汽车转向/防抱死制动系统协同误差控制

兵工学报 ›› 2011, Vol. 32 ›› Issue (9): 1071-1076.

汽车转向/防抱死制动系统协同误差控制

李果, 冯泽斌

(北京科技大学自动化学院, 北京 100083)

收稿日期:2010-04-13 修回日期:2010-04-13 上线日期:2014-05-04
通讯作者: 李果 E-mail:guo6396@sina.com
作者简介:李果（1963—）男，博士，教授
基金资助:
北京市自然科学基金资助项目（4112038）; 汽车动态模拟国家重点实验室开放基金资助项目（20091101）

The Coordination Error Control of the Steering /Anti-lock Braking System in Vehicle

LI Guo， FENG Ze-bin

(Automation School, University of Science and Technology in Beijing, Beijing 100083, China)

Received:2010-04-13 Revised:2010-04-13 Online:2014-05-04
Contact: LI Guo E-mail:guo6396@sina.com

摘要/Abstract

摘要： 为了研究汽车转向过程中防抱死制动稳定性问题，提出一种新的协同控制系统。该协同控制结构由转向控制器和制动控制器组成。在汽车转向控制设计中基于主动前轮最优滑模控制器和横摆力矩控制器力求改善汽车动态响应和稳定性。针对转向系统和制动系统之间的补偿控制律难以确定的困难，先定义协同误差和协同模型,然后设计防抱死制动快速终端滑模控制系统。给出一种可行的解析律,该解析律基于系统稳定性和快速性能指标。设计适用于复杂工况的制动力分配策略。仿真结果证明提出的协同控制系统是正确可行的，它改善了汽车制动稳定性和转向性能。为了研究汽车转向过程中防抱死制动稳定性问题，提出一种新的协同控制系统。该协同控制结构由转向控制器和制动控制器组成。在汽车转向控制设计中基于主动前轮最优滑模控制器和横摆力矩控制器力求改善汽车动态响应和稳定性。针对转向系统和制动系统之间的补偿控制律难以确定的困难，先定义协同误差和协同模型,然后设计防抱死制动快速终端滑模控制系统。给出一种可行的解析律,该解析律基于系统稳定性和快速性能指标。设计适用于复杂工况的制动力分配策略。仿真结果证明提出的协同控制系统是正确可行的，它改善了汽车制动稳定性和转向性能。

关键词: 机械设计, 汽车控制, 转向制动, 制动力分配, 协同控制, 快速终端滑模控制

Abstract: A new cooperative control system is proposed for the steering anti-lock braking stability of vehicle. The cooperative control architecture is composed of the steering controller and the braking controller. Based on the yaw moment controller and the optimum sliding mode controller of front wheels, the vehicle steering controller is designed to improve the respond and stability of the vehicle. To reduce the difficulty in determining the commonly used compensation control law of the steering system and the braking system, a new cooperative error is defined firstly and a new cooperative error model of vehicle is developed. Then the anti-lock brake fast terminal control system is designed. A new practical cooperative control law based on the system stability and the fast index is devised. The brake force distribution policy applicable to the complex work condition is presented. The simulated result proves that the cooperative control system is correct and feasible. It improves the braking stability and steering performance.

Key words: mechanical design, vehicle control, steering braking, braking force distribution, cooperative control, fast terminal sliding mode control

中图分类号:

TP273

李果, 冯泽斌. 汽车转向/防抱死制动系统协同误差控制[J]. 兵工学报, 2011, 32(9): 1071-1076.

LI Guo， FENG Ze-bin. The Coordination Error Control of the Steering /Anti-lock Braking System in Vehicle[J]. Acta Armamentarii, 2011, 32(9): 1071-1076.

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