Abstract
A fuzzy sliding mode variable structure control method based on road surface recognition was proposed to solve the problem that the Anti-lock Braking System (ABS) effect of current ABS algorithm was not ideal on complex road surface. In the road recognition module, real-time estimation of five typical road surfaces using fuzzy logic control. Dynamic calculation of optimal slip ratio for different road surfaces based on identified road conditions. Design of ABS sliding mode variable structure controller with optimal slip ratio and actual slip ratio as input. Aiming at the chattering problem of sliding mode control, a fuzzy controller is designed to reduce chattering. An 8-DOF dynamic simulation model of a four-wheel hub motor is established. The effectiveness of the controller is verified by braking simulation experiments on medium and low adhesion road. By comparing the simulation test with the traditional sliding mode controller under the condition of high adhesion road, the suppression effect of the system chattering is verified, and its excellent control performance is proved.
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