Research On Anti-skidding Regulation System Of Commercial Vehicles

Based on the ASR technology of semi-trailer tractor with three axles, this paperstudied the pneumatic ASR technology.Through an analysis on the typical control approach and control algorithm,anti-skidding algorithms, which are PID controller of engine torque on low frictionroad and controller based on the logic threshold algorithms for differential braking onthe split friction road, were designed. The hardware of ASR ECU consisted of corecircuit of MCU, power circuit, speed signal processing circuit, solenoid drivingcircuit and communication interface of CAN.Hardware in loop (HIL) simulation bench was developed, which consisted ofTrucksim, Labview RT, and real brake equipments. Based on the developed hardwarein loop simulation bench, a contrast experiment on low friction and split friction roadand a ASR performance experiment among docking friction road, split friction roadand chess friction road were conducted. Experimental results showed that thedesigned ASR ECU could identify road normally, restrain the skidding of drivingwheels on the low friction road effectively, and improve vehicle power and fueleconomy performance and lateral stabilities. At the same time, the experiment on lowfriction to split friction road and chess friction road showed that once the road frictionchanged, the developed control algorithm could identify it effectively and change tothe corresponding control approach, controlling the slip ratio of driving wheels on thelow friction side in a reasonable range.