Anti-lock braking control of heavy multi-axle special vehicle based on LADRC

Here, aiming at characteristics of heavy multi-axle special vehicle, such as, long body, large inertia, many axles, special purposes as well as complex and changeable transportation environment and its anti-lock braking system (ABS) having problems of nonlinear slip ratio, time variability and parametric uncertainty during braking, the optimization of anti-lock braking control for heavy multi-axle special vehicle based on linear active disturbance rejection control (LADRC) was studied. Firstly, Matlab / Simulink was used to establish a controlled braking system model integrating single wheel dynamics model, slip ratio model, tire model and brake model, and an ABS second-order LADRC controller model based on slip ratio was designed. ABS simulation and test verification were conducted on a high adhesion coefficient road at an initial speed of 30 km/h. Through contrastive analysis of ABS braking effects of fuzzy PID control and LADRC control, it was verified that LADRC control has better braking effect. Then, taking a heavy-duty five-axle special vehicle as an example, the whole vehicle dynamic system model of heavy-duty multi-axle special vehicle integrating body, tire, suspension, steering, power transmission and braking was built by using the software Trucksim. Finally, ABS joint simulation was performed for a certain heavy-duty five-axle special vehicle at an initial speed of 60 km/ h on high, medium and low adhesion coefficient roads to verify the feasibility and superiority of application of LADRC control in ABS. © 2023 Chinese Vibration Engineering Society. All rights reserved.