CN105172767B - Electric control brake pedal feeling simulation device and control method thereof - Google Patents
Electric control brake pedal feeling simulation device and control method thereof Download PDFInfo
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- CN105172767B CN105172767B CN201510641349.8A CN201510641349A CN105172767B CN 105172767 B CN105172767 B CN 105172767B CN 201510641349 A CN201510641349 A CN 201510641349A CN 105172767 B CN105172767 B CN 105172767B
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- brake pedal
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- pressure regulating
- regulating valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses an electric control brake pedal feel simulation device and a control method thereof, wherein the electric control brake pedal feel simulation device comprises a simulation device main cylinder and a displacement sensor which are arranged behind a brake pedal, the other end of the simulation device main cylinder is sequentially connected with a pressure regulating valve and a liquid storage tank, the other end of the liquid storage tank is connected with the simulation device main cylinder, and the simulation device main cylinder, the pressure regulating valve and the liquid storage tank form a closed loop; the pressure regulating valve is also connected with a one-way valve in parallel; the electric control brake pedal feeling simulation device also comprises a control unit for receiving a displacement mode signal output by the displacement sensor, the control unit outputs a duty ratio, and the driving circuit outputs current to drive the pressure regulating valve to generate electromagnetic force. The electronic control brake pedal feeling simulation device is compact in structure, is beneficial to installation and arrangement on a vehicle, and can reduce production cost. Meanwhile, the brake pedal is combined with an electric control technology, the brake pedal feeling in various modes is realized through electric control, and the effect of the vacuum booster during braking can be completely simulated.
Description
Technical Field
The invention relates to an electronic control brake pedal feeling simulation device and a control method thereof.
Background
The existing brake pedal usually adopts a vacuum booster, and the traditional vacuum booster has the following defects: 1. in the arrangement of the whole vehicle, a larger space is needed; 2. additional work of the engine is needed for vacuumizing, so that the oil consumption of the engine is increased; 3. because there is not the engine on the new forms of energy vehicle, so need increase the vacuum pump and come the evacuation, the noise is big, and is with high costs, and the vacuum degree is unstable moreover, and vacuum pump power consumption is big, has also directly reduced the continuation of the journey mileage of vehicle.
Along with the high-speed development of the electronic technology of the whole vehicle, the electric control hydraulic system is utilized to brake the whole vehicle, such as: and (4) ESC. Instead of applying pressure to brake by the driver directly pedaling, such a system may directly eliminate the vacuum booster. The whole braking process is as follows: when a driver steps on a brake pedal, a pedal displacement sensor outputs a signal to an Electronic Control Unit (ECU), and an electronic control hydraulic system is pressurized to realize braking. In the process, the brake pedal only outputs signals to the electric control hydraulic system and does not directly apply pressure brake, so a pedal simulation device is needed to provide good pedal feeling for a driver.
The electric control hydraulic braking system is adopted as a novel braking system, and the simulation of good pedal feeling becomes an important development direction in the field of automobile braking. One type of existing brake pedal simulation device employs an elastic member to simulate a pedal-felt feedback force. For example, patent No. 200610185863.X, patent name "an electronic brake pedal and its braking method". The device adopts springs with different lengths for the feeling of the pedal, and generates resistance through the deformation of the different springs when the pedal is stepped, and the defect of the patent is that: compared with the traditional vacuum booster, the pedal booster has the advantages of larger feeling difference, poorer pedal feeling and no regulation and control.
The other is to use an electronic control unit to control an actuator to simulate the feedback force felt by a pedal. For example, patent No. 201120314666.6 entitled "an electrically controlled brake pedal feel simulator". However, the disadvantages of this simulation device are: the structure is complicated, the volume is large, the occupied space is large, and the assembly on the automobile is not facilitated.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electric control brake pedal feeling simulation device and a control method thereof aiming at solving the problems in the prior art, and aims to enable the structure of the electric control brake pedal feeling simulation device to be more compact and realize the simulation of different brake feelings through different algorithm programs.
The invention has the technical scheme that the electronic control brake pedal feeling simulation device comprises a simulation device main cylinder and a displacement sensor which are arranged behind a brake pedal, wherein the other end of the simulation device main cylinder is sequentially connected with a pressure regulating valve and a liquid storage tank; the pressure regulating valve is also connected with a one-way valve in parallel; the electric control brake pedal feeling simulation device further comprises a control unit for receiving a displacement mode signal output by the displacement sensor, the control unit outputs a duty ratio, and the driving circuit outputs current to drive the pressure regulating valve to generate electromagnetic force.
The control unit is an electronic control unit ECU.
The control method by using the electrically controlled brake pedal feeling simulation device comprises the following steps:
1) stepping down a brake pedal;
2) the displacement sensor outputs a displacement mode signal to the control unit according to the displacement change of the brake pedal;
3) the control unit calculates the target resistance according to the value of the displacement signal and the acceleration value, and outputs a duty ratio; wherein the displacement value is L; speed value of
Output duty cycle
Wherein a, b and c are calibration coefficient values;
4) under the control of the duty ratio, the driving circuit outputs current to drive the pressure regulating valve to generate electromagnetic force;
5) the hydraulic pressure in the main cylinder of the simulator generates braking resistance to feed back to a driver to brake the pedal under the action of the brake pedal in a loop formed at the pressure regulating valve.
When the driver releases the brake pedal, the displacement sensor arranged on the brake pedal outputs a displacement mode signal to the control unit, the pressure regulating valve is conducted, and brake fluid flows out of a main cylinder of the pedal simulation device through the one-way valve, so that the brake resistance is reduced.
The electronic control brake pedal feeling simulation device with the structure is compact in structure, is beneficial to installation and arrangement on a vehicle, and can reduce production cost. Meanwhile, the brake pedal is combined with an electric control technology, the brake pedal feeling in various modes is realized through electric control, and the effect of the vacuum booster during braking can be completely simulated.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a flow chart of the operation of the present invention.
In fig. 1-2, 1: a liquid storage tank; 2, a one-way valve; 3: a pressure regulating valve; 4: a simulator master cylinder; 5: a brake pedal; 6: a displacement sensor; 7: a control unit.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, and fig. 2 is a flow chart of the present invention. As can be seen from the combination of the structures shown in fig. 1-2, the electrically controlled brake pedal feel simulator comprises a simulator main cylinder 4 and a displacement sensor 6 which are arranged behind a brake pedal 5, wherein the other end of the simulator main cylinder 4 is sequentially connected with a pressure regulating valve 3 and a liquid storage tank 1, the other end of the liquid storage tank 1 is connected with the simulator main cylinder 4, and the simulator main cylinder 4, the pressure regulating valve 3 and the liquid storage tank 1 form a closed loop; the pressure regulating valve 3 is also connected with a one-way valve 2 in parallel; the electric control brake pedal feeling simulation device further comprises a control unit 7 for receiving a displacement mode signal output by the displacement sensor 6, and the control unit 7 is an electronic control unit ECU. The control unit 7 outputs a duty ratio, and the driving circuit outputs current to drive the pressure regulating valve 3 to generate electromagnetic force.
The method for controlling by using the electric control brake pedal feeling simulation device comprises the following steps:
1) stepping on the brake pedal 5;
2) the displacement sensor 6 outputs a displacement mode signal to the control unit 7 according to the displacement change of the brake pedal 5;
3) the control unit 7 calculates the target resistance according to the value of the displacement signal and the acceleration value, and the control unit 7 outputs a duty ratio; wherein the displacement value is L; speed value of
Output duty cycle
Wherein a, b and c are calibration coefficient values;
4) under the control of the duty ratio, the driving circuit outputs current to drive the pressure regulating valve 3 to generate electromagnetic force;
5) the hydraulic pressure in the main cylinder 4 of the simulator generates braking resistance to be fed back to a driver to give a feeling of a brake pedal at a circuit formed at the pressure regulating valve 3 by the action of the brake pedal 5.
When the driver releases the brake pedal 5, the displacement sensor 6 mounted on the brake pedal 5 outputs a displacement mode signal to the control unit 7, the pressure regulating valve 3 is conducted, and the brake fluid flows out of the master cylinder of the pedal simulation device through the one-way valve 2, so that the brake resistance is reduced.
The pressure regulating valve 3 controls current to drive coil current of the pressure regulating valve 3 under the action of duty ratio tau output by the electronic control unit according to input pedal displacement, and resistance F is generated under the action of electromagnetic force and is in direct proportion to the duty ratio tau. Different brake pedal feelings can be simulated and fed back to the driver by adjusting the resistance F. The calculation of the resistance can be expressed as a function of: the resistance F ═ k τ.
The specific working process of the invention is as follows: when the driver steps on the brake pedal 5, the displacement sensor 6 mounted on the brake pedal 5 outputs a displacement mode signal to the electronic control unit of the device. The electric control unit calculates a target resistance according to the value of the displacement signal and the speed value, the control unit 7 outputs a duty ratio, and under the control of the duty ratio, the driving circuit outputs current to drive the pressure regulating valve 3 to generate electromagnetic force; the hydraulic pressure in the main cylinder of the simulator generates braking resistance in a loop formed at the pressure regulating valve 3 under the action of the pedal, and the braking resistance is fed back to the brake pedal of a driver. Therefore, the output brake resistance is adjusted according to the output displacement signal of the pedal simulation device, and the brake resistance characteristic of vacuum boosting output is simulated.
When the driver releases the brake pedal, a displacement sensor 6 arranged on the brake pedal 5 outputs a displacement mode signal to a control unit 7, a pressure regulating valve 3 is conducted, and brake fluid flows out of a main cylinder of the pedal simulation device through a single direction 2 to reduce the brake resistance. When the driver depresses and holds the brake pedal, the pedal simulation means holds the resistance of the brake.
The electronic control brake pedal feeling simulation device with the structure is compact in structure, is beneficial to installation and arrangement on a vehicle, and can reduce production cost. Meanwhile, the brake pedal is combined with an electric control technology, the brake pedal feeling in various modes is realized through electric control, and the effect of the vacuum booster during braking can be completely simulated.
Claims (2)
1. A control method of an electronic control brake pedal feeling simulation device is characterized in that: the electronic control brake pedal feeling simulation device comprises a simulation device main cylinder (4) and a displacement sensor (6), wherein the simulation device main cylinder (4) and the displacement sensor are installed behind a brake pedal (5), the other end of the simulation device main cylinder (4) is sequentially connected with a pressure regulating valve (3) and a liquid storage tank (1), the other end of the liquid storage tank (1) is connected with the simulation device main cylinder (4), and the simulation device main cylinder (4), the pressure regulating valve (3) and the liquid storage tank (1) form a closed loop; the pressure regulating valve (3) is also connected with a one-way valve (2) in parallel; the electric control brake pedal feeling simulation device also comprises a control unit (7) for receiving a displacement signal output by the displacement sensor (6), wherein the control unit (7) outputs a duty ratio, and a driving circuit outputs current to drive the pressure regulating valve (3) to generate electromagnetic force;
the control method comprises the following steps of,
1) stepping down a brake pedal (5);
2) the displacement sensor (6) outputs a displacement signal to the control unit (7) according to the displacement change of the brake pedal (5);
3) the control unit (7) calculates the target resistance according to the displacement value of the displacement signal and the speed value of the brake pedal, and the control unit (7) outputs a duty ratio; wherein the displacement value is L; the speed value is dL/dt; output duty cycle
τ＝a*L+b*dL/dt+c
Wherein a, b and c are calibration coefficient values;
4) under the control of the duty ratio, the driving circuit outputs current to drive the pressure regulating valve (3) to generate electromagnetic force;
5) the hydraulic pressure in the main cylinder (4) of the simulator generates braking resistance to be fed back to a driver to brake the pedal in a loop formed at the pressure regulating valve (3) under the action of the brake pedal (5);
the pressure regulating valve (3) controls current to drive coil current of the pressure regulating valve (3) under the action of duty ratio output by the electric control unit according to input pedal displacement, resistance F is generated under the action of electromagnetic force, the resistance F is in direct proportion to the duty ratio tau, and different brake pedal feelings can be simulated by adjusting the resistance F and fed back to a driver; outputting a displacement signal according to the electric control brake pedal feeling simulation device, adjusting the output brake resistance, and simulating the brake resistance characteristic of vacuum boosting output;
when a driver releases the brake pedal (5), a displacement sensor (6) arranged on the brake pedal (5) outputs a displacement signal to a control unit (7), a pressure regulating valve (3) is conducted, and brake fluid flows into a master cylinder of the simulation device through a one-way valve (2) to reduce the brake resistance;
when the driver depresses and holds the brake pedal, the electronically controlled brake pedal feel simulator holds the resistance to braking.
2. The control method of an electronically controlled brake pedal feel simulation device according to claim 1, characterized in that: the control unit (7) is an electronic control unit ECU.
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| CN201510641349.8A CN105172767B (en) | 2015-09-30 | 2015-09-30 | Electric control brake pedal feeling simulation device and control method thereof |
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| CN201510641349.8A CN105172767B (en) | 2015-09-30 | 2015-09-30 | Electric control brake pedal feeling simulation device and control method thereof |
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| CN105172767B true CN105172767B (en) | 2021-04-09 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472217A (en) * | 2017-07-04 | 2017-12-15 | 浙江零跑科技有限公司 | A kind of brake pedal sense adjustment system, method and brake pedal sense analogue means |
| CN107839674B (en) * | 2017-09-28 | 2019-11-05 | 浙江零跑科技有限公司 | New energy vehicle brake apparatus and braking method |
| CN111086494B (en) * | 2020-01-14 | 2021-10-01 | 南京航空航天大学 | Line control brake pedal simulator based on magnetorheological fluid and working method thereof |
| CN112896122A (en) * | 2021-03-05 | 2021-06-04 | 南京经纬达汽车科技有限公司 | Pedal feel simulation device and control method thereof |
Citations (2)
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| CN1978258A (en) * | 2005-12-07 | 2007-06-13 | 株式会社万都 | Electro-hydraulic brake system |
| CN204567631U (en) * | 2015-03-20 | 2015-08-19 | 同济大学 | A kind of semi-active type pedal sense simulator |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135572A (en) * | 1996-05-31 | 2000-10-24 | Varity Gmbh | Actuation unit for an electronically controlled vehicle brake system |
| DE102011081461A1 (en) * | 2010-08-30 | 2012-03-01 | Continental Teves Ag & Co. Ohg | Brake system for motor vehicles |
| KR101935463B1 (en) * | 2013-12-13 | 2019-01-04 | 주식회사 만도 | Integrated Electronic Hydraulic Brake System |
| CN205059562U (en) * | 2015-09-30 | 2016-03-02 | 芜湖伯特利汽车安全***股份有限公司 | Electric control brake pedal feeling simulation device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1978258A (en) * | 2005-12-07 | 2007-06-13 | 株式会社万都 | Electro-hydraulic brake system |
| CN204567631U (en) * | 2015-03-20 | 2015-08-19 | 同济大学 | A kind of semi-active type pedal sense simulator |
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Inventor after: Zhang Pingping Inventor after: Ma Yongfu Inventor after: Zhang Gaochao Inventor after: Tang Dedong Inventor after: Pan Jinpeng Inventor before: Zhang Pingping Inventor before: Ma Yongfu Inventor before: Zhang Gaochao Inventor before: Gan Congwei Inventor before: Tang Dedong Inventor before: Pan Jinpeng |