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Outline
For the response delay and insufficient robustness of the anti-lock braking control in commercial vehicle Electromechanical Braking (EMB) systems, an anti-lock braking sliding mode control algorithm based on a triple closed-loop structure of braking motor clamping force, rotational speed, and current is proposed. A single-wheel vehicle dynamics model and an EMB actuator model are established, and a sliding mode controller is designed to track the target slip ratio in real time. In TruckSim/MATLAB co-simulation, the slip ratio is stably regulated around the target value, with small wheel-speed fluctuations and good braking consistency. Furthermore, a Hardware-in-the-Loop (HIL) test bench is developed, in which the ABS sliding mode controller and the EMB braking motor controller are implemented in a rapid prototyping unit and a motor control board, respectively. The experimental results show that the slip ratio can effectively track the target value and meet the ABS control performance requirements, thereby validating the effectiveness and engineering feasibility of the proposed control strategy in both simulation and HIL testing.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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