LI CAM OAN

Ti xin cam oan:

1. Nhng ni dung trong lun vn ny l do ti thc hin di s hng dn
trc tip ca PGS. Nguyn Trng Hoan.
2. Mi ti liu tham kho trong lun vn u c trch dn r rng.
3. Mi sao chp khng hp l, vi phm quy ch o to, hay gian di ti xin
hon ton chu trch nhim.

DANH MC CC K HIU

Pp

Lc phanh sinh ra cc bnh xe.

Pf
P
P

Lc cn ln ti cc bnh xe.
Lc cn gi.

Pi

jpmax
tp
Sp
i

Lc cn ln dc.

m,D

fc
f
p
v*
()
T
C
d
V

Lu lng tc thi i qua tit lu.

H s lu lng.
Tit din ca dng kh.
Tit din ca l tit lu.
p sut.
Vn tc ti hn.
Hm lu lng
Nhit tuyt i.
cng.
ng knh
Th tch

H s thi gian tng p.

Tn s iu khin.

Lc cn masat.
H s bm.
Gia tc phanh ln nht.

thi gian phanh.

Qung ng phanh.
H s tnh n nh hng ca cc khi lng quay.

DANH MC CC BNG
Bng

Tn bng

Trang

Bng 3.0

Cc thng s h thng phanh xe tham kho.

55

Bng 3.1

Gi tr p sut cu trc theo h s thi gian tng p =

61

0.85
Bng 3.2

Gi tr p sut cu sau theo h s thi gian tng p =

62

0.85
Bng 3.3

Gi tr p sut cu trc theo h s thi gian tng p tn

s

Bng 3.4

65

=4Hz

Gi tr p sut cu sau theo h s thi gian tng p tn s

66

= 4Hz
Bng 3.5

Gi tr p sut cu trc theo p sut bt u lm vic p s tn

68

s = 4Hz v h s thi gian tng p =0.80

Bng 3.6

Gi tr p sut cu sau theo p sut ABS bt u lm vic

69

=4Hz v h s thi gian tng p =0.80.

Bng 3.7

Gi tr p sut cu trc theo tn s h sthi gian tng p

72

=0.6 v p sut ps=6.9 (x105N/m2)

Bng 3.8

Gi tr p sut trn v p sut di cu sau theo tn s h s

74

thi gian tng p =0.6 v p sut ps=6.9 (x105N/m2)

Bng 3.9

Gi tr p sut cu trc theo h s thi gian tng p tn s

75

=8 Hz v p sut ps=6.9 (x105N/m2) trn xe ci bin

Bng 3.10

Gi tr p sut cu sau theo h s thi gian tng p tn s

76

Bng 3.11

=8 Hz v p sut ps=6.9 (x105N/m2) trn xe ci bin

Gi tr p sut cu trc xe c s theo tn s h s h s

78

thi gian tng p = 0.73 v p sut ps=6.9 (x105N/m2)

Bng 3.12

Gi tr p sut cu trc xe ci bin theo tn s

h s h

s thi gian tng p = 0.35 v p sut ps=6.9 (x105N/m2)

78

Bng 3.13

Gi tr p sut cu sau xe c s theo tn s

h s h s

79

thi gian tng p = 0.73 v p sut ps=6.9 (x105N/m2)

Bng 3.14

Gi tr p sut cu sau xe ci bin theo tn s

h s h s

80

thi gian tng p = 0.35 v p sut ps=6.9 (x105N/m2)

Bng 3.15

Gi tr p sut cu trc xe c s theo

=4Hzv p

81

sut ps=6.9 (x105N/m2)

Bng 3.16

=6Hz v p

81

=4Hz v p sut

83

=6Hz v p

83

Gi tr p sut cu trc xe ci bin theo

sut ps=6.9 (x105N/m2)

Bng 3.17

Gi tr p sut cu sau xe c s theo

ps=6.9 (x105N/m2)

Bng 3.18

Gi tr p sut cu sau xe ci bin theo

sut ps=6.9 (x105N/m2)

DANH MC CC HNH V V TH
Tn gi

STT
Hnh 1.1

Trang

th ch s ph thuc ca qung ng phanh nh nht vo

v1 v

Hnh 1.2

Nguyn l iu khin ABS

11

Hnh 1.3

S h thng phanh kh nn c trang b ABS

12

Hnh 1.4

Van chia ng bo v hai dng

13

Hnh 1.5

Van phn phi dn ng hai dng

14

Hnh 1.6

Bu phanh n

18

Hnh 1.7

Bu phanh tch nng

19

Hnh 1.8

Van gia tc

21

Hnh 1.9

cu to van ABS kh nn

22

Hnh 2.1

S h thng dn ng phanh bng kh nn

28

Hnh 2.2

S m phng h thng phanh

29

Hnh 2.3

Tit lu v k hiu ca n trn s m phng

30

Hnh 2.4

S lu lng i qua van tit lu vo dung tch

33

Hnh 2.5

S lu lng i vo dung tch thay i

34

Hnh 2.6

S lu lng i vo bu phanh

34

Hnh 2.7

S lu lng i qua im nt

35

Hnh 2.7

th h s lu lng

36

Hnh 3.1

S v thng s h thng phanh chn xe tham kho

38

Hnh 3.2

S tnh ton nhnh phanh cu trc

39

Hnh 3.3

S tnh ton nhnh phanh cu sau

43

Hnh 3.4

S khi trong qu trnh m phng tng p cu trc

49

Hnh 3.5

S khi trong qu trnh m phng tng p cu sau

50

Hnh 3.6

S khi trong qu trnh m phng gim p cu trc

51

Hnh 3.7

S khi trong qu trnh m phng gim p cu sau

52

Hnh 3.8

S khi iu khin nhnh cu trc

53

Hnh 3.9
Hnh 3.10

S khi iu khin nhnh cu sau

S v thng s h thng phanh chn xe tham kho

54
55

Hnh 3.11

Qu trnh tng p sut cu trc

56

Hnh 3.12

Qu trnh tng p sut cu sau

57

Hnh 3.13

Cc thng s ca tn s iu khin

58

Hnh 3.14

Dng p sut khi chy m phng

59

Hnh 3.15

Dng p sut khi chy m phng

60

Hnh 3.16

Dng p sut khi chy m phng vi tn s 3Hz v h s tng

60

p = 0.85
Hnh 3.17

Dng p sut khi chy m phng vi tn s 8Hz v h s thi

61

gian tng p = 0.85

Hnh 3.18

S ph thuc ca p sut trn v p sut di cu trc theo

62

tn s h s thi gian tng p = 0.85

Hnh 3.19

S ph thuc ca p sut trn v p sut di cu sau theo

63

tn s h s tng p =0.85
Hnh 3.20

Dng p sut trn v p sut di cu trc h s thi gian

tng p = 0.85 v

Hnh 3.21

Hnh 3.22

= 4Hz

Dng p sut trn v p sut di cu trc h s thi gian

tng p = 0.92 v

64

64

= 4Hz.

S ph thuc ca p sut trn v p sut di cu trc theo

65

h s thi giantng p tn s =4Hz

Hnh 3.23

S ph thuc ca p sut trn v p sut dii cu sau theo

h s thi gian tng p tn s

Hnh 3.24

Hnh 3.25

= 4Hz

Dng p sut trn v p sut di cu trc theo p sut ABS

bt u hot ng

67

ps = 6.9 (at), tn s = 4Hz v =0.80

Dng p sut trn v p sut di cu trc theo p sut ABS

bt u hot ng

66

ps = 5 (at), tn s = 4Hz v =0.80

68

Hnh 3.26

S ph thuc ca p sut trn v p sut di cu trc theo

p sut bt u lm vic p s

Hnh 3.27

Hnh 3.28

=4Hz v =0.80

S ph thuc ca p sut trn v p sut di cu sau theo P s

69

70

=4Hz v h s tng p l =0.80

S b tr h thng phanh vi cc bnh kh t ti gn cc

71

bnh xe
Hnh 3.29

p sut h thng khi chy m phng vi tn s

= 8Hz v

72

h s thi gian tng p =0.8

Hnh 3.30

S ph thuc ca p sut trn v p sut di cu trc theo

73

tn s h sthi gian tng p =0.6 v p sut ps=6.9

(x105N/m2)
Hnh 3.31

S ph thuc ca p sut trn v p sut di cu sau theo

74

tn s h s thi gian tng p =0.6 v p sut ps=6.9

(x105N/m2)
Hnh 3.32

S ph thuc ca p sut trn v p sut di cu trc theo

76

tn s =8 Hz v p sut p s=6.9(x105N/m2)
Hnh 3.33

S ph thuc ca p sut trn v p sut di cu sau theo h

s thi gian tng p tn s

77

=8 Hz v p sut ps=6.9

(x105N/m2)
Hnh 3.34

So snh s bin i p sut cu trc ca xe c s v xe ci

79

bin trong iu kin ti u = 0.73 v = 0.35 p sut

ps=6.9 (x105N/m2)
Hnh 3.35

So snh s bin i p sut cu sau ca xe c s v xe ci

80

bin trong iu kin ti u = 0.73 i vi xe c s v =

0.35 i vi xe ci bin p sut p s=6.9 (x105N/m2)
Hnh 3.36

So snh s bin i p sut cu trc ca xe c s v xe ci

bin trong hai trng hp

=6Hz i vi xe ci bin

v =4Hz i vi xe c s p sut ps=6.9 (x105N/m2)

82

Hnh 3.37

So snh s bin i p sut cu trc ca xe c s v xe ci

bin trong hai trng hp

=6Hz i vi xe ci bin v

=4Hz i vi xe c s p sut ps=6.9 (x105N/m2)

84

MC LC
Trang
Trang ph ba
Li cam oan
Danh mc cc k hiu
Danh mc cc bng
Danh mc cc hnh v v th
M U ..................................................................................................................... 1
CHNG I : TNG QUAN V H THNG PHANH T TI DN NG
KH NN C TRANG B ABS ................................................................................. 3
1.1Cng dng, yu cu v phn loi h thng phanh. ............................................ 3
1.1.1Cng dng. .................................................................................................3
1.1.2 Yu cu. ..................................................................................................... 3
1.1.3 Phn loi. ...................................................................................................4
1.2 Cc yu t nh gi hiu qu phanh .................................................................4
1.2.1 Gia tc chm dn khi phanh ...................................................................... 4
1.2.2 Thi gian phanh ......................................................................................... 6
1.2.3 qung ng phanh ................................................................................... 7
1.2.4 Lc phanh v lc phanh ring. ..................................................................8
1.3 Gii thiu chung v ABS v phanh kh nn c trang b ABS .......................... 9
1.3.1 Gii thiu chung v ABS........................................................................... 9
1.3.2 Phanh kh nn c trang b ABS ............................................................... 12
1.4 Cc nghin cu trong v ngoi nc v ABS kh nn bng phng php m
phng..................................................................................................................... 23
1.5 Vn nghin cu .......................................................................................... 24
1.6 Mc tiu, phm vi, phng php v ni dung nghin cu ca ti. ............ 25
CHNG II PHNG PHP M PHNG DN NG KH NN. .................. 26
2.1 Phng php m phng vi cc thng s tp trung. ...................................... 27
2.1.1 Lu lng tc thi i qua tit lu. .......................................................... 29
2.1.2Hm lu lng. ......................................................................................... 30
2.2 Phng trnh lu lng i vo dung tch ........................................................ 32
2.2.1Lu lng tc thi vo dung tch khng i............................................ 32
2.2.2 Lu lng tc thi vo dung tch thay i. ............................................. 33

2.3Phng trnh lu lng i qua im nt. ......................................................... 34

2.4

Cc th thc nghim ................................................................................ 34

CHNG III XY DNG M HNH M T H THNG ................................ 37

3.1 S tnh ton v thng s ca xe tham kho ............................................... 37
3.2 Xy dng m hnh ton hc m t h thng ................................................... 37
3.2.1 Xy dng m hnh ton hc m t nhnh phanh cu trc ca h thng
.......................................................................................................................... 37
3.2.2 Xy dng m hnh ton hc m t nhnh phanh cu sau ca h thng ..42
3.3Xy dng chng trnh tnh ton bng phn mm Matlab Simulink .............. 45
3.3.1 Gii thiu v Matlab Simulink ................................................................ 45
3.3.2 M phng qu trnh tng p v gim p ca h thng bng Matlab
Simulink............................................................................................................ 47
3.3.3 Tnh ton v kho st h thng phanh ..................................................... 54
3.4 Kho st cc qu trnh ca phanh ABS kh nn trn xe c s ........................ 56
3.4.1 Tm cc thng s ca tn s nh hng n s bin i p sut ca h
thng. ................................................................................................................ 56
3.4.2 Kho st s ph thuc ca p sut theo mt s thng s. ....................... 57
3.5 Gii php nng cao tn s iu khin ............................................................. 69
3.5.1Kho st p sut h thng ph thuc vo tn strn xe ci bin. ............. 70
3.5.2Kho st p sut h thng ph thuc vo h s thi gian tng p trn xe
ci bin. ............................................................................................................. 74
3.6 so snh hiu qu ca h thng phanh ABSxe ci bin v xe c s ................ 76
3.6.1 so snh s ph thuc p sut xe ci bin v xe c s theo khi =const
.......................................................................................................................... 76
3.6.2so snh s ph thuc p sut xe ci bin v xe c s theo khi =const
.......................................................................................................................... 80
KT LUN V KIN NGH................................................................................... 84
TI LIU THAM KHO ......................................................................................... 86

M U
Hin nay, nghnh cng nghip t trn th gii ni chung v Vit Nam ni
ring ang trong giai on pht trin mnh m. t c s dng rng ri trong
nhiu lnh vc ca nn kinh t quc dn nh: Giao thng vn ti, nng nghip, cng
nghip, xy dng, quc phng. Trong p ng c xu th , nghnh
cng nghip t Vit Nam ra i. Hng lot cc lin doanh sn xut lp rp t
c thnh lp nhm cung cp cho th trng nhng loi t c kt cu, ti trng
v gi thnh ph hp vi yu cu ca th trng trong nc.
Khi thit k ch to mt chic t mi, ngoi vic la chn kt cu, mu m,
chng loi, gi cca t v th hiu ca th trng th mt trong nhng quan tm
hng u l tnh nng an ton khi chuyn ng v tnh hiu qu kinh t ca t.
Tnh nng an ton khi chuyn ng c th hin r rt nht s lm vic ca h
thng phanh. Trn mi loi t khc nhau s c trang b cc h thng phanh c
kt cu khc nhau nh: h thng phanh dn ng bng c kh, h thng phanh dn
ng bng kh nn, h thng phanh dn ng bng thu lc, h thng phanh kt hp
dn ng kh nn - thu lc.
S lng cc xe ti v xe khch Vit Nam ang tng ln nhanh chng v ngy
cng chim v tr quan trng trong nn cng nghip vn ti ni a, nhng i km
vi l s lng cc tai nn nghim trng lin quan n xe ti v xe khch ngy
cng tng.
Trn cc loi t ti hng trung n hng nng thng c trang b h thng
phanh kh nn nhm m bo an ton cho xe khi chuyn ng. Vi u im l lc
tc ng ln bn p nh, nhng vn m bo c lc phanh cn thit cho xe. Hn
na ngy nay trn cc xe khch hay t ti, cc nh sn xut trang b thm h
thng chng b cng bnh xe ABS, nhm ci thin tt hn tnh an ton cho xe.
H thng phanh kh nn c nhc im l tr ca kh nn vy tr ny c
nh hng nh th no n ABS ca h thng c bit l tn s iu khin v khi
tn s qu cao h thng c th khng p ng kp, nhng tn s iu khin cng cao
hiu qu ca ABS cng cng cao. hiu r c qu trnh xy ra bn trong h

thng phanh khi c tn hiu ABS iu khin v tn s iu khin ln nht c th t

c l bao nhiu, th ta phi i nghin cu l thuyt v kho st thc t nhm tm
ra quy lut iu khin, m bo cho h thng phanh lm vic hiu qu, chnh xc v
tin cy. T ta c th a ra c cc gii php hp l nht cho h thng phanh
lp trn xe, ng thi tit kim c chi ph v thi gian dnh cho thit k. Do vy
lun vn chn ti Nghin cu kh nng p ng ca dn ng kh nn
trong h thng phanh ABS.Vi mc ch tm hiu qu trnh thay i p sut ti
bu phanh khi h thng ABS tc ng vi cc tn s iu khin khc nhau v tm ra
tn s iu khin gii hn cng nh a ra gii php nng cao tn s iu khin.

CHNG I : TNG QUAN V H THNG PHANH T TI DN NG

KH NN C TRANG B ABS
1.1Cng dng, yu cu v phn loi h thng phanh.
1.1.1Cng dng.
- H thng phanh t c cng dng gim tc ca xe ti mt tc no hoc
dng hn.
- Gi cho xe ng yn mt ch trong thi gian di.
- Kt hp vi cc h thng khc nh h thng treo, h thng li n nh
hng chuyn ng ca xe, cn bng thn xe v ci thin kh nng tng tc ca xe.
- Trong mt s xe chuyn dng, h thng phanh cn kt hp vi h thng li
quay vng xe.
1.1.2 Yu cu.
- C hiu qu phanh cao nht ( thi gian phanh nh, qung ng phanh nh, gia
tc phanh ln)
- Phanh m du v m bo n nh ca t khi phanh.
- Dn ng phanh phi c nhy cao, thi gian chm tc dng nh.
- iu khin nh nhng ( lc tc ng nh, nhng phi to c cm gic khi
phanh).
- Phn b mmen phanh hp l, tn dng ti a trng lng bm ti cc bnh xe
khi phanh, khng xy ra hin tng trt lt khi phanh.
- Khng c hin tng t xit.
- C cu phanh thot nhit tt.
- H s mast gia m phanh v tang trng hay a phanh cao, nh trong iu
kin s ng.
- Lc phanh trn cc bnh xe t l vi lc iu khin trn bn p.
- C kh nng gi xe trn dc trong thi gian di.
- D lp rp, iu chnh, sa cha.
- Ngy nay mt yu cu gn nh mang tnh bt buc cho cc xe l khng c hin
tng trt lt khi phanh m bo tnh iu khin v n nh hng chuyn

ng ca xe
1.1.3 Phn loi.
a) Phn loi theo c im iu khin:
- Phanh chnh ( phanh chn): dng gim tc ca xe khi ang chuyn ng.
- Phanh ph ( phanh tay): dng xe khi ngi li ri khi bung li v dng
lm phanh d phng.
- Phanh b tr ( phanh bng ng c, thy lc hay in t): dng tiu hao bt
mt phn ng nng ca t khi cn tin hnh phanh lu di ( phanh trn dc ).
b) Theo kt cu c cu phanh:
- C cu phanh tang trng.
- C cu phanh dng phanh a.
- C cu phanh dng phanh di.
c) Theo dn ng phanh:
- H thng phanh dn ng bng c kh.
- H thng phanh dn ng bng kh nn.
- H thng phanh dn ng bng thy lc.
- H thng phanh dn ng lin hp : c kh, thy lc , kh nn,
- H thng phanh dn ng c tr lc.
- H thng phanh dn ng in t.
d) Theo mc hon thin h thng phanh:
- Phanh c trang b b iu ha lc phanh.
- Phanh c trang b ABS.
1.2 Cc yu t nh gi hiu qu phanh
1.2.1 Gia tc chm dn khi phanh
Gia tc chm dn khi phanh l mt ch tiu quan trng nh gi hiu qu
phanh. Phng trnh cn bng lc ko khi phanh nh sau:

Pj Pp Pf P P Pi
Pj : Lc qun tnh sinh ra khi phanh.

Pp : Lc phanh sinh ra cc bnh xe.

Pf : Lc cn ln ti cc bnh xe.

P : Lc cn gi.
P : Lc cn masat.

Pi : Lc cn ln dc.
Pf ; P ; P : cc lc ny c gi tr rt nh so vi lc phanh ( lc phanh chim
khong 98%) nn khi tnh ton ta thng b qua.
Khi tnh ton cho xe chy trn ng bng ta b qua Pi
Nh vy phng trnh cn bng lc ko tr thnh:

Pj Pp
Ta c
Ppmax= .G

: H s bm
G : Trng lng bm

Ppmax= i

G
jpmax
g

i : H s tnh n nh hng ca cc khi lng quay

jpmax : Gia tc phanh ln nht

G
jpmax= .G
g

jpmax=

.g
i

(1.1)

nng cao hiu qu phanh, ngha l tng gia tc chm dn khi phanh th cn
phi gim h s j. Do vy trong nhng trng hp phanh khn cp ngi li cn
ct ly hp tch ng c ra khi h thng truyn lc, lc j s gim v jp.max s
tng ln nh vy hiu qu phanh s ln.
Biu thc (1.1) cho thy rng gia tc chm dn khi phanh t l thun vi h s
bm () gia lp xe v mt ng. Vi loi ng nha tt th h s bm ln =
0,7 0,8 (ngy nay mt s trng hp c bit h s bm c th ln hn 1) v vy

nu coi j 1 th gia tc chm dn cc i ca t khi phanh khn cp c th t

c l: jmax = 7 8 m/s2 (coi g = 10 m/s2).
Thc t, trong qu trnh t vn hnh, thng phanh vi gia tc chm dn nh
hn nhiu so vi gia tc chm dn m h thng phanh c th t c.
1.2.2 Thi gian phanh
Thi gian phanh cng l mt ch tiu dng nh gi hiu qu ca qu trnh
phanh.Thi gian phanh cng nh th hiu qu phanh cng ln.
Trong trng hp tng qut ta c:

jp

dv
dv
dt
dt
jp

dv 1 j
tp

dv j (v1 v 2 )
j
.g
.g
v2 p
v2
v1

Trong trng hp phanh khn cp, vn tc cui qu trnh phanh v2 = 0.

Ta c:
v1

t p. min
0

dv
j p. max

j
j
.dv
.v1
.g
.g
0

v1

(1.2)

Trong :
v1-vn tc ca xe ti thi im bt u phanh
v2-vn tc ca xe cui qu trnh phanh
Biu thc (1.2) cho thy, thi gian phanh nh nht t l thun vi h s (j) v
vn tc bt u phanh (v1), t l nghch vi h s bm () v gia tc trng trng
(g). Nh vy, cho thi gian phanh nh cn phi gim (j), do ngi li cn ct
ly hp khi phanh gim thi gian phanh.
Thi gian phanh tnh theo cc cng thc (1.2) l thi gian phanh mang tnh cht
l thuyt, ngha l thi gian ny c tnh trong iu kin l tng, khi phanh p
sut cht lng (hoc kh nn) t gi tr cc i ngay ti thi im bt u phanh v
khng k n thi gian phn ng ca li xe.
Thc t, thi gian phanh bao gm nhng khong thi gian sau:

 Thi gian phn x ca ngi li (t1): l khong thi gian tnh t thi im li
xe quyt nh phanh n lc tc dng ln bn p phanh, thi gian ny ph
thuc vo phn x ca ngi li, thng nm trong khong: t 1 = 0,3 0,8 s
Thi gian chm tc dng ca h thng phanh (t2): l khong thi gian tnh t
lc ngi li tc dng ln bn p phanh n lc m phanh p st vo trng
phanh, thi gian (t2) ph thuc vo kiu dn ng phanh.
t2 = 0,03 s

i vi dn ng phanh thy lc

t2 = 0,56 s

i vi dn ng phanh bng kh nn

Thi gian pht trin lc phanh (t3): l khong thi gian tnh t thi im lc
phanh bt u c tc dng hm bnh xe n thi im lc phanh t n mt
gi tr nht nh ( c th coi thi im ny l thi im lc phanh t gi tr
cc i)
Thi gian phanh chnh (t4): thi gian ny c xc nh theo cng thc (1.2).
Trong thi gian ny, lc phanh (Fp) hoc gia tc chm dn (jp) c duy tr
gi tr cc i.
Thi gian nh phanh (t5): l khong thi gian tnh t thi im ngi iu
khin thi tc dng ln bn p phanh n khi lc phanh c loi b (Fp = 0).
Khi t dng hon ton th thi gian t5 khng nh hng g n qung ng
phanh nh nht. Nh vy, thi gian phanh thc t ca qu trnh phanh k t khi
ngi iu khin ra quyt nh phanh xe cho n khi xe dng hn c tnh nh
sau:

t = t1 + t2 + t3 + t4
1.2.3 qung ng phanh
Qung ng phanh (Sp) l on ng m t tip tc di chuyn tnh t thi
im bt u phanh n thi im qu trnh phanh kt thc.Qung ng phanh l
mt ch tiu quan trng nht nh gi hiu qu phanh ca t. y l ch tiu m
ngi iu khin xe thng quan tm nht v c th nhn thc c mt cch trc
quan iu gip ngi iu khin s l tt cc tnh hung khi phanh t trn
ng.

Trong trng hp phanh khn cp:

j p. max

dv .g

dt
j

Nhn c hai v phng trnh trn vi dSp ta c:

dv
.g
.dS p
.dS p
dt
j
v.dv

.g
.dS p
j

S p. min

j
j 2
.
v
.
dv

.v1 v22
v .g
.g
v1

Khi phanh n lc t dng hn (v2 = 0) ta c:

S p. min

j 2
.v (1.3)
.g 1

Biu thc (1.3) cho thy qung ng

phanh nh nht ph thuc vo vn tc
chuyn ng ca t lc bt u phanh (theo
hm bc hai), ph thuc vo h s bm ()
v h s qun tnh quay (j). gim qung
ng phanh cn gim h s (j) bng cch
ct ly hp khi phanh.
th hnh (H. 1-1) cho thy s thay
i ca qung ng phanh nh nht theo
(v1)v (). Vn tc ban u cng ln th
qung ng phanh cng ln. H s bm

Hnh 1.1 th ch s ph
thuc ca qung ng phanh
nh nht vo v1 v

cng ln th qung ng phanh cng nh.

1.2.4 Lc phanh v lc phanh ring.
Khi kim tra h thng phanh trn b th ngi ta thng dng ch tiu lc
phanh v lc phanh ring nh gi hiu qu ca h thng phanh. Lc phanh P p
c xc nh theo biu thc:

Pp =

Mp
rb

Mp: tng m men phanh sinh ra ti cc c cu phanh

Rb: Bn knh lm vic trung bnh ca cc bnh xe
Lc phanh ring (p) cn gi l hiu sut phanh l t s gia lc phanh v
trng lng ca xe:
p

Pp
G

Lc phanh ring t cc i khi phanh vi lc phanh cc i.

p.max

Pp.max
G

.G

(1.4)

nh gi hiu qu ca qu trnh phanh th ta ch cn dng mt trong bn ch

tiu ni trn. Trong cc ch tiu th ch tiu qung ng phanh l c trng nht,
v ch tiu ny cho php ngi iu khin hnh dung c v tr xe dng li khi thc
hin qu trnh phanh trnh cc trng ngi vt trn ng khi xe vn hnh trn
ng.
1.3 Gii thiu chung v ABS v phanh kh nn c trang b ABS
1.3.1 Gii thiu chung v ABS
Nh bit phn trn khi lp b b cng th h s bm s gim i v c
bit l h s bm ngang gim i nhiu, khi s lm gim hiu qu phanh lm mt
kh nng iu khin hng v mt n nh thn xe. V vy ngn chn hin tng b
cng bnh xe l iu cn thit tng an ton cho xe. lm c iu ny cn
lp li ng tc p v nh bn p phanh nhiu ln. Tuy nhin, i vi ngi li
lm c vic ny l khng th khi phanh khn cp, thc hin cng vic ny
thay cho ngi li cc xe hin nay s dng h thng gi l ABS ( Anti-lock Brake
System).
* Vai tr ca ABS

H thng ABS c s dng trnh b cng bnh xe trong qu trnh hot ng

mi ch phanh nhm mc ch:
- Gi n nh hng chuyn ng ca xe khi phanh trn ng vng, hay trn
ng c trng thi khc nhau (h s bm ). Vi t khng b tr ABS cc
bnh xe c th b kho cng lm gim h s bm t gy xoay thn xe. Vi
t b tr ABS khi phanh t s chuyn ng vi hng n nh n khi no
dng li, k c khi hot ng trn ng cong, hoc trn nn ng c trng
thi khc nhau.
- Thng qua vic chng b cng t m bo h s bm lun gi tr cao t
m bo kh nng iu khin hng ca xe lun c m bo mc tt
nht.
- To iu kin nng cao hiu qu phanh c bit khi s dng ng tt.
*Hot ng ca h thng phanh ABS
Nguyn l hot ng ca ABS c trnh by nh trong hnh 1.2
H thng ABS dng mt ECU xc nh tnh trng quay ca 4 bnh xe trong
khi phanh t cm bin tc bnh xe v c th t ng tng gim p sut cc
xilanh bnh xe hay bu phanh
S khc nhau v t l gia tc ca xe v tc ca cc bnh xe c gi l
h s trt.
Khi s chnh lch gia tc ca xe v tc ca cc bnh xe tr nn qu ln,
s quay trt s xy ra gia cc lp v mt ng.
iu ny cng to nn ma st v cui cng c th tc ng nh mt lc phanh
v lm chm tc ca xe.
Mi quan h gia lc phanh v h s trt c th hiu r hn qua th hnh
1.2 bn di.
Lc phanh khng t l vi h s trt, v t c cc i khi h s trt nm
trong khong 10 - 30% cc loi ng tt.Vt qu 30%, lc phanh s gim dn.
Do , duy tr mc ti a ca lc phanh, cn phi duy tr h s trt trong gii
hn 10-30% mi thi im..

10

Hnh 1.2 Nguyn l iu khin ABS

Ngoi ra, cng cn phi gi lc bm ngang mc cao duy tr s n nh v
hng (nu mt lc bm ngang xe s mt kh nng iu khin hng). thc hin
iu ny, ngi ta thit k h thng ABS tng hiu sut phanh ti a bng cch
s dng h s trt l 10-30% bt k cc iu kin ca mt ng, ng thi gi
lc quay vng cng cao cng tt duy tr s n nh v hng.

11

1.3.2 Phanh kh nn c trang b ABS

1

18

17

16

10

11

14

15

13

12

Hnh 1.3 S h thng phanh kh nn c trang b ABS

1. My nn kh

11. Van gia tc

2. Van iu p

12. Bu phanh tch nng

3. B lc tch nc

13.18. Bu phanh n

4. Van chia ng bo v hai dng

14.17. Van ABS kh nn

5. Van an ton

15. tng phanh

6.7.8.9. Bnh kh

16. Bn p phanh

10. Van phanh tay

a)Van chia ng bo v hai dng
Van c cng dng chia dng kh thnh hai nhnh to nn cc dng kh c lp,
khi mt trong hai dng b mt p sut th dng cn li vn lm vic c.
Cu to ca van chia ng bo v hai dng c m t nh trong hnh 1.4.

12

Khi c kh nn cp vo ng I, kh nn s y m cc van mt chiu 3, cp

kh cho cc khoang B v Cdi tc dng ca p sut kh nn p l xo 5 y
pttngs 4

Hnh 1.4 Van chia ng bo v hai dng

theo chiu m van 3, van 3 c m ln hn. Kh c p sut cp vo ng II v III
i n cc bnh cha kh.
Khi ng s III b mt p sut, p sut kh bn ng II ln hn s y pittng
trung tm sang phi, ng thi l xo s 5 bn phi y pittng 4 sang tri ng van
mt chiu 3 bn phi ngng cung cp kh cho ng III, ng II vn hot ng
bnh thng.

b. Van phn phi

Cu to ca van phn phi trnh by trong hnh 1.5.
*Cm bn p:
Bn p phanh 22 c c cu hot ng kiu n by vi im ta O nm trn
np van phanh 17. im thp nht ca bn p b hn ch bi vt iu chnh 18, u

13

kia l cht quay 20. Vt 18 t vo np 17 hn ch hnh trnh ca cht quay khi

nh phanh, ng thi l c cu iu chnh hnh trnh t do ca bn p.
Con ln 20 quay quanh im ta O v dch chuyn theo chiu quay ca bn p
khi phanh, p cc 19, y pittong trn 15, pittong di 4 lm thay i v tr cc cm
1- Chp che bi
2- L xo hi v piston trn
3- Vng hm van trn
4- Piston di
5- L xo hi v van di
6- Thn van di
7- Van x kh
8- l xo hi v van di
9- Van di
10- L xo hi v piston di
11- L xo hi v van trn
12- Van trn
13- L xo trc xuyn tm
14- L xo p piston trn
15- Piston trn
16- Thn van trn
Hnh 1.5 : Van phn phi dn ng hai dng

17- Np van phanh

18- Vt iu chnh
19- Cc p
20- Cht t
21- Con ln
22- Bn p phanh

van trn, Van di ca van phn phi.

*Cm van iu khin dng phanh sau:

14

Nhim v chnh l ng m dng phanh dn ra cu sau. Cm van ny bao gm:

np van phanh 17 v cc chi tit nm trong thn van trn 16. Pittong trn 15 c
gi v dch chuyn trong thn van 16 bi cc l xo hi v 2, l xo p 14.Mt di
ca pittong 15l van trong ca cm van. van trong dch chuyn cng vi
pittng 15, van 12 p st vo van. Khi khng phanh , van 12 ng ng cung
cp kh nn t P1 sang B1, ng thi m ng dn kh B1 qua l xuyn tm thng
ra kh quyn R.
*Cm van iu khin dng phanh trc:
Cm van iu khin dng phanh trc bao gm: pittng 4 nm di thn van
trn 16 v cc chi tit nm trong thn van di 6. Pittng 4 c li l ng tr rng
lm nhim v x kh ra kh quyn.Pittng c p ln trn nh l xo hi v 10. Mt
di ca pittng 4 l van trong ca cm van di. van trong dch chuyn cng
vi pittng 4.Di tc dng ca l xo 5, van 9 p vo van ngoi.
Khi khng phanh van 9 ng ng cp kh nn t P2 sang B2, ng thi m
ng thng ra kh quyn. L xo 5 t ln 8, lun c xu hng p van 9 ng
ng cp kh t P2 sang B2. 8 c c nh nh vng kha h ming nm
trong thn van di 6.Van 12 ch to bng cao su c nh dng nh ng tr dn
hng.
*Nguyn l lm vic
-Khi khng phanh cc l xo hi v 2, 5, 10, 11, gi cho cc van 12 v van 9
trng thi ng, khng cung cp kh t P1 P2 sang B1 B2 ng thi thng ng
B1 B2 vi kh quyn qua ng tm van.
-Khi phanh bn p phanh quay quanh cht c nh O, p con ln 20t cc p
19 i xung. Khi khc phc xong khe h t do bch chn p l xo 14 y pittng
trn 15 i xung. Ban u van 12 tip xc vi mt van ng ng thng B1 ra
kh quyn. van 12 tip tc i xung m van 12 thng ng P1 vi B1cp kh
nn i ti cc bu phanh cu sau
ng thi kh nn t B1 qua l nh ln mt di ca pittng 15 sinh lc ngc
chiu vi lc bn p gy cm gic nng cho ngi li. Kh nn cn qua l nh

15

khc xung mt trn pittng di 4 sinh lc ( y nhanh qu trnh), cng vi lc

bn p truyn qua van 12 y pittng 4 i xung. u tin van 9 t ln mt van
9 ng ng thng B2 ra kh quyn. Van 9 tip tc i xung m ng thng t
P2 sang B2 cp kh nn n cc bu phanh cu trc.
-Khi nh phanh, bn p phanh 21 tr v v tr ban u, cc p 19 c y v
v tr ban u di tc ng ca lc l xo hi v, y pittng di 4 v pittng trn
15 dch chuyn ln trn. Qu trnh dch chuyn xy ra: ng van cp kh nn v m
van thng kh quyn. Nh vy dng cp kh nn t P1 sang B1 v t P2 sang B2b
ngt v ni thng ng kh B2, B1 ra kh quyn E. Kh nn t cc bu phanh c
x ra ngoi nh l xo hi v c cu phanh v bu phanh bnh xe, qu trnh phanh
kt thc.
-R phanh: l qu trnh phanh xe v duy tr phanh mt mc nht nh
nhm gi t tc no . Khi r phanh, ban u ngi li phanh xe bng cch
tng dn lc iu khin bn p, sau khng tng v gi nguyn bn p v tr
no .
Khi ngi li tng dn lc bn p, cc van cp kh ang m rng dn v to
iu kin cho tng dn p sut sau van. p sut kh nn thng qua cc l nh tng
dn, tc dng ln mt di ca piston 15 v mt trn ca piston 4.
Gi nguyn v tr bn p (khng tng lc iu khin), p sut sau van s tip
tc tng theo qun tnh dng kh v c xu hng y piston trn 15 dch ln, to
iu kin cho van 12 i ln, ng mt van 12 vi van ngoi, bt ng kh cp
cho ng P1, p sut sau van 12 khng tng c na. Khi , p sut mt trn
piston di 4 khng tng c na, to iu kin cho piston 4 i ln, ng mt van
9 vi van ngoi, bt ng kh cp cho ng B1, p sut sau van 9 khng tng
c na. Lc bn p khng tng nhng duy tr mc nht nh cha
m van x kh. Do trong trng hp r phanh cc van u nm trong trng thi
ng kn. p sut kh nn sau van duy tr mc nht nh v bu phanh khng
tng lc iu khin, c cu phanh vn b phanh mc tng ng vi v tr bn
p phanh, to nn trng thi r phanh c cu phanh.

16

-Khi mt dng phanh b hng:

Van phn phi hai dng cn cho php lm vic khi b hng mt dng phanh bt
k, tuy nhin hiu qu phanh s km hn.
Khi dng phanh sau b hng: Gi thit dng kh P1 mt p sut, hnh trnh ca
bn p phanh vn phi khc phc ht khe h ng van x ca cm van trn kh
nn v m van thng ng P1 sang B1, sau y tip pittng 4 i xung, m van
np kh t ng P2 sang B2. Nhng do khng c p sut h tr m cm van di
ca dng phanh sau (pha trn), do vy hnh trnh v lc bn p yu cu ln hn.
Khi dng phanh trc b hng: nu dng phanh trc b mt p sut, qu trnh
ng m cm van trn vn thc hin c. Khi tip tc p phanh, pittng 15 i
xung, y tip pittng 4 ng van x v m van cp cho cm van di.Hai dng
kh vn c ngn cch nh pittng 4, m bo cho dng phanh sau vn hot ng.
Khi mt trong hai dng phanh b hng, vng p sut cao ti mt dng phanh
c ngn cch vi dng phanh cn li nh piston 4 v cc pht cao su bao kn,
m bo cho dng phanh c p sut vn hot ng.
c. Bu phanh bnh xe
Bu phanh bnh xe c cu trc nh xi lanh lc tc ng mt chiu. V ca bu
phanh c bt c nh trn v cu, n y ta cht trn piston y v dch chuyn
iu khin cam quay.
Bu phanh bnh xe c nhim v to lc kh nn y n y dch chuyn, to
nn xoay cam quay c cu phanh.
*Bu phanh n
Cu to ca bu phanh n c m t trong hnh 1.6.
Cu to ca bu phanh n dng mng gm hai na v ca bu phanh 1,7. Mng
cao su 5 b tr gia hai na v, chia bu phanh thnh hai khoang.Khoang trn c
ca P dn kh nn t van phn phi n, khoang di c l thng R vi kh quyn.
L xo hi v 2 c tc dng y mng 5 v v tr ban u khi khng phanh.
Mng 5 c bng tm 4, v ni lin vi n y 6.n y 6 v u ni 10
lin kt bt ren vi nhau, to thnh n y dn ng quay cam quay ng m c

17

cu phanh. Chiu di ca n y c iu chnh nh ai c 9, nhm to nn v tr

thch hp vi cam quay.

Hnh 1.6 : Bu phanh n

1,7- Na v;
2- L xo hi v;
3- u ni kh;
4- Tm ;
5- Mng cao su;
6- n y;
8- Bu lng bt vi gi;
9- ai c iu chnh;
10- u ni ch U
Nguyn l lm vic:
Khi khng phanh, di tc dng ca l xo hi v 2, mng 5 v tr tn cng pha
trn. Khi phanh, kh nn c p sut cao c dn ti khoang trn ca bu phanh qua
l P, y mng 5 v n y 6 dch chuyn v xung di, thc hin s xoay cam
quay trong c cu phanh. Khi nh phanh, di tc dng ca l xo hi v 2 y mng
5, ko n 6 tr v v tr ban u. Kh nn khoang trn theo ng ng quay v
van phn phi thot ra ngoi, kt thc qu trnh phanh.
*Bu phanh tch nng
Cu to ca bu phanh v cc trng thi lm vic th hin trn hnh 1.7:
Bu phanh tch nng gm hai bu phanh c ghp ni tip nhau, mt bu
phanh chnh v mt bu phanh tch nng.

18

Bu phanh chnh c cu to v nguyn l lm vic trn c s bu phanh n

dng mng. Trong bu phanh chnh c hai khoang: khoang P thng vi kh quyn,
khoang S thng vi ng cp v thot kh nn khi phanh t van phn phi.
Bu phanh tch nng dng xi lanh piston kh cng chia lm hai khoang:
khoang T thng vi kh tri nh ng ng 4, cn khoang Q thng vi van phanh

1- 1.c iu chnh

7- 7.n y

13- 13.Piston tch nng T- Khoang tch

2- 2.ng y

8- 8.Thn bu phanh14- 14.L xo tch nng

nng

3- 3.V bu phanh

9- 9.L xo hi v

A-iu khin

S- Thng vi A
P-Thng vi kh

4- 4.ng dn kh

10- 10.Tm

phanh chn

5- 5.V trong

11- 11.Bc y

B-iu khin nh quyn

6- 6.Mng cao su

12- 12.Vng t

phanh

Q-Khoang thng
vi B

Hnh 1.7 : Bu phanh tch nng

tay qua ng dn B. Trong khoang tch nng T gm: v bu phanh tch nng 3,
piston tchnng 13, c iu chnh 1. Ton b cc chi tit ca bung tch nng t ni
tip vi bu phanh chnh thng qua ng y 2

19

Nguyn l lm vic:
Trng thi ban u, khi cha c kh nn, di tc dng ca l xo tch nng 14,
y piston 13, ng y 2, mng 6 v n y 7 v bn phi, thc hin phanh bnh
xe. y l trng thi phc v vic xe trn dc ( chc nng phanh tay).
Khi khng phanh, my nn kh t p sut khong 0,7 MPa, ng B c cp
kh t bnh cha kh (hoc van phanh tay) vo khoang Q. Kh nn y piston tch
nng 13, nn l xo tch nng v bn tri. Di tc dng ca l xo hi v 9, mng 6
dch chuyn sang tri, ko cam quay c cu phanh v v tr nh phanh, bnh xe ln
trn.
Khi phanh bng phanh chn, van phn phi m ng kh vo ng A ti
khoang S, ng thi trong khoang Q c kh nn, mng 6 b dch chuyn v bn phi,
n y 7 s ko cam quay thc hin xoay cam phanh bnh xe.
Khi thi phanh, kh nn theo ng A thot ra ngoi qua van phn phi, thc
hin s nh phanh.
Nu trn t khng cn kh nn, l xo tch nng 14 lun c xu hng y ng
y 2 v n y 7 v trng thi phanh lm c cu phanh b phanh cng. Bu phanh
tch nng c th thay th cho chc nng ca phanh tay hoc phanh khn cp, do
thng c b tr trn cc cu sau ca t ti v r mooc.
d. van gia tc
Cu to van gia tc c m t trn hnh 1.8.
Van gia tc c cng dng gim qung ng i ca kh nn, lm gim thi gian
chm tc dng ca phanh.
Khi khng c kh nn vo ng A (khng p bn p phanh), van di 6
ng, van trn 3 m. ng B thng ra kh quyn, khng c kh nn n bu phanh
Khi c kh nn t van phn phi n ng A ( p bn p phanh) , kh nn
y piston trn i xung, ng van trn( ng B ngn khng thng ra mi trng),
piston trn tip tc i xung, van i m ra thng ng D v ng B cp kh
nn t bnh ti bu phanh.
Khi dng p bn p phanh ti mt v tr, p sut ti A khng tng, nhng theo

20

qun tnh piston v cn y tip tc i xung kh t D tip tc cp vo khoang B, p

sut pha di piston trn tip tc tng trong khi p sut pha trn piston khng tng,

1. 1.Thn van
2. 2.Piston trn
3. 3.Van trn
4. 4. Cn y van iu chnh
5. 5.Van di
6. 6. L xo
7. 7.Thn van di
A. A.ng kh t van phn phi
B. B.ng kh ra bu phanh
C. C.ng kh ra mi trng
D. D.ng kh t bnh kh nn
ti
Hnh 1.8 Van gia tc
Khi thi cp kh t van phn phi n A, i tc dng ca l xo hi v, cn
y 4 v piston i ln, ng ng thng t B sang D v m ng thng t B ra
mi trng, x kh bu phanh ra mi trng.
e. Van ABS kh nn
Cu to ca van ABS kh nn c trnh by nh trong hnh 1.9:
*Trng thi tng p hay khi van ABS cha lm vic.
Khi van ABS cha lm vic van 7 ng, van 14 m.
Van 7 ng, khoang I khng thng vi khoang H v m ng thng khoang H
ra mi trng. Van 14 m, khoang I thng vi khoang K, khoang K ngn cch vi
mi trng.
Khi p bn p phanh, kh nn t van phn phi hay van gia tc cp vo
ng I, p sut pha trn mng 19 thp( van 7 ng), kh nn y m mng 19,

21

cpkh t khoang I sang khoang 0 n bu phanh. p sut pha di mng 17 cao,

mng 17 ng ( van 14 m) ngn khng cho khoang 0 x kh ra ngoi mi trng.
*Trng thi gim p

Hnh 1.9 cu to van ABS kh nn

Van 7 m, van 14 ng.
Van 7 m, khoang I thng vi khoang H, khoang H ngn cch vi mi trng.
Kh nn t khoanh I sang khoanh H, p sut pha trn mng 19 cao, mng 19 ng,
khng cho kh t khoang I khng sang c khoang 0.

22

Van 14 ng, khoang I ngn cch vi khoang K, khoang K thng ra mi

trng.p sut pha di mng 17 thp, mng 17 m x kh t khoang 0( bu
phanh) ra mi trng. p sut bu phanh gim
*Trng thi gi p
Van 7 m, van 14 m.
Van 7 m, khoang I thng vi khoang H, khoang H ngn cch vi mi trng.
p sut t khoang I n pha trn mng 19, mng 19 ng ( p sut pha trn mng
19 cao )
Van 14 m, khoang I thng vi khoang K, khoang K ngn cch vi mi trng,
p sut pha di mng 17 cao, mng 17 ng.
C hai mng 19 v 17 ng, khng cho kh t khoang I sang khoang 0, ng thi
khng cho kh t khoang 0 x ra mi trng, p sut khoang 0 n nh.
Trong qu trnh iu khin ABS kh nn, khi a tn s iu khin ln cao nh h
thng phanh thy lc sy ra vn l qu trnh thay i p sut khi tng v gim
p khng p ng c dn n h thng khng lm vic tn s cao.
1.4 Cc nghin cu trong v ngoi nc v ABS kh nn bng phng php m
phng.
Mt s nghin cu ng dng phng php m phng tp trung gii bi
ton dn ng phanh kh nn trn t, m phng qu trnh tng p v gim p khi
p phanh v kho st cc yu t nh hng ca h thng phanh n thi gian chm
tc dng nh: ng knh ng, chiu di ng, ng knh bu phanh, th tch ca
tng van v cc ng chia dng. M phng ng c tnh lm vic ca my nn kh
vi b iu ha p sut trn t.
-

Lun vn: Nghin cu m phng ng lc hc dn ng iu khin phanh

kh nn trn xe t qun s. Vng Xun Sinh.
Ni dung ca lun vn l m phng dn ng iu khin h thng phanh
kh nn ca xe zil130 v zil130 ci tin c th nghim thc t

Lun n Nghin cu h thng ABS dng cho phanh kh nn. H Hu

Hng

23

Ni dung ca lun n l xy dng m hnh m phng b iu khin h

thng phanh ABS kh nn s dng thut ton iu khin theo trt ca
cc bnh xe khi phanh bng phng php thc nghim.
-

Lun vn iu khin m trt cho h iu khin p sut kh nn. -

Nguyn Th Minh Thi.

Ni dung chnh ca lun vn l Nghin cu bi ton iu khin cho h p
sut bng b iu khin trt v nghin cu bi ton iu khin cho h p sut b
iu khin m trt.
-

Bi bo ng trn tp ch quc t CAD/CAM Hardware-in-the-Loop

Simulation of Pneumatic Antilock Braking System Based on Modelica. Zhang Hongchang, Zhang Yunqing, and Chen Liping - Center for ComputerAided Design Huazhong University of Science & Technology, Wuhan,
China.
Ni dung l nh gi hiu qu ca phanh kh nn ABS.

Lun vn A pressure control scheme for air brakes in commercial vehicles.

Christopher Leland Bowlin- Submitted to the Office of Graduate Studies of
Texas A&M University.
Ni dung ca ti l nghin cu v pht trin h thng phanh ABS kh
nn cho xe thng mi.

1.5 Vn nghin cu
Qu trnh iu khin phanh ABS kh nn cng tng t nh phanh thy lc u
gm 3 qu trnh: Tng p, Gim p v Gi p. Trong phanh ABS kh nn qu trnh
tng p khng kh c np vo cc bu phanh, qu trnh gim p khng kh c
x ra ngoi mi trng.
Nhc im ln ca h thng phanh kh nn l chm tc dng ln do bn
cht khng kh c th nn c, nn qu trnh truyn p sut trong h thng chm
hn thy lc nhiu.c im ny cng nh hng ln n qu trnh iu khin ABS
ca h thng phanh kh nn. cc tn s iu khin cao h thng khng p ng

24

c, lm cho qu trnh bin i p sut bu phanh trong qu trnh tng v gim

p, khng c nh mong mun.
Khi nghin cu h thng phanh ABS kh nn vn t ra l:
1-Tm cc quy lut bin i p sut a ra cc t vn trong qu trnh ch
to v iu khin h thng phanh ABS kh nn.
2-Tn s iu khin ln nht m h thng cn c th p ng c.
Vi cc vn nu trn lun vn quyt nh la chn ti: Nghin cu
kh nng p ng ca dn ng kh nn trong h thng phanh ABS. Vi mc ch
l xc nh tn s iu khin h thng phanh ABS kh nn ln nht m khi h
thng cn c kh nng p ng.
1.6 Mc tiu, phm vi, phng php v ni dung nghin cu ca ti.
Mc tiu nghin cu ca ti
- Xc nh tn s iu khin gii hn ca h thng ABS.
i tng nghin cu
- H thng phanh kh nn trn t ti c trang b ABS.
Phm vi nghin cu
- Xc nh mt s cc quy lut trong qu trnh iu khin ABS kh nn.
- Xc nh tn s iu khin gii hn ca h thng ABS.
Phng php nghin cu
- Vn dng l thuyt ng lc hc kh nn kt hp m phng trn my tnh
cho h dn ng phanh kh nn trn t ti.
Ni dung nghin cu
- Xy dng m hnh m phng dn ng phanh kh nn.
- Xy dng m hnh ton hc m t h thng vi cc thng s tp chung.
- Xy dng chng trnh tnh ton bng Matlab Simulink.
- Xc nh mt s cc quy lut trong qu trnh iu khin ABS kh nn.
- Xc nh tn s iu khin gii hn ca h thng ABS.

25

CHNG II PHNG PHP M PHNG DN NG KH NN.

nghin cu ng hc ca h thng dn ng phanh bng kh nn cn phi
thit lp c cc phng trnh vi phn m t qu trnh lm vic ca h thng. V
trong thc t bn cht vt l ca cc hin tng xy ra trong h thng rt phc tp
nn vic m phng mt cch chnh xc l khng th thc hin c, c bit l qu
trnh qu . Do vy, ngi ta thng phi s dng cc phng php m phng gn
ng gii quyt vn ny. nghin cu ng hc ca h thng dn ng
phanh kh nn trn xe t c nhiu phng php nghin cu. Mt trong nhng
phng php c s dng rng ri nht l phng php m phng c tn gi l
M phng tp trung. Bn cht ca phng php ny l tnh ton ng hc kh
nn qua cc phn t ca h thng dn ng phanh kh nn (my nn kh, cc bnh
cha kh, ng ng dn kh v van phn chia, van hn ch p sut, van phanh
chnh, cc bu phanh cc bnh xe, cc van ph) thc hin theo cc nguyn tc
sau:
1 - Th tch kh cha trong phn t c coi l tp trung ti mt dung tch. Dung
tch ny c th l khng i hoc bin i trong qu trnh h thng lm vic (qu
trnh tnh ton).
2 - Sc cn dng chuyn ng ca cc phn t kh c k hiu tp trung bng
mt tit lu, tit lu ny c th c tit din khng i hoc c th thay i. c
trng sc cn kh ng qua mi phn t l h s cn kh ng .
3 - Mi ghp gia cc phn t gi l im nt. Tng lu lng kh i vo v ra
khi im nt (c xt n du) ti thi im xt bng 0.
Phng php chung tnh ton cc thng s trng thi ca h thng l tin
hnh tnh ton ln lt tng nt theo trnh t k t u vo ln lt ti cc nt k
tip sau. Ly kt qu tnh p sut cui ca nt trc lm p sut u vo cho nt
sau.
Phng php M phng tp trung c u im l tng i n gin, d
thc hin. Mc d khi lng tnh ton ln nhng n cho php nghin cu h thng
phc tp c nhng gi thit gn ging vi thc t vi chnh xc cao.

26

2.1 Phng php m phng vi cc thng s tp trung.

Cc h thng dn ng bng kh nn bao gm cc ngun cung cp kh (my
nn, cc van an ton, cc bnh cha,) v cc thit b khc nh van iu khin v
cc xi lanh chp hnh. V d in hnh ca mt h thng dn ng kh nn trn t
l h thng dn ng phanh (xem hnh 2-1) c s dng trn cc xe ti c trung
bnh v c ln.

Hnh 2.1.S h thng dn ng phanh bng kh nn

1-Tng van phanh; 2, 3- Cc bu phanh trc;
4, 5, 6, 7- Cc bu phanh sau.
nghin cu ng lc hc ca h thng cn phi thit lp c cc phng
trnh m t qu trnh lm vic ca h thng hay ni cch khc l m t ton hc h
thng. Tuy nhin bn cht vt l ca cc hin tng xy ra trong h thng rt phc
tp v vic m phng mt cch hon ton chnh xc l khng th thc hin c,
c bit l qu trnh qu . Do vy, ngi ta thng phi s dng cc phng php
m phng gn ng gii quyt bi ton ny, n c u im l tng i n
gin, d thc hin v cho php nghin cu nhng h thng phc tp vi chnh
xc cao.
Bn cht ca phng php m phng tp trung da trn 2 nguyn tc sau:

27

Th tch kh trong tt c cc phn t ca h thng (van, xi lanh chp hnh,

ng ng,) c coi l tp trung ti mt dung tch v sc cn ca cc phn t

ny c tp trung ti mt tit lu.

p dng quy tc tnh dng in i qua im nt tnh lu lng kh i qua

im nt ca s m phng.
S dng cc quy tc trn ta c th bin i s h thng phanh trn hnh 2-1
thnh s m phng c dng nh th hin hnh 2-2.

a) S m phng dn ng phanh ra cu trc

Y9

V9

f9
f5

Y5
V5

f6

Y6

f7

V6

Y7
V7

f8

Y8
V8
f10

Y10

V10

b) S m phng dn ng phanh ra cu sau

Hnh 2.2.S m phng h thng phanh
V d trn cho thy, phng php m phng tp trung cho php n gin ha
bi ton m phng v quy v vic xc nh:

Quan h gia cc thng s dng chy i qua im nt;

28

Quan h gia cc thng s dng chy i qua tit lu;

Quan h gia cc thng s dng chy i vo dung tch.

2.1.1 Lu lng tc thi i qua tit lu.

Hnh 2.3.Tit lu v k hiu ca n trn s m phng.

Phng trnh lu lng tc thi i qua tit lu:

m,D =(

) =fv*

()

Trong :

m,D -lu lng tc thi i qua tit lu;

- h s lu lng: =
fc,f tit din ca dng kh v ca l tit lu;
v* - vn tc ti hn: v*=

(~330 m/s vn tc truyn sng trong khng

kh);
k=1,4;
T nhit tuyt i;
R=287,14 m2/(s2K) ;
() hm lu lng, vi l p sut khng th nguyn: =
p0, p1 p sut trc v sau tit lu;

29

2.1.2Hm lu lng.
Hm lu lng () th hin quy lut bin i lu lng kh theo p sut
khng th nguyn :
() = 1/ku()
trong u() l hm tc dng kh.
Do mc phc tp ca cc qu trnh xy ra trong h thng m cho ti nay
ngi ta cha tm c biu thc ton hc chnh xc t hm lu lng. trong cc
tnh ton vn phi s dng cc cng thc kinh nghim hoc cc cng thc gn ng
c xy dng trn c s mt lot cc gi thit nn thiu chnh xc. Cc sai s ny
c b tr trong h s , cn th c xc nh bng thc nghim.
Theo Saint-Venant tn ti 2 ch dng chy ca cc cht kh ty thuc vo
p sut khng th nguyn . Ngha l tn ti mt gi tr gii hn *=0,528:
>0,528:

() =

0,528:

(*) = 0,2588

)
= 0,579

Cc cng thc trn qu phc tp nn khi tnh ton ngi ta thng n gin
ha:
>0,528:

() =

0,528:

(*) =

= 0,598

Cc cng thc ca Saint-Venant c xy dng trn c s thc nghim trn

cc tit lu c dng nh m t trn hnh 2-3.Trn thc t, dng chy trn cc my
thy lc v trong cc ng ng khng hon ton ging nh vy. Cc nghin cu
thc nghim trong iu kin thc ch ra rng ch gii hn hoc khng t
c, hoc t c vi nh hn nhiu so vi gi tr 0,528:

i vi cc van cng nghip: *=0,2 0,4 ;

30

ng = 3-20 mm, l <30 mm: *<0,1.

F.E.Sanville, da trn kt qu nghin cu trn cc loi van v ng ng thc

a ra cng thc kinh nghim:

()=

trong * c xc nh bng thc nghim.

Khi * = 0,5 th ()=2

- ta li c cng thc Saint-Venant.

C th thy trong cng thc ny s tn ti ca 2 ch dng chy gy kh

khn cho vic tnh ton, cn thm vn na l phi xc nh bng thc nghim gi
tr * cho tng trng hp c th.
Cn nhiu cng thc tnh hm lu lng ca cc tc gi khc, nhng y ta
xt hm lu lng do gio s N.P.Metliuc xut:
()=A
trong :

A=

=Bmax().

Biu thc ny c c t iu kin: khi = 1 th ()=0, cn khi = 0 th

() = max().
H s B xc nh bng thc nghim, i vi cc h thng kh nn trn t ta
c: B=1,13
Vy nu chp nhn theo Saint-Venant max() = (*) = 0,579 th:
A= Bmax() = 1,13.0,579=0,654.
Cui cng hm lu lng l:
()=0,654
C th thy ngay rng nu s dng cng thc ny trong cc tnh ton th ta c
th n gin ha bi ton i kh nhiu (khng cn 2 ch dng chy na) hn na
cc ng c th cho thy cng thc ny c kt qu rt gn vi thc nghim.

31

V vy trong cc tnh ton sau ny ta s s dng cng thc trn, ngha l ta c

cng thc tnh lu lng tc thi i qua tit lu:
) =fv*

m,D =(

(2.1)

2.2 Phng trnh lu lng i vo dung tch

2.2.1Lu lng tc thi vo dung tch khng i
T phng trnh trng thi cht kh:

m,E =(

) =

do V=const nn
(

(2.2)

=0:

) =

(2.3)

Hnh 2.4. s lu lng i qua van tit lu vo dung tch

p dng cc kt qu trn cho mt nhnh tit lu dung tch (D-E), nh trn
hnh 2-4, ta c: ti nt Y, lu lng qua tit lu D bng lu lng vo dung tch E,
kt hp cc phng trnh (2.1) v (2.3):
fv*

= kfv*

= kfv*

(2.4)

Cng thc cho trng hp x kh t dung tch ra:

= - kfv*

32

2.2.2 Lu lng tc thi vo dung tch thay i.

Phn ln cc c quan chp hnh u l cc dung tch c th tch thay i trong
qu trnh lm vic. Chng hn, i vi mt xi lanh cng tc (xem hnh 2-5) qu
trnh np xy ra theo 3 giai on: I, II, III.
Trong giai on u pt tng cha di
chuyn, p sut tng t 0 ti pI, thi gian thc
hin l tI.
Trong giai on II pt tng bt u di
chuyn, i ht hnh trnh v dng li, trong lc

Hnh 2.5.

ny p sut tng t pI ti pII, thi gian thc hin l tII.

Trong giai on III pt tng ng yn, p sut tng t p II ti pmax, thi gian
thc hin l tIII.
Trong 3 giai on trn th cc giai on I v III ng vi trng hp dung tch
khng i xt trn y.
giai on II, th tch lm vic V ca xi lanh thay i:
V=V0+F.y
Vi F l din tch tit din ca pt tng.
S m phng ca mt nhnh D-E c dung tch thay i c th hin trn
hnh 2-6. Gii kt hp vi cc phng trnh 2.1 v 2.4 ta c:
+ Fp1

= fv*p0 A

(2.5)

i vi trng hp x kh:
+ Fp1

= -fv*p1 A
Hnh 2.6.

Phng trnh chuyn ng ca pt tng:

mp

= (p1-pI)F P - Pms, trong :

Pms lc ma st:
Pms= b +(p1-pI)fmsFk vi:

33

fms- h s ma st gia m lm kn v thnh xi lanh;

Fk din tch tip xc;
b h s ma st nht.
P lc sinh cng hu ch, trong phn ln cc trng hp:
P = C.y, vi C l cng quy i.
Vy phng trnh chuyn ng c dng:
mp

+b

+Cy + (Fk.fms F)(p1-pI)=0

Trong mt s trng hp c bit: mp nh, c th b qua c, b qua ma st

nht, b qua fms th:
Cy = F(p1-pI)

Kt hp vi phng trnh 2.4 ta c:

(

= fv*p0 A

(2.6)

Trong cc tnh ton nu V thay i khng ng k th nn coi V=const n

gin bt m hnh ton hc ca h thng.
2.3Phng trnh lu lng i qua im nt.

Tng i s cc lu lng i qua mt im nt

bng khng.

3
(

V d nh trn hnh 2-7 ta c:

m1' m'2 m3' m'4 m5' 0

2.4 Cc th thc nghim

34

Hnh 2.7.

H s lu lng l i lng khng th xc nh bng cc biu thc ton hc,

n c xc nh thng qu qu trnh thc nghim. Di y l cc th thc
nghim ca h s lu lng

0,5
0,4
0,3
0,2
0,1

0,
50,
40,
30,
20,
1

V3
V2
V1

0,5
0,4
0,3
0,2
0,1

d = 6 mm

V3

12

16

l, m

d = 10
mm

V3
0,5

V2
V1
0

12

16

l, m

V2 = 2,4.10-3 m3
V3 = 4,2.10-3 m3

12

16

l, m

d = 12
mm

V3

d = 15
mm

0,5

V2

V2

0,3

0,3
V1

0,1
0

V1 = 1,25.10-3 m3

V1
4

V3

i vi cc ng knh trong ca
ng d bng 6; 8; 10 mm:

V2

d=8
mm

12

16

0,1
l, m 0

V1
4

Hnh 2.8 th h s lu lng

i vi cc ng knh trong ca ng d bng 12 v 15mm:
V1 = 0,985.10-3 m3
V2 = 2,05.10-3 m3
V3 = 5,63.10-3 m3
Cc thng s ca tng van:

35

12

16

l, m

Dung tch: V = 0,25.10-3 m3;

H s (f) = 4.10-5 m2.
Dung tch ca chc ba:

V = 0,12.10-3 m3

Dung tch bu phanh:

V = 2,5.10-3 m3

36

CHNG III XY DNG M HNH M T H THNG

3.1 S tnh ton v thng s ca xe tham kho

Hnh 3.1 s v thng s h thng phanh chn xe tham kho

cho vic xy dng m hnh m t ton hc s lm vic ca h thng dn
ng phanh kh nn khng qu phc tp v vic tnh ton n gin hn m vn m
bo c tnh chnh xc cn thit, tc gi s dng mt s gi thit sau:
- Cc qu trnh din ra trong h thng l qu trnh on nhit, nhit trong
ton h thng dn ng phanh kh nn v trong sut qu trnh kho st u bng
nhau v khng i.
- Cht kh c coi l l tng.
- Ch nghin cu qu trnh ABS lm vic, khi coi nh bu phanh c th tch
khng i.
- Vic ng m cc van iu khin c coi l tc thi.
- My nn kh c coi nh lun lun duy tr c p sut khng i.
3.2 Xy dng m hnh ton hc m t h thng
3.2.1 Xy dng m hnh ton hc m t nhnh phanh cu trc ca h thng
- Hnh 3.2 l s tnh ton nhnh phanh cu trc gm:
+ Nt V1 m t cho tng phanh hai dng vi th tch V1
+ Nt V2 m t cho on ng t tng phanh n chc 3 vi th tch V2
+ Nt V3 m t cho on ng t sau chc 3 n van ABS phi vi th tch V3

37

+ Nt V4 m t cho on ng t sau chc 3 n van ABS tri vi th tch V4

+ Nt V5 m t cho van ABS phi vi th tch V5
+ Nt V6 m t cho van ABS tri vi th tch V6
+ Nt V7 m t cho on ng t sau van ABS phi v bu phanh phi vi th
tch V7
+ Nt V8 m t cho on ng t sau van ABS tri v bu phanh tri vi th tch
V8
f7
V7

V5
Van
ABS

f5
V3

f3

Tong phanh
f1

f2
Y

Bnh

V1

V2
f4
V4
Van
ABS

f6
V6

f8
V8

Hnh 3.2 S tnh ton nhnh phanh cu trc

: h s lu lng
f : tit din ca dng kh v l tit lu
v* : vn tc gii hn (330m/s)
A=0,654
B=1,13
pmax=7 at
V th tch ca ng ng v cc van.
Dung tch trc 3: 0,12.10-3 m3

38

Dung tch bu phanh : V=2,5.10-3 m3

Dung tch cc van : 0,25.10-3 m3

.f=4. 10-5
Trong qu trnh tnh ton n gin qu trnh m phng ta b qua qu trnh qu
v coi nh th tch bu phanh c gi tr khng i (trong qu trnh ABS hot
ng gi thit ny khng nh hng n kt qu qu trnh m phng v kt qu
tnh). c c cc phng trnh vt l m t qu trnh tng p v gim p ca
nhnh phanh cu trc ta da vo phng php m phng vi cc thng s tp
trung v tin hnh xt ti cc nt.
a) Qu trnh tng p
f7
V7

V5
Van
ABS

f5
V3

f3

Tong phanh
f1

f2
Y

Bnh

V1

V2
f4
V4
Van
ABS

f6
V6

f8
V8

Hnh 3.2 S tnh ton nhnh phanh cu trc

* Xt ti nt V1:
1f1v*p max A

pmax p1
p p2
V dp
2f 2 v*p1A 1
1 1 0 (1)
Bp max p1
Bp1 p 2 k dt

* Xt ti nt V2:

39

2f 2 v*p1A

p p3
p1 p2
p p4
V dp
3f3 v*p 2 A 2
4f 4 v*p 2 A 2
2 2 0 (2)
Bp1 p2
Bp2 p3
Bp2 p 4 k dt

* Xt ti nt V3:
3f3 v*p2 A

p 2 p3
V dp
p p5
3 3 5f5 v*p3A 3
0 (3)
Bp2 p3 k dt
Bp3 p5

* Xt ti nt V4:
4f 4 v*p 2 A

p p6
p2 p4
V dp
4 4 6f 6 v*p 4 A 4
0 (4)
Bp2 p4 k dt
Bp4 p6

* Xt ti nt V5:
5f5 v*p3A

p3 p5
V dp
p p7
5 5 7f 7 v*p5A 5
0 (5)
Bp3 p5 k dt
Bp5 p7

* Xt ti nt V6:

p4 p6 V6 dp6
p p8

8f8 v*p6 A 6
0
Bp4 p6 k dt
Bp6 p8
* Xt ti nt V7:
6f 6 v*p4 A

7f 7 v*p5A

(6)

p5 p 7
V V dp7
7
0 (7)
Bp5 p7
k
dt

* Xt ti nt V8:
8f8 v*p6 A

p 6 p8
V V dp8
8
0 (8)
Bp6 p8
k
dt

b) Qu trnh gim p
S tnh ton cho qu trnh gim pnhnh phanh cu trc c th hin trn
hnh 3.2

40

f7
V7

V5
Van
ABS

f5
V3

f3

Tong phanh
f1

f2
Y

Bnh

V1

V2
f4
V4
Van
ABS

f6
V6

f8
V8

Hnh 3.2 S tnh ton nhnh phanh cu trc

Qu trnh gim p khi ABS lm vic kh c x qua van ABS.
* Xt ti nt V5:
5f5 v*p5A

p5 p k
V dp
p p5
5 5 7f 7 v*p7 A 7
0 (1)
Bp5 p k k dt
Bp7 p5

* Xt ti nt V7:
7f 7 v*p7 A

p 7 p5
V dp
7 7 0 (3)
Bp7 p5 k dt

* Xt ti nt V6:

6f 6 v*p6 A

p6 p k
V dp
p p6
6 6 8f8 v*p8A 8
0
Bp6 pk k dt
Bp8 p6

* Xt ti nt V8:
8f8 v*p8A

p8 p 6
V dp
8 8 0 (4)
Bp8 p6 k dt

41

(2)

3.2.2 Xy dng m hnh ton hc m t nhnh phanh cu sau ca h thng

Hnh 3.3 S tnh ton nhnh phanh cu sau

+ Nt V0 m t cho tng phanh hai dng vi th tch V0
+ Nt V1 m t cho on ng t tng phanh n van gia tc vi th tch V1
+ Nt V1 m t cho van gia tc vi th tch V1
+ Nt V2 m t cho on ng t van gia tc n trc 3 vi th tch V2
+ Nt V3 m t cho on ng t sau chc 3 n van ABS phi vi th tch V3
+ Nt V4 m t cho on ng t sau chc 3 n van ABS tri vi th tch V4
+ Nt V5 m t cho van ABS phi vi th tch V5
+ Nt V6 m t cho van ABS tri vi th tch V6
+ Nt V7 m t cho on ng t sau van ABS phi v bu phanh phi vi th tch
V7
+ Nt V8 m t cho on ng t sau van ABS tri v bu phanh tri vi th tch V 8

: h s lu lng
f : tit din ca dng kh v l tit lu
v* : vn tc gii hn (330m/s)
A=0,654

42

B=1,13
pmax=7 at
V th tch ca ng ng v cc van.
Dung tch trc 3: 0,12.10-3 m3
Dung tch bu phanh : V=2,5.10-3 m3
Dung tch cc van : 0,25.10-3 m3

.f=4. 10-5
a) Qu trnh tng p
Do nhnh phanh cu sau s dng van gia tc nn trc tin ta cn hiu van gia
tc c m t ton hc nh th no.
Phng trnh chuyn ng ca pt tng van gia tc:
my (p1' p1 ).S Pms Plx

trong :
y- dch chuyn ca pt tng;
S- din tch pt tng;

p1' , p1- p sut trong cc khoang trn v khoang di ca van gia tc;
Pms- lc ma st;
Plx- lc ca l xo hi v pt tng.
Nu b qua lc ma st v khi lng ca pt tng ta c:
C.y (p1' p1 ).S

Vi C l h s cng ca l xo.
i vi van gia tc thng s (f)c trng cho kh nng lu thng ca kh qua
van gia tc.N ph thuc vo m ca van, hay ni cch khc l ph thuc vo
dch chuyn y ca pt tng.
Gi thit rng (f) ca van gia tc t l thun vi dch chuyn y ca pt tng
ta c:

(f ) vgt

y
ymax

(f ) vgt.max

s(p1, p1 )

(f ) vgt.max (28)
C.y maax

43

Gi tr (f)vgt.maxtng ng vi trng thi van m ht c, ymax l hnh trnh ti

a ca pttng.
Nh vy, dn ng phanh sau c s dng van gia tc c th c m t nh
sau:
* Xt ti nt V0 :

'0f 0' v*p max A

pmax p0'
p0' p1'
V0' dp'0
' ' * '

f
v
p
A

0 (1)
1 1
0
Bpmax p0'
Bp0' p1' k dt

* Xt ti nt V1:

1' f1' v*p'0 A

Vvgt dp1'
p'0 p1'

0 (2)
Bp'0 p1'
k dt

* Xt ti nt V1:
1f1v*p max A

pmax p1
p p2
V dp
2f 2 v*p1A 1
1 1 0 (3)
Bp max p1
Bp1 p 2 k dt

2 f 2 :l cc thng s c trng cho van gia tc.

* Xt ti nt V2:
2 f 2 v*p max A

pmax p2
p p3
p p4 V2 dp 2
3f3 v*p 2 A 2
4 f 4 v* p 2 A 2

0 (4)
Bpmax p2
Bp2 p3
Bp 2 p 4 k dt

* Xt ti nt V5:
5f5 v*p3A

p3 p5
V dp
p p7
5 5 7f 7 v*p5A 5
0 (7)
Bp3 p5 k dt
Bp5 p7

* Xt ti nt V6:

p4 p6 V6 dp6
p p8

8f8 v*p6 A 6
0
Bp4 p6 k dt
Bp6 p8
* Xt ti nt V7:
6f 6 v*p4 A

7f 7 v*p5A

p5 p 7
V V dp7
7
0 (9)
Bp5 p7
k
dt

* Xt ti nt V8:
8f8 v*p6 A

p 6 p8
V V dp8
8
0 (10)
Bp6 p8
k
dt

44

(8)

b) Qu trnh gim p
* Xt ti nt V5:
5f5 v*p5A

p5 p k
V dp
p p5
5 5 7f 7 v*p7 A 7
0 (1)
Bp5 p k k dt
Bp7 p5

* Xt ti nt V7:
7f 7 v*p7 A

p7 p5 V7 dp7

03 (2)
Bp7 p5 k dt

* Xt ti nt V6:

6f 6 v*p6 A

p6 p k
V dp
p p6
6 6 8f8 v*p8A 8
0
Bp6 pk k dt
Bp8 p6

(3)

* Xt ti nt V8:
8f8 v*p8A

p8 p 6
V dp
8 8 0 (4)
Bp8 p6 k dt

3.3Xy dng chng trnh tnh ton bng phn mm Matlab Simulink
3.3.1 Gii thiu v Matlab Simulink
MatLab (Matrix Laboratory) l mt b chng trnh phn mm ln ca lnh
vc ton s v l cng c rt cn thit gip cho cc nh khoa hc, cc chuyn gia k
thut trong vic tnh ton, kho st, phn tch, thit k rt nhiu cc chuyn ngnh
khc nhau: t c kh, in, in t, iu khin t ng
Simulink l phn mm dng m phng ng hc cc h thng tuyn tnh
v phi tuyn trong mi trng MatLab. y l l sn phm nm bn trong MatLab,
s dng nhiu hm ca MatLab v cng c th trao i qua li vi mi trng ca
MatLab tng thm kh nng mm do ca n.
Trnh t thc hin mt qu trnh m phng gm cc bc c bn:
1) Xy dng m hnh ton hc l vic xy dng h phng trnh m t s
hot ng v th hin cc quy lut chung v vt l ca h thng. Cc phng trnh
ny cn phi m t c cc quan h rng buc gia cc thng s cu trc, cc
thng s trng thi ca h thng vi cc tham s ca tc ng ngoi.

45

2) Xy dng s m phng trn my tnh bng cng c Simulink ca

MatLab gm cc bc cng vic.
- Tin hnh la chn cc khi chc nng thch hp trong th vin cc khi
chnh m phng cc thnh phn trong h phng trnh vi phn c xy
dng.
- Tin hnh ni ghp cc khi chc nng trong s m phng bng cch s
dng cc ng truyn tn hiu ni cc khi theo ng trnh t v chc nng trong
cu trc ca h thng cn kho st.
3) Nhp gi tr cc thng s vo cc khi chc nng ca m hnh.
Trong MatLab c hai phng n thng dng nhp cc d liu tnh ton:
nhp trc tip s liu vo bng khai bo tnh cht ca khi chc nng v nhp d
liu thng qua mt file d liu (m-file).
- Phng n nhp d liu trc tip thc hin bng cch khai bo cc tr s c
th ca d liu cn tnh ton vo hp hi thoi tnh cht ca khi chc nng (hp
hi thoi ny hin ra ngay sau khi ta tin hnh kch hot biu tng ca n).
- Phng n to file d liu m-file thc hin bng cch to mt scrip file trn
ca s lnh ca chng trnh MatLab. Cc d liu c nhp gm c tn d liu v
tr s ca n.Tn d liu trong m-file phi ph hp vi tn d liu khai bo trong
khi chc nng ca m phng trong Simulink.
4) Thit lp cc iu khin trong qu trnh m phng.
- Thit lp cc iu kin u cho cc bc tnh ton, cc khi chc nng vi
phn, tch phn ca m hnh.
- Xc nh cc thng s iu khin qu trnh m phng: Thng c 5 thng
s iu khin vic thc thi qu trnh m phng l: thi gian m phng, thut ton
tch phn (thut gii), ln ca bc tch phn, sai s cho php v cc tu chn
xut kt qu.
5) Chy chng trnh v xut kt qu m phng.
6) nh gi, nhn xt

46

Nu h phng trnh c m phng bng Simulink c th phc tp v gm

nhiu khi ni vi nhau, s khi n gin, r rng, d theo di, tin cho vic
kim tra, bo mt, ngi ta thng dng cu trc theo kiu cc modul chc nng
xy dng mt chng trnh con trong h thng. Mi modul l 1 chng trnh con
m nhn cc chc nng c th trong chng trnh chnh. Khi chng trnh nhn
c trn Simulink s l s ni cc modul li vi nhau.Khi Subsystem c
s dng xy dng cc modul.Vic ghp vi h thng thuc cc tng cp trn
c thc hin nh khi Inport (cho tn hiu vo) v Outport (cho tn hiu ra). S
lng u vo/ra ca khi Subsystem ph thuc vo s lng khiInport v
Outport.
3.3.2 M phng qu trnh tng p v gim p ca h thng bng Matlab
Simulink
a) M phng qu trnh tng p
Da trn cc m phng ton hc c trn ta tin hnh m phng trong
Simulink theo cc trnh t m phng.

47

*M phng tng p cu trc

Hnh 3.4 S khi trong qu trnh m phng tng p cu trc

48

Mi khi trong s tng th ng vai tr gii mt phng trnh vi phn trong h phng trnh vi phn ca m phng ton hc
ca qu trnh tng p.
*M phng tng p cu sau

Hnh 3.5 S khi trong qu trnh m phng tng p cu sau

49

b) M phng qu trnh gim p

* M phng gim p cu trc

Hnh 3.6 S khi trong qu trnh m phng gim p cu trc

50

* M phng gim p cu sau

Hnh 3.7 S khi trong qu trnh m phng gim p cu sau

51

c) Khi iu khin
*khi iu khin cu trc

Hnh 3.8 S khi iu khin nhnh cu trc

52

*Khi iu khin nhnh cu sau

Hnh 3.9 S khi iu khin nhnh cu sau

53

3.3.3 Tnh ton v kho st h thng phanh

Mc ch ca phn ny lun vn s i kho st qu trnh tng p ca h thng
khi ABS cha lm vic v so snh vi tiu chun ECU. Theo tiu chun ECU trong
qu trnh tng p ca h thng, p sut cn t c 90% gi tr p sut ca bnh
trong thi gian nh hn hoc bng 0,6 giy.
Cc thng s ca xe tham kho phc v cho qu trnh tnh ton:

Hnh 3.10 s v thng s h thng phanh chn xe tham kho

Thng s

STT

n v

Gi tr

ng knh cc on ng

12. 10-3

Chiu di on ng t bnh n tng phanh ca nhnh

4.6

4.3

1.7

5.5

0.7

0.8

phanh cu trc.
3

Chiu di on ng t bnh n tng phanh ca nhnh

phanh cu sau.

Chiu di on ng t tng phanh n chc 3 ca

nhnh phanh cu trc.

Chiu di on ng t tng phanh n van gia tc ca

nhnh phanh cu sau.

Chiu di on ng t chc 3 n van ABS ca nhnh

phanh cu trc.

Chiu di on ng t van ABS n bu phanh ca

54

nhnh phanh cu trc.

Chiu di on ng t bnh n van gia tc ca nhnh

0.9

0.47

0.4

0.7

phanh cu sau.
Chiu di on ng t van gia tc n chc 3 ca

nhnh phanh cu sau.

10

Chiu di on ng t chc 3 n van ABS ca nhnh

phanh cu sau.

11

Chiu di on ng t van ABS n bu phanh ca

nhnh phanh cu sau.

12

Th tch chc 3

m3

0,12.10-3

13

Th tch bu phanh

m3

2,5.10-3

14

Th tch cc van

m3

0,25.10-3

15

p sut ln nht ca h thng

Kg/cm2

a cc thng s tnh ton ca xe tham kho vo chng trnh v tin hnh m

phng qu trnh tng p ta c cc kt qu nh trn hnh 3.11 v hnh 3.12.

Hnh 3.11 Qu trnh tng p sut cu trc.

55

Hnh 3.12 qu trnh tng p sut cu sau

Vi kt qu thu c trn hnh 3.11 v hnh 3.12 ta c th kt lun rng qu
trnh tng p sut cu trc v cu sau u p ng c tiu chun ca Chu u
khi p sut bu phanh u t trn 6,3(at) (trn 90% p sut bnh) trong 0,6s.
Sau khi m phng v kho st qu trnh tng p ca h thng phanh khi ABS
cha hot ng v c kt lun rng h thng p ng c tiu chun Chu u,
lun vn tin hnh kho st n qu trnh hot ng ca h thng khi ABS lm vic.
3.4 Kho st cc qu trnh ca phanh ABS kh nn trn xe c s
3.4.1 Tm cc thng s ca tn s nh hng n s bin i p sut ca h
thng.
Sau khi nhp cc thng s cho qu trnh m phng, ta tin hnh chy th tm
xem cc thng s no nh hng n p sut ca h thng trong qu trnh iu
khin ABS.
Cc i lng c trng cho tn s c th hin trn hnh 3.13.

56

Hnh 3.13 cc thng s ca tn s iu khin

Trn hnh 3.13 ngha ca cc thng s l:
a : l thi gian tng p
T : l chu k hay tng thi gian tng p v gim p

a
gi l h s thi gian tng p
T

1
gi l tn s iu khin
T

C th thy c hai yu t ca tn s nh hng n p sut ca h thng trong

qu trnh iu khin l v

v vy lun vn s i kho st s nh hng ca v

n p sut ca bu phanh trong qu trnh iu khin.

Ngoi ra ABS hot ng cc gi tr p sut khc nhau ty theo iu kin ca
ng nn lun vn cng s tin hnh kho st vi cc p sut khi ABS bt u hot
ng Ps (nh trn hnh3.14) kho st nh hng ca p sut ny n h thng.
3.4.2 Kho st s ph thuc ca p sut theo mt s thng s.
a) Kho st p sut theo tn s .
Trong qu trnh iu khin p sut kh nn trong h thng s ph thuc vo cc
gi tr nh tn s , h s tng p trong mt chu k hay p sut ABS bt u lm

57

vic. Sau y ta bt u i vo kho st s ph thuc ca p sut theo mt s cc

thng s trn.
Khi iu khin p sut s b bin i theo thi gian vi dng nh trn hnh 3.14.

Hnh 3.14 Dng p sut khi chy m phng

c trng ca p sut l gi tr p sut trn v p sut di, gi
p sut trn : pt
p sut di : pd
p sut bt u iu khin : Ps

= (p sut trn p sut di)

:l bin p sut, ta s kho st hai gi tr p sut trn v p sut di theo
mt s i lng tm ra quy lut bin i t c th a ra cc t vn iu
khin hp l cho qu trnh ch to v lp trnh ABS kh nn.
Trc tin lun vn tin hnh kho st s ph thuc ca p sut theo . Vi cc
m phng Simulink c c, lun vn chn mt s tn s v chy chng trnh
Simulink c ta thu c cc th c dng nh hnh 3.15.
Sau khi chy vi cc tn s thay i v gi nguyn h s tng p ta c c cc
gi tr ca p sut trn v p sut di theo bng t v c th s ph thuc
ca p sut vo tn s mt gi tr h s tng p ( =const):

58

Hnh 3.15 Dng p sut khi chy m phng

* Kho st cho cu trc
Gi nguyn h s tng p = 0.85 v chy chng trnh vi tn s = 3Hz v

= 8Hzta c th trn hnh 3.16 v hnh 3.17

Hnh 3.16 Dng p sut khi chy m phng vi tn s 3Hz

v h s tng p = 0.85

59

Tip tc chy vi cc gi tr tn s tip theo vi cng mt h s thi gian tng

p = 0.85 ta c c thng s nh trong bng 3.1.
Bng 3.1 gi tr p sut cu trc theo h s thi gian tng p = 0.85
p sut
p sut di
5
2
trn(x10 N/m )
(x105N/m2)
1
6.98
1.60
2
6.72
3.23
3
6.42
4.00
4
6.26
4.35
5
5.98
4.55
6
5.87
4.68
7
5.79
4.77
8
5.71
4.83
V th ph thuc ca p sut theo tn s bng 3.1 trn ta c th nh
Tn s (Hz)

hnh 3.18.

Hnh 3.17 Dng p sut khi chy m phng vi tn s 8Hz

v h s thi gian tng p = 0.85

60

p sut - Tn s
p sut (x105N/m2)

8.00
7.00

6.00
5.00
p sut trn

4.00

p sut di
3.00
2.00
1.00
0.00
0

Tn s (Hz)
Hnh 3.18 S ph thuc ca p sut trn v p sut di cu trc
Theo tn s h s thi gian tng p = 0.85.
Nhn xt:khi tn s iu khin

tng, p sut trn c xu hng gim v p sut

di c xu hng tng. p sut trn qu thp lm gim lc phanh dn n hiu qu

phanh gim, p sut di cao lc phanh s ln khng thc hin nh phanh lm mt
hiu qu ca ABS. Nhn vo biu c th thy khng mt hiu qu phanh m
vn duy tr c hiu qu ABS ch nn iu khin n tn s 3Hz.
* kho st cho cu sau
Chy m phng cho cu sau vi cc gi tr tn s thay i v h s thi gian
tng =0.85 ta c bng thng s s ph thuc ca p sut trn v p sut di theo
tn s nh trong bng 3.2.
Bng 3.2 Gi tr p sut cu sau theo tn s
Tn s (Hz)
1
2
3
4

p sut trn
(x105N/m2)
6.96
6.67
6.40
6.21

61

h s thi gian tng p =0.85

p sut di
(x105N/m2)
2.12
3.69
4.32
4.62

5
6.06
4.79
6
5.94
4.89
7
5.84
4.94
8
5.76
4.98
V th s ph thuc ca p sut theo tn s ca cu sau ta c c th nh
hnh 3.19.

p sut - Tn s
p sut (x105N/m2)

8.00
7.00
6.00

5.00
p sut trn

4.00

p sut di
3.00
2.00
1.00
0.00
0

Tn s (Hz)
Hnh 3.19 S ph thuc ca p sut trn v p sut di cu sau
Theo tn s h s tng p =0.85
Nhn xt : s ph thuc ca p sut cu sau theo tn s din ra tng t cu
trc ch khc nhau rt nh v mt gi tr.
b) Kho st p sut theoh s thi giantng p
Sau khi kho st p sut theo tn s ta tin hnh kho st s ph thuc ca p
sut theo h sthi gian tng p , n gin lun vn chn mt tn s kho
st l

= 4Hz.

*Kho st cho cu trc

62

Tin hnh chy phn mm m phng Simulink vi cc gi tr khc nhau cng

mt tn s =4Hz ta c c cc th khi h s thi gian tng p l 0.85 v 0.92
ln lt nh trn hnh 3.20 v hnh 3.21.

Hnh 3.20 Dng p sut trn v p sut di cu trc

h s thi gian tng p = 0.85 v

= 4Hz.

Hnh 3.21Dng p sut trn v p sut di cu trc

h s thi gian tng p = 0.92 v

63

= 4Hz.

Tip tc chy m phng vi cc h s thi gian tng p tip theo ta c c cc

th v t ta c c bng thng s s ph thuc ca p sut trn v p sut
di theo h s thi gian tng p = const= 4Hz nh sau:
Bng 3.3 Gi tr p sut cu trc theo h s thi gian tng p tn s

= 4Hz

H s tng p

p sut trn
p sut di
5
2
(x10 N/m )
(x105 N/m2)

0.60
2.99
1.19
0.70
4.09
2.06
0.80
5.48
3.48
0.85
6.21
4.35
0.90
6.58
5.25
0.92
6.71
5.6
0.94
6.81
5.96
0.95
6.86
6.13
V th s ph thuc ca p sut cu trc theoh s thi gian tng p tn
s 4Hz ta c th nh hnh 3.22

p sut - h s thi gian tng p

p sut (x105N/m2)

8
7
6
5

p sut trn

p sut di
3
2
1
0
0.55

0.60

0.65

0.70

0.75

0.80

0.85

0.90

0.95

1.00

H s thi gian tng p

Hnh 3.22 S ph thuc ca p sut trn v p sut di cu trc
Theo h s thi gian tng p tn s =4Hz

64

* Kho st cho cu sau

Chy m phng cho cu sau ta c bng thng s s ph thuc ca p sut cu sau
theoh s thi gian tng p tn s 4Hz
Bng 3.4 Gi tr p sut cu sau theo h s thi gian tng p tn s

= 4Hz

H s tng p

p sut trn
p sut di
5
2
(x10 N/m )
(x105 N/m2)

0.60
2.95
1.22
0.70
4.24
2.14
0.80
5.52
3.50
0.85
6.03
4.29
0.90
6.44
5.14
0.92
6.58
5.49
0.94
6.71
5.86
0.95
6.76
6.05
V th s ph thuc ca p sut cu sau theoh s thi gian tng p tn

= 4Hz ta c th nh trn hnh 3.23

p sut - h s thi gian tng p

8.00

p sut (x105N/m2)

7.00
6.00
5.00

p sut trn

4.00

p sut di
3.00
2.00
1.00
0.00
0.55

0.60

0.65

0.70

0.75

0.80

0.85

0.90

0.95

1.00

H s thi gian tng p

Hnh 3.23 S ph thuc ca p sut trn v p sut dii cu sau
Theo h s thi gian tng p tn s

65

= 4Hz

Nhn xt: ngoi tn s th h sthi giantng p cng nh hng n p sut ca

h thng. Kt qu tnh ton trn cho thy, nu h s thi gian tng p nh th p
sut trn thp do khng thi gian np kh v v vy, p sut di cng s
thp. iu ny s lm gim hiu qu phanh. Nu h s thi gian tng p qu ln th
s dn n hin tng p sut di rt cao v ABS b mt hiu qu (bnh xe trt
lt).
b) Kho st p sut khi gi tr p sut lc ABS bt u lm vic
p sut ABS bt bu lm vic ( p s ) l p sut m h thng ca chng ta bt
u thc hin gim

ps

* Kho st cho cu trc.

Tin hnh chy phn mm m phng Simulink vi cc gi tr p sut bt u lm
vc ca h thng khc nhau cng mt tn s

=4Hz vh s thi gian tng p l

=0.80ta c c cc th khi p sut bt u gim l 5 at v 7 at nh hnh 3.24

v hnh 3.25.

Hnh 3.24 Dng p sut trn v p sut di cu trc theo p sut ABS
bt u hot ng

ps = 6.9 (at), tn s = 4Hzv =0.80

66

Hnh 3.25 Dng p sut trn v p sut di cu trc theo p sut ABS
bt u hot ng

ps = 5 (at), tn s = 4Hz v =0.80

Tip tc chy m phng vi cc gi tr p sut bt u lm vic ca h thng p s

khc nhau ta c c bng gi tr s ph thuc ca p sut trn v p sut di cu
trc theo gi tr p sut bt u lm vic nh bng 3.5
Bng 3.5 Gi tr p sut cu trc theo p sut bt u lm vic p s
tn s

= 4Hz v h s thi gian tng p =0.80

p sut bt u lm
5

vic p s (x10 N/m )

p sut trn
(x105N/m2)

p sut di
(x105N/m2)

6.9
5.49
3.48
6.7
5.49
3.48
6.2
5.48
3.48
5.5
5.48
3.48
5
5.48
3.48
4.5
5.48
3.48
4
5.48
3.48
3.5
5.48
3.48
V th s ph thuc ca p sut cu trc theo p sut bt u lm vic
= 4Hz v h s thi gian tng p l =0.80c th nh hnh 3.26

67

Kho st p sut bt u lm vic

p sut (x105N/m2)

p sut trn
3

p sut di

0
6.9

6.7

6.2

5.5

4.5

3.5

p sut bt u lm vic
Hnh 3.26 S ph thuc ca p sut trn v p sut di cu trc
Theo p sut bt u lm vic p s

=4Hz v =0.80

* Kho st cho cu sau

Chy m phng cho cu sau ta c bng thng s s ph thuc ca p sut bt u
lm vic Ps

=4Hz v h s thi gian tng p l =0.80 nh trong bng 3.6

Bng 3.6 Gi tr p sut cu sau theo p sut ABS bt u lm vic

=4Hz v h s thi gian tng p =0.80.

p sut bt u lm
vic p s (x10 N/m )

p sut trn
(x105N/m2)

p sut di
(x105N/m2)

6.9
6.7
6.2
5.5
5
4.5
4
3.5

5.52
5.52
5.52
5.52
5.52
5.52
5.52
5.52

3.50
3.50
3.50
3.50
3.50
3.50
3.50
3.50

68

V th s ph thuc ca p sut bt u lm vic ca cu sau

=4Hz v h

s thi gian tng p l =0.80 ta c th nh hnh 3.27.

Kho st p sut bt u lm vic

p sut (x105N/m2)

4
p sut trn

p sut di

0
6.9

6.7

6.2

5.5

4.5

3.5

p sut bt u lm vic
Hnh 3.27 S ph thuc ca p sut trn v p sut di cu sau
Theo Ps

=4Hz v h s tng p l =0.80

Kt lun: p sut bt u gim khng nh hng n gi tr ca ca p sut trong

h thng, do trong qu trnh iu khin ta ch cn quan tm tn s v h sthi
gian tng p.
3.5 Gii php nng cao tn s iu khin
Cc kt qu tnh ton, kho st trn y cho thy, vi h thng phanh ca xe
tham kho nguyn mu th tn s 4 Hz p sut trn ch cn khong 0.6Mpa, cn
p sut di li kh cao: gn 4,5.105Pa. Do p sut trong bu phanh t l thun vi
lc phanh ti bnh xe, nn khi gim p sut t 0,7MPa xung cn 0,6MPa (khong
15%) th lc phanh gim tng ng. Nu chp nhn mc gim lc phanh khong
10% th tn s iu khin ca ABS ch cn khong hn 3Hz. Tn s ny l qu thp

69

v s lm mt i tc dng ca ABS, v vy cn c gii php nng cao tn s iu

khin cho h thng.
Trong cc qu trnh tng p v gim p th qu trnh tng p chim thi gian ln
hn nhiu qu trnh gim p, mt trong cc nguyn nhn l dng kh phi di chuyn
qung ng ln.
Gii php u tin m lun vn ngh ti l rt ngn qung ng i ca dng kh,
lm c iu ny ti th m phng vi h thng c b tr bn bnh kh ngay
gn cc bnh xe thc hin tng p qua van ABS. Lc ny cn s dng mt loi
van ABS mi c kh nng thc hin tng p vi bnh kh b tr cnh van.

Hnh 3.28 S b tr h thng phanh

vi cc bnh kh t ti gn cc bnh xe
3.5.1Kho st p sut h thng ph thuc vo tn strn xe ci bin.
d dng i chiu hiu qu ca h thng vi cch b tr v kiu van ABS mi
trn xe ci bin vi h thng trn xe c s lun vn vn tip tc kho st s nh
hng ca tn s n qu trnh tng p khi gi nguyn gi tr h s tng p
=0.8nh khi kho st vi h thng trn xe c s.
y van ABS ng lun vai tr ca van gia tc nn ta hon ton c th s dng
trng trnh m phng ca cu sau nhng vi cc thng s chiu di thay i m
phng cho h thng mi.

70

Chy m phng vi tn s

= 8Hz v h s tng p =0.8 ta c th nh

hnh 3.29

Hnh 3.29 p sut h thng khi chy m phng vi

tn s

= 8Hz v h s thi gian tng p =0.8

Nhn vo th hnh 3.28 ta thy rng qu trnh tng p din ra rt nhanh do

ta cn kho st cc h s thi gian tng p nh hn sau khi chy th nhiu ln
lun vn nhn thy rng nn kho st h sthi gian tng p khong 0.60
* Kho st cu trc
Tin hnh chy chng trnh m phng kho st nh hng ca tn s n
qu trnh tng p cho cu trc ca xe ci bin khi gi nguynh s thi gian tng
p =0.6 v p sut ps=6.9 (at) ta c s liu nh trong bng 3.7
Bng 3.7 Gi tr p sut cu trc theo tn s
h s thi gian tng p =0.6 v p sut ps=6.9 (x105N/m2)
Tn s
(Hz)
1
2
3

p sut trn
(x105N/m2)
7.00
7.00
6.99

71

p sut di
(x105N/m2)
0.18
1.12
2.07

4
6.98
2.80
5
6.97
3.36
6
6.94
3.78
7
6.90
4.10
8
6.86
4.35
V th s ph thuc ca p sut cu trc trn xe ci bin theo tn s h s
thi gian tng p =0.6 v p sut ps=6.9 (x105N/m2)ta c th nh trn hnh
3.30.

p sut - tn s

p sut (x105N/m2)

8.00
7.00
6.00
5.00
4.00

p sut trn

3.00

p sut di

2.00
1.00
0.00
0

Tn s (Hz)

10

11

Hnh 3.30 S ph thuc ca p sut trn v p sut di cu trc

Theo tn s h sthi gian tng p =0.6 v p sut ps=6.9 (x105N/m2)
Nhn xt: h thng trn xe ci bin c hiu qu tt hn nhiu xe c s khi tn s
iu khin c th nng cao ln 8Hz m khng lm gim bin p sut t vn
c th duy tr c hiu qu ca h thng ABS nhng vn m bo kh nng chng
trt. Ngoi ra t hai th hnh 3.30 v hnh 3.31 ta cng thy rng i vi cu
trc v cu sau p sut bin i nh nhau vi chnh cao.
* Kho st cu sau

72

Chy m phng tng t cho cu sau ta c nh hng ca tn s n qu trnh

tng p cho cu sau ca xe ci bin h s thi gian tng p =0.6 v p sut
ps=6.9 (at) ta c s liu nh trong bng 3.8
Bng 3.8 Gi tr p sut cu sau theo tn s
h s thi gian tng p =0.6 v p sut ps=6.9 (x105N/m2)
Tn s p sut trn
p sut di
(Hz)
(x105N/m2)
(x105N/m2)
1
7.00
0.18
2
7.00
1.12
3
6.99
2.07
4
6.98
2.80
5
6.97
3.36
6
6.94
3.78
7
6.90
4.10
8
6.86
4.35
V th s ph thuc ca p sut cu sau trn xe ci bin theo tn s h s
thi gian tng p =0.6 v p sut ps=6.9 (x105N/m2) ta c th nh trn hnh
3.31.

p sut - tn s

p sut (x105N/m2)

8.00
7.00
6.00
5.00
4.00

p sut trn

3.00

p sut di

2.00

1.00
0.00
0

Tn s (Hz)

10

11

Hnh 3.31 S ph thuc ca p sut trn v p sut di cu sau

Theo tn s h s thi gian tng p =0.6 v p sut ps=6.9 (x105N/m2)

73

Nhn xt : trn xe ci bin p sut cu trc v cu sau bin i nh nhaukhi

tn s thay i.
3.5.2Kho st p sut h thng ph thuc vo h s thi gian tng p trn xe
ci bin.
* Kho st cu trc
Tin hnh chy chng trnh m phng kho st nh hng ca h sthi
gian tng p n p sut h thng tn s

=8 Hz v p sut ps=6.9

(x105N/m2)ta c s liu nh trong bng 3.9

Bng 3.9 Gi tr p sut cu trc theo h s thi gian tng p
tn s

=8 Hz v p sut ps=6.9 (x105N/m2) trn xe ci bin

H s thi gian
tng p
0.40
0.45
0.50
0.55
0.58
0.60
0.62
0.65

p sut trn
(x105N/m2)
5.34
5.96
6.41
6.70
6.81
6.86
6.90
6.93

p sut di
(x105N/m2)
2.69
3.18
3.63
4.01
4.22
4.35
4.48
4.66

V th s ph thuc ca p sut cu trc trn xe ci bin theo h s thi

gian tng p tn s

=8 Hz v p sut ps=6.9 (x105N/m2)ta c th nh trn

hnh 3.32.

74

p sut - H s thi gian tng p

p sut (x105N/m2)

8
7
6
5

p sut trn

p sut di

2
1
0
0.35

0.40

0.45

0.50

0.55

0.60

0.65

0.70

H s thi gian tng p

Hnh 3.32 S ph thuc ca p sut trn v p sut di cu trc
Theo tn s

=8 Hz v p sut ps=6.9(x105N/m2)

Nhn xt: h s thi gian tng p giao ng trong khong 0.50 s lm cho p
sut trn gim khng nhiu (0.64 Mpa) vn duy tr c hiu qu phanhtrong khi
p sut di khng ln (0.36 Mpa) vn m bo hiu qu ca ABS . Trn h
thng ny h s thi gian tng p cng cao p sut trn v p sut di cng cao.
* Kho st cu sau
Tin hnh chy chng trnh m phng kho st nh hng ca h s thi
gian tng p n p sut h thng cu sau tn s

=8 Hz v p sut ps=6.9

(x105N/m2) c s liu nh trong bng 3.10

Bng 3.10 Gi tr p sut cu sau theo h s thi gian tng p
tn s

=8 Hz v p sut ps=6.9 (x105N/m2) trn xe ci bin

H s thi gian
tng p
0.40
0.45
0.50

p sut trn
(x105N/m2)
5.34
5.96
6.41

75

p sut di
(x105N/m2)
2.69
3.18
3.63

0.55
6.70
4.01
0.58
6.81
4.22
0.60
6.86
4.35
0.62
6.90
4.48
0.65
6.93
4.66
V th s ph thuc ca p sut cu sau trn xe ci bin theo h s thi gian
tng p tn s 8Hz ta c th nh trn hnh 3.33.

p sut - H s thi gian tng p

p sut (x105N/m2)

8
7
6
5

p sut trn

p sut di

3
2
1
0
0.35

0.40

0.45

0.50

0.55

0.60

0.65

0.70

H s thi gian tng p

Hnh 3.33 S ph thuc ca p sut trn v p sut di cu sau
Theo h s thi gian tng p tn s

=8 Hz v p sut ps=6.9 (x105N/m2)

Nhn xt : trn xe ci bin p sut cu trc v cu sau bin i nh nhau khi

tn s h s thi gian tng p.
3.6 so snh hiu qu ca h thng phanh ABSxe ci bin v xe c s
3.6.1 so snh s ph thuc p sut xe ci bin v xe c s theo

khi =const

tin hnh so snh hiu qu ca h thng phanh ABS trn xe c s v xe ci

bin mt cch trc quan nht, lun vn m phng p sut ca cc h thng theo

khi =const v iu kin ti u vi tng h thng.

76

Trc tin lun vn s i tm gi tr =const cho tng h thng phanh trn xe c

s v xe ci bin sao cho h thng s hot ng tt nht bng cch da vo s
bin thin p sut trong h thng.
Lun vn tin hnh chy nhiu trng hp trong mi trng hp s gi
nguyn gi tr =const v thay thi

v cui cng s chn ra gi tr =const m

ti p sut bin tin ti u nht. Tin hnh cho c hai h thng trn xe c s v
xe ci bin, lun vn xc nh c i vi xe c s ti u nht l = 0.73
cn i vi xe ci bin ti u nht l = 0.35.
*Kho st cho cu trc
Khi chy m phng cho cu trc trong hai trng hp = 0.35 i vi xe ci
bin v = 0.73 i vi xe c s ta c c gi tr nh trong bng 3.11 v bng
3.12.
Bng 3.11 Gi tr p sut cu trc xe c s theo tn s

h s h s thi gian tng p = 0.73 v p sut p s=6.9 (x105N/m2)

p sut trn
p sut di
5
2
(x10 N/m )
(x105N/m2)
1
7.00
0.58
2
5.66
1.65
3
4.97
2.19
4
4.58
2.48
5
4.34
2.65
6
4.17
2.77
Bng 3.12 Gi tr p sut cu trc xe ci bin theo tn s
tn s

h s h s thi gian tng p = 0.35 v p sut p s=6.9 (x105N/m2)

tn s
1
2
3
4
5
6
7
8
9

p sut trn
7.00
6.98
6.61
5.97
5.47
5.11
4.84
4.65
4.50

77

p sut di
0.18
0.36
0.91
1.35
1.67
1.90
2.08
2.21
2.33

V th theo gi tr trong bng 3.11 v bng 3.12 tin hnh so snh ta c

th nh hnh 3.34vi cc ng gii hn c tham kho t lun n Nghin cu h
thng ABS dng cho phanh kh nn. H Hu Hng

p sut - tn s

p sut (x105N/m2)

8
7
6
5
AST xe ci bin

ASD xe ci bin
gii hn trn

gii hn di
2

AST xe c s
ASD xe c s

1
0
0

10

Tn s (Hz)
Hnh 3.34 so snh s bin i p sut cu trc ca xe c s v xe
ci bin trong iu kin ti u = 0.73 v = 0.35 p sut ps=6.9 (x105N/m2)
* Kho st cu sau
Khi chy m phng cho cu sau trong hai trng hp = 0.35 i vi xe ci
bin v = 0.73 i vi xe c s ta c c gi tr nh trong bng 3.11 v bng
3.12.
Bng 3.13 Gi tr p sut cu sau xe c s theo tn s

h s h s thi gian tng p = 0.73 v p sut p s=6.9 (x105N/m2)

tn s
1
2
3

p sut trn
(x105N/m2)
7.00
5.87
5.15

78

p sut di
(x105N/m2)
0.58
1.70
2.27

4
4.68
2.52
5
4.36
2.67
6
4.10
2.71
Bng 3.14 Gi tr p sut cu sau xe ci bin theo tn s

h s h s thi gian tng p = 0.35 v p sut p s=6.9 (x105N/m2)

tn s
1
2
3
4
5
6
7
8
9

p sut trn
7.00
6.98
6.61
5.97
5.47
5.11
4.84
4.65
4.50

p sut di
0.18
0.36
0.91
1.35
1.67
1.90
2.08
2.21
2.33

V th theo gi tr trong bng 3.13 v bng 3.14 tin hnh so snh ta c

th nh hnh 3.35

p sut - tn s

p sut (x105N/m2)

8
7
6
AST xe ci bin
5

ASD xe ci bin
gii hn trn

gii hn di
AST xe c s

ASD xe c s
2

1
0
0

10

Tn s (Hz)
Hnh 3.35 so snh s bin i p sut cu sau ca xe c s v xe

79

ci bin trong iu kin ti u = 0.73 i vi xe c s

v = 0.35 i vi xe ci bin p sut ps=6.9 (x105N/m2)
Nhn xt: sau khi m phng trong trng hp ti u cho c hai cu ca xe c s
v xe ci bin, t kt qu trong hnh 3.34 v hnh 3.35 lun vn rt ra nhn xt rng
i vi xe c s ch nn iu khin tn s ti a khong 3Hz cn xe ci bin c
th nng cao tn s ln gp i khong 6hz.
3.6.2so snh s ph thuc p sut xe ci bin v xe c s theo khi

=const

Lm tng t nh khi kho st vi tn s, nhng trong trng hp ny lun v n

s chn gi tr tn s gn vi gi tr tn s ti a kho st v hai gi tr tn s m
lun vn chn l: i vi xe c s chn

=4Hz v xe ci bin chn =6Hz

*Kho st cho cu trc

Khi chy m phng cho cu trc trong hai trng hp
bin v

=6Hzi vi xe ci

=4Hzi vi xe c s ta c c gi tr nh trong bng 3.15 v bng 3.16.

Bng 3.15 Gi tr p sut cu trc xe c s theo

=4Hzv p sut ps=6.9 (x105N/m2)

H s thi
p sut trn
p sut di
5
2
(x10 N/m )
(x105N/m2)
gian tng p
0.60
2.99
1.19
0.70
4.09
2.06
0.80
5.48
3.48
0.85
6.21
4.35
0.90
6.58
5.25
0.92
6.71
5.6
0.94
6.81
5.96
0.95
6.86
6.13
Bng 3.16 Gi tr p sut cu trc xe ci bin theo

=6Hz v p sut ps=6.9 (x105N/m2)

tn s
0.3
0.35
0.40
0.45
0.50

p sut trn
(x105N/m2)
4.35
5.11
5.79
6.33
6.68

80

p sut di
(x105N/m2)
1.5
1.9
2.32
2.74
3.12

0.55
0.58
0.60
0.62

6.87
6.92
6.95
6.97

3.47
3.66
3.79
3.91

V th theo gi tr trong bng 3.15 v bng 3.16 tin hnh so snh ta c

th nh hnh 3.36vi cc ng gii hn c tham kho t lun n Nghin cu h
thng ABS dng cho phanh kh nn. H Hu Hng
8

p sut (x105N/m2)

AST xe ci bin
5

ASD xe ci bin
gii hn trn

Gii hn di

AST xe c s
2

ASD xe c s

0
0.25 0.30 0.35 0.40 0.45 0.50 0.55 0.60 0.65 0.70 0.75 0.80 0.85 0.90 0.95 1.00

H s tng p

Hnh 3.36 so snh s bin i p sut cu trc ca xe c s v xe

ci bin trong hai trng hp

=6Hz i vi xe ci bin

v =4Hz i vi xe c s p sut ps=6.9 (x105N/m2)

* Kho st cu sau
Chy m phng cho cu sau trong hai trng hp

=6Hz i vi xe ci bin v

=4Hz i vi xe c s ta c c gi tr nh trong bng 3.17 v bng 3.18.

81

Bng 3.17 Gi tr p sut cu sau xe c s theo

=4Hz v p sut ps=6.9 (x105N/m2)

H s thi
gian tng p
0.60
0.70
0.80
0.85
0.90
0.92
0.94
0.95

p sut trn
(x105N/m2)
2.95
4.24
5.52
6.03
6.44
6.58
6.71
6.76

p sut di
(x105N/m2)
1.22
2.14
3.50
4.29
5.14
5.49
5.86
6.05

Bng 3.18 Gi tr p sut cu sau xe ci bin theo

=6Hz v p sut ps=6.9 (x105N/m2)

p sut trn
p sut di
5
2
(x10 N/m )
(x105N/m2)
0.3
4.35
1.5
0.35
5.11
1.9
0.40
5.79
2.32
0.45
6.33
2.74
0.50
6.68
3.12
0.55
6.87
3.47
0.58
6.92
3.66
0.60
6.95
3.79
0.62
6.97
3.91
V th theo gi tr trong bng 3.17 v bng 3.18 tin hnh so snh ta c
tn s

th nh hnh 3.37 vi cc ng gii hn c tham kho t lun n Nghin cu

h thng ABS dng cho phanh kh nn. H Hu Hng

82

AST xe ci bin

p sut (x105N/m2)

ASD xe ci bin
gii hn trn

Gii hn di

AST xe c s
2

ASD xe c s

0
0.25 0.30 0.35 0.40 0.45 0.50 0.55 0.60 0.65 0.70 0.75 0.80 0.85 0.90 0.95 1.00

H s tng p

Hnh 3.37 so snh s bin i p sut cu trc ca xe c s v xe

ci bin trong hai trng hp

=6Hz i vi xe ci bin

v =4Hz i vi xe c s p sut ps=6.9 (x105N/m2)

Nhn xt: sau khi m phng cho c hai cu ca xe c s v xe ci bin, t kt qu
trong hnh 3.36v hnh 3.37 lun vn rt ra nhn xt rng xe ci bin c gi tr p
sut trn v p sut di cng nh bin p sut tt hn nhiu xe c s ngay c
khi tn s iu khin cao hn. iu ny cng tip tc khng nh rng xe ci bin
c th iu khin c tn s cao hn nhiu xe c s m vn duy tr c hiu
qu phanh v kh nng chng b cng cu h thng.

83

KT LUN V KIN NGH

Thc hin ti Nghin cu kh nng p ng ca dn ng kh nn trong
h thng phanh ABSvi mc tiu xc nh tn s iu khin gii hn ca h
thng ABS. Trong lun vn, tc gi gii quyt c nhng ni dung sau:
1. Thit lp c h phng trnh vi phn m t ng hc ca dn ng phanh kh
nn hai dng trn t ti.
- S dng phng php m phng tp trung tnh ton ng lc hc trong dn
ng phanh kh nn.
- Trong mi s u phn chia thnh cc im nt tnh ton. Vic phn chia
thnh cc im nt gip cho vic tnh ton c r rng, cht ch v y .
- Cc phng trnh vi phn ny c gii trn my tnh nh chng trnh MatLab Simulink. Vic s dng cng c ny cho kt qu nhanh, trc quan, d quan st,
theo di; cp nht tnh ton trn cc b s c th c h phng trnh vi phn
m t. C th thay i cc thng s kho st s bin i.
- Thit lp m un iu khin tng ng vi xung iu khin ca ECU-ABS
trn t.
2. Thc hin gii cc h phng trnh vi phn bng phng php m phng tp
trung khi s dng phn mm MatLab - Simulink cho php kho st cc qu
trnh ng hc ca h thng dn ng phanh kh nn cc ch lm vic ca
h thng.
3. S dng b s thc trn xe th nghim ca tilun n Nghin cu h thng
ABS dng cho phanh kh nnca nghin cu sinh H Hu Hng chy
chng trnh v kho st p sut ti bu phanh trong cc ch lm vic ca
ABS
4. a ra th biu din quan h ca p sut theo tn s v h s thi gian tng
p t rt ra cc kt lun v tn s diu khin trn xe c s:
+ Qu trnh tng p xe c s p ng c tin chun ECE.
+ p sut trong bu phanh trong qu trnh ABS lm vic ph thuc vo tn s
v h s thi gian tng p.

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+ Tn s iu khin xe khng nn qu cao (khng qu 3 hay 4 Hz).

5. Tin hnh kho st p sut trn xe ci bin v chy m phng a ra th so
snh gia xe c s v xe ci bin v thy c h thng trn xe ci bin u im
hn nhiu xe c s khi tn s iu khin c th tng ln 6Hz.
Tuy nhin, do iu kin thi gian v trang b c hn, ti mi ch tin hnh
nghin cu, kho st c mc l thuyt v cha tin hnh th nghim kim
chng trn thc t. V vy hng pht trin tip theo ca ti l:
- Xy dng qui lut iu khin ch lm vic ca ABS.
- Kho st th nghim trn xe so snh s sai khc gia l thuyt v thc t.
- Tin hnh th nghim bin php nng cao tn s iu khin trn xe thc t
nhm nng cao tn s iu khin v hiu qu phanh ABS.
Lun vn hon thnh, song do iu kin thi gian v trnh c hn, lun vn
khng trnh khi nhng thiu st nht nh, knh mong cc thy gio v cc ng
nghip ng gp vic nghin cu tip theo c hon thin hn.
Cui cng, em xin c by t lng bit n chn thnh n thy gio PGS-TS
Nguyn Trng Hoan tn tnh hng dn em trong qu trnh lm lun vn, cm n
cc thy trong B mn t, khoa C kh ng lc trng i hc Bch khoa H
ni v cc ng nghip, to iu kin gip em hon thnh bn lun vn ny.
Xin chn thnh cm n!

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TI LIU THAM KHO

Ting Vit:
1 Nguyn Trng Hoan(2011), ng lc hc cc h thng thy kh trn t;
Bi ging chng trnh Cao hc.
2 - Nguyn Hong Hi (2004), Lp trnh Matlab v ng dng, NXB KHKT.
3 - Trn Vn Ngha(2000), Tin hc ng dng trong thit k c kh, NXB GD.
Ting Anh:
4- J. Blazek (2001), Computational fluid dynamics, Principles and
application, Elsevier.
5- Julian Happian-Smith (2002), An introduction to modern vehicle design,
Butterworth.
6- Reza N. Jazar (2008),Vehicle dynamics Theory and application, Springer.

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