混合动力履带车辆机电联合制动控制

For the better stability of electromechanical braking of tracked vehicles equipped with hybrid electromechanical transmission(EMT) under all road conditions, a parallel electromechanical braking force distribution strategy with variable proportion coefficient based on motor saturation was proposed. This strategy effectively deals with the constraints of road adhesion conditions, driver intention, slip rate, and battery state of charge, and significantly reduces track slip and motor braking force saturation. Firstly, the dynamic model of the EMT was established, and the electromechanical braking characteristics and dynamic constraint boundary were analyzed. Secondly, the expected dynamic braking force distribution based on motor braking saturation was proposed. In addition, the slip rate controller was designed to calculate the total braking force and coordinate electromechanical braking force distribution to meet the braking stability target in all working conditions. Then, the extended state observer was applied to accurately estimate the time-varying road adhesion coefficient, and the control parameters were optimized based on genetic algorithm. Finally, hardware-in-the-loop simulation was applied to simulate the high-speed emergency braking. The results showed that the electromechanical braking control strategy for all road conditions considers the braking energy recovery efficiency and the safe operation of the motor, and effectively reduces the pressure of the hydraulic brake and improves the brake life and safety in the braking process.