摘要
研究了汽车电控制动系统(ECBS)在变化路面上的H∞鲁棒控制方法。根据适应变化路面的汽车ECBS特点,建立了H∞鲁棒控制的ECBS控制系统的组成结构。使用ECBS简化动力学模型、混合灵敏度优化方法及Matlab鲁棒控制工具箱,设计了基于变路面和滑移率的ECBSH∞控制器。使用Matlab/Simulink软件针对H∞鲁棒控制的汽车ECBS在单一路面和变化路面上进行制动的计算机仿真。结果表明,变化路面情况下,使用H∞鲁棒控制的汽车ECBS能够获得较好的基本制动性能,制动距离和制动时间短,制动过程中车轮轮边切向速度波动较小,制动过程总体情况平稳。
The H∞ control method in electronic control braking system （ECBS） of an automobile moving on the pavement with variable features was presented. According to the characteristics of automobile ECBS adapted to the pavement with variable features, the configuration of ECBS control system with H∞ robust control was established. The ECBS controller based on the pavement with variable features and slip rate was designed by using the ECBS simplified dynamics model and the mixed-sensitivity optimization method and the robust control tool box in software Matlab. The computer simulation was fulfilled for the ECBS system with H∞ robust control by using software Matlab/Simulink on one kind of the pavement and different pavements. The results show that it possesses better fundamental braking performance on the pavements with variable features for the automobile equipped with ECBS , in which H∞ robust control is employed. And it has the advantages of short braking distance and time, small wheel periphery speed and braking smoothly in all bra- king process.
出处
《西华大学学报（自然科学版）》
CAS
2010年第2期114-118,173,共6页
Journal of Xihua University:Natural Science Edition
基金
西华大学人才培养与引进基金项目(R0920301)
关键词
汽车
电控制动系统
H∞控制
变路面
路面识别
Automobile
Electronic control braking
H∞ control system
pavement with variable features
Pavement identification
