摘要
针对汽车防抱死制动系统 (ABS)的强非线性 ,采用基于滑移率的滑模变结构控制策略建立了ABS的仿真模型。由于引入了制动系统执行的时间延迟 ,导致滑模控制出现颤振现象。为了消除控制中出现的颤振 ,采用边界层方法来克服滑模控制的缺陷。通过对ABS在干、湿和冰路面情况下的制动仿真试验和对结果进行的分析 ,可以认为基于边界层的滑模控制能够获得良好的控制效果 。
To solve the problem of the strong nonlinearity in the design of antilock braking system(ABS) control,a sliding mode based variable structure controller has been developed.The goal of the proposed controller is to maintain slip rate of the wheel within the vicinity of required value.The drawback of sliding mode control is chattering in its application when actuator dynamics is adopted in the controller designing process.A boundary layer is designed to eliminate chattering,and the idea simulations are done.In the simulations,several situations such as braking in dry road,wet road and ice road are considered.The results illustrate that the idea can be applied to produce feasible and effective ABS controller.
出处
《测控技术》
CSCD
2004年第10期31-33,共3页
Measurement & Control Technology
关键词
ABS
滑模控制
颤振消除
ABS
sliding mode control
chattering elimination
