An antilock braking system (ABS) is one of the most effective active safety control systems for ground vehicles, since it can keep the rotational wheel from locking and, consequently, guarantee the braking safety and handling stability. There have been a variety of ABS control schemes proposed by many researchers. However, most of the results employ sundry tire–road friction models, the alleged $\mu\, \text{--}\,\lambda$ curves ($\mu$ is the tire–road friction coefficient, while $\lambda$ is the tire slip ratio, which is mathematically defined as $\lambda =({v-\omega r})/{v}$), making the ABS controller extremely complicated for the highly nonlinear characteristics of the $\mu\, \text{--}\,\lambda$ relationship. Furthermore, the a priori knowledge of road conditions for these ABS controllers restricts their practicability. To circumvent these problems, a two-time-scale ABS control scheme is proposed in this paper, without considering the intricate $\mu\, \text{--}\,\lambda$ relationship, making the a priori knowledge of the road condition no longer a prerequisite; thus, the designed ABS controller is rather simple. In addition, a modified fast-time-scale estimator is involved to estimate the road condition, which is significant in vehicle active dynamics control. The effectiveness of the proposed ABS controller is verified via numerical simulations and CarSim–MATLAB cosimulations.

中文翻译：

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地面车辆防抱死制动系统的二次设计

防抱死制动系统（ABS）是地面车辆最有效的主动安全控制系统之一，因为它可以防止旋转车轮抱死，从而保证制动安全和操纵稳定性。许多研究人员提出了多种 ABS 控制方案。然而，大多数结果使用杂物轮胎 - 道路摩擦模型，所谓的$\mu\, \text{--}\,\lambda$ 曲线（$\mu$ 是轮胎-道路摩擦系数，而 $\lambda$ 是轮胎滑移率，在数学上定义为 $\lambda =({v-\omega r})/{v}$)，由于 ABS 控制器的高度非线性特性，使得 ABS 控制器变得极其复杂。 $\mu\, \text{--}\,\lambda$关系。此外，该先验对这些 ABS 控制器道路条件的了解限制了它们的实用性。为了规避这些问题，本文提出了一种两时间尺度的 ABS 控制方案，没有考虑复杂的$\mu\, \text{--}\,\lambda$ 关系，使 先验了解路况不再是先决条件；因此，设计的 ABS 控制器相当简单。此外，还涉及改进的快速时间尺度估计器来估计道路状况，这在车辆主动动态控制中具有重要意义。所提出的 ABS 控制器的有效性通过数值模拟和 CarSim-MATLAB 联合模拟得到验证。