摘要
该文在考虑不平路面随机激励作用下车辆垂向振动的基础上 ,首先建立了四分之一车辆制动模型 ,而后充分运用滑移模式变结构的分析和设计方法 ,提出了车轮最佳滑移率的滑模实时在线辨识滑模优化算法 ,在对系统可观测性论证的基础上 ,设计了非线性滑模状态观测器 ,给出了单通道防抱制动系统基于滑移率的滑模控制算法 ,通过计算机仿真 ,验证了该控制算法的可行性和有效性 。
Quarter vehicle braking model is built considering vehicle vertical vibration subject to random excitation from an uneven road surface, thereafter, using methods of analysis and design based sliding mode variable structure, the optimal estimation way of slip is presented ,which performs online and real-time recognition of optimal wheel slip that corresponds to vehicle's maximum deceleration through producing sliding mode optimizer ,the nonlinear sliding mode state observer is designed to estimate the vehicle velocity from the output of the system(i. e, wheel velocity ) after the system locally observability has been proved ,single channel sliding mode controller for an anti-lock braking system is introduced to maintain the wheel slip at recognized optimal slip value ,the computer simulation result indicates that the proposed these algorithm are coupled to regulate the vehicle braking torque to control the wheel slip to its optimal value and promising in the improving the performance of system robustness.
出处
《计算机仿真》
CSCD
2002年第1期69-75,共7页
Computer Simulation
