فایل ورد کامل طراحی سیستم ترمز ضد قفل بر اساس کنترلر حالت اسلایدی بر پایه تطبیقی مرتبه دوم

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تعداد صفحات این فایل: ۱۸ صفحه

در این کار کنترل حالت تطبیقی اسلایدی برای سیستم ABS مطرح شد. نتایج شبیه سازی، عملکرد خوب و نیرومندی از سیستم حلقه بسته در حضور هر دو آشفتگی همسان و غیر همسان را نشان می دهد. یعنی تغییرات پارامتری و دینامیکی نادیده گرفته می شود. ما تنها مرحله ترمز را در نظر داشتیم، سپس مقدار برای زمانی که به صفر تمایل دارد، همزمان با توقف ماشین است. استفاده از دستاوردهای تطبقی یک ضریب اضافی را فراهم می کند. زیرا می تواند کنترل مدیریت را انجام دهد.

عنوان انگلیسی:Anti-lock Brake System Design Based on an Adaptive Second Order Sliding Mode Controller~~en~~

. INTRODUCTION The ABS control problem consists of imposing a desired vehicle motion and as a consequence, provides adequate vehicle stability. The main difficulties arising in the brake and active suspension control design are high non-linearities, uncertainties caused by external perturbations and parameter variations which are unknown. Therefore, the ABS has become an attractive research area in nonlinear systems control framework. On the other hand, sliding mode approaches have been widely used for the problems of dynamic systems control and observation due to their characteristics of finite time convergence, robustness to uncertainties and insensitivity to external bounded disturbances [1], [2]. Then, sliding mode control emerges as an very interesting alternative for ABS design. Several researchers have dealt with the issue of designing sliding-mode controllers for the ABS application are [3], [4], [5], [6], including the problem of extremum seeking [7]. In this work, our purpose is to discuss an ABS based on sliding mode using a simple model, regarding external disturbances and parameter variations. Similar methods has been treated previously in the above works. Subsequently, a relative degree one sliding surface is proposed; and, the for induce sliding mode dynamics, the use of a recent variation of the Super-Twisting Algorithm [8], a Lyapunov design of adaptive Super-Twisting Algorithm (ASTW) [9], is proposed, with adaptation rule based on the Lyapunov approaches presented in [10] and [11]. This control law provides finite time convergence to a bounded second order sliding set with reduction of chattering effect. Note that the sliding modes techniques are based on the idea of the sliding manifold, that is an integral manifold with finite reaching time [12]. This manifold can be implemented by different methods including use of discontinuous function or continuous with discontinuous derivatives (so called higher order sliding modes). Let us note, that this issue of implementation, as demonstrated clearly by Utkin in [13] and earlier works is computational and depends on the system behavior in the boundary layer of the sliding manifold. Thus, the main difficulty and innovations in continuous-time sliding mode research is in the choice of the manifold rather than in the reaching phase that belongs more to numerical issue. Indeed, once the sliding manifold (x) = 0 is chosen, the derivatives (k) of the function along the system trajectories can be expressed as function of control that has exactly same dimension as . Practically in all cases the sliding control is implemented via digital computers, so, discrete-time sliding mode is used, which is a version of a deadbeat control that makes to converge to zero in finite time. Let us note, that this algorithm can be dynamic, i.e. include past values of (tk) and in continuous-time will look as integrals of a function of . In the following, in Section II a mathematical model of the brake system is presented. In Section III an ABS controller design based over the ASTW method is proposed. An example of the proposed controller is presented in Section IV. Finally, the Section V presents the conclusions of the current propose. II. MODEL In this section, the dynamic model of a vehicle is shown. Here we use a quarter of vehicle model, this model considers the pneumatic brake system, the wheel motion and the vehicle motion. We study the task of controlling the wheels rotation, such that, the longitudinal force due to the contact of the wheel with the road, is near from the maximum value in the period of time valid for the model. This effect is reached as a result of the ABS valve throttling. In this work we only consider the braking stage. A. Pneumatic Brake System Equations The specific configuration of this system considers brake disks, which hold the wheels, as a result of the increment of the air pressure in the brake cylinder, Fig. 1.The entrance of the air trough the pipes from the central reservoir and the expulsion from the brake cylinder to the atmosphere is regulated by a common valve. This valve allows only one pipe to be open, when 1 is open 2 is closed and vice versa. The time response of the valve is considered small, compared with the time constant of the pneumatic system.

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