汽车线控制动系统安全控制技术研究
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摘要
汽车安全技术的研究与开发是当今世界汽车技术的重要发展方向。汽车制动系统对车辆的安全行驶起着至关重要的作用。采用线控技术构建有关汽车安全性能的电子控制系统，可极大地提高驾驶的安全性、可靠性和稳定性，已成为汽车技术的发展方向。线控制动给汽车结构和制动性能带来根本性变革，相对传统制动系统具有无法比拟的优点,其研究与应用对汽车安全性、可操纵性、舒适性以及节能环保都将起到重要的作用。然而，现有线控技术应用于汽车制动系统的主要困难是，尚没有针对高安全可靠性要求的线控制动的系统性的结构设计方法和基于该结构的全局非线性的线控制动系统模型构建，以及基于四轮独立制动控制的制动力分配策略和可靠的实时快速带约束非线性最优控制算法。本文从安全可靠性设计的观点出发,重点研究线控制动系统的安全控制方法。主要研究内容包括：
(1)对汽车线控制动发展概况、应用现状以及面临的问题进行了剖析，分析并总结出线控制动系统的关键技术。重点从线控制动系统控制结构设计、基于四轮独立制动控制的最优制动力分配策略、最佳滑移率在线辨识方法以及基于滑移率的线控制动ABS控制技术等方面详细阐述了汽车线控制动安全控制技术的研究动向。
(2)总结出五类导致制动失效的制动系统故障模式，运用故障模式及危害性分析和故障树分析法相结合的方法进行线控制动系统可靠性分析，采用基于可靠性分析和容错技术相结合的线控制动系统结构设计方法设计出线控制动系统硬件双冗余结构和踏板模块双机容错控制系统。
(3)提出一种基于滑移率的四轮独立制动控制的最优制动力分配策略，并通过改进的粒子群优化算法得到最优制动力分配曲线。在获得与传统的理想制动力分配方法相同的制动强度和制动减速度的前提下，新的制动力分配策略使前轮的滑移率总是大于后轮的滑移率，从而在保证汽车制动时的方向稳定性，防止后轴先于前轴抱死而发生危险的侧滑的同时，前后车轮制动力分配更加接近理想的制动力分配曲线，为制动力控制提供了最佳的制动参数。
(4)针对汽车制动过程的非线性特征，提出了一种基于RBF神经网络的改进型Burckhardt模型，并设计出一种结合结构化非线性参数优化方法(SNPOM)和粒子群算法(PSO)的新的混合参数优化算法PSO-SNPOM，优化RBF网络的参数。
(5)提出了基于改进型Burckhardt模型的适应各种路面条件下的最佳滑移率在线计算方法，在线控制动系统中的仿真实验验证了新的最佳滑移率辨识方法的有效性和可行性。
(6)结合变结构控制和模糊控制方法，设计了基于切换增益自适应调节的模糊滑模控制器。针对制动过程的非线性特征，设计了基于滑移率的线控制动ABS模糊滑模控制器。建立了MATLAB/Simulink与CarSim的联合仿真环境，对单路面与变路面条件下的基于滑移率的线控制动ABS控制策略进行仿真实验。仿真结果表明，基于增益模糊调节的滑模控制算法相比于PID算法和常规滑模控制具有更高的控制精度和鲁棒性，可使汽车获得更优的制动性能和对路面的更好的适应性；同时，结合本文提出的最佳滑移率在线辨识方法，基于最佳滑移率的ABS控制系统的制动性能要优于基于定滑移率的ABS系统，从而为线控制动ABS控制提供了一种实用的算法。
本论文通过对汽车线控制动安全控制相关技术的研究，可以提高汽车行驶安全性和稳定性，为线控制动系统的实际应用打好理论基础，也为线控技术在汽车其它电控系统或其它运载工具上的应用研究提供积极的借鉴作用。
The research of automotive safety technology has attracted considerable attentionduring recent years，and the brake system plays an important role in maintainingvehicle driving safety. Using X-by-wire technology to establish the electronic controlsystem can greatly improve the automotive safety performance, reliability andstability. Brake-by-wire has brought fundamental changes to automotive structure andbraking system performance, which has significant advantages compared withconventional hydraulic or electro-hydraulic brake system. Although the use ofBrake-by-wire will promote vehicle maneuverability, comfort, fuel economy andenvironmental protection, there are many technical and design challenges haveimpeded its commercialization, such as the lack of design method for system structurewhich will ensure a more safety and reliability Brake-by-wire system, the modeling ofglobal X-by-wire non-linear dynamic system, the strategies of brake force distributionbased on the independent four-wheel brake control, and reliable real-time constrainednonlinear optimal control algorithm. This dissertation is intended to tackle the mainareas of interest in the Brake-by-wire system, namely the safety control method, andthe research will be conducted as following:
(1) The development, application, major impediments and key technologies ofvehicle break-by-wire system are discussed in this dissertation, and the X-by-wiresafety control technologies are mainly considered, including the structure design ofwire-control system, the optimal braking force distribution strategy based on thefour-wheel independent braking control, the optimal slip-ratio estimator, and thesliding mode controller (SMC) for ABS in BBW systems.
(2) Five kinds of failure modes of brake system are summarized, and then a methodwhich combed failure modes&effects analysis (FMEA) and fault tree analysis (FTA)is used to investigate the reliability of brake-by-wire (BBW) system. Finally astructure design method based on reliability analysis and fault tolerance technology isused to design double redundant structure for BBW system and duo-duplexarchitecture for the pedal module.
(3) Based on the slip ratio, an ideal brake force distribution strategy for four-wheelindependent brake control system is proposed. Moreover, the optimal braking forcedistribution curve is obtained through the improved particle swarm optimizationalgorithm. This new braking force distribution strategy not only can maintain thesame braking intensity and brake speed as traditional method, but also always ensures greater slip ratio for front wheels and then guarantee the vehicle direction stabilityduring braking, and preventing rear axle shaft from locking prior to front axle, furtherprevented dangerous side slide, and making front and rear wheel braking forcedistribution more close to ideal braking force distribution curve, so as to provide theoptimal braking parameters for breaking force control.
(4) Considering the nonlinear property of vehicle braking process, an improvedBurckhardt model based on RBF Neural Network (RBFNN) is proposed. At the sametime, a new hybrid parameter optimization algorithm PSO-SNPOM is designed tooptimize the parameters for RBF neural networks. This algorithm combined structurednonlinear parameter optimization method (SNPOM) with Particle SwarmOptimization (PSO).
(5) A new method based on Improved Burckhardt model is proposed to estimate theoptimal slip ratio on-line in any setting road condition, and the effectiveness andfeasibility of this identification method is verified by simulation results.
(6) A fuzzy sliding mode controller (SMC) based on the switching gain adaption isdesigned; SMC method combined variable structure control and fuzzy control.According to the non-linear feature of the braking process, a fuzzy sliding modecontroller based on slip ratio is designed for ABS in BBW systems. The co-simulationof MATLAB/Simulink and CarSim as well as the hard-in-loop test platform are set upseparately to simulate the brake-by-wire ABS control strategy under single pavementand variable pavement conditions. The simulation results indicate that, compared withPID and the conventional sliding mode control algorithm, the sliding mode controlalgorithm based on gain fuzzy control has higher accuracy and robustness, whichcould make the automobile obtain a better braking performance and a betteradaptability in varied roads. Meanwhile, the braking performance of the ABS controlsystem based on optimal slip rate is superior to that of ABS system based on constantslip rate.
The research of vehicle X-by-wire safety control technology will improve thevehicle safety and stability. This research not only built up the theory foundation forthe practical application of X-by-wire system, but also formed the basis for itsapplication in other vehicle electronic control system or other types of vehicles.
(1)对汽车线控制动发展概况、应用现状以及面临的问题进行了剖析，分析并总结出线控制动系统的关键技术。重点从线控制动系统控制结构设计、基于四轮独立制动控制的最优制动力分配策略、最佳滑移率在线辨识方法以及基于滑移率的线控制动ABS控制技术等方面详细阐述了汽车线控制动安全控制技术的研究动向。
(2)总结出五类导致制动失效的制动系统故障模式，运用故障模式及危害性分析和故障树分析法相结合的方法进行线控制动系统可靠性分析，采用基于可靠性分析和容错技术相结合的线控制动系统结构设计方法设计出线控制动系统硬件双冗余结构和踏板模块双机容错控制系统。
(3)提出一种基于滑移率的四轮独立制动控制的最优制动力分配策略，并通过改进的粒子群优化算法得到最优制动力分配曲线。在获得与传统的理想制动力分配方法相同的制动强度和制动减速度的前提下，新的制动力分配策略使前轮的滑移率总是大于后轮的滑移率，从而在保证汽车制动时的方向稳定性，防止后轴先于前轴抱死而发生危险的侧滑的同时，前后车轮制动力分配更加接近理想的制动力分配曲线，为制动力控制提供了最佳的制动参数。
(4)针对汽车制动过程的非线性特征，提出了一种基于RBF神经网络的改进型Burckhardt模型，并设计出一种结合结构化非线性参数优化方法(SNPOM)和粒子群算法(PSO)的新的混合参数优化算法PSO-SNPOM，优化RBF网络的参数。
(5)提出了基于改进型Burckhardt模型的适应各种路面条件下的最佳滑移率在线计算方法，在线控制动系统中的仿真实验验证了新的最佳滑移率辨识方法的有效性和可行性。
(6)结合变结构控制和模糊控制方法，设计了基于切换增益自适应调节的模糊滑模控制器。针对制动过程的非线性特征，设计了基于滑移率的线控制动ABS模糊滑模控制器。建立了MATLAB/Simulink与CarSim的联合仿真环境，对单路面与变路面条件下的基于滑移率的线控制动ABS控制策略进行仿真实验。仿真结果表明，基于增益模糊调节的滑模控制算法相比于PID算法和常规滑模控制具有更高的控制精度和鲁棒性，可使汽车获得更优的制动性能和对路面的更好的适应性；同时，结合本文提出的最佳滑移率在线辨识方法，基于最佳滑移率的ABS控制系统的制动性能要优于基于定滑移率的ABS系统，从而为线控制动ABS控制提供了一种实用的算法。
本论文通过对汽车线控制动安全控制相关技术的研究，可以提高汽车行驶安全性和稳定性，为线控制动系统的实际应用打好理论基础，也为线控技术在汽车其它电控系统或其它运载工具上的应用研究提供积极的借鉴作用。
The research of automotive safety technology has attracted considerable attentionduring recent years，and the brake system plays an important role in maintainingvehicle driving safety. Using X-by-wire technology to establish the electronic controlsystem can greatly improve the automotive safety performance, reliability andstability. Brake-by-wire has brought fundamental changes to automotive structure andbraking system performance, which has significant advantages compared withconventional hydraulic or electro-hydraulic brake system. Although the use ofBrake-by-wire will promote vehicle maneuverability, comfort, fuel economy andenvironmental protection, there are many technical and design challenges haveimpeded its commercialization, such as the lack of design method for system structurewhich will ensure a more safety and reliability Brake-by-wire system, the modeling ofglobal X-by-wire non-linear dynamic system, the strategies of brake force distributionbased on the independent four-wheel brake control, and reliable real-time constrainednonlinear optimal control algorithm. This dissertation is intended to tackle the mainareas of interest in the Brake-by-wire system, namely the safety control method, andthe research will be conducted as following:
(1) The development, application, major impediments and key technologies ofvehicle break-by-wire system are discussed in this dissertation, and the X-by-wiresafety control technologies are mainly considered, including the structure design ofwire-control system, the optimal braking force distribution strategy based on thefour-wheel independent braking control, the optimal slip-ratio estimator, and thesliding mode controller (SMC) for ABS in BBW systems.
(2) Five kinds of failure modes of brake system are summarized, and then a methodwhich combed failure modes&effects analysis (FMEA) and fault tree analysis (FTA)is used to investigate the reliability of brake-by-wire (BBW) system. Finally astructure design method based on reliability analysis and fault tolerance technology isused to design double redundant structure for BBW system and duo-duplexarchitecture for the pedal module.
(3) Based on the slip ratio, an ideal brake force distribution strategy for four-wheelindependent brake control system is proposed. Moreover, the optimal braking forcedistribution curve is obtained through the improved particle swarm optimizationalgorithm. This new braking force distribution strategy not only can maintain thesame braking intensity and brake speed as traditional method, but also always ensures greater slip ratio for front wheels and then guarantee the vehicle direction stabilityduring braking, and preventing rear axle shaft from locking prior to front axle, furtherprevented dangerous side slide, and making front and rear wheel braking forcedistribution more close to ideal braking force distribution curve, so as to provide theoptimal braking parameters for breaking force control.
(4) Considering the nonlinear property of vehicle braking process, an improvedBurckhardt model based on RBF Neural Network (RBFNN) is proposed. At the sametime, a new hybrid parameter optimization algorithm PSO-SNPOM is designed tooptimize the parameters for RBF neural networks. This algorithm combined structurednonlinear parameter optimization method (SNPOM) with Particle SwarmOptimization (PSO).
(5) A new method based on Improved Burckhardt model is proposed to estimate theoptimal slip ratio on-line in any setting road condition, and the effectiveness andfeasibility of this identification method is verified by simulation results.
(6) A fuzzy sliding mode controller (SMC) based on the switching gain adaption isdesigned; SMC method combined variable structure control and fuzzy control.According to the non-linear feature of the braking process, a fuzzy sliding modecontroller based on slip ratio is designed for ABS in BBW systems. The co-simulationof MATLAB/Simulink and CarSim as well as the hard-in-loop test platform are set upseparately to simulate the brake-by-wire ABS control strategy under single pavementand variable pavement conditions. The simulation results indicate that, compared withPID and the conventional sliding mode control algorithm, the sliding mode controlalgorithm based on gain fuzzy control has higher accuracy and robustness, whichcould make the automobile obtain a better braking performance and a betteradaptability in varied roads. Meanwhile, the braking performance of the ABS controlsystem based on optimal slip rate is superior to that of ABS system based on constantslip rate.
The research of vehicle X-by-wire safety control technology will improve thevehicle safety and stability. This research not only built up the theory foundation forthe practical application of X-by-wire system, but also formed the basis for itsapplication in other vehicle electronic control system or other types of vehicles.
引文
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