Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Non-linear robust control method of automobile anti-lock braking system based on active suspension assistance

A technology of anti-lock braking and active suspension, applied in the direction of suspension, brake, elastic suspension, etc., can solve the problems of wheel speed fluctuation, shorten the braking distance, etc., and achieve the effect of preventing the braking process

Active Publication Date: 2017-06-20
HARBIN INST OF TECH
View PDF1 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing automobile anti-lock braking system based on the threshold value control method cannot optimize the shortening of the braking distance and cause fluctuations in the wheel speed, the present invention proposes an automobile anti-lock braking system based on active suspension assistance. Nonlinear Robust Control Method for Dead Braking System

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Non-linear robust control method of automobile anti-lock braking system based on active suspension assistance
  • Non-linear robust control method of automobile anti-lock braking system based on active suspension assistance
  • Non-linear robust control method of automobile anti-lock braking system based on active suspension assistance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0072] Embodiment one: the following combination figure 1 This embodiment will be described in detail.

[0073] The nonlinear robust control method of the automobile anti-lock braking system based on active suspension assistance described in this embodiment includes:

[0074] Step 1. Establishing the dynamic equation of the translational car body, the mathematical model of a single rolling wheel under braking and the mathematical model of the active suspension;

[0075] Step 2, according to the dynamic equation of the translational car body and the mathematical model of a single rolling wheel under braking, design a nonlinear robust controller of the anti-lock braking system based on the obstacle Lyapunov function;

[0076] Step 3, designing the active suspension controller according to the mathematical model of the active suspension;

[0077] Step 4, determine the optimal parameters of the nonlinear robust controller and the active suspension controller, under the joint con...

Embodiment 2

[0079] Embodiment 2: This embodiment is to further limit the nonlinear robust control method of the automobile anti-lock braking system based on active suspension assistance described in Embodiment 1.

[0080] In the non-linear robust control method of an automobile anti-lock braking system based on active suspension assistance described in this embodiment, the first step includes:

[0081] Step A, under the situation of ignoring the slope resistance and air resistance when the vehicle is in translation, according to Newton's second law, establish the dynamic equation of 1 / 4 vehicle in translation:

[0082]

[0083] Among them, F μ is the adhesion force used for the wheel-road surface, m is the mass of 1 / 4 of the car body, and v is the acceleration of the car body;

[0084] Step B, establish the mathematical model of the single rolling wheel under the braking state:

[0085]

[0086] Among them, R is the effective rolling radius of the wheel, T b is the braking torque...

Embodiment 3

[0090] Embodiment 3: This embodiment further limits the nonlinear robust control method of the automobile anti-lock braking system based on active suspension assistance described in Embodiment 2.

[0091] In the non-linear robust control method of an automobile anti-lock braking system based on active suspension assistance described in this embodiment, the second step includes:

[0092] Step D, build tire model:

[0093]

[0094]

[0095]

[0096] Among them, μ is the road adhesion coefficient, λ is the wheel slip rate, v is the vehicle speed, F Z is the vertical load on the tire, c 1 、c 2 and c 3 Both are tire model coefficients, and their values ​​are related to the road surface type:

[0097] When the road surface type is wet asphalt, c 1 、c 2 and c 3 They are 0.587, 33.822 and 0.347 respectively;

[0098] When the pavement type is dry concrete, c 1 、c 2 and c 3 1.1973, 25.168 and 0.5373 respectively;

[0099] When the pavement type is dry cobblestone, ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

PropertyMeasurementUnit
Damping coefficientaaaaaaaaaa
Qualityaaaaaaaaaa
Login to View More

Abstract

The invention discloses a non-linear robust control method of an automobile anti-lock braking system based on active suspension assistance, and belongs to the field of non-linear control. The problem that existing automobile anti-lock braking systems based on a threshold value control method cannot optimally shorten the braking distance, and thus the wheel speed fluctuates is solved. The non-linear robust control method comprises the steps that a kinetic equation of a translation automobile body, a mathematical model of a single rolling automobile wheel in a braking state and a mathematical model of an active suspension are built; a non-linear robust controller of an anti-lock braking system based on an obstacle Lyapunov function is designed; an active suspension controller is designed; the optimal parameter of the non-linear robust controller and the optimal parameter of the active suspension controller are determined; and the automobile anti-lock braking system and the active suspension are controlled through the non-linear robust controller with the optimal parameter and the active suspension controller with the optimal parameter correspondingly. The non-linear robust control method is suitable for controlling the automobile anti-lock braking system.

Description

technical field [0001] The invention relates to a nonlinear robust control method of an automobile anti-lock braking system, belonging to the field of nonlinear control. Background technique [0002] During the braking process of the vehicle, the wheel lockup occurs due to excessive wheel braking torque. Wheel lock will not only make the wheels lose their ability to turn, but also lengthen the braking distance of the car and increase the braking time. Therefore, wheel locking is a very dangerous working condition, which will bring certain safety hazards to drivers and pedestrians. Therefore, it is necessary to control the wheel braking torque to prevent the wheel from locking. [0003] The existing automobile anti-lock braking system usually adopts the threshold value control method to control the wheel braking torque, but this control method cannot maximize the tire-road adhesion coefficient and shorten the braking distance optimally. In addition, this control method wil...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B60T8/176B60G17/0195
Inventor 孙维超张晋华井后华
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com