基于快速终端滑模状态观测器 的车轮滑移率跟踪控制

针对自动驾驶电动汽车对车轮滑移率跟踪控制的需求,提出一种基于快速终端滑模状态观测器的全状态反馈车轮滑移率跟踪控制器.首先,以车轮制动力矩导数为控制输入,建立车轮滑移率跟踪控制模型,避免车轮滑移率跟踪控制器设计过程中引入不连续项对系统稳定性和控制性能的影响.随后,利用有限时间稳定和快速终端滑模控制理论设计具有有限时间收敛特性的快速终端滑模状态观测器,实时观测未知的系统状态信息.以此为基础,采用模块化思想独立设计快速终端滑模跟踪控制律,实现车轮滑移率的连续、快速的跟踪控制.最后,结合车辆动力学仿真软件建立模型在环测试系统,仿真验证本文提出的车轮滑移率跟踪控制器的可行性和有效性.

Wheel Slip Tracking Control of Vehicle Based on Fast Terminal Sliding Mode State Observer

Aiming at the requirement of wheel slip tracking control for automatic driving electric vehicle , this paper presents a full-state feedback wheel slip tracking controller based on fast terminal sliding mode state observer. Firstly, a wheel slip rate tracking control model taking the derivative of wheel braking moment as an input is established to avoid the effect of the discontinuity term in the input on the system stability and performance. Secondly, a fast terminal sliding mode state observer with the characteristic of finite time convergence is designed based on finite time stability and fast terminal sliding mode control theory in order to observe the unknown state information of the system in real time. Based on the estimation of the unknown state information of the system, a fast terminal sliding mode tracking control law is designed independently to realize the continuous and fast tracking control of wheel slip. Finally, a model-in-the-loop test system is built using vehicle dynamics simulation software to verify the feasibility and validity of the proposed wheel slip tracking controller.