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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。
In order to meet the requirement of longitudinal driving assistance system of commercial vehicles for automatic braking, a pneumatic electronically controlled auxiliary brake based on high-speed on-off valve was designed. The mathematical model of the device is established. The PI controller with anti-integral saturation is designed. The pulse width modulation method is used to dynamically adjust the high-speed on-off valve to realize the active control of the vehicle brake pressure. A hardware-in-the-loop simulation test platform for the electronically controlled auxiliary brake is set up to test the control effect. The analysis results show that the device not only can respond to braking command quickly and accurately, but also has steady-state error of less than 0.01 MPa and response time of less than 0.3 s. It also has the advantages of convenient installation and good compatibility with commercial vehicle brake system.