WO2009053430A1 - Feststellbremse und verfahren zum betreiben derselben - Google Patents
Feststellbremse und verfahren zum betreiben derselben Download PDFInfo
- Publication number
- WO2009053430A1 WO2009053430A1 PCT/EP2008/064358 EP2008064358W WO2009053430A1 WO 2009053430 A1 WO2009053430 A1 WO 2009053430A1 EP 2008064358 W EP2008064358 W EP 2008064358W WO 2009053430 A1 WO2009053430 A1 WO 2009053430A1
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- parking brake
- control unit
- application
- derivative
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—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
- B60T13/58—Combined or convertible systems
- B60T13/588—Combined or convertible systems both fluid and mechanical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
Definitions
- An electrically actuated parking brake is known for example from DE 102 61 969 Al.
- This has an electric motor, which is to be controlled by an electronic control unit (ECU).
- the vehicle brake has a brake piston which acts on at least one friction lining and is displaceable from a rest position into an actuating position in which the brake piston applies the friction lining against a rotationally fixed connection with the wheel of the motor vehicle rotary member of the vehicle brake.
- the brake piston can be actuated by means of an element acting on the brake piston of a gear unit driven by the electric motor.
- the brake piston can be moved in such a way that the friction linings rest precisely on the rotary member designed as a brake disk.
- the wear of the brake pads can be determined after comparison with a reference value. If a critical wear of the brake pads is reached, the driver is warned. In addition, the measured wear of the brake pads flows in the displacement of the element acting on the brake piston element in the rest position.
- An electric parking or parking brake in the form of a disc or drum brake has the fundamental task of reliably detecting a motor vehicle by means of electrically driven friction brakes in accordance with legal and / or customer-specific requirements.
- the driver of a motor vehicle with such an electric parking brake must be able to rely on the functional reliability of this "brake by wire” braking system.
- a central customer requirement stipulates that at least one predefined clamping force (eg 18.5 kN) should be set for each clamping, regardless of the environmental influences or other boundary conditions. This requirement already takes into account all vehicle and manufacturer-specific actuators, in particular the maximum expected pitch, the brake disc diameter, the friction coefficients of the pads, etc. It must also be ensured that a sufficiently large clearance is set when the electric parking brake is released, so that it does not overheat the brake in the further operation of the motor vehicle.
- a predefined clamping force eg 18.5 kN
- a basic problem of today's controls / regulations of parking brakes is that the application force is not directly measured, as described in the document DE 102 28 115 B4, but is indirectly determined from other parameters for cost reasons.
- a fixed point in the movement of the actuator is the so-called Anlegetician, ie the point at which the brake pads just bear against the brake disc. This point is usually used when applying and releasing the parking brake. exceeded. This point can therefore be used for a position determination, since starting from this point both the required clearance and the desired clamping force can be set defined.
- the methods of the prior art described above are not suitable for an accurate determination of the application point or can not be used in the absence of force measurement in the parking brake system.
- the present object is achieved by a method in which the control unit for determining the application point forms the first derivative of the electrical current absorbed during application by the DC motor with respect to time.
- the method according to the invention assumes that, at the point of application, the derivative of the application force after the application path becomes greater than zero. It is also taken into account that the time derivative of the force over the engine speed is linked to the derivation according to the path. It also uses the knowledge that the force is approximately proportional to the current absorbed by the DC motor. It follows that the consideration of the derivative according to the invention allows a statement about the application point. In particular, from the above assumptions and simplifications, it can be concluded that the application point can be determined as the point of the brake shoe position at which the derivative of the electric current absorbed by the DC motor becomes greater than zero after the time. Preferably, this value of the first derivative is not identified as an application point until the derivative of the current before was negative. This condition allows a demarcation of the considered current profile in the vicinity of the application point of the current profile at the start of the movement of the DC motor.
- a safe and robust detection of the application point by the control unit can be done with a preferred method that can be applied to unusual power profiles and has the following steps:
- the current brake shoe position as a potential apply point and starting a counter, and incrementing the counter during the further application movement of the DC motor by a predetermined increments t istswert, as long as the first derivative is greater than or equal to the derivative threshold, or resetting the counter to zero, as soon as in the further application movement of the DC motor, the first derivative falls below the derivative threshold,
- a maximum current value recorded by the DC motor is determined by the control unit for controlling or regulating the movement of the DC motor for applying the parking brake with a desired, predetermined application force, the application is carried out by a corresponding movement of the DC motor and, after reaching the maximum current value, that for applying the parking brake leading movement of the DC motor finishes.
- This method according to the invention is therefore advantageous because the hydraulic pre-pressure prevailing in the system is superimposed additively with the set application force, so that the sum of the forces from the hydraulic pre-pressure and the set application force results in a resulting application force, which leads to a higher wear of the mechanical components as the set clamping force.
- the hydraulic pre-pressure is to be observed, in particular in the case of landing point detection. Consequently, the accuracy of the setting of the application force or of the clearance can be increased further by taking into account, according to the invention, the hydraulic pre-pressure applied in the system when applying or releasing the parking brake.
- a backward actuation path of the DC motor is continuously determined by the control unit during application and / or release by means of a motor model.
- the actuation path of the DC motor also corresponds to the path, the mother travels on the spindle, which is driven by the motor, or the piston. Because of this advantageous procedure, as will be described in the following, it is very simple to carry out the consideration of the hydraulic admission pressure, for example, during the calibration of the piston position to the application point.
- the control unit first determines the application point or the position when reaching the maximum flow value during application and a piston position determined by means of an engine model taking into account the hydraulic admission pressure to the determined application point or the determined position upon reaching the predetermined maximum current value calibrated.
- the calibration is preferred to the application point, for example, then calibrated to the position when reaching the maximum current when the application point could not be determined.
- the applied hydraulic pressure on the piston which overlaps with the set application force, must also be taken into account in the realized application force.
- the piston position determined only with the help of a motor model (example below) can be calibrated to the application point or to the point at the end of the application process. This is a particularly simple way of position calibration, which allows precise control or regulation of the actuator movement during application or release.
- a Swisslitter Zuspannweg is determined by the control unit from the actuation path between the determined application point and the actuation position upon reaching the predetermined maximum current value and then the distance Zuspannweg compared with a desired application force Normzuspannweg, at a significant deviation of the founded zuspannwegs from Normzuspannweg, namely, when the distance covered zuspannweg is significantly smaller than the Normzuspannweg, a Nachspannfunktion the control unit is activated. For example, in the case of a deviation of the applied application path from the standard clamping path of more than 50%, that is to say if the distance traveled is significantly less than 50% of the standard clamping path, retensioning can be triggered.
- This embodiment assumes that even after reaching the cut-off / maximum current value and the termination of the application process, no information about the actual clamping force actually achieved is available.
- the application point i. the point at which the brake pads just bear against the brake disc is known, can be checked with the help of the comparison of the application point until reaching the maximum current value path (covered Zuspannweg) and determined using a Normsattelkennline Normzuspannwegs whether the required application force of all Likelihood was actually set.
- the Normzuspannweg results from the standard saddle curve of the parking brake for the desired clamping force.
- the standard saddle characteristic here is the relationship between the application force and deformation of the parking brake elements (or piston travel), which results from the rigidity of the elements.
- the Nachspannfunktion includes a path control, wherein the retightening preferably directly after completion of Zuspannvor- is performed.
- This procedure is advantageous since it is known from experiments that a significantly higher current is required to restart the actuator than the current that was used during the last application. For this reason, a Nachspannnier is realized, which manages without the shutdown or maximum current value defined in the above-described clamping.
- a "knock function” is used by the control device for tensioning, wherein also in this embodiment, the retightening is preferably carried out directly after completion of the application process.
- the "knocking function” is an advantageous measure when tightening, in which preferably a number of torque pulses are applied to the actuator depending on the actuator temperature, the available voltage and the achieved switch-off current at the end of a tightening operation, so that a higher application takes place - adjusts power.
- An example of such a "knocking function” will be explained below.
- control of the nut movement in the release direction is performed by the control unit for releasing the parking brake, wherein in the calculation of the set travel used for the control of the nut movement of the last application under consideration of the hydraulic pre-pressure determined application point and a predetermined Clearance is considered.
- the determination of the nominal travel path is thus simplified and is also possible by the use of the determined contact point. at the same time exactly as an integration of errors is avoided.
- the above object is further achieved by a parking brake in which the control unit determines the application point by forming the first derivative of the electric current absorbed during application by the DC motor with respect to time.
- the parking brake according to the invention has the advantages mentioned above with regard to the method according to the invention.
- the preferred embodiments of the parking brake according to the invention correspond to the embodiments explained above for the method according to the invention.
- FIG. 1 shows a first part of the components of a parking brake according to the invention in the form of a circuit diagram
- FIG. 2 shows a second part of the components of the parking brake according to the invention according to FIG. 1 in a perspective view from the side, FIG.
- FIG. 3 shows the motor and the gear stages of the parking brake according to the invention according to FIG. 1 in a perspective view from the side (partially exploded view), FIG.
- Fig. 4 is a characteristic diagram of the to be realized during the application of the maximum current value (to be set current in A) to obtain a clamping force of 16 kN, depending on the ambient temperature (0 C) and the input voltage of the DC motor (in V) without taking into account the hydraulic admission pressure,
- FIG. 5 shows a diagram representing the quadratic dependence of the application force F caliper on the piston travel x pis ton for F caliper ⁇ 0, and FIG
- Fig. 6 is a diagram from which the course of the derivative of the motor current i after the time t (di / dt) as a function of the time t during the application can be seen. 1. Description of the parking brake according to the invention
- the parking brake according to the invention for a motor vehicle shown in FIG. 1 has an actuator 5 for each wheel, which is connected in each case via a control / regulating line 7 to a control unit 10.
- Fig. 1 also shows the connection of the control unit 10 via a (possibly multiple) control / regulation line 12 to the operating switch 14 of the parking brake, with which the application or release of the parking brake by the driver of the motor vehicle can be initiated.
- the control unit 10 has a power supply 15 and is also connected to the actuators 5 in each case with a line 16, which transmits the temperature of the respective actuator 5 to the control unit 10.
- each actuator 5 is provided with a lying in the hydraulically actuated brake piston 20 spindle on which the non-rotating nut moves with the rotational movement of the spindle in the axial direction and upon contact with the brake piston when tightening a Clamping force on the brake pads 22 and the brake disc, not shown, applies.
- the stiffness of the system is u.A. generated by the caliper 23.
- the spindle is driven via a double-stage worm gear 24 with a first gear stage 25 and a second gear stage 26 of a brushed, operable in two directions DC motor 28.
- the generated clamping force is supported by the thrust bearing.
- the second stage 26 of the worm gear is the realized self-locking required for the parking brake / parking brake function.
- the self-locking implies that a once applied by the DC motor 28 clamping force is maintained even without power.
- the motor current is measured and the voltage applied to the motor voltage via the control unit 10, which is connected to an H-bridge, not shown, set in the required direction.
- the clamping force itself is not measured for cost reasons. The same applies to the motor position or the rotational speed of the motor 28.
- the rotation of the motor can be measured with the aid of a modified wheel speed sensor. This is done by generating speed pulses that the sensor detects. However, no direction of rotation detection is provided, but the motor motion detection must determine the direction of rotation independently due to the activation of the motor. Since not all cases can be considered thereby, e.g. If the motor moves in the negative direction, although a positive voltage is applied and a positive current flows, the position detection is not possible error-free in this embodiment.
- the core of the actuator control of the control unit 10 is a position controller which fulfills the following functions:
- the position controller specifies the following variables for the control of the H-bridge connected to the DC motor 28:
- the position controller of the control unit 10 is designed such that it can only switch the voltage on or off, the setting of intermediate voltage values is not possible. Therefore, there is a so-called three-point controller.
- the controller must also switch off when the manipulated variable limit is reached (ie when the maximum or minimum current value is reached). For this purpose, the current is monitored for exceeding the predetermined current limits. However, it must be ensured that the high starting current of the DC motor 28 with regard to the switch-off is ignored because it is generally above the maximum limits. For this purpose, the monitoring in terms of reaching the current limits only after a predetermined time, (eg 50 to 150 ms) started after switching on the positioner. Switching off when the predetermined maximum current value is reached is achieved when the voltage is applied to a setpoint value which is not specified by the actuator 5.
- a predetermined time eg 50 to 150 ms
- the position controller of the control unit 10 must also be switched off when reaching a stationary state (movement standstill).
- the control target or the manipulated variable limit is not reached.
- This situation arises when tightening, for example, whenever the available voltage is not sufficient for reaching the predetermined maximum current value.
- the detection of standstill is critical because the presence of a motion is only estimated and not monitored. It can therefore come to situations in which a stoppage of the actuator 5 is not recognized.
- the power loss can be used as a shutdown criterion. Since it is not measured directly, it can be determined, for example, from the square of the current used for the respective process. Alternatively, the monitoring of the simple current integral (integral of the current amount) is possible, which offers the advantage that even long, working with small currents operations can be detected and turned off.
- the motor in the direction Zuspannen that is, for example, with a positive applied voltage, driven via the H-bridge.
- the current quickly drops to a minimum value, the so-called no-load current, while the maximum speed is set.
- no-load current the so-called no-load current
- the actuator is driven by the DC motor until a maximum current value is reached or exceeded. Then, the corresponding power associated with the clamping force is reached.
- the maximum current value for the desired application force depends, among other things, on the temperature and the available voltage.
- the temperature affects the motor resistance, the motor constant and the properties of the lubrication and thus the efficiency.
- the motor resistance increases with increasing temperature, while the motor constant decreases.
- the properties of the lubricant (grease) become worse with decreasing temperature, as it comes to a thickening.
- the fat becomes too liquid, so that its properties also deteriorate.
- the properties of the grease are essentially constant over the temperature range relevant to the parking brake.
- a maximum current value is to measure the actuator properties experimentally and to store the corresponding maximum current values in a characteristic field. Such a map is shown in Fig. 4. It shows the required maximum current value for a clamping force of 16 kN depending on the ambient temperature and the input voltage of the motor. However, the metrologically recorded map was recorded without consideration of the hydraulic pre-pressure.
- a characteristic map shown in Fig. 4 is determined for certain hydraulic Vordrücke, which abut the piston of the actuator, and the maps thus generated for the determination of the maximum current value depending on the hydraulic pressure and ambient temperature and input voltage in the Control unit of the parking brake according to the invention provided.
- the corresponding value for the maximum current can be interpolated.
- a method is shown below, with which the cut-off / maximum current value can be determined algorithmically.
- the desired application force F epb as a function of the maximum current value i max results at constant assumed efficiencies essentially from the following relationship between the applied application force and the adjusting current at the end of the movement:
- the maximum current value is composed of (2) in (equation 4).
- the first component generates the actual force under the constraint that the constant friction is zero.
- the second component takes into account the portion of the current needed to effect rotation of the motor at all. Both components depend not only on the wear but also on the engine constant of the temperature.
- b ( ⁇ ) as it represents the current component needed for the movement of the motor per se, by the EER determined in a brake-application Leerlaufström ii i to be replaced as a good estimate. It follows:
- a correction component i corr (T) is taken into account, which has, for example, the values listed in the table below (in A) for the indicated temperature ranges Tl to T4 (actuator temperature):
- a correction can be carried out which, in addition to the temperature dependence, takes into account the voltage applied to the DC motor (voltage ranges U1 to U4):
- the temperature of the actuator must be known. If a measurement of the temperature directly on the actuator is not possible for reasons of cost, the ambient temperature can be used instead of the temperature of the actuator, in particular for the ranges T1 to T3. If the actuator temperature is greater than the measured ambient temperatures, the effect on the set clamping force only to the extent that it is too large. In terms of vehicle safety, this is tolerable.
- the range T4 can not be determined by measuring the ambient temperature.
- the temperatures from the range T4 only arise if the actuator itself very strong heats up (crazy-driver) o- is heated by a hot brake system from the outside.
- these cases can be covered by temperature models. Accordingly, the area T4 is realized by a combination of an ambient temperature measurement and two temperature models (self-heating of the actuator and heating by the brake system).
- the wear can be designed as a function of the dependence of the parameters m ( ⁇ ) or ikorr on the number of previous actuations n of the actuator. That means
- the application path x c iam P traveled during the application process ie the actuation path can be determined from the application point. If the caliper characteristic of the parking brake just corresponds to the "standard caliper characteristic", it can be determined from this on the basis of the desired clamping force a Normzuspannweg. In a comparison of the actually covered Zuspannweges with the Normzuspannweg can be estimated whether the achieved clamping force also corresponds to the desired clamping force. If the set Zuspannweg be significantly smaller than the Normwegdifferenz, so in a particularly preferred embodiment, a Nachspannfunktion is activated by the control unit.
- the retightening is preferably carried out without the explicit switching off of the H-bridge directly after the tightening operation, since it is known from experiments that, for the purpose of start of the actuator, a significantly higher current is needed than at the last application.
- the direct connection of the Nachspannfunktion to the application process has the advantage that not once again a very high inrush current occurs.
- One possible embodiment for retightening is to carry out a further application of the parking brake by means of a travel control.
- the path control uses a position command value which has a value that is greater by dx than the position at the end of the application process. In the dx larger position it is assumed that the brake shoes are clamped with a correspondingly greater force.
- the positioner attempts to set the value that is greater by dx in the tightening direction. In this case, the limit (maximum current value) used for the actual application process is not applied, but a further (“softened”) current limit is specified, which is monitored.
- the further current limit is characteristic of the state in which the actuator is at the end of its physical capabilities, i. the actuator does not exceed an absolute maximum current value.
- the re-tensioning is stopped by the control unit either upon reaching the dx larger path or, if this is not achieved, upon reaching the further current limit value.
- the pulses n knocks are each 150 ms long and follow each other every 300 ms.
- the "knock function” can also be carried out analogously during the "normal” application process, in particular at its end. Your application is therefore not limited to retensioning.
- the current idling flow is taken into account.
- the idling flow is measured when driving over the clearance.
- the absolute minimum of the current during the application can be be used as no-load current value.
- the minimum of the current in this case can also be used as a substitute value, whereby the value thus found for the idling current is to be limited to a maximum value.
- the temperature used for calculating the maximum current value it is necessary to select or calculate from the measured actuator temperatures that temperature which is ultimately used to calculate the maximum current value.
- the desired tensile force can be set via a previously determined application travel.
- the relationship discussed below in connection with the release of the parking brake between see clamping force and piston travel or the deformation of the caliper and pads are used.
- This relationship results from the rigidity of the system and consists essentially of the stiffness of the brake fist (material and geometry-dependent) and the brake pads together.
- this rigidity only plays a role when the contact point is reached.
- the prerequisite for the application of this embodiment of the invention is a reliable detection of the application point, which is analogous to the below described in the chapter "release the parking brake" Anlegeticianerkennung taking into account the hydraulic form.
- the position calibration can also be performed, which is used to calibrate the characteristic relationship between the application force and piston travel.
- the rigidity of the actuator is subject to changes resulting, for example, from the condition of the brake linings (wear, temperature, temperature of the brake disc).
- a "worst-case curve” is used which, due to safety considerations, covers the aforementioned changes.
- a "worst case characteristic” leads to an increased mechanical load on the actuator.
- different characteristic curves can be determined for the different change cases and stored in the control unit (for example, a disk temperature model with rapid change, model for wear or number of braking operations with slow change with occasional measurement). Depending on the respective change, the respectively valid characteristic can then be selected and used in the determination of the path to be covered by the actuator.
- the application concepts “Maximalstromwertbegrenzung” and “Zuspannwegbegrenzung” can also be combined.
- a concept can be selected as the master concept and checked with the other concept. So it makes sense, after an application according to "Maximalstromwertbegrenzung” to check whether the route traveled in the context of the concept "Zuspannwegbegrenzung” moves. Possibly. a post-tensioning function (see above) of the control unit can be activated.
- a specific travel or release path ⁇ Ptotai_reiease is traveled in the release direction by the actuator in a purely controlled manner.
- the Sollverfahrweg from the current distance to the application position (without form) ⁇ Pciamp and a presettable air play ⁇ ai rga P _set (This means the maximum clearance of the piston, which is defined by the position of the drive nut in the piston meant) determined.
- ⁇ total_release ⁇ clan ⁇ ⁇ ⁇ ⁇ ⁇ * alrgap_set ⁇ 'alrgap_ set ⁇ "(G l. 1 1)
- the control unit additionally has a so-called "Disengage function / engagement function".
- Disengage function in addition to the clearance defined above, an extended clearance ⁇ Ptotai_reiease + ( Perw) is set and approached by the path controller.
- the Engage function controls the return movement to the originally set clearance ⁇ Ptotai_reiease by means of the Engage function - / Disengage functions, for example, can be realized at a discernible heating of the brake without braking a safe release of the parking brake.
- the control unit has an emergency function, which also from the "Disengage position" with extended clearance zuspannen provides so that the Mooring point can be reliably detected.
- the position of the brake shoes or the position of the actuator piston is not exactly known, for example when using the above motor model (equation 1) for determining the position, since the model contains simplifications and also the engine parameters are not precisely known.
- the results of the inaccuracies and simplifications Errors are integrated in the determination of the position and, under unfavorable circumstances, rapidly lead to deviations over several tightening processes, so that the safe setting of the clearance, which is based on a pure position regulation, is no longer guaranteed.
- the position of the piston or brake shoes determined by the model is calibrated each time it is tightened. Calibration means in this case that the position value currently determined using a motor model is corrected.
- a caliper stiffness model is used, which can be characteristic-based or parametric. Assuming that the application force is quadratically dependent on the distance traveled, if the path is greater than or equal to zero, and no force must be expended if the travel is less than zero, and with the further assumption that only one force is present at the point of application caused by the hydraulic pres- sure, the following parametric relationship can be deduced, which can be used for positional calibration (p pis tone • • • • pressure at the piston):
- the relationship between the application force and the path traveled by the actuator is again illustrated by the diagram shown in FIG.
- the dotted line symbolizes the situation at the contact point at which the distance covered x cp corresponds to the hydraulic pre-pressure F hydr .
- the remaining positions of the characteristic curve can be calibrated accordingly.
- the point of the distance traveled, in which the maximum current value, i. the desired clamping force, adjusts is also accessible by the desired application force via the engine model.
- a position calibration is still required.
- a fixed predetermined value for the form eg 40 bar
- a slightly larger value must _set when specifying the L predominantlyspielwegs ⁇ ai ck P set who the, so it also does not come to a grinding of brakes ⁇ if the actual inlet pressure was significantly greater than the assumed value.
- the form used can be selected depending on a possibly existing slope.
- the used Form pressure value to be determined depending on the saddle characteristic.
- the admission pressure which corresponds to half the travel distance.
- a pre-pressure of about 50 bar could be used.
- Condition for the position calibration is the knowledge of the actual application point, which shifts in the course of the operation of the parking brake and can not be measured directly with the parking brake according to the invention without force measurement.
- a robust technical implementation for landing point detection according to the above context takes into account the following disturbing boundary conditions:
- the time derivative of the current is illustrated in the diagram shown in FIG. In this illustration it is clear that the application point is characterized by a zero crossing of the derivative of the current after the time. In a larger clearance, however, there may be an extended phase of the first derivative of the current in which the derivative is near zero. In order to achieve a clear differentiation from the start-up behavior, the detection of the application point by the observation of di / dt is only made when a negative derivative occurs.
- a (positive) barrier i p0 (derivative threshold ) for the considered variable (di / dt) is determined. This bound is a small (near the remaining values di / dt) positive value near zero. Will this barrier exceeded by di / dt, the current position is stored as a potential application point and started a counter. The counter counts upwards with each new measured value, ie the counter is incremented by an increment value as long as the considered variable is larger than the barrier i p0 . If the size falls below the barrier, then the counter is reset to zero.
- the potential application point is considered to be exactly real application point when the counter reaches a predetermined value n input (counter threshold). This ensures that as a landing point, the position is selected is ensured, according to which the size to be considered at least n consecutive times orgabe V was greater than the predefined limit. This method has proven itself in practice and provides meaningful values even with unusual current profiles.
- n vo rg abe (Po) l ⁇ -trunc ⁇
- the landing point detection algorithm described above is also suitable for determining additional calibration points. This happens because the barrier i p0 is chosen differently for another calibration point. You can try to measure a plausibility test of the set clamping force on the determined travel a more stable, ie linear, part of the saddle curve. In this case, the barrier i p o is increased to determine the calibration point. If necessary, another (smaller) must be set n specification to determine the calibration point found at higher power.
- the clearance is determined by determining the clearance set prior to the actual tightening operation by calculating the path difference between the start of the tightening operation and finding the new contact point. After tightening so are measurements for the previously set clearance. Should the measured clearance be smaller than the clearance that should be adjusted, this could be a faulty setting. In order to prevent the same error, so setting a too small clearance at the next release, the setpoint for the clearance is increased by a fixed amount for the next release operation. If, on the other hand, the measured clearance is significantly greater than the predetermined value, then the target value for the next release can be reduced. Due to security considerations, it makes sense that Enlarge the clearance in big steps and reduce it again in much smaller steps.
- the status of the actuator is unknown. In particular, there is no calibrated position to which the drive could relate. For this reason, an initialization drive of the actuator is necessary before the normal operation of the parking brake.
- the initialization run starts when the parking brake control is operated. When tightening the initialization is made such that when applying the normal maximum current value is reached. In this application, however, a landing point detection is not performed.
- the position of the actuator is set to the standard value of the standard characteristic. In this case, it is assumed that the set clamping force has just been set with the switch-off criterion. This is a value of the position, which guarantees a safe adjustment of the clearance at the next opening / loosening.
- the initialization drive still starts in the direction of application until the normal maximum current value is reached.
- the subsequent initialization procedure is carried out analogously to the above procedure.
- the parking brake is released and set a clearance safely. Due to different wear, due to model errors or actuator-specific circumstances, it can lead to a significant, ie noticeable for the driver of the motor vehicle A-synchronicity between two arranged in a motor vehicle actuators. This happens, for example, if the airs left and right are set very different and an actuator at the next application reaches its point of application much earlier than the other.
- the time difference between the adjustment of both application points is a measure of the asynchronicity of the actuators.
- the synchronous behavior is restored by a corresponding change in the clearance setpoint.
- the clearance setpoint of the seemingly "faster” actuator is increased, Preferably, this adaptation is carried out in small steps (per actuation) to compensate for the variance of the application point detection If synchronicity is reached, reduce the correction on both sides at the same time until the smaller clearance corresponds to the standard clearance.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
- Braking Arrangements (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
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Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
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AT08842914T ATE522414T1 (de) | 2007-10-24 | 2008-10-23 | Feststellbremse und verfahren zum betreiben derselben |
EP08842914A EP2214944B1 (de) | 2007-10-24 | 2008-10-23 | Feststellbremse und verfahren zum betreiben derselben |
CN2008801130433A CN101835665B (zh) | 2007-10-24 | 2008-10-23 | 驻车制动器及其运行方法 |
BRPI0818896-3A BRPI0818896B1 (pt) | 2007-10-24 | 2008-10-23 | processo para operar um freio de estacionamento e freio de estacionamento |
US12/739,753 US8397879B2 (en) | 2007-10-24 | 2008-10-23 | Parking brake and method for operating same |
KR1020107011112A KR101523118B1 (ko) | 2007-10-24 | 2008-10-23 | 주차 브레이크 및 이 주차 브레이크의 작동 방법 |
JP2010530456A JP5535924B2 (ja) | 2007-10-24 | 2008-10-23 | パーキングブレーキおよびそれを動作するための方法 |
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DE102007051078.2 | 2007-10-24 | ||
DE102007051078 | 2007-10-24 | ||
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DE102008052847A DE102008052847A1 (de) | 2007-10-24 | 2008-10-23 | Feststellbremse und Verfahren zum Betrieb derselben |
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PCT/EP2008/064356 WO2009053429A1 (de) | 2007-10-24 | 2008-10-23 | Feststellbremse und verfahren zum betreiben derselben |
PCT/EP2008/064358 WO2009053430A1 (de) | 2007-10-24 | 2008-10-23 | Feststellbremse und verfahren zum betreiben derselben |
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PCT/EP2008/064356 WO2009053429A1 (de) | 2007-10-24 | 2008-10-23 | Feststellbremse und verfahren zum betreiben derselben |
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US (2) | US8397879B2 (de) |
EP (2) | EP2214944B1 (de) |
JP (1) | JP5535924B2 (de) |
KR (2) | KR101523118B1 (de) |
CN (2) | CN101835664B (de) |
AT (2) | ATE522414T1 (de) |
BR (1) | BRPI0818896B1 (de) |
DE (2) | DE102008052845A1 (de) |
WO (2) | WO2009053429A1 (de) |
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- 2008-10-23 KR KR1020107011112A patent/KR101523118B1/ko active IP Right Grant
- 2008-10-23 US US12/739,753 patent/US8397879B2/en active Active
- 2008-10-23 KR KR1020107011120A patent/KR101533131B1/ko active IP Right Grant
- 2008-10-23 AT AT08842914T patent/ATE522414T1/de active
- 2008-10-23 CN CN2008801130787A patent/CN101835664B/zh active Active
- 2008-10-23 DE DE102008052845A patent/DE102008052845A1/de not_active Withdrawn
- 2008-10-23 WO PCT/EP2008/064356 patent/WO2009053429A1/de active Application Filing
- 2008-10-23 DE DE102008052847A patent/DE102008052847A1/de not_active Withdrawn
- 2008-10-23 WO PCT/EP2008/064358 patent/WO2009053430A1/de active Application Filing
- 2008-10-23 BR BRPI0818896-3A patent/BRPI0818896B1/pt active IP Right Grant
- 2008-10-23 US US12/739,207 patent/US7992691B2/en active Active
- 2008-10-23 EP EP08842647A patent/EP2214943B1/de active Active
- 2008-10-23 AT AT08842647T patent/ATE522413T1/de active
- 2008-10-23 CN CN2008801130433A patent/CN101835665B/zh active Active
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Cited By (11)
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JP2013501668A (ja) * | 2009-08-13 | 2013-01-17 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 駐車ブレーキにより与えられる締付力の設定方法 |
US9694799B2 (en) | 2009-08-13 | 2017-07-04 | Robert Bosch Gmbh | Method for setting the clamping force of a hydraulically supported electric motor-driven parking brake |
CN102371987A (zh) * | 2010-08-13 | 2012-03-14 | 罗伯特·博世有限公司 | 机动车中能够电气操纵的驻车制动器的效率的求取方法 |
CN102371988A (zh) * | 2010-08-18 | 2012-03-14 | 罗伯特·博世有限公司 | 机动车中能电气操纵的驻车制动器的调节行程识别方法 |
JP2012101749A (ja) * | 2010-11-12 | 2012-05-31 | Hi-Lex Corporation | 電動パーキングブレーキ装置 |
EP3044056B1 (de) | 2013-09-13 | 2019-12-04 | Robert Bosch GmbH | Fahrassistenzsystem mit gesteigerter ausfallsicherheit und verfügbarkeit |
EP3044056B2 (de) † | 2013-09-13 | 2024-01-24 | Robert Bosch GmbH | Fahrassistenzsystem mit gesteigerter ausfallsicherheit und verfügbarkeit |
CN106167007A (zh) * | 2015-05-22 | 2016-11-30 | 罗伯特·博世有限公司 | 用于机动车的制动装置和用于对所述制动装置的损坏进行探测的方法 |
CN106167007B (zh) * | 2015-05-22 | 2020-10-02 | 罗伯特·博世有限公司 | 用于机动车的制动装置和用于对所述制动装置的损坏进行探测的方法 |
US11623626B2 (en) | 2017-07-27 | 2023-04-11 | Freni Brembo S.P.A. | Method for estimating a braking force applicable between pad and brake disc by an electric parking-braking system of a vehicle and electric parking-braking system of a vehicle implementing such method |
DE102021206420A1 (de) | 2021-06-22 | 2022-12-22 | Volkswagen Aktiengesellschaft | Verfahren zum Bestimmen einer Zuspannkraft einer elektrischen Bremse aufweisend einen Gleichstrommotor sowie Kraftfahrzeug mit einer elektrischen Bremse |
Also Published As
Publication number | Publication date |
---|---|
US20110278105A1 (en) | 2011-11-17 |
BRPI0818896B1 (pt) | 2020-10-13 |
KR20100090694A (ko) | 2010-08-16 |
EP2214944B1 (de) | 2011-08-31 |
KR101533131B1 (ko) | 2015-07-01 |
CN101835664A (zh) | 2010-09-15 |
EP2214943A1 (de) | 2010-08-11 |
JP5535924B2 (ja) | 2014-07-02 |
DE102008052847A1 (de) | 2009-05-07 |
BRPI0818896A2 (pt) | 2015-05-05 |
KR101523118B1 (ko) | 2015-05-26 |
CN101835664B (zh) | 2013-07-10 |
US8397879B2 (en) | 2013-03-19 |
KR20100088686A (ko) | 2010-08-10 |
ATE522413T1 (de) | 2011-09-15 |
WO2009053429A1 (de) | 2009-04-30 |
CN101835665A (zh) | 2010-09-15 |
EP2214944A1 (de) | 2010-08-11 |
JP2011500433A (ja) | 2011-01-06 |
CN101835665B (zh) | 2013-01-09 |
DE102008052845A1 (de) | 2009-05-07 |
US20100308645A1 (en) | 2010-12-09 |
ATE522414T1 (de) | 2011-09-15 |
US7992691B2 (en) | 2011-08-09 |
EP2214943B1 (de) | 2011-08-31 |
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