基于高速开关阀的气压电控辅助制动装置

王建强; 杨波; 李升波; 李克强

doi:10.19818/j.cnki.1671-1637.2011.04.010

基于高速开关阀的气压电控辅助制动装置

doi: 10.19818/j.cnki.1671-1637.2011.04.010

清华大学汽车安全与节能国家重点实验室, 北京 100084

基金项目:

国家863计划项目 2007AA11Z232

教育部新世纪优秀人才支持计划项目 NCET-08-0324

详细信息

作者简介:
王建强(1972-), 男, 河南洛阳人, 清华大学副教授, 工学博士, 从事汽车驾驶安全辅助技术研究

中图分类号: U461.91
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- PDF下载量: 521
- 被引次数: 0
出版历程
- 收稿日期: 2011-03-16
- 刊出日期: 2011-08-25

Pneumatic electronic assistant brake device based on high-speed on/off valve

State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China

More Information

Author Bio:
WANG Jian-qiang(1972-), male, associate professor, PhD, +86-10-62795774, wjqlws@tsinghua.edu.cn

摘要

摘要: 为了满足商用车辆纵向驾驶辅助系统对于自动制动的要求, 设计了一种基于高速开关阀的气压电控辅助制动装置。建立了装置的数学模型, 设计了抗积分饱和的PI控制器, 采用脉宽调制方法动态调节高速开关阀, 实现对车辆制动压力的主动控制。搭建了电控辅助制动装置的硬件在环仿真试验平台, 对其控制效果进行试验验证。分析结果表明: 该装置不仅能够快速准确地响应制动指令, 其稳态误差小于0.01 MPa, 响应时间小于0.3 s, 同时具有安装方便, 与商用车制动系统兼容性好的优点。
- 商用车辆 /
- 驾驶辅助 /
- 气压制动 /
- 高速开关阀 /
- 电控辅助制动装置
Abstract: In order to satisfy the demands of automatic braking in longitudinal driving assistance systems for commercial vehicles, a pneumatic electronic assistant brake device was developed based on high-speed on/off valves. Its mathematical model was built, and a PI controller with resistance integral saturation was designed. High-speed on/off valves were regulated dynamically by using pulse width modulation method, and the brake pressure of vehicle was controlled actively. The hardware-in-the-loop platform of pneumatic electronic assistant brake device was developed, and its control performance was verified. Analysis result shows that the device can respond to brake command fast and accurately, its stable error and response time are less than 0.01 MPa and 0.3 s respectively. While it is easy to be fixed, and has good compatibility with the braking system of commercial vehicle.
- commercial vehicle /
- driving assistance /
- pneumatic brake /
- high-speed on/off valve /
- electronic assistant brake device

HTML全文

图 1 气压电控辅助制动装置结构

1—空压机; 2—三通阀; 3—前储气罐; 4—双腔制动阀; 5—快放阀; 6—前制动气室; 7—后储气罐; 8—继动阀; 9—后制动气室; 10—梭阀; 11—进气高速开关阀; 12—单向节流阀; 13—排气高速开关阀; 14—压力传感器

Figure 1. Structure of pneumatic electronic assistant brake device

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图 2 气体流动动力学简化模型

Figure 2. Simplified dynamics model of gas flow

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图 3 高速开关阀的结构

Figure 3. Structure of high-speed on/off valve

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图 4 仿真过程

Figure 4. Simulation process

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图 5 阶跃响应仿真试验结果

Figure 5. Simulation test results of step response

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图 6 阶跃输入响应曲线

Figure 6. Response curves of step input

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图 7 正弦输入响应曲线

Figure 7. Response curves of sinusoidal input

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图 8 常闭开关阀各占空比下压力单位变化时间曲线

Figure 8. Unit pressure change time curve with different duty cycles of normally closed on/off valve

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图 9 常开开关阀各占空比下压力单位变化时间曲线

Figure 9. Unit pressure change time curve with different duty cycles of normally open on/off valve

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图 10 系统硬件在环仿真试验平台

Figure 10. Test platform of hardware-in-the-loop simulation

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图 11 阶跃响应试验曲线

Figure 11. Test curves of step response

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图 12 斜坡响应试验曲线

Figure 12. Test curves of slope response

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图 13 正弦响应试验曲线

Figure 13. Test curves of sinusoidal response

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