电动汽车制动模式切换过程电液协调控制策略

doi:10.13229/j.cnki.jdxbgxb.20240676

摘要/Abstract

摘要：

针对在电动汽车复合制动过程中，电机与液压制动系统响应速度存在差异，当两种制动系统切换时会引起冲击，从而影响驾驶舒适性的问题，本文提出了一种应用于制动模式切换过程的电液协调控制策略。通过模糊PID控制液压制动系统，同时通过模型预测控制电机制动系统，并采用海鸥优化算法优化模型预测控制权重系数，消除两种制动系统响应特性的差异。搭建半实物仿真系统平台进行了实验验证，结果显示，在恒制动强度与变制动强度工况下，不同模式切换过程，冲击度至少降低13.9 $m / s 3$ ，冲击持续时间至少缩短0.15 s，因此，本文设计的控制策略可以实现制动模式切换过程的平稳过渡，提高电动汽车制动的稳定性和舒适性。

关键词: 车辆工程, 复合制动, 电液协调, 模式切换, 冲击度

Abstract:

During the composite braking process of electric vehicles， there is a response speed difference between the motor and the hydraulic braking system， so the switching process between the two braking systems can cause impacts on the vehicle， affecting driving comfort. Therefore， an electro-hydraulic coordinated control strategy is proposed in this paper for braking mode switching process. A fuzzy PID control algorithm is used for the hydraulic braking system， and a model predictive control （MPC） algorithm is used for the motor braking system， and the seagull optimization algorithm is used to optimize the MPC weight coefficients to eliminate the dynamic response difference between the two braking systems. A semi-physical simulation platform was built to verify the designed control strategy. The results show that， under constant and variable braking intensity conditions， the impact degree during different mode switching processes was reduced by at least 13.9 m/s³， and the impact duration was reduced by at least 0.15 s. Therefore， the designed control strategy can achieve a smooth transition during the braking mode switching process and improve the stability and comfort of braking mode switching in the composite braking process of electric vehicles.

Key words: vehicle engineering, composite braking, electro-hydraulic coordination, mode switching, impact degree

中图分类号:

U463.5

张向文,王子豪. 电动汽车制动模式切换过程电液协调控制策略[J]. 吉林大学学报(工学版), 2026, 56(1): 31-43.

Xiang-wen ZHANG,Zi-hao WANG. Electro-hydraulic coordinated control strategy for braking mode switching process of electric vehicles[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(1): 31-43.

图/表 13

表1

汽车结构参数"

载荷状况	$m / k g$	$h g / m$	$a / m$	$b / m$	$L / m$
空载	141 8	0.510	1.064	1.596	2.66
满载	173 9	0.553	1.239	1.421	2.66

表1

表2

不同制动强度下的β值"

制动强度 $z$	0.2	0.3	0.4	0.5	0.6
分配系数 $β$	0.638 3	0.657 5	0.676 7	0.695 9	0.715 0

表2

图1

图2

表3

电机主要参数"

参数	数值
额定功率/峰值功率/ $k W$	15.7/31.4
峰值转矩/（ $N ? m$ ）	200
额定转速/最高转速/（ $r ? m i n - 1$ ）	1 500/6 000

表3

图3

图4

表4

模糊PID规则库"

$E / E C$	$N B$	$N M$	$N S$	$Z O$	$P S$	$P M$	$P B$
$N B$	$P B / N B$	$P B / N B$	$P B / N M$	$P M / N M$	$P B / N S$	$P B / Z O$	$P B / Z O$
$N B$	$/ P S$	$/ N S$	$/ N B$	$/ N B$	$/ N B$	$/ N M$	$/ P S$
$N M$	$P B / N B$	$P B / N B$	$P M / N M$	$P M / N S$	$P M / N S$	$P M / Z O$	$P S / Z O$
$N M$	$/ P S$	$/ N S$	$/ N B$	$/ N M$	$/ N M$	$/ N S$	$/ Z O$
$N S$	$P M / N B$	$P M / N M$	$P M / N S$	$P S / N S$	$P S / Z O$	$P S / P S$	$P S / P S$
$N S$	$/ Z O$	$/ N S$	$/ N M$	$/ N M$	$/ N S$	$/ N S$	$/ Z O$
$Z O$	$P M / N M$	$P M / N M$	$P S / N S$	$Z O / Z O$	$P S / P S$	$P M / P M$	$P M / P M$
$Z O$	$/ Z O$	$/ N S$	$/ N S$	$/ N S$	$/ N S$	$/ N S$	$/ Z O$
$P S$	$P S / N M$	$P S / N S$	$Z O / Z O$	$P S / P S$	$P S / P S$	$P M / P M$	$P M / P B$
$P S$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$
$P M$	$P M / Z O$	$P M / Z O$	$P S / P S$	$P S / P S$	$P M / P M$	$P M / P B$	$P B / P B$
$P M$	$/ P B$	$/ P S$	$/ P S$	$/ P S$	$/ P S$	$/ P S$	$/ P B$
$P B$	$P B / Z O$	$P B / Z O$	$P B / P S$	$P M / P M$	$P M / P M$	$P B / P B$	$P B / P B$
$P B$	$/ P B$	$/ P M$	$/ P M$	$/ P M$	$/ P S$	$/ P S$	$/ P B$

表4

图5

图6

图7

图8

图9

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