Research On Multi-Mode Redundant Integrated Control For Automatic Driving Brake-by-Wire

Based on the topic “Research on multi-mode redundant integrated control for automatic driving brake-by-wire”.Firstly,the research background and significance of this paper are expounded,and the research status at home and abroad is summarized on the automatic driving redundant brake-by-wire system,vehicle trajectory tracking and stability integrated control,automatic driving brake-by-wire fault-tolerant reconstruction control;Secondly,the simulation model and control strategy of automatic driving redundant brake-by-wire were built,and the integrated control strategy of redundant brake-by-wire vehicle was designed,and simulation analysis of automatic driving brake-by-wire integrated controlThe main research content of this paper is as follows:(1)Expatiate the research background and significance of the thesis topic;This paper analyzes the research status at home and abroad on automatic driving redun dant brake-by-wire system,vehicle trajectory tracking and stability integrated contro l,automatic driving brake-by-wire fault-tolerant reconstruction control.The main res earch content of this paper is presented.(2)According to the redundant brake-by-wire configuration of automatic driving,the simulation architecture of automatic driving redundant brake-by-wire was proposed.According to the mathematical model of redundant brake-by-wire,the simulation model of redundant brake-by-wire was built in Matlab/Simulink.(3)The redundant brake-by-wire multi-mode control architecture is proposed,and the redundant brake-by-wire multi-mode control strategy is designed,including the motor three-closed-loop control strategy and the solenoid valve finite state machine control strategy.(4)The integrated control architecture of redundant brake-by-wire vehicle is proposed.Establishing vehicle reference model;The vehicle running state parameters were estimated,including tire side deflection and longitudinal stiffness estimation for trajectory tracking and vehicle stability control side slip angle estimation.The integrated control strategy of redundant brake-by-wire vehicle is designed,including trajectory tracking design based on model predictive control algorithm,stability control design based on sliding mode control algorithm,To the failure problem of brake-by-wire,fault-tolerant reconstruction control strategy of brake force compensation and additional front wheel Angle compensation control strategy based on integral sliding mode control.(5)Combined with Matlab/Simulink and Car Sim simulation software,the redundant brake-by-wire pressure response,the integrated control of brake-by-wire vehicle,and the fault-tolerant reconstruction control of brake-by-wire vehicle stability were simulated and analyzed.Finally,the full text is summarized.