CN114604217A - Dual-motor electronic brake power-assisted control system - Google Patents
Dual-motor electronic brake power-assisted control system Download PDFInfo
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- CN114604217A CN114604217A CN202210502710.9A CN202210502710A CN114604217A CN 114604217 A CN114604217 A CN 114604217A CN 202210502710 A CN202210502710 A CN 202210502710A CN 114604217 A CN114604217 A CN 114604217A
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- battery
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T13/74—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 electrical assistance or drive
- B60T13/745—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 electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a dual-motor electronic brake power-assisted control system which comprises a battery module, a power management module, a pedal stroke sensor, an MCU module, a motor drive module, a motor module, a fault diagnosis module, a CAN communication module and a whole vehicle CAN network, wherein the battery module comprises a battery A and a battery B, the power management module comprises a power management module A and a power management module B, the MCU1 and the MCU2 are powered by the power management module A and the power management module B at the same time, the motor drive module comprises a motor drive module A and a motor drive module B, and the motor module comprises a motor A and a motor B. The invention has the framework of double-battery power supply, double-power management, double-MCU control and double motors, can realize full functions under the condition that one battery fails, and keeps half of braking assistance under the conditions that one power management circuit fails, one MCU fails and one motor fails, thereby improving the safety level of the system.
Description
Technical Field
The invention relates to the technical field of electronic brake power-assisted control systems, in particular to a dual-motor electronic brake power-assisted control system.
Background
The braking system is a series of special devices which can forcibly reduce the running speed of the automobile, and has the main functions of reducing the speed of the running automobile, even stopping the running automobile, keeping the speed of the automobile running on a downhill stable, and keeping the stopped automobile immobile.
However, most of the existing electronic brake power-assisted control systems are based on a system architecture of single-motor power assistance, single-battery power supply, single-power management and single-MCU control, firstly, a motor failure system loses all brake power assistance, secondly, the system architecture of single-battery power supply and single-MCU has low safety level, and finally, the power-assisted requirement of a vehicle with a heavy vehicle body cannot be met, so that the invention provides a dual-motor electronic brake power-assisted control system.
Disclosure of Invention
In order to solve the technical problems mentioned in the background art, a dual-motor electronic brake power-assisted control system is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dual-motor electronic brake power-assisted control system comprises a battery module, a power management module, a pedal stroke sensor, an MCU module, a motor driving module, a motor module, a fault diagnosis module, a CAN communication module and a finished automobile CAN network, wherein the CAN communication module is used for carrying out signal interaction with the finished automobile CAN network;
the battery module comprises a battery A and a battery B, the power management module comprises a power management module A and a power management module B, and power is supplied to the MCU1 and the MCU2 through the power management module A and the power management module B;
the motor driving module comprises a motor driving module A and a motor driving module B, the motor module comprises a motor A and a motor B, the pedal stroke sensor inputs pedal stroke signals to the MCU1 and the MCU2 and respectively outputs control signals to the motor driving module A and the motor driving module B so as to control the rotation of the motor A and the motor B;
a bus voltage acquisition circuit, a phase voltage acquisition circuit and a phase current acquisition circuit are arranged on the motor A, B side, the bus voltage on the motor A, B side is acquired through the MCU1 and the MCU2 respectively, the phase voltage and the phase current of the motor A, B are acquired through the AD, and whether the bus voltage, the phase current and the motor rotating speed have over-high or over-low faults is judged through the fault diagnosis module;
when one of the power management module B, MCU2 or the motor B fails, the MCU1 identifies the fault through the fault diagnosis module, sends a fault signal to the entire vehicle CAN network through the CAN1, and controls the motor driving module A to drive the motor A, so that the system keeps half of the braking assistance;
when one of the power management module A, MCU1 or the motor A fails, the fault diagnosis module identifies a fault, the MCU2 takes over the system, and simultaneously, the motor driving module B is controlled to drive the motor B, so that the system keeps half of the braking assistance.
As a further description of the above technical solution:
the brake system further comprises a screw rod gear mechanism, the MCU1 and the MCU2 receive stroke signals of the pedal stroke sensor, calculate the deceleration requirement required by the whole vehicle and distribute braking force, the MCU1 informs the MCU2 through an SPI bus to respectively control the rotation of the motor A and the motor B according to the distributed braking force and a PV curve of a brake loop, and then the brake master cylinder piston is pushed through the screw rod gear mechanism to realize assistance;
the MCU module receives acceleration and pressure signals of an ESC body stability control system through the CAN bus, calculates deceleration requirements required by the whole vehicle, and distributes braking force, and the MCU1 informs the MCU2 through the SPI bus to respectively control the rotation of the motor A and the motor B according to the distributed braking force and a PV curve of a braking loop.
As a further description of the above technical solution:
the motor module further comprises a motor corner sensor A and a motor corner sensor B, wherein the motor corner sensor A is used for detecting a rotating speed signal of the motor A, and the motor corner sensor B is used for detecting a rotating speed signal of the motor B.
As a further description of the above technical solution:
and the rotating speed signals of the motor A and the motor B are respectively input to the MCU1 and the MCU 2.
As a further description of the above technical solution:
the power supply management module is used for judging the on-off state of the ignition switch, converting the voltage output by the battery module into the input voltage of the MCU module when the ignition switch is turned on, and is in a dormant state when the ignition switch is turned off.
As a further description of the above technical solution:
and the power management module A and the power management module B are respectively interconnected with the battery A and the battery B through independent power lines and fuses.
As a further description of the above technical solution:
the CAN communication module comprises CAN1 and CAN2, the MCU1 carries out signal communication with the whole vehicle CAN network through CAN1, the MCU2 carries out signal communication with the whole vehicle CAN network through CAN 2.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: firstly, the electronic brake booster system of the invention carries out intelligent brake boosting through external signals such as CAN or pedal stroke, completely adopts electric control, gets rid of the defects of the traditional mechanical vacuum booster, CAN realize automatic boosting function, calculates the required boosting according to the pedal stroke and the pressure of a brake main cylinder and a sub pump, realizes intelligent control, secondly, the electronic brake booster system has high reliability, has the framework of double-battery power supply, double-power management, double-MCU control and double motors, CAN realize full function under the condition that one battery fails, one power management circuit fails, one MCU fails and one motor fails, keeps half of brake boosting under the condition that one battery fails, and the redundant design of double batteries, double-power management and double MCUs improves the safety level of the system, and finally, the electronic brake booster system CAN be flexibly configured, not only CAN meet the brake boosting requirement of heavier vehicles on vehicle bodies, and a single motor can be simply matched to meet the braking assistance requirement of a vehicle with smaller vehicle weight.
Drawings
Fig. 1 is a schematic structural diagram illustrating a dual-motor electronic brake assist control system according to an embodiment 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.
Example one
Referring to fig. 1, the present invention provides a technical solution: a dual-motor electronic brake power-assisted control system comprises a battery module, a power management module, a pedal stroke sensor, an MCU module, a motor driving module, a motor module, a fault diagnosis module, a CAN communication module and a whole vehicle CAN network;
the system is consistent with the existing brake boosting control system, and also comprises an ECU module, a screw rod gear mechanism, a main cylinder and an oil CAN, wherein a motor pushes a piston of the brake main cylinder through the screw rod gear mechanism to realize boosting, the ECU module comprises a shell, a connector and a circuit board, a battery module, a power management module, an MCU module, a motor driving module, a CAN communication module and a fault diagnosis module are arranged on the circuit board, the shell is used for protecting the circuit board from corrosion hydraulic erosion of water, liquid and the like, and the connector is used for transmitting input and output communication signals;
the CAN communication module is used for carrying out signal interaction with a finished automobile CAN network, and comprises CAN1 and CAN2, the MCU1 carries out signal communication with the finished automobile CAN network through CAN1, and the MCU2 carries out signal communication with the finished automobile CAN network through CAN 2;
the battery module comprises a battery A and a battery B, the power management module comprises a power management module A and a power management module B, the power management module A and the power management module B are respectively interconnected with the battery A and the battery B through independent power lines and fuses, and the power management module A and the power management module B simultaneously supply power to the MCU1 and the MCU2, namely the battery A and the battery B simultaneously supply power to the system, wherein the whole function of the system is not influenced by one-way failure;
the power supply management module is used for judging the on-off state of the ignition switch, converting the voltage output by the battery module into the input voltage of the MCU module when the ignition switch is turned on, converting the output voltage of 12V into the input voltage 5V required by the MCU module, and keeping the power supply management module in a dormant state when the ignition switch is turned off;
the motor driving module comprises a motor driving module A and a motor driving module B, the motor module comprises a motor A and a motor B, a pedal stroke sensor inputs pedal stroke signals to the MCU1 and the MCU2 and respectively outputs control signals to the motor driving module A and the motor driving module B so as to control the rotation of the motor A and the motor B, wherein the motor module further comprises a motor corner sensor A and a motor corner sensor B, the motor corner sensor is integrated with the motor, the motor corner sensor A is used for detecting rotating speed signals of the motor A, the motor corner sensor B is used for detecting rotating speed signals of the motor B, and the rotating speed signals of the motor A and the motor B are respectively input to the MCU1 and the MCU 2;
the system mainly comprises 2 working modes, wherein the main working mode is 1: after a pedal is stepped on, a pedal stroke sensor moves for a certain distance, the MCU1 and the MCU2 receive stroke signals of the stroke sensor, the deceleration requirement required by the whole vehicle is calculated, braking force distribution is carried out, the MCU1 informs the MCU2 of controlling the rotation of the motor A and the motor B respectively according to the distributed braking force and a PV curve of a braking circuit through an SPI bus, a brake master cylinder piston is pushed through a lead screw gear mechanism to realize assistance, the braking force distribution and the PV curve of the braking circuit are technical means known by technicians in the field and are not limited to a certain mode, and the correlation with the technical problem solved by the invention is not large, so the repeated description is not repeated in the invention;
the working mode 2 is as follows: the MCU1 informs the MCU2 of the MCU 8932 through the SPI bus to respectively control the rotation of the motor A and the motor B according to the distributed braking force and the PV curve of a braking loop, and then pushes a brake master cylinder piston through a lead screw gear mechanism to realize assistance;
when one of the power management module B, MCU2 or the motor B fails, the MCU1 identifies the fault through the fault diagnosis module, sends a fault signal to the entire vehicle CAN network through the CAN1, and controls the motor driving module A to drive the motor A, so that the system keeps half of the braking assistance;
when one of the power management module A, MCU1 or the motor A fails, the MCU2 takes over the system and controls the motor driving module B to drive the motor B, so that the system keeps half of the braking assistance;
information is exchanged between the MCU1 and the MCU2 through an SPI bus, and when one path of MCU cannot receive the other path of SPI information, the fault diagnosis module judges that the other path of MCU fails;
a bus voltage acquisition circuit, a phase voltage acquisition circuit and a phase current acquisition circuit are arranged on the motor A, B side, the bus voltage on the motor A, B side is respectively acquired through the MCU1 and the MCU2, the phase voltage and the phase current of the motor A, B are acquired through AD, and a fault diagnosis module is used for judging whether the bus voltage, the phase current and the motor rotating speed have over-high or over-low faults, for example, when the bus voltage exceeds a threshold value set by a system, the over-high or over-low fault of the bus voltage can be judged, the comparison between the bus voltage and the phase voltage exceeds a designed threshold value after calculation, the over-high or over-low fault of a certain phase voltage of the motor can be judged, the over-current fault of the motor can be judged through calculating and comparing a motor current value preset by a system, and the phase current is acquired simultaneously to be compared with a pedal stroke sensor signal or a corner sensor signal when the motor rotates, the method CAN judge whether the rotating speed of the motor is within a preset range or not under the rotation of the system pre-current value, whether the push rod reaches a preset position or not, if the error exceeds a certain threshold value, the fault is judged, one path of motor is judged to have a fault or one path of MCU works abnormally by the method, the other path of MCU takes over the system in time, and the related state is reflected to the whole vehicle in time through the CAN communication module;
firstly, the electronic brake power assisting system carries out intelligent brake power assisting through external signals such as CAN or pedal stroke, completely adopts electric control, gets rid of the defects of the traditional mechanical vacuum booster, CAN realize the automatic power assisting function, calculates the required power assisting according to the pedal stroke and the pressure of a brake main cylinder and a sub pump, and realizes intelligent control;
secondly, the system has high reliability, has a framework of double-battery power supply, double-power management, double-MCU control and double motors, can realize full functions under the condition that one path of battery fails, and keeps half of braking assistance under the conditions that one path of power management circuit fails, one path of MCU fails and one path of motor fails, and improves the safety level of the system through the redundant design of the double batteries, the double-power management and the double MCUs;
finally, the invention can be flexibly configured, not only can meet the braking assistance requirement of a vehicle with a heavier vehicle body, but also can simply use a single motor to meet the braking assistance requirement of a vehicle with a smaller vehicle weight.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. A dual-motor electronic brake power-assisted control system is characterized by comprising a battery module, a power management module, a pedal stroke sensor, an MCU module, a motor driving module, a motor module, a fault diagnosis module, a CAN communication module and a finished automobile CAN network, wherein the CAN communication module is used for carrying out signal interaction with the finished automobile CAN network;
the battery module comprises a battery A and a battery B, the power management module comprises a power management module A and a power management module B, and power is supplied to the MCU1 and the MCU2 through the power management module A and the power management module B;
the motor driving module comprises a motor driving module A and a motor driving module B, the motor module comprises a motor A and a motor B, the pedal stroke sensor inputs pedal stroke signals to the MCU1 and the MCU2 and respectively outputs control signals to the motor driving module A and the motor driving module B so as to control the rotation of the motor A and the motor B;
a bus voltage acquisition circuit, a phase voltage acquisition circuit and a phase current acquisition circuit are arranged on the motor A, B side, the bus voltage on the motor A, B side is acquired through the MCU1 and the MCU2 respectively, the phase voltage and the phase current of the motor A, B are acquired through the AD, and whether the bus voltage, the phase current and the motor rotating speed have over-high or over-low faults is judged through the fault diagnosis module;
when one of the power management module B, MCU2 or the motor B fails, the MCU1 identifies the fault through the fault diagnosis module, sends a fault signal to the entire vehicle CAN network through the CAN1, and controls the motor driving module A to drive the motor A, so that the system keeps half of the braking assistance;
when one of the power management module A, MCU1 or the motor A fails, the fault diagnosis module identifies a fault, the MCU2 takes over the system, and simultaneously, the motor driving module B is controlled to drive the motor B, so that half of the braking assistance of the system is reserved.
2. The dual-motor electronic brake power-assisted control system of claim 1, further comprising a screw gear mechanism, wherein the MCUs 1 and 2 receive stroke signals of the pedal stroke sensor, calculate deceleration requirements required by the whole vehicle, and distribute braking force, the MCUs 1 informs the MCUs 2 through an SPI bus to control rotation of the motors a and B according to the distributed braking force and a PV curve of a brake circuit, and then pushes a brake master cylinder piston through the screw gear mechanism to realize power assistance;
the MCU module receives acceleration and pressure signals of an ESC body stability control system through the CAN bus, calculates deceleration requirements required by the whole vehicle, and distributes braking force, and the MCU1 informs the MCU2 through the SPI bus to respectively control the rotation of the motor A and the motor B according to the distributed braking force and a PV curve of a braking loop.
3. The dual-motor electronic brake boosting control system according to claim 1, wherein the motor module further comprises a motor rotation angle sensor a and a motor rotation angle sensor B, the motor rotation angle sensor a is used for detecting a rotation speed signal of the motor a, and the motor rotation angle sensor B is used for detecting a rotation speed signal of the motor B.
4. The dual-motor electronic brake power-assisted control system according to claim 3, wherein the rotation speed signals of the motor A and the motor B are respectively input to the MCU1 and the MCU 2.
5. The dual-motor electronic brake power-assisted control system of claim 1, further comprising an ignition switch, wherein the power management module is configured to determine whether the ignition switch is on or off, convert a voltage output by the battery module into an input voltage of the MCU module when the ignition switch is on, and enable the power management module to be in a sleep state when the ignition switch is off.
6. The dual-motor electronic brake power-assisted control system according to claim 1, wherein the power management module A and the power management module B are respectively interconnected with the battery A and the battery B through independent power lines and fuses.
7. The dual-motor electronic brake power-assisted control system of claim 1, wherein the CAN communication module comprises CAN1 and CAN2, the MCU1 is in signal communication with a whole vehicle CAN network through CAN1, and the MCU2 is in signal communication with the whole vehicle CAN network through CAN 2.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210502710.9A CN114604217A (en) | 2022-05-10 | 2022-05-10 | Dual-motor electronic brake power-assisted control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210502710.9A CN114604217A (en) | 2022-05-10 | 2022-05-10 | Dual-motor electronic brake power-assisted control system |
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| CN114604217A true CN114604217A (en) | 2022-06-10 |
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| CN202210502710.9A Pending CN114604217A (en) | 2022-05-10 | 2022-05-10 | Dual-motor electronic brake power-assisted control system |
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2022
- 2022-05-10 CN CN202210502710.9A patent/CN114604217A/en active Pending
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| CN109823330A (en) * | 2018-08-13 | 2019-05-31 | 格陆博科技有限公司 | A kind of EPB braking standby system |
| US20210354672A1 (en) * | 2018-09-27 | 2021-11-18 | Bethel Automotive Safety Systems Co., Ltd. | Brake system having two independent control units and method for controlling same |
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