轮缸压力可测改进型ABS自寻优控制仿真-电机与控制学报.pdf

第17 卷 第10 期 电 机 与 控 制 学 报 Vol. 17 No. 10 2013 年10 月 Electric Machines and Control Oct. 2013 轮缸压力可测改进型ABS 自寻优控制仿真 赵治国, 王艺帆 ( 同济大学汽车学院, 上海201804) 摘 要：在轮缸压力实时测量的串联式复合制动系统中, 针对由于制动响应延迟所造成的制 动力超调量过大和波动剧烈的问题, 提出新型ABS(anti-lock brake system) 自寻优控制策略。建 立ABS液压制动调节器、制动器及车辆纵向动力学模型, 并采用原始ABS 自寻优策略进行仿真分 析。仿真结果表明, 由于制动系统响应延迟, 液压制动力波动较大。通过分析制动力的调节与变 化原理, 在原控制策略基础上, 增加了制动液压的保压、阶梯增压阶段。建立依据地面制动力变 化, 进行路面辨识的模块。研究结果表明, 所提出的改进型ABS 自寻优控制策略改善了制动效果, 可自动适应不同的路面, 具有一定的鲁棒性。 关键词：防抱死系统; 液压调节器; 自寻最优控制; 制动响应延迟; 路面识别 中图分类号：U 461.3 文献标志码：A 文章编号：1007–449X(2013)10–0101–08 Wheel cylinder pressure measurable modified self-optimizing control simulation for ABS ZHAO Zhi-guo, WANG Yi-fan (School of Automotive Studies, Tongji University, Shanghai 201804, China) Abstract: Based on the wheel cylinder pressure measured in real-time series regenerative braking system, a self-optimizing ABS ( anti-lock brake system) control strategy was proposed to reduce excessive over- shoot and severe fluctuation of braking force caused by brake response delay. ABS hydraulic actuators, brake and vehicle longitudinal dynamics model were built and simulated with original self-optimizing ABS control strategy. Simulation results showed that hydraulic braking force fluctuated severely. Based on the principle of braking force regulation and change, the new proposed strategy added function of braking pressure holding and step increase. A road surface identification module was built based on change of braking force of ground. The results show that the proposed modified self-optimizing control strategy can ameliorate the brake e