CN109532811A - A kind of pressure of wheel braking cylinder regulation method of integrated form line traffic control brake fluid system - Google Patents
A kind of pressure of wheel braking cylinder regulation method of integrated form line traffic control brake fluid system Download PDFInfo
- Publication number
- CN109532811A CN109532811A CN201811231550.9A CN201811231550A CN109532811A CN 109532811 A CN109532811 A CN 109532811A CN 201811231550 A CN201811231550 A CN 201811231550A CN 109532811 A CN109532811 A CN 109532811A
- Authority
- CN
- China
- Prior art keywords
- pressure
- control
- master cylinder
- electronic master
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of pressure controlling methods based on integrated form line traffic control brake fluid system, comprising the following steps: carries out pattern analysis to each component work cooperation of the system；It is proposed executable pressure Coordinated Control Scheme；Detail mathematic model is built for solenoid valve strong nonlinearity feature and derives control rate model；The present invention selects feedforward+feedback control mode, can guarantee the response of entire IEHB system, faster reach goal pressure；The characteristics of for solenoid valve strong nonlinearity, selects the stronger Sliding mode variable structure control of robustness, guarantees the precision that pressure response follows；The present invention by implementing feedforward+feedback control to electronic master cylinder and implements logical threshold control to electrodynamic pump, and the two controls the decompression performance that can better ensure that IEHB system simultaneously；The present invention is selected corresponding control algolithm, realizes fine-tuning for pressure of wheel braking cylinder by the analysis to the respective characteristic of electronic master cylinder, solenoid valve, electrodynamic pump on the basis of guaranteeing that entire controller design is simple.
Description
Technical field
The present invention relates to motor vehicle braking system technical field, in particular to a kind of wheel cylinder pressure of integrated form line traffic control hydraulic system
Force control method.
Background technique
It is to realize ABS (Anti-lock braking system) by the adjusting that hydraulic control unit carries out pressure,
ESP(Electronic stability program),RBS(Regenerative braking system),AEB(Au-
tonomous emergency braking),ACC(Adaptive cruise control),ADAS(Advanced driver
Assistance system) etc. whole automobile control functions basis.What application was more at present is made with high pressure accumulator and hydraulic pump
For active power source, pass through the electric hydaulic braking system for substituting the electronic component of some mechanical component in Conventional braking systems
It unites (Electro-hydraulic brake system, EHB), and as a kind of novel line control brake system scheme, it integrates
The hydraulic braking of formula line traffic control (Integrated Elec- tro-Hydraulic Braking, IEHB) system, servo-electric is increased
Pressure device is integrated with master cylinder,, can be fast by combining hydraulic regulation unit while guaranteeing compact overall structure
Speed accurately adjusts output brake pressure, and above-mentioned novel vehicle active safety function more easily can be integrated into one
It rises.So IEHB system will become research tendency and hot spot with the development of new-energy automobile and autonomous driving vehicle.It is some
The novel braking system that world-famous enterprise releases, such as: a generation for Bosch, two generation Ibooster products, the MK C1 system in continent
System, Nissan EDIBS system etc..Relative to traditional braking system, these products either in terms of volume and quality, or
All significant improvement in terms of braking mode, allow vehicle to have more balanced performance.
It is the key component for realizing line control brake system function, the direct shadow of quality of control performance that wheel cylinder hydraulic pressure power, which is adjusted,
Ring vehicle stabilization performance and energy recovery efficiency etc..Each research institution in terms of hydraulic regulation unit testing and hydraulic coupling control into
A large amount of research work is gone.However, due to IEHB system or a newer technology, for the research of IEHB system control
Especially wheel cylinder hydraulic pressure power control research is also fewer.In addition, the control of IEHB system has following problem: firstly, IEHB system
The course of work and the pressurization of Conventional braking systems, pressure maintaining, decompression process it is different, need more subsystems to be coordinated
Cooperation, so entire wheel cylinder hydraulic pressure power adjustment process is complex；Secondly as IEHB system is one comprising multiple non-linear
The multi- scenarios method nonlinear characteristic of the system of object, especially high-speed switch valve；Finally, under different operating conditions (low pressure, high pressure)
When hydraulic coupling is adjusted, system performance variation has larger impact to control.In addition, only with traditional PI D, although simple easy
Understand, do not need accurate system model, also can be realized pressure follow control, but system is uncertain, unpredictable
Parameters variation, it is difficult to ensure that realizing accurate pressure control.
In short, the prior art has that tracing property and robustness be not strong, control precision is low.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of regulations of the pressure of wheel braking cylinder of integrated form line traffic control brake fluid system
Method, it is therefore an objective to solve the problems, such as that tracing property in the prior art and robustness be not strong, control precision is low, realize to wheel cylinder hydraulic pressure power
Fine-tune, to guarantee the safety of vehicle braking.
The present invention is to solve its technical problem, takes following technical scheme:
A kind of pressure controlling method based on integrated form line traffic control brake fluid system, its main feature is that: the following steps are included:
Step 1: each component work cooperation to the system carries out pattern analysis；
Step 2: proposing executable pressure Coordinated Control Scheme；
Step 3: building detail mathematic model for solenoid valve strong nonlinearity feature and deriving its control rate model.
The step 1 carries out pattern analysis to each component work cooperation of the system, specifically includes following Working mould
Formula:
Mode 1: in IEHB system boost, electronic master cylinder receives positive torque signal, hydraulic control unit
Pressure charging valve is opened in (Hydraulic Control Unit, HCU), pressure reducing valve is closed；
Mode 2: when IEHB system executes pressure maintaining, electronic master cylinder stopping is acted, and pressure charging valve, pressure reducing valve close simultaneously in HCU
It closes；
Mode 3: when IEHB system is executed and depressurized, electronic master cylinder receives negative torque signal and shrinks back, pressure charging valve in HCU
It closes, pressure reducing valve is opened, oil return pump work.
The executable pressure Coordinated Control Scheme of the step 2, specially following two:
Scheme 1: both electric cylinder, pressure charging valve cooperation realize that pressure response follows；
Scheme 2: cooperation, realization pressure response follow simultaneously for electric cylinder, pressure charging valve, pressure reducing valve, electrodynamic pump.
The scheme 2 specifically includes following procedure:
(1) electric cylinder is controlled using feedforward+feedback method；
(2) the stronger sliding formwork control electromagnetic valve for adjusting of robustness is based on；
(3) logic threshold policy control electrodynamic pump is selected.
(1) the process uses feedforward+feedback method to control electric cylinder, specifically includes the following steps:
Step is (1): giving electronic master cylinder certain voltage signal, measures corresponding Wheel cylinder pressure sensors signal, record is different
Wheel cylinder sensor pressure values under voltage signal, and fit the relation curve between voltage value and Wheel cylinder pressure sensors value；Make
Used time tables look-up according to goal pressure and obtains the electronic master cylinder voltage value U of needs1, and find in the relation curve corresponding
Target wheel cylinder sensor pressure values, IEHB system being capable of faster response when guaranteeing to control with this.Meanwhile in order to avoid overshoot or
Response is insufficient, makees PID (proportional-integral-differential) control according to the difference of actual wheel cylinder pressure value and target wheel cylinder sensor pressure values
The electronic master cylinder control signal of system, output is U2:
Step is (2): being (1) added electric cylinder control signal that feedforward, feedback obtain according to step, as electric cylinder control is defeated
Enter signal U:U=U1+U2。
The step 3 builds detail mathematic model for solenoid valve strong nonlinearity feature, specifically includes the following steps:
Step is (1): building solenoid valve kinetic model are as follows:
Step is (2): setting sliding-mode surface function as S=e+ λ ∫ edt, wherein e=pw-pwd；
Step is (3): deriving solenoid valve control rate according to steps 1 and 2 are as follows:
Step is (4): sliding formwork control rate is taken as:
Step is (5): since sgn (s) belongs to discontinuous function, so effect of significantly shivering can be generated when control, so this
In use hyperbolic tangent functionInstead of the buffeting in sliding formwork control can be effectively reduced, then sliding formwork control rate can take
Are as follows:
Advantages of the present invention effect
1, the present invention can be applied to the new-energy automobile and automatic Pilot vapour that possess integrated form line traffic control brake fluid system
Vehicle is current brake system bottom control research tendency and hot spot；
2, the present invention selects feedforward+feedback control mode, can guarantee that the response of entire IEHB system faster reaches mesh
Mark pressure；
3, consider the IEHB system mechanical electronic hydraulic coupled characteristic, the characteristics of for solenoid valve strong nonlinearity, select robustness compared with
Strong Sliding mode variable structure control guarantees the precision that pressure response follows；
4, unlike Conventional braking systems: the present invention is by implementing feedforward+feedback control to electronic master cylinder and to electricity
Dynamic pump implements logical threshold control, and the two controls the decompression performance that can better ensure that IEHB system simultaneously；
5, the present invention is by the analysis to the respective characteristic of electronic master cylinder, solenoid valve, electrodynamic pump, is guaranteeing that entire controller sets
On the basis of meter is simple, corresponding control algolithm is selected, can be realized fine-tuning for pressure of wheel braking cylinder.
Detailed description of the invention
Fig. 1 is that braking system controls framework；
Fig. 2 is integrated form line traffic control brake fluid system schematic diagram；
Fig. 3 is that bottom pressure of wheel braking cylinder controls architecture diagram；
Fig. 4 is the electronic master cylinder control flow chart of feedforward+feedback；
Fig. 5 is solenoid valve sliding formwork control flow chart；
Fig. 6 is electrodynamic pump logical threshold control flow chart；
Fig. 7 is AMESim_Simulink associative simulation model；
Fig. 8 is pressure response and error curve diagram under sinusoidal operating condition.
Appended drawing reference: fluid reservoir 1；Permanent magnet synchronous motor 2；Deceleration mechanism 3；Pedal simulator 4；Normally opened, normally closed solenoid valve
5,6；Pedal 7；Position, master cylinder pressure, Wheel cylinder pressure sensors 8,9,23；Motor+plunger pump 10,11,12；It is left front, it is right after right
Before, left back pressure charging valve 13,14,15,16；Check valve 17；Accumulator 18；It is left front, after right, before right, left back pressure reducing valve 19,20,21,
22；It is left front, after right, before right, left back wheel cylinder 24,25,26,27.
Specific embodiment
Design principle of the present invention:
1, the Three models of brake pressure of automobile regulation.Core of the invention problem is the pressure solved in Motor Vehicle Braking Procedure
The precision problem of power regulation, and the object of pressure controlling is electronic master cylinder.There are three types of the modes for adjusting electronic master cylinder pressure: increasing
Pressure, pressure maintaining, decompression: when the goal pressure needed when vehicle braking is bigger than currently practical pressure, the IEHB system needs at this time
Blower operations are completed, speed rapid decrease is made；When the goal pressure needed when vehicle braking is smaller than currently practical pressure, at this time
The IEHB system needs to complete decompression operation, so that speed is unlikely to decline too fast；The goal pressure ratio needed when vehicle braking
When currently practical pressure is equal, the IEHB system needs to complete pressure maintaining operation at this time, remains unchanged speed.Therefore, of the invention
Full piece content around how accurately to increase, depressurize, pressure maintaining, to realize accurate braking.
2, the present invention controls the principle of electronic master cylinder using feedforward+feedback method:
The feed forward method: step 1: giving several certain voltage signals of electronic master cylinder, each voltage signal pair is measured
The Wheel cylinder pressure sensors signal answered records wheel cylinder sensor pressure values under varying voltage signal, and fits voltage value and wheel
Relation curve between cylinder pressure transducer value,This is the electronic master cylinder voltage of calibration and pressure of wheel braking cylinder relationship；Step 2: according to mesh
It marks pressure (calculating of the goal pressure from Upper system), electronic master cylinder voltage value required for obtaining the goal pressure of tabling look-up
U1, and obtain finding corresponding target wheel cylinder sensor pressure values in relation curve in the first step,This is fitting and tables look-up；
The feedback method: PID (ratio-is made according to the difference of actual wheel cylinder pressure value and target wheel cylinder sensor pressure values
Integrated Derivative) control, the electronic master cylinder control signal of output is U2；
The method of the feedforward+feedback: the electronic master cylinder control signal that feedforward, feedback obtain is added, as electronic master
Cylinder controls input signal U:U=U1+U2。
3, the present invention controls the principle of electronic master cylinder using sliding formwork control electromagnetic valve for adjusting:
The sliding formwork control electromagnetic valve for adjusting controls electronic master cylinder and is modeled and controlled mainly for IEHB system boost valve
System, the pressure charging valve course of work is introduced first: when coil no power, solenoid valve is in normally open；When coil is powered
When, under the action of a magnetic force, dynamic iron pushes spool to move downward with push rod, until contacting with valve seat, solenoid valve is closed at this time.
So the accurate control being displaced to valve core of the electromagnetic valve can be realized by the control to electromagnetic valve current, it is final to realize braking pressure
The accurate adjusting of power.But solenoid valve is mechanical electronic hydraulic coupled system, has the characteristics that strong nonlinearity, so needing to carry out solenoid valve
Force analysis carries out detailed mathematical model and builds.Traditional control algolithm is difficult to adapt to this strong nonlinearity, and sliding formwork control
Have the characteristics that strong robustness, anti-interference strong, this strongly non-linear system can be well adapted for, so using sliding moding structure
Control algolithm controls solenoid valve.Step 1: solenoid valve mathematical model in detail is built；Step 2: solenoid valve control rate pushes away
It leads.
Supplementary explanation: sliding formwork control (sliding mode control, SMC) be also variable-structure control, is substantially one
The special nonlinear Control of class, and non-linear behavior is the discontinuity of control.This control strategy and other control strategies
The difference is that " structure " of system and be not fixed, but can be in dynamic process, according to the current state of system (as partially
Difference and its all-order derivative etc.) purposefully constantly variation, force system to move according to the state trajectory of predetermined " sliding mode ".By
It can be designed and unrelated with image parameter and disturbance in sliding mode, this allows for sliding formwork control with response quickly, right
Answer Parameters variation and disturbance it is insensitive, without system on-line identification, physics realization is simple the advantages that.
4, the present invention selects the principle of logic threshold policy control electrodynamic pump:
The logic threshold policy control electrodynamic pump, main thought are as follows: according to target wheel cylinder pressure and actual wheel cylinder pressure
Masterpiece is poor, judges system further work mode, is greater than zero if it is the difference of the two for boost mode；If the difference etc. of the two
It is pressure maintaining mode in zero, gives motor zero-signal, stop it.Otherwise it is pressure reducing mode, then adjusts according to the actual situation
Whole dutyfactor value reaches best decompression rate.
5, braking system framework of the present invention.Attached drawing 1 is that braking system controls framework.For the wheel of preferably place of matchmakers's proposition
Cylinder compressive stress control strategy, it is necessary first to the structure and working principle of the IEHB system be understood, detailed composed structure is shown in
Attached drawing 2.The several main modulars of IEHB system include: pedal simulation system: being anticipated by pedal displacement sensor to operator brake
Figure is identified, then guarantees brake pedal sense by pedal simulator；Electronic master cylinder module: it is driven and is slowed down by brushless motor
Mechanism realizes active boost function；Hydraulic regulation unit: according to pressure sensor signal and controller torque or duty ratio are come from
Signal realizes that pressure of wheel braking cylinder is adjusted by the control to pressure charging valve, pressure reducing valve and electrodynamic pump etc.；IEHB system control module: it sets
Corresponding pressure controller is counted, coordinated control is carried out to entire IEHB system, meets certain braking requirement.
Based on the above design principle, the present invention devises a kind of pressure of wheel braking cylinder regulation of integrated form line traffic control brake fluid system
Method.
A kind of pressure controlling method based on integrated form line traffic control brake fluid system, its main feature is that, comprising the following steps:
Step 1: each component work cooperation to the system carries out pattern analysis；
Step 2: proposing executable pressure Coordinated Control Scheme；
Step 3: building detail mathematic model for solenoid valve strong nonlinearity feature and deriving its control rate model.
The step 1 carries out pattern analysis to each component work cooperation of the system, specifically includes following Working mould
Formula:
Mode 1: in IEHB system boost, electronic master cylinder receives positive torque signal, hydraulic control unit
Pressure charging valve is opened in (Hydraulic Control Unit, HCU), pressure reducing valve is closed；
Mode 2: when IEHB system executes pressure maintaining, electronic master cylinder stopping is acted, and pressure charging valve, pressure reducing valve close simultaneously in HCU
It closes；
Mode 3: when IEHB system is executed and depressurized, electronic master cylinder receives negative torque signal and shrinks back, and is pressurized in HCU
Valve is closed, pressure reducing valve is opened, oil return pump work.
The executable pressure Coordinated Control Scheme of the step 2, specially following two:
Scheme 1: both electronic master cylinder, pressure charging valve cooperation realize that pressure response follows；
Scheme 2: cooperation, realization pressure response follow simultaneously for electronic master cylinder, pressure charging valve, pressure reducing valve, electrodynamic pump.
Following two control program can specifically be proposed by scheme 1:
Scheme a: giving electronic master cylinder even twisting moment signal, using PID control pressure charging valve, realizes that pressure response follows；
Scheme b: controlling pressure charging valve and electronic master cylinder only with PID approach simultaneously, realizes that pressure response follows.
Following four control program can specifically be proposed by scheme 2:
Scheme i: increasing, pressure reducing valve use PID approach to control simultaneously, and electronic master cylinder gives lesser negative torque, and electric-motor pump is to solid
Definite value operating realizes that pressure response follows；
Scheme ii: pressure charging valve uses PID control, and pressure reducing valve, electronic master cylinder, electric-motor pump use logic threshold, realize pressure
Force-responsive follows；
Scheme iii: pressure charging valve, pressure reducing valve, electronic master cylinder, three use PID control, and electric-motor pump uses logic threshold
Value realizes that pressure response follows；
Scheme iv: according to each controlled device characteristic, electronic master cylinder, solenoid valve, electric-motor pump select different control respectively
Algorithm realizes that pressure response follows.
The scheme 2 specifically includes following procedure (its detailed process is shown in attached drawing 3):
(1) electronic master cylinder (its detailed process is shown in attached drawing 4) is controlled using feedforward+feedback method；
(2) it is based on the stronger sliding formwork control electromagnetic valve for adjusting of robustness (its detailed process is shown in attached drawing 5)；
(3) select logic threshold policy control electrodynamic pump (its detailed process is shown in attached drawing 6).
(1) the process uses feedforward+feedback method to control electric cylinder, specifically includes the following steps:
Step is (1): giving electronic master cylinder certain voltage signal, measures corresponding Wheel cylinder pressure sensors signal, record is different
Wheel cylinder sensor pressure values under voltage signal, and fit the relation curve between voltage value and Wheel cylinder pressure sensors value；Make
Used time tables look-up according to goal pressure and obtains the electronic master cylinder voltage value U of needs1, and find in the relation curve corresponding
Target wheel cylinder sensor pressure values, IEHB system being capable of faster response when guaranteeing to control with this.Meanwhile in order to avoid overshoot or
Response is insufficient, makees PID (proportional-integral-differential) control according to the difference of actual wheel cylinder pressure value and target wheel cylinder sensor pressure values
The electronic master cylinder control signal of system, output is U2:
Step is (2): being (1) added electric cylinder control signal that feedforward, feedback obtain according to step, as electric cylinder control is defeated
Enter signal U:U=U1+U2。
The step 3 builds detail mathematic model and control rate derivation for solenoid valve strong nonlinearity feature, specific to wrap
Include following steps:
Step 1: solenoid valve mathematical model in detail is built；Step 2: proportional integration sliding-mode surface designs；Step 3: solenoid valve
Control rate derives.
Step I. solenoid valve kinetic model: by obtaining the dynamics side of its spool to pressure charging valve principle Analysis
Journey are as follows:
In formula: m is the gross mass of dynamic iron spool；FmTo act on the electromagnetic force on spool；FhTo act on the liquid on spool
Power；FkFor return spring power；FvFor the adhesion strength generated when liquid flowing；X is spool displacement.
Step II. electromagnetic force model: by circuit equationAnd magnetic circuit equationIn addition electromagnetism
Power equationWhat is finally derived obtains electromagnetic force equation are as follows:
Step III. hydraulic power model:When liquid flows through valve port, due to the change of flow velocity and direction, spool can be generated
Certain hydraulic power, mainly consists of two parts, including steady-state fluid force Fsta, instantaneous hydraulic dynamics Ftran。
So hydraulic coupling can indicate are as follows: Fh=Fsta+Ftran。
Steady-state fluid force Fsta(because momentum change generates when flowing through fixed valve port):
Saving flow area of making a slip of the tongue is；
Instantaneous hydraulic dynamics Ftran(because valve port opening changes, change in flow is generated):
So hydraulic power are as follows:
In formula: dmFor valve seat average diameter；L is relaxation length；α is that valve seat bores half-angle；RvFor spool radius of sphericity.
Step IV. spring force model:Return spring power suffered by spool can be expressed as Fk=F0+KkX,
In formula: F0For initial tension of spring；KkFor spring rate；
Step V. adhesion strength model:Adhesion strength suffered by spool can be expressed as
In formula: B is adhesion force coefficient.
Step VI. sliding formwork control rate derives:With actual wheel cylinder pressure PwTrack desired pressure of wheel braking cylinder Pwd, so deviation e
Are as follows: e=pw-pwd,
The design of proportional integration sliding-mode surface are as follows: S=e+ λ ∫ edt,
Then will above-mentioned kinetics equation arrange after must be displaced, pressure difference and current relationship equation it is as follows:
Here it enables: M=π Rv 2(cosα)2+2Cd 2Aicosα。
To the derivation of sliding formwork switching function and its derivative is enabled to be equal to zero:Then
Take sliding formwork control rate are as follows:
Since sgn (s) belongs to discontinuous function, significantly shiver so can be generated when control, so adopting hyperbolic here just
Cut functionInstead of sgn (s) function, the buffeting in sliding formwork control can be effectively reduced, wherein hyperbolic tangent function defines
Are as follows:Wherein, ε > 0, ε value size determine the variation speed of hyperbolic tangent function inflection point.
Attached drawing 6 is electrodynamic pump control logic flow chart, main thought are as follows: according to target wheel cylinder pressure and actual wheel cylinder pressure
It is poor to make, and judges system further work mode, is greater than zero if it is the difference of the two for boost mode；If the difference of the two is equal to
Zero is pressure maintaining mode, gives motor zero-signal, stops it.Otherwise it is pressure reducing mode, then adjusts according to the actual situation
Dutyfactor value reaches best decompression rate.
Embodiment one
A simulation example of the invention is described below:
As shown in fig. 7, passing through the realization of AMESim and Simulink emulation platform.The present invention only shows under sinusoidal operating condition,
The validity for the pressure of wheel braking cylinder control strategy invented, rest working conditions verifying is similar, and simulation result is as shown in Figure 8.
By Fig. 8 (a), (b) it follows that working as system response amplitude 10MPa, when frequency 10rad/s, coordination proposed in this paper
Control strategy pressure divergence is significantly less than PID control pressure divergence；It is obtained by Fig. 8 (c), (d): when only changing sinusoidal magnitude value
(amplitude is changed to 4MPa), control precision will be substantially better than PID (PID setting parameter is constant) control.
In short, being significantly less than PID control method using pressure of wheel braking cylinder proposed in this paper regulation method pressure tracking deviation, say
It is bright due to mission nonlinear and time variation, cause hydraulic coupling to be difficult to control, PID controller is difficult to ensure IEHB system performance；And
Due to the sliding mode controller feature insensitive to Parameter Perturbation, it can be ensured that system robustness and control precision.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Embodiment described in specific embodiment is included but is not limited to, it is all by those skilled in the art technical side according to the present invention
The other embodiments that case obtains, also belong to the scope of protection of the invention.
Claims (6)
1. a kind of pressure controlling method based on integrated form line traffic control brake fluid system, which comprises the following steps:
Step 1: each component work cooperation to the system carries out pattern analysis；
Step 2: proposing executable pressure Coordinated Control Scheme；
Step 3: building detail mathematic model for solenoid valve strong nonlinearity feature and deriving control rate model.
2. a kind of pressure controlling method based on integrated form line traffic control brake fluid system, feature exist according to claim 1
In: the step 1 carries out pattern analysis to each component work cooperation of the system, specifically includes following operating mode:
Mode 1: in IEHB (Integrated Electro-Hydraulic Braking) system boost, electronic master cylinder is received
Positive torque signal, pressure charging valve is opened in hydraulic control unit (Hydraulic control unit, HCU), pressure reducing valve is closed；
Mode 2: when IEHB system executes pressure maintaining, electronic master cylinder stopping is acted, and pressure charging valve, pressure reducing valve simultaneously close off in HCU；
Mode 3: when IEHB system is executed and depressurized, electronic master cylinder receives negative torque signal and shrinks back, and pressure charging valve closes in HCU
It closes, pressure reducing valve is opened, oil return pump work.
3. a kind of pressure controlling method based on integrated form line traffic control brake fluid system, feature exist according to claim 1
In: the executable pressure Coordinated Control Scheme of the step 2, specially following two:
Scheme 1: both electronic master cylinder, pressure charging valve cooperation realize that pressure response follows；
Scheme 2: cooperation, realization pressure response follow simultaneously for electronic master cylinder, pressure charging valve, pressure reducing valve, electrodynamic pump.
4. a kind of pressure controlling method based on integrated form line traffic control brake fluid system, feature exist according to claim 3
In: the scheme 2 specifically includes following procedure:
(1) electronic master cylinder is controlled using feedforward+feedback method；
(2) the stronger sliding formwork control electromagnetic valve for adjusting of robustness is based on；
(3) logic threshold policy control electrodynamic pump is selected.
5. a kind of pressure controlling method based on integrated form line traffic control brake fluid system, feature exist according to claim 4
In: (1) the process uses feedforward+feedback method to control electric cylinder, specifically includes the following steps:
Step is (1): giving electronic master cylinder certain voltage signal, measures corresponding Wheel cylinder pressure sensors signal, records different voltages
Wheel cylinder sensor pressure values under signal, and fit the relation curve between voltage value and Wheel cylinder pressure sensors value；In use,
It is tabled look-up according to goal pressure and obtains the electronic master cylinder voltage value U1 of needs, and find corresponding target wheel in the relation curve
Cylinder sensor pressure values, IEHB system being capable of faster response when guaranteeing to control with this；Meanwhile not in order to avoid overshoot or response
Foot makees PID (proportional-integral-differential) control, output according to the difference of actual wheel cylinder pressure value and target wheel cylinder sensor pressure values
Electronic master cylinder control signal be
Step is (2): being (1) added electronic master cylinder control signal that feedforward, feedback obtain according to step, as electric cylinder control input
Signal
U:U=U1+U2。
6. a kind of pressure controlling method based on integrated form line traffic control brake fluid system, feature exist according to claim 1
In: the step 3 builds detail mathematic model for solenoid valve strong nonlinearity feature, specifically includes the following steps:
Step is (1): building solenoid valve kinetic model are as follows:
Step is (2): set sliding-mode surface function as
S=e+ λ ∫ edt, wherein e=pw-pwd；
Step is (3): deriving solenoid valve control rate according to steps 1 and 2 are as follows:
Step is (4): sliding formwork control rate is taken as:
Step is (5): since sgn (s) belongs to discontinuous function, so effect of significantly shivering can be generated when control, so adopting here
Use hyperbolic tangent functionInstead of the buffeting in sliding formwork control can be effectively reduced, then sliding formwork control rate can be taken as:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811231550.9A CN109532811B (en) | 2018-10-22 | 2018-10-22 | Wheel cylinder pressure regulation and control method of integrated line control hydraulic brake system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811231550.9A CN109532811B (en) | 2018-10-22 | 2018-10-22 | Wheel cylinder pressure regulation and control method of integrated line control hydraulic brake system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109532811A true CN109532811A (en) | 2019-03-29 |
| CN109532811B CN109532811B (en) | 2020-09-08 |
Family
ID=65844193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811231550.9A Active CN109532811B (en) | 2018-10-22 | 2018-10-22 | Wheel cylinder pressure regulation and control method of integrated line control hydraulic brake system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109532811B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065480A (en) * | 2019-05-23 | 2019-07-30 | 南京航空航天大学 | A kind of line traffic control electronic hydraulic brake system and control method based on accumulator compensation |
| CN111966136A (en) * | 2020-08-31 | 2020-11-20 | 上海大学 | Low-frequency active vibration suppression hybrid controller |
| CN114194158A (en) * | 2021-12-16 | 2022-03-18 | 吉林大学 | Active brake wheel cylinder pressure control method based on integrated electro-hydraulic brake system |
| CN114228683A (en) * | 2021-12-28 | 2022-03-25 | 江苏恒力制动器制造有限公司 | Electronic hydraulic brake system and control method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101909955A (en) * | 2008-01-10 | 2010-12-08 | 罗伯特.博世有限公司 | Method for controlling a solenoid valve |
| CN103072564A (en) * | 2011-10-25 | 2013-05-01 | 现代摩比斯株式会社 | Apparatus for controlling pressure of smart booster brake system and method thereof |
| CN107074232A (en) * | 2015-02-27 | 2017-08-18 | 日立汽车***株式会社 | Brake control |
-
2018
- 2018-10-22 CN CN201811231550.9A patent/CN109532811B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101909955A (en) * | 2008-01-10 | 2010-12-08 | 罗伯特.博世有限公司 | Method for controlling a solenoid valve |
| CN103072564A (en) * | 2011-10-25 | 2013-05-01 | 现代摩比斯株式会社 | Apparatus for controlling pressure of smart booster brake system and method thereof |
| CN107074232A (en) * | 2015-02-27 | 2017-08-18 | 日立汽车***株式会社 | Brake control |
Non-Patent Citations (2)
| Title |
|---|
| 何祥坤，等: "基于集成式线控液压制动***的轮胎滑移率控制", 《吉林大学学报》 * |
| 吕辰: "电驱动车辆回馈制动力与摩擦制动力动态耦合控制", 《中国博士学位论文全文数据库》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065480A (en) * | 2019-05-23 | 2019-07-30 | 南京航空航天大学 | A kind of line traffic control electronic hydraulic brake system and control method based on accumulator compensation |
| CN110065480B (en) * | 2019-05-23 | 2023-07-11 | 南京航空航天大学 | Wire control electronic hydraulic brake system based on accumulator compensation and control method |
| CN111966136A (en) * | 2020-08-31 | 2020-11-20 | 上海大学 | Low-frequency active vibration suppression hybrid controller |
| CN111966136B (en) * | 2020-08-31 | 2021-06-08 | 上海大学 | Low-frequency active vibration suppression hybrid controller |
| CN114194158A (en) * | 2021-12-16 | 2022-03-18 | 吉林大学 | Active brake wheel cylinder pressure control method based on integrated electro-hydraulic brake system |
| CN114228683A (en) * | 2021-12-28 | 2022-03-25 | 江苏恒力制动器制造有限公司 | Electronic hydraulic brake system and control method thereof |
| CN114228683B (en) * | 2021-12-28 | 2022-08-30 | 江苏恒力制动器制造有限公司 | Electronic hydraulic brake system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109532811B (en) | 2020-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109532811A (en) | A kind of pressure of wheel braking cylinder regulation method of integrated form line traffic control brake fluid system | |
| Yong et al. | Design and validation of an electro-hydraulic brake system using hardware-in-the-loop real-time simulation | |
| EP0982207A2 (en) | Apparatus for increasing brake cylinder pressure by controlling pump motor and reducing the pressure by controlling electric energy applied to control valve | |
| CN109572644B (en) | Integrated line control hydraulic braking system and ABS control method thereof | |
| CN105102283A (en) | Vehicle brake control device | |
| Chen et al. | Hierarchical cooperative control of anti-lock braking and energy regeneration for electromechanical brake-by-wire system | |
| CN104742891B (en) | Proportion adjustable valve gear and brake control method based on switch electromagnetic valve | |
| CN108501909A (en) | A kind of vehicle braking anti locking method based on integrated type electrical brake fluid system | |
| JPH05176408A (en) | Brake controller for electric automobile | |
| Yong et al. | Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation | |
| CN102189984A (en) | Hydraulic pressure control apparatus | |
| Pi et al. | A novel pneumatic brake pressure control algorithm for regenerative braking system of electric commercial trucks | |
| CN105109472A (en) | Method and device for estimating hydraulic braking force of wheel cylinder | |
| He et al. | Research on vehicle stability control strategy based on integrated-electro-hydraulic brake system | |
| Mohamed et al. | Performance analysis of the ABS control on parallel hybrid electric vehicle equipped with regenerative braking system | |
| Wu et al. | Experimental research on the pressure following control of electro-hydraulic braking system | |
| KR20120018780A (en) | Braking system having parking brake integration | |
| Wu et al. | Hydraulic anti-lock braking control using the hybrid sliding-mode pulse width modulation pressure control method | |
| Ji et al. | Wheel braking pressure control based on central booster electrohydraulic brake-by-wire system | |
| KR101402707B1 (en) | Vehicles braking system and method of controlling the same | |
| CN103777521A (en) | Vehicle low-speed control method based on fuzzy control | |
| Kejun et al. | Application study of fuzzy PID control with S-function on automotive ABS | |
| Li et al. | Co-simulation research of integrated electro-hydraulic braking system | |
| CN105073522A (en) | Vehicle brake fluid pressure control device | |
| Xiong et al. | Model-based pressure control for an electro hydraulic brake system on RCP test environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |