobegettingmoreandmore,generallyexplainsinthebrakeprocesswithgliderateStoskidingredienthowmany.Thegliderateisbigger,theglideingredientareless.And:u-wheelcenterspeed；r-doesnothavetimethegroundbrakingforcewheelrollingradius；w-wheelsangularspeed.Longitudinalandthelateraladhesioncoefficientmayexpressforthewheelslipratefunction(e.g.Figure1).ThemostgreatlylongitudinalcoefficientofadhesioncorrespondsthegliderateiscalledcriticalpointoffixitySK.GripsfastthepaceaccordingtothecontroltheoryissmallerthantheSKregioniscalledthestablebrakearea,whatSKlaterhascustom-madeunstablemovesthearea.ABSispreciselyusesbetweenthepathandtiresrelations,compulsorywheelslipratecontrolnearbycriticalpointoffixitySK,enablestheroadsurfaceadhesionpropertytoobtainthefullestdisplay,thusachievesthebestbrakeeffect.Figure1coefficientofadhesion-glideratecurveAtpresentusesABSmainlybyaroundfastsensor,theelectroniccontrolunit,appendicesandsoonpressurecontrolvalveandgroupoflines,pipelineiscomposed.TheABSdevelopmentismainlystudiesthedesignoptimizationoperationandthecontrolproceduresoftware,realizesthereal-timeprecisebrakeadjustmenttechnology,simultaneouslyraiseshardwareslevel.2.ControltechnologyusedbyABSnowTheABScontroleffectisdecidedcontroltechnology4whichtoagreatextentusesinthesystem.Atpresentusesismainlythelogicalthresholdvaluecontroltechnology.TofurtherenhanceABStheperformance,butalsoproposedsomebasedontheglideratecontroltechnology,likethePIDcontrol,theglidemodalitychangethestructurecontrols,fuzzycontrolandsoon.Eachkindofcontrolapproachestheexpectationbythedifferentcontrolrulethespot.2.1PIDcontrolsThedefinitionexpectsgliderateS0anddifferenceoftheactualgliderateSforningerrore=S-S0,thenthePIDcontrolrulemayberepresentedas:Therefore,theABScontrollersdesignsumsupfinallyas,accordingtotheABSdynamicsystem,determinedgroupofbestparameterKp,KiandKd,enablewheelsglideratetoapproachhypothesisgoalS0bythequickestway.2.2TheglidemodalitychangesthestructurecontrolAgainstholdsthedeadbrakebytheautomobilethebasicprincipletobepossibletoknow,itsbrakeprocesssessentialquestioniswheelsglideratecontrolincoefficientofadhesionpeakpointSk,thentheglidemodalitychangedstructurebasissystemcondition,thedeviationandthederivativevaluethen,inthedifferentcontrolledarea,byperfectswitchswayhand-offcontrolquantityssizeandthemark,theguaranteesystemintheglideregionverysmallscope,thestatepointlocus(S,S)alongmovedthefestivalcurvetoslideslipperytothecontrolobjective(Sk,0).usuallytakesthebrakingmomentforcontrolledvariableU,thecutconditionis:AndMb-,Mb+representthebrakingmomentwhichdecidedbythegoverningsystemtoreduce,toincreasetwodifferentconditionsseparately.Forthecutfunction,e=S-Skistheactualglideraterelativetargetpointdeviation.2.3FuzzycontrolRegardingtakethegliderateascontrolledmembersanti-lockbrakingsystem,itsinputvaluetakestheexpectationgliderateandwheelactualglideratedeviationEaswellasdeviationsrateofchangeEC,theoutputforthebrakelineflowingtubingheadpressure.Usesthebeltmodificationfactorthefuzzycontroller,usesthecontrollistsummarywhichthefuzzyreasoningalgorithmformsisananalysisformula:U=E+(1-)ECAndAlphaisthemodificationfactor,Alphathevaluesizehasreflecteddirectlytothedeviationandthedeviationrateofchangeweightingdegree.ThroughtheadjustmentmodificationfactorAlpha,maychangethecontrolrule.WhenAlphaisbig,indicatedthatisbigtodeviationsweighting,thestepresponseisquick,thecontrolenergymainlyusesinreducingthedeviation,buteasytopresenttheovermodulation；WhenAlphaissmall,thecontrolgoalreducestheovermodulation,buttheresponseprocessisslow.UsuallyusesthebelttwoAlphavaluesthemodificationfactorexpressionstobeabletorequestonthesatisfiability,namely:And,modificationfactor1,2(0,1),and12.4LogicalthresholdvaluecontrolThismethodestablishessomecontrollimitinadvancetocertaincontrolledvariable(threshold)thevalue,whenappliesthebrake,accordingtothecomputationreal-timeparametervalueandthecorrespondingthresholdvaluessizerelations,determineswheelsstateofmotion,thusthecontroladjustmentbrakepressure,gainsenoughbigbrakeintensityandthegoodyawingstability.OftenincludesastheABScontrolledvariable:WheelskiddingrateS,thewheelrotatestheangleadds(reduces)thespeedOmegaandtherateofchange.andsoonthreekindofdescriptionwheelmovementsituationordynamicsconditionparameter.BecauseonlyusesacontrolledvariabledifficultywithtoguaranteethatABShasthegoodperformanceundereachkindoftravelcondition,therefore,thelogicalthresholdvaluecontrolmethodusuallyrotatesatpresentthewheeltheangleadds(reduces)thespeedtotaketheprimarycontrolparameter,buttakeswheelsgliderateSthesecondarycontrolparameter.Andthegliderateisfromeachwheelfastsignalaftercertainlogicdeterminedautomobilesreferencevelocity,calculatesthereferencegliderate,hasthedifferencewiththeactualgliderate.2.5DoubleparametercontrolDoubleparametercontrolsABS,bythevehiclespeedsensor(velocityradar),aroundfastsensor,thecontroldevice(computer)andtheimplementingagencyiscomposed.Itsprincipleofworkisthevehiclespeedsensorandaroundfastsensor,separatelysignalinputthevehiclespeedandroundfastthecomputer,calculatestheactualslippingratebasedonthecomputer,and15%one20%doeswiththeidealslippingratecompares,fluctuatesbrakesbrakingforceagainthroughthesolenoidvalve.thiskindtowsthefastsensorcommonlyusedDopplervelocityradar.Whentheautomobilegoes,theDopplerradarantennabycertainfrequencytotheearthlaunchingelectromagneticwave,simultaneouslyreceivestheelectromagneticwavewhichunceasing