JP2010100287A - Method and device of detecting hydraulic pressure difference in brake pressure regulating valve - Google Patents

Method and device of detecting hydraulic pressure difference in brake pressure regulating valve Download PDF

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Publication number
JP2010100287A
JP2010100287A JP2010000102A JP2010000102A JP2010100287A JP 2010100287 A JP2010100287 A JP 2010100287A JP 2010000102 A JP2010000102 A JP 2010000102A JP 2010000102 A JP2010000102 A JP 2010000102A JP 2010100287 A JP2010100287 A JP 2010100287A
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Prior art keywords
valve
pressure difference
pressure
hydraulic pressure
brake
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Juergen Breitenbacher
ユールゲン・ブライテンバヒャー
Rainer Heinsohn
ライナー・ハインゾーン
Andreas Klug
アンドレアス・クルーク
Peter Zeiner
ペーター・ツァイナー
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/04—Arrangements of piping, valves in the piping, e.g. cut-off valves, couplings or air hoses
    • 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

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

Abstract

<P>PROBLEM TO BE SOLVED: To accurately detect a hydraulic pressure difference dropping along a valve of a brake system. <P>SOLUTION: In a detection device for a numerical value representing the hydraulic pressure difference dropping along the valve 403 of the bake system, the hydraulic pressure difference is a pressure difference of a brake fluid between an inlet port and an outlet port of the valve 403. The detection device includes a control means 404 for applying a control signal configured so as to suppress abrupt changes in the pressure valve to the valve 403, and a detection means 405 for detecting the hydraulic pressure difference dropping in the valve 403 from the knowledge of the control signal. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、ブレーキ系統の弁に沿って低下する圧力を示す油圧差を表す数値を検出する方法および装置に関する。   The present invention relates to a method and an apparatus for detecting a numerical value representing a hydraulic pressure difference indicating a pressure decreasing along a valve of a brake system.

従来の技術Conventional technology

ドイツ特許明細書第１９５２５５３８Ａ１号から、吸込弁の作動によって生成されるブレーキ圧の脈動を最小限に抑制し、かつ騒音と振動を除去するアンチロックブレーキシステムを搭載した自動車用の制御装置および制御方法が既知である。更に、ブレーキペダルの応答感度が改善される。この制御装置および制御方法の場合、吸込弁を開閉する信号形式は、緩やかに上昇および低下する傾斜を有し、ブレーキ管を完全に開かないことによって、ブレーキ圧の脈動を抑制する。この制御装置では、ブレーキ圧の脈動を最小限に抑制するための吸込弁は完全には開かない。   From German Patent Specification No. 195255538A1, a control device and a control method for an automobile equipped with an anti-lock brake system that suppresses pulsation of brake pressure generated by the operation of a suction valve to a minimum and eliminates noise and vibration. Is known. Furthermore, the response sensitivity of the brake pedal is improved. In the case of this control device and control method, the signal format for opening and closing the suction valve has a slope that gradually rises and falls, and suppresses the pulsation of the brake pressure by not completely opening the brake pipe. In this control device, the suction valve for minimizing the pulsation of the brake pressure does not open completely.

本発明の課題は、ブレーキ系統の弁に関連する調整もしくは制御を有利に処理するために、かかる弁に沿って低下する油圧差を表す数値を精確に検出する方法および装置を提供することである。   It is an object of the present invention to provide a method and apparatus for accurately detecting a numerical value representing a hydraulic pressure drop along such a valve in order to advantageously handle the adjustment or control associated with a brake system valve. .

本発明は、ブレーキ系統の弁に沿って低下する油圧差を表す数値の検出方法であって、この弁にはブレーキ圧の急激な変化を抑制するように構成された制御信号が印加されると共に、制御信号が判明することによって弁において低下する油圧差が検出される。   The present invention is a method for detecting a numerical value representing a hydraulic pressure drop that decreases along a valve of a brake system, and a control signal configured to suppress a sudden change in brake pressure is applied to the valve. When the control signal is known, a hydraulic pressure drop that is reduced in the valve is detected.

また、本発明は、ブレーキ系統の弁に沿って低下する油圧差を表す数値の検出装置であって、少なくとも１つの弁の制御信号が、ブレーキ圧の急激な変化が抑制されるように構成された制御手段と、制御信号の判明によって、弁に沿って低下する油圧差を検出する検出手段とを含む。   The present invention is also a detection device for a numerical value representing a hydraulic pressure drop that decreases along a valve of a brake system, wherein a control signal of at least one valve is configured to suppress a sudden change in brake pressure. Control means, and detection means for detecting a hydraulic pressure difference that decreases along the valve when the control signal is identified.

本発明によれば、制御信号が判明することによって弁に沿って低下する油圧差が検出される。弁に沿って低下する圧力差、もしくは弁に沿って低下する圧力を検出することで、ひいては弁のその他の調整もしくは制御を有利に処理できる。それによって、制御は、「情報収集制御」、もしくは補足情報を提供する制御となる。   According to the present invention, a hydraulic pressure difference that decreases along the valve when the control signal is known is detected. By detecting the pressure differential that decreases along the valve, or the pressure that decreases along the valve, other adjustments or control of the valve can then be advantageously handled. Accordingly, the control is “information collection control” or control for providing supplementary information.

更に、圧力差の検出には制御信号の値が算入されることが利点である。制御信号の値は一般に既知の数値であり、（例えば、制御電流の場合は）高い精度と少ないコストで検出することができる。ブレーキ圧の急激な変化の抑制とは、例えば、弁が常に定常状態にあるように、ブレーキ圧を時間的にゆっくりと変化するようにすることを意味している。   Furthermore, it is an advantage that the value of the control signal is included in the detection of the pressure difference. The value of the control signal is generally a known numerical value, and can be detected with high accuracy and low cost (for example, in the case of a control current). Suppressing a sudden change in brake pressure means, for example, that the brake pressure is changed slowly in time so that the valve is always in a steady state.

圧力差と制御信号の値との関係が弁の特性に基づくことが有利である。それによって、圧力差を特に簡単に検出することができる。その上、この形態では、弁を選択する時点で既に弁の構造的な特性を考慮に入れ、その都度の用途に関して最も適した圧力差と制御信号の値との関係を有する弁を選択することができる。   Advantageously, the relationship between the pressure difference and the value of the control signal is based on the characteristics of the valve. Thereby, the pressure difference can be detected particularly easily. In addition, in this form, the structural characteristics of the valve are already taken into account at the time of selecting the valve, and the valve having the relationship between the pressure difference and the value of the control signal that is most suitable for each application is selected Can do.

好適には、圧力差は弁に対して設定された特性曲線から検出される。弁がブレーキ系統の吸込弁であるならば有利な使用分野がある。それによって、ホイールブレーキシリンダ内の圧力発生を有利に制御することが可能になる。   Preferably, the pressure difference is detected from a characteristic curve set for the valve. There is an advantageous field of use if the valve is a brake system suction valve. Thereby, the pressure generation in the wheel brake cylinder can be advantageously controlled.

有利な構成では、弁は常にほぼ固定的な動作状態で動作するように構成される。それによって「緩やかな」弁制御が可能になる。有利な実施形態は、制御信号の値がほぼ傾斜状に減少することを特徴とする。出力信号の傾斜状の減少は簡単な手段によって行うことができる。   In an advantageous configuration, the valve is always configured to operate in a substantially fixed operating state. This allows “slow” valve control. An advantageous embodiment is characterized in that the value of the control signal decreases approximately in a ramp. The slope of the output signal can be reduced by simple means.

有利な実施形態では、制御信号は、弁電流、すなわち弁のコイルを流れる電流である。あるいは、制御信号は弁電圧、すなわち弁に印加される電圧であってもよい。   In an advantageous embodiment, the control signal is the valve current, i.e. the current flowing through the coil of the valve. Alternatively, the control signal may be a valve voltage, ie a voltage applied to the valve.

油圧系統図の型式のホイールブレーキ及び吸込弁を示す図である。It is a figure which shows the type of wheel brake and suction valve of a hydraulic system diagram. 吸込弁のクロック制御を示す図である。It is a figure which shows the clock control of a suction valve. 本発明による吸込弁の制御を示す図である。It is a figure which shows control of the suction valve by this invention. 本発明による装置の基本構造を示す図である。It is a figure which shows the basic structure of the apparatus by this invention.

油圧式ブレーキ系統は、例えば、ドイツ特許明細書第１９７１２８８９Ａ１号（米国特許明細書第６，２７３，５２５Ｂ１号に対応）から既知である。   A hydraulic brake system is known, for example, from German Patent Specification No. 19712889 A1 (corresponding to US Pat. No. 6,273,525 B1).

図１は、上記の文献に記載されている油圧系統の断面図を示している。この図では、ブロック１００は吸込弁を示し、ブロック１０２はホイールブレーキを示し、Δｐは吸込弁に沿って低下する圧力を示している。吸込弁とはこの実施形態では、圧力差調整弁もしくはリニア電磁弁（ＬＭＶ）である。これは、吸込弁を流れるコイル電流が、吸込弁に沿って低下する圧力を示す圧力差Δｐとほぼ比例するという特性を有している。その際、吸込弁は以下の双方の限界状態を有する。すなわち、コイル電流が小さい場合に弁は開き、すなわちΔｐ＝０である。コイル電流が大きい場合に弁は閉じ、ブレーキ液もしくはブレーキ媒体が流れない。   FIG. 1 shows a cross-sectional view of the hydraulic system described in the above document. In this figure, block 100 represents a suction valve, block 102 represents a wheel brake, and Δp represents a pressure that decreases along the suction valve. In this embodiment, the suction valve is a pressure difference adjusting valve or a linear electromagnetic valve (LMV). This has a characteristic that the coil current flowing through the suction valve is substantially proportional to the pressure difference Δp indicating the pressure that decreases along the suction valve. In so doing, the suction valve has both of the following limit states: That is, when the coil current is small, the valve opens, that is, Δp = 0. When the coil current is large, the valve is closed and no brake fluid or brake medium flows.

圧力を調整する吸込弁の特徴は、以下の２つの基本的な特性、すなわち、
１．弁を流れる電流と調整される圧力差との関係（ｉ−Δｐの特性曲線）が静的であること、及び
２．動的な定常状態（これは一次の遅延素子で極めて的確に説明でき、時定数は接続されている油圧容積の関数である）
にある。 The characteristics of the suction valve that regulates the pressure are the following two basic characteristics:
1. 1. The relationship between the current flowing through the valve and the regulated pressure difference (i-Δp characteristic curve) is static; Dynamic steady state (this can be explained quite accurately with a first order delay element, the time constant is a function of the connected hydraulic volume)
It is in.

このような弁のクロック式の動作態様が図２に示されている。この図では、横軸方向には時間ｔが示され、縦軸方向には弁コイルを流れる電流ｉ（ｔ）が示されている。ここで電流ｉ（ｔ）は小さい値と大きい値との間で交番し、それに対応して吸込弁が開閉ノイズや弁に対する高い機械的負荷のようなマイナスの結果を伴って「開」状態と「閉」状態との間で交代する。   Such a clocked mode of operation of the valve is shown in FIG. In this figure, time t is shown in the horizontal axis direction, and current i (t) flowing through the valve coil is shown in the vertical axis direction. Here the current i (t) alternates between a small value and a large value, and correspondingly the suction valve is in an “open” state with negative results such as switching noise and high mechanical load on the valve. Alternating between “closed” states.

吸込弁の特徴的な ｉ−Δｐの特性曲線が図３に示されている。この図では、横軸に沿って、吸込弁のコイルを流れる電流ｉが示され、縦軸に沿って、吸込弁がその値に調整される圧力差Δｐが示されている。電流が小さい場合（０＜ｉ＜ｉ１）、弁は開き、すなわちΔｐ＝０である。ｉ１とｉ２との間では、圧力差Δｐはほぼ直線的に増加する。電流ｉ２では、吸込弁によって最大限に調整可能な圧力差Δｐｍａｘに達する。 Characteristic of suction valve The characteristic curve of i-Δp is shown in FIG. In this figure, the current i flowing through the coil of the suction valve is shown along the horizontal axis, and the pressure difference Δp at which the suction valve is adjusted to that value is shown along the vertical axis. If the current is small (0 <i <i1), the valve is open, ie Δp = 0. Between i1 and i2, the pressure difference Δp increases almost linearly. At the current i2, the pressure difference Δpmax that can be adjusted to the maximum by the suction valve is reached.

ここで、本発明によってホイールブレーキにブレーキ媒体が満たされ、ブレーキ圧が生成される態様を図３を参照して説明する。   Here, a mode in which the brake medium is filled in the wheel brake and the brake pressure is generated according to the present invention will be described with reference to FIG.

先ず、吸込弁が閉じられ、吸込弁への供給管とホイールブレーキシリンダとの間に圧力ｐ０がかかる。その際、例えば電流ｉ＞ｉ２が流れる。そこでホイールブレーキシリンダ内の圧力が上昇する。加えて、電流がｉ２を基点として傾斜状に低下する。そこで図３における状態は点線に沿って左側に移行する。圧力差Δｐは、点線が、実線で示した吸込弁の特性曲線と交差するような電流値に達するまで吸込弁に沿って低下する。そこで、吸込弁の状態は特性曲線に沿ってΔｐ＝０のポイントに移行する。その際、強制的にこのポイントに達するようにしてはならない。そこで吸込弁は開き、ホイールブレーキシリンダ内の圧力は継続的に増加する。この開放プロセスは、例えば時間的に直線的に低下する電流傾斜によって達成可能である。   First, the suction valve is closed, and a pressure p0 is applied between the supply pipe to the suction valve and the wheel brake cylinder. At that time, for example, a current i> i2 flows. Therefore, the pressure in the wheel brake cylinder increases. In addition, the current decreases in an inclined manner starting from i2. Therefore, the state in FIG. 3 shifts to the left along the dotted line. The pressure difference Δp decreases along the suction valve until the current value such that the dotted line intersects the characteristic curve of the suction valve indicated by the solid line is reached. Therefore, the state of the suction valve shifts to a point of Δp = 0 along the characteristic curve. Do not attempt to force this point. The suction valve then opens and the pressure in the wheel brake cylinder increases continuously. This opening process can be achieved, for example, by a current ramp that decreases linearly with time.

特性曲線に沿った弁の状態の移行は、吸込弁がホイールブレーキシリンダ内での圧力発生中に静的な定常状態でのみ動作することを意味している。このような動作の態様は、物理学では「断熱曲線」という見出し語でも知られている。開放プロセスは、一連の静的な状態を経過する。   The transition of the valve state along the characteristic curve means that the suction valve operates only in a static steady state during pressure generation in the wheel brake cylinder. This mode of operation is also known in physics under the heading “Adiabatic curve”. The release process goes through a series of static states.

その際に、弁への電流導通が、電流設定または電圧設定によって継続的に行われるのか、またはパルス／ポーズ制御によって行われるかは重要ではない。しかし、パルス／ポーズ制御は、圧力差調整弁が高頻度の開閉プロセスに従うことができず、パルス／ポーズ制御の平均値に従うのみであるほど高い頻度である必要がある。そこで、コイル電流が急激に変化することはないという物理的な特性が活用される。   In doing so, it does not matter whether the current conduction to the valve is carried out continuously by current setting or voltage setting or by pulse / pause control. However, the pulse / pause control needs to be so frequent that the pressure difference regulating valve cannot follow a high-frequency opening / closing process and only follows the average value of the pulse / pause control. Therefore, the physical characteristic that the coil current does not change abruptly is utilized.

本発明は、主要な利点の他に、電流が判明している場合、ｉ−Δｐの特性曲線を介して、補足的に圧力差Δｐも判明するという、開閉状態の改善という補足的な利点も有している。   In addition to the main advantage, the present invention also has a supplementary advantage of improving the open / close state in which, when the current is known, the pressure difference Δp is additionally found via the characteristic curve of i−Δp. Have.

そこで、この補足情報Δｐは、ＡＢＳ／ＥＳＰ／ＡＳＲ調整用にも付加的に検出されるパラメータとして利用でき、総合的かつ精密な調整ができる。加えて、本発明によって、吸込弁の開閉ノイズが除去され、圧力発生時のペダル反力が改善され、一定の圧力勾配によってＡＢＳ調整が均質になり、弁に対する負荷が軽減される。   Therefore, the supplementary information Δp can be used as a parameter that is additionally detected for ABS / ESP / ASR adjustment, and comprehensive and precise adjustment can be performed. In addition, the present invention eliminates the opening / closing noise of the suction valve, improves the pedal reaction force when pressure is generated, makes the ABS adjustment uniform by a constant pressure gradient, and reduces the load on the valve.

本発明による装置の基本的な構成が図４に示されている。この図で、ブロック４００は、特に弁４０３を制御する制御器を示す。この弁は例えばホイールブレーキシリンダに繋がる吸込弁であってよい。制御器４００から弁４０３に伝送される信号は４０１で示されている。これは例えば弁のコイル電流であってよい。本発明による制御によって、コイル電流によって弁と関連するその他の数値も判明するという利点が得られる。それは例えば、電流によって調整される、弁に沿って低下する圧力差であることが可能である。このようにその他の数値が判明することは矢印４０２で示されている。この補足情報を活用することによって、例えばＡＢＳシステム、または走行動特性調整システムにおける弁の改善された精密な制御が可能になる。   The basic configuration of the device according to the invention is shown in FIG. In this figure, block 400 shows a controller that specifically controls the valve 403. This valve may be a suction valve connected to the wheel brake cylinder, for example. The signal transmitted from the controller 400 to the valve 403 is indicated at 401. This may for example be the coil current of the valve. The control according to the invention has the advantage that the coil current also reveals other values associated with the valve. It can be, for example, a pressure difference that decreases along the valve, regulated by current. The fact that other numerical values are found in this way is indicated by an arrow 402. By utilizing this supplementary information, improved and precise control of the valve in, for example, an ABS system or a travel dynamic characteristic adjustment system becomes possible.

制御器４００は特に、少なくとも１つの弁の制御信号が前記ブレーキ圧の急激な変化が抑制されるように構成された制御手段４０４と、制御信号が判明することによって、弁において低下する油圧差を検出する検出手段４０５とを含んでいる。   In particular, the controller 400 has a control means 404 configured such that a sudden change in the brake pressure is suppressed by a control signal of at least one valve, and a hydraulic pressure difference that decreases in the valve when the control signal is known. And detecting means 405 for detecting.

Claims (2)

ブレーキ系統の圧力調整弁に沿って低下する圧力を示す油圧差（Δｐ）を表す数値の検出方法であって、前記油圧差（Δｐ）が、前記圧力調整弁の入口と前記圧力調整弁の出口との間のブレーキ液の圧力差である検出方法において、
前記弁にはブレーキ圧の急激な変化を抑制するように構成された制御信号（ｉ）が印加されること、および
制御信号（ｉ）が判明することによって前記弁において低下する油圧差（Δｐ）が検出されること、
を含むことを特徴とする検出方法。 A method for detecting a numerical value representing a hydraulic pressure difference (Δp) indicating a pressure that decreases along a pressure regulating valve of a brake system, wherein the hydraulic pressure difference (Δp) is calculated based on an inlet of the pressure regulating valve and an outlet of the pressure regulating valve. In the detection method, which is the pressure difference of the brake fluid between
A control signal (i) configured to suppress a sudden change in brake pressure is applied to the valve, and a hydraulic pressure difference (Δp) that decreases in the valve when the control signal (i) is determined Is detected,
A detection method comprising: ブレーキ系統の圧力調整弁に沿って低下する圧力を示す油圧差（Δｐ）を表す数値の検出装置であって、前記油圧差（Δｐ）が、前記圧力調整弁の入口と前記圧力調整弁の出口との間のブレーキ液の圧力差である検出装置において、
前記弁に、ブレーキ圧の急激な変化を抑制するように構成された制御信号（ｉ）を印加する制御手段と、
前記制御信号（ｉ）が判明することによって、前記圧力調整弁における前記油圧差（Δｐ）を検出する手段と、
を含むことを特徴とする検出装置。 A numerical value detection device that represents a hydraulic pressure difference (Δp) indicating a pressure that decreases along a pressure regulating valve of a brake system, wherein the hydraulic pressure difference (Δp) is an inlet of the pressure regulating valve and an outlet of the pressure regulating valve. In the detection device which is the pressure difference of the brake fluid between
Control means for applying to the valve a control signal (i) configured to suppress a sudden change in brake pressure;
Means for detecting the hydraulic pressure difference (Δp) in the pressure regulating valve by determining the control signal (i);
A detection device comprising:
JP2010000102A 2002-02-27 2010-01-04 Method and device of detecting hydraulic pressure difference in brake pressure regulating valve Pending JP2010100287A (en)

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DE10232363.1A DE10232363B4 (en) 2002-02-27 2002-07-17 Method and device for determining a value representing the hydraulic pressure difference dropping off at a valve of a brake circuit

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