基于非线性扰动观测的商用车ESC自适应滑模控制研究*

doi:10.19562/j.chinasae.qcgc.2020.06.014

摘要/Abstract

摘要： 针对商用车ESC控制中,实际车辆存在各种扰动,难以建立精确的车辆模型,传统滑模控制存在较大抖振等问题,本文中提出基于非线性扰动观测(NDOB)的自适应滑模控制(ADSMC)算法。首先,利用非线性扰动观测器对车辆建模的扰动项进行估计;然后,采用径向基神经网络对滑模控制器的关键参数进行自适应调节,以简化参数调节过程、减小滑模抖振、提高控制精度;最后,在TruckSim中建立车辆模型,在MATLAB中建立控制策略模型,在电控气压硬件在环试验台上,对控制算法进行试验验证。试验结果表明,NDOB-ADSMC算法的ESC控制效果良好,能够满足车辆ESC控制需求。

关键词: 车辆工程, 稳定性控制, 自适应, 非线性扰动, 滑模控制

Abstract: For problems of the commercial vehicle ESC control such as various disturbances existing for the actual vehicle, difficulty to establish an accurate vehicle model, large chattering of traditional sliding mode control, an adaptive sliding mode control (ADSMC) algorithm based on nonlinear disturbance observer (NDOB) is proposed in this paper. Firstly, the disturbances of vehicle modeling is estimated by nonlinear disturbance observer. Then, the radial basis neural network is used to adaptively adjust the key parameters of the sliding mode controller, so as to simplify the parameter adjustment process, reduce sliding mode chattering, and improve control accuracy. Finally, the vehicle model is built in TruckSim and the control strategy model is established in MATLAB. The control algorithm is tested and verified on the electronically controlled pneumatic hardware-in-the-loop test bench. The test results show that the NDOB-ADSMC algorithm has good control precision and can meet the requirements of vehicle ESC control

Key words: vehicle engineering, stability control, adaptive, nonlinear disturbance, sliding control

石求军, 李静, 刘鹏. 基于非线性扰动观测的商用车ESC自适应滑模控制研究^*[J]. 汽车工程, 2020, 42(6): 801-807.

Shi Qiujun, Li Jing, Liu Peng. Research on ESC Adaptive Sliding Mode Control for CommercialVehicles Based on Nonlinear Disturbance Observation[J]. Automotive Engineering, 2020, 42(6): 801-807.

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基于非线性扰动观测的商用车ESC自适应滑模控制研究^*

Research on ESC Adaptive Sliding Mode Control for CommercialVehicles Based on Nonlinear Disturbance Observation

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