气压电控制动系统仿真平台及补偿控制策略开发

Development of simulation platform and hysteresis control strategy of pneumatic electronic braking system for commercial vehicles

为改善比例继动阀的工作特性和整车制动性能,建立并验证了包含电控制动系统EBS部件、能够反映EBS制动系统性能的Simulink&AMESim联合仿真商用车整车动力学仿真平台;根据仿真分析和试验测试结果提出了逆滞环前馈补偿和PID压力闭环相结合的比例继动阀迟滞补偿压力控制策略;最后,基于所开发的AMESim比例继动阀仿真模型、硬件在环试验台和EBS整车仿真平台对本文控制策略进行了验证。结果表明,本文的压力控制策略使比例继动阀的压力响应提前76%,基本消除了静态迟滞特性,同时使制动距离减小2.8%。

To eliminate the hysteresis characteristics of proportional relay valve and its influence on heavy vehicle braking performance,the response time and hysteresis characteristics of the proportional valves were tested.A vehicle dynamic simulation platform was developed using MATLAB/Simulink and AMESim for the purpose of Electric Braking System（EBS）control strategy development and braking performance analysis.The platform consists of pneumatic EBS components and it can reflect the EBS performance.A hysteresis compensation method,which integrates PID closed loop control and the feedforward compensation control,was proposed for mitigating the hysteresis characteristics of the proportional relay valve.Experiments were conducted on the simulation platform to evaluate the effect of the control strategy on the valve characteristics and vehicle braking performance.Results show that using the proposed pressure control strategy the pressure response of the proportional relay valve is advanced by 76% and the static hysteresis is almost eliminated.Meanwhile,the braking distance is reduced by 2.8%.