电子机械制动执行器精细控制算法研究
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摘要
随着汽车电子控制技术的发展,基于制动力控制的汽车主动安全控制系统对制动系统执行机构的控制品质要求越来越高,而作为新一代制动系统,电子机械制动系统(Electro-mechanical Brake, EMB)也需要对其执行器进行精细控制研究,而控制算法是提升其控制品质的重要因素。EMB执行器精细控制算法,考虑了执行器执行过程中的实际影响因素,并根据电机在不同阶段的负载变化进行制动压力的精细调节,从而能有效提高制动压力的控制品质,对提高汽车的制动性和主动安全性有重要意义。
本文结合霍英东教育基金会资助项目(111080)“汽车智能集成电控制动系统研究”以及国家自然科学基金(50805063)“基于线控制动的汽车动力学控制研究”,进行了EMB执行器精细控制算法研究,开发了EMB硬件在环试验台,对精细控制算法的控制参数进行匹配并进行了硬件在环试验验证。
1.EMB执行器精细控制策略研究
首先对EMB执行器控制系统及目标EMB执行器的结构和工作过程进行分析,然后根据EMB执行过程各个阶段的特点及控制品质,提出了基于复合式反馈控制的EMB执行器精细控制策略,即根据目标制动压力、反馈制动压力和电机转角位置3个参数的变化将EMB执行器的制动过程分为4个阶段,然后分别采用转速-电流PID控制、压力-电流PID控制、反转位置反馈控制和正转位置反馈控制。
2.EMB执行器精细控制算法软件开发
针对目标电机控制器,开发了EMB执行器精细控制算法软件。首先介绍了软件的开发环境MPLAB-IDE,然后对软件程序的各个部分进行了详细介绍,包括单片机初始化模块、电机换相模块、信号采集及处理模块、分段识别模块、各阶段控制子程序和CAN通讯模块。
3.EMB硬件在环试验台
为了调试EMB执行器精细控制算法和验证算法的性能,本文搭建了基于CANoe平台和Matlab/xPC Target平台的EMB硬件在环试验台。在参考国内外EMB硬件在环试验台的技术上提出了本试验台的总体方案,然后进行了硬件搭建。试验台硬件部分包括：主机、工控机、中央控制单元、电机控制器、EMB执行器、电子制动踏板、转向器、直流电源等；软件部分包括CANoe系统、车辆动力学实时模型和ESP控制软件。
4.硬件在环试验研究
硬件在环试验主要包括两部分：EMB执行器精细控制算法参数匹配试验和控制系统性能验证试验。首先分析了精细控制算法中的参数调节方法,进而进行了参数匹配试验；然后通过目标制动压力阶跃响应试验和ESP控制目标制动压力响应试验对精细控制算法的性能进行了试验验证。试验结果表明,EMB执行器在精细控制算法的控制下具有良好的性能,能有效EMB系统的控制品质和车辆的主动安全性。
With the development of the vehicle electronics control technology, it's more increasingly demand to the active control system of the vehicle based on the brake force control in the ways of brake system actuators control quality. As a new style brake system, electro-mechanical brake (EMB) also need accurate regulation to its actuators., and to promote its control quality, control algorithm is an important factor. Making a further study about EMB actuators accurate regulation algorithm, will do good to improve the braking capacity of the EMB system, simplify the structure of the actuators, and promote the development of the active safety system based on the EMB system., which have a significance to enhance the brake and active safety of the vehicles.
This paper is based on the project which named "Research on vehicle intelligent brake system"(No.111080) founded by HuoYingdong Education Foundation, and "Research on vehicle dynamic control based on braking by wire"(No.50805063) founded by National Natural Science Foundation of China. This paper is mainly about research of accurate regulation algorithm for the EMB actuators, developing hardware-in-loop test bench of the EMB system, matching the control parameters of the accurate regulation algorithm and verify these parameters by the hardware-in-loop test.
1. Research on the Accurate Regulation Algorithm for the EMB actuators
Firstly, this paper introducing the EMB actuators control system framework and the structure of the EMB and its work process. Then according to control quality and feature of each stage of the EMB work process, proposed an accurate regulation algorithm based on composite feedback control algorithm for the EMB system. The working process of EMB actuators are divided into 4 stages, according to the change of targeting power, actual braking force and the position of motor corner these three parameters. Then use speed-current PID loop control, pressure-current PID loop control, brake clearance control and transmission clearance control, respectively.
2. Development of accurate regulation algorithm software for the EMB actuators
For the target motor controller, developed a software of accurate regulation algorithm for the EMB actuators. Firstly, this paper introduced software development environment which is MPLAB-IDE, then made a detailed introduces about each part of the software programs, including microcontroller initialization module, motor commutation module, signal acquisition and processing module, subsection recognition module, subsection control module, and CAN communication module.
3. EMB hardware-in-loop test bench
In order to debug the accurate regulation algorithm of the EMB actuators and to verify the performance of the algorithm, this paper built a hardware-in-loop test bench based on CANoe platform and Matlab/xPC target platform. Referencing to domestic and international hardware-in-loop test bench, put forward the overall scheme about test bench. The test bench hardware part include:host PC, industrial PC, central control unit, four EMB controllers, four EMB actuators, electronic brake pedal, steering gear, DC power, etc. The software part include:CANoe system, vehicle dynamics real-time model and ESP control software.
4. Research on hardware-in-loop experiment
The hardware-in-loop experiment mainly includes two parts:the test of matching the parameters of the accurate regulation algorithm for the EMB actuators and verify the performance of the control system. Firstly, analysis the method of regulation parameters for the fine control algorithm, then have a test about matching parameters. Then under the condition of step signal, conventional braking signal and typical brake signal performance of EMB actuators within ESP control system had been experimented and verified. The results show that the EMB actuators have a good performance on condition of the accurate regulation algorithm control, and can enhance the vehicle brake and active safety effectively.
本文结合霍英东教育基金会资助项目(111080)“汽车智能集成电控制动系统研究”以及国家自然科学基金(50805063)“基于线控制动的汽车动力学控制研究”,进行了EMB执行器精细控制算法研究,开发了EMB硬件在环试验台,对精细控制算法的控制参数进行匹配并进行了硬件在环试验验证。
1.EMB执行器精细控制策略研究
首先对EMB执行器控制系统及目标EMB执行器的结构和工作过程进行分析,然后根据EMB执行过程各个阶段的特点及控制品质,提出了基于复合式反馈控制的EMB执行器精细控制策略,即根据目标制动压力、反馈制动压力和电机转角位置3个参数的变化将EMB执行器的制动过程分为4个阶段,然后分别采用转速-电流PID控制、压力-电流PID控制、反转位置反馈控制和正转位置反馈控制。
2.EMB执行器精细控制算法软件开发
针对目标电机控制器,开发了EMB执行器精细控制算法软件。首先介绍了软件的开发环境MPLAB-IDE,然后对软件程序的各个部分进行了详细介绍,包括单片机初始化模块、电机换相模块、信号采集及处理模块、分段识别模块、各阶段控制子程序和CAN通讯模块。
3.EMB硬件在环试验台
为了调试EMB执行器精细控制算法和验证算法的性能,本文搭建了基于CANoe平台和Matlab/xPC Target平台的EMB硬件在环试验台。在参考国内外EMB硬件在环试验台的技术上提出了本试验台的总体方案,然后进行了硬件搭建。试验台硬件部分包括：主机、工控机、中央控制单元、电机控制器、EMB执行器、电子制动踏板、转向器、直流电源等；软件部分包括CANoe系统、车辆动力学实时模型和ESP控制软件。
4.硬件在环试验研究
硬件在环试验主要包括两部分：EMB执行器精细控制算法参数匹配试验和控制系统性能验证试验。首先分析了精细控制算法中的参数调节方法,进而进行了参数匹配试验；然后通过目标制动压力阶跃响应试验和ESP控制目标制动压力响应试验对精细控制算法的性能进行了试验验证。试验结果表明,EMB执行器在精细控制算法的控制下具有良好的性能,能有效EMB系统的控制品质和车辆的主动安全性。
With the development of the vehicle electronics control technology, it's more increasingly demand to the active control system of the vehicle based on the brake force control in the ways of brake system actuators control quality. As a new style brake system, electro-mechanical brake (EMB) also need accurate regulation to its actuators., and to promote its control quality, control algorithm is an important factor. Making a further study about EMB actuators accurate regulation algorithm, will do good to improve the braking capacity of the EMB system, simplify the structure of the actuators, and promote the development of the active safety system based on the EMB system., which have a significance to enhance the brake and active safety of the vehicles.
This paper is based on the project which named "Research on vehicle intelligent brake system"(No.111080) founded by HuoYingdong Education Foundation, and "Research on vehicle dynamic control based on braking by wire"(No.50805063) founded by National Natural Science Foundation of China. This paper is mainly about research of accurate regulation algorithm for the EMB actuators, developing hardware-in-loop test bench of the EMB system, matching the control parameters of the accurate regulation algorithm and verify these parameters by the hardware-in-loop test.
1. Research on the Accurate Regulation Algorithm for the EMB actuators
Firstly, this paper introducing the EMB actuators control system framework and the structure of the EMB and its work process. Then according to control quality and feature of each stage of the EMB work process, proposed an accurate regulation algorithm based on composite feedback control algorithm for the EMB system. The working process of EMB actuators are divided into 4 stages, according to the change of targeting power, actual braking force and the position of motor corner these three parameters. Then use speed-current PID loop control, pressure-current PID loop control, brake clearance control and transmission clearance control, respectively.
2. Development of accurate regulation algorithm software for the EMB actuators
For the target motor controller, developed a software of accurate regulation algorithm for the EMB actuators. Firstly, this paper introduced software development environment which is MPLAB-IDE, then made a detailed introduces about each part of the software programs, including microcontroller initialization module, motor commutation module, signal acquisition and processing module, subsection recognition module, subsection control module, and CAN communication module.
3. EMB hardware-in-loop test bench
In order to debug the accurate regulation algorithm of the EMB actuators and to verify the performance of the algorithm, this paper built a hardware-in-loop test bench based on CANoe platform and Matlab/xPC target platform. Referencing to domestic and international hardware-in-loop test bench, put forward the overall scheme about test bench. The test bench hardware part include:host PC, industrial PC, central control unit, four EMB controllers, four EMB actuators, electronic brake pedal, steering gear, DC power, etc. The software part include:CANoe system, vehicle dynamics real-time model and ESP control software.
4. Research on hardware-in-loop experiment
The hardware-in-loop experiment mainly includes two parts:the test of matching the parameters of the accurate regulation algorithm for the EMB actuators and verify the performance of the control system. Firstly, analysis the method of regulation parameters for the fine control algorithm, then have a test about matching parameters. Then under the condition of step signal, conventional braking signal and typical brake signal performance of EMB actuators within ESP control system had been experimented and verified. The results show that the EMB actuators have a good performance on condition of the accurate regulation algorithm control, and can enhance the vehicle brake and active safety effectively.
引文
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