The invention discloses an electromobile EMB system clamping force estimation method based on a non-pressure sensor, and relates to the technical field of distributed electric drive-by-wire automobiles, the viscous effect between a brake disc and a friction plate during actual braking is considered, and a clamping force dynamic stiffness model is established for predicting the clamping force; discretizing a description equation of the clamping force dynamic stiffness model, and establishing a discretized clamping force state space equation; according to the motor torque balance equation, designing a sliding-mode observer of the motor load torque for observing the load torque of the motor in real time in the braking process; according to a transmission model of the EMB system, a load torque observation value observed by the sliding mode observer in real time is converted into a clamping force observation value; and calculating an optimal clamping force estimated value at the current moment according to an optimal clamping force estimated value obtained at the previous moment by using a Kalman filtering algorithm in combination with the discretized clamping force state space equation and the clamping force observed value, so as to realize real-time optimal estimation of the clamping force. The problems that under the control of the pressure sensor, due to high temperature and high pressure during braking, the measuring precision of the pressure sensor is reduced, and even the whole pressure sensor is invalid are solved.
本发明公开了一种基于无压力传感器的电动汽车EMB系统夹紧力估算方法,涉及分布式电驱动线控汽车技术领域,考虑实际制动时制动盘与摩擦片之间的粘滞效应,建立夹紧力动态刚度模型,用于预测夹紧力;将夹紧力动态刚度模型的描述方程离散化,并建立离散化的夹紧力状态空间方程;根据电机转矩平衡方程,设计电机负载转矩的滑模观测器,用于在制动过程中实时观测电机的负载转矩;根据EMB系统的传动模型,将滑模观测器实时观测到的负载转矩观测值换算为夹紧力观测值;运用卡尔曼滤波算法,结合离散化的夹紧力状态空间方程和夹紧力观测值,并根据上一时刻得出的最优夹紧力估计值,来计算当前时刻的最优夹紧力估计值,实现对夹紧力的实时最优估计。本发明解决了在压力传感器控制下,由于制动时的高温、高压,造成压力传感器测量精度降低甚至整体失效的问题。
Electric vehicle EMB system clamping force estimation method based on non-pressure sensor
一种基于无压力传感器的电动汽车EMB系统夹紧力估算方法
15.04.2025
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2024
|CLAMPING FORCE ESTIMATION METHOD AND SYSTEM, AND VEHICLE
Europäisches Patentamt | 2024
|Vehicle Pose Estimation System Base on Pressure Sensor Array for Clamping Parking Robot
British Library Conference Proceedings | 2021
|