泰勒级数前馈迟滞补偿电液复合ABS滑移率控制

Slip rate control of electro-hydraulic compound ABS based on Taylor series feedforward hysteresis compensation

为改善滑移率的控制效果,提出一种泰勒级数前馈迟滞补偿电液复合防抱死制动系统(anti-locked braking system, ABS)的滑移率控制策略.以滑移率和滑移率的积分为控制目标,设计ABS的滑移率控制器,使被控系统获得最优性能的同时,增加系统的鲁棒性.利用泰勒级数和跟踪微分器预估电子液压制动系统的迟滞补偿量,采用电磁制动力矩进行迟滞补偿.在高附着路面和跃变路面制动工况下,考虑电子液压制动系统迟滞特性,分别对泰勒级数前馈迟滞补偿电液复合ABS的滑移率控制和电子液压制动系统单独实现ABS的滑移率控制进行了仿真对比,分析了迟滞特性对制动性能的影响和2种ABS控制的性能.结果表明:基于电磁制动迟滞补偿的复合ABS控制能够有效提高汽车ABS的滑移率精度和响应速度,改善制动性能.

To improve the slip ratio control precision, a slip rate control strategy for electro-hydraulic compound ABS was proposed based on Taylor series feedforward hysteresis compensation. The slip rate and the integral of slip rate were selected as control goal, and the slip rate controller of ABS was designed to obtain the optimal performance of the controlled system with increased system robustness. The hysteresis compensation of electronic hydraulic brake system was estimated by Taylor series prediction method and tracking differentiator and compensated by electromagnetic braking torque. Considering the hysteresis characteristics in different kinds of adhesion road, the simulation of electro-hydraulic compound ABS slip rate control for Taylor series feedforward hysteresis compensation was conducted to compare with that of ABS slip rate control without compensation. The influence of hysteresis characteristics on braking performance and the performance of two ABS controls were analyzed. The results show that the electro-hydraulic compound ABS control based on Taylor series feedforward hysteresis compensation can effectively improve the slip ratio precision and response speed of electric vehicle ABS under different driving conditions.