智能汽车集成式线控制动系统传动机构优化设计

doi:10.3901/JME.2022.20.399

机械工程学报 ›› 2022, Vol. 58 ›› Issue (20): 399-409.doi: 10.3901/JME.2022.20.399

扫码分享

智能汽车集成式线控制动系统传动机构优化设计

刘海超^1,2, 刘红旗¹, 冯明², 李亮³, 吴进军¹, 魏凌涛³

1. 中国机械科学研究总院北京 100044;
2. 北京科技大学机械工程学院北京 100083;
3. 清华大学汽车安全与节能国家重点实验室北京 100084

收稿日期:2022-02-21 修回日期:2022-06-28 出版日期:2022-10-20 发布日期:2022-12-27
作者简介:刘海超，男，1986年出生，博士研究生。主要研究方向为机械设计、制动系统结构优化设计。E-mail：b20190263@xs.ustb.edu.cn
基金资助:
国家工业强基资助项目(0714-EMTC-02-00071)。

Optimal Designing of Transmission Mechanism in Integrated Brake-by-wire System of Intelligent Vehicles

LIU Haichao^1,2, LIU Hongqi¹, FENG Ming², LI Liang³, WU Jinjun¹, WEI Lingtao³

1. China Academy of Machinery Science and Technology, Beijing 100044;
2. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083;
3. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084

Received:2022-02-21 Revised:2022-06-28 Online:2022-10-20 Published:2022-12-27

摘要/Abstract

摘要： 随着汽车智能驾驶技术的快速发展，线控技术正加速制动助力系统和主动制动系统向电气化和集成化方向发展。在介绍国际知名厂商研发的制动助力和主动制动二合一集成系统(One Box)产品及其传动机构特点后，提出了基于单电机+双作用制动缸构型的集成式线控制动系统，相较传统助力器(booster)+汽车电子稳定控制系统(Electronic stability controller，ESC)的组合系统，能够更好地满足汽车对制动系统功能、空间等设计需求。传动机构能够降速增扭、运动副转换，是集成式线控制动系统主动建压的基础。对比几种传动机构组合的优缺点，基于制动系统的设计指标以及电机性能曲线，建立传动机构的数学模型。基于约束优化设计方法以及Matlab/Simulink与AMESim联合仿真模型和控制器，对传动机构的减速比进行了设计匹配和仿真验证，得到了两组最佳的齿轮副传动比。对两组设计的齿轮副进行了有限元强度校核和疲劳寿命计算，按照有限元仿真结果，推荐传动比为2.4，主动轮齿数15，从动轮齿数36的方案为最优选择。基于理论分析与仿真分析结果，研制了一台样机，并设计开发了专用试验台架，通过台架试验证明了设计方法的可行性，为类似制动系统的优化设计提供了新的思路和参考。

关键词: 集成式线控制动系统, 传动机构, 约束优化, 建模与仿真, 传动比

Abstract: With the rapid development of intelligent driving technology, wire control technology is pushing brake booster system and active braking system towards electrification and integration. The characteristics of some One Box products integrated by brake booster system and electronic stability control system which produced by international well-known manufacturers are illustrated with examples as well as the transmission mechanism. An integrated brake-by-wire system based on single motor and bi-directional acting brake cylinder is proposed, compared with the traditional system combined by booster and ESC, this integrated Brake-by-Wire system can meet the function and space requirements more properly. The transmission mechanism can reduce the speed and increase the torsion and convert the motion type, which is the basis of the active pressure control of the integrated brake-by-wire system. By comparing the advantages and disadvantages of some transmission mechanism, the transmission mechanism mathematic model is established based on the braking objectives and motor performance. After calculation and simulation, two optimized transmission ratios are obtained with the help of constraint optimization method as well as the co-simulation model and controller created by Matlab/Simulink and AMESim. According to the finite element analysis results, the recommended parameters: the transmission ratio is 2.4, the number of driving gear teeth is 15, and the number of driven gear teeth is 36, which provides a favorable reference for production and application. Based on the results of theoretical analysis and simulation analysis, a prototype was developed, and a special test bench was designed and developed. The feasibility of the design method was proved by bench test, which provides a new idea and reference for the optimization design of similar braking system.

Key words: integrated brake-by-wire system, transmission mechanism, constrained optimization, modeling and simulation, transmission ratio

中图分类号:

TH132

刘海超, 刘红旗, 冯明, 李亮, 吴进军, 魏凌涛. 智能汽车集成式线控制动系统传动机构优化设计[J]. 机械工程学报, 2022, 58(20): 399-409.

LIU Haichao, LIU Hongqi, FENG Ming, LI Liang, WU Jinjun, WEI Lingtao. Optimal Designing of Transmission Mechanism in Integrated Brake-by-wire System of Intelligent Vehicles[J]. Journal of Mechanical Engineering, 2022, 58(20): 399-409.

参考文献

[1] 余卓平，韩伟，徐松云，等. 电子液压制动系统液压力控制发展现状综述[J]. 机械工程学报，2017，53(14):1-15. YU Zhuoping，HAN Wei，XU Songyun，et al. Review on hydraulic pressure control of electro-hydraulic brake system[J]. Journal of Mechanical Engineering，2017，53(14):1-15.
[2] 周明岳，武振江，冯天骥. 线控制动技术现状及趋势综述[J]. 中国汽车，2020(7):51-57. ZHOU Mingyue，WU Zhenjiang，FENG Tianji. Overview of the status and tendency of vehicle brake-by-wire technology[J]. China Auto，2020(7):51-57.
[3] 李亮，王翔宇，程硕，等. 汽车底盘线控与动力学域控制技术[J]. 汽车安全与节能学报，2020，11(2):143-160. LI Liang，WANG Xiangyu，CHENG Shuo，et al. Technologies of control-by-wire and dynamic domain control for automotive chassis[J]. Journal of Automotive Safety and Energy，2020，11(2):143-160.
[4] 徐哲. 汽车线控液压制动系统特性及控制研究[D]. 南京:南京航空航天大学，2014. XU Zhe. Research on characteristic and control of electro-hydraulic brake system[D]. Nanjing:Nanjing University of Aeronautics and Astronautics，2014.
[5] 丁明慧. 乘用车线控液压制动系统执行器动态特性研究[D]. 长春:吉林大学，2018. DING Minghui. Research on actuator dynamic characteristics of hydraulic brake-by-wire system for passenger car[D]. Changchun:Jilin University，2018.
[6] 赵洵. 汽车线控制动系统动态测试、建模与控制方法研究[D]. 北京:清华大学，2018. ZHAO Xun. Research on dynamic test，modeling and control strategy of vehicle brake by wire system[D]. Beijing:Tsinghua University，2018.
[7] 董雪梅. 汽车线控制动技术的研究与分析[J]. 汽车实用技术，2019(5):123-125. DONG Xuemei. Research and analysis of vehicle brake by wire technology[J]. Automobile Applied Technology，2019(5):123-125.
[8] 刘亚欧，李睿申，李晶. 电子机械制动系统应用及关键技术分析[J]. 汽车工程师，2020(2):45-47. LIU Yaou，LI Ruishen，LI Jing. Application and key technology analysis of electromechanical braking system[J]. Auto Engineer，2020(2):45-47.
[9] 罗伯特. 博世有限公司. 旋转/平动转换器传动装置:中国，CN201610610511.4[P]. 2017-02-15. ROBERT BOSCH GMBH. Rotation/translation converter gear unit:China，CN201610610511.4[P]. 2017-02-15.
[10] 罗伯特. 博世有限公司. 活塞泵组:中国，CN201680069531.3 [P]. 2021-07-23. ROBERT BOSCH GMBH. Piston pump assembly:China，CN201680069531.3 [P]. 2021-07-23.
[11] ZF主动安全有限公司. 用于液压制动系统的组件以及车辆制动系统:中国，CN201680069531.3 [P]. 2020-07-17. ZF Active Safety GmbH. Assembly for a hydraulic brake system，and vehicle brake system:China，CN201680069531.3 [P]. 2020-07-17.
[12] 大陆-特韦斯贸易合伙股份公司及两合公司.制动操作单元:中国，CN201280050385.1 [P]. 2016-06-08. CONTINENTAL TEVES AG&CO.OHG. Brake actuating unit:China，CN201280050385.1 [P]. 2016-06-08.
[13] 闻邦椿. 机械设计手册[M]. 北京:机械工业出版社，2010. WEN Bangchun. Mechanical design handbook[M]. Beijing:China Machine Press，2010.
[14] 中华人民共和国国家质量监督检验检疫总局，中国国家标准化管理委员会. GB/T 17587—2008滚珠丝杠副[S]. 北京:中国标准出版社，2008. General Administration of Quality Supervision，Inspection and Quarantine of the People’s Republic of China，Standardization Administration of the People’s Republic of China. GB/T 17587—2008 Ball screws[S]. Beijing: Standards Press of China，2008.
[15] 芜湖伯特利电子控制系统有限公司. 一种液压发生装置:中国，201810594847.5[P]. 2018-06-11. BETHEL AUTOMOTIVE SAFETY SYSTEMS CO.，LTD. Hydraulic generation device:China，201810594847.5[P]. 2018-06-11.
[16] TODESCHINI F，FORMENTIN S，PANZANI G，et al. Nonlinear pressure control for bbw systems via dead-zone and antiwindup compensation[J]. IEEE Transactions on Control Systems Technology，2015，24(4):1419-1431.
[17] YANG X，LI J，MIAO H，et al. Hydraulic pressure control and parameter optimization of integrated electro-hydraulic brake system[R]. SAE Technical Paper，No. 2017-01-2516，2017.
[18] LI J，YANG X，MIAO H，et al. Co-simulation research of integrated electro-hydraulic braking system[R]. SAE Technical Paper，2016-01-1647，2016.
[19] 上官文斌，梁土强，蒋开洪，等. 集成式电液制动系统建模与压力控制方法研究[J]. 北京理工大学学报，2019，39(4):413-418. SHANGGUAN Wenbin，LIANG Tuqiang，JIANG Kaihong，et al. Modeling and pressure control of integrated electro-hydraulic brake system[J]. Transactions of Beijing Institute of Technology，2019，39(4):413-418.
[20] HE X，JI X，YANG K，et al. Autonomous emergency braking control based on hierarchical strategy using integrated-electro-hydraulic brake system[R]. SAE，2017-01-1964，2017.

智能汽车集成式线控制动系统传动机构优化设计

Optimal Designing of Transmission Mechanism in Integrated Brake-by-wire System of Intelligent Vehicles

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	徐弓岳, 冯泽民, 郭二廓. 正铲液压挖掘机三副摇杆工作机构的超多目标优化设计[J]. 机械工程学报, 2023, 59(3): 54-65.
[2]	贺媛媛, 王琦琛, 张航, 杨炫, 李傲. 扑旋翼飞行器机构动力学建模与功率优化[J]. 机械工程学报, 2023, 59(17): 33-43.
[3]	金智林, 梁为何, 赵万忠. 汽车多增益融合线控转向传动比及防侧翻控制[J]. 机械工程学报, 2020, 56(10): 172-180.
[4]	赵林峰, 陈无畏, 王俊, 从光好, 谢有浩. 基于可拓滑模线控转向控制策略研究[J]. 机械工程学报, 2019, 55(2): 126-134.
[5]	刘检华, 孙清超, 程晖, 刘小康, 丁晓宇, 刘少丽, 熊辉. 产品装配技术的研究现状、技术内涵及发展趋势[J]. 机械工程学报, 2018, 54(11): 2-28.
[6]	车林仙. 多样性保持离散差分进化算法及齿轮传动优化应用^*[J]. 机械工程学报, 2016, 52(21): 44-55.
[7]	王祝, 刘莉, 龙腾, 寇家勋. 基于过滤器技术的约束粒子群优化算法[J]. 机械工程学报, 2015, 51(9): 137-143.
[8]	周艳华，谢福贵，刘辛军. 伺服冲床主传动机构构型及运动学优化设计[J]. 机械工程学报, 2015, 51(11): 1-7.
[9]	车林仙，杜力，黄勇刚. 球面四杆机构函数综合的带修复策略可行性规则差分进化算法[J]. 机械工程学报, 2015, 51(11): 31-40.
[10]	郑宏宇;宗长富;何磊. 基于变增益的操纵杆线控转向变传动比设计方法[J]. , 2014, 50(6): 94-98.
[11]	王志斌;刘检华;刘佳顺;宁汝新. 面向电缆虚拟装配仿真的多分支弹簧质点模型[J]. , 2014, 50(3): 174-183.
[12]	车林仙;程志红. 工程约束优化的自适应罚函数混合离散差分进化算法[J]. , 2011, 47(3): 141-151.
[13]	潘锋;朱平. 面向约束优化的改进响应面法在车身轻量化设计中的应用[J]. , 2011, 47(10): 82-87.
[14]	何辉波;李华英;秦大同;何培祥. 汽车环面型无级变速器结构参数优化设计[J]. , 2009, 45(5): 281-284.
[15]	王青;柯映林;李江雄. 基于力密度方法的NURBS曲线和曲面变形框架[J]. , 2007, 43(3): 135-142.