汽车转向/防抱死制动系统的无模型协同控制

Model-free cooperative control of vehicle'steering/anti-lock braking system

汽车制动系统和转向系统相互之间存在着复杂的耦合关系,会对汽车行驶安全性和操纵稳定性造成极大的影响。为了动态补偿这种干扰影响,以无模型控制方法设计汽车整车防抱死制动控制器、整车前轮主动转向控制器及转向系统和制动系统的协同控制器,从理论上证明了设计的无模型控制系统的稳定性。最后,在MATLAB/Simulink平台上搭建了车辆模型和控制器,进行汽车转向制动控制的动态性能仿真。仿真结果表明其解决了汽车两个系统的耦合干扰,提高了汽车制动效能和转向稳定性。

The vehicle braking system and steering system are complex coupling relationship,which dramatically effects to the vehicle safety and handling stability.In order to dynamic compensate the interference effects,first of all,this paper designed vehicle anti-lock braking controller,active front steering controller and steering system and brake system cooperative controller by the model-free control method.Then it was proved the stability of model-free control system.Finally,it built the vehicle model and controller on the MATLAB/Simulink platform and dynamic simulated the performance of vehicle steering and braking control.The simulation results show that it solves two system coupling interference of vehicle,improves the vehicle braking efficiency and steering stability.