Hydraulic force control method and system for a magnetic screw integrated electric master cylinder

Abstract

The application discloses a hydraulic force control method and system of a magnetic screw integrated electric master cylinder, and the method comprises the following steps: obtaining relevant measurement data of the magnetic screw integrated electric master cylinder; constructing an analytical mathematical model of the magnetic screw integrated electric master cylinder based on the relevant measurement data; calculating reference data of the magnetic screw and reference data of a driving motor in a fixed time constraint robust control mode based on the analytical mathematical model; and inputting the reference data of the magnetic screw and the reference data of the driving motor into a motor driving unit to drive the magnetic screw integrated electric master cylinder to run according to a preset track. The application can effectively solve the problem that the control method and system of a traditional electric master cylinder cannot be directly applied to the magnetic screw integrated electric master cylinder, and realize stable control of hydraulic pressure.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile braking, and in particular to a hydraulic pressure control method and system for a magnetic screw integrated electric master cylinder. Background Art

[0002] As an advanced onboard braking system, electronic hydraulic brake systems based on electric master cylinders (EMCs) have improved vehicle braking performance. These EMCs typically utilize a combination of a drive motor and a mechanical transmission mechanism to achieve active pressure boosting. However, inherent mechanical characteristics of the EMC's mechanical transmission mechanism, such as friction, wear, aging, and seizure, severely compromise the reliability, efficiency, and controllability of EMCs.

[0003] To eliminate the negative effects of mechanical transmission mechanisms, the authors invented an electric master cylinder with an integrated magnetic screw (see patent CN115626146A). This utilizes a novel magnetic screw to convert the electric master cylinder's rotational-to-linear motion, thus avoiding the negative effects of traditional mechanical transmission mechanisms. However, the introduction of a magnetic screw introduces a new magnetic element to the electric master cylinder, altering its mathematical model and posing new challenges for precise control of the hydraulic pressure in the cylinder.

[0004] Currently, there is a lack of modeling, control methods, and control system development for magnetic screw-integrated electric master cylinders. Furthermore, the system model of traditional electric master cylinders based on mechanical transmission mechanisms differs significantly from that of the new magnetic screw-integrated electric master cylinder, making direct application difficult. Summary of the Invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the present invention proposes a hydraulic pressure control method for a magnetic screw integrated electric master cylinder to solve the problem of the lack of development of control methods and systems for magnetic screw integrated electric master cylinders, as well as the problem that traditional electric master cylinder control methods and systems are difficult to directly apply to magnetic screw integrated electric master cylinders, thereby realizing stable control of the hydraulic pressure of the electric master cylinder.

[0007] Another object of the present invention is to provide a hydraulic pressure control system for an electric master cylinder integrated with a magnetic screw.

[0008] To achieve the above objectives, the present invention provides a method for controlling the hydraulic pressure of a magnetic screw integrated electric master cylinder, comprising:

[0009] Obtain relevant measurement data of the magnetic screw integrated electric master cylinder;

[0010] Constructing an analytical mathematical model of a magnetic screw integrated electric master cylinder based on the relevant measurement data;

[0011] Calculating reference data of the magnetic screw and reference data of the drive motor respectively based on the analytical mathematical model in a manner utilizing fixed time constrained robust control;

[0012] The reference data of the magnetic screw and the reference data of the driving motor are input into the motor driving unit to drive the magnetic screw integrated electric master cylinder to run according to a preset trajectory.

[0013] The hydraulic pressure control method of the magnetic screw integrated electric master cylinder according to the embodiment of the present invention may also have the following additional technical features:

[0014] In one embodiment of the present invention, the relevant measurement data include the main cylinder hydraulic pressure, the linear speed and magnetic thrust of the magnetic screw, and the speed and torque of the drive motor; the reference data of the magnetic screw include the reference linear speed and reference magnetic thrust of the magnetic screw, and the reference data of the drive motor include the reference speed and reference torque of the drive motor.

[0015] In one embodiment of the present invention, calculating the reference linear velocity of the magnetic screw includes:

[0016] Calculate the hydraulic pressure control error of the master cylinder, formulate the hydraulic force quantization error boundary of the master cylinder, and observe the lumped disturbance term of the hydraulic pressure of the master cylinder;

[0017] Calculating a reference linear velocity of the magnetic screw according to the hydraulic pressure error of the master cylinder, the hydraulic pressure quantization error boundary, and an estimated value of the hydraulic pressure lumped disturbance term;

[0018] Performing a first-order filtering process on the reference linear velocity to obtain a filtered reference linear velocity.

[0019] In one embodiment of the present invention, calculating the reference magnetic thrust of the magnetic screw includes:

[0020] Calculate the linear velocity control error of the magnetic screw, formulate the linear velocity quantization error boundary of the magnetic screw, and observe the lumped disturbance term of the linear velocity of the magnetic screw;

[0021] online calculating a reference magnetic thrust of the magnetic screw according to a linear velocity control error of the magnetic screw, a linear velocity quantization error boundary, and an estimated value of the linear velocity lumped disturbance term;

[0022] A first-order filtering process is performed on the reference magnetic thrust of the magnetic screw to obtain a filtered reference magnetic thrust.

[0023] In one embodiment of the present invention, calculating the reference speed of the drive motor includes:

[0024] Calculate the magnetic thrust control error of the magnetic screw, formulate the quantitative error boundary of the magnetic thrust of the magnetic screw, and observe the lumped disturbance term of the magnetic thrust of the magnetic screw;

[0025] online calculating a reference speed of a drive motor according to a magnetic thrust control error of the magnetic screw, a magnetic thrust quantization error boundary, and an estimated value of a magnetic thrust lumped disturbance term;

[0026] A first-order filtering process is performed on the reference speed of the driving motor to obtain a filtered reference speed.

[0027] In one embodiment of the present invention, calculating the reference torque of the drive motor includes:

[0028] Calculate the speed control error of the drive motor, establish the speed quantization error boundary of the drive motor, and observe the lumped disturbance term of the speed of the drive motor;

[0029] online calculating a reference torque of the drive motor according to the drive motor speed control error, the speed quantization error boundary, and an estimated value of the speed lumped disturbance term;

[0030] The reference torque of the driving motor is limited in amplitude and slope.

[0031] To achieve the above-mentioned object, the present invention further provides a hydraulic pressure control system for a magnetic screw integrated electric master cylinder, comprising:

[0032] A data processing unit, used for acquiring relevant measurement data of the magnetic screw integrated electric master cylinder;

[0033] a mathematical model building unit, configured to build an analytical mathematical model of the magnetic screw integrated electric master cylinder based on the relevant measurement data;

[0034] a constrained robust control unit, configured to calculate reference data of the magnetic screw and reference data of the drive motor respectively based on the analytical mathematical model in a manner utilizing fixed-time constrained robust control;

[0035] The motor drive unit is used to input the reference data of the magnetic screw and the reference data of the drive motor into the motor drive unit to drive the magnetic screw integrated electric master cylinder to run according to a preset trajectory.

[0036] The hydraulic pressure control method and system of the magnetic screw integrated electric master cylinder according to the embodiment of the present invention realize the dynamic hydraulic pressure control of the magnetic screw integrated electric master cylinder.

[0037] The beneficial effects of the present invention are:

[0038] 1) The present invention adopts a fixed-time constrained robust backstepping control method to realize the dynamic hydraulic pressure control of the magnetic screw integrated electric master cylinder for the first time, filling the gap in the development of the magnetic screw integrated electric master cylinder hydraulic pressure control method.

[0039] 2) The present invention establishes for the first time an accurate mathematical model of the magnetic screw integrated electric master cylinder; on this basis, a fixed-time expanded state observer is constructed to estimate system disturbances and compensate them in real time, which greatly improves the robustness of the hydraulic pressure control of the magnetic screw integrated electric master cylinder.

[0040] 3) This invention integrates the hydraulic pressure constraints of the master cylinder, the linear velocity constraints and magnetic thrust constraints of the magnetic screw, and the speed constraints of the drive motor into the control algorithm development of a magnetic screw-integrated electric master cylinder for the first time, achieving hydraulic pressure control with a specified performance. Furthermore, it uses a fixed-time control method to achieve hydraulic pressure control with a specified convergence time. This invention significantly improves the hydraulic pressure control performance of magnetic screw-integrated electric master cylinders and is suitable for applications with special control accuracy and response time requirements.

[0041] 4) The control method of the magnetic screw integrated electric master cylinder of the present invention makes the control system not completely dependent on the system mathematical model, has higher versatility and better applicability in complex environments; and has the hydraulic pressure control capability with specified performance and specified response time.

[0042] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0044] Figure 1 is a flow chart of a hydraulic pressure control method of a magnetic screw integrated electric master cylinder according to an embodiment of the present invention;

[0045] Figure 2 1 is a structural diagram of the magnetic screw integrated electric master cylinder involved in the present invention;

[0046] Figure 3 It is a flow chart of the hydraulic pressure control method of the magnetic screw integrated electric master cylinder in the present invention;

[0047] Figure 4 This is a structural diagram of the hydraulic pressure control system of the magnetic screw integrated electric master cylinder in the present invention;

[0048] Figure 5 is a structural diagram of the constrained robust hydraulic pressure control unit of the present invention;

[0049] Figure 6 is a structural diagram of the constrained robust linear velocity control unit of the present invention;

[0050] Figure 7 It is a structural diagram of the constrained robust magnetic thrust control unit of the present invention;

[0051] Figure 8 is a structural diagram of the constrained robust speed control unit in the present invention;

[0052] Among them, 1. Drive motor, 2. Magnetic screw, 3. Master cylinder, 4. Braking control system, 41. Data processing unit, 42. Mathematical model building unit, 43. Constrained robust hydraulic pressure control unit, 431. Hydraulic pressure error calculation module, 432. Hydraulic pressure constraint module, 433. Hydraulic pressure disturbance observation module, 434. Hydraulic pressure control module, 435. Reference linear velocity filtering module, 44. Constrained robust linear velocity control unit, 441. Linear velocity error calculation module, 442. Linear velocity constraint module, 443. Linear velocity disturbance observation module , 444, linear speed control module, 445, reference magnetic thrust filtering module, 45, constrained robust magnetic thrust control unit, 451, magnetic thrust error calculation module, 452, magnetic thrust constraint module, 453, magnetic thrust disturbance observation module, 454, magnetic thrust control module, 455, reference speed filtering module, 46, constrained robust speed control unit, 461, speed error calculation module, 462, speed constraint module, 463, speed disturbance observation module, 464, speed control module, 465, reference torque limit module, 47, motor drive unit. DETAILED DESCRIPTION

[0053] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0055] The following describes a hydraulic pressure control method and system for a magnetic screw integrated electric master cylinder according to an embodiment of the present invention with reference to the accompanying drawings.

[0056] Figure 1This is a flow chart of a hydraulic pressure control method for a magnetic screw integrated electric master cylinder according to an embodiment of the present invention.

[0057] like Figure 1 As shown, the method includes but is not limited to the following steps:

[0058] S101, obtaining relevant measurement data of the magnetic screw integrated electric master cylinder;

[0059] S102, constructing an analytical mathematical model of the magnetic screw integrated electric master cylinder based on relevant measurement data;

[0060] S103, respectively calculating reference data of the magnetic screw and reference data of the drive motor based on an analytical mathematical model in a manner of fixed time constrained robust control;

[0061] S104 , inputting reference data of the magnetic screw and reference data of the driving motor into a motor driving unit to drive the magnetic screw integrated electric master cylinder to run according to a preset trajectory.

[0062] like Figure 2 As shown, the present invention specifically includes a drive motor 1, a magnetic screw 2, a master cylinder 3, and a brake control system 4. The drive motor 1 is used to provide a boost power source for the master cylinder; the magnetic screw 2 is used to convert the rotational motion of the drive motor 1 into linear motion; the master cylinder 3 generates brake fluid pressure under the linear push of the magnetic screw 2; and the brake control system 4 is used to control the magnetic screw-integrated electric master cylinder to operate according to a predetermined trajectory.

[0063] like Figure 3 As shown, the present invention provides another method for controlling the hydraulic pressure of a magnetic screw integrated electric master cylinder, which specifically includes the following steps:

[0064] Step S1: Power on and initialize the magnetic screw integrated electric master cylinder;

[0065] Step S2: obtaining the hydraulic pressure of the master cylinder 3 of the magnetic screw integrated electric master cylinder, the linear speed and magnetic thrust of the magnetic screw 2, the speed and torque of the drive motor 1, and filtering the relevant measurement data;

[0066] Step S3: constructing an analytical mathematical model of the magnetic screw integrated electric master cylinder;

[0067] Step S4: using a fixed-time constrained robust control method, the constrained robust hydraulic pressure control unit 43 calculates the reference linear velocity of the magnetic screw 2 online;

[0068] Step S5: using a fixed-time constrained robust control method, the constrained robust linear velocity control unit 44 calculates the reference magnetic thrust of the magnetic screw 3 online;

[0069] Step S6: using a fixed-time constrained robust control method, the constrained robust magnetic thrust control unit 45 calculates the reference speed of the drive motor 1 online;

[0070] Step S7: using a fixed-time constrained robust control method, the constrained robust speed control unit 46 calculates the reference torque of the drive motor 1 online;

[0071] Step S8: the motor drive unit 47 drives the magnetic screw integrated electric master cylinder to run along a predetermined trajectory.

[0072] Furthermore, the analytical mathematical model of the magnetic screw integrated electric master cylinder is constructed in the above step S3, and the specific formula is as follows:

[0073]

[0074] Where x1 = P mc 、 x3=F t and are the hydraulic pressure of the master cylinder 3, the linear velocity of the magnetic screw 2, the magnetic thrust of the magnetic screw 2, and the speed of the drive motor 1. D1, D2, D3, and D4 are the lumped disturbance terms of the hydraulic pressure of the master cylinder 3, the linear velocity of the magnetic screw 2, the magnetic thrust of the magnetic screw 2, and the speed of the drive motor 1, respectively. mc is the hydraulic pressure coefficient, M p is the equivalent mass of the magnetic screw 2, A mc and B mc are the cross-sectional area and friction coefficient of the master cylinder 3, i s is the speed ratio of the reducer, L is the lead of the magnetic screw 2, is the equivalent stiffness of the magnetic thrust of the magnetic screw 2, F m is the magnetic thrust amplitude of the magnetic screw 2, τ p is the pole pitch of the magnetic screw 2; J m and B m are the moment of inertia and friction coefficient of the drive motor 1; T m is the torque of the drive motor 1 .

[0075] Furthermore, in the above step S4, the fixed time constrained robust control method is adopted to constrain the robust hydraulic pressure control unit 43 to calculate the reference linear velocity of the magnetic screw 2 online, which specifically includes the following steps:

[0076] Step S41: The hydraulic pressure error calculation module 431 calculates the hydraulic pressure control error of the master cylinder 3 in real time. The specific formula is as follows:

[0077] e1=x 1d -x1

[0078] Among them, e1 and x 1d are respectively the hydraulic pressure error and the reference linear speed of the master cylinder 3 .

[0079] Step S42: The hydraulic pressure constraint module 432 formulates the quantized error boundary of the hydraulic pressure of the master cylinder 3. The specific formula is as follows:

[0080]

[0081] Wherein, φ1(t) is the hydraulic pressure constraint performance function of the master cylinder 3, φ 10 、φ 1∞ and are the initial value, final value and convergence rate of the hydraulic pressure constraint performance function respectively.

[0082] Step S43: The hydraulic pressure disturbance observation module 433 observes the hydraulic pressure lumped disturbance term of the master cylinder 3 in real time. The specific formula is as follows:

[0083]

[0084] in, and are respectively the estimated value of the hydraulic pressure of the master cylinder 3 and the estimated value of the lumped disturbance term of the hydraulic pressure, is the estimated deviation of the hydraulic pressure of the master cylinder 3,

[0085]

[0086] is the symbolic exponential function. o11 >0,α o12 >0, β o11 >0, β o12 >0、0<λ o11 <1, 0<λ o12 <1, χ o11 >1, χ o12 >1 and Λ o1 >0 is a positive constant.

[0087] Step S44: The hydraulic pressure control module 434 calculates the reference linear velocity of the magnetic screw 2 online based on the hydraulic pressure error of the master cylinder 3, the hydraulic pressure quantization error boundary, and the estimated value of the hydraulic pressure lumped disturbance term. The specific formula is as follows:

[0088]

[0089] Among them, x 2c is the reference linear velocity of the magnetic screw 2, z1=e1(φ1(t)-||e1||)-1 is the hydraulic pressure funnel error variable, Φ1=φ1(t)(φ1(t)-|e1|) -2 is an intermediate variable, α c11 >0, β c11 >0、0<λ c11 <1 and χ c11 >1 is a positive constant.

[0090] Step S45: The reference linear velocity filtering module 435 performs first-order filtering on the reference linear velocity of the magnetic screw 2. The specific formula is as follows:

[0091]

[0092] Among them, x 2d is the reference linear velocity of the magnetic screw 2 after filtering, τ f2 >0、0<λ f2 <1 and χ f2 >1 is a positive constant.

[0093] Furthermore, in the above step S5, the fixed time constrained robust control method is adopted to constrain the robust linear velocity control unit 44 to calculate the reference magnetic thrust of the magnetic screw 2 online, which specifically includes the following steps:

[0094] Step S51: The linear velocity error calculation module 441 calculates the linear velocity control error of the magnetic screw 2 in real time. The specific formula is as follows:

[0095] e2=x 2d -x2

[0096] Wherein, e2 is the linear velocity error of the magnetic screw 2 .

[0097] Step S52: The linear velocity constraint module 442 formulates the quantization error boundary of the linear velocity of the magnetic screw 2. The specific formula is as follows:

[0098]

[0099] Wherein, φ2(t) is the linear velocity constraint performance function of the magnetic screw 2, φ 20 、φ 2∞ and are the initial value, final value and convergence rate of the linear velocity constraint performance function respectively.

[0100] Step S53: The linear velocity disturbance observation module 443 observes the lumped disturbance term of the linear velocity of the magnetic screw 2 in real time. The specific formula is as follows:

[0101]

[0102] in, and are respectively the estimated value of the linear velocity of the magnetic screw 2 and the estimated value of the lumped disturbance term of the linear velocity, is the estimated deviation of the linear velocity. o21 >0,α o22 >0, β o21 >0, β o22 >0、0<λ o21 <1, 0<λ o22 <1, χ o21 >1, χ o22 >1 and Λ o2 >0 is a positive constant.

[0103] Step S54: The linear velocity control module 444 calculates the reference magnetic thrust of the magnetic screw 2 online based on the linear velocity error, the linear velocity quantization error boundary, and the estimated value of the linear velocity lumped disturbance term of the magnetic screw 2. The specific formula is as follows:

[0104]

[0105] Among them, x 3c is the reference magnetic thrust of the magnetic screw 2, z2=e2(φ2(t)-|e2|) -1 is the linear velocity funnel error variable, Φ2=φ2(t)(φ2(t)-|e2|) -2 is an intermediate variable, α c21 >0, β c21 >0、0<λ c21 <1 and χ c21 >1 is a positive constant.

[0106] Step S55: The reference magnetic thrust filter module 445 performs first-order filtering on the reference magnetic thrust of the magnetic screw 2. The specific formula is as follows:

[0107]

[0108] Among them, x 3d is the reference magnetic thrust of the magnetic screw 2 after filtering, τ f3 >0、0<λ f3 <1 and χ f3 >1 is a positive constant.

[0109] Furthermore, the fixed-time constrained robust control method in step S6 is used to constrain the robust magnetic thrust control unit 45 to calculate the reference speed of the drive motor 1 online, which specifically includes the following steps:

[0110] Step S61: The magnetic thrust error calculation module 451 calculates the magnetic thrust control error of the magnetic screw 2 in real time. The specific formula is as follows:

[0111] e3=x 3d -x3

[0112] Wherein, e3 is the magnetic thrust error of the magnetic screw 2 .

[0113] Step S62: The magnetic thrust constraint module 452 formulates the quantization error boundary of the magnetic thrust of the magnetic screw 2. The specific formula is as follows:

[0114]

[0115] Among them, φ3(t) is the magnetic thrust constraint performance function of the magnetic screw 2, φ 30 、φ 3∞ and are the initial value, final value and convergence rate of the magnetic thrust constraint performance function respectively.

[0116] Step S63: The magnetic thrust disturbance observation module 453 observes the lumped disturbance term of the magnetic thrust of the magnetic screw 3 in real time. The specific formula is as follows:

[0117]

[0118] in, and are respectively the estimated value of the magnetic thrust of the magnetic screw 3 and the estimated value of the lumped disturbance term of the magnetic thrust, is the estimated deviation of the magnetic thrust of the magnetic screw. o31 >0,α o32 >0, β o31 >0, β o32 >0、0<λ o31 <1, 0<λ o32 <1, χ o31 >1, χ o32 >1 and Λ o3 >0 is a positive constant.

[0119] Step S64: The magnetic thrust control module 454 calculates the reference speed of the drive motor 1 online based on the magnetic thrust error of the magnetic screw 2, the magnetic thrust quantization error boundary, and the estimated value of the magnetic thrust lumped disturbance term. The specific formula is as follows:

[0120]

[0121] Among them, x 4c is the reference speed of the drive motor 1, z3=e3(φ3(t)-|e3|) -1 is the magnetic thrust funnel error variable, Φ3=φ3(t)(φ3(t)-|e3|) -2 is an intermediate variable, α c31 >0, βc31 >0、0<λ c31 <1 and χ c31 >1 is a positive constant.

[0122] Step S65: The reference speed filtering module 455 performs first-order filtering on the reference speed of the drive motor 1. The specific formula is as follows:

[0123]

[0124] Among them, x 4d is the reference magnetic thrust of the magnetic screw 2 after filtering, τ f4 >0、0<λ f4 <1 and χ f4 >1 is a positive constant.

[0125] Furthermore, in step S7, the fixed-time constrained robust control method is adopted, and the constrained robust speed control unit 46 calculates the reference torque of the drive motor 1 online, which specifically includes the following steps:

[0126] Step S71: The speed error calculation module 461 calculates the speed control error of the drive motor 1 in real time. The specific formula is as follows:

[0127] e4=x 4d -x4

[0128] Wherein, e4 is the speed error of the driving motor 1 .

[0129] Step S72: The speed constraint module 462 formulates the quantization error boundary of the speed of the drive motor 1. The specific formula is as follows:

[0130]

[0131] Wherein, φ4(t) is the speed constraint performance function of the drive motor 1, φ 40 、φ 4∞ and are the initial value, final value and convergence rate of the speed constraint performance function respectively.

[0132] Step S73: The speed disturbance observation module 463 observes the lumped disturbance term of the speed of the drive motor 1 in real time. The specific formula is as follows:

[0133]

[0134] in, and are respectively the estimated value of the speed of the drive motor 1 and the estimated value of the speed lumped disturbance term, is the estimated deviation of the speed of the drive motor 1. o41 >0,α o42>0, β o41 >0, β o42 >0、0<λ o41 <1, 0<λ o42 <1, χ o41 >1, χ o42 >1 and Λ o4 >0 is a positive constant.

[0135] Step S74: The speed control module 464 calculates the reference torque of the drive motor 1 online based on the estimated values ​​of the speed error, the speed quantization error boundary, and the speed lumped disturbance term of the drive motor 1. The specific formula is as follows:

[0136]

[0137] where z4 = e4(φ4(t)-|e4|) -1 is the speed funnel error variable, Φ4=φ4(t)(φ4(t)-|e4|) -2 is an intermediate variable, α c41 >0, β c41 >0、0<λ c41 <1 and χ c41 >1 is a positive constant.

[0138] Step S75 : the reference torque limiting module 465 limits the amplitude and slope of the reference torque of the drive motor 1 .

[0139] The hydraulic pressure control method of the magnetic screw integrated electric master cylinder in an embodiment of the present invention realizes the dynamic hydraulic pressure control of the magnetic screw integrated electric master cylinder by adopting the fixed time constrained robust backstepping control method, constructs a fixed time expanded state observer to estimate the system disturbance in real time and compensate in real time, improves the robustness of the hydraulic pressure control of the magnetic screw integrated electric master cylinder, realizes the hydraulic pressure control of the specified performance, and realizes the hydraulic pressure control that converges within the specified time in a fixed time control method. The present invention greatly improves the hydraulic pressure control performance of the magnetic screw integrated electric master cylinder, and also has the hydraulic pressure control capability of the specified performance and the specified response time.

[0140] In order to implement the above embodiment, Figure 4 As shown, this embodiment also provides a hydraulic pressure control system 4 of a magnetic screw integrated electric master cylinder, which includes a data processing unit 41, a mathematical model building unit 42, a constraint robustness control unit and a motor drive unit 47;

[0141] A data processing unit 41 is used to obtain relevant measurement data of the magnetic screw integrated electric master cylinder;

[0142] The mathematical model construction unit 42 is configured to construct an analytical mathematical model of the magnetic screw integrated electric master cylinder based on the related measurement data.

[0143] The constraint robust control unit is configured to calculate reference data of the magnetic screw and reference data of the drive motor respectively based on the analytical mathematical model in a manner of fixed-time constraint robust control.

[0144] The motor drive unit 47 is configured to input the reference data of the magnetic screw and the reference data of the drive motor into the motor drive unit to drive the magnetic screw integrated electric master cylinder to run along a preset trajectory.

[0145] Further, the related measurement data include master cylinder hydraulic pressure, linear speed and magnetic thrust of the magnetic screw, rotating speed and torque of the drive motor; the reference data of the magnetic screw include reference linear speed and reference magnetic thrust of the magnetic screw, the reference data of the drive motor include reference rotating speed and reference torque of the drive motor; the constraint robust control unit includes a constraint robust hydraulic pressure control unit 43, a constraint robust linear speed control unit 44, a constraint robust magnetic thrust control unit 45 and a constraint robust rotating speed control unit 46.

[0146] Specifically, the data processing unit 41 is configured to filter the related measurement data of the magnetic screw integrated electric master cylinder.

[0147] The mathematical model construction unit 42 is configured to construct an analytical mathematical model of the magnetic screw integrated electric master cylinder.

[0148] The constraint robust hydraulic pressure control unit 43 calculates the reference linear speed of the magnetic screw 2 in a manner of fixed-time constraint robust control.

[0149] The constraint robust linear speed control unit 44 calculates the reference magnetic thrust of the magnetic screw 2 in a manner of fixed-time constraint robust control.

[0150] The constraint robust magnetic thrust control unit 45 calculates the reference rotating speed of the drive motor 1 in a manner of fixed-time constraint robust control.

[0151] The constraint robust rotating speed control unit 46 calculates the reference torque of the drive motor 1 in a manner of fixed-time constraint robust control.

[0152] The motor drive unit 47 drives the electric master cylinder to run according to the reference torque of the drive motor 1.

[0153] Further, as Figure 5As shown, the constraint robust hydraulic pressure control unit 43 includes a hydraulic pressure error calculation module 431, a hydraulic pressure constraint module 432, a hydraulic pressure disturbance observation module 433, a hydraulic pressure control module 434 and a reference linear velocity filtering module 435.

[0154] The hydraulic pressure error calculation module 431 is used to online calculate the hydraulic pressure control error of the master cylinder 3 , and the hydraulic pressure constraint module 432 is used to formulate a quantitative error boundary of the hydraulic pressure of the master cylinder 3 .

[0155] The hydraulic pressure disturbance observation module 433 uses a fixed time expansion state observation method to observe the hydraulic pressure lumped disturbance term in real time.

[0156] The hydraulic pressure control module 434 calculates the reference linear velocity of the magnetic screw 2 according to the hydraulic pressure control error of the master cylinder 3 and the hydraulic force quantization error boundary.

[0157] The reference linear velocity filtering module 435 is used to perform first-order filtering on the reference linear velocity of the magnetic screw 2 .

[0158] Further, if Figure 6 As shown, the constrained robust linear velocity control unit 44 includes a linear velocity error calculation module 441, a linear velocity constraint module 442, a linear velocity disturbance observation module 443, a linear velocity control module 444 and a reference magnetic thrust filter module 445.

[0159] The linear velocity error calculation module 441 is used to calculate the linear velocity control error of the magnetic screw 2 online.

[0160] The linear velocity constraint module 442 establishes a quantized error boundary for the linear velocity of the magnetic screw 2 .

[0161] The linear velocity disturbance observation module 443 uses a fixed time dilation state observation method to observe the linear velocity lumped disturbance term in real time.

[0162] The linear velocity control module 444 calculates the reference magnetic thrust of the magnetic screw 2 according to the estimated values ​​of the linear velocity control error, the linear velocity quantization error boundary and the linear velocity lumped disturbance term.

[0163] The reference magnetic thrust filtering module 445 is used to perform first-order filtering on the reference magnetic thrust of the magnetic screw 2 .

[0164] Further, if Figure 7As shown, the constraint robust magnetic thrust control unit 45 includes a magnetic thrust error calculation module 451, a magnetic thrust constraint module 452, a magnetic thrust disturbance observation module 453, a magnetic thrust control module 454, and a reference speed filter module 455. Among them,

[0165] The magnetic thrust error calculation module 451 is used to calculate the magnetic thrust control error of the magnetic force screw 2 online.

[0166] The magnetic thrust constraint module 452 is used to formulate the quantized error boundary of the magnetic thrust of the magnetic force screw 2.

[0167] The magnetic thrust disturbance observation module 453 adopts a fixed-time extended state observation method to observe the magnetic thrust lumped disturbance term in real time.

[0168] The magnetic thrust control module 454 calculates the reference speed of the drive motor 1 according to the magnetic thrust control error, the quantized error boundary of the magnetic thrust, and the estimated value of the magnetic thrust lumped disturbance term.

[0169] The reference speed filter module 455 is used for first-order filtering processing of the reference speed of the drive motor 1.

[0170] Further, as shown, Figure 8 The constraint robust speed control unit 46 includes a speed error calculation module 461, a speed constraint module 462, a speed disturbance observation module 463, a speed control module 464, and a reference torque limiting module 465. Among them,

[0171] The speed error calculation module 461 is used to calculate the speed control error of the drive motor 1 online.

[0172] The speed constraint module 462 is used to formulate the quantized error boundary of the speed of the drive motor 1.

[0173] The speed disturbance observation module 463 adopts a fixed-time extended state observation method to observe the speed lumped disturbance term in real time.

[0174] The speed control module 464 calculates the reference torque of the drive motor 1 according to the speed control error, the quantized error boundary of the speed, and the estimated value of the speed lumped disturbance term.

[0175] The reference torque limiting module 465 is used for amplitude and slope limiting of the reference torque of the drive motor 1.

[0176] The hydraulic pressure control system of the magnetic screw integrated electric master cylinder in an embodiment of the present invention realizes the dynamic hydraulic pressure control of the magnetic screw integrated electric master cylinder by adopting a fixed-time constrained robust backstepping control method, constructs a fixed-time expanded state observer to estimate the system disturbance in real time and compensate in real time, improves the robustness of the hydraulic pressure control of the magnetic screw integrated electric master cylinder, realizes the hydraulic pressure control of the specified performance, and realizes the hydraulic pressure control that converges within the specified time in a fixed-time control method. The present invention greatly improves the hydraulic pressure control performance of the magnetic screw integrated electric master cylinder, and also has the hydraulic pressure control capability of the specified performance and the specified response time.

[0177] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0178] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

Claims

1. A method for controlling the hydraulic pressure of a magnetic screw integrated electric master cylinder, characterized in that: include: Obtain relevant measurement data of the magnetic screw integrated electric master cylinder; Constructing an analytical mathematical model of a magnetic screw integrated electric master cylinder based on the relevant measurement data; Calculating reference data of the magnetic screw and reference data of the drive motor respectively based on the analytical mathematical model in a manner utilizing fixed time constrained robust control; Inputting the reference data of the magnetic screw and the reference data of the drive motor into the motor drive unit to drive the magnetic screw integrated electric master cylinder to run according to a preset trajectory; The relevant measurement data include the main cylinder hydraulic pressure, the linear speed and magnetic thrust of the magnetic screw, and the speed and torque of the drive motor; the reference data of the magnetic screw include the reference linear speed and reference magnetic thrust of the magnetic screw, and the reference data of the drive motor include the reference speed and reference torque of the drive motor; Calculating a reference linear velocity of the magnetic screw, including: Calculate the hydraulic pressure control error of the master cylinder, formulate the hydraulic force quantization error boundary of the master cylinder, and observe the lumped disturbance term of the hydraulic pressure of the master cylinder; Calculating a reference linear velocity of the magnetic screw according to a hydraulic pressure control error of the master cylinder, a hydraulic pressure quantization error boundary, and an estimated value of a lumped disturbance term of the hydraulic pressure; A first-order filtering process is performed on the reference linear velocity to obtain a filtered reference linear velocity.

2. The method according to claim 1, characterized in that Calculating the reference magnetic thrust of the magnetic screw, including: Calculate the linear velocity control error of the magnetic screw, formulate the linear velocity quantization error boundary of the magnetic screw, and observe the lumped disturbance term of the linear velocity of the magnetic screw; online calculating a reference magnetic thrust of the magnetic screw according to a linear velocity control error of the magnetic screw, a linear velocity quantization error boundary, and an estimated value of the linear velocity lumped disturbance term; A first-order filtering process is performed on the reference magnetic thrust of the magnetic screw to obtain a filtered reference magnetic thrust.

3. The method according to claim 1, characterized in that Calculating the reference speed of the driving motor includes: Calculate the magnetic thrust control error of the magnetic screw, formulate the quantitative error boundary of the magnetic thrust of the magnetic screw, and observe the lumped disturbance term of the magnetic thrust of the magnetic screw; online calculating a reference speed of a drive motor according to a magnetic thrust control error of the magnetic screw, a magnetic thrust quantization error boundary, and an estimated value of a magnetic thrust lumped disturbance term; A first-order filtering process is performed on the reference speed of the driving motor to obtain a filtered reference speed.

4. The method according to claim 1, wherein Calculating the reference torque of the driving motor includes: Calculate the speed control error of the drive motor, establish the speed quantization error boundary of the drive motor, and observe the lumped disturbance term of the speed of the drive motor; online calculating a reference torque of the drive motor according to the drive motor speed control error, the speed quantization error boundary, and an estimated value of the speed lumped disturbance term; The reference torque of the driving motor is limited in amplitude and slope.

5. A hydraulic pressure control system for a magnetic screw integrated electric master cylinder, characterized in that: include: A data processing unit, used for acquiring relevant measurement data of the magnetic screw integrated electric master cylinder; a mathematical model building unit, configured to build an analytical mathematical model of the magnetic screw integrated electric master cylinder based on the relevant measurement data; a constrained robust control unit, configured to calculate reference data of the magnetic screw and reference data of the drive motor respectively based on the analytical mathematical model in a manner utilizing fixed-time constrained robust control; a motor drive unit, configured to input reference data of the magnetic screw and reference data of the drive motor into the motor drive unit to drive the magnetic screw integrated electric master cylinder to run according to a preset trajectory; The relevant measurement data include the master cylinder hydraulic pressure, the linear velocity and magnetic thrust of the magnetic screw, and the speed and torque of the drive motor; the reference data of the magnetic screw include the reference linear velocity and reference magnetic thrust of the magnetic screw, and the reference data of the drive motor include the reference speed and reference torque of the drive motor; the constrained robust control unit includes a constrained robust hydraulic pressure control unit, a constrained robust linear velocity control unit, a constrained robust magnetic thrust control unit, and a constrained robust speed control unit; The constrained robust hydraulic pressure control unit is used to: Calculate the hydraulic pressure control error of the master cylinder, formulate the hydraulic force quantization error boundary of the master cylinder, and observe the lumped disturbance term of the hydraulic pressure of the master cylinder; Calculating a reference linear velocity of the magnetic screw according to a hydraulic pressure control error of the master cylinder, a hydraulic pressure quantization error boundary, and an estimated value of a lumped disturbance term of the hydraulic pressure; A first-order filtering process is performed on the reference linear velocity to obtain a filtered reference linear velocity.

6. The system according to claim 5, characterized in that The constrained robust magnetic thrust control unit is used to: Calculate the linear velocity control error of the magnetic screw, formulate the linear velocity quantization error boundary of the magnetic screw, and observe the lumped disturbance term of the linear velocity of the magnetic screw; online calculating a reference magnetic thrust of the magnetic screw according to a linear velocity control error of the magnetic screw, a linear velocity quantization error boundary, and an estimated value of the linear velocity lumped disturbance term; A first-order filtering process is performed on the reference magnetic thrust of the magnetic screw to obtain a filtered reference magnetic thrust.

7. The system according to claim 5, characterized in that The constrained robust magnetic thrust control unit is used to: Calculate the magnetic thrust control error of the magnetic screw, formulate the quantitative error boundary of the magnetic thrust of the magnetic screw, and observe the lumped disturbance term of the magnetic thrust of the magnetic screw; online calculating a reference speed of a drive motor according to a magnetic thrust control error of the magnetic screw, a magnetic thrust quantization error boundary, and an estimated value of a magnetic thrust lumped disturbance term; A first-order filtering process is performed on the reference speed of the driving motor to obtain a filtered reference speed.

8. The system according to claim 5, wherein: The constrained robust speed control unit is used to: Calculate the speed control error of the drive motor, establish the speed quantization error boundary of the drive motor, and observe the lumped disturbance term of the speed of the drive motor; online calculating a reference torque of the drive motor according to the drive motor speed control error, the speed quantization error boundary, and an estimated value of the speed lumped disturbance term; The reference torque of the driving motor is limited in amplitude and slope.

Images