CN101253086B - 用于确定机动车制动系统中的初始压力的方法 - Google Patents

用于确定机动车制动系统中的初始压力的方法 Download PDF

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CN101253086B
CN101253086B CN200680031967XA CN200680031967A CN101253086B CN 101253086 B CN101253086 B CN 101253086B CN 200680031967X A CN200680031967X A CN 200680031967XA CN 200680031967 A CN200680031967 A CN 200680031967A CN 101253086 B CN101253086 B CN 101253086B
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CN101253086A (zh
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F·阿塔拉
R·马洛
G·马格尔
L·克罗
F·斯科尔斯基
A·科尔
J·穆勒
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Continental Automotive Technologies GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
    • B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
    • B60T8/3655—Continuously controlled electromagnetic valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/42—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition having expanding chambers for controlling pressure, i.e. closed systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B60T8/4059—Control of the pump unit involving the rate of delivery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/42—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition having expanding chambers for controlling pressure, i.e. closed systems
    • B60T8/4275—Pump-back systems

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  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

本发明涉及一种用于确定在机动车制动系统的制动主缸(2)与制动轮缸(8)的进入阀(9)之间存在的初始压力的方法，该方法通过考虑泵(14)的按节拍操作的电机(15)的随动电压的变化来确定所述初始压力，该泵用于将制动流体从低压蓄能器(13)向制动主缸(2)的方向送回，其中测量电压变化的多个特征参数(UOnL；UOnF；UOff；UFall；UMin；USum；USlope；URise；tFall)并且一起用于确定初始压力值，其中评价所测量的特征参数(UOnL；UOnF；UOff；UFall；UMin；USum；USlope；URise；tFall)的品质和/或可靠性；在所测量的特征参数缺乏品质和/或可靠性的情况下，对特征参数(UOnL；UOnF；UOff；UFall；UMin；USum；USlope；URise；tFall)和/或由该特征参数确定的初始压力值进行过滤和/或处理；对由不同的特征参数(UOnL；UOnF；UOff；UFall；UMin；USum；USlope；URise；tFall)确定的初始压力值进行平均，其中仅考虑大小相似的压力值；并且对初始压力值进行时间平均，以抑制波动。

Description

用于确定机动车制动系统中的初始压力的方法
技术领域
本发明涉及一种根据权利要求1的前序部分的用于确定机动车制动系统中的初始压力的方法，以及一种用于实施所述方法的压力调节装置。
背景技术
为了最优地应用电子制动系统，特别是防抱死系统(ABS)和行驶稳定性控制系统(例如，ESP)，有利地，在考虑所谓的初始压力，即制动主缸与进入阀之间的压力，的情况下来实现对分别设置于制动轮缸的进入阀和排出阀的操纵。这种压力可通过压力传感器来测量，而适用于此目的的传感器非常昂贵。
由DE 199 46 777 A1已知一种方法，该方法应用泵的按节拍操作的(getaktet betrieben)电机的随动电压以及在蓄能室中求得或测定的蓄能室压力来估计在机动车制动系统的制动主缸与制动轮缸的进入阀之间存在的初始压力，该泵用于将制动流体从设置在制动轮缸的排出侧的蓄能室送回制动主缸。(该文献中)没有报道所估计的压力值的精度。
发明内容
本发明的目的在于，提供一种能够以简单的方式精确并可靠地确定初始压力的方法。
根据本发明，所述目的通过根据权利要求1的方法实现。
本发明基于以下思想，即，确定回流泵的按节拍操作的、特别是通过脉宽调制(PWM)来操作的电机的电压变化的各个特征参数，其中各个特征参数在不同程度上依赖于要确定的初始压力。基于运算关系，特别是线性关系，并且借助于标定试验的结果，由每个这种特征参数来确定初始压力。根据本发明，通过下列方式将测量误差、异常测值或电压变化中的其它的瞬时干扰的影响减到最小：大量的特征参数；对所测量的参数的评价，特别地参照其它的测量数据，例如低压蓄能器的填充状态进行评价；以及对数据的选择性地过滤、处理以及平均。因此可能令人信服地、定量地表示出初始压力。
通过应用根据本发明的方法，可以不必应用压力传感器，其中通过考虑根据本发明确定的初始压力就能够显著地改进制动控制。有利地，根据本发明确定的初始压力也可用于检测已存在的压力传感器的可靠性。在压力传感器失效的情况下，根据本发明确定的初始压力可以替代否则由压力传感器测量的初始压力。
另外，本发明还包括根据权利要求8和9电液压力调节装置。
根据本发明的方法可应用于机动车用电子制动系统中或用于调节机动车的车辆动力性。
附图说明
通过从属权利要求以及下文中参照附图进行的说明，可得到本发明的其它的优选实施形式。
图中示出：
图1示出车辆制动系统的示意图，其中仅示出一个车轮制动回路；和
图2示出在电机的供电电压的开-关-开循环过程中电机电压的变化的示意图。
具体实施方式
由图1示出了防滑控制的机动车制动系统1的制动回路的例子，其中，仅示出一个车轮制动回路。制动系统1包括具有制动主缸2的制动装置，该制动主缸2通过液力连接件4以及包括液力单元6和电子单元7的分配装置5与车轮制动器8相连接。液力单元6具有一壳体，该壳体用于液力部件和电液部件，诸如用于各个车轮制动器8的可电磁操作的进入阀和排出阀9、10。在连接件4中，在用于所述车轮制动器的常开的进入阀9的上游，设置有通向第二车轮制动回路的支路11。从车轮制动器8开始，回流连接件12经由常闭的排出阀10通向低压蓄能器13，该低压蓄能器13能够接收由于ABS控制循环而从车轮制动器8排出的液力流体的体积。该低压蓄能器13为电机驱动的泵14的吸入侧供给(流体)。该泵14优选为旋转柱塞泵的形式，并且分别具有在吸入侧的吸入阀和在压出侧的压出阀。电机15和泵14优选设计成组件(电机-泵组件)，并且能够将排出的液力流体向制动主缸2的方向送回。应当理解，制动系统可具有附加功能，例如驱动防滑系统(ASR)或行驶稳定性控制(ESP)，所述功能需要连接在进入阀9上游的、可电磁控制的、常开的分离阀。
在ABS控制期间，通过排出阀10产生的压力减小过程致使在进入阀9处形成压差。从车轮制动器8排出的(液力流体的)体积进入低压蓄能器13。同时，泵14起动并且抵抗存在的初始压力将排出的体积再向制动主缸2的方向以及进入阀9的上游的方向送回。
泵14的电机15基于他励直流电机特别是永磁体励磁的换向电机的原理，该电机的速度通过对恒定的供电电压的脉宽调制(PWM)来控制。这里可得到预定数量的速度级(例如1-12)。在固定的时段(一个PWM循环，例如t＝60ms)内，调制作用在电机上的供电电压的接通阶段和切断阶段的持续时间，从而控制转速。电机的全驱动(速度级12)对应于在整个前述时段的范围内存在供电电压(接通阶段)。当驱动(的速度级)减小时，在给定的时间后(例如，对于速度级8在40ms后)，电机的供电电压在PWM循环的其余时间(例如，对于速度级8为20ms)中都保持切断(切断阶段)，并且直到下一次的PWM循环的接通阶段开始时才再次被接通。在驱动(速度级)减小的情况下，接通阶段(电机上的供电电压接通)的脉冲宽度减小，切断阶段(电机上的供电电压切断)的脉冲宽度增大。
图2中示意性地示出在电机的供电电压的开-关-开循环过程中电机上的电压变化。在PWM接通阶段E，电机电压大致对应于最大可得供电电压。在PWM切断阶段A期间，电机15用作发电机并且可得到发电机电压。图2示出了与根据本实施例的方法相关的电压变化的特征参数：当供电电压还处于接通时的最后的电压值UOnL、当供电电压再次被接通时的最初的电压值UOnF、在供电电压被切断之后的最初的电压值UOff、当供电电压还处于接通时的最后的电压值与在供电电压被切断之后的最初的电压值之差UFall、在供电电压被切断期间的最小可得电压值UMin、在供电电压被切断期间的电压值的和USum、在供电电压被切断期间的电压下降的坡度USlope、在供电电压被切断期间的最小可得电压值与当供电电压再次被接通时的最初电压值之差URise、以及直到电压降为零的时间tFall。
基于运算关系以及标定试验的结果，所述的电压变化的每个特征参数都可用来确定用于初始压力的值。为了能够在电子制动系统的处理器中执行尽可能快的、易于控制和监测的运算，根据本实施例选择了特征参数U与初始压力P之间的简单的线性关系：
P＝P0+P1×U
其中，U是前述根据示例说明的电机电压变化的特征参数之一。用于各个特征参数的系数P0和P1可由标定试验获得。
为了确定用于初始压力的值，并使该值尽可能小地被测量误差、异常测值或电压变化中的其它瞬时干扰影响，根据本实施例执行以下措施。即使仅执行所述措施中的一项或一部分，也包含在本发明的范围内。
评价所测量的特征参数，即泵电机的电压变化的品质和/或可靠性。基于此，在需要时对数据进行过滤和/或处理。当制动回路中的两个低压蓄能器之一或两者都排空时，或当泵位于两速度级之间时，优选地会出现电压变化中的干扰。如果电压变化未被干扰并且不存在以上两种情况中的任一种，则特征参数是可靠的，并且借助于线性关系可通过每个所述特征参数来确定一个用于初始压力的值。如果信号中存在干扰和/或如果出现前述两种情况中的任一种，则认定特征参数不可靠。则最简单的可能是，在特征参数值不可靠的情况下，一直保持最后一次可靠地确定的初值压力值。在一个或两个低压蓄能器排空的情况下，即使特征参数被认定是不可靠的，也可有利地应用该特征参数来确定初始压力。在一个或两个低压蓄能器排空的情况下，优选地，对前述两种方法的结果进行平均，即，将最后一次可靠地确定的初始压力值和由认定为不可靠的特征参数确定的初始压力值进行平均。
对每个PWM循环由不同的特征参数确定的初始压力值进行平均，从而获得最终的初始压力。因为，如果不存在测量或求值误差，则由不同的特征参数确定的初始压力值应当基本相同，所以在为消除误差而对多于两个的压力值进行平均时，优选地仅考虑大小相似的压力值(无极值平均)。
这种平均操作可在所有特征参数都可得到的PWM循环结束时进行，即每个PWM循环进行一次平均。因为在PWM循环的前期的时间点可得到特征参数UOnL、UOff和UFall，而其它特征参数则在PWM循环结束时才可得到，所以优选对每个PWM循环进行两次所述平均。
为抑制波动，优选还进行另一种时间上的平均(zeitlich Mittelung)运算，即，下一次的初始压力值Pi’是通过平均上一次确定的初始压力Pi-1与当前求得的初始压力Pi得到的：Pi’＝(Pi-1+Pi)/2

Claims (5)

1.一种确定在机动车制动系统的制动主缸与制动轮缸的进入阀之间存在的初始压力的方法，该方法通过考虑泵的按节拍操作的电机的随动电压的变化来确定所述初始压力，该泵用于将制动流体从低压蓄能器送回制动主缸，其特征在于，测量电压变化的多个特征参数并将这些特征参数分别用于确定初始压力值，并且进行以下步骤中的至少一个：
-评价所测量的特征参数的品质和/或可靠性，并且在所测量的特征参数缺乏品质和/或可靠性的情况下，不是通过该特征参数来确定初始压力值而是保持上一次可靠地确定的初始压力值，或者在一个或两个低压蓄能器排空的情况下对最后一次可靠地确定的初始压力值和由认定为不可靠的特征参数确定的初始压力值进行平均；
-对由不同的特征参数确定的多于两个的初始压力值进行无极值平均；以及
-对初始压力值进行时间平均，以抑制波动，
其中，在电机的供电电压的开-关-开循环过程中，所应用的电压变化的特征参数包括以下参数中的两个或更多个：当供电电压还处于接通时的最后的电压值UOnL、当供电电压再次被接通时的最初的电压值UOnF、在供电电压被切断之后的最初的电压值UOff、当供电电压还处于接通时的最后的电压值与在供电电压被切断之后的最初的电压值之差UFall、在供电电压被切断期间的最小可得电压值UMin、在供电电压被切断期间的电压值的和USum、在供电电压被切断期间的电压下降的坡度USlope、在供电电压被切断期间的最小可得电压值与当供电电压再次被接通时的最初电压值之差URise、以及直到电压降为零的时间tFall。
2.根据权利要求1所述的方法，其特征在于，对于所述电压变化的每个特征参数，假设特征参数与初始压力之间存在线性关系，该线性关系的两个系数由标定试验获得。
3.根据权利要求1或2所述的方法，其特征在于，为了评价所测量的特征参数的品质和/或可靠性，考虑至少一个低压蓄能器的排空/非排空的填充状态。
4.一种用于机动车电子制动系统中的电液压力调节装置，所述机动车电子制动系统包括制动主缸和制动轮缸，所述制动主缸通过液力连接件以及包括液力单元和电子单元的分配装置与所述制动轮缸相连接，所述液力单元具有壳体并且包括低压蓄能器、用于所述制动轮缸的能够电磁操作的进入阀和排出阀、用于使所述制动轮缸与所述低压蓄能器经由所述排出阀相连接的回流连接件以及用于将制动流体从所述低压蓄能器送回所述制动主缸的由电机驱动的泵，其特征在于，该电液压力调节装置执行根据权利要求1至3中任一项所述的方法。
5.根据权利要求4所述的电液压力调节装置，其特征在于，所确定的初始压力用作用于调节制动干预的调节参数和/或用于检测压力传感器的可靠性的比较值。
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