基于转鼓转速传感的中低速新能源汽车联合制动系统控制方法  

Design of Joint Braking System Control Method for Medium-Low Speed New Energy Vehicles Based on Drum Speed Sensing

作　　者：宗明建[1] 马文胜[1] 袁望方[2] 童晓帆 ZONG Mingjian;MA Wensheng;YUAN Wangfang;TONG Xiaofan(Department of Automotive Engineering,Hebei Jiaotong Vocational and Technical College,Shijiazhuang Hebei 050035,China;School of Automobile,Chang’an University,Xi’an Shaanxi 710064,China)

机构地区：[1]河北交通职业技术学院汽车工程系,河北石家庄050035 [2]长安大学汽车学院,陕西西安710064

出　　处：《传感技术学报》2024年第7期1244-1249,共6页Chinese Journal of Sensors and Actuators

基　　金：河北省科技计划项目(19250101D)。

摘　　要：中低速新能源汽车是常见的交通工具,但是其制动控制存在响应时间长、控制效果差的问题,设计一种基于转鼓转速传感的中低速新能源汽车联合制动系统控制方法。首先,构建基于转鼓转速传感的中低速新能源汽车动力学方程,采集传感信息,然后,考虑开环控制容易导致控制系统的稳定性和鲁棒性差的问题,基于转鼓转速传感的联合制动系统传递函数推导出开环、闭环双传递函数,最后,根据系统传递函数,设计PID控制器的参数,通过PID控制器输出电-液联合制动控制信号,实现汽车联合制动系统控制。实验结果表明:所提方法的速度-位移曲线与现实速度-位移曲线基本一致,加速误差在-0.5 m/s2~0.5 m/s2范围内,平均制动控制响应时间为0.075 s,具有良好的制动控制能力。Medium and low speed new energy vehicles are common transportation vehicles,but their braking control has problems such as long response time and poor control effect.A control method for the combined braking system of medium and low speed new energy vehicles based on drum speed sensing is designed.Firstly,the dynamic equation of medium and low speed new energy vehicles based on drum speed sensing is constructed,sensing information is collected,and then the problem of poor stability and robustness of the control system caused by open-loop control is considered.Based on the transfer function of the drum speed sensing combined braking system,the open loop and closed-loop dual transfer functions are derived.Finally,the parameters of the PID controller are designed based on the system transfer function.By outputting the electric hydraulic combined braking control signal through the PID controller,the control of the automotive combined braking system is achieved.The experimental results show that the speed-displacement curve of the proposed method is basically consistent with the real speed-displacement curve,the acceleration error is in the range of-0.5 m/s2-0.5 m/s2,the average braking control response time is 0.075 s,and the proposed method has good braking control ability.

关 键 词：转鼓转速传感 联合制动控制 PID控制器 中低速新能源汽车 传递函数 电制动力 液压制动力 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]