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Control Method of Brake-by-wire Vehicle Anti-lock Braking System Based on Disturbance Observer

An anti-lock braking system, disturbance observer technology, applied in the direction of brakes, etc., can solve the problem of robust control of BBW vehicles and so on

Active Publication Date: 2020-06-09
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing vehicle anti-lock braking system cannot robustly control the brake-by-wire vehicle, the present invention proposes a control method for the brake-by-wire vehicle anti-lock brake system based on a disturbance observer

Method used

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  • Control Method of Brake-by-wire Vehicle Anti-lock Braking System Based on Disturbance Observer
  • Control Method of Brake-by-wire Vehicle Anti-lock Braking System Based on Disturbance Observer
  • Control Method of Brake-by-wire Vehicle Anti-lock Braking System Based on Disturbance Observer

Examples

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Embodiment

[0073] Embodiment: combine below Figure 1 to Figure 7 This embodiment will be described in detail.

[0074] The control method of the anti-lock braking system of a brake-by-wire vehicle based on a disturbance observer described in this embodiment includes:

[0075] Step 1, establishing a brake dynamics model of the brake-by-wire vehicle;

[0076] Step 2, designing a disturbance observer-based brake-by-wire vehicle anti-lock braking system controller according to the braking dynamics model;

[0077] Step 3: Control the vehicle anti-lock brake system through the vehicle brake-by-wire system controller, so that the vehicle brake-by-wire vehicle anti-lock brake system will not be disturbed by the disturbance torque during operation.

[0078] The braking dynamics model is:

[0079]

[0080] In the formula group (1), λ is the slip ratio of the wheel, v is the vehicle speed, m is 1 / 4 of the vehicle mass, R is the rolling radius of the wheel, J is the moment of inertia of the w...

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Abstract

The invention discloses a control method of a brake-by-wire vehicle anti-lock system based on a disturbance observer, belongs to the field of non-linear vehicle control, and solves the problem that robust control of a brake-by-wire vehicle cannot be achieved by an existing vehicle anti-lock system. The control method of the brake-by-wire vehicle anti-lock system based on the disturbance observer includes the steps: building a brake dynamics model of a brake-by-wire vehicle; designing a brake-by-wire vehicle anti-lock system controller based on the disturbance observer according to the brake dynamics model; controlling the brake-by-wire vehicle anti-lock system by the brake-by-wire vehicle anti-lock system controller. The control method of the brake-by-wire vehicle anti-lock system based onthe disturbance observer is particularly applicable to robust control of the brake-by-wire vehicle anti-lock system.

Description

technical field [0001] The invention relates to a control method of a vehicle anti-lock braking system, which belongs to the field of vehicle nonlinear control. Background technique [0002] During the braking process of the vehicle, especially when emergency braking is performed on a road with a low friction coefficient, the wheels often lock up. Locked wheels will cause the vehicle to lose its steering ability, and will prolong the braking time and braking distance, which is a very dangerous working condition. For this reason, it is very necessary to carry out anti-lock braking control on the vehicle to improve the safety of the vehicle during braking. [0003] Existing vehicles typically employ anti-lock braking systems to prevent wheel lock-up situations from occurring. However, for a brake-by-wire vehicle, its wheels will be disturbed by various disturbance torques during the rolling process, such as rolling resistance torque and electromagnetic disturbance torque. T...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60T8/176
CPCB60T8/176
Inventor 孙维超张晋华
Owner HARBIN INST OF TECH