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Coordinated fault-tolerant pressure control for integrated electro-hydraulic braking system
Wenjie Wu1, Yuwei Zhang1, Hongchao Jian2
1School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China.
None:
This paper proposes a coordinated control method for the master cylinder and wheel cylinders of the integrated electro-hydraulic braking system in intelligent vehicles, while also considering fault-tolerant control design in the presence of system faults. First, typical faults of the integrated electro-hydraulic braking system are presented, and a control-oriented model is established. Based on this, control strategies are designed for both the master cylinder and wheel cylinders. The coordinated fault-tolerant control of the master cylinder pressure is realized by using a finite-time disturbance observer and backstepping control method, which enables precise pressure control in the presence of master cylinder faults and external disturbances as well as coordinated control with the wheel cylinder pressure. Adaptive sliding mode control is employed for fault-tolerant control of the wheel cylinder pressure to effectively estimate the fault parameters and realize the precise pressure control of the wheel cylinder with faults. Comparative simulations validate the superiority of the proposed model-based coordinated fault-tolerant control method, controller-in-the-loop and hardware-in-the-loop experiments further confirm the engineering effectiveness of the method.
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