Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System
Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System
复制标题
开发主伺服环集成底盘控制系统的自校正轮胎摩擦控制研究
DOI：
10.1109/access.2017.2669263
复制
发表时间：
2017-02
期刊：
影响因子：
3.9
通讯作者：
Li Ke-Ning
中科院分区：
文献类型：
--
作者：
Zhang Rong-Hui;He Zhao-Cheng;Wang Hai-Wei;You Feng;Li Ke-Ning
针对汽车底盘综合控制系统的问题，提出了具有主伺服环控制结构的递阶结构方案。它包括主回路和伺服回路，主回路采用最优鲁棒控制算法计算和分配目标力，伺服回路采用车载独立制动执行器跟踪和实现目标力。实际上，对于制动执行器，目标摩擦力是通过跟踪目标力对应的滑移率来获得的。针对轮胎-路面摩擦系数随路面类型变化的特点，为得到非线性时变的目标滑移率，提出了基于准静态魔术公式的不同路面摩擦系数的实时估计和预测方法，并采用约束混合遗传算法在线辨识魔术公式中的关键参数。为了提高执行器的跟踪精度和响应速度，设计了一种基于非奇异快速终端滑模（NFTSM）控制方法的纵向滑移率自校正控制器（LSC）。最后，通过计算机仿真验证了所提出的集成底盘控制策略和自校正控制策略的有效性。
The inherent flexibility of hierarchical structure scheme with main-servo loop control structure is proposed to the problem of integrated chassis control system for the vehicle. It includes both main loop, which calculates and allocates the aim force using the optimal robust control algorithm and servo loop control systems, which track and achieve the target force using the onboard independent brake actuators. In fact, for the brake actuator, the aim friction is obtained by tracking the corresponding slip ratio of target force. For the coefficient of tire-road friction varying with different road surface, to get the nonlinear time-varying target slip ratio, the most famous quasi-static magic formula is proposed to estimate and predict real-time coefficient of different road surface and the constrained hybrid genetic algorithm (GA) is used to identify the key parameters of the magic formula on-line. Then, a self-tuning longitudinal slip ratio controller (LSC) based on the nonsingular and fast terminal sliding mode (NFTSM) control method is designed to improve the tracking accuracy and response speed of the actuators. At last, the proposed integrated chassis control strategies and the self-tuning control strategies are verified by computer simulations.
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DOI：
10.1109/icisce.2016.45
发表时间：
2016-07
期刊：
2016 3rd International Conference on Information Science and Control Engineering (ICISCE)
影响因子：
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