基于积分滑模的电子机械制动系统 ABS 控制-《郑州大学学报(工学版)》

文章信息/Info

Title:: ABS Control of Electronic Mechanical Braking System Based on Integral Sliding Mode

Author(s):: LUO Shi; LIU Yanguang; YU Jingsheng; LI Ling′en; DING Hua; School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China

Keywords:: electronic mechanical braking; road identification; peak adhesion coefficient; ABS; integral sliding mode

摘要:: 为解决传统制动系统逻辑门限控制存在逻辑复杂且难以充分利用路面附着的问题,以及 ABS 存在的非线性、不确定性问题,提出了一种基于路面识别的 ABS 控制策略应用在电子机械制动系统。首先,通过 Simulink 建立 1 / 4 车辆制动模型;其次,分析附着系数在不同路面存在的差异性以及附着系数和车轮角减速度的变化规律,设计了一种高效且准确的路面识别算法来估算当前路面的最佳滑移率;最后,设计了基于积分滑模控制的 ABS 控制策略跟踪最佳滑移率。仿真结果表明:路面识别算法识别响应快、识别准确度高;所设计的 ABS 控制策略能够稳定跟踪最佳滑移率,对不同路面工况具有较强的适应性。与基于逻辑门限控制的传统制动系统相比,在单路面条件下制动时间减少了 11. 89%, 制动距离缩短了 12. 7%; 在变路面条件下制动时间减少了 17. 8%, 制动距离缩短了 19. 9%。

Abstract:: In order to solve the disadvantages of traditional brake system logic threshold control, which was complicated in logic and difficult to make full use of road adhesion, and the problems of nonlinearity and uncertainty of ABS, a control strategy of ABS based on road identification on the basis of electronic mechanical braking system was proposed. Firstly, quarter vehicle braking model was established through Simulink. Next, the differences of adhesion coefficient on different road conditions and the variation rules of adhesion coefficient and wheel angle deceleration were analyzed. An efficient and accurate road identification algorithm was designed to estimate the optimal slip rate of the current road surface. Finally, an ABS control strategy based on integral sliding mode control was designed to track the optimal slip rate. The simulation results showed that the road identification algorithm had fast response and high accuracy. The designed ABS control strategy could stably track the optimal slip rate and had strong adaptability to different road conditions. Compared with the traditional braking system based on logical threshold control, on single road condition the braking time was reduced by 11. 89%, and the braking distance was shortened by 12. 7%. On variable road condition the braking time was reduced by 17. 8%, and the braking distance was shortened by 19. 9%.