外文翻譯----非線性pid控制在一系列卡車abs問題中的應用-免費閱讀
【正文】 由于卡車系統(tǒng)的復雜性和工作環(huán)境的多變性，需要現(xiàn)場的控制器校準或整定，這就要求新的控制方案不僅要功能強大，而且便于整定。外環(huán)包括車輛速度估算和期望滑移率 計算，為內(nèi)環(huán)車輪轉速提供了命令信號。這些算法將會在 S曲線上導致峰值搜尋策略，或者強迫車輪的減速 /滑移率在一個特定的范圍內(nèi) 。估算汽車速度將是一個具有挑戰(zhàn)性的問題，因為汽車速度對于設定車輪參考轉速非常必要。大家知道，摩擦系數(shù) 是滑移率 S 的非線性函數(shù)，控制器設計的理想目標是通過調(diào)節(jié)車輪轉速 w 得到與最大摩擦力相對應的最優(yōu)滑移率 。 眾所周知，車輛在緊急制動或在一些濕滑、結冰的路面上制動時，車輪將會滑動并鎖死。An Application of Nonlinear PID Control to a Class of Truck ABS Problems Fangjun Jiang Ford Motor Company, Product Development Center, GBE65, MD 19920901 Oakwood Blvd. Dearborn, MI 48124 Zhiqiang Gao The Applied Control Research LaboratoryDepartment of Electrical and Computer Engineering Cleveland State University, Cleveland, Oh 44115 Abstract: A new NPID (Nonlinear ProportionalIntegralDifferential) control algorithm is applied to a class of truck ABS (Antilock Brake System) problems. The NPID algorithm 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 loopshaping controller. Keywords: Nonlinear, PID, ABS. 1. Introduction ABS for mercial vehicles appeared on the market in 1960s and began to grow fast in 1970s with the technologies of microputers 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: VRS V??? （ ） 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 is mon to have ω = 0
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