CN111301378B - Controllable drive-by-wire braking system of simulation footboard sensation - Google Patents
Controllable drive-by-wire braking system of simulation footboard sensation Download PDFInfo
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- CN111301378B CN111301378B CN202010146383.9A CN202010146383A CN111301378B CN 111301378 B CN111301378 B CN 111301378B CN 202010146383 A CN202010146383 A CN 202010146383A CN 111301378 B CN111301378 B CN 111301378B
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- 230000035807 sensation Effects 0.000 title description 2
- 238000004088 simulation Methods 0.000 title description 2
- 239000007788 liquid Substances 0.000 claims abstract description 58
- 238000003860 storage Methods 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 23
- 230000001105 regulatory effect Effects 0.000 claims abstract description 15
- 239000012530 fluid Substances 0.000 claims description 25
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011946 reduction process Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
- B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a brake-by-wire system with controllable simulated pedal feel, which specifically comprises a brake master cylinder, a master cylinder driving device, a brake wheel cylinder, a liquid storage tank, a secondary master cylinder, a pedal push rod, a pedal feel simulator and an electronic control unit ECU, wherein the brake system comprises three brake functions of conventional braking, active braking and failure backup, and the conventional braking comprises three processes of pressure increasing, pressure maintaining and pressure reducing; the invention realizes the decoupling of the brake pedal and the brake wheel cylinder, and can simulate various complex pedal counter forces by adjusting the reversing valve pedal feel simulator so as to match drivers with different driving styles; the pedal travel sensor can realize the identification of the braking intention of a driver; the linear pressure regulating valve can realize accurate control of the brake cylinder pressure.
Description
Technical Field
The invention relates to a brake-by-wire system, in particular to a brake-by-wire system with controllable feel of a simulated pedal.
Background
The birth and development of the automobile bring convenience to daily travel of human beings and bring more vigor to the world economy. Meanwhile, the development of the automobile industry brings adverse effects to the environment, traffic, trip safety, energy sources and the like, so that safety, energy conservation and environmental protection are the subjects of the current development of the automobile industry, and the active safety technology, the new energy technology and the intelligent technology of the automobile are rapidly developed. Among them, the braking system is closely related to the driving safety of the automobile, and is a hot spot of people's research and development.
The technology of the traditional braking system is mature, but with the development of the electric and intelligent technology of the automobile, the traditional braking system is limited by the structure and the working principle, and man-machine decoupling, active quick pressure establishment, accurate single-wheel pressure control and the like of the braking system are difficult to realize. For example, conventional vacuum-assisted braking systems rely on an engine to provide a vacuum source, but electric vehicles eliminate the engine and conventional braking system technology is challenged.
The brake-by-wire system is developed by combining a brake-by-wire technology with an automobile brake system, and achieves complete decoupling of pedal force, namely, the direct connection between a brake pedal and a brake cylinder is canceled, and the brake intention of a driver is not transmitted to the brake system mechanically but electronically, so that a pedal feel simulator needs to be designed to simulate the foot feel of the driver.
Typical brake-by-wire systems mainly include electro-Hydraulic Brake Systems (EHBs) and electro-Mechanical Brake Systems (EMBs). The EHB braking system cancels the vacuum booster, adopts the high-pressure energy accumulator as a system pressure source, has simple and compact structure, decouples the brake pedal from the brake wheel cylinder, can independently control the braking force of each wheel and is easy for energy recovery. However, most pedal feel simulators are passive, pedal feel is difficult to adjust, a hydraulic pipeline is complex, braking efficiency is reduced, and braking requirements are difficult to meet when a system circuit fails. The EMB braking system mostly adopts a planetary gear mechanism to reduce speed and increase torque, and converts rotation into translation through a ball screw mechanism, so that a brake caliper body clamps a brake disc to complete braking. The EMB brake system has the advantages of no brake pipeline, high brake efficiency and the like, but has higher cost, high working environment temperature and high reliability requirement, and is difficult to realize light-weight design and mass production.
Disclosure of Invention
The invention provides a brake-by-wire system with controllable simulated pedal feel, which comprises a brake master cylinder, a master cylinder driving device, a brake cylinder, a liquid storage tank, a secondary master cylinder, a pedal push rod, a pedal feel simulator and an electronic control unit ECU, wherein the brake master cylinder comprises a master cylinder push rod, a master cylinder piston and a master cylinder return spring, a master cylinder hydraulic cavity is formed between the master cylinder piston and a cylinder body, and the master cylinder return spring is arranged in the master cylinder hydraulic cavity; the main cylinder driving device is connected with the main cylinder push rod and can push the main cylinder piston to build pressure in the main cylinder hydraulic cavity; the master cylinder hydraulic cavity is connected with a brake wheel cylinder through a pipeline, and the brake wheel cylinder is connected with a liquid storage tank through a pipeline; a first piston and a second piston are sequentially arranged in the secondary main cylinder, a first hydraulic cavity and a second hydraulic cavity are sequentially formed between the first piston, the second piston and the bottom of the cylinder body, return springs are arranged in the first hydraulic cavity and the second hydraulic cavity, a brake pedal is connected with a pedal push rod, the pedal push rod penetrates through the front end of the secondary main cylinder to be connected with the first piston, the first hydraulic cavity of the secondary main cylinder is connected with a pedal feel simulator through a pipeline, the second hydraulic cavity of the secondary main cylinder is connected with a liquid storage tank through a pipeline provided with a normally closed electromagnetic valve, and the second hydraulic cavity of the secondary main cylinder is connected with a liquid inlet of a brake wheel cylinder through a pipeline provided with a normally open electromagnetic valve; the electric control unit ECU is respectively connected with the normally closed electromagnetic valve and the normally open electromagnetic valve, and the switch is controlled by the electric control unit ECU.
A pressure increasing valve is arranged on a pipeline between the master cylinder hydraulic cavity and the brake wheel cylinder, and a pressure reducing valve is arranged on a pipeline between the brake wheel cylinder and the liquid storage tank; the pressure increasing valve is a normally open type electromagnetic valve, and the pressure reducing valve is a normally closed type electromagnetic valve; the pressure increasing valve and the pressure reducing valve are respectively connected with the electronic control unit ECU, and the switch is controlled by the electronic control unit ECU.
The invention also comprises a hydraulic pressure sensor and a pedal travel sensor, wherein the hydraulic pressure sensor is connected with a liquid outlet of the hydraulic cavity of the master cylinder and a pressure increasing valve of each brake wheel cylinder, and is used for measuring the liquid pressure of the liquid outlet of the hydraulic cavity of the master cylinder and the liquid pressure of each brake wheel cylinder; the pedal stroke sensor is arranged on the pedal push rod and detects displacement data of the pedal push rod; the hydraulic pressure sensor and the pedal stroke sensor are respectively connected with the electronic control unit ECU, and data are transmitted to the electronic control unit ECU in real time.
The pedal feel simulator is internally divided into a hydraulic cavity and a spring cavity by a simulator piston, and a first hydraulic cavity of a secondary main cylinder is connected with the hydraulic cavity of the pedal feel simulator through a pipeline; the spring cavity is internally provided with a simulator return spring and a simulator rubber spring, the simulator return spring is connected between the simulator piston and the bottom of the simulator cylinder body, the simulator rubber spring is positioned at the inner side of the simulator return spring, and one end of the simulator rubber spring is fixed on the simulator piston.
A one-way valve is arranged on a pipeline between the first hydraulic cavity of the secondary main cylinder and the pedal feel simulator, and when the first piston of the secondary main cylinder is reset, brake fluid in the hydraulic cavity of the pedal feel simulator flows through the one-way valve to return to the first hydraulic cavity of the secondary main cylinder; the reversing valve is a two-position five-way electromagnetic valve, the liquid inlet is connected with the first hydraulic cavity of the secondary main cylinder through a pipeline, the reversing valve is in a left position when the power is off, so that the left liquid outlet is in a normally open state and is connected with the hydraulic cavity of the pedal feel simulator, and the reversing valve is in a right position when the power is on, so that the right liquid outlet is in a normally closed state and is connected with the liquid storage tank; the reversing valve is connected with the electronic control unit ECU through a circuit, and the reversing valve is controlled by the electronic control unit ECU.
The liquid storage tank is respectively connected with liquid inlets of a main cylinder hydraulic cavity of the brake main cylinder, a first hydraulic cavity of the secondary main cylinder and a second hydraulic cavity through pipelines, and is used for replenishing brake liquid into the main cylinder hydraulic cavity, the first hydraulic cavity and the second hydraulic cavity.
The main cylinder driving device comprises a rotating motor, a pinion, a large gear, a crank, a connecting rod and a sliding block, wherein an output shaft of the rotating motor is coaxially arranged with the pinion, the large gear is meshed with the pinion to form a primary speed reduction and torque increase mechanism, one end of the crank is fixed at the center of the large gear and is radially arranged along the large gear, the other end of the crank is hinged with the connecting rod, the other end of the connecting rod is hinged with the sliding block, the sliding block is connected with a main cylinder push rod of the brake main cylinder, and the sliding block is arranged in a sliding way and moves horizontally in the sliding way; the rotating motor is connected with the electronic control unit ECU, and the electronic control unit ECU sends a control signal to control the rotation of the rotating motor.
The brake cylinder is characterized in that a linear pressure regulating valve is further arranged on a pipeline between the pressure reducing valve of the brake cylinder and the liquid storage tank, the linear pressure regulating valve is a normally open type electromagnetic valve with an adjustable duty ratio, and is connected with an electronic control unit ECU through a circuit, and the opening degree is controlled and regulated through the electronic control unit ECU.
The connection mode of the electronic control unit ECU and each electromagnetic valve and each sensor is line connection.
The working principle of the invention is as follows:
1. conventional braking:
when a driver presses a brake pedal, an ECU controls a normally closed electromagnetic valve to be electrified and opened, a normally open electromagnetic valve is electrified and closed, a reversing valve is at a left position, a pedal push rod pushes a first piston of a secondary main cylinder to start moving, and further a return spring pushes a second piston to move.
On the other hand, the pedal travel sensor obtains pedal displacement information and transmits the pedal displacement information to the electronic control unit ECU, the electronic control unit ECU receives signals, then calculates the total braking force requirement, and then according to the working characteristics of the master cylinder driving device, the electronic control unit ECU sends control signals to the rotating motor to drive the rotating motor to rotate, the rotating motor drives the master cylinder piston to move through the primary speed reduction torque increasing mechanism, the crank connecting rod structure, the sliding block and the master cylinder push rod, the master cylinder piston builds pressure in the master cylinder hydraulic cavity, and braking liquid in the master cylinder hydraulic cavity transmits braking force to each brake cylinder through the hydraulic pipeline.
Conventional braking can be divided into three processes of pressurization, pressure maintaining and depressurization.
a) Supercharging process
When a driver presses a brake pedal, the normally closed electromagnetic valve is opened, the normally open electromagnetic valve is closed, and the reversing valve is positioned at the left position; the four pressure-increasing valves respectively connected with the brake cylinder are all powered off and opened, the four pressure-reducing valves are all powered off and closed, and brake fluid enters the brake cylinder from a master cylinder hydraulic cavity of the brake master cylinder to build pressure.
b) Pressure maintaining process
When the ECU determines that the braking system needs to be pressure-maintaining, the four pressure-increasing valves are all electrified and closed, the four pressure-reducing valves are all powered off and closed, at the moment, the brake fluid in the brake wheel cylinder and the brake pipeline are in an isolated state, and the brake pressure in the brake wheel cylinder is kept unchanged.
c) Pressure reduction process
When a driver releases a brake pedal or a control strategy decides that the pressure of the brake wheel cylinder needs to be reduced, the electronic control unit ECU controls the four pressure-increasing valves to be powered on and turned off, and the four pressure-decreasing valves are powered on and turned on, so that brake fluid in the brake wheel cylinder flows back to the fluid storage tank through the pressure-decreasing valve pipeline, and the pressure of the brake wheel cylinder is reduced to complete the pressure-decreasing process.
Pedal feel simulator simulates the pedal force process:
in the conventional braking process, the pedal is completely decoupled, namely, a driver only takes charge of giving target braking pressure, and the actual boosting process is completed by an electronic control unit ECU controlling a master cylinder driving device, a brake master cylinder and each electromagnetic valve, and the pedal feel simulator provides the same pedal feel as the conventional braking system for the driver according to the pedal force and pedal displacement curve of the conventional braking system.
In the process, the normally closed electromagnetic valve is opened, the normally open electromagnetic valve is closed, the reversing valve is positioned at the left position, and when a driver presses a brake pedal, brake fluid in the first hydraulic cavity of the secondary main cylinder flows to the hydraulic cavity of the pedal feel simulator through the reversing valve and acts on the simulator piston to push the simulator piston to move towards the bottom of the simulator cylinder body. When the pedal displacement is small, the simulator return spring generates pedal reaction force; with the increase of pedal displacement, the simulator piston continues to move until the simulator rubber spring is contacted with the bottom of the simulator cylinder body, and the simulator rubber spring and the simulator return spring are connected in parallel to jointly provide pedal reaction force.
To meet the brake pedal feel requirements of different types of drivers, this can be achieved by the adjustment of the steering valve by the electronic control unit ECU. When the reversing valve is switched to the right position, the first hydraulic cavity of the secondary main cylinder is communicated with the liquid storage tank, brake liquid of the first hydraulic cavity flows into the liquid storage tank through the reversing valve, at the moment, the pedal feel simulator does not provide simulated pedal force, the pedal force is provided by the return spring in the secondary main cylinder, and therefore under the condition of equal pedal displacement, generated pedal counter force is reduced. The electronic control unit ECU controls the switching of the reversing valve between the left position and the right position, so that the pedal counter force is adjusted, and drivers of different driving styles can be matched.
The control process of the brake cylinder pressure:
in the braking system, four pressure increasing valves and four pressure reducing valves are all switching valves, and only the switching valves are in an opening state and a closing state, so that a linear pressure regulating valve is connected into a common pipeline of each braking wheel cylinder which flows back into a liquid storage tank through the corresponding pressure reducing valve for realizing pressure control. The electronic control unit ECU receives signals of the pedal stroke sensor and the hydraulic pressure sensor, and controls the opening of the linear pressure regulating valve according to the actual needs of the system through analysis and decision, so that accurate control of pressure is realized.
2. Active braking:
since the brake system pedal of the present invention is completely decoupled, a braking operation can be performed independently of the pedal force of the driver. Taking the emergency braking of the automobile as an example, when the front of the automobile encounters an emergency, an electronic control unit ECU of the braking system sends a control signal to a rotating motor through decision judgment, and a master cylinder driving device enables a master cylinder to quickly build pressure. At the moment, four pressure-increasing valves in the braking system are all powered off and opened, four pressure-reducing valves are all powered off and closed, and brake fluid enters a brake wheel cylinder from a brake master cylinder to build pressure.
3. Failure backup:
when an ECU of the braking system fails, the normally closed electromagnetic valve is closed, the normally open electromagnetic valve is opened, the reversing valve is positioned at the left position, the four pressure increasing valves are opened, and the four pressure reducing valves are closed. When a driver presses a brake pedal, brake fluid in a first hydraulic cavity of a secondary main cylinder flows into a pedal feel simulator through a reversing valve, and brake fluid in a second hydraulic cavity of the secondary main cylinder flows into a brake wheel cylinder, so that wheels obtain enough braking force, and a failure backup function is realized.
The invention has the beneficial effects that:
1. the invention realizes the complete decoupling of the brake pedal and the brake wheel cylinder, combines the pedal feel simulator with adjustable pedal force, can simulate various complex pedal force, and matches drivers with different driving styles by adjusting pedal feel.
2. The invention adds the pedal travel sensor and the hydraulic pressure sensor, can realize identification of the braking intention of a driver and accurate control of the pressure, and can further accurately adjust the hydraulic pressure of the brake wheel cylinder.
3. The invention has a failure backup function, namely, when the power is cut off or the ECU fails, hydraulic braking force can be provided for the brake cylinder through the traditional mechanical pressure building mode of the secondary master cylinder.
4. The structure of the invention meets the light design requirement, has low requirement on working environment conditions and stronger adaptability, can realize the conventional braking function, and can integrate ABS, TCS, ESP, AEB and other functions.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a brake master cylinder according to the present invention;
FIG. 3 is a schematic diagram of a secondary master cylinder of the present invention;
FIG. 4 is a schematic view of a pedal feel simulator of the present invention;
FIG. 5 is a schematic view of a master cylinder driving apparatus according to the present invention;
1. the brake master cylinder 2, the master cylinder driving device 3, the brake wheel cylinder 4, the reservoir 5, the secondary master cylinder 6, the pedal rod 7, the pedal feel simulator 8, the electronic control unit ECU 9, the master cylinder rod 10, the master cylinder piston 11, the master cylinder return spring 12, the master cylinder hydraulic chamber 13, the pressure increasing valve 14, the pressure reducing valve 15, the first piston 16, the second piston 17, the first hydraulic chamber 18, the second hydraulic chamber 19, the brake pedal 20, the normally closed solenoid valve 21, the normally open solenoid valve 22, the hydraulic pressure sensor 23, the pedal stroke sensor 24, the simulator piston 25, the hydraulic chamber 26, the spring chamber 27, the simulator return spring 28, the simulator rubber spring 29, the check valve 30, the reversing valve 31, the rotating electric machine 32, the pinion 33, the large gear 34, the crank 35, the link 36, the slider 37, the linear pressure regulating valve.
Detailed Description
Please refer to fig. 1-5:
the invention provides a brake-by-wire system with controllable simulated pedal feel, which specifically comprises a brake master cylinder 1, a master cylinder driving device 2, a brake wheel cylinder 3, a liquid storage tank 4, a secondary master cylinder 5, a pedal push rod 6, a pedal feel simulator 7 and an electric control unit ECU8, wherein the brake master cylinder 1 comprises a master cylinder push rod 9, a master cylinder piston 10 and a master cylinder return spring 11, a master cylinder hydraulic cavity 12 is formed between the master cylinder piston 10 and a cylinder body, and the master cylinder return spring 11 is arranged in the master cylinder hydraulic cavity 12 to provide resilience force for the master cylinder piston 10; the main cylinder driving device 2 is connected with a main cylinder push rod 9, and the main cylinder push rod 9 passes through the front end of the cylinder body and is connected with a main cylinder piston 10 to push the main cylinder piston 10 to build pressure in a main cylinder hydraulic cavity 12; the master cylinder hydraulic cavity 12 is connected with each brake wheel cylinder 3 through a pipeline provided with a pressure increasing valve 13 respectively, and each brake wheel cylinder 3 is connected with the liquid storage tank 4 through a pipeline provided with a pressure reducing valve 14 respectively; a first piston 15 and a second piston 16 are sequentially arranged in the secondary main cylinder 5, a first hydraulic cavity 17 and a second hydraulic cavity 18 are sequentially formed between the first piston 15, the second piston 16 and the bottom of the cylinder body, return springs are arranged in the first hydraulic cavity 17 and the second hydraulic cavity 18, a brake pedal 19 is connected with a pedal push rod 6, the pedal push rod 6 penetrates through the front end of the secondary main cylinder 5 to be connected with the first piston 15, the first hydraulic cavity 17 of the secondary main cylinder 5 is connected with a hydraulic cavity 25 of the pedal feel simulator 7 through a pipeline, the second hydraulic cavity 18 of the secondary main cylinder 5 is respectively connected with a liquid storage tank 4 through a pipeline provided with a normally closed electromagnetic valve 20, and the second hydraulic cavity 18 is connected with a liquid inlet of a pressure increasing valve 13 of the brake cylinder 3 through a pipeline provided with a normally open electromagnetic valve 21; the electronic control unit ECU8 is connected with the pressure increasing valve 13, the pressure reducing valve 14, the normally closed electromagnetic valve 20, and the normally open electromagnetic valve 21, respectively.
The pressure increasing valve 13 is a normally open type electromagnetic valve, and the pressure reducing valve 14 is a normally closed type electromagnetic valve.
The invention also comprises a hydraulic pressure sensor 22 and a pedal travel sensor 23, wherein the hydraulic pressure sensor 22 is connected with the liquid outlet of the main cylinder hydraulic cavity 12 and the pressure increasing valve 13 of each brake wheel cylinder 3, and is used for measuring the liquid pressure of the liquid outlet of the main cylinder hydraulic cavity 12 and the liquid pressure of each brake wheel cylinder 3; the pedal stroke sensor 23 is arranged on the pedal push rod 6 and detects displacement data of the pedal push rod 6; the hydraulic pressure sensor 22 and the pedal stroke sensor 23 are respectively connected to the electronic control unit ECU8, and transmit data to the electronic control unit ECU8 in real time.
The pedal feel simulator 7 is divided into a hydraulic chamber 25 and a spring chamber 26 by a simulator piston 24, a simulator return spring 27 and a simulator rubber spring 28 are arranged in the spring chamber 26, the simulator return spring 27 is connected between the simulator piston 24 and the bottom of the simulator cylinder, and the simulator rubber spring 28 is positioned inside the simulator return spring 27 and one end of the simulator rubber spring is fixed on the simulator piston 24.
A one-way valve 29 is arranged on a pipeline between the first hydraulic cavity 17 of the secondary main cylinder 5 and the pedal feel simulator 7, namely, the hydraulic cavity 25 of the pedal feel simulator 7 is communicated with the first hydraulic cavity 17 of the secondary main cylinder 5, and when the first piston 15 of the secondary main cylinder 5 is reset, brake fluid in the hydraulic cavity 25 of the pedal feel simulator 7 flows through the one-way valve 29 to return to the first hydraulic cavity 17 of the secondary main cylinder 5; a reversing valve 30 is arranged in parallel with the one-way valve 29, the reversing valve 30 is a two-position five-way electromagnetic valve, a liquid inlet is connected with the first hydraulic cavity 17 of the secondary main cylinder 5 through a pipeline, the reversing valve 30 is positioned at the left position when power is off, so that the left liquid outlet is in a normally open state, the reversing valve 30 is positioned at the right position when power is on, and the right liquid outlet is in a normally closed state and is connected with the liquid storage tank 4; the reversing valve 30 is connected with the electronic control unit ECU8 through a circuit, and the reversing valve is controlled by the electronic control unit ECU8.
The liquid storage tank 4 is respectively connected with liquid inlets of the main cylinder hydraulic cavity 12 of the brake main cylinder 1, the first hydraulic cavity 17 of the secondary main cylinder 5 and the second hydraulic cavity 18 through pipelines, and supplements brake liquid in the main cylinder hydraulic cavity 12, the first hydraulic cavity 17 and the second hydraulic cavity 18.
The master cylinder driving device 2 comprises a rotating motor 31, a pinion 32, a large gear 33, a crank 34, a connecting rod 35 and a sliding block 36, wherein an output shaft of the rotating motor 31 is coaxially arranged with the pinion 32, the large gear 33 is meshed with the pinion 32 to form a primary speed reduction and torque increase mechanism, one end of the crank 34 is fixed at the center of the large gear 33, the crank is radially arranged along the large gear 33, the other end of the crank is hinged with the connecting rod 35, the other end of the connecting rod 35 is hinged with the sliding block 36, the sliding block 36 is connected with a master cylinder push rod 9 of the brake master cylinder 1, and the sliding block 36 is arranged in a slideway and moves horizontally in the slideway; the rotating motor 31 is connected with the electronic control unit ECU8, and the electronic control unit ECU8 sends a control signal to control the rotation of the rotating motor.
A linear pressure regulating valve 37 is further arranged on a pipeline between the pressure reducing valve 14 of the brake cylinder 3 and the liquid storage tank 4, the linear pressure regulating valve 37 is a normally open type electromagnetic valve with an adjustable duty ratio, and is connected with the electronic control unit ECU8 through a circuit, and the opening degree is controlled and regulated through the electronic control unit ECU8.
The connection mode of the electronic control unit ECU8 and each electromagnetic valve and each sensor is line connection.
The working principle of the invention is as follows:
1. conventional braking:
when a driver presses a brake pedal 19, the electric control unit ECU8 controls the normally closed electromagnetic valve 20 to be electrified and opened, the normally open electromagnetic valve 21 is electrified and closed, the reversing valve 30 is at the left position and is communicated with the pedal feel simulator 7, the pedal push rod 6 pushes the first piston 15 of the secondary master cylinder 5 to start to move, and then the second piston 16 is pushed to move through the return spring, the normally open electromagnetic valve 21 is closed, the brake fluid flowing out of the second hydraulic cavity 18 of the secondary master cylinder 5 always closes the electromagnetic valve 20 and flows back to the liquid storage tank 4, the brake fluid of the first hydraulic cavity 17 of the secondary master cylinder 5 flows into the pedal feel simulator 7 through the reversing valve 30, and at the moment, the two hydraulic cavities of the secondary master cylinder 5 do not build pressure.
On the other hand, the pedal travel sensor 23 obtains pedal displacement information and transmits the information to the electronic control unit ECU8, the electronic control unit ECU8 calculates total braking force requirements after receiving the signals, then the electronic control unit ECU8 obtains required hydraulic braking force according to the working characteristics of the master cylinder driving device 2, the electronic control unit ECU8 sends control signals to the rotating motor 31 to drive the rotating motor to rotate, the rotating motor 31 drives the master cylinder piston 10 to move through the primary speed reduction and torque increase mechanism, the crank connecting rod structure, the sliding block 36 and the master cylinder push rod 9, the master cylinder piston 10 builds pressure in the master cylinder hydraulic cavity 12, and brake fluid of the master cylinder hydraulic cavity 12 transmits braking force to each brake cylinder 3 through a hydraulic pipeline.
Conventional braking can be divided into three processes of pressurization, pressure maintaining and depressurization.
a) Supercharging process
When a driver presses the brake pedal 19, the normally closed electromagnetic valve 20 is opened, the normally open electromagnetic valve 21 is closed, and the reversing valve 30 is positioned at the left position; the four pressure-increasing valves 13 connected with each brake cylinder 3 are all switched on in a power-off mode, the four pressure-reducing valves 14 are all switched off in a power-off mode, and brake fluid enters the brake cylinders 3 from the master cylinder hydraulic cavity 12 of the brake master cylinder 1 to build pressure.
b) Pressure maintaining process
When the electronic control unit ECU8 decides that the braking system needs to be pressure-maintaining, the four pressure-increasing valves 13 are all electrified and closed, the four pressure-reducing valves 14 are all powered off and closed, at the moment, the brake fluid in the brake wheel cylinder 3 and the brake pipeline are in an isolated state, and the brake pressure in the brake wheel cylinder 3 is kept unchanged.
c) Pressure reduction process
When the driver releases the brake pedal 19 or the control strategy decides that the pressure of the brake wheel cylinder 3 needs to be reduced, the electronic control unit ECU8 controls the four pressure increasing valves 13 to be powered on and the four pressure reducing valves 14 to be powered on, at the moment, brake fluid in the brake wheel cylinder 3 flows back to the fluid reservoir 4 through the pipeline of the pressure reducing valve 14, and the pressure of the brake wheel cylinder 3 is reduced to complete the pressure reducing process.
The pedal feel simulator 7 simulates the process of pedal force:
in the conventional braking process, the pedal is completely decoupled, i.e., the driver is only responsible for giving the target braking pressure, while the actual boosting process is completed by the control unit ECU8 controlling the master cylinder driving device 2 and the brake master cylinder 1 and the respective solenoid valves, the pedal feel simulator 7 provides the same pedal feel as the conventional braking system to the driver according to the conventional braking system pedal force and pedal displacement curve.
In the process, the normally closed electromagnetic valve 20 is opened, the normally open electromagnetic valve 21 is closed, the reversing valve 30 is at the left position, and when a driver presses the brake pedal 19, brake fluid in the first hydraulic chamber 17 of the secondary master cylinder 5 flows to the hydraulic chamber of the pedal feel simulator 7 through the reversing valve 30 and acts on the simulator piston 24 to push the simulator piston 24 to move towards the bottom of the simulator cylinder. When the pedal displacement is small, pedal reaction force is generated by the simulator return spring 27; with the increase of the pedal displacement, the simulator piston 24 continues to move until the simulator rubber spring 28 contacts with the bottom of the simulator cylinder, and the simulator rubber spring 28 and the simulator return spring 27 are connected in parallel to jointly provide pedal reaction force, so that the nonlinear relation between the pedal displacement and the pedal force when the pedal displacement is larger can be met due to the fact that the simulator rubber spring 28 has nonlinear elastic force, and the pedal feeling of a driver can be better simulated.
To meet the perceived demands of the brake pedal 19 of different types of drivers, this can be achieved by the adjustment of the reversing valve 30 by the electronic control unit ECU8. When the directional valve 30 is shifted to the right position, the first hydraulic chamber 17 of the secondary master cylinder 5 is communicated with the reservoir tank 4, and the brake fluid of the first hydraulic chamber 17 flows into the reservoir tank 4 through the directional valve 30, at this time, the pedal feel simulator 7 does not provide a simulated pedal force, which is provided by the return spring in the secondary master cylinder 5, so that the generated pedal reaction force becomes small at the same pedal displacement. The electronic control unit ECU8 controls the switching of the direction valve 30 between the left position and the right position, so that the adjustment of the pedal reaction force is realized, and drivers of different driving styles can be matched.
The control process of the brake cylinder pressure:
in the braking system of the invention, the four pressure increasing valves 13 and the four pressure reducing valves 14 are all on-off valves, and only are in an on-off state, so that in order to realize the control of pressure, a linear pressure regulating valve 37 is connected into a common pipeline of each brake cylinder 3 flowing into the liquid storage tank 4 through the corresponding pressure reducing valve 14. The electronic control unit ECU8 receives signals of the pedal stroke sensor 23 and the hydraulic pressure sensor 22, controls the opening of the linear pressure regulating valve 37 according to the actual needs of the system through analysis and decision, namely controls the flow of brake fluid flowing back to the liquid storage tank 4 from the brake wheel cylinder 3, and further realizes accurate control of pressure.
2. Active braking:
since the brake system pedal of the present invention is completely decoupled, a braking operation can be performed independently of the pedal force of the driver. Taking the emergency braking of the automobile as an example, when the front of the automobile encounters an emergency, the electronic control unit ECU8 of the braking system sends a control signal to the rotating motor 31 through decision judgment, and the master cylinder 1 is quickly pressurized through the master cylinder driving device 2. At this time, the four pressure-increasing valves 13 in the braking system are all powered off and opened, the four pressure-reducing valves 14 are all powered off and closed, and brake fluid enters the brake cylinder 3 from the brake master cylinder 1 to build pressure.
3. Failure backup:
when the brake system is powered off or the electronic control unit ECU8 fails, the normally closed electromagnetic valve 20 is powered off and closed, the normally open electromagnetic valve 21 is powered off and opened, the reversing valve 30 is positioned at the left position, the four pressure increasing valves 13 are powered off and opened, and the four pressure reducing valves 14 are powered off and closed. When the driver presses the brake pedal 19, the brake fluid in the first hydraulic chamber 17 of the secondary master cylinder 5 flows into the pedal feel simulator 7 through the reversing valve 30, and the brake fluid in the second hydraulic chamber 18 of the secondary master cylinder 5 flows into the brake cylinder 3, so that the wheels obtain enough braking force, and the failure backup function is realized.
Claims (4)
1. A brake-by-wire system with controllable feel simulating a pedal, characterized by: the brake system comprises a brake master cylinder, a master cylinder driving device, a brake wheel cylinder, a liquid storage tank, a secondary master cylinder, a pedal push rod, a pedal feel simulator and an electric control unit ECU, wherein the brake master cylinder comprises a master cylinder push rod, a master cylinder piston and a master cylinder return spring, a master cylinder hydraulic cavity is formed between the master cylinder piston and a cylinder body, and the master cylinder return spring is arranged in the master cylinder hydraulic cavity; the main cylinder driving device is connected with the main cylinder push rod and can push the main cylinder piston to build pressure in the main cylinder hydraulic cavity; the master cylinder hydraulic cavity is connected with a brake wheel cylinder through a pipeline, and the brake wheel cylinder is connected with a liquid storage tank through a pipeline; a first piston and a second piston are sequentially arranged in the secondary main cylinder, a first hydraulic cavity and a second hydraulic cavity are sequentially formed between the first piston, the second piston and the bottom of the cylinder body, return springs are arranged in the first hydraulic cavity and the second hydraulic cavity, a pedal push rod penetrates through the front end of the secondary main cylinder to be connected with the first piston, the first hydraulic cavity of the secondary main cylinder is connected with a pedal feel simulator through a pipeline, the second hydraulic cavity of the secondary main cylinder is respectively connected with a liquid storage tank through a pipeline provided with a normally closed electromagnetic valve, and the second hydraulic cavity of the secondary main cylinder is connected with a brake wheel cylinder through a pipeline provided with a normally open electromagnetic valve; the electronic control unit ECU is respectively connected with the normally closed electromagnetic valve and the normally open electromagnetic valve;
the pedal feel simulator is internally divided into a hydraulic cavity and a spring cavity by a simulator piston, and a first hydraulic cavity of a secondary main cylinder is connected with the hydraulic cavity of the pedal feel simulator through a pipeline; the spring cavity is internally provided with a simulator return spring and a simulator rubber spring, the simulator return spring is connected between the simulator piston and the bottom of the simulator cylinder body, the simulator rubber spring is positioned at the inner side of the simulator return spring, and one end of the simulator rubber spring is fixed on the simulator piston; the simulator rubber spring has nonlinear elasticity;
the hydraulic pressure sensor is connected with each pressure increasing valve of the master cylinder hydraulic cavity and the brake wheel cylinders, and measures the hydraulic pressure of the liquid outlet of the master cylinder hydraulic cavity and the hydraulic pressure of each brake wheel cylinder; the pedal stroke sensor is arranged on the pedal push rod and detects displacement data of the pedal push rod; the hydraulic pressure sensor and the pedal stroke sensor are respectively connected with the electronic control unit ECU, and data are transmitted to the electronic control unit ECU in real time;
a one-way valve is arranged on a pipeline between the first hydraulic cavity of the secondary main cylinder and the pedal feel simulator, and when the first piston of the secondary main cylinder is reset, brake fluid in the hydraulic cavity of the pedal feel simulator flows through the one-way valve to return to the first hydraulic cavity of the secondary main cylinder; the reversing valve is a two-position five-way electromagnetic valve, the liquid inlet is connected with the first hydraulic cavity of the secondary main cylinder through a pipeline, the left liquid outlet is in a normally open state and is connected with the hydraulic cavity of the pedal feel simulator, and the right liquid outlet is in a normally closed state and is connected with the liquid storage tank; the reversing valve is connected with the electronic control unit ECU through a circuit, and the reversing valve is controlled by the electronic control unit ECU;
the master cylinder driving device comprises a rotating motor, a pinion, a large gear, a crank, a connecting rod and a sliding block, wherein an output shaft of the rotating motor is coaxially arranged with the pinion, the large gear is meshed with the pinion, one end of the crank is fixed at the center of the large gear and is radially arranged along the large gear, the other end of the crank is hinged with the connecting rod, the other end of the connecting rod is hinged with the sliding block, the sliding block is connected with a master cylinder push rod of the brake master cylinder, the sliding block is arranged in a sliding way and translates in the sliding way; the rotating motor is connected with the electronic control unit ECU, and the electronic control unit ECU sends a control signal to control the rotation of the rotating motor;
pedal feel simulator simulates the pedal force process:
in the conventional braking process, the pedal is completely decoupled, a driver gives a target braking pressure, and the actual boosting process is completed by controlling a master cylinder driving device, a brake master cylinder and all electromagnetic valves by an electronic control unit ECU;
in the process, the normally closed electromagnetic valve is opened, the normally open electromagnetic valve is closed, the reversing valve is positioned at the left position, and when a driver presses a brake pedal, brake fluid in a first hydraulic cavity of the secondary main cylinder flows to a hydraulic cavity of the pedal feel simulator through the reversing valve and acts on the simulator piston to push the simulator piston to move towards the bottom of the simulator cylinder body; when the pedal displacement is small, the simulator return spring generates pedal reaction force; the simulator piston continues to move along with the increase of the pedal displacement until the simulator rubber spring is contacted with the bottom of the simulator cylinder body, and the simulator rubber spring and the simulator return spring are connected in parallel to jointly provide pedal reaction force;
when the reversing valve is switched to the right position, the first hydraulic cavity of the secondary main cylinder is communicated with the liquid storage tank, brake liquid of the first hydraulic cavity flows into the liquid storage tank through the reversing valve, at the moment, the pedal feel simulator does not provide simulated pedal force, the pedal force is provided by the return spring in the secondary main cylinder, and therefore under the condition of equal pedal displacement, generated pedal counter force is reduced.
2. A simulated pedal feel controllable brake-by-wire system as claimed in claim 1 wherein: a pressure increasing valve is arranged on a pipeline between the master cylinder hydraulic cavity and the brake wheel cylinder, and a pressure reducing valve is arranged on a pipeline between the brake wheel cylinder and the liquid storage tank; the pressure increasing valve is a normally open type electromagnetic valve, and the pressure reducing valve is a normally closed type electromagnetic valve; the pressure increasing valve and the pressure reducing valve are respectively connected with the electronic control unit ECU.
3. A simulated pedal feel controllable brake-by-wire system as claimed in claim 1 wherein: the liquid storage tank is respectively connected with liquid inlets of a main cylinder hydraulic cavity of the brake main cylinder, a first hydraulic cavity of the secondary main cylinder and a second hydraulic cavity through pipelines, and is used for replenishing brake liquid into the main cylinder hydraulic cavity, the first hydraulic cavity and the second hydraulic cavity.
4. A simulated pedal feel controllable brake-by-wire system as claimed in claim 1 wherein: the brake cylinder is characterized in that a linear pressure regulating valve is further arranged on a pipeline between the pressure reducing valve of the brake cylinder and the liquid storage tank, the linear pressure regulating valve is a normally open type electromagnetic valve with an adjustable duty ratio, and is connected with an electronic control unit ECU through a circuit, and the opening degree is controlled and regulated through the electronic control unit ECU.
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| WO2023272667A1 (en) * | 2021-06-30 | 2023-01-05 | 华为技术有限公司 | Brake-by-wire system and control method |
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