摘要
针对汽车防抱死系统中存在的高度非线性问题,以汽车当前的滑移率和当前路况下的最优滑移率之间的偏差作为控制变量,设计了滑模变结构控制器。在对汽车的驱动轮进行建模的基础上,设计了滑模变结构控制器,并对滑模控制器中存在的抖动问题进行了处理,有效减小了因滑模变结构控制算法中抖动问题所带来的影响。同时将该滑模变结构控制器应用于实车仿真软件ve DYNA中进行了硬件环仿真实验。仿真结果表明,该控制器可有效防止汽车轮胎抱死。
In the light of highly nonlinear problems existed in Anti-lock Braking System, using error between the current sliding rate and the current road optimal sliding rate as the control value, a sliding model variable structure controller is designed. We firstly established the model of the vehicle driving wheels, design a sliding mode variable structure controller and handle the chattering problem existed in the sliding mode controller. The method used by this paper effectively disminishes the chatter. In the end, applying the designed sliding mode variable structure controller to veDYNA software to make hardware-in-the-loop simulation. The simulation result shows that the designed controller effectively prevents the lock of the vehicle wheels.
出处
《吉林大学学报（信息科学版）》
CAS
2015年第1期19-25,共7页
Journal of Jilin University（Information Science Edition）
基金
国家自然科学基金资助项目(91220301)
关键词
控制理论
滑移率
滑模控制
硬件在环
control theory
sliding rate
sliding mode control
hardware-in-the-loop
