面向转向制动工况的制动力动态分配策略  

Dynamic Braking Allocation Strategy for Turning-Braking Maneuver

作　　者：吴桐[1] 荣劲 王军年[2] 孙文 初亮[2] 葛林鹤 Wu Tong;Rong Jing;Wang Junnian;Sun Wen;Chu Liang;Ge Linhe(Hubei University of Automotive Technology,Hubei Key Laboratory of Automotive Power Train and Electronics,Shiyan 442002;College of Automotive Engineering,Jilin University,Changchun 130022;School of Automotive Engineering,Changzhou Institute of Technology,Changzhou 213032)

机构地区：[1]湖北汽车工业学院,汽车动力传动与电子控制湖北省重点实验室,十堰442002 [2]吉林大学汽车工程学院,长春130022 [3]常州工学院汽车工程学院,常州213032

出　　处：《汽车工程》2024年第10期1755-1765,共11页Automotive Engineering

基　　金：国家自然科学基金(52272365);湖北省中央引导地方科技发展专项(2022BGE248);吉林省自然科学基金(20220101200JC);汽车动力传动与电子控制湖北省重点实验室开放基金(ZDK1202204);湖北汽车工业学院博士科研启动基金(BK202214)资助。

摘　　要：受轮胎侧偏、载荷横移等因素的影响,汽车在转向制动工况下的动力学行为比直线制动更复杂。深入探究该工况下改善汽车循迹能力的制动力分配策略,对于保障行车安全具有重要意义。对此,本文以电子机械制动为载体,进一步研究转向制动工况下的制动力分配策略。首先,以2自由度汽车动力学模型为参考,基于模型预测控制算法求解汽车保持稳定行驶时前和后轴车轮所需的最低侧向力。然后,通过在线求解附着椭圆得出可供各车轮制动的最大纵向力。在此基础上,以最大纵向力为依据进一步计算制动力分配系数,实现制动力优化分配。仿真和试验结果表明:所提出的制动力分配策略能够根据汽车行驶工况、载荷状态和路面附着条件动态调节制动力分配比例,提升了转向制动工况汽车的循迹能力。The vehicle dynamics during turning-braking maneuver are more complex than those on the straight lanes due to tire sideslip,load transfer and other factors.In depth investigation of the braking allocation strategy for enhancing the vehicle tracking performance in this maneuver is of great significance for driving safety.In this regard,a dynamic braking allocation strategy within electro-mechanical brake(EMB)is further investigated in this study.Firstly,the 2-DOF-vehicle dynamics model is taken as a reference,and the minimum lateral force requirements for stable driving of the front and rear axles are solved based on the model predictive control(MPC)algorithm.Then,the maximum longitudinal force available for braking each wheel is obtained by solving the friction circle online.Moreover,the braking allocation ratios are calculated according to the obtained maximum longitudinal force to realize the optimal braking allocation,The simulation and test results show that the proposed strategy enhances the vehicle tracking performance in turning-braking by dynamically adjust the braking force allocation ratios according to the driving conditions,load status and road adhesion conditions of the vehicle.

关 键 词：制动力动态分配 转向制动 电子机械制动 模型预测控制 循迹能力 

分 类 号：U463.5[机械工程—车辆工程]