摘要
为提高轮毂电机驱动电动汽车的制动性能和安全性能,对其液压制动系统轮缸压力估计和压力控制进行了研究。首先对液压执行单元中的关键部件回路控制阀建立了数学模型,分析其液压特性和电气特性,接着针对回路电磁阀建立了状态方程,采用平方根容积卡尔曼滤波算法,估计电磁阀阀芯行程,从而准确计算出当前制动液流量和制动轮缸压力,然后再依据p-V特性设计了基于滑模变结构算法的电磁阀阀芯行程控制算法,通过调节阀芯行程来控制制动轮缸内的制动压力。最后采用Matlab/Simulink-AMESim联合仿真和硬件在环台架实验两种方法进行算法验证,结果表明:所提出的制动轮缸压力估计和压力控制算法能准确跟随控制目标值,提高轮毂电机驱动电动汽车的制动性能。
In order to enhance the braking and safety performances of hub motor-driven electric vehicle, the estimation and control of cylinder pressure in hydraulic braking system are studied. Firstly, a mathematical model for the loop control valve of key component in hydraulic actuation unit is established to analyze its hydraulic and electrical characteristics. Then the state equation for the loop solenoid valve is set up by using square root cubature Kalman filtering algorithm, to estimate the lift of solenoid valve and hence accurately calculate the current flow rate of brake fluid and the pressure in wheel cylinder. Next, according to the p-V characteristics, the control algorithm of solenoid valve lift is designed based on sliding mode variable structure algorithm, so the braking pressure in wheel cylinder can be controlled by adjusting the lift of solenoid valve. Finally, both Matlab/Simulink-AMESim co-simulation and hardware-in-the-loop test are conducted to verify the algorithms adopted. The results show that the proposed algorithm for the estimation and control of cylinder pressure in hydraulic braking system can accurately follow the control target value, enhancing the braking performance of hub motor-driven electric vehicle.
作者
刘刚
徐文博
靳立强
Liu Gang;Xu Wenbo;Jin Liqiang(Department of Automotive Engineering, Henan Institute of Technology, Xinxiang 453000;Jilin University, State Key Laboratory of Automotive Simulation and Control , Changchun 130025)
出处
《汽车工程》
EI
CSCD
北大核心
2019年第10期1138-1144,共7页
Automotive Engineering
基金
国家自然科学基金(50907030)
河南省科技计划项目(192102210063,182102210263)资助
关键词
车辆动力学
液压执行单元
平方根容积卡尔曼滤波
滑模控制算法
硬件在环试验
vehicle dynamics
hydraulic actuation unit
square root cubature Kalman filtering
sliding mode control algorithm
hardware-in-the-loop test
作者简介
通信作者:靳立强,教授,博士生导师,E-mail:LiQiangJin1976@163.com.
