基于线性自抗扰控制的汽车ABS滑移率控制研究

Research on ABS Slip Ratio Control of Vehicle Based on Linear ActiveDisturbance Rejection Control

针对目前滑移率控制的鲁棒性、复杂性与实际应用之间的矛盾,提出基于线性自抗扰控制的ABS滑移率控制方法。首先,对建立的ABS模型进行动态补偿线性化;接着,设计了以观测带宽为参数的扩张状态观测器和以控制带宽为参数的动态补偿控制器,并通过在线估计和补偿未知扰动,提高了系统的鲁棒性;然后,优化带宽系数,实现滑移率零稳态误差的跟踪;最后,通过仿真,验证ABS滑移率的线性自抗扰控制方法的可行性和有效性。结果表明,该方法不仅不依赖于模型,参数调节简单,且具有容错性,在产生噪声和未知扰动时仍能有效跟踪最佳滑移率;滑移率控制器会受ABS制动系统带宽的影响而出现高频振荡现象,在低附着路面上尤为严重,因此ABS设计须充分考虑执行器带宽对ABS滑移率控制的影响。

Aiming at the contradiction between the robustness,complexity and the practical application of the slip rate control,a slip rate control method for ABS based on linear active disturbance rejection control is proposed.Firstly,the dynamic compensation of the ABS model built is linearized.Then,an expanded state observer with the observation bandwidth as parameter and a dynamic compensation controller with the control bandwidth as parameter are designed,and the robustness of the system is enhanced by online estimation and unknown disturbance compensation.Next,the bandwidth coefficient is optimized to achieve the tracking of slip rate with zero steady-state error.Finally,a simulation is carried out to verify the feasibility and effectiveness of the linear active disturbance rejection control of ABS slip rate.The results show that the method is not only independent of the model and simple in adjusting parameters,but also has the nature of fault tolerance,and can still effectively track the optimal slip rate even when there are noises or unknown disturbances.The slip rate controller can be affected by the bandwidth of ABS with the occurrence of high-frequency oscillation phenomena,which will be particularly severe on low-adhesion roads.Therefore,sufficient consideration should be given to the effects of actuator bandwidth on ABS slip rate control in designing ABS.