汽车EBD分级控制与试验研究

Hierarchical Control and Road Test of Electronic Brake-force Distribution of an Automobile

为了解决各种条件下制动初期汽车复杂的制动力分配问题,在分析汽车制动特性的基础上,设计出一种由运行级和组织协调级构成的电子制动力分配(EBD)分级控制系统。在运行级,设计了基于单轮参考滑移率和轮减速度的模糊智能控制器来计算各轮的预分配制动力。在组织协调级,设计出基于模糊推理的整车制动力协调控制器,根据各轮参考滑移率的差异对各轮预分配制动力进行调整。搭建了汽车EBD与ABS全车测控系统,参照国际标准,在不同条件下进行了道路试验。试验结果表明,EBD分级控制在汽车制动初期ABS控制起作用前,能够协调整车制动力分配,使得各轮抱死趋于一致,提高了整车制动平稳性。

To obtain the complicated brake-force distribution at the first braking period in different conditions, a hierarchical control （HC） system of electronic brake-force distribution （EBD） is investigated based on analysis of automobile braking characteristics. It includes running control and organization coordination level. In running control level, a fuzzy intelligent controller with the inputs of reference slip ratio and wheel deceleration is designed to calculate predistribution braking-force of each wheel. In organization coordination level, a whole vehicle coordination controller using fuzzy reasoning method is proposed according to reference slip ratio of each wheel. This controller can implement predistribution braking-force adjustment of each wheel. An automobile EBD and anti-lock braking system （ABS） test and control system is built. According to international criterion, road tests under different conditions are completed. Test results show that the HC of EBD can coordinate braking-force distribution of the whole vehicle better than ABS using traditional logic gate control. Each wheel has the same lock trend so that the automobile has good braking stability before the ABS controller works.