基于防抱死制动系统制动器带宽参数整定的自抗扰控制器滑移率控制

doi:10.13229/j.cnki.jdxbgxb.20220046

Abstract

Abstract:

Aiming at the problems of non-linearity and uncertainty disturbance in slip rate control in the emergency braking process of automobiles， and the difference in the bandwidth characteristics of the braking system， the slip rate controller cannot be effectively applied to the actual vehicle. An implementation based on active disturbance rejection control method was proposed for setting the bandwidth parameters of the converter. First， the vehicle model and the ABS model were established. Secondly， an active disturbance rejection control with differential tracker was designed， state observer and error feedback controller were extended. Then， based on the ABS braking bandwidth parameters， the active disturbance rejection control parameters were adjusted. Finally， the slip rate control simulation analysis was carried out. The feasibility and effectiveness of the active disturbance rejection control method for ABS slip rate are verified. The results show that the method has clear physical meaning， simple parameter setting， strong portability， and can realize precise control of slip rate.

Key words: vehicle engineering, slip rate control, antilock brake system（ABS）, active disturbance rejection control, actuator bandwidth, parameter tuning

CLC Number:

U461.3

Lei YUAN,Ren HE. Active disturbance rejection control of slip ratio based on antilock brake system brake bandwidth parameter tuning[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(12): 3335-3341.

Figures/Tables 10

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参数	数值	参数	数值
m_vs/kg	415	C_β	30 000
I_t/（kg·m2）	1.7	μ	0.85
C_α/（N·rad）	50 000	b/m	1.368
h_cg/m	0.7	g/（m·s^-2）	9.8
ε_r/（s·m^-1）	0.015	l/m	2.5
R/m	0.326	m_w/kg	40

Active disturbance rejection control of slip ratio based on antilock brake system brake bandwidth parameter tuning

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