CN114312713A - Digital twin-based line control brake system and dynamic optimization control method thereof - Google Patents
Digital twin-based line control brake system and dynamic optimization control method thereof Download PDFInfo
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- CN114312713A CN114312713A CN202210131431.6A CN202210131431A CN114312713A CN 114312713 A CN114312713 A CN 114312713A CN 202210131431 A CN202210131431 A CN 202210131431A CN 114312713 A CN114312713 A CN 114312713A
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Abstract
The application discloses drive-by-wire braking system based on digit twin includes: the device comprises a control unit, an execution unit and a digital twin simulation unit, wherein the control unit and the execution unit form a main body part which is connected with the digital twin simulation unit through a data line; the control unit comprises a vehicle control unit and a motor controller and is used for controlling the motor to brake or supplement according to the braking requirement; the invention has the technical key points that a central control chip is added in a distributed wire control brake system, the redundant design of fault-tolerant control is carried out, and specially written software can be matched for fault-tolerant control processing; and a monitor is introduced into the system to detect signals that may cause system errors and failures and then generate error detection codes that, in combination with redundant sensors in the brake pedal module, may more fully and efficiently deal with the failures and improve safety based on the codes.
Description
Technical Field
The invention belongs to the field of digital twins, and particularly relates to a digital twins-based brake-by-wire system and a dynamic optimization control method thereof.
Background
At present, the digital twin is to fully utilize data such as a physical model, sensor updating, operation history and the like, integrate a multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation process and complete mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment; digital twinning is an beyond-realistic concept that can be viewed as a digital mapping system of one or more important, interdependent equipment systems;
when a digital twin technology is applied to a vehicle brake forming process, a brake-by-wire system of a vehicle is an electronic control brake system and is divided into a mechanical brake-by-wire system and a hydraulic brake-by-wire system, wherein the mechanical brake-by-wire system is called RMB for short and is completely different from a conventional hydraulic brake system, the EMB takes electric energy as an energy source, a motor drives a brake cushion block, energy is transmitted by an electric wire, a data wire transmits a signal, and the EMB is one of the brake-by-wire systems; the hydraulic type brake-by-wire system is called EHB for short, which is developed from the traditional hydraulic brake system, but is greatly different from the traditional brake mode, the EHB replaces the original partial mechanical elements with electronic elements, is an advanced electromechanical integrated system, and combines the electronic system and the hydraulic system;
in the existing vehicle brake-by-wire system, the following technical problems can occur when the vehicle runs: in the driving process, signals of system errors or failures cannot be processed in time, or the signals are not processed comprehensively enough, so that the judgment of the system is easily influenced, and the safety of a driver in the driving process needs to be improved.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a digital twin-based brake-by-wire system and a dynamic optimization control method thereof, which solve the problems in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a line control brake system based on digital twin and a dynamic optimization control method thereof comprise:
the device comprises a control unit, an execution unit and a digital twin simulation unit, wherein the control unit and the execution unit form a main body part which is connected with the digital twin simulation unit through a data line;
the control unit comprises a vehicle control unit and a motor controller and is used for controlling the motor to brake or supplement according to the braking requirement;
the execution unit comprises a sensor group for calculation and control, a plurality of independent motor braking modules, a power supply module and a braking pedal module;
the digital twin simulation unit is used for simulating real braking parameters of the control unit and the execution unit, and optimizing calculation of a braking control signal by combining with simulated environmental parameters, so that communication and data interaction of the indirect control main body part are realized;
also included is a fault tolerant control unit containing a micro control chip and a monitor, the fault tolerant control unit being installed into the control unit for detecting a signal of system error or failure.
Further, the vehicle control unit comprises a central main control processor, a CAN communication module, a debugging module and a serial port communication module;
the serial port communication module is arranged outside the central main control processor and used for connecting the whole vehicle controller and each execution unit, and the serial port communication module is used for diagnosing and calibrating the control system; the debugging module is used for diagnosing and calibrating the control system.
By adopting the technical scheme: the CAN communication module conforms to the CAN2.0B technical specification, and adopts a plurality of anti-interference designs such as photoelectric isolation, power isolation and the like.
Further, the motor controller is used for controlling each independent motor brake module.
Further, the sensor group for calculation and control includes a wheel speed sensor, a pressure sensor and a temperature sensor; wherein,
the wheel speed sensor is used for monitoring the motion state of the wheel;
the pressure sensor and the temperature sensor are used for feedback control of the wheel cylinder pressure and correction control of different temperature ranges.
Furthermore, the power supply module comprises at least two groups of blade battery packs, and each blade battery pack is formed by connecting a plurality of blade batteries in series; the power module performs the redundant design of secondary filtering, ensures that the controller works normally under the condition of power supply of the vehicle-mounted 12V system, and has a short-circuit protection function.
Further, the brake pedal module comprises a pedal feel simulator, a pedal force sensor, a pedal travel sensor and a brake pedal;
the pedal feeling comprises pedal reaction force and pedal stroke, and the pedal feeling simulator is used for providing the pedal feeling for the driver during actual operation;
the pedal sensor and the pedal travel sensor are used for monitoring the operation intention of a driver; specifically, the pedal sensor is used for monitoring the manipulation intention of the driver, and generally a pedal stroke sensor is used, and fewer or both pedal force sensors are used, so that a redundant sensor is provided and can be used for fault diagnosis.
Furthermore, the brake pedal module also comprises a redundant sensor, and the redundant sensor is connected with the pedal feel simulator, the pedal force sensor and the pedal travel sensor through leads and used for fault diagnosis.
A wire control brake system based on digital twin, the optimization control method of the system comprises the following specific steps:
s1, when the driver drives the vehicle, the digital twin simulation unit and the main body part synchronously run, and whether a braking measure is needed or not is judged according to the magnitude of the braking force of the vehicle;
s2, after the brake pedal is stepped by the driver, the braking force is detected by a sensor group for calculation and control, the optimal braking force is measured and calculated through a central main control processor, and the braking force is transmitted to independent braking modules of four wheels;
wherein a portion of the torque response may be performed by the motor actuator to effect braking; wherein, the motor actuator is provided with an electric regulating valve.
S3, the control of the braking distance can be simulated by the digital twin simulation unit in combination with the information of road surface condition, vehicle speed and the like, the judgment is carried out through the safety distance set in the central main control processor,
if the distance is within the safe distance, normal operation is carried out;
if the vehicle is located out of the safe distance, an alarm is sent out, and early braking processing is carried out;
the alarm module is used for alarming and comprises an indicator light and a buzzer.
S4, adding a fault-tolerant control unit in the distributed brake-by-wire system, matching with a redundant sensor sheet, performing redundant design of fault-tolerant control, and performing fault-tolerant control processing;
a monitor is incorporated into the fault tolerant control unit only to detect signals of system errors or failures and then to generate error detection codes for processing according to the codes.
In summary, the invention includes at least one of the following beneficial effects:
firstly, the central control chip is added in the distributed wire control brake system, the redundant design of fault-tolerant control is carried out, and specially written software can be matched for carrying out fault-tolerant control processing; a monitor is introduced into the system, so that signals which can cause system errors and failures can be detected, error detection codes are generated, and the combination of the error detection codes and redundant sensors in the brake pedal module can more comprehensively process the failures according to the codes and improve the safety;
secondly, the digital twin simulation unit and the alarm module are combined for use, so that the braking condition can be simulated in advance in the driving process of the vehicle, the judgment of the safety distance can be carried out through the central main control processor under the condition that the vehicle encounters a front obstacle through environment simulation and detection, the driver can be guided to carry out braking treatment in advance, and the safety in the driving process is greatly improved to a certain extent.
Drawings
Fig. 1 is a schematic diagram of specific steps of the system optimization control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, for the convenience of description, the terms "upper", "lower", "left" and "right" are used to refer to the same direction as the upper, lower, left, right, etc. of the drawings, and the terms "first", "second", etc. are used for descriptive distinction and have no special meaning.
Example 1:
the present embodiment provides a specific structure of a brake-by-wire system, and a digital twin-based brake-by-wire system includes: the device comprises a control unit, an execution unit and a digital twin simulation unit, wherein the control unit and the execution unit form a main body part which is connected with the digital twin simulation unit through a data line;
the control unit comprises a vehicle control unit and a motor controller and is used for controlling the motor to brake or supplement according to the braking requirement;
the execution unit comprises a sensor group for calculation and control, a plurality of independent motor braking modules, a power supply module and a braking pedal module;
the digital twin simulation unit is used for simulating real braking parameters of the control unit and the execution unit, and optimizing calculation of a braking control signal by combining with simulated and detected environmental parameters to realize communication and data interaction of the indirect control main body part;
also included is a fault tolerant control unit containing a micro control chip and a monitor, the fault tolerant control unit being installed into the control unit for detecting a signal of system error or failure.
In some examples, the vehicle control unit includes a central main control processor, a CAN communication module, a debugging module, and a serial port communication module; the serial port communication module is arranged outside the central main control processor and used for connecting the whole vehicle controller and each execution unit, and the debugging module is used for diagnosing and calibrating the control system; the motor controller is used for controlling each independent motor braking module;
the sensor group for calculation and control comprises a wheel speed sensor, a pressure sensor and a temperature sensor; wherein, the wheel speed sensor is used for monitoring the motion state of the wheel; the pressure sensor and the temperature sensor are used for feedback control of wheel cylinder pressure and correction control of different temperature ranges;
the power module comprises at least two groups of blade battery packs, each blade battery pack is formed by connecting a plurality of blade batteries in series, and the power module is used for supplying energy to the whole system.
In some examples, the brake pedal module includes a pedal feel simulator, a pedal force sensor, a pedal travel sensor, and a brake pedal;
the pedal feeling comprises pedal reaction force and pedal stroke, and the pedal feeling simulator is used for providing the pedal feeling for the driver during actual operation;
the pedal sensor and the pedal stroke sensor are used for monitoring the operation intention of the driver.
The brake pedal module further comprises a redundant sensor, and the redundant sensor is connected with the pedal feel simulator, the pedal force sensor and the pedal travel sensor through leads and used for fault diagnosis.
By adopting the technical scheme:
the invention adds the central control chip in the distributed wire control brake system, which carries out the redundancy design of fault-tolerant control and can be matched with specially written software to carry out the fault-tolerant control processing; and a monitor is introduced into the system to detect signals that may cause system errors and failures and then generate error detection codes that, in combination with redundant sensors in the brake pedal module, may more fully and efficiently deal with the failures and improve safety based on the codes.
Example 2:
the present embodiment provides specific steps of the system optimization control method, as shown in fig. 1, a brake-by-wire system based on digital twin, where the specific steps of the system optimization control method are as follows:
s1, when the driver drives the vehicle, the digital twin simulation unit and the main body part synchronously run, and whether a braking measure is needed or not is judged according to the magnitude of the braking force of the vehicle;
s2, after the brake pedal is stepped by the driver, the braking force is detected by a sensor group for calculation and control, the optimal braking force is measured and calculated through a central main control processor, and the braking force is transmitted to independent braking modules of four wheels;
wherein a portion of the torque response may be performed by the motor actuator to effect braking; wherein, the motor actuator is provided with an electric regulating valve.
S3, the control of the braking distance can be simulated by the digital twin simulation unit in combination with the information of road surface condition, vehicle speed and the like, the judgment is carried out through the safety distance set in the central main control processor,
if the distance is within the safe distance, normal operation is carried out;
if the vehicle is located out of the safe distance, an alarm is sent out, and early braking processing is carried out;
the alarm module is used for alarming and comprises an indicator light and a buzzer.
S4, adding a fault-tolerant control unit in the distributed brake-by-wire system, matching with a redundant sensor sheet, performing redundant design of fault-tolerant control, and performing fault-tolerant control processing;
a monitor is incorporated into the fault tolerant control unit only to detect signals of system errors or failures and then to generate error detection codes for processing according to the codes.
By adopting the technical scheme:
the digital twin simulation unit and the alarm module are combined for use, so that the braking condition can be simulated in advance in the driving process of the vehicle, the safety distance can be judged by the central main control processor under the condition of meeting front obstacles through environment simulation and detection, a driver can be guided to brake in advance, and the safety in the driving process is greatly improved to a certain extent.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A digital twin-based brake-by-wire system, comprising: the device comprises a control unit, an execution unit and a digital twin simulation unit, wherein the control unit and the execution unit form a main body part which is connected with the digital twin simulation unit through a data line;
the control unit comprises a vehicle control unit and a motor controller and is used for controlling the motor to brake or supplement according to the braking requirement;
the execution unit comprises a sensor group for calculation and control, a plurality of independent motor braking modules, a power supply module and a braking pedal module;
the digital twin simulation unit is used for simulating real braking parameters of the control unit and the execution unit, and optimizing calculation of a braking control signal by combining with simulated and detected environmental parameters to realize communication and data interaction of the indirect control main body part;
also included is a fault tolerant control unit containing a micro control chip and a monitor, the fault tolerant control unit being installed into the control unit for detecting a signal of system error or failure.
2. A digital twin based brake-by-wire system according to claim 1, wherein: the vehicle control unit comprises a central main control processor, a CAN communication module, a debugging module and a serial port communication module;
the serial port communication module is arranged on the outer side of the central main control processor and used for connecting the whole vehicle controller and each execution unit, and the debugging module is used for diagnosing and calibrating the control system.
3. A digital twin based brake-by-wire system according to claim 1, wherein: the motor controller is used for controlling each independent motor braking module.
4. A digital twin based brake-by-wire system according to claim 1, wherein: the sensor group for calculation and control comprises a wheel speed sensor, a pressure sensor and a temperature sensor; wherein,
the wheel speed sensor is used for monitoring the motion state of the wheel;
the pressure sensor and the temperature sensor are used for feedback control of the wheel cylinder pressure and correction control of different temperature ranges.
5. A digital twin based brake-by-wire system according to claim 1, wherein: the power module comprises at least two groups of blade battery packs, and each blade battery pack is formed by connecting a plurality of blade batteries in series.
6. A digital twin based brake-by-wire system according to claim 1, wherein: the brake pedal module comprises a pedal feel simulator, a pedal force sensor, a pedal travel sensor and a brake pedal;
the pedal feeling comprises pedal reaction force and pedal stroke, and the pedal feeling simulator is used for providing the pedal feeling for the driver during actual operation;
the pedal sensor and the pedal stroke sensor are used for monitoring the operation intention of the driver.
7. A digital twin based brake-by-wire system according to claim 6, wherein: the brake pedal module also comprises a redundant sensor, and the redundant sensor is connected with the pedal feel simulator, the pedal force sensor and the pedal travel sensor through leads and used for fault diagnosis.
8. A digital twin based by-wire brake system according to any one of claims 1 to 7 wherein: the optimization control method of the system comprises the following specific steps:
s1, when the driver drives the vehicle, the digital twin simulation unit and the main body part synchronously run, and whether a braking measure is needed or not is judged according to the magnitude of the braking force of the vehicle;
s2, after the brake pedal is stepped by the driver, the braking force is detected by a sensor group for calculation and control, the optimal braking force is measured and calculated through a central main control processor, and the braking force is transmitted to independent braking modules of four wheels;
wherein a portion of the torque response may be performed by the motor actuator to effect braking.
S3, the control of the braking distance can be simulated by the digital twin simulation unit in combination with the information of road surface condition, vehicle speed and the like, the judgment is carried out through the safety distance set in the central main control processor,
if the distance is within the safe distance, normal operation is carried out;
if the vehicle is located out of the safe distance, an alarm is sent out, and early braking processing is carried out;
s4, adding a fault-tolerant control unit in the distributed brake-by-wire system, matching with a redundant sensor sheet, performing redundant design of fault-tolerant control, and performing fault-tolerant control processing;
a monitor is incorporated into the fault tolerant control unit only to detect signals of system errors or failures and then to generate error detection codes for processing according to the codes.
9. The optimal control method of the digital twin-based brake-by-wire system according to claim 8, wherein: in S2, the motor actuator is provided with an electric control valve.
10. The optimal control method of the digital twin-based brake-by-wire system according to claim 8, wherein: in S3, an alarm module including an indicator light and a buzzer is used to give an alarm.
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| CN202210131431.6A CN114312713A (en) | 2022-02-14 | 2022-02-14 | Digital twin-based line control brake system and dynamic optimization control method thereof |
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| CN202210131431.6A CN114312713A (en) | 2022-02-14 | 2022-02-14 | Digital twin-based line control brake system and dynamic optimization control method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19853036A1 (en) * | 1997-11-22 | 1999-06-02 | Continental Teves Ag & Co Ohg | Electromechanical braking system |
| CN110723127A (en) * | 2019-09-29 | 2020-01-24 | 江苏大学 | Fault-tolerant control system and control method for brake-by-wire failure fault of automobile |
| CN113002555A (en) * | 2021-02-08 | 2021-06-22 | 南京航空航天大学 | Digital twin-driven intelligent drive-by-wire chassis system and fault diagnosis method thereof |
| CN113085815A (en) * | 2021-03-31 | 2021-07-09 | 南京航空航天大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN113460008A (en) * | 2021-08-13 | 2021-10-01 | 清华大学 | Dual-redundancy fully-decoupled brake-by-wire system |
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2022
- 2022-02-14 CN CN202210131431.6A patent/CN114312713A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19853036A1 (en) * | 1997-11-22 | 1999-06-02 | Continental Teves Ag & Co Ohg | Electromechanical braking system |
| CN110723127A (en) * | 2019-09-29 | 2020-01-24 | 江苏大学 | Fault-tolerant control system and control method for brake-by-wire failure fault of automobile |
| CN113002555A (en) * | 2021-02-08 | 2021-06-22 | 南京航空航天大学 | Digital twin-driven intelligent drive-by-wire chassis system and fault diagnosis method thereof |
| CN113085815A (en) * | 2021-03-31 | 2021-07-09 | 南京航空航天大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN113460008A (en) * | 2021-08-13 | 2021-10-01 | 清华大学 | Dual-redundancy fully-decoupled brake-by-wire system |
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