The invention discloses a chassis braking system integrated control method adapting to a road surface friction coefficient, which takes a braking system as a control mechanism, integrates transverse stability control, braking anti-lock control and vehicle body anti-rollover control, and comprises the following specific steps: step 1, taking the braking torque of each tire as input, and taking the braking torque of each tire as output; establishing a vehicle chassis dynamic model oriented to integrated control of transverse, roll and slip rate; 2, designing a brake system integrated controller based on the MPC according to the established kinetic model; 3, adjusting a target function in the MPC controller on line based on the road surface friction coefficient and the system state; and 4, based on the adjusted parameters and the real-time state measurement value, control input is calculated according to an MPC control algorithm, and braking torque control is achieved through a braking system. The control targets of transverse stability, anti-lock braking and rollover prevention are considered, and the good vehicle chassis integrated control performance is still kept under the condition that the road adhesion condition changes.

    本发明公开了一种适应路面摩擦系数的底盘制动系统集成控制方法,以制动系统作为控制机构,集成了横向稳定性控制、制动防抱死控制和车身防侧翻控制,具体步骤如下:步骤一、以各轮胎制动力矩为输入,建立面向横向、侧倾及滑移率集成控制的车辆底盘动力学模型;步骤二、根据所建立的动力学模型,设计基于MPC的制动系统集成控制器;步骤三、基于路面摩擦系数和系统状态在线调整MPC控制器中的目标函数;步骤四、基于调整后参数和实时状态测量值,根据MPC控制算法计算控制输入,并由制动系统实现制动力矩控制。本发明兼顾横向稳定、制动防抱死、防侧翻的控制目标,在路面附着状况变化的情况下仍然保持良好的车辆底盘集成控制性能。


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    Titel :

    Chassis braking system integrated control method adapting to road surface friction coefficient


    Weitere Titelangaben:

    一种适应路面摩擦系数的底盘制动系统集成控制方法


    Beteiligte:
    ZHANG HUI (Autor:in) / JU ZHIYANG (Autor:in)

    Erscheinungsdatum :

    2022-04-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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