[1]潘公宇,熊浩东.基于最佳滑移率估计的汽车EMB防抱死控制[J].郑州大学学报(工学版),2026,47(01):58-65.[doi:10.13705/j.issn.1671-6833.2025.04.017]
　PAN Gongyu,XIONG Haodong.Automotive EMB Anti-lock Control Based on Optimal Slip Rate Estimation[J].Journal of Zhengzhou University (Engineering Science),2026,47(01):58-65.[doi:10.13705/j.issn.1671-6833.2025.04.017]
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基于最佳滑移率估计的汽车EMB防抱死控制()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
47
期数:
2026年01期
页码:
58-65
栏目:
出版日期:
2026-01-06

文章信息/Info

Title:
Automotive EMB Anti-lock Control Based on Optimal Slip Rate Estimation
文章编号:
1671-6833(2026)01-0058-08
作者:
潘公宇;  熊浩东
江苏大学 汽车与交通工程学院,江苏 镇江 212013
Author(s):
PAN Gongyu;  XIONG Haodong
School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
关键词:
最佳滑移率;  电子机械制动;  ABS;  估计算法;  积分滑模控制
Keywords:
optimal slip rate;  electro-mechanical braking;  ABS;  estimation algorithm;  integral sliding mode control
分类号:
U463.5TP273
DOI:
10.13705/j.issn.1671-6833.2025.04.017
文献标志码:
A
摘要:
为了解决传统的逻辑门限式ABS控制方法存在无法充分利用路面利用附着系数以及滑移率波动较大的问题,提出了一种基于最佳滑移率估计的汽车EMB防抱死控制策略。首先,建立轮胎滑移率与路面利用附着系数之间的非线性模型;其次,通过一种分段式的估计算法来快速准确地跟踪最佳滑移率;最后,基于最佳滑移率的估计结果,设计了积分滑模控制器,通过精确调节EMB制动力矩和电机制动力矩,使前后轮的滑移率维持在各自的最佳滑移率,保证车辆在不同路面条件下的最佳制动距离。仿真结果表明:所采用的估计算法都能够快速准确识别当前路面的最佳滑移率,估计出的最佳滑移率在稳态时与实际的最佳滑移率的最大误差不超过3%,且积分滑模控制器可以精确控制滑移率保持在最佳滑移率附近,与CarSim内置的ABS控制策略相比,单一路面工况制动总时间缩短了10.8%,制动总距离减少了15.8%,对接路面工况制动总时间缩短了18.0%,制动总距离减少了22.2%。
Abstract:
The traditional logic threshold-based ABS control method failed to fully utilize the road adhesion coefficient and caused significant slip rate fluctuations during operation. To address this issue, an automotive EMB antilock control strategy based on optimal slip rate estimation was proposed. The proposed strategy initially established a nonlinear model between tire slip rate and road utilization adhesion coefficient, and then employed a segmented estimation algorithm to rapidly and accurately track the optimal slip rate. Subsequently, based on the estimated optimal slip rate, an integral sliding mode controller was designed. By precisely adjusting the EMB braking torque and electric braking torque, the slip rates of the front and rear wheels were maintained at their respective optimal slip rates, ensuring optimal braking distances for automotives under various road conditions. Simulation results indicated that the employed estimation algorithm was capable of identifying the optimal slip rate of the current road surface rapidly and accurately, with the maximum error between the estimated optimal slip rate and the actual optimal slip rate at steady state not exceeding 3%. Furthermore, the integral sliding mode controller could precisely control the slip rate to remain near the optimal slip rate. Compared to the ABS control strategy built into CarSim, the total braking time in a single road condition scenario was shortened by 10.8%, and the total braking distance was reduced by 15.8%. For docking pavement conditions, the total braking time was shortened by 18.0%, and the total braking distance was reduced by 22.2%.

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更新日期/Last Update: 2026-01-17