CN110161876A - A kind of optimization method of electric booster braking system brake pedal feedback - Google Patents
A kind of optimization method of electric booster braking system brake pedal feedback Download PDFInfo
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- CN110161876A CN110161876A CN201910353593.2A CN201910353593A CN110161876A CN 110161876 A CN110161876 A CN 110161876A CN 201910353593 A CN201910353593 A CN 201910353593A CN 110161876 A CN110161876 A CN 110161876A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention discloses a kind of optimization methods of electric booster braking system brake pedal feedback, firstly, establishing the parameter model and vehicle simulation model of electric booster braking system；It determines prioritization scheme, chooses design variable, the method for sampling and sample point；Then l-G simulation test is carried out, the initial data of optimization design is obtained；Secondly, construction response surface model, and the prediction effect of assessment models；Then objective function and constraint condition are set, Optimized model is constructed, chooses optimization algorithm and comparison algorithm；Finally optimum results are screened and analyzed, obtain the optimum results of brake pedal feedback.The present invention provides a kind of optimization method for electric booster braking system, is allowed on the basis of meeting brake efficiency and safety, provides more comfortable brake pedal feedback for driver, is of great significance to the optimization design and personalization of electric booster braking system.
Description
Technical field
The present invention relates to vehicle braking control system field more particularly to a kind of electric booster braking system brake pedal are anti-
The optimization method of feedback.
Background technique
Compared with traditional vacuum servo, electric booster braking system does not need any vacuum source, can ideally apply
In on electric vehicle；Due to realizing assist function using motor, which has the function of active brake, can be auxiliary as automobile intelligent
Help the important bottom actuator of driving；Due to the system can it is accurate, quickly, enduringly control master cylinder pressure, can preferably with
Regenerative braking cooperating；In addition, electric booster braking system can be anti-to brake pedal according to different automobile types and different crowd
The demand of feedback designs power-assisted scheme, for driver provides comfortable Brake feedback.
But in the research to existing electric booster braking system, main performance index is fed back to brake pedal
Optimizing research it is also fewer.Braking and comfort play a crucial role the quality of one vehicle of evaluation, and brake
Pedal feedback is inseparable with the relationship of the two.In actual braking process, driver is intuitively experienced as braking " partially soft "
Or " partially hard ".The way for generally solving the problems, such as this at present is several curves of setting, changes pedal force-according to driving style
The slope of pedal travel changes power-assisted size.But this mode has some limitations, it is difficult to theoretically guarantee bent
Line it is optimal, and Brake feedback and several factors are all related, such as the deceleration curve of vehicle, the counter-force of brake pedal, pedal
Corner, the initial speed of braking etc..The characteristics of for electric booster braking system referred to above and existing deficiency,
The method that the present invention utilizes response surface approximate model takes into account the Multiple factors for influencing Brake feedback, and before guaranteeing safety
It puts and proposes a kind of optimization method.By the research to domestic and international the relevant technologies, in field of automobile brake, find no similar
For the feedback optimized design method of electric vehicle brake.
Summary of the invention
The technical problem to be solved by the present invention is to provide for deficiency involved in background technique, one kind is electronic to be helped
The optimization method of dynamic braking Braking system pedal feedback.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of optimization method of electric booster braking system brake pedal feedback, the electric booster braking system is using rich
Generation iBooster system, the optimization method of brake pedal feedback the following steps are included:
Step 1) establishes the parameter model and Simulink simulation model of electric booster braking system:
Step 1.1) establishes the parameter model of electric booster braking system, includes two degrees of freedom whole vehicle model, brake pedal
Model, assist motor model, Hydraulic Cylinder Model, tire model and braking force distribution model；Wherein, the two degrees of freedom vehicle mould
Type and tire model are for obtaining state of motion of vehicle；The brake pedal model and Hydraulic Cylinder Model are stepped on for obtaining driver
Board status；The assist motor model is for receiving state of motion of vehicle and driver pedal state, output power-assisted, adjustment pedal
Feedback force simultaneously plays braking function together with pedal force；
Step 1.2) is built simulation model and is tested in Simulink according to parameter model, obtains emulation number
According to the emulation data include speed, acceleration, pedal displacement, pedal force and the assist rate data of vehicle；
Step 2) determines prioritization scheme, chooses design variable, the method for sampling and sample point:
Step 2.1) determines prioritization scheme: improving brake pedal feedback by the optimization to pedal feedback power；
Pedal feedback power is changed by assist rate n,Wherein, Δ FoutBased on
The changing value of cylinder push rod force, Δ FinFor the changing value of pedal push rod power, Δ p is the changing value of master cylinder hydraulic coupling, and k is assist motor
The ratio between output displacement and pedal displacement, Δ l are pedal push rod displacement, kpvFor the equivalent stiffness of master cylinder to wheel cylinder, ScTo step on
The sectional area of plate feedback compensation cylinder, k2For the rigidity of pedal feedback spring；
Assist rate n is directly adjusted by the ratio between assist motor output displacement and pedal displacement k, and the adjusting of k is by three parameters
Ks、Ka、KvIt determines, expression formula k=Ks·Ka·Kv；Wherein, KsIt is pedal travel to the impact factor of k,KaIt is braking deceleration to the impact factor of k,
It is speed to the impact factor of k,S, a, v are respectively pedal travel, braking deceleration, vehicle
Speed；s1、a1、v1Respectively Ks、Ka、KvThe turning point of these three piecewise functions；C1、C2、C3For Ks、Ka、KvThese three piecewise functions
In s1、a1、v1Proportionality coefficient when turning point；
Step 2.2) chooses s1、a1、v1, brake-power balance coefficient β is as design variable；
Step 2.3) determines design variable s based on the emulation data obtained in step 1.2)1、a1、v1, β value range
Maximum value and minimum value smin、smax、amin、amax、vmin、vmax、βmin、βmax, become using Latin Hypercube Sampling method in design
Measure s1、a1、v1, β value range approximate random extract N group sample point；
Step 3) carries out l-G simulation test, obtains the initial data of optimization design；
Step 3.1) carries out l-G simulation test according to N group sample point, obtains pedal force, pedal travel, between vehicle acceleration
Relation curve；
Step 3.2) obtains initial data according to the relation curve obtained in step 3.1), including normal brake application is to default
Minimum severity of braking Z1When pedal force F1, normal brake application to preset minimum severity of braking Z1When pedal travel X1, it is normal
It brakes to preset maximum severity of braking Z2When pedal force F2, normal brake application to preset maximum severity of braking Z2When pedal
Stroke X2This four parameters for embodying brake pedals feedback and utilization service, synchronizing adhesion coefficient the two and automobile
Safety-related parameter；
Step 4) constructs second-order response surface model, and the prediction effect of assessment models；
Step 4.1), using the second-order response surface model of Isight software fitting Brake feedback index, fitting result is
M=A0+A1β+A2v1+A3a1+A4s1+A5β2+A6v1 2+A7a1 2+A8s1 2
+A9β·v1+A10β·a1+A11β·s1+A12v1·a1+A13v1·s1+A14a1·s1
In formula, M is the quantizating index for reacting brake pedal feedback, A0、A1、……、A14For every fitting coefficient；
Step 4.2) is assessed, calculation formula using predictive ability of the root-mean-square error to model are as follows:
In formula, N is sample points；P is multinomial item number；I is i-th of sample point；fiFor the finite element of i-th of sample point
Assay value；fi' be i-th of sample point response surface model calculated value；
Step 5) constructs Model for Multi-Objective Optimization, and optimizes to each parameter；
Step 5.1) chooses the quantizating index M and vehicle safety index of correlation J of reflection brake pedal feedback1、J2For mesh
Scalar functions:
Wherein, l is wheelbase, and a is distance of the vehicle centroid to front axle, and b is distance of the vehicle centroid to rear axle, hgFor mass center
Highly,For attachment coefficient, z is severity of braking,The respectively utilization service of front-wheel, rear-wheel；
Step 5.2), structure mathematics Optimized model are
Wherein, M0For the M value before optimization；
Step 5.3) optimizes, and obtains optimum results；
Step 6) is screened optimum results and is analyzed, and outlier strong point is removed, and the brake pedal after being screened is anti-
The optimum results of feedback.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. the comfort when vehicle braking for being equipped with electric booster braking system, the party can be effectively improved using the present invention
Method can all provide for driver in subjectivity and objectively more comfortable on the basis of guaranteeing brake efficiency and vehicle safety
Brake pedal feedback, is of great significance to the optimization design and personalization of electric booster braking system.
2. the present invention establishes corresponding parameter mould aiming at the problem that improving electric booster braking system brake pedal feedback
Type obtains approximate model using the method for construction response surface model.Choose several ginsengs biggish to operator brake feedback influence
Number is used as design variable, using pedal feedback, brake efficiency and safety as optimization aim, using population multi-objective optimization algorithm
Model is optimized, and optimum results are substituted into simulation model and are tested, realizes electric booster braking system braking
The optimization design of feedback.
3. relative to other existing brake boost curves, the present invention pass through comprehensively consider with when car speed, braking
Acceleration and the related parameter of brake-pedal travel, optimize Brake feedback, power-assisted curve smoothing transition, for difference
Model data can theoretically reach the optimal of Brake feedback
Detailed description of the invention
Fig. 1 is electric booster braking system schematic diagram involved in the present invention；
Fig. 2 is a kind of optimization method flow chart of electric booster braking system brake pedal feedback proposed by the present invention.
In figure, 1- brake pedal, 2- pedal push rod, 3- pedal feedback compensation cylinder, 4- power coupling disc, 5- pedal feedback bullet
Spring, 6- hydraulic compensating loop, 7- master cylinder, 8- electronic control module, 9- rack-and-pinion, 10- assist motor.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary,
It is thorough and complete to these embodiments are provided so that the disclosure, and model of the invention will be given full expression to those skilled in the art
It encloses.In the accompanying drawings, for the sake of clarity it is exaggerated component.
The present invention uses Bosch (BOSCH) iBooster system using electric booster braking system, and Fig. 1 is to relate in the present invention
And electric booster braking system schematic diagram, including pedal, pedal push rod, assist motor, rack-and-pinion, pedal feedback compensation
Cylinder, pedal feedback spring, power coupling disc, pedal displacement sensor, vehicle speed sensor, acceleration transducer and brake monitor
Equal components.
In the electric booster braking system, brake pedal and pedal push rod transmitting driver strength of one's legs, assist motor with
Rack-and-pinion transmits power-assisted, and strength of one's legs acts on the input power that master cylinder piston forms master cylinder through power coupling disc together with power-assisted；Master cylinder
Hydraulic coupling reaches pedal feedback by compensation circuit and compensates cylinder, and works with pedal feedback spring one, provides and steps on for driver
Plate counter-force；Sensor detects related physical quantity, signal is passed to brak control unit, brak control unit passes operation result
It is defeated by assist motor, to control power-assisted size.
Fig. 2 is a kind of optimization method flow chart of electric booster braking system brake pedal feedback proposed by the present invention, tool
Body step are as follows:
(1) according to the design feature of electric booster braking system, establish electric booster braking system parameter model and
Simulink simulation model, including two degrees of freedom whole vehicle model, brake pedal model, assist motor model, Hydraulic Cylinder Model, wheel
Loose tool type, braking force distribution model etc..
The assist rate n for the electric booster braking system model established is the target regulated quantity of prioritization scheme, calculation formula
ForWherein, Δ FoutFor the changing value of master cylinder push rod force, Δ FinFor pedal push rod power
Changing value, Δ p be master cylinder hydraulic coupling changing value, k be the ratio between assist motor output displacement and pedal displacement, Δ l be pedal
Push rod displacement, kpvFor the equivalent stiffness of master cylinder to wheel cylinder, ScFor the sectional area of pedal feedback compensated cavity, k2For pedal feedback
The rigidity of spring.
(2) it determines prioritization scheme, chooses design variable, the method for sampling and sample point；
Prioritization scheme, which refers to through the adjusting to assist rate n, obtains good Brake feedback, method particularly includes:
1. choosing three parameter K related with pedal travel, braking deceleration and speeds、Ka、KvIt is calculated as assist rate
The impact factor of k in formula, expression formula k=Ks·Ka·Kv.Wherein, KsIt is pedal travel to the impact factor of k；KaFor braking
Impact factor of the deceleration to k；KvIt is speed to the impact factor of k.
2. K in above formulas、Ka、KvThe specific value expression formula of three parameters is Wherein, s, a, v are respectively pedal travel, braking
Deceleration, speed；s1、a1、v1Respectively three piecewise function turning points；C1、C2、C3For proportionality coefficient related with turning point.
Design variable is pedal travel, braking deceleration, speed to the piecewise function expression formula turning point of k value impact factor
s1、a1、v1With brake-power balance coefficient β, design variable s is determined according to emulation data1、a1、v1, β value range, and using draw
The sampling of fourth hypercube, chooses s1、a1、v1, 50~60 groups of sample points in β value range.
1 Latin hypercube part sample point of table
(3) l-G simulation test is carried out according to N group sample point, obtains pedal force, pedal travel, the relationship between vehicle acceleration
Curve；Then initial data is obtained according to the relation curve of acquisition；It here is using brake feel index (BFI) test assessment body
System obtains initial data, and the pedal force (N), normal brake application when the initial data of acquisition includes normal brake application to 0.1g are extremely
Pedal travel when pedal force (N), normal brake application when pedal travel (mm), normal brake application when 0.1g are to 0.5g are to 0.5g
(mm) four parameters and utilization service, synchronizing adhesion coefficient two and automotive safety for embodying brake pedals feedback such as
Relevant parameter.
The initial data of 2 optimization design of table
(4) second-order response surface model, and the prediction effect of assessment models are constructed；
Utilize the second-order response surface model of Isight software fitting Brake feedback index, fitting result M=28.359+
60.766β+0.0407V1+2.0808a1+0.1872S1-36.9948β2-9.1264V1 2-0.0434a1 2+0.0002S1 2
-0.0428β·V1-2.8089β·a1-0.3088β·S1-0.0031V1·a1-6.8488V1·S1-0.006a1·
S1
It is assessed using predictive ability of the root-mean-square error to model, thinks acceptable when root-mean-square error is less than 0.2,
Calculation formula isWherein, N is sample points；P is multinomial item number；I is i-th of sample point；fiIt is
The finite element analysis value of i sample point；fi' be i-th of sample point response surface model calculated value.
(5) Model for Multi-Objective Optimization is constructed, objective function and constraint condition are set, using particle swarm optimization algorithm to model
It optimizes；
The mathematic optimal model of construction is
Wherein, J1、J2For Safety Evaluation Index
Wherein, l is wheelbase, and a is distance of the vehicle centroid to front axle, and b is distance of the vehicle centroid to rear axle, hgFor mass center
Highly,For attachment coefficient, z is severity of braking,For the utilization service of front and back wheel.
(6) optimum results are screened and is analyzed, obtain the optimum results of brake pedal feedback.
Comparison before and after each parameter optimization of table 3
After optimization, Brake feedback index is effectively promoted, and improves 1.1% than the result before optimization；And on the other hand,
In braking efficiency and the index of utilization service, optimum results relative to 3.2% and 12.6% has been respectively increased before optimization,
To sum up, the present invention can brake efficiency and safety while improving Brake feedback index.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (1)
1. a kind of optimization method of electric booster braking system brake pedal feedback, the electric booster braking system use Bosch
IBooster system, which is characterized in that the optimization method of brake pedal feedback the following steps are included:
Step 1) establishes the parameter model and Simulink simulation model of electric booster braking system:
Step 1.1) establishes the parameter model of electric booster braking system, includes two degrees of freedom whole vehicle model, brake pedal mould
Type, assist motor model, Hydraulic Cylinder Model, tire model and braking force distribution model；Wherein, the two degrees of freedom whole vehicle model
With tire model for obtaining state of motion of vehicle；The brake pedal model and Hydraulic Cylinder Model are for obtaining driver pedal
State；The assist motor model is anti-for receiving state of motion of vehicle and driver pedal state, output power-assisted, adjustment pedal
Feedback power simultaneously plays braking function together with pedal force；
Step 1.2) is built simulation model and is tested in Simulink according to parameter model, obtains emulation data, institute
State speed, acceleration, pedal displacement, pedal force and the assist rate data that emulation data include vehicle；
Step 2) determines prioritization scheme, chooses design variable, the method for sampling and sample point:
Step 2.1) determines prioritization scheme: improving brake pedal feedback by the optimization to pedal feedback power；
Pedal feedback power is changed by assist rate n,Wherein, Δ FoutIt is pushed away for master cylinder
The changing value of stick force, Δ FinFor the changing value of pedal push rod power, Δ p is the changing value of master cylinder hydraulic coupling, and k is assist motor output
The ratio between displacement and pedal displacement, Δ l are pedal push rod displacement, kpvFor the equivalent stiffness of master cylinder to wheel cylinder, ScIt is anti-for pedal
The sectional area of feedback compensation cylinder, k2For the rigidity of pedal feedback spring；
Assist rate n is directly adjusted by the ratio between assist motor output displacement and pedal displacement k, and the adjusting of k is by three parameter Ks、Ka、
KvIt determines, expression formula k=Ks·Ka·Kv；Wherein, KsIt is pedal travel to the impact factor of k,KaIt is braking deceleration to the impact factor of k,Kv
It is speed to the impact factor of k,S, a, v are respectively pedal travel, braking deceleration, vehicle
Speed；s1、a1、v1Respectively Ks、Ka、KvThe turning point of these three piecewise functions；C1、C2、C3For Ks、Ka、KvThese three piecewise functions
In s1、a1、v1Proportionality coefficient when turning point；
Step 2.2) chooses s1、a1、v1, brake-power balance coefficient β is as design variable；
Step 2.3) determines design variable s based on the emulation data obtained in step 1.2)1、a1、v1, β value range maximum
Value and minimum value smin、smax、amin、amax、vmin、vmax、βmin、βmax, using Latin Hypercube Sampling method in design variable s1、
a1、v1, β value range approximate random extract N group sample point；
Step 3) carries out l-G simulation test, obtains the initial data of optimization design；
Step 3.1) carries out l-G simulation test according to N group sample point, obtains pedal force, pedal travel, the pass between vehicle acceleration
It is curve；
Step 3.2) obtains initial data according to the relation curve obtained in step 3.1), including normal brake application to it is preset most
Small severity of braking Z1When pedal force F1, normal brake application to preset minimum severity of braking Z1When pedal travel X1, normal brake application
To preset maximum severity of braking Z2When pedal force F2, normal brake application to preset maximum severity of braking Z2When pedal travel
X2This four parameters for embodying brake pedals feedback and utilization service, synchronizing adhesion coefficient the two and automotive safety
Relevant parameter；
Step 4) constructs second-order response surface model, and the prediction effect of assessment models；
Step 4.1), using the second-order response surface model of Isight software fitting Brake feedback index, fitting result is
M=A0+A1β+A2v1+A3a1+A4s1+A5β2+A6v1 2+A7a1 2+A8s1 2
+A9β·v1+A10β·a1+A11β·s1+A12v1·a1+A13v1·s1+A14a1·s1
In formula, M is the quantizating index for reacting brake pedal feedback, A0、A1、……、A14For every fitting coefficient；
Step 4.2) is assessed, calculation formula using predictive ability of the root-mean-square error to model are as follows:
In formula, N is sample points；P is multinomial item number；I is i-th of sample point；fiFor the finite element analysis of i-th of sample point
Value；fi' be i-th of sample point response surface model calculated value；
Step 5) constructs Model for Multi-Objective Optimization, and optimizes to each parameter；
Step 5.1) chooses the quantizating index M and vehicle safety index of correlation J of reflection brake pedal feedback1、J2For target letter
Number:
Wherein, l is wheelbase, and a is distance of the vehicle centroid to front axle, and b is distance of the vehicle centroid to rear axle, hgFor height of center of mass,For attachment coefficient, z is severity of braking,The respectively utilization service of front-wheel, rear-wheel；
Step 5.2), structure mathematics Optimized model are
Wherein, M0For the M value before optimization；
Step 5.3) optimizes, and obtains optimum results；
Step 6) is screened optimum results and is analyzed, and outlier strong point is removed, the brake pedal feedback after being screened
Optimum results.
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| CN111086494A (en) * | 2020-01-14 | 2020-05-01 | 南京航空航天大学 | Line control brake pedal simulator based on magnetorheological fluid and working method thereof |
| CN113591227A (en) * | 2021-08-30 | 2021-11-02 | 湖南大学 | Optimization design method for marble pressurizing mechanism |
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| 赵万忠等: "电动汽车电液复合制动系统优化设计", 《南京航空航天大学学报》 * |
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| CN111055826A (en) * | 2020-01-14 | 2020-04-24 | 南京航空航天大学 | Brake pedal simulator with universality and working method thereof |
| CN111086494A (en) * | 2020-01-14 | 2020-05-01 | 南京航空航天大学 | Line control brake pedal simulator based on magnetorheological fluid and working method thereof |
| CN111086494B (en) * | 2020-01-14 | 2021-10-01 | 南京航空航天大学 | Line control brake pedal simulator based on magnetorheological fluid and working method thereof |
| CN113591227A (en) * | 2021-08-30 | 2021-11-02 | 湖南大学 | Optimization design method for marble pressurizing mechanism |
| CN113591227B (en) * | 2021-08-30 | 2023-06-16 | 湖南大学 | Optimized design method for marble pressurizing mechanism |
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