湿滑低附路面多轴商用车制动稳定控制技术

doi:10.19562/j.chinasae.qcgc.2025.02.006

Abstract

Abstract:

Rain and snow often lead to slippery and low adhesion road surface， and the bottleneck of vehicle braking technology caused by it needs to be broken through. Among them， due to the differences in road adhesion in complex open-side road conditions， higher stability requirements are put forward for emergency braking control 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 errors 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.

Key words: distributed drive, multi-axis steering, model-free adaptive control, anti-lock braking, split pavement

Xuanyu Shi,Yingfeng Cai,Hai Wang,Xiaoqiang Sun,Long Chen,Chao Yang. Brake Stability Control Technology of Multi-axle Commercial Vehicle on Wet and Low Adhesion Road[J].Automotive Engineering, 2025, 47(2): 259-268.

Figures/Tables 18

References 29

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参数	数值	参数	数值	参数	数值
m/kg	14 670	I_z /（kg·m²）	43 669.27	J_T/（kg·m²）	14
a/m	2	b/m	2.5	c/m	3.77
t_f/m	1.95	t_m， t_r/m	1.815	R_Te/m	0.528

项目	RMSE/N
观测器	F_x_fl	F_x_fr	F_x_ml	F_x_mr	F_x_rl	F_x_rr
SMC	280.4	659.5	335.6	690.5	334.8	692.8
PID-SMC	204.5	462.0	242.0	486.3	241.4	488.6

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

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