As one feasible solution of brake-by-wire systems, electro-hydraulic brake system has been made available into production recently. Electro-hydraulic brake system must work cooperatively with the hydraulic control unit of anti-lock braking system. Due to the mechanical configuration involving electric motor + reduction gear, the electro-hydraulic brake system could be stiffer in contrast to a conventional vacuum booster. That is to say, higher pressure peaks and pressure oscillation could occur during an active anti-lock braking system control. Actually, however, electro-hydraulic brake system and anti-lock braking system are produced by different suppliers considering brake systems already in production. Limited signals and operations of anti-lock braking system could be provided to the supplier of electro-hydraulic brake system. In this work, a master cylinder pressure reduction logic is designed based on speed servo system for active pressure modulation of electro-hydraulic brake system under the anti-lock braking system–triggered situation. The pressure reduction logic comprises of model-based friction compensation, feedforward and double closed-loop feedback control. The pressure closed-loop is designed as the outer loop, and the motor rotation speed closed-loop is drawn into the inner loop of feedback control. The effectiveness of the proposed controller is validated by vehicle experiment in typical braking situations. The results show that the controller remains stable against parameter uncertainties in extreme condition such as low temperature and mismatch of friction model. In contrast to the previous methods, the comparison results display the improved dynamic cooperative performance of electro-hydraulic brake system and anti-lock braking system and robustness.

中文翻译：

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基于速度伺服系统的电液制动系统与防抱死制动系统协同工作的主缸减压逻辑

作为线控制动系统的一种可行解决方案，电液制动系统最近已经投入生产。电液制动系统必须与防抱死制动系统的液压控制单元协同工作。由于涉及电动机+减速齿轮的机械配置，与传统的真空助力器相比，电液制动系统可能更坚固。也就是说，在主动防抱死制动系统控制期间可能出现更高的压力峰值和压力振荡。但实际上，考虑到已经在生产的制动系统，电液制动系统和防抱死制动系统是由不同的供应商生产的。可以向电液制动系统供应商提供有限的防抱死制动系统信号和操作。在这项工作中，设计了一种基于速度伺服系统的主缸减压逻辑，用于在防抱死制动系统触发情况下对电液制动系统进行主动压力调制。减压逻辑包括基于模型的摩擦补偿、前馈和双闭环反馈控制。压力闭环设计为外环，电机转速闭环引入反馈控制内环。在典型制动情况下的车辆实验验证了所提出的控制器的有效性。结果表明，控制器在低温和摩擦模型失配等极端条件下对参数不确定性保持稳定。与之前的方法相比，