控制理论(社会学)
活塞(光学)
液压缸
液压马达
扭矩
缓速器
工程类
临界制动
压力控制
模型预测控制
试验台
水力机械
圆柱
汽车工程
计算机科学
机械工程
控制(管理)
物理
波前
人工智能
热力学
光学
出处
期刊:IEEE Transactions on Industrial Informatics
[Institute of Electrical and Electronics Engineers]
日期:2023-02-01
卷期号:19 (2): 1380-1388
被引量:9
标识
DOI:10.1109/tii.2022.3159537
摘要
In this article, based on a novel electro-hydraulic braking system for full self-driving vehicles, a model predictive control approach is designed for precisely tracking of braking pressure. Concerning electric motor, reduction mechanism, and hydraulic system, a new braking system model is formulated. Due to the nonlinear hydraulic characteristic of the master cylinder piston, a quadratic polynomial is utilized to fit a relationship between piston position and cylinder pressure, by which a desired pressure of master cylinder is transformed into a desired position of the piston. A recursive least square with forgetting factor is developed to find the optimal parameters of pressure–position relationship. A system friction model is established to calculate the equivalent friction torque, which is regarded as the compensation of the desired torque. A vehicle test bench of full self-driving is established to validate the designed approach. According to the accurate tracking and the quick response of braking pressure from experimental results, it can be concluded that the model predictive control approach is a good candidate for the pressure demand control of electro-hydraulic braking by wire.
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