机电联合制动力前馈-反馈混合结构控制策略

Control strategy with feedforward-feedback hybrid structure for electro-mechanical brake force

针对机电联合制动动态过程中如何提高总制动力的平稳性和响应速度的问题,在满足驾驶员总制动力需求和高效回收制动能量要求的前提下,提出了基于前馈-反馈混合结构的制动力闭环控制策略.该策略协调控制电机和机械制动力的静态分配和动态控制,利用电机制动的快速响应特性弥补机械制动力响应速度的不足.前馈部分生成机电联合制动力的静态期望值,反馈部分通过闭环控制算法调节总制动力与机械制动力的动态特性,提高联合制动力的平稳性和响应速度.对机电联合制动系统进行了建模与仿真,验证了闭环控制策略的期望控制特性,前馈-反馈混合结构较好地解决了机电联合制动多控制目标、多闭环的复杂控制问题.

Aiming at the smoothness and responding speed of total brake force of electric and mechanical brake system,the closed loop control strategy of brake force based on the feedforward-feedback structure is proposed to meet the demand of driver request brake force and recover the brake energy efficiently.The strategy can harmonize the static distribution and dynamic control of electric and mechanical brake force,and recuperate the dynamic responding speed of mechanical brake force by the rapid responding speed of motor brake force.The feedforward part of strategy calculates the desired characteristic of the brake force,and the feedback part of strategy adjusts the dynamic characteristic of the total and mechanical brake forces by the closed loop algorithm for enhancing the smoothness and responding speed of total brake force.The simulation results indicate that the desired control characteristic of closed loop strategy is validated and the complex control problem of electric and mechanical brake with multi control objective and multi closed loop can be solved well by the feedforward-feedback control structure.