车辆ABS系统滑移率Bang-Bang、PID控制模型可直接运行

本文展示的是一个轮胎滑移率控制的闭环simulink模型，简易的ABS系统。包括四分之一车辆模型、轮胎模型、 控制器模型等。最终完成滑移率的优化控制，使得制动距离最大。

clear all
clc
ctrl=1;
g=32.18;
I=5;
Kf=1;
m=50;
mu = [0 0.4 0.8 0.97 1 0.98 0.96 0.94 0.92 0.9 0.88 0.855 0.83 0.81 0.79 0.77 0.75 0.73 0.72 0.71 0.7];
PBmax=1500;
Rr=1.25;
slip=[0	0.05	0.1	0.15	0.2	0.25	0.3	0.35	0.4	0.45	0.5	0.55	0.6	0.65	0.7	0.75	0.8	0.85	0.9	0.95	1];
TB=0.01;
v0=88;

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2020-10-27 14:41  ABS_Slip\
     文件       35601  2020-10-27 14:37  ABS_Slip\ABS_bangbang_pid.slx
     文件        4717  2020-10-27 14:31  ABS_Slip\ABS_bangbang_pid.slxc
     文件         298  2020-10-27 14:31  ABS_Slip\para_init.m
     文件          47  2020-10-27 14:42  ABS_Slip\readme.txt
     文件        4668  2020-10-27 14:37  ABS_Slip\sldemo_wheelspeed_absbrake.slxc
     目录           0  2020-10-27 14:31  ABS_Slip\slprj\
     目录           0  2020-10-27 14:31  ABS_Slip\slprj\sim\
     目录           0  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\
     目录           0  2020-10-27 14:31  ABS_Slip\slprj\sim\varcache\ABS_bangbang_pid\
     文件         392  2020-10-27 14:31  ABS_Slip\slprj\sim\varcache\ABS_bangbang_pid\checksumOfCache.mat
     目录           0  2020-10-27 14:31  ABS_Slip\slprj\sim\varcache\ABS_bangbang_pid\tmwinternal\
     文件         312  2020-10-27 14:31  ABS_Slip\slprj\sim\varcache\ABS_bangbang_pid\tmwinternal\simulink_cache.xml
     文件        4112  2020-10-27 14:31  ABS_Slip\slprj\sim\varcache\ABS_bangbang_pid\varInfo.mat
     目录           0  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\sldemo_wheelspeed_absbrake\
     文件         392  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\sldemo_wheelspeed_absbrake\checksumOfCache.mat
     目录           0  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\sldemo_wheelspeed_absbrake\tmwinternal\
     文件         312  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\sldemo_wheelspeed_absbrake\tmwinternal\simulink_cache.xml
     文件        2392  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\sldemo_wheelspeed_absbrake\varInfo.mat
     目录           0  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\xxx\
     文件         392  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\xxx\checksumOfCache.mat
     目录           0  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\xxx\tmwinternal\
     文件         312  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\xxx\tmwinternal\simulink_cache.xml
     文件        2728  2020-10-27 14:37  ABS_Slip\slprj\sim\varcache\xxx\varInfo.mat
     文件        4646  2020-10-27 14:37  ABS_Slip\xxx.slxc