郑州大学学报（工学版）2026，Vol.47Issue(1)：58-65,8.DOI:10.13705/j.issn.1671-6833.2025.04.017
基于最佳滑移率估计的汽车EMB防抱死控制
Automotive EMB Anti-lock Control Based on Optimal Slip Rate Estimation
摘要
Abstract
The traditional logic threshold-based ABS control method failed to fully utilize the road adhesion coeffi-cient and caused significant slip rate fluctuations during operation.To address this issue,an automotive EMB anti-lock control strategy based on optimal slip rate estimation was proposed.The proposed strategy initially established a nonlinear model between tire slip rate and road utilization adhesion coefficient,and then employed a segmented estimation algorithm to rapidly and accurately track the optimal slip rate.Subsequently,based on the estimated op-timal slip rate,an integral sliding mode controller was designed.By precisely adjusting the EMB braking torque and electric braking torque,the slip rates of the front and rear wheels were maintained at their respective optimal slip rates,ensuring optimal braking distances for automotives under various road conditions.Simulation results indi-cated that the employed estimation algorithm was capable of identifying the optimal slip rate of the current road sur-face rapidly and accurately,with the maximum error between the estimated optimal slip rate and the actual optimal slip rate at steady state not exceeding 3%.Furthermore,the integral sliding mode controller could precisely control the slip rate to remain near the optimal slip rate.Compared to the ABS control strategy built into CarSim,the total braking time in a single road condition scenario was shortened by 10.8%,and the total braking distance was re-duced by 15.8%.For docking pavement conditions,the total braking time was shortened by 18.0%,and the total braking distance was reduced by 22.2%.关键词
最佳滑移率/电子机械制动/ABS/估计算法/积分滑模控制Key words
optimal slip rate/electro-mechanical braking/ABS/estimation algorithm/integral sliding mode control分类
交通工程引用本文复制引用
PAN Gongyu,XIONG Haodong..基于最佳滑移率估计的汽车EMB防抱死控制[J].郑州大学学报（工学版）,2026,47(1):58-65,8.基金项目
国家自然科学基金资助项目(52072157) （52072157）
