The invention provides an electronic mechanical braking device based on optimal slip rate recognition and further provides an anti-lock control method adopting the electronic mechanical braking device. The ECU recognizes the braking intention of a driver according to the input of the electronic brake pedal, obtains the expected braking strength, calculates the required conventional braking torque, and drives the EMB to apply the corresponding braking torque; collecting a vehicle information signal, and calculating the optimal slip rate of the current road surface; the ABS controller calculates the ABS braking torque by adopting a fuzzy PID control method based on the difference between the current wheel slip rate and the optimal slip rate of the road surface; and the ECU judges the size of the conventional braking torque and the size of the ABS braking torque, and the slip rate of the vehicle is controlled to be close to the optimal slip rate. According to the method, the road surface optimal slip rate can be estimated in real time when the vehicle is braked and is used for ABS control, so that the vehicle can utilize the road surface adhesive force to the greatest extent when the vehicle is subjected to ABS braking on different road surfaces.
本发明提供了一种基于最优滑移率识别的电子机械制动装置,同时还提供了一种采用该装置的防抱死控制方法。电子控制单元ECU根据电子制动踏板的输入识别驾驶员的制动意图,获得期望制动强度并计算出所需的常规制动力矩大小,驱使电子机械制动装置EMB施加对应制动力矩;采集车辆信息信号,计算出当前路面最优滑移率;ABS控制器基于当前车轮滑移率与路面的最优滑移率之差,采用模糊PID控制方法计算出ABS制动力矩;ECU判断常规制动力矩与ABS制动力矩大小,将车辆的滑移率控制在最优滑移率附近。本发明可以在车辆制动时实时估算出路面最优滑移率并用于进行ABS控制,使车辆在不同路面进行ABS制动时能够最大程度利用路面附着力。
Electromechanical braking device based on optimal slip rate recognition and anti-lock control method
一种基于最优滑移率识别的电子机械制动装置及防抱死控制方法
2025-03-07
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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