Modelling and estimation of friction brake torque for a brake by wire system
Modelling and estimation of friction brake torque for a brake by wire system
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线控制动系统摩擦制动扭矩的建模和估计
DOI：
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发表时间：
2014
期刊：
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通讯作者：
M. Wellers
中科院分区：
文献类型：
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作者：
C. M. Martinez;E. Velenis;D. Tavernini;Bo Gao;M. Wellers
汽车行业的最新进展已纳入最新的汽车电气化技术，旨在减少燃料消耗，污染物排放，以及提高车辆性能和安全性。因此，电动汽车（EV）和混合动力电动汽车（HEV）已成为迫在眉睫的汽车未来，建立在车辆系统集成和控制的重要挑战。在这些车辆中，再生制动是目前能量回收的主要技术，提供对所施加的制动扭矩的精确控制。然而，再生制动器仍然需要传统摩擦制动器的支持，主要是由于电池的限制。因此，两种制动策略的协调对于制动相关系统的安全致动变得至关重要，例如：ABS和ESP。不幸的是，由于不同的系统输入，摩擦制动器和再生制动器之间的扭矩混合是一项复杂的任务;再生制动器接收扭矩输入，而摩擦制动器在压力输入下工作。本文提出了摩擦制动力矩的估算方法，简化了力矩混合，提高了能量回收和行驶安全性。制动扭矩的估计不仅考虑在卡钳处产生的压力，而且还考虑制动盘温度和轮速对摩擦系数的影响。考虑到只有轮速传感器可用，无需在车辆平台中安装额外的传感器即可获得扭矩。估计使用卡尔曼滤波器的扩展版本来执行。所得到的结果是非常令人满意的，并可以提高命名系统的性能在一个安全的方式。
Recent advances in the automotive industry have incorporated the latest technology in vehicle electrification, with the aim to reduce fuel consumption, pollutants emissions, as well as enhance vehicle performance and safety. As a result, Electric Vehicles (EV) and Hybrid Electric Vehicles (HEV) have become the imminent automotive future, establishing important challenges in vehicle systems integration and control. In these vehicles, the regenerative braking is currently the major technique of energy recovery, providing accurate control on the brake torque applied. However regenerative brakes still need the support of conventional friction brakes, mainly due to the battery limitations. Consequently, the coordination of both braking strategies becomes critical for the safe actuation of braking related systems such as: ABS and ESP. Unfortunately, the torque blending between friction and regenerative brakes is a complicated task due to the different systems inputs; the regenerative brakes receive torque inputs, whilst the friction brakes work with pressure inputs. This paper proposes the friction brake torque estimation to simplify the torque blending, and improve the energy recovery and driving safety. The brake torque is estimated not only considering the pressure developed at the calipers, but also the brake disc temperature, and the wheel speed effect on the friction coefficient. The torque is obtained without installing additional sensors in the vehicle platform, considering that only wheel speed sensors are available. The estimation is performed using the extended version of the Kalman Filter. The results obtained are very satisfactory, and can improve the performance of the named systems in a safe way.