摘要
针对汽车紧急制动过程滑移率控制存在的非线性和不确定性扰动的问题以及制动系统带宽特性的差异导致滑移率控制器无法有效移植到实际车辆应用的问题,提出了基于执行器带宽参数整定的自抗扰控制方法。首先,建立了车辆模型和ABS模型。其次,设计了以微分跟踪器、扩展状态观测器和误差反馈控制器为核心的自抗扰控制。接着,基于ABS制动带宽参数,对自抗扰控制进行参数整定。最后,进行了滑移率控制仿真分析,验证了ABS滑移率自抗扰控制方法的可行性和有效性。结果表明,本文方法物理意义明确、参数整定简单、可移植性强,能够实现滑移率的精确控制。
Aiming at the problems of non-linearity and uncertainty disturbance in slip rate control in the emergency braking process of automobiles,and the difference in the bandwidth characteristics of the braking system,the slip rate controller cannot be effectively applied to the actual vehicle.An implementation based on active disturbance rejection control method was proposed for setting the bandwidth parameters of the converter.First,the vehicle model and the ABS model were established.Secondly,an active disturbance rejection control with differential tracker was designed,state observer and error feedback controller were extended.Then,based on the ABS braking bandwidth parameters,the active disturbance rejection control parameters were adjusted.Finally,the slip rate control simulation analysis was carried out.The feasibility and effectiveness of the active disturbance rejection control method for ABS slip rate are verified.The results show that the method has clear physical meaning,simple parameter setting,strong portability,and can realize precise control of slip rate.
作者
苑磊
何仁
YUAN Lei;HE Ren(School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2023年第12期3335-3341,共7页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(51875258)
镇江市重点研发计划项目(2018022)。
关键词
车辆工程
滑移率控制
防抱死制动系统
自抗扰控制
执行器带宽
参数整定
vehicle engineering
slip rate control
antilock brake system(ABS)
active disturbance rejection control
actuator bandwidth
parameter tuning
