电动汽车制动模式切换扭矩协调控制

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摘要

由于电液复合制动系统动态响应特性的差异，纯电动汽车在制动模式切换过程中会造成整车和系统部件的冲击度增大，影响汽车的行驶平顺性和系统部件的使用寿命。为减小制动模式切换过程中的整车冲击度和总制动力矩波动，采用比例积分微分控制PID和模糊控制相结合的组合控制算法对轮缸压力进行精确控制，在此基础上以纯液压制动时的动力学模型作为参考模型，控制电机制动力随参考模型输出的参考力矩变化，从而减小电机制动系统和液压制动系统的响应特性差异;在MATLAB/Simulink中搭建了电液复合制动系统和整车模型，验证了控制策略的有效性。仿真结果表明，与未协调控制时相比，所提出的控制策略使整车冲击度显著减小，改善了制动模式切换过程中的汽车行驶平顺性。

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	杨阳1
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	何云东2
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关键词 ：电动汽车, 电液复合制动系统, 模式切换, 扭矩协调控制, 冲击度

Abstract：Differences in dynamic response characteristics of an electro-hydraulic braking system cause the jerk of the vehicle and its components during brake mode transition, which affects the ride comfort of the vehicle and the service life of components.In order to reduce the jerk of vehicle and the total braking torque fluctuation, the wheel cylinder pressure was accurately controlled by a combined control algorithm containing a proportional-integral-derivate (PID) and fuzzy controller.Then the dynamic model of the hydraulic braking system was selected as the reference model.Differences between the response characteristics of the electric motor braking system and the hydraulic braking system can be reduced by controlling the electric motor braking torque′s variation according to the torque output calculated by the reference model.The vehicle model and electro-hydraulic brake model were built using MALAB/Simulink, and the effectiveness of the proposed control strategy was verified.Compared with the mode transition without coordination, the results show that the total braking torque fluctuation and the vehicle jerk are significantly reduced by using the mode transition with coordination, which improves the ride comfort of the vehicle.

Key words： electric vehicle;electro-hydraulic brake mode transition torque coordination control jerk

收稿日期: 2019-12-30 出版日期: 2021-05-28

引用本文:

杨阳1,2，何云东2，罗倡2，杨忠3. 电动汽车制动模式切换扭矩协调控制[J]. 振动与冲击, 2021, 40(10): 304-314.
YANG Yang1,2, HE Yundong2, LUO Chang2, YANG Zhong3. Torque coordination control during the braking mode transition of an electric vehicle. JOURNAL OF VIBRATION AND SHOCK, 2021, 40(10): 304-314.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2021/V40/I10/304

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