The invention discloses a wheel anti-skid control method based on the ideal wheel speed change rate of an automobile, which comprises the following steps: 1, acquiring the rotation angular speed of a driving wheel, and selecting a control object; 2, designing an observer to obtain the observed quantity of the ground force borne by the control object; 3, estimating a ground utilization adhesion coefficient according to the observed quantity of the ground force borne by the control object; 4, constructing a standard sliding rate function of the control object based on the ground utilization adhesion coefficient; 5, constructing a calculation function of the wheel speed change rate of the control object; 6, according to the calculation function of the wheel speed change rate of the control object, obtaining a calculation function of an ideal wheel speed change rate of the control object suitable for various types of road surfaces; 7, designing a controller, and constructing a cost function of a control system by taking the ideal wheel speed change rate of the following control object as a target; and 8, the optimal torque for automobile stability control is obtained. The method is suitable for driving anti-skid control and braking anti-lock control of automobiles with various power sources, so that the driving safety is improved.

    本发明公开了一种基于汽车理想轮速变化率的车轮防滑控制方法,包括:1采集驱动车轮的转动角速度,并选取控制对象;2设计观测器,得到控制对象所受的地面力观测量;3根据控制对象所受的地面力观测量估计地面利用附着系数;4构建基于地面利用附着系数的控制对象的标准滑动率函数;5构建控制对象的轮速度变化率的计算函数;6根据控制对象的轮速度变化率的计算函数得到适用于各种类型路面的控制对象的理想轮速度变化率的计算函数;7设计控制器,以跟随控制对象的理想轮速度变化率为目标构建控制系统的成本函数;8求得用于汽车稳定性控制的最佳转矩。本发明适用于各种动力源汽车的驱动防滑控制和制动防抱死控制,以提高行车安全性。


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    Title :

    Wheel antiskid control method based on ideal wheel speed change rate of automobile


    Additional title:

    一种基于汽车理想轮速变化率的车轮防滑控制方法


    Contributors:
    SHI QIN (author) / HE ZEJIA (author) / HE LIN (author) / WEI YUJIANG (author) / WANG MINGWEI (author)

    Publication date :

    2022-07-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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