WO2023000365A1 - Monitoring method and system for pressure change rate of brake chamber of dangerous goods transport semi-trailer - Google Patents

Monitoring method and system for pressure change rate of brake chamber of dangerous goods transport semi-trailer Download PDF

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Publication number
WO2023000365A1
WO2023000365A1 PCT/CN2021/109034 CN2021109034W WO2023000365A1 WO 2023000365 A1 WO2023000365 A1 WO 2023000365A1 CN 2021109034 W CN2021109034 W CN 2021109034W WO 2023000365 A1 WO2023000365 A1 WO 2023000365A1
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pressure
brake
trailer
semi
ecpbs
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PCT/CN2021/109034
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French (fr)
Chinese (zh)
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李刚炎
赵燃
杨凡
胡剑
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武汉理工大学
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Publication of WO2023000365A1 publication Critical patent/WO2023000365A1/en

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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
    • B60T17/226—Devices for monitoring or checking brake systems; Signal devices using devices being responsive to the difference between the fluid pressions in conduits of multiple braking systems

Definitions

  • the invention belongs to the field of automobile braking, and in particular relates to an online monitoring method and system for the pressure change rate of an ECPBS brake air chamber of a semi-trailer transporting dangerous goods.
  • ECPBS Electronic Control Pneumatic Brake System
  • the ECPBS of the dangerous goods semi-trailer is composed of the EBS (electronic brake control system) module of the tractor and the EBS (electronic brake control system) module of the semi-trailer. ECU control. There are corresponding standards for the mechanical interchangeability between the tractor and the semi-trailer, the electrical interface connection protocol, and the function and performance requirements of the brake system after the car train is formed, which establishes the basis for the normal operation of the brake performance of the car train.
  • CN111572524A discloses a method and device for measuring the rate of change of vehicle air pressure braking pressure, which aims to realize real-time and accurate measurement of the rate of change of brake pressure, provide reference information for vehicle situation control based on the rate of change of brake pressure, and improve vehicle situation Control precision, improve vehicle driving stability, ride comfort and passenger comfort.
  • this kind of vehicle air pressure brake pressure change rate measuring device is only aimed at general-purpose vehicles, and the accuracy and measurement method cannot be applied to dangerous goods semi-trailer transport vehicles.
  • there is no effective solution for the real-time monitoring of the braking pressure change rate of the dangerous goods semi-trailer and the realization of the function is only completed at the test bench level, and there is no realization plan combined with the vehicle structure.
  • the technical problem to be solved by the present invention is to propose a method and system for monitoring the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods in view of the above defects or requirements of the prior art, which can realize the brake air chamber of the dangerous goods transporting vehicle.
  • the real-time and accurate measurement of the pressure change rate provides reference information for the vehicle situation control based on the brake pressure change rate, and at the same time improves the vehicle situation control accuracy, improves the vehicle driving stability, ride comfort and passenger comfort, and effectively solves the current problem of commercial vehicle air pressure
  • the braking system has problems such as the inability to independently identify the vehicle braking demand, the pressure deviation and time deviation between the actual braking pressure response and the expected braking pressure response, and the inability to achieve effective independent adjustment of the wheel braking force.
  • a brake air chamber pressure change rate monitoring system for a semi-trailer transporting dangerous goods characterized by comprising: a laminar flow damping tube, an isothermal container, a differential pressure sensor, a pressure sensor, an ECPBS axle control module of a semi-trailer transporting dangerous goods and ECPBS ECU;
  • the brake chambers of the dangerous goods semi-trailer ECPBS are connected to an isothermal container with a laminar flow resistance tube, and the two ends of the pressure difference sensor are respectively connected to the brake chamber and the isothermal container.
  • a pressure sensor is installed on the isothermal container; the laminar flow resistance tube is provided with multiple flow channels; the brake chamber to be measured is connected with the ECPBS axle control module of the dangerous goods semi-trailer, and the dangerous goods semi-trailer
  • the ECPBS axis control module is set to accept the instructions of the ECPBS ECU and perform pressure regulation to change the pressure in the brake chamber to be measured.
  • first end of the laminar flow damping tube and the first end of the differential pressure sensor are respectively connected to the brake chamber to be measured, and the second end of the laminar flow damping tube and the differential pressure sensor
  • the second end of each is connected to the isothermal container, the other end of the isothermal container is connected to one end of the pressure sensor, the other end of the pressure sensor and the other end of the differential pressure sensor are connected to the ECPBS ECU.
  • the laminar flow damping tube is located between the brake air chamber to be measured and the isothermal container, and the laminar flow damping tube is composed of a plurality of capillaries with the same inner radius and the same length inserted in parallel into the air pipe.
  • the ECPBS brake air chamber pressure change rate monitoring system of the dangerous goods semi-trailer is installed on each brake air chamber of the dangerous goods semi-trailer, and the sensors on the brake air chamber of the semi-trailer communicate with the semi-trailer.
  • the electronic control interface of the tractor is transmitted to the ECPBS ECU.
  • a method for monitoring the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods which is characterized in that an isothermal container with known parameters and a laminar flow resistance tube are used to monitor the internal pressure of the isothermal container and the relationship between the isothermal container and the semi-trailer of dangerous goods on-line.
  • the pressure difference between the brake chambers of the vehicle, and based on the measurement model of the pressure change rate of the ECPBS brake chamber of the dangerous goods semi-trailer calculate the braking pressure of each brake chamber of the ECPBS of the dangerous goods semi-trailer rate of change.
  • V d is the volume of the isothermal vessel, in m 3 ;
  • P d is the pressure in the isothermal vessel measured by the pressure sensor, in Pa;
  • R is the gas constant, in J/(kg K);
  • ⁇ is the isothermal
  • the temperature in the container is in K;
  • ⁇ is the gas viscosity coefficient in Pa s;
  • P is the atmospheric pressure in Pa;
  • P q is the brake chamber pressure in Pa;
  • ⁇ d is the pressure in the isothermal container Gas density, the unit is kg/m 3 ;
  • ⁇ is the atmospheric density, the unit is kg/m 3 ;
  • n is the number of flow channels;
  • l is the length of the flow channel, the unit is m;
  • r is the radius of the flow channel, m;
  • P c is the measured value of the differential pressure sensor, Pa;
  • G d is the mass flow rate of the gas flowing through the laminar flow resistance tube into the isothermal container, the unit
  • the above method includes the following steps:
  • the ECPBS ECU of the dangerous goods semi-trailer ECPBS outputs a pressure regulation control signal to the axis control module of the ECPBS;
  • the ECPBS ECU uses the built-in brake pressure change rate model to calculate the brake pressure change rate in the brake chamber at the current moment, and use it as a reference parameter for pressure control.
  • step S3 the pressure and differential pressure information are transmitted to the ECPBS ECU through the vehicle bus.
  • step S4 the brake pressure change rate of each brake chamber of the ECPBS of the dangerous goods semi-trailer is calculated.
  • the brake pressure change rate model is obtained according to the following principle:
  • the pressure change in the isothermal container lags behind the brake air chamber, which can be measured by the differential pressure sensor
  • the pressure difference between the two is measured by the pressure sensor at this time in the isothermal container; using the known properties of the isothermal container and the laminar flow resistance tube, the two variables (the internal pressure of the isothermal container and its relationship with the control system) are monitored online.
  • the laminar flow damping tube is located between the brake air chamber and the isothermal container, and the laminar flow damping tube is composed of n capillaries with an inner radius r and a length l inserted in parallel into a gas pipe with a flow path D ;r ⁇ D.
  • the isothermal container can reduce the influence of temperature changes, so its interior is equal-area and isothermal, and the pressure change rate in the isothermal container is:
  • the pressure change rate in the isothermal vessel is proportional to the mass flow rate of gas passing through the laminar flow resistance tube, then it can be obtained from Poiseuille's law that the volume flow rate through the laminar flow resistance tube is:
  • the ideal gas state equation of the two can be obtained as follows: From this, the gas mass flow rate G d flowing through the laminar flow resistance tube into the isothermal vessel can be obtained as:
  • V d is the volume of the isothermal container, in m 3
  • P d is the pressure in the isothermal container measured by the pressure sensor, in Pa
  • R is the gas constant, in J/(kg K)
  • ⁇ is the isothermal
  • the temperature in the container is in K
  • ⁇ is the gas viscosity coefficient in Pa s
  • P is the atmospheric pressure in Pa
  • P q is the brake chamber pressure in Pa
  • ⁇ d is the pressure in the isothermal container
  • Gas density the unit is kg/m 3
  • ⁇ is the atmospheric density, the unit is kg/m 3
  • n is the number of flow channels
  • l is the length of the flow channel, the unit is m
  • r is the radius of the flow channel, m
  • P c is the
  • the capacity volume data of the isothermal vessel will be recorded in the ECPBS ECU as parameters in the model.
  • the invention aims to realize the online monitoring of the pressure change rate of the ECPBS brake chamber of the semi-trailer transporting dangerous goods, so as to evaluate the axis control of the electronic control unit (ECPBS ECU: Electronically Controlled Pneumatic Brake System Electronic Control Unit).
  • ECPBS ECU Electronically Controlled Pneumatic Brake System Electronic Control Unit.
  • the pressure and time deviation between the actual braking pressure response and the expected value due to the influence of structural manufacturing accuracy and shape and position errors within the module and between different modules provides reference information, and timely detects the extra brakes generated by the ECPBS during the braking process of the dangerous goods transport vehicle. Longitudinal, lateral acceleration and yaw rate, laying a good foundation for improving the braking safety, stability and smoothness of this type of vehicle.
  • the present invention uses a laminar flow damping tube, an isothermal container, a differential pressure sensor and a pressure sensor to measure the rate of change of braking pressure.
  • the pressure in the gas chamber changes, the pressure difference between the isothermal container and the gas chamber to be tested is measured by the pressure difference sensor, the pressure in the isothermal container is measured by the pressure sensor, and the collected signal is transmitted to the ECPBS ECU through the on-board bus.
  • the brake pressure change rate model calculates the brake pressure change rate of the dangerous goods semi-trailer ECPBS in real time at the current moment.
  • Fig. 1 is a schematic flowchart of a method for real-time monitoring of the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods provided by an embodiment of the present invention.
  • Fig. 2 is a structure of an online monitoring device for pressure change rate of a single brake chamber provided by an embodiment of the present invention.
  • Fig. 3 is an implementation scheme of on-line monitoring of the pressure change rate of the ECPBS brake air chamber of a semi-trailer transporting dangerous goods provided by an embodiment of the present invention.
  • Figure 2 100-axis control module, 200-brake chamber, 300-isothermal container, 400-EBS ECU or ECPBS ECU, 500-laminar flow resistance tube, 600-pressure differential sensor, 700-pressure sensor.
  • first end and second end in the examples of the present invention are applicable to distinguish different objects, and are not necessarily used to describe a specific order and sequence.
  • the flow diagram of the real-time detection method for the pressure change rate of the brake chamber of the dangerous goods semi-trailer transport vehicle shown in Figure 1 includes the following steps:
  • the ECPBS ECU of the dangerous goods semi-trailer ECPBS outputs a pressure regulation control signal to its axis control module;
  • S3 Use a pressure sensor to measure the pressure in the isothermal container, use a differential pressure sensor to measure the pressure difference between the isothermal container and the brake chamber, and transmit this information to the ECPBS ECU through the on-board bus;
  • the ECPBS ECU After receiving the above information, the ECPBS ECU uses the internal brake pressure change rate model to calculate the brake pressure change rate in the brake air chamber at this time, and uses it as a reference parameter for pressure control.
  • the brake pressure change rate model is obtained according to the following principles:
  • the pressure change in the isothermal container lags behind the brake air chamber, which can be measured by the differential pressure sensor
  • the pressure difference between the two is measured by the pressure sensor at this time in the isothermal container; using the known properties of the isothermal container and the laminar flow resistance tube, the two variables (the internal pressure of the isothermal container and its relationship with the control system) are monitored online.
  • the laminar flow damping tube is located between the brake air chamber and the isothermal container, and the laminar flow damping tube is composed of n capillaries with an inner radius r and a length l inserted in parallel into a gas pipe with a flow path D ;r ⁇ D.
  • the isothermal container can reduce the influence of temperature changes, so its interior is equal-area and isothermal, and the pressure change rate in the isothermal container is:
  • the pressure change rate in the isothermal vessel is proportional to the mass flow rate of gas passing through the laminar flow resistance tube, then it can be obtained from Poiseuille's law that the volume flow rate through the laminar flow resistance tube is:
  • the ideal gas state equation of the two can be obtained as follows: From this, the gas mass flow rate G d flowing through the laminar flow resistance tube into the isothermal vessel can be obtained as:
  • V d is the volume of the isothermal vessel, in m 3
  • P d is the pressure in the isothermal vessel measured by the pressure sensor, in Pa
  • R is the gas constant, in J/(kg K)
  • ⁇ is the isothermal
  • the temperature in the container is in K
  • ⁇ is the gas viscosity coefficient in Pa s
  • P is the atmospheric pressure in Pa
  • P q is the brake chamber pressure in Pa
  • ⁇ d is the pressure in the isothermal container
  • Gas density the unit is kg/m 3
  • ⁇ is the atmospheric density, the unit is kg/m 3
  • n is the number of flow channels
  • l is the length of the flow channel, the unit is m
  • r is the radius of the flow channel, m
  • P c is the
  • the capacity volume data of the isothermal vessel will be recorded in the ECPBS ECU as parameters in the model.
  • FIG. 2 it is a schematic structural diagram of an online monitoring device for the pressure change rate of a brake chamber provided by an embodiment of the present invention, including: a laminar flow damping tube 500, an isothermal container 300, a differential pressure sensor 600, a pressure sensor 700, a The ECPBS axis control module 100 and the ECPBS ECU400 of the product semi-trailer transport vehicle; wherein, the first end of the laminar flow damping tube 500 and the first end of the differential pressure sensor 600 are respectively connected to the brake chamber to be measured, Both the second end of the laminar flow damping tube 500 and the second end of the differential pressure sensor are connected to the isothermal vessel 300, and the other end of the isothermal vessel 300 is connected to one end of the pressure sensor.
  • the other end of the sensor 700 and the other end of the differential pressure sensor are both connected to the ECPBS ECU; the brake chamber to be measured is connected to the ECPBS axle control module of the dangerous goods semi-trailer, and the ECPBS axle of the dangerous goods semi-trailer
  • the control module is set to accept the instruction of ECPBS ECU to perform pressure regulation action so that the pressure in the brake chamber to be measured changes.
  • the pressure in the brake air chamber 200 to be measured changes under the control of the ECPBS axis control module 100, after flowing through the laminar flow damping tube 500, the pressure of the gas flowing into the isothermal container 300 changes a little later. 600 measures the pressure difference between the isothermal vessel 300 and the brake chamber 200 , and the pressure sensor 700 measures the pressure in the isothermal vessel 300 . Therefore, within the allowable range of error, the measured value of the pressure change rate in the brake air chamber 200 can be obtained in real time.
  • FIG. 3 it is an implementation scheme for on-line monitoring of the pressure change rate of the brake air chamber of a semi-trailer for dangerous goods provided by the present invention.
  • Each brake air chamber of the semi-trailer for dangerous goods is equipped with The on-line monitoring device for the pressure change rate of the brake chamber, the sensors of the on-line monitoring device for the brake pressure change rate on the brake chamber will be connected to the vehicle bus and transmitted to the ECPBS ECU, and the sensor on the brake chamber of the semi-trailer will The electronic control interface with the tractor is transmitted to the ECPBS ECU, and the information will be processed by the ECPBS ECU and converted into brake pressure change rate information, which will be used as an important reference index for evaluating the ECPBS of the dangerous goods semi-trailer.
  • the axis control module of the ECPBS of the dangerous goods semi-trailer receives the control signal of the ECPBS ECU and starts to control the pressure of the brake chamber to be tested, it uses the pressure sensor to measure the pressure in the isothermal container, and then according to the pressure in the isothermal container and the pressure difference between the isothermal container and the brake air chamber to obtain the pressure change rate in the brake air chamber to be measured;
  • the sensors of the online monitoring device for the rate of change of brake pressure on the brake chamber will be connected to the vehicle bus, and the information will be processed by the ECPBS ECU and converted into information of the rate of change of brake pressure.
  • An important reference index of ECPBS therefore, all wheels of the dangerous goods semi-trailer will be installed with the monitoring device of the present invention, and the sensors on the brake chamber of the semi-trailer will be transmitted to the ECPBS ECU through the electronic control interface of the semi-trailer and the tractor .
  • each step/component described in this application can be split into more steps/components, and two or more steps/components or part of the operations of steps/components can also be combined into a new Step/component, to realize the object of the present invention.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

A monitoring method and system for a pressure change rate of a brake chamber of a dangerous goods transport semi-trailer. The internal pressure of an isothermal container and a pressure difference between the isothermal container and a brake chamber of a dangerous goods transport semi-trailer are monitored online, and a brake pressure change rate of each brake chamber of an ECPBS of the dangerous goods transport semi-trailer is calculated on the basis of a pressure change rate measurement model for brake chambers of the ECPBS of the dangerous goods transport semi-trailer. Real-time accurate measurement of a pressure change rate of a brake chamber of a dangerous goods transport vehicle can be realized, and reference information is provided for vehicle situation control that is based on the brake pressure change rate. Moreover, the precision of the vehicle situation control is improved, thereby improving the driving stability and smoothness of the vehicle and improving the comfort of a passenger. The present application effectively solves the problems of it being impossible to automatically identify brake requirements of a vehicle, there being a pressure deviation and a time deviation between an actual braking pressure response and a desired braking pressure response, and it being impossible to perform effective independent adjustment on the brake forces of wheels, which are present in a pneumatic braking system of a current commercial vehicle.

Description

危险品半挂运输车制动气室压力变化率监控方法与***Method and system for monitoring pressure change rate of brake chamber of dangerous goods semi-trailer 技术领域technical field
本发明属于汽车制动领域，尤其涉及一种危险品半挂运输车ECPBS制动气室压力变化率的在线监控方法和***。The invention belongs to the field of automobile braking, and in particular relates to an online monitoring method and system for the pressure change rate of an ECPBS brake air chamber of a semi-trailer transporting dangerous goods.
背景技术Background technique
商用车ECPBS(电子控制气动制动***)对减速度的控制和响应是其设计过程中的重要指标，但这些指标仅能用最终的制动效果来评价，对在制动动作过程中的制动压力变化特性缺乏相应的评价指标、有效的检测方式和控制手段。The control and response of commercial vehicle ECPBS (Electronic Control Pneumatic Brake System) to deceleration are important indicators in the design process, but these indicators can only be evaluated by the final braking effect, and the braking effect during the braking action The dynamic pressure change characteristics lack corresponding evaluation indicators, effective detection methods and control methods.
危险品半挂运输车ECPBS由牵引车EBS(电子制动控制***)模块和半挂车EBS(电子制动控制***)模块组成，中间通过标准的电、气接口连接，统一由牵引车上的ECPBS ECU控制。关于牵引车和半挂车之间的机械互换性、电气接口连接协议及组成汽车列车后的制动***功能和性能要求均有相应标准，建立了汽车列车制动性能正常运行的基础。The ECPBS of the dangerous goods semi-trailer is composed of the EBS (electronic brake control system) module of the tractor and the EBS (electronic brake control system) module of the semi-trailer. ECU control. There are corresponding standards for the mechanical interchangeability between the tractor and the semi-trailer, the electrical interface connection protocol, and the function and performance requirements of the brake system after the car train is formed, which establishes the basis for the normal operation of the brake performance of the car train.
在实际使用中，基础的车辆信息如牵引车和半挂车各自的长度、轴距、载荷信息和EBS布置信息等会储存在牵引车和挂车EBS轴控模块自带的独立电控单元中，方便ECPBS ECU综合调用。但值得注意的是牵引车和半挂车各自EBS的硬件属性，如底盘各气动元件之间连接管路的长度和各气压控制阀的调压特性等无法被记录在***数据中，并最终导致在气压制动***工作时，虽然在控制器算法设置中各轮的制动压力响应完全一致，但各个轴控模块的实际压力响应由于供给压力波动和***传输时延等影响，存在与预期制动压力响应之间的压力或时间偏差。In actual use, basic vehicle information such as the length, wheelbase, load information and EBS layout information of the tractor and semi-trailer will be stored in the independent electronic control unit of the EBS axle control module of the tractor and trailer, which is convenient ECPBS ECU comprehensive call. However, it is worth noting that the hardware attributes of the EBS of the tractor and the semi-trailer, such as the length of the connecting pipeline between the pneumatic components of the chassis and the pressure regulation characteristics of each air pressure control valve, cannot be recorded in the system data, and eventually lead to When the pneumatic brake system is working, although the brake pressure response of each wheel is completely consistent in the controller algorithm setting, the actual pressure response of each axis control module is different from the expected brake pressure due to the supply pressure fluctuation and system transmission delay. Pressure or time deviation between pressure responses.
同时，由于结构制造精度和形位误差等影响，即使是同一型号的轴控模块内部及不同模块之间也会产生实际制动压力响应和预期值之间的压力或时间偏差，产生额外的纵向、横向加速度和横摆角速度等影响车辆的制动安全。对于危险品半挂运输车而言，由于其载荷大、承载货物的危险性高且车辆行驶状态复杂，因此要求危险品半挂运输车ECPBS的制动压力必须被精确控制，各轴、轮间的制动力的大小和构建有效制动压力的时间应与期望值保持一致，并且能够保证输出压力的稳定性和平顺性。综上所述，需纳入一种同时考虑制动压力大小及建立有效压力所需时间的偏差的新参数，作为危险品半挂运输车ECPBS控制器评价和 控制车辆制动状态的新指标。At the same time, due to the impact of structural manufacturing accuracy and shape and position errors, even within the same type of axis control module and between different modules, there will be pressure or time deviations between the actual brake pressure response and the expected value, resulting in additional longitudinal , lateral acceleration and yaw rate, etc. affect the braking safety of the vehicle. For the dangerous goods semi-trailer, due to its large load, high risk of carrying goods and complex driving conditions, it is required that the braking pressure of the ECPBS of the dangerous goods semi-trailer must be precisely controlled. The magnitude of the braking force and the time to build effective braking pressure should be consistent with the expected value, and the stability and smoothness of the output pressure can be guaranteed. To sum up, it is necessary to incorporate a new parameter that considers the deviation of the braking pressure and the time required to establish effective pressure as a new index for the ECPBS controller of the dangerous goods semi-trailer to evaluate and control the braking state of the vehicle.
CN111572524A中公开了一种车辆气压制动压力变化率测量方法及装置，旨在实现制动压力变化率的实时精确测量，为基于制动压力变化率的车辆态势控制提供参考信息，可提升车辆态势控制精度，提高车辆行驶稳定性、平顺性和乘客舒适性。但是该种车辆气压制动压力变化率测量装置仅仅针对于通用车辆，精度和测量方式无法应用于危险品半挂运输车。目前危险品半挂运输车并无有效方案对制动压力变化率进行实时监测，仅在试验台层面完成了功能的实现，缺乏结合车辆结构的实现方案。CN111572524A discloses a method and device for measuring the rate of change of vehicle air pressure braking pressure, which aims to realize real-time and accurate measurement of the rate of change of brake pressure, provide reference information for vehicle situation control based on the rate of change of brake pressure, and improve vehicle situation Control precision, improve vehicle driving stability, ride comfort and passenger comfort. However, this kind of vehicle air pressure brake pressure change rate measuring device is only aimed at general-purpose vehicles, and the accuracy and measurement method cannot be applied to dangerous goods semi-trailer transport vehicles. At present, there is no effective solution for the real-time monitoring of the braking pressure change rate of the dangerous goods semi-trailer, and the realization of the function is only completed at the test bench level, and there is no realization plan combined with the vehicle structure.
发明内容Contents of the invention
本发明要解决的技术问题是，针对现有技术的以上缺陷或需求，提出一种危险品半挂运输车制动气室压力变化率监控方法与***，能够实现危险品运输车制动气室压力变化率的实时精确测量，为基于制动压力变化率的车辆态势控制提供参考信息，同时提升车辆态势控制精度，提高车辆行驶稳定性、平顺性和乘客舒适性，有效解决目前商用车气压制动***存在的无法自主辨识车辆制动需求、实际制动压力响应和期望制动压力响应之间存在压力偏差和时间偏差，以及无法对车轮制动力实现有效的独立调节等问题。The technical problem to be solved by the present invention is to propose a method and system for monitoring the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods in view of the above defects or requirements of the prior art, which can realize the brake air chamber of the dangerous goods transporting vehicle. The real-time and accurate measurement of the pressure change rate provides reference information for the vehicle situation control based on the brake pressure change rate, and at the same time improves the vehicle situation control accuracy, improves the vehicle driving stability, ride comfort and passenger comfort, and effectively solves the current problem of commercial vehicle air pressure The braking system has problems such as the inability to independently identify the vehicle braking demand, the pressure deviation and time deviation between the actual braking pressure response and the expected braking pressure response, and the inability to achieve effective independent adjustment of the wheel braking force.
为解决上述技术问题，本发明采用如下技术方案：In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:
一种危险品半挂运输车制动气室压力变化率监控***，其特征在于包括：层流阻尼管、等温容器、压差传感器、压力传感器、危险品半挂运输车的ECPBS轴控模块和ECPBS ECU；其中，将危险品半挂运输车ECPBS的各制动气室与一个等温容器利用1根层流阻力管相连，将压差传感器的两端分别接在制动气室和等温容器上，同时等温容器上安装有压力传感器；所述层流阻力管设置多个流道；待测量的制动气室与危险品半挂运输车的ECPBS轴控模块相连，危险品半挂运输车的ECPBS轴控模块设置为接受ECPBS ECU的指令而进行调压作动使得待测量的制动气室内压力产生变化。A brake air chamber pressure change rate monitoring system for a semi-trailer transporting dangerous goods, characterized by comprising: a laminar flow damping tube, an isothermal container, a differential pressure sensor, a pressure sensor, an ECPBS axle control module of a semi-trailer transporting dangerous goods and ECPBS ECU; Among them, the brake chambers of the dangerous goods semi-trailer ECPBS are connected to an isothermal container with a laminar flow resistance tube, and the two ends of the pressure difference sensor are respectively connected to the brake chamber and the isothermal container. At the same time, a pressure sensor is installed on the isothermal container; the laminar flow resistance tube is provided with multiple flow channels; the brake chamber to be measured is connected with the ECPBS axle control module of the dangerous goods semi-trailer, and the dangerous goods semi-trailer The ECPBS axis control module is set to accept the instructions of the ECPBS ECU and perform pressure regulation to change the pressure in the brake chamber to be measured.
进一步地，所述层流阻尼管的第一端及所述压差传感器的第一端分别与待测量的制动气室连接，所述层流阻尼管的第二端及所述压差传感器的第二端均与所述等温容器连接，所述等温容器的另一端与所述压力传感器的一端连接，所述压力传感器的另一端及所述压差传感器的另一端均与ECPBS ECU相连。Further, the first end of the laminar flow damping tube and the first end of the differential pressure sensor are respectively connected to the brake chamber to be measured, and the second end of the laminar flow damping tube and the differential pressure sensor The second end of each is connected to the isothermal container, the other end of the isothermal container is connected to one end of the pressure sensor, the other end of the pressure sensor and the other end of the differential pressure sensor are connected to the ECPBS ECU.
进一步地，所述层流阻尼管位于所述待测量的制动气室和等温容器之间，所述层流阻尼管由多条内半径相同长度一致的毛细管并联***气管中构成。Further, the laminar flow damping tube is located between the brake air chamber to be measured and the isothermal container, and the laminar flow damping tube is composed of a plurality of capillaries with the same inner radius and the same length inserted in parallel into the air pipe.
进一步地，所述危险品半挂运输车ECPBS制动气室压力变化率监控***安装在危险品半挂运输车的各个制动气室上，半挂车制动气室上的传感器经由半挂车与牵引车的电控接口传输给ECPBS ECU。Further, the ECPBS brake air chamber pressure change rate monitoring system of the dangerous goods semi-trailer is installed on each brake air chamber of the dangerous goods semi-trailer, and the sensors on the brake air chamber of the semi-trailer communicate with the semi-trailer. The electronic control interface of the tractor is transmitted to the ECPBS ECU.
一种危险品半挂运输车制动气室压力变化率监控方法，其特征在于利用已知参数的等温容器和层流阻力管，通过在线监控等温容器内部压力和等温容器与危险品半挂运输车制动气室之间的压力差，并基于危险品半挂运输车ECPBS制动气室压力变化率测量模型来计算出危险品半挂运输车ECPBS的每一个制动气室的制动压力变化率。A method for monitoring the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods, which is characterized in that an isothermal container with known parameters and a laminar flow resistance tube are used to monitor the internal pressure of the isothermal container and the relationship between the isothermal container and the semi-trailer of dangerous goods on-line. The pressure difference between the brake chambers of the vehicle, and based on the measurement model of the pressure change rate of the ECPBS brake chamber of the dangerous goods semi-trailer, calculate the braking pressure of each brake chamber of the ECPBS of the dangerous goods semi-trailer rate of change.
进一步地，危险品半挂运输车ECPBS制动气室压力变化率测量模型为：Furthermore, the measurement model of the ECPBS brake chamber pressure change rate of the dangerous goods semi-trailer is:
Figure PCTCN2021109034-appb-000001
Figure PCTCN2021109034-appb-000001
式中，V d为等温容器体积，单位为m 3；P d为压力传感器测得的等温容器内压力，单位为Pa；R为气体常数，单位为J/(kg·K)；θ为等温容器内温度，单位为K；μ为气体黏性系数，单位为Pa·s；P为大气压力，单位为Pa；P q为制动气室压力，单位为Pa；ρ d为等温容器内压缩气体密度，单位为kg/m 3；ρ为大气密度，单位为kg/m 3；n为流道的个数；l为流道的长度，单位为m；r为流道的半径，m；P c为压差传感器的测量值，Pa；G d为流过层流阻力管进入等温容器内的气体质量流量，单位为kg/s。 In the formula, V d is the volume of the isothermal vessel, in m 3 ; P d is the pressure in the isothermal vessel measured by the pressure sensor, in Pa; R is the gas constant, in J/(kg K); θ is the isothermal The temperature in the container is in K; μ is the gas viscosity coefficient in Pa s; P is the atmospheric pressure in Pa; P q is the brake chamber pressure in Pa; ρ d is the pressure in the isothermal container Gas density, the unit is kg/m 3 ; ρ is the atmospheric density, the unit is kg/m 3 ; n is the number of flow channels; l is the length of the flow channel, the unit is m; r is the radius of the flow channel, m; P c is the measured value of the differential pressure sensor, Pa; G d is the mass flow rate of the gas flowing through the laminar flow resistance tube into the isothermal container, the unit is kg/s.
进一步地，上述方法包括如下步骤：Further, the above method includes the following steps:
S1:危险品半挂运输车ECPBS的ECPBS ECU向ECPBS的轴控模块输出压力调节控制信号；S1: The ECPBS ECU of the dangerous goods semi-trailer ECPBS outputs a pressure regulation control signal to the axis control module of the ECPBS;
S2：在ECPBS轴控模块的调压作用下，危险品半挂运输车的制动气室内部气压产生变化；S2: Under the pressure regulation of the ECPBS axle control module, the air pressure inside the brake chamber of the semi-trailer transporting dangerous goods changes;
S3：测得等温容器内的压力，测量等温容器与制动气室之间的压差，并将所述压力和压差信息传递给ECPBS ECU；S3: Measure the pressure in the isothermal container, measure the pressure difference between the isothermal container and the brake chamber, and transmit the pressure and pressure difference information to the ECPBS ECU;
S4：ECPBS ECU在接收到所述信息后，ECPBS ECU借由内置的制动压力变化率模型计算当前时刻制动气室内的制动压力变化率，并作为压力控制的参考 参数。S4: After the ECPBS ECU receives the information, the ECPBS ECU uses the built-in brake pressure change rate model to calculate the brake pressure change rate in the brake chamber at the current moment, and use it as a reference parameter for pressure control.
步骤S3中，所述压力和压差信息一同经过车载总线传输给ECPBS ECU。In step S3, the pressure and differential pressure information are transmitted to the ECPBS ECU through the vehicle bus.
步骤S4中，计算危险品半挂运输车ECPBS的每一个制动气室的制动压力变化率。In step S4, the brake pressure change rate of each brake chamber of the ECPBS of the dangerous goods semi-trailer is calculated.
制动压力变化率模型按照如下原理获得：The brake pressure change rate model is obtained according to the following principle:
在所述待测量的制动气室内压力产生变化时，受所述层流阻尼管的流阻作用，等温容器内的压力变化相对滞后于制动气室，此时通过压差传感器可测得两者之间的压差，再通过压力传感器测得此时等温容器内的压力；利用等温容器和层流阻力管的已知属性，通过在线监控两个变量(等温容器内部压力和其与制动气室之间的压力差)来计算出危险品半挂运输车ECPBS的每一个制动气室的制动压力变化率。When the pressure in the brake air chamber to be measured changes, due to the flow resistance of the laminar flow damping tube, the pressure change in the isothermal container lags behind the brake air chamber, which can be measured by the differential pressure sensor The pressure difference between the two is measured by the pressure sensor at this time in the isothermal container; using the known properties of the isothermal container and the laminar flow resistance tube, the two variables (the internal pressure of the isothermal container and its relationship with the control system) are monitored online. The pressure difference between the dynamic air chambers) to calculate the braking pressure change rate of each brake air chamber of the dangerous goods semi-trailer ECPBS.
所述层流阻尼管位于所述制动气室和所述等温容器之间，所述层流阻尼管由n个内半径为r，长度为l的毛细管并联***流道为D的气管中构成；r<D。The laminar flow damping tube is located between the brake air chamber and the isothermal container, and the laminar flow damping tube is composed of n capillaries with an inner radius r and a length l inserted in parallel into a gas pipe with a flow path D ;r<D.
由理想气体状态方程全微分后可得，等温容器内气体状态方程为：From the complete differential of the ideal gas state equation, the gas state equation in the isothermal vessel is:
Figure PCTCN2021109034-appb-000002
Figure PCTCN2021109034-appb-000002
等温容器能够降低温度变化的影响，因此其内部为等积等温的，则等温容器内压力变化率为：
Figure PCTCN2021109034-appb-000003
The isothermal container can reduce the influence of temperature changes, so its interior is equal-area and isothermal, and the pressure change rate in the isothermal container is:
Figure PCTCN2021109034-appb-000003
等温容器内压力变化率与通过层流阻力管的气体质量流量成正比，则由泊肃叶定律可得，通过层流阻力管的体积流量为：
Figure PCTCN2021109034-appb-000004
The pressure change rate in the isothermal vessel is proportional to the mass flow rate of gas passing through the laminar flow resistance tube, then it can be obtained from Poiseuille's law that the volume flow rate through the laminar flow resistance tube is:
Figure PCTCN2021109034-appb-000004
由于等温容器内温度与大气温度相同，则联立二者理想气体状态方程得：
Figure PCTCN2021109034-appb-000005
由此可得流过层流阻力管进入等温容器内的气体质量流量G d为： Since the temperature in the isothermal container is the same as the atmospheric temperature, the ideal gas state equation of the two can be obtained as follows:
Figure PCTCN2021109034-appb-000005
From this, the gas mass flow rate G d flowing through the laminar flow resistance tube into the isothermal vessel can be obtained as:
Figure PCTCN2021109034-appb-000006
Figure PCTCN2021109034-appb-000006
压差传感器的测量值为：P c＝P q-P d；综合可知，危险品半挂运输车ECPBS制动气室压力变化率的测量值为
Figure PCTCN2021109034-appb-000007
式中，V d为等温容器体积， 单位为m 3；P d为压力传感器测得的等温容器内压力，单位为Pa；R为气体常数，单位为J/(kg·K)；θ为等温容器内温度，单位为K；μ为气体黏性系数，单位为Pa·s；P为大气压力，单位为Pa；P q为制动气室压力，单位为Pa；ρ d为等温容器内压缩气体密度，单位为kg/m 3；ρ为大气密度，单位为kg/m 3；n为流道的个数；l为流道的长度，单位为m；r为流道的半径，m；P c为压差传感器的测量值，Pa；G d为流过层流阻力管进入等温容器内的气体质量流量，单位为kg/s。 The measured value of the differential pressure sensor is: P c ＝ P q -P d ; comprehensively, the measured value of the pressure change rate of the ECPBS brake chamber of the dangerous goods semi-trailer is
Figure PCTCN2021109034-appb-000007
In the formula, V d is the volume of the isothermal container, in m 3 ; P d is the pressure in the isothermal container measured by the pressure sensor, in Pa; R is the gas constant, in J/(kg K); θ is the isothermal The temperature in the container is in K; μ is the gas viscosity coefficient in Pa s; P is the atmospheric pressure in Pa; P q is the brake chamber pressure in Pa; ρ d is the pressure in the isothermal container Gas density, the unit is kg/m 3 ; ρ is the atmospheric density, the unit is kg/m 3 ; n is the number of flow channels; l is the length of the flow channel, the unit is m; r is the radius of the flow channel, m; P c is the measured value of the differential pressure sensor, Pa; G d is the mass flow rate of the gas flowing through the laminar flow resistance tube into the isothermal container, the unit is kg/s.
等温容器的容量体积数据将作为模型中的参数记录在ECPBS ECU中。The capacity volume data of the isothermal vessel will be recorded in the ECPBS ECU as parameters in the model.
总体而言，通过本发明所构思的以上技术方案与现有技术相比，能够取得下列有益效果：Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:
本发明旨在实现对危险品半挂运输车ECPBS制动气室压力变化率的在线监控，从而为电控制动***电控单元(ECPBS ECU：Electronically Controlled Pneumatic Brake System Electronic Control Unit)评价轴控模块内部及不同模块间由于结构制造精度、形位误差等影响产生的实际制动压力响应与期望值之间的压力与时间偏差提供参考信息，及时检测危险品运输车ECPBS在制动过程中产生额外的纵向、横向加速度和横摆角速度，为提高该型车辆的制动安全性、稳定性和平顺性打下良好基础。The invention aims to realize the online monitoring of the pressure change rate of the ECPBS brake chamber of the semi-trailer transporting dangerous goods, so as to evaluate the axis control of the electronic control unit (ECPBS ECU: Electronically Controlled Pneumatic Brake System Electronic Control Unit). The pressure and time deviation between the actual braking pressure response and the expected value due to the influence of structural manufacturing accuracy and shape and position errors within the module and between different modules provides reference information, and timely detects the extra brakes generated by the ECPBS during the braking process of the dangerous goods transport vehicle. Longitudinal, lateral acceleration and yaw rate, laying a good foundation for improving the braking safety, stability and smoothness of this type of vehicle.
本发明利用层流阻尼管、等温容器、压差传感器和压力传感器进行制动压力变化率的测量，当危险品半挂运输车制动时，ECPBS通过ECPBS ECU控制其轴控模块使各制动气室内压力改变，通过压差传感器测得等温容器和待测气室间的压差，通过压力传感器测得等温容器内的压力，将采集到的信号通过车载总线传输至ECPBS ECU,通过内置的制动压力变化率模型实时计算出当前时刻危险品半挂运输车ECPBS的制动压力变化率。将制动压力变化率作为危险品半挂运输车ECPBS对当前车辆制动状态的评价指标和控制指标，将制动气室的输出压力和时间关系进行了考量，通过控制制动压力变化率可以有效解决目前商用车气压制动***存在的无法自主辨识车辆制动需求、实际制动压力响应和期望制动压力响应之间存在压力偏差和时间偏差，以及无法对车轮制动力实现有效的独立调节等问题。The present invention uses a laminar flow damping tube, an isothermal container, a differential pressure sensor and a pressure sensor to measure the rate of change of braking pressure. The pressure in the gas chamber changes, the pressure difference between the isothermal container and the gas chamber to be tested is measured by the pressure difference sensor, the pressure in the isothermal container is measured by the pressure sensor, and the collected signal is transmitted to the ECPBS ECU through the on-board bus. The brake pressure change rate model calculates the brake pressure change rate of the dangerous goods semi-trailer ECPBS in real time at the current moment. Taking the rate of change of braking pressure as the evaluation index and control index of the current vehicle braking state by the ECPBS of the dangerous goods semi-trailer, the relationship between the output pressure of the brake chamber and the time is considered. By controlling the rate of change of the braking pressure, the Effectively solve the current commercial vehicle air pressure braking system that cannot independently identify the vehicle braking demand, the pressure deviation and time deviation between the actual braking pressure response and the expected braking pressure response, and the inability to achieve effective independent adjustment of the wheel braking force And other issues.
附图说明Description of drawings
图1是本发明实施例提供的一种危险品半挂运输车制动气室压力变化率实 时监控方法的流程示意图。Fig. 1 is a schematic flowchart of a method for real-time monitoring of the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods provided by an embodiment of the present invention.
图2是本发明实施例提供的一种单制动气室压力变化率在线监控装置结构。Fig. 2 is a structure of an online monitoring device for pressure change rate of a single brake chamber provided by an embodiment of the present invention.
图3是本发明实施例提供的一种危险品半挂运输车ECPBS制动气室压力变化率在线监控实现方案。Fig. 3 is an implementation scheme of on-line monitoring of the pressure change rate of the ECPBS brake air chamber of a semi-trailer transporting dangerous goods provided by an embodiment of the present invention.
附图中各附图标记如下：Each reference sign in the accompanying drawings is as follows:
图2中：100-轴控模块、200-制动气室、300-等温容器、400-EBS ECU或ECPBS ECU、500-层流阻力管、600-压差传感器、700-压力传感器。In Figure 2: 100-axis control module, 200-brake chamber, 300-isothermal container, 400-EBS ECU or ECPBS ECU, 500-laminar flow resistance tube, 600-pressure differential sensor, 700-pressure sensor.
图3中：1-空气压缩机2-干燥器3-储气罐4-四回路保护阀5-驻车储气罐6-半挂车制动手刹7-挂车阀8-主挂车气管接头9-驻车手控阀10-后轴储气罐11-后轴双腔制动气室12-磨损传感器13-轮速传感器14-前轴制动气室15-压力微分计16-自动调压阀17-电子制动踏板18-前轴储气罐19-ECPBS ECU 20-缓速器ECU 21-快放阀22-半挂车电控接口23-紧急继动阀24-挂车储气罐25-挂车驻车阀26-转向轮胎压传感器27-紧急切断阀控制管路压力传感器。In Figure 3: 1-air compressor 2-dryer 3-air storage tank 4-four-circuit protection valve 5-parking air storage tank 6-semi-trailer brake handbrake 7-trailer valve 8-main trailer air pipe joint 9- Parking manual control valve 10-Rear axle air storage tank 11-Rear axle dual-chamber brake chamber 12-Wear sensor 13-Wheel speed sensor 14-Front axle brake chamber 15-Pressure differential gauge 16-Automatic pressure regulating valve 17 -Electronic brake pedal 18-Front axle air storage tank 19-ECPBS ECU 20-Retarder ECU 21-Quick release valve 22-Semi-trailer electronic control interface 23-Emergency relay valve 24-Trailer air storage tank 25-Trailer parking Car valve 26-steering tire pressure sensor 27-emergency cut-off valve control pipeline pressure sensor.
具体实施方案specific implementation plan
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
本发明实例中的“第一端”和“第二端”等适用于区分不同对象，不必用于描述特定的顺序和先后次序。The "first end" and "second end" in the examples of the present invention are applicable to distinguish different objects, and are not necessarily used to describe a specific order and sequence.
如图1所示的危险品半挂运输车制动气室压力变化率实时检测方法的流程示意图，其中包含以下步骤：The flow diagram of the real-time detection method for the pressure change rate of the brake chamber of the dangerous goods semi-trailer transport vehicle shown in Figure 1 includes the following steps:
S1:危险品半挂运输车ECPBS的ECPBS ECU向其轴控模块输出压力调节控制信号；S1: The ECPBS ECU of the dangerous goods semi-trailer ECPBS outputs a pressure regulation control signal to its axis control module;
S2：危险品半挂运输车的制动气室在ECPBS轴控模块的调压作动下其内部气压产生变化；S2: The internal air pressure of the brake chamber of the dangerous goods semi-trailer changes under the pressure regulation of the ECPBS axle control module;
S3：利用压力传感器测得所述等温容器内的压力，利用压差传感器测量所述等温容器与所述制动气室之间的压差，并将这些信息通过车载总线传递给ECPBS ECU；S3: Use a pressure sensor to measure the pressure in the isothermal container, use a differential pressure sensor to measure the pressure difference between the isothermal container and the brake chamber, and transmit this information to the ECPBS ECU through the on-board bus;
S4：ECPBS ECU在接收到上述信息后，利用内部的制动压力变化率模型计算此时制动气室内的制动压力变化率，并作为压力控制的参考参数。S4: After receiving the above information, the ECPBS ECU uses the internal brake pressure change rate model to calculate the brake pressure change rate in the brake air chamber at this time, and uses it as a reference parameter for pressure control.
制动压力变化率模型按照如下原理获得：The brake pressure change rate model is obtained according to the following principles:
在所述待测量的制动气室内压力产生变化时，受所述层流阻尼管的流阻作用，等温容器内的压力变化相对滞后于制动气室，此时通过压差传感器可测得两者之间的压差，再通过压力传感器测得此时等温容器内的压力；利用等温容器和层流阻力管的已知属性，通过在线监控两个变量(等温容器内部压力和其与制动气室之间的压力差)来计算出危险品半挂运输车的每一个制动气室的制动压力变化率。When the pressure in the brake air chamber to be measured changes, due to the flow resistance of the laminar flow damping tube, the pressure change in the isothermal container lags behind the brake air chamber, which can be measured by the differential pressure sensor The pressure difference between the two is measured by the pressure sensor at this time in the isothermal container; using the known properties of the isothermal container and the laminar flow resistance tube, the two variables (the internal pressure of the isothermal container and its relationship with the control system) are monitored online. The pressure difference between the dynamic air chambers) to calculate the braking pressure change rate of each brake air chamber of the dangerous goods semi-trailer transport vehicle.
所述层流阻尼管位于所述制动气室和所述等温容器之间，所述层流阻尼管由n个内半径为r，长度为l的毛细管并联***流道为D的气管中构成；r<D。The laminar flow damping tube is located between the brake air chamber and the isothermal container, and the laminar flow damping tube is composed of n capillaries with an inner radius r and a length l inserted in parallel into a gas pipe with a flow path D ;r<D.
由理想气体状态方程全微分后可得，等温容器内气体状态方程为：From the complete differential of the ideal gas state equation, the gas state equation in the isothermal vessel is:
Figure PCTCN2021109034-appb-000008
Figure PCTCN2021109034-appb-000008
等温容器能够降低温度变化的影响，因此其内部为等积等温的，则等温容器内压力变化率为：
Figure PCTCN2021109034-appb-000009
The isothermal container can reduce the influence of temperature changes, so its interior is equal-area and isothermal, and the pressure change rate in the isothermal container is:
Figure PCTCN2021109034-appb-000009
等温容器内压力变化率与通过层流阻力管的气体质量流量成正比，则由泊肃叶定律可得，通过层流阻力管的体积流量为：
Figure PCTCN2021109034-appb-000010
The pressure change rate in the isothermal vessel is proportional to the mass flow rate of gas passing through the laminar flow resistance tube, then it can be obtained from Poiseuille's law that the volume flow rate through the laminar flow resistance tube is:
Figure PCTCN2021109034-appb-000010
由于等温容器内温度与大气温度相同，则联立二者理想气体状态方程得：
Figure PCTCN2021109034-appb-000011
由此可得流过层流阻力管进入等温容器内的气体质量流量G d为： Since the temperature in the isothermal container is the same as the atmospheric temperature, the ideal gas state equation of the two can be obtained as follows:
Figure PCTCN2021109034-appb-000011
From this, the gas mass flow rate G d flowing through the laminar flow resistance tube into the isothermal vessel can be obtained as:
Figure PCTCN2021109034-appb-000012
Figure PCTCN2021109034-appb-000012
压差传感器的测量值为：P c＝P q-P d；综合可知，危险品半挂运输车ECPBS制动气室压力变化率的测量值为
Figure PCTCN2021109034-appb-000013
式中，V d为等温容器体积，单位为m 3；P d为压力传感器测得的等温容器内压力，单位为Pa；R为气体常数，单位为J/(kg·K)；θ为等温容器内温度，单位为K；μ为气体黏性系数，单位为Pa·s；P为大气压力，单位为Pa；P q为制动气室压力，单位为Pa；ρ d为等温容器内压 缩气体密度，单位为kg/m 3；ρ为大气密度，单位为kg/m 3；n为流道的个数；l为流道的长度，单位为m；r为流道的半径，m；P c为压差传感器的测量值，Pa；G d为流过层流阻力管进入等温容器内的气体质量流量，单位为kg/s。 The measured value of the differential pressure sensor is: P c ＝ P q -P d ; comprehensively, the measured value of the pressure change rate of the ECPBS brake chamber of the dangerous goods semi-trailer is
Figure PCTCN2021109034-appb-000013
In the formula, V d is the volume of the isothermal vessel, in m 3 ; P d is the pressure in the isothermal vessel measured by the pressure sensor, in Pa; R is the gas constant, in J/(kg K); θ is the isothermal The temperature in the container is in K; μ is the gas viscosity coefficient in Pa s; P is the atmospheric pressure in Pa; P q is the brake chamber pressure in Pa; ρ d is the pressure in the isothermal container Gas density, the unit is kg/m 3 ; ρ is the atmospheric density, the unit is kg/m 3 ; n is the number of flow channels; l is the length of the flow channel, the unit is m; r is the radius of the flow channel, m; P c is the measured value of the differential pressure sensor, Pa; G d is the mass flow rate of the gas flowing through the laminar flow resistance tube into the isothermal container, the unit is kg/s.
等温容器的容量体积数据将作为模型中的参数记录在ECPBS ECU中。The capacity volume data of the isothermal vessel will be recorded in the ECPBS ECU as parameters in the model.
如图2所示是本发明实施例提供的一种制动气室压力变化率在线监控装置的结构示意图，包括：层流阻尼管500、等温容器300、压差传感器600、压力传感器700、危险品半挂运输车的ECPBS轴控模块100和ECPBS ECU400；其中，所述层流阻尼管500的第一端及所述压差传感器600的第一端分别与待测量的制动气室连接，所述层流阻尼管500的第二端及所述压差传感器的第二端均与所述等温容器300连接，所述等温容器300的另一端与所述压力传感器的一端连接，所述压力传感器700的另一端及所述压差传感器的另一端均与ECPBS ECU相连；待测量的制动气室与危险品半挂运输车的ECPBS轴控模块相连，危险品半挂运输车的ECPBS轴控模块设置为接受ECPBS ECU的指令而进行调压作动使得待测量的制动气室内压力产生变化。As shown in Figure 2, it is a schematic structural diagram of an online monitoring device for the pressure change rate of a brake chamber provided by an embodiment of the present invention, including: a laminar flow damping tube 500, an isothermal container 300, a differential pressure sensor 600, a pressure sensor 700, a The ECPBS axis control module 100 and the ECPBS ECU400 of the product semi-trailer transport vehicle; wherein, the first end of the laminar flow damping tube 500 and the first end of the differential pressure sensor 600 are respectively connected to the brake chamber to be measured, Both the second end of the laminar flow damping tube 500 and the second end of the differential pressure sensor are connected to the isothermal vessel 300, and the other end of the isothermal vessel 300 is connected to one end of the pressure sensor. The other end of the sensor 700 and the other end of the differential pressure sensor are both connected to the ECPBS ECU; the brake chamber to be measured is connected to the ECPBS axle control module of the dangerous goods semi-trailer, and the ECPBS axle of the dangerous goods semi-trailer The control module is set to accept the instruction of ECPBS ECU to perform pressure regulation action so that the pressure in the brake chamber to be measured changes.
当待测量的制动气室200内的压力收到ECPBS轴控模块100控制而发生改变时，流经层流阻尼管500后，流入等温容器300内气体压力变化稍晚，此时压差传感器600测得等温容器300和制动气室200之间的压差，压力传感器700测得等温容器300中的压力。因此，在误差允许范围内，可实时获取制动气室200内压力变化率的测量值。When the pressure in the brake air chamber 200 to be measured changes under the control of the ECPBS axis control module 100, after flowing through the laminar flow damping tube 500, the pressure of the gas flowing into the isothermal container 300 changes a little later. 600 measures the pressure difference between the isothermal vessel 300 and the brake chamber 200 , and the pressure sensor 700 measures the pressure in the isothermal vessel 300 . Therefore, within the allowable range of error, the measured value of the pressure change rate in the brake air chamber 200 can be obtained in real time.
如图3所示为本发明提供的一种危险品半挂运输车制动气室压力变化率在线监控实现方案，危险品半挂运输车的各个制动气室均安装有图2所示的制动气室压力变化率在线监控装置，制动气室上制动压力变化率在线监控装置的传感器都将接入车载总线传输给ECPBS ECU，半挂车制动气室上的传感器要经由半挂车与牵引车的电控接口传输给ECPBS ECU，其信息将由ECPBS ECU进行处理，转化为制动压力变化率信息，这些信息将作为评价危险品半挂运输车ECPBS的重要参考指标。As shown in Figure 3, it is an implementation scheme for on-line monitoring of the pressure change rate of the brake air chamber of a semi-trailer for dangerous goods provided by the present invention. Each brake air chamber of the semi-trailer for dangerous goods is equipped with The on-line monitoring device for the pressure change rate of the brake chamber, the sensors of the on-line monitoring device for the brake pressure change rate on the brake chamber will be connected to the vehicle bus and transmitted to the ECPBS ECU, and the sensor on the brake chamber of the semi-trailer will The electronic control interface with the tractor is transmitted to the ECPBS ECU, and the information will be processed by the ECPBS ECU and converted into brake pressure change rate information, which will be used as an important reference index for evaluating the ECPBS of the dangerous goods semi-trailer.
危险品半挂运输车ECPBS的轴控模块收到ECPBS ECU的控制信号开始对待测制动气室进行压力控制时，利用压力传感器测得所述等温容器内的压力，然后根据所述等温容器内的压力和所述等温容器与所述制动气室之间的压差得到 所述待测量的制动气室内的压力变化率；When the axis control module of the ECPBS of the dangerous goods semi-trailer receives the control signal of the ECPBS ECU and starts to control the pressure of the brake chamber to be tested, it uses the pressure sensor to measure the pressure in the isothermal container, and then according to the pressure in the isothermal container and the pressure difference between the isothermal container and the brake air chamber to obtain the pressure change rate in the brake air chamber to be measured;
制动气室上制动压力变化率在线监控装置的传感器都将接入车载总线，其信息将由ECPBS ECU经过处理，转化为制动压力变化率信息，这些信息将作为评价危险品半挂运输车ECPBS的重要参考指标，因此，危险品半挂运输车的所有车轮均会安装本发明的监测装置，半挂车制动气室上的传感器要经由半挂车与牵引车的电控接口传输给ECPBS ECU。The sensors of the online monitoring device for the rate of change of brake pressure on the brake chamber will be connected to the vehicle bus, and the information will be processed by the ECPBS ECU and converted into information of the rate of change of brake pressure. An important reference index of ECPBS, therefore, all wheels of the dangerous goods semi-trailer will be installed with the monitoring device of the present invention, and the sensors on the brake chamber of the semi-trailer will be transmitted to the ECPBS ECU through the electronic control interface of the semi-trailer and the tractor .
需要指出，根据实施的需要，可将本申请中描述的各个步骤/部件拆分为更多步骤/部件，也可将两个或多个步骤/部件或者步骤/部件的部分操作组合成新的步骤/部件，以实现本发明的目的。It should be pointed out that according to the needs of implementation, each step/component described in this application can be split into more steps/components, and two or more steps/components or part of the operations of steps/components can also be combined into a new Step/component, to realize the object of the present invention.
对本领域的技术人员来说，可根据以上描述的技术方案以及构思，做出其他各种适应性的调整和改变，而所有的这些调整及改变都应该属于本发明权利要求的保护范围之内。For those skilled in the art, various other adaptive adjustments and changes can be made according to the technical solutions and ideas described above, and all these adjustments and changes should fall within the protection scope of the claims of the present invention.

Claims (9)

  1. 一种危险品半挂运输车制动气室压力变化率监控***，其特征在于包括：层流阻尼管、等温容器、压差传感器、压力传感器、危险品半挂运输车的ECPBS轴控模块和ECPBS ECU；其中，将危险品半挂运输车ECPBS的各制动气室与一个等温容器利用1根层流阻力管相连，将压差传感器的两端分别接在制动气室和等温容器上，同时等温容器上安装有压力传感器；所述层流阻力管设置多个流道；待测量的制动气室与危险品半挂运输车的ECPBS轴控模块相连，危险品半挂运输车的ECPBS轴控模块设置为接受ECPBS ECU的指令而进行调压作动使得待测量的制动气室内压力产生变化。A brake air chamber pressure change rate monitoring system for a semi-trailer transporting dangerous goods, characterized by comprising: a laminar flow damping tube, an isothermal container, a differential pressure sensor, a pressure sensor, an ECPBS axle control module of a semi-trailer transporting dangerous goods and ECPBS ECU; Among them, the brake chambers of the dangerous goods semi-trailer ECPBS are connected to an isothermal container with a laminar flow resistance tube, and the two ends of the pressure difference sensor are respectively connected to the brake chamber and the isothermal container. At the same time, a pressure sensor is installed on the isothermal container; the laminar flow resistance tube is provided with multiple flow channels; the brake chamber to be measured is connected with the ECPBS axle control module of the dangerous goods semi-trailer, and the dangerous goods semi-trailer The ECPBS axis control module is set to accept the instructions of the ECPBS ECU and perform pressure regulation to change the pressure in the brake chamber to be measured.
  2. 根据权利要求1所述的危险品半挂运输车制动气室压力变化率监控***，其特征在于所述层流阻尼管的第一端及所述压差传感器的第一端分别与待测量的制动气室连接，所述层流阻尼管的第二端及所述压差传感器的第二端均与所述等温容器连接，所述等温容器的另一端与所述压力传感器的一端连接，所述压力传感器的另一端及所述压差传感器的另一端均与ECPBS ECU相连。According to claim 1, the brake air chamber pressure change rate monitoring system of the dangerous goods semi-trailer transport vehicle is characterized in that the first end of the laminar flow damping tube and the first end of the differential pressure sensor are respectively connected to the The brake air chamber is connected, the second end of the laminar flow damping tube and the second end of the differential pressure sensor are connected to the isothermal container, and the other end of the isothermal container is connected to one end of the pressure sensor , the other end of the pressure sensor and the other end of the differential pressure sensor are connected to the ECPBS ECU.
  3. 根据权利要求1所述的危险品半挂运输车制动气室压力变化率监控***，其特征在于所述层流阻尼管位于所述待测量的制动气室和等温容器之间，所述层流阻尼管由多条内半径相同长度一致的毛细管并联***气管中构成。The system for monitoring the rate of change of brake air chamber pressure of a semi-trailer transporting dangerous goods according to claim 1, wherein the laminar flow damping tube is located between the brake air chamber to be measured and the isothermal container, and the The laminar flow damping tube is composed of multiple capillaries with the same inner radius and the same length inserted into the trachea in parallel.
  4. 根据权利要求1所述的危险品半挂运输车制动气室压力变化率监控***，其特征在于所述危险品半挂运输车ECPBS制动气室压力变化率监控***安装在危险品半挂运输车的各个制动气室上，半挂车制动气室上的传感器经由半挂车与牵引车的电控接口传输给ECPBS ECU。According to claim 1, the brake air chamber pressure change rate monitoring system of the dangerous goods semi-trailer is characterized in that the dangerous goods semi-trailer ECPBS brake air chamber pressure change rate monitoring system is installed on the dangerous goods semi-trailer On each brake chamber of the transport vehicle, the sensors on the brake chamber of the semi-trailer are transmitted to the ECPBS ECU through the electronic control interface between the semi-trailer and the tractor.
  5. 一种危险品半挂运输车制动气室压力变化率监控方法，其特征在于利用已知参数的等温容器和层流阻力管，通过在线监控等温容器内部压力和等温容器与危险品半挂运输车制动气室之间的压力差，并基于危险品半挂运输车ECPBS制动气室压力变化率测量模型来计算出危险品半挂运输车ECPBS的每一个制动气室的制动压力变化率。A method for monitoring the pressure change rate of the brake air chamber of a semi-trailer transporting dangerous goods, which is characterized in that an isothermal container with known parameters and a laminar flow resistance tube are used to monitor the internal pressure of the isothermal container and the relationship between the isothermal container and the semi-trailer of dangerous goods on-line. The pressure difference between the brake chambers of the vehicle, and based on the measurement model of the pressure change rate of the ECPBS brake chamber of the dangerous goods semi-trailer, calculate the braking pressure of each brake chamber of the ECPBS of the dangerous goods semi-trailer rate of change.
  6. 根据权利要求5所述的危险品半挂运输车制动气室压力变化率监控方法，其特征在于:危险品半挂运输车ECPBS制动气室压力变化率测量模型为：The method for monitoring the rate of change of brake chamber pressure of a semi-trailer for dangerous goods according to claim 5, wherein the measurement model for the rate of change of pressure of the ECPBS brake chamber of a semi-trailer for dangerous goods is:
    Figure PCTCN2021109034-appb-100001
    Figure PCTCN2021109034-appb-100001
    式中，V d为等温容器体积，单位为m 3；P d为压力传感器测得的等温容器内压力，单位为Pa；R为气体常数，单位为J/(kg·K)；θ为等温容器内温度，单位为K；μ为气体黏性系数，单位为Pa·s；P为大气压力，单位为Pa；P q为制动气室压力，单位为Pa；ρ d为等温容器内压缩气体密度，单位为kg/m 3；ρ为大气密度，单位为kg/m 3；n为流道的个数；l为流道的长度， 单位为m；r为流道的半径，m；P c为压差传感器的测量值，Pa；G d为流过层流阻力管进入等温容器内的气体质量流量，单位为kg/s。 In the formula, V d is the volume of the isothermal vessel, in m 3 ; P d is the pressure in the isothermal vessel measured by the pressure sensor, in Pa; R is the gas constant, in J/(kg K); θ is the isothermal The temperature in the container is in K; μ is the gas viscosity coefficient in Pa s; P is the atmospheric pressure in Pa; P q is the brake chamber pressure in Pa; ρ d is the pressure in the isothermal container Gas density, the unit is kg/m 3 ; ρ is the atmospheric density, the unit is kg/m 3 ; n is the number of flow channels; l is the length of the flow channel, the unit is m; r is the radius of the flow channel, m; P c is the measured value of the differential pressure sensor, Pa; G d is the mass flow rate of the gas flowing through the laminar flow resistance tube into the isothermal container, the unit is kg/s.
  7. 根据权利要求5所述的危险品半挂运输车制动气室压力变化率监控方法，其特征在于上述方法包括如下步骤：The method for monitoring the pressure change rate of the brake air chamber of the semi-trailer transporting dangerous goods according to claim 5, characterized in that the method comprises the following steps:
    S1:危险品半挂运输车ECPBS的ECPBS ECU向ECPBS的轴控模块输出压力调节控制信号；S1: The ECPBS ECU of the dangerous goods semi-trailer ECPBS outputs a pressure regulation control signal to the axis control module of the ECPBS;
    S2：在ECPBS轴控模块的调压作用下，危险品半挂运输车的制动气室内部气压产生变化；S2: Under the pressure regulation of the ECPBS axle control module, the air pressure inside the brake chamber of the semi-trailer transporting dangerous goods changes;
    S3：测得等温容器内的压力，测量等温容器与制动气室之间的压差，并将所述压力和压差信息传递给ECPBS ECU；S3: Measure the pressure in the isothermal container, measure the pressure difference between the isothermal container and the brake chamber, and transmit the pressure and pressure difference information to the ECPBS ECU;
    S4：ECPBS ECU在接收到所述信息后，ECPBS ECU借由内置的制动压力变化率模型计算当前时刻制动气室内的制动压力变化率，并作为压力控制的参考参数。S4: After the ECPBS ECU receives the information, the ECPBS ECU uses the built-in brake pressure change rate model to calculate the brake pressure change rate in the brake chamber at the current moment, and uses it as a reference parameter for pressure control.
  8. 根据权利要求5所述的危险品半挂运输车制动气室压力变化率监控方法，其特征在于步骤S3中，所述压力和压差信息一同经过车载总线传输给ECPBS ECU。The method for monitoring the pressure change rate of the brake air chamber of the semi-trailer transporting dangerous goods according to claim 5, characterized in that in step S3, the pressure and the pressure difference information are transmitted to the ECPBS ECU through the on-board bus together.
  9. 根据权利要求5所述的危险品半挂运输车制动气室压力变化率监控方法，其特征在于步骤S4中，计算危险品半挂运输车ECPBS的每一个制动气室的制动压力变化率。The method for monitoring the pressure change rate of the brake air chamber of the semi-trailer for dangerous goods according to claim 5, characterized in that in step S4, the brake pressure change of each brake air chamber of the ECPBS of the semi-trailer for dangerous goods is calculated Rate.
PCT/CN2021/109034 2021-07-19 2021-07-28 Monitoring method and system for pressure change rate of brake chamber of dangerous goods transport semi-trailer WO2023000365A1 (en)

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