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A Study of Robust Control Method for Pneumatic Brake ABS on Commercial Vehicles

Author: ZhangBingChao
Tutor: DengZhaoXiang
School: Chongqing University
Course: Power Machinery and Engineering
Keywords: Commercial vehicles Antilock control system Robustness Predictive Control Self-tuning control
CLC: U463.526
Type: Master's thesis
Year: 2011
Downloads: 72
Quote: 0
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Abstract


As automotive active safety vehicle equipment, anti-lock braking system (ABS) to ensure good braking performance of the car, handling and directional stability, has become a mandatory allocation of commercial vehicles. However, the dynamic characteristics of the air brake system and tires strongly nonlinear and time-varying factors such as, brought difficulties to the ABS control. Therefore, a positive development of commercial vehicle air brake ABS robust control method has great practical significance. Vehicle by the force on the basis of the analysis of the braking process, according to the principles of mechanics, the establishment of a single wheel vehicle model for the analysis and design of control systems, as research commercial vehicle air brake ABS robust control method, and then in its based on a four-wheel vehicle model; through comparative analysis of the tire model, select the tire of the \dynamic system models. ABS control method based on the slip rate of commercial vehicle, a better robustness of nonlinear continuous predictive control method designed nonlinear predictive controller based on the slip rate of ABS. Taylor series expansion of the system state censored processing system forecasting model and the the ABS pavement recognition algorithm introduced reference trajectory design reference trajectory model multi-pavement when road conditions change, the reference trajectory corresponding change, and also the introduction of the system of integral feedback slip ratio improved quadratic predictive control law, in order to enhance the robustness of the system. The simulation results show that, when the the ABS modeling errors, load changes and road exists mutation, the nonlinear model predictive controller is still able to get a good dynamic response and robustness control effect significantly due to the logic threshold control. Nonlinear issue, from the the ABS working principle and the control target, the ideal state of the brake law, analysis of the dynamic characteristics of the solenoid valve, for the dynamic characteristics of the solenoid valve and the braking process pavement mutation a practical and better robustness, self-tuning control algorithm: simply measuring wheel speed, no speed estimation module, to avoid the speed estimation error; solenoid valve in the braking process non-linear characteristics, set the compensation aspect; able to automatically find the optimum slip ratio point, good adaptability and robustness to load variations; consider the non-linear characteristics of the tire, the of its pavement recognition link can overcome road changes. Through the comparison of the above two algorithms with the logic threshold control, based on the low cost, practical self-tuning control and common logic gate limit control to design a single round commercial vehicle ABS hardware in the loop simulation platform, choose dry asphalt adhesion coefficient road and the snow low adhesion coefficient pavement two typical conditions, ABS loop simulation and offline simulation with Matlab / Simulink environment. The results showed that the establishment of a single round car model is more accurate to reflect the operating conditions of the vehicle; self-tuning control better adaptability and robustness than the logic threshold control in the case of only considering the dynamic characteristics of the solenoid valve threshold setting is more convenient. Finally, in order to further validate the practicality and robustness of the self-tuning control algorithm, design the the ABS vehicle arrangement of the self-tuning controller applied to the vehicle four-wheel vehicle braking model, were self-tuning control logic threshold control ABS in different braking condition of the vehicle simulation comparative analysis. The study showed that the vehicle ABS control, self-tuning controller is able to get good braking and handling stability, compared to the same logic threshold controller, better adaptability and robustness.

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CLC: > Transportation > Road transport > Automotive Engineering > Automotive structural components > Braking system > Brake control device > Anti-lock brake
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