车辆防抱制动系统及制动稳定性控制策略的仿真研究

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1、华中科技大学博士学位论文车辆防抱制动系统及制动稳定性控制策略的仿真研究姓名：唐国元申请学位级别：博士专业：机械制造及其自动化指导教师：宾鸿赞20050501AbstractAsaneffectiveapproachtoimprovesecurityofvehiclesABS(Anti-lockBrakeSystem)hasbeenstudiedworld-widelyforalongtime.IthasmostimportantsignificancetodevelopABSproductswithintellectualpropertyofChina.Nowthest

2、udyandimprovementinthefieldisstillinprogressinworld,andmostofresearchesarefocusedonthecontrolstrategy.Inthisdissertation,severalnewcontrolapproachareadoptedtodealwithABScontrolproblemsandstabilityofavehiclewithABS.Onthebasisofanalysisofforcesactingonthevehicle,avehicledynamicmodelisbuilt

3、,whichisrealizedwithMatlab/Simulink.ThecontrolmethodsofABSsuchaslogicthresholdcontrolandslidingmodecontrolareanalyzed.Asaswitchcontrol,thechatterofsystemcanbeinducedbyslidingmodecontrol,whichcaninfluenceperformanceofsystem.Thenthecauseofchatteringisanalyzedandfuzzyslidingmodecontrolmetho

4、dispresented,thefuzzycontrolruleissimplifiedbythesecondlayerofslidingmode.Thesimulationofsinglewheelvehicleshowthatthepresentedcontrolmethodcanshortentheresponsetimeandthechatterisrestrained.AGA(GeneticAlgorithm)basedon-lineparameterdesignmethodofABSPIDcontrollerisproposed.TheoperatorofG

5、Aisimprovedtoenhanceitseffectiveness.ThentheparametersofPIDcontrollercanbeadjustedonlineandtheABScanadaptthecircumstancewell.Simulationdemonstratesthatthepresentedmethodcanrestraintheovershootandadaptworkconditionwell.Asimplifiedvehiclemodelandthestatespaceequationarebuilt,andstabilityco

6、ntrolapproachofbrakingvehicleonsplitterroadispresentedonthebasisofoptimalcontrol.Throughadjustingtheslipratioofwheels,thebrakeforceofwheelsandcorrespondingyawtorqueofvehiclecanbeadjusted.Simulationshowsthatthestabilityofvehiclecanbeholdwellbythepresentedmethodonsplitterroad.Todealwithsta

7、bilityproblemofavehiclecombinedsteeringandbraking,itsdynamicsisanalyzed.Toestablishmodelofthevehicle,aT-Sfuzzymodelanditsidentificationalgorithmaredevelopedbasedonfuzzyneuronetwork.Thenetworkwhichinputsandoutputsarecomposedofseverallayersofforwardstructureisutilizedtobuil