汽车电动助力制动系统摩擦建模与补偿控制

Modeling and Compensation Control for Friction in Vehicle Power Assisted Braking System

汽车电动助力制动系统是典型的机电伺服系统,摩擦作为机电系统中普遍存在的非线性效应,是影响电动助力制动系统控制质量的主要因素。本文中建立了LuGre摩擦模型来表征系统的摩擦特性,并采用遗传算法进行摩擦模型的参数辨识,并通过台架试验进行了验证。最后,将摩擦模型应用到电动助力制动系统的补偿控制中,实车试验结果验证了电动助力制动系统控制的有效性。

The power assisted braking system （PABS） of vehicle is a typical electromechanical servo sys-tem ,and friction, as a non-linear effect commonly existing in electromechanical system, is one of the main factors influencing the control quality of PABS. In this paper, a LuGre friction model is built for representing the friction characteristics of the system,and genetic algorithm is used to conduct the parameter identification of LuGre model, which is then verified by bench test. Finally,the LuGre model is applied to the compensation control of PABS,and the results of real vehicle test verify the control effectiveness of PABS.