Nghiên cứu và ứng dụng phần mềm mô phỏng hệ thống chống trượt quay trên xe ô tô du lịch

ISSN: 2354-0575
NGHIEN c u t ] VA imG DyNG PHAN MEM M 6 PHONG
HE THONG CHONG TRlTOT QUAY TREN XE 6 TO DU LICH
*'°'""*'''

Dong Minh Tuan, Khong Van Nguyen, Le Anh Vii
Truong Bai hoc Suphgm Ky thugt Hung Yen

T6ni tit:
Bdi bdo ndy trinh bdy nhihig kit qud chinh trong viec nghien cuu qud trinh dieu khien cua he tho
chong trugt quay bdnh xe (ASR). Thuc hien mo phong hi thong bang phan mim. tir do lam ro qud trinh
vgt ly xdy ra trong he thong. Kit qud buae ddu eho thdy, vai mgt so ehi do lam vi^e cua he thong chdn
trugt quay (ASR) thi mo men dgng eo, dp sudt phanh, do truat so vai duong dac tinh thuc te cita he thon
Id phu hgp.
Tit khoa: Hi thong chong truat quay (ASR).
1. Dat van de
Tai nan giao thong da tro thanh tham hoa
mang tinh toan eau. O Viet Nam, van nan do cang
tram trpng han, theo so lieu thong ke cua uy ban an
toan giao thong quoc gia trong nam 2013, da euop
di sinh mang cua 9805 nguai tiic tmng binh moi
ngay eo 27 nguai chgt va lam bi thuang, tan tat gin
32253 nguai khac, gay thiet hai hang ty USD ve tai
san [5].
De giam ti le tai nan giao thong, dong thoi
nghien ctju, khai thae su dung co hieu qua, timg
buoc di den lam chu cac trang thigt bi cong nghe
cao, tim ra nhiing giai phap tac dpng vao qua trinh
digu khien ciia he thong chong trupt quay (ASR)
phii hgp vol dieu kien giao thong a Viet Nam la mot
yeu eau cap bach.

Mue tiiu: Nghign cmi qua trinh trugt quay
banh xe ctia 6 to va di sau tim hieu ve he thong
eh6ng truprt quay khi tang toe (ASR). Mo phong
mot so cac trang thai lam viee cua he thong. Phan
tich lam ro anh huang eiia he so bam va do trugt cua
banh xe voi mat duong den qua trinh tang toe cua 6
to khi xay ra hien tugng trugt quay. Ket qua nghign
cuu CO the ap diing de phue vu eong tac dao tao ky
su, sii dung lam tai heu tham khao eho giang vien,
sinh vien cac truong ky thu?tt.
Phuang phdp nghien ciru: Su dung phuang
phap nghign ciiu ly thuygt ket hgp voi mo phong
may tinh nhim nghign cuu ro qui luat dieu khien
cua hg thong
Bdi tugng nghien euu' nghien cuu qua trinh
digu khign va tign hanh mo phong he thdng eh6ng
trugt quay ASR tren 6 to du lich.
Phgm vi nghien cuu: chi nghien euu he
th6ng ch6ng tnrgt quay banh xe tren xe 6 to du lich.
Dong thai tign hanh mo phong nhim lam ro qui luat
diSu khien ciia he thong.
2. Cff sof \f thuyet
* Vai tro ciia he th6ng chfing trugt quay

Khoa h9C & Cong nghf - So 4/2014

ASR: Khi tang toe, buam ga dugc mo rgng dan lam
tang mo men dpng co truyen xuong cae banh xe chii
dpng, tao ra lye keo Ion han va dan den iam tang
dp trugt eiia banh xe chii dpng. Neu dp trugt quay

Ion hon dp trugt toi uu Xn (Hinh 1), thi he so bam
doc (p^ va he so bam ngang (Py giam dan dan den
giam kha nang keo va tinh on dinh digu khien. Khi
do kha nang tang toe giam di va con kem theo tac
dpng xau lam mon lop, tang mat mat nang lugng
cua dpng CO [2].
De khac phue hien tugng tren, 6 cac xe 6 to
hien dai thuang dugc trang bi he thong chong trugt
quay cae banh xe chii dpng khi tang toe (ASR).
He thong ASR la mot phan ma rpng eiia he thong
chong trugt let banh xe khi phanh (ABS). He thong
chi CO tac dpng dieu Idiien chong trugt a banh xe
chii dpng trong qua trinh tang toe, dam bao cho dp
trugt ciia banh xe thay doi trong vting gia tri toi uu,
dg xe CO the phat huy Iyc keo tot nhat, lam tang kha
nang tang toe ctia xe.
*) He so bam cila banh xe vai mat duang: he
so bam dgc (p^ vahe so bam ngang gj^.

X.X
Hinh 1. Dgc tinh truat, the hien su thay dSi he sd
bdm (p^ . (p^ theo X
Hinh 1 the hien anh huang ciia he s6 bam
trgn cac mat duong co vat lieu phu bg mat khac
nhau. Trgn ciing mot loai duong he s6 bam thay
doi phu thupc vao trang thai mat duang, nhu duong

Journal of Science and Technology

35

ISSN: 2354-0575
tai dpng co, luc nay mo men dpng co se nam 6 viing
mo men thap va giam dan tir duong dac tinh mo
men ling vai chS dp tai 100 ve duang dac tinh mo
men co gia tri thap hon. Neu do trugt banh xe ehii
dpng nam trong vung tang toe toi uu, ECU dpng co
se digu khien giii o che do tai co dinh.
Khi dp trucft nho han A,,, ECU dpng ca phit
tin hieu digu khien tang tai lam mo men dpng ca
truyen tai banh xe chii dong tang len giiip xe tiSp
tuc tang toe.

kho sach hay duong not. Neu duong kho he so bam
^ ^ = 0,7 - 0,9, duong uot he so bam (p^^ 0,35 0,45. Vai tro cua ASR la giii cac banh xe chii dpng
trong qua trinh tang toe khong bi truat quay va
dp trugt thay dSi trong giai han hep quanh gia trj
Au(A= 1 0 ^ 3 0 % ) , hieu qua tang t6c cao nhit,
tinh on dinh ciia xe la tot nhat.
*) Hoat dpng eiia he thong ehong trugt quay
ASR (Hinh 3).
Khi CO hien tugng tnrgt quay tai cac banh xe
chij dpng, cam bien toe do vong quay true khuyu va
cam bien vi tri ban dap ga sg dua tin hieu toi bp dieu
khign trung tam (ECU trung tam), dii lieu se dugc
phan tich va ECU trung tam se dua tin hieu dieu
khign ten bp dieu khien dong co (ECU dpng co). Tit
day ECU dpng co se dieu khign dg giam, giii hay
tang mo men dpng eo cho phu hgp vai tin hieu bp

dieu khien trung tam dua toi.
Khi can giam mo men tmygn tai banh xe chii
dpng, ECU dpng eo phat tin hieu digu khign giam

3. ChiTffng trinh mo phong
iTng dung phan mem Matlab - Simulink mo
phong cac kh6i tren he thong ASR, tii do lien kgt
cae khoi de tao thanh mgt he thong hoan chinh.
*) Cac thong so dau vao:
Dg thir nghiem mo hinh mo phong, chiing
toi da sir dung so lieu he thong phanh va ket qua
thi nghigm trong de tai thac sy ciia tac gia Lai Nang
Vu[l].'

Bang 1. Bdng thong so th uc nghiem mo men ung vai cdc che; do tdi khdc nhau
Che d? tai

10%

30%

35%

40%

75%

85%

100%

njv/p)

Me (Nm)

Me(Nra)

Me (Nm)

Me (Nm)

Me (Nm)

Me(Nm)

Me(Nm)

1000

30

100

137

168

232

243,5

254,8

1200

40

120

152,7

183

248

259

270

1400

15.7

127,7

159,7

190

255

266

277,3

1600

-25

124

164

195

260

270,5

281,1

1800

-92

60

120

168

232

250,5

262,9

2000

-230

-115

-15

40,9

112,6

165

240,4

2200

-513

-322

-250

-180

-97,2

37

234,7

- —

-

1
Momendongccr

~

H
ECU

Cum van chap
hanh ASR

Co-cau

-^

phanh

tai

Bdnh xe
chu dgng

i
1

Tin hieu cam bien dp tri/cft banh xe

Cam bien
Bdn
chu

iz.

Hinh 3. Sa do diiu khien

36

Khoa hoc & Cong nghe - So 4/2014

Journal of Science and Technology


ISSN: 2354-0575
*) Cac buae tiSn hanh mo phong thuc hien qua cac phucmg an khao sat sau:
Phuong an 1: Tang t6c tir mot che dp on dinh Ign mirc tai 100% (ma buam ga 100%) cho den khi
dat dugc v^n toe cho truoe, khi hg so bam ciia eac banh xe chu dpng la nhu nhau.
Phuang an 2: Tang t6c dot nggt tu chg dp chay khong tai den miie tai 100%, khi he so bam ciia cac

banh xe ehii dpng la nhu nhau.
Phuong an 3: Tang toe tu mot chg dp on djnh len miic tai 100% (mo buom ga 100%) cho den khi dat
duoe van toe cho truoe, khi he so bam ciia banh xe chti dpng ben trai va ben phai khac nhau.
*) So do nguygn ly hoat dpng ciia he thong ASR eo the mo ta nhu (Hinh 3).
- So do mo phong he thong ASR
Tren ca so phan tich dac tinh ky thuat eiia loai xe nghien cuu va nhiing ca sa ly thuyet ve he thong
chong trugt quay eua cac banh xe chu dong khi xe tang t6c, chiing toi da xay dung chuang trinh mo phong
tinh chat dpng luc hpc ctia he thong trgn phan mem Matlab-Simutink. Sa do khoi tinh toan va mo phong
the hien trgn (Hinh 4).

Hinh 4 So do mo phong he thong chong trugt quay (ASR)
4. Ket qua vk thao luan
- Kgt qua 0 to dang chay deu a che dp tai 10% tai sau do tang toe dot ngpt ten 100% tai,
(p^^^^ 0.1. v = 20 km Ih.

Khoa hyc & Cfing nghe - So 4/2014

Journal of Science and Technology

37


ISSN: 23S4-057S

Hinh 4. Bieu dien do tru0 eua bdnh xe chu dgng
tdi 10% sau do tang toe dot nggt len J00% tdi,
(p^^ =
0.1.v^lkmlh

^r

100
80

^ VV

1 60

tti (0 - 0,5) giay, liic nay do trugt ctia banh xe gin
nhu bang 0.
Giai doan 2: Sau 0.5 giay, do tang dot ngpt
len 100% tai dp trugt bign thign nhanh dat gia tri Ion
nhat, tai dpng co giam xuong khoang 40%, mo men
phanh dat gia tri cue dai trong khoang 0.1 giay .
Giai doan 3: do su giam nhanh ciia tai dpng
CO din tai mo men dpng ca giam, dong thoi mo men
phanh co gia tn Ian, ket qua dp trugt banh xe d4n
dan on dinh nam trong giai han dieu khien, chg d$
do dugc giir trong vong (0.6 - 2) giay.
Giai doan 4: banh xe khong con trugt niia,
tai dpng eo lai tang len dat gia tri tai ygu eau, m6
men phanh dan giam vg 0, qua trinh dien ra trong
vong Is.
- Ket qua mo phong vai vige tang toe dot ng§t
ngay tir dSu dat 100% tai, ^ „ , ^ = 0.7, v ^ 20 kmlh.

1

3 40
20

ILi IIIIML^ 1.
Thoi gian (5|

Hinh 5. Bieu diin tdi dgng ca khi tang tdi tir
10% tdi sau do tang loc dot nggt len 100% tdi,
(p^,. = 0.1,v = 10kmlh

Hinh 7. Bieu diin dg trugt eua bdnh xe chu
dong vai viec tang tdc ngay tir dau dat 100% tdi.

km/h

-100

i'

-

I
1 60

I|' f
-700
-800

1
f

Mpb nh ben Irai
nh ben phai

HJ
T

1= 40

20

-900

Hinh 6. Bieu dim Mo men phanh cua bdnh xe chu
dong Idi 10% tdi sau do Idng tdc dot ngot len 100%
'"'• ?'niBs ~ 0 7, V = 20 km/h
Giai doan 1 • Khi chay deu o ch6 dp 10% tai

38

f

\

-300

Khoa hoc & Cong nghe - S6 4/2014

""'""'"
Hinh 8. Bieu dien mo men dong ca vol viec
tang tdc dot ngot ngay til dau dat 100% tdi,

^ „ „ = 0.7, v = 20 *?nrt

Journal of Science and Technology


ISSN: 2354-0575

-200

^

^00

1

Banh sau ben phai 1"
Banh sau ben trai |

Hinh 9. Biiu dien mo men phanh vat viec
tang toe dgt nggt ngay tie ddu dat 100% tdi,
(p^,^ = 0.1,v = 20 km/h

Hinh 11. Bieu dien mo men dgng cakhi 6 to tdng tdc
ngay tir ddu dat 100% tdi hi sd bdm hai bin khdc
nhau ^ ^ 1 ^ 0.9, ^^^^3 ^ 0.4, v ^ 20 km/h

Giai doan 1: luc dau do mo men truyen tir
dpng ca tai banh xe ehu dpng dat gia tri 1cm nhat,
mat duang khong tiep nhSn hgt luc truySn tit banh
xe nen dp trupl tang manh, tai dpng ca giam nhanh

ch6ng khoang 40%, dong thai mo men phanh tang
Ign dat gia tri cue dai.
Giai doan 2: do su giam tai va mo men phanh
Icfn, do trugt banh xe dan di vao viing on dinh digu
khien qua trinh on djnh dien ra trong vong khoang
1.3 giay.
Giai doan 3: sau i,6 giay, do trugt dan dan
giam vg khong, tai dgng eo tang nhanh tra ve gia tn
tai yeu cau, mo men phanh cung giam dan vg gia tri
0 van t6c xe Itic nay tucmg doi on dinh.
- Kgt qua mo phong vai vige 6 to tang toe dot
nggtngaytirdlLudatl00%tainhimghes6bamhaiben
khac nhau ^ ^ „ , , = 0.9, ^ ^ ^ ^ ^ O-"*- ^ - 20 km/h

Banti chu dong ben phai
Banh chu dong ben trai

i

Hinh 10. Biiu dien do trugt eua bdnh xe 6 to khi
tang ngay tir ddu dgt 100% tdi hi so bdm hai bin
khdc nhau
Khoa h9C & C6ng ngh§ - So 4/2014

Hinh 12, Bieu dien mo men phanh dong bdnh xe chii
ddngkhidldldngt6cdgtngdtlirddudglI00%tdihisd
bdm hai bin Giai doan 1: do he so bam hai ben xe khac
nhau ngn banh c6 he so bam thap eo do trugt Ian,

banh c6 he so bam cao khong bj trugt, giai doan nay
tai dgng co giam manh con khoang 37% tai, dong
thai mo men phanh truyen toi banh xe bi trugt dat
gia tri Ion nhat, banh khong bi trugt mo men phanh
CO gia tri bang 0, dp trugt banh xe giam dan nhung
van nam ngoai viing gia tri dieu khien.
Giai doan 2: do su giam tai va mo men phanh
Ion nen dp tnrgt cua banh xe luon nam trong viing
digu khien.
Giai doan 3: banh xe khong con trugt niia,
tai dgng ca tang tra ve gia tri tai yeu ciiu, mo men
phanh dan tra ve gia tn 0
5. Ket luan
Qua viec khao sat va mo phong he thdng
chong trugt quay (ASR) 6 cac chg dp tai khac nhau
ta nhan thay rang:
- Da nghien cihi, danh gia duoe qua trinh

Journal of Science and Technology

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ISSN: 2354-0575
digu khign cila he th6ng ch6ng chong trugt quay banh xe (ASR).
- Da mo phong va dien ta qua trinh lam viec ciia he th6ng ch6ng trugt quay (ASR), tir do phan tieh
yeu t6 anh huong nhu: dp trugt, he s6 bam banh xe voi mat duong, mo men dgng co den hieu qua tang t6c
cua 6 to.
- Qua trinh chay mo hinh mo phong cho kgt qua phii hgp vai duong dac tinh ly thuygt cua he thong
ASR.

Tai lifu tham khao
[1]. Lai Nang Vii, Tdng hgp bd dieu khiin diin tie vd mo phong hi thong phanh co ABS tren 6 to du
lich, Luan van Thae sy, 2008.
[2] Mark A Morton(Master of Science), Traction Control Study for a scaled Automated Robotic
Car, 2004.
[3]. K.Chun and M.Siuiwoo, Wheel slip control with moving slipding surface for traction control
system, 2004.
[4]. Toyota Service training, ABS & Hi thong dieu khiin luc keo, Cong ty Toyota Viet Nam, 1998
[5]. Theo thong ke cua Cue Canh sat giao thong duong bp - duong sat (C67) trong nam 2013.
RESEARCH AND APPLICATION O F SIMULATION SOFTWARE F O R ACCELERATION SLIP
REGULATION SYSTEM ON CAR TRAVEL
Abstract:
This paper presents the main results of the research process control system of wheel slip (ASR).
Perform system simulation software, which clarifies the physical processes occurring in the system Initial
results show that, with some work mode dial-slip system (ASR) is, torque motors, brake pressure, slip versus
the actual characteristics of the system is consistent
Key word: (ASR), Acceleration Slip Regulation
Ngirai phan bif n: PGS. TS. Nong Van Vm, TS. Nguyen Van Thinh

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Khoa hoc & C6ng nghe - S6 4/2014

Journal of Science and Technology