基于LuGre轮胎动力学摩擦模型的路面估计与车辆A适应制动控制.pdfVIP

第21卷第4期 传 动 技 术 VoI_21 No．4 2007年12月 DRIVE SYSTEM TECHNIQUE December 2007 文章编号：1006—8244(2007)04—0026—06 基于LuGre轮胎动力学摩擦模型的路 面估计与车辆A适应制动控制 On。-Line Road Identification and Vehicle Adaptive Braking Control Based on LuGre Tire Dynamic Friction Model 李 欣 程晓鸣 (上海交通大学机械与动力工程学院，上海 20024O) L 72 X Cheng Xiaoming (School of Mechanical Eng．，Shangha i J iaotong Univ．，Shanghai 20024O，China) [摘要]为了实现车辆的制动最优控制，利用LuGre轮胎动力学摩擦模型，建立车辆的系统动力学模型，首先 分析模型参数对地面附着系数与滑移率关系曲线的影响，明确所需估计参数；然后对输入压力采取增压、保 压、减压三种方式，在车速、轮速、纵向加速度可测的情况下，采用参数自适应算法在线估计路面参数，并基 于滑移率设计制动控制器；最后运用simulink实现车辆的制动过程仿真，得到不同路面的车辆制动输出响 应曲线及路面参数估计值，结果表明基于该模型实现车辆制动控制，能使制动策略适应路面参数的随机及 连续变化和地面附着能力随车速的变化情况，以提高制动效果。 EAbstract]A new method for vehicle braking control and road condition identification was introduced using the LuGre tire dynamic friction model，which is usually regarded as the most comprehensive control—orien— ted friction model to date for the consistency with the“magic formula”．Based on this model and its parame— ters analysis，the parameters that must be accurately estimated was obtained，and an adaptive control scheme for braking of vehicles is designed using calculated slipping—rate as a reference，for the purpose of optimization of braking．Moreover，road parameter was estimated using an parameter adaptation law．All the algorithms was realized based on that the braking pressure can only be adj usted with three methods，i． e．，increasing，maintaining and decreasing．The vehicle response under several road conditions is simulated using matlab／simulink，as well as road condition on—line identification．Simulation results demonstrate that LuGre dynamic model can be used to develop more accurate braking control law to meet the