轿车电磁与摩擦制动集成系统混杂控制方法

针对电磁与摩擦制动集成系统在车辆制动模式切换过程中存在的混杂动态特性,在建立电磁与摩擦制动集成系统的数学模型的基础上,建立电磁与摩擦制动集成系统的混杂Petri网模型,利用共同Lyapunov函数法分析集成制动系统在制动模式切换过程中的稳定性,提出制动模式切换动态协调控制的基本算法和改进算法。得出以下结论:在制动模式切换过程中控制车轮纵向滑移率使其始终低于路面的最佳滑移率,可以充分保证电磁与摩擦集成制动系统在制动模式切换过程中的稳定性。由于电磁制动器相比于电子液压制动具有较好的控制性能,因此在进行电磁制动与电子液压制动的协调控制的过程中,电子液压制动主要用于提供一定的制动强度,而使用电磁制动跟随驾驶员的制动意图;同时这也可以显著降低高速电磁阀的作用频次,提高电子液压制动的可靠性。

Hybrid Control Method of the Integrated System of Electromagnetic and Friction Braking of Car

In allusion to the problem that the integrated electromagnetic and friction braking system in the process of braking mode switches existed hybrid dynamic characteristics, based on the mathematical models of integrated electromagnetic and friction braking system, its hybrid Petri net models are established. By using common Lyapunov function method the stability of the integrated braking system in the process of braking mode switches is analyzed and the basic and improved algorithms of dynamic coordination control for braking mode switches are put forward. Some conclusions are obtained as:In the process of braking mode switches controlling the longitudinal slip ratio of wheel which makes it always lower than the optimal slip ratio of road can fully guarantee the stability of the integrated electromagnetic and friction braking system. For the control performance of electromagnetic brake is better than electronic hydraulic brake, the electronic hydraulic brake is mainly used to provide a certain amount of braking intensity while electromagnetic brake is used to meet the driver’s braking intention in the process of the coordination control of electromagnetic brake and electronic hydraulic brake. At the same time, it also significantly reduces the use of the high speed solenoid valve and improves the reliability of the electronic hydraulic brake system.