A control method and system of a magnetic screw integrated electromechanical brake system

Abstract

The application provides a control method and system of a magnetic screw integrated electromechanical brake system. The method comprises the following steps: acquiring real-time operation data of the magnetic screw integrated electromechanical brake system and a reference clamping force of a brake, and performing filtering processing on the operation data, wherein the real-time operation data comprises a real-time clamping force of the brake, a real-time linear speed and a real-time magnetic thrust of the magnetic screw, a real-time rotating speed and a real-time torque of a driving motor; calculating a reference torque of the driving motor according to the real-time clamping force of the brake, the real-time linear speed and the real-time magnetic thrust of the magnetic screw, the real-time rotating speed and the real-time torque of the driving motor, and the reference clamping force of the brake; and controlling the magnetic screw integrated electromechanical brake system based on the reference torque of the driving motor. The technical scheme provided by the application can precisely control the magnetic screw integrated electromechanical brake system.

Description

Technical Field

[0001] This application relates to the field of automotive braking, and in particular to a control method and system for a magnetic screw integrated electromechanical braking system. Background Technology

[0002] Electromechanical braking systems have become a hot research topic in the automotive industry, offering significant potential for improving vehicle dynamics. Electromechanical braking systems typically combine a drive motor with a mechanical transmission mechanism to achieve braking; compared to traditional pneumatic / hydraulic braking systems, they offer advantages such as faster and smoother braking force response. However, the inherent mechanical characteristics of the mechanical transmission mechanism in electromechanical braking systems, such as friction, wear, aging, and jamming, severely compromise the reliability, efficiency, and control performance of these systems.

[0003] To eliminate the negative impact of mechanical transmission mechanisms in electromechanical braking systems, the author invented a magnetic lead screw integrated electromechanical braking system. This system uses a novel magnetic lead screw to achieve the rotational-linear motion conversion of the electromechanical braking system, avoiding the negative effects of traditional mechanical transmission mechanisms. However, the introduction of the magnetic lead screw introduces a new magnetic element into the electromechanical braking system and simultaneously increases the system's model order, posing new challenges to the precision control of the electromechanical braking system.

[0004] Currently, there is a lack of development in control methods and systems for magnetic screw-integrated electromechanical braking. Furthermore, the development of control systems for traditional electromechanical braking systems primarily relies on methods such as PID control, model predictive control, and sliding mode control. These methods are limited to second / third-order models of traditional electromechanical braking systems and cannot be directly applied to magnetic screw-integrated electromechanical braking systems with higher model orders. Moreover, the development of these methods requires precise mathematical models, which limits their practical application. Summary of the Invention

[0005] This application provides a control method and system for a magnetic screw integrated electromechanical braking system, which at least solves the technical problem that the control of the prior art is difficult to directly apply to the magnetic screw integrated electromechanical braking system and has limited application.

[0006] The first aspect of this application provides a control method for a magnetic lead screw integrated electromechanical braking system, the method comprising:

[0007] The system acquires real-time operating data of the magnetic screw integrated electromechanical braking system and the reference clamping force of the brake, and filters the operating data. The real-time operating data includes: the real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor.

[0008] The reference torque of the drive motor is calculated based on the real-time clamping force of the brake after filtering, the real-time linear speed and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake.

[0009] The magnetic lead screw integrated electromechanical braking system is controlled based on the reference torque of the drive motor.

[0010] Preferably, the step of calculating the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear velocity and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake includes:

[0011] The clamping force error of the brake is calculated based on the real-time clamping force of the brake after filtering and the reference clamping force of the brake.

[0012] The reference linear velocity of the magnetic lead screw is calculated based on the clamping force error of the brake.

[0013] The reference magnetic thrust of the magnetic screw is calculated based on the real-time linear velocity of the magnetic screw after filtering and the reference linear velocity of the magnetic screw.

[0014] The reference speed of the drive motor is calculated based on the filtered real-time magnetic thrust and the reference magnetic thrust of the magnetic lead screw.

[0015] The reference torque of the drive motor is calculated based on the real-time speed and real-time torque of the drive motor after filtering and the reference speed of the drive motor.

[0016] Furthermore, the step of calculating the clamping force error of the brake based on the filtered real-time clamping force of the brake and the reference clamping force of the brake includes:

[0017] The difference between the reference clamping force of the brake and the real-time clamping force of the brake after filtering is calculated, and the difference is used as the clamping force error of the brake.

[0018] Furthermore, the step of calculating the reference linear velocity of the magnetic lead screw based on the clamping force error of the brake includes:

[0019] Obtain real-time estimates of the pseudo-gradient of the clamping force and the lumped disturbance term of the clamping force;

[0020] The reference linear velocity of the magnetic lead screw is calculated based on the clamping force error of the brake, the real-time estimate of the clamping force pseudo-gradient, and the real-time estimate of the clamping force lumped disturbance term.

[0021] Furthermore, the step of calculating the reference magnetic thrust of the magnetic screw based on the real-time linear velocity of the filtered magnetic screw and the reference linear velocity of the magnetic screw includes:

[0022] Obtain real-time estimates of the pseudo gradient of linear velocity and the lumped perturbation term of linear velocity;

[0023] The reference linear velocity of the magnetic lead screw is filtered to obtain the filtered reference linear velocity of the magnetic lead screw.

[0024] Calculate the difference between the reference linear velocity of the magnetic screw after filtering and the real-time linear velocity of the magnetic screw after filtering, and use the difference as the linear velocity error;

[0025] The reference magnetic thrust of the magnetic screw is calculated based on the real-time estimate of the linear velocity pseudo-gradient, the real-time estimate of the linear velocity lumped disturbance term, and the linear velocity error.

[0026] Furthermore, the step of calculating the reference speed of the drive motor based on the filtered real-time magnetic thrust and the reference magnetic thrust of the magnetic lead screw includes:

[0027] Obtain real-time estimates of the pseudo gradient of magnetic thrust and the lumped disturbance term of magnetic thrust;

[0028] The reference magnetic thrust of the magnetic lead screw is filtered to obtain the filtered reference magnetic thrust of the magnetic lead screw.

[0029] Calculate the difference between the reference magnetic thrust of the magnetic screw after filtering and the real-time magnetic thrust after filtering, and use the difference as the magnetic thrust error of the magnetic screw.

[0030] The reference speed of the drive motor is calculated based on the real-time estimated value of the pseudo gradient of the magnetic thrust, the real-time estimated value of the lumped disturbance term of the magnetic thrust, and the magnetic thrust error of the magnetic lead screw.

[0031] Furthermore, the step of calculating the reference torque of the drive motor based on the filtered real-time speed and real-time torque of the drive motor and the reference speed of the drive motor includes:

[0032] Obtain real-time estimates of the pseudo-gradient of rotational speed and the lumped disturbance term of rotational speed, wherein the real-time estimate of the pseudo-gradient of rotational speed is calculated based on the real-time torque.

[0033] The reference speed of the drive motor is filtered to obtain the filtered reference speed of the drive motor;

[0034] The difference between the reference speed of the drive motor after filtering and the real-time speed of the drive motor after filtering is calculated, and the difference is used as the speed error of the drive motor.

[0035] The reference torque of the drive motor is calculated based on the real-time estimated value of the pseudo-gradient of the speed, the real-time estimated value of the lumped disturbance term of the speed, and the speed error of the drive motor.

[0036] A second aspect of this application provides a control system for a magnetic lead screw integrated electromechanical braking system, comprising:

[0037] The acquisition module is used to acquire real-time operating data of the magnetic screw integrated electromechanical braking system and the reference clamping force of the brake, and to filter the operating data. The real-time operating data includes: the real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor.

[0038] The calculation module is used to calculate the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake.

[0039] The control module is used to control the magnetic lead screw integrated electromechanical braking system based on the reference torque of the drive motor.

[0040] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the first aspect embodiment.

[0041] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.

[0042] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0043] This application proposes a control method and system for a magnetic screw integrated electromechanical braking system. The method includes: acquiring real-time operating data of the magnetic screw integrated electromechanical braking system and a reference clamping force of the brake; filtering the operating data, wherein the real-time operating data includes: the real-time clamping force of the brake, the real-time linear velocity and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor; calculating the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear velocity and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake; and controlling the magnetic screw integrated electromechanical braking system based on the reference torque of the drive motor. The technical solution proposed in this application can achieve precise control of the magnetic screw integrated electromechanical braking system.

[0044] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0045] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0046] Figure 1 This is a flowchart of a control method for a magnetic lead screw integrated electromechanical braking system according to an embodiment of this application;

[0047] Figure 2 This is a structural diagram of a control system for a magnetic lead screw integrated electromechanical braking system according to an embodiment of this application;

[0048] Figure 3 This is a structural diagram of a computing module provided according to an embodiment of this application;

[0049] Figure 4 This is a structural diagram of a modelless clamping force control unit provided according to an embodiment of this application;

[0050] Figure 5 This is a structural diagram of a model-free linear velocity control unit according to an embodiment of this application;

[0051] Figure 6 This is a structural diagram of a model-free magnetic thrust control unit provided according to an embodiment of this application;

[0052] Figure 7 This is a structural diagram of a model-free speed control unit according to an embodiment of this application;

[0053] Figure 8This is a structural diagram of a model-free speed control unit according to an embodiment of this application;

[0054] Figure 9 This is a structural diagram of a magnetic lead screw integrated electromechanical braking system according to an embodiment of this application;

[0055] Figure Labels

[0056] Acquisition Module 100, Calculation Module 200, Control Module 300, Calculation Unit 201, Model-less Clamping Force Control Unit 202, Model-less Linear Speed ​​Control Unit 203, Model-less Magnetic Thrust Control Unit 204, Model-less Rotation Speed ​​Control Unit 205, Data-Driven Clamping Force Parameter Adaptation Module 2021, Clamping Force Disturbance Observation Module 2022, Data-Driven Clamping Force Robust Control Module 2023, Data-Driven Linear Speed ​​Parameter Adaptation Module 2031, Linear Speed ​​Disturbance Observation Module 2032, Reference Linear Speed ​​Filtering Module 2033, Linear Speed ​​Error Calculation Module 2034, Data-Driven Linear Speed... The system includes: a speed robust control module 2035, a data-driven magnetic thrust parameter adaptive module 2041, a magnetic thrust disturbance observation module 2042, a reference magnetic thrust filtering module 2043, a magnetic thrust error calculation module 2044, a data-driven magnetic thrust robust control module 2045, a data-driven speed parameter adaptive module 2051, a speed disturbance observation module 2052, a reference speed filtering module 2053, a speed error calculation module 2054, a data-driven speed robust control module 2055, a reference torque constraint module 2056, a drive motor 1, a magnetic lead screw 2, a brake 3, a power failure brake 4, and a braking control system 5. Detailed Implementation

[0057] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0058] This application proposes a control method and system for a magnetic screw integrated electromechanical braking system. The method includes: acquiring real-time operating data of the magnetic screw integrated electromechanical braking system and a reference clamping force of the brake; filtering the operating data, wherein the real-time operating data includes: the real-time clamping force of the brake, the real-time linear velocity and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor; calculating the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear velocity and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake; and controlling the magnetic screw integrated electromechanical braking system based on the reference torque of the drive motor. The technical solution proposed in this application can achieve precise control of the magnetic screw integrated electromechanical braking system.

[0059] The following description, with reference to the accompanying drawings, illustrates a control method and system for an integrated electromechanical braking system based on a magnetic lead screw, according to an embodiment of this application.

[0060] Example 1

[0061] Figure 1 The flowchart below shows a control method for a magnetic lead screw integrated electromechanical braking system according to an embodiment of this application. Figure 1 As shown, the method includes:

[0062] Step 1: Obtain the real-time operating data of the magnetic screw integrated electromechanical braking system and the reference clamping force of the brake, and filter the operating data. The real-time operating data includes: the real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor.

[0063] It should be noted that before step 1, the process also includes: initialization of the magnetic screw integrated electromechanical braking system, power supply to the power-off brake, and elimination of self-locking;

[0064] The process includes the following steps after step 1 and before step 2:

[0065] Construct a data-driven model for an integrated electromechanical braking system using a magnetic lead screw;

[0066] The calculation formula for the data-driven model of the constructed magnetic lead screw integrated electromechanical braking system is as follows:

[0067]

[0068] Among them, F cl (k) and F cl (k+1) represent the clamping forces of the brake at time k and k+1, respectively, φFcl (k) is the pseudo-gradient of the clamping force at time k, ΔV s (k)=V s (k)-V s (k-1) is the linear velocity increment of the magnetic screw at time k, ξ Fcl (k) is the lumped disturbance term of the clamping force at time k; V s (k-1), V s (k) and V s (k+1) represent the linear velocities of the magnetic screw at times k-1, k, and k+1, respectively, and φ Vs (k) is the pseudo-gradient of the linear velocity of the magnetic screw at time k, ΔF t (k)=F t (k)-F t (k-1) is the increment of the magnetic thrust of the magnetic screw at time k, ξ Vs (k) is the lumped disturbance term of the linear velocity of the magnetic screw at time k; F t (k-1), F t (k) and F t (k+1) represent the magnetic thrust of the magnetic screw at times k-1, k, and k+1, respectively, φ Ft (k) is the pseudo-gradient of magnetic thrust at time k, Δω m (k)=ω m (k)-ω m (k-1) is the speed increment of the drive motor at time k, ξ Ft (k) is the lumped disturbance term of the magnetic thrust of the magnetic lead screw at time k; ω m (k-1), ω m (k) and ω m (k+1) represents the speed of the drive motor at times k-1, k, and k+1, respectively. It is the pseudo-gradient of the motor speed at time k, ΔT m (k)=T m (k)-T m (k-1) is the torque increment of the drive motor at time k, T m (k-1) and T m (k) represents the torque of the driving motor at time k-1 and time k, respectively. It is the lumped disturbance term of the motor speed at time k.

[0069] Based on the data-driven model of the magnetic screw integrated electromechanical braking system, the real-time estimated values ​​of the clamping force lumped disturbance term, the linear velocity lumped disturbance term, the magnetic thrust lumped disturbance term, and the rotational speed lumped disturbance term are calculated.

[0070] Step 2: Calculate the reference torque of the drive motor based on the real-time clamping force of the brake after filtering, the real-time linear speed and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake.

[0071] In this embodiment of the disclosure, step 2 specifically includes:

[0072] Step 2-1: Calculate the clamping force error of the brake based on the real-time clamping force of the brake after filtering and the reference clamping force of the brake;

[0073] Furthermore, step 2-1 specifically includes: calculating the difference between the reference clamping force of the brake and the real-time clamping force of the brake after filtering, and using the difference as the clamping force error of the brake.

[0074] Specifically, using formulas Calculate the clamping force error of the brake, where, where, e Fcl (k) and These are the clamping force error of the brake at time k and the reference clamping force at time k+1, respectively.

[0075] Step 2-2: Calculate the reference linear velocity of the magnetic lead screw based on the clamping force error of the brake;

[0076] Furthermore, step 2-2 specifically includes: obtaining the real-time estimated value of the pseudo gradient of the clamping force and the real-time estimated value of the lumped disturbance term of the clamping force;

[0077] The reference linear velocity of the magnetic screw is calculated based on the clamping force error of the brake, the real-time estimate of the clamping force pseudo-gradient, and the real-time estimate of the clamping force lumped disturbance term.

[0078] Specifically, a data-driven adaptive robust control method is adopted to calculate the reference linear velocity of the magnetic lead screw online, which includes the following steps:

[0079] The pseudo-gradient of the clamping force is estimated online, and the specific formula is as follows:

[0080]

[0081] in, and These are the real-time estimates of the pseudo-gradient of the clamping force at the initial time, time k-1, and time k, respectively, ΔF. cl (k)=F cl (k)-F cl (k-1) is the increase in the clamping force of the brake at time k, F cl (k-1) is the clamping force of the brake at time k-1, ΔV s(k-1) is the linear velocity increment of the magnetic screw at time k-1. It is the real-time estimate of the lumped disturbance term of the clamping force at time k-1. φ Fcl and These are the minimum and maximum values ​​of the pseudo-gradient estimate of the clamping force, respectively; sign() is the sign function; κ a1 >0 and μ a1 >0 is a positive integer.

[0082] The lumped disturbance term of the clamping force is observed in real time, and the specific formula is as follows:

[0083]

[0084] in, and These are the real-time estimated values ​​of the brake clamping force at time k and time k+1, respectively. and These are the real-time estimates of the lumped disturbance term of the clamping force at time k and time k+1, respectively. 11 >0 and L 12 >0 is the observer gain.

[0085] Based on the real-time estimates of clamping force error, clamping force pseudo-gradient, and clamping force lumped disturbance term, the reference linear velocity of the magnetic screw is calculated online, using the following formula:

[0086]

[0087] Among them, V s * (k-1) and V s * (k) represents the reference linear velocity of the magnetic screw at time k-1 and time k, respectively, Δe Fcl (k)=e Fcl (k)-e Fcl (k-1) is the increment of the clamping force error of the brake at time k, e Fcl (k-1) is the clamping force error at time k-1, κ c1 >0 and μ c1 >0 is a positive positive number, k p1 >0 and k d1 >0 represents the proportional gain and the derivative gain, respectively.

[0088] Steps 2-3: Calculate the reference magnetic thrust of the magnetic screw based on the real-time linear velocity of the magnetic screw after filtering and the reference linear velocity of the magnetic screw;

[0089] Furthermore, steps 2-3 specifically include:

[0090] Obtain real-time estimates of the pseudo gradient of linear velocity and the lumped perturbation term of linear velocity;

[0091] The reference linear velocity of the magnetic lead screw is filtered to obtain the filtered reference linear velocity of the magnetic lead screw.

[0092] Calculate the difference between the reference linear velocity of the magnetic screw after filtering and the real-time linear velocity of the magnetic screw after filtering, and use the difference as the linear velocity error;

[0093] The reference magnetic thrust of the magnetic screw is calculated based on the real-time estimate of the linear velocity pseudo-gradient, the real-time estimate of the linear velocity lumped disturbance term, and the linear velocity error.

[0094] Specifically, a data-driven adaptive robust control method is adopted to calculate the reference magnetic thrust of the magnetic lead screw online, which includes the following steps:

[0095] The reference linear velocity of the magnetic lead screw is filtered using the following formula:

[0096]

[0097] in, and These are the reference linear velocities of the magnetic screw after filtering at time k and time k+1, respectively. and It is an intermediate variable, σ c1 >0 and ε c1 ∈(0,1] is a positive constant, T s That is the sampling time.

[0098] The linear speed control error of the magnetic lead screw is calculated in real time using the following formula:

[0099]

[0100] Among them, e Vs (k) is the linear velocity error of the magnetic lead screw at time k.

[0101] The online estimation of the pseudo-gradient of linear velocity is shown in the following formula:

[0102]

[0103] in, and These are the real-time estimates of the pseudo-gradient of the linear velocity of the magnetic screw at the initial time, time k-1, and time k, respectively, ΔF. t (k-1) is the increment of the magnetic thrust of the magnetic lead screw at time k-1. It is the real-time estimate of the lumped disturbance term of the linear velocity of the magnetic screw at time k-1. φ Vs and These are the minimum and maximum values ​​of the pseudo-gradient estimate of the linear velocity of the magnetic screw, respectively. a2 >0 and μ a2 >0 is a positive integer.

[0104] The lumped disturbance term for real-time linear velocity is calculated using the following formula:

[0105]

[0106] in, and These are the real-time estimates of the linear velocity of the magnetic screw at time k and time k+1, respectively. and These are the real-time estimates of the lumped disturbance term of the linear velocity of the magnetic screw at time k and time k+1, respectively. 21 >0 and L 22 >0 is the observer gain.

[0107] Based on the real-time estimates of linear velocity error, linear velocity pseudo-gradient, and linear velocity lumped disturbance term, the reference magnetic thrust of the magnetic lead screw is calculated online. The specific formula is as follows:

[0108]

[0109] Among them, F t * (k-1) and F t * (k) represents the reference magnetic thrust of the magnetic screw at time k-1 and time k, respectively, Δe Vs (k)=e Vs (k)-e Vs (k-1) is the linear velocity error increment of the magnetic screw at time k, e Vs (k-1) is the linear velocity error of the magnetic screw at time k-1, κ c2 >0 and μ c2 >0 is a positive positive number, k p2 >0 and k d2 >0 represents the proportional gain and the derivative gain, respectively.

[0110] Steps 2-4: Calculate the reference speed of the drive motor based on the filtered real-time magnetic thrust and the reference magnetic thrust of the magnetic lead screw;

[0111] Furthermore, steps 2-4 specifically include:

[0112] Obtain real-time estimates of the pseudo gradient of magnetic thrust and the lumped disturbance term of magnetic thrust;

[0113] The reference magnetic thrust of the magnetic lead screw is filtered to obtain the filtered reference magnetic thrust of the magnetic lead screw.

[0114] Calculate the difference between the reference magnetic thrust of the magnetic screw after filtering and the real-time magnetic thrust after filtering, and use the difference as the magnetic thrust error of the magnetic screw.

[0115] The reference speed of the drive motor is calculated based on the real-time estimated value of the pseudo gradient of the magnetic thrust, the real-time estimated value of the lumped disturbance term of the magnetic thrust, and the magnetic thrust error of the magnetic lead screw.

[0116] Specifically, a data-driven adaptive robust control method is adopted to calculate the reference speed of the drive motor online, which includes the following steps:

[0117] The reference magnetic thrust of the magnetic lead screw is filtered using the following formula:

[0118]

[0119] in, and These are the reference magnetic thrusts of the magnetic screw after filtering at time k and time k+1, respectively. and It is an intermediate variable, σ c2 >0 and ε c2 ∈(0,1] are positive constants.

[0120] The real-time calculation of the magnetic thrust control error of the magnetic lead screw is based on the following formula:

[0121]

[0122] Among them, e Ft (k) is the magnetic thrust error of the magnetic screw at time k.

[0123] The online estimation formula for the pseudo-gradient of magnetic thrust is as follows:

[0124]

[0125] in, and These are the real-time estimates of the pseudo-gradient of the magnetic screw thrust at the initial time, time k-1, and time k, respectively, Δω. m (k-1) is the speed increment of the drive motor at time k-1. It is the real-time estimate of the lumped disturbance term of the magnetic screw thrust at time k-1. φFt and These are the minimum and maximum values ​​of the pseudo-gradient estimate of the magnetic thrust of the magnetic screw, respectively. a3 >0 and μ a3 >0 is a positive integer.

[0126] The lumped disturbance term of the magnetic thrust is observed in real time, and the specific formula is as follows:

[0127]

[0128] in, and These are the real-time estimates of the magnetic thrust of the magnetic screw at time k and time k+1, respectively. and These are the real-time estimates of the lumped disturbance term of the magnetic screw thrust at time k and time k+1, respectively. 31 >0 and L 32 >0 is the observer gain.

[0129] Based on the real-time estimates of magnetic thrust error, magnetic thrust pseudo-gradient, and magnetic thrust lumped disturbance term, the reference rotational speed is calculated online, using the following formula:

[0130]

[0131] in, and These are the reference speeds of the drive motor at time k-1 and time k, respectively, Δe Ft (k)=e Ft (k)-e Ft (k-1) is the speed error increment of the drive motor at time k, κ c3 >0 and μ c3 >0 is a positive positive number, k p3 >0 and k d3 >0 represents the proportional gain and the derivative gain, respectively.

[0132] Steps 2-5: Calculate the reference torque of the drive motor based on the real-time speed and real-time torque of the drive motor after filtering and the reference speed of the drive motor.

[0133] Furthermore, steps 2-5 specifically include:

[0134] Obtain real-time estimates of the pseudo-gradient of rotational speed and the lumped disturbance term of rotational speed, wherein the real-time estimate of the pseudo-gradient of rotational speed is calculated based on the real-time torque.

[0135] The reference speed of the drive motor is filtered to obtain the filtered reference speed of the drive motor;

[0136] The difference between the reference speed of the drive motor after filtering and the real-time speed of the drive motor after filtering is calculated, and the difference is used as the speed error of the drive motor.

[0137] The reference torque of the drive motor is calculated based on the real-time estimated value of the pseudo-gradient of the speed, the real-time estimated value of the lumped disturbance term of the speed, and the speed error of the drive motor.

[0138] Specifically, a data-driven adaptive robust control method is adopted to calculate the reference torque of the drive motor online, which includes the following steps:

[0139] The reference speed of the drive motor is filtered using the following formula:

[0140]

[0141] in, and These are the reference speeds of the drive motor after filtering at time k and time k+1, respectively. and It is an intermediate variable, σ c3 >0 and ε c3 ∈(0,1] are positive constants.

[0142] The data-driven adaptive robust control method employs a model-free speed control unit to calculate the reference torque of the drive motor online, specifically including the following steps:

[0143] The speed control error of the drive motor is calculated in real time, and the specific formula is as follows:

[0144]

[0145] in, It is the speed error of the drive motor at time k.

[0146] The online estimation of the pseudo gradient of rotational speed is given by the following formula:

[0147]

[0148] in, and These are the real-time estimates of the pseudo-gradient of the drive motor speed at the initial time, time k-1, and time k, respectively, ΔT. m (k-1) is the torque increment of the driving motor at time k-1. It is the real-time estimate of the lumped disturbance term of the drive motor speed at time k-1. and These are the minimum and maximum values ​​of the pseudo-gradient estimate of the drive motor speed, κ. a4 >0 and μa4 >0 is a positive integer.

[0149] The lumped disturbance term for real-time observation of rotational speed is given by the following formula:

[0150]

[0151] in, and These are the real-time estimated values ​​of the drive motor speed at time k and time k+1, respectively. and These are the real-time estimates of the lumped disturbance term of the drive motor speed at time k and time k+1, respectively. 41 >0 and L 42 >0 is the observer gain.

[0152] Based on the real-time estimates of the speed error, the pseudo-gradient of the speed, and the lumped disturbance term of the speed, the reference torque of the drive motor is calculated online. The specific formula is as follows:

[0153]

[0154] in, and These are the reference torques of the drive motor at time k-1 and time k, respectively. κ is the speed error increment of the drive motor at time k. c4 >0 and μ c4 >0 is a positive positive number, k p4 >0 and k d4 >0 represents the proportional gain and the derivative gain, respectively.

[0155] It should be noted that the amplitude and slope of the reference torque of the drive motor are limited.

[0156] Step 3: Control the magnetic lead screw integrated electromechanical braking system based on the reference torque of the drive motor.

[0157] In summary, the control method for a magnetic screw integrated electromechanical braking system proposed in this embodiment: 1) It adopts a data-driven adaptive robust control approach, achieving dynamic clamping force control of a fourth-order magnetic screw integrated electromechanical braking system for the first time, filling the gap in control methods and system development for magnetic screw integrated electromechanical braking systems. 2) It establishes for the first time a data-driven model and data-driven parameter adaptive law for a magnetic screw integrated electromechanical braking system, achieving precise control of the magnetic screw integrated electromechanical braking system without requiring any mathematical model information of the system, with extremely low dependence on the system's mathematical model. 3) This invention provides a control method for a magnetic screw integrated electromechanical braking system that integrates a discrete linear extended state observer into the controller design, estimating system disturbances online and compensating in real time, significantly improving the robustness of the magnetic screw integrated electromechanical braking system. This enables precise control of the magnetic screw integrated electromechanical braking system.

[0158] Example 2

[0159] Figure 2 This is a structural diagram of a control system for a magnetic screw integrated electromechanical braking system according to an embodiment of this application, as shown below. Figure 2 As shown, the system includes:

[0160] The acquisition module 100 is used to acquire the real-time operating data of the magnetic screw integrated electromechanical braking system and the reference clamping force of the brake, and to filter the operating data. The real-time operating data includes: the real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor.

[0161] The calculation module 200 is used to calculate the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake.

[0162] The control module 300 is used to control the magnetic lead screw integrated electromechanical braking system based on the reference torque of the drive motor.

[0163] In the embodiments disclosed herein, such as Figure 3 As shown, the computing module 200 includes:

[0164] The calculation unit 201 is used to calculate the clamping force error of the brake based on the real-time clamping force of the brake after filtering and the reference clamping force of the brake.

[0165] The modelless clamping force control unit 202 is used to calculate the reference linear velocity of the magnetic lead screw based on the clamping force error of the brake.

[0166] The model-free linear velocity control unit 203 is used to calculate the reference magnetic thrust of the magnetic screw based on the real-time linear velocity of the magnetic screw after filtering and the reference linear velocity of the magnetic screw.

[0167] The model-free magnetic thrust control unit 204 is used to calculate the reference speed of the drive motor based on the filtered real-time magnetic thrust and the reference magnetic thrust of the magnetic lead screw.

[0168] The model-free speed control unit 205 is used to calculate the reference torque of the drive motor based on the real-time speed and real-time torque of the drive motor after filtering and the reference speed of the drive motor.

[0169] In this embodiment of the disclosure, the computing unit 201 is specifically used for:

[0170] The difference between the reference clamping force of the brake and the real-time clamping force of the brake after filtering is calculated, and the difference is used as the clamping force error of the brake.

[0171] In the embodiments disclosed herein, such as Figure 4 As shown, the modelless clamping force control unit 202 includes:

[0172] The data-driven clamping force parameter adaptive module 2021 is used to obtain real-time estimates of the pseudo-gradient of the clamping force.

[0173] The clamping force disturbance observation module 2022 is used to obtain real-time estimates of the clamping force lumped disturbance term;

[0174] The data-driven clamping force robust control module 2023 is used to calculate the reference linear velocity of the magnetic screw based on the clamping force error of the brake, the real-time estimate of the clamping force pseudo-gradient, and the real-time estimate of the clamping force lumped disturbance term.

[0175] In the embodiments disclosed herein, such as Figure 5 As shown, the model-free linear velocity control unit 203 includes:

[0176] The data-driven linear velocity parameter adaptive module 2031 is used to obtain real-time estimates of the pseudo gradient of linear velocity.

[0177] The linear velocity disturbance observation module 2032 is used to obtain real-time estimates of the linear velocity lumped disturbance term;

[0178] The reference linear velocity filtering module 2033 is used to filter the reference linear velocity of the magnetic lead screw to obtain the filtered reference linear velocity of the magnetic lead screw.

[0179] The linear speed error calculation module 2034 is used to calculate the difference between the reference linear speed of the magnetic screw after filtering and the real-time linear speed of the magnetic screw after filtering, and to use the difference as the linear speed error.

[0180] The data-driven linear speed robust control module 2035 is used to calculate the reference magnetic thrust of the magnetic lead screw based on the real-time estimated value of the linear speed pseudo gradient, the real-time estimated value of the linear speed lumped disturbance term, and the linear speed error.

[0181] In the embodiments disclosed herein, such as Figure 6 As shown, the model-free magnetic thrust control unit 204 includes:

[0182] The data-driven magnetic thrust parameter adaptive module 2041 is used to obtain real-time estimates of the magnetic thrust pseudo gradient.

[0183] The magnetic thrust disturbance observation module 2042 is used for real-time estimation of the lumped disturbance term of magnetic thrust.

[0184] The reference magnetic thrust filtering module 2043 is used to filter the reference magnetic thrust of the magnetic lead screw to obtain the filtered reference magnetic thrust of the magnetic lead screw.

[0185] The magnetic thrust error calculation module 2044 is used to calculate the difference between the reference magnetic thrust of the magnetic screw after filtering and the real-time magnetic thrust after filtering, and to use the difference as the magnetic thrust error of the magnetic screw.

[0186] The data-driven robust magnetic thrust control module 2045 is used to calculate the reference speed of the drive motor based on the real-time estimated value of the magnetic thrust pseudo gradient, the real-time estimated value of the magnetic thrust lumped disturbance term, and the magnetic thrust error of the magnetic lead screw.

[0187] In the embodiments disclosed herein, such as Figure 7 As shown, the model-free speed control unit 205 includes:

[0188] The data-driven speed parameter adaptive module 2051 is used to obtain a real-time estimate of the speed pseudo gradient, wherein the real-time estimate of the speed pseudo gradient is calculated based on the real-time torque.

[0189] The rotational speed disturbance observation module 2052 is used to obtain the real-time estimate of the lumped rotational speed disturbance term;

[0190] The reference speed filtering module 2053 is used to filter the reference speed of the drive motor to obtain the filtered reference speed of the drive motor.

[0191] The speed error calculation module 2054 is used to calculate the difference between the reference speed of the drive motor after filtering and the real-time speed of the drive motor after filtering, and to use the difference as the speed error of the drive motor.

[0192] The data-driven speed robust control module 2055 is used to calculate the reference torque of the drive motor based on the real-time estimated value of the speed pseudo-gradient, the real-time estimated value of the speed lumped disturbance term, and the speed error of the drive motor.

[0193] In the embodiments disclosed herein, such as Figure 8 As shown, the model-free speed control unit 205 further includes:

[0194] The reference torque constraint module 2056 is used to limit the amplitude and slope of the reference torque of the drive motor 1.

[0195] It should be noted that, as Figure 9 The diagram shows the structure of the magnetic screw integrated electromechanical braking system of the present invention. The magnetic screw integrated electromechanical braking system specifically includes a drive motor 1, a magnetic screw 2, a brake 3, a power-off brake 4, and a braking control system 5. The drive motor 1 provides the braking power source; the magnetic screw 2 converts the rotational motion of the drive motor 1 into linear motion; the brake 3 generates a braking clamping force under the linear push of the magnetic screw 2; the power-off brake 4 is self-locking; and the braking control system 5 controls the magnetic screw integrated electromechanical braking system to operate along a predetermined trajectory.

[0196] In summary, the control system of the magnetic screw integrated electromechanical braking system proposed in this embodiment is completely independent of the system's mathematical model, making it more versatile and adaptable to complex environments. It can significantly improve the control performance of the magnetic screw integrated electromechanical braking system, thereby enabling precise control of the magnetic screw integrated electromechanical braking system.

[0197] Example 3

[0198] To implement the above embodiments, this disclosure also proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in Embodiment 1.

[0199] Example 4

[0200] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in Embodiment 1.

[0201] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0202] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0203] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control method for a magnetic lead screw integrated electromechanical braking system, characterized in that, The method includes: The system acquires real-time operating data of the magnetic screw integrated electromechanical braking system and the reference clamping force of the brake, and filters the operating data. The real-time operating data includes: the real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor. The reference torque of the drive motor is calculated based on the real-time clamping force of the brake after filtering, the real-time linear speed and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake. The magnetic lead screw integrated electromechanical braking system is controlled based on the reference torque of the drive motor. The step of calculating the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear velocity and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake includes: The clamping force error of the brake is calculated based on the real-time clamping force of the brake after filtering and the reference clamping force of the brake. The reference linear velocity of the magnetic lead screw is calculated based on the clamping force error of the brake. The reference magnetic thrust of the magnetic screw is calculated based on the real-time linear velocity of the magnetic screw after filtering and the reference linear velocity of the magnetic screw. The reference speed of the drive motor is calculated based on the filtered real-time magnetic thrust and the reference magnetic thrust of the magnetic lead screw. The reference torque of the drive motor is calculated based on the real-time speed and real-time torque of the drive motor after filtering and the reference speed of the drive motor. The step of calculating the reference torque of the drive motor based on the filtered real-time speed and real-time torque of the drive motor and the reference speed of the drive motor includes: Obtain real-time estimates of the pseudo-gradient of rotational speed and the lumped disturbance term of rotational speed, wherein the real-time estimate of the pseudo-gradient of rotational speed is calculated based on the real-time torque. The reference speed of the drive motor is filtered to obtain the filtered reference speed of the drive motor; The difference between the reference speed of the drive motor after filtering and the real-time speed of the drive motor after filtering is calculated, and the difference is used as the speed error of the drive motor. The reference torque of the drive motor is calculated based on the real-time estimated value of the pseudo-gradient of the speed, the real-time estimated value of the lumped disturbance term of the speed, and the speed error of the drive motor.

2. The method as described in claim 1, characterized in that, The step of calculating the clamping force error of the brake based on the real-time clamping force of the brake after filtering and the reference clamping force of the brake includes: The difference between the reference clamping force of the brake and the real-time clamping force of the brake after filtering is calculated, and the difference is used as the clamping force error of the brake.

3. The method as described in claim 1, characterized in that, The calculation of the reference linear velocity of the magnetic lead screw based on the clamping force error of the brake includes: Obtain real-time estimates of the pseudo-gradient of the clamping force and the lumped disturbance term of the clamping force; The reference linear velocity of the magnetic screw is calculated based on the clamping force error of the brake, the real-time estimate of the clamping force pseudo-gradient, and the real-time estimate of the clamping force lumped disturbance term.

4. The method as described in claim 1, characterized in that, The step of calculating the reference magnetic thrust of the magnetic screw based on the real-time linear velocity of the filtered magnetic screw and the reference linear velocity of the magnetic screw includes: Obtain real-time estimates of the pseudo gradient of linear velocity and the lumped perturbation term of linear velocity; The reference linear velocity of the magnetic lead screw is filtered to obtain the filtered reference linear velocity of the magnetic lead screw. Calculate the difference between the reference linear velocity of the magnetic screw after filtering and the real-time linear velocity of the magnetic screw after filtering, and use the difference as the linear velocity error; The reference magnetic thrust of the magnetic screw is calculated based on the real-time estimate of the linear velocity pseudo-gradient, the real-time estimate of the linear velocity lumped disturbance term, and the linear velocity error.

5. The method as described in claim 1, characterized in that, The step of calculating the reference speed of the drive motor based on the filtered real-time magnetic thrust and the reference magnetic thrust of the magnetic lead screw includes: Obtain real-time estimates of the pseudo gradient of magnetic thrust and the lumped disturbance term of magnetic thrust; The reference magnetic thrust of the magnetic lead screw is filtered to obtain the filtered reference magnetic thrust of the magnetic lead screw. Calculate the difference between the reference magnetic thrust of the magnetic screw after filtering and the real-time magnetic thrust after filtering, and use the difference as the magnetic thrust error of the magnetic screw. The reference speed of the drive motor is calculated based on the real-time estimated value of the pseudo gradient of the magnetic thrust, the real-time estimated value of the lumped disturbance term of the magnetic thrust, and the magnetic thrust error of the magnetic lead screw.

6. A control system for a magnetic screw integrated electromechanical braking system based on a control method for the magnetic screw integrated electromechanical braking system according to any one of claims 1-5, characterized in that, The system includes: The acquisition module is used to acquire real-time operating data of the magnetic screw integrated electromechanical braking system and the reference clamping force of the brake, and to filter the operating data. The real-time operating data includes: the real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, and the real-time speed and real-time torque of the drive motor. The calculation module is used to calculate the reference torque of the drive motor based on the filtered real-time clamping force of the brake, the real-time linear speed and real-time magnetic thrust of the magnetic screw, the real-time speed and real-time torque of the drive motor, and the reference clamping force of the brake. The control module is used to control the magnetic lead screw integrated electromechanical braking system based on the reference torque of the drive motor.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-5.

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