采用协同理论的新型制动防抱死控制器设计

New ABS Controller Design Based on Synergetic Control

根据汽车制动防抱死系统的快速、平滑性需求,针对汽车单轮动力学模型提出一种基于协同理论的新型控制器设计方法。该方法以滑移率为控制目标,通过构造广义变量使滑移率以指数形式收敛于参考值,避免控制过程中产生抖振现象。由于该方法只有一个控制参数需要设计,且该控制参数对系统的稳定具有单调性,因此简化了控制器参数设计,且易于整定。通过MATLAB仿真分析表明,该控制器能够适应工况需求,相较于传统PID控制、滑模变结构控制等方法具有快速、稳定、鲁棒的优点。

In order to fulfill the fast and smooth demand of anti-lock braking system for automobile,a single wheel dynamic model of automobile is set up and a new method based on synergetic control is proposed.The slip ratio is the control objective in this method,and by constructing the general variable the slip rate can converge exponentially to the reference value,while avoiding chattering in the control process.Because there is only one control parameter to be designed,and the control parameter is monotonic to the stability of the system,this method simplifies the controller parameter designing and makes it easy to tune.The MATLAB simulation analysis shows that the controller can fulfill the demand of the working condition,and shows the advantages of fast,stable and robust compared with the traditional PID control and sliding mode control.