采用电液盘式制动器的电动汽车制动模型预测控制研究  

Research on Predictive Control of Electric Vehicle Braking Model with Electro-hydraulic Disc Brake

作　　者：刘振波[1] 闫玉峰 LIU Zhenbo;YAN Yufeng(Jilin Railway Technology College,Jilin Jilin 132200,China;Changchun University of Science and Technology,Changchun Jilin 130022,China)

机构地区：[1]吉林铁道职业技术学院,吉林吉林132200 [2]长春理工大学,吉林长春130022

出　　处：《机床与液压》2020年第20期66-70,共5页Machine Tool & Hydraulics

基　　金：吉林省科技发展计划项目(20146017)。

摘　　要：为了提高电动汽车电液盘式制动器扭矩跟踪精度,降低车辆行驶中能量消耗,采用模型预测控制方法,并对控制输出结果进行仿真验证。创建电动汽车电液盘式制动器模型,根据离散一阶模型推导出电机转矩方程式,利用积分离散化对车轮打滑动力学方程进行离散化,从而推导出车辆滑移率空间表达式。设计模型预测控制系统,利用积分作用增强控制系统的抗干扰能力,通过李雅普诺夫函数对控制系统的稳定性进行证明。采用MATLAB软件对电动汽车电液盘式制动器控制效果进行仿真,与级联PI控制效果进行对比。结果显示:采用级联PI控制,电液盘式制动器控制系统反应速度较慢,车轮转矩和滑移率跟踪误差较大,电量消耗较多;采用模型预测控制,电液盘式制动器控制系统反应速度较快,车轮转矩和滑移率跟踪误差较小,电量消耗较少。电动汽车电液盘式制动器采用模型预测控制系统,可以提高控制系统的输出精度,回收能量较多。In order to improve the torque tracking accuracy of the electro-hydraulic disc brake of electric vehicle and reduce the energy consumption in driving,the model predictive control method was adopted,and the control output was simulated and verified.A sketch model of electro-hydraulic disc brake for electric vehicle was established.The motor torque equation was deduced according to the first order discretization model.The wheel slip mechanics equation was discretized by uding integral discretization,and the spatial expression of vehicle slip rate was deduced.The model predictive control system was designed,and the anti-interference ability of the control system was enhanced by using integral action.The stability of the control system was proved by using Lyapunov function.The control effect of the electro-hydraulic disc brake of electric vehicle was simulated by using MATLAB software,and compared with that of cascade PI control.The results show that with the cascade PI control,the response speed of the electro-hydraulic disc brake control system is slower,the tracking error of the wheel torque and slip rate is larger,and the power consumption is larger;with the model predictive control,the response speed of the electro-hydraulic disc brake control system is faster,the tracking error of the wheel torque and slip rate is smaller,and the power consumption is less.The model predictive control system is used in the electro-hydraulic disc brake of electric vehicle,which can improve the output accuracy of the control system and recover more energy.

关 键 词：电液盘式制动器 电动汽车 模型预测控制 

分 类 号：U469[机械工程—车辆工程]