








 

 2017
1

17083300197334133137b-2c5a-4632-8059-d851be56714e
170833001973354192455-3cdb-4cba-83c1-91dd2ade6eb2
1708330019733c1202407-c967-40de-a69b-3ad8f10bd819











Chuyên ngành:  
 60520116

 

PGS.TS. 

 2017
2



Tôi 
 







i



 .......................................................................................................... i
 ....................................... v
............................................................ x
 ....................................... 1
1.1. Khái nim phanh ô tô ................................................................................. 1
1.2. Khái nim hiu qu phanh.......................................................................... 4
u qu 
SMRM ............................................................................................................... 6

 .................................................................................... 6
 ............................ 8
1.4. Tình hình nghiên cu  c ............................................. 9
1.4 .......................................................... 9
 ........................................................ 11
 .................... 13
1.5.1. .............................................................................. 13
............................................................................ 14
 ....................................................................... 14
 .............................................................................. 14
1.6 Kt lu ..................................................................................... 15
 ....................................................................... 16
2.1. thit khi lp mô hình ..................... 16
 ............................................................... 16
 .................................................... 17
p mơ hình ........................................................................ 18
.................................................... 18
 .............................................. 21
ng lc ht phng OXY ............... 23
 ..................... 23
ii


 .................. 24
ng lc hc khi 
thng ....................................................................................................... 25
 .......................... 25
............................................ 27
ng lc hc bánh xe ......................................................... 29
nh các lc và mô men liên kt ........................................................ 30

 ................................................................ 30
 ........................... 35
- ..................... 36
2.7 Kt lu ..................................................................................... 40
..................................... 41
 ....................................................................... 41
i h ng lc hM ....... 41
ái xe ..................................................................... 42
3.1.2. áình vi phân ....................................... 43
3.2. Cng lc h .................... 44
Các thông s ............................................... 47
3.3. Kho sát hiu qu ng thng ................... 50
3.3.1. 
 ..................................................................................................... 50

........................................................................... 55
3.4. Kho sát hiu qu ng vòng ............................ 60

...................................................................................................... 60

 ......................................................................... 63

iii



 ...................................................................... 67
3.5 Kt lu ..................................................................................... 71
 ..................................................................................................... 72
 ............................................................................... 73


iv








X (Tractor)


SMRM

 mi   (Semi-trailer)



 mi   (Tractor Semi-trailer)

G(OXYZ)

 G

B(Cxyz)

 B

MBS


 (Multi Body System)
  phanh    bánh xe (Anti-

ABS

lock Brake System)
      (Traction Control

TCS

System)


EPB

(Electronic Pneumatic Brake)


ESP

Programe)

i

 mi  , i = 1÷6
  

     


xc1 , yc1 , zc1

m

xc2 , y c2 , z c2

m

l1

m

 

l2

m



l3

m

l k1

m


tâm  


h c1

m



l4

m



B(C1xc1yc1zc1 )
  SMRM      
B(C2xc2yc2zc2 )



v


l5

m



l6


m



l k2

m

h c2

m



h k1

m

tâm  

h k2

m

tâm 

   tâm     
SMRM

 

h Bi

m

  
treo

i

rad

 

 c1



Góc quay thân  c1

 c2



c2

 K  c1  c 2






k



Góc quay 

1





i





sxi


bám ngang 

xi, yi

i

 x,max, x,min


  


 y,max, y,min
 1 , 2 , 3

xe


xi, yi
zc1 , zc1


treo


m, m/s2



vi


x c1 ,x c1 ,x c1
y c 1 , y c 1 , yc 1
zc 2 , zc 2
x c2 ,x c2 ,x c2
y c2 ,y c2 , y c2

m, m/s,  

m/s2

m, m/s,         
m/s2
m, m/s2

m/s2
m/s2

yi ,yi

m, m/s

 Ai ,  Ai

m, m/s2

y Ai , y Ai , y Ai


SMRM
SMRM

m, m/s,         

m, m/s

xA i , xA i , xA i




m, m/s, 

xi , xi

zAi , zAi , zAi



tâm SMRM
   

        

 


m, m/s,         
m/s2



m, m/s, 
m/s2



m, m/s,         
m/s2


zk 1, z k 2

m

zi

m

i

m


       

        
treo 
        

vii


hi

m

exi

m


eyi

m

c

m



m c1, mc2

kg



Mc1, Mc2

kg



m Ai

kg



J y1, Jy2


kgm2

Jy3

kgm2

J Ayi

kgm2

Mô men quán 

FCi

N



FKi

N



F CLi

N

kính 


Fkx , Fkz

N

, z

C wx, Cwy



       




Mơ men qn tính   kh   





kg/m3

Cw1 , C w2




C1 , C 2




Ai



Fxi , Fzi

N

Fxc1 , Fzc1

N

           
, z
 lên qui 
C1 

viii


         

Fxc2 , Fzc2

N

Fxi


N



FGi

N



MAi

Nm



MBi

Nm



M xc1, Mzc1

Nm

M xc2, Mzc2

Nm


FRi

N

fi

tâm C2 


C1 c1, zc1
         
tâm C2 c2, zc2
Ri = Fzifi



Fi

N

rdi

m

 rdi  r0 i  ( hi   i )

r0i

m


 ; r0i  ri  fi t

ri

m



fi t

m



f dit

m

f din

m

Ci

N/m



Ki


Ns/m



C Li

N/m





         




ix



 ........................................................
 ....................................................
 .....
Hình 1.4 bánh x


Hình 1.7 .............................
Hình 1.8 Các lo
Hình 1.9  ..

 ............
  ........
.........................
Hình 2.4  ng lc hng



 ..................................
 .....................................................





 ............................

- .............................
Hình 2.18 -
Hình 3.1 G ............................................................................. 42
x


Hình 3.2 Mơ men ................................................................. 4
 .........................
 .................................................
 .................................................
 .................................................







 

Hình 3.15 Mơ men phanh bánh xe 1 ............................................................... 56
Hình 3.16 Mơ men phanh bánh xe 3 ............................................................... 56
Hình 3.17 Mơ men phanh bánh xe 6 ............................................................... 56
Hình 3.18 
Hình 3.19 
Hình 3.20 


Hình 3.23
Hình 3.24

Hình 3.26 Mơ men phanh bánh xe 1 ............................................................... 60
Hình 3.27 Mơ men phanh bánh xe 3 ............................................................... 60
 ..................................................
 ..................................................
 ..................................................
xi


 .................................................................
 ..............................................................
 .....................................
.....................................................................
Hình 3.35 Mơ men phanh bánh xe 1 ............................................................... 64
Hình 3.36 Mơ men phanh bánh xe 3 ............................................................... 64

 ..................................................
 ..................................................

 .................................................................
 .................................................................
Hình 3.42  thân xe ............................................................................. 66
.....................................................................
Hì ....................................
 ..............................................
 ..............................................
Hình 3.47 Mơ men  ............................................................... 67
 .....................................
 .....................................
 6 ........................................
Hình 3.51 ............................................................................. 69
Hình 3.52  ......................................................................... 69
  .......................................
 ..................

xii








         


    

 

  
Nghiên
c phanh 1/2 



               
 




xiii



1.1. Khái nim phanh ô tô

 
              




Hình 1.1  h thng phanh
               


 



          

    



1







ụ men phanh).
Sơ đồ nguyên lý phanh đ-ợc thể hiện trong h×nh 1.2.

F  mV
FK
Ơ tơ

FZ
nh xe

V

u phanh

VB
Lp / n

Hình 1.2 
              
phanh MB 
 x 
 r        

                

sB 

r  x

             

3.

2


FC

FK

MB


J A


mg
V

Fwx

FX

(m  m A ) x
rd

Mf
FX
FZ

Hình 1.3 ng lc hc bánh xe khi phanh
H  và hngang
x

y 

.  1.4. Khi
 s  0,1 thì

x  Cx s x 

  s  1 ,


x  x,min


         
 

Hình 1.4 Quan h gia h s  t ca bánh xe khi phanh
 Fx 
Fy  
x, Fy tz 
3


bám

 x ( s, ),  y ( s, ) . Fx  Fz x (s, ) , Fy  Fz y(s, ) . X,

y 5.
F

ng t

FX

FY
s

Hình 1.5 L thuc h s 
              





                X  
ngang F y  

                
     X   Xmax          
ABS. K
 và góc quay thân xe           

1.2. Khái nim hiu qu phanh

(i)  x 
 sP  t p 

Fx
.
G

4


(ii) 

       

. 



Hình 1.6 u phanh



  

 



Hình 1.7 Quay vịng thiu và quay vòng tha


5