商用车EBS系统比例继动阀特性与控制方法

2014104510doi10．6041/j．issn．1000-1298．2014．10．001EBS*121111．1300252．999093。Matlab/Simulink。。EBSU463.52A1000-1298201410-0001-062013-11-222014-02-16*[e-mail][e-mail]-trolledbrakesystemEBS。EBSEBSEBS1－5EBS6－8。EBS、CAN9－1112－13。EBS。EBS14－16。。11.1。1。、。ECU。1Fig．1StructureofproportionalrelayvalveECU。。1.2。。。22。2Fig．2Hysteresischaracteristicsofproportionalrelayvalve①。②。③、。。EBS。22.1。EBSFS=B2S2μ0=12NI2μ0Sδ21FS———B———δ———μ0———μ0=0.4π×10－6H/mS———N———I———m1x··=FSC1x·－K1x10+x+m1g－pdA10≤x＜x*m1+m2x··=FSC1+C2x·－K1x10+x－K2x20+x－x*+m1+m2g－pdA1x*≤x≤xmax2pd———A1———x*———m1———m2———K1———K2———x10———x20———C1———C2———m3y··=pdA2C3y·－K3y30+y+m3g－peA3signy·Ff0≤y＜y*m3+m4y··=pdA2C3+C4y·－K3y30+y－K4y40+y－y*+m3+m4g－peA3signy·Ffy*≤y≤ymax3pe———A2———A3———y*———m3———m4———K3———K4———y30———y40———C3———C4———Ff———dpdt=kap1(V2k)+11k－12kＲ0T1k槡+10≤p2/p1＜0.528kap1VＲ0T12kk[(－1p2p)12k(－p2p)1k+1]槡k0.528≤p2/p1≤14k———k1.4a———Ｒ0———Ｒ0287.1J/kg·KT1———T1313KV———p1———p2———22014。。2.2。Matlab/Simulink、。3。3Fig．3Simulationmodelforproportionalrelayvalve、、。、。、。2.2.1。。4Fig．4Simulationandtestresultforpressureresponsecharacteristic4。112V。0.5MPa75%157ms。2.2.2。5。0.23A。5Fig．5Simulationandtestresultforhysteresischaracteristic45。。3、PWM。MCS12DG128PWM。3.1。。1p=1.27I－0.56I=1.12Ap。2p=1.24I－0.29I=0.84Ap。。0.8MPa1.12A0.84A0.01MPa310EBS0.47A0.28A。6。6Fig．6Flowchartoffeedforwardcompensation3.2PID。。PIDPIDPID。PID。PI。PID。PWMPIDPWMPID。PID7。7PIDFig．7FeedforwardcompensatedPIDcontrolblockdiagram44.1EBS。8。8SimulinkFig．8SimulinkverificationmodelforfeedforwardcompensationcontrolmethodPIDPIDSimulink。9。9Fig．9Simulationresultofcompensationcontrolforproportionalrelayvalve90.3MPa。9。4.2HIL4.2.1EBS10。XPC-TargetMathworks、、Matlab/Simulink。XPC-Target-Matlab/Simulinkworkspace。1789。4201410EBSFig．10HILStestbedforEBS、、、、、、、、9。4.2.2PID。PIDPID。。。HIL、、30.3、0.50.7MPa、。EBS。。EBSXPC。PID。11PID。、、375%0.153s、0.227s、0.259sPID。11Fig．11Closedloopcontroltestresultsofproportionalrelayvalve120.3MPa。。12Fig．12Simulationandtestresultofcontrolmethodforproportionalrelayvalve5EBSEBS、。Matlab/Simulink。EBS。1ElectronicallycontrolledbrakesystemsystemandfunctionaldescriptionEB/OL．2007-12-05．wabco-auto．com．2EBS—electronicbrakingsystemfortruck＆busapplicationsEB/OL．2012-02-09．knorr-bremse．com．3PaljooYoonHyung-JinKangInyongHwanetal．Brakingstatusmonitoringforbrake-by-wiresystemsC．SAEPaper2004-01-02592004．4MillerJonathanICebonDavid．AhighperformancepneumaticbrakingsystemforheavyvehiclesJ．VehicleSystemDynamics201048Supp．1373－392．510EBS5BuFTanHS．Pneumaticbrakecontrolforprecisionstoppingofheavy-dutyvehiclesJ．IEEETransactionsonControlSystemsTechnology200715153－64．6KarthikeyanPUmemuraY．DevelopmentandmodelingofanelectropneumaticbrakesystemC∥2009IEEEIntelligentVehiclesSymposium2009858－863．7SzenteVVadJLórántGetal．ComputationalandexperimentalinvestigationondynamicsofelectricbrakingsystemsC∥Proceedingsofthe7thScandinavianInternationalConferenceonFluidPower2001263－275．8PacejkaHansBastiaan．TyreandvehicledynamicsM．OxfordUKElsevierButterworth-Heinemann2002．9．D．2007．10ZongChangfuYangShengnanZhengHongyu．AcontrolstrategyofelectronicbrakingsystembasedonbrakecomfortC∥2011InternationalConferenceonTransportationMechanicalandElectricalEngineeringTMEE20111265－1268．11ZhaoWeiqiangZongChangfuZhengHongyuetal．IntegratedHILtestanddevelopmentsystemforpneumaticABS/EBSECUofcommercialvehiclesC．SAEPaper2012-01-20312012．12．PWMJ．2005312－15．13．C∥2008．SAE-C2008T52920081339－1344．14．EBSC∥2008．SAE-C2008E43720081191－1196．15．J．201022232－34．16ShyrokauBWangDAugsburgKetal．Modellingandcontrolofhysteresis-characterizedbrakeprocessesC∥ProceedingsofEurobrakeEB2012-MS-252012．CharacteristicsandControlMethodofProportionalＲelayValveforCommercialVehicleEBSHanZhengtie12ZongChangfu1ZhaoWeiqiang1WanYing11．StateKeyLaboratoryofAutomotiveSimulationandControlJilinUniversityChangchun130025China2．CollegeofMechanicalEngineeringPyongyangUniversityofMechanicalEngineeringPyongyang999093NorthKoreaAbstractThesimulationmodelandhysteresiscompensationcontrolmethodofproportionalrelayvalveofEBSforcommercialvehiclewereproposedfocusedonthehysteresischaracteristic．Firstthemathematicmodelforproportionalrelayvalvewasestablishedwhichreflectedthehysteresischaracteristic．ThentheresponsecharacteristicandhysteresischaracteristicweresimulatedusingthatmodelinMatlab/Simulinkenvironmentandthecorrectnessandreliabilityofthemodelwerevalidatedthroughopenedlooptest．Afterthatacontrolmethodforproportionalrelayvalvewasdevelopedbywhichthehysteresischaracteristiccouldbecompensated．Finallytheeffectivenessofthiscontrolmethodwasvalidatedthroughtheoff-linesimulationandtheHILtest．Simulationandtestresultsshowthatthehysteresiscompensationcontrolmethodproposedcanimprovethecontrolcharacteristicandvehicleactivesafety．KeywordsCommercialvehicleEBSsystemProportionalrelayvalveHysteresiscompensationControlmethod62014