制动等效惯性特性在线预估与补偿方法  

Online estimation and compensation method for equivalent inertia characteristics of braking

作　　者：徐帆 朱纪洪 汪银风 XU Fan;ZHU Jihong;WANG Yinfeng(College of Mechanical Engineering,Guangxi University,Nanning 530004,CHN;Department of Precision Instruments,Tsinghua University,Beijing 100084,CHN;China North Vehicle Research Institute,Beijing 100072,CHN)

机构地区：[1]广西大学机械工程学院,广西南宁530004 [2]清华大学精密仪器系,北京100084 [3]中国北方车辆研究所,北京100072

出　　处：《制造技术与机床》2024年第7期97-102,138,共7页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金项目(202201013);广西人才和基地专项项目(AD19259002)。

摘　　要：传统履带车辆制动系统的供能装置大部分由液压元件组成,这种制动方法存在液压管路布线复杂、制动滞后、液压油易泄露等问题。随着人工智能、新能源等领域的技术突破,履带车辆的制动系统也朝着电动化和智能化发展,其中以电子机械制动系统为代表的纯电控机械制动系统,凭借其结构简单、响应快和控制精度高等优点,是未来制动系统的重要发展方向。文章以某型履带车辆制动系统为研究对象,开展机械制动惯性负载特性研究,设计了一种适用于加速度估计的互补滤波器的方法,将模型预测法和微分法的估计结果进行优化互补,综合两者的优势,提高了估计结果的动态响应品质,同时补偿了系统的鲁棒性。通过模型仿真和结果验证,该方法在制动过程中具有更好的动态性能和稳定性,为惯性负载补偿提供了准确、可靠的加速度信号。The energy supply devices of traditional tracked vehicle braking systems are mostly composed of hydraulic components.This braking method has problems such as complex hydraulic pipeline wiring,delayed braking,and easy hydraulic oil leakage.With technological breakthroughs in fields such as artificial intelligence and new energy,the braking systems of tracked vehicles are also developing towards electrification and intelligence.Among them,pure electric mechanical braking systems,represented by electronic mechanical braking systems,are an important development direction for future braking systems due to their advantages of simple structure,fast response,and high control accuracy.This article takes the braking system of a certain type of tracked vehicle as the research object,conducts research on the inertia load characteristics of mechanical braking,designs a complementary filter method suitable for acceleration estimation,optimizes and complements the estimation results of model prediction method and differential method,synthesizes the advantages of the two methods,improves the dynamic response quality of the estimation results,and compensates for the robustness of the system.Through model simulation and result verification,this method has better dynamic performance and stability during the braking process,providing accurate and reliable acceleration signals for inertial load compensation.

关 键 词：电子机械制动 惯性负载补偿 PMSM 互补滤波器 模型预测法 

分 类 号：TM301.2[电气工程—电机]