Analysis of pressure response characteristics of hydraulic control unit in motorcycle anti-lock braking system
Article Text (Baidu Translation)
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摘要: 为探究及优化摩托车防抱死制动系统中液压控制单元(HCU)在不同工作状态下的压力响应特性，基于团队自主研发的针对博世ABS9-HCU的控制程序，开展了压力响应特性测试，并对控制效果进行了参数响应优化研究。分析结果表明：常规泄压开始后35~45 ms内轮缸压力呈线性下降，轮缸线性压降幅度占总压降的70%~80%，压力线性下降过程的响应特性决定整个常规泄压阶段的HCU性能，不同初始压力下45 ms内即可实现泄压效果；常规增压开始后，轮缸线性压升时长随初始压力增加(1.0→3.5 MPa)逐渐缩短(51.1→21.6 ms)，线性压升幅度占总压升的90%以上，压力线性上升结束后常规增压已基本完成；随着初始压力增大，阶梯控制完成所需周期数逐渐减少，当初始压力较低时各周期压力变化幅度更均匀，单周期压力变化幅度方差更小；阶梯控制过程对单周期增压和泄压时长极为敏感，单周期增压时长应在4~20 ms以内，单周期泄压时长不应超过12 ms；通过更改保压时长可以控制压力的变化趋势；单周期压升幅度的离散程度随着周期数的增加而增加，阶梯控制周期数应控制在3个；电机工作时长应小于泄压时长；3.00 MPa初始压力工况优化后取得了良好的压力控制效果，轮缸最大单周期压降幅度下降了62%，且单周期压降幅度的方差仅为0.004 7 (MPa)2。研究为摩托车ABS的控制系统开发提供了数据指导和理论支撑。Abstract: To investigate and optimize the pressure response characteristics of the hydraulic control unit (HCU) in motorcycle anti-lock braking system (ABS) under different working conditions, the pressure response characteristics were tested, and the parameter response optimization of the control effect was studied, based on the team's self-developed control program for Bosch ABS9-HCU. Analysis results show that the pressure of the wheel cylinder decreases linearly from 35 ms to 45 ms after the start of conventional depressurization, and the linear pressure drop of the wheel cylinder accounts for 70% - 80% of the total pressure drop. The HCU performance throughout the conventional depressurization is determined by the response characteristics of the linear pressure drop process, and the depressurization effect can be achieved within 45 ms under varying initial pressure. After the beginning of conventional pressurization, the linear pressure rise time of the wheel cylinder is gradually shortened (51.1→21.6 ms) with the increase of initial pressure (1.0→3.5 MPa), and the linear pressure rise accounts for more than 90.0% of the total pressure rise. After the linear pressure rise ends, the conventional pressurization is basically completed. As the initial pressure increases, the number of cycles required for the completion of the step control gradually decreases. When the initial pressure is low, the pressure variation amplitude in each cycle is more uniform, and the variance of pressure variation amplitude in a single cycle is smaller. The step control process is extremely sensitive to single-cycle pressurization and depressurization time. The single-cycle pressurization time should be within 4 - 20 ms, and the single-cycle depressurization time should not exceed 12 ms. The changing trend of pressure can be controlled by changing the pressure holding time. The dispersion degree of the single-cycle pressure rise increases with the increase of the number of cycles, and the number of step control cycles should be controlled at three. The working time of the motor should be less than the depressurization time. After the initial pressure condition of 3.00 MPa is optimized, a good pressure control effect is achieved. The maximum single-cycle pressure drop of the wheel cylinder is reduced by 62%, and the variance of the single-cycle pressure drop is only 0.004 7 (MPa)2. The research provides data guidance and theoretical support for the development of a motorcycle ABS control system.
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图 4 增压和泄压压力变化特性
Figure 4. Pressure variation characteristics of pressurization and depressurization
图 7 高压和低压保压下的压力变化特性
Figure 7. Pressure variations characteristics under high and low pressure holding stages
图 8 阶梯增、泄压的压力变化特性
Figure 8. Pressure variations characteristics of step pressurization and depressurization
图 9 轮缸单周期压升幅度方差的变化
Figure 9. Variations of pressure rise amplitude variance of wheel cylinder in single-cycle
图 12 不同单周期增压和泄压时长下压力变化
Figure 12. Pressure variations under different single-cycle pressurization and depressurization times
图 13 不同保压时长下压力变化
Figure 13. Pressure variations under different pressure holding times
图 15 阶梯泄压中不同电机工作时长下压力变化
Figure 15. Pressure variations under different motor working time in step depressurization
表 1 阶梯控制阶段参数设置
Table 1. Parameters setting of step control stage
控制阶段 参数 数值 阶梯增压 tin1/ms 20 tin2/ms 40 Nin/个 10 阶梯泄压 tde1/ms 20 tde2/ms 40 Nde/个 10 
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表 2 不同周期数下的阶梯控制参数设置
Table 2. Step control parameter settings under different cycle numbers
参数 数值 tin1/ms 8 tin2/ms 42 tde1/ms 6 tde2/ms 44 Nin/个 3、5 Nde/个 2、3
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