袁朝春,范兴根,袁慧颖,沈捷,陈龙,贝绍轶.智能汽车并联电控液压制动系统设计与试验[J].农业机械学报,2017,48(5):369-376.
YUAN Chaochun,FAN Xinggen,YUAN Huiying,SHEN Jie,CHEN Long,BEI Shaoyi.Design and Experiment on Hydraulic Brake System of Intelligent Automobile Parallel Electric Control[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(5):369-376.
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智能汽车并联电控液压制动系统设计与试验   [下载全文]
Design and Experiment on Hydraulic Brake System of Intelligent Automobile Parallel Electric Control   [Download Pdf][in English]
投稿时间:2016-11-04  
DOI:10.6041/j.issn.1000-1298.2017.05.047
中文关键词:  智能汽车  制动系统  摄动  μ控制算法  设计
基金项目:国家自然科学基金项目(51305167、U1564201)、江苏省高校自然科学研究重大项目(16KJA580002)、江苏大学青年骨干教师培养工程项目和江苏省“六大人才高峰”项目(2012—ZBZZ—029)
作者单位
袁朝春 江苏大学
密西根大学 
范兴根 江苏大学 
袁慧颖 中国农业机械化科学研究院 
沈捷 密西根大学 
陈龙 江苏大学 
贝绍轶 江苏理工学院 
中文摘要:为提高智能汽车自动制动系统的性能及可靠性,设计基于传统液压制动系统的并联式电控液压主动防碰撞自动制动系统,针对整车动力学系统存在的参数摄动、外界干扰较强的非线性时变特征,提出μ控制策略控制制动管路压力,并进行参数摄动及外界干扰影响下的控制器性能仿真及整车道路试验。结果表明,采用μ控制算法的电控液压制动系统,在整车质量增加30%和制动盘—摩擦片摩擦因数减少30%两种工况下,整车期望加速度的稳态误差均控制在5%以内,稳定时间分别为1.7s和1.4s。
YUAN Chaochun  FAN Xinggen  YUAN Huiying  SHEN Jie  CHEN Long  BEI Shaoyi
Jiangsu University;University of Michigan-Dearborn,Jiangsu University,Chinese Academy of Agricultural Mechanization Sciences,University of Michigan-Dearborn,Jiangsu University and Jiangsu Institute of Technology
Key Words:intelligent vehicle  brake system  perturbation  μ control algorithm  design
Abstract:In order to improve the performance and reliability of intelligent automatic braking system and the braking performance of traditional hydraulic braking system, on the basis of active collision avoidance system, a parallel electro-hydraulic anti-collision automatic braking system was designed based on the traditional hydraulic braking system, its mathematical model in the state of supercharging and decompression was also established. In view of the parameter perturbation and non-linear time-varying characteristics of vehicle dynamics, and also considered the vehicle in the process of vehicle quality changes and brake disc-brake pads friction coefficient changes, the μ control strategy was proposed to control the brake line pressure, an electronic control hydraulic brake controller based on μ control strategy and controller performance indicators were designed to simulate the performance of the controller under the influence of parameters perturbation and external disturbance, and the μ control strategy was compared with the H∞ control strategy. The results showed that the electronic control hydraulic braking system with μ control algorithm can control the steady-state errors of expected accelerations of the whole vehicle within 5% under the conditions of 30% increase in the mass of the whole vehicle and 30% decrease in the friction coefficient of the brake disc—friction disc. The stabilization time was 1.7s and 1.4s, respectively, indicating the accuracy of the model was high, which solved the influence of parameter perturbation and sensor noise on the performance of controller in the electronic control hydraulic braking system.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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