Medium and low speed new energy vehicles are common transportation vehicles,but their braking control has problems such as long response time and poor control effect.A control method for the combined braking system of medium and low speed new energy vehicles based on drum speed sensing is designed.Firstly,the dynamic equation of medium and low speed new energy vehicles based on drum speed sensing is constructed,sensing information is collected,and then the problem of poor stability and robustness of the control system caused by open-loop control is considered.Based on the transfer function of the drum speed sensing combined braking system,the open loop and closed-loop dual transfer functions are derived.Finally,the parameters of the PID controller are designed based on the system transfer function.By outputting the electric hydraulic combined braking control signal through the PID controller,the control of the automotive combined braking system is achieved.The experimental results show that the speed-displacement curve of the proposed method is basically consistent with the real speed-displacement curve,the acceleration error is in the range of-0.5 m/s2-0.5 m/s2,the average braking control response time is 0.075 s,and the proposed method has good braking control ability.
关键词
转鼓转速传感/联合制动控制/PID控制器/中低速新能源汽车/传递函数/电制动力/液压制动力
Key words
drum speed sensing/combined brake control/PID controller/medium and low speed new energy vehicles/transfer function/electric braking force/hydraulic braking force
维普
万方数据