基于道路自动识别ABS模糊控制系统的研究

Fuzzy Control of Anti-lock Braking System Based on Road Automatic Identification

道路状况自动识别是保证车辆防抱制动系统 ( ABS)正常工作的前提。本文提出了根据制动压力、滑移率和车轮减速度进行道路自动识别的方法 ,并依此设计了 ABS模糊控制器。结合 7自由度车辆模型 ,考虑悬架和轮胎的非线性影响 ,对单一附着系数路面和变附着系数路面进行了 ABS制动模拟试验。试验结果表明 ,基于路面自动识别 ABS模糊控制系统能准确判断出路面状况的变化 ,据此调整控制策略 ,使车辆获得最大地面制动力和较好的横向稳定性。对比试验证明它优于传统 PID控制 ,且具有较强的鲁棒性。

Automatic identification of road profiles would ensure primarily right working condition of anti-lock braking system (ABS). This paper presents a practical strategy to identify road conditions according to the braking pressure, wheel slip ratio and wheel angular deceleration. A fuzzy controller for ABS was designed to keep the target wheel slip ratio set by the road conditions. A simulation test had been undertaken for the vehicle braking on the single and variable adhesion road using a seven degree of freedoms nonlinear vehicle model, in which the nonlinear influence of suspension and tire were taken into account. It showed that the ABS fuzzy controller could identify changes of road conditions precisely and modulate the control scheme, so as to obtain the maximum road friction and good lateral stability. It proved through further comparison with the conventional PID control that the fuzzy control was more robust and advanced.