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中文摘要：
基于试验,分析了集成式电子液压制动（I-EHB）系统的特性,并提出了利用颤振进行摩擦力补偿.建立了系统数学模型,并进行了试验验证.结果表明：进行颤振补偿后,摩擦爬行现象消失,系统的线性度提高,同时增减压转换过程中的死区现象消失;系统截止频率从4.5Hz提升到7.0Hz,提高了55.6%;系统对于不同信号的跟踪性能分别提高30.9%,59.3%和47.6%.
英文摘要：
The characteristics of integrated electro-hydraulic brake（I-EHB）system were analyzed based on experiments and friction chatter-compensation was proposed. Then, a mathematical model was built and experiments were conducted.The experimental results show that low-speed creeping is eliminated by using the chatter-compensation.Meanwhile,the linearity is increased and the dead zone during the conversion between pressure increasing and decreasing is eliminated.In addition,the cut-off frequency is increased by55.6% from4.5 Hz to 7.0Hz,and the tracking performance is increased by 30.9%,59.5% and 47.8% for different aim signals.
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