The invention belongs to the technical field of automobile drive-by-wire chassis and control of the automobile drive-by-wire chassis, and particularly relates to a braking force fault-tolerant control method based on an electric control mechanical braking system, which comprises the following steps of: 1, establishing a braking force reconstruction rule of each wheel according to a braking failure form by adopting a failure isolation strategy; 2, establishing a vehicle body longitudinal-yaw motion differential equation based on the seven-degree-of-freedom vehicle dynamics model, and converting the vehicle body longitudinal-yaw motion differential equation into a state space expression; 3, establishing a generalized control system based on a robust # imgabs0 # theory and a state feedback method, and deducing a state space expression of the generalized control system; 4, solving the state feedback # imgabs1 # control problem established in the step 2, and deciding a braking force reconstruction coefficient; and step 5, determining residual braking force, and redistributing the residual braking force to each wheel by taking the braking force reconstruction rule established in the step 1 as a basis and combining the braking force reconstruction coefficient decided in the step 4. The invention aims to solve the problems of braking force reconstruction and vehicle stability after the electronic control mechanical brake fails and loses efficacy.
本发明属于汽车线控底盘及其控制技术领域,具体涉及一种基于电控机械制动系统的制动力容错控制方法,包括以下步骤:步骤一:采用“失效隔离”的策略,根据制动失效形式,建立各车轮制动力重构规则;步骤二:基于七自由度汽车动力学模型建立车身纵向‑横摆运动微分方程,并将其转化为状态空间表达式;步骤三:基于鲁棒#imgabs0#理论和状态反馈方法建立广义控制系统,推导其状态空间表达式;步骤四:求解步骤二所建立的状态反馈#imgabs1#控制问题,决策制动力重构系数;步骤五:确定剩余制动力,并以步骤一所建立的制动力重构规则为依据,结合步骤四所决策的制动力重构系数,将剩余制动力重新分配至各车轮。本发明旨在解决电控机械制动器故障失效后的制动力重构和车辆稳定性问题。
Braking force fault-tolerant control method based on electric control mechanical braking system
一种基于电控机械制动系统的制动力容错控制方法
2024-07-26
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
Braking force control system and braking force control method
European Patent Office | 2015
|Braking force control method, braking force control system and vehicle
European Patent Office | 2023
|Braking force redundancy control system and control method for electronic mechanical braking
European Patent Office | 2024
|Electronic mechanical braking system, braking control method and electric vehicle
European Patent Office | 2024
|Braking force control method and braking force control device
European Patent Office | 2019
|