电动车制动防抱死自适应鲁棒控制系统

The Adaptive Robust Controller of Antilock Brake System of Electric Vehicles

为了改善电动车的可操作性和稳定性,本文进行电动车制动防抱死控制系统的研究．首先针对汽车纵向四轮模型,设计自适应鲁棒控制器．所提出的自适应控制器和自适应鲁棒控制律不仅保证了闭环系统的稳定性,而且实现了所期望的性能．然后通过试验结果证明了控制算法的有效性。尽管道路条件的变化不同,电动车制动防抱死控制系统表现出满意的控制性能．

This paper investigates the use of antilock brake control system for improving handling and stability of electric vehicles. An adaptive robust controller of antilock brake control system is designed according to the longitudinal vehicle brake model. The proposed adaptive controller and the corresponding robust adaptive law can not only keep the closedloop system robustly stable but also provide the expected performance. The effectiveness of the algorithm is verified by the experimental results. It is shown that the handling and stability of electric vehicle is improved and the control system still maintains satisfactory control performance despite the change of road surface condition.