某轎車穩(wěn)定性集成制動控制響應特性研究
發(fā)布時間：2018-07-29 14:11
【摘要】：線控技術的出現(xiàn)及其在汽車制動系統(tǒng)中的應用,提高了汽車的主動安全性和操縱穩(wěn)定性,是汽車制動系統(tǒng)的發(fā)展方向。EHB(Electro-hydraulic Brake,電子液壓制動系統(tǒng))和EMB(Electro-mechanical Brake,電子機械制動系統(tǒng))作為線控制動系統(tǒng)的兩個主要分支,各自存在優(yōu)點和不足。而集成制動系統(tǒng)是繼EHB系統(tǒng)和EMB系統(tǒng)之后出現(xiàn)的又一新型線控制動系統(tǒng),是目前汽車主動安全研究領域的最新技術和研究熱點。新型的汽車集成制動系統(tǒng)在制動主缸與踏板之間采用集中電機以及每一輪缸配備單一電磁閥的方式,綜合利用了EMB電機調壓方式具有的調壓快速且精確的優(yōu)點,以及HCU調壓方式具有的在踏板與輪缸之間存在機械液壓連接而制動可靠性高的優(yōu)點,同時避免EMB電機與HCU電磁閥數(shù)量較多而引起的可靠性降低的缺點,并且同時具備線控和助力等功能。通過汽車集成制動系統(tǒng)可以集中供壓,實現(xiàn)制動壓力的快速、精確調節(jié)。針對于汽車集成制動系統(tǒng)集中供壓、分時調壓的工作原理,該系統(tǒng)執(zhí)行機構的響應特性以及穩(wěn)定性控制算法是影響集成制動系統(tǒng)是否能實現(xiàn)調壓快速、控制精確的關鍵問題,也是本文研究的出發(fā)點。本文圍繞“某轎車穩(wěn)定性集成制動控制響應特性”這一關鍵問題,開展如下問題的研究:1、搭建集成制動系統(tǒng)動力學模型。為研究集成制動系統(tǒng)執(zhí)行機構的動態(tài)響應特性,以及執(zhí)行機構主要硬件參數(shù)選擇對壓力響應的影響,本文基于Matlab/Simulink和AMESim軟件搭建了集成制動系統(tǒng)仿真平臺。仿真平臺包括集中電機模型、制動主缸模型、高速常開電磁閥模型、高速常閉電磁閥模型、低壓蓄能器模型和制動輪缸模型,要求所搭建模型應能準確反映各部件的動態(tài)響應特性。2、集成制動系統(tǒng)響應特性仿真分析�；诖罱ǖ姆抡嫫脚_,研究集成制動系統(tǒng)執(zhí)行機構的響應特性,考慮了高速開關電磁閥、低壓蓄能器等關鍵零部件參數(shù)選擇匹配對集成制動系統(tǒng)壓力響應特性的影響。基于課題組搭建的硬件在環(huán)仿真試驗臺,測試了試制的電磁閥的響應特性。3、集成制動執(zhí)行機構控制算法與整車穩(wěn)定性控制算法設計。本文針對集成制動系統(tǒng)采用布置于制動主缸與踏板之間的集中電機以及每一輪缸配置單一電磁閥的結構特點,開發(fā)適用于集成制動系統(tǒng)的車輛穩(wěn)定性控制算法,包括ABS分層控制策略和ESC分層控制策略。本文針對集成制動系統(tǒng)無法同時實現(xiàn)對四個制動輪缸壓力的單獨調節(jié),但能夠通過對電機的控制實現(xiàn)相對精確的調壓這一特點,根據(jù)四個制動輪缸的壓力調節(jié)情況組合,制定了ABS控制下的制動力分配最優(yōu)決策。設計執(zhí)行器(集中電機和電磁閥)的底層控制器算法,本文基于CMAC(Cerebellar Model Articulation Controller)與PID的并行控制實現(xiàn)了對集中電機的壓力——轉速雙環(huán)控制。根據(jù)制動力最優(yōu)分配決策給出電磁閥控制信號。另外,在基于線性二次最優(yōu)控制理論計算車輛目標橫擺力矩的基礎上,采用BP神經(jīng)網(wǎng)絡算法對最優(yōu)控制加權系數(shù)矩陣進行自適應修正。4、仿真測試某轎車穩(wěn)定性集成制動控制有效性。為驗證本文所設計的集成制動系統(tǒng)控制算法以及穩(wěn)定性控制算法的有效性,基于Matlab/Simulink、Car Sim、AMESim仿真軟件搭建了軟件在環(huán)仿真平臺,包括整車模型、控制器模型和集成制動系統(tǒng)綜合仿真平臺,選取典型工況進行軟件在環(huán)試驗。試驗表明:集成制動系統(tǒng)的執(zhí)行器控制算法與穩(wěn)定性控制算法能有效地提高車輛制動性能和操縱穩(wěn)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.
【學位授予單位】：吉林大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U463.5
本文編號：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.
【學位授予單位】：吉林大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U463.5
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