基于分数阶理论的车辆ABS控制研究  

Research on Vehicle ABS Control Based on Fractional-order Theory

作　　者：甘桦福 刘秋杨 Gan Huafu;Liu Qiuyang(School of Mechatronics and Vehicle Engineering,Chongqing JiaoTong University,Chongqing 400074)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《汽车实用技术》2019年第3期44-48,共5页Automobile Applied Technology

摘　　要：针对车辆制动过程中出现制动失稳问题及对控制安全、稳定性的要求,结合车辆动力学模型,提出一种基于分数阶比例积分微分理论的车辆制动防抱死分数阶PID主动控制方法,并利用Oustaloup滤波器和遗传优化算法对分数阶PID控制器进行有理化和参数整定处理,得到优化后的分数阶PID控制器,最后采用MATLAB/Simulink对车辆制动防抱死分数阶PID控制器进行了离线仿真分析。通过仿真分析表明,当车辆以20m/s的速度在路面上制动时,路面参数一定,采用遗传算法优化的分数阶PID控制相对于模糊自适应控制、传统整数阶PID控制,在制动时间上下降了2.1%和3.1%,制动距离缩短了3.86%和5.82%,其具有较低的超调量、较快的响应和较小的稳态误差。Aiming at the problem of brake instability during vehicle braking and the requirements for safety and stability of control,combined with vehicle dynamics model,an active control method of vehicle anti-locking fractional-order PID based on fractional proportional integral differential theory is proposed,and the Oustaloup filter is utilized.And the genetic optimization algorithm is applied to the rationalization and parameter tuning of the fractional-order PID controller.Finally,the offline simulation analysis of the vehicle anti-locking fractional-order PID controller is carried out by MATLAB/Simulink.The simulation analysis shows that when the vehicle brakes on the road at 20m/s,the genetic algorithm optimizes the fractional-order PID control with respect to fuzzy adaptive control and traditional integer-order PID control,and the braking time decreases by 2.1%.With 3.1%,the braking distance is reduced by 3.86%and 5.82%,with lower overshoot,faster response and less steady-state error.

关 键 词：制动防抱死系统 分数阶PID 遗传算法 参数整定 

分 类 号：U463.4[机械工程—车辆工程]