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浙江大学学报(工学版)
浙江大学学报(工学版)  2026, Vol. 60 Issue (6): 1307-1316    DOI: 10.3785/j.issn.1008-973X.2026.06.018
机械工程     
电动汽车电液复合制动系统模式切换策略
陈正荣1(),汪若尘1,*(),丁仁凯2,韦锋1
1. 江苏大学 汽车与交通工程学院，江苏 镇江 212000
2. 江苏大学 汽车工程研究院，江苏 镇江 212000
Mode-switching strategy for electro-hydraulic composite braking system of electric vehicle
Zhengrong CHEN1(),Ruochen WANG1,*(),Renkai DING2,Feng WEI1
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212000, China
2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212000, China
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摘要：

为了减小电动汽车制动过程中电机与液压制动系统响应特性差异带来的制动冲击，提升制动舒适性，提出基于双非线性模型预测控制（NMPC）的电液复合制动系统模式切换策略. 该策略优先采用电机补偿减少系统动态特性的差异，考虑最大电机制动力矩的限制，合理约束电机补偿范围. 当电机补偿达到极限时，采用双NMPC策略调节电机与液压制动系统，精确跟踪上层分配的目标制动力矩，减小模式切换过程中的冲击. 通过仿真与台架实验验证了该切换策略的有效性. 结果表明，与未考虑或仅考虑制动系统动态响应特性的策略相比，提出的切换策略具有更出色的切换性能. 在常规和紧急制动工况下，冲击度分别降低了至少48.1%、22.9%和48.3%、25.2%，有效抑制了制动冲击，提升了制动舒适性.
关键词： 制动冲击;  模式切换策略;  动态响应特性;  电液复合制动系统;  双非线性模型预测控制    
Abstract:

A mode-switching strategy for an electro-hydraulic composite braking system based on dual nonlinear model predictive control (NMPC) was proposed in order to reduce the braking impact caused by the difference in response characteristic between the motor and hydraulic braking system during electric vehicle braking and enhance braking comfort. Motor compensation was prioritized to minimize system dynamic discrepancy while considering the maximum motor braking torque limit in order to reasonably constrain the compensation range. A dual NMPC strategy was employed to adjust the motor and hydraulic braking system when the motor compensation reached its limit in order to accurately track the target braking torque distributed by the upper layer and reduce the impact during mode switching. The effectiveness of the proposed switching strategy was validated through simulation and bench test. Results showed that the proposed switching strategy exhibited superior switching performance compared with strategies that do not consider or only partially consider the dynamic response characteristic of the braking system. The impact was reduced by at least 48.1%, 22.9% and 48.3%, 25.2% respectively under normal and emergency braking conditions, effectively suppressing the braking impact and improving the braking comfort.
Key words: braking impact    mode-switching strategy    dynamic response characteristic    electro-hydraulic composite braking system    dual nonlinear model predictive control
收稿日期: 2025-07-30 出版日期: 2026-05-06
CLC:  U 463  
基金资助: 国家重点研发计划资助项目（2023YFB2504500）；国家自然科学基金资助项目（52472410）；镇江市重点研发计划资助项目（ZD2022002）.
通讯作者: 汪若尘     E-mail: 19710513218@163.com;wrc@ujs.edu.cn
作者简介: 陈正荣（1998—），男，博士生，从事线控制动的研究. orcid.org/0009-0005-2853-2046. E-mail：19710513218@163.com
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引用本文:

陈正荣,汪若尘,丁仁凯,韦锋. 电动汽车电液复合制动系统模式切换策略[J]. 浙江大学学报(工学版), 2026, 60(6): 1307-1316.

Zhengrong CHEN,Ruochen WANG,Renkai DING,Feng WEI. Mode-switching strategy for electro-hydraulic composite braking system of electric vehicle. Journal of ZheJiang University (Engineering Science), 2026, 60(6): 1307-1316.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.06.018    或    https://www.zjujournals.com/eng/CN/Y2026/V60/I6/1307

图 1  电液复合制动系统
图 2  不同电机转速下的电机效率
图 3  等效内阻模型
图 4  制动力分配策略
图 5  电液复合制动系统的模式切换策略
图 6  电机制动与液压制动系统的动态特性差异
参数设置值参数设置值
Ts/ s0.01ymot/(N·m)[0, 419]
Np20yhyd/(N·m)[0, 4900]
Nc5umot/V[0, 300]
Qdiag [50, 30, 30]uhyd/MPa[0, 18]
Rdiag [2, 2, 1]——
表 1  NMPC的参数配置
图 7  制动踏板力与制动强度
图 8  2种制动工况下的电机制动力矩
图 9  2种制动工况下的液压制动力矩
图 10  2种制动工况下的冲击度
图 11  台架实验
图 12  制动力矩的仿真与实验结果对比
图 13  冲击度的仿真与实验结果对比
图 14  MPC与NMPC的冲击度对比
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