CN100515821C - Combined brake controlling system of electromobile - Google Patents
Combined brake controlling system of electromobile Download PDFInfo
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- CN100515821C CN100515821C CNB2005100223871A CN200510022387A CN100515821C CN 100515821 C CN100515821 C CN 100515821C CN B2005100223871 A CNB2005100223871 A CN B2005100223871A CN 200510022387 A CN200510022387 A CN 200510022387A CN 100515821 C CN100515821 C CN 100515821C
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Abstract
The present invention discloses combined brake controlling system and method for electromobile. The system includes combined brake ECU, braking pedal displacement sensor, proportional valve, master cylinder oil pressure sensor and wheel cylinder oil pressure sensor. The brake signals the brake pedal displacement sensor and the master cylinder oil pressure sensor acquire are fed to the combined brake ECU, and the combined brake ECU synthesizes and judges to obtain total brake requirement, acquires the available maximum electrically brake moment from the motor ECU to obtain the required hydraulic brake and outputs control signal to the proportional valve for outputting the hydraulic brake force, so as to realize the combined braking of electric braking and hydraulic braking. The present invention has the brake effect and feeling the same as that of traditional process, maximum energy recovery, high operation performance, high brake effect and high energy utilization efficiency.
Description
[technical field]
The present invention relates to a kind of electronlmobil combination braking control system and control method.
[background technology]
Along with updating with perfect of electronlmobil, in order to realize the prolongation of continual mileage under the certain condition of the total electric weight of battery, at present a lot of electronlmobils all have the device of energy recovery.It is special that electrical motor temporarily is in the regenerative braking state in the braking procedure of automobile, can charge the battery, thus the recovery of realization energy.But, therefore be necessary to add hydraulic braking under generating state because the lock torque that electrical motor produces is limited.So so-called electronlmobil combination braking sytem promptly comprises electric braking and the conventional hydraulic braking of carrying out the energy feedback.Because the existence of electric braking meets the brake feel of traditional vehicle in order to make the combination braking, promptly produces the effect of linear braking, be necessary to limit hydraulic braking force, and confined part is replaced by electric braking promptly.
In the prior art, realize the combination braking hydraulic brake systems that adopt traditional vehicle more, regulate the braking torque of motor, only whether judge whether that greater than certain value needs add hydraulic braking according to pedal displacement.This maximum that is unfavorable for energy on the one hand reclaims; On the other hand, the characteristic of motor has determined that its lock torque is not all linear adjustable under various speed of a motor vehicle conditions, and therefore the linearity of the total braking force of this scheme is bad, makes chaufeur produce different brake feel easily.
[summary of the invention]
Purpose of the present invention is exactly in order to overcome the above problems, and a kind of electronlmobil combination braking control system and control method are provided, and its handling is better, braking effect is better, and energy utilization efficiency is higher.
For achieving the above object, the present invention proposes a kind of control system of electronlmobil combination braking, comprise combination braking ECU, brake pedal displacement pickup, apportioning valve, master cylinder oil pressure sensor, wheel cylinder oil pressure sensor, described apportioning valve, brake pedal displacement pickup, master cylinder oil pressure sensor, wheel cylinder oil pressure sensor are electrically connected with described combination braking ECU respectively, and described apportioning valve is connected with the master cylinder oil circuit; Described brake pedal displacement pickup and master cylinder oil pressure sensor are gathered speed-slackening signal, input to the comprehensive judgement of described combination braking ECU and obtain total braking requirement, combination braking ECU gathers the available maximum electric braking moment that motor control module sends simultaneously, and calculate required hydraulic braking moment thus, the output control signal is given apportioning valve, realizes the combination braking of electric braking and hydraulic braking.
Above-mentioned control system also comprises two-way electromagnetic valve, is parallel to oil circuit with described apportioning valve, and described two-way electromagnetic valve is a normally open valve, guarantees that when brake pedal returns the high pressure oil at wheel cylinder place can be got back in the oil can, reduces or removes hydraulic braking force; When electric braking inefficacy or apportioning valve inefficacy, still can provide lock torque by hydraulic braking fully.Also comprise check valve, be serially connected with described apportioning valve rear end, make the oil pressure at wheel cylinder place be less than or equal to the oil pressure of apportioning valve mouth all the time, be unlikely the phenomenon that refluxes takes place at the apportioning valve place.
Owing to adopted above scheme, brought following beneficial effect:
Additional proportion valve restriction hydraulic braking moment in hydraulic efficiency pressure system, communication by motor ECU and braking ECU, Comparative Examples valve and motor carry out co-operative control, calculate, distribute electric braking and hydraulic braking in real time, guaranteed braking effect and the brake feel consistent in the braking procedure with traditional vehicle, recuperated energy to greatest extent again makes that its handling is better, braking effect is better, and energy utilization efficiency is higher.
When electric braking can satisfy braking requirement, can bear braking by electric braking fully, apportioning valve is exported near 0; The hydraulic braking of additional proportion valve output again when electric braking is not enough is preferential with the electric braking, strives for recuperated energy to greatest extent.
Native system is comprehensively judged the size of braking requirement by sampling master cylinder oil pressure and brake pedal angular transposition, the required wheel cylinder oil pressure that total braking force square that is conversed by pedal angular transposition and master cylinder oil pressure and the brake snub moment that is participated in by hydraulic braking converse obtains according to the measured curve of pure hydraulic brake system under the same mechanical structure; The apportioning valve output valve obtains according to the received current～output oil pressure characteristic curve of this apportioning valve; The result who obtains like this is more accurate and reliable.Whole handling of the present invention is more optimized.
[description of drawings]
Fig. 1 is a combination braking sytem piping arrangement of the present invention.
Fig. 2 is the lock torque distribution scheme drawing that the present invention makes up braking.
Fig. 3 the present invention makes up braking ECU system hardware structure figure.
Fig. 4 combination braking sytem software architecture diagram of the present invention.
[specific embodiment]
Also the present invention is described in further detail in conjunction with the accompanying drawings below by specific embodiment.
Hydraulic tubing is described:
The major control parts of this combination braking sytem are the apportioning valve that can control delivery pressure, and accessory is included as the two-position two-way solenoid valve 5 that oil return provides path, and master cylinder oil pressure sensor 2, the wheel cylinder oil pressure sensor 3 of finding out braking oil pressure.The pipeline of this system connects as shown in Figure 1.Electric braking only acts on the front-wheel in native system.
System's control principle is described:
Unclamping Das Gaspedal when not stepping on brake pedal, electrical motor promptly enters the regenerative braking state, the lock torque (making the car load deceleration/decel at 0.15G, consistent with traditional vehicle) of fixed value is provided, and this is equivalent to fuel vehicle and enters Jake brake the idling driving process from running at high speed.
When brake pedal was stepped on, the signal synthesis judgement that is obtained by pedal parallactic angle displacement sensor 1 and master cylinder oil pressure sensor 2 obtained total braking requirement.Simultaneously, by obtaining available maximum electric braking moment this moment that motor control module (motor ECU) sends on the CAN bus, two above values are made difference can obtain required hydraulic braking (required hydraulic braking this moment may be 0).Calculate the control signal of apportioning valve more thus and export to apportioning valve 6, realize the combination braking of electric braking and hydraulic braking.The lock torque of each several part distributes as shown in Figure 2 in the combination braking.
Because apportioning valve can only unidirectionally export, so add a check valve 4 in its back-end, make the oil pressure at wheel cylinder place be less than or equal to the oil pressure of apportioning valve mouth all the time as protection, be unlikely the phenomenon that refluxes takes place at the apportioning valve place.When the state of pedal becomes when lifting by stepping on, the two position two-way valve in parallel with apportioning valve opened and (considered the safety of system, this two position two-way valve is a normally open valve, when electric braking inefficacy or apportioning valve inefficacy, still can provide lock torque), the high pressure oil that guarantees the wheel cylinder place can be got back in the oil can, reduces or removes hydraulic braking force.
Wherein, the required wheel cylinder oil pressure that total braking force square that is conversed by pedal angular transposition and master cylinder oil pressure and the brake snub moment that is participated in by hydraulic braking converse all is measured curve gained of pure hydraulic brake system under the same mechanical structure.The apportioning valve output valve that is obtained by required wheel cylinder oil pressure then is C (received current)～P (output oil pressure) the characteristic curve gained according to this apportioning valve.The wheel cylinder oil pressure actual value that records at the wheel cylinder place can be used as inverse feedback and realizes that in control program PD regulates, thereby make system have better dynamic response characteristic (brake system is owing to itself have feedback element---the input of driver's eyes and the output of pin constitute natural inverse feedback, thereby require very not strict to the steady-error coefficient characteristic of system).
Hardware Design:
Because braking is the pith that the automobile shangguan is tied to personal life security, therefore to the safety of system, reliability has higher requirement.Particularly electric braking lost efficacy, vitals faults such as apportioning valve, electromagnetic valve, sensor, and when situations such as system in case of system halt took place, the reliability of hardware and the robustness of software more seemed particularly important.
Hardware system structure:
Combination is braked the ECU hardware system structure as shown in Figure 3: the hardware system specific implementation of this control system mainly comprises three big module contents: main processor modules, input/output module, and other modules.
Main processor modules
Should with hardware system be core with the ARM7 microprocessor LPC2119 that PHILIPS company produces.
The LPC2119 chip is to be one of PHILIPS low to medium price level ARM7 series of products of kernel with ARM7TDMI-S, have the interior static RAM (SRAM) of sheet of 16K and the in-chip FLASH EEPROM of 128K, for tailorable uC/OSII system, in the migration process of operating system, operating system can be solidificated on the FLASH, have only code commonly used and data structure just to enter RAM, and this does not constitute influence substantially for system performance.The low-work voltage of this microprocessor internal 1.8V and sleep-awake pattern have reduced the power consumption of chip; The area of circuit card has also been dwindled in CAN interface that it is built-in and extra small LPFP64 encapsulation greatly; Built-in house dog has been improved the reliability of system on the sheet.In addition, its frequency of operation that reaches as high as 60MHz also can make the running velocity of system and the response time of task reach higher level.It is the main control chip of kernel that braking ECU adopts ARM7-TDMI, and processing speed is much larger than general 8,16 micro controller systems, and stability and reliability be also assurance to some extent simultaneously, meet control of braking in time with reliability on high requirement.
Input/output module and other module
Input/output module has comprised AD sample circuit, DA output circuit, Digital I imput output circuit.The AD sample circuit mainly is made up of op amp and precision resistance and filter circuit, has guaranteed the precision and the anti-jamming capacity of AD sampling; DA output then adopts the chip-DAC8420 that has four road DA conversion to finish, and has follower circuit etc. simultaneously, increases the power-handling capability of DA output; Mainly by isolating optocoupler, metal-oxide-semiconductor is formed in the Digital I input and output.
Other module mainly contains system clock and reset circuit, adopts the crystal oscillator of 11.0592Mhz and the chip that resets; The jtag interface circuit, be used to download and the sheet of program on trace debug; And the CAN transceiver circuit, the UART serial communication circuit is used for and module of extraneous communication etc., gives unnecessary details no longer one by one here.
Software system structure:
Combination is braked the ECU software system structure as shown in Figure 4:
Real time operating system (RTOS)
Should with in software section be that the real time operating system (RTOS) of kernel is formed by uC/OSII.Adopt real-time kernel can simplify the design of application system greatly,, manage them by real-time kernel because it allows application is divided into several tasks.Kernel distributes CPU time, the switching of control task, and the communication between the responsible task for each task.Therefore real-time kernel has significant preceence with respect to the AM/BAM system.
UC/OSII is a kernel transplantable, tailorable, read-only, that take the lead, real-time, multitask, can manage simultaneously up to 63 tasks.Because its free substantially source program code that provides, therefore the initial cost aspect software development can be ignored.And the code overwhelming majority all is to write with the very strong ANSI C of transplantability, and just the part relevant with microprocessor hardware is with the compilation language compilation, thus can be relatively easy to uC/OSII be transplanted to should use on the employed microprocessor.By the system service of self is provided, such as the semaphore management, mailbox, message queue, time-delay etc., real-time kernel makes that the utilization of CPU is more effective, and itself generally only is 2～5 percentage points to the holding time of CPU.
Task and application program
In order to use uC/OSII to realize the controlled target of system, the control of total system must be divided into all multitasks, and distribute appropriate priority for each task, use the switching between real-time kernel realization task.Distribute priority that several different methods is arranged, adopt the fairly simple method by task execution frequency allocation priority in should using, promptly task execution frequency is high more, and the priority of this task is also just high more.Only the higher task of response time requirement is just done suitable adjustment (as system failure detection and fault handling task) to its priority in the part.
Application program is the code of writing in order to realize a certain specific function, it between operating system and user, the interface function that uses operating system to provide.The some of them application program can also directly be operated system hardware.Each task is made up of concrete one by one application program just.In should using, CAN control is arranged, UART control, a plurality of application programs such as AD controlling of sampling.
The mission statement that should use, priority and inter-task sharing data mode are as shown in table 1.Through experimental verification, the system according to this programme is implemented reaches the control requirement of entire system basically.
Table 1 task names, priority and inter-task sharing data content and mode are tabulated
| Priority (task ID) | Task names and particular content | The content of inter-task sharing data and mode |
| 1 | Regularly feed dog | Do not have |
| 2 | System failure detection and fault handling | Failure code is put into CAN send buffer memory |
| 3 | Timing transceive data on the CAN bus | To put into CAN from the data that bus receives and receive the memory space through filtering |
| 4 | The output of apportioning valve, solenoid control signal | From proportional valve control amount array, read up-to-date control data and read the output of pedal state zone bit control |
| 5 | The judgement of pedal state: advance or return or keep. | The current state of pedal is write |
| 6 | The data sampling of pedal displacement, master cylinder oil pressure, wheel cylinder oil pressure, and also sampled value last time need be preserved in order to realize that PD regulates. | Sampled data is write the sampled data buffer area |
| 7 | The calculating of PD regulated value | Read last time sampled data and last time DA output data calculating PD regulated value, write PD regulated value storage array |
| 8 | The calculating of apportioning valve output signal (for improving computation speed, this process is tabled look-up by three times and finished). | Read the last samples data, up-to-date PD adjusting data will be calculated good output signal and write proportional valve control amount array |
Claims (3)
1, a kind of control system of electronlmobil combination braking, comprise combination braking ECU, brake pedal displacement pickup, apportioning valve, master cylinder oil pressure sensor, wheel cylinder oil pressure sensor, described apportioning valve, brake pedal displacement pickup, master cylinder oil pressure sensor, wheel cylinder oil pressure sensor are electrically connected with described combination braking ECU respectively, and described apportioning valve is connected with the master cylinder oil circuit; Described brake pedal displacement pickup and master cylinder oil pressure sensor are gathered speed-slackening signal, input to the comprehensive judgement of described combination braking ECU and obtain total braking requirement, combination braking ECU gathers the available maximum electric braking moment that motor control module sends simultaneously, combination braking ECU obtains required hydraulic braking moment, the output control signal is given apportioning valve, realize the combination braking of electric braking and hydraulic braking, it is characterized in that: described combination braking ECU is divided into a plurality of tasks with the control of total system, between different tasks, realize communication, the switching of control task, and according to task execution frequency allocation priority, it is high more that task is carried out frequency, the priority of this task is high more, and the task that priority is high is performed earlier.
2, control system as claimed in claim 1, it is characterized in that: also comprise two-way electromagnetic valve, be parallel to oil circuit with described apportioning valve, described two-way electromagnetic valve is a normally open valve, the high pressure oil that guarantees the wheel cylinder place when brake pedal returns can be got back in the oil can, reduces or removes hydraulic braking force; When electric braking inefficacy or apportioning valve inefficacy, still can provide lock torque by hydraulic braking fully.
3, control system as claimed in claim 1 is characterized in that: also comprise check valve, be serially connected with described apportioning valve rear end, make the oil pressure at wheel cylinder place be less than or equal to the oil pressure of apportioning valve mouth all the time, be unlikely the phenomenon that refluxes takes place at the apportioning valve place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100223871A CN100515821C (en) | 2005-12-19 | 2005-12-19 | Combined brake controlling system of electromobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100223871A CN100515821C (en) | 2005-12-19 | 2005-12-19 | Combined brake controlling system of electromobile |
Publications (2)
| Publication Number | Publication Date |
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| CN1986272A CN1986272A (en) | 2007-06-27 |
| CN100515821C true CN100515821C (en) | 2009-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100223871A Active CN100515821C (en) | 2005-12-19 | 2005-12-19 | Combined brake controlling system of electromobile |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101734163B (en) * | 2010-01-18 | 2013-04-10 | 吉林大学 | Electromechanical combined regenerative braking control system for electric vehicle and control strategy thereof |
| DE102010027348A1 (en) * | 2010-02-16 | 2011-08-18 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Method and control / regulation for decelerating a vehicle and vehicle |
| CN101837773A (en) * | 2010-05-19 | 2010-09-22 | 清华大学 | Brake energy recovery hydraulic braking system based on VDC (Vehicle Dynamics Control)/VSC (Vehicle Stability Control)/ESP (Electronic Stability Program) pressure regulator |
| US20110304198A1 (en) * | 2010-06-11 | 2011-12-15 | Cottrell V Daniel D | Method for controlling regenerative and hydraulic braking |
| US7922265B1 (en) * | 2010-06-11 | 2011-04-12 | GM Global Technology Operations LLC | Method for controlling regenerative and hydraulic braking |
| DE102010040726A1 (en) * | 2010-09-14 | 2012-03-15 | Robert Bosch Gmbh | Method for controlling a brake system of a motor vehicle and brake system for a motor vehicle |
| CN102050114B (en) * | 2010-12-07 | 2013-11-20 | 深圳市佳华利道新技术开发有限公司 | Braking control method of hybrid electrical vehicle |
| CN102407834A (en) * | 2011-10-19 | 2012-04-11 | 郭革委 | Vehicle braking device |
| CN103253256A (en) * | 2013-04-27 | 2013-08-21 | 同济大学 | Electromobile electro-hydraulic composite braking system and braking controlling method thereof |
| CN104786850B (en) * | 2015-02-13 | 2017-06-27 | 郑州宇通客车股份有限公司 | A kind of composite braking system and its braking control system and brake control method |
| CN104960426B (en) * | 2015-07-16 | 2018-03-27 | 芜湖市汽车产业技术研究院有限公司 | A kind of decision circuitry of electric vehicle brake power demand |
| GB2545713B (en) * | 2015-12-23 | 2019-01-09 | Jaguar Land Rover Ltd | Improvements to vehicle handling |
| US10569657B2 (en) * | 2016-02-16 | 2020-02-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle brake system |
| CN106564385B (en) * | 2016-11-15 | 2020-09-08 | 青岛大学 | Air pressure brake control mechanism for brake energy feedback |
| CN111043303A (en) * | 2019-12-16 | 2020-04-21 | 西安法士特汽车传动有限公司 | Automatic transmission braking system |
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