一种基于模型的最佳滑移率计算方法

Study of Calculation of Modelbased Optimal Slip Ratio

基于滑移率控制的防抱制动系统(ABS)实现的难点在于确定各种路况下的最佳滑移率。本文基于μ λ曲线的参数模型,应用Kalman滤波理论实时计算了不同路面下的最佳滑移率。根据Kalman滤波新息序列特性,设计了路面跃变监视器,解决了Kalman滤波算法在检测跃变路面时响应滞后的问题。最后通过计算机仿真,验证了基于模型的最佳滑移率估计算法在车辆防抱制动系统中的可行性和有效性。

The difficulty of antilock braking system based on slip ratio lies in acquiring the optimal slip ratio of various road surface.In this paper,an algorithm,based on the approximate parameter model of μλ curve,is realized by Kalman filtering method.According to the properties of Kalman filter innovation,a road surface change monitor is proposed,consequently the problem of response lag of Kalman filter in detecting abrupt road surface is solved.By computer simulation,the feasibility and validity of the proposed algorithm is verified.