考虑关键非线性特征的集成式电子液压制动系统主缸液压力精确控制

针对具有"电动机+减速机构"形式的解耦式电子液压制动系统（Electro-hydraulic brake system，EHB）展开研究。针对主缸液压力控制过程中出现的爬行、死区和振荡等问题，设计一种考虑关键非线性特征（摩擦、PV特性）的主缸液压力精确控制算法。基于LuGre模型对摩擦非线性进行补偿，设计了压力自适应控制器。针对压力闭环控制在系统死区工作点处出现的问题，采用基于死区补偿的非线性控制方法。结合以上两种方法的优点，设计基于LuGre摩擦模型前馈补偿和死区补偿的联合控制方法，能够在考虑系统关键非线性特征的基础上，精确控制主缸液压力。通过联合仿真（AMESim&Simulink）和硬件在环测试对比验证各闭环控制系统的时频域响应特性，联合控制方法提高了系统的压力动态跟踪精度和响应速度。

Pressure Precisely Control of Master Cylinder on Integrated-electrohydraulic Brake System Considering the Critical Nonlinear Characteristics

A decoupling electro-hydraulic brake system (EHB) with the form of "electric motor + reduction gear" is studied, and a pressure controller of master cylinder considering the critical nonlinear characteristics (friction, PV) is designed to cope with the pressure creeping, deadzone and oscillation. Based on the LuGre model, an adaptive pressure controller is designed to compensate for the friction. Faced with the issues with using the pressure-based closed-loop controller at the operating point of the dead zone of the system, a nonlinear control algorithm based on dead-zone compensation is adopted. Combining the advantages of the above two controllers, a joint controller based on LuGre-model feedforward compensation and dead-zone compensation is developed. The pressure of the master cylinder can be accurately controlled considering the key nonlinear characteristics of the system. The analysis of the time- and frequency-domain characteristics of each closed-loop system is verified via the co-simulations (AMESim&Simulink) and the hardware-in-the-loop tests (HIL). The pressure-tracking dynamic accuracy and response speed using the joint controller is improved by comparison tests.