CN101867339A - Motor control method of electronic mechanical braking system - Google Patents
Motor control method of electronic mechanical braking system Download PDFInfo
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- CN101867339A CN101867339A CN 201010148344 CN201010148344A CN101867339A CN 101867339 A CN101867339 A CN 101867339A CN 201010148344 CN201010148344 CN 201010148344 CN 201010148344 A CN201010148344 A CN 201010148344A CN 101867339 A CN101867339 A CN 101867339A
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Abstract
The invention provides a motor control method of an electronic mechanical braking system. The control method adopts a fuzzy controller and takes an error E of the practical slip rate S of wheels and the optimum expected slip rate S0 set by the system and the change rate EC of the error E as the double input of the fuzzy controller; and the variable quantity U of the current of the motor is obtained by a fuzzy control table-look-up method. The motor control method has fast response speed and small overshoot, and can improve the adaptability of the electronic mechanical braking system for all pavements.
Description
Technical field
Design vehicle braking technology of the present invention field is specifically related to a kind of motor control method of electromechanical braking system.
Background technology
The braking moment of electromechanical braking system is compared with traditional brake fluid system by being installed in being produced by motor-driven brake mechanism on four tires, can simplify braking system structure, be convenient to arrange, assembling and maintenance.And because the nonlinear Control of changeable and tire of vehicle condition in the braking procedure need provide a kind of response speed fast to the motor of electromechanical braking system, overshoot is little, can improve the control algolithm to the adaptive capacity on various road surfaces.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of motor control method of electromechanical braking system, and its response speed is fast, and overshoot is little, can improve the adaptive capacity of electromechanical braking system to various road surfaces.
Operation principle of the present invention such as Fig. 1 comprise the steps:
A, data acquisition: the controller collection is installed in the pulse signal of the wheel speed sensors on the wheel, obtains each wheel wheel speed angular velocity signal; By the wheel wheel speed signal, calculate vehicle velocity V, according to formula S=1-ω r/V (ω represents wheel speed angular speed, and V represents the speed of a motor vehicle), obtain the slip rate S of car load reality;
B, controller obtain error rate EC after differentiating according to the error value E of actual slip rate S and best expectation slip rate S0 and error value E, with error value E and error rate EC input variable as fuzzy controller, obtain output variable U by the fuzzy control look-up table, described U is the variable quantity of torque motor electric current in the electromechanical braking system, when error E is big more, output variable U should be fast as far as possible the minimizing error E, and when error E more hour, the control of output variable U is leading by EC, EC is big more, and U is more little in output.This fuzzy reasoning control law is to formulate according to expert of the art's manual control law, the principle that lays down a regulation is: when error is big, controlled quentity controlled variable should reduce error as quickly as possible, when error hour, except eliminating error, also the stability of necessary taking into account system is shaken to avoid unwanted hyperharmonic.
C, controller increase or reduce the electric current of motor according to output variable U, thereby increase or reduce braking moment.
The operation principle of electromechanical braking system of the present invention such as Fig. 1.
The fuzzy control that the present invention set up is achieved in that by formula y=(n-m) * [x-(b-a)/2]/(b-a) the obfuscation of input variable E and EC and output variable, [a wherein, b] be the actual range of controller input variable, [m, n] be fuzzy subset's domain, actual input variable E and EC are transformed into variable Y 1 and Y2 in fuzzy subset's domain, change into the fuzzy value of input variable E and EC again by the triangle membership function; The membership function of the output variable U of fuzzy controller also adopts the triangle membership function.Identical and the definition as required of the progression of the triangle membership function of input and output.Be normally defined 5 grades.
The present invention can carry out precision by gravity model appoach to the fuzzy subset's of fuzzy control reasoning process output reverse gelatinization and calculate, and obtains the accurate output variable U of fuzzy controller, and the reverse gelatinization computing formula of fuzzy controller is
Wherein
Be the membership function value of output variable U, θ
jFuzzy subset's domain value for the output variable U of the fuzzy controller of correspondence.Also can pass through the gelatinization of additive method reverse.
Described motor can be selected pulsewidth regulation and control (PWM) motor for use.Carry out the motor of regulation and control and select pulsewidth regulation and control (PWM) motor for use, the output variable U of fuzzy control of the present invention is a percentage, and output variable is as the pulsewidth regulation and control duty ratio (PWM) of pulsewidth regulation and control motor.
The motor control method of a kind of electromechanical braking system that proposes according to the present invention, key is that this control method adopts fuzzy controller, expect the error E of slip rate S0 with the best of wheel actual slip rate S and default, and the rate of change EC of error E is as the dual input of fuzzy controller, by the controlled output of fuzzy control look-up table, output variable is the variable quantity U of current of electric.
Use the present invention, can utilize Fuzzy control system not need the mathematical models of controlling object, response speed is fast, and the characteristic that overshoot is little is improved the response characteristic of electromechanical braking system, improves the adaptive capacity to various road surfaces.
Description of drawings
Fig. 1 is the fundamental diagram of electromechanical braking system of the present invention;
Fig. 2 is the controlling models of fuzzy control of the present invention;
Fig. 3 is a fuzzy control input and output functional arrangement of the present invention;
Fig. 4 is the manual control law of fuzzy reasoning process of the present invention.
Embodiment
Describe embodiments of the invention below in detail.
The major control target of mechanical type brake system electric is to allow actual slip rate S follow the tracks of expectation slip rate S0 all the time in whole braking procedure, producing maximum road surface attachment systems, thereby all can obtain braking ability preferably under the situation of various different road surfaces.
The mathematical control model of the fuzzy control of present embodiment such as Fig. 2.Present embodiment is so that formula S=(ω represents wheel speed angular speed to 1-ω r/V, V represents the speed of a motor vehicle) obtain actual slip rate S by divider and adder-subtracter, subtract each other with expectation slip rate S0 by adder-subtracter and to obtain error value E, E obtains error rate EC by differential, E and EC are as two inputs of the control table (2-D) of fuzzy controller, obtain exporting U by tabling look-up, the output U of this example is the pulsewidth regulation and control duty ratio (PWM) of pulsewidth regulation and control (PWM) motor.
The operation principle of fuzzy controller is as follows:
1, the input variable of selective system, output variable;
2, the exact value with input variable becomes fuzzy quantity;
3,, press the fuzzy reasoning composition rule and calculate fuzzy control quantity according to input variable (fuzzy quantity) and fuzzy control rule;
4, calculate accurate controlled quentity controlled variable by the above-mentioned fuzzy control quantity that obtains.
The input variable of Fuzzy control system is the actual slip rate S and the error value E of expectation slip rate S0 and the rate of change EC of error value E of electromechanical braking system; Output variable U is the variable quantity of torque motor electric current in the actual electromechanical braking system.
The membership function of E, EC and output variable U as shown in Figure 3.By formula y=(n-m) * [x-(b-a)/2]/(b-a), [a wherein, b] be the actual range of fuzzy controller input variable, [m, n] be fuzzy subset's domain, actual input variable E and EC are transformed into variable Y 1 and Y2 in fuzzy subset's domain, change into the fuzzy value of input variable E and EC again by the triangle membership function; The membership function of the output variable U of fuzzification process also adopts the triangle membership function.Here the variable grade of triangle membership function is 5 grades, and the membership function of input variable E, EC and output variable U is equally distributed.
The fuzzy control rule of fuzzy controller: the fuzzy reasoning form is: IF E=Ai and EC=Bi THEN U=Ci; Wherein Ai is the error fuzzy subset, and Bi is that error changes the fuzzy subset, and Ci is the output variable fuzzy subset, according to manual control strategy, sums up 25 fuzzy control rules, as shown in Figure 4.Wherein, manually the design principle of control strategy is: when error was big, controlled quentity controlled variable should reduce error as quickly as possible, when error hour, except eliminating error, stability that also must taking into account system is to avoid unwanted hyperharmonic concussion.Be specially: when error E is big, the minimizing error that output variable U should be fast as far as possible, and when error E hour, the control of output variable U is leading by EC, EC is big more, output variable U is more little.
The fuzzy subset of the output controlled quentity controlled variable U that said process is obtained by the reverse gelatinization calculates accurate controlled quentity controlled variable.Reverse gelatinization formula is
Wherein
Be the output membership function value, θ
jFuzzy subset's domain value for the control output variable U of correspondence.
Obtain control table by said process, place fuzzy controller, corresponding different actual slip rate error and error rate thereof can obtain the output variable U of fuzzy controller by tabling look-up, and output variable U is the percentage form, just the controlled quentity controlled variable of motor.Output variable in this example is the pulsewidth regulation and control duty ratio (PWM) of pulsewidth regulation and control motor, pulsewidth regulation and control motor is controlled the output torque of motor by the size of control motor input current, by planetary gear, belt pulley, bolt and nut, make nut produce thrust again, finally obtain braking moment.
Claims (5)
1. the motor control method of an electromechanical braking system is characterized in that comprising the steps:
A, data acquisition: the controller collection is installed in the pulse signal of the wheel speed sensors on the wheel, obtains each wheel wheel speed angular velocity signal; By the wheel wheel speed signal, calculate vehicle velocity V, according to formula S=1-ω r/V (ω represents wheel speed angular speed, and V represents the speed of a motor vehicle), obtain the slip rate S of car load reality;
B, controller obtain error rate EC after differentiating according to the error value E of actual slip rate S and target slip rate S0 and error value E, with error value E and error rate EC input variable as fuzzy controller, obtain output variable U by the fuzzy control look-up table, described U is the variable quantity of torque motor electric current in the electromechanical braking system, its control principle is as follows: when error E is big, output variable U should be fast as far as possible the minimizing error E, and when error E hour, the control of output variable U is leading by EC, EC is big more, and output variable U is more little.
C, controller increase or reduce the electric current of motor according to output variable U, thereby increase or reduce braking moment.
2. the motor control method of electromechanical braking system according to claim 1, the obfuscation that it is characterized in that described fuzzy controller is by formula y=(n-m) * [x-(b-a)/2]/(b-a), [a wherein, b] be the actual range of fuzzy controller input variable, [m, n] be fuzzy subset's domain, actual input variable E and EC are transformed into variable Y 1 and Y2 in fuzzy subset's domain, change into the fuzzy value of input variable E and EC again by the triangle membership function; The membership function of the output variable U of fuzzy controller also adopts the triangle membership function.
3. the motor control method of electromechanical braking system according to claim 1 is characterized in that the reverse gelatinization computing formula of described fuzzy controller is
Wherein
Be the output membership function value, θ
jFuzzy subset's domain value for corresponding output variable U.
4. the motor control method of electromechanical braking system according to claim 2 is characterized in that the variable grade of described triangular membership functions is 5 grades.
5. the motor control method of electromechanical braking system according to claim 1 is characterized in that described motor is pulsewidth regulation and control motors.
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| CN 201010148344 CN101867339B (en) | 2010-04-09 | 2010-04-09 | Motor control method of electronic mechanical braking system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158156A (en) * | 2011-03-22 | 2011-08-17 | 北京航天控制仪器研究所 | Controlled and monitored width-adjusting servo system of brushless torque motor |
| CN102424041A (en) * | 2011-11-03 | 2012-04-25 | 湖北绿驰科技有限公司 | Electronic mechanical braking method and device without clamping force sensor |
| CN102490706A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electromechanical brake control system and automobile |
| CN102862559A (en) * | 2012-10-16 | 2013-01-09 | 奇瑞汽车股份有限公司 | Line control anti-lock brake (ABS) system based on controller area network (CAN) bus and control method thereof |
| CN105313957A (en) * | 2014-07-14 | 2016-02-10 | 重庆邮电大学 | Power assisted control method for electric power steering system based on compound control |
| CN106043171A (en) * | 2016-07-07 | 2016-10-26 | 辽宁工业大学 | Distributed electric vehicle intelligent in-vehicle network terminal platform and braking control method |
| CN106573538A (en) * | 2014-07-25 | 2017-04-19 | 西门子公司 | Method and arrangement for monitoring the travel state of a vehicle, and vehicle having such an arrangement |
| TWI746079B (en) * | 2020-07-22 | 2021-11-11 | 財團法人車輛研究測試中心 | Anti-lock braking system and control method |
| CN114056310A (en) * | 2020-08-03 | 2022-02-18 | 财团法人车辆研究测试中心 | Anti-lock brake system and control method |
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| US6272421B1 (en) * | 1998-09-07 | 2001-08-07 | Siemens Aktiengesellschaft | Antilock braking system, based on a fuzzy controller, for an electromechanical vehicle braking system |
| CN101088818A (en) * | 2006-06-14 | 2007-12-19 | 比亚迪股份有限公司 | Antiskid control system and method for electromobile |
| CN101594106A (en) * | 2009-07-10 | 2009-12-02 | 奇瑞汽车股份有限公司 | A kind of electric machine control system of line control brake system and control method |
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2010
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| US6272421B1 (en) * | 1998-09-07 | 2001-08-07 | Siemens Aktiengesellschaft | Antilock braking system, based on a fuzzy controller, for an electromechanical vehicle braking system |
| CN101088818A (en) * | 2006-06-14 | 2007-12-19 | 比亚迪股份有限公司 | Antiskid control system and method for electromobile |
| CN101594106A (en) * | 2009-07-10 | 2009-12-02 | 奇瑞汽车股份有限公司 | A kind of electric machine control system of line control brake system and control method |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158156A (en) * | 2011-03-22 | 2011-08-17 | 北京航天控制仪器研究所 | Controlled and monitored width-adjusting servo system of brushless torque motor |
| CN102158156B (en) * | 2011-03-22 | 2013-01-16 | 北京航天控制仪器研究所 | Controlled and monitored width-adjusting servo system of brushless torque motor |
| CN102424041B (en) * | 2011-11-03 | 2013-11-06 | 湖北绿驰科技有限公司 | Electronic mechanical braking method and device without clamping force sensor |
| CN102424041A (en) * | 2011-11-03 | 2012-04-25 | 湖北绿驰科技有限公司 | Electronic mechanical braking method and device without clamping force sensor |
| CN102490706A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electromechanical brake control system and automobile |
| WO2014059806A1 (en) * | 2012-10-16 | 2014-04-24 | 奇瑞汽车股份有限公司 | Can bus-based drive-by-wire abs braking system and control method |
| CN102862559A (en) * | 2012-10-16 | 2013-01-09 | 奇瑞汽车股份有限公司 | Line control anti-lock brake (ABS) system based on controller area network (CAN) bus and control method thereof |
| CN102862559B (en) * | 2012-10-16 | 2015-04-08 | 奇瑞汽车股份有限公司 | Line control anti-lock brake (ABS) system based on controller area network (CAN) bus and control method thereof |
| CN105313957A (en) * | 2014-07-14 | 2016-02-10 | 重庆邮电大学 | Power assisted control method for electric power steering system based on compound control |
| CN105313957B (en) * | 2014-07-14 | 2018-05-04 | 重庆邮电大学 | A kind of electric boosting steering system power assist control method based on complex controll |
| CN106573538A (en) * | 2014-07-25 | 2017-04-19 | 西门子公司 | Method and arrangement for monitoring the travel state of a vehicle, and vehicle having such an arrangement |
| CN106573538B (en) * | 2014-07-25 | 2019-06-14 | 西门子移动有限公司 | Monitor the method and apparatus of the driving status of vehicle and the vehicle with this equipment |
| CN106043171A (en) * | 2016-07-07 | 2016-10-26 | 辽宁工业大学 | Distributed electric vehicle intelligent in-vehicle network terminal platform and braking control method |
| TWI746079B (en) * | 2020-07-22 | 2021-11-11 | 財團法人車輛研究測試中心 | Anti-lock braking system and control method |
| CN114056310A (en) * | 2020-08-03 | 2022-02-18 | 财团法人车辆研究测试中心 | Anti-lock brake system and control method |
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| CN101867339B (en) | 2013-03-06 |
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