摘要
本文主要研究了在汽车防抱死制动系统(ABS)中基于滑移率的模糊模型参考自适应控制策略。
首先分析了现有的各种车辆动力学模型、轮胎模型和制动器模型,在此基础上,结合研究要求和现有条件,去掉轮胎的垂向阻尼,建立了适用于模拟汽车直线制动过程的新七自由度双轮车辆模型。随后采用Matlab语言和Simulink模块建立了汽车直线制动时的ABS系统模型(包括车辆模型、轮胎模型和制动器模型)。设计了基本模糊控制器和模糊模型参考自适应控制器。进行了两个车辆模型ABS系统制动的计算机仿真:四分之一车体模型的制动仿真验证了基本模糊控制器的正确性,七自由度双轮模型的制动仿真验证了模糊模型参考自适应控制器在制动过程中的自适应性。仿真结果证明,模糊模型参考自适应控制器对于在制动过程中由于车辆前倾和垂向振动引起的地面支承力的变化有较好的自适应能力,制动过程中轮胎纵向滑移率的变化更趋近于理想变化。
This paper discusses the fuzzy model reference adaptive control strategy on fuzzy model reference in ABS(Anti-lock Braking System).
Firstly, some existing vehicle dynamics models, mathematical models of tire and detent are discussed and studied. Based on these models, considering the study need and condition, and the tire dominated vertical damp, an unprecedented double-axis -seven-freedom vehicle model, which is applicable for the simulation of the vehicle straightaway braking process has been established. Secondly the ABS model of the vehicle straightaway braking process is developed with Matlab language and Simulink module. And then the basic fuzzy logic controller and fuzzy logic model reference adaptive controller are designed. Finally, the simulation of the braking process of two vehicle models is carried out: one proves the correctness of the basic fuzzy logic controller with the quarter-vehicle model; the other proves the adaptivity of the fuzzy logic model reference adaptive controller with the double-axis -seven-freedom vehicle model. It's proved by the simulation result that, the fuzzy logic model reference adaptive controller adapts the change to the grand crutch force well, which is brought from the vehicle pitch and vertical vibration during the brake process, and the change to the slippage ratio which is near to the perfectness.
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