SISTEMI AKTIVNE BEZBEDNOSTI NA VOZILU Prof.dr.Aleksandra Prof.dr.Aleksandra Janković Dipl.maš.ing.Branislav Dipl.maš.ing.Branislav Aleksandrović
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Kočenje-proces kočenja i regulisanje regulisanje blokiranja blokiranja Opšte napomene
Cilj prorač proračuna je da se, još u fazi izrade idejnog projekta, defmišu parametri sistema koji će obezbediti dobre ko č ione osobine i stabilnost automobila u toku ko čenja. Pri ovim prorač proračunima se, najč najčešć ešće, polazi od poznate diferencijalne jedna čine kretanja težišta koč kočenog automobila [6]:
gde su: G - težina automobila, u češć eš ća obrtnih masa automobila u fazi ko čenja (pri koč ko čenju sa S - koeficijent uč isključ isključenom eno m spojnicom njegova velič veličina je 1,02 = 1,04), rezultujuća koč kočiona sila (zbir svih koč ko čionih sila po toč to čkovima), Fk - rezultujuć /- koeficijent kotrljanja pneumatika, k, A - koeficijent otpora vazduha i projekcija čeone površine automobila, pređeni put u toku procesa koč ko čenja, x - pređ t - vreme koč kočenja. Kod analiza procesa koč ko čenja se, često, uvodi i pojam specifič specifi čne koč ko čne sile u obliku:
Uobič Uobičajeno je da se pri intenzivnom ko č enju zanemaruje otpor vazduha, pa diferencijalna jednač jedna čina kretanja težišta koč ko čenog automobila dobija oblik:
U sluč slučajevima kada su toč to čkovi blokirani, specifič specifi č na koč ko čna sila postaje jednaka koeficijentu prianjanja, tako da se za ko čenje na suvom asfaltnom putu kod koga je 9 » f može napisati:
Praksa je pokazala da je najefikasnije ko čenje kada su iskorišć iskoriš ćeni koeficijenti prianjanja jednaki na prednjoj i zadnjoj osovini, a to se može posti ći izborom koč ko čnica koje će ostvariti koč kočione sile srazmerne reakcijama tla u procesu ko čenja, a pri idealnoj raspodeli koč ko čnih sila može se napisati:
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Osnovni zahtevi u pogledu optimalnog kočenja
Jedan od osnovnih zahteva za ostvarivanje maksimalnih ko čnih sila i maksimalnog usporenja je da se svi to čkovi dovedu istovremeno do granice blokiranja. U cilju daljih objašnjenja, imać ima ćemo u vidu izraze o dinamič dinami čkim reakcijama tla, koje u sluč slu čaju koč kočenja na horizontalnom putu, dobijaju oblik:
Pretpostavimo da postoji zavisnost izme đu ko k o č nih sila na prednjim i zadnjim toč to čkovima u obliku:
Koristeć Koristeći prethodne relacije, optimalni odnos koč ko čnih sila je dat izrazom:
Analizom ovog izraza možemo utvrditi da optimalan odnos ko čnih sila zavisi od: - osn osnog ras rastojan tojanjja, - opterećenja (položaja težišta) i - stanj stanjaa puta puta (koefi (koeficij cijen enta ta prianj prianjanj anja). a). Odnos koč ko čnih sila se definiše i preporukama, slika 1., a one su date u zavisnosti od putnih uslova. Pri projektovanju ko čnih sistema treba težiti da parametri ko čenog automobila budu unutar šrafiranih površina. po vršina. Napominj Napominjemo emo da se optim o ptimalan alan odnos o dnos ko čnih nih sila ne može može u praksi praksi održati održati u svim eksploatacionim eksploatacionim uslovima, imajuć imaju ći pre svega u vidu promenu putnog pokrivač pokriva ča, makroreljefa i optereć opterećenja.
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Slika 1: Preporuke za za odnose koč nih nih sila
Problemom raspodele ko čionih sila danas se bavi ve ć i broj struč stru čnjaka, a posto je i pravilnici pravilnici (ECE (ECE 13, DIN 74000 74000 i sl.), sl.), kao i razvijeni razvijeni algori algoritmi tmi i programi programi za definisanje parametar parametaraa koč ko čnih sistema. Analizom izraza za maksimalno usprenje može se utvrditi da se maksimalno usporenje postiže u sluč slu čaju najveć najveće vrednosti koeficijenta prianjanja. To se ne ostvaruje sa blokiranim toč točkovima, već već pri njihovom proklizavanju od oko 20-30%. Da bi se ova vrednost proklizavanja ostvarila u svim uslovima, koriste se sistemi za onemogu ćavanje blokiranja toč točkova - ABS (anti-lock braking system), o kojima će kasnije biti reč re či. Na osnovu preraspodela normalnih reakcija tla mogu se definisati maksimalne vrednosti koč ko čnih sila i momenata na osnovu kojih se biraju dimenzije ko čnica. Radi upoređ upoređenja, karakteristike disk i doboš ko č nica su prikazane na slici 2., sa koje je uoč uo čljivo da su parametri disk ko čnica povoljniji za korišć koriš ćenje na automobilima.
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Slika 2: Uporedne karakteristike disk i doboš ko č nica nica
Za prenošenje sila sa pedale ko čnice, na izvršni organ (disk ili doboš ko čnica), kod automobila, najč naj češć ešću primenu nalaze hidrauli čke instalacije, a kod nekih novijih i elektrohidraulič elektrohidrauli čki sistemi. Najč Najčešć ešće primenjene šeme hidroinstalacija su prikazane na slici 3., a od njih, najč najčešć ešću primenu, iz razloga bezbednosti, imaju šeme a) i b).
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U cilju manjeg zamora vozač voza ča, savremeni koč ko čni sistemi su opremljeni servo uređ ure đajima koji poveć pove ćavaju silu kojom vozač voza č deluje na komandu (pedalu) ko č nice. Oni su najč naj č ešć eš ć e pneumatski, a radi ilustracije, na slici 4. dat je primer jednog takvog sistema. Sa slike se očigledno oč igledno uoč uo čava uticaj pojač poja čanja servo uređ ure đaja na silu koja se prenosi na glavni ko č ni cilindar.
Slika 4: Vakuumski servo ure đ aj: a j: 1 - podru č je glavnog cilindra, 2 - sila na pedali, 3 - faktor pojač anja, anja, 4 - nivo vakuuma, 5 - efekat sile napedali, 6 - izlazna ta č ka ka Sistemi za onemogu ćavanje blokiranja to čkova
Blokiranje toč točkova prilikom koč ko čenja je nepoželjna pojava. Do nje dolazi kada sila koč kočenja toč to čka prekorač prekora č i vrednost sile prianjanja. Put zaustavljanja automobila sa blokiranim toč točkovima je duži nego kada se oni kotrljaju. Pored toga, blokirani to čkovi koji klize po putu ne mogu da prenesu bo čnu silu, tako da automobil auto mobil nije više upravljiv. Sistem koji reguliše silu koč ko čenja je ABS ABS - Uvodna razmatranja razmatranja
ABS (anti-lock braking system) je sistem čiji je zadatak da spreč spre či proklizavanje toč točkova prilikom naglog koč ko čenja vozila. Glavna uloga ovog sistema je da omogu ći vozač vozaču upravljanje prilikom naglog ko čenja, a u nekim sluč slu čajevima da smanji put ko čenja. Nedostaci ovog sistema ogledaju se u tome da u nekim sluč slučajevima sam sistem produžava zaustavni put vozila usled "false sense of security" lažane ugrožene bezbednosti, koja je uslovljena uslovljena lošim koriš kor išććenjem sistema od strane vozač voza ča koji ne razumeju njegov rad i manama u softveru, kao k ao i ogranič ograničenjima samog sistema. Široka primena ABS u vozilima potič poti če od 1978.godine pojavom sistema druge generacije. Predhodne verzije nisu imale glavnu funkciju ABS-a, tj. da spre č avaju klizanje toč to čka prilikom koč ko čenja, već već sistem stabilnosti vozila - traction control brake pomoć pomo ć pri koč ko č enju), assist( electronic stability control (elektronska stabilnost vozila).
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Istorija ABS-a
U literaturi postoji više sistema koji su imali funkciju ABS-a. Prvi podatak poti če iz ranih 1900-ih godina, a odnosio se na sisteme razvijene za potrebe železnice. Briton J.E Francis je stvorio »slip prevention regulator« (regulator spe čavanja klizanja), Karl Wessel je svoj sistem nazvao »brake power regulator« (regulator snage ko čenja), a Werner Mohl »brake bloking prevented« (spreč (spre čavanje blokiranja koč ko čnica), ali su ovi sistemi bili neefikasni. Dalji razvoj ABS-a je nastavio francuz Gabriel Voisin 1929. koji je sistem razvijao za francuske avione, nastavak razvoja preuzimaju Nema čke kompanije Bosch i Mercedes-Benz koje razvijaju svoj sistem ABS 1936. god. Razvijena verzija sistema sastojala se od analogno mehanič mehaničkih delova i sistem je bio izuzetno spor. Pre svega ABS je razvijan radi pomoć pomo ći letelicama pri zaustavljanju na klizavim pistama. 1947. prva primena ABS-a je bila na avionu bombarderu B-47. Radilo se o Dunlop's Maxaret sistemu, koji je razvijen da bi se spre čilo pucanje pneumatika na suvom betonu i otklizavanje na zaleđ zale đenim pistama. Prva primena ABS kod automobila bila je 1954. godine na ograni čenom broju Linkolna koji je bio opremljen ABS-om pozamljenim sa francuskih aviona. Tokom 60tih godina razvijen je potpuno mehani č ki sistem ugrađ ugra đ ivan na manjem broju modela trkač trka č kih automobila Ferguson P99, Jensen FF i modelu Ford Zodiac. Proizvo đači đači FORD, Chrysler i Cadillac nude ABS na ograni čenom broju modela. Ovi sistemi koristili su analogne rač računare i vakumske modulatore, kod kojih je ciklus vakumskog modulatora spor što je uslovilo da je put zaustavljanja rastao. Zakonski propisi zbog toga spre čavaju razvoj ABS u SAD, pa evropske kompanije preuzimaju vodstvo u slede ć ih 10-20 godin go dina. a. Pr vi elek el ektr tr onsk on skii kontroli kontrolisani sani ABS uvod uvodee Merce Mercedes des i BMW BMW.. Razvoj Razvoj ovog ovog sistem sistemaa omoguć omogućen je razvojem poluprovodnika. Godine 1964. u Bosch-u po činju istraživanja na antiblokirajuć antiblokiraju ćem sistemu koč ko čenja (Antilock Braking System). 1970. Teldix u saradnji sa Daimler-Benz-om predstavlja vozilo opremljeno sistemom koji je nazvan ABSl. Sistem je imao preko 1000 komponeti i broj potencijalnih izvora grešaka je bio velik. 1975. Teldix, Bosch i AEG odlu čuju da naprave ABS2 koji je imao digitalne elektronske komponente koje su jeftinije, efikasnije i prakti čnije za upotrebu kod serijski proizvedenih vozila. Digitalna tehnologija je omogućila razvoj rač računarskih kontrolnih jedinica i dozvolila znač značajnu redukciju broja komponenata sistema tako da je zadovoljila osnovne osnovne zahteve zahteve za operativnu bezbednost. U oktobru 1978. Bosch-ov ABS2 postaje dostupan tržištu na vozilima Mercedes-Benz S klase, a u novembru iste godine na modelima BMW 700. Zahvaljuju ći mikroelektronici ovaj ABS 2 sadrži samo 140 komponenata.
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1998. pojavljuje se Bosch-ov sistem ABS 5.7. Težina ABS jedinice je 2.5 kg, a performanse memorije rač ra čunara su 48 kByte. Ovaj sistem uklju čuje i primenu ESP. 2001. godine pojavljuje se Bosch-ov ABS 8. Povezan je sa ESP i TCS modularne je konstrukcije i ima rač ra čunar čija je memorija 128 kByte. Ukupna težina sistema je 1.6 kg.Na slici 5 date su težine raznih verzija sistema ABS-a.
Slika 5: Razne verzije ABS sistema (BOSCH)- smanjivanje težine sistema tokom razvoja Primena ABS
Na slici 6a dat je sluč slu čaj korišć korišćenja sistema u kome sistem omoguć omogu ćava vozač vozaču da zadrži upravljivost vozila prilikom koč ko čenja i omoguć omogućuje izbegavanje drugog vozila. Na slici 6b je prikazano kako treba pravilno koristi sistem. Dakle kod vozila sa ugra đenim sistemom kada se koč ko či treba pritisnuti koč ko čnicu i tako koč ko čiti. Na slici 6.C kod nekih vozila koja imaju ABS osetić osetiće se blago pulsiranje prilikom koč ko čenja što je normala pojava kod ovog sistema.
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Slika 6. c: Podrhtavanje pedale Opis sistema ABS - komponente i funkcionisanje
Klasič Klasičan sistem za koč ko čenje sastoji se iz sledeć slede ćih delova (slika 7.): 1. 2. 3. 4. 5. 6. 7. 8.
Disk ko čnice (slika 8.a) Doboš ko čnice(slika 8.b) Vodova (cevi) sist ema Pomoćne koč kočnice Servo mehanizma (slika 9) Glavnog ko čionog cilindra Komandne pedale Cilindara na na sv svakom posebnom to čku
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Slika 8. a i b: Delovi disk i doboš ko č nice nice
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Na slici 10. dat je prikaz vozila sa ugrađ ugra đ enim sistemom ABS, pored ovih n a ve d e n i h komponeti komponeti i delova delova sistem sistem ima ima dodate dodate još: još: 9. 10. 11. 12.
Senzore brzine V e nt il e ( S l ik a 1 1 ) P u mp u ( S l ik a 1 1 ) Kontroler
Slika 10: Instalacija ABS
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Princip rada
Savremeni ABS, slika 12., ima induktivni senzor (2), postavljen na nosa č toč točka, u blizinu ozubljenog venca (1), koji se obr ć obr će zajedno sa toč to čkom. Svaki zub ozubljenog venca, koji prođ prođe pored senzora, generiše jedan električ elektri čni impuls u njemu. Pošto je broj zuba ozubljenog venca poznata velič veli čina, senzor (2) faktič faktički daje informaciju o brzini obrtanja to čka (8). Senzor broja obrtaja može da bude ugra đ en i u glavni prenosnik, kada on daje informaciju o broju obrtaja izlaznog vratila menja ča, koji je proporcionalan broju obrtaja toč to čkova kada se automobil kre će na pravcu (tada diferencijal ne vrši preraspodelu broja obrtaja na levi i desni to čak). Informacija o broju obrtaja toč to čka prenosi se, električ električnim putem, do upravljač upravlja čke jedinice (3). Ona, na osnovu tendencije opadanja broja obrtaja toč točka (ugaono usporenje to čka), po odredenom programu, deluje na aktuator elektrohidraulič elektrohidraulični ventil (4). Aktiviranjem tog ventila vrši se regulacija pritiska u ko č ionom vodu koji vodi do hidraulič hidrauli čnog cilindra (5) disk koč ko čnice. Kada je ugaono usporenje usporenje toč to čka veliko, tada je to znak da to čak naginje blokiranju. Da bi se to spre č ilo, elektrohidraulič elektrohidraulič ni ventil (4) smanjuje pritisak ulja u ko č ionom vodu, usled č ega opada sila ko čenja toč to č ka, a time i njegova tendencija prema blokiranju. Kada elektrohidraulič elektrohidraulični ventil preuzme upravljanje pritiskom u ko čionom vodu, on istovremeno zatvara dejstvo od glavnog ko čnog cilindra (6), odnosno eliminiše dejstvo voza ča na papuč papu č icu koč ko č nice (7). Kada se preko senzora broja obrtaja ustanovi da broj obrtaja toč to čka raste (jer je smanjena sila ko čenja), tada sistem reaguje poveć pove ćanjem pritiska u koč kočionom vodu, tj. poveć pove ćanjem sile koč ko čenja. Ovi uzastopni ciklusi pove ćanja i smanjenja sile koč kočenja održavaju toč to čak na granici blokiranja, i time obezbe đuju maksimalnu efikasnost koč kočenja.
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Dijagramski prikaz procesa regulacije sile ko čenja toč točka dat je na slici 13.
Slika 13: Regulacija sile ko č enja e nja to č ka k a pomo ć u ABS: 1 - Dijagrami ugaone brzine to č k a 2 - Dijagra Dijagram m ugaonog usporenja usporenja (ubrzanja to č ka), ka), 3 -Dijagram -Dij agram komandnog napona za elektrohidrauli č ni ni ventil, 4 - Dijagram pritiska u ko č ionom ionom cilindru to č ka ka
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koč ko čenja toč to čkova prednje osovine, koje su pojedina č no regulisane). ABS može da bude izveden i u varijanti (slika 14. c) kada su sile koč kočenja prednjih toč to čkova pojedinač pojedinačno regulisane (svaki toč to čak ima po jedan senzor i aktuator), a sile ko č enja zadnjih toč to čkova zajedno (senzor se nalazi u glavnom prenosniku, a za oba to čka postoji jedan aktuator). akt uator). U ovoj konfiguraciji postoje tri regulaciona kanala. kanala. Regulacija sile ko čenja toč točkova prednje pr ednje osovine se u ovoj varijanti varijanti često sprovodi i po strategiji "Select high". To zna či da se ignoriše signal o težnji to čka koji prvi naginje blokiranju, čime se faktič faktički i omoguć omogućava njegovo blokiranje. Međ Me đutim, u potpunosti se iskorišć iskoriš ćava raspoloživa sila prianjanja za koč kočenje drugog toč to čka. Ovim č inom se, takođ tako đe, izbegava narušavanje stabilnosti automobila pri kočenju.
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Primer savremenog automobila sa senzorima na sva 4 to čka (slika 15)
Slika 15: 15: Mitsubishi Lanser sa komponentama ABS sistema Senzori – 1. ABS sensor - signal koji je proporcionalan brzini brzini rotacije svakog to to čka šalje se ABS-ECU 2. Senzor boč bo čne sile - Podatke o bo čnom ubrzanju šalje ABS-ECU 3. Senzor uzdužne sile - Podatke o uzdužnom ubrzanju vozila šalje ABS-ECU 4. Senzor ugaone brzine upravljanja - podatke o uglu zaokretanja upravlja ča šalje
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Sistem upravljanja dinami čkom stabilnos ću vozila
Upravljanje vozilom u uslovima granič grani čnog prianjanja izmedju pneumatika i tla po kome se ono kreć kre će predstavlja izuzetno težak zadatak sa kojim se suo čava "proseč "prose čan" vozač voza č. U takvim, u pogledu bezbednosti veoma rizi čnim situacijama, vozač voza č, iznenađ iznenađen neželjenim ponašanjem vozila, često reaguje ishitreno i pani č no gubeć gube ć i na taj nač na č in kontrolu nad vozilom. Poznato je da o setljivost momenta zakretanja vozila, s obzirom na promene ugla zakretanja toč to čka upravijač upravija ča, brzo opada sa porastom njegovog ugla klizanja. Pri velikim uglovima klizanja vozila, promene ugla zakretanja to čka upravljač upravlja ča imaju mali uticaj na promenu momenta zakretanja samog vozila, iako je tada apsolutna vrednost ovog momenla skoro jednaka nuli. U ovom slu čaju veliki uglovi klizanja podrazumevaju vrednosti pri kojoj kriva zavisnosti koeficijenta prijanjanja od ugla klizanja pneumatika dostize svoj maksimum. Zato se, na suvim površinama, manevarske sposobnosti vozila gube pri uglovima klizanja vozila koji prelaze 10°, dok u slu čaju kretanja po zbijenom snegu ovaj ugao iznosi priblizno 4°. Neophodno je istać ista ći da se "proseč "prosečno" vozač vozačko iskustvo zasniva uglavnom na upravljanju vozilom po površinama sa relativno visokim koeficijentom prijanjanja, te logika upravljanja najč najčešć ešće ostaje ista i u situacijama koje su znatno nepovoljnije sa aspekta bezbednosti u saobrać saobra ć aju. Naime, nerealno je o č ekivati ekivati da vozač voza č , u svakom trenutku, prepoznaje karakteristike tla po kome se njegovo vozilo kre ć e i da prema tome "prilago đ ava" upravljanje. Veoma je teško, u trenutku, sagledati granicu bo čne stabilnosti vozila imajuć imajući u vidu činjenicu da se ona bitno menja pri promenama koje se dešavaju u samom kontaktu pneumatika i tla. Imaju ć i ovo u vidu, stvarno kretanje vozila u realnim uslovima može u znatnoj meri da odstupa od željenog što predstavlja jedan od osnovnih problema u sistemu vozač vozač-vozilo-okolina. Nepredvidivo ponašanje vozila i neadekvatno reagovanje vozač voza ča u ovakvim prilikama predstavljaju stalni izvor incidentnih situacija u saobrać saobra ćaju.
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Acura: Vehicle Stability Assist (VSA) Alfa Romeo: Vehicle Dynamic Control (VDC) Audi: ESP - Electronic Stabilization Program Buick: StabiliTrak BMW: Dynamic Stability Control (DSC), including Dynamic Traction Control Cadillac: All-Speed Traction Control & StabiliTrak Chevrolet: StabiliTrak; Active Handling (Corvette ( Corvette only) Chrysler: Electronic Stability Program (ESP) Citroen: Electronic Stability Program (ESP) Dodge: Electronic Stability Program (ESP) DaimlerChrysler: Electronic Stability Program (ESP) Fiat: Electronic Stability Program (ESP) and Vehicle Dynamic Control (VDC) Ferrari: Controllo Stabilita (CST) Ford: AdvanceTrac and a nd Interactive Vehicle Dynamics D ynamics (IVD) and Electronic Stability Program (ESP); Dynamic Stability Control (DSC) (Australia only) General Motors: StabiliTrak Hyundai: Vehicle Dynamic Control (VDC) and Electronic Stability Program (ESP)
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SEAT: Electronic Electronic Stability Stability Program (ESP) Škoda: Electronic Electronic Stabili St ability ty Program (ESP) Smart: Electronic Stability Program (ESP) Subaru: Vehicle Dynamics Control Systems (VDCS) Suzuki: Electronic Stability Program (ESP) Toyota: Vehicle Dynamics Integrated Management (VDIM) with Vehicl Stability Control(VSC) Vauxhall: Electronic Stability Program (ESP) Volvo: Dynamic Stability and Traction Control (DSTC) Volkswagen: Electronic Stability Program (ESP)
Osnovne fizi čke veli čine, princip funkcionisanja i karakteristi čne situacije dejstva sistema upravljanja
S obzirom da trajektorija vozila nije unapred poznata, promenljive koje opisuju kretanje vozila dobijaju se putem komandi koje saopštava voza č, a to su ugao zakretanja to čka upravljač upravljač a, moment motora koji se reguliše prenosnom komandom kao i pritisak ko čenja.
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Primer situacija u saobra ćaju – Preticanje
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ESP - Elektonske komponente
slika 21.
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Senzor ugla zaokretanja točka upravljača A45
slika 22. i slika 23.
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Ranije verzije senzora ugla zaokretanja N49
slika 24.
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Senzor bočnog ubrzanja slika 26.
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Kombinacija scnzora bo čnog ubrzanja i senzora ugla okretanja oko vertikalne ose B24/15
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Mod ESP – Pritisak raste
slika 32.
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Mod ESP - Redukcija pritiska
slika 34.
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Razvojem tehnologije stvorene su mogu ćnosti da se i ovi sistemi siste mi usavršavaju. usavršavaju.
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Senzorski koč ko čioni sistem se koristi u kombinaciji sa ABS i ESP sistema i to je jedan od najnovijih koč ko čionih elemenata. Razvoj novih koč ko čionih sistema i elemenata bitno utič uti če na poboljšanje aktivne bezbednosti, jer ovi elementi omoguć omogućavaju lakše zaustavljanje vozila, bržu reakciju vozač voza ča, bitno smanjenje koč ko čionog puta, i uopšte bolju stabilnost vožnje i lakše upravljanje vozilom. Sistem elasti čnog oslanjanja
Sistem elastič elastič nog oslanjanja ima veliki zna čaj sa stanovišta aktivne bezbednosti vozila. Ovde će biti predstavljen jedan poluaktivan sistem elasti čnog oslanjanja koji se pojavio u upotrebi upot rebi 1999.godine u Mercedesovoj CL klasi. Mercedes Active Body Control
Upotreba Polu-Aktivnih sistema elastič elasti čnog oslanjanja, zasniva se na upotrebi podesivih amortizera i opruga promenljive krutosti, u zavisnosti od uslova vožnje. Regulaciona hidraulika pomera gornje uporne oslonce i menjaju ći njihovu krutost menja karakteristike celog SEO, kako bi se nepoželjno kretanje oslonjene mase spre č ilo. Kretanje same oslonjene mase može biti posledica loših puteva, naglih manevara, oštrih koč kočenja. Kod ABC sistema, radni fluid pod pritiskom od 200 bar, potiskuje gornje uporne oslonce opruga na niže i postiže se efekat tvrdih opruga. Ako se oslonci podignu na gore postiže se suprotan efekat. Odziv sistema ABC nije baš brz za punjenje hidraulič hidrauličkih elemenata za podešavanje potrebno je odre đeno vreme, pa je maksimalna frekfencija promene 5 Hz. Amortizer i opruga su integrisani u kompaktnu celinu, objedinjuje ih zajednič zajednički cilindar. Na slici 68. prikazan je "rendgenski" snimak ABC sistema na vozilu Mercedes CL.
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Točak
Sastavni delovi to čka su pneumatik i naplatak. Od stanja pneumatika bitno zavisi sigurnost upravljanja vozilom. Sistem pra ćenja pritiska u pneumatiku
Ovaj sistem je razvijen u firmi CONTINENTL-TEVES. Na naplatku to čka izrađ izrađen je otvor. Sa spoljašnje strane postavlja se dava č pritiska. Davač Dava č je pod direktnim uticajem pritiska vazduha, pa se u njemu javlja signal. Signal se do elektronske jedinice prenosi na dva nač na čina: -
žič žično (putem elektrovoda) elektro voda) bežično (antenom, radio talasima)
Obe varijane izvođ izvo đenja ovog sistema date su na slici 69.
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Delovi ovog sistema: 1. 2. 3. 4. 5.
M o del se nz o ra na na na na plat ku to to č ka; Ant ena; Da va č brzine toč to čka; ka ; Ele kt r o nska upr a vlja čka jedinica; C e nt r a lna a nt e n a .
Ovaj sistem je bitan za bezbednost vožnje, jer voza č može biti upozoren na pad pritiska u pneumaticima, i to je posebno zna čajno pri vožnji velikom brzinom. Sistem upravljanja
Sistem upravljanja je veoma bitan sa stanovišta bezbednosti. Ovaj sistem treba da obezbedi voza č u nesmetano i lako upravljanje vozilom bez naprezanja. Voza č u ni jedan detalj enterijera ne treba da skre će pažnju, kako bi mogao da se skoncentriše na vožnju. Jedan od novijih sistema upravljanja je BMW-ov drive-by-wire. Osnovni elementi ovog sistema su: to čak upravljač upravlja ča, mehanizam zakretanja to č kova, davač dava č ugla toč to č ka upravljač upravlja č a, davač dava č ugla zaokretanja to čkova, elektromotor-zakretač elektromotor-zakreta č toč to čkova, elektromotor-povratka informacija. Ovaj sistem dat je na slici 70.
Slika 70: Elektromehani č ki ki sistem upravljanja — BMW
Svi ovi delovi objedinjeni su u dve celine: model glave upravlja č a i modul volana. Oba ova modela su povezana sa EUJ, koja dobija podatke o brzini kretanja vozila. Vozač Voza č zaokreć zaokre će volan. Davač Dava č ugla prosleđ prosle đ uje informaciju do EUJ, koja zavisno zavisno o d brzine vozila, aktivira e lektromotor, lektromotor, na glavi upravlja ča. Senzor na glavi upravljač upravlja č a, povratnom spregom šalje signal o izvršenom radu a EUJ aktivira elektromotor volana, pružaju ć i tako vozač voza č u povratno informaciju. Step Stepen en pren prenos osaa sistema zavisi od brzine vozila. Prenos je direktniji na parkingu i pri malim brzinama. U
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Sistem osvetljavanja Adaptivni sistem osvetljavanja
Firma Guide napravila je Auto Guide farove koji pove ćavaju bezbednost automobila i olakšavaju upravljanje, u svim uslovima u kojima je uklju č ivanje svetala nephodno. Nova tehnologija svetala nazvana Adaptive Fronflighting System (AFS), prim primaa infomia infomiacije cije o kretan kretanjju vozil vozilaa od senz senzora ora posta postavl vljjenih enih u uprav upravlj ljaa čki sistem sistem,, toč to čkove, sistem elastič elastičnog oslanjanja. oslanjanja. AFS modul (slika 71.) sadrži so č iva, iva, u stvari to je pojekcijski aparat vezan za kardanski zglob i step motor, koji obezbe đ u je dvadeset stepeni bo č no i č etiri stepena vertikalno pomeranje. Signal iz kontrolnog modula daje instrukcije elektromehani čkom sistemu koji vrši podešavanje usmeravanja svetala u odre đenom pravcu.
Slika 71: Izgled ASF modula
Pri kretanju vozila senzori prate brzinu vozila i povezani su sa AFS sistemom, koji sa pove ć anjem brzine vozila pove ć ava dužinu svetlosnog snopa za 3040% niz put, omoguć omogu ćavajuć avajuć i vozač vozaču pravovremenu reakciju. Da bi se spre čilo nastojanje nekog "besnog" voza č a da snop svetlosti svojih farova usmeri ka voza ču koji mu dolazi u susret, sistem so č iva ima moguć mogu ćnost refleksije i stvaranja zaštitnog štita. Moguć Mogu ćnost usmeravanja snopa svetlosti u razli čitim pravcima, omogu ć ava av a vozilu sa o vim s iste mom da vidi put ispred sebe i pri kret anju u krivi rivini ni (sli (slika 72.) 72.)..