CAJ | 학술논문

全部车轮均独立驱动/制动(AWID)的车辆比非独立驱动/制动的车辆在高速工况下具有更优越的动力、机动和操纵性能,论文对车轮独立制动控制问题进行研究;首先建立车轮独立制动的数学模型,简单介绍轮胎LuGre动态模型;然后分析制动控制的目标,设计控制系统结构和自抗扰控制器;最后对动态期望滑移率下的车轮制动控制进行仿真;结果表明,所设计的自抗扰控制器可以实现强鲁棒和高精度的车轮独立制动控制.
전부차륜균독립구동/제동(AWID)적차량비비독립구동/제동적차량재고속공황하구유경우월적동력、궤동화조종성능,논문대차륜독립제동공제문제진행연구;수선건립차륜독립제동적수학모형,간단개소륜태LuGre동태모형;연후분석제동공제적목표,설계공제계통결구화자항우공제기;최후대동태기망활이솔하적차륜제동공제진행방진;결과표명,소설계적자항우공제기가이실현강로봉화고정도적차륜독립제동공제.
The vehicle, whose all wheels are driven/braked independently, is called AWID vehicle. Compared with those non - AWID vehicle, it has better power and manoeuvre capability, especially at high -speed. This paper emphasizes the AWID vehicle' s wheel independent brake control problem. Firstly, the wheel independent brake mathematic model was set up and the dynamic tire LuGre friction model was briefly introduced. Then the control objective was analyzed, and the control system structure and the Active Disturbance Rejection Control ( ADRC) based controller was designed. At last, the independent brake control simulations under the expected dynamic longitudinal slip were done. The results show that the ADRC controller, which is designed based on dynamic tire LuGre friction model, can implement high precision and strong robust control effect.