FR2840865A1 - Control pedal resistor for motor vehicle has actuator with nut and screw drive connected to motor shaft to cause axial displacement of pedal shaft - Google Patents

Control pedal resistor for motor vehicle has actuator with nut and screw drive connected to motor shaft to cause axial displacement of pedal shaft Download PDF

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Publication number
FR2840865A1
FR2840865A1 FR0207286A FR0207286A FR2840865A1 FR 2840865 A1 FR2840865 A1 FR 2840865A1 FR 0207286 A FR0207286 A FR 0207286A FR 0207286 A FR0207286 A FR 0207286A FR 2840865 A1 FR2840865 A1 FR 2840865A1
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France
Prior art keywords
rod
nut
force
shaft
housing
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Granted
Application number
FR0207286A
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French (fr)
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FR2840865B1 (en
Inventor
Stephane Guegan
Fabrice Leray
Arnaud Richard
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Renault SAS
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Renault SAS
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Publication of FR2840865B1 publication Critical patent/FR2840865B1/en
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • 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
    • B60T8/321—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 deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • G05G1/40—Controlling members actuated by foot adjustable
    • G05G1/405—Controlling members actuated by foot adjustable infinitely adjustable

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Braking Elements And Transmission Devices (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The control pedal resistor for a motor vehicle has a housing (18) and a nut (72) mounted for rotation on the housing. A shaft (42) extends through the nut and connects the pedal for axial displacement when the nut is rotated. The nut is connected to the motor shaft (112) via a pulley (118) on the shaft connected via a belt (122) to a pulley on the nut. Claims include a drive by wire control pedal using the drive.

Description

composant d'ouverture (18) par l'intermediaire d'une diode (15).opening component (18) via a diode (15).

L'invention concerne un dispositif de restitution, ou << restituteur >>, d'effort À pour vehicule automobile, apte a exercer un effort de reaction sur un organe de commande, notamment sur une pedale de frein, en reponse a un effort d'action exerce sur ledit organe de commande par un utilisateur, comportant - un bo^tier, - un ecrou monte a rotation sur ledit bo^'tier dans une position axiale fixe, - une premiere tige traversant coaxialement ledit ecrou et mecaniquement couplee diune part audit organe de commande et d'autre part audit ecrou de maniere a pouvoir etre entranee en translation axiale par un deplacement audit organe de commande ou une rotation audit ecrou, respectivement, - un moteur et des moyens de couplage audit ecrou et d'un arbre audit moteur. L'invention concerne egalement un dispositif de commande par fil d'un actionneur d'un vehicule automobile en reponse a un effort d'action exerce sur un  The invention relates to a device for restitution, or "restorer", of force A for a motor vehicle, capable of exerting a reaction force on a control member, in particular on a brake pedal, in response to a force of action exerted on said control member by a user, comprising - a housing, - a nut mounted for rotation on said housing in a fixed axial position, - a first rod passing coaxially through said nut and mechanically coupled in one part to said control member and on the other hand to said nut so as to be able to be driven in axial translation by a displacement at said control member or a rotation at said nut, respectively, - a motor and means of coupling to said nut and a shaft audit engine. The invention also relates to a wire control device for an actuator of a motor vehicle in response to an action force exerted on a

organe de commande par un utilisateur.  control unit by a user.

Comme represente sur la figure 1, un dispositif de commande "par fil" 1 (ou "X-by-wire", ou dans le cas des applications automobiles "drive-bywire") est destine a la commande d'un organe mecanique 3, par exemple d'un frein, d'un embrayage,  As shown in FIG. 1, a "wire" control device 1 (or "X-by-wire", or in the case of "drive-bywire" automotive applications) is intended for controlling a mechanical member 3 , for example a brake, a clutch,

d'une direction ou d'une bo^te de vitesses.  a direction or a gearbox.

Le dispositif de commande par fil 1 comporte classiquement un organe de commande 5, par exemple une pedale de frein, un restituteur 7, un calculateur 9 et  The wire control device 1 conventionally comprises a control member 5, for example a brake pedal, a restorer 7, a computer 9 and

un actionneur 11.an actuator 11.

Le calculateur 9 commande le restituteur 7 et l'actionneur 11 par  The computer 9 controls the restorer 7 and the actuator 11 by

I'intermediaire de liaisons filaires 12 et 13, respectivement.  Via wire connections 12 and 13, respectively.

L'actionneur 11 est destine a cooperer avec l'organe mecanique 3 par  The actuator 11 is intended to cooperate with the mechanical member 3 by

exemple pour freiner une roue 15.example to brake a wheel 15.

Le dispositif de commande 1 fonctionne de la maniere suivante: Quand un utilisateur U d'un vehicule V dans lequel est installe le dispositif de commande 1 appuie sur la pedale 5, la pedale 5 se deplace. Sa position est mesuree par un capteur, par exemple integre dans le restituteur 7, et transmise au  The control device 1 operates in the following manner: When a user U of a vehicle V in which the control device 1 is installed presses on the pedal 5, the pedal 5 moves. Its position is measured by a sensor, for example integrated in the restorer 7, and transmitted to the

calculateur 9.calculator 9.

Le calcu lateur 9 an alyse cette position et en dedu it, sel on u ne l oi de  The 9 year old calculator alyses this position and inside it, sel on u ne l oi de

commande dument programmee, un deplacement de consigne pour l'actionneur 11.  duly programmed command, a setpoint displacement for the actuator 11.

II transmet alors a l'actionneur 11, par l'intermediaire de la liaison filaire 13, un signal de commande adapte pour obtenir ce deplacement de consigne. L'actionneur 11 obeit a ce signal de commande et exerce ainsi une pression de ralentissement de la rotation de la roue 15 correspondent au freinage souhaite par l'utilisateur U. Pour qu'un dispositif de commande par fil soit facilement accepte par l'utilisateur U. il est souhaitable que cet utilisateur ressente, lorsqu'il appuie sur la pedale 5, une reaction similaire a celle qu'il ressentirait si la pedale 5 etait couplee mecaniquement ou hydrauliquement, selon une technique conventionnelle, a  It then transmits to the actuator 11, via the wired link 13, a control signal adapted to obtain this setpoint displacement. The actuator 11 obeys this control signal and thus exerts a pressure for slowing down the rotation of the wheel 15 corresponding to the braking desired by the user U. So that a wire control device is easily accepted by the user U. it is desirable for this user to feel, when he presses on the pedal 5, a reaction similar to that which he would feel if the pedal 5 were coupled mechanically or hydraulically, according to a conventional technique,

l'actionneur 1 1.actuator 1 1.

Pour appliquer un effort de reaction sur la pedale 5 lors de son enforcement, le restituteur 7 peut comporter un ressort s'opposant a l'enfoncement de la pedale 5 et apte a fournir un effort de reaction sensiblement proportionnel a  To apply a reaction force to the pedal 5 when it is applied, the restorer 7 may include a spring opposing the depression of the pedal 5 and capable of providing a reaction force substantially proportional to

I'amplitude de cet enforcement.The extent of this enforcement.

La loi determinant ['effort de reaction en reponse a ['effort d'action exerce par l'utilisateur sur l'organe de commande 5 est appelee << loi de restitution >>. La loi de restitution d'un restituteur a ressort est figee et ne peut etre modifiee qu'en  The law determining the reaction force in response to the action force exerted by the user on the control member 5 is called "restitution law". The law of restitution of a spring restitutor is fixed and can only be modified

changeant le ressort.changing the spring.

Le brevet U.S. 6 105 737 decrit un restituteur dont la loi de restitution presente l'avantage d'etre programmable. Ce restituteur comporte - un bo^'tier, - un moteur electrique solidaire du bo^tier entranant en rotation un rotor creux, - une tige traversant coaxialement le rotor et positivement couplee d'une part a l'organe de commande et d'autre part au rotor par l'intermediaire de  U.S. Patent 6,105,737 describes a restorer whose restitution law has the advantage of being programmable. This restorer includes - a gearbox, - an electric motor integral with the gearbox driving in rotation a hollow rotor, - a rod passing coaxially through the rotor and positively coupled on the one hand to the control member and on the other goes to the rotor through

planetaires disposes entre le rotor et la tige.  planetaries arranged between the rotor and the rod.

Des filets complementaires de faible pas vent usines sur la tige et sur les planetaires. Les planetaires vent bloques axialement par rapport au rotor au moyen de gorges circulaires menagees dans les planetaires et dans lesquelles vent engagees des dents de forme complementaire disposees sur la paroi interieure du rotor. L'ensemble planetaires-rotor joue le role d'un ecrou cooperant avec la tige tout  Complementary nets of low wind no factories on the stem and on the planetaries. The planetaries are blocked axially with respect to the rotor by means of circular grooves made in the planetaries and in which wind engaged teeth of complementary shape arranged on the inner wall of the rotor. The planetary-rotor assembly plays the role of a nut cooperating with the rod while

en permettant une demultiplication du couple du moteur.  allowing a multiplication of the engine torque.

La rotation du rotor, commandee en fonction de la loi de restitution programmee, permet, par l'intermediaire de la tige et des planetaires, d'exercer un  The rotation of the rotor, controlled according to the programmed restitution law, allows, through the rod and the planetaries, to exert a

effort de reaction axial sur l'organe de commande.  axial reaction force on the control member.

Le restituteur decrit dans U.S. 6 105 737 est cependant techniquement complexe et couteux a fabriquer. II existe done un besoin pour un restituteur apte a appliquer un effort de reaction selon une loi de restitution programmable qui soit simple et peu couteux a fabriquer.  The renderer described in U.S. 6,105,737 is, however, technically complex and expensive to manufacture. There is therefore a need for a restorer capable of applying a reaction force according to a programmable restitution law which is simple and inexpensive to manufacture.

Le but de la presente invention est de repondre a ce besoin.  The purpose of the present invention is to meet this need.

Selon ['invention, on atteint ce but au moyen d'un dispositif de restitution d'effort pour vehicule automobile, apte a exercer un effort de reaction sur un organe de commande, notamment sur une pedale de frein, en reponse a un effort d'action exerce sur ledit organe de commande par un utilisateur, comportant - un botier, - un ecrou monte a rotation sur ledit bo^'tier dans une position axiale fixe, - une premiere tige traversant coaxialement ledit ecrou et mecaniquement couplee d'une part audit organe de commande et d'autre part audit ecrou de maniere a pouvoir btre entranee en translation axiale par un deplacement audit organe de commande ou une rotation audit ecrou, respectivement, - un moteur et des moyens de couplage audit ecrou et d'un arbre audit moteur. Ce dispositif est remarquable en ce que lesdits moyens de couplage comprennent une premiere poulie solidaire et coaxiale audit arbre, une deuxieme poulie coaxiale et solidaire audit ecrou, et une courroie d'accouplement mecanique  According to the invention, this object is achieved by means of a force restitution device for a motor vehicle, capable of exerting a reaction force on a control member, in particular on a brake pedal, in response to a force of action exerted on said control member by a user, comprising - a housing, - a nut mounted for rotation on said housing in a fixed axial position, - a first rod passing coaxially through said nut and mechanically coupled on the one hand to said control member and on the other hand to said nut so as to be able to be driven in axial translation by a displacement at said control member or a rotation at said nut, respectively, - a motor and means of coupling to said nut and a shaft audit engine. This device is remarkable in that said coupling means comprise a first pulley integral and coaxial with said shaft, a second pulley coaxial and integral with said nut, and a mechanical coupling belt

desdites premiere et deuxieme poulies.  said first and second pulleys.

Comme on le verra plus en detail dans la suite de la description, le dispositif  As will be seen in more detail in the following description, the device

de restitution comportant ces moyens de couplage est particulierement simple et  restitution comprising these coupling means is particularly simple and

bon marche a fabriquer.cheap to manufacture.

Selon d'autres caracteristiques avantageuses du dispositif selon la presente invention, - le diametre exterieur de ladite premiere poulie est superieur au diametre exterieur de ladite deuxieme poulie; - ladite premiere tige comporte un filet cooperant avec un filet complementaire dispose sur ledit ecrou; - ledit filet audit ecrou est remplace par au moins une gorge circulaire peripherique et des billes disposees dans ladite gorge, le filet de ladite premiere tige, ladite gorge et lesdites billes etant conformes de maniere que lesdites billes puissent rouler entre ledit filet et ladite gorge; - le dispositif comporte un carter de protection de ladite premiere tige et audit ecrou, ledit carter etant monte solidaire de ladite deuxieme poulie; - ledit dispositif comporte un chariot fixe a une premiere extremite de ladite premiere tige et monte coulissant, selon un axe de ladite premiere tige, sur un rail fixe audit bo^tier; - ledit chariot est monte roulant sur ledit rail; - ledit dispositif comporte une deuxieme tige coaxiale a ladite premiere tige, montee en translation axiale sur ledit bo^'tier, et dont des premiere et deuxieme extremites vent respectivement en appui sur une tige de poussee positivement couplee audit organe de commande et sur une premiere extremite de ladite premiere tige ou, le cas echeant, ledit chariot ou un capteur de force dispose entre ledit chariot et ladite deuxieme extremite de ladite deuxieme tige; - la liaison de ladite tige de poussee et de ladite deuxieme tige est de type rotule; - ledit dispositif comporte des moyens de mesure ou d'evaluation d'une force representative audit effort d'action eVou d'une position axiale de ladite premiere tige eVou des evolutions temporelles de ladite force et de ladite position axiale de ladite premiere tige; - ledit dispositif comporte un codeur numerique mesurant une position angulaire  According to other advantageous characteristics of the device according to the present invention, - the outside diameter of said first pulley is greater than the outside diameter of said second pulley; - Said first rod comprises a cooperating thread with a complementary thread arranged on said nut; - Said thread to said nut is replaced by at least one peripheral circular groove and balls arranged in said groove, the thread of said first rod, said groove and said balls being conformed so that said balls can roll between said thread and said groove; - The device comprises a protective casing of said first rod and said nut, said casing being mounted integral with said second pulley; - Said device comprises a fixed carriage at a first end of said first rod and slides mounted, along an axis of said first rod, on a rail fixed to said housing; - Said carriage is mounted rolling on said rail; - Said device comprises a second rod coaxial with said first rod, mounted in axial translation on said cas ^ 'tier, and of which the first and second ends wind respectively bear on a push rod positively coupled to said control member and on a first end of said first rod or, if applicable, said carriage or a force sensor disposed between said carriage and said second end of said second rod; - The connection of said push rod and said second rod is of the ball type; - Said device comprises means for measuring or evaluating a force representative of said action force eVou of an axial position of said first rod eVou temporal changes of said force and of said axial position of said first rod; - Said device comprises a digital encoder measuring an angular position

audit arbre representative de ladite position axiale de ladite premiere tige.  said shaft representative of said axial position of said first rod.

L'invention concerne egalement un dispositif de commande par fil d'un actionneur d'un vehicule automobile en reponse a un effort d'action exerce sur un organe de commande par un utilisateur, comportant - un dispositif de restitution d'effort selon ['invention et - un calculateur dument programme apte a commander au moins ledit actionneur selon une loi de commande et ledit dispositif de restitution d'effort selon une loi de restitution, lesdites lois de commande et de restitution etant au moins fonction d'une position audit organe de  The invention also relates to a wire control device for an actuator of a motor vehicle in response to an action force exerted on a control member by a user, comprising - a force restitution device according to [' invention and - a duly program computer capable of controlling at least said actuator according to a control law and said force restitution device according to a restitution law, said control and restitution laws being at least a function of a position at said member of

commande et audit effort d'action.command and audit action effort.

L'invention concerne enfin un vehicule automobile pourvu d'un dispositif de  The invention finally relates to a motor vehicle provided with a device for

commande par fil selon ['invention.wire control according to the invention.

D'autres caracteristiques et avantages de la presente invention appara^tront  Other characteristics and advantages of the present invention will appear

a la lecture de la description qui va suivre et a l'examen du dessin annexe dans  on reading the description which follows and examining the accompanying drawing in

lequel - la figure 1 precedemment decrite, est une representation schematique d'un dispositif de commande par firs, - la figure 2 est une vue en coupe longitudinale d'un restituteur selon le mode de  which - Figure 1 previously described, is a schematic representation of a control device by firs, - Figure 2 is a longitudinal sectional view of a restorer according to the mode of

realisation prefere de ['invention.preferred embodiment of the invention.

On se reporte a present a la figure 2. Le restituteur 7 selon ['invention comporte un bo^tier 18 solidaire d'un chassis 20 du vehicule V. Des premiere et deuxieme parois laterales 32 et 34 respectivement du botier18 vent percees de premier et deuxieme orifices sensiblement circulaires 36 et 38, respectivement, alignees selon un axe A. Les premier et deuxieme orifices 36 et 38 vent traverses par des premiere et deuxieme tiges 42 et 44, respectivement, sensiblement alignees selon l' axe A. La premiere tige 42, encore appelee << tige filetee 42 >> comporte un filet 70 cooperant avec un filet interieur 71 d'un ecrou 72. L'ecrou 72 est monte a rotation  Referring now to Figure 2. The restorer 7 according to [the invention comprises a housing 18 integral with a chassis 20 of the vehicle V. The first and second side walls 32 and 34 respectively of the housing 18 wind drilled first and second substantially circular orifices 36 and 38, respectively, aligned along an axis A. The first and second orifices 36 and 38 are traversed by first and second rods 42 and 44, respectively, substantially aligned along the axis A. The first rod 42 , also called "threaded rod 42" comprises a thread 70 cooperating with an internal thread 71 of a nut 72. The nut 72 is rotatably mounted

selon l'axe A par rapport au bo^tier 18, par l'intermediaire d'un roulement a billes 74.  along the axis A with respect to the housing 18, by means of a ball bearing 74.

Les bagues exterieure et interieure du roulement 74 vent fixees sur la paroi peripherique du premier orifice 36 et sur la paroi exterieure de l'ecrou 72, de  The outer and inner rings of the bearing 74 are fixed on the peripheral wall of the first orifice 36 and on the outer wall of the nut 72, of

maniere a entraver toute translation axiale, par rapport au botier 18, de l'ecrou 72.  so as to hinder any axial translation, relative to the housing 18, of the nut 72.

Une premiere extremite 82 de la tige filetee 42 prend appui sur un chariot  A first end 82 of the threaded rod 42 is supported on a carriage

84 monte coulissant selon l'axe A sur un rail 86 fixe a l'interieur du bo^tier 18.  84 mounts sliding along axis A on a rail 86 fixed inside the housing 18.

De preference, la deuxieme tige 44 est montee coulissante axialement par rapport au bo^'tier 18 par l'intermediaire d'une bague 88. La bague 88 est fixee a une platine de fixation 90. De preference, des goujons 92 solidaires du bo^,tier 18 traversent la platine de fixation 90 et le chassis 20 et des boulons 94 visses sur les goujons 92 rendent rigidement solidaires le botier 18, la platine de fixation 90 et le  Preferably, the second rod 44 is slidably mounted axially with respect to the housing 18 through a ring 88. The ring 88 is fixed to a fixing plate 90. Preferably, studs 92 secured to the bo ^, tier 18 pass through the fixing plate 90 and the frame 20 and bolts 94 screwed onto the studs 92 make the housing 18, the fixing plate 90 and the

chassis 20.chassis 20.

Une premiere extremite 96 de la deuxieme tige 44 est conformee pour servir de surface d'appoi a une extremite hemicylindrique 98 d'une tige de poussee  A first end 96 of the second rod 44 is conformed to serve as a contact surface for a hemicylindrical end 98 of a push rod

cooperant avec la pedale 5.cooperating with the pedal 5.

L'extremite 96 de la deuxieme tige 44 et l'extremite hemicylindrique 98 cooperent pour definir une liaison de type << rotule >> permettant une modification de  The end 96 of the second rod 44 and the hemicylindrical end 98 cooperate to define a “ball joint” type connection allowing a modification of

['orientation de la tige de poussee 1001ors de l'enfoncement de la pedale 5.  ['orientation of the push rod 1001ors when the pedal is depressed 5.

Une deuxieme extremite 102 de la deuxieme tige 44, disposee a l'interieur  A second end 102 of the second rod 44, arranged inside

du bo^tier 18, est conformee pour maintenir et proteger un capteur d'effort 104.  of the housing 18, is conformed to maintain and protect a force sensor 104.

Une extremite 106 du chariot 84 prend appui sur le capteur 104 de maniere que le capteur 104 soit pris en sandwich entre l'extremite 106 du chariot et l'extremite 102 de la deuxieme tige 44. Les mesures du capteur 104 vent transmises au calculateur 9 par exemple par des fils electriques 105 representes en traits pointilles. Le restituteur 7 comporte encore un moteur 110, par exemple electrique, solidaire du botier 18 et apte a entraner en rotation, selon un axe B. sensiblement parallele a l'axe A, un arbre 112. Un codeur numerique 114 est prevu pour mesurer la position angulaire de l'arbre 112 et transmettre cette information au calculateur 9  One end 106 of the carriage 84 is supported on the sensor 104 so that the sensor 104 is sandwiched between the end 106 of the carriage and the end 102 of the second rod 44. The measurements of the sensor 104 are transmitted to the computer 9 for example by electrical wires 105 represented by dotted lines. The restorer 7 also comprises a motor 110, for example an electric motor, integral with the housing 18 and able to drive in rotation, along an axis B. substantially parallel to the axis A, a shaft 112. A digital encoder 114 is provided for measuring the angular position of the shaft 112 and transmit this information to the computer 9

par l'intermediaire de fils electriques 116.  through electrical wires 116.

L'ensemble des fils 105 et 116 forme la liaison filaire 12.  All of the wires 105 and 116 form the wire connection 12.

Des premiere et deuxieme poulies 118 et 120 vent respectivement montees selon l'axe B et selon l'axe A, respectivement, sur l'arbre 112 et sur ltecrou 72, respectivement. Les poulies 118 et 120 vent mecaniquement couplees au moyen d'une courrole 122. Le rapport des diametres exterieurs des poulies 118 et 120 est de preference inferieur a 1 de maniere a demultiplier le couple moteur. Par << diametre exterieur >>, on entend le diametre du cylindre sur lequel prend appui la  First and second pulleys 118 and 120 wind respectively mounted along the axis B and along the axis A, respectively, on the shaft 112 and ltecrou 72, respectively. The pulleys 118 and 120 are mechanically coupled by means of a belt 122. The ratio of the outside diameters of the pulleys 118 and 120 is preferably less than 1 so as to multiply the engine torque. By "outside diameter" is meant the diameter of the cylinder on which the

courroie 122.belt 122.

De preference, un carter de protection 124 est fixe sur la deuxieme poulie de maniere a isoler de l'environnement exterieur la premiere tige 42 et l'ecrou 72.  Preferably, a protective casing 124 is fixed on the second pulley so as to isolate the first rod 42 and the nut 72 from the external environment.

Le fonctionnement du restituteur selon ['invention est le suivant.  The operation of the restorer according to the invention is as follows.

Dans une position relachee de la pedale 5, le chariot 84 est a proximite du deuxieme orifice 38 et le capteur 104 ne subit sensiblement aucune force de compression. Une pression par l'utilisateur U sur la pedale 5 se repercute par une poussee de l'extremite hemicylindrique 98 sur la premiere extremite 96 de la deuxieme tige 44. Sous cette poussee, la deuxieme tige 44 penetre plus avant a  In a relaxed position of the pedal 5, the carriage 84 is near the second orifice 38 and the sensor 104 undergoes substantially no compressive force. A pressure by the user U on the pedal 5 is reflected by a push of the hemicylindric end 98 on the first end 96 of the second rod 44. Under this push, the second rod 44 penetrates further to

l'interieur du bo^'tier 18 et repousse le chariot 84 vers le premier orifice 36.  the interior of the housing 18 and pushes the carriage 84 towards the first orifice 36.

Le deplacement resultant de la premiere tige 42 met en rotation l'ecrou 72 et la deuxieme poulie 120. La rotation de la poulie 120 est transmise par  The displacement resulting from the first rod 42 rotates the nut 72 and the second pulley 120. The rotation of the pulley 120 is transmitted by

l'intermediaire de la courroie 122 a la poulie 118 et a l'arbre 112.  the intermediate of the belt 122 has the pulley 118 and the shaft 112.

La modification de la position angulaire de l'arbre 112, mesuree par le codeur 114 est detectee par le calculateur 9. Le calculateur 9 analyse la position angulaire de l'arbre 112 et ['evolution temporelle de cette position ainsi que la valeur  The modification of the angular position of the shaft 112, measured by the encoder 114 is detected by the computer 9. The computer 9 analyzes the angular position of the shaft 112 and the temporal evolution of this position as well as the value

de la force de compression mesuree par le capteur 104.  of the compression force measured by the sensor 104.

En fonction de ces donnees et d'une loi de restitution programmee, il deduit la valeur d'un couple de consigne a appliquer sur l'arbre 112 par le moteur 110 de maniere a produire un effort de reaction adapte sur la pedale 5. Le calculateur 9  Based on these data and a programmed restitution law, it deduces the value of a setpoint torque to be applied to the shaft 112 by the motor 110 so as to produce a suitable reaction force on the pedal 5. The calculator 9

commande le moteur 110 en consequence.  controls the motor 110 accordingly.

Le couple genere par le moteur 110 est transmis a la poulie 120 et en consequence a l'ecrou 72, apres avoir ete amplifie d'un rapport sensiblement egal  The torque generated by the motor 110 is transmitted to the pulley 120 and consequently to the nut 72, after having been amplified by a substantially equal ratio.

au rapport des diametres exterieurs des poulies 120 et 118.  to the ratio of the outside diameters of the pulleys 120 and 118.

La rotation de l'ecrou 72 resulte de ['addition des couples exerces sur la poulie 120 par le moteur 110 et sur le filet interieur de la poulie 72 par le filet 70 de  The rotation of the nut 72 results from the addition of the torques exerted on the pulley 120 by the motor 110 and on the internal thread of the pulley 72 by the thread 70 of

la premiere tige 42.the first rod 42.

Un couple resistant applique sur la poulie 120 permet ainsi de s'opposer a la translation de la premiere tige 42, du chariot 84, de la deuxieme tige 44 et finalement au deplacement de la tige de poussee 100 et a l'enfoncement de la  A resistant torque applied to the pulley 120 thus makes it possible to oppose the translation of the first rod 42, of the carriage 84, of the second rod 44 and finally to the displacement of the push rod 100 and the depression of the

pedale 5. L'utilisateur U ressent ainsi une resistance a l'enfoncement de la pedale 5.  pedal 5. The user U thus feels resistance to depressing the pedal 5.

Le calculateur 9 analyse en permanence la position angulaire de l'arbre 112 mesuree par le codeur 114, son evolution temporelle, la force de compressicn Fmes mesuree par le capteur 104 et son evolution temporelle. En consequence, en fonction de la loi de restitution, il adapte en permanence le couple de consigne a  The computer 9 continuously analyzes the angular position of the shaft 112 measured by the encoder 114, its time course, the compressive force Fmes measured by the sensor 104 and its time course. Consequently, depending on the restitution law, it constantly adapts the setpoint torque to

produire par le moteur 110.produced by the motor 110.

Comme decrit en introduction de la presente description (figure 1), le  As described in the introduction to this description (Figure 1), the

calculateur 9 commande egalement, en consequence et en fonction de la loi de  computer 9 also controls, accordingly and according to the law of

commande, l'actionneur 11.control, actuator 11.

En particul ier, quand l' utilisateur U rel ache la pressio n sur la pedale 5, le calculateur 9 detecte une diminution brutale de la force mesuree par le capteur 104 et demande au moteur 110 de generer un couple de maniere a ramener en position initiale le chariot 84, la deuxieme tige 44, la tige de poussee 100 et finalement la pedale 5. L'accouplement mecanique par courrole des poulies 118 et 120 est  In particular, when the user U releases the pressure on the pedal 5, the computer 9 detects a sudden decrease in the force measured by the sensor 104 and requests the motor 110 to generate a torque so as to bring it back to the initial position. the carriage 84, the second rod 44, the push rod 100 and finally the pedal 5. The mechanical coupling by belt of the pulleys 118 and 120 is

techniquement simple a realiser, extremement gable, et d'une maintenance aisee.  technically simple to perform, extremely manageable, and easy to maintain.

L'utilisation d'une courroie permet une transmission entre le moteur 110 et la pedale 5 avec des frottements apparents tres faibles. Le ressenti par l'utilisateur U en est ameliore. Les faibles frottements apparents permettent egalement une reversibilite de la transmission. En cas de panne du moteur, l'utilisateur U peut done  The use of a belt allows a transmission between the motor 110 and the pedal 5 with very low apparent friction. The feeling by the user U is improved. The low apparent friction also allows reversibility of the transmission. In the event of an engine failure, user U can

toujours deplacer la pedale 5 et freiner le vehicule.  always move pedal 5 and brake the vehicle.

Avantageusement, il permet une demultiplication du couple produit par le moteur 110 et une reduction en consequence de sa puissance. Avantageusement, la demultiplication peut etre modifiee par un simple remplacement d'une des poulies par une poulie d'un diametre exterieur different, et par un remplacement de la  Advantageously, it allows a multiplication of the torque produced by the motor 110 and a reduction accordingly of its power. Advantageously, the reduction can be modified by a simple replacement of one of the pulleys by a pulley of a different outside diameter, and by a replacement of the

courroie 122 en consequence.belt 122 accordingly.

L'utilisation d'un reducteur (118, 122, 120) entre le moteur 110 et la pedale permet avantageusement d'optimiser le compromis encombrement/effort maximum restitue. On peut done obtenir des ressentis tres raides tout en conservant  The use of a reducer (118, 122, 120) between the motor 110 and the pedal advantageously makes it possible to optimize the compromise between overall dimensions and maximum effort. We can therefore obtain very stiff feelings while retaining

un restituteu r peu en com brant et done facile a im planter dans le vehicule.  a restorer little bulky and therefore easy to install in the vehicle.

Avantageusement, le coulissement du chariot 84 sur le rail 86 guide ia translation axiale de la premiere tige 42 par rapport au bo^'tier 18. Les efforts radiaux exerces sur le roulement 74 en vent avantageusement reduits, ce qui permet d'utiliser un roulement 74 de faible dimension et de lui conferer une longevite superieure. En cas de panne du moteur, I'utilisateur U ne ressent aucun effort de reaction, mais le codeur 114 et le capteur d'effort 104 mesurent normalement la position angulaire de l'arbre 112 et son evolution temporelle, et la force de  Advantageously, the sliding of the carriage 84 on the rail 86 guides the axial translation of the first rod 42 relative to the housing 18. The radial forces exerted on the bearing 74 in wind advantageously reduced, which makes it possible to use a bearing 74 of small dimension and to confer a superior longevity to it. In the event of a motor failure, the user U does not feel any reaction force, but the encoder 114 and the force sensor 104 normally measure the angular position of the shaft 112 and its time course, and the force of

compression Fmes et son evolution temporelle, respectivement.  Fmes compression and its time course, respectively.

Le calculateur 9 detecte alors une incoherence entre ['effort de reaction qui devrait etre produit sur la pedale 5 et la force mesuree Fmes. II en deduit liexistence d'une panne du moteur et agit en consequence, par exemple en ne calculant la pression de freinage qu'en fonction du deplacement de la pedale 5 ou  The computer 9 then detects an inconsistency between the reaction force which should be produced on the pedal 5 and the force measured Fmes. It infers therefrom the existence of an engine failure and acts accordingly, for example by only calculating the braking pressure as a function of the displacement of the pedal 5 or

de la position angulaire de l'arbre 112.  the angular position of the shaft 112.

Bien que peu probable compte tenu de la presence du carter de protection 124, il est imaginable que la translation de la premiere tige 42 et du chariot 84 soit entravee, par exemple par la presence d'un corps etranger qui se logerait entre les  Although unlikely given the presence of the protective housing 124, it is conceivable that the translation of the first rod 42 and the carriage 84 is hampered, for example by the presence of a foreign body which would be housed between the

filetages de l'ecrou 72 et de la tige 42 ou entre le chariot 84 et le rail de guidage 86.  threads of nut 72 and rod 42 or between the carriage 84 and the guide rail 86.

Dans cette situation, I'enfoncement de la pedale 5 serait bloque. Le calculateur 9 detecterait alors une position angulaire de l'arbre 112 constante et une force mesuree Fmes par le capteur 104 variable. La loi de commande du freinage est avantageusement determinee de maniere, dans cette situation, a commander  In this situation, depressing the pedal 5 would be blocked. The computer 9 would then detect a constant angular position of the shaft 112 and a force measured Fmes by the variable sensor 104. The braking control law is advantageously determined in such a way as to control

l'actionneur 11 en fonction de la seule force mesuree Fmes par le capteur 104.  the actuator 11 as a function of the only force measured Fmes by the sensor 104.

Les filetages de la premiere tige 42 et de l'ecrou 72 vent determines de maniere que, quand la rotation de l'ecrou 72 n'est pas entravee, la translation laterale de la premiere tige 42 ne soit sensiblement pas freinee par la presence de I'ecrou 72. De preference, le filet de l'ecrou 72 est remplace par au moins une gorge circulaire peripherique et des billes disposees dans la gorge, le filet de la premiere tige, la gorge et les billes etant conformees de maniere que les billes puissent rouler entre le filet de la premiere tige 42 et la gorge, ce mecanisme etant encore appele  The threads of the first rod 42 and of the nut 72 are determined so that, when the rotation of the nut 72 is not hampered, the lateral translation of the first rod 42 is not appreciably slowed down by the presence of Nut 72. Preferably, the thread of nut 72 is replaced by at least one peripheral circular groove and balls arranged in the groove, the thread of the first rod, the groove and the balls being conformed so that the balls can roll between the thread of the first rod 42 and the groove, this mechanism being still called

<< vis a billes >>."ball screw".

De preference, pour minimiser les frottements du chariot 84 sur le rail 86, le  Preferably, to minimize the friction of the carriage 84 on the rail 86, the

chariot 84 est un patin a billes.carriage 84 is a ball bearing.

Bien entendu, la presente invention n'est pas limitee au mode de realisation decrit et represente, fourni a titre d'exemple illustratif et non limitatif. En particulier, les moyens de guidage en translation axiale des premiere et deuxieme tiges ne vent pas limites a la bague 90 ou a ['ensemble constitue par le rail 86, le chariot 84 et le  Of course, the present invention is not limited to the embodiment described and represented, provided by way of illustrative and nonlimiting example. In particular, the means for guiding in axial translation the first and second rods are not limited to the ring 90 or to the assembly constituted by the rail 86, the carriage 84 and the

roulement a billes 74.ball bearing 74.

En outre, les moyens de mes ure ou d' evaluation de la force Fmes representative de ['effort d'action pourraient etre differents du capteur 104 et etre aisement positionnes differemment sur ['ensemble constitue des premiere et deuxieme tiges et du chariot 84. Les moyens de mesure ou d'evaluation de la position axiale de la premiere tige 42 pourraient egalement etre differents du codeur  In addition, the means for measuring or evaluating the force Fmes representative of the action force could be different from the sensor 104 and be easily positioned differently on the assembly constituted by first and second rods and by the carriage 84. The means for measuring or evaluating the axial position of the first rod 42 could also be different from the encoder

numerique 114.digital 114.

lo Deputes moyens de guage en rotator de l'dorou 72 que roument  lo Deputes guage in rotator of the dorou 72 that roll

ages 74 pouFient argument ma en ocuvm.  ages 74 to put argument ma in ocuvm.

EnOn, la bague 90 poured endue soUdsim du bear 18 par Sautes  EnOn, the 90 poured ring coated soUdsim of the bear 18 by Sautes

moyens que la Maine de fxadon go.means that Maine de fxadon go.

1 11 1

Claims (15)

REVENDICATIONS 1. Dispositif de restitution d'effort pour vehicule automobile (V), apte a exercer un effort de reaction sur un organe de commande (5), notamment sur une pedale de frein, en reponse a un effort d'action exerce sur ledit organe de commande (5) par un utilisateur (U), comportant - un botier (18) , - un ecrou (72) monte a rotation sur ledit bo^'tier (18) dans une position axiale fixe, - une premiere tige (42) traversant coaxialement ledit ecrou (72) et mecaniquement couplee d'une part audit organe de commande (5) par une premiere extremite (82) et d'autre part audit ecrou (72) de maniere a pouvoir etre entranee en translation axiale par un deplacement audit organe de commande (5) ou une rotation audit ecrou (72), respectivement, - un moteur (110) et des moyens de couplage (118,120,122) audit ecrou (72) et diun arbre (112) audit moteur (110), caracterise en ce que lesdits moyens de couplage comprennent une premiere poulie (118) solidaire et coaxiale audit arbre (112), une deuxieme poulie (120) coaxiale et solidaire audit ecrou (72), et une courroie (122) d'accouplement  1. Force restitution device for motor vehicle (V), capable of exerting a reaction force on a control member (5), in particular on a brake pedal, in response to an action force exerted on said member control (5) by a user (U), comprising - a housing (18), - a nut (72) rotatably mounted on said housing (18) in a fixed axial position, - a first rod (42 ) passing coaxially through said nut (72) and mechanically coupled on the one hand to said control member (5) by a first end (82) and on the other hand to said nut (72) so as to be able to be driven in axial translation by a displacement to said control member (5) or rotation to said nut (72), respectively, - a motor (110) and coupling means (118,120,122) to said nut (72) and a shaft (112) to said motor (110), characterized in that said coupling means comprise a first pulley (118) integral and coaxial with said shaft (112), a second pulley ( 120) coaxial and integral with said nut (72), and a coupling belt (122) mecanique desdites premiere (118) et deuxieme (120) poulies.  mechanics of said first (118) and second (120) pulleys. 2. Dispositif selon la revendication 1, caracterise en ce que le diametre exterieur de ladite premiere poulie (118) est superieur au diametre exterieur de ladite  2. Device according to claim 1, characterized in that the outside diameter of said first pulley (118) is greater than the outside diameter of said deuxieme poulie (120).second pulley (120). 3. Dispositif selon l'une des revendications 1 et 2, caracterise en ce que ladite  3. Device according to one of claims 1 and 2, characterized in that said premiere tige (42) comporte un filet (70) cooperant avec un filet (71)  first rod (42) has a net (70) cooperating with a net (71) complementaire dispose sur ledit ecrou (72).  complementary disposed on said nut (72). 4. Dispositif selon la revendication 3, caracterise en ce que ledit filet (71) audit ecrou (72) est remplace par au moins une gorge circulaire peripherique et des billes disposees dans ladite gorge, le filet (70) de ladite premiere tige (42), ladite gorge et lesdites billes etant conformes de maniere que lesdites billes poissent  4. Device according to claim 3, characterized in that said thread (71) to said nut (72) is replaced by at least one peripheral circular groove and balls arranged in said groove, the thread (70) of said first rod (42 ), said groove and said balls being conformed so that said balls pitch rouler entre ledit filet (70) et ladite gorge.  roll between said net (70) and said groove. 5. Dispositif selon l'une quelconque des revendications precedentes, caracterise en  5. Device according to any one of the preceding claims, characterized in ce qu'il comporte un carter (124) de protection de ladite premiere tige (42) et audit ecrou (72), ledit carter (124) etant monte solidaire de ladite deuxieme  what it comprises a casing (124) for protecting said first rod (42) and said nut (72), said casing (124) being mounted integral with said second poulie (120).pulley (120). 6. Dispositif selon l'une quelconque des revendications precedentes, caracterise en  6. Device according to any one of the preceding claims, characterized in ce qu'il comporte un chariot (84) fixe a ladite premiere extremite (82) de ladite premiere tige (42) et monte coulissant, selon un axe (A) de ladite premiere tige  that it comprises a carriage (84) fixed at said first end (82) of said first rod (42) and slides up, along an axis (A) of said first rod (42), sur un rail (86) fixe audit bo^'tier (18).  (42), on a rail (86) fixed to said housing (18). 7. Dispositif selon la revendication 6, caracterise en ce que ledit chariot (84) est  7. Device according to claim 6, characterized in that said carriage (84) is monte roulant sur ledit rail (86).mounted on said rail (86). 8. Dispositif selon l'une quelconque des revendications precedentes, caracterise en  8. Device according to any one of the preceding claims, characterized in ce qu'il comporte des moyens (104) de mesure ou d'evaluation d'une force (Fmes) representative audit effort d'action et/ou des moyens (114) de mesure ou d'evaluation d'une position axiale de ladite premiere tige (42) et/ou des evolutions temporelles de ladite force (Fmes) et de ladite position axiale de ladite  what it includes means (104) for measuring or evaluating a force (Fmes) representative of said action force and / or means (114) for measuring or evaluating an axial position of said first rod (42) and / or temporal evolutions of said force (Fmes) and of said axial position of said premiere tige (42).first rod (42). 9. Dispositif selon la revendication 8, caracterise en ce qu'il comporte un codeur numerique (114) mesurant une position angulaire audit arbre (112)  9. Device according to claim 8, characterized in that it comprises a digital encoder (114) measuring an angular position at said shaft (112) representative de ladite position axiale de ladite premiere tige (42).  representative of said axial position of said first rod (42). 10.Dispositif selon l'une quelconque des revendications precedentes, caracterise en  10. Device according to any one of the preceding claims, characterized in ce qu'il comporte une deuxieme tige (44) coaxiale a ladite premiere tige (42), montee en translation axiale sur ledit bo^'tier (18), et dont des premiere (96) et deuxieme (102) extremites vent respectivement en appui sur une tige de poussee (100) positivement couplee audit organe de commande (5) et sur ladite  that it comprises a second rod (44) coaxial with said first rod (42), mounted in axial translation on said housing (18), and of which first (96) and second (102) wind ends respectively support on a push rod (100) positively coupled to said control member (5) and on said premiere extremite (82) de ladite premiere tige (42).  first end (82) of said first rod (42). 11.Dispositif selon l'une quelconque des revendications precedentes, caracterise en  11. Device according to any one of the preceding claims, characterized in ce qu'il comporte une deuxieme tige (44) coaxiale a ladite premiere tige (42), montee en translation axiale sur ledit bo^tier (18), et dont des premiere (96) et deuxieme (102) extremites vent respectivement en appui sur une tige de poussee (100) positivement couplee audit organe de commande (5) et sur ledit  that it comprises a second rod (44) coaxial with said first rod (42), mounted in axial translation on said housing (18), and of which first (96) and second (102) ends are respectively supported on a push rod (100) positively coupled to said control member (5) and on said chariot (84).carriage (84). 12.Dispositif selon l'une quelconque des revendications precedentes, caracterise en  12. Device according to any one of the preceding claims, characterized in ce qu'il comporte une deuxieme tige (44) coaxiale a ladite premiere tige (42), montee en translation axiale sur ledit bo'^tier (18), et dont des premiere (96) et deuxieme (102) extremites vent respectivement en appui sur une tige de poussee (100) positivement couplee audit organe de commande (5) et sur un capteur de force (104) dispose entre ledit chariot (84) et ladite deuxieme  that it comprises a second rod (44) coaxial with said first rod (42), mounted in axial translation on said housing (18), and of which first (96) and second (102) wind ends respectively support on a push rod (100) positively coupled to said control member (5) and on a force sensor (104) disposed between said carriage (84) and said second extremite (102) de ladite deuxieme tige (44).  end (102) of said second rod (44). 13.Dispositif selon l'une quelconque des revendications 10 a 12, caracterise en ce  13. Device according to any one of claims 10 to 12, characterized in that que la liaison de ladite tige de poussee (100) et de ladite deuxieme tige (44) est  that the connection of said push rod (100) and said second rod (44) is de type rotule.ball type. 14.Dispositif de commande parfil d'un actionneur (11) d'un vehicule automobile (V) en reponse a un effort d'action exerce sur un organe de commande (5) par un utilisateur (U), comportant - un dispositif de restitution d'effort (7) et - un calculateur (9) dument programme apte a commander au moins ledit actionneur (11) selon une loi de commande et ledit dispositif de restitution d'effort (7) selon une loi de restitution, lesdites lois de commande et de restitution etant au moins fonction d'une position audit organe de commande (5) et audit effort d'action, caracterise en ce que ledit dispositif de restitution d'effort (7) est conforme a  14. Perfilable control device for an actuator (11) of a motor vehicle (V) in response to an action force exerted on a control member (5) by a user (U), comprising - a device for effort restitution (7) and - a duly program computer (9) capable of controlling at least said actuator (11) according to a control law and said effort restitution device (7) according to a restitution law, said laws control and restitution being at least a function of said control member (5) and said action force, characterized in that said force restitution device (7) conforms to l'une quelconque des revendications 1 a 13.  any one of claims 1 to 13. 15.Vehicule automobile pourvu d'un dispositif de commande par fil selon la  15.Automobile provided with a wire control device according to the
FR0207286A 2002-06-13 2002-06-13 STRESS RETURN DEVICE FOR AUTOMOBILE Expired - Fee Related FR2840865B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005070738A1 (en) * 2004-01-23 2005-08-04 Robert Bosch Gmbh Electrohydraulic braking system having an auxiliary drive device on the pedal unit
CN104149758A (en) * 2013-05-13 2014-11-19 株式会社万都 Installation structure for pedal stroke sensor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6105737A (en) 1996-06-05 2000-08-22 Varity Kelsey-Hayes Gmbh Programmable electronic pedal simulator
DE19916434A1 (en) * 1999-04-12 2000-10-19 Deutsch Zentr Luft & Raumfahrt Electromechanically powered pivotable pedal has energy storing restoring element enabling pedal to be restored to starting position without electric motor involvement, continued operation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6105737A (en) 1996-06-05 2000-08-22 Varity Kelsey-Hayes Gmbh Programmable electronic pedal simulator
DE19916434A1 (en) * 1999-04-12 2000-10-19 Deutsch Zentr Luft & Raumfahrt Electromechanically powered pivotable pedal has energy storing restoring element enabling pedal to be restored to starting position without electric motor involvement, continued operation

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005070738A1 (en) * 2004-01-23 2005-08-04 Robert Bosch Gmbh Electrohydraulic braking system having an auxiliary drive device on the pedal unit
CN104149758A (en) * 2013-05-13 2014-11-19 株式会社万都 Installation structure for pedal stroke sensor
US9383279B2 (en) 2013-05-13 2016-07-05 Mando Corporation Installation structure for pedal stroke sensor
CN104149758B (en) * 2013-05-13 2016-08-17 株式会社万都 The mounting structure of PTS

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