摘 要

随着道路改善、车辆技术进步和车速提高，车辆的行驶安全性和可靠性更加需要重视，其中，车辆制动效能是直接影响汽车驾驶安全性的重要因素之一。在以往车辆制动效能研究中，往往重视车辆静态而忽视动态响应，重视整车仿真而忽略车辆零部件对整车性能影响，这样必然会导致结果与实际有所差异，因此，通过对车辆制动系统以及整车进行建模，从而分析车辆制动效能具有非常现实的意义。

在以上背景下，本文做了以下研究：

1）基于车辆动力学分析，得到气压知道系统各主要部件数学模型，以此，在AMESim上建立商用车气压制动系统主要部件仿真模型并进行分析评测，分析评测结果表明，该仿真模型适用于符合一般工程仿真要求，与实际工作原理相符合。

2）将AMESim中气压制动系统各个部件仿真模型结合建立商用车气压制动系统仿真模型并进行分析评测。分析评测结果表明，该仿真模型与实际工作原理相符合,适用于符合一般工程仿真要求。

3）将此商用车气压制动系统仿真模型结合 Siumlink 中ABS控制算法和TruckSim中商用车整车模型结合，构建AMESim-Siumlink-TruckSim三者联合仿真模型，并通过分析实际条件进行了模型仿真环境变量的设定。

4）在此三者联合仿真模型基础上，进行高附、低附、对开路面共三种工况的仿真，并进行仿真结果分析。试验结果表明，该联合仿真模型能适用于研究商用车ABS制动效能。

通过对上述内容研究，为研究与优化复杂工况下商用车ABS制动能奠定了理论基础，缩短了商用车ABS制动系统的研发工期，同时该模型为改善商用车ABS系统性能、研究商用车ESC系统提供了理论支持。

关键词：AMESim、Siumlink、TrcukSim、联合仿真、ABS制动效能

Abstract

With the improvement of road, vehicle technology and speed, more attention should be paid to the driving safety and reliability of vehicles. Among them, vehicle braking efficiency is one of the important factors directly affecting the driving safety of vehicles.In the vehicle braking effectiveness study the past, often takes the vehicle static and ignore the dynamic response, attaches great importance to the vehicle simulation and vehicle parts affect the performance of the vehicle, it will inevitably lead to the result and the actual differences, therefore, through to the vehicle brake system and the vehicle model, analysis of vehicle braking performance has very realistic significance.

Under the above background, the following researches are made in this paper:

1) based on vehicle dynamics analysis, the main components of the mathematical model of pressure know system in order to establish commercial vehicle air braking system in the AMESim simulation model of main components analysis and evaluation, analysis of the evaluation results show that the simulation model is applicable to conform to the requirements of the general engineering simulation, consistent with the actual working principle.

2) Combine the simulation models of various components of the air pressure braking system in AMESim to establish the simulation model of the air pressure braking system of commercial vehicles and conduct analysis and evaluation.The results of analysis and evaluation show that the simulation model accords with the actual working principle and is suitable for general engineering simulation requirements.

3) Combining the air pressure braking system simulation model of commercial vehicles with the Siumlink ABS control algorithm and the TruckSim full vehicle model of commercial vehicles, the amesim-Siumlink-Trucksim joint simulation model was constructed, and the environmental variables of the model simulation were set by analyzing the actual conditions.

4) On the basis of the three joint simulation models, the simulation of three working conditions including high adhesion, low adhesion and open road surface was carried out, and the simulation results were analyzed.The experimental results show that the co-simulation model can be used to study the ABS braking performance of commercial vehicles.

Through the above research, the theoretical foundation is laid for the research and optimization of ABS braking energy of commercial vehicles under complex working conditions, and the development period of ABS braking system of commercial vehicles is shortened. Meanwhile, the model provides theoretical support for improving the performance of ABS system of commercial vehicles and studying ESC system of commercial vehicles.

Keywords: AMESim, Siumlink, TrcukSim, co-simulation, ABS performance

目录

摘要 3

Abstract 4

第 1 章 绪论 8

1.1 研究背景与意义 8

1.2 国内外研究现状 9

1.3 研究内容和技术路线 10

第 2 章 气压制动系统动力学模型 12

2.1 串联式双腔制动阀模型 12

2.2 继动阀模型 14

2.3气压ABS调节器模型 15

2.4 制动气室模型 17

第 3 章 基于AMESim下气压制动系统仿真模型建立及分析 18

3.1 串联式双腔制动阀仿真模型建立及分析评测 18

3.11 串联式双腔制动阀仿真模型建立 18

3.12 串联式双腔制动阀仿真模型分析评测 21

3.2 继动阀AMESim仿真模型建立及分析评测 23

3.21 继动阀仿真模型建立 23

3.22 继动阀模型分析评测 25

3.3 气压ABS调节器仿真模型建立与分析评测 26

3.31 气压ABS调节器仿真模型建立 26

3.32 气压ABS调节器仿真模型分析评测 29

3.4 制动气室仿真模型建立与分析评测 31

3.41 制动气室仿真模型建立 31

3.42 制动气仿真模型分析评测 32

3.5 气压制动系统仿真模型和分析 33

3.51 气压制动系统仿真模型 33

3.52 气压制动系统的仿真模型分析评测 35

第 4 章 AMESim-Siumlink-TruckSim三者联合仿真模型的建立与分析评测 38

4.1三者联合仿真模型的建立 38

4.2 ABS制动性能试验测试条件 40

4.3三者联合仿真模型仿真条件分析设置 41

4.4 三种路面工况仿真分析 42

4.41高附路面工况 42

4.42低附路面工况 43

4.43对开路面工况 44

结论 46

参考文献 47

致谢 49

第 1 章 绪论

1.1 研究背景与意义

良好的制动效能能降低事故发生概率，从而提高汽车行驶安全性。中国作为工业大国，商用车销量在最近几年也遥遥领先，根据2020年1月中国汽车工业协会官方发布的最新统计数据，2019年全国销售商用车436W,道路车辆迅速增加，车路行车密度增大，对商用车制动性能提出了挑战，商用车安全至关重要。国内外科研机构对车辆制动性的研究表明，车辆制动效能是制动性能重要影响因素之一^[1]。车辆制动过程中每增加 0.1m 的制动距离，交通事故发生概率就会大幅提高，尤其对于重量远超过乘用车的商用车来说更是如此。