Research On The Hardware-In-The-Loop Simulation Of ABS Controller Of Heavy Truck

Anti-Lock Braking System(ABS) is a good equipment for safety which can deduce the times of accidents greatly. ABS is the normal configration in European countries and America early. But the research for ABS started just now in China.The paper discusses the history and the present status of in and out, points the disadvantages of traditional develop method of ABS controller and clarifies the necessity of developing Hardware-in-the-Loop(HILS) method of ABS controller for heavy trucks in China.The paper mainly discusses the design method of ABS controller and the main points are as follows:(1) Design vehicle model, wheel model, tire model and brake model and so on based the analysis of dynamics of the vehicle with four wheels in MATLAB/Simulink.(2) Research the logic threshold control algorithm on single high adhesive coefficient road, single low adhesive coefficient road, road with different adhesive coefficient and two sides of road with different adhesive coefficient four kinds of roads. And use the identifying method in the process of logic threshold control to distinguish the different roads. Then develop the ABS controller with stateflow and make the offline simulation of basic braking and ABS braking on four kinds of roads in MATLAB/Simulink.(3) Design ABS controller with MC9S12DP512 as MCU, mainly including MCU module, power module, signals of wheels speed processing module, valve drive module, CAN interface module and so on. And write signals of wheels speed processing program, ABS controlling algorithm program, output of valve driving program and so on in CodeWarrior environment.(4) Develop HILS experiment platform of ABS hardware controller and dSPACE hardware platform by dSPACE hardware interface to validate the hardware and software design of ABS controller.The develop of ABS controller by HILS can shorten the develop period and make the cost smaller greatly. Also this develop method provides foundation for more true objects appended to the loop and adjustment of real cars.