关键词: 控制理论, 滑移率, 滑模控制, 硬件在环

Abstract:

In the light of highly nonlinear problems existed in Anti-lock Braking System, using error between the current sliding rate and the current road optimal sliding rate as the control value, a sliding model variable structure controller is designed. We firstly established the model of the vehicle driving wheels, design a sliding mode variable structure controller and handle the chattering problem existed in the sliding mode controller. The method used by this paper effectively disminishes the chatter. In the end, applying the designed sliding mode variable structure controller to veDYNA software to make hardware-in-the-loop simulation. The simulation result shows that the designed controller effectively prevents the lock of the vehicle wheels.

Key words: control theory, sliding rate, sliding mode control, hardware-in-the-loop