基於類滑動控制器之未知路面防鎖死煞車系統
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Date
2005-10-01
Authors
李宜勳
王偉彥
許旭邦
蘇順豐
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Abstract
良好的煞車性能，要具備有較短的煞車距離與良好的方向操控性兩個條件。在本論文中對於未知的路面狀況，我們藉由描述輪胎與地面間摩擦行為所推導的動態摩擦力模型(LuGre Model)所設計的路面估測器，來估測車子在煞車期間所行經的路面狀況。在非線性控制器設計方面，我們結合模糊邏輯理論與滑動模式理論的方法，稱之為類滑動模糊控制器。此外，為了減低對於滑動模式所引起的顫抖現象，我們利用模糊規則庫的死區部分以滑動模式控制來自我調整死區參數。我們的控制策略是利用防鎖死煞車系統控制器，控制車輛的滑差追蹤由路面估測器所估測到之不同路面的滑差率。由模擬結果驗證對於路面估測器結合所設計出來的防鎖死煞車控制器對於未知的路面具有不錯的估測能力，而且控制器也具有不錯的追蹤能力。
Good braking performance should have two conditions: shorter stopping distance and good steering performance. In this paper, for the unknown road conditions we design the road estimator that employs the dynamic friction model (LuGre Model) which described tire/road frict action behavior. We use the road estimator to identify the road conditions during the vehicle-stop period. For the controller design, we combined fuzzy logic control theorem and sliding mode control theorem, called sliding mode-like fuzzy logic control. In addition, in order to reduce the chattering problem caused by the sliding mode controller, we use self-tuning of the dead-zone parameters in the fuzzy rule-base. Our main control strategy is using the anti-lock braking system's controller to control the vehicle's slip ratios track the variant optimal slip ratios, which obtained by road estimator. Simulation results will show the validity and effectiveness of the proposed methods.
Good braking performance should have two conditions: shorter stopping distance and good steering performance. In this paper, for the unknown road conditions we design the road estimator that employs the dynamic friction model (LuGre Model) which described tire/road frict action behavior. We use the road estimator to identify the road conditions during the vehicle-stop period. For the controller design, we combined fuzzy logic control theorem and sliding mode control theorem, called sliding mode-like fuzzy logic control. In addition, in order to reduce the chattering problem caused by the sliding mode controller, we use self-tuning of the dead-zone parameters in the fuzzy rule-base. Our main control strategy is using the anti-lock braking system's controller to control the vehicle's slip ratios track the variant optimal slip ratios, which obtained by road estimator. Simulation results will show the validity and effectiveness of the proposed methods.