Hydraulic braking system and method
A braking system including a brake actuator, a control valve, a control assembly, and at least one pressure sensor. The control valve is disposed to direct hydraulic fluid to the brake actuator at a rate corresponding to a magnitude of a control signal. The control assembly includes a mixed-mode control system. The at least one pressure sensor is configured to measure a pressure of the hydraulic fluid to the brake actuator. The control assembly is configured to determine a position of the brake actuator. The mixed-mode control system is configured to determine a position command and a pressure command. The mixed-mode control system is configured to adjust the magnitude of the control signal based on at least one of the position command and the pressure command so as to reposition the brake actuator from a first position to a second position.
1. A method for mixed-mode logic control for a hydraulic braking system comprising:
applying a control signal to a control valve and directing hydraulic fluid, with the control valve, to a brake actuator based on a magnitude of the control signal;
measuring a pressure of the hydraulic fluid to the brake actuator;
determining a position of the brake actuator;
determining a position command and a pressure command based on the position of the brake actuator and the pressure, respectively; and
adjusting the magnitude of the control signal based on both of the position command and the pressure command so as to reposition the brake actuator from a first position to a second position.
2. The method of claim 1 , further comprising measuring a flow rate of the hydraulic fluid to the brake actuator.
3. The method of claim 2 , wherein the position of the brake actuator is a flow-based position based on the flow rate of the hydraulic fluid.
4. The method of claim 1 , wherein the position command and the pressure command have unequal weight with respect to adjusting the control signal.
5. The method of claim 1 , wherein the position command includes a first commanded position of the control valve and the pressure command includes a second commanded position of the control valve and the magnitude of the control signal is based on weighted values of the first commanded position and the second commanded position.
6. The method of claim 5 , further comprising assigning more weight to the pressure command and less weight to the position command as the brake actuator is repositioned from the first position to the second position.
7. The method of claim 1 , further comprising determining a new zero torque position, following a braking operation, based on thermal expansion of the brake actuator and repositioning the brake actuator to the new zero torque position.
8. A method for mixed-mode logic control for a hydraulic braking system comprising:
receiving a command signal, the command signal comprising a commanded brake actuator position and a commanded brake actuator pressure;
measuring a pressure of the hydraulic fluid to the brake actuator;
determining a position of the brake actuator;
determining a pressure error based on a difference between the commanded brake actuator pressure and the measured pressure and determining a position error based on a difference between the commanded brake actuator position and the determined position;
determining a position command based on a magnitude of the position error and determining a pressure command based on a magnitude of the pressure error;
applying a control signal to a control valve and directing hydraulic fluid, with the control valve, to a brake actuator based on a magnitude of the control signal; and
adjusting the magnitude of the control signal based on both of the position command and the pressure command so as to reposition the brake actuator from a first position to a second position,
wherein the position command includes a first commanded position of the control valve and the pressure command includes a second commanded position of the control valve and the magnitude of the control signal is based on weighted values of the first commanded position and the second commanded position.
9. The method of claim 8 , further comprising measuring a flow rate of the hydraulic fluid to the brake actuator.
10. The method of claim 9 , wherein the position of the brake actuator is a flow-based position based on the flow rate of the hydraulic fluid.
11. The method of claim 8 , wherein the position command and the pressure command have unequal weight with respect to adjusting the control signal.
12. The method of claim 8 , further comprising assigning more weight to the pressure command and less weight to the position command as the brake actuator is repositioned from the first position to the second position.