Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (4): 1017-1025.doi: 10.13229/j.cnki.jdxbgxb20180517

   

Neural network sliding mode control of commercial vehicle ABS based on longitudinal vehicle speed estimation

Jing LI(),Qiu⁃jun SHI,Peng LIU,Ya⁃wei HU   

  1. State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
  • Received:2018-05-17 Online:2019-07-01 Published:2019-07-16

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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

CLC Number: 

  • U461.1

Fig.1

Schematic diagram of vehicle dynamics model"

Fig.2

Control structure"

Fig.3

Neural network structure"

Table 1

Main simulation parameters of vehicle"

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

Fig.4

STCKF and CKF estimate longitudinal speed and error（μ=0.8）"

Fig.5

Estimated speed and four wheel speeds（μ=0.8）"

Fig.6

Slip of four wheels（μ=0.8）"

Fig.7

STCKF and CKF estimate longitudinal speed and error（μ=0.5）"

Fig.8

Estimated speed and four wheel speeds（μ=0.5）"

Fig.9

Slip of four wheels（μ=0.5）"

Fig.10

STCKF and CKF estimate longitudinal speed and error（μ=0.3）"

Fig .11

Estimated speed and four wheel speeds（μ=0.3）"

Fig.12

Slip of four wheels（μ=0.3）"

Fig.13

STCKF and CKF estimate longitudinal speed and error（bisectional road）"

Fig.14

Estimated speed and four wheel speeds （bisectional road）"

Fig.15

Slip of four wheels（bisectional road）"

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