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A novel method for non-linear control of wheel slip in anti-lock braking systems

机译:防抱死制动系统中轮滑非线性控制的新方法

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摘要

Anti-lock braking system (ABS) provides active safety for vehicles during braking by regulation of the wheel slip at its optimum value. Due to the non-linear characteristics and model uncertainties in vehicle dynamics, a non-linear controller with increased robustness should be designed for ABS. In this paper, to achieve this aim, an optimization-based braking torque control law is developed for ABS using the prediction of the wheel slip response from a continuous non-linear vehicle dynamics model. To increase the robustness of the controller, the integral feedback technique is appended to the design method. The derived control law and its special cases are evaluated and discussed. At the end, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of braking on dry and slippery roads. The simulation results indicate that, the wheel slip tracking error is remarkably decreased by the proposed controller. Moreover, the achieved control input is entirely smooth and suitable for implementation.
机译:防抱死制动系统(ABS)通过将车轮滑移调节到最佳值,在制动过程中为车辆提供主动安全性。由于车辆动力学中的非线性特性和模型不确定性,应为ABS设计具有增强鲁棒性的非线性控制器。在本文中,为了实现这一目标,使用了基于连续非线性车辆动力学模型的车轮打滑响应的预测,为ABS开发了基于优化的制动扭矩控制律。为了提高控制器的鲁棒性,积分反馈技术被附加到设计方法中。评估并讨论了导出的控制律及其特殊情况。最后,通过模拟在干燥和湿滑道路上的制动性能,将所提出的控制器的性能与文献报道的滑模控制器的性能进行了比较。仿真结果表明,所提出的控制器可以明显降低车轮滑移跟踪误差。而且,所获得的控制输入是完全平滑的并且适合于实施。

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