汽车坡起中EPB的Bang-Bang控制研究

针对车辆坡道起步问题，提出了基于Bang-Bang控制的气压式EPB控制策略.分析了坡道起步过程中的受力变化以及气压式EPB工作原理，研究了电磁阀的工作特性，提出了EPB电磁阀的脉宽调制（PWM）和脉频调制（PFM）的结合控制方式.研究了坡道起步过程中驱动力矩与制动力之间的对应关系，提出了坡道起步需求气压理想控制目标，采用Bang-Bang控制算法作为系统控制策略核心算法控制EPB电磁阀.在试验车上进行了坡道起步试验，起步平稳无溜车，控制效果良好，证明了控制策略的可行性. 

Research on Bang-Bang Control of EPB System in Vehicle Hill Start

Due to the difficulty of vehicle hill-starting operation, a hill-start strategy of pneumatic electronic parking brake (EPB) was proposed based on a Bang-Bang control. Analyzing the force change of hill-start, pneumatic EPB principle and the working characteristics of the solenoid valve, a control method combined with pulse width modulation (PWM) and pulse frequency modulation (PFM) was put forward to carry out the control of solenoid valve of EPB. The corresponding relationship between the driving torque and braking force during hill-start was studied. Ideal control target of the demand pneumatic pressure in hill-start was presented. The Bang-Bang control algorithm was taken as the core algorithm of the system control strategy to control the solenoid valve of EPB. Experiments carried out on the test vehicle show the better control effect and the feasibility of the control strategy.