Vehicle anti-lock braking system slip rate constraint control algorithm based on second-order slip rate model

Abstract

The invention discloses a vehicle anti-lock braking system slip rate constraint control algorithm based on a second-order slip rate model. The vehicle anti-lock braking system slip rate constraint control algorithm comprises modeling of an anti-lock braking system and the design of the slip rate constraint control algorithm, in the case of modeling of the anti-lock braking system, the second-order slip rate model is built according to a quarter vehicle model and a Burckhardt tire model, and the change situation of the slip rate derivative is reflected, the slip rate constraint control algorithm is mainly responsible for designing an obstacle lyapunov function and a constraint controller, so that the slippage rate is ensured not to violate a constraint limit, and the slip rate is fundamentally prevented from operating in an unstable region. Meanwhile, the asymmetric barrier lyapunov function is adopted to solve the problem of non-symmetric slip rate constraint of the uneven road. According to the proposed algorithm, the slip rate can be ensured to work in a stable region all the time, and shorter braking time and shorter braking distance are achieved under the condition that the constraint condition is not violated. In the braking process, the wheel speed and the braking torque do not shake, so that the comfort of a vehicle is improved.

Description

technical field [0001] The invention relates to the field of smart cars, in particular to a slip rate constrained control algorithm for a vehicle anti-lock braking system based on a second-order slip rate model. Background technique [0002] Vehicle anti-lock braking system (Antilock Braking System, ABS) is one of the active safety devices, which is very important to improve vehicle stability and safety. During the entire braking process of the vehicle, ABS not only needs to provide maximum braking force to obtain high braking performance, but also to avoid wheel slip to avoid locking. The ABS control system usually adopts the slip rate control method, and the vehicle slip rate can track the optimal slip rate through the control algorithm, so as to obtain the maximum braking torque. With the continuous development of modern control theory, several ABS slip rate control algorithms have been proposed in the existing literature, such as logic threshold value, PID control, fuzz...

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Problems solved by technology

At the same time, the present invention uses the asymmetric obstacle Lyapunov funct

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