基于线性自抗扰控制的重型多轴特种车辆防抱死制动控制研究

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摘要针对重型多轴特种车辆车身长、惯性大、轴数多、用途特殊以及运输环境复杂多变等特点，制动过程中防抱死制动系统(Anti-lock Braking System，ABS)存在滑移率非线性、时变性和参数不确定性等问题，开展了基于线性自抗扰控制(Linear Active Disturbance Rejection Control，LADRC)的重型多轴特种车辆防抱死制动控制优化研究。首先，利用Matlab/Simulink建立了集成单轮动力学模型、滑移率模型、轮胎模型和制动器模型等被控制动系统模型，并设计了一种基于滑移率的ABS二阶LADRC控制器模型，在高附着系数路面以初速度为30 km/h进行了ABS仿真与实验验证，通过模糊PID控制和LADRC控制的ABS制动效果对比分析，验证了LADRC控制具有更佳的制动效果；然后，以某重型五轴特种车辆为例，利用Trucksim搭建了集成车身、轮胎、悬架、转向、动力传动和制动等重型多轴特种车辆整车动力学系统模型；最后，某重型五轴特种车辆在高、中、低附着系数路面，以初速度60 km/h进行了的ABS联合仿真，验证了LADRC控制在ABS应用上的可行性和优越性。

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	程洪杰
	何星磊
	刘志浩
	高蕾
	杨健福

关键词 ：重型多轴特种车辆, Trucksim/Matlab联合仿真, 滑移率, 线性自抗扰控制, ABS

Abstract：In view of the characteristics of long body length, large inertia, multiple axles, special purpose and complex transportation environment of heavy-duty multi-axle special vehicles, the Anti-lock Braking System (ABS) has a slip rate during braking. Non-linearity, time-varying and parameter uncertainty, and other issues, based on the Linear Active Disturbance Rejection Control (LADRC) heavy-duty multi-axle special vehicle anti-lock braking control optimization research has been carried out. First of all, using Matlab/Simulink to establish the integrated single-wheel dynamic model, slip rate model, tire model and brake model and other controlled dynamic system models, and design a slip rate-based ABS second-order LADRC controller model, ABS simulation and experimental verification were carried out on the road with high adhesion coefficient at an initial speed of 30 km/h. The comparative analysis of ABS braking effect of fuzzy PID control and LADRC control verified that LADRC control has a better braking effect; then, Taking a heavy-duty five-axle special vehicle as an example, Trucksim is used to build a complete vehicle dynamics system model for a heavy-duty multi-axle special vehicle such as integrated body, tires, suspension, steering, power transmission and braking; Finally, a heavy-duty five-axle special vehicle conducted ABS co-simulation at an initial speed of 60 km/h on high, medium, and low adhesion coefficient roads, which verified the feasibility and superiority of LADRC control in ABS applications.

Key words： Heavy multi-axle special vehicles Trucksim/Matlab co-simulation Slip rate Linear Active Disturbance Rejection Control ABS

收稿日期: 2021-08-23 出版日期: 2023-01-15

引用本文:

程洪杰，何星磊，刘志浩，高蕾，杨健福. 基于线性自抗扰控制的重型多轴特种车辆防抱死制动控制研究[J]. 振动与冲击, 2023, 42(1): 249-258.
CHENG Hongjie, HE Xinglei, LIU Zhihao, GAO Lei, YANG Jianfu. Anti-lock braking control of heavy multi-axle special vehicle based on LADRC. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(1): 249-258.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I1/249

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