Abstract:

An integrated control scheme of vehicle ABS and active suspension was proposed. Smooth sliding-mode control method for ABS and backstepping control method for active suspension were combined. The active suspension increases the vertical normal force on the wheel when the sliding rate of the wheel is at its best. Its objective is to minimize the stopping distance when the vehicle is braking. A vehicle model was built under the Matlab/Simulink software environment. The simulation results show that there exists an optimal application of the suspension force. Compared with an ABS system without combining active suspension, the integrated control scheme can improve braking performance significantly.

Key words: active suspension, anti-lock braking system(ABS), smooth sliding-mode control, backstepping control

摘要：

提出了一种汽车防抱死系统与主动悬架联合控制策略。将采用光滑滑模控制的防抱死系统同采用反向递推控制的主动悬架相结合，在车辆制动时，主动悬架调节作用在车轮上的垂直载荷，使车轮的垂直载荷在车轮滑移率达到最优时也相应增加，从而获得最大的制动力。在MATLAB/Simulink仿真环境下，建立了仿真模型并进行了车辆制动模拟试验。试验结果表明，采用联合控制的车辆，在保证车辆制动稳定性的同时能够获得最大的地面制动力，从而显著提高了车辆的制动效能。

关键词: 主动悬架； 防抱死系统；光滑滑模控制；反向递推控制