摘要
为提高单轮电子机械制动(Electro-Mechanical Brake,EMB)失效时整车的稳定性,提出基于制动力重构与滑模控制的主动前轮转向联合控制策略。以左前轮EMB制动失效客车为例,初始分配剩余三轮的制动力,运用滑模控制方法以横摆角速度和质心侧偏角为状态量设计前轮转向控制器,根据魔术公式轮胎力耦合关系优化制动力分配,采用TruckSim和MATLAB/Simulink联合仿真验证所提控制策略在不同工况下的有效性。研究结果表明,在不同附着系数路面及不同制动强度下,车辆的实际制动强度分别达到期望值的87.14%、97.5%、52.86%、92.5%,与无失效控制策略相比,所提策略在保证EMB失效时车辆不发生甩尾的前提下,可缩小制动距离和跑偏距离。
To enhance vehicle stability when a single-wheel Electro-Mechanical Brake(EMB)fails,a control strategy combining rule-based braking force reconstruction with sliding mode control for active front-wheel steering was proposed.Taking a bus with left-front wheel EMB failure as an example,the remaining braking force was initially distributed among the three wheels.A sliding mode control method was applied,using yaw rate and centroid sideslip angle as state variables to design the front-wheel steering controller.The coupling relationship of tire forces based on the Magic Formula was utilized to optimize the braking force distribution.The proposed control strategy was validated through TruckSim and MATLAB/Simulink co-simulation under various conditions.Results demonstrate that under different road adhesion coefficients and braking intensities,the actual braking forces reach 87.14%,97.5%,52.86%,and 92.5%of the expected values,respectively.Compared to no failure control strategy,the proposed strategy reduces braking distance and deviation while ensuring that the vehicle does not experience tailspin during EMB failure.
作者
陈俊达
韩勇
皇甫倍玉
申水文
CHEN Jun-da;HAN Yong;HUANG FU Bei-yu;SHEN Shui-wen(School of Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen 361024,China;Fujian Provincial Key Laboratory of Advanced Design and Manufacturing of Buses,Xiamen 361024,China)
出处
《青岛大学学报(自然科学版)》
2025年第2期46-55,共10页
Journal of Qingdao University(Natural Science Edition)
基金
福建省技术创新重点攻关及产业化项目(批准号:2023G048)资助。
关键词
线控制动
单轮失效
制动力分配
前轮转向
滑模控制
brake-by-wire
single-wheel failure
brake force distribution
front-wheel steering
sliding mode control
