湿滑低附路面多轴商用车制动稳定控制技术  

Brake Stability Control Technology of Multi-axle Commercial Vehicle on Wet and Low Adhesion Road

作　　者：石轩宇 蔡英凤[2] 王海[1] 孙晓强[2] 陈龙[2] 杨超 Shi Xuanyu;Cai Yingfeng;Wang Hai;Sun Xiaoqiang;Chen Long;Yang Chao(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013;Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013;Xuzhou Construction Machinery Research Institute,XCMG,Xuzhou 221004)

机构地区：[1]江苏大学汽车与交通工程学院,镇江212013 [2]江苏大学汽车工程研究院,镇江212013 [3]徐工集团工程机械研究院,徐州221004

出　　处：《汽车工程》2025年第2期259-268,共10页Automotive Engineering

基　　金：国家自然科学基金(52225212,52272418,U22A20100);国家重点研发计划项目(2022YFB2503302)资助。

摘　　要：雨雪天气常会导致湿滑低附路面,由此引发的车辆制动技术瓶颈亟待突破。其中,复杂的对开路面工况由于其路面附着存在差异,对多轴商用车的紧急制动控制提出了更高的稳定性要求。为提升制动效能,基于无模型自适应控制(MFAC)算法将各轮胎滑移率控制在理想值附近,并提出了面向分布式驱动技术的电、液耦合制动力矩分配策略。为降低制动过程产生的横向误差,基于PID-滑模观测器(PID-SMO)对各轮制动的纵向力进行准确观测,并通过中后轴辅助转向对纵向力差异产生的附加横摆力矩进行补偿。经联合仿真分析,基于MFAC的紧急制动控制策略降低了制动距离并避免了制动末期的滑移率波动,确保了各轮轮速的一致性控制。中后轴转向的引入,显著提升了制动过程中车辆的横向稳定性。Rain and snow often lead to slippery and low adhesion road surface,and the bottleneck of vehi-cle braking technology caused by it needs to be broken through.Among them,due to the differences in road adhe-sion in complex open-side road conditions,higher stability requirements are put forward for emergency braking con-trol of multi-axle commercial vehicles.In order to improve the braking efficiency,the model free adaptive control(MFAC)algorithm is used to control the slip rate of each tire near the ideal value,and the electric and hydraulic coupling braking torque distribution strategy is set for distributed drive technology.In order to reduce the lateral er-rors in the braking process,PID-sliding mode observer(PID-SMO)is used to accurately observe the longitudinal force of each wheel,and the additional yaw torque caused by the longitudinal force difference is compensated by the middle and rear axle assisted steering.Through the joint simulation analysis,the emergency braking control strategy based on MFAC reduces the braking distance and avoids the slip rate fluctuation at the end of the braking period,ensuring the consistency of the wheel speed.The intervention of middle and rear axle steering greatly improves the lateral stability of the vehicle during braking.

关 键 词：分布式驱动 多轴转向 无模型自适应控制 制动防抱死 对开路面 

分 类 号：U46[机械工程—车辆工程]