基于纵向车速估算的商用车ABS神经网络滑模控制

doi:10.13229/j.cnki.jdxbgxb20180517

摘要/Abstract

摘要：

针对商用车防抱死制动系统（ABS）控制中纵向车速难以直接获得，提出了强跟踪容积卡尔曼滤波(STCKF)算法对制动过程中的纵向车速进行估算。然后根据ABS控制需求，提出了商用车ABS神经网络滑模控制算法，利用滑模算法对ABS的滑移率进行控制，再利用神经网络对滑模控制器的参数进行自适应调节。最后通过Matlab/Simulink与TruckSim联合仿真，分别在高、中、低附着系数路面和对开路面上进行仿真验证。仿真结果表明：强跟踪容积卡尔曼滤波算法对纵向车速的估算较为精确，ABS神经网络滑模控制效果良好。

关键词: 车辆工程, 制动防抱死系统, 强跟踪容积卡尔曼滤波, 神经网络, 滑模控制

Abstract:

It is difficult to directly obtain the longitudinal vehicle speed of commercial vehicle in the anti-lock braking system (ABS). In order to estimate the longitudinal speed in the braking process, a strong tracking-cubature Kalman filter algorithm was proposed. Then, according to the ABS control requirements, a commercial vehicle ABS neural network sliding control algorithm was established. It uses the sliding mode algorithm to control the slip rate of ABS, and uses the neural network to adjust the parameters of the sliding control algorithm. Through Matlab/Simulink and TruckSim co-simulation, simulations tests were conducted on high, medium, low, and off-road surfaces, respectively. The simulation results show that the strong tracking cubature Kalman filter algorithm is accurate in estimating the longitudinal speed, and the neural network sliding control algorithm of ABS has good effect.

Key words: vehicle engineering, braking antilock braking system, strong tracking cubature Kalman filtering(STCKF), neural network, sliding mode control

中图分类号:

U461.1

李静,石求军,刘鹏,户亚威. 基于纵向车速估算的商用车ABS神经网络滑模控制[J]. 吉林大学学报(工学版), 2019, 49(4): 1017-1025.

Jing LI,Qiu⁃jun SHI,Peng LIU,Ya⁃wei HU. Neural network sliding mode control of commercial vehicle ABS based on longitudinal vehicle speed estimation[J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1017-1025.

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车辆主要参数	数值	单位
整车质量	6360	kg
轴距	4490	mm
质心到前轴距离	3105	mm
质心高度	1200	mm
车轮滚动半径	510	mm
车轮转到惯量	14	kg·m²