Design and analysis of a novel cascade control algorithm for braking-by-wire system based on electromagnetic direct-drive valves |
| |
| Institution: | 1. School of Transportation and Vehicle Engineering, Shandong University of Technology, 266 West Xincun Road, Zhangdian District, Zibo, Shandong 255000, China;2. Shuntai Automobile Co., Ltd., Zibo, China;1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;2. The Department of Automation, Tsinghua University, Beijing 100084, China;3. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China;1. CRIStAL, UMR CNRS 9189, Centrale Lille Institut, Villeneuve dAscq, France;2. Institut de Robòtica i Informàtica Industrial (CSIC-UPC) Carrer Llorens Artigas, 4-6, 08028 Barcelona;3. IBISC Laboratory, Univ Evry, Paris-Saclay University, Evry, France;1. Northwestern Polytechnical University, School of Automation, 1 Dongxianglu, Xi''an 710129, China;2. Key Lab of Information Fusion Technology (Ministry of Education);1. School of Mathematical Sciences, Shanxi University, Taiyuan 030006, PR China;2. School of Automation and Software Engineering, Shanxi University, Taiyuan 030006, PR China |
| |
| Abstract: | In order to improve the response speed and control precision of the braking system with parameters uncertainty and nonlinear friction, a braking-by-wire system based on the electromagnetic direct-drive valve and a novel cascade control algorithm was proposed in this paper. An electromagnetic linear actuator directly drives the valve spool and rapidly adjusts the pressure of braking wheel cylinders. A dynamic model of electromagnetic direct-drive valve considering improved LuGre dynamic friction is established. A novel cascade control algorithm with an outside loop pressure fuzzy controller and an inside loop electromagnetic direct-drive valve position controller was proposed. An adaptive integral robust inside loop controller is designed by combining friction compensation adaptive control law, linear feedback, and integral robust control. The uncertainty parameters and the friction state are estimated online. The stability of the cascade controller is proved by the Lyapunov method. Then a multi-objective opitimizemization design method of control parameters is proposed, which combines a multi-objective game theory and a technique for order preference by similarity to ideal solution (TOPSIS) based on entropy weight. The results show that the pressurization time of cascade control is less than 0.09 s under the 15 MPa step target signal. The control precision is improved effectively by the cascade controller under the ARTEMIS condition. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
