汽车电子驻车制动系统（EPB）的研究
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摘要
随着人们生活品质的逐步提高,人们对汽车性能的要求也与日俱增,这些性能不仅包括传统观念中的动力性、经济性和安全性,还包括有时尚性、智能化和人性化等诸多元素。基于此目的,美国天合汽车集团成功研发并首先推出了汽车电子驻车制动系统,它用电子控制系统取代了原来的机械式结构,使车辆的驻车控制更加的便捷与安全,同时可以与车辆上的其他电子控制系统相协同工作,使得汽车更加的智能化,可以说,电子驻车制动系统是车辆系统应用中人性化、智能化的又一体现,而市场表现也充分表明了电子驻车制动系统应用的成功。
对于传统的机械式驻车制动系统,其存在着许多的缺点,诸如需要消耗驾驶员的体力,操作上比较麻烦,在坡道上起步时需要驾驶员有一定的技能,并且机械结构在使用上会存在一定的安全隐患等等问题,而电子驻车制动系统则可以有效的克服这一系列的问题,其能够实现缓速制动,坡道智能辅助起步,与行车电脑进行数据交换和共享等机械式驻车制动系统所不能达到的功能。
本文系统的对电子驻车制动系统进行了讨论和研究,为电子驻车制动系统的开发提供了一定的方法、理论依据及设计要求。本文首先介绍了电子驻车制动系统的国内外研究现状及传统的机械式驻车制动系统所存在的问题,阐述了电子驻车制动系统的基本原理,并对相应的国家标准进行了系统分析,基于此分析,本文对电子驻车制动系统的产品开发的各个参数采集模块和实现各项功能的控制策略分别进行了讨论和研究。在参数采集模块中,分别研究了车速、发动机转速、制动力、制动盘压力等模块的计算方法,而在控制策略部分,则研究了包括实施驻车制动、解除驻车制动、起步阻力辨识、坡道起步等的控制策略。然后,对系统进行了优化设计分析,从硬件系统和软件系统着手分别对系统的抗干扰设计进行了相关分析研究。最后,建立了电子驻车制动系统中电机和丝杆传动机构的数学模型,并在matlab中搭建了仿真平台进行了仿真分析。
As people's life quality increases gradually, people's requirements in car's performances also increases. These performances not only includes traditional performances such as dynamic, economy and safety performance, but also includes many other performance elements, such as fashion, intellectualized and humanized. Aimed at these purpose, the TRW in USA successfully developed and launched the electric parking brake system firstly. It uses the electronic control system to replace the traditional mechanical structure, thus, make the control of the parking brake is more convenient and safe, it also can be associated with the other vehicle electronic control systems to make the vehicle more intelligent. We can say that electric parking brake system is another intellectualized and humanized system in vehicle application, its market sales also demonstrates that electric parking brake system is successful.
For the traditional mechanical type parking brake system, it has many disadvantages, such as the need of driver's physical consumption, the operation is complicated, the driver should have a certain skill when start on the ramp, besides, the mechanic components maybe failure after a long time. To the electric parking brake system, it can effectively overcome these problems, besides, it can realize the slow speed brake, ramp intelligent auxiliary starting, data exchange and sharing with the vehicle computer which the mechanic type parking brake system can not realize.
In this paper, we discusse and researche the electric parking brake system, and provide developing methods, theoretical basis and design requirements of the electric parking brake system. This article first introduces the research of electric parking brake system at home and abroad, and the existence problems of the traditional mechanic type parking brake system, then elaborate the basic principle of the electric parking brake system and analyse the corresponding national standards. Based on this analysis, this paper has discussesed and researched in each parameter acquisition module and realize the functions'control strategy. In the parameter acquisition module, respectively studied in the calculation method of vehicle speed, engine speed, braking pressure, brake disc pressure and so on, in the control strategy part, it has been studied the control strategy of the action of parking brake, release parking brake, start resistance identification, ramp start and so on. Then, to optimize the design and analysis of the system, undertook relevant analysis respectively from the hardware system and software system on the system anti-interference design. Finally, established the mathematical model of the motor and mechanical screw transmission in the electric parking brake system, and build simulation platform in matlab and do the simulation and analysis.
对于传统的机械式驻车制动系统,其存在着许多的缺点,诸如需要消耗驾驶员的体力,操作上比较麻烦,在坡道上起步时需要驾驶员有一定的技能,并且机械结构在使用上会存在一定的安全隐患等等问题,而电子驻车制动系统则可以有效的克服这一系列的问题,其能够实现缓速制动,坡道智能辅助起步,与行车电脑进行数据交换和共享等机械式驻车制动系统所不能达到的功能。
本文系统的对电子驻车制动系统进行了讨论和研究,为电子驻车制动系统的开发提供了一定的方法、理论依据及设计要求。本文首先介绍了电子驻车制动系统的国内外研究现状及传统的机械式驻车制动系统所存在的问题,阐述了电子驻车制动系统的基本原理,并对相应的国家标准进行了系统分析,基于此分析,本文对电子驻车制动系统的产品开发的各个参数采集模块和实现各项功能的控制策略分别进行了讨论和研究。在参数采集模块中,分别研究了车速、发动机转速、制动力、制动盘压力等模块的计算方法,而在控制策略部分,则研究了包括实施驻车制动、解除驻车制动、起步阻力辨识、坡道起步等的控制策略。然后,对系统进行了优化设计分析,从硬件系统和软件系统着手分别对系统的抗干扰设计进行了相关分析研究。最后,建立了电子驻车制动系统中电机和丝杆传动机构的数学模型,并在matlab中搭建了仿真平台进行了仿真分析。
As people's life quality increases gradually, people's requirements in car's performances also increases. These performances not only includes traditional performances such as dynamic, economy and safety performance, but also includes many other performance elements, such as fashion, intellectualized and humanized. Aimed at these purpose, the TRW in USA successfully developed and launched the electric parking brake system firstly. It uses the electronic control system to replace the traditional mechanical structure, thus, make the control of the parking brake is more convenient and safe, it also can be associated with the other vehicle electronic control systems to make the vehicle more intelligent. We can say that electric parking brake system is another intellectualized and humanized system in vehicle application, its market sales also demonstrates that electric parking brake system is successful.
For the traditional mechanical type parking brake system, it has many disadvantages, such as the need of driver's physical consumption, the operation is complicated, the driver should have a certain skill when start on the ramp, besides, the mechanic components maybe failure after a long time. To the electric parking brake system, it can effectively overcome these problems, besides, it can realize the slow speed brake, ramp intelligent auxiliary starting, data exchange and sharing with the vehicle computer which the mechanic type parking brake system can not realize.
In this paper, we discusse and researche the electric parking brake system, and provide developing methods, theoretical basis and design requirements of the electric parking brake system. This article first introduces the research of electric parking brake system at home and abroad, and the existence problems of the traditional mechanic type parking brake system, then elaborate the basic principle of the electric parking brake system and analyse the corresponding national standards. Based on this analysis, this paper has discussesed and researched in each parameter acquisition module and realize the functions'control strategy. In the parameter acquisition module, respectively studied in the calculation method of vehicle speed, engine speed, braking pressure, brake disc pressure and so on, in the control strategy part, it has been studied the control strategy of the action of parking brake, release parking brake, start resistance identification, ramp start and so on. Then, to optimize the design and analysis of the system, undertook relevant analysis respectively from the hardware system and software system on the system anti-interference design. Finally, established the mathematical model of the motor and mechanical screw transmission in the electric parking brake system, and build simulation platform in matlab and do the simulation and analysis.
引文
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[7]乔明伙.基于多体动力学的汽车平顺性仿真分析及悬架参数优化[D].合肥：合肥工业大学.2005.
[8]雷鸣.博世研发出自动驻车系统为中国市场量身打造制动系统[J].交通世界(运输车辆).2009(4)
[9]王超勇.车辆电子驻车制动(EPB)控制系统的硬件设计研究[D].南京：南京理工大学.2009.
[10]黎薇,彭忆强,张津蕾,黎长青.线控驻车制动系统驱动部件的动态模拟[J].机械与电子.2008(3).
[11]纪石.上海通用新君威新技术剖析[J].汽车维修技师.2009(7)
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[13]谷朝峰.迈腾AUTOHOLD技术应用与检测[J].汽车维修与保养.2009(3)
[14]吴定才.电子驻车制动器的使用与操作[J].汽车维修.2010(3)
[15]何正茂.奥迪A6L EPB制动摩擦片拆卸和安装技巧[J].汽车维修与保养.2007(5)
[16]J.S.Cheon, J.W.Jeon, H.M.Jung, I.U.Park, T.-J.Yeo. Main Design Factors and Unified Software Structure for Cable Puller and Caliper Intergrated Type Electric Parking Brakes[J].SAE.Paper2009-01-3022.
[17]Raybestos Products Company. Electronic Parking Brake Function and Repair[J].Technical Bulletin. BPI08-08.
[18]Young O. Lee, Choong W. Lee, Chung C. Chung, Young Son, Paljoo Yoon, Inyong Hwang. Stability Analysis of an Electric Parking Brake (EPB)System with a Nonlinear Proportional Controller[C].The International Federation of Automatic Control Seoul, Korea, July6-11, 2008.
[19]Tsung-hua Hsu, Jing-Fu Liu, Pen-Ning Yu, Wang-Shun Lee, Jia-Sing Hsu. Development of an Automatic Parking System for Vehicle[C].lEEE Vehicle Power and Propulsion Conference(VPPC), September3-5,2008, Harbin, China.
[20]Haotian Wu, Chengcai Zhang, Yongjie Tong, Xuexun Guo, Jie Zhang, Wangxiang.Design and HIL Verification of Fuzzy Identification Controller for Electronic Parking Brake System Based on dSPACE[J].978-1-4244-8039-5/11/26.002011 IEEE.
[21]Gehring.J, Schutte.H Automated Test of ECUs in a Hardware-in-Loop Test Bench for the Validation of Complex ECU Networks. Society of Automotive Engineers, SAE Paper No.2002-01-0801.
[22]Bach.Th, Real-time Simulation in Anti-lock Brake System Development based on a Personal Computer. VDI 6th International Congress "Measurement and Testing Techniques in the Automotive Industry", Berlin, April 28,1992.
[23]Minseok Jang, Young O.Lee, Wongoo Lee, Choong W.Lee, Chung C.Chung, Yongsub Son. Novel Clamping Force Control for Electric Parking Brake Systems[C]. Proceedings of the 7th Asian Control Conference, HongKong, China, August 27-29,2009.
[24]H.M.Jung, C.H.Park, J.W.Jeon, and H.Yeo. Development of eletric parking brakesystem[C].KSAE Autumn Conf. No.KSAE07-F0154, pp.962-967, Nov.2007.
[25]D.Hyun, I.-S.Kim, H.Seo. Study on a dynamic braking algorithm for an electric parking brake. KSAE Autumn Conf. No.KSAE07-F0152, pp.950-955, Nov.2007.
[26]Y. Iwashita. Force control method based on disturbance load estimation[P].U.S.Patent 5 734 242, Mar.31,1998.
[27]R. Schwarz, Isermann, J.Bohm, J.Nell, P.Rieth. Clamping force estimation for a brake-by-wire actuator[J]. SAE Tech. Paper, vol.108, No 1999-01-0482, Mar.1999.
[28]H.B.Chung, C.W.Lee, D.H.Lee, C.C.Chung, Y.S.Son, P.Yoon. A Fault detection method for electric parking brake systems with sensorless estimation using current ripples[C].14th Asia Pacific Automotive Engineering Conf. No.2007-01-3660, Aug.2007.
[29]I.Yang, Y.Son, I.park, K.Noh, P.Yoon. Development and performance evaluation of electric parking brake[C].KSAE Spring Conf. No. KSAE06-S0152, pp.1836-1837, May 2006.
[30]N.S.Nise. Control Systems Engineering. CA:John Wiley&Sons,2004, ch.2.
[31]C.Line, C.Manzie, M.Good. Control of an electromechanical brake for automotive brake-by-wire systems with an adapted motion control architecture. SAE Tech. Paper, vol.113, No.2004-01-2050, May 2004.
[32]H.Olsson, K.J.Astrom, C.C.d.Wit, P.Lischinsky. Friction models and friction compensation[J]. European Journal of Control, vol.4, No.3, pp.176-195,1998.
[33]K.J.Astrom, B.Wittenmark. Adaptive control[M]. New York Wesley,1995, ch.2.
[34]Zhao Yu-liang, Wang Shu-juan, Zhang Yu-ye, Zhao Hong-qiang. Research of Gathering Parking Grade of Vehicle Parking Brake System[C].2010 International Conference on System Science, Engineering Design and Manufacturing Information.
[35]Cheng Fei, Guo Xue-xun. The application and development trend of cars line control technique[J].ShangHai Car,2007.3::37-40.
[36]Yi-qiang Peng, WeiLi. Research on Fuzzy Control Strategies for Automotive EPB System with AMESim/Simulink Co-simulation[C].2009Chinese Control and Design Conference.
[37]汪洋.车辆电控机械制动系统的设计与分析[D].南京航空航天大学,2005：3-7.
[38]陈祯福.汽车底盘控制技术的现状和发展趋势[J].汽车工程,2006.28(2)：105-113.
[39]杜启峰.未来汽车设计新革命[J].世界汽车,2004.8：62-63.
[40]宗长富,刘凯.汽车线控驱动技术的发展[J].汽车技术,2006.3：1-5.
[41]徐昕,李涛,伯晓晨Matlab工具箱应用指南[M].电子工业出版社.2000.5.
[42]黄永安,马路,刘慧敏MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].清华大学出版社.2005.12.
[43]彭忆强,黎长青.汽车电子驻车制动控制系统的仿真研究[J].西华大学学报.自然科学版.2007.Vol.26.No.4.
[44]张军,董长兴.汽车总线系统检修[M].北京理工大学出版社,2010.1.
[45]陈贵海,吴帆.基于 DHT的P2P系统中高可用数据冗余机制[J].计算机学报,Vol.31NO.10 Oct.2008
[2]王望予.汽车设计[M].北京：机械工业出版社,2000.1.
[3]张宝生等.汽车优化设计理论与方法[M].北京：机械工业出版社,2000.9.
[4]Thomas D.Gillespie著,赵六奇,金达锋译.车辆动力学基础[M].北京：清华大学出版社,2006.12.
[5]余志生.汽车理论[M].北京：机械工业出版社,2007.2.
[6]宋传学,蔡章林,安晓鹃.车辆平顺性的虚拟仿真及试验[J].吉林大学学报(工学版).2007(3)：260-262.
[7]乔明伙.基于多体动力学的汽车平顺性仿真分析及悬架参数优化[D].合肥：合肥工业大学.2005.
[8]雷鸣.博世研发出自动驻车系统为中国市场量身打造制动系统[J].交通世界(运输车辆).2009(4)
[9]王超勇.车辆电子驻车制动(EPB)控制系统的硬件设计研究[D].南京：南京理工大学.2009.
[10]黎薇,彭忆强,张津蕾,黎长青.线控驻车制动系统驱动部件的动态模拟[J].机械与电子.2008(3).
[11]纪石.上海通用新君威新技术剖析[J].汽车维修技师.2009(7)
[12]吕守盛.上海通用林荫大道电子驻车制动间歇性不能解除制动[J].汽车维修技师.2008(12).
[13]谷朝峰.迈腾AUTOHOLD技术应用与检测[J].汽车维修与保养.2009(3)
[14]吴定才.电子驻车制动器的使用与操作[J].汽车维修.2010(3)
[15]何正茂.奥迪A6L EPB制动摩擦片拆卸和安装技巧[J].汽车维修与保养.2007(5)
[16]J.S.Cheon, J.W.Jeon, H.M.Jung, I.U.Park, T.-J.Yeo. Main Design Factors and Unified Software Structure for Cable Puller and Caliper Intergrated Type Electric Parking Brakes[J].SAE.Paper2009-01-3022.
[17]Raybestos Products Company. Electronic Parking Brake Function and Repair[J].Technical Bulletin. BPI08-08.
[18]Young O. Lee, Choong W. Lee, Chung C. Chung, Young Son, Paljoo Yoon, Inyong Hwang. Stability Analysis of an Electric Parking Brake (EPB)System with a Nonlinear Proportional Controller[C].The International Federation of Automatic Control Seoul, Korea, July6-11, 2008.
[19]Tsung-hua Hsu, Jing-Fu Liu, Pen-Ning Yu, Wang-Shun Lee, Jia-Sing Hsu. Development of an Automatic Parking System for Vehicle[C].lEEE Vehicle Power and Propulsion Conference(VPPC), September3-5,2008, Harbin, China.
[20]Haotian Wu, Chengcai Zhang, Yongjie Tong, Xuexun Guo, Jie Zhang, Wangxiang.Design and HIL Verification of Fuzzy Identification Controller for Electronic Parking Brake System Based on dSPACE[J].978-1-4244-8039-5/11/26.002011 IEEE.
[21]Gehring.J, Schutte.H Automated Test of ECUs in a Hardware-in-Loop Test Bench for the Validation of Complex ECU Networks. Society of Automotive Engineers, SAE Paper No.2002-01-0801.
[22]Bach.Th, Real-time Simulation in Anti-lock Brake System Development based on a Personal Computer. VDI 6th International Congress "Measurement and Testing Techniques in the Automotive Industry", Berlin, April 28,1992.
[23]Minseok Jang, Young O.Lee, Wongoo Lee, Choong W.Lee, Chung C.Chung, Yongsub Son. Novel Clamping Force Control for Electric Parking Brake Systems[C]. Proceedings of the 7th Asian Control Conference, HongKong, China, August 27-29,2009.
[24]H.M.Jung, C.H.Park, J.W.Jeon, and H.Yeo. Development of eletric parking brakesystem[C].KSAE Autumn Conf. No.KSAE07-F0154, pp.962-967, Nov.2007.
[25]D.Hyun, I.-S.Kim, H.Seo. Study on a dynamic braking algorithm for an electric parking brake. KSAE Autumn Conf. No.KSAE07-F0152, pp.950-955, Nov.2007.
[26]Y. Iwashita. Force control method based on disturbance load estimation[P].U.S.Patent 5 734 242, Mar.31,1998.
[27]R. Schwarz, Isermann, J.Bohm, J.Nell, P.Rieth. Clamping force estimation for a brake-by-wire actuator[J]. SAE Tech. Paper, vol.108, No 1999-01-0482, Mar.1999.
[28]H.B.Chung, C.W.Lee, D.H.Lee, C.C.Chung, Y.S.Son, P.Yoon. A Fault detection method for electric parking brake systems with sensorless estimation using current ripples[C].14th Asia Pacific Automotive Engineering Conf. No.2007-01-3660, Aug.2007.
[29]I.Yang, Y.Son, I.park, K.Noh, P.Yoon. Development and performance evaluation of electric parking brake[C].KSAE Spring Conf. No. KSAE06-S0152, pp.1836-1837, May 2006.
[30]N.S.Nise. Control Systems Engineering. CA:John Wiley&Sons,2004, ch.2.
[31]C.Line, C.Manzie, M.Good. Control of an electromechanical brake for automotive brake-by-wire systems with an adapted motion control architecture. SAE Tech. Paper, vol.113, No.2004-01-2050, May 2004.
[32]H.Olsson, K.J.Astrom, C.C.d.Wit, P.Lischinsky. Friction models and friction compensation[J]. European Journal of Control, vol.4, No.3, pp.176-195,1998.
[33]K.J.Astrom, B.Wittenmark. Adaptive control[M]. New York Wesley,1995, ch.2.
[34]Zhao Yu-liang, Wang Shu-juan, Zhang Yu-ye, Zhao Hong-qiang. Research of Gathering Parking Grade of Vehicle Parking Brake System[C].2010 International Conference on System Science, Engineering Design and Manufacturing Information.
[35]Cheng Fei, Guo Xue-xun. The application and development trend of cars line control technique[J].ShangHai Car,2007.3::37-40.
[36]Yi-qiang Peng, WeiLi. Research on Fuzzy Control Strategies for Automotive EPB System with AMESim/Simulink Co-simulation[C].2009Chinese Control and Design Conference.
[37]汪洋.车辆电控机械制动系统的设计与分析[D].南京航空航天大学,2005：3-7.
[38]陈祯福.汽车底盘控制技术的现状和发展趋势[J].汽车工程,2006.28(2)：105-113.
[39]杜启峰.未来汽车设计新革命[J].世界汽车,2004.8：62-63.
[40]宗长富,刘凯.汽车线控驱动技术的发展[J].汽车技术,2006.3：1-5.
[41]徐昕,李涛,伯晓晨Matlab工具箱应用指南[M].电子工业出版社.2000.5.
[42]黄永安,马路,刘慧敏MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].清华大学出版社.2005.12.
[43]彭忆强,黎长青.汽车电子驻车制动控制系统的仿真研究[J].西华大学学报.自然科学版.2007.Vol.26.No.4.
[44]张军,董长兴.汽车总线系统检修[M].北京理工大学出版社,2010.1.
[45]陈贵海,吴帆.基于 DHT的P2P系统中高可用数据冗余机制[J].计算机学报,Vol.31NO.10 Oct.2008