中文摘要：

面向汽车制动系统需求,提出一种新型线控制动系统——集成式电子液压制动系统（Integrated-electro-hydraulic brake system,I-EHB）,由电动机、滚珠丝杠副、次级主缸、踏板模拟器、踏板位移传感器和液压力传感器等部件组成。I-EHB液压力控制中系统存在摩擦等非线性因素的影响,造成时滞效应,控制精度低。针对该问题,将系统模型简化,采用Byrnes-Isidori标准型方法对系统进行分析,针对性地设计合理有效的控制算法对系统进行液压力控制,采用基于前馈-反馈控制和摩擦补偿的液压力控制算法。搭建试验平台,进行硬件在环台架试验,分别在不同幅值目标阶跃工况、不同频率的三角波和正弦工况以及梯形阶跃增减压工况下进行试验研究,以验证该控制算法在各种工况下的适应性。试验结果表明,采用该方法后系统响应速度快、控制精度高,系统性能得到明显改善。

英文摘要：

A novel integrated-electro-hydraulic brake system（I-EHB）,composed of electric motor,ball screw pair,secondary master cylinder,pedal simulator,pedal displacement sensor and hydraulic pressure sensor and so on,is presented to fulfill the requirements of automobile brake system.Thanks to time-lag effect and low control precision,influenced by friction nonlinear phenomenon within the hydraulic pressure control system of I-EHB,system model is simplified,the system is analyzed based on the Byrnes-Isidori normalized form method,and a reasonable and effective control algorithm,which based on feedforward-feedback control and friction compensation control algorithm,is used to control the system.Hardware-in-the-loop（HIL） test platform is build up.Experiments are carried out respectively on four conditions（target hydraulic pressure step input of different amplitude,triangle input and sinusoidal input of different frequency and pressure increasing or decreasing step input） to verify the adaptability of this control system.Experimental results show that,the system has a fast response speed and high control precision by using this control algorithm,and the system performance is improved significantly.