多轴商用车驱动防滑硬件在环试验研究
Research on Anti-skidding Regulation System of Commercial Vehicles Based on Hardware in Loop Bench

以三轴商用车ASR为研究对象，研究了低附路面下发动机扭矩控制和分离路面下差动制动控制的驱动防滑控制算法，设计了发动机扭矩PID控制器和以滑转量和轮加速度为门限的差动制动门限逻辑控制算法，并研制了ABS/ASR控制器。采用Trucksim、Labview RT及转向、制动系统实物搭建硬件在环仿真平台，对开发的ABS/ASR 控制器进行典型工况试验分析。试验结果表明：所开发的驱动防滑控制算法能较好地抑制车轮滑转，提高了车辆动力性和燃油经济性。
This paper presents studies on the anti-skidding regulation (ASR) for tractor with three axles. The anti-skidding algorithms, i.e. PID controller for engine torque on low friction road and the logic threshold controller for differential braking on the split friction road are designed. An anti-lock braking system (ABS)/ASR controller is developed. Hardware in loop (HIL) simulation bench is built, which is constituted of Trucksim, Labview real-time operating system, and actual steering and brake parts. ABS/ASR electronic control unit (ECU) is tested with typical operation conditions on HIL bench. Experimental results show that the proposed anti-skidding algorithms and the developed ABS/ASR ECU can restrain the skidding of driving wheels effectively, therefore, improve vehicle maneuverability and lateral stabilities