集成电液制动系统助力算法及其功能验证

doi:10.13700/j.bh.1001-5965.2016.0167

北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (3): 424-431.doi: 10.13700/j.bh.1001-5965.2016.0167

集成电液制动系统助力算法及其功能验证

高峰, 雍加望, 丁能根, 徐国艳

北京航空航天大学交通科学与工程学院, 北京 100083

收稿日期:2016-03-07 出版日期:2017-03-20 发布日期:2016-06-29
通讯作者: 丁能根,E-mail:dingng@buaa.edu.cn E-mail:dingng@buaa.edu.cn
作者简介:高峰,男,博士,教授,博士生导师。主要研究方向:智能车辆、特种车辆、车辆非常规行走机构。;雍加望,男,博士研究生。主要研究方向:车辆底盘动力学、电子制动系统、车辆电控技术。;丁能根,男,博士,副教授,硕士生导师。主要研究方向:车辆动力学及电控技术。
基金资助:
国家自然科学基金（51175015）；国家“863”计划（2012AA110904）

Booster algorithm and functionality validation of an integrated electro-hydraulic brake system

GAO Feng, YONG Jiawang, DING Nenggen, XU Guoyan

School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Received:2016-03-07 Online:2017-03-20 Published:2016-06-29

摘要/Abstract

摘要： 针对传统真空助力制动系统无法直接应用于新能源车辆的问题，研究开发了一种集成电液制动（IEHB）系统，并形成样机。样机由中空电机、滚珠丝杠副、三腔主缸、人力缸及踏板行程模拟器等组成，集成制动助力、线控制动及再生制动等功能。设计了一种提高制动助力性能的滑模控制算法，并利用Lyapunov方程证明了该算法的稳定性。对本文算法及系统其他功能进行实车验证，结果表明：本文算法可以控制电机在三腔主缸内快速建立压力，并控制滚珠丝杠跟随踏板推杆一起运动，从而始终保持良好的脚感；系统可以实现线控及人力备份制动功能，且满足法规要求；踏板行程模拟器提供的脚感连续平滑。

关键词: 电液制动, 电动助力, 线控制动, 电动汽车, 滑模控制, 脚感

Abstract: Because the conventional vacuum booster brake systems cannot be applied to electric vehicles directly, an integrated electro-hydraulic brake (IEHB) system, which consists of a hollow brushless DC motor, a ball screw assembly, a 3-chamber master cylinder, a pedal cylinder and a pedal stroke simulator, was developed. The IEHB meets all the future requirements of electric vehicles and active safety technologies, such as electric brake booster, brake-by-wire, coordination with regenerative braking, etc. A sliding mode controller was proposed to improve brake booster performance of the system and Lyapunov function approach is used to ensure the controller robustness. The experimental results show that the proposed controller can control the motor to generate hydraulic pressure in the 3-chamber master cylinder quickly, and force the screw to follow with the push rod well to provide comfortable pedal feeling; the system can also realize brake-by-wire and manpower backup brake functions, and meet the requirements of the regulation; the pedal stroke simulator can generate smooth and continuous pedal feeling.

Key words: electro-hydraulic brake, electric booster brake, brake-by-wire, electric vehicle, sliding mode control, pedal feeling

中图分类号:

U461.3

高峰, 雍加望, 丁能根, 徐国艳. 集成电液制动系统助力算法及其功能验证[J]. 北京航空航天大学学报, 2017, 43(3): 424-431.

GAO Feng, YONG Jiawang, DING Nenggen, XU Guoyan. Booster algorithm and functionality validation of an integrated electro-hydraulic brake system[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2017, 43(3): 424-431.

参考文献

[1] OSHIMA T,FUJIKI N,NAKAO S,et al.Development of an electrically intelligent brake system[J].SAE International Journal of Passenger Cars-Mechanical Systems,2011,4(1):399-405.
[2] AHN J K,JUNG K H,KIM D H,et al.Analysis of a regenerative braking system for hybrid electric vehicles using an electro-mechanical brake[J].International Journal of Automotive Technology,2009,10(2):229-234.
[3] 姬芬竹,杜发荣,朱文博.基于制动意图识别的电动汽车能量经济性[J].北京航空航天大学学报,2016,42(1):21-27.JI F Z,DU F R,ZHU W B.Electric vehicle energy economy based on braking intention identification[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(1):21-27(in Chinese).
[4] 姬芬竹,周晓旭,朱文博.线控制动系统踏板模拟器与制动感觉评价[J].北京航空航天大学学报,2015,41(6):989-994. JI F Z,ZHOU X X,ZHU W B.Pedal simulator and braking feel evaluation in brake by wire system[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(6):989-994(in Chinese).
[5] 刘丽君,姬芬竹,杨世春,等.基于ECE法规和I曲线的机电复合制动控制策略[J].北京航空航天大学学报,2013,39(1):138-142.LIU L J,JI F Z,YANG S C,et al.Control strategy for lector-mechanical braking based on curves of ECE regulations and ideal braking force[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(1):138-142(in Chinese).
[6] 董晗,刘昕晖,王昕,等.并联式液压混合动力系统制动能量回收特性[J].吉林大学学报(工学版),2014,44(6):1655-1663.DONG H,LIU X H,WANG X,et al.Parallel hydraulic braking regenerative characteristics[J].Journal of Jilin University (Engineering and Technology Edition),2014,44(6):1655-1663(in Chinese).
[7] 邓伟文,丁能根,吴坚.具有电动制动助力和线控制动功能的电液复合制动系统:201310576356.5[P].2014-02-05.DENG W W,DING N G,WU J.Electro-hydraulic braking system with electric brake booster and brake-by-wire functions:201310576356.5[P].2014-02-05(in Chinese).
[8] MILANES V,GONZALEZ C,NARANJO J E,et al.Electro-hydraulic braking system for autonomous vehicles[J].International Journal of Automotive Technology,2010,11(1):89-95.
[9] LEE K J,KI Y H,CHEON J S,et al.Approach to functional safety-compliant ECU design for electro-mechanical brake systems[J].International Journal of Automotive Technology,2014,15(2):325-332.
[10] 全国汽车标准化技术委员会.汽车液压制动主缸性能要求及台架试验方法:QC/T 311-2008[S].北京:中国计划出版社,2008.National Technical Committee of Auto Standardization.Performance requirements and bench test methods of automobile brake master cylinder:QC/T 311-2008[S].Beijing:China Planning Press,2008(in Chinese).
[11] 雍加望,高峰,丁能根,等.压力顺序调节制动系统及其硬件在环试验[J].吉林大学学报(工学版),2016,46(4):1070-1075.YONG J W,GAO F,DING N G,et al.Hardware-in-the-loop test for a braking system of pressure regulation individually[J].Journal of Jilin University (Engineering and Technology Edition),2016,46(4):1070-1075(in Chinese).
[12] DARDANELLI A,ALLI G,SAVARESI S M.Modeling and control of an electro-mechanical brake-by-wire actuator for a sport motorbike[C]//5th IFAC Symposium on Mechatronic Systems.Boston:IFAC Press,2010:524-531.
[13] MERRITT H E.Hydraulic control systems[M].London:Wiley,1967:187.
[14] CASTRO R D,TODESCHINI F,ARAUJO R E,et al.Adaptive-robust friction compensation in a hybrid brake-by-wire actuator[J].Journal of Systems and Control Engineering,2014,228(10):769-786.
[15] VADIM I U.Nonlinear and optimal control theory[M].Berlin:Springer,2008:126.
[16] DALFIO N,MORGANDO A,SORNIOTTI A.Electro-hydraulic brake systems:Design and test through hardware-in-the-loop simulation[J].International Journal of Vehicle Mechanics and Mobility,2006,44(s1):378-392.
[17] 全国汽车标准化技术委员会.乘用车制动系统技术要求及试验方法:GB 21670-2008[S].北京:中国标准出版社,2008:16-18.National Technical Committee of Auto Standardization.Technical requirements and testing methods for passenger car braking systems:GB 21670-2008[S].Beijing:Standards Press of China,2008:16-18(in Chinese).

集成电液制动系统助力算法及其功能验证

Booster algorithm and functionality validation of an integrated electro-hydraulic brake system

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	于海洋, 张路, 任毅龙. 基于出行链的电动汽车充电行为影响因素分析[J]. 北京航空航天大学学报, 2019, 45(9): 1732-1740.
[2]	徐兴, 糜杰, 文楚玥, 王峰, 马世典, 陶涛. 基于挂钩力模型的拖挂式房车同步制动控制[J]. 北京航空航天大学学报, 2019, 45(7): 1283-1293.
[3]	杨世春, 周思达, 张玉龙, 华旸. 车用锂离子电池直冷热管理系统用冷媒研究进展[J]. 北京航空航天大学学报, 2019, 45(11): 2123-2132.
[4]	张建军, 刘卫东, 高立娥, 李乐, 李泽宇. 水下机械手不确定遥操作自适应双边控制[J]. 北京航空航天大学学报, 2018, 44(9): 1918-1925.
[5]	周通, 郭宏, 徐金全. 基于输入成形的太阳能帆板自适应滑模控制[J]. 北京航空航天大学学报, 2018, 44(4): 737-745.
[6]	赵曜, 李璞, 刘娟, 陈喆, 刘向东. 带碰撞角约束的三维有限时间滑模制导律[J]. 北京航空航天大学学报, 2018, 44(2): 273-279.
[7]	吴志新, 石金蓬, 李亚伦, 杨海圣, 马少东. 基于制动边界与意图识别的再生制动策略[J]. 北京航空航天大学学报, 2017, 43(8): 1531-1540.
[8]	张凯, 杨锁昌, 张宽桥, 张永伟, 陈鹏. 考虑导弹自动驾驶仪动态特性的新型制导律[J]. 北京航空航天大学学报, 2017, 43(8): 1693-1704.
[9]	宋晨, 王诗其, 杨超. 基于滑模观测器的机翼颤振主动抑制设计[J]. 北京航空航天大学学报, 2017, 43(6): 1098-1104.
[10]	张福桢, 金磊. 使用SGCMGs航天器滑模姿态容错控制[J]. 北京航空航天大学学报, 2017, 43(4): 806-813.
[11]	杨艺, 秦世引. 高精度位置跟踪自适应增益调度滑模控制算法[J]. 北京航空航天大学学报, 2017, 43(1): 7-17.
[12]	杨荣荣, 付永领, 王岩, 王德义, 郭建文, 张玲. 电液伺服泵的分数阶无抖振滑模控制[J]. 北京航空航天大学学报, 2016, 42(8): 1649-1658.
[13]	杨锁昌, 张宽桥, 陈鹏. 带攻击角度约束的自适应终端滑模导引律[J]. 北京航空航天大学学报, 2016, 42(8): 1566-1574.
[14]	张振, 李海军, 诸德放. EHA反馈线性化最优滑模面双模糊滑模控制[J]. 北京航空航天大学学报, 2016, 42(7): 1398-1405.
[15]	左斌, 张雷, 李静. MIMO仿射型极值搜索系统的输出反馈滑模控制[J]. 北京航空航天大学学报, 2016, 42(4): 718-727.