基于电子机械制动系统的夹紧力估计与控制策略

doi:10.3969/j.issn.1674-8484.2025.05.015

摘要/Abstract

摘要： 为满足自动驾驶车辆对制动系统高精度和快速响应的需求，该文提出一种电子机械制动系统的夹紧力估计与控制策略。采用双 7 次多项式实现夹紧力的包络线估计，通过拟合夹紧和释放过程中的多项式曲线，引入一阶惯性环节来描述不同释放点处的迟滞特性，并且设计了前馈双环比例-积分-微分（PID）的夹紧力控制方法，以实现夹紧力的高精度和快速响应。结果表明：夹紧力估计的最大误差在528.17 N，估计误差< 4.40%；在 4 种典型信号下控制误差在270 N，误差< 2.25%。因此，该估计和控制策略在复杂工况下具有良好的估计精度和控制精度，快速的响应速度也提升了电子机械制动系统的可靠性。

关键词: 电子机械制动, 夹紧力估计, 前馈双环比例-积分-微分（PID）控制, 惯性环节

Abstract:

A clamping force estimation and control strategy for electro-mechanical braking system was proposed to meet the demand for high accuracy and fast response of braking system for autonomous vehicles. A double seventh degree polynomial was used to realize the envelope estimation of the clamping force, by fitting the polynomial curves during the clamping and releasing processes and introducing the first-order inertial link to describe the hysteresis characteristics at different releasing points, and a feed-forward dual-loop proportional-integral-derivative (PID) control method of the clamping force was designed to realize the high accuracy and fast response of the clamping force. The results show that the maximum error of the clamping force estimation is 528.17 N, and the estimation error is controlled within 4.40%; the control error is 270 N under four typical signals, and the error is controlled within 2.25%. The estimation and control strategy has good estimation and control accuracy under complex working conditions, and the fast response speed also enhances the reliability of the electro-mechanical braking system.

Key words: electro-mechanical brake, clamping force estimation, feed-forward dual-loop proportional-integral-derivative (PID) control, inertia link

中图分类号:

U461.3

董作民, 刘丰祎, 李金志, 王志坚, 刘兆勇. 基于电子机械制动系统的夹紧力估计与控制策略[J]. 汽车安全与节能学报, 2025, 16(5): 802-811.

DONG Zuomin, LIU Fengyi, LI Jinzhi, WANG Zhijian, LIU Zhaoyong. Clamping force estimation and control strategy based on electro-mechanical braking system[J]. Journal of Automotive Safety and Energy, 2025, 16(5): 802-811.

图/表 15

图1 EMB结构

图2 夹紧力控制系统

图3 7次多项式拟合夹紧力-电机转角曲线

图4 夹紧过程和释放过程的拟合曲线残差图

图5 迟滞特性模拟曲线

图6 夹紧力控制流程图

图7 EMB台架实物

转动惯量	1.2×10^-4 kg·^m2	丝杠传动效率	0.87
阻尼系数	8.1×10^-4 Nm/s	齿轮系传动比	15.86
滚珠丝杠导程	5 mm	齿轮传动效率	0.93

表1 EMB系统特性参数

信号	最大绝对偏差/ N	最大偏差范围/ %	RMSE / N
阶跃	325.22	2.71	143.35
阶梯	528.17	4.40	166.07
斜坡	376.28	3.14	66.65
正弦	377.19	3.14	149.19

表2 不同信号下夹紧力估计效果

图8 在阶跃信号和阶梯信号下的夹紧力估计效果

图9 在斜坡信号和正弦信号下的夹紧力估计效果

信号	最大绝对偏差/ N	响应时间/ s	超调量/ %
阶跃	40	560	0.33
阶梯	40	275	0.33
斜坡	60	170	0.50
正弦	270	122	2.25

表3 不同信号下夹紧力控制效果

图10 阶跃信号和阶梯信号下夹紧力控制

图11 斜坡信号和正弦信号下夹紧力控制

图12 阶跃信号和阶梯信号下失真夹紧力控制

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