基于先导腔压力估计的桥控阀控制方法研究  

Research on Axle Modulator Control Method Based on Pilot Chamber Pressure Estimation

作　　者：孙东升 张俊智 何承坤[3] 胡涵旸[3] 刘伟龙 Dongsheng Sun;Junzhi Zhang;Chengkun He;Hanyang Hu;Weilong Liu(School of Mechanical and Vehicle,Beijing Institute of Technology,Beijing 100081;Collaborative Innovation Center of Electric Vehicles in Beijing,Beijing 100081;School of Vehicle and Mobility,Tsinghua University,Beijing 100084)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京电动车辆协同创新中心,北京100081 [3]清华大学车辆与运载学院,北京100084

出　　处：《汽车工程》2021年第12期1832-1839,1847,共9页Automotive Engineering

基　　金：广东省重点领域研发计划(2020B0909050004)。

摘　　要：商用车智能化和电动化的技术发展趋势对其制动系统的压力动态控制效果提出了更高的要求,压力控制过程中的超调现象易引发控制模式频繁切换,最终影响整车制动安全性。本文以新一代桥控阀为研究对象,重点分析了其先导腔压力与制动气室压力的动态特性,针对先导腔建压快的特点提出了多模式压力跟踪控制方法,该方法在系统需要快速增压情况下根据先导气室内部的压力状态进行制动气室压力跟踪控制,从而有效地避免了传统PID控制器响应速度和控制精度难以兼顾的问题。首先使用Matlab/Simulink对系统进行建模,重点分析了先导腔压力和制动气室压力之间的动态关系。其次提出了基于先导腔压力估计的桥控阀多模式压力跟踪控制方法。最后通过基于dSPACE的硬件在环试验台完成了模型验证试验和压力跟踪试验。试验结果验证了本文提出的控制方法的有效性,相比于传统PID控制器,本文提出的控制方法有效地提高了压力跟踪动态控制效果且便于工程应用。The technological development trend of intelligent and electrified commercial vehicles puts forward higher requirements for the pressure dynamic control effect of its braking system.Overshoot in the pressure control process can easily cause frequent switching of control modes,which ultimately affects the braking safety of the vehicle.This paper takes the new generation of axle modulator as the research object,focuses on the analysis of the dynamic characteristics of its pilot chamber pressure and brake chamber pressure,and proposes a multi-mode pressure tracking control method based on the rapid pressure build-up characteristics of the pilot chamber.This method tracks and controls the brake chamber pressure according to the pressure state in the pilot chamber when the system needs to be rapidly pressurized,thus effectively avoiding the problem that the response speed and control accuracy of the traditional PID controller are difficult to balance.This paper first uses Matlab/Simulink to model the system,focusing on the analysis of the dynamic relationship between the pressure of the pilot chamber and the pressure of the brake chamber.Secondly,a multi-mode pressure tracking control method of axle modulator based on pilot chamber pressure estimation is proposed.Finally,the model verification test and pressure tracking test are completed through the hardware-in-the-loop test bench based on dSPACE.The test results verify the effectiveness of the control method proposed in this paper.Compared with the traditional PID controller,the control method proposed in this paper effectively improves the pressure tracking dynamic control effect,and it is convenient for engineering application.

关 键 词：商用车电子制动系统 先导腔 多模式压力跟踪控制 台架试验 

分 类 号：U463.5[机械工程—车辆工程]