absxingnengjiance2.m

这是我利用Matlab编写的汽车ABS测试软件 他可以通过输入压力、车速以及轮速计算出合理的控制量

function ABSxingnengjiance(N,VF)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
G1=9.81 ,G=72500 ,GL=G,GL1=42700,GL2=GL-GL1;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P=[2 2 2 2],P0=[0 0 0 0],DJ(1)=20,DJ(2)=DJ(1),DJ(3)=30,DJ(4)=DJ(3);
%%%%%%%%%%%%%%%%%%%%%%%%%%%
Hg=0.9,R1=0.52,R2=R1,L=5.5,B=GL1*L/G,A=L-B;
%%%%%%%%%%%%%%%%%%%%%%%%%%
W(1)=VF/R1,W(2)=W(1),W(3)=VF/R2,W(4)=W(3),K2=0.001;
%%%%%%%%%%%%%%%%%%%%%%%%%%
KT(1)=1000,KT(2)=KT(1),KT(3)=800,KT(4)=KT(3);
%%%%%%%%%%%%%%%%%%%%%%%%%%
Z(1)=GL1/2,Z(2)=Z(1),Z(3)=GL2/2,Z(4)=Z(3);
%%%%%%%%%%%%%%%%%%%%%%%%%%
WK=[0.8 0.8 0.8 0.8],V=VF;
PP0=7
KK=5
DD=15

%%%%%%%%%%%%%%%%%%%%%%%%%
S=[0 0 0 0];
Sc=0.2,Uh=0.87,Ug=0.7;
S1=0.4;
S2=0.19;
%Sc=0.2,Uh=0.54,Ug=0.4
%Sc=0.2,Uh=0.24,Ug=0.15
%%%%%%%%%%%%%%%%%%%%%%%%滞后时间系统时间
T1=0,T2=0.3,KD=[3 3 3 3],TJ=[0 0 0 0];
C1=0,C2=0,C3=0,C4=0,C5=0,C6=0;


%%%%%%%%%%%%%%%%%%%%%%%%

DT=0.001;
x=ones(1,N);
 y=ones(1,N);
 z=ones(1,N);
 r=ones(1,N);

for I=1:N-1
   TT=DT*(I-1);
   I
   
   x(I)=DT*I;
  
   
  
  
  
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
  %%%%%%%%%%%%%%%%%%%%进入逻辑门限控制程序
     for II=1:2
         
          if S(II)<S1&&C1==0%%%%%%%%%%建立制动压力
              if KD(II)>1||KD(II)<1
              P0(II)=P(II)
              TJ(II)=TT
              end
              KD(II)=1
              TC(II)=TT-TJ(II)-T1
              if TC(II)<0
                  TC(II)=0
              end
              %P(II)=P(II)+(PP0-P0(II))*(1-exp(-DT/T2))
              P(II)=P(II)+DT*KK
     
             
              
               continue
          end
          if S(II)>=S1&&C2==0%%%%%%%%%%保压1ms
              C1=1
              if KD(II)==1
                  TJ(II)=TT
                  P0(II)=P(II)
              end
              KD(II)=5
               P(II)=P(II)+(PP0-P0(II))*(1-exp(-DT/T2))
               k=1
               k=k+1
              if TT==(TJ(II)+0.001)
                    C2=1
                    
              end
              continue
             
          end
           %下面是一个循环体，实现保压，增压阶梯增压
          %循环条件是V>=10/3.6
          while V>=10/3.6
          if S(II)>=S1%%%%%%%%%%%%%%减压
              
              if KD(II)==5
                  P0(II)=P(II)
                  TJ(II)=TT
              end
              KD(II)=7
              TC(II)=TT-TJ(II)-T1
              if TC(II)<0
                  TC(II)=0
              end
              %P(II)=P(II)*exp(-DT/T2*2)
              P(II)=P(II)-DT*DD
              break
          end
       
             C3=1
          %%%%%%保压
              if S(II)>=S2
                  P(II)=P(II)*exp(-DT/T2*2)
                  break
              end
              if S(II)<S2%%%%%%%%%增压
                  C4=1
              if KD(II)<1||KD(II)>1
              P0(II)=P(II)
              TJ(II)=TT
              end
              
              TC(II)=TT-TJ(II)-T1
              if TC(II)<0
                  TC(II)=0
              end
              %P(II)=P(II)+(PP0-P(II))*(1-exp(-DT/T2))
             P(II)=P(II)+KK*DT
              
               break
           end
           
           
                  
              
              
              
      %
          end
      %
  if V<10/3.6
      
      break
  end
  C4=0
  C3=0
         y(I)=S(II);
         
end
    
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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 for II=3:4
         
          if S(II)<S1&&C5==0%%%%%%%%%%建立制动压力
              if KD(II)>1||KD(II)<1
              P0(II)=P(II)
              TJ(II)=TT
              end
              KD(II)=1
              TC(II)=TT-TJ(II)-T1
              if TC(II)<0
                  TC(II)=0
              end
              %P(II)=P(II)+(PP0-P0(II))*(1-exp(-DT/T2))
              P(II)=P(II)+DT*KK
             
              
               continue
          end
          if S(II)>=S1&&C6==0%%%%%%%%%%保压1ms
              C5=1
              if KD(II)==1
                  TJ(II)=TT
                  P0(II)=P(II)
              end
              KD(II)=5
               P(II)=P(II)+(PP0-P0(II))*(1-exp(-DT/T2))
               k=1
               k=k+1
              if TT==(TJ(II)+0.001)
                    C6=1
                    
              end
              continue
             
          end
          while V>=10/3.6
          if S(II)>=S1%%%%%%%%%%%%%%减压
              
              if KD(II)==5
                  P0(II)=P(II)
                  TJ(II)=TT
              end
              KD(II)=7
              TC(II)=TT-TJ(II)-T1
              if TC(II)<0
                  TC(II)=0
              end
             %P(II)=P(II)*exp(-DT/T2*2)
             P(II)=P(II)-DT*DD 
             break
          end
        %下面是一个循环体，实现保压，增压阶梯增压
          %循环条件是V>=10/3.6
             
          %%%%%%保压
              if S(II)>=S2
                  P(II)=P(II)*exp(-DT/T2*2)
                  break
              end
              if S(II)<S2%%%%%%%%%增压
                  C4=1
              if KD(II)<1||KD(II)>1
              P0(II)=P(II)
              TJ(II)=TT
              end
              KD(II)=1
              TC(II)=TT-TJ(II)-T1
              if TC(II)<0
                  TC(II)=0
              end
              P(II)=P(II)+DT*KK
             
              
               break
           end
           
           
                  
              
              
              
      %
          end
      %
  if V<10/3.6
      
      break
  end
  C4=0
  C3=0
        
         
end
    
 if V<10/3.6
     for Q=1:I
     y(Q)=y(Q);
 end
  plot(x,y,'+')
  plot(x,y,'+',x,r,'*',x,z,'.')
 
  %,x,r,'*',x,z,'.'
  W
  V
     return
 end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %%%%%%%计算制动力矩
 
  for JK=1:4
      DM(JK)=P(JK)*KT(JK)     
      
  end
    
  
  %%%%%%%%%%%%%%%%%%%%计算滑移率开始
  
  for II=1:2
      S(II)=(V-W(II)*R1)/V
      if S(II)<Sc&&S(II)>0
          WK(II)=Uh/Sc*S(II)
      elseif S(II)>=1 
          WK(II)=Ug
      elseif S(II)<1&&S(II)>Sc
          WK(II)=(Uh-Ug*Sc)/(1-Sc)-[(Uh-Ug)/(1-Sc)]*S(II)
      end
      if S(II)<=0
          S(II)=0
          WK(II)=0
      end
  end
 
      for IP=3:4
      S(IP)=(V-W(IP)*R1)/V
      if S(IP)<Sc&&S(IP)>0
          WK(IP)=Uh/Sc*S(IP)
      elseif S(IP)>=1 
          WK(IP)=Ug
      elseif S(IP)<1&&S(IP)>Sc
          WK(IP)=(Uh-Ug*Sc)/(1-Sc)-(Uh-Ug)/(1-Sc)*S(IP)
      end
      if S(IP)<=0
          S(IP)=0
          WK(IP)=0
      end
      
  end
  %%%%%%%%%%%%%%%%%%%%%%计算滑移率结束
  DK=WK*Z'*G1/G
  Z(1)=(G*B+G/G1*DK*Hg)/L/2
  Z(2)=(G*B+G/G1*DK*Hg)/L/2
  Z(3)=(G*A-G/G1*DK*Hg)/L/2
  Z(4)=(G*A-G/G1*DK*Hg)/L/2
  V=V-DK*DT
  z(I)=V;
    if V<=0
      break
      end
      for JK=1:4
          
       DW(JK)=(DM(JK)-Z(JK)*R1*WK(JK))/DJ(JK)
       W(JK)=W(JK)-DW(JK)*DT
       r(I)=W(JK);
      end
      disp(I)
end

x;
y;