EP1152937A1 - Method and device for regulating the braking moment of a braking force regulator on at least one wheel of a motor vehicle - Google Patents

Method and device for regulating the braking moment of a braking force regulator on at least one wheel of a motor vehicle

Info

Publication number
EP1152937A1
EP1152937A1 EP00983026A EP00983026A EP1152937A1 EP 1152937 A1 EP1152937 A1 EP 1152937A1 EP 00983026 A EP00983026 A EP 00983026A EP 00983026 A EP00983026 A EP 00983026A EP 1152937 A1 EP1152937 A1 EP 1152937A1
Authority
EP
European Patent Office
Prior art keywords
pump
pressure
hydraulic pump
speed
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00983026A
Other languages
German (de)
French (fr)
Inventor
Johannes Schmitt
Andreas Zoebele
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1152937A1 publication Critical patent/EP1152937A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S303/00—Fluid-pressure and analogous brake systems
    • Y10S303/02—Brake control by pressure comparison

Definitions

  • the invention is based on a method or a device for regulating the braking torque of a braking force regulator on at least one wheel of a motor vehicle according to the category of the independent claims 1 and 6.
  • DE 39 23 599 C2 already discloses a method for determining the braking force on a Known wheel of a vehicle, wherein the wheel speed and the brake pressure are measured. A new parameter for the braking force on the wheel is determined from these measured variables with the aid of a parameter estimation method.
  • the difference between an allowable brake slip and the actual brake slip is determined. From this difference, a control amplifier determines activation times for a control unit that regulates the brake pressure. The control is temporarily interrupted for short periods and recalculated after the measured parameters have been updated. It was found that the calculation of the activation times for the pressure valve did not take into account whether the hydraulic pump is still in operation after the control signal is switched off or is completely at a standstill. Because when the hydraulic pump is still in operation, there is an increased initial pressure in the line system, which affects the activation times for the valve.
  • the method according to the invention and the device for regulating the braking torque of a brake force regulator according to the independent claims 1 and 6 have the advantage that the activation times for the valve of a wheel brake cylinder can be calculated as a function of the actual pressure in the line, which before is due at the start of the rule. It is particularly advantageous that the standstill of the electric motor of the hydraulic pump can be detected by a simple measurement of the induced voltage.
  • the measures listed in the dependent claims allow advantageous developments and improvements of the method specified in the main claim. It is particularly advantageous that the pressure in the line is determined by the wake of the hydraulic pump after the control signal has been switched off without an additional sensor. This is advantageously done by measuring the induced voltage (EMF) at the field winding of the pump motor.
  • EMF induced voltage
  • FIG. 1 shows a block diagram
  • FIGS. 2a to 2f show diagrams with control curves
  • FIG. 3 shows a flow diagram.
  • FIG. 1 shows a block diagram in a simplified version with a hydraulic pump 1, which is driven by an electrically driven pump motor PM.
  • the hydraulic pump On the hydraulic side, the hydraulic pump is connected to a reservoir 4, in which an adequate supply of hydraulic oil is stored.
  • the hydraulic pump 1 On the output side, the hydraulic pump 1 is connected to a wheel brake cylinder 3 via a valve 2.
  • the hydraulic lines are marked with a double line for understanding. Of course, this scheme can alternatively also be used for air-operated brakes.
  • Voltage meter 7 connected, which measures the induced voltage (EMF) of the pump motor PM and passes this value on to a controller 5.
  • the controller 5 is also connected to a speed sensor 6, which detects, for example, the speed of the wheel in question.
  • a speed sensor 6 detects, for example, the speed of the wheel in question.
  • the pressure detection of the instantaneous pressure in the hydraulic line j_ s - the pressure detection of the instantaneous pressure in the hydraulic line j_ s -
  • the corresponding signals are taken from a loading already existing apparatus. This one directions are known per se and need not be explained in more detail.
  • the controller 5 calculates the activation times for the valve 2 from the measured data and determines the point in time at which the pump motor PM of the hydraulic pump is to be switched on or off to build up the pressure. The mode of operation is explained in more detail below with reference to FIGS. 2 and 3.
  • the brake pressure in the wheel brake cylinder 3 is set, for example, by constant pressure steps. This is done by actuating the valve 2 with individual pulses until the target pressure is reached.
  • the activation times for the valve 2 depend on whether the hydraulic pump 1 is already running at the beginning of the control cycle or whether it has to start up, i.e. i.e. whether the pressure has increased from 0 to the intended value. In this case, the first valve control pulses are calculated with a different time ratio than after the start of the hydraulic pump 1 within the pressure control.
  • Figures 2a to 2f show various diagrams with curves, which are explained in detail below.
  • the X axis corresponds to the time axis t and the measured or calculated parameters are plotted on the Y axis.
  • the Y-axis corresponds to the wheel speed v rad- D: "- a curve curved out above corresponds, for example, to the speed curve of a drive wheel which has a corresponding slip.
  • the lower curve represents the vehicle speed or the speed of a non-driven wheel without slip.
  • the dashed curve symbolizes the mean value of the speed for the drive wheel.
  • FIG. 2b now shows the positive control deviation of the speed ⁇ V, which results from the speed curve of the drive wheel with the mean value according to FIG. 2a.
  • the positive control deviation means that there is an acceleration.
  • FIG. 2c shows the course of a pressure curve for the target pressure P so n, which was modulated in stages in the rise and the course.
  • FIG. 2d shows a control signal for the pump motor PM calculated by the controller 5, which switches on the pump motor PM at time t ] and switches off the pump motor at time t2.
  • the corresponding curve of the pump voltage u M is plotted in FIG. 2e.
  • the pump voltage U PM initially rises exponentially at time t ] , is kept constant at a predetermined voltage level and is switched off at time t2. This results in a voltage drop that reaches the value V x at time ⁇ .
  • U.N- below this threshold value V x it is assumed that the pump motor has come to a standstill.
  • control period ] _ to 3 is shown. This control time is greater than up to time t2 when the control signal for the pump motor PM is switched off.
  • the setpoint pressure P so ll be calculated in position 31 from the supplied signals for the actual pressure i S f, the wheel speed Vrad and the engine torque Mmot.
  • the calculation for the target pressure takes place in pressure stages. Another curve course is also conceivable.
  • the pressure values and the measured pump voltage U PM are fed to the controller 5.
  • the controller 5 decides in position 32 whether a pressure build-up is necessary. If this is the case, it is checked in position 33 whether the control is already active. This is recognized by whether the control memory is set according to FIG. 2f. If this is the case, pressure is built up with the pump stopped according to item 34. If, on the other hand, the control memory is not set, pressure is built up in position 35 with the hydraulic pump running.
  • position 36 is checked to see whether pressure should be reduced. If this is not the case (position 40), the pressure is maintained. If a pressure reduction is necessary, then it is checked in position 37 whether the pressure reduction has ended. If this is not the case, the pressure is reduced in position 41. However, if the pressure reduction was not complete, ie after the control signal for the pump motor PM has been switched off, it is now checked whether the pump voltage up to the specified below the value V x . If this is the case, then it is assumed that the pump is stopped (position 42). If, on the other hand, the pump voltage up ⁇ is still greater than V x , then the control is ended and the control memory is reset according to FIG. 2f.
  • the pressure preferably upstream of the valve or to estimate it from the speed of the hydraulic pump.
  • the pump speed is preferably determined in each computing cycle.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Regulating Braking Force (AREA)

Abstract

According to the invention, a method and device for regulating the braking moment of a braking force regulator on at least one wheel of a motor vehicle are disclosed, whereby the triggering impulses, for a hydraulic valve, are not calculated depending upon the trigger signal of the hydraulic pump (Pump Motor PM), but, rather, from the effective idle-state of the pump motor PM. For the detection of the effective idle-state of the pump motor PM, the induced voltage uPM thereof is measured. Should the voltage uPM fall below a preset minimal threshold value Vx, then an idle-state for the pump motor PM is assumed.

Description

Verfahren und Vorrichtung zur Regelung des Bremsmomentes eines Bremskraftreglers an wenigstens einem Rad eines KraftfahrzeugsMethod and device for regulating the braking torque of a braking force regulator on at least one wheel of a motor vehicle
Stand der TechnikState of the art
Die Erfindung geht aus von einem Verfahren bzw. einer Vorrichtung zur Regelung des Bremsmomentes eines Bremskraftreglers an wenigstens einem Rad eines Kraftfahrzeugs nach der Gattung der nebengeordneten Ansprüche 1 und 6. Aus der DE 39 23 599 C2 ist schon ein Verfahren zur Bestimmung der Bremskraft an einem Rad eines Fahrzeugs bekannt, wobei die Radgeschwindigkeit und der Bremsdruck gemessen werden. Aus diesen Meßgrößen wird mit Hilfe eines Parameterschätzverfahrens ein neuer Parameter für die Bremskraft an dem Rad bestimmt.The invention is based on a method or a device for regulating the braking torque of a braking force regulator on at least one wheel of a motor vehicle according to the category of the independent claims 1 and 6. DE 39 23 599 C2 already discloses a method for determining the braking force on a Known wheel of a vehicle, wherein the wheel speed and the brake pressure are measured. A new parameter for the braking force on the wheel is determined from these measured variables with the aid of a parameter estimation method.
Bei dem Bremsschlupfregier gemäß der DE 37 31 075 AI wird die Differenz zwischen einem zulässigen Bremsschlupf und dem tatsächlichen Bremsschlupf ermittelt. Aus dieser Differenz ermittelt ein Regelverstärker Ansteuerzeiten für eine Steuereinheit, die den Bremsdruck regelt. Die Regelung wird zeitweise für kurze Zeiträume unterbrochen und nach Aktualisierung der gemessenen Parameter erneut berechnet. Es hat sich dabei herausgestellt, daß bei der Berechnung der An- Steuerzeiten für das Druckventil nicht berücksichtigt wurde, ob die Hydraulikpumpe nach Abschalten des Ansteuersignais noch im Betrieb ist oder vollständig stillsteht. Denn wenn die Hydraulikpumpe noch im Betrieb ist, ist ein erhöhter Anfangsdruck im Leitungssystem vorhanden, der sich auf die An- Steuerzeiten für das Ventil auswirkt.In the brake slip regulator according to DE 37 31 075 AI, the difference between an allowable brake slip and the actual brake slip is determined. From this difference, a control amplifier determines activation times for a control unit that regulates the brake pressure. The control is temporarily interrupted for short periods and recalculated after the measured parameters have been updated. It was found that the calculation of the activation times for the pressure valve did not take into account whether the hydraulic pump is still in operation after the control signal is switched off or is completely at a standstill. Because when the hydraulic pump is still in operation, there is an increased initial pressure in the line system, which affects the activation times for the valve.
Vorteile der ErfindungAdvantages of the invention
Das erfindungsgemäße Verfahren bzw. die Vorrichtung zur Re- gelung des Bremsmomentes eines Bremskraftreglers gemäß den nebengeordneten Ansprüchen 1 und 6 hat demgegenüber den Vorteil, daß die Ansteuerzeiten für das Ventil eines Radbremszylinders in Abhängigkeit von dem tatsächlichen Druck in der Leitung berechnet werden kann, der vor dem Regelbe- ginn ansteht. Besonders vorteilhaft ist, daß der Stillstand des Elektromotors der Hydraulikpumpe durch eine einfache Messung der induzierten Spannung erfaßt werden kann.The method according to the invention and the device for regulating the braking torque of a brake force regulator according to the independent claims 1 and 6 have the advantage that the activation times for the valve of a wheel brake cylinder can be calculated as a function of the actual pressure in the line, which before is due at the start of the rule. It is particularly advantageous that the standstill of the electric motor of the hydraulic pump can be detected by a simple measurement of the induced voltage.
Durch die in den abhängigen Ansprüchen aufgeführeten Maßnah- men sind vorteilhafte Weiterbildungen und Verbesserungen des im Hauptanspruch angegebenen Verfahrens möglich. Besonders vorteilhaft ist, daß ohne zusätzlichen Sensor der Druck in der Leitung durch den Nachlauf der Hydraulikpumpe nach Abschalten des Ansteuersiganls bestimmt wird. Dies erfolgt vorteilhaft durch die Messung der induzierten Spannung (EMK) an der Feldwicklung des Pumpenmotors.The measures listed in the dependent claims allow advantageous developments and improvements of the method specified in the main claim. It is particularly advantageous that the pressure in the line is determined by the wake of the hydraulic pump after the control signal has been switched off without an additional sensor. This is advantageously done by measuring the induced voltage (EMF) at the field winding of the pump motor.
Zur Bestimmung des Stillstandes der Hydraulikpumpe geht man vorteilhaft dabei davon aus, daß der Druck im Hydrauliksy- stem weitgehend abgefallen ist, wenn die gemessene Spannung unter einem vorgegebenen Grenzwert liegt. Dadurch wird verhindert, daß die Wartezeiten bis zum Stillstand der Hydraulikpumpe unverhältnismäßig lang werden. Auch gelingt es auf diese Weise, ohne allzu große Zeitabstände den Bremsdruck im System pulsweise zu erhöhen. Das führt vorteilhaft dazu, daß das Rad mit einem kontrollierten Schlupf gebremst wird und so optimale Verzögerungswerte des Fahrzeugs erreicht werden.To determine the standstill of the hydraulic pump, it is advantageously assumed that the pressure in the hydraulic system has largely dropped when the measured voltage is below a predetermined limit value. This prevents the waiting times until the hydraulic pump comes to a standstill. It is also possible in this way to increase the brake pressure in the system in pulses without too large time intervals. This advantageously leads to the fact that the wheel is braked with a controlled slip, thus achieving optimal deceleration values for the vehicle.
Zeichnungdrawing
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und in den Figuren näher erläutert. Figur 1 zeigt ein Blockschaltbild, die Figuren 2a bis 2f zeigen Diagramme mit Regelkurven und Figur 3 zeigt ein Flußdiagramm.An embodiment of the invention is shown in the drawing and explained in more detail in the figures. FIG. 1 shows a block diagram, FIGS. 2a to 2f show diagrams with control curves and FIG. 3 shows a flow diagram.
Beschreibung des AusführungsbeispielsDescription of the embodiment
Figur 1 zeigt ein Blockschaltbild in vereinfachter Ausführung mit einer Hydraulikpumpe 1, die von einem elektrisch angetriebenen Pumpenmotor PM angetrieben wird. Auf der Hydraulikseite ist die Hydraulikpumpe mit einem Vorratsbehälter 4 verbunden, in dem ein angemessener Vorrat an Hydrauli- köl gespeichert ist. Ausgangsseitig ist die Hydraulikpumpe 1 über ein Ventil 2 mit einem Radbremszylinder 3 verbunden. In Figur 1 sind zum Verständnis die Hydraulikleitungen mit einem Doppelstrich gekennzeichnet. Selbstverständlich ist diese Schema alternativ auch für druckluftbetriebene Bremsen anwendbar .Figure 1 shows a block diagram in a simplified version with a hydraulic pump 1, which is driven by an electrically driven pump motor PM. On the hydraulic side, the hydraulic pump is connected to a reservoir 4, in which an adequate supply of hydraulic oil is stored. On the output side, the hydraulic pump 1 is connected to a wheel brake cylinder 3 via a valve 2. In Figure 1, the hydraulic lines are marked with a double line for understanding. Of course, this scheme can alternatively also be used for air-operated brakes.
Auf der elektrischen Seite ist an dem Pumpenmotor PM einOn the electrical side is on the pump motor PM
Spannungsmesser 7 angeschlossen, der die induzierte Spannung (EMK) des Pumpenmotors PM mißt und diesen Wert an eine Steuerung 5 weitergibt. Die Steuerung 5 ist des weiteren mit einem Geschwindigkeitssensor 6 verbunden, der beispielsweise die Geschwindigkeit des betreffenden Rades erfaßt. Nicht eingezeichnet in Figur 1 ist die Druckerfassung für den momentanen Druck in der Hydraulikleitung j_s - Selbstverständlich können anstelle des Spannungsmeßers 7 bzw. des Geschwindigkeitssensors 6 die entsprechenden Signale einer be- reits vorhandenen Vorrichtung entnommen werden. Diese Ein- richtungen sind per se bekannt und müssen nicht näher erläutert werden.Voltage meter 7 connected, which measures the induced voltage (EMF) of the pump motor PM and passes this value on to a controller 5. The controller 5 is also connected to a speed sensor 6, which detects, for example, the speed of the wheel in question. Not shown in Figure 1, the pressure detection of the instantaneous pressure in the hydraulic line j_ s - Of course, instead of Spannungsmeßers 7 and the speed sensor 6, the corresponding signals are taken from a loading already existing apparatus. This one directions are known per se and need not be explained in more detail.
Die Steuerung 5 berechnet aus den gemessenen Daten die Ansteuerzeiten für das Ventil 2 und bestimmt den Zeitpunkt, wann der Pumpenmotor PM der Hydraulikpumpe zum Aufbau des Druckes ein- bzw. ausgeschaltet werden soll. Im nachfolgenden wird die Funktionweise anhand der Figuren 2 und 3 näher erläutert .The controller 5 calculates the activation times for the valve 2 from the measured data and determines the point in time at which the pump motor PM of the hydraulic pump is to be switched on or off to build up the pressure. The mode of operation is explained in more detail below with reference to FIGS. 2 and 3.
Bei der Regelung des Bremsmomentes wird der Bremsdruck in dem Radbremszylinder 3 beispielsweise durch konstante Druckstufen eingestellt. Das geschieht dadurch, daß das Ventil 2 mit einzelnen Pulsen betätigt wird, bis der Solldruck er- reicht ist. Bei der Einstellung von konstanten Druckstufen hängen die Ansteuerzeiten für das Ventil 2 davon ab, ob die Hydraulikpumpe 1 zu Beginn des Regelzyklus bereits läuft oder ob sie erst anlaufen muß, d. h., ob der Druckaufbau von 0 bis zum vorgesehenen Wert erfolgt ist. In diesem Fall wer- den die ersten Ventilansteuerimpulse mit einem anderen Zeitverhältnis berrechnet, als nach dem Anlauf der Hydraulikpumpe 1 innerhalb der Druckregelung.When regulating the braking torque, the brake pressure in the wheel brake cylinder 3 is set, for example, by constant pressure steps. This is done by actuating the valve 2 with individual pulses until the target pressure is reached. When setting constant pressure levels, the activation times for the valve 2 depend on whether the hydraulic pump 1 is already running at the beginning of the control cycle or whether it has to start up, i.e. i.e. whether the pressure has increased from 0 to the intended value. In this case, the first valve control pulses are calculated with a different time ratio than after the start of the hydraulic pump 1 within the pressure control.
Ein ähnliches Problem entsteht, wenn am Ende der Regelung die Pumpe ausgeschaltet wird. Durch die Trägheit bleibt die Hydraulikpumpe 1 nicht sofort stehen, sondern hat noch einen gewissen zeitliche Nachlauf, wodurch der Druck in der Hydraulikleitung weiterhin aufrechterhalten wird. Erfolgt innerhalb der Zeitspanne, vom Abschalten der Hydraulikpumpe 1 bis zum tatsächlichen Stillstand des Pumpenmotors ein erneuter Impuls zur Ansteuerung des Ventils 2, dann ist zu diesem Zeitpunkt der Druck in der Hydraulikleitung noch nicht abgefallen, so daß die Impulszeit verkürzt werden muß. Erfindungsgemäß wird daher vorgeschlagen, den tatsächlichen Stillstand der Hydraulikpumpe 1 zu erfassen. Dieses erfolgt mit dem Spannungsmesser 7, der die EMK-Spannung am Pumpenmotor PM mißt. Sinkt diese Spannung unter einen vorgegebenen Schwellwert uPM, dann kann davon ausgegangen werden, daß derA similar problem arises when the pump is switched off at the end of the regulation. Due to the inertia, the hydraulic pump 1 does not stop immediately, but still has a certain time lag, as a result of which the pressure in the hydraulic line is maintained. If, within the period of time from switching off the hydraulic pump 1 to the actual standstill of the pump motor, there is another pulse for actuating the valve 2, then the pressure in the hydraulic line has not yet dropped at this point in time, so that the pulse time must be shortened. According to the invention, it is therefore proposed to detect the actual standstill of the hydraulic pump 1. This is done with the voltmeter 7, which measures the EMF voltage on the pump motor PM. If this voltage drops below a predetermined threshold value u PM , it can be assumed that the
Pumpenmotor steht, und der Druck abgebaut ist.Pump motor is stopped and the pressure is released.
Die Figuren 2a bis 2f zeigen verschiedene Diagramme mit Kurven, die im einzelnen nachfolgend erläutert werden. Die X- Achse entspricht dabei der Zeit -Achse t und auf der Y-Achse sind die gemessenen bzw. berechneten Parameter aufgetragen. In Figur 2a entspricht die Y-Achse der Radgeschwindikkeit vrad- D:"-e nacn oben ausgewölbte Kurve entspricht beispielhaft dem Geschwindigkeitsverlauf eines Antriebsrades, das einen entsprechenden Schlupf aufweist. Im Vergleich dazu, stellt die untere Kurve die Fahrzeuggeschwindigkeit bzw. die Geschwindigkeit eines nicht angetriebenen Rades ohne Schlupf dar. Die gestrichelte Kurve symbolisiert den Mittelwert der Geschwindigkeit für das Antriebsrad.Figures 2a to 2f show various diagrams with curves, which are explained in detail below. The X axis corresponds to the time axis t and the measured or calculated parameters are plotted on the Y axis. In FIG. 2a, the Y-axis corresponds to the wheel speed v rad- D: "- a curve curved out above corresponds, for example, to the speed curve of a drive wheel which has a corresponding slip. In comparison, the lower curve represents the vehicle speed or the speed of a non-driven wheel without slip. The dashed curve symbolizes the mean value of the speed for the drive wheel.
In Figur 2b ist nun die positive Regelabweichung der Ge- schwindigkeit δV dargestellt, die sich aus dem Geschwindigkeitsverlauf des Antriebsrades mit dem Mittelwert gemäß der Figur 2a ergibt. Die positive Regelabweichung bedeutet dabei, daß eine Beschleunigung vorliegt.FIG. 2b now shows the positive control deviation of the speed δV, which results from the speed curve of the drive wheel with the mean value according to FIG. 2a. The positive control deviation means that there is an acceleration.
Figur 2c zeigt den Verlauf einer Druckkurve für den Soll- druck Pson, die im Anstieg und Ablauf stufenweise moduliert wurde. Figur 2d zeigt ein von der Steuerung 5 berechnetes Ansteuersignal für den Pumpenmotor PM, das zum Zeitpunkt t]_ den Pumpenmotor PM einschaltet und zum Zeitpunkt t2 den Pum- penmotor ausschaltet. In Figur 2e ist der entsprechende Verlauf der Pumpenspannung u M aufgetragen. Die Pumpenspannung UPM steigt zunächst im Zeitpunkt t]_ expotentiell an, wird in einem vorgegebenen Spannungsniveau konstant gehalten und zum Zeitpunkt t2 ausgeschaltet. Dadurch ergibt sich ein Span- nungsabfall, der zum Zeitpunkt ^ den Wert Vx erreicht. Un- terhalb dieses Schwellwertes Vx wird angenommen, daß der Pumpenmotor zum Stillstand gekommen ist.FIG. 2c shows the course of a pressure curve for the target pressure P so n, which was modulated in stages in the rise and the course. FIG. 2d shows a control signal for the pump motor PM calculated by the controller 5, which switches on the pump motor PM at time t ] and switches off the pump motor at time t2. The corresponding curve of the pump voltage u M is plotted in FIG. 2e. The pump voltage U PM initially rises exponentially at time t ] , is kept constant at a predetermined voltage level and is switched off at time t2. This results in a voltage drop that reaches the value V x at time ^. U.N- below this threshold value V x it is assumed that the pump motor has come to a standstill.
Gemäß der Figur 2f ist die Regeldauer ]_ bis 3 dargestellt. Diese Regelzeit ist größer als bis zum Zeitpunkt t2 wenn das Ansteuersignal für den Pumpenmotor PM abgeschaltet wird.According to FIG. 2f, the control period ] _ to 3 is shown. This control time is greater than up to time t2 when the control signal for the pump motor PM is switched off.
Anhand des Flußdiagrammes der Figur 3 wird die Funktionsweise des erfindungsgemäßen Verfahrens bzw. der Vorrichtung nä- her erläutert. Zunächst wird in Position 31 aus den zugeführten Signalen für den Istdruck iSf der Radgeschwindigkeit Vrad und dem Motormoment Mmot der Solldruck Psoll be rechnet . Gemäß des Ausführungsbeispiels erfolgt die Berechnung für den Solldruck in Druckstufen. Ein anderer Kurven- verlauf ist ebenfalls denkbar. Die Druckwerte sowie die Gemessene Pumpenspannung UPM dem Regler 5 zugeführt . Aufgrund eines Vergleichs zwischen dem Solldruck Psoll und dem Istdruck Pist entscheidet der Regler 5 in Position 32, ob ein Druckaufbau erforderlich ist. Falls dies der Fall ist, wird in Position 33 geprüft, ob die Regelung bereits aktiv ist. Dieses wird daran erkannt, ob gemäß der Figur 2f der Regelspeicher gesetzt ist. Ist dies der Fall, erfolgt gemäß Position 34 ein Druckaufbau mit stehender Pumpe. Ist dagegen der Regelspeicher nicht gesetzt, erfolgt in Position 35 der Druckaufbau mit laufender Hydraulikpumpe.The mode of operation of the method and of the device according to the invention is explained in more detail with reference to the flow chart in FIG. First, the setpoint pressure P so ll be calculated in position 31 from the supplied signals for the actual pressure i S f, the wheel speed Vrad and the engine torque Mmot. According to the exemplary embodiment, the calculation for the target pressure takes place in pressure stages. Another curve course is also conceivable. The pressure values and the measured pump voltage U PM are fed to the controller 5. Based on a comparison between the target pressure Psoll and the actual pressure Pi s t, the controller 5 decides in position 32 whether a pressure build-up is necessary. If this is the case, it is checked in position 33 whether the control is already active. This is recognized by whether the control memory is set according to FIG. 2f. If this is the case, pressure is built up with the pump stopped according to item 34. If, on the other hand, the control memory is not set, pressure is built up in position 35 with the hydraulic pump running.
War dagegen in Position 32 kein Druckaufbau erforderlich, dann wird in Position 36 geprüft, ob ein Druckabbau erfolgen soll. Ist dies nicht der Fall (Position 40) dann wird der Druck gehalten. Ist dagegeben ein Druckabbau erforderlich, dann wird in Position 37 geprüft, ob der Druckabbau beendet ist. Ist dies nicht der Fall, erfolgt in Position 41 der Druckabbau. War der Druckabbau jedoch nicht beendet, d. h. , nach dem Abschalten des Ansteuersignales für den Pumpenmotor PM wird nun geprüft, ob die Pumpenspannung up^ den vorgege- benen Wert Vx unterschreitet. Ist dies der Fall, dann wird angenommen, daß die Pumpe steht (Position 42) . Ist dagegen die Pumpenspannung up^ noch größer als Vx, dann wird die Regelung beendet und der Regelspeicher gemäß Figur 2f zurück- gesetzt.If, on the other hand, no pressure build-up was required in position 32, position 36 is checked to see whether pressure should be reduced. If this is not the case (position 40), the pressure is maintained. If a pressure reduction is necessary, then it is checked in position 37 whether the pressure reduction has ended. If this is not the case, the pressure is reduced in position 41. However, if the pressure reduction was not complete, ie after the control signal for the pump motor PM has been switched off, it is now checked whether the pump voltage up to the specified below the value V x . If this is the case, then it is assumed that the pump is stopped (position 42). If, on the other hand, the pump voltage up ^ is still greater than V x , then the control is ended and the control memory is reset according to FIG. 2f.
In alternativer Ausgestaltung der Erfindung ist vorgesehen, den Druck vorzugsweise vor dem Ventil zu messen oder aus der Drehzahl der Hydraulikpumpe zu schätzen. Vorzugsweise wird die Pumpendrehzahl bei jedem Rechenzyklus bestimmt. In an alternative embodiment of the invention it is provided to measure the pressure preferably upstream of the valve or to estimate it from the speed of the hydraulic pump. The pump speed is preferably determined in each computing cycle.

Claims

Ansprüche Expectations
1. Verfahren zur Regelung des Bremsmomentes eines Brems- kraftreglers an wenigstens einem Rad eines Kraftfahrzeugs, wobei eine Hydraulikpumpe (1) in einem Hydraulikkreislauf einen Bremsdruck für einen Radbremszylinder (3) aufbaut und wobei ein Regler (5) wenigstens ein Ventil (2) derart an- steuert, daß durch Öffnen und Schließen der Bremsdruck in Abhängigkeit von der Geschwindigkeit oder dem Schlupf des entsprechenden Rades geregelt wird, dadurch gekennzeichnet, daß der Regler (5) die Ansteuerzeit für das Ventil (2) in Abhängigkeit von dem Druck in der Leitung, der vor dem Re- gelbeginn ansteht, und der Drehzahl der Hydraulikpumpe (1) berechnet .1. A method for controlling the braking torque of a braking force regulator on at least one wheel of a motor vehicle, a hydraulic pump (1) building up a braking pressure for a wheel brake cylinder (3) in a hydraulic circuit and a regulator (5) having at least one valve (2) in this way controls that the brake pressure is regulated as a function of the speed or slip of the corresponding wheel by opening and closing, characterized in that the controller (5) controls the actuation time for the valve (2) as a function of the pressure in the line , which is pending before the start of control, and calculates the speed of the hydraulic pump (1).
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß der Druck in der Leitung durch den Nachlauf der Hydraulik- pumpe (1) nach Abschalten der Ansteuerung bestimmt wird.2. The method according to claim 1, characterized in that the pressure in the line is determined by the wake of the hydraulic pump (1) after switching off the control.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Drehzahl der Hydraulikpumpe (1) durch Messung der induzierten Spannung (up^) am Pumpenmotor (PM) bestimmt wird.3. The method according to claim 1 or 2, characterized in that the speed of the hydraulic pump (1) by measuring the induced voltage (up ^) on the pump motor (PM) is determined.
4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß ein Stillstand der Hydraulikpumpe dann erkannt wird, wenn die gemessene Spannung einen vorge- gebenen Grenzwert (Vx) unterschreitet. 4. The method according to any one of the preceding claims, characterized in that a standstill of the hydraulic pump is detected when the measured voltage falls below a predetermined limit value (V x ).
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der Pumpenstillstand der Hydraulikpumpe (1) bei jedem Rechenzyklus bestimmt wird.5. The method according to any one of the preceding claims, characterized in that the pump standstill of the hydraulic pump (1) is determined in each computing cycle.
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Pumpendrehzahl der Hydraulikpumpe bei jedem Rechenzyklus bestimmt wird.6. The method according to any one of the preceding claims, characterized in that the pump speed of the hydraulic pump is determined in each computing cycle.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der Pumpendruck gemessen wird.7. The method according to any one of the preceding claims, characterized in that the pump pressure is measured.
8. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der Druck vor dem Ventil aus der Pumpendrehzahl geschätzt wird.8. The method according to any one of the preceding claims, characterized in that the pressure upstream of the valve is estimated from the pump speed.
9. Vorrichtung zur Regelung des Bremsmomentes für ein Kraftfahrzeug zur Durchführung des Verfahrens nach einem der vorhergehenden Ansprüche, mit einer Hydraulikpumpe (1) mit we- nigstens einem Ventil (2) , einem Regler (5) und einem Ge- schwindkeitssensor (6), dadurch gekennzeichnet, daß ein Spannungsmesser (7) die induzierte Spannung am Pumpenmotor (PM) mißt und diese dem Regler (5) zuführt, und daß der Regler (5) so ausgebildet ist, durch Vergleich der gemessenen Spannung mit einem vorgegebenen Grenzwert (Vx) den Stillstand des Pumpenmotors (PM) zu erkennen. 9. Device for regulating the braking torque for a motor vehicle for carrying out the method according to one of the preceding claims, with a hydraulic pump (1) with at least one valve (2), a regulator (5) and a speed sensor (6), characterized in that a voltage meter (7) measures the induced voltage at the pump motor (PM) and feeds it to the regulator (5), and that the regulator (5) is designed to compare the measured voltage with a predetermined limit value (V x ) to detect the standstill of the pump motor (PM).
EP00983026A 1999-12-10 2000-10-17 Method and device for regulating the braking moment of a braking force regulator on at least one wheel of a motor vehicle Withdrawn EP1152937A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19959706A DE19959706B4 (en) 1999-12-10 1999-12-10 Method and device for controlling the braking torque of a brake force regulator on at least one wheel of a motor vehicle
DE19959706 1999-12-10
PCT/DE2000/003644 WO2001042068A1 (en) 1999-12-10 2000-10-17 Method and device for regulating the braking moment of a braking force regulator on at least one wheel of a motor vehicle

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EP1152937A1 true EP1152937A1 (en) 2001-11-14

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EP (1) EP1152937A1 (en)
JP (1) JP2003516271A (en)
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WO (1) WO2001042068A1 (en)

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DE19959706B4 (en) 2010-11-18
JP2003516271A (en) 2003-05-13
US6709067B1 (en) 2004-03-23
DE19959706A1 (en) 2001-06-13
WO2001042068A1 (en) 2001-06-14

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