Journal of Mechanical Engineering >

2016 , Vol. 52 >Issue 12: 118 - 128

DOI: https://doi.org/10.3901/JME.2016.12.118

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

  • HE Ren ,
  • HU Donghai
Expand
  • School of Automobile and Traffic Engineering, Jiangsu University, Zhenjiang 212013

Online published: 2016-06-15

Fold

Abstract

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 asIn 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.

Key words： automotive engineering; integrated brake; hybrid system; stability analysis; switching control

Cite this article

HE Ren , HU Donghai . Hybrid Control Method of the Integrated System of Electromagnetic and Friction Braking of Car[J]. Journal of Mechanical Engineering, 2016 , 52(12) : 118 -128 . DOI: 10.3901/JME.2016.12.118

References

[1] JONNER W,WINNER H,DREILICH L,et al. Electrohydraulic brake system-the first approach to brake-by-wire technology[R]. SAE,960991,1996.
[2] REUTER D F,LLOYD E W,ZEHNDER J W,et al. Hydraulic design considerations for EHB systems[R]. SAE,2003-01-0324,2003.
[3] 金智林,郭立书,施瑞康,等. 汽车电控液压制动系统动态性能分析及试验研究[J]. 机械工程学报,2012,48(12)：127-132.
JIN Zhilin,GUO Lishu,SHI Ruikang,et al. Experimental study on dynamic characteristics of electro hydraulic brake system for vehicle[J]. Journal of Mechanical Engineering,2012,48(12)：127-132.
[4] 何仁,胡东海,张端军. 汽车电磁制动技术的研究与进展[J]. 汽车安全与节能学报,2013,4(3)：202-214.
HE Ren,HU Donghai,ZHANG Duanjun. Research and development of automobile electromagnetic brake technology for commercial vehicles[J]. Journal of Automotive Safety and Energy,2013,4(3)：202-214.
[5] 胡东海,何仁. 基于虚拟线圈假设的涡流制动器制动力矩计算[J]. 江苏大学学报,2014,35(3)：257-261.
HU Donghai,HE Ren. Calculation method of braking torque for eddy current brake based on virtual coil assumptions[J]. Journal of Jiangsu University,2014,35(3)：257-261.
[6] LEE K,PARK K. Optimal robust control of a contactless brake system using an eddy current[J]. Mechatronics,1999,9(6)：615-631.
[7] ANWAR S. A parametric model of an eddy current electric machine for automotive braking applications[J]. Control Systems Technology,IEEE Transactions on,2004,12(3)：422-427.
[8] 何仁,刘存香,李楠. 轿车电磁制动与摩擦制动集成系统的模糊控制[J]. 机械工程学报,2010,46(24)：83-87.
HE Ren,LIU Cunxiang,LI Nan. Fuzzy control of the integrated system of electromagnetic brake and friction brake of car[J]. Journal of Mechanical Engineering,2010,46(24)：83-87.
[9] GROSSMAN R L,NERODE A,RAVN A P,et al. Hybrid systems[M]. New York：Springer-Verlag,1993.
[10] Van der SCHAFT A J,SCHUMACHER J M,van der SCHAFT A J,et al. An introduction to hybrid dynamical systems[M]. London：Springer,2000.
[11] VASAK M,BAOTIC M,PETROVIC I,et al. Hybrid theory-based time-optimal control of an electronic throttle[J]. Industrial Electronics,IEEE Transactions on,2007,54(3)：1483-1494.
[12] BORRELLI F,BEMPORAD A,FODOR M,et al. An MPC/hybrid system approach to traction control[J]. Control Systems Technology,IEEE Transactions on,2006,14(3)：541-552.
[13] 胡春花,何仁,李楠. 基于切换系统的HEV能量控制系统优化设计[J]. 江苏大学学报,2011,32(5)：497-501.
HU Chunhua,HE Ren,LI Nan. Optimal design for energy control system of HEV based on switched system [J]. Journal of Jiangsu University,2011,32(5)：497-501.
[14] ANWAR S. Generalized predictive control of yaw dynamics of a hybrid brake-by-wire equipped vehicle[J]. Mechatronics,2005,15(9)：1089-1108.
[15] 刘学军,何仁. 电磁-液压复合防抱死制动系统滑模控制[J]. 农业机械学报,2014,45(5)：1-7.
LIU Xuejun,HE Ren. Sliding mode control of electromagnetic-hydraulic anti-lock braking system[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(5)：1-7.
[16] DAY A J,HO H P,HUSSAIN K,et al. Brake system simulation to predict brake pedal feel in a passenger car[R]. SAE,2009-01-3043,2009.
[17] BREUER B,BILL K H. Brake technology handbook[M]. New York：SAE International,2008.
[18] REUTER D F,LLOYD E W,ZEHNDER J W,et al. Hydraulic design considerations for EHB systems[R]. SAE,2003-01-0324,2003.
[19] 张敏敏,陈俐,霍易,等. 高速电磁开关阀非线性模型简化与验证[J]. 上海交通大学学报,2010,44(7)：1005-1009.
ZHANG Minmin,CHEN Li,HUO Yi,et al. Model reduction of high speed on-off solenoid valve and experimental validation[J]. Journal of Shanghai Jiao Tong University,2010,44(7)：1005-1009.
[20] 张永辉. ABS 匹配流程与标定技术研究[D]. 北京：清华大学,2010.
ZHANG Yonghui. Studies on matching process and calibration technologies of ABS[D]. Beijing：Tsinghua University,2010.
[21] 陈庆樟,何仁,赵迎生. 汽车能量再生制动防抱死集成控制方法研究[J]. 中国机械工程,2009,20(2)：245-248.
CHEN Qingzhang,HE Ren,ZHAO Yingsheng. Research on vehicle anti-lock regenerative braking integrated control method [J]. China Mechanical Engineering,2009,20(2)：245-248.
[22] JING H,LIU Z,CHEN H. A switched control strategy for antilock braking system with on/off valves[J]. Vehicular Technology,IEEE Transactions on,2011,60(4)：1470-1484.
[23] KARNOPP D C,MARGOLIS D L,ROSENBERG R C. System dynamics：Modeling,simulation,and control of mechatronic systems[M]. Wiley,2012.在线出版 online
[24] DAVID R,ALLA H. On hybrid Petri nets[J]. Discrete Event Dynamic Systems,2001,11(1-2)：9-40.
[25] ALLA H,DAVID R. Continuous and hybrid Petri nets[J]. Journal of Circuits,Systems,and Computers,1998,8(1)：159-188.
[26] 何仁,崔文燕. 应用微分 Petri 网分析汽车再生制动模式的切换[J]. 江苏大学学报,2010,31(6)：640-644.
HE Ren,CUI Wenyan. Mode-change analysis of regenerative braking based differential Petri net[J]. Journal of Jiangsu University,2010,31(6)：640-644.
[27] LIBERZON D,MORSE A S. Basic problems in stability and design of switched systems[J]. Control Systems,IEEE,1999,19(5)：59-70.
[28] DAYAWANSA W P,MARTIN C F. A converse,Lyapunov theorem for a class of dynamical systems which undergo switching[J]. IEEE Transactions on Automatic Control,1999,44(4)：751-760.
[29] BRANICKY M S. Stability of Switched and Hybrid Systems[C]//Decision and Control,1994,Proceedings of the 33rd IEEE Conference on. IEEE,1995：3498-3503.
[30] 高军伟. 切换系统建模,控制理论与应用研究[D]. 北京：铁道部科学研究院,2003.
GAO Junwei. Research on theory and application for modelling and control of switching systems[D]. Beijing：The Ministry of Railways Science Institute,2003.
[31] LIN Y,SONTAG E D,WANG Y. A smooth converse Lyapunov theorem for robust stability[J]. SIAM Journal on Control and Optimization,1996,34(1)：124-160.
[32] 崔文燕. 基于混杂系统理论的汽车再生制动稳定性分析[D]. 镇江：江苏大学,2010.
CUI Wenyan. Stability analysis of vehicle regenerative braking based on hybrid system theory[D]. Zhenjiang：Jiangsu University,2010.
[33] 徐哲,魏民祥,李玉芳. 线控液压制动系统轮缸压力变化特性[J]. 交通运输工程学报,2013,13(1)：55-61.
XU Zhe,WEI Minxiang,LI Yufang. Variation characteristic of wheel cylinder pressure in electro-hydraulic braking system controlled by PWM signal[J]. Journal of Traffic and Transportation Engineering,2013,13(1)：55-61.
[34] HE Ren,LIU Xuejun,LIU Cunxiang. Brake performance analysis of abs for eddy current and electrohydraulic hybrid brake system[J]. Mathematical Problems in Engineering,2013.
Options
Outlines

/

〈 〉

　 Copyright © Journal of Mechanical Engineering, All Rights Reserved.
Powered by Beijing Magtech Co. Ltd,.