电子机械制动器构型及控制技术发展现状

Review on Electro-Mechanical Brake Structure and Control Technology

电子机械制动(EMB)作为真正意义上的线控制动,具有系统结构精简、制动响应迅速等诸多优势。为了对EMB构型的研发现状进行全面梳理,本文在大量专利调研的基础上对各种构型的发展和产业化进程进行了总结,并对滚珠丝杠、楔式自增力、滚珠坡道和凸轮4种基本构型方案进行了分析和对比。针对执行器非线性特性和慢时变参数摄动下的控制难题,本文首先对各种执行器建模方法进行了整理,然后以有无压力传感器为分类依据,从基于夹紧力反馈值的控制和基于夹紧力估计值的控制两大层面分别对国内外的研究进展进行综述。最后,提出了对于执行器构型设计、夹紧力控制以及整车协调冗余控制的发展展望。

As a complete form of brake-by-wire system,electro-mechanical brake(EMB)system has many advantages such as simplified structure and rapid braking response.To give a comprehensive review on the de-velopment status of EMB structure,the development and industrialization of various structure schemes are summa-rized based on investigation of a large number of patents in this paper.And four basic structure schemes including the ball-screw-type,wedge-type,ball-ramp-type and cam-type scheme are analyzed and compared.For the clamp-ing force control problem of the actuator with nonlinear characteristics and slow time-varying parameter perturba-tions,firstly a review on the actuator modeling methods is conducted in this paper.Then through the classification based on the presence or absence of pressure sensors,the research progress both home and abroad is reviewed from two aspects:clamping force control methods based on the feedback force value and control methods based on the es-timated force value.Finally,future development trends of the actuator structure design,clamping force control and vehicle coordination redundancy control are prospected.