复杂路况下高速行驶汽车防抱死制动系统滑移率最优跟踪控制.docxVIP

复杂路况下高速行驶汽车防抱死制动系统滑移率最优跟踪控制 　　摘要：为了研究在复杂路况下高速行驶汽车能稳定制动的控制策略，基于防抱死制动系统（abs）滑移率非线性动力学模型，以滑移率误差及其变化率综合最优为控制目标，利用极小值原理推导出制动时最优滑移率的解析解，进而利用制动减速度、制动车速、车轮角速度等反馈信号，在无需复杂路况附着系数信息的前提下，计算制动控制扭矩，建立abs滑移率最优跟踪控制方法.利用matlab/simulink软件，对不同复杂行驶路况下目标滑移率的最优跟踪控制效果进行了仿真验证，发现实际滑移率均能在任意规定的时刻与目标滑移率同步;而同步过程的滑移率误差仅取决于滑移率误差权值与误差变化率权值的比值和制动初始时刻的滑移率误差.所建立的控制方法能保证在复杂路况行驶的任意时刻较为快速、精准、稳定地完成最优制动控制. 　　关键词：防抱死制动系统（abs）;滑移率最优跟踪控制;滑移率误差;滑移率误差变化率;滑移率仿射非线性动力学模型;极小值原理;复杂路况 　　中图分类号：u461.3;tp273.1文献标志码：a文章编号2019 　　abstract：forthepurposeofinvestigatingcontrolstrategyofmakinghighspeedvehiclebrakesteadilyincomplexroadconditions，anaffinenonlineardynamicmodelofantilockbrakingsystem（abs）slipratioisbuilt.then，comprehensiveoptimizationofslipratioerrorwithitschangingrateistakenascontrolobjective，andanalyticalsolutionsofoptimalslipratioandcontroltorquearederivedthroughminimumprinciple.andthen，realtimecooperativecomputationofbraketorquewithoutanyadhensioncoefficientinformationofcomplexroadconditionscanbeaccomplishedbyutilizinganalyticalsolutionofoptimalslipratiowithfeedbacksignalssuchasbrakedeceleration，brakespeedofvehicleandangularvelocityoftire.therefore，anoptimaltrackingcontrolmethodforabsslipratioofhighspeedvehicleincomplexroadconditionsanddisturbancesisestablished.throughmatlab/simulinknumericalevaluationofeffectofproposedoptimalcontrolfortracingdifferentobjectiveslipratioindifferentcomplexroadconditions，itcanbeobservedthatthetargetslipratiocanbesynchronizedwithactualslipratioatanyspecifiedtime，andalsoslipratioerrorisdeterminedbyitsinitialvalueandratiobetweenweightofslipratioerrorandthatofitschangerateincontrolobjectivefunctional.consequently，itcanbeconcludedthatsteadyaccomplishmentofsuchrapidandprecisebrakeactionincomplexroadconditionsatanytimeisfeasible. 　　keywords：antilockbrakingsystem（abs）;optimaltrackingcontrolofslipratio;slipratioerror;changingrateofslipratioerror;affinenonlineardynamicmodelofslipratio;minimumprinciple;complexroadcondition 　　0引言 　　作為汽车电子稳定控制（es