汽车防抱死制动系统的鲁棒控制

为了提高汽车防抱死制动系统的鲁棒性能,设计了该系统的鲁棒控制器.通过对汽车防抱死制动系统的基本结构和工作原理的分析,给出了适于鲁棒控制器设计的1/4车辆系统的数学模型,然后用闭环增益成形算法设计出汽车防抱死制动系统的鲁棒控制器,最后用Matlab进行了汽车防抱死制动过程的仿真.仿真结果表明:该控制系统能充分利用最大附着力制动,并可提高汽车制动时的操作稳定性,当车的重量发生变化时,滑移率仍然维持在期望值0.2左右,提前了0.5 s抱死,抱死时滑移率还在0.15左右,控制器的鲁棒性能较好.

Robust Control of Anti-lock Braking System of Automobile

A robust controller is designed to improve the robustness of anti-lock braking system(ABS).By analyzing basic structure and working principle of ABS,one 1/4 vehicle mathematical model fit for the design of robust controller is given,then the robust controller of ABS is designed using the closed-loop gain shaping algorithm,and finally the ABS process is simulated by Matlab.Simulation results show that the control system can take the advantage of the maximized road surface coefficient condition to realize operational stability during braking.The slippage ratio keeps the desired value 0.2 when the weight of automobile changes and the final slippage ratio is 0.15 when the car is locked;the locking time is 0.5 s ahead of schedule.The controller has good robustness.The method is simpler and more practical in actual engineering application.