基于死区和抗饱和补偿的线控制动系统非线性压力控制研究

Research on nonlinear pressure control of brake-bywire system based on dead zone and anti-saturation compensation

线控制动系统通过机电执行器将所需的制动扭矩施加到车轮上,对车辆的电气化和轻量化有着重要意义。由于系统存在非线性死区效应以及输入饱和问题,导致闭环系统性能降低。针对线控制动系统的控制问题,本文采用基于死区和抗饱和补偿的PID控制器实现线控制动系统的有效控制,并对控制效果进行仿真验证;优化控制模型,建立了线控制动系统数学模型;在传统PID控制器的基础上,添加了死区和抗饱和补偿;采用数学软件Matlab对线控制动系统进行仿真,同时与传统PID控制器的计算结果进行对比和分析。仿真结果显示:采用添加了死区和抗饱和补偿的PID控制器响应延迟减少约50%,无过冲,跟踪性能明显提高,同时大大减小了获得所需压力的控制量,制动效果显著提高。

The brake-by-wire system applies the required braking torque to the wheels through electromechanical actuators,which is of great significance for the electrification and light-weighting of cars.Due to the nonlinear dead-band effect and input saturation problems in the system,the performance of the closed-loop system is reduced.Aiming at the control problem of the brake-bywire system,a PID controller based on dead zone and anti-saturation compensation is used to achieve effective control of the brake-by-wire system,and the control effect is simulated and verified.The control model was optimized,and the mathematical model of the brake-by-wire system was established.Dead zone and anti-saturation compensation are added on the basis of traditional PID controller.The mathematical software Matlab is used to simulate the brake-by-wire system.At the same time,it compares and analyzes the calculation results with traditional PID controllers.The simulation results show that the response delay of the PID controller with dead zone and antisaturation compensation is reduced by about 50%,without overshoot,and the tracking performance is significantly improved.At the same time,the control amount to obtain the required pressure is greatly reduced,and the braking effect significantly increased.