基于电子助力器的冗余防抱死制动算法研究

doi:10.19562/j.chinasae.qcgc.2022.01.011

Abstract

Abstract:

A semi-decoupled electronic booster （eBooster） with a pedal push rod is autonomously developed and the precise control is applied on the hydraulic pressure of eBooster based on variable gain PID control algorithm. When the antilock-braking system （ABS） of vehicle fails， the hydraulic pressure of brake master cylinder is actively adjusted based on eBooster through the estimation and monitoring of all the state variables of vehicle. A redundant ABS control algorithm is proposed based on sliding mode control with achieving the function of redundant ABS as requirements and enhancing braking strength and comfort as objectives. The mathematical models of complete vehicle， tires， eBooster， wheel braking cylinders and redundant ABS are constructed with simulations conducted， and the eBooster-based redundant ABS control algorithm is verified on test vehicle Haval 6. The results indicate that the eBooster-based redundant ABS control algorithm can well achieve the function of redundant ABS and enhance the safety of vehicle on the premise of ensuring braking strength and comfort.

Key words: redundant ABS, eBooster, sliding mode control, braking strength, ride comfort

Xiaohui Liu,Liangyao Yu,Sheng Zheng,Zhenghong Lu,Jian Song. Research on Redundant Anti-lock Braking Algorithm Based on eBooster[J].Automotive Engineering, 2022, 44(1): 82-93.

Figures/Tables 19

References 18

1	刘清河，孙泽昌.汽车线控制动系统研究［J］.机械与电子，2006（11）：24-26.
	LIU Qinghe，SUN Zechang.Research on automobile braking system［J］.Machinery and Electronics，2006（11）：24-26.
2	YU L ， LIU X ， XIE Z ， et al. Review of brake-by-wire system used in modern passenger car［C］. 2016：V003T01A020.
3	李亮，王翔宇，程硕，等.汽车底盘线控与动力学域控制技术［J］.汽车安全与节能学报，2020，11（2）：143-160.
	LI Liang，WANG Xiangyu，CHENG Shuo，et al. Wire control and dynamic domain control technology of automobile chassis［J］.Journal of Automotive Safety and Energy，2020，11（2）：143-160 .
4	苑磊，何仁.基于线性自抗扰控制的汽车ABS滑移率控制研究［J］.汽车工程，2021，43（9）：1367-1374，1393.
	YUAN Lei， HE Ren. Research on automobile abs slip ratio control based on linear active disturbance rejection control［J］.Automotive Engineering，2021，43（9）：1367-1374，1393.
5	TODESCHINI F，CORNO M，PANZANI G，et al. Adaptive position-pressure control of a brake by wire actuator for sport motorcycles［J］. European Journal of Control，2014，20（2）：79-86.
6	WANG Z，YU L，WANG Y，et al. Prototype of distributed electro-hydraulic braking system and its fail-safe control strategy［C］. SAE Paper 2013-01-2066.
7	王治中，于良耀，王语风，等.分布式电液制动系统执行机构液压控制［J］.清华大学学报（自然科学版），2013，53（10）：1464-1469.
	WANG Zhizhong，YU Liangyao，WANG Yufeng，et al.Hydraulic control of actuator of distributed electro-hydraulic braking system［J］.Journal of Tsinghua University（Natural Science Edition），2013，53（10）：1464-1469.
8	LEIBER I T，GLSPERGER D I F C，UNTERFRAUNER DIV. Modular brake system with integrated functionalities［J］. ATZ Worldwide eMagazine，2011，113（6）：20-25.
9	余卓平，徐松云，熊璐，等.集成式电子液压制动系统鲁棒性液压力控制［J］.机械工程学报，2015，51（16）：22-28.
	YU Zhuoping，XU Songyun，XIONG Lu，et al.Integrated electronic hydraulic brake system robust hydraulic pressure control［J］.Chinese Journal of Mechanical Engineering，2015，51（16）：22-28.
10	YANG I J，CHOI K，HUH K. Development of an electric booster system using sliding mode control for improved braking performance［J］. International Journal of Automotive Technology，2012，13（6）：1005-1011.
11	OHKUBO N， MATSUSHITA S， UENO M， et al. Application of electric servo brake system to plug-in hybrid vehicle［C］. SAE Paper 2013-01-0697.
12	LINKENBACH S，DRUMM S. Brake system for motor vehicles：US 2013/0147259 A1［P］. 2013-6-13.
13	SCHMIDT R. Electromechanical Brake Booster： EP， EP2744692 A1［P］. PCT/EP2012/063506.
14	VOLLERT H， MAYER J. Electromechanical brake booster： US， 8783792 ［P/OL］. 2014. Patents/US8783792.
15	熊璐，许竹君，舒强，等.基于电子液压制动系统的防抱死冗余控制研究［J］.汽车技术，2021（5）：22-29.
	XIONG Lu，XU Zhujun，SHU Qiang，et al.Research on anti-lock braking redundant control based on electronic hydraulic braking system［J］.Automotive Technology，2021（5）：22-29.
16	陈志成，赵健，朱冰，等.基于电控助力制动级联制动防抱死控制策略［J］.汽车工程，2019，41（11）：1320-1326.
	CHEN Zhicheng，ZHAO Jian，ZHU Bing，et al.Anti-lock braking control strategy based on electronically controlled power-assisted braking cascade braking［J］.Automotive Engineering，2019，41（11）：1320-1326.
17	ZHAO J，HU Z，ZHU B. Pressure control for hydraulic brake system equipped with an electro-mechanical brake booster［C］．SAE Paper 2018-01-0829．
18	孙凯. 分布式驱动电动汽车滑移率鲁棒自适应控制［D］.上海：同济大学， 2017.
	SUN Kai. Robust adaptive control of slip rate for distributed drive electric vehicles［D］. Shanghai： Tongji University， 2017.

路面	最优滑移率范围	最大纵向附着系数
干沥青	0.15-0.20	0.95
湿沥青	0.15-0.20	0.80
湿羟硅钠钙	0.15-0.20	0.30
碎石路	0.15-0.20	0.36
冰路	0.15-0.20	0.05

[1]	Bin Deng, Weihan Li, Di Wu, Bingzhan Zhang, Han Zhao. Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer [J]. Automotive Engineering, 2024, 46(1): 100-108.
[2]	Lin He,Ziang Xu,Chunrong Huang,Chao Gong,Shuhua Li,Qin Shi. Research on Sliding Mode Control Algorithm for Angle Tracking Prediction of Steer-by-wire System [J]. Automotive Engineering, 2023, 45(12): 2200-2208.
[3]	Dongkui Tan,Gangjun Hu,Bo Zhu,Lai Jin,Jie Zhang. Intelligent Vehicle Autonomous Emergency Braking System Considering Safety of the Intended Functionality [J]. Automotive Engineering, 2022, 44(6): 799-808.
[4]	Sensen Cong,Feng Gao,Shucai Xu. Cooperative Control of Vehicle Lateral and Longitudinal Stability Based on Dynamic Stability Region [J]. Automotive Engineering, 2022, 44(6): 900-908.
[5]	Shengzhao Chen,Minyi Zheng,Qihui Ling,Zhewu Chen. An Investigation on the Characteristics of Hydraulically Interconnected Suspension System with Dual Accumulators [J]. Automotive Engineering, 2022, 44(2): 272-279.
[6]	Wen Sun,Chenyang Li,Junnian Wang,Haozhe Qian,Wentong Zhang. Research on Ride Comfort of an Off-road Vehicle with Compound Suspension [J]. Automotive Engineering, 2022, 44(1): 105-114.
[7]	Jian Zhao,Jinpeng Du,Bing Zhu,Zhiwei Wang,Zhicheng Chen,Xiaowen Tao. Longitudinal Cruise Control of Intelligent Vehicles Based on Adaptive Dynamic Sliding Mode Control [J]. Automotive Engineering, 2022, 44(1): 8-16.
[8]	Xiangjing Guo,Pan Sun,Jie Deng,Yong Liu,Zhuang Liu,Shuangping Liu. Research on AEB Control Strategy of a Heavy Tractor-Semitrailer Combination Based on BP Neural Network Algorithm Prediction [J]. Automotive Engineering, 2021, 43(9): 1350-1359.
[9]	Luming Chen,Zili Liao,Zheng Zhang. Design of Hierarchical Control System for Dual⁃steering of Multi⁃wheel Distributed Electric Drive Vehicles [J]. Automotive Engineering, 2021, 43(9): 1383-1393.
[10]	Guoqing Geng,Hao Li,Haobin Jiang,Jie Chen,Bin Tang. Research on Active Returnability Control for Electro⁃hydraulic Coupling Steering System of Commercial Vehicles [J]. Automotive Engineering, 2021, 43(6): 899-908.
[11]	Helong Liu,Wenku Shi,Rui Gao,Zhiyong Chen,Huang Chen,Yunlong Sun. Modeling and Experimental Study on Hysteresis Characteristic of Composite Leaf Springs [J]. Automotive Engineering, 2021, 43(6): 934-942.
[12]	Yue Ren,Jie Ji,Ying Zhao,Yixiao Liang,Ling Zheng. Path Tracking Control of Intelligent Vehicle Based on Minimal Model Error Estimation [J]. Automotive Engineering, 2021, 43(4): 580-587.
[13]	Shi Qiujun, Li Jing. Anti-Rollover Control of Bus Based on Nonlinear Disturbance Estimation [J]. Automotive Engineering, 2020, 42(9): 1224-1231.
[14]	Cai Yingfeng, Dou Lei, Chen Long, Shi Dehua, Wang Shaohua, Zhu Zhen. Research on Coordinated Control of Hybrid Electric VehicleBased on Compensation Sliding Mode Control [J]. Automotive Engineering, 2020, 42(4): 431-438.
[15]	Qi Hengmin, Zhang Nong, Wang Dong, Zhang Bangji, Zheng Minyi. Study on Dynamic Performance of a Bus Equipped with Electronically Controlled Air Spring and Hydraulically Interconnected Suspension [J]. Automotive Engineering, 2020, 42(3): 330-338.

Research on Redundant Anti-lock Braking Algorithm Based on eBooster

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 19

References 18

Related Articles 15

Metrics

Comments

Recommended 10