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滑模控制方法在汽车防抱制动系统中的应用研究 总被引:1,自引:0,他引:1
ABS性能优劣的关键在于控制方法的选取,提出了一种基于ABS滑移率控制的滑模变结构控制方法。该方法通过选定合适的切换甬数和控制规律,可以迫使系统沿设计的滑移面做滑模运动。从而使防抱制动系统的滑动模态对系统的动理学变化、参数变化、外部干扰具有很强的鲁棒性和自适应性。将这一控制方法应用于单轮车辆模型,在MATLAB/Simulink环境下进行仿真。仿真结果表明,滑模控制方法在ABS的滑移率控制中是切实有效的,能够明显提高汽车ABS的性能。 相似文献
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《汽车工程》2021,43(9)
针对目前滑移率控制的鲁棒性、复杂性与实际应用之间的矛盾,提出基于线性自抗扰控制的ABS滑移率控制方法。首先,对建立的ABS模型进行动态补偿线性化;接着,设计了以观测带宽为参数的扩张状态观测器和以控制带宽为参数的动态补偿控制器,并通过在线估计和补偿未知扰动,提高了系统的鲁棒性;然后,优化带宽系数,实现滑移率零稳态误差的跟踪;最后,通过仿真,验证ABS滑移率的线性自抗扰控制方法的可行性和有效性。结果表明,该方法不仅不依赖于模型,参数调节简单,且具有容错性,在产生噪声和未知扰动时仍能有效跟踪最佳滑移率;滑移率控制器会受ABS制动系统带宽的影响而出现高频振荡现象,在低附着路面上尤为严重,因此ABS设计须充分考虑执行器带宽对ABS滑移率控制的影响。 相似文献
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本文采用基于逻辑门限值的ABS控制方法,研究如何提升汽车在湿滑等复杂路面的制动性能。首先建立了单轮汽车系统动力学模型、轮胎模型、制动系统模型等,将汽车滑移率控制在0.17~0.2范围内,在Simulink中搭建制动系统的ABS控制仿真模型并进行离线仿真;仿真结果表明:采用逻辑门限值ABS控制方法可使制动距离减少12.5%,制动时间缩短6.25%,同时可将滑移率控制在最佳滑移率附近,对于提升汽车的制动性能和行驶安全性能有很大帮助。 相似文献
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在分析了滑移率与附着系数的关系以及通过控制制动压力来达到最佳滑移率控制的基础上,提出了简易制动压力调节器的结构,给出了将其串入一般制动系统后的摩托车制动力计算公式,分析了其具有ABS的一些制动效果。 相似文献
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设计了一种基于混合趋近律的ABS最优滑移率滑模控制方法,并使用双曲正切函数代替趋近律中的符号函数。结合电动汽车复合制动系统制动力分配策略,制定基于最优滑移率滑模控制的电动汽车ABS控制策略;然后基于Car Sim与Simulink联合仿真,运用遗传算法优化滑模控制趋近律参数。实例样车制动仿真试验结果表明该控制方法可以有效地将车轮滑移率控制在最优滑移率处,且遗传算法优化能够改善滑动模态到达过程的动态品质。 相似文献
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汽车防抱死系统(ABS)是汽车制动过程中的一项重要的安全措施,汽车ABS系统能否正常发挥作用很重要的一点就是滑移率控制。汽车在制动的时候路况状况是每时每刻都在发生变化的,所以汽车的滑移率函数是一个时时变化的、非线性的复杂函数。本文就利用纵向附着系数——滑移率曲线的特性,设计一种可以估计最佳滑移率并且可以自动进行校正的自适应调节器以及可进行滑模参数自适应调解的模糊逻辑调节器。 相似文献
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A Sliding Mode Controller for Wheel Slip Ratio Control System 总被引:1,自引:0,他引:1
Taketoshi Kawabe Masao Nakazawa Ikuro Notsu Yoshito Watanabe 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1997,27(5):393-408
A sliding mode controller has been developed for a wheel slip ratio control system for commercial vehicles with sluggish braking actuators to replace conventional if-then rule-like ABS control laws. New techniques overcome the tendency of sliding mode controllers to chatter. Computer simulation (hardware-in-the-loop simulation) and actual vehicle tests verified the effectiveness of this method to suppress chattering and keep the wheel slip ratio in a desirable range during braking on low-friction road surfaces. 相似文献
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A traction control system (TCS) is used to improve the acceleration performance on slippery roads by preventing excessive wheel slip. In this paper, a new traction control system using the integrated control of gear shifting and throttle actuation is developed for vehicles with automatic transmissions. In the design of the slip controller, by means of a differential manifold transformation, a slip control system with nonlinearities and uncertainties is transformed into a linear system, and a sliding mode controller is applied for the purpose of increasing the robustness of the system. Next, to achieve the required driving torque, the optimal throttle and gear position, maps are constructed based on dynamic programming. The simulation results indicate that the present traction control system can improve the acceleration performance of an automatic transmission vehicle for various types of road conditions. 相似文献
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RK Dixit GD Buckner 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2005,43(2):83-105
This paper investigates the application of robust, nonlinear observation and control strategies, namely sliding mode observation and control (SMOC), to semiactive vehicle suspensions using a model reference approach. The vehicle suspension models include realistic nonlinearities in the spring and magnetorheological (MR) damper elements, and the nonlinear reference models incorporate skyhook damping. Since full state measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only suspension deflection as a measured input is developed. The performance and robustness of sliding mode control (SMC), SMO, and SMOC are demonstrated through comprehensive computer simulations and compared to popular alternatives. The results of these simulations reveal the benefits of sliding mode observation and control for improved ride quality, and should be directly transferable to commercial semiactive vehicle suspension implementations. 相似文献
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This paper investigates the application of robust, nonlinear observation and control strategies, namely sliding mode observation and control (SMOC), to semiactive vehicle suspensions using a model reference approach. The vehicle suspension models include realistic nonlinearities in the spring and magnetorheological (MR) damper elements, and the nonlinear reference models incorporate skyhook damping. Since full state measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only suspension deflection as a measured input is developed. The performance and robustness of sliding mode control (SMC), SMO, and SMOC are demonstrated through comprehensive computer simulations and compared to popular alternatives. The results of these simulations reveal the benefits of sliding mode observation and control for improved ride quality, and should be directly transferable to commercial semiactive vehicle suspension implementations. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(1):139-164
Progress in reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, little has been published on slip controllers for air-braked heavy vehicles, or the effects of slow pneumatic actuation on their design and performance. This paper introduces a sliding mode slip controller for air-braked heavy vehicles. The effects of pneumatic actuator delays and flow rates on stopping performance and air (energy) consumption are presented through vehicle simulations. Finally, the simulations are validated with experiments using a hardware-in-the-loop rig. It is shown that for each wheel, pneumatic valves with delays smaller than 3 ms and orifice diameters around 8 mm provide the best performance. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(2):215-236
In this paper, a systematic design with multiple hierarchical layers is adopted in the integrated chassis controller for full drive-by-wire vehicles. A reference model and the optimal preview acceleration driver model are utilised in the driver control layer to describe and realise the driver's anticipation of the vehicle's handling characteristics, respectively. Both the sliding mode control and terminal sliding mode control techniques are employed in the vehicle motion control (MC) layer to determine the MC efforts such that better tracking performance can be attained. In the tyre force allocation layer, a polygonal simplification method is proposed to deal with the constraints of the tyre adhesive limits efficiently and effectively, whereby the load transfer due to both roll and pitch is also taken into account which directly affects the constraints. By calculating the motor torque and steering angle of each wheel in the executive layer, the total workload of four wheels is minimised during normal driving, whereas the MC efforts are maximised in extreme handling conditions. The proposed controller is validated through simulation to improve vehicle stability and handling performance in both open- and closed-loop manoeuvres. 相似文献