CN102490705A - Electronic mechanical brake system and automobile adopting same - Google Patents
Electronic mechanical brake system and automobile adopting same Download PDFInfo
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- CN102490705A CN102490705A CN2011104262921A CN201110426292A CN102490705A CN 102490705 A CN102490705 A CN 102490705A CN 2011104262921 A CN2011104262921 A CN 2011104262921A CN 201110426292 A CN201110426292 A CN 201110426292A CN 102490705 A CN102490705 A CN 102490705A
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Abstract
The invention provides an electronic mechanical brake system which comprises a brake signal inputting unit, an EMB (electromechanical brake system) control unit, an EMB drive unit, and a plurality of electric brakes corresponding to a plurality of wheels respectively, wherein the signal inputting unit is used for generating brake signals and outputting the brake signals to the EMB control unit in real time; the EMB control unit is used for receiving the brake signals and outputting a plurality of paths of duty ratio signals to the EMB drive unit; the path number of the duty ratio signals is equal to that of the electric brakes; the EMB drive unit is used for receiving the duty ratio signals in real time and driving and controlling the plurality of electric brakes according to the duty ratio signals; and the plurality of electric brakes are respectively used for braking the corresponding wheels. Correspondingly, an automobile adopting the braking system is provided. The electronic mechanical brake system has the advantages of simple structure, small volume, convenience in installation, low cost, fast braking response, good braking stability, no pollution, and the like.
Description
Technical field
The invention belongs to field of automobile, be specifically related to a kind of electric mechanical braking (EMB, Electro Mechanical Brake) system, and a kind of automobile that adopts said electromechanical braking system.
Background technology
Along with rapid development of automobile industry, and the improving constantly of running car performance, the safety of automobile is more and more paid attention to by people, and deceleration and stopping performance is one of important in-use performance of automobile, and braking performance of automobile is directly connected to the safety of traffic.
At present, most motor vehicle braking system also is based on hydraulic brake system to realize car brakeing both at home and abroad.But traditional hydraulic brake system exists complex structure, inconvenient installation, costs an arm and a leg, braking response waits defective slowly.
Summary of the invention
Technical matters to be solved by this invention is the above-mentioned deficiency that exists in the hydraulic brake system in the prior art; Provide a kind of simple in structure, volume is little, easy for installation, cost is low, braking response is fast, glancing impact good stability, free of contamination electromechanical braking system, and the automobile that adopts said brake system.
Solve technical scheme that technical matters of the present invention adopted and be this electromechanical braking system comprise speed-slackening signal input block, EMB control unit, EMB driver element and with several wheels cooresponding several electric brakes respectively; Said signal input unit is used to produce speed-slackening signal, and exports said speed-slackening signal to the EMB control unit in real time; Said EMB control unit is used for receiving said speed-slackening signal in real time, and exports the several duty cycle signals in real time to the EMB driver element according to said speed-slackening signal, and the way of said duty cycle signals is identical with the quantity of said electric brake; Said EMB driver element is used for receiving in real time said several duty cycle signals, and according to said several duty cycle signals difference Real Time Drive and said several electric brakes of control; Said several electric brakes are respectively applied for implements braking to its cooresponding wheel.
Said electric brake preferably adopts four.
Preferably; Said speed-slackening signal input block comprises electronic brake pedal; Said electronic brake pedal inbuilt displacement sensor; Said displacement pickup is used to catch the displacement that chaufeur is trampled electronic brake pedal, and converts said displacement to displacement signal, exports this displacement signal to the EMB control unit in real time as speed-slackening signal simultaneously; The speed-slackening signal that the EMB control unit is exported according to said electronic brake pedal in real time carries out brakig force distribution to said several electric brakes, and forms said several duty cycle signals according to several braking force signals that distribution obtains.
Preferably; Said brake system also includes and cooresponding several wheel speed sensors of several wheel difference; The quantity of said wheel speed sensors is identical with the quantity of said electric brake; Said wheel speed sensors is used to obtain the wheel speed of its pairing wheel; And send the wheel speed signal that is obtained to the EMB control unit, when said EMB control unit received the speed-slackening signal of electronic brake pedal output in real time, the beginning cycle was gathered the wheel speed signal that each wheel speed sensors transmitted; Identify the residing road surface of automobile according to the wheel speed signal that collects through calculating; The speed-slackening signal that combines said electronic brake pedal to export in real time according to the residing information of road surface of automobile again carries out brakig force distribution, and forms said several duty cycle signals according to several braking forces that distribution obtains, and said several duty cycle signals exports the EMB driver element to.
Further preferred, the collection period that said EMB control unit is gathered the wheel speed signal that wheel speed sensors transmitted is 10ms.
Preferably, said EMB control unit comprises the fast computing module of wheel, speed of a motor vehicle estimation block, road surface identification module, conventional brake control policy module and electronic braking force distribution module,
Saidly take turns fast computing module and be used for the wheel speed signal that the EMB control unit cycle collects is calculated drawing the wheel speed of each wheel, and export the said wheel speed that calculates to speed of a motor vehicle estimation block;
Said speed of a motor vehicle estimation block is used for estimating the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and the rate of angular acceleration of each wheel according to the wheel speed that calculates each wheel, and exports the above-mentioned data-signal that estimation obtains to the road surface identification module;
Said road surface identification module is used for the speed of a motor vehicle according to the said automobile that estimates, the cireular frequency of each wheel, the angular acceleration of each wheel and the rate of angular acceleration of each wheel and extrapolates the target slip rate of each wheel and the surface friction coefficient of each wheel; Surface friction coefficient according to each wheel identifies the residing road surface of automobile again, and exports the residing information of road surface of automobile to the electronic braking force distribution module;
Said conventional brake control policy module is used to receive the speed-slackening signal of electronic brake pedal output in real time and extrapolates the braking force that each electric brake need be exported according to the speed-slackening signal of said reception, and the braking force that each electric brake that reckoning obtains is exported exports the electronic braking force distribution module to;
The braking force of each electric brake output that said electronic braking force distribution module is used for extrapolating according to the residing road surface of the automobile signal combination conventional brake control policy module that the road surface identification module transmits carries out original allocation to the braking force of each electric brake; Thereby form said several duty cycle signals, export this several duty cycle signals to the EMB driver element again.
Preferably, also include ANTI LOCK control policy module and PID current loop control module in the said EMB control unit, said electric brake includes motor;
The speed-slackening signal that conventional brake control policy module is exported according to said electronic brake pedal is in real time extrapolated the braking force that each electric brake need be exported, and extrapolates the initial target electric current of motor in each electric brake according to said speed-slackening signal;
It is that the initial target electric current of motor in each electric brake that conventional brake control policy module is extrapolated carries out original allocation that said electronic braking force distribution module is carried out original allocation according to the braking force of each electric brake of the residing road surface of automobile signal combination output to the braking force of each electric brake;
The target slip rate of each wheel that said ANTI LOCK control policy module is used for the road surface identification module is extrapolated and the actual slip rate of each wheel compare; And combine the actual angular acceleration of each wheel that the initial target electric current of motor in each electric brake of accomplishing original allocation is adjusted, and export adjusted target current to PID current loop control module;
Said PID current loop control module is used for exporting said several duty cycle signals to the EMB driver element according to the adjusted target current of ANTI LOCK control policy module;
Said EMB driver element also is used for after receiving said several duty cycle signals; Gather the actual current of motor in each electric brake in real time; And it is fed back to the PID current loop control module in the EMB control unit; Said PID current loop control module also be used for to the difference of the target current of motor in each electric brake and actual current constantly adjustment and output duty cycle signal to the EMB driver element, until said target current and actual current reach unanimity or the difference of said target current and actual current in the scope of error permission till.
Preferably; Said EMB driver element comprises several motor-drive circuits; The quantity of said motor-drive circuit is identical with the quantity of said electric brake, and the corresponding electric brake of each motor-drive circuit, after said several motor-drive circuits are respectively applied for the several duty cycle signals of real-time reception EMB control unit output; Export several control of braking drive signal more respectively in real time to its cooresponding electric brake, its cooresponding wheel is implemented braking by electric brake.
Further preferably, also include electronics Parking switch and/or parking brake pull bar in the said speed-slackening signal input block, said electronics Parking switch/parking brake pull bar is used to export speed-slackening signal to the EMB control unit.When vehicle stopped, chaufeur triggered electronics Parking switch or parking brake pull bar, exports speed-slackening signal in real time to the EMB control unit by said electronics Parking switch or parking brake pull bar.
Wherein, After said EMB control unit also is used for receiving the speed-slackening signal of said electronics Parking switch/parking brake pull bar output in real time; And the speed-slackening signal of the clutch switch signal that combines to read from car load CAN bus according to the speed-slackening signal of said electronics Parking switch/parking brake pull bar output, electronic brake pedal output and judge whether to implement braking during standstill: implement braking during standstill if judge by the speed of a motor vehicle that speed of a motor vehicle estimation block estimates; Then the speed-slackening signal with said electronics Parking switch/parking brake pull bar output is converted into the maximum target electric current of motor in each electric brake and exports PID current loop control module to; Said PID current loop control module is exported the several maximum duty cycle signal to the EMB driver element according to the maximum target electric current of motor in said each electric brake; After several motor-drive circuits in the EMB driver element receive the several maximum duty cycle signal of EMB control unit output respectively in real time; Said several motor-drive circuits also are used for exporting in real time respectively several Parking controlling and driving signal to its cooresponding electric brake, by electric brake its cooresponding wheel are implemented braking during standstill; If judge and do not implement braking during standstill, then continuation receives the speed-slackening signal of said electronics Parking switch/parking brake pull bar output in real time, till judging the enforcement braking during standstill.
Preferably; Said electric brake comprises motor, slowing down increases square mechanism, propulsive mechanism, brake disc and friction lining; When said motor-drive circuit output control of braking drive signal/behind the cooresponding electric brake, the motor of controlling in the said electric brake is exported corresponding moment to Parking controlling and driving signal to it, said moment increases square mechanism through deceleration and slows down and pass to propulsive mechanism after increasing square; Said propulsive mechanism is converted into rotatablely moving of motor output straight-line motion and makes ahead running to the direction of friction lining; Eliminate the gap between brake disc and the friction lining, produce the braking gripping power that is used to brake, to realize braking/braking during standstill.
Further preferred, said propulsive mechanism adopts non-self-locking mechanism; Said motor adopts the dc brushless motor that Hall is arranged.
Preferably, said brake system also includes power supply, and it is used to EMB control unit and the power supply of EMB driver element.
A kind of automobile that adopts above-mentioned electromechanical braking system.
Electromechanical braking system of the present invention compared with prior art has following advantage:
1.. said brake system uses electronic brake pedal to replace traditional hydraulic braking pedal, and has cancelled vacuum booster, has reduced the volume and weight of brake system;
2.. EMB control unit in the said brake system and EMB driver element have replaced hydraulic control unit and the hydraulic efficiency governing valve in traditional hydraulic brake system; And said electronic brake pedal inbuilt displacement sensor; It is the displacement of trapped electrons brake pedal accurately; And convert said displacement to displacement signal, simultaneously this displacement signal is passed to EMB control unit and EMB driver element as speed-slackening signal, to realize braking; Said brake system also has a key parking function simultaneously, thereby is a kind of pure automatically controlled electronics driving and electronic brake system;
3.. all corresponding electric brake of each wheel and a wheel speed sensors in the said brake system; Can be respectively the lock torque of each wheel be carried out independence control and real-time regulated; And when wherein the drg of some wheels breaks down, do not influence the deceleration and stopping performance of car load;
4.. what the propulsive mechanism in the electric brake in the said brake system adopted is non-self-locking mechanism; Its benefit is; Braking gripping power on acting on wheel is excessive and need reduce the time; Only need reduce the output torque of the motor in the drg, said non-self-locking mechanism can automatic rollback under the effect of the antagonistic force of brake disc and friction lining, need not motor and reverses and can reach the purpose of the power of unloading; Thereby shortened the response time of electromechanical braking system, and said non-self-locking mechanism is advancing or is retreating the locked phenomenon of Shi Buhui appearance;
5.. said brake system can be gathered the wheel speed signal of four wheels the cycle; And act on the braking gripping power of each wheel through said wheel speed signal real time altering; After the braking gripping power that acts on wheel changes, can change the wheel speed of wheel again, the real-time regulated and the dynamic assignment of therefore gathering the braking gripping power that to realize each wheel through the cycle of wheel speed signal; Said brake system also has the anti-lock function simultaneously, thereby improves the stability of vehicle braked performance and glancing impact vehicle ';
6.. said electromechanical braking system is simple in structure, compact, easy for installation, cost is low, braking response is fast, pollution-free.
Description of drawings
Fig. 1 is the structured flowchart of electromechanical braking system in the embodiment of the invention 1;
Fig. 2 is the structured flowchart of EMB control unit among Fig. 1;
Fig. 3 is the cross-sectional view of electric brake among Fig. 1.
The specific embodiment
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with accompanying drawing and the specific embodiment to electromechanical braking system of the present invention and adopt the automobile of said brake system to describe in further detail.
A kind of electromechanical braking system, comprise speed-slackening signal input block, EMB control unit, EMB driver element and with several wheels cooresponding several electric brakes respectively,
Said signal input unit is used to produce speed-slackening signal, and exports said speed-slackening signal to the EMB control unit in real time;
Said EMB control unit is used for receiving said speed-slackening signal in real time, and exports the several duty cycle signals in real time to the EMB driver element according to said speed-slackening signal, and the way of said duty cycle signals is identical with the quantity of said electric brake;
Said EMB driver element is used for receiving in real time said several duty cycle signals, and according to said several duty cycle signals difference Real Time Drive and said several electric brakes of control;
Said several electric brakes are respectively applied for implements braking to its cooresponding wheel.
Embodiment 1:
As shown in Figure 1, in the present embodiment, said electromechanical braking system comprises speed-slackening signal input block, EMB control unit, EMB driver element, electric brake and power supply.
In the present embodiment; Said electromechanical braking system is applied to four-wheel automobile; Electric brake of each wheel configuration to said four-wheel automobile; Promptly the electric brake in this electromechanical braking system adopts four, is respectively the near front wheel electric brake, off front wheel electric brake, left rear wheel electric brake, off hind wheel electric brake.Through being electric brake of each wheel configuration, said electromechanical braking system can be respectively carries out independence control and real-time regulated to the lock torque of each wheel, makes this brake system to the distribution of braking force with control more flexible; And when wherein the drg of some wheels breaks down, do not influence the deceleration and stopping performance of car load.Certainly, electromechanical braking system of the present invention is not limit and is applied to four-wheel automobile, and it can be applicable to any multiwheeled vehicle, and said multiwheeled vehicle can be according to the electric brake of its actual demand configuration respective numbers.
Said speed-slackening signal input block comprises electronic brake pedal.Said electronic brake pedal is a kind of stretcher pressure simulation device, is used to replace existing brake pedal and vacuum booster.The electronic brake pedal inbuilt displacement sensor; It can catch the displacement size (being displacement) that chaufeur is trampled electronic brake pedal accurately; When chaufeur needs the big braking force of brake system output, can firmly step on electronic brake pedal, electronic brake pedal then produces big displacement; When chaufeur needed brake system to export less braking force, its dynamics of trampling electronic brake pedal was less, and electronic brake pedal then produces less displacement.Said displacement pickup can be converted into displacement signal with the displacement of being caught; Export this displacement signal to the EMB control unit as speed-slackening signal simultaneously; This speed-slackening signal has promptly been represented the braking intention of chaufeur, thereby the EMB control unit can be moved according to the braking intention of chaufeur.
Said electromechanical braking system also includes a plurality of wheel speed sensors; The quantity of wheel speed sensors is identical with the quantity of said electric brake; In the present embodiment, said wheel speed sensors adopts four, and said four wheel speed sensors are four wheels of corresponding automobile respectively.Said wheel speed sensors is used to obtain the wheel speed of its pairing wheel, and sends the wheel speed signal that is obtained to the EMB control unit.Said EMB control unit is in the speed-slackening signal (being displacement signal) that receives the output in real time of the built-in displacement pickup of electronic brake pedal; The beginning cycle is gathered the wheel speed signal that each wheel speed sensors transmitted; Identify the residing road surface of automobile according to the wheel speed signal that collects through calculating; The speed-slackening signal that combines said electronic brake pedal to export in real time according to the residing information of road surface of automobile again carries out brakig force distribution to four electric brakes; And forming four road duty cycle signals according to four braking forces that distribution obtains, said four road duty cycle signals export the EMB driver element to.In the present embodiment, the collection period that said EMB control unit is gathered the wheel speed signal that wheel speed sensors transmitted is 10ms.
Particularly; As shown in Figure 2; In the present embodiment; Said EMB control unit comprises that the fast computing module of wheel, speed of a motor vehicle estimation block, road surface identification module, conventional brake control policy module, electronic braking force distribute (EBD, Electric Brakeforce Distribution) module, ANTI LOCK control policy (ABS, Anti-locked Braking System) module and PID current loop control module.Include motor respectively in said each electric brake.
Saidly take turns wheel speed that fast computing module is used for the EMB control unit cycle is collected, that wheel speed signal after the filtering of EMB control unit in-to-in, amplification and shaping circuit are handled calculates each wheel respectively, and export it to said speed of a motor vehicle estimation block.Wherein, The wheel speed signal of said wheel speed sensors output is a current signal; The EMB control unit converts said current signal into through its in-to-in sampling resistor the voltage signal of faint near sinusoidal ripple; Again said voltage signal is exported pulse square wave signal after modulate circuits such as its in-to-in filtering, amplification and shaping carry out signal conditioning, then said pulse square wave signal is counted and combined timer to calculate the wheel speed of each wheel respectively through taking turns fast computing module.
Said speed of a motor vehicle estimation block is used for estimating the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and the rate of angular acceleration of each wheel according to the wheel speed that calculates each wheel, and exports the above-mentioned data-signal that estimation obtains to the road surface identification module.
Said road surface identification module is obtained the filter value of rate of angular acceleration of angular acceleration and each wheel of cireular frequency, each wheel of the speed of a motor vehicle according to the said automobile that estimates, each wheel through Kalman filter; According to said filter value; Obtain the target slip rate of each wheel through polynomial transformation; Obtain the surface friction coefficient of each wheel through triangular transformation; Surface friction coefficient according to each wheel can identify the residing road surface of automobile, and is that the residing information of road surface of automobile exports the electronic braking force distribution module to the target slip rate of said each wheel of extrapolating and the surface friction coefficient of each wheel.
Said conventional brake control policy module is used to receive the electronic brake pedal speed-slackening signal of output in real time; And calculate the braking force that each electric brake is exported with brake application curve according to the speed-slackening signal of said reception with the displacement of the electronic brake pedal of car load coupling; Braking force according to radius of wheel and said each electric brake output is extrapolated the lock torque that each electric brake should be exported; Radius according to the brake disc in radius of wheel and each electric brake is extrapolated each brake disc brake torque; Extrapolate the output torque of motor in each electric brake in conjunction with the lock torque of said each electric brake output and each brake disc brake torque and according to the physical construction transmitting ratio of electric brake; According to the corresponding relation of motor output torque and current of electric in said each electric brake, extrapolate the initial target electric current of motor in each electric brake again.
The target slip rate and the surface friction coefficient of each wheel that said electronic braking force distribution module is extrapolated according to the road surface identification module; Obtain through the Full Vehicle Dynamics equation that vehicle is kept straight on, each wheel braking force partition ratio and vehicle body reference acceleration when turning, the initial target electric current of motor carries out original allocation in each electric brake that conventional brake control policy module is extrapolated.
The target slip rate of each wheel that said ANTI LOCK control policy module is used for the road surface identification module is extrapolated and the actual slip rate of each wheel compare; And combine the actual angular acceleration of each wheel that the initial target electric current of motor in each electric brake of accomplishing original allocation is adjusted, and export adjusted target current to PID current loop control module.
Said PID current loop control module is used for exporting four road duty cycle signals to the EMB driver element according to the adjusted target current of ANTI LOCK control policy module.
Said EMB driver element comprises four motor-drive circuits; The quantity of said motor-drive circuit is identical with the quantity of said electric brake; And corresponding electric brake of each motor-drive circuit; After said four motor-drive circuits are respectively applied for four road duty cycle signals of real-time reception EMB control unit output, export the moving controlling and driving signal of quadruple diversity system more respectively in real time, its cooresponding wheel is implemented braking by electric brake to its cooresponding electric brake; The EMB driver element also is used for gathering in real time the actual current of motor in current each electric brake simultaneously; And it is fed back to the PID current loop control module in the EMB control unit; Said PID current loop control module according to the difference of said target current and said actual current constantly adjustment and output duty cycle signal to the EMB driver element, until said target current and said actual current reach unanimity the difference of perhaps said target current and actual current in the error allowed band till.
Said speed-slackening signal input block also comprises electronics Parking switch and parking brake pull bar.Said electronics Parking switch and parking brake pull bar all are used to export speed-slackening signal to the EMB control unit.
When vehicle stopped, chaufeur can trigger electronics Parking switch, exported speed-slackening signal in real time to the EMB control unit by said electronics Parking switch.
Said electromechanical braking system has kept the parking brake parking braking function in the conventional hydraulic brake system, and when vehicle stopped, all right selection operation parking brake pull bar of chaufeur was exported speed-slackening signal to the EMB control unit in real time by said parking brake pull bar.
After said EMB control unit receives the speed-slackening signal (also can be described as the braking during standstill on-off signal) of said electronics Parking switch/parking brake pull bar output in real time; Speed-slackening signal according to said electronics Parking switch/parking brake pull bar output; In conjunction with the clutch switch signal that reads from car load CAN bus, judge whether to implement braking during standstill by the speed-slackening signal and the said speed of a motor vehicle that estimates of electronic brake pedal output; As implement braking during standstill; Then the speed-slackening signal with said electronics Parking switch/parking brake pull bar output is converted into the maximum target electric current of motor in each electric brake and exports the PID current loop control module in the EMB control unit to, and said PID current loop control module is exported four road maximum duty cycle signals to the EMB driver element according to the maximum target electric current of motor in said each electric brake.Receive four road maximum duty cycle signals of EMB control unit output in real time when the EMB driver element after; Export four tunnel Parking controlling and driving signals respectively in real time to its cooresponding electric brake through said four motor-drive circuits in it, its cooresponding wheel is implemented braking during standstill by electric brake.If judge and do not implement braking during standstill, then continue to receive in real time said speed-slackening signal, till braking during standstill is implemented in judgement.
As shown in Figure 3, in the present embodiment, said electric brake comprises motor 8, slowing down increases square mechanism, propulsive mechanism, brake disc 2 and friction lining 1,3.
Said deceleration increases square mechanism and adopts reduction gear and the sun and planet gear that links to each other successively.Include a plurality of reducing gear of ingear successively in the reduction gear, wherein first order reducing gear links to each other with the output shaft of motor 8, and the afterbody reducing gear is a reducing gear 13; Include sun wheel, planetary wheel 11 and pinion carrier 10 in the sun and planet gear, said sun wheel is captiveed joint with reducing gear 13.
Said propulsive mechanism adopts ball wire rod mechanism, and said ball wire rod mechanism comprises screw mandrel 4 and nut 6.Wherein screw mandrel 4 is captiveed joint through the rectangular spline that carries on the pinion carrier with the pinion carrier 10 in the sun and planet gear; When thereby motor 8 is delivered to 4 rotations of screw mandrel 4 drive screw mandrels with its output torque; Nut 6 on the screw mandrel 4 moving linearly on screw mandrel 4 makes nut 6 do feed motion to the direction of friction lining.
In the present embodiment, the leading screw 4 in the said ball wire rod mechanism is connected through the non-self-locking of screw thread with nut 6, and promptly said propulsive mechanism adopts non-self-locking mechanism; Its advantage is; Braking gripping power on acting on wheel is excessive and need reduce the time, only need reduce the output torque of motor 8, and said non-self-locking mechanism can automatic rollback under the effect of brake disc 2 and the antagonistic force of friction lining 1,3; Act on the braking gripping power on the wheel with minimizing; When skew took place the balance between said braking gripping power and the antagonistic force, said non-self-locking mechanism can advance automatically or retreat till said gripping power and antagonistic force balance, need not the purpose that motor 8 counter-rotatings can reach the power of unloading; Thereby shortened the response time of electromechanical braking system, and said non-self-locking mechanism is advancing or is retreating the locked phenomenon of Shi Buhui appearance.
The output shaft of motor 8 links to each other with reduction gear, sun and planet gear, ball wire rod mechanism successively.Motor 8 rotates and output torques, drives reduction gear and rotates, rotate thereby drive sun and planet gear, and then pass torque to sun and planet gear in pinion carrier 10 ball wire rod mechanism of captiveing joint through its rectangular spline that carries.
In the present embodiment, said motor 8 adopts the dc brushless motor that Hall is arranged.Said have the dc brushless motor of Hall under the lower situation of rotating speed, to export bigger torque, thereby can be electric brake bigger detent torque is provided; It adopts electronic commutator to substitute mechanical brush and realizes switching-over, and is reliable and stable.There is the dc brushless motor of Hall also to have advantages such as speed-regulating range width, efficient is high, overload capacity is strong.Also can realize three ring (three close loop negative feedback PID control systems such as position ring, speed ring, electric current loop) controls of said dc brushless motor through the hall sensor signal of the Hall element output in the said dc brushless motor that Hall arranged; Promptly carry out the rotating speed that the Hall counting can calculate said dc brushless motor through said Hall element; And the said dc brushless motor number of turns that begins to rotate from reference position; Thereby calculate the propulsive mechanism stroke; Extrapolate the numerical value of braking gripping power according to the relation between propulsive mechanism stroke and the braking gripping power again, thereby realized under the situation of no pressure sensor braking the closed loop control of gripping power.
Begin glancing impact in order to reduce the braking response time at vehicle; Eliminate idle travel fast; Needing motor to promote propulsive mechanism at full speed moves to the friction lining direction; At high speed is eliminated the gap between brake disc and the friction lining, produces the gripping power that is used to brake, and using above-mentionedly has the speed ring of the dc brushless motor of Hall to control and regulate the accuracy control that can realize this motor speed.
The principle of work of said electric brake is following: when said motor-drive circuit output control of braking drive signal/Parking controlling and driving signal to it behind cooresponding electric brake; The motor of controlling in the said electric brake is exported corresponding moment; Said moment increases square mechanism through said deceleration and slows down and pass to propulsive mechanism after increasing square; Said propulsive mechanism is converted into rotatablely moving of motor output straight-line motion and does feed motion to the direction of friction lining; Eliminate the gap between brake disc and the friction lining, produce the braking gripping power that is used to brake, to realize braking/braking during standstill.
Said power supply is used to EMB control unit and the power supply of EMB driver element.
A kind of automobile that adopts the said electromechanical braking system of present embodiment.
The working process of electromechanical braking system of the present invention is following:
In the vehicle ' process; When the needs glancing impact; Chaufeur is stepped on electronic brake pedal, and said electronic brake pedal is exported speed-slackening signal in real time, and the said EMB control unit cycle that begins is gathered the speed-slackening signal of electronic brake pedal output simultaneously; This speed-slackening signal is the analog signal of 0～5V, and the speed-slackening signal with said electronic brake pedal output inputs to the EMB control unit in real time then.The purpose that the said cycle gathers is the speed-slackening signal for the output of captured in real time pedal, in time to know the braking intention of chaufeur.Said collection period is 10ms.
When said EMB control unit receives the speed-slackening signal of electronic brake pedal output in real time; The beginning cycle is gathered wheel speed signal that each wheel speed sensors sends; The EMB control unit combines the speed-slackening signal of said electronic brake pedal output to take turns the target current that fast computing module, speed of a motor vehicle estimation block, road surface identification module, conventional brake control policy module, electronic braking force distribution module and ANTI LOCK control policy module are converted into motor in each electric brake through its in-to-in said wheel speed signal, exports four road duty cycle signals to the EMB driver element by PID current loop control module according to the target current of motor in said each electric brake then.Said collection period is 10ms.
Receive four road duty cycle signals of EMB control unit output in real time when the EMB driver element after; Export the moving controlling and driving signal of quadruple diversity system respectively in real time to its cooresponding electric brake through said four motor-drive circuits in it; Thereby the motor that can control in real time in each electric brake is exported corresponding moment; Motor in each electric brake, slowing down increases square mechanism and propulsive mechanism and cooperatively interacts and produce gripping power and act on brake disc, to realize braking; The EMB driver element is gathered the actual current of motor in current each electric brake in real time simultaneously; And it is fed back to the PID current loop control module in the EMB control unit; Said PID current loop control module according to the difference of said target current and said actual current constantly adjustment and output duty cycle signal to the EMB driver element, until said target current and said actual current reach unanimity the difference of perhaps said target current and actual current in the error allowed band till.
In the car brakeing process; When chaufeur need strengthen braking strength, in the time of promptly need exporting bigger braking force, only need to strengthen the dynamics of trampling electronic brake pedal; Electronic brake pedal will produce bigger displacement; The speed-slackening signal of its output also can correspondingly increase, and after the speed-slackening signal after the said increase inputs to the EMB control unit, extrapolates the bigger target current of motor in each electric brake by it; Then said target current is converted into four tunnel bigger duty cycle signals to the EMB driver element; Motor-drive circuit in the EMB driver element to its cooresponding electric brake, is exported bigger lock torque thereby control each electric brake according to said duty cycle signals output control of braking drive signal, promptly produces bigger braking clamping masterpiece and is used for each wheel.
Braking gripping power on acting on wheel is excessive when causing some or several wheels to produce slippage; The EMB control unit is taken turns the wheel speed and the speed of a motor vehicle that fast computing module and speed of a motor vehicle estimation block draw wheel through its in-to-in; Which can be judged with the speed of a motor vehicle or several wheel has produced slippage in conjunction with the wheel of each wheel speed; This moment, the EMB control unit can carry out anti-slip regulation automatically through road surface identification module, electronic braking force distribution module and ANTI LOCK control policy module; And constantly regulate the duty cycle signals of the corresponding wheel of EMB control unit output to producing slipping wheel; With the input voltage of regulating the motor in the electric brake that produces slipping wheel and then the moment of controlling its output, realized real-time regulated to the braking gripping power that produces slipping wheel.
In the car brakeing process; When chaufeur need reduce braking strength, in the time of promptly need exporting littler braking force, the dynamics that only need reduce to trample electronic brake pedal; Electronic brake pedal will produce littler displacement; The speed-slackening signal of its output is also corresponding to be reduced, and after the speed-slackening signal behind said the reducing inputs to the EMB control unit, extrapolates the littler target current of motor in each electric brake by it; Then said target current is converted into four tunnel littler duty cycle signals to the EMB driver element; Motor-drive circuit in the EMB driver element to its cooresponding electric brake, is exported littler lock torque thereby control each electric brake according to said duty cycle signals output control of braking drive signal, promptly produces littler braking clamping masterpiece and is used for each wheel.
Because the propulsive mechanism in the said electric brake adopts non-self-locking mechanism; Therefore in the time of need reducing to act on the braking gripping power of each wheel; Need not to control the interior motor counter-rotating of each electric brake, only need to regulate the cooresponding duty cycle signals of electric brake of each wheel, and then regulate the input voltage of the interior motor of electric brake of said wheel; And reduce the output torque of motor and act on the braking gripping power on the friction lining; Said non-self-locking mechanism can automatic rollback under the effect of the antagonistic force of brake disc and friction lining, has realized the balance adjustment of braking gripping power with said antagonistic force, and then has realized the anti-lock adjusting of said wheel.In above-mentioned whole control process, motor is in the stall state always.The brake system of this kind structure makes each wheel can not produce deadlock phenomenon because of bearing bigger braking gripping power, and promptly vehicle still can turn under braking mode, has guaranteed the stability of car brakeing direction, prevents that it from producing sideslip and sideslip.
Because it is 10ms that the EMB control unit is gathered the cycle of wheel speed signal; It can repeatedly gather the wheel speed signal of four wheels in the car brakeing process; And repeatedly regulate four road duty cycle signals of its output and the input voltage of four cooresponding each motors of electric brake according to wheel speed signal; And then repeatedly regulate the moment of each motor output and the braking gripping power of corresponding wheel; Can change it again after the braking gripping power of corresponding wheel is conditioned and take turns speed, go round and begin again, thereby realize the anti-lock function of said brake system.Motor adopts the control of PID current closed-loop, makes the control of each motor more accurate.Through real-time regulated and dynamic assignment that the cycle of wheel speed signal is gathered the braking gripping power that can realize each wheel, said brake system also has the anti-lock function simultaneously, thereby improves the stability of vehicle braked performance and glancing impact vehicle '.
When vehicle stops; Chaufeur can trigger electronics Parking switch; Said electronics Parking switch is exported speed-slackening signal in real time to the EMB control unit; After said EMB control unit receives the speed-slackening signal of electronics Parking switch output in real time in real time; According to said speed-slackening signal, speed-slackening signal and the GES exported in real time in conjunction with the clutch switch signal that reads from car load CAN bus, electronic brake pedal judge whether to implement braking during standstill, as implementing braking during standstill; The speed-slackening signal of then electronics Parking switch being exported in real time is converted into the maximum target electric current of motor in each electric brake and exports the PID current loop control module in the EMB control unit to, and said PID current loop control module is exported four road maximum duty cycle signals to the EMB driver element according to the maximum target electric current of motor in said each electric brake.Receive four road maximum duty cycle signals of EMB control unit output in real time when the EMB driver element after; Export four tunnel Parking controlling and driving signals respectively in real time to its cooresponding electric brake through said four motor-drive circuits in it; Thereby can control the corresponding moment of output of the motor in each electric brake in real time; Each electric brake interior motor, deceleration increasing square mechanism and propulsive mechanism cooperatively interact and produce enough big gripping power and act on brake disc; Eliminate the gap between brake disc and the friction lining, thereby realize braking during standstill.
Electromechanical braking system of the present invention has kept the parking brake parking braking function in the conventional hydraulic brake system, and when vehicle stopped, all right selection operation parking brake pull bar of chaufeur made said parking brake pull bar export speed-slackening signal, to realize braking during standstill.
Embodiment 2:
The difference of present embodiment and embodiment 1 is: do not comprise electronics Parking switch in the speed-slackening signal input block.
Other structures in the present embodiment are all identical with embodiment 1, repeat no more here.
Embodiment 3:
The difference of present embodiment and embodiment 1 is: do not have said ANTI LOCK control policy module in the EMB control unit.
Other structures in the present embodiment are all identical with embodiment 1, repeat no more here.
It is understandable that above embodiment only is the illustrative embodiments that adopts for principle of the present invention is described, yet the present invention is not limited thereto.For the one of ordinary skilled in the art, under the situation that does not break away from spirit of the present invention and essence, can make various modification and improvement, these modification also are regarded as protection scope of the present invention with improving.
Claims (12)
1. electromechanical braking system, it is characterized in that comprising speed-slackening signal input block, EMB control unit, EMB driver element and with several wheels cooresponding several electric brakes respectively,
Said signal input unit is used to produce speed-slackening signal, and exports said speed-slackening signal to the EMB control unit in real time;
Said EMB control unit is used for receiving said speed-slackening signal in real time, and exports the several duty cycle signals in real time to the EMB driver element according to said speed-slackening signal, and the way of said duty cycle signals is identical with the quantity of said electric brake;
Said EMB driver element is used for receiving in real time said several duty cycle signals, and according to said several duty cycle signals difference Real Time Drive and said several electric brakes of control;
Said several electric brakes are respectively applied for implements braking to its cooresponding wheel.
2. system according to claim 1; It is characterized in that; Said speed-slackening signal input block comprises electronic brake pedal, and said electronic brake pedal inbuilt displacement sensor, said displacement pickup are used to catch the displacement that chaufeur is trampled electronic brake pedal; And convert said displacement to displacement signal; Export this displacement signal to the EMB control unit in real time as speed-slackening signal simultaneously, the speed-slackening signal that the EMB control unit is exported according to said electronic brake pedal in real time carries out brakig force distribution to said several electric brakes, and forms said several duty cycle signals according to several braking force signals that distribution obtains.
3. system according to claim 2; It is characterized in that; Said brake system also includes and cooresponding several wheel speed sensors of several wheel difference; The quantity of said wheel speed sensors is identical with the quantity of said electric brake, and said wheel speed sensors is used to obtain the wheel speed of its pairing wheel, and sends the wheel speed signal that is obtained to the EMB control unit; When said EMB control unit receives the speed-slackening signal of electronic brake pedal output in real time; The beginning cycle is gathered the wheel speed signal that each wheel speed sensors transmitted, and identifies the residing road surface of automobile according to the wheel speed signal that collects through calculating, and the speed-slackening signal that combines said electronic brake pedal to export in real time according to the residing information of road surface of automobile again carries out brakig force distribution; And forming said several duty cycle signals according to several braking forces that distribution obtains, said several duty cycle signals exports the EMB driver element to.
4. system according to claim 3 is characterized in that, the collection period that said EMB control unit is gathered the wheel speed signal that wheel speed sensors transmitted is 10ms.
5. system according to claim 3 is characterized in that, said EMB control unit comprises the fast computing module of wheel, speed of a motor vehicle estimation block, road surface identification module, conventional brake control policy module and electronic braking force distribution module,
Saidly take turns fast computing module and be used for the wheel speed signal that the EMB control unit cycle collects is calculated drawing the wheel speed of each wheel, and export the said wheel speed that calculates to speed of a motor vehicle estimation block;
Said speed of a motor vehicle estimation block is used for estimating the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and the rate of angular acceleration of each wheel according to the wheel speed that calculates each wheel, and exports the above-mentioned data-signal that estimation obtains to the road surface identification module;
Said road surface identification module is used for the speed of a motor vehicle according to the said automobile that estimates, the cireular frequency of each wheel, the angular acceleration of each wheel and the rate of angular acceleration of each wheel and extrapolates the target slip rate of each wheel and the surface friction coefficient of each wheel; Surface friction coefficient according to each wheel identifies the residing road surface of automobile again, and exports the residing information of road surface of automobile to the electronic braking force distribution module;
Said conventional brake control policy module is used to receive the speed-slackening signal of electronic brake pedal output in real time and extrapolates the braking force that each electric brake need be exported according to the speed-slackening signal of said reception, and the braking force that each electric brake that reckoning obtains is exported exports the electronic braking force distribution module to;
The braking force of each electric brake output that said electronic braking force distribution module is used for extrapolating according to the residing road surface of the automobile signal combination conventional brake control policy module that the road surface identification module transmits carries out original allocation to the braking force of each electric brake; Thereby form said several duty cycle signals, export this several duty cycle signals to the EMB driver element again.
6. system according to claim 5 is characterized in that, also includes ANTI LOCK control policy module and PID current loop control module in the said EMB control unit, and said electric brake includes motor;
The speed-slackening signal that conventional brake control policy module is exported according to said electronic brake pedal is in real time extrapolated the braking force that each electric brake need be exported, and extrapolates the initial target electric current of motor in each electric brake according to said speed-slackening signal;
It is that the initial target electric current of motor in each electric brake that conventional brake control policy module is extrapolated carries out original allocation that said electronic braking force distribution module is carried out original allocation according to the braking force of each electric brake of the residing road surface of automobile signal combination output to the braking force of each electric brake;
The target slip rate of each wheel that said ANTI LOCK control policy module is used for the road surface identification module is extrapolated and the actual slip rate of each wheel compare; And combine the actual angular acceleration of each wheel that the initial target electric current of motor in each electric brake of accomplishing original allocation is adjusted, and export adjusted target current to PID current loop control module;
Said PID current loop control module is used for exporting said several duty cycle signals to the EMB driver element according to the adjusted target current of ANTI LOCK control policy module;
Said EMB driver element also is used for after receiving said several duty cycle signals; Gather the actual current of motor in each electric brake in real time; And it is fed back to the PID current loop control module in the EMB control unit; Said PID current loop control module also be used for to the difference of the target current of motor in each electric brake and actual current constantly adjustment and output duty cycle signal to the EMB driver element, until said target current and actual current reach unanimity or the difference of said target current and actual current in the scope of error permission till.
7. system according to claim 6; It is characterized in that; Said EMB driver element comprises several motor-drive circuits; The quantity of said motor-drive circuit is identical with the quantity of said electric brake, and the corresponding electric brake of each motor-drive circuit, after said several motor-drive circuits are respectively applied for the several duty cycle signals of real-time reception EMB control unit output; Export several control of braking drive signal more respectively in real time to its cooresponding electric brake, its cooresponding wheel is implemented braking by electric brake.
8. system according to claim 6 is characterized in that, also includes electronics Parking switch and/or parking brake pull bar in the said speed-slackening signal input block,
Said electronics Parking switch/parking brake pull bar is used to export speed-slackening signal to the EMB control unit.
9. system according to claim 8; It is characterized in that; After said EMB control unit also is used for receiving the speed-slackening signal of said electronics Parking switch/parking brake pull bar output in real time; And the speed-slackening signal of the clutch switch signal that combines to read from car load CAN bus according to said speed-slackening signal, electronic brake pedal output and judge whether to implement braking during standstill: implement braking during standstill if judge by the speed of a motor vehicle that speed of a motor vehicle estimation block estimates; Then the speed-slackening signal with said electronics Parking switch/parking brake pull bar output is converted into the maximum target electric current of motor in each electric brake and exports PID current loop control module to; Said PID current loop control module is exported the several maximum duty cycle signal to the EMB driver element according to the maximum target electric current of motor in said each electric brake; After several motor-drive circuits in the EMB driver element receive the several maximum duty cycle signal of EMB control unit output respectively in real time; Said several motor-drive circuits also are used for exporting in real time respectively several Parking controlling and driving signal to its cooresponding electric brake, by electric brake its cooresponding wheel are implemented braking during standstill; If judge and do not implement braking during standstill, then continuation receives the speed-slackening signal of said electronics Parking switch/parking brake pull bar output in real time, till judging the enforcement braking during standstill.
10. system according to claim 9; It is characterized in that; Said electric brake comprises motor, slowing down increases square mechanism, propulsive mechanism, brake disc and friction lining; When said motor-drive circuit output control of braking drive signal/behind the cooresponding electric brake, the motor in the said electric brake is exported corresponding moment to Parking controlling and driving signal to it, said moment increases square mechanism through deceleration and slows down and pass to propulsive mechanism after increasing square; Said propulsive mechanism is converted into rotatablely moving of motor output straight-line motion and makes ahead running to the direction of friction lining; Eliminate the gap between brake disc and the friction lining, produce the braking gripping power that is used to brake, to realize braking/braking during standstill.
11. system according to claim 10 is characterized in that, said propulsive mechanism adopts non-self-locking mechanism; Said motor adopts the dc brushless motor that Hall is arranged.
12. an automobile comprises brake system, it is characterized in that said brake system adopts one of claim 1-11 described electromechanical braking system.
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| CN114537351A (en) * | 2021-12-07 | 2022-05-27 | 上海拿森汽车电子有限公司 | Method and system for eliminating disc clearance |
| CN115257669A (en) * | 2022-06-30 | 2022-11-01 | 中国第一汽车股份有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN115973112A (en) * | 2023-03-23 | 2023-04-18 | 深圳市好盈科技股份有限公司 | Anti-lock control method and device for four-wheel scooter |
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