基于等效滑移率变化率的汽车防抱制动系统模糊直接自适应控制

Fuzzy Logic Direct Adaptive Control of ABS-equipped Vehicles Based on Equivalent Slip Differential of Tire

针对汽车防抱制动系统(Antilock brake system,ABS)车轮角减/加速度和滑移率逻辑门限值控制方法以及常规汽车ABS模糊控制方法的滑移率控制精度不高的缺点,提出汽车ABS模糊直接自适应控制。针对通常将滑移率跟踪误差变化率,或车轮角加/减速度跟踪误差作为汽车ABS模糊控制器输入量其计算值不够准确的缺点,提出车轮等效滑移率变化率的概念和算法,采用车轮滑移率跟踪误差和等效滑移率变化率作为ABS模糊控制系统的输入量,设计出常规ABS模糊控制器,作为ABS闭环控制系统的模糊逼近控制器;采用直接自适应控制方法设计出ABS模糊补偿控制器:它们组成ABS闭环控制系统模糊直接自适应控制器。仿真研究和实车试验表明,该控制器应用于汽车ABS系统取得良好的控制效果,且算法简单、具有实际应用价值。

In view of the low accuracy of wheel slip ratio control based on the wheel angle acceleration/deceleration and slip ratio logic threshold control method of antilock brake systen （ABS）, as well as based on the fuzzy control method for ABS, a direct fuzzy adaptive control for ABS is put forward. In view of the inaccuracy of the calculated value when the wheel slip ratio tracking error change rate or the wheel angle acceleration/deceleration tracking error is used as the input variable of the conventional fuzzy controller for ABS, a concept and algorithm of equivalent slip ratio change rate of wheel is put forward. By adopting the wheel slip ratio tracking error and equivalent slip ratio change rate as the input variable of ABS fuzzy control system, a conventional ABS fuzzy controller is designed and used as the fuzzy approaching controller of ABS. closed loop control system. By adopting the direct adaptive control method, an ABS fuzzy compensation controller is designed. The two controllers constitute the fuzzy direct adaptive controller of ABS closed loop control system. Simulation and vehicle tests indicate that the controller enhances braking performances of ABS-equipped vehicles, and with simple algorithm, it has practical application value.