基于装配集成式电子液压制动系统（Integrated-electro-hydraulic brake system，I-EHB）的车辆进行横摆稳定性控制研究。设计了基于直接横摆力矩控制（Direct yaw moment control，DYC）的运动跟踪控制算法，采用线性二自由度车辆模型得到了参考横摆角速度值，与实际横摆角速度值进行比较通过比例积分（Proportional-integral，PI）控制算法计算出附加横摆力矩。将附加横摆力矩进行控制分配，通过单轮制动方式分配至作用车轮，再转换得到各个车轮的轮缸目标液压力值。利用基于轮缸压力均衡控制方法来跟踪目标轮缸压力，通过查表确定当前压力差下的目标增压速率，采用公式法在线性范围内近似拟合占空比随目标增压速率变化关系，以查表求出的目标增压速率作为输入来得到控制电磁阀的占空比。搭建了该系统的硬件在环测试平台，在高低附路面上验证了控制策略的有效性。
韩伟
,
熊璐
,
李彧
,
侯一萌
,
余卓平
. 基于集成式电子液压制动系统的横摆稳定性控制策略研究[J]. 机械工程学报, 2017
, 53(24)
: 161
-169
.
DOI: 10.3901/JME.2017.24.161
The yaw stability control of vehicle is studied based on the integrated-electro-hydraulic brake(I-EHB) system. Motion tracking control algorithm is designed on the basis of direct yaw moment control(DYC). The linear two degrees of freedom vehicle model is used to obtain the reference value of the yaw angular velocity, which is comparied to the actual value of the yaw angular velocity obtained by proportional-integral (PI) control algorithm to calculate the additional yaw moment. Then the additional yaw moment is distributed to single action wheel, and then is transformed to wheel cylinder pressure target value. Wheel cylinder pressure balance control method is used to track the wheel cylinder target pressure. The current target pressurization rate is determined through the look-up table under pressure difference, by using the formula method to fit the relationship between duty ratio and target pressurization rate approximately within the linear scope, and adopting the target pressurization rate as input variable to obtain the duty ratio to control the corresponding solenoid valve. The hardware-in-the-loop (HIL) test bench is built, and the effectiveness of the control strategy is verified on the road surface with high or low adhesion coefficient.
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