中文摘要：

针对集成式电液制动系统液压力控制中系统受到摩擦等非线性因素的影响而控制精度低的问题,简化了系统模型,并基于Stribeck摩擦模型重点对造成系统非线性特性的摩擦力进行分析。然后设计了针对I-EHB系统的抗积分饱和变结构控制方法,通过AMESim和Simulink联合仿真验证控制算法的有效性。最后搭建了IEHB系统样机和试验平台,进行了硬件在环台架试验,验证了控制算法的正确性。结果表明,采用抗积分饱和变结构控制器后,系统跟踪变幅值或变频率的目标信号的效果良好,控制精度高,系统性能得到明显改善。

英文摘要：

In view of the low control accuracy of hydraulic pressure control in integrated electro-hydraulic brake（I-EHB） system due to the effects of nonlinear factor like friction,the system model is simplified and the friction force leading to the nonlinear characteristics of system is emphatically analyzed based on Stribeck friction model. Then an anti-windup variable structure control technique for I-EHB system is designed,and the control algorithm is verified by AMESim/Simulink co-simulation. Finally the prototype and test platform of I-EHB system are constructed and a hardware-in-the-loop bench test is conducted to verify the rightness of control algorithm. The results show that with anti-windup variable structure controller adopted,the system has good effects in tracking target signals of variable amplitude or variable frequency,with high control accuracy and significantly improved performance.