汽车ABS系统的PID控制策略及仿真分析

运用汽车动力学理论,建立了PID控制器模型、制动时整车动力学模型、车轮模型。提出了以滑移率为控制目标的ABS系统的控制仿真分析,将PID控制器应用于单个ABS系统控制研究,以车轮滑移率为控制目标,通过轮速与车速传感器采集汽车速度、车轮转速,计算出汽车各轮胎实际滑移率,与期望滑移率进行比较后,将二者的偏差作为PID控制器的输入量,反复调节控制器的控制参数,使其实际滑移率始终处于最佳滑移率附近,通过PID控制最终使汽车在最佳滑移率所对应的地面制动力下进行制动。

PID control strategy and simulation analysis of ABS systerm

In this thesis,using vehicle dynamics theory,PID controller model,dynamic model of vehicle braking,the wheel model are established.The simulation of ABS control system which is aimed at the slip ratio is proposed.PID controller is used in the individual ABS system,the control objective is slip rate of wheel.The actual slip ratio is calculated through the wheel speed and vehicle speed which is acquired by the sensor.Compared the actual slip rate with the expected slip ratio,The deviation of them is put in th...