CN109521671B - Simple friction compensation and pressure sliding mode control system for electronic hydraulic braking - Google Patents
Simple friction compensation and pressure sliding mode control system for electronic hydraulic braking Download PDFInfo
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Abstract
The invention relates to a simple friction compensation and pressure sliding mode control system of electronic hydraulic brake, which comprises: a first addition operator: a first input end of the pressure sensor inputs a desired pressure signal; pressure sliding mode controller: the input end of the first adder is connected with the output end of the first adder; a second addition operator: the first input end of the pressure sliding mode controller is connected with the output end of the pressure sliding mode controller; friction compensation controller based on simple model: the output end of the first adder is connected with the first input end of the first adder; compared with the prior art, the electronic hydraulic brake system has the advantages of dynamic compensation, improvement of control precision and robustness and the like.
Description
Technical Field
The invention relates to the technical field of automobile braking, in particular to a simple friction compensation and pressure sliding mode control system for electronic hydraulic braking.
Background
The braking system, one of the most important systems in a vehicle, directly affects the driving safety of the vehicle. The novel brake system also takes on the function of recovering brake energy. With the development of the electric control technology, a more efficient and energy-saving wire control technology (x-by-wire) appears, and a brake-by-wire (brake-by-wire) is generated by combining an automobile brake system and the wire control technology. The brake-by-wire has the characteristics of good controllability, high response speed and the like, and is the development direction of the automobile brake system in the future. An electro-hydraulic brake system (EHB) is a brake system formed by combining electronic components with a hydraulic system. The EHB system can still adopt a 12V vehicle-mounted power supply, and the existing circuit system can meet the requirements. Meanwhile, the brake system has the advantages of safety, comfort, quick response, easiness in realizing regenerative braking and the like. In addition, the EHB system has higher control accuracy of the braking force than the existing ESC system. As a brake-by-wire system, functions such as ABS, TCS, ESP, etc. can be realized, and therefore EHB is still a hot spot in the development of brake systems.
The issue of hydraulic pressure control for EHB systems is of increasing concern. At present, a proportional-integral-derivative control method is mostly adopted for hydraulic pressure feedback in engineering application, but a large amount of experiments are needed for calibration, and the robustness is not high. As a friction compensation method for the EHB system, there are a signal-based chatter compensation method, a model-based compensation method, and the like. Although the flutter compensation method based on the signals is simple in design process, the defects of large steady-state error, poor braking comfort and the like exist. The model compensation-based method is subdivided into a static friction model and a dynamic friction model. The static friction model is simple in parameter identification and easy to apply in engineering. At present, aiming at the hydraulic pressure control problem of an EHB system, a method which organically combines feedback control and friction compensation and is universal, simple and convenient is lacked.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned deficiencies of the prior art and to providing a simple friction compensation and pressure sliding mode control system and method for electro-hydraulic braking.
The purpose of the invention can be realized by the following technical scheme:
a simple friction compensation and pressure sliding mode control system for electro-hydraulic braking, the system comprising:
a first addition operator: a first input end of the pressure sensor inputs a desired pressure signal;
pressure sliding mode controller: the input end of the first adder is connected with the output end of the first adder;
a second addition operator: the first input end of the pressure sliding mode controller is connected with the output end of the pressure sliding mode controller;
friction compensation controller based on simple model: the output end of the first adder is connected with the first input end of the first adder;
and the input end of the electronic hydraulic brake system is connected with the output end of the second addition arithmetic unit, the first output end of the electronic hydraulic brake system is connected with the second input end of the friction compensation controller based on the simple model, and the second output end of the electronic hydraulic brake system is respectively connected with the first input end of the friction compensation controller based on the simple model and the second input end of the first addition arithmetic unit.
Preferably, the first addition operator is used for adding the actual pressure p output by the electro-hydraulic brake system to the expected pressure signal pdPerforming difference, and inputting a hydraulic pressure tracking error e into an input end of the pressure sliding mode controller, namely e is p-pd。
Preferably, the pressure sliding mode controller calculates the first control input torque T according to the difference e2。
Preferably, the friction compensation controller based on the simple model obtains the friction compensation torque T according to the actual pressure p output by the electronic hydraulic braking system and the actual motor rotating speed n1。
Preferably, the second adder adds the first control input torque T to the first control input torque T2Compensating torque T with friction1And summing to obtain a complete control input torque T, namely the input of an electronic hydraulic brake system, wherein the electronic hydraulic brake system acts according to the complete control input torque T and outputs the actual pressure p and the actual motor rotating speed n.
A simple friction compensation and pressure sliding mode control method for electronic hydraulic braking comprises the following steps:
1) establishing a simple model of the electronic hydraulic brake system;
2) calculating friction compensation torque according to the friction compensation controller;
3) calculating a first control input torque by adopting a first addition arithmetic unit and a pressure sliding mode controller;
4) and calculating the complete control input torque by adopting a second addition arithmetic unit, and inputting the complete control input torque into the electronic hydraulic brake system.
Preferably, in step 1), the mathematical expression of the simple model of the electronic hydraulic brake system is as follows:
TS＝TS1p+TS2
TC＝TC1p+TC2
wherein, TSSFor the friction moment, n, calculated using simple modelsthresholdThe motor rotating speed and a motor rotating speed threshold value T of the electronic hydraulic braking system are respectivelySIs the static friction moment, TS1,TS2Are respectively the coefficients of static friction moment expression, p is the actual pressure, TCIs the sum of the Coulomb friction torque and the kinetic friction torque, TC1,TC2Respectively, the coefficients of the friction torque expression.
Preferably, in step 2), the mathematical expression of the friction compensation controller is as follows:
preferably, in step 3), the mathematical expression of the pressure sliding mode controller is as follows:
wherein, T2SFor feedforward compensation torque, K is the sliding mode control gain, λ is the coefficient, e and
the hydraulic pressure tracking error and its first derivative.
Preferably, the step 4) specifically comprises the following steps:
41) the second adder is based on the friction compensation torque T1First control input torque T2The complete control input torque T is calculated, namely:
T＝T1+T2；
42) and inputting the complete control input torque T into the electronic hydraulic brake system, and outputting an actual hydraulic pressure signal and an actual motor rotating speed signal which are subjected to compensation control.
Compared with the prior art, the invention has the following advantages:
firstly, dynamic compensation: the friction compensation controller based on the simple model can dynamically compensate the friction of the electronic hydraulic brake system by adjusting the friction torque adaptive to the actual pressure on line, thereby improving the control performance, simultaneously, the identification process of the key parameters of the friction model is simple and effective, and the defects of low control precision, large tracking error and complex identification of the friction model and the parameters thereof of the existing pressure control method of the electronic hydraulic brake system can be overcome.
Secondly, improving control accuracy and robustness: the method adopts the simple friction model to estimate the friction torque of the electronic hydraulic braking system, utilizes the pressure sliding mode controller to compensate the uncertainty of the electronic hydraulic braking system, and combines the pressure sliding mode controller and the pressure sliding mode controller to effectively compensate the influence of friction, thereby improving the control precision and the robustness of the electronic hydraulic braking system.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is an overall process flow diagram of the present invention.
FIG. 3 is a schematic diagram of the hydraulic force tracking under the action of a proportional-integral PI controller according to the present invention.
Fig. 4 is a schematic diagram of hydraulic force tracking under the action of a simple friction compensation and pressure sliding mode controller adopted by the invention.
The notation in the figure is:
1. the system comprises a first addition arithmetic unit, a pressure sliding mode controller, a second addition arithmetic unit, a friction compensation controller, a first addition arithmetic unit, a second addition arithmetic unit, a friction compensation controller and an electronic hydraulic brake system.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
The invention provides a simple friction compensation and pressure sliding mode control system adopted by an electronic hydraulic brake system, which comprises a first addition arithmetic unit 1, a pressure sliding mode controller 2, a second addition arithmetic unit 3, a friction compensation controller 4 based on a simple model and an electronic hydraulic brake system 5 as shown in figure 1.
Wherein a desired pressure signal is input to a first input of the first adder 1. The input end of the pressure sliding mode controller 2 is connected with the output end of the first addition operator 1. A first input of the second adder 3 is connected to an output of the pressure sliding mode controller 2. An output of the simple model based friction compensation controller 4 is connected to a second input of the second adder 3. The input end of the electronic hydraulic brake system 5 is connected with the output end of the second addition arithmetic unit 3, the first output end of the electronic hydraulic brake system 5 is connected with the second input end of the friction compensation controller 4 based on the simple model, and the second output end of the electronic hydraulic brake system 5 is respectively connected with the first input end of the friction compensation controller 4 based on the simple model and the second input end of the first addition arithmetic unit 1.
The first addition operator 1 performs subtraction operation on an actual pressure signal output by the electronic hydraulic brake system 5 and a desired pressure signal, and inputs an operation result to an input end of the pressure sliding mode controller 2. The pressure sliding mode controller 2 calculates a first control input torque according to the acquired operation result of the first addition operator 1. And the friction compensation controller 4 based on the simple model calculates the friction compensation torque according to the obtained actual pressure signal output by the electronic hydraulic brake system 5 and the actual motor rotating speed signal. The second addition operator 3 adds the first control input torque calculated by the pressure sliding mode controller 2 and the friction compensation torque calculated by the friction compensation controller 4 based on the simple model to obtain a complete control input torque, and inputs the complete control input torque into the electronic hydraulic brake system 5. And the electronic hydraulic brake system 5 obtains the complete control input torque according to the second addition arithmetic unit 3 to act, and outputs actual pressure and actual motor rotating speed.
As shown in fig. 2, the present invention provides a simple friction compensation and pressure sliding mode control method for an electro-hydraulic brake system, the control method comprising:
no.1, establish the simple and easy friction model of electron hydraulic braking system, specifically express as:
no.1.1, a functional expression between static friction torque and hydraulic pressure is established:
TS＝TS1p+TS2(1)
wherein, TSIs the static friction moment, TS1,TS2The coefficients are respectively the undetermined coefficients of the static friction moment expression, and p is the hydraulic pressure.
No.1.2, the functional expression among the coulomb friction torque, the kinetic friction torque and the hydraulic pressure is established:
TC＝TC1p+TC2(2)
wherein, TCIs the sum of the Coulomb friction torque and the kinetic friction torque, TC1,TC2The coefficients are respectively the coefficients to be determined of the friction torque expression, and p is the hydraulic pressure.
No.1.3, establish the simple and easy friction model of the electronic hydraulic braking system:
wherein, TSSFor the friction torque, n, calculated using a simple friction modelthresholdThe threshold values of the motor rotating speed and the motor rotating speed of the electronic hydraulic braking system are respectively.
No.2, the friction compensation controller based on the simple model is adopted to calculate the friction compensation torque:
no.3, calculating a first control input torque by adopting a first addition arithmetic unit and a pressure sliding mode controller;
no.3.1, according to the set desired hydraulic pressure pdAnd the first addition operator calculates a hydraulic pressure tracking error e of the electronic hydraulic brake system according to the actual hydraulic pressure output by the electronic hydraulic brake system:
e＝p-pd(5)
no.3.2, according to the step No.3.1, the hydraulic pressure tracking error e and the first derivative thereof are calculated
The pressure sliding mode controller calculates a first control input torque T2：
Wherein, T2SK is the sliding mode control gain, lambda is the undetermined coefficient,
no.4, a second addition arithmetic unit is adopted to calculate the complete control input torque and input the complete control input torque into the electronic hydraulic brake system.
No.4.1, friction compensation torque T obtained according to the step No.21The first control input torque T obtained in the step No.32And the second addition operator calculates a complete control input torque T:
T＝T1+T2(8)
no.4.2, the complete control input torque T is input into the electronic hydraulic braking system, and an actual hydraulic pressure signal and an actual motor rotating speed signal which are subjected to compensation control are output.
In the embodiment of the invention, the expected hydraulic pressure signal is taken as a sine signal
In order to better illustrate the hydraulic pressure tracking performance of the simple friction compensation and pressure sliding mode control system and method of the electronic hydraulic brake system disclosed by the invention, a bench test adopts 2 conditions for comparison:
in the 1 st situation, a simulink is adopted to realize a PI control algorithm, and PI control torque is specifically as follows:
TPI＝Kpe+KI∫edt (9)
wherein, Kp,KIProportional gain and integral gain coefficients, respectively. Get Kp＝0.05,KI0.1. The pressure tracking results are shown in fig. 3.
In the case 2, the control method provided in this embodiment is implemented by simulink. The control parameters are selected as follows: t isS1＝0.014,TS2＝0.2288,TC1＝0.0033,TC2＝0.0361,nthreshold＝100rpm,T2S＝0.02pdK is 0.05, λ is 1, and λ is 0.5. The pressure tracking results are shown in fig. 4.
As can be seen from the bench test results, the PI controller acts on the electronic hydraulic brake system, the tracking performance is poor, and obvious errors exist. After the simple friction compensation and pressure sliding mode controller is used, the system error is reduced, and the tracking performance is obviously improved.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A simple friction compensation and pressure sliding mode control system for electro-hydraulic braking, the system comprising:
first addition operator (1): a first input end of the pressure sensor inputs a desired pressure signal;
pressure sliding mode controller (2): the input end of the first adder is connected with the output end of the first adder;
second addition operator (3): the first input end of the pressure sliding mode controller is connected with the output end of the pressure sliding mode controller;
simple model-based friction compensation controller (4): the output end of the first adder is connected with the second input end of the second adder (3);
the input end of the electronic hydraulic brake system (5) is connected with the output end of the second addition arithmetic unit (3), the first output end of the electronic hydraulic brake system is connected with the second input end of the friction compensation controller (4) based on the simple model, and the second output end of the electronic hydraulic brake system is respectively connected with the first input end of the friction compensation controller (4) based on the simple model and the second input end of the first addition arithmetic unit (1);
the control method of the simple friction compensation and pressure sliding mode control system applying the electronic hydraulic brake comprises the following steps:
1) establishing a simple model of the electronic hydraulic brake system, wherein the mathematical expression of the simple model of the electronic hydraulic brake system is as follows:
TS＝TS1p+TS2
TC＝TC1p+TC2
wherein, TSSFor the friction moment, n, calculated using simple modelsthresholdThe motor rotating speed and a motor rotating speed threshold value T of the electronic hydraulic braking system are respectivelySIs the static friction moment, TS1,TS2Are respectively the coefficients of static friction moment expression, p is the actual pressure, TCIs the sum of the Coulomb friction torque and the kinetic friction torque, TC1,TC2Coefficients of the friction torque expression are respectively;
2) calculating friction compensation torque according to a friction compensation controller, wherein the mathematical expression of the friction compensation controller is as follows:
3) calculating a first control input torque by adopting a first addition arithmetic unit and a pressure sliding mode controller, wherein the mathematical expression of the pressure sliding mode controller is as follows:
wherein, T2SFor feedforward compensation torque, K is the sliding mode control gain, λ is the coefficient, e and
the hydraulic pressure tracking error and the first derivative thereof;
4) the method comprises the following steps of calculating a complete control input torque by adopting a second addition arithmetic unit, and inputting the complete control input torque into an electronic hydraulic braking system:
41) the second adder is based on the friction compensation torque T1First control input torque T2The complete control input torque T is calculated, namely:
T＝T1+T2；
42) and inputting the complete control input torque T into the electronic hydraulic brake system, and outputting an actual hydraulic pressure signal and an actual motor rotating speed signal which are subjected to compensation control.
2. Simple friction compensation and pressure sliding mode control system for electro-hydraulic brake system according to claim 1, characterized in that the first adder operator (1) combines the actual pressure p output by the electro-hydraulic brake system (5) with the desired pressure signal pdPerforming difference, and inputting a hydraulic pressure tracking error e into an input end of the pressure sliding mode controller (2), namely e is p-pd。
3. The simple friction compensation and pressure sliding mode control system for electro-hydraulic brake as claimed in claim 2, characterized in that the pressure sliding mode controller (2) calculates the first control input torque T according to the difference e2。
4. The simple friction compensation and pressure sliding mode control system for electro-hydraulic braking according to claim 3, wherein said simple based friction compensation and pressure sliding mode control systemThe friction compensation controller (4) of the model obtains a friction compensation torque T according to the actual pressure p output by the electronic hydraulic braking system and the actual motor rotating speed n1。
5. Simple friction compensation and pressure sliding mode control system for electro-hydraulic brake according to claim 4, characterized in that said second adder (3) applies a first control input torque T2Compensating torque T with friction1And summing to obtain a complete control input torque T, namely the input of an electronic hydraulic brake system, wherein the electronic hydraulic brake system (5) acts according to the complete control input torque T and outputs the actual pressure p and the actual motor rotating speed n.
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Inventor after: Yu Zhuoping Inventor after: Xiong Lu Inventor after: Han Wei Inventor after: Shi Biaofei Inventor before: Xiong Lu Inventor before: Han Wei Inventor before: Shi Biaofei Inventor before: Yu Zhuoping |