非线性PID控制在一系列卡车ABS问题中的应用中英文翻译资料.doc

An Application of Nonlinear PID Control to a Class of Truck ABS Problems
Fangjun Jiang
Ford pany, Product Development Center, GB-E65, MD
19920901 Oakwood Blvd. Dearborn, MI 48124
Zhiqiang Gao
The Applied Control Research LaboratoryDepartment of
Electrical puter Engineering
Cleveland State University, Cleveland, Oh 44115
Abstract: A new NPID (Nonlinear Proportional-Integral-Differential) control algorithm is applied to a class of truck ABS (Anti-lock Brake System) problems. The NPID bines the advantages of robust control and easy tuning. Simulation results at various situations using TruckSim show that NPID controller has shorter stopping distance and better velocity performance than the conventional PID controller and a loop-shaping controller.
Keywords: Nonlinear, PID, ABS.
1. Introduction
ABS mercial vehicles appeared on the market in 1960s and began to grow fast in 1970s with the technologies of puters and electronics [1]. ABS is recognized as an important contribution to road safety. It is now available in almost all types of vehicles. The automotive industry is continuously developing new
generations of ABS. The technologies of ABS are also applied in TCS (Traction Control System) and VDSC (Vehicle Dynamic Stability Control) It is well known that wheels will slip and lockup during severe braking or when braking on a slippery road surface (wet, icy, etc.). This usually causes a long stopping distance and sometimes the vehicle will lose steering stability. The objective of ABS is to prevent wheels from lockup and achieve minimum stopping distance while maintaining good steering stability during braking.
The wheel slip is defined as:
()
where S, ω, R and V denote the wheel slip, the wheel angular velocity, the wheel rolling radius, and the vehicle forward velocity, respectively.
In normal driving conditions, V ≈ωR therefore S ≈ 0. In severe braking, it mon to have ω= 0 while V ≠ 0 , or S = 1, which is called wheel lockup. Wheel lockup is und