考虑多维非线性扰动的电子助力制动系统自适应压力控制

Adaptive Pressure Control for Electronic Boost Brake System Considering Multi-dimensional Nonlinear Disturbances

针对电子助力制动系统(EBBS)面临的机-电-液多维非线性扰动问题,提出了一种自适应压力控制策略。外层液压控制器引入自适应径向基函数神经网络和鲁棒滑模理论克服液压时变不确定性,中间层位置控制器采用Karnopp摩擦前馈补偿和滑模控制应对传动机构非线性摩擦阻碍,内层电流控制器通过李雅普诺夫理论解决电机电磁特性耦合问题。仿真和硬件在环试验结果表明,设计的压力控制策略能够在多种工况中将EBBS主动制动稳态压力跟随误差维持在0.15MPa之内。

In order to solve the multi-dimensional nonlinear disturbances of the electronic boost brake system in terms of mechanics,electronics and hydraulics,in this paper an adaptive pressure control strategy is proposed.The outer hydraulic controller incorporates adaptive radial basis function neural networks and robust sliding mode theory to overcome hydraulic time-varying uncertainties.The intermediate layer controller adopts Karnopp friction feedforward compensation and sliding mode control to deal with the nonlinear friction hindrance of the transmission mechanism.The inner layer current controller solves the problem of electromagnetic coupling of the motor using Lyapunov theory.Simulation and hardware-in-the-loop test results show that the designed pressure control strategy can maintain the steady-state pressure tracking error of the EBBS active braking within 0.15 MPa under various operating conditions.