汽车电磁制动与摩擦制动集成系统控制技术及性能研究
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摘要
目前,轿车制动系统仍主要以“油液制动系统”为主,即使增加了ABS、TCS等系统,油液制动占主导地位的现状仍未得以改变。虽然安装有ABS的汽车能有效地防止车轮抱死、缩短制动距离,但对于因频繁制动或者下长坡制动而引起的“热衰退”现象并未得到改善。因此,在轿车上除摩擦制动系统外,增加一套电磁制动系统,通过两套制动系统的配合使用来改善轿车制动性能是一种可能的技术途径。为此,研究电磁制动与摩擦制动集成系统有着非常重要的意义。目前国内外虽然已有一些电磁制动研究,但多数是面向客车或货车的电涡流缓速器,而少数面向轿车的电磁制动方面研究均没有考虑两套制动系统的联合控制,且研究多以微缩模型为主,尚未有对轿车电磁制动与摩擦制动集成化研究的相关报道。针对这些问题,本文做了如下工作：
首先,提出电磁制动与摩擦制动集成系统的结构布置方案,并详细介绍电磁制动与摩擦制动集成系统在某型轿车上的布置方法。根据所提出的电磁制动与摩擦制动集成系统的结构布置方案,给出简化后的集成系统单轮制动模型。
采用优化设计方法,以提高汽车制动力矩为目标,分析电磁制动与摩擦制动集成系统的结构参数对制动力矩的影响规律,应用提出的集成系统结构参数分析方法,分析不同结构参数方案,利用Mathematica和Maltab软件进行了计算和仿真分析,获得最佳的电磁制动与摩擦制动集成系统结构参数和安装参数方案。
考虑到磁感应强度的获取对电磁制动器的控制及其力矩计算至关重要,而目前已有的磁感应强度计算公式过于复杂,不适于工程应用。为此根据位势理论和Maxwell方程,建立电磁制动器在制动盘某点处产生的磁感应强度预测模型。针对某一结构的电磁制动器在制动盘上所产生的磁感应强度进行了分析计算,对不同磁极长度、磁极宽度、磁极面与制动盘间距下的磁感应强度进行了预测,通过Ansoft Maxwell2D/3D软件进行了磁场分析。
基于获得的结构参数方案,提出通过PWM调节电磁制动器线圈通电电流从而改变集成系统总制动力矩的控制方法。利用Proteus仿真软件,结合建立的系统控制模型和控制策略对汽车制动性能进行仿真,证明所提出的PWM调节方法的可行性。
分别基于模糊控制理论和最优化控制理论构建电磁制动与摩擦制动集成系统控制模型。其中,基于模糊控制理论,提出采用控制电磁制动器线圈电流大小的模糊控制策略。在控制策略中以车辆滑移率为输入量,以电磁制动器线圈通电电流为输出量,设计系统模糊控制器。并以某一安装有电磁制动与摩擦制动集成系统的轿车为应用实例,运用Matlab/Simulink软件对系统进行仿真分析。基于最优化控制理论,利用Matlab/Simulink软件设计电磁制动与摩擦制动集成系统、最优反馈K以及摩擦制动器制动力矩,并由此得到联合制动力矩值。
根据电磁制动与摩擦制动集成系统原理,结合汽车的性能特性,设计电磁制动与摩擦制动集成系统测试台架,基于LabVIEW软件设计了采集系统软件。并在此基础上进行了联合制动力矩、电磁制动力矩及摩擦制动力矩关系分析、不同参数对集成系统联合制动力矩影响分析等多项试验。
最后,为了使电磁制动与摩擦制动集成系统更有利于在不同车型上匹配与应用,提出电磁制动与摩擦制动集成系统的五项性能指标,给出了这些指标的评定方法,并且分别基于可拓评价方法以及RS理论评价法等对集成系统进行选型评价。
本文的创新点在于：
(1)提出一种电磁制动与摩擦制动集成系统的结构方案,并通过结构优化设计,给出电磁制动与摩擦制动集成系统最佳结构参数和安装参数。
(2)基于位势理论和Maxwell方程,建立电磁制动器在制动盘某点处产生的磁感应强度预测模型。
(3)提出通过PWM调节电磁制动器线圈通电电流从而改变集成系统总制动力矩的控制方法。基于模糊控制策略控制电磁制动器线圈电流大小的方法,并设计车辆控制模型。基于最优化控制理论,建立使用终了时间无限的二次型最优控制模型。利用所设计的测试台架开展了多项对比试验及抗热衰退性试验,从而验证集成系统能根据所设计的控制策略对总制动力矩进行调节并具有良好的抗热衰退性。
(4)提出基于可拓评价方法、RS理论评价法对电磁制动与摩擦制动集成系统进行匹配选型评价的方法。
At present, the braking system of car is still mainly a "hydraulic braking system", even if ABS, TCS and other systems are fitted on the car, the status that hydraulic braking system playing dominant role has not changed. Although the car fitted with ABS can prevent wheels from locking and shorten the braking distance effectively, but the sign of heat fade caused by frequent braking or continous downhill road braking is not improved. Besides the frictional brake system, an electromagnetic brake system is added on the car, to improve the car braking performance by controlling the two systems cooperatively is possible technical approach. Therefore, significance of research on integrated system of electromagnetic brake and frictional brake is very important. While some similar studies have been developped in China and abroad, but most research mainly aimed at the passenger-cars's retarder or truck's retarder, and a few research on the electromagnetic brake for cars is not considered in joint control of the two braking systems, most of the research mainly aimed at the miniature model, no related report mentions about the integrated system of electromagnetic brake and frictional brake. Aiming at these problems, the study in this thesis is focused on the following aspects:
First, the structure arrangement of the integrated system of electromagnetic brake and frictional brake was presented; layout method of the intergrated system with certain type car was described in detail. According to the structure arrangement, one-wheel braking model of the integrated system after simplification was given.
The optimization design method was used. Improved brake torque as possible as goal, the article analyzed the influence law between the main composition parameters of the integrated system and brake torque. Meanwhile, applied the intergrated system composition parameters analysis method, different model selection schemes which was different in composition parameters was proposed on comparative analysis. According to the software Mathematica and Maltab which were applied to calculate, simulate and analyze, the optimum composition parameters were obtained.
Acquisition of the magnetic induction is very important to control the electromagnetic brake and calculate its torque, and the current calculation formula to the magnetic induction was too complex to apply in engineering. According to potential theory and Maxwell equations, the prediction model of magnetic induction on some point of the brake disc generated by the electromagnetic brake was built. Aimed at certain structure for the electromagnetic brake, magnetic induction on some point of the brake disc was analyzed and calculated. Magnetic induction prediction was carried on under different width and length of magnetic pole and different distance between magnetic pole and brake disc, we developed magnetic field analysis by the software Ansoft Maxwell 2D/3D.
According to the composition parameters sheme, the article presented the regulation method that the intergrated system total torque varies as the current to the electromagnetic coil changed, which was based on the principle of PWM regulation. The simulation software Proteus was applied, combined with the system control model and control strategy, the vehicle braking performance was simulated. The result shows that PWM regulation method presented is feasible.
On the basis of fuzzy control theory and the theory of optimal control, the intergrated system of electromagnetic brake and the frictional brake control model was constructed. Based on fuzzy control theory, the control strategy that controlling the current of the electromagnetic brake coil through fuzzy controlled method was proposed, in which the vehicle slip rate was used as input, the current of the electromagnetic brake was used as output. According to the control strategy, fuzzy controller was designed. To prove its validity and feasibility, the vehicle equipped with the integrated system including vehicle electromagnetic brake and frictional brake was taken as example. The simulation analysis to the integrated system was preceded by using software MATLAB/Simulink. Based on the theory of optimal control, the software Matlab/Simulink was applied to design the intergrated system, optimal feedback K and the braking torque of the frictional brake, from which the total braking torque was obtained.
According to the principle of the intergrated system of electromagnetic brake and frictional brake, combined with the vehicle performance characteristics, the testing bench of the intergrated system was designed, the acquisition system software was designed based on the software Lab VIEW. The expeiments focused on relationship among blend brake torque, electromagnetic brake torque and frictional brake torque and the influence of different parameters to the blend brake torque was carried on.
Finally, in order to make the intergrated system favorable to attach and apply in different type vehicle, five performance index to the intergrated system was presented, evaluation method to the performance index was given at the same time, the intergrate system type selection was evaluated on the basis of extension assessment method and the rough set theory.
The innovations of this paper are:
(1) The structure scheme to the intergrated system of electromagnetic brake and frictional brake was presented. According to the structural optimization design, the optimum structure parameters and installation parameters of the intergrated system were presented.
(2) According to potential theory and Maxwell equations, the prediction model of magnetic induction on some point of the brake disc generated by the electromagnetic brake was built.
(3) The regulation method that the intergrated system total torque varies as the current to the electromagnetic coil changed was presented, which was based on the principle of PWM regulation. Based on fuzzy control theory, the control strategy that controlling the current of the electromagnetic brake coil by fuzzy controlled method was proposed, the vehicle control model was designed. Based on the theory of optimal control, finish-time infinite quadratic form optimal control model was constructed. Applying the testing bench, some comtrast test and resistance of heat performance test were carried on, which the integrated system can regulating the gross braking torque under the designed control strategy and having good resistance of heat performance was verified.
(4) The intergrate system type selection was evaluated on the basis of extension assessment method and the rough set theory.
首先,提出电磁制动与摩擦制动集成系统的结构布置方案,并详细介绍电磁制动与摩擦制动集成系统在某型轿车上的布置方法。根据所提出的电磁制动与摩擦制动集成系统的结构布置方案,给出简化后的集成系统单轮制动模型。
采用优化设计方法,以提高汽车制动力矩为目标,分析电磁制动与摩擦制动集成系统的结构参数对制动力矩的影响规律,应用提出的集成系统结构参数分析方法,分析不同结构参数方案,利用Mathematica和Maltab软件进行了计算和仿真分析,获得最佳的电磁制动与摩擦制动集成系统结构参数和安装参数方案。
考虑到磁感应强度的获取对电磁制动器的控制及其力矩计算至关重要,而目前已有的磁感应强度计算公式过于复杂,不适于工程应用。为此根据位势理论和Maxwell方程,建立电磁制动器在制动盘某点处产生的磁感应强度预测模型。针对某一结构的电磁制动器在制动盘上所产生的磁感应强度进行了分析计算,对不同磁极长度、磁极宽度、磁极面与制动盘间距下的磁感应强度进行了预测,通过Ansoft Maxwell2D/3D软件进行了磁场分析。
基于获得的结构参数方案,提出通过PWM调节电磁制动器线圈通电电流从而改变集成系统总制动力矩的控制方法。利用Proteus仿真软件,结合建立的系统控制模型和控制策略对汽车制动性能进行仿真,证明所提出的PWM调节方法的可行性。
分别基于模糊控制理论和最优化控制理论构建电磁制动与摩擦制动集成系统控制模型。其中,基于模糊控制理论,提出采用控制电磁制动器线圈电流大小的模糊控制策略。在控制策略中以车辆滑移率为输入量,以电磁制动器线圈通电电流为输出量,设计系统模糊控制器。并以某一安装有电磁制动与摩擦制动集成系统的轿车为应用实例,运用Matlab/Simulink软件对系统进行仿真分析。基于最优化控制理论,利用Matlab/Simulink软件设计电磁制动与摩擦制动集成系统、最优反馈K以及摩擦制动器制动力矩,并由此得到联合制动力矩值。
根据电磁制动与摩擦制动集成系统原理,结合汽车的性能特性,设计电磁制动与摩擦制动集成系统测试台架,基于LabVIEW软件设计了采集系统软件。并在此基础上进行了联合制动力矩、电磁制动力矩及摩擦制动力矩关系分析、不同参数对集成系统联合制动力矩影响分析等多项试验。
最后,为了使电磁制动与摩擦制动集成系统更有利于在不同车型上匹配与应用,提出电磁制动与摩擦制动集成系统的五项性能指标,给出了这些指标的评定方法,并且分别基于可拓评价方法以及RS理论评价法等对集成系统进行选型评价。
本文的创新点在于：
(1)提出一种电磁制动与摩擦制动集成系统的结构方案,并通过结构优化设计,给出电磁制动与摩擦制动集成系统最佳结构参数和安装参数。
(2)基于位势理论和Maxwell方程,建立电磁制动器在制动盘某点处产生的磁感应强度预测模型。
(3)提出通过PWM调节电磁制动器线圈通电电流从而改变集成系统总制动力矩的控制方法。基于模糊控制策略控制电磁制动器线圈电流大小的方法,并设计车辆控制模型。基于最优化控制理论,建立使用终了时间无限的二次型最优控制模型。利用所设计的测试台架开展了多项对比试验及抗热衰退性试验,从而验证集成系统能根据所设计的控制策略对总制动力矩进行调节并具有良好的抗热衰退性。
(4)提出基于可拓评价方法、RS理论评价法对电磁制动与摩擦制动集成系统进行匹配选型评价的方法。
At present, the braking system of car is still mainly a "hydraulic braking system", even if ABS, TCS and other systems are fitted on the car, the status that hydraulic braking system playing dominant role has not changed. Although the car fitted with ABS can prevent wheels from locking and shorten the braking distance effectively, but the sign of heat fade caused by frequent braking or continous downhill road braking is not improved. Besides the frictional brake system, an electromagnetic brake system is added on the car, to improve the car braking performance by controlling the two systems cooperatively is possible technical approach. Therefore, significance of research on integrated system of electromagnetic brake and frictional brake is very important. While some similar studies have been developped in China and abroad, but most research mainly aimed at the passenger-cars's retarder or truck's retarder, and a few research on the electromagnetic brake for cars is not considered in joint control of the two braking systems, most of the research mainly aimed at the miniature model, no related report mentions about the integrated system of electromagnetic brake and frictional brake. Aiming at these problems, the study in this thesis is focused on the following aspects:
First, the structure arrangement of the integrated system of electromagnetic brake and frictional brake was presented; layout method of the intergrated system with certain type car was described in detail. According to the structure arrangement, one-wheel braking model of the integrated system after simplification was given.
The optimization design method was used. Improved brake torque as possible as goal, the article analyzed the influence law between the main composition parameters of the integrated system and brake torque. Meanwhile, applied the intergrated system composition parameters analysis method, different model selection schemes which was different in composition parameters was proposed on comparative analysis. According to the software Mathematica and Maltab which were applied to calculate, simulate and analyze, the optimum composition parameters were obtained.
Acquisition of the magnetic induction is very important to control the electromagnetic brake and calculate its torque, and the current calculation formula to the magnetic induction was too complex to apply in engineering. According to potential theory and Maxwell equations, the prediction model of magnetic induction on some point of the brake disc generated by the electromagnetic brake was built. Aimed at certain structure for the electromagnetic brake, magnetic induction on some point of the brake disc was analyzed and calculated. Magnetic induction prediction was carried on under different width and length of magnetic pole and different distance between magnetic pole and brake disc, we developed magnetic field analysis by the software Ansoft Maxwell 2D/3D.
According to the composition parameters sheme, the article presented the regulation method that the intergrated system total torque varies as the current to the electromagnetic coil changed, which was based on the principle of PWM regulation. The simulation software Proteus was applied, combined with the system control model and control strategy, the vehicle braking performance was simulated. The result shows that PWM regulation method presented is feasible.
On the basis of fuzzy control theory and the theory of optimal control, the intergrated system of electromagnetic brake and the frictional brake control model was constructed. Based on fuzzy control theory, the control strategy that controlling the current of the electromagnetic brake coil through fuzzy controlled method was proposed, in which the vehicle slip rate was used as input, the current of the electromagnetic brake was used as output. According to the control strategy, fuzzy controller was designed. To prove its validity and feasibility, the vehicle equipped with the integrated system including vehicle electromagnetic brake and frictional brake was taken as example. The simulation analysis to the integrated system was preceded by using software MATLAB/Simulink. Based on the theory of optimal control, the software Matlab/Simulink was applied to design the intergrated system, optimal feedback K and the braking torque of the frictional brake, from which the total braking torque was obtained.
According to the principle of the intergrated system of electromagnetic brake and frictional brake, combined with the vehicle performance characteristics, the testing bench of the intergrated system was designed, the acquisition system software was designed based on the software Lab VIEW. The expeiments focused on relationship among blend brake torque, electromagnetic brake torque and frictional brake torque and the influence of different parameters to the blend brake torque was carried on.
Finally, in order to make the intergrated system favorable to attach and apply in different type vehicle, five performance index to the intergrated system was presented, evaluation method to the performance index was given at the same time, the intergrate system type selection was evaluated on the basis of extension assessment method and the rough set theory.
The innovations of this paper are:
(1) The structure scheme to the intergrated system of electromagnetic brake and frictional brake was presented. According to the structural optimization design, the optimum structure parameters and installation parameters of the intergrated system were presented.
(2) According to potential theory and Maxwell equations, the prediction model of magnetic induction on some point of the brake disc generated by the electromagnetic brake was built.
(3) The regulation method that the intergrated system total torque varies as the current to the electromagnetic coil changed was presented, which was based on the principle of PWM regulation. Based on fuzzy control theory, the control strategy that controlling the current of the electromagnetic brake coil by fuzzy controlled method was proposed, the vehicle control model was designed. Based on the theory of optimal control, finish-time infinite quadratic form optimal control model was constructed. Applying the testing bench, some comtrast test and resistance of heat performance test were carried on, which the integrated system can regulating the gross braking torque under the designed control strategy and having good resistance of heat performance was verified.
(4) The intergrate system type selection was evaluated on the basis of extension assessment method and the rough set theory.
引文
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