汽车ABS系统仿真研究精要.doc

摘 要 本文首先剖析了防抱死制动系统的控制原理，在此基础上详细介绍了ABS的结构以及各部分的作用，并建立了仿真模型。仿真模型充分考虑了车体的力学模型、轮胎力学模型、制动系统模型。为达到仿真可行性与可信度的统一本文对模型均做了合理简化。 本文在总结前人工作的基础上，主要侧重于汽车 ABS 控制算法的理论研究。文章首先介绍了目前常用的ABS 控制方法，包括逻辑门限值控制方法和于滑移率的控制方法，并分析了各自的优缺点。由于 ABS是一个时变非线性系统，而滑模变结构控制对系统不确定性及外部干扰具有良好的自适应性，因此本文在建立 ABS 动力学系统模型 (包括车辆动力学模型、轮胎模型、液压系统模型和制动器模型)的基础上将滑模变结构控制引入ABS控制系统中，并针对滑模控制的缺点设计了一个带有扰动观测器的无抖振滑模控制器应用于ABS，通过使用扰动观测器对系统模型的不确定因素进行补偿，并设计了光滑的控制规律来消除滑模控制固有的抖振现象。此外，针对防抱死制动系统研究中存在的最佳滑移率寻优及参考车速估算等关键问题，本文采用的自寻优控制算法可以实现在不需要路面辨识的情况下对车轮滑移率在线寻优，另外利用减速度信号，结合已有的车轮轮速对参考车速进行在线计算，使问题得到有效解决。 关键词:防抱死制动系统，滑模控制，扰动观测器，抖振，自寻优控制 Abstract This paper analyzes the control principle of anti-lock braking system, on the basis of a detailed description of the tructure and the role of each part, and the simulation model. The simulation model takes into account the dynamic model of the vehicle, the tire mechanics model, the braking system model. In order to achieve the simulation feasibility and credibility of unity, the paper have done a reasonable simplified model. This paper summarizes the basis of previous work, mainly focused on automotive ABS control theory algorithmsThe study. The article first introduces the most commonly used ABS control method comprising logic threshold control partyLaw and based on the slip rate control method, and analyzed their advantages and disadvantages. Since the ABS is a time.Variable nonlinear system, variable structure control of the system uncertainties and external disturbances have good.Adaptability, this article in establishing ABS system dynamics model (including vehicle dynamics model,Tire model, the hydraulic brake system model and model) will be the basis to introduce variable structure control.ABS control system, and for the shortcomings in the design of the sliding mode control with a disturbance observer without shaking.Vibration sliding mode controller applied to ABS, by using the disturbance observer of uncertainty into the system model.Compensate, and smooth control law is desi