A Model Predictive Control Approach for Electro-Hydraulic Braking by Wire

被引:16
|
作者
Shi, Qin [1 ,2 ]
He, Lin [3 ]
机构
[1] Hefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Peoples R China
[2] Hefei Univ ofTechnol, Engn Res Ctr Intelligent Transportat & Cooperat Ve, Hefei 230009, Peoples R China
[3] Hefei Univ Technol, Lab Automot Intelligence & Electrificat, Hefei 230009, Peoples R China
关键词
Hydraulic systems; Friction; Fasteners; Brakes; Belts; Torque; Gears; Brake by wire; braking dynamics model; hydraulic dynamics model; pressure demand control; vehicle test bench; POSITION CONTROL; SYSTEM; DESIGN; OPTIMIZATION;
D O I
10.1109/TII.2022.3159537
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article, based on a novel electro-hydraulic braking system for full self-driving vehicles, a model predictive control approach is designed for precisely tracking of braking pressure. Concerning electric motor, reduction mechanism, and hydraulic system, a new braking system model is formulated. Due to the nonlinear hydraulic characteristic of the master cylinder piston, a quadratic polynomial is utilized to fit a relationship between piston position and cylinder pressure, by which a desired pressure of master cylinder is transformed into a desired position of the piston. A recursive least square with forgetting factor is developed to find the optimal parameters of pressure-position relationship. A system friction model is established to calculate the equivalent friction torque, which is regarded as the compensation of the desired torque. A vehicle test bench of full self-driving is established to validate the designed approach. According to the accurate tracking and the quick response of braking pressure from experimental results, it can be concluded that the model predictive control approach is a good candidate for the pressure demand control of electro-hydraulic braking by wire.
引用
收藏
页码:1380 / 1388
页数:9
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