汽车防抱死制动系统H_∞控制与PID控制的比较研究  

Comparative Research of H_∞ and PID Control Strategies for Automobile Antilocked Braking System

作　　者：吴浩[1] 严运兵[1] 方圆[1] 荣锐兵[1] 蔡啸霄[1] 

机构地区：[1]武汉科技大学汽车与交通工程学院,武汉430081

出　　处：《汽车科技》2012年第5期14-18,共5页Auto Sci-Tech

基　　金：国家自然科学基金项目(61074036);湖北省教育厅重点项目(D20121104)

摘　　要：控制方法是汽车防抱死制动系统的核心技术。为了提高ABS系统的鲁棒性能,在建立汽车防抱死制动系统数学模型的基础上,设计了H∞控制器,在Matlab/Simulink平台上对基于H∞控制器的ABS系统进行了动态仿真,并与基于传统PID控制器的ABS系统进行对比。通过对仿真结果进行比较发现,PID控制和H∞控制都能使ABS系统获得较好的制动性能;H∞控制响应迅速、具有优秀的稳定性和鲁棒性,总体控制效果优于PID控制。Control strategy is the core technology of ABS（automobile anti-locked braking system）.To improve the robustness of ABS system,a H∞ controller are designed based on the modeling of ABS. And the dynamic process of ABS based H∞ controller is simulated through Matlab/Simulink.What ＇s more,it＇s process is compared with the ABS system based traditional PID controller. By comparing the simulation results, it shows that both PID and H∞ controller can make ABS braking performance efficient, H∞ control strategy can respond more quickly and has more excellent stability and robustness. Hence, the control performance of H∞ is better than PID.

关 键 词：ABS 滑移率 PID控制 H∞控制 

分 类 号：U461.3[机械工程—车辆工程]