| 引用本文: | 刘波,张玘,罗飞路,等.汽车防抱制动系统自适应滑模控制算法的研究和半实物仿真.[J].国防科技大学学报,2008,30(5):125-130.[点击复制] |
| LIU Bo,ZHANG Qi,LUO Feilu,et al.Research and Half Practical Simulation on Adaptive Sliding Control Algorithms of Automobile Antilock-braking System[J].Journal of National University of Defense Technology,2008,30(5):125-130[点击复制] |
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| 汽车防抱制动系统自适应滑模控制算法的研究和半实物仿真 |
| 刘波, 张玘, 罗飞路, 刘国福 |
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(国防科学技术大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 针对车辆防抱制动系统(ABS)非线性控制模型，在分析零阶切换方式滑模变结构控制算法的基础上，提出了参数自适应的滑模变结构控制算法。该算法将滑模变结构控制、自适应控制与防抱制动系统结合，削弱了滑模控制的“抖动”问题对制动过程带来的影响。随后设计并构建了ABS闭环模拟系统，对算法进行了纯理论仿真和基于硬件平台的半实物仿真。仿真结果表明，自适应滑模控制算法较单纯滑模控制算法在减小制动力矩的颤幅和平缓轮速波动方面均有一定优势。 |
| 关键词: 非线性系统 ABS 滑模变结构控制 自适应控制 |
| DOI： |
| 投稿日期：2007-07-03 |
| 基金项目:国家自然科学基金资助项目(10376043) |
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| Research and Half Practical Simulation on Adaptive Sliding Control Algorithms of Automobile Antilock-braking System |
| LIU Bo, ZHANG Qi, LUO Feilu, LIU Guofu |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073， China)
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| Abstract: |
| This paper presents a parameter-adaptation sliding control algorithm based on the analysis of zero-order switching sliding mode control algorithm for the non-linear control model of Antilock-Braking System (ABS). The algorithm, which combines sliding mode control, adaptive control and ABS, weakens the influence of chattering on braking process. The closed loop emulated system of ABS, on which ideal and half practical simulation are completed, is designed and constructed. The results of simulation verify that the adaptive sliding algorithm has the advantage of less the brake torque chattering and smoothening fluctuation of wheel speed signals compared with pure sliding control algorithm. |
| Keywords: non-linear system ABS sliding-mode control adaptive control |
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