汽车转向/防抱死制动协同控制

为了解决汽车转向过程中防抱死制动稳定性问题,提出一种新的协同控制系统.该协同控制结构由转向控制器和制动控制器组成.在转向控制中设计滑模鲁棒自适应控制器和横摆力矩控制器力求改善汽车动态响应,鲁棒自适应性和稳定性.此外定义协同误差,建立汽车协同误差模型并设计汽车防抱死制动鲁棒自适应控制系统.为了减少转向系统和制动系统之间的补偿控制律难以确定的困难,提出耦合误差补偿原理与同一给定控制相结合的新的耦合控制策略.最后用仿真结果验证所设计控制算法的有效性.

Cooperative controller for vehicle steering/antilock braking system

A new cooperative control system is proposed to deal with the stability of the vehicle in steering antilock braking. This system is composed of the steering controller and the braking controller. The steering controller includes the yaw moment controller and the sliding-mode robust adaptive con-troller for improving the response, adaptive robustness and stability of vehicles. On the other hand, a new cooperative error is defined and a new cooperative error model of the vehicles is developed; based on this model, a robust adaptive antilock braking control system is designed. To handle the compensation between the steering system and the braking system, a new coupling control strategy of parallel control with error compensation is presented. Finally, the control algorithm is validated by simulation results.