电子机械制动器分阶段闭环控制策略研究  

Research on staged closed-loop control strategy for electromechanical brakes

作　　者：宋亚东 郝明基 于保卫 任云云 谭草 SONG Yadong;HAO Mingji;YU Baowei;REN Yunyun;TAN Cao(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China;Shuntai Automobile Company Limited,Zibo 255400,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049 [2]舜泰汽车有限公司,山东淄博255400

出　　处：《山东理工大学学报（自然科学版）》2024年第5期1-6,共6页Journal of Shandong University of Technology:Natural Science Edition

基　　金：山东省自然科学基金项目(ZR2023ME178);山东省科技中小企业创新能力提升项目(2023TSGC0404);山东省高等学校“青创科技计划”团队项目(2022KJ232)。

摘　　要：为提高车辆制动时的可靠性与稳定性,提出了电子机械制动器的分阶段闭环控制策略,分析了制动器的分阶段工作特性,设计了各阶段的判别方法及控制策略。间隙消除阶段采用“转速-电流”双闭环控制,力跟随阶段采用“夹紧力-电流”双闭环控制,分离阶段采用“电机位置-转速-电流”三闭环控制,设计了基于前馈补偿的二阶线性自抗扰夹紧力控制器以提升夹紧力的响应速度与控制稳定性。仿真结果表明,所提策略与PID相比能够更好地完成制动过程,夹紧力的响应速度提高0.03 s,控制精度提升31.6%,超调减少37.5%,跟踪性能和抗扰性能也均有明显提高,验证了夹紧力控制器的优越性及所提策略的有效性。To improve the reliability and stability of vehicle braking,a phased closed-loop control strategy is proposed for electromechanical brakes.After the phased working characteristics of the brake are analyzed,the discrimination methods and control strategies for each stage are designed.Among them,the clearance elimination stage adopts a"speed-current"dual closed-loop control;the force following stage adopts a"clamping force-current"double closed-loop control;the separation stage adopts a"motor position-speed-current"triple closed-loop control system.A second-order linear active disturbance rejection clamping force controller based on feedforward compensation was designed to improve the response speed and control stability of the clamping force.Simulation shows that the proposed strategy can better complete the braking process compared to PID,with the response speed increase by 0.03 s for clamping force,the control accuracy improvement by 31.6%,the overshoot reduction by 37.5%,and significant improvements in tracking and anti-interference performances.The results verifies the superiority of the clamping force controller and the effectiveness of the proposed strategy.

关 键 词：电子机械制动器 分阶段闭环控制 夹紧力 自抗扰控制 线控制动 

分 类 号：U463.5[机械工程—车辆工程] U469.72[交通运输工程—载运工具运用工程]