Abstract:

Aiming at the contradiction between the robustness， complexity and the practical application of the slip rate control， a slip rate control method for ABS based on linear active disturbance rejection control is proposed. Firstly， the dynamic compensation of the ABS model built is linearized.Then， an expanded state observer with the observation bandwidth as parameter and a dynamic compensation controller with the control bandwidth as parameter are designed， and the robustness of the system is enhanced by online estimation and unknown disturbance compensation. Next， the bandwidth coefficient is optimized to achieve the tracking of slip rate with zero steady-state error. Finally， a simulation is carried out to verify the feasibility and effectiveness of the linear active disturbance rejection control of ABS slip rate. The results show that the method is not only independent of the model and simple in adjusting parameters， but also has the nature of fault tolerance， and can still effectively track the optimal slip rate even when there are noises or unknown disturbances. The slip rate controller can be affected by the bandwidth of ABS with the occurrence of high-frequency oscillation phenomena， which will be particularly severe on low-adhesion roads. Therefore， sufficient consideration should be given to the effects of actuator bandwidth on ABS slip rate control in designing ABS.

Key words: vehicles, slip rate control, ABS, linear active disturbance rejection control