| 引用本文: | 刘志远,井后华,陈 虹.一种汽车防抱死制动系统的非线性控制方法[J].哈尔滨工业大学学报,2012,44(5):7.DOI:10.11918/j.issn.0367-6234.2012.05.002 |
| LIU Zhi-yuan,JING Hou-hua,CHEN Hong.Nonlinear control method for automotive anti-lock braking system[J].Journal of Harbin Institute of Technology,2012,44(5):7.DOI:10.11918/j.issn.0367-6234.2012.05.002 |
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| 摘要: |
| 针对具有不连续特性的开关阀防抱死制动系统，本文研究了控制器设计方法．首先讨论了开关阀防
抱死制动系统增压、保压、减压三种工作模式的动态特性，给出一种具有滑移率连续动态和执行器不连续动
态的开关阀防抱死制动系统的数学描述．在此基础上，考虑到应用性和鲁棒性要求，提出一种以系统状态作
为切换规则保证系统稳定性的非线性控制器设计方法，其思想是基于Filippov意义下的Lyapunov方法设计
两个切换面，将状态空间划分形式作为切换规则，通过切换面选择保证闭环系统的稳定性．为了避免频繁的
模式切换，本文进一步将控制目标调整为平衡区域的收敛控制，并讨论了收敛区域大小对闭环控制性能的影
响．仿真与实验结果表明本文给出的方法控制参数少，具有高效和平顺的制动性能 |
| 关键词: 防抱死制动系统 开失阀 滑移率 切换面 |
| DOI：10.11918/j.issn.0367-6234.2012.05.002 |
| 分类号:TH133；TP183 |
| 基金项目:国家自然科学基金资助项目( 61034001)；中央高校基
本科研业务费专项资金项目（Hrr．NSRIF．2013035） |
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| Nonlinear control method for automotive anti-lock braking system |
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LIU Zhi-yuan1, JING Hou-hua1, CHEN Hong2
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1.Dept. of Control Science and Engineering, Harbin Institute of Technology, 150001 Harbin, China;2.Dept. of Control Science and Engineering, Jilin University, 130022 Changchun, China
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| Abstract: |
| A controller is designed for anti-lock braking system ( ABS) with discontinuous characteristics of on/
off valves. Firstly, the dynamic characteristics under Increase, Hold and Decrease modes are discussed, and a
math description is given for ABS with on/off valves, including wheel slip continuous dynamics and actuator dis-
continuous dynamics. Considering the requirement on applicability and robustness, an approach for nonlinear
controller design is proposed which uses system state as switching law to guarantee the stability. The idea is to
develop two switching surfaces using Lyapunov method in the sense of Filippov, and the state space partition is
regarded as the switching law, with the stability ensured via switching surfaces selection. Further, to avoid fre-
quent switches, the control objective is modified to the convergence of an equilibrium set, and the influence of
the size about the equilibrium set on the closed-loop system performance is discussed. Simulation and experiment
tests illustrate that both high braking efficiency and ride quality are obtained with few control parameters.
Key words: anti-lock braking system; on/off valve; wheel slip; switching surface |
| Key words: anti-lock braking system on/off valve wheel slip switching surface |
