CN112721896B - IEHB system master cylinder hydraulic pressure estimation method based on displacement pressure model - Google Patents
IEHB system master cylinder hydraulic pressure estimation method based on displacement pressure model Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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Abstract
The invention relates to an IEHB system master cylinder hydraulic pressure estimation method based on a novel displacement pressure model, which comprises the following steps: 1) testing the displacement pressure characteristic of the IEHB system; 2) performing polynomial fitting on the displacement pressure characteristic of the IEHB system; 3) establishing a novel displacement pressure model based on rack speed compensation; 4) and estimating the main cylinder hydraulic pressure of the IEHB system according to the established novel displacement pressure model based on rack speed compensation. Compared with the prior art, the method has the advantages of high estimation precision, strong universality and the like.
Description
Technical Field
The invention relates to the technical field of automobile brake-by-wire, in particular to an IEHB system master cylinder hydraulic pressure estimation method based on a displacement pressure model.
Background
An Integrated Electro-Hydraulic brake (IEHB) system integrates a servo electric supercharging device and a master cylinder, can quickly and accurately adjust output brake pressure through a combined Hydraulic adjusting unit while ensuring compact integral structure, and can integrate the active safety function of the novel whole vehicle more conveniently. Because the IEHB system has the main and wheel cylinder hydraulic pressure decoupling capability and the active pressure building function, the braking energy recovery maximization of the electric vehicle and the automatic driving functions of the intelligent driving vehicle, such as AEB (automatic braking system), ACC (Adaptive cruise control) and the like, can be realized, and the IEHB system has become the development trend of the future vehicle braking system. At present, mass-produced IEHB systems are equipped with a master cylinder hydraulic pressure sensor to realize feedback control on master cylinder hydraulic pressure, but increase product cost and risk of sensor failure. Part of the IEHB systems utilize a method of mutual detection of two master cylinder hydraulic pressure sensors to solve the problems of sensor failure detection and backup, but the system cost is further increased.
In order to improve the sensor failure safety of the IEHB system under the condition of not increasing the cost as much as possible and ensure the market competitiveness of products, a master cylinder hydraulic pressure estimation algorithm is particularly important. At present, research on an IEHB system at home and abroad mainly focuses on configuration design and hydraulic pressure control of a master cylinder and a wheel cylinder, the research on master cylinder hydraulic pressure estimation is in a starting stage, most of the prior art adopts a polynomial to fit the displacement pressure characteristic of the IEHB system, and then the polynomial (static model) is used for estimating the master cylinder hydraulic pressure in real time. Since the displacement pressure characteristic has a hysteresis characteristic and the polynomial fitting represents an average value of the pressure increase and the pressure decrease, the estimated value of the hydraulic pressure is inevitably lower than the actual value in the pressure increase stage and higher than the actual value in the pressure decrease stage. For this reason, a possible method is to fit the pressure increasing process and the pressure decreasing process of the displacement pressure characteristic separately, but this method may cause abrupt changes in the hydraulic pressure estimated value at the time of the pressure increasing and decreasing transitions. In conclusion, the development of the main cylinder hydraulic pressure estimation of the IEHB system has important significance, and in addition, the core difficulty of the hydraulic pressure estimation, namely the accurate modeling of the displacement pressure characteristic, needs to be further improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an IEHB system master cylinder hydraulic pressure estimation method based on a displacement pressure model.
The purpose of the invention can be realized by the following technical scheme:
the IEHB system master cylinder hydraulic pressure estimation method based on the displacement pressure model comprises the following steps:
s1: the IEHB system was tested for displacement pressure characteristics. The displacement pressure characteristic of the IEHB system refers to the relationship of rack displacement to master cylinder hydraulic pressure. Generally, the hydraulic pressure is larger as the rack displacement is larger, but the displacement pressure characteristic is influenced by more factors such as speed, temperature and the like, and hysteresis characteristics exist, namely nonlinearity and uncertainty exist, so the difficulty of practical treatment is how to accurately model the displacement pressure characteristic. The rack displacement includes physical quantities such as a motor angular position or a compression volume of the IEHB system, which are different from the rack displacement by only a fixed coefficient, in addition to the literal meaning.
S2: the IEHB displacement pressure characteristics are fitted based on a polynomial.
Further, a polynomial fit is made to the IEHB displacement pressure characteristics tested according to the least squares method. Wherein the specific degree of the polynomial is not limited.
S3: and establishing a displacement pressure model based on rack speed compensation. Specifically, the method comprises the following steps:
the polynomial fitting result obtained in step S2 is added with the item containing the rack velocity, and a displacement pressure model is created. The specific form of the item containing the rack speed is not limited.
The form of the speed influencing factor has a common property that it is zero when the pressure is increased or decreased (i.e. a smooth transition is ensured) and describes the law that the actual hydraulic pressure deviates more from the average value when the speed is increased. Therefore, the invention adds the item related to the rack speed to the polynomial fitting result to establish the displacement pressure model.
The expression of the displacement pressure model is:
in the formula: p is a radical ofmIs the main cylinder hydraulic pressure with the unit of bar; x is the number ofrIs the rack displacement, in mm; A. b, C, D is a polynomial coefficient;
and k is a coefficient, and the rack speed can be calibrated according to test data.
S4: the IEHB master cylinder hydraulic pressure is estimated according to the displacement pressure model established at S3. Specifically, the method comprises the following steps:
the master cylinder hydraulic pressure is estimated using the rack displacement and the rack velocity as inputs, based on the displacement pressure model established in step S3.
Compared with the prior art, the displacement pressure model and the IEHB system master cylinder hydraulic pressure estimation method provided by the invention at least have the following beneficial effects:
1) compared with the traditional model, the hydraulic pressure estimation method has the advantages that the speed factor is increased, and the influence rule of the speed on the displacement pressure characteristic can be described, so that the precision is improved, the stable transition is ensured during pressure increase and decrease and reversing, and the hydraulic pressure estimation precision can be improved by 32.2%.
2) Compared with the traditional model, the method only adds a speed compensation item, is simple and practical, is convenient to realize in software and debug, is easy to calculate hardware such as a controller, and can obviously improve the hydraulic pressure estimation precision by slightly adjusting the software under the condition of hardly increasing the calculation burden of the controller.
3) The dynamic model provided by the invention can also be used for describing the relation characteristics among other variables (not limited to displacement pressure characteristics) with hysteresis characteristics and speed influence characteristics, and the provided displacement pressure model and the IEHB master cylinder hydraulic pressure estimation method are reasonable and feasible and have typicality and universality.
Drawings
Fig. 1 is a schematic diagram of the main structure of an IEHB system employed in the embodiment;
as indicated by the reference numbers in fig. 1:
1. the system comprises an electric control unit 2, a permanent magnet synchronous motor 3, a speed reduction transmission mechanism, a brake master cylinder 9, a decoupling cylinder 10, a pedal simulator 11, a pedal displacement sensor 12 and a brake pedal, wherein the speed reduction transmission mechanism comprises a worm gear, a worm and a gear rack 4, a liquid storage tank 5, a normally open electromagnetic valve 6, a hydraulic pressure sensor 7, a brake wheel cylinder 8, and the brake master cylinder;
FIG. 2 is a schematic diagram of a main cylinder hydraulic pressure estimation method of an IEHB system based on a displacement pressure model in an embodiment;
FIG. 3 shows the test results of the displacement pressure characteristics under the test in two groups of normal driving conditions in the example;
FIG. 4 shows a polynomial fitting result of a displacement pressure characteristic in the example;
fig. 5 shows the results of the actual vehicle test for estimating the master cylinder hydraulic pressure under normal driving conditions in the embodiment, where fig. 5(a) shows the results of the brake test at about 3bar, fig. 5(b) shows the results of the brake test at about 7bar, fig. 5(c) shows the results of the brake test at about 11bar, fig. 5(d) shows the results of the brake test at about 15bar, and fig. 5(e) shows the results of the brake test at about 30 bar.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention relates to an IEHB system master cylinder hydraulic pressure estimation method based on a displacement pressure model, the main structure of the IEHB system adopted in the embodiment is shown in figure 1, and the IEHB system comprises the following components:
a brake pedal unit: the brake pedal 12 assembly is included and reflects the driving intention of a driver;
an active voltage building unit: the brake system comprises a motor (a permanent magnet synchronous motor 2 in the embodiment), a worm gear, a worm and a gear rack (a speed reduction transmission mechanism 3 in the embodiment), wherein the motor is used for converting the rotating torque of the motor into translational thrust on the rack so as to push a master cylinder to generate corresponding brake hydraulic pressure;
a brake execution unit: the brake system comprises a brake master cylinder 8, brake wheel cylinders 7, electromagnetic valves (normally open electromagnetic valves 5 in the embodiment), a liquid storage tank 4 and a hydraulic pipeline, wherein the brake master cylinder is used for converting thrust on a rack of an active pressure building unit into hydraulic pressure of each wheel cylinder, and finally, a friction pad at the end of each brake wheel cylinder acts on a brake disc to generate corresponding brake torque;
a control unit: the system comprises an IEHB controller (an electronic control unit 1 in the embodiment), a hydraulic pressure sensor 6, a pedal displacement sensor 11, a pedal force sensor (a pedal simulator 10 in the embodiment) and related circuits, and is used for obtaining pedal force and pedal travel signals, then calculating the braking intention of a driver, calculating target braking pressure, and calculating target motor torque through feedback signals of the pressure sensors to realize pressure closed-loop control.
Aiming at the IEHB system, the specific implementation steps of the IEHB system master cylinder hydraulic pressure estimation method based on the displacement pressure model are as follows:
step one, in order to research the displacement pressure characteristic under the conventional working condition, data of IEHB rack displacement and master cylinder hydraulic pressure under the normal driving working condition are collected through a real vehicle test. The parameters of the test vehicle carrying IEHB are shown in table 1. The test road section is a section of ordinary urban road about 10km away from the sea, and the displacement pressure characteristic test results are shown in fig. 3 and comprise two groups. Each group of tests corresponds to 10km of driving mileage, so that the test data contains a plurality of times of braking, and in addition, the statistical data of the displacement pressure characteristics of the two tests are not changed greatly under the normal driving working condition. The hydraulic pressure under normal driving conditions generally does not exceed 30bar, and the fact that the braking pressure is more concentrated in a low-pressure area of 0-15bar can be found from the density degree of data points, so five groups of data with the braking pressure of about 3bar, about 7bar, about 11bar, about 15bar and about 30bar are selected for verification during test verification, and the effectiveness of the invention is fully explained.
Table 1 test vehicle parameters
And step two, selecting a cubic polynomial to fit the displacement pressure characteristic of the IEHB system by utilizing the first group of test data, wherein the fitting result is shown in figure 4, and the cubic polynomial is shown in formula (1).
Wherein p ismIs the main cylinder hydraulic pressure with the unit of bar; x is the number ofrIs the rack displacement in mm. A. B, C, D is a polynomial coefficient with values as shown in formula (2):
according to the principle of least square fitting, the value of A, B, C, D is directly obtained from the tested data points, and needs to satisfy: the sum of the squares of the distances of all the test data points from equation (1) is minimized.
Step three, considering that the motion state of the rack in the braking process is not difficult to find, and when the difference between the actual hydraulic pressure and the static model is large, the actual hydraulic pressure and the static model are corresponding to a large rack speed; and during pressure increasing and reducing reversing, the difference value between the actual hydraulic pressure and the static model is gradually reduced to zero and then reversely increased, which is also identical with the change rule of the rack speed. That is, the error between the actual hydraulic pressure and the static model is positively correlated with the rack speed. Therefore, the invention provides a novel displacement pressure model as shown in formula (3):
wherein,
is the rack speed; the coefficient k can be calibrated according to experimental data. The formula (3) shows that the novel displacement pressure model not only can reflect the rule that the displacement pressure characteristic is influenced by the braking speed, but also can be in stable transition when the pressure is increased or decreased and the direction is changed. That is, during pressure increasing and decreasing commutation, the speed factor decreases and then increases reversely, namely, the difference value between the dynamic model and the static model also increases reversely after decreasing, and the static model is continuous and has one-to-one input and output, so that the static model is in smooth transition, and at the moment of pressure increasing and decreasing conversion of the dynamic model, the speed influence factor is zero and is the same as the static model, so that smooth transition can be realized.
In addition, tests show that when the pressure difference between the actual pressure and the static model is large, the pressure difference is corresponding to a large rack speed, and therefore the speed factor added in the method can also represent the characteristic, and therefore the pressure estimation accuracy is improved.
And step four, according to the established displacement pressure model, the hydraulic pressure of the main cylinder can be estimated in real time by utilizing the position and the speed of the rack in the real vehicle.
In order to verify the effectiveness of the proposed model, the displacement pressure model and the traditional static displacement pressure model are calibrated through a first group of test data, the estimation effects under different hydraulic pressures are selected for specific analysis through a second group of test data, and the specific analysis is shown in fig. 5(a) to 5 (e). Fig. 5(a) shows the result of a brake test at about 3bar, fig. 5(b) shows the result of a brake test at about 7bar, fig. 5(c) shows the result of a brake test at about 11bar, fig. 5(d) shows the result of a brake test at about 15bar, and fig. 5(e) shows the result of a brake test at about 30 bar.
Therefore, due to the fact that rack speed compensation is added, compared with the traditional static model, the novel model has higher response speed and hydraulic pressure estimation accuracy at the beginning and the end of each braking; the stable transition can be kept during the pressure increasing and reducing conversion, the overall hydraulic pressure estimation error root mean square value is 1.28bar, and the hydraulic pressure estimation error root mean square value is reduced by 32.2 percent compared with the traditional model of 1.89 bar.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The IEHB system master cylinder hydraulic pressure estimation method based on the displacement pressure model is characterized by comprising the following steps of:
1) testing the displacement pressure characteristic of the IEHB system;
2) performing polynomial fitting on the displacement pressure characteristic of the IEHB system;
3) establishing a displacement pressure model based on rack speed compensation;
4) estimating main cylinder hydraulic pressure of the IEHB system according to the established displacement pressure model based on rack speed compensation;
the specific content of the step 3) is as follows:
adding a term containing rack speed into the polynomial fitting result obtained in the step 2), and establishing a displacement pressure model; the items containing the rack speed are parameters related to the rack speed in the IEHB system;
the expression of the displacement pressure model is as follows:
in the formula: p is a radical ofmIs master cylinder hydraulic pressure, xrIn order to displace the rack, the displacement of the rack,
for rack speed, A, B, C, D is a polynomial coefficient and k is a coefficient.
2. The IEHB system master cylinder hydraulic pressure estimation method based on a displacement pressure model according to claim 1, wherein the displacement pressure characteristic of the IEHB system is a relationship between rack displacement of the IEHB system and a master cylinder hydraulic pressure of the IEHB system.
3. The IEHB system master cylinder hydraulic pressure estimation method based on a displacement pressure model as claimed in claim 1, wherein in step 2), the tested IEHB system displacement pressure characteristics are polynomial fitted according to a least square method.
4. The IEHB system master cylinder hydraulic pressure estimation method based on displacement pressure model as claimed in claim 1, wherein the specific content of step 4) is:
and (3) estimating the master cylinder hydraulic pressure by taking the rack displacement and the rack speed as input according to the displacement pressure model established in the step 3).
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| CN113420455B (en) * | 2021-07-06 | 2022-06-14 | 同济大学 | Main cylinder hydraulic pressure estimation method based on EHB (electric hydraulic brake) self characteristics |
| CN113353049B (en) * | 2021-08-11 | 2021-11-30 | 拿森汽车科技(杭州)有限公司 | Electric control braking method and device and computer storage medium |
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| CN204775204U (en) * | 2015-03-27 | 2015-11-18 | 同济大学 | Parallel bar formula full decoupling electron hydraulic braking system |
| CN104760580A (en) * | 2015-03-31 | 2015-07-08 | 同济大学 | Control method based on displacement feedback control and active pedal simulation system |
| CN109910851B (en) * | 2019-02-19 | 2021-06-04 | 同济大学 | IEHB-based slip rate and acceleration joint anti-lock control method and system |
| CN110979281B (en) * | 2019-12-20 | 2020-10-16 | 湘潭大学 | EHB power-assisted system hydraulic fluctuation impact suppression device and control method |
| CN111731253B (en) * | 2020-06-08 | 2022-05-24 | 南京航空航天大学 | Integrated electronic hydraulic brake system braking force control device and control method thereof |
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