基于轮速误差的模糊PID电液复合制动控制

Fuzzy PID Control for Electro-Hydraulic Braking Based on Error of Wheel Speed

为了提高电动汽车电液复合制动中液压制动压力的控制精度以及规划两种制动力矩,设计了一种基于轮速误差电液复合制动防抱死系统(ABS)控制方法。该方法使用模糊PID联合前馈控制作为上层控制器,采用电液制动力矩分配控制算法作为下层控制器,最后进行ADAMS与Simulink联合仿真。仿真结果表明,提出的上层控制器算法能将滑移率控制在20%附近,在保证可操纵的同时提升了制动能力;提出的下层控制器的电液制动力矩分配控制算法能有效地减少液压阀的开启和关闭,且控制精度高,响应快。

For improving the control precision of hydraulic brake pressure in the electro-hydraulic brake and planning the two kinds of braking torque of a electric vehicle, a electro-hydranlic braking system control method is presented based on the error of wheel speed. The proposed method adopts the fuzzy PID combined with feed-forward control as the upper controller, and the electro-hydraulic braking torque distribution control algorithm as the lower controller. Co-simulation is carries out based on ADAMS and Simulink at the end of project. The simulation results show that the upper controller can control the slip ratio near 20% and improve the braking capability at the same time. The control algorithm of electro-hydraulic braking torque distribution of lower controller can effectively reduce the opening and closing of the hydraulic valve, and the control precision is high ,the response is quick.