CN113389828A - Structure of commercial vehicle electronic mechanical brake and gap regulation and control device and method - Google Patents
Structure of commercial vehicle electronic mechanical brake and gap regulation and control device and method Download PDFInfo
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- CN113389828A CN113389828A CN202110659648.XA CN202110659648A CN113389828A CN 113389828 A CN113389828 A CN 113389828A CN 202110659648 A CN202110659648 A CN 202110659648A CN 113389828 A CN113389828 A CN 113389828A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/38—Slack adjusters
- F16D65/40—Slack adjusters mechanical
- F16D65/52—Slack adjusters mechanical self-acting in one direction for adjusting excessive play
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/38—Slack adjusters
- F16D65/40—Slack adjusters mechanical
- F16D65/52—Slack adjusters mechanical self-acting in one direction for adjusting excessive play
- F16D65/56—Slack adjusters mechanical self-acting in one direction for adjusting excessive play with screw-thread and nut
- F16D65/567—Slack adjusters mechanical self-acting in one direction for adjusting excessive play with screw-thread and nut for mounting on a disc brake
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/38—Slack adjusters
- F16D2065/386—Slack adjusters driven electrically
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a structure of a commercial vehicle electronic mechanical brake, a gap regulation and control device and a method, which mainly comprise the following steps: the brake comprises a brushless direct current torque motor, a three-stage planetary gear speed reducing and torque increasing mechanism driven by the torque motor, a transmission bolt in splined connection with the three-stage planetary gear speed reducing and torque increasing mechanism, a threaded roller in threaded connection with the transmission bolt, a sleeve in threaded connection with the threaded roller, brake blocks attached to the sleeve and an inlay respectively, friction plates fixed on the brake blocks, a guide pin fixed in the middle of the inlay, and a brake disc positioned between the two brake blocks. The invention discloses a clearance adjusting and controlling method of an electronic mechanical brake, which comprises the following steps: the contact and separation critical points of a brake friction plate and a brake disc are respectively identified by using the change signals of the brake clamping force and the current, and a brake clearance control strategy based on a three-closed-loop PID control system of a motor is adopted, so that the problems of overstaffed mechanism and increased cost caused by adopting excessive sensors are solved; and the structure is simplified, the size is reduced, and the installation space is saved.
Description
Technical Field
The invention belongs to the technical field of vehicle brake safety, relates to an automobile drive-by-wire chassis and a drive-by-wire brake technology, and particularly relates to a structure of a commercial vehicle electronic mechanical brake, a gap regulating and controlling device and a gap regulating and controlling method.
Background
With the gradual maturity of automobile intelligent technology, people put forward higher requirements on the safety and comfort of automobiles. The automobile service braking technology is also continuously developed and perfected as a main factor influencing the automobile driving safety. The electromechanical brake, as one of the brake-by-wire systems, has the advantages of simple structure, small size, fast response speed, high control precision, energy conservation, environmental protection and the like, and thus is receiving more and more attention. Compared with the traditional hydraulic mechanical braking system, the hydraulic braking system has the advantages that a complex hydraulic actuating mechanism is omitted, the motor is used as a power source, the structure is simplified, the installation space is saved, and the control precision is high.
Braking of commercial vehicles is a much more severe process than the braking environment of passenger vehicles. The braking process is a high-torque, high-temperature and high-pressure sliding grinding process, which is easy to oxidize the surface of a brake friction plate to generate abrasion, so that the brake clearance is increased, and the driving safety is seriously influenced. To solve this problem, the following three schemes are mainly adopted at present: (1) by adopting the speed reducing and torque increasing mechanism with larger carrying capacity, the size of the speed reducing and torque increasing mechanism is inevitably increased. (2) And a mechanical automatic adjusting mechanism is added to complete the automatic adjustment of the brake clearance. Such as wedge type clearance self-adjusting devices, piston rubber sealing rings, etc. (3) The structure of the brake is improved, different sensors are arranged at different positions in the brake to detect the change of related parameters, then corresponding parameter signals are transmitted to a central control unit (ECU), and a torque motor is controlled by the central control unit to ensure the braking gap. Such as displacement sensors, pressure sensors, etc.
By adopting the scheme (1), although the bearing capacity of the brake can be increased, the size of the brake is increased when the deceleration and torque-increasing mechanism is too large. In the scheme (2), the additional mechanical auxiliary mechanism is added, so that the brake is bulky in structure and large in installation space. The solution (3) causes problems such as complicated structure and increased cost due to the addition of too many sensors at different positions in the brake.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a structure of an electronic mechanical brake of a commercial vehicle and a clearance adjusting and controlling method, which comprises the following steps: the motion conversion mechanism of the electronic mechanical brake adopts the transmission bolt and the threaded roller, can bear larger torque generated when the commercial vehicle brakes, has smaller size compared with a ball screw pair, and improves the stability of the braking performance of the electronic mechanical brake. The problems of bending deformation and overlarge installation space caused by the fact that the motion conversion mechanism adopts the ball screw assembly are solved. In addition, in the clearance regulation and control, the contact critical point of the brake friction plate and the brake disc is identified by using the change signal of the brake clamping force, and the separation critical point of the brake friction plate and the brake disc is identified by using the change characteristic of the current. The problems of high cost, large installation space and complex structure of the braking system caused by adding too many sensors are solved.
The technical scheme adopted by the invention is as follows:
a structure and clearance regulation and control device of a commercial vehicle electronic mechanical brake comprises a torque motor (1), a three-level planetary gear speed-reducing and torque-increasing mechanism (2) connected with the torque motor (1), a transmission bolt (18) in splined connection with the three-level planetary gear speed-reducing and torque-increasing mechanism (2), a threaded roller (17) in threaded connection with the transmission bolt, a sleeve (16) in threaded connection with the threaded roller, a first brake block (15) and a second brake block (13) which are respectively attached to the sleeve (16) and an inlay (12), a first friction plate (10) and a second friction plate (11) which are respectively fixed on the first brake block (15) and the second brake block (13), a guide pin (9) fixed in the middle of the inlay, and a brake disc (14) positioned between the two brake blocks;
and (3) braking process: the torque motor (1) positively rotates to drive the three-stage planetary gear speed-reducing and torque-increasing mechanism (2), the three-stage planetary gear speed-reducing and torque-increasing mechanism (2) converts the rotary motion into the axial movement of the sleeve (16) through the transmission bolt (18) and the threaded roller (17), and drives the first friction plate (10) and the second friction plate (11) to axially move to press the brake disc (14).
And (3) a release process: the torque motor (1) reversely rotates to drive the three-stage planetary gear speed reduction and torque increase mechanism (2), the three-stage planetary gear speed reduction and torque increase mechanism (2) converts the rotary motion into the axial reverse movement of the sleeve (16) through the transmission bolt (18) and the threaded roller (17), and drives the first friction plate (10) and the second friction plate (11) to release the brake disc (14).
Further, the three-level planetary gear speed reduction and torque increase mechanism (2) comprises a first-level planetary gear (24), a first-level gear ring (3), a first-level sun gear (23), a first-level planet carrier (4), a second-level planetary gear (22), a second-level gear ring (5), a second-level sun gear (21), a second-level planet carrier (7), a third-level planetary gear (20), a third-level gear ring (6), a third-level sun gear (19) and a third-level planet carrier (8); the torque motor (1) drives a primary sun gear (23) to rotate, the primary sun gear (23) drives a primary planet gear (24) to rotate along a primary gear ring (3) through gear transmission and transmits motion to a secondary sun gear (21), the secondary sun gear (21) drives a secondary planet gear (22) to rotate along a secondary gear ring (5) through gear transmission and transmits motion to a tertiary sun gear (19) through a tertiary planet gear (20) and transmits motion to a tertiary planet carrier (20) along a tertiary gear ring (6); the three-stage planet carrier drives a transmission bolt (18) and a thread roller (17) to convert the rotary motion into the axial movement of the sleeve (16).
A structure of an electronic mechanical brake of a commercial vehicle and a clearance regulation and control method comprise the following steps:
s1, firstly, setting PID three closed loop control parameters to meet the following four requirements:
[1] the pressure control loop should ensure that the brake pressure overshoot is less than 5%.
[2] The speed control loop should ensure that the motor current remains saturated during start-up to speed up the elimination of brake backlash.
[3] The current control loop should ensure that the overshoot of the motor current is less than 4%.
[4] The time for ensuring the brake to eliminate the brake clearance is less than 0.1 second.
S2, when the driver sends a braking command, the braking signal is transmitted to a central control unit (ECU) of the electronic mechanical brake, the central control unit sends a braking command to a motor controller, and the motor controller applies positive voltage to a torque motor (1) to drive the torque motor to rotate positively;
s3, the motor rotates positively to drive the three-stage planetary gear speed reducing and torque increasing mechanism (2) to reduce and increase torque, and then the rotary motion is converted into the axial movement of the sleeve (16) through the transmission bolt (18) and the thread roller (17);
s4, the transmission bolt (18) drives the threaded roller (17) through thread transmission, the threaded roller (17) drives the sleeve to move axially through the thread transmission with the sleeve (16), and therefore the first brake block (15) and the second brake block (13) are pushed to press the brake disc (14) to eliminate brake clearance;
s5, in the process of eliminating the brake clearance: under the action of three closed loop PID control, the rotating speed of the motor is rapidly increased to the maximum value to eliminate the brake clearance, when the first friction plate (10) and the second friction plate (11) are in contact with the brake disc (14), the elimination of the brake clearance is just finished, and the clamping force of the brake disc begins to be generated. The electronic mechanical brake reads the brake clamping force through a pressure sensor;
s6, when the generation of the braking clamping force is detected, the contact critical point of the brake friction plate and the brake disc (14) is considered to be reached, namely the elimination of the braking clearance is just completed, and then the braking force following stage is started;
s7 braking force following stage: under the action of a PID three closed-loop control system, the rotating speed of a motor is sharply reduced to zero, the clamping force of a brake disc quickly reaches the maximum value until the braking purpose is finished, and then a braking gap generation stage is started;
s8, in the stage of generating the braking clearance, the central control unit of the electronic mechanical brake applies reverse voltage to the torque motor through the motor controller, the torque motor is driven to rotate reversely, the braking friction plate and the braking disc (14) start to separate, and the current of the motor is reduced continuously; the electronic mechanical brake controller transmits current change data of the torque motor through the current sensor;
and S9, when the controller of the electronic mechanical brake detects that the change rate of the current becomes zero for the first time, the brake friction plate and the brake disc (14) are considered to reach a separation critical point.
Furthermore, a pressure sensor, a current sensor and a time delay device are arranged in the electronic mechanical brake controller.
The invention has the beneficial effects that:
according to the structure of the electronic mechanical brake of the commercial vehicle and the clearance regulation and control method, the motion conversion mechanism of the electronic mechanical brake adopts the transmission bolt and the threaded roller, so that the larger torque generated in the braking process of the commercial vehicle can be borne, and the stability of the braking performance of the electronic mechanical brake is improved. The problems that the existing movement conversion mechanism of the electronic mechanical brake adopts a ball screw pair, the braking is invalid and the installation space is too large due to bending deformation are solved. In the clearance regulation strategy, the change signal of the brake clamping force is used for identifying the contact critical point of the brake friction plate and the brake disc, and the change characteristic of the current is used for identifying the separation critical point of the brake friction plate and the brake disc. Compared with the prior art, the problems of overstaffed structure, increased installation space, increased cost and the like caused by too many sensors or mechanical assistance mechanisms installed on the electronic mechanical brake can be effectively solved.
The braking process of the commercial vehicle is a frequently-occurring high-temperature high-pressure sliding friction process, the braking environment of the commercial vehicle is worse than that of a passenger vehicle, and the surface of the brake friction plate is easily oxidized, so that the brake friction plate is abraded, and the braking gap is increased. The clearance regulating and controlling method of the electronic mechanical brake of the commercial vehicle can effectively shorten the response time of the brake, accurately ensure the braking clearance and improve the braking efficiency. In addition, a motion conversion mechanism commonly used for the electronic mechanical brake is a ball screw pair, and the ball screw pair is easy to deform under the working condition of frequently bearing large moment. Compared with a ball screw pair, the transmission bolt and the threaded roller are small in size and not easy to deform, the performance stability of the brake is improved, and the installation space of the electronic mechanical brake is saved.
Drawings
Fig. 1 is a front view of the electromechanical brake device.
FIG. 2 is a schematic top view of the electromechanical brake device.
FIG. 3 is a side view of the electromechanical brake device.
FIG. 4 is a functional block diagram of an electromechanical brake control system.
FIG. 5 is a schematic diagram of a clearance control process for the electromechanical brake.
Fig. 6 is a schematic diagram illustrating a process of identifying a critical point of contact by the brake clamping force.
Fig. 7 is a schematic diagram of a process for identifying separation critical points by motor current.
FIG. 8 is a schematic diagram of a PID three-closed-loop control strategy of the electromechanical brake.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 8, the invention relates to a structure of an electronic mechanical brake of a commercial vehicle and a clearance adjusting and controlling method thereof, wherein the clearance adjusting and controlling device of the electronic mechanical brake mainly comprises: the brake comprises a torque motor (1), a three-stage planetary gear speed-reducing and torque-increasing mechanism (2) connected with the torque motor (1), a transmission bolt (18) in spline connection with the three-stage planetary gear speed-reducing and torque-increasing mechanism (2), a threaded roller (17) in threaded connection with the transmission bolt, a sleeve (16) in threaded connection with the threaded roller, a first brake block (15) and a second brake block (13) which are respectively attached to the sleeve (16) and an inlay (12), a first friction plate (10) and a second friction plate (11) which are respectively fixed on the first brake block (15) and the second brake block (13), a guide pin (9) fixed in the middle of the inlay, and a brake disc (14) positioned between the two brake blocks;
when the planetary gear transmission mechanism works, the torque motor (1) drives the primary sun gear (23) to rotate, the primary sun gear (23) drives the primary planet gear (24) to rotate along the primary gear ring (3) through gear transmission and transmits motion to the secondary sun gear (21), the secondary sun gear (21) drives the secondary planet gear (22) to rotate along the secondary gear ring (5) through gear transmission and transmits motion to the tertiary sun gear (19) and transmits motion to the tertiary planet carrier (20) through the tertiary planet gear (20) along the tertiary gear ring (6); the three-stage planet carrier drives a transmission bolt (18) and a thread roller (17) to convert the rotary motion into the axial movement of the sleeve (16). The sleeve (16) and the first friction plate (10) move axially to eliminate the right brake gap and press the brake disc (14), the pressure on the brake disc is increased continuously, the brake disc (14) applies a reaction force to the whole brake through the first friction plate (10) to enable the brake to move rightwards along the guide pin (5) so as to drive the second friction plate (11) to eliminate the right brake gap and press the brake disc (14).
The control method comprises the following steps:
s1, firstly, setting PID three closed loop control parameters to meet the following four requirements:
[1] the pressure control loop should ensure that the brake pressure overshoot is less than 5%.
[2] The speed control loop should ensure that the motor current remains saturated during start-up to speed up the elimination of brake backlash.
[3] The current control loop should ensure that the overshoot of the motor current is less than 4%.
[4] The time for ensuring the brake to eliminate the brake clearance is less than 0.1 second.
S2, when the driver sends a braking command, the braking signal is transmitted to a central control unit (ECU) of the electronic mechanical brake, the central control unit sends a braking command to a motor controller, and the motor controller applies positive voltage to a torque motor (1) to drive the torque motor to rotate positively;
s3, the motor rotates positively to drive the three-stage planetary gear speed reducing and torque increasing mechanism (2) to reduce and increase torque, and then the rotary motion is converted into the axial movement of the sleeve (16) through the transmission bolt (18) and the thread roller (17);
s4, the transmission bolt (18) drives the threaded roller (17) through thread transmission, the threaded roller (17) drives the sleeve to move axially through the thread transmission with the sleeve (16), and therefore the first brake block (15) and the second brake block (13) are pushed to press the brake disc (14) to eliminate brake clearance;
s5, in the process of eliminating the brake clearance: under the action of three closed loop PID control, the rotating speed of the motor is rapidly increased to the maximum value to eliminate the brake clearance, when the first friction plate (10) and the second friction plate (11) are in contact with the brake disc (14), the elimination of the brake clearance is just finished, and the clamping force of the brake disc begins to be generated. The electronic mechanical brake reads the brake clamping force through a pressure sensor;
s6, when the generation of the braking clamping force is detected, the contact critical point of the brake friction plate and the brake disc (14) is considered to be reached, namely the elimination of the braking clearance is just completed, and then the braking force following stage is started;
s7 braking force following stage: under the action of a PID three closed-loop control system, the rotating speed of a motor is sharply reduced to zero, the clamping force of a brake disc quickly reaches the maximum value until the braking purpose is finished, and then a braking gap generation stage is started;
s8, in the stage of generating the braking clearance, the central control unit of the electronic mechanical brake applies reverse voltage to the torque motor through the motor controller, the torque motor is driven to rotate reversely, the braking friction plate and the braking disc (14) start to separate, and the current of the motor is reduced continuously; the electronic mechanical brake controller transmits current change data of the torque motor through the current sensor;
and S9, when the controller of the electronic mechanical brake detects that the change rate of the current becomes zero for the first time, the brake friction plate and the brake disc (14) are considered to reach a separation critical point.
And the electronic mechanical brake controller is internally provided with a pressure sensor, a current sensor and a time delayer.
The braking process of the electromechanical brake device is divided into three stages, namely a brake clearance eliminating stage, a brake force following stage and a brake clearance generating stage. The detailed process is as follows: in the stage of eliminating the brake clearance, a driver sends out a brake intention, a signal is transmitted to a torque motor controller through an electronic mechanical brake central control unit to apply a certain forward voltage to two ends of a torque motor (1), and the motor rapidly rotates forwards to eliminate the brake clearance under the action of a PID three-closed-loop control system. The motor rotates positively to drive a primary sun gear (23) of the three-level planetary gear speed-reducing and torque-increasing mechanism (2) to rotate, the primary sun gear (23) drives a primary planet gear (24) to rotate along a primary gear ring (3) through gear transmission and transmits the motion to a secondary sun gear (21), the secondary sun gear (21) drives a secondary planet gear (22) to rotate along a secondary gear ring (5) through gear transmission and transmits the motion to a third sun gear (19) through a third planet gear (20) and transmits the motion to a third planet carrier (8) along a third gear ring (6); the three-stage planet carrier drives a transmission bolt (18) and a thread roller (17) to convert the rotary motion into the axial movement of the sleeve (16). The sleeve (16) moves axially to drive the first friction plate (10) and the second friction plate (10) to move axially to eliminate the brake clearance, when the two friction plates are just pressed on the brake disc (14), the contact critical point is obtained, and the elimination of the brake clearance is completed, and then the brake force following stage is started. In the braking force following stage, the torque motor (1) continues to rotate to drive the three-stage planetary gear speed reduction and torque increase mechanism (2) to reduce the speed and increase the torque, and then the rotation motion is converted into the axial movement of the sleeve (16) through the transmission bolt (18) and the threaded roller (17) so as to deform the friction plate, and the clamping force between the friction plate and the brake disc is increased until the target clamping force is achieved. After the braking purpose is finished, the braking gap generation stage is entered. In the stage of generating the braking gap, a driver sends out an instruction, and a central control unit of the electronic mechanical brake transmits a signal to a torque motor controller to apply certain reverse voltage to the two ends of the motor (1). Under the action of a PID three-closed-loop control system, the motor rapidly rotates reversely to generate a braking gap. The torque motor (1) reversely rotates to drive the three-stage planetary gear speed reduction and torque increase mechanism (2), and then the rotary motion is converted into the axial reverse movement of the sleeve (16) through the transmission bolt (18) and the threaded roller (17), so that the deformation of the friction plate is gradually reduced, and the brake block is gradually far away from the brake disc. When the friction plate is not in contact with the brake disc right, namely the friction plate is a separation critical point, and finally the rotation of the motor is controlled through the time delay device so as to ensure a certain brake clearance.
FIG. 4 is a functional block diagram of an electromechanical brake control system. FIG. 5 is a schematic diagram of a clearance control process for the electromechanical brake. Fig. 6 is a schematic diagram illustrating a process of identifying a critical point of contact by the brake clamping force. Fig. 7 is a schematic diagram of a process for identifying separation critical points by motor current. FIG. 8 is a schematic diagram of a PID three-closed-loop control strategy of the electromechanical brake.
In summary, the structure of the electronic mechanical brake for the commercial vehicle and the gap adjusting and controlling method of the invention mainly include: the brake comprises a brushless direct current torque motor, a three-stage planetary gear speed reducing and torque increasing mechanism connected with the torque motor, a transmission bolt connected with a spline of the three-stage planetary gear speed reducing and torque increasing mechanism, a threaded roller in threaded connection with the transmission bolt, a sleeve in threaded connection with the threaded roller, brake blocks attached to the sleeve and an inlay respectively, friction plates fixed on the brake blocks, a guide pin fixed in the middle of the inlay, and a brake disc positioned between the two brake blocks.
The gap regulation and control method mainly comprises the following steps: the method comprises the following steps: when a driver sends a braking instruction, the central control unit of the electronic mechanical brake applies forward voltage to the torque motor through the motor controller, the motor rapidly rotates forward to eliminate the braking gap under the action of the PID three-closed-loop control system, and the braking force following stage is started after the braking gap is eliminated. Step two: after the electronic mechanical brake finishes the braking purpose in the braking force following stage, a central control unit of the electronic mechanical brake applies reverse voltage to the torque motor through a motor controller, and the motor rapidly rotates reversely to generate a braking gap under the action of a PID three-closed-loop control system. Step three: and controlling the motor to generate a certain brake clearance in the brake clearance generation stage. The clearance regulating and controlling method of the electronic mechanical brake utilizes the change signals of the braking clamping force and the current to respectively identify the contact and separation critical points of the braking friction plate and the braking disc, and solves the problems of increased cost, increased installation space, complex structure and the like caused by the addition of too many sensors.
Claims (4)
1. A structure and a clearance regulating device of a commercial vehicle electronic mechanical brake are characterized by comprising a torque motor (1), a three-level planetary gear speed-reducing and torque-increasing mechanism (2) connected with the torque motor (1), a transmission bolt (18) in splined connection with the three-level planetary gear speed-reducing and torque-increasing mechanism (2), a threaded roller (17) in threaded connection with the transmission bolt, a sleeve (16) in threaded connection with the threaded roller, a first brake block (15) and a second brake block (13) which are respectively attached to the sleeve (16) and an inlay (12), a first friction plate (10) and a second friction plate (11) which are respectively fixed on the first brake block (15) and the second brake block (13), a guide pin (9) fixed in the middle of the inlay, and a brake disc (14) positioned between the two brake blocks;
and (3) braking process: the torque motor (1) positively rotates to drive the three-stage planetary gear speed-reducing and torque-increasing mechanism (2), the three-stage planetary gear speed-reducing and torque-increasing mechanism (2) converts the rotary motion into the axial movement of the sleeve (16) through the transmission bolt (18) and the threaded roller (17), and drives the first friction plate (10) and the second friction plate (11) to axially move to press the brake disc (14);
and (3) a release process: the torque motor (1) reversely rotates to drive the three-stage planetary gear speed reduction and torque increase mechanism (2), the three-stage planetary gear speed reduction and torque increase mechanism (2) converts the rotary motion into the axial reverse movement of the sleeve (16) through the transmission bolt (18) and the threaded roller (17), and drives the first friction plate (10) and the second friction plate (11) to release the brake disc (14).
2. The structure and the clearance regulating and controlling device of the electronic mechanical brake of the commercial vehicle as claimed in claim 1, wherein the three-stage planetary gear speed reducing and torque increasing mechanism (2) comprises a first-stage planetary gear (24), a first-stage gear ring (3), a first-stage sun gear (23), a second-stage planetary gear (22), a second-stage gear ring (5), a second-stage sun gear (21), a third-stage planetary gear (20), a third-stage gear ring (6), a third-stage sun gear (19) and a third-stage planet carrier (8); the torque motor (1) drives a primary sun gear (23) to rotate, the primary sun gear (23) drives a primary planet gear (24) to rotate along a primary gear ring (3) through gear transmission and transmits motion to a secondary sun gear (21), the secondary sun gear (21) drives a secondary planet gear (22) to rotate along a secondary gear ring (5) through gear transmission and transmits motion to a tertiary sun gear (19) through a tertiary planet gear (20) and transmits motion to a tertiary planet carrier (8) along a tertiary gear ring (6); the three-stage planet carrier drives a transmission bolt (18) and a thread roller (17) to convert the rotary motion into the axial movement of the sleeve (16).
3. A structure of an electronic mechanical brake of a commercial vehicle and a clearance adjusting and controlling method are characterized by comprising the following steps:
s1, firstly, setting PID three closed-loop control parameters to meet the following four requirements:
[ S1.1] the pressure control loop should ensure that the overshoot of the brake pressure is less than 5%;
[ S1.2] the rotating speed control loop ensures that the current of the motor is kept saturated in the starting process so as to accelerate the speed of eliminating the brake clearance;
[ S1.3] the current control loop should ensure that the overshoot of the motor current is less than 4%;
[ S1.4] ensuring that the time for the brake to eliminate the brake clearance is less than 0.1 second;
s2, when the driver sends a braking command, the braking signal is transmitted to the central control unit ECU of the electronic mechanical brake, the central control unit sends a braking command to the motor controller, and the motor controller applies positive voltage to the torque motor (1) to drive the torque motor to rotate positively;
s3, the motor rotates positively to drive the three-stage planetary gear speed reducing and torque increasing mechanism (2) to reduce and increase torque, and then the rotary motion is converted into the axial movement of the sleeve (16) through the transmission bolt (18) and the thread roller (17);
s4, the transmission bolt (18) drives the threaded roller (17) through thread transmission, the threaded roller (17) drives the sleeve to move axially through the thread transmission with the sleeve (16), and therefore the first brake block (15) and the second brake block (13) are pushed to press the brake disc (14) to eliminate brake clearance;
s5, in the process of eliminating the brake clearance: under the action of three closed loop PID control, the rotating speed of the motor is rapidly increased to the maximum value to eliminate the brake clearance, when the first friction plate (10) and the second friction plate (11) are in contact with the brake disc (14), the elimination of the brake clearance is just finished, and the clamping force of the brake disc begins to be generated. The electronic mechanical brake reads the brake clamping force through a pressure sensor;
s6, when the generation of the braking clamping force is detected, the contact critical point of the brake friction plate and the brake disc (14) is considered to be reached, namely the elimination of the braking clearance is just completed, and then the braking force following stage is started;
s7 braking force following stage: under the action of a PID three closed-loop control system, the rotating speed of a motor is sharply reduced to zero, the clamping force of a brake disc quickly reaches the maximum value until the braking purpose is finished, and then a braking gap generation stage is started;
s8, in the stage of generating the braking clearance, the central control unit of the electronic mechanical brake applies reverse voltage to the torque motor through the motor controller, the torque motor is driven to rotate reversely, the braking friction plate and the braking disc (14) start to separate, and the current of the motor is reduced continuously; the electronic mechanical brake controller transmits current change data of the torque motor through the current sensor;
and S9, when the controller of the electronic mechanical brake detects that the change rate of the current becomes zero for the first time, the brake friction plate and the brake disc (14) are considered to reach a separation critical point.
4. The method as claimed in claim 3, wherein the controller of the electromechanical brake is provided with a pressure sensor, a current sensor and a time delay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110659648.XA CN113389828A (en) | 2021-06-15 | 2021-06-15 | Structure of commercial vehicle electronic mechanical brake and gap regulation and control device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114233776A (en) * | 2021-12-27 | 2022-03-25 | 江苏大学 | Novel automotive electronic mechanical brake |
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