吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (4): 1036-1042.doi: 10.13229/j.cnki.jdxbgxb201504002

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基于路面识别的汽车驱动力模糊滑模控制

赵健1, 张进1, 朱冰1, 2   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室, 长春 130022;
    2.吉林大学 工程仿生教育部重点实验室, 长春 130022
  • 收稿日期:2014-03-24 出版日期:2015-07-01 发布日期:2015-07-01
  • 通讯作者: 朱冰(1982-),男,副教授,博士.研究方向:汽车地面系统分析与控制,工程仿生学.
  • 作者简介:赵健(1978-),男,副教授,博士.研究方向:汽车地面系统分析与控制.E-mail:zhaojian@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(51105169, 51175215, 51205156); 吉林省科技发展计划项目(20140204010GX)

Fuzzy sliding mode traction control based on road friction coefficient estimation

ZHAO Jian1, ZHANG Jin1, ZHU Bing1, 2   

  1. 1.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China;
    2.Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun 130022, China
  • Received:2014-03-24 Online:2015-07-01 Published:2015-07-01

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摘要： 为适应路面附着条件的变化对车辆驱动力控制系统的要求,设计了基于纵滑侧偏组合刷子轮胎模型的路面识别算法,采用卡尔曼滤波方式估算轮胎与路面间的附着力,应用最小二乘法估算路面附着系数,进而确定当前路面对应的最佳车轮滑转率;在此基础上,设计了基于路面自适应的驱动力模糊滑模控制算法,并在Matlab/Simulink与CarSim联合仿真环境下进行了仿真验证。结果表明,本文算法能快速准确地识别路面变化,并根据路面附着情况有效调节车轮滑转率,改善车辆驱动性能。

关键词: 车辆工程, 路面附着系数估算, 驱动力控制, 卡尔曼滤波, 最小二乘法, 模糊滑模控制

Abstract: In order to meet the requirements of variable road conditions for vehicle traction control system, a road identification algorithm was proposed based on combined longitudinal and lateral brushed tire model. First, the tire-road forces were estimated by the Kalman filtering method; the road friction coefficient on each wheel was estimated using least square method, and its optimal slip ratio was obtained subsequently. Then, a fuzzy sliding mode based on traction controller was designed using the identified road information. Finally, the algorithm was verified using Matlab/Simulink and CarSim co-simulation. Results show that the proposed algorithm can identify the variation of road conditions and regulate the slip ratios of the driving wheels quickly and accurately, thus, the vehicle driving pe4rformance can be effectively improved.

Key words: vehicle engineering, road friction coefficient estimation, traction control, Kalman filtering, least square method, fuzzy sliding mode control

中图分类号: 

  • U461.2
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