总相位滞后角-延时关系下的电子机械制动主控制器控制方法  

Control Method of Electronic Mechanical Brake Master Controller Under Total Phase Lag Angle Delay Relationship

作　　者：孙文革[1] SUN Wenge(School of Mechanical and Electronic Engineering,Xinjiang Vocational University,Urumqi 830013,China)

机构地区：[1]新疆职业大学机械电子工程学院,乌鲁木齐830013

出　　处：《自动化与仪表》2024年第1期6-10,共5页Automation & Instrumentation

摘　　要：电子机械制动(electromechanical brake,EMB)的主控制器延时受到多种因素的影响,影响因素与延时控制之间存在复杂的交互作用,导致对其延时控制具有较高难度。为此,提出了一种电子机械制动主控制器延时控制方法。综合考虑电机堵转转矩、电机摩擦、传动机构和制动机构等因素对电子机械制动的影响,分析制动系统的延时与滞后角的相互关系。计算主控制器延时与电子机械制动的总相位滞后角量化关系,通过状态观测器获取其估计值,利用电机转子的转动惯量、摩擦力矩、传动和制动方程获取EMB的制动状态,结合主控制器估计增益参数,实现延时的主动控制。实验结果表明,所提方法应用下主控制器的延时控制耗时较短,电子机械制动距离和滑移率得以明显降低,说明该方法能够有效地保障电子机械制动的稳定性。The delay of the main controller of electromechanical brake(EMB)is affected by many factors,and there is a complex interaction between the factors and the delay control,which makes the delay control difficult.Therefore,a delay control method of the master controller of electro-mechanical braking is proposed.Considering the influence of motor lock-rotor torque,motor friction,transmission mechanism and braking mechanism on electro-mechanical braking,the relationship between delay and lag angle of braking system is analyzed.The quantization relationship between the master controller delay and the total phase lag angle of electro-mechanical braking is calculated,and the estimated value is obtained by the state observer.The braking state of EMB is obtained by the moment of inertia,friction torque,transmission and braking equations of the motor rotor,and the active control of the delay is realized by combining the estimated gain parameters of the master controller.The experimental results show that the delay control time of the main controller is shorter,and the electro-mechanical braking distance and slip rate are significantly reduced,which indicates that the proposed method can effectively guarantee the stability of electro-mechanical braking.

关 键 词：电子机械制动 主控制器 影响因素分析 延时主动控制 转速调节器 状态观测器 

分 类 号：TM571[电气工程—电器] U463[机械工程—车辆工程]