考虑多维非线性扰动的电子助力制动系统自适应压力控制

doi:10.19562/j.chinasae.qcgc.2024.06.016

Abstract

Abstract:

In order to solve the multi-dimensional nonlinear disturbances of the electronic boost brake system in terms of mechanics， electronics and hydraulics， in this paper an adaptive pressure control strategy is proposed. The outer hydraulic controller incorporates adaptive radial basis function neural networks and robust sliding mode theory to overcome hydraulic time-varying uncertainties. The intermediate layer controller adopts Karnopp friction feedforward compensation and sliding mode control to deal with the nonlinear friction hindrance of the transmission mechanism. The inner layer current controller solves the problem of electromagnetic coupling of the motor using Lyapunov theory. Simulation and hardware-in-the-loop test results show that the designed pressure control strategy can maintain the steady-state pressure tracking error of the EBBS active braking within 0.15 MPa under various operating conditions.

Key words: vehicle engineering, electronic boost brake system, multi-dimensional nonlinear disturbance, adaptive pressure control, hardware-in-the-loop

Bing Zhu,Yanpeng Tang,Dongbo Zhang,Jian Zhao,Zhicheng Chen. Adaptive Pressure Control for Electronic Boost Brake System Considering Multi-dimensional Nonlinear Disturbances[J].Automotive Engineering, 2024, 46(6): 1096-1103.

Figures/Tables 13

参数	含义	数值
$ρ v$ /（N·m·rad^-1·s^-1）	黏性摩擦系数	$9.9 × 10 - 4$
$T c$ /（N·m）	空载时库伦摩擦转矩	$5.4 × 10 - 2$
$ρ c$ /（N·m·rad^-1·s^-1）	库伦摩擦系数	$9.5 × 10 - 5$
$T s$ /（N·m）	静摩擦转矩	$7.0 × 10 - 2$

参数	含义	数值
$L d$ /H	励磁轴电感	$8.5 × 10 - 5$
$L q$ /H	转矩轴电感	$8.5 × 10 - 5$
$R / Ω$	定子电阻	$7.8 × 10 - 2$
$ψ f$ /Wb	永磁体转子磁链	$7.5 × 10 - 3$
$J / (k g ? m 2)$	电机转动惯量	$3 × 10 - 3$
$A / m 2$	制动主缸活塞有效面积	$4 × 10 - 4$
$K c / M P a$	制动液体积弹性模量	$1 ? 600$
$V m / m L$	主缸制动液体积	$8$
$V w / m L$	轮缸制动液体积	$24$
$n$	齿轮传动比	$3.588$
$h / m$	滚珠丝杠导程	$9 × 10 - 4$

参数	含义	数值
$σ 1$	液压滑模面参数	$2$
$c 、 q$	液压滑模趋近律参数	$[3, ? 2]$
$ξ$	饱和函数边界层	1
$c j$	隐含层高斯基函数中心值	$[0.2,0.4,0.6,0.8,1, 1.2]$
$b j$	隐含层高斯基函数宽度	$0.16$
$μ$	自适应律参数	$5$
$k p 、 k i$	转角PI增益值	$[35, ? 5]$
$σ 2$	转速滑模面参数	$10$
$k 、 d$	转速滑模趋近律参数	［8， 20］
$γ 1 、 γ 2$	电流解耦系数	$[55, ? 3]$

参数	含义	数值
$K p 1 、 K i 1$	传统PI液压控制器参数	$[0.1, ? 10]$
$K p 2 、 K i 2$	传统PI位置控制器参数	［2， 20］
$K p 3 、 K i 3$	传统PI电流控制器参数	$[0.2, ? 8]$

工况	具体描述
斜坡	时间	$1.9 ? s → 3.9 ? s / 3.9 ? s → 6.9 ? s / 6.9 ? s → 8.9 ? s$
斜坡	目标压力	$0 → 10 ? M P a / 10 ? M P a / 10 ? M P a → 0$
正弦	目标压力	偏置 $5 ? M P a$ ，幅值 $5 ? M P a$ ，频率 $0.5 ? H z$
变阶跃	时间	$0 → 1.8 ? s → 4.3 ? s → 6.8 ? s →$ $9.3 ? s → 11.8 ? s → 14.3 ? s →$
	目标压力	$0 → 2 ? M P a → 4 ? M P a → 6 ? M P a →$ $8 ? M P a → 10 ? M P a →$
	时间	$16.8 ? s → 19.3 ? s → 21.8 ? s → 24.3 ? s$
	目标压力	$8 ? M P a → 6 ? M P a → 4 ? M P a → 2 ? M P a → 0$

References 15

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Adaptive Pressure Control for Electronic Boost Brake System Considering Multi-dimensional Nonlinear Disturbances

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