Nonlinear composite ABS control method based on electromagnetic brake hysteresis compensation
A technology of electromagnetic braking and control methods, applied in the direction of brakes, control devices, geometric CAD, etc., can solve the problems of braking system vibration, restricting the improvement of the response characteristics of the braking system, and not considering
Active Publication Date: 2020-02-14
JIANGSU UNIV
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[0004] Chinese patent CN201410225506.2 A composite braking system and its composite braking method for electric vehicles. The proposed composite braking method selects the regenerative braking torque first. When the regenerative braking torque is insufficient, the frictional braking torque is used to compensate , although it can effectively recover energy, it ignores the obvious response difference between the two braking systems, and does not consider the hysteresis between the two will cause the braking system to oscillate
The time lag effect brought about by measurement and calculation restricts the improvement of the response characteristics of the braking system
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[0180] In order to verify the effectiveness of the above control methods, this section simulates the ABS braking conditions on high adhesion coefficient roads, and uses the integral feedback nonlinear composite braking based on electromagnetic braking hysteresis compensation and the ABS control strategy of electrohydraulic braking. Conduct comparative analysis. Parameters required for practical application: u is the friction coefficient of the road surface and is selected as 0.8, R=0.326m, v=30m / s, C i = 30000, C α =50000N / rad, m w =40kg, I t =1.7kgm 2 , m vs =415kg, a=20, h=0.01, β=20,τ 1 = 150ms, τ 2 = 5ms, ε r =0.015s / m,h cg = 0.5m.
[0181] image 3 It is a comparison chart of the slip ratio of the integral feedback nonlinear composite ABS control based on electromagnetic brake hysteresis compensation and the slip ratio of the electronic hydraulic brake control. Through comparison, it is found that the slip rate of integral feedback nonlinear composite ABS contr...
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The invention discloses a nonlinear composite ABS control method based on electromagnetic brake hysteresis compensation. The method comprises the steps that a vehicle dynamics mathematical model, a tire mathematical model, an electromagnetic brake mathematical model, an electronic hydraulic brake mathematical model and a reference slip rate mathematical model are established; an execution module 1and an execution module 2 are designed according to the electronic hydraulic brake mathematical model and the electromagnetic brake mathematical model; 2, a required braking torque is calculated through a calculation module 1 according to the vehicle dynamics mathematical model, the tire mathematical model and the reference slip rate mathematical model, and the execution module 1 provides the required braking torque; and a calculation module 2 calculates the required hysteresis compensation braking torque according to an electronic hydraulic brake, and the execution module 2 provides the required hysteresis compensation braking torque. The nonlinear composite ABS control method has the beneficial effects that the cost of a torque sensor is reduced, the control precision and the response speed of an automobile ABS can be effectively improved, the slip rate is rapidly converged to a target value, and automobile braking safety is guaranteed.
Description
technical field [0001] The invention relates to a control method of an automobile anti-lock braking system, in particular to a nonlinear compound ABS control method based on electromagnetic brake hysteresis compensation, belonging to the field of automobile braking systems. Background technique [0002] The anti-lock braking system (ABS) is the most basic safety control of the vehicle. It automatically controls the friction force of the brake through the electromechanical hydraulic system, so that the wheels are not locked and kept near the optimum slip ratio. However, the traditional braking system is limited by its structure and working principle, and it is difficult to meet many new functional requirements for the braking system such as vehicle electrification and intelligence, and it is difficult to achieve man-machine braking decoupling and fast and accurate braking. Electro-hydraulic braking can meet the above requirements, and has broad application prospects in the fu...
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IPC IPC(8): B60T8/1761B60W50/00G06F30/15
CPCB60T8/1761B60W50/00B60W2050/0031B60W2050/0037
Inventor 何仁苑磊
Owner JIANGSU UNIV