制动防抱死工况下电子机械制动系统制动力估计方法研究

doi:10.3901/JME.260444

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 169-179.doi: 10.3901/JME.260444

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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制动防抱死工况下电子机械制动系统制动力估计方法研究

徐迎港^1,2, 朱正^1,2, 叶晓明³, 王翔宇^1,2, 李亮^1,2, 赖锋³, 魏恒^1,2

1. 清华大学车辆与运载学院北京 100083;
2. 智能绿色车辆与交通全国重点实验室北京 100084;
3. 东风汽车集团有限公司研发总院武汉 213004

收稿日期:2025-03-24 修回日期:2025-10-15 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:徐迎港,男,1998年出生,博士研究生。主要研究方向为电子机械制动应用技术、ABS应用技术。E-mail:xuyg21@mails.tsinghua.edu.cn;王翔宇(通信作者),男,1993年出生,博士,助理教授。主要研究方向为汽车动力学与控制、智能汽车线控底盘。E-mail:wangxy_15@163.com
基金资助:
国家自然科学基金(52472412,52402477);芜湖市“赤铸之光”重大科技(2023zc02)资助项目。

Estimation of the Clamping Force of the Electromechanical Brake Caliper During ABS Intervention

XU Yinggang^1,2, ZHU Zheng^1,2, YE Xiaoming³, WANG Xiangyu^1,2, LI Liang^1,2, LAI Feng³, WEI Heng^1,2

1. School of Vehicles and Mobility, Tsinghua University, Beijing 100083;
2. State Key Laboratory of Intelligent Green Vehicle and Mobility, Beijing 100084;
3. Dongfeng Motor Corporation Passenger Vehicle Company, Wuhan 213004

Received:2025-03-24 Revised:2025-10-15 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 卡钳制动力是电子机械制动系统(Electro-mechanical brake system,EMB)的基础信号，其精准估计是EMB的核心技术之一。然而，在车辆制动防抱死(Anti-lock brake system,ABS)工况下，卡钳制动力呈现出高频和大幅波动特性，常规估计方法难以同时满足响应速度与精度要求。针对这一问题，提出了一种基于修正扩展卡尔曼滤波器(Corrected extended Kalman filter,C-EKF)的高速运动卡钳制动力估计方法，并通过实车测试验证了其有效性。首先，建立EMB电机与卡钳的物理模型，结合实车测试的制动力-行程数据，构建卡钳夹紧与释放过程的力-位移拟合曲线。其次，分析ABS工况下夹紧与释放瞬间的制动力变化特征，给出制动力瞬时变化计算公式，并使用C-EKF方法估算制动力。最后，通过仿真与实车测试验证了该方法的有效性。试验结果表明，基于C-EKF的制动力估计精度相较于卡尔曼滤波器和扩展卡尔曼滤波器分别提升了12.93%和5.99%，响应时间分别缩短了36.3 ms和10.3 ms。

关键词: 电子机械制动系统, 制动力估算, 拓展卡尔曼滤波器, 制动防抱死控制, 车辆动力学

Abstract: The caliper braking force is the fundamental signal of the electronic mechanical braking system(EMB), and its accurate estimation is one of the core technologies of EMB. However, under anti lock braking(ABS) conditions, the caliper braking force exhibits high-frequency and large fluctuation characteristics, and conventional estimation methods are difficult to simultaneously meet the requirements of response speed and accuracy. In response to this issue, this paper proposes a high-speed motion clamp force estimation method based on corrected extended Kalman filter(C-EKF), and its effectiveness is verified through real vehicle testing. Firstly, establish a physical model of the EMB motor and caliper, and combine the braking force stroke data from actual vehicle testing to construct a force displacement fitting curve for the clamping and releasing process of the caliper. Secondly, analyze the characteristics of braking force changes at the moment of clamping and releasing under ABS working conditions, provide a calculation formula for instantaneous braking force changes, and estimate the braking force using the C-EKF method. Finally, the effectiveness of the method was verified through simulation and real vehicle testing. The experimental results show that the braking force estimation accuracy based on C-EKF has improved by 12.93% and 5.99% compared to Kalman filter(KF) and extended Kalman filter(EKF), respectively, and the response time has been shortened by 36.3 ms and 10.3 ms, respectively.

Key words: electromechanical brake, brake force estimation, extended Kalman filter, anti-lock braking control, vehicle dynamics

中图分类号:

U463

徐迎港, 朱正, 叶晓明, 王翔宇, 李亮, 赖锋, 魏恒. 制动防抱死工况下电子机械制动系统制动力估计方法研究[J]. 机械工程学报, 2026, 62(8): 169-179.

XU Yinggang, ZHU Zheng, YE Xiaoming, WANG Xiangyu, LI Liang, LAI Feng, WEI Heng. Estimation of the Clamping Force of the Electromechanical Brake Caliper During ABS Intervention[J]. Journal of Mechanical Engineering, 2026, 62(8): 169-179.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I8/169

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制动防抱死工况下电子机械制动系统制动力估计方法研究

Estimation of the Clamping Force of the Electromechanical Brake Caliper During ABS Intervention

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