CN103183017A - Self-identifying, precise-modifying and continuous-control method for corresponding peak slip rate of pavement - Google Patents

Abstract

The invention relates to a self-identifying, precise-modifying and continuous-control method for corresponding peak slip rate of a pavement. The method comprises the following steps: performing road test to obtain actual peak slip rate of a level road to serve as a comparison value; performing test to obtain the difference SB and the modification value SC of the deceleration value S of the level road and the deceleration value SD of a slope; applying the reactive force -F of the pavement brake force F to a sliding piece to generate an initial sliding signal S' to be immediately changed into pressure maintaining time to identify the level road or the slope; and modifying S' generated by the sliding piece into S to identify attachment coefficient identified by the brake process 1+X-X is equal to 1 or not equal to 1, precisely modifying S and performing value-fixing and value-maintaining output of the corresponding peak slip rate S0''.

Description

Road surface corresponding peak value slip rate self-identifying refine just with the Sustainable Control method

Road surface corresponding peak value slip rate self-identifying refine just with the Sustainable Control method, be applied to the ABS (Anti-lock Braking System) of self-propelled vehiclees such as automobile, motor bike, battery-driven car.

Existing ABS is to various road surfaces corresponding peak value slip rate S ₀" identification, body speed of vehicle accurate mensuration and revise also and break through so that adhesion coefficient utilization ε still to locate ε 〉=0.75 be qualified level:

1, the data at home and abroad example is to straight control slip rate, particularly control corresponding peak value slip rate all think suitable difficulty or think to pluck carry as follows:

1) Japan's " Automobile Anti-lock Braking device ABS structure and principle " ABS Corporation compiles, and Lee translates towards green.China Machine Press 1995.9 editions:

1.1) be slip rate control suitable difficulty at the desired peak value in different road surfaces, therefore avoid ... (former order 17-24 is capable)

1.2) prior art also can't resolve prediction line bus or train route face peak value slip rate ... (the 42nd page of 14-15 is capable)

1.3) also there are not accurately to measure means of the speed of a motor vehicle ... (the 45th page 4-46 page or leaf preceding 2 is not capable)

1.4) slip rate of control is particular value, differs on various road surfaces that it is corresponding with peak value to establish a capital, and is impossible (the 48th page of 2-3 is capable) so want to measure exactly the margin of stability of wheel

2): China " automotive electronic technology and control system " He Yusheng chief editor.National Defense Industry Press, Beijing 1997.41 editions:

2.1) modified tone joint system when direct anti-block braking system of car with the slip rate amount of making comparisons is, its intractability is bigger, is unsuitable for engineering and uses, and generally all adopts the control system (the 84th page of 10-12 is capable) with the wheel speed amount of making comparisons

3) China " auto electronic control technology " Zhou Yunshan chief editor.China Machine Press, Beijing 2004.8 the 1st edition:

3.1): the control (logic control method) of the ABS of existing widespread use is not best control method, both at home and abroad all in the control method (108th page 10-12 capable) of research based on slip rate.

3.2) further shorten stopping distance and directional balance is conflicting, the no clear superiority of appreciiable road surface stopping distance and conventional brake device contrast is arranged, even do not have advantage (the 126th page of 1-7 reciprocal is capable)

3.3) do not have under the situation of breakthrough in sensor Technology of Vehicle Speed, logic control algorithm will generally adopt (the 86th page of 13-14 is capable)

(it is attached that above-mentioned former digest page or leaf decal is made the contrast file, for the substantive examination reference.)

2, do not recognize that drawing beginning slippage signal is the basis of directly controlling slip rate:

Wheel produces the relation of the real-time conditions of beginning slippage signal S ' and S ' and the speed of a motor vehicle on the road surface.

Produce the condition of S ':

Wheel speed when producing S ' signal is exactly the speed of a motor vehicle reference value of calculating the beginning slip rate.

In the formula: the braking force of P-drg;

F-road surface braking force;

-adhesive ability;

The Z-road surface is to the vertical counter-force of wheel;

-adhesion value.

3, there is not breakthrough with the slip rate S of computer _0VWith actual slip rate S ₀The identification of gap is arranged and revise difficulty.

$S_{0V}=\frac{V_b-V_0}{V_b}\×100\%---\left(2\right)$

During no slip rate: V _b=ω r

In the formula: V _b-the speed of a motor vehicle;

V ₀-wheel speed;

ω-wheel spin velocity;

R-wheel effective rolling radius.

Produce the reason of gap: r is with tyre load (difference

Different uphill/downhill act on front and back wheel has different loads to shift), the variation of tire pressure, tire temperature, treadwear degree etc. and changing, arbitrary one variation all can produce corresponding gap, add the gap that the speed of a motor vehicle can not accurately be measured again, it is bigger sometimes to close gap, so will inevitably influence actual effect.

Purpose of the present invention: control corresponding peak value slip rate, make the safety problem of the excessive or not enough sideslip of causing of braking force or stopping distance that ε＜1 increases obtain initiatively solving.

Purpose of the present invention is realized by following method: at first actual slip rate S is tried on the road ₀, S ₀Method of calculating

${\mathrm{<figure-callout\; id="0"\; label="S"\; filenames="HSA00000658414200012.png"\; state="\{\{state\}\}">S</figure-callout>}}_0=\frac{S_A^{\&prime;}-S_A}{S_A^{\&prime;}}\&times;100\%.---\left(3\right)$

In the formula: S ' _A-wheel has the running distance of slippage;

S _AThe running distance of-wheel pure rolling.

S ₀Test method see embodiment 4.

The test method of value of sideslip b and method of calculating

Method of calculating:

$b\sqrt{c^2-a^2}---\left(4\right)$

The test method of b is seen embodiment 5.

Peak value slip rate S ₀" definition

The road examination

In the formula: Fmax-road surface maximum braking force (namely Close resistance);

F _wThe wear resistance of-tire week fair wear amount Q;

S ₀" Fmax does not have the peak value slip rate of sideslip again;

S _T" peak value stopping distance (S _TShould be the aviation value of reasonable test number).

The corresponding S in various road surfaces ₀" the road method for testing undertaken by the definition of formula (5)

By cliding friction law and formula (1): wheel vertically produces＞little sliding rate of 0, namely prove braking force P=road adherence

Can realize ε=1, but can't round Realization S _T", because: Fmax is adhesive ability

(tyre surface of tire embeds the interlock resistance on uneven road surface) adds the wear resistance F of the even abrasion loss Q of tire Zhou Heli _wClose resistance, Q value and frictional heating temperature are with S ₀Increase and increase, increase with friction velocity.So different road surfaces, the speed of a motor vehicle have the reasonable value of different Fmax and corresponding S ₀" and the S of ε=1 ₀" the peak value scope, with the S of level road road examination ε=1 ₀" be a reference value, test out uphill/downhill deceleration value (S _D) with the gap (S of level road deceleration value S _B) and correction (S _C).

Level road

Instant recognition principle: the fixing appropriate location onboard of deceleration/decel instrument, emergency braking, as long as the function of drg is normal, all can production (1)

The time: the saddle of deceleration/decel instrument (2) is under the guiding of guide rail (1), and slip or friction of rolling are moved to the left, and overcome the elastic force P of spring (3) _W, when-F and P _wProduce miles of relative movement (S during balance ₁) or (S ₂) ...Brake off: saddle (2) is at P _WEffect under get back to the right spacing, S value=0.Saddle miles of relative movement S is directly proportional with deceleration/decel.Because by

Antagonistic force-F of F act on and produce S, so

Produced simultaneously by F and-F, increase and decrease simultaneously, the synchroneity of Xiao Shiing is finished instant identification simultaneously

Emergency braking acts on saddle (2) by-F and produces S ' signal and changes the dwell time immediately Calculate S _0VIdentify real-time all kinds of road surfaces earlier; As S _0V＜S ₀" super level road franchise and S are constant to be descending, as S _0V＞S ₀" super level road franchise and S are constant be go up a slope, as S _{0V ≈}S ₀" and S is also stable be The level road of Bianing not is by instantaneous value S _DDirectly be converted to S _COr calculating S _CRevise the S of uphill/downhill; The braking procedure foundation

That set or calculate deceleration/decel slope calculates arbitrary moment S _0VIncrease and decrease is identified

Increase and decrease: as S _0V, S changes in tolerance, be

Not significant change is as S _0VIncrease super franchise and S also to become be from height

Enter low

As S _0VSubtract super franchise and S stable be from low

Enter height

Pressed by increase and decrease The time chien shih S ₀"+S ₀-S ₀=S ₀" or ≠ S ₀" (be 1+X-X=1 or ≠ 1) identify ε=1 or ≠ 1, as 1+X-X ≠ when 1 surpassing franchise, corresponding corrections of the extent S value according to ≠ 1 namely transfers S to until difference that must 1+X-X ≠ 1 in franchise ₀" the definite value value preserving output of value, electronic controller is according to the positive S of S ' self-identifying refine, S like this ₀" and Sustainable Control S ₀" automobile, motor bike, the battery-driven car ABS (Anti-lock Braking System) of output namely realize.Wheel speed by the wheel speed＞opposite side of a side is identified braking in a turn.Because each wheel is originated in S ' generation

Make a concerted effort-F, so according to the positive S of S ' refine, S " ₀To front, rear, left and right wheel place difference

Level road and uphill/downhill can both be suitable for.

With the application number of having announced: 201110123021.9 the contrast: augment from low

Enter height

Or from height

Enter low The identification modification method, level road, uphill/downhill road, turning road are had more fully accurately identify, revise, Sustainable Control S ₀" output.Make and generally believe Sustainable Control S ₀" quite difficulty maybe can not become energy.

The present invention by following for example and embodiment and accompanying drawing be described further

Different road surfaces, the speed of a motor vehicle have different

The reasonable value F that closes resistance _MaxWith corresponding S ₀":

Example 1: smooth ice road surface: interlock resistance and Q value are all more small, when friction temperature with S ₀Be increased to the ice face and dissolve when water layer is arranged,

Be corresponding reduction, directional balance variation, stopping distance S _TIncrease, so S ₀" critical value lower, so ice the road S ₀" should selecting slightly,＞0 microslip rate just can realize the S of peak performance ε=1 _T";

Example 2: for interlock resistance and Q value bigger road surface all: friction temperature needs with S ₀Be increased to a treadwear thing and dissolve from the powder shape and be the viscose glue shape, stick on the road surface, the roughness of tire, road contact surface is reduced,

Reduce S _TIncrease, tyre surface dissolves the S of critical value ₀" far away＞ice face dissolves the S of critical value ₀", so S ₀" critical value higher, should select higher S ₀" realize the S of peak performance ε 〉=1 _T";

Example 3, wet mud earth road pavement: slip rate reaches certain value, and the road surface will desaturation becomes the lubricant of mud pulpous state, makes

Reduce S _TIncrease, so S ₀" critical value also different.

Above-mentioned 3 examples are exactly that different road surfaces have different S ₀" properties example, there is its reasonable value Q (F on arbitrary road surface _W) corresponding critical value S ₀" and S _T", the slip rate that surpasses critical value is more big, and directional balance is just more poor, goes out difference by formula (5) method test

V _bCritical value S ₀" slope control S that just can the round Realization peak performance _T".

Embodiment 1 is level road

Instant recognition principle.

The dotted line right side is that antagonistic force-F of level road F acts on saddle (2) and produces among Fig. 1

Schematic diagram, the dotted line left side are that prior art is quoted figure.

Level road

Instant recognition principle: emergency braking, as long as the function of drg is normal, all can production (1)

The time: the saddle of deceleration/decel instrument (2) is under the guiding of guide rail (1), and slip or friction of rolling are moved to the left, and overcome the elastic force P of spring (3) _W, when-F and P _wProduce miles of relative movement (S during balance ₁) or (S ₂) ...Brake off: saddle (2) is at P _WEffect under get back to the right spacing, S value=0.Saddle miles of relative movement S is directly proportional with deceleration/decel.Because by

Antagonistic force-F of F act on and produce S, so

The instant basis of characterization of level road deceleration value S:

Application force and antagonistic force produce simultaneously, subtract simultaneously to increase, and the synchroneity of Xiao Shiing is identified simultaneously, and wherein the road surface braking force is directed force F; Saddle (2) overcomes elastic force P _WBe moved to the left S ₁Or S ₂Be antagonistic force-F.

Among Fig. 1: (A) direction of arrow is the direction of directed force F, and (B) direction of arrow is the direction (direction of namely driving a vehicle) of antagonistic force-F, and-F is ratio value of drawing of F:

Namely-F/F (6)

Body speed of vehicle by

-F acts on and produces S ' value and realize instant identification:

∴-F＝P _W＝s′ (8)

In the formula: G-complete vehicle weight (G=Z);

P _w-saddle m is moved to the left S ₁Or S ₂-spring force of F and spring force balance;

S '-P with

The beginning balance=-F and P _wThe distance that beginning balanced signal saddle moves.

Instant V when producing S ' signal ₀, be exactly the S of road surface calculating in real time _0VV _bReference value, namely

$S_{0V}=\frac{V_b-V_0}{V_b}\&times;100\%$

V according to instant reference value _b, press

The deceleration/decel slope of setting can calculate the S in arbitrary moment _0V

Guarantee that by F and the synchroneity of-F the instant wheel speed in S ' time does the instant identification of speed of a motor vehicle reference value, to various Uphill/downhill, left and right wheels place difference Road surface and brakeing during cornereing all are suitable for.

At this moment: S ' ≠ S; S ' ≠ S ";

S " is the correction of S '.

Because S ' is the value that results from before level road and uphill/downhill have the unidentified correction of gap, so S ' ≠ S;

" be to result from the peak value S that various road surfaces are revised through identification because of S ₀" value, so S " is parity with or superiority over S.Because Fmax=peak value slip rate S ₀"=maximum deceleration S "

Substitution formula (5) namely

Embodiment 2 is identification, test and modification methods of uphill/downhill deceleration value S and level road gap

Fig. 2 is gradient i and inclination of ramp conversion chart

45 ° of inclination of ramps, corresponding i are 100 °, the actual inclination of ramp of road is far away＜and 45 °.

Groundwork: sloping road is because of partical gravity P _iEffect, its S value and level road have gap (S _B), wherein: upward slope can act on S has extra void to reduce than level road; Descending can act on S has extra increasing emptily to add than level road, and the increase and decrease of gap is directly proportional with gradient i.

$i=\frac{h}{l}\&times;100---\left(10\right)$

In the formula: be that the slope is high (h), (t) be horizontal line length.

Fig. 3: be to go up a slope to act on the S value from solid line S _CVoid is reduced to dotted line S _DScheme drawing

Fig. 4: be that descending acts on the S value from solid line S _CIncrease emptily and be added to dotted line S _DScheme drawing

Gap (S _B) with S and the S of level road ₀" amount of making comparisons is identified and is revised:

The identification of going up a slope and the modification method of S value

If upward slope+i: gravity acts on the S value has extra void to reduce value for (S than level road _B), the corresponding correction that should increase is S _CExtra gap (S _B) namely

S _C-S _D＝S _B (11)

S _C＝S _D+S _B

The test method of upward slope gap correction and definite

Press

+ i, road examination or simulation bench teat: test out for example 5 ° ... 50 ° ... S _DContrast level road S should increase correction S _C, calculate, determine according to the test figures slope

What different gradient was corresponding should increase correction S _C1, S _C2, formulate S _DCorresponding S _CThe increment correcting table make software, finish correction by electronic controller.

The recognition methods of going up a slope

Upward slope calculates S by formula (2) _0V＞S ₀" super level road franchise is identified:

And S _BVCorresponding increasing emptily add, when calculating S _0V＞S ₀" when super level road is set franchise, namely prove upward slope, S _0V＞S ₀" value more big, the gradient of upward slope is also more big, otherwise then more little, the self-identifying of Shang Poing is namely finished like this.

The modification method of the extra gap of going up a slope

When proving upward slope: instruction is pressed S increment correcting table directly S _D1, S _D2Be converted to corresponding S _C1, S _C2, the self-identifying of difference+i is namely finished from revising the S value like this.

The modification method of the identification of descending and S value

The recognition methods of descending

Descending calculates S by formula (2) _0V＜S ₀" super level road franchise is identified:

Descending-i: the component of gravity act on the S value than level road have extra increase emptily value added,

And S _0VVoid reduce, when calculating S _0V＜S ₀" when super level road is set franchise, namely prove descending, S _0V＜S ₀" value more big, downward grades is also more big.Otherwise: then more few, the self-identifying of descending is namely finished like this.

Setting the slope acts on the S value and the extra value of increasing emptily is arranged for S than level road _B, the corresponding correction that should reduce is S _C, extra gap S _BThat is:

S _D-S _C＝S _B (12)

S _C+S _B＝S _D

The modification method of the extra gap of descending:

The correction of descending is opposite with upward slope, and when proving descending: instruction is pressed correcting table directly S _D1, S _D2Be converted to S _C1, S _C2, the self-identifying of difference-i is namely finished from revising the S value like this.

The test method of descending gap correction is with definite identical with upward slope.

Embodiment 3 is S of directly controlling ε=1 ₀" antilock braking method and ≠ 1 self-identifying are from modification method

The antilock braking method of straight control ε=1: the deceleration/decel instrument that the pouring weight miles of relative movement S of employing " self-recording formula brake instrument " principle is directly proportional with deceleration/decel, the fixing suitable position onboard of deceleration/decel instrument, the pouring weight of deceleration/decel instrument overcomes elastic force to move forward S is the deceleration/decel a reference value when braking with level road, different

The forward pitch that the road surface is directly proportional when braking is from (S ₁) or (S ₂) ... import electronic controller (5) with electric signal, electronic controller (5) is namely according to real-time (S ₁) or (S ₂) ... signal with

Or

Sit in the right seat, press the S that the deceleration/decel slope of setting ε=1 calculated, controlled arbitrary moment ₀", command pressure regulating control (4) is pressed S ₀" required adjusting braking force:

Smart identification refine correction method is provided from modification method by the self-identifying of following ε ≠ 1

The self-identifying of level road ε ≠ 1 is from modification method: with various level roads by formula (5) definition test S ₀" make a reference value 1 of slip rate, command pressure regulating control (4) is pressed the setting-up time supercharging, test S ₀"+X (S ₀) value namely transfers decompression-X (S to ₀) value, the time of test determination+X-X respectively

Again with

Be a reference value of time, after arbitrary S value variate, definite value, undertaken by setting pitch time respectively

The increase and decrease of time is pressed, checking S ₀" corresponding increase and decrease X (S ₀) whether value to identify the S definite value accurate, at this moment: as S ₀"+S ₀-S ₀=S ₀" namely

1+X-X＝1(13)

Prove that namely real-time road surface is that level road, deceleration/decel are accurate from definite value S, after this namely changes S over to ₀" definite value value preserving, the level road ABS (Anti-lock Braking System) that gets actual effect ε=1 namely realizes like this;

As 1+X-X ≠ 1 (14)

Namely illustrate S from definite value bigger than normal or less than normal poor＞or＜super ± franchise, should carry out corresponding increase and decrease S and revise, until 1+X-X=1 or ≠ 1 in franchise till, this ends: oneself ABS (Anti-lock Braking System) of revising the S value of self-identifying that proves level road ε ≠ 1 namely realizes;

As 1+X-X=1 but S ₀＜or＞S ₀" super ± during franchise, explanation is that braking force is bigger than normal or less than normal, should increase and decrease to press to revise, until S ₀=S ₀" or ≠ S ₀" till in franchise, this ends: the braking force self-identifying that proves ε ≠ 1 realizes from revising namely;

From low

Enter height

The self-identifying of ε ≠ 1 is from revising from verification method

From low

Enter height

S0 must surpass '-' franchise: for example from

Enter

The time, meanwhile

From

Be increased to

But P still is in Corresponding controlling valu do not increase, so S also is in S ₁The value position do not increase, at this moment: because P does not increase, so

S ₀＜S ₀" will inevitably surpass '-' franchise;

On the contrary: as S ₀Not super franchise namely proves high and low

Difference be within the negligible tolerance.

Characteristic identification and pressure regulation, correction: when calculating S ₀＜S ₀" super franchise is namely instructed supercharging, in supercharging, as

Proof has been located from low

Enter height Process, should continue to be pressurized to and corresponding S ' occurs ₇Namely transfer pressurize to, meanwhile: the instruction change over to by

The deceleration/decel slope set of ε=1 calculate, control arbitrary moment

Corresponding S ₀" check and revise, so far from low

Enter height

Self-identifying, from pressure regulation, review one's lessons by oneself just corresponding S ₀" namely finish;

Refine just and the checking: the S of this correction ₀" with the S of real-time road surface ε=1 ₀" conform to? press the straight control S of level road again ₀"+S ₀-S ₀Whether=S ₀" amount of making comparisons is just being carried out essence identification, refine, until 1+X-X=1 or ≠ 1 in franchise till.

Like this from low

Enter height

The identification of the essence of ε ≠ 1, refine are verified to such an extent that the ABS (Anti-lock Braking System) of ε=1 namely realizes just, certainly;

From height

Enter low

The self-identifying of ε ≠ 1 is from revising from verification method

From height

Enter low

S0 must surpass '+' franchise: for example from

Enter The time, meanwhile

Namely from

Be reduced to

The S value also simultaneously with

Reduce and automatically from S ₇Be reduced to S ₁, but P still locates

Corresponding controlling valu do not reduce, at this moment: because P does not reduce, so

S ₀＞S ₀" will inevitably surpass '+' franchise;

On the contrary: as not super franchise, namely prove high and low

The negligible tolerance in difference place within.

Characteristic identification and pressure regulation, correction:

Proof is located from height Enter low Process S ' occurs when S is reduced to ₁The time, i.e. instruction is pressed

Reduce pressure, meanwhile: the instruction change over to by

The deceleration/decel slope set of ε=1 calculate, control arbitrary moment

Corresponding S ₀" check and revise, so far from height

Enter low

Self-identifying, from pressure regulation, review one's lessons by oneself just corresponding S ₀" finish;

Refine just and the checking: the S of this adjustment ₀" with the S of real-time road surface ε=1 ₀" conform to? press the straight control S of level road again ₀"+S ₀-S ₀Whether=S ₀" amount of making comparisons is just being carried out essence identification, refine, until 1+X-X=1 or ≠ 1 in franchise till.

Like this from height

Enter low

The identification of the essence of ε ≠ 1, refine are verified to such an extent that the ABS (Anti-lock Braking System) of ε=1 namely realizes just, certainly;

Left and right wheels place difference The self-identifying of road surface ε ≠ 1 is from revising from verification method

The identification on this road surface is identical with the uphill/downhill road of level road and level road respectively with modification method.

The identification of braking in a turn and pressure regulation

When producing S ' or S " time, the front and back wheel of both sides is if any the wheel speed of the wheel speed＞opposite side of 1 side, and namely explanation is braking in a turn, and the difference of both sides wheel speed is more big, and Turning radius is more little, and the centnifugal force that acts on sideslip and hidden danger is also more big.

The peak value slip rate of braking in a turn

Computing value: interior wheel＞foreign steamer, answer through type (3) (4) (5) road to try to determine optimized scope.

When identification is braking in a turn, should be by turning to

Come Fuel Pressure Regulator Control value preserving output, also can be exchanged into high frequency points and stop to control

Value preserving output, the some frequency of stopping is determined by test.This penalty kick value preserving output also can be applicable to S " ₀Value preserving output.

Embodiment 4 is pouring weight (saddle) the miles of relative movement application examples that are directly proportional with deceleration/decel:＜self-recording formula brake instrument 〉.

Embodiment 5,6 is respectively by the application number of having announced: 201110123021.9 embodiment 1,2 provides.

Described value is constant in full is constant relatively, rather than absolute value is constant, and each controlling valu 1 all is approximate value, is index with the requirement that can realize the peak performance scope all.

Claims (7)

1. The corresponding peak value slip rate in road surface self-identifying refine just with the Sustainable Control method, it is characterized in that first road tries out level road

   

   Corresponding peak value slip rate S ₀" make a reference value; Test and the deceleration value S that derives the uphill/downhill different gradient _DGap S with level road S _B, answer correction S _C, emergency braking acts on saddle (2) by antagonistic force-F of F and produces sliding signal S ' of beginning and change pressurize immediately

   

   Time Calculation S _0VIdentify real-time all kinds of road surfaces earlier: as S _{0V ≈}S ₀" and S is also stable be

   

   Not the level road of Bianing, as S _0V＜S ₀" super level road franchise and S are constant to be descending, as S _0V＞S ₀" super level road franchise and S are constant to be to go up a slope, by instantaneous value S _DDirectly be converted to S _COr calculating S _CRevise the S of uphill/downhill; The braking procedure foundation

   

   That set or calculate deceleration/decel slope calculates arbitrary moment S _0VIncrease and decrease is identified

   

   Increase and decrease: as S _0V, S changes in tolerance and is Not significant change is as S _0VIncrease super franchise and S also to become be from height

   

   Enter low

   

   As S _0VSubtract super franchise and S stable be from low

   

   Enter height

   

   Pressed by increase and decrease

   

   The time chien shih S ₀"+S ₀-S ₀=S ₀" or ≠ S ₀" (be 1+X-X=1 or ≠ 1) identify ε=1 or ≠ 1, as 1+X-X ≠ when 1 surpassing franchise, corresponding corrections of the extent S value according to ≠ 1 namely transfers S to until difference that must 1+X-X ≠ 1 in franchise " ₀The definite value value preserving output of value, electronic controller is according to the positive S of S ' self-identifying refine, S like this " ₀With Sustainable Control S " ₀Self-propelled vehicle ABS (Anti-lock Braking System) such as the automobile of output, motor bike, battery-driven car namely realize.
2. 2. press the corresponding peak value slip rate self-identifying refine of claims 1 described road surface just with the Sustainable Control method, it is characterized in that according to S ' correction S, S " ₀Also can be applicable to ABS (Anti-lock Braking System) performance S " ₀With S " _TTest, verify mutually and detect.
3. 3. press the corresponding peak value slip rate self-identifying refine of claims 1 described road surface just with the Sustainable Control method, it is characterized in that signal S ' also can be applicable to register record traffic accident and whether in time carries out the time of origin of emergency braking and calculate, further improve precision that fix duty appoints and the efficient of processing accident.
4. 4. press the corresponding peak value slip rate self-identifying refine of claims 1 described road surface just with the Sustainable Control method, it is characterized in that according to S ' correction S, S " ₀Also can have opposite with the speed of a motor vehicle: the high S of the speed of a motor vehicle " ₀The low S of low, the speed of a motor vehicle " ₀High corresponding increase and decrease S " ₀Automatic adjusting and control.
5. 5. press the corresponding peak value slip rate self-identifying refine of claims 1 described road surface just with Sustainable Control method, the peak value slip rate of the braking that it is characterized in that also can corresponding test going off the curve

   

   Corresponding adjusting and control.
6. 6. press the corresponding peak value slip rate self-identifying refine of claims 1 described road surface just with the Sustainable Control method, it is characterized in that producing the pressurization time that signal S ' also can transfer setting immediately to, according to this pressurization time S _0VSize variation identify difference

   
7. 7. press the corresponding peak value slip rate self-identifying refine of claims 1 described road surface just with the Sustainable Control method, it is characterized in that according to S ' correction S, S " ₀Also can change high frequency after the definite value presses change to control S " ₀Value preserving output.

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