E-booster电液制动系统的主缸压力控制  

Research on Pressure Control of Master Cylinder for E-booster Electro-hydraulic Braking System

作　　者：孟佑铭 张缓缓 常笑宇 胡胜利 MENG Youming;ZHANG Huanhuan;CHANG Xiaoyu;HU Shengli(School of Mechanical and Automobile Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《机械科学与技术》2025年第3期421-429,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51705306)。

摘　　要：E-booster电液制动系统具有动力源可调性以及传递力矩稳定性的特点,但液压模型存在反应迟滞和非线性摩擦的问题影响了制动主缸的液压力控制,该文提出的一种RBF神经网络前馈控制+压力-位移-转速三闭环PI控制方法能够实现制动主缸液压力跟随的精确控制。由期望的液压力作为系统输入得到理论推杆位移以控制电机转动的角度和扭矩,电机输出扭矩带动机械传动机构推动主缸推杆输出液压力,然后将实际压力值、推杆实际位移值和电机实际输出转速值反馈到期望值实现三闭环PI控制。为了提高压力控制精度,RBF神经网络作为前馈控制器根据液压缸逆模型给压力控制添加一个补偿增益。该文提出的带有前馈RBF神经网络的PI控制算法比传统串联PI控制法的主缸压力误差缩小约50%,响应时间缩短100 ms,有效解决了液压模型非线性摩擦的干扰。E-booster electro-hydraulic brake system has the characteristics of adjustable power source and stable transmission torque,but the hydraulic model has some problems of reaction lag and nonlinear friction,which affect the hydraulic pressure control accuracy of the brake master cylinder.The radial based function(RBF)neural network feedforward controller+pressuredisplacement-speed three-loop Proportional Integral(PI)control method is proposed in this paper,which can realize the precise control of the hydraulic pressure of the brake master cylinder.The expected hydraulic pressure is used as the input of the system to get the theoretical push rod displacement to control the rotation angle and torque of the motor.The output torque of the motor drives the mechanical transmission mechanism to push the push rod of the master cylinder to output the hydraulic pressure,and then the actual pressure value,the actual displacement value of the push rod and the actual output speed value of the motor are fed back to the expected value to realize the three-loop PI controller.To improve the accuracy of pressure control,RBF neural network is used as feedforward controller to add a compensation gain to pressure control according to the inverse model of hydraulic cylinder.Compared with the traditional series PI controller,the PI controller with feedforward RBF neural network proposed reduces the pressure error of the master cylinder by about 50%,shortens the response time by 100 ms.This effectively solves the interference of nonlinear friction of the hydraulic model.

关 键 词：E-booster电液制动系统 制动主缸压力控制 三闭环PI控制 RBF神经网络前馈控制 

分 类 号：TG156[金属学及工艺—热处理]