CN113859197A - Solenoid valve hydraulic pressure control method and system based on valve core position estimation - Google Patents
Solenoid valve hydraulic pressure control method and system based on valve core position estimation Download PDFInfo
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- CN113859197A CN113859197A CN202111129899.3A CN202111129899A CN113859197A CN 113859197 A CN113859197 A CN 113859197A CN 202111129899 A CN202111129899 A CN 202111129899A CN 113859197 A CN113859197 A CN 113859197A
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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Abstract
The invention relates to a method and a system for controlling hydraulic pressure of an electromagnetic valve based on valve core position estimation, wherein the method comprises the following steps: based on the determined type of the electromagnetic valve, obtaining a stress balance equation of the valve core of the electromagnetic valve; calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of the valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve; and solving to obtain a feedforward command value and a feedback command value of the current signal of the coil assembly based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder. The invention fully utilizes the hydraulic pressure information of the upper and lower streams of the electromagnetic valve, the current information of the actual coil and the expected hydraulic pressure information to obtain the estimated information of the valve core position, and can be widely used for the precise control task of the hydraulic pressure of the electromagnetic valve of the line control hydraulic braking system under the complex dynamic working condition.
Description
Technical Field
The invention relates to a hydraulic pressure control method and a hydraulic pressure control system of a braking system, in particular to a solenoid valve hydraulic pressure control method and a solenoid valve hydraulic pressure control system based on valve core position estimation, and belongs to the technical field of automobile braking.
Background
The brake system is an important component of a vehicle chassis system, and directly ensures the driving safety, energy economy, driving comfort and other aspects of the whole vehicle. Due to the advantages of electronic architecture, hardware technology, production cost and operational reliability, the by-wire hydraulic brake system, as a main stream of the brake system, occupies a core position of an actuator level of a vehicle chassis system in the development trend of vehicle electromotion and intellectualization. The core component of the hydraulic pressure regulating function of the hydraulic brake-by-wire system is a solenoid valve. The electromagnetic valve realizes the control of the opening of the valve core through an electric control signal (such as a switching signal, a PWM signal or a current signal) driving coil, further realizes the flow control of the brake fluid flowing through the valve port of the electromagnetic valve, and finally realizes the adjustment of the brake fluid pressure level in the brake wheel cylinder.
The electromagnetic valves used by the wire control hydraulic braking system are divided into a switch type electromagnetic valve and a proportional type electromagnetic valve; the former has a common application scene, and the latter has not been widely popularized due to high cost. The hydraulic pressure precise control function of the hydraulic brake-by-wire system requires that the electromagnetic valve has better flow controllability, namely, the electrical control signal and the controlled flow have higher linear relation, so that the existing optimal solution is to perform linear control on the opening degree of the electromagnetic valve through an ideal proportional electromagnetic valve. At present, the method for carrying out hydraulic pressure closed-loop control on a switch type electromagnetic valve through a high-frequency PWM signal or a current signal solves the problems of low vibration, noise, heating and pressure regulating precision of the traditional low-frequency PWM signal control, even realizes the linear control effect of the coil current of the electromagnetic valve and the valve port pressure difference under partial steady state working conditions, but when a hydraulic pressure control target is changed rapidly, the hydraulic pressure regulating precision and stability of the method are obviously reduced, the robustness of a hydraulic pressure control algorithm is poor, the method cannot adapt to the dynamically changed braking working condition, and the braking performance of a vehicle is directly influenced.
Disclosure of Invention
In view of the above problems, the present invention provides a method and a system for controlling a hydraulic pressure of an electromagnetic valve based on spool position estimation, based on a real-time estimated value of spool position and combining target hydraulic pressure and actual hydraulic pressure information, for an outward flow type switch electromagnetic valve widely used in a hydraulic brake-by-wire system, so as to overcome or solve the deficiencies of the electromagnetic valve of the existing hydraulic brake-by-wire system in terms of hydraulic pressure control accuracy and stability, and achieve a precise control function of a brake cylinder hydraulic pressure under a dynamic braking condition.
In order to achieve the purpose, the invention adopts the following technical scheme:
a solenoid valve hydraulic pressure control method based on valve core position estimation comprises the following steps: based on the determined type of the electromagnetic valve, obtaining a stress balance equation of the valve core of the electromagnetic valve; calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of the valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve; and solving to obtain a feedforward command value and a feedback command value of the current signal of the coil assembly based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder.
The method for obtaining the force balance equation of the valve core comprises the following steps: establishing a rectangular coordinate system; taking the motion mass assembly as a research object to perform stress analysis; and obtaining a stress balance equation of the valve core of the electromagnetic valve based on the established rectangular coordinate system and the stress analysis result.
The method for performing stress analysis by taking the moving mass assembly as a research object comprises the following steps: all external forces borne by the moving mass component are determined, and the direction of each external force is determined.
The stress balance equation of the valve core of the electromagnetic valve is as follows:
wherein m is the mass of the valve core, FeIs an electromagnetic force, FhIs hydraulic pressure, FsAs spring force, FnFor valve seat support force, θ is the valve seat half cone angle.
The method for obtaining the spool position estimated value at the current moment by calculation based on the stress balance equation of the spool of the electromagnetic valve, the current signal of the coil assembly of the electromagnetic valve and the hydraulic pressure signals of the upstream and downstream of the electromagnetic valve comprises the following steps: solving and obtaining a relational expression among a valve core displacement variable, a coil current signal and pressure difference on two sides of the valve core under the state of valve core motion balance according to a stress balance equation of the valve core; and solving to obtain the valve core position estimated value at the current moment according to the relational expression, the current signal of the solenoid valve coil assembly and the hydraulic pressure signals of the upstream and downstream of the solenoid valve.
The method for solving the feedforward command value and the feedback command value of the current signal of the coil assembly and controlling the hydraulic pressure of the brake wheel cylinder based on the valve core position estimated value at the current moment comprises the following steps: solving to obtain a feedforward command value of the coil current based on the target hydraulic pressure; solving to obtain a feedback command value of the coil current according to the valve core position estimated value, the target hydraulic pressure, the hydraulic pressure signals of the upper and lower streams of the electromagnetic valve and the hydraulic pressure change rate model of the brake wheel cylinder; and controlling the hydraulic pressure of the brake wheel cylinder based on the feedforward command value and the feedback command value of the coil current.
The feed-forward command values are:
in the formula uffA feed forward command value for the coil current; k is a radical ofh1、kh2Is the hydraulic pressure coefficient;
a valve core position estimated value is obtained; p is a radical ofmIs the upstream hydraulic pressure of the electromagnetic valve;
is the target hydraulic pressure; k is a radical ofsIs the spring force coefficient; z is a radical of0Is the pre-compression amount of the return spring; k is a radical ofe1、ke2Is the electromagnetic force coefficient.
The feedback command value of the coil current is as follows:
in the formula ufbA feedback command value for the coil current; k is a radical ofh1、kh2Is the hydraulic pressure coefficient;
a valve core position estimated value is obtained; lambda is a sliding mode surface parameter; p is a radical ofmIs the upstream hydraulic pressure of the electromagnetic valve; p is a radical ofwIs the actual hydraulic pressure;
is the target hydraulic pressure;
the estimated value of the hydraulic pressure change rate of the brake wheel cylinder is obtained; k is a radical ofsIs the spring force coefficient; z is a radical of0Is the pre-compression amount of the return spring; k is a radical ofe1、ke2Is the electromagnetic force coefficient.
The method for controlling the hydraulic pressure of the brake wheel cylinder based on the feedforward command value and the feedback command value of the coil current comprises the following steps: summing the feedforward command value and the feedback command value of the coil current to obtain a current command value of a coil assembly of the electromagnetic valve; and applying the current command value to a coil assembly of the electromagnetic valve, and controlling the hydraulic pressure of the brake wheel cylinder according to the required target hydraulic pressure.
A solenoid valve hydraulic pressure control system based on spool position estimation includes: the stress balance equation obtaining module is used for obtaining a stress balance equation of the valve core based on the determined type of the electromagnetic valve; the valve core position estimated value obtaining module is used for calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of a valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve; and the hydraulic pressure control module is used for solving a feedforward command value and a feedback command value of the current signal of the coil assembly based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) according to the invention, a stress balance equation under the stable state of the motion of the valve core is obtained by establishing a valve core and valve seat coordinate system, a relational expression among the displacement of the valve core, the current of a coil and the pressure difference at two sides of the valve core is obtained by solving, and the relational expression is used for a valve core position pre-estimation module, a valve core pre-estimation current feedforward module and a hydraulic closed-loop sliding mode control module.
(2) According to the invention, the hydraulic pressure change rate model of the brake wheel cylinder is combined with the relational expression of valve core displacement-coil current-differential pressure on two sides to obtain the explicit expression of the hydraulic pressure change rate of the brake wheel cylinder.
(3) The invention fully utilizes the hydraulic pressure information of the upper and lower streams of the electromagnetic valve, the actual coil current information and the expected hydraulic pressure information to obtain the valve core position estimated information.
(4) The invention does not need to adopt a special current driving chip, does not need to use a linear valve or a proportional valve as an electric control hydraulic actuator, can realize the comprehensive optimization of cost and performance, and has strong working condition adaptability and technical practicability.
Therefore, the invention can be widely applied to the technical field of automobile braking.
Drawings
FIG. 1 is a schematic diagram of a hydraulic control flow of a hydraulic pressure control method for an electromagnetic valve according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an outflow switch type solenoid valve used in the embodiment of the present invention;
FIG. 3 is a schematic diagram of a valve core and valve seat coordinate system of a solenoid valve according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a hydraulic control system of a hydraulic control method for a solenoid valve according to an embodiment of the present invention;
the components in the figure are as follows: 1. a magnetic isolation sleeve; 2. a coil assembly; 3. a valve body; 4. a base; 5. a moving magnet; 6. a valve core; 7. a return spring; 8. a valve seat.
Detailed Description
In order to make the objects, technical solutions and technical features of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
Example 1
As shown in fig. 1, the present embodiment provides a method for controlling hydraulic pressure of an electromagnetic valve based on spool position estimation, which is described by taking an outward-flow type switching electromagnetic valve as an example, and specifically includes the following steps:
and S1, obtaining a stress balance equation of the valve core of the solenoid valve based on the type of the solenoid valve.
As shown in fig. 2 and 3, the present embodiment is described taking as an example an outward flow type switching solenoid valve including a magnetic shield sleeve 1, a coil block 2, a valve body 3, a valve seat 8, a moving magnet 5, a valve body 6, a return spring 7, and a base 4. Wherein, a magnetism isolating sleeve 1 is sleeved on one side of the outer part of the movable magnet 5, a coil component 2 is sleeved on the outer part of the magnetism isolating sleeve 1, and a movement gap is reserved between the magnetism isolating sleeve 1 and the movable magnet 5 in the axial direction; a first cavity is arranged in the movable magnet 5, and one end of the valve core 6 penetrates through the first cavity and is fixedly connected with the movable magnet 5 in an interference fit or welding mode; the valve body 3 is arranged at the other side of the movable magnet 5 at intervals and surrounds the movable magnet 5 together with the magnetism isolating sleeve 1; the valve body 3 is longitudinally provided with a second cavity and a third cavity which are communicated with each other and have different diameters, and is transversely provided with a fourth cavity which is vertically communicated with the third cavity, brake fluid flows into the fourth cavity from the third cavity, and the other end of the valve core 6 penetrates through the second cavity and the third cavity and can axially move in the valve body 3; a valve seat 8 is arranged in the second valve body, a return spring 7 is arranged at the upper part of the valve seat 8, the other end of the return spring 7 penetrates into the third cavity, is sleeved outside the other end of the valve core 6 and is in close contact with an annular flange arranged on the outer wall of the valve core 6; the base 4 is welded and fixed with the end face of the valve body 3.
The coil assembly 2 of the outflow type switch type electromagnetic valve is controlled by a current signal, the control current of the output coil can be simulated through a current chip or a high-frequency PWM signal, and the current signal of the coil can be acquired in real time. Hydraulic pressure sensors are arranged on the upstream and downstream liquid paths of the outflow switch type electromagnetic valve. The upstream liquid path of the electromagnetic valve refers to an external inlet of the third cavity and a hydraulic line part connected with the external inlet; the downstream fluid path of the solenoid valve refers to the external outlet of the fourth cavity and the portion of the hydraulic line thereof connected to the inlet of the brake cylinder.
Specifically, the step S1 can be implemented by the following steps:
and step S11, establishing a rectangular coordinate system.
Optionally, the rectangular coordinate system established in the embodiment of the present invention uses a top position of a ball of the valve element as an origin when the outward flow type switch solenoid valve is driven without a current signal, and uses a moving direction of the valve element when the valve element is closed as a reference forward direction.
And step S12, taking the motion mass assembly as a research object to perform stress analysis.
In one embodiment, when a moving mass assembly composed of a valve core and a moving magnet is taken as a research object to perform stress analysis, the method comprises the following steps: determining all external forces to which the moving mass assembly is subjected; the direction of each external force is determined.
In some embodiments, the determined external forces to which the moving mass assembly is subjected includes: electromagnetic forces, hydraulic forces, spring forces, and seat support forces.
In other embodiments, the direction of each external force is determined by convention with reference to a forward direction, the direction of the electromagnetic force being the same as the reference forward direction, and the hydraulic force, spring force, and valve seat support force being opposite to the reference forward direction.
And step S13, obtaining a stress balance equation of the valve core of the electromagnetic valve based on the established rectangular coordinate system and the stress analysis result.
In some embodiments, the force balance equation for the spool is:
in the formulaM is the mass of the valve core, FeIs an electromagnetic force, FhIs hydraulic pressure, FsAs spring force, FnFor valve seat support force, θ is the valve seat half cone angle.
The calculation formulas of the electromagnetic force, the hydraulic force, the spring force and the valve seat supporting force are respectively as follows:
Fe＝ke1·i+ke2·iz (2)
Fh＝kh1·Δp+kh2·Δpz (3)
Fs＝ks·z+ks·z0 (4)
Fn≥0 (5)
in the formula, ke1、ke2Is the electromagnetic force coefficient; k is a radical ofh1、kh2Is the hydraulic pressure coefficient; k is a radical ofsIs spring force coefficient, z0Is the pre-compression amount of the return spring; i is the coil current; z is the spool position; p is a radical ofmIs the upstream hydraulic pressure of the electromagnetic valve; p is a radical ofwIs the downstream hydraulic pressure of the electromagnetic valve; Δ p is a valve port pressure difference of the solenoid valve, and Δ p ═ pm-pw。
And S2, calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of the valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve.
Specifically, the step S2 includes the following steps:
and step S21, solving and obtaining a relational expression among the valve core displacement variable, the coil current signal and the pressure difference on two sides of the valve core under the valve core motion balance state according to the valve core stress balance equation.
In one embodiment, the valve core of the electromagnetic valve enters a motion balance state under the combined action of electromagnetic force, hydraulic force, spring force and valve seat supporting force, and the valve core is relatively stably positioned at a certain position z, namely the valve core acceleration
Valve seat support force FnThe form of the electromagnetic force and the spring force is unchanged, and the valve core force balance equation becomes:
0＝Fe-Fh-Fs (6)
combining the above component force expressions (i.e., formula (2) -formula (4)), one can obtain:
0＝ke1·i+ke2·iz-kh1·Δp-kh2·Δp·z-ks·z-ks·z0 (7)
the relationship among the differential pressure delta p on the two sides of the valve core, the coil current i and the valve core position z can be obtained according to the formula (7) as follows:
and S22, solving to obtain the valve core position estimated value at the current moment according to the relational expression, the current signal of the coil assembly and the feedback information of the upstream and downstream hydraulic pressure signals of the outward flow type switch type electromagnetic valve.
In another embodiment, according to equation (8), the current signal i of the coil assembly and the feedback information Δ p ═ p of the upstream and downstream hydraulic pressure signals of the outflow type switching solenoid valve are combinedm-pwThe valve core position estimated value at the current moment can be obtained by solving
Comprises the following steps:
and S3, solving to obtain a feedforward command value and a feedback command value of the coil current based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder.
Specifically, the step S3 can be implemented by the following steps:
and step S31, solving and obtaining a feedforward command value of the coil current according to the relational expression and the target hydraulic pressure.
In one embodiment, the target hydraulic pressure downstream of the outflow switch-type solenoid valve
Corresponding feedforward command value u of coil currentffCan be obtained by the following method: combining the estimated spool position value obtained in step S3
Will be provided with
Substituting delta p to obtain corresponding i which is the feedforward command value u of the coil currentffThe calculation formula is as follows:
and step S32, solving to obtain a feedback command value of the coil current according to the valve core position estimated value, feedback information of the target hydraulic pressure, the upstream and downstream hydraulic pressure signals of the electromagnetic valve and a brake wheel cylinder hydraulic pressure change rate model.
In one embodiment, the target hydraulic pressure downstream of the outflow switch-type solenoid valve
Corresponding feedback command value u of coil currentfbCan be obtained by the following method: obtaining a difference e between the target hydraulic pressure and the actual hydraulic pressure based on the hydraulic pressure change rate model of the brake wheel cylinder; processing the difference e between the target hydraulic pressure and the actual hydraulic pressure according to the sliding mode control principle; according to the processing result and the relational expression among the valve port pressure difference delta p, the coil current i and the valve core position z, the feedback information of the target hydraulic pressure and the upstream and downstream hydraulic pressure signals of the electromagnetic valve is combined, and finally the feedback command value u of the coil current can be obtainedfb。
Alternatively, the brake cylinder hydraulic pressure change rate model is:
in the formula (I), the compound is shown in the specification,
is the hydraulic pressure change rate of the brake wheel cylinder; k is a radical ofwvIs the hydraulic pressure change rate coefficient of the brake wheel cylinder; z is the spool position; and deltap is the valve port pressure difference of the electromagnetic valve.
Obtaining an estimated value of the hydraulic pressure change rate of the brake wheel cylinder according to the valve core position estimated value
Comprises the following steps:
the difference e between the target hydraulic pressure and the actual hydraulic pressure is:
in the formula, pwIs the actual hydraulic pressure;
is the target hydraulic pressure.
According to the sliding mode control principle, a sliding mode surface variable S ═ e + lambda ^ edt is selected, and the first-order derivative is ^ e ^ edt
When the sliding mode convergence condition is satisfied,
the position z of the spool cannot be measured directly, using a spool position estimate
Approximate substitution of true spool positionThus, therefore, it is
Thus, there are:
in the formula, lambda is a sliding mode surface parameter.
Meanwhile, according to the relationship among the valve port pressure difference Δ p, the coil current i and the valve core position z in step S2, it can be obtained,
combining the target hydraulic pressures according to equations (14) and (15)
Feedback information delta p of the hydraulic pressure signals of the upstream and the downstream of the electromagnetic valve can finally obtain a feedback command value u of the coil currentfbComprises the following steps:
and S33, accurately controlling the hydraulic pressure of the brake wheel cylinder based on the feedforward command value and the feedback command value of the coil current.
Specifically, the step S5 can be implemented by the following steps: summing the feedforward command value and the feedback command value of the coil current to obtain a current command value of a coil assembly of the outflow type switch-mode electromagnetic valve; the current command value is applied to the coil assembly of the outward flow type switch type electromagnetic valve, so that the hydraulic pressure of the brake wheel cylinder can be accurately controlled according to the required target hydraulic pressure.
In one embodiment, the feedforward command value u of the coil current obtained in step S3 is usedffAnd feedback command value ufbWhen the sum is obtained to obtain the current command value of the coil assembly of the outflow type switching solenoid valve,the calculation formula is as follows:
u＝uff+ufb (17)
in another embodiment, when the current command value is applied to the coil assembly of the outflow type switching solenoid valve, the current command value u may be used as a control signal of the coil current, and the output coil control current may be simulated by a current chip or a high frequency PWM signal.
Example 2
Embodiment 1 described above provides a method for controlling hydraulic pressure of an electromagnetic valve based on valve element position estimation, and correspondingly, this embodiment provides a system for controlling hydraulic pressure of an electromagnetic valve based on valve element position estimation. The control system provided by this embodiment may implement the method for controlling the hydraulic pressure of the electromagnetic valve based on the valve core position estimation in embodiment 1, and the control system may be implemented by software, hardware, or a combination of software and hardware. For example, the system may comprise integrated or separate functional modules or functional units to perform the corresponding steps in the methods of embodiment 1. Since the identification system of this embodiment is basically similar to the method embodiment, the description process of this embodiment is relatively simple, and reference may be made to the partial description of embodiment 1 for relevant points, and the embodiment of the system of this embodiment is only schematic.
As shown in fig. 4, the present embodiment provides a solenoid valve hydraulic pressure control system based on spool position estimation, which includes:
the stress balance equation obtaining module is used for obtaining a stress balance equation of the valve core based on the determined type of the electromagnetic valve;
the valve core position estimated value obtaining module is used for calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of a valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve;
and the hydraulic pressure control module is used for solving a feedforward command value and a feedback command value of the current signal of the coil assembly based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. A solenoid valve hydraulic pressure control method based on spool position estimation is characterized by comprising the following steps:
based on the determined type of the electromagnetic valve, obtaining a stress balance equation of the valve core of the electromagnetic valve;
calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of the valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve;
and solving to obtain a feedforward command value and a feedback command value of the current signal of the coil assembly based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder.
2. The method for controlling the hydraulic pressure of the electromagnetic valve based on the valve core position estimation as claimed in claim 1, wherein the method for obtaining the stress balance equation of the valve core comprises the following steps:
establishing a rectangular coordinate system;
taking the motion mass assembly as a research object to perform stress analysis;
and obtaining a stress balance equation of the valve core of the electromagnetic valve based on the established rectangular coordinate system and the stress analysis result.
3. The method for controlling the hydraulic pressure of the electromagnetic valve based on the valve core position estimation as claimed in claim 2, wherein the method for performing the stress analysis by using the moving mass assembly as a research object comprises the following steps:
all external forces to which the moving mass assembly is subjected are determined,
the direction of each external force is determined.
4. The method for controlling the hydraulic pressure of the electromagnetic valve based on the valve core position estimation as claimed in claim 1, wherein the stress balance equation of the valve core of the electromagnetic valve is as follows:
wherein m is the mass of the valve core, FeIs an electromagnetic force, FhIs hydraulic pressure, FsAs spring force, FnFor valve seat support force, θ is the valve seat half cone angle.
5. The method for controlling hydraulic pressure of an electromagnetic valve based on spool position estimation as claimed in claim 1, wherein the method for calculating the spool position estimation value at the current moment based on the force balance equation of the spool of the electromagnetic valve, the current signal of the coil assembly of the electromagnetic valve and the hydraulic pressure signals upstream and downstream of the electromagnetic valve comprises:
solving and obtaining a relational expression among a valve core displacement variable, a coil current signal and pressure difference on two sides of the valve core under the state of valve core motion balance according to a stress balance equation of the valve core;
and solving to obtain the valve core position estimated value at the current moment according to the relational expression, the current signal of the solenoid valve coil assembly and the hydraulic pressure signals of the upstream and downstream of the solenoid valve.
6. The method for controlling the hydraulic pressure of the electromagnetic valve based on the valve core position estimation as claimed in claim 1, wherein the method for solving the feedforward command value and the feedback command value of the current signal of the coil assembly and controlling the hydraulic pressure of the brake wheel cylinder based on the valve core position estimation value at the current moment comprises the following steps:
solving to obtain a feedforward command value of the coil current based on the target hydraulic pressure;
solving to obtain a feedback command value of the coil current according to the valve core position estimated value, the target hydraulic pressure, the hydraulic pressure signals of the upper and lower streams of the electromagnetic valve and the hydraulic pressure change rate model of the brake wheel cylinder;
and controlling the hydraulic pressure of the brake wheel cylinder based on the feedforward command value and the feedback command value of the coil current.
7. The method for solenoid valve hydraulic pressure control based on spool position estimation according to claim 6, characterized in that the feed forward command value is:
in the formula uffA feed forward command value for the coil current; k is a radical ofh1、kh2Is the hydraulic pressure coefficient;
a valve core position estimated value is obtained; p is a radical ofmIs the upstream hydraulic pressure of the electromagnetic valve;
is the target hydraulic pressure; k is a radical ofsIs the spring force coefficient; z is a radical of0Is the pre-compression amount of the return spring; k is a radical ofe1、ke2Is the electromagnetic force coefficient.
8. The method for controlling the hydraulic pressure of the electromagnetic valve based on the valve core position estimation as claimed in claim 6, wherein the feedback command value of the coil current is as follows:
in the formula ufbA feedback command value for the coil current; k is a radical ofh1、kh2Is the hydraulic pressure coefficient;
a valve core position estimated value is obtained; lambda is a sliding mode surface parameter; p is a radical ofmIs the upstream hydraulic pressure of the electromagnetic valve;pwis the actual hydraulic pressure;
is the target hydraulic pressure;
the estimated value of the hydraulic pressure change rate of the brake wheel cylinder is obtained; k is a radical ofsIs the spring force coefficient; z is a radical of0Is the pre-compression amount of the return spring; k is a radical ofe1、ke2Is the electromagnetic force coefficient.
9. The method for controlling hydraulic pressure of an electromagnetic valve based on valve core position estimation according to claim 2, wherein the method for controlling hydraulic pressure of a brake cylinder based on a feed-forward command value and a feedback command value of a coil current comprises:
summing the feedforward command value and the feedback command value of the coil current to obtain a current command value of a coil assembly of the electromagnetic valve;
and applying the current command value to a coil assembly of the solenoid valve, and controlling the hydraulic pressure input to the solenoid valve according to the required target hydraulic pressure.
10. A solenoid valve hydraulic pressure control system based on spool position estimation is characterized by comprising:
the stress balance equation obtaining module is used for obtaining a stress balance equation of the valve core based on the determined type of the electromagnetic valve;
the valve core position estimated value obtaining module is used for calculating to obtain a valve core position estimated value at the current moment based on a stress balance equation of a valve core of the electromagnetic valve, a current signal of a coil assembly of the electromagnetic valve and hydraulic pressure signals of the upstream and downstream of the electromagnetic valve;
and the hydraulic pressure control module is used for solving a feedforward command value and a feedback command value of the current signal of the coil assembly based on the valve core position estimated value at the current moment, and controlling the hydraulic pressure of the brake wheel cylinder.
Priority Applications (1)
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| DE102019218480A1 (en) * | 2019-11-28 | 2021-08-05 | Robert Bosch Gmbh | Method for controlling a solenoid valve and evaluation and control unit |
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| US20020134956A1 (en) * | 2001-03-21 | 2002-09-26 | Smith James Craig | Model-based position control for a solenoid actuated valve |
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