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An anti-disturbance vehicle active braking control system and method

An active braking and control system technology, applied in the direction of braking safety systems, brakes, vehicle components, etc., can solve the problems of affecting the driving experience of braking reliability, increasing the error of braking pressure tracking, and sluggish dynamic response of the system, etc. , to achieve the effect of improving the driving experience, realizing simplicity and improving reliability

Active Publication Date: 2021-08-17
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The actual disturbances in these systems will lead to sluggish dynamic response of the system, increase or even divergence of brake pressure tracking errors, seriously affecting braking reliability and driving experience

Method used

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  • An anti-disturbance vehicle active braking control system and method
  • An anti-disturbance vehicle active braking control system and method
  • An anti-disturbance vehicle active braking control system and method

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Embodiment Construction

[0039] In order to describe the present invention more specifically, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0040] Such as figure 1 As shown in the figure, the electronically controlled braking system converts the output torque of the servo motor into horizontal thrust by using transmission mechanisms such as screw nuts, and drives the output push rod to push the piston of the brake master cylinder to generate braking pressure. Among them, the output push rod and the screw rod are rigidly connected, and its displacement x ser It can be measured by the servo motor angle sensor.

[0041] Establish the braking system equation:

[0042]

[0043] where: m E is the equivalent mass of the braking system, k i is the transmission coefficient, k t is the torque coefficient, k e is the back electromotive force coefficient, F p (x ser ) is the model obtained by ...

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Abstract

The invention discloses an anti-disturbance vehicle active braking control system and method, belonging to the field of vehicle braking control. The control method takes the target braking pressure and the displacement of the output push rod as input, establishes the mathematical model of the braking system, uses the extended state observer to estimate the system disturbance and unknown state variables, and obtains the reference voltage of the servo motor through the backstepping method; After PWM modulation, the servo motor and the transmission mechanism are driven to establish pressure in the brake master cylinder to achieve accurate tracking of the target brake pressure; through stability analysis, the value range of the bandwidth of the expanded state observer is determined to ensure the convergence of the brake pressure tracking error. Rapidity. The anti-disturbance active braking control method proposed by the present invention has strong anti-disturbance ability, high tracking accuracy and fast speed, can effectively increase the reliability of the braking system, and improve the driving experience.

Description

technical field [0001] The invention belongs to the field of vehicle braking control, in particular to an anti-disturbance vehicle active braking control system and method Background technique [0002] Active braking means that the vehicle does not need to be operated by the driver. By analyzing external information, the braking device is controlled to brake some or all of the wheels. It is widely used in adaptive cruise control (ACC, Adaptive Cruise Control), automatic emergency braking (AEB , Autonomous Emergency Braking), Advanced Driver Assistance Systems (ADAS, Advanced Driver-assistance Systems) and autonomous driving. Active braking is achieved by means of an electronically controlled braking system: the transmission converts the electromagnetic torque of the servo motor into pressure on the brake master cylinder. Although the control methods currently used in active braking systems, such as sliding mode control, quantitative feedback control, and geometric control, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60T13/74B60T13/66B60T17/22H02P3/02H02P3/08H02P6/24
CPCB60T13/662B60T13/74B60T17/22H02P3/02H02P3/08H02P6/24
Inventor 杨家强闫亮孟德智
Owner ZHEJIANG UNIV