CN102935847B - Electronic running brake and electronic parking brake integrated control system and control method thereof - Google Patents
Electronic running brake and electronic parking brake integrated control system and control method thereof Download PDFInfo
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- CN102935847B CN102935847B CN201210038907.8A CN201210038907A CN102935847B CN 102935847 B CN102935847 B CN 102935847B CN 201210038907 A CN201210038907 A CN 201210038907A CN 102935847 B CN102935847 B CN 102935847B
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Abstract
The invention relates to an electronic running brake and a control method of electronic parking brake integrated control system. Based on a controller area network (CAN) bus, the system comprises a main control unit, a CAN bus network, four auxiliary control units, an electronic brake pedal plate, a parking button, a motor driving circuit unit and an execution mechanism. The electronic brake pedal plate and the parking button are connected onto the main control unit in communication mode and transmit pedal travel information and parking command information to the main control unit. The main control unit is used for receiving the pedal travel information and the parking button state and processing the information and the state to obtain control signals. The main control unit is connected with the four auxiliary control units through the CAN network and is used for transmitting the control signals to the auxiliary control unit through the CAN. The auxiliary control units are used for receiving the control signals through the CAN network and outputting the control signals to the motor driving circuit unit and the execution mechanism after processing the control signals.
Description
Technical field
The present invention relates to field of automobile brake, be specifically related to the control method of a kind of electronics service brake and electronic brake integral control system.
Background technology
In order to ensure parking safety, after a stoppage, traditional mode needs to pull the hand brake immediately, lock is fixed on halted state, and this kind of mode operates more loaded down with trivial details, often pulls the hand brake owing to forgetting after chaufeur parking, thus cause certain potential safety hazard.
Summary of the invention
The object of the present invention is to provide the control method of a kind of electronics service brake and electronic brake integral control system.
Concrete technical scheme is as follows:
A kind of electronics service brake and electronic brake integral control system, system is based on CAN, comprise main control unit, CAN network, from control unit, electric braking pedal, motor-drive circuit unit and actuating unit, described main control unit is 1, described from control unit be 4, described electronic brake pedal communication is connected to main control unit and can sends pedal stroke information to it, described main control unit obtains control signal for receiving described travel information row relax of going forward side by side, described main control unit by CAN network control linkage to 4 from control unit and for sending described control signal by CAN to it, described from control unit be used for receive described control signal by CAN network, export motor-drive circuit unit and actuating unit after treatment to.
Further, motor-drive circuit unit is 4 braking motors, and 4 braking motors are connected to 4 actuating units of corresponding car load four-wheel respectively.
Further, described actuating unit is electric brake, and it is driven the braking implemented brake disc by braking motor, thus realizes the braking to wheel.
Further, also comprise power supply, its connect main control unit and for its power supply.
Further, also comprise electronic parking switch, its communication connects and/or is electrically connected to main control unit.
Further, also comprise wheel speed sensors, its communication connects and/or is electrically connected to main control unit.
Further, electric brake comprises brake disc, friction lining, motor, electricity loss brake, leading screw, feed screw nut, belleville spring group and speed reduction gearing, wherein, feed screw nut band external thread structure, when carrying out brake operating, electricity loss brake is energized, control motor and rotate forward output torque, moment transmits torque to feed screw nut after speed reduction gearing deceleration increment, leading screw matches with feed screw nut, feed screw nut rotarily drives leading screw feed motion, under electricity loss brake "on" position, belleville spring group release preload pressure, promote leading screw and do feed motion, namely feed motion done by motor and the belleville spring group common leading screw that promotes that is coupled, axial feed motion made by leading screw, promote friction lining and brake disc friction, produce for the braking clamping force braked to realize braking effect.
The control method of above-mentioned electronics service brake and electronic brake integral control system, adopts following steps when carrying out service brake:
(1) main control unit receives the stroke signal of electronic brake pedal;
(2) this signal of main control unit process also exports and is sent to CAN network to the respective control signal of 4 motors;
(3) receive respective one's own signal from control unit by CAN network, export to braking motor through process;
(4) braking motor drives the braking of actuating unit enforcement to brake disc, thus realizes the braking to wheel.Realize running braking function.
Further, following steps are adopted when carrying out braking during standstill:
A () main control unit receives the information of parking button;
B parking signal is sent to CAN network by () main control unit;
C () receives parking signal and output control motor from control unit by CAN network;
D () braking motor drives actuating unit in real time to the braking of brake disc, thus realize the braking to wheel, realizes parking braking function.
Braking during standstill realizes automatic parking by CAN network and vehicle-mounted CAN net connection again and automatically sails out of technology.
Further, service brake and integrated ABS, ASR, TCS and ESP function of braking during standstill.
Compared with currently available technology, service brake and braking during standstill are controlled, based on one, to have compact conformation by the present invention, simply, and the advantages such as response is fast, safe and reliable, pollution-free.
Accompanying drawing explanation
Fig. 1 is electromechanical braking system structural principle schematic diagram of the present invention;
Fig. 2 is electromechanical brake cross-sectional view of the present invention;
Fig. 3 is the speed reduction gearing schematic diagram of electromechanical brake of the present invention;
Fig. 4 is line control brake system braking during standstill control policy diagram of circuit;
Fig. 5 is electric current loop PID closed loop control process;
Detailed description of the invention
Describe the present invention with reference to the accompanying drawings below, it is a kind of preferred embodiment in numerous embodiments of the present invention.
The present embodiment specifically mainly comprise CAN network, main control unit, 4 form from control unit.Wherein, main control unit controls 4 from control unit by CAN network.(Fig. 1) native system mainly comprise power supply 1, main control unit 2, from control unit (5,6,7,8), electric braking pedal 3, electronic parking switch 4, wheel speed sensors (17,18,19,20), motor-drive circuit unit (9,10,11,12), electric brake (13,14,15,16).(Fig. 1) wherein electric brake comprises: braking clamp body 1, housing 2, motor 3, electricity loss brake 4, leading screw 5, the feed screw nut 6 being with external thread structure, belleville spring group 7, speed reduction gearing 8, gear 9, locating dowel pin 10, linear bearing 11, baffle ring 12, deep groove ball bearing 13, needle roller thrust bearing 14 and sealing baffle 15.(Fig. 2)
The principle of work of native system is as follows: when carrying out brake operating, electricity loss brake 4 is energized, and control motor 3 and rotate forward output torque, moment transmits torque to feed screw nut 6 after speed reduction gearing 8 slows down increment, leading screw 5 matches with feed screw nut 6, and feed screw nut 6 rotarily drives leading screw 5 feed motion.Simultaneously under electricity loss brake 4 "on" position, belleville spring 7 discharges preload pressure, promotes leading screw 5 and does feed motion, and namely feed motion done by motor 3 and the belleville spring 7 common leading screw 5 that promotes that is coupled.Axial feed motion made by leading screw 5, promotes friction lining 2 and rubs with brake disc 1, produces braking clamping force for braking to realize braking effect.
Service brake: wherein main control unit receives the stroke of electronic brake pedal, exports through process and is sent to CAN network to the respective control signal of 4 motors; Receive respective one's own signal from control unit by CAN network, export to braking motor through certain process, braking motor drives the braking of actuating unit (Fig. 2) enforcement to brake disc, thus realizes the braking to wheel.Realize running braking function.Service brake can integrated ABS, ASR, TCS and ESP function.
Braking during standstill; Wherein main control unit receives the information of parking button, and parking signal is sent to CAN network; Receive parking signal from control unit by CAN network and export control motor, braking motor drives the braking of actuating unit (Fig. 2) in real time to brake disc, thus realizes the braking to wheel, realizes manual parking braking function.Braking during standstill realizes automatic parking by CAN network and vehicle-mounted CAN net connection again and automatically sails out of technology.No matter be assigned from control unit independently address location to receive main control unit control signal by CAN network, be that the data format of service brake or braking during standstill control signal is identical.After receiving control signal from control unit, direct-driving motor reaches control effects.Because CAN network has very strong fault-tolerant and processing capacity, proper communication requirement can be met.Ensure actual effect and the accuracy of data.The quantity of wire harness in car can also be reduced, reduce the incidence of fault.This control method meets modeled programming theory, greatly reduces the complexity of control, greatly reduces the maintenance of software, also can integrated ABS, ASR, TCS and ESP function.
Each carry out driving from control unit and braking during standstill is all by electric current loop PID regulable control current of electric, and then control the output torque of motor, again according to the output torque of motor and the drive connection of speed reduction gearing, thus control the gripping power of brake disc, finally reach the braking effect that on wheel, braking force is accurate, stable.Multi collect current of electric in control cycle also realizes the electric current loop PID closed loop control (Fig. 5) of motor,
The PID expression formula of discrete form is:
Wherein, K
p, K
i, K
dbe respectively the ratio of regulating control, integration and differentiation coefficient, E (k), E (k-1) are respectively expectation deviate when kth time and k-1 time, P (k) be kth secondary time regulating control output.
The effect of proportioning element is made a response instantaneously to the deviation of signal, K
plarger, control action is stronger, but excessive K
pcan system oscillation be caused, destroy the stability of system.Although the effect of integral element can eliminate static error, also can reduce the speed of response of system, increase the overshoot of system, even make system occur continuous wave, reduce K
ithe overshoot of system can be reduced, but the response process of the system that can slow down.The effect of derivative element is the change stoping deviation, contributes to reducing overshoot, overcome vibration, system is tended towards stability, but it is responsive to interference, is unfavorable for the robustness of system.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the various improvement that method of the present invention is conceived and technical scheme is carried out; or directly apply to other occasion, all within protection scope of the present invention without improving.
Claims (1)
1. a control method for electronics service brake and electronic brake integral control system, is characterized in that,
Integral control system is based on CAN, comprise main control unit, CAN network, from control unit, electric braking pedal, motor-drive circuit unit and actuating unit, described main control unit is 1, described from control unit be 4, described electronic brake pedal communication is connected to main control unit and can sends pedal stroke information to it, described main control unit obtains control signal for receiving described travel information row relax of going forward side by side, described main control unit by CAN network control linkage to 4 from control unit and for sending described control signal by CAN to it, described from control unit be used for receive described control signal by CAN network, export motor-drive circuit unit and actuating unit after treatment to, motor-drive circuit unit is 4 braking motors, and 4 braking motors are connected to 4 actuating units of corresponding car load four-wheel respectively, described actuating unit is electric brake, and it is driven the braking implemented brake disc by braking motor, thus realizes the braking to wheel, also comprise power supply, its connect main control unit and for its power supply, also comprise electronic parking switch, its communication connects and/or is electrically connected to main control unit, also comprise wheel speed sensors, its communication connects and/or is electrically connected to main control unit, described electric brake comprises brake disc, friction lining, motor, electricity loss brake, leading screw, feed screw nut, belleville spring group and speed reduction gearing, wherein, feed screw nut band external thread structure, when carrying out brake operating, electricity loss brake is energized, control motor and rotate forward output torque, moment transmits torque to feed screw nut after speed reduction gearing deceleration increment, leading screw matches with feed screw nut, feed screw nut rotarily drives leading screw feed motion, under electricity loss brake "on" position, belleville spring group release preload pressure, promote leading screw and do feed motion, namely feed motion done by motor and the belleville spring group common leading screw that promotes that is coupled, axial feed motion made by leading screw, promote friction lining and brake disc friction, produce for the braking clamping force braked to realize braking effect,
Further, in the control method of described electronics service brake and electronic brake integral control system,
Following steps are adopted when carrying out service brake:
(1) main control unit receives the stroke signal of electronic brake pedal;
(2) this signal of main control unit process also exports and is sent to CAN network to the respective control signal of 4 motors;
(3) receive respective one's own signal from control unit by CAN network, export to braking motor through process;
(4) braking motor drives the braking of actuating unit enforcement to brake disc, thus realizes the braking to wheel, realizes running braking function;
Following steps are adopted when carrying out braking during standstill:
A () main control unit receives the information of parking button;
B parking signal is sent to CAN network by () main control unit;
C () receives parking signal and output control motor from control unit by CAN network;
D () braking motor drives actuating unit in real time to the braking of brake disc, thus realize the braking to wheel, realizes parking braking function; Further, service brake and integrated ABS, ASR, TCS and ESP function of braking during standstill;
Each carry out driving from control unit and braking during standstill is all that the PID expression formula of discrete form is by electric current loop PID regulable control current of electric:
Wherein, K
p, K
i, K
dbe respectively the ratio of regulating control, integration and differentiation coefficient, E (k), E (k-1) are respectively expectation deviate when kth time and k-1 time, P (k) be kth secondary time regulating control output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210038907.8A CN102935847B (en) | 2012-02-21 | 2012-02-21 | Electronic running brake and electronic parking brake integrated control system and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210038907.8A CN102935847B (en) | 2012-02-21 | 2012-02-21 | Electronic running brake and electronic parking brake integrated control system and control method thereof |
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| CN102935847A CN102935847A (en) | 2013-02-20 |
| CN102935847B true CN102935847B (en) | 2015-01-28 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419765B (en) * | 2013-08-30 | 2015-11-18 | 长城汽车股份有限公司 | Vehicle and the automatic parking system for vehicle |
| DE102015200928A1 (en) * | 2015-01-21 | 2016-07-21 | Robert Bosch Gmbh | Brake system, method of operation |
| DE102015110670A1 (en) * | 2015-07-02 | 2017-01-05 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Electric braking device with the parking brake actuated by the service brake actuator |
| CN107719352B (en) * | 2017-10-25 | 2021-04-06 | 山东卢斯得机械股份有限公司 | Electronic parking EPB system with electromagnetic brake device |
| CN111559363A (en) * | 2020-05-12 | 2020-08-21 | 格陆博科技有限公司 | Anti-lock control system based on stay-supported EPB and control method thereof |
| CN113264008A (en) * | 2021-06-11 | 2021-08-17 | 精诚工科汽车***有限公司 | Vehicle, anti-theft control method and device thereof, and storage medium |
| CN114701472A (en) * | 2021-12-27 | 2022-07-05 | 瀚德万安(上海)电控制动***有限公司 | Electric control brake system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002067916A (en) * | 2000-09-01 | 2002-03-08 | Toyota Motor Corp | Parking brake device for vehicle |
| DE102008009882A1 (en) * | 2008-02-19 | 2009-08-20 | Wabco Gmbh | Parking brake for a vehicle and method for operating the parking brake |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2142795Y (en) * | 1992-02-25 | 1993-09-29 | 四川都江机械厂 | Rear axle of light bus with high performance |
| DE19705619A1 (en) * | 1997-02-14 | 1998-08-20 | Bosch Gmbh Robert | Method and device for controlling the brake force distribution in a motor vehicle |
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