集成式电液制动系统自适应压力控制  

Adaptive Pressure Control Strategy for Integrated Electro-Hydraulic Braking System

作　　者：赵健[1] 杜金朋 朱冰[1] 陈志成 吴坚[1] Zhao Jian;Du Jinpeng;Zhu Bing;Chen Zhicheng;Wu Jian(Jilin University,State Key Laboratory of Automotive Chassis Integration and Bionics,Changchun 130022)

机构地区：[1]吉林大学,汽车底盘集成与仿生全国重点实验室,长春130022

出　　处：《汽车工程》2024年第8期1479-1488,共10页Automotive Engineering

基　　金：国家自然科学基金(52302471,52172386);吉林省自然科学基金面上项目(20240101121JC);中国博士后科学基金(2024M753063)资助。

摘　　要：针对集成式电液制动系统(integrated electro-hydraulic brake system,IEHB)存在的复杂液压非线性特性和时变摩擦干扰,提出一种自适应压力控制策略。外环压力控制器引入液压特性的动态线性化模型并基于滑模观测器对模型参数实时辨识实现对非线性液压特性的自适应。内环伺服控制器采用基于压力的连续摩擦补偿和反步动态面控制应对传动机构摩擦阻碍。硬件在环实验结果表明,与现有的先进级联压力控制相比,设计的压力控制策略在多种工况下均表现出更高的控制精度和鲁棒性,并显著提升了IEHB在不同液压回路结构下的压力控制效果。For the complex hydraulic nonlinearity and time-varying friction disturbance of the Integrated Electro-hydraulic Brake System(IEHB),an adaptive pressure control strategy is proposed.The outer-loop pressure controller introduces in a dynamic linearization model of hydraulic characteristics and realizes the adaptation of nonlinear hydraulic characteristics based on real-time identification of model parameters by a sliding mode observer.The inner-loop servo controller adopts pressure-based continuous friction compensation and back-stepping dynamic surface control to address frictional disturbance in the transmission mechanism.Hardware-in-the-loop test results show that,compared with the existing advanced cascade pressure control,the designed pressure control strategy exhibits higher control accuracy and robustness in various operating conditions,significantly improving the pressure control performance of IEHB under different hydraulic circuit structures.

关 键 词：车辆工程 集成式电液制动系统 动态线性化 自适应压力控制 硬件在环 

分 类 号：U463.5[机械工程—车辆工程]