基于FIR滤波器的ABS轮加速度信号计算方法研究

Study on the Calculation of Wheel Acceleration and Deceleration in Anti-lock Braking System Based on FIR Filter

车轮加、减速度的准确计算是汽车防抱死制动系统(ABS)正常工作的前提.通过分析ABS轮速传感器的输出信号特性,以及欧拉法(一阶微分近似法)、微分滤波法和卡尔曼滤波法等算法在轮加速度计算上应用的可行性,在考虑噪声衰减、控制延迟、估计的准确性和可靠性及计算量等算法性能的基础上,提出了一种基于F IR滤波器的轮加速度计算方法.在使误差方差最小和估计的准确度最大的意义下,求解了滤波器的系数和滤波器的长度.实验证明了该方法稳定可靠,延迟小.

Anti-lock Braking System （ABS） is considered as an effective safety device because of its capability to help a driver to maintain vehicle stability and steering ability during panic braking even on a slippery surface. Obtaining an accurate wheel acceleration and deceleration is a prerequisite for normal Anti-lock Braking system no matter what control logic is used to realize the anti-locking function. By analyzing the properties of the output signal of the electromagnetism induction sensor, which is used to measure wheel speed in vehicle anti-lock braking system, the feasibilities of applying the following methods, Euler approximation, Filtered derivative and Kalman filtering, have been analyzed. On the basis of considering algorithm performances such as noise reduction, control delay, accuracy of the estimate and its reliability and the computational load, a new estimation technology based on FIR filter which is optimal in the sense of minimizing the error variance while maximizing the accuracy of estimates has been proposed. Its filter coefficients and length are got. The effectiveness of this proposed technique is verified in simulation and by experiments.