一种用于电液防抱死制动系统的显式非线性模型预测控制器设计  

Design of an Explicit Nonlinear Model Predictive Controller for Electro⁃hydraulic Anti⁃lock Braking System

作　　者：李超[1] 宁萍 LI Chao;NING Ping(Department of Vehicle Engineering,Chongqing Creation Vocational College,Chongqing 402160,China;School of Shipping and Naval Architecture,Chongqing Jiaotong University,Chongqing 400020,China)

机构地区：[1]重庆科创职业学院汽车工程学院,重庆402160 [2]重庆交通大学航运与船舶工程学院,重庆400020

出　　处：《机床与液压》2021年第4期116-119,145,共5页Machine Tool & Hydraulics

基　　金：重庆市十三五规划课题(2018GX429);重庆市永川区2018年公益类科技计划项目(Ycstc,2018cc0802)。

摘　　要：为实现对车辆制动过程进行快速且稳定的控制,设计一种用于电液防抱死制动系统的显式非线性模型预测控制器。通过对电液防抱死制动系统进行分析,明确电液防抱死制动系统的工作过程。在考虑系统参数的基础上,设计显式非线性模型预测控制器。将显式非线性模型预测控制器融入到电液防抱死制动控制系统中,以计算调节扭矩。同时利用状态预测器和缓冲器补偿电液防抱死制动系统的死区时间,从而提高制动过程的效率及稳定性,解决电液防抱死制动系统的非线性最优控制问题。实验结果表明:与逻辑门限控制方法相比,该显式非线性模型预测控制器对车辆进行制动控制时,具有更好的实时性和稳定性。In order to achieve fast and stable control of vehicle braking process,an explicit nonlinear model predictive controller for electro⁃hydraulic anti⁃lock braking system was designed.Through the analysis of the electro⁃hydraulic anti⁃lock braking system,its working process was clarified.On the basis of considering the system parameters,an explicit nonlinear model prediction controller was designed.The controller was integrated into the electro⁃hydraulic anti⁃lock braking control system to calculate the adjusting torque.At the same time,the state predictor and buffer were used to compensate the dead time of the electro⁃hydraulic anti⁃lock braking system,so as to improve the efficiency and stability of the braking process and solve the non⁃linear optimal control problem of the electro⁃hydraulic anti⁃lock braking system.The experimental results show that compared with the logic threshold control method,the explicit nonlinear model predictive controller has better real⁃time performance and better stability for vehicle braking control.

关 键 词：电液防抱死系统 显式非线性模型预测控制器 死区时间 最优控制 

分 类 号：U463[机械工程—车辆工程]