汽车ABS滑移率的模糊滑模控制研究

Study on Fuzzy Sliding Mode Control of Anti-Skid-Brake System Based on Slip Ratio

汽车防抱死系统(ABS)是汽车制动过程中的一项基本安全措施,滑移率控制是汽车防抱死控制的重要部分。汽车制动时路况时时变化,汽车滑移率的动力学模型是一个时变、非线性、不确定系统。针对这一特点,将滑模控制运动到汽车防抱死制动控制中,设计了汽车滑移率的等效滑模控制器。为了消除滑模控制切换项带来的抖振,使切换控制项在保证鲁棒性能的同时尽可能小,利用模糊规则,对切换项进行模糊化,建立基于模糊切换控制的等效滑模控制器。仿真结果表明,滑模控制方法具有很好的鲁棒性能,加入模糊规则的等效滑模方法能很好的消除抖振现象。

Antilock braking system （ABS） is a safe measure for a vehicle essential during braking, and slip ratio control of vehicle is an important concern for development of ABS to avoid skidding. The dynamics of the slip ratio is time varying, nonlinear and uncertain on account of the road conditions change constantly. The sliding mode control is used in ABS and the application of equivalent sliding mode control （SMC） in ABS is implemented. In order to eliminate the chattering of sliding mode control switching part and sliding control switching part as small as possible in guaranteeing robust performance, fuzzy sliding mode control （FSMC） is designe＇d. It uses the fuzzy logic to switch part. The result of simulation shows the feasibility and robustness of SMC and FSMC, and the chattering is eliminated by FSMC.