汽车再生制动稳定性与制动踏板平稳性控制研究
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摘要
汽车制动能量至今还是一种未开发利用的能源,在制动过程中大量的动能只能通过摩擦转化为热能耗散掉,且导致汽车制动系统过早地磨损,增加了汽车使用成本。汽车再生制动把制动过程中的部分动能转化为电能回收并进行再利用,提高了汽车能量综合利用率、节约了汽车使用成本,但再生制动系统加入到传统制动系统中会改变原有车辆制动性能,影响制动稳定性及制动踏板平稳性。如何实现再生制动与常规液压制动之间协调,在车辆行驶制动稳定的前提下,如何充分利用电机的再生制动,实现能量回收最大化是再生制动系统急需解决的问题。针对这些问题本文做了如下工作:
首先,为了达到能量回收的最大化和制动稳定性的统一,实现车辆原有的液压制动系统与再生制动的协调,在液压制动子系统的基础上,设计了一套能够实现根据机电制动力分配控制策略进行自动调节液压前后制动力的压力调节装置;根据再生制动特点及回收约束条件,结合开关磁阻电机的特性,提出双开关磁阻电机前轮制动、复合储能的再生制动系统方案;建立了开关磁阻电机再生制动控制模型;结合复合储能系统简化等效电路模型,采用能量方法建立了复合储能系统的能量流模型。
其次,建立车辆再生制动动力学模型,提出了基于模糊滑模变结构控制的电机防抱死再生制动控制策略模型与液压防抱死制动协调控制策略;以电机制动效能为车辆制动强度划分依据,建立前后制动力分配控制模型、机电制动力分配策略模型。并建立了基于前轮双电机制动力矩控制的制动稳定性控制策略模型。
对再生制动系统制动踏板平稳性影响因素进行理论分析,建立了制动踏板模型,设计了再生制动踏板结构,提出了基于轨迹跟踪的制动踏板平稳性控制策略,以实现与原有纯液压制动系统一致制动踏板平稳特性。
建立了再生制动稳定性集成控制模型,以协调控制器为中心,车辆稳定性控制、再生制动控制、能量回收控制及液压制动控制相互关联制约,实现集成控制。
最后,采用模块化分层设计的方法建立了再生制动模拟试验平台,并对上述提出的汽车再生制动控制策略进行硬件在环试验验证。
仿真计算及模拟试验结果表明,本文提出的汽车再生制动相关理论和方法可以有效提高汽车制动能量回收率、实现良好的制动稳定性和制动踏板平稳性。通过对再生制动系统相关控制理论和方法的深入研究,为汽车再生制动系统开发与设计提供了理论依据和新的思路。
本文的创新点在于:
1)提出了一种基于双开关磁阻电机前轴再生制动,并以铅酸蓄电池与超级电容并联成复合储能器的汽车再生制动系统;
2)在原有液压制动子系统的基础上,设计了一套能够实现根据机电制动力分配控制策略进行自动调节液压前后制动力的压力调节装置,从结构上解决了再生制动与液压制动之间协调问题;
3)根据复合储能系统简化等效电路模型,采用能量方法建立了复合储能系统的能量模型;
4)提出了一种通过对再生制动开关磁阻电机输入反向防抱死制动电压实现电机防抱死制动控制的方法,并设计了基于模糊滑模变结构控制的电机防抱死控制策略;
5)建立了再生制动稳定性集成控制模型,以集成控制器为中心,车辆稳定性控制、再生制动控制、能量回收控制及液压制动控制相互关联制约,实现集成控制;
6)采用模块化分层设计的方法建立了再生制动模拟试验平台,试验平台系统可以满足车辆再生制动方面理论研究需要,并具有良好的可扩展性。
Braking energy of vehicle have not been reclaimed and reused yet. Kinetic energy when braking changes into heat by friction, and brake appraratus are worn prematurely, which increased use cost for auto. Energy regenerative braking converts braking kinetic energy into electric one and reuses it, which improve auto comprehensive utilization of energy. But braking performance of original car with only hydraulic braking system is changed when added regenerative braking system, which deteriorate vehicle stability and braking pedal comfort. How to realize harmony control between regenerative braking and hydraulic one, and how to make full used of motor regenerative braking, to maximize reclaiming energy on the premise of running stability, are problems urgently needed to be solved. Aiming at these problems the paper has done as followed:
Firstly, a suit of pressure regulating device which can adjust front and rear hydraulic braking force automatically according to strategies of friction and motor braking force distribution is designed. After analyzing characteristic of regenerative braking and constraints of energy reclaiming, with the trait of a switched reluctance motor (SRM), a regenerative braking system scheme based on a double SRM front brake with duplex energy storage is presented. The controlling model of SRM braking is built. With a simplified equivalent circuit of the duplex energy storage, an energy model for storage is established.
Secondly, a full vehicle dynamics model for regenerative braking is generated. A control strategy of SRM anti-lock regenerative braking based on fuzzy sliding mode variable structure control and a harmony strategy of SRM brake with hydraulic anti-lock brake are proposed. According to motor braking power, the brake intensities are classified. Strategies of brake force distribution for front rear wheels and for friction motor are established. Also, a car body stability control model based on double motor braking force control is put forward.
Theoretical analysis of influencing factors of regenerative braking pedal comfortableness is carried out. Brake pedal model and its structure are designed. For achieving the same pedal comfort with original hydraulic braking system, a pedal comfort control strategy based on trajectory tracking is advanced.
Integrated control of regenerative braking stability is modeled, which take a harmony controller as center, vehicle stability controller, regenerative braking controller, energy reclaiming controller and hydraulic braking controller are interdependent and mutually-restrained, so that integrated controlling is carried out.
Finally, method of modular hierarchical design is adopted in building of regenerative braking hardware-in-the-loop (HIL) test bench. The above control theories of regenerative braking are validated on the test bench.
Simulation calculation and test results showed that the theories and methods of auto regenerative braking can improve energy recovery of brake efficiently, realize good braking stability and braking pedal comfortableness. By further study on theories and methods of regenerative braking, this paper provides theoretical basis and new concept for developing and design of auto regenerative braking.
The major innovations in this paper are as follows:
1) A kind of regenerative braking system scheme based on a double SRM front brake with duplex energy storage of lead-acid battery paralleling with ultra-capacitor is presented.
2) Based on original hydraulic braking system, a suit of pressure regulating device which can adjust front and rear hydraulic braking force automatically according to strategies of friction and motor braking force distribution is designed, so that the problem of harmony work between regenerative braking and hydraulic one is solved in structure.
3) With a simplified equivalent circuit of the duplex energy storage, an energy modeling method for storage is adopted.
4) A method of inputting reverse voltage to SRM to implementing anti lock braking is put forward. And strategy of SRM anti-lock regenerative braking based on fuzzy sliding mode variable structure control is proposed.
5) A concept of regenerative braking stability integrated controller is modeled.
6) Method of modular hierarchical design is adopted in the building of regenerative braking HIL test bench. The test system can not only fulfill the needs of regenerative braking research but also has good expansibility.
首先,为了达到能量回收的最大化和制动稳定性的统一,实现车辆原有的液压制动系统与再生制动的协调,在液压制动子系统的基础上,设计了一套能够实现根据机电制动力分配控制策略进行自动调节液压前后制动力的压力调节装置;根据再生制动特点及回收约束条件,结合开关磁阻电机的特性,提出双开关磁阻电机前轮制动、复合储能的再生制动系统方案;建立了开关磁阻电机再生制动控制模型;结合复合储能系统简化等效电路模型,采用能量方法建立了复合储能系统的能量流模型。
其次,建立车辆再生制动动力学模型,提出了基于模糊滑模变结构控制的电机防抱死再生制动控制策略模型与液压防抱死制动协调控制策略;以电机制动效能为车辆制动强度划分依据,建立前后制动力分配控制模型、机电制动力分配策略模型。并建立了基于前轮双电机制动力矩控制的制动稳定性控制策略模型。
对再生制动系统制动踏板平稳性影响因素进行理论分析,建立了制动踏板模型,设计了再生制动踏板结构,提出了基于轨迹跟踪的制动踏板平稳性控制策略,以实现与原有纯液压制动系统一致制动踏板平稳特性。
建立了再生制动稳定性集成控制模型,以协调控制器为中心,车辆稳定性控制、再生制动控制、能量回收控制及液压制动控制相互关联制约,实现集成控制。
最后,采用模块化分层设计的方法建立了再生制动模拟试验平台,并对上述提出的汽车再生制动控制策略进行硬件在环试验验证。
仿真计算及模拟试验结果表明,本文提出的汽车再生制动相关理论和方法可以有效提高汽车制动能量回收率、实现良好的制动稳定性和制动踏板平稳性。通过对再生制动系统相关控制理论和方法的深入研究,为汽车再生制动系统开发与设计提供了理论依据和新的思路。
本文的创新点在于:
1)提出了一种基于双开关磁阻电机前轴再生制动,并以铅酸蓄电池与超级电容并联成复合储能器的汽车再生制动系统;
2)在原有液压制动子系统的基础上,设计了一套能够实现根据机电制动力分配控制策略进行自动调节液压前后制动力的压力调节装置,从结构上解决了再生制动与液压制动之间协调问题;
3)根据复合储能系统简化等效电路模型,采用能量方法建立了复合储能系统的能量模型;
4)提出了一种通过对再生制动开关磁阻电机输入反向防抱死制动电压实现电机防抱死制动控制的方法,并设计了基于模糊滑模变结构控制的电机防抱死控制策略;
5)建立了再生制动稳定性集成控制模型,以集成控制器为中心,车辆稳定性控制、再生制动控制、能量回收控制及液压制动控制相互关联制约,实现集成控制;
6)采用模块化分层设计的方法建立了再生制动模拟试验平台,试验平台系统可以满足车辆再生制动方面理论研究需要,并具有良好的可扩展性。
Braking energy of vehicle have not been reclaimed and reused yet. Kinetic energy when braking changes into heat by friction, and brake appraratus are worn prematurely, which increased use cost for auto. Energy regenerative braking converts braking kinetic energy into electric one and reuses it, which improve auto comprehensive utilization of energy. But braking performance of original car with only hydraulic braking system is changed when added regenerative braking system, which deteriorate vehicle stability and braking pedal comfort. How to realize harmony control between regenerative braking and hydraulic one, and how to make full used of motor regenerative braking, to maximize reclaiming energy on the premise of running stability, are problems urgently needed to be solved. Aiming at these problems the paper has done as followed:
Firstly, a suit of pressure regulating device which can adjust front and rear hydraulic braking force automatically according to strategies of friction and motor braking force distribution is designed. After analyzing characteristic of regenerative braking and constraints of energy reclaiming, with the trait of a switched reluctance motor (SRM), a regenerative braking system scheme based on a double SRM front brake with duplex energy storage is presented. The controlling model of SRM braking is built. With a simplified equivalent circuit of the duplex energy storage, an energy model for storage is established.
Secondly, a full vehicle dynamics model for regenerative braking is generated. A control strategy of SRM anti-lock regenerative braking based on fuzzy sliding mode variable structure control and a harmony strategy of SRM brake with hydraulic anti-lock brake are proposed. According to motor braking power, the brake intensities are classified. Strategies of brake force distribution for front rear wheels and for friction motor are established. Also, a car body stability control model based on double motor braking force control is put forward.
Theoretical analysis of influencing factors of regenerative braking pedal comfortableness is carried out. Brake pedal model and its structure are designed. For achieving the same pedal comfort with original hydraulic braking system, a pedal comfort control strategy based on trajectory tracking is advanced.
Integrated control of regenerative braking stability is modeled, which take a harmony controller as center, vehicle stability controller, regenerative braking controller, energy reclaiming controller and hydraulic braking controller are interdependent and mutually-restrained, so that integrated controlling is carried out.
Finally, method of modular hierarchical design is adopted in building of regenerative braking hardware-in-the-loop (HIL) test bench. The above control theories of regenerative braking are validated on the test bench.
Simulation calculation and test results showed that the theories and methods of auto regenerative braking can improve energy recovery of brake efficiently, realize good braking stability and braking pedal comfortableness. By further study on theories and methods of regenerative braking, this paper provides theoretical basis and new concept for developing and design of auto regenerative braking.
The major innovations in this paper are as follows:
1) A kind of regenerative braking system scheme based on a double SRM front brake with duplex energy storage of lead-acid battery paralleling with ultra-capacitor is presented.
2) Based on original hydraulic braking system, a suit of pressure regulating device which can adjust front and rear hydraulic braking force automatically according to strategies of friction and motor braking force distribution is designed, so that the problem of harmony work between regenerative braking and hydraulic one is solved in structure.
3) With a simplified equivalent circuit of the duplex energy storage, an energy modeling method for storage is adopted.
4) A method of inputting reverse voltage to SRM to implementing anti lock braking is put forward. And strategy of SRM anti-lock regenerative braking based on fuzzy sliding mode variable structure control is proposed.
5) A concept of regenerative braking stability integrated controller is modeled.
6) Method of modular hierarchical design is adopted in the building of regenerative braking HIL test bench. The test system can not only fulfill the needs of regenerative braking research but also has good expansibility.
引文
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