基于自抗扰控制的电控机械式制动器弯道制动力控制策略研究

Research on Curve Braking Force Control Strategy of EMB System Based on ADRC Algorithm

针对搭载电控机械式制动器(EMB)的车辆制定了一种弯道制动力控制策略,首先根据驾驶员的期望减速度得到所需的制动力,以垂直载荷估计值为依据对制动力进行初始分配,其次,利用基于自抗扰控制(ADRC)算法设计的附加横摆力矩控制模块得到提升车辆操纵稳定性所需的附加横摆力矩,最后通过制动力调节模块对初始分配的制动力进行调节,利用Simulink与CarSim开展联合仿真并与比例分配方案进行对比。结果表明,使用所提出的控制策略时车辆在弯道制动条件下四轮不易抱死,横摆角速度与质心侧偏角也更接近理想值,有效提升了车辆弯道制动安全性。

A curve braking force control strategy was developed for vehicles equipped with Electro Mechanical Brake(EMB)systems.Firstly,the required braking force was obtained according to the driver’s expected deceleration,and then the braking force was initially distributed based on the vertical load estimate,and then the additional yaw moment control module designed based on the Active Disturbance Rejection Control(ADRC)algorithm was utilized to obtain the additional yaw moment required to improve handling stability of the vehicle,and finally the initially assigned braking force was adjusted through the braking force adjustment module.Simulink and CarSim were applied to co-simulate and compare with the proportional distribution scheme,and the results show that the four wheels are not easy to lock in curve braking when the control strategy proposed in this research is used,and the yaw rate and sideslip angle are closer to their ideal values,which effectively improves the safety of cornering braking.