基于路面识别的汽车制动防抱死优化控制
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摘要
汽车ABS在车辆制动过程中,能够有效缩短制动距离、避免出现车辆侧滑以及减少轮胎磨损等特殊优点,保证了车辆的制动性和行驶安全性。在现有ABS控制方法中,普遍存在路面识别算法精度低、实时性差,以及防抱死系统中存在高度非线性、时变性和参数不确定性等难题。为解决上述问题,提出了一种基于路面识别的ABS滑模变结构控制方法,基于"路面特征系数"法进行路面识别,动态地获取当前车辆最佳滑移率,并基于最佳滑移率对车辆ABS进行滑模变结构控制。仿真结果表明ABS具有很好的制动效果,并能够对当前车辆行驶路面做出准确识别。
The vehicle with ABS can effectively shorten braking distance,prevent side slip,reduce tire wear,and so on during braking,which ensures the vehicle's braking perform and driving safety.In the paper,a new algorithm of ABS sliding mode variable structure control based on road condition identification was proposed.It distinguishes road conditions according to the feature coefficients of road surface,and takes the identified current vehicle optional slip as the goal of sliding mode variable structure control.The simulation results show that the ABS has a good braking effect,and can accurately identify the types of current Road Condition.
The vehicle with ABS can effectively shorten braking distance,prevent side slip,reduce tire wear,and so on during braking,which ensures the vehicle's braking perform and driving safety.In the paper,a new algorithm of ABS sliding mode variable structure control based on road condition identification was proposed.It distinguishes road conditions according to the feature coefficients of road surface,and takes the identified current vehicle optional slip as the goal of sliding mode variable structure control.The simulation results show that the ABS has a good braking effect,and can accurately identify the types of current Road Condition.
引文
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[13]张晓龙.等.基于路面特征系数的路面识别方法研究[J].中国测试,2015,41(8):31-35.
[2]高建,殷承良,张勇,陈德玲.基于路面自动识别的ABS自适应神经模糊控制器仿真研究[J].汽车技术,2006,(6):4-7.
[3]尹安东,刘闪闪,闫耀双.基于路面识别的汽车ABS模糊控制仿真[J].机电工程,2009,26(12):48-50.
[4]漆燕.汽车防撞预警相关路面状态识别的研究[D].华中科技大学.2013.
[5]L Imsland,T A Johansen,T I Fossen.Vehicle Velocity Estimation Using Nonlinear Observers[J].Automata,2006,42(12):2091-2103.
[6]李亮,等.用于汽车牵引力控制的复杂路面轮胎-道路附着状态判断[J].机械工程学报,2012,48(10):109-114.
[7]陈洪,等.基于MATLAB/Simulink的汽车ABS建模与分析[J].汽车实用技术,2013,(6):20-22.
[8]Georg F Mauer,etc.Fuzzy Logic Continuous and Quantizing Control of an ABS Braking System[C].SAE paper 940803.
[9]张金柱.张洪田.孙远涛.电动汽车稳定性的横摆力矩控制[J].电机与控制学报,2012,16(6):75-80.
[10]Rajesh Rajamani.Vehicle Dynamics and Control[M].Lodon:Springer New YorkDorgrecht Heidelberg London,2012:201-240.
[11]张成宝,丁玉兰.变结构控制方法在汽车驱动防滑控制中的应用[J].同济大学学报,1999,27(5):576-580.
[12]高为炳.变结构控制理论基础[M].北京:中国科学技术出版社.1990.
[13]张晓龙.等.基于路面特征系数的路面识别方法研究[J].中国测试,2015,41(8):31-35.