一种电动助力制动系统的主动制动分层控制算法

Active braking hierarchical control algorithm of electric power-assisted brake system

提出了一种主动制动分层控制算法,以满足汽车对统一电动助力主动制动的需要。该方法分上、中、下3层控制。上层控制用前馈加反馈的纵向减速度闭环控制方法,将车辆的目标减速度转化为目标压力;中层控制以制动系统的压力—电流模型为前馈,以基于目标压力分段的比例积分微分(PID)控制为反馈,将目标压力转化为电动助力器助力电机的目标电流;下层控制通过对电机输入电压的脉冲宽度调制(PWM),实现对电机目标电流的准确跟随。结果表明:在测试中,该算法的主动减速度控制的最大误差为±0.3 m/s2,减速度的响应时间小于300 ms。因而,该算法满足了汽车统一主动制动的需要。

An active braking hierarchical control algorithm was proposed for electric power-assisted braking systems to meet the needs for automobile unified active braking.The control method was divided into three layers:the upper,the middle,and the lower layer control.The upper-layer control proposed a feedforward and feedback closed-loop control method of longitudinal deceleration to convert the vehicle's target deceleration into target pressure;The middle-layer control took the braking system pressure-current model as feedforward and the proportion−integration−differentiation(PID)control based on the target pressure segments as feedback to converse the target pressure into the target current of the electric booster power motor;The lower-layer control realized the accurate follow of the target current of the motor through pulse-width modulation(PWM)of the motor input voltages.The test results show that the maximum error of the active deceleration control is±0.3 m/s2 with a deceleration response time being less than 300 ms.Therefore,the control algorithm meets the automobile’s needs for unified active braking.