直驱泵阀协同式线控制动单元压力串级控制  

Pressure cascade control of brake-by-wire unit based on direct drive pump-valve cooperative

作　　者：谭草 于鹏 李波[1] 陆佳瑜 任云云 TAN Cao;YU Peng;LI Bo;LU Jiayu;REN Yunyun(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China;Shuntai Automobile Co.,Ltd.,Zibo 255000,China)

机构地区：[1]山东理工大学交通与车辆工程学院,淄博255000 [2]舜泰汽车有限公司,淄博255000

出　　处：《北京航空航天大学学报》2025年第4期1163-1171,共9页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(51975341);山东省优秀青年人才基金(ZR2022YQ51);山东省的重大科技创新工程项目(2021CXGC010703);山东省高等学校“青创科技计划”团队项目(2019KJB027,2022KJ232);山东省青年科技人才托举工程项目(SDAST2021qt20)。

摘　　要：针对分布式制动及高级别自动驾驶的需求,设计一种直驱泵阀协同式线控制动单元,通过电磁直线执行器直接驱动的液压泵与主动阀协调实现轮缸压力调节。为实现压力的精确控制,建立面向控制的系统动力学模型,提出一种基于外环轮缸压力控制和内环直驱泵活塞位置控制的串级控制方法。外环设计了滑模控制器提高响应速度,内环设计了自适应积分鲁棒控制器以减小参数不确定性和时变干扰的影响,证明了所提方法李雅普诺夫稳定。结果表明:直驱泵阀协同式线控制动单元为分布式制动提供一种可行的新方案,所提方法可以进一步提高制动压力的调节速度与控制精度。Aiming at the requirements of distributed braking and high-level automatic driving,a brake-by-wire unit based on a direct drive pump-valve cooperative is designed,to realize the wheel cylinder pressure regulation,the hydraulic pump directly driven by the electromagnetic linear actuator coordinates with the active valve.A controloriented system dynamics model is established to realize the precise control of pressure,and a cascade control method is proposed,which includes an outer loop to control the cylinder pressure and an inner loop to control the plunger position in the pump.An adaptive integral robust controller is created for the inner loop to lessen the impact of timevarying interference and parameter uncertainty,while a sliding mode controller is designed for the outer loop to increase reaction speed.It is proved that the algorithm is Lyapunov stable.The results suggest that the developed brake unit is a possible novel scheme for distributed braking,and the proposed method mechanism can increase braking pressure speed and control accuracy even further.

关 键 词：线控制动 液压力控制 串级控制 滑模控制 自适应积分鲁棒控制 

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]