The invention discloses a slip rate optimal tracking control method for a vehicle ABS. The method comprises the steps of constructing a kinematic model of an anti-lock braking system; monitoring a road surface adhesion coefficient of the current road, and obtaining the ideal slip rate of the current road surface; obtaining the current actual slip rate by measuring the wheel speed and the vehicle speed; taking the difference between an ideal slip rate signal and an actual slip rate signal as a controller input signal; setting a difference signal abnormal threshold for judgment; when the difference signal does not exceed the abnormal threshold value, correcting the motor torque by adopting a proportional integral method, judging the road surface state in real time, and continuously adjustingthe optimal slip rate of the tracked road surface; and when the difference signal exceeds the abnormal threshold value, enabling the controller to directly control the executing mechanism to lock thewheels. The method has the beneficial effect that the controller can automatically select the optimal slip rate for pavements with different characteristics through employing the pavement recognitiontechnology.
本发明公开了一种车辆ABS的滑移率最优跟踪控制方法,包括构建防抱死制动系统的运动学模型;监测当前道路的路面附着系数,获取当前路面的理想滑移率;采用测量轮速和车速,获取当前实际滑移率;利用理想的滑移率信号和实际滑移率信号的差值作为控制器输入信号;设定差值信号异常阈值判断;当差值信号未超过异常阈值时,采用比例积分的方法修正电机转矩,并实时判断路面状态,不断的调整跟踪路面的最优滑移率;当差值信号超过异常阈值时,则控制器直接控制执行机构抱死车轮。本发明的有益效果:针对不同特性的路面,运用路面识别技术,控制器能够自动选择最佳滑移率。
Slip rate optimal tracking control method for vehicle ABS
一种车辆ABS的滑移率最优跟踪控制方法
12.06.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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