Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation  

作　　者：雍加望 高峰 丁能根 HE Yu-ping 

机构地区：[1]School of Transportation Science and Engineering,Beihang University,Beijing 100191,China [2]Beijing Key Laboratory for High-efficient Power Transmission and System Control of New Energy Resource Vehicle,Beijing 100191,China [3]Department of Automotive,Mechanical and Manufacturing Engineering,University of Ontario Institute of Technology,Oshawa L1H 7K4,Canada

出　　处：《Journal of Central South University》2017年第8期1909-1921,共13页中南大学学报（英文版）

基　　金：Projects(51405008,51175015)supported by the National Natural Science Foundation of China;Project(2012AA110904)supported by the National High Technology Research and Development Program of China

摘　　要：This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake（EHB） system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop（HIL） test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.

关 键 词：electro-hydraulic brake brake-by-wire Kalman filter sliding mode control pressure-tracking friction compensation 

分 类 号：U463.5[机械工程—车辆工程]