某轿车稳定性集成制动控制响应特性研究
发布时间：2018-07-29 14:11
【摘要】：线控技术的出现及其在汽车制动系统中的应用,提高了汽车的主动安全性和操纵稳定性,是汽车制动系统的发展方向。EHB(Electro-hydraulic Brake,电子液压制动系统)和EMB(Electro-mechanical Brake,电子机械制动系统)作为线控制动系统的两个主要分支,各自存在优点和不足。而集成制动系统是继EHB系统和EMB系统之后出现的又一新型线控制动系统,是目前汽车主动安全研究领域的最新技术和研究热点。新型的汽车集成制动系统在制动主缸与踏板之间采用集中电机以及每一轮缸配备单一电磁阀的方式,综合利用了EMB电机调压方式具有的调压快速且精确的优点,以及HCU调压方式具有的在踏板与轮缸之间存在机械液压连接而制动可靠性高的优点,同时避免EMB电机与HCU电磁阀数量较多而引起的可靠性降低的缺点,并且同时具备线控和助力等功能。通过汽车集成制动系统可以集中供压,实现制动压力的快速、精确调节。针对于汽车集成制动系统集中供压、分时调压的工作原理,该系统执行机构的响应特性以及稳定性控制算法是影响集成制动系统是否能实现调压快速、控制精确的关键问题,也是本文研究的出发点。本文围绕“某轿车稳定性集成制动控制响应特性”这一关键问题,开展如下问题的研究:1、搭建集成制动系统动力学模型。为研究集成制动系统执行机构的动态响应特性,以及执行机构主要硬件参数选择对压力响应的影响,本文基于Matlab/Simulink和AMESim软件搭建了集成制动系统仿真平台。仿真平台包括集中电机模型、制动主缸模型、高速常开电磁阀模型、高速常闭电磁阀模型、低压蓄能器模型和制动轮缸模型,要求所搭建模型应能准确反映各部件的动态响应特性。2、集成制动系统响应特性仿真分析。基于搭建的仿真平台,研究集成制动系统执行机构的响应特性,考虑了高速开关电磁阀、低压蓄能器等关键零部件参数选择匹配对集成制动系统压力响应特性的影响。基于课题组搭建的硬件在环仿真试验台,测试了试制的电磁阀的响应特性。3、集成制动执行机构控制算法与整车稳定性控制算法设计。本文针对集成制动系统采用布置于制动主缸与踏板之间的集中电机以及每一轮缸配置单一电磁阀的结构特点,开发适用于集成制动系统的车辆稳定性控制算法,包括ABS分层控制策略和ESC分层控制策略。本文针对集成制动系统无法同时实现对四个制动轮缸压力的单独调节,但能够通过对电机的控制实现相对精确的调压这一特点,根据四个制动轮缸的压力调节情况组合,制定了ABS控制下的制动力分配最优决策。设计执行器(集中电机和电磁阀)的底层控制器算法,本文基于CMAC(Cerebellar Model Articulation Controller)与PID的并行控制实现了对集中电机的压力——转速双环控制。根据制动力最优分配决策给出电磁阀控制信号。另外,在基于线性二次最优控制理论计算车辆目标横摆力矩的基础上,采用BP神经网络算法对最优控制加权系数矩阵进行自适应修正。4、仿真测试某轿车稳定性集成制动控制有效性。为验证本文所设计的集成制动系统控制算法以及稳定性控制算法的有效性,基于Matlab/Simulink、Car Sim、AMESim仿真软件搭建了软件在环仿真平台,包括整车模型、控制器模型和集成制动系统综合仿真平台,选取典型工况进行软件在环试验。试验表明:集成制动系统的执行器控制算法与稳定性控制算法能有效地提高车辆制动性能和操纵稳定性能。
[Abstract]:The emergence of the wire control technology and its application in the automobile braking system have improved the active safety and handling stability of the automobile. It is the development direction of the automobile brake system.EHB (Electro-hydraulic Brake, electronic hydraulic brake system) and EMB (Electro-mechanical Brake, electronic mechanical brake system) as the two main main line control braking system. The integrated brake system is another new type of wire control brake system after the EHB system and the EMB system. It is the latest technology and research hot spot in the research field of automobile active safety. The new integrated brake system adopts a centralized motor and each cylinder between the main cylinder and the pedal. The single solenoid valve is equipped with the advantages of fast and accurate pressure regulating with EMB motor voltage regulating mode, and the advantages of mechanical hydraulic connection between the pedal and cylinder and the high braking reliability between the pedal and the wheel cylinder, and the lack of reliability reduction caused by the large number of EMB motor and HCU solenoid valve. It has the functions of line control and power supply. Through the integrated brake system of the automobile, the pressure can be concentrated and the braking pressure is quickly and accurately adjusted. The principle of the needle for the centralized pressure supply of the automobile integrated brake system, the principle of the time regulation pressure, the response specificity of the system executive mechanism and the stability control algorithm are the influence of the integrated brake system. It is also the starting point of this paper whether the system can realize the key problem of rapid voltage regulation and precision control. This paper focuses on the key problems of the response characteristic of a car's stability integrated brake control. 1, build the dynamic model of integrated brake system to study the dynamic response of the actuator of integrated braking system. Characteristics, and the influence of the main hardware parameters of the actuator on the pressure response. Based on the Matlab/Simulink and AMESim software, the integrated brake system simulation platform is built. The simulation platform includes the centralized motor model, the brake master cylinder model, the high speed constant open solenoid valve model, the high speed normally closed solenoid valve model, the low-voltage accumulator model and the brake. The model of wheel cylinder requires that the built model should accurately reflect the dynamic response characteristics of each component.2, and integrate the simulation analysis of the response characteristics of the integrated brake system. Based on the built simulation platform, the response characteristics of the integrated brake system actuator are studied, and the matching of key components, such as the high-speed switch solenoid valve and the low voltage accumulator, is considered, and the integration of the parameters of the key components is considered. The influence of the pressure response characteristics of the brake system. Based on the hardware of the project group in the ring simulation test bench, the response characteristics of the trial produced solenoid valve.3, the integrated brake actuator control algorithm and the whole vehicle stability control algorithm are designed. The integrated brake system is used in the integrated brake system to be placed between the main cylinder and the pedal. As well as the configuration of a single solenoid valve in each wheel cylinder, the stability control algorithm for integrated brake system is developed, including the ABS stratified control strategy and the ESC stratified control strategy. This paper can not realize the single control of the four brake wheel cylinder pressure at the same time, but can control the motor by the integrated brake system. Based on the pressure regulation of the four brake wheel cylinders, the optimal decision of the braking force distribution under the control of the ABS is made. The bottom controller algorithm of the design actuator (both the centralized motor and the solenoid valve) is designed. This paper is based on the parallel control of the CMAC (Cerebellar Model Articulation Controller) and PID. The control signal of the solenoid valve is given according to the optimal allocation decision of the power system. On the basis of the linear two times optimal control theory, the BP neural network algorithm is used to modify the optimal control weighted coefficient matrix adaptive.4, and the simulation test of a sedan chair Vehicle stability integrated brake control effectiveness. In order to verify the effectiveness of the integrated brake system control algorithm and stability control algorithm designed in this paper, based on Matlab/Simulink, Car Sim, and AMESim simulation software, the software in the loop simulation platform, including the vehicle model, the controller model and the integrated braking system simulation platform, is selected. The test shows that the actuator control algorithm and the stability control algorithm of the integrated brake system can effectively improve the braking performance and control stability of the vehicle.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.5
本文编号：2152931
[Abstract]:The emergence of the wire control technology and its application in the automobile braking system have improved the active safety and handling stability of the automobile. It is the development direction of the automobile brake system.EHB (Electro-hydraulic Brake, electronic hydraulic brake system) and EMB (Electro-mechanical Brake, electronic mechanical brake system) as the two main main line control braking system. The integrated brake system is another new type of wire control brake system after the EHB system and the EMB system. It is the latest technology and research hot spot in the research field of automobile active safety. The new integrated brake system adopts a centralized motor and each cylinder between the main cylinder and the pedal. The single solenoid valve is equipped with the advantages of fast and accurate pressure regulating with EMB motor voltage regulating mode, and the advantages of mechanical hydraulic connection between the pedal and cylinder and the high braking reliability between the pedal and the wheel cylinder, and the lack of reliability reduction caused by the large number of EMB motor and HCU solenoid valve. It has the functions of line control and power supply. Through the integrated brake system of the automobile, the pressure can be concentrated and the braking pressure is quickly and accurately adjusted. The principle of the needle for the centralized pressure supply of the automobile integrated brake system, the principle of the time regulation pressure, the response specificity of the system executive mechanism and the stability control algorithm are the influence of the integrated brake system. It is also the starting point of this paper whether the system can realize the key problem of rapid voltage regulation and precision control. This paper focuses on the key problems of the response characteristic of a car's stability integrated brake control. 1, build the dynamic model of integrated brake system to study the dynamic response of the actuator of integrated braking system. Characteristics, and the influence of the main hardware parameters of the actuator on the pressure response. Based on the Matlab/Simulink and AMESim software, the integrated brake system simulation platform is built. The simulation platform includes the centralized motor model, the brake master cylinder model, the high speed constant open solenoid valve model, the high speed normally closed solenoid valve model, the low-voltage accumulator model and the brake. The model of wheel cylinder requires that the built model should accurately reflect the dynamic response characteristics of each component.2, and integrate the simulation analysis of the response characteristics of the integrated brake system. Based on the built simulation platform, the response characteristics of the integrated brake system actuator are studied, and the matching of key components, such as the high-speed switch solenoid valve and the low voltage accumulator, is considered, and the integration of the parameters of the key components is considered. The influence of the pressure response characteristics of the brake system. Based on the hardware of the project group in the ring simulation test bench, the response characteristics of the trial produced solenoid valve.3, the integrated brake actuator control algorithm and the whole vehicle stability control algorithm are designed. The integrated brake system is used in the integrated brake system to be placed between the main cylinder and the pedal. As well as the configuration of a single solenoid valve in each wheel cylinder, the stability control algorithm for integrated brake system is developed, including the ABS stratified control strategy and the ESC stratified control strategy. This paper can not realize the single control of the four brake wheel cylinder pressure at the same time, but can control the motor by the integrated brake system. Based on the pressure regulation of the four brake wheel cylinders, the optimal decision of the braking force distribution under the control of the ABS is made. The bottom controller algorithm of the design actuator (both the centralized motor and the solenoid valve) is designed. This paper is based on the parallel control of the CMAC (Cerebellar Model Articulation Controller) and PID. The control signal of the solenoid valve is given according to the optimal allocation decision of the power system. On the basis of the linear two times optimal control theory, the BP neural network algorithm is used to modify the optimal control weighted coefficient matrix adaptive.4, and the simulation test of a sedan chair Vehicle stability integrated brake control effectiveness. In order to verify the effectiveness of the integrated brake system control algorithm and stability control algorithm designed in this paper, based on Matlab/Simulink, Car Sim, and AMESim simulation software, the software in the loop simulation platform, including the vehicle model, the controller model and the integrated braking system simulation platform, is selected. The test shows that the actuator control algorithm and the stability control algorithm of the integrated brake system can effectively improve the braking performance and control stability of the vehicle.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.5
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