CN102490705B - Electronic mechanical brake system and automobile adopting same - Google Patents
Electronic mechanical brake system and automobile adopting same Download PDFInfo
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- CN102490705B CN102490705B CN201110426292.1A CN201110426292A CN102490705B CN 102490705 B CN102490705 B CN 102490705B CN 201110426292 A CN201110426292 A CN 201110426292A CN 102490705 B CN102490705 B CN 102490705B
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Abstract
The invention provides an electronic mechanical brake system which comprises a brake signal inputting unit, an EMB (electromechanical brake system) control unit, an EMB drive unit, and a plurality of electric brakes corresponding to a plurality of wheels respectively, wherein the signal inputting unit is used for generating brake signals and outputting the brake signals to the EMB control unit in real time; the EMB control unit is used for receiving the brake signals and outputting a plurality of paths of duty ratio signals to the EMB drive unit; the path number of the duty ratio signals is equal to that of the electric brakes; the EMB drive unit is used for receiving the duty ratio signals in real time and driving and controlling the plurality of electric brakes according to the duty ratio signals; and the plurality of electric brakes are respectively used for braking the corresponding wheels. Correspondingly, an automobile adopting the braking system is provided. The electronic mechanical brake system has the advantages of simple structure, small volume, convenience in installation, low cost, fast braking response, good braking stability, no pollution, and the like.
Description
Technical field
The invention belongs to field of automobile, be specifically related to a kind of electric mechanical braking (EMB, Electro Mechanical Brake) system, and a kind of automobile adopting described electromechanical braking system.
Background technology
Along with the fast development of auto-industry, and the improving constantly of running car performance, the safety of automobile is more and more by people are paid attention to, and deceleration and stopping performance is one of important in-use performance of automobile, and the deceleration and stopping performance of automobile is directly connected to the safety of traffic.
At present, both at home and abroad mostly motor vehicle braking system still based on hydraulic brake system to realize car brakeing.But traditional hydraulic brake system also exists the defects such as complex structure, installation is inconvenient, expensive, braking response is slow.
Summary of the invention
Technical matters to be solved by this invention is for above shortcomings in hydraulic brake system in prior art, there is provided that a kind of structure is simple, volume is little, easy for installation, cost is low, braking response is fast, braking time good stability, free of contamination electromechanical braking system, and adopt the automobile of described brake system.
The technical scheme that solution the technology of the present invention problem adopts is that this electromechanical braking system comprises speed-slackening signal input block, EMB control unit, EMB driver element and several electric brakes corresponding respectively with several wheels, described signal input unit for generation of speed-slackening signal, and exports described speed-slackening signal to EMB control unit in real time; Described EMB control unit is used for speed-slackening signal described in real-time reception, and exports some roads duty cycle signals in real time to EMB driver element according to described speed-slackening signal, and the way of described duty cycle signals is identical with the quantity of described electric brake; Described EMB driver element is used for some roads duty cycle signals described in real-time reception, and according to described some roads duty cycle signals Real Time Drive and control several electric brakes described respectively; Several electric brakes described are respectively used to implement braking to the wheel of its correspondence.
Described electric brake preferably adopts four.
Preferably, described speed-slackening signal input block comprises electronic brake pedal, described electronic brake pedal inbuilt displacement sensor, institute's displacement sensors tramples the displacement of electronic brake pedal for catching chaufeur, and convert described displacement to displacement signal, export this displacement signal to EMB control unit in real time as speed-slackening signal simultaneously, the speed-slackening signal that EMB control unit exports in real time according to described electronic brake pedal carries out brakig force distribution to several electric brakes described, and form described some roads duty cycle signals according to distributing several braking force signal obtained.
Preferably, described brake system also includes several wheel speed sensors corresponding respectively with several wheels, the quantity of described wheel speed sensors is identical with the quantity of described electric brake, described wheel speed sensors is for obtaining the wheel speed of the wheel corresponding to it, and send obtained wheel speed signal to EMB control unit, while described EMB control unit receives the speed-slackening signal that electronic brake pedal exports in real time, the beginning cycle gathers the wheel speed signal that each wheel speed sensors transmits, according to the wheel speed signal collected by calculating the road surface identified residing for automobile, the speed-slackening signal that information of road surface again residing for automobile exports in real time in conjunction with described electronic brake pedal carries out brakig force distribution, and form described some roads duty cycle signals according to distributing several braking forces obtained, described some roads duty cycle signals exports EMB driver element to.
Further preferably, described EMB control unit is 10ms to the collection period that the wheel speed signal that wheel speed sensors transmits gathers.
Preferably, described EMB control unit comprises wheel speed calculation module, automobile speedestimate module, road surface identification module, conventional brake control policy module and electronic braking force distribution module,
Described wheel speed calculation module is used for the wheel speed calculating to draw each wheel to the wheel speed signal that the EMB control unit cycle collects, and exports the described wheel speed calculated to automobile speedestimate module;
Described automobile speedestimate module is used for the rate of angular acceleration estimating the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and each wheel according to the wheel speed calculating each wheel, and will estimate that the above-mentioned data-signal obtained exports road surface identification module to;
Described road surface identification module be used for according to described in the rate of angular acceleration of the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and each wheel that estimates extrapolate the target slip ratio of each wheel and the surface friction coefficient of each wheel, identify the road surface residing for automobile according to the surface friction coefficient of each wheel again, and export the information of road surface residing for automobile to electronic braking force distribution module;
Described conventional brake control policy module is for the speed-slackening signal that receives electronic brake pedal and export in real time and extrapolate according to the speed-slackening signal of described reception the braking force that each electric brake need export, and will calculate that the braking force that each electric brake obtained exports exports electronic braking force distribution module to;
The braking force that each electric brake that the road surface signal combination conventional brake control policy module residing for automobile that described electronic braking force distribution module is used for transmitting according to road surface identification module is extrapolated exports carries out original allocation to the braking force of each electric brake, thus form described some roads duty cycle signals, then export this some roads duty cycle signals to EMB driver element.
Preferably, also include ABS (Anti-lock Braking System) control policy module and PID current loop control module in described EMB control unit, described electric brake includes motor;
Conventional brake control policy module extrapolates according to the speed-slackening signal that described electronic brake pedal exports in real time the braking force that each electric brake need export, and extrapolates the initial target electric current of motor in each electric brake according to described speed-slackening signal;
It is that the initial target electric current of motor in each electric brake of extrapolating conventional brake control policy module carries out original allocation that the braking force that each electric brake of road surface signal combination residing for automobile of described electronic braking force distribution module exports carries out original allocation to the braking force of each electric brake;
Described ABS (Anti-lock Braking System) control policy module is used for the target slip ratio of each wheel extrapolated by road surface identification module and the actual slip rate of each wheel compares, and in conjunction with the actual angular acceleration of each wheel, the initial target electric current of motor in each electric brake completing original allocation is adjusted, and export the target current after adjustment to PID current loop control module;
Described PID current loop control module is used for the target current after according to the adjustment of ABS (Anti-lock Braking System) control policy module and exports described some roads duty cycle signals to EMB driver element;
Described EMB driver element is also for after receiving described some roads duty cycle signals, the actual current of motor in each electric brake of Real-time Collection, and the PID current loop control module fed back in EMB control unit, described PID current loop control module also for the target current of motor in each electric brake and the difference of actual current are constantly adjusted and output duty cycle signal to EMB driver element, until described target current and actual current reach unanimity or the difference of described target current and actual current in the scope that error allows till.
Preferably, described EMB driver element comprises several motor-drive circuits, the quantity of described motor-drive circuit is identical with the quantity of described electric brake, and the corresponding electric brake of each motor-drive circuit, after several motor-drive circuits described are respectively used to some roads duty cycle signals of real-time reception EMB control unit output, export the electric brake of some roads control for brake drive singal to its correspondence in real time respectively again, by electric brake, braking is implemented to the wheel of its correspondence.
Further preferably, also include electronic parking switch and/or parking brake pull bar in described speed-slackening signal input block, described electronic parking switch/parking brake pull bar is for exporting speed-slackening signal to EMB control unit.When the vehicle is stopped, chaufeur triggerable electronic parking switch or parking brake pull bar, export speed-slackening signal to EMB control unit in real time by described electronic parking switch or parking brake pull bar.
Wherein, described EMB control unit is also for after real-time reception to the speed-slackening signal of described electronic parking switch/parking brake pull bar output, and combine according to the speed-slackening signal that described electronic parking switch/parking brake pull bar exports the clutch switch signal read from car load CAN, the speed-slackening signal that electronic brake pedal exports and the speed of a motor vehicle estimated by automobile speedestimate module judge whether to implement braking during standstill: if judge to implement braking during standstill, then the speed-slackening signal that described electronic parking switch/parking brake pull bar exports is converted into the maximum target electric current of motor in each electric brake and exports PID current loop control module to, described PID current loop control module exports some roads maximum duty cycle signal to EMB driver element according to the maximum target electric current of motor in each electric brake described, when after several motor-drive circuits in EMB driver element respectively real-time reception to some roads maximum duty cycle signal that EMB control unit exports, several motor-drive circuits described also control the electric brake of drive singal to its correspondence for exporting the parking of some roads respectively in real time, by electric brake, braking during standstill is implemented to the wheel of its correspondence, if judge not implement braking during standstill, then continue the speed-slackening signal that described in real-time reception, electronic parking switch/parking brake pull bar exports, till braking during standstill is implemented in judgement.
Preferably, described electric brake comprises motor, deceleration Zeng Ju mechanism, propulsive mechanism, brake disc and friction lining, after described motor-drive circuit exports control for brake drive singal/parking control drive singal to the electric brake of its correspondence, the motor controlled in described electric brake exports corresponding moment, described moment carries out passing to propulsive mechanism after deceleration increases square through deceleration Zeng Ju mechanism, the convert rotational motion that motor exports by described propulsive mechanism is straight-line motion and ahead running is made in direction to friction lining, eliminate the gap between brake disc and friction lining, produce the braking clamping force for braking, to realize braking/braking during standstill.
Further preferably, described propulsive mechanism adopts non-self-lock-ing mechanism; Described motor adopts the DC brushless motor having Hall.
Preferably, described brake system also includes power supply, and it is for powering for EMB control unit and EMB driver element.
A kind of automobile adopting above-mentioned electromechanical braking system.
Electromechanical braking system of the present invention compared with prior art tool has the following advantages:
1.. described brake system uses electronic brake pedal to instead of traditional hydraulic braking pedal, and eliminates vacuum booster, reduces the volume and weight of brake system;
2.. the EMB control unit in described brake system and EMB driver element instead of hydraulic control unit in traditional hydraulic brake system and hydraulic regulating valve, and described electronic brake pedal inbuilt displacement sensor, it can the displacement of trapped electrons brake pedal accurately, and convert described displacement to displacement signal, this displacement signal is passed to EMB control unit and EMB driver element as speed-slackening signal simultaneously, to realize braking, described brake system also has a key parking function simultaneously, because of but the driving of a kind of pure automatically controlled electronics and electronic brake system,
3.. all corresponding electric brake of each wheel and a wheel speed sensors in described brake system, independence can be carried out to the lock torque of each wheel respectively control and regulate in real time, and when the drg of wherein some wheels breaks down, do not affect the deceleration and stopping performance of car load;
4.. what the propulsive mechanism in the electric brake in described brake system adopted is non-self-locking mechanism, its benefit is, when needing when acting on the braking clamping force on wheel and being excessive to reduce, only need reduce the output torque of the motor in drg, described non-self-lock-ing mechanism can automatic rollback under the effect of the antagonistic force of brake disc and friction lining, the object of the power of unloading can be reached without the need to motor reversal, thus shorten the response time of electromechanical braking system, and described non-self-lock-ing mechanism there will not be locked phenomenon when advancing or retreat;
5.. described brake system can gather the wheel speed signal of four wheels the cycle, and the braking clamping force acting on each wheel is changed in real time by described wheel speed signal, after the braking clamping force acting on wheel changes, the wheel speed of wheel can be changed again, therefore real-time adjustment and the dynamic assignment that can realize the braking clamping force of each wheel is gathered by the cycle of wheel speed signal, described brake system also has anti-lock function simultaneously, thus the stability that when improving deceleration and stopping performance and the braking of vehicle, vehicle travels;
6.. described electromechanical braking system structure is simple, compact, easy for installation, cost is low, braking response is fast, pollution-free.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of electromechanical braking system in the embodiment of the present invention 1;
Fig. 2 is the structured flowchart of EMB control unit in Fig. 1;
Fig. 3 is the cross-sectional view of electric brake in Fig. 1.
Detailed description of the invention
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with the drawings and specific embodiments to electromechanical braking system of the present invention and adopt the automobile of described brake system to be described in further detail.
A kind of electromechanical braking system, comprises speed-slackening signal input block, EMB control unit, EMB driver element and several electric brakes corresponding respectively with several wheels,
Described signal input unit for generation of speed-slackening signal, and exports described speed-slackening signal to EMB control unit in real time;
Described EMB control unit is used for speed-slackening signal described in real-time reception, and exports some roads duty cycle signals in real time to EMB driver element according to described speed-slackening signal, and the way of described duty cycle signals is identical with the quantity of described electric brake;
Described EMB driver element is used for some roads duty cycle signals described in real-time reception, and according to described some roads duty cycle signals Real Time Drive and control several electric brakes described respectively;
Several electric brakes described are respectively used to implement braking to the wheel of its correspondence.
Embodiment 1:
As shown in Figure 1, in the present embodiment, described electromechanical braking system comprises speed-slackening signal input block, EMB control unit, EMB driver element, electric brake and power supply.
In the present embodiment, described electromechanical braking system is applied to four-wheel automobile, an electric brake is configured to each wheel of described four-wheel automobile, namely the electric brake in this electromechanical braking system adopts four, is respectively the near front wheel electric brake, off front wheel electric brake, left rear wheel electric brake, off hind wheel electric brake.By configuring an electric brake for each wheel, described electromechanical braking system can carry out independence to the lock torque of each wheel respectively and controls and regulate in real time, makes this brake system to the distribution of braking force and controls more flexible; And when the drg of wherein some wheels breaks down, do not affect the deceleration and stopping performance of car load.Certainly, electromechanical braking system of the present invention is not limit and is applied to four-wheel automobile, and it can be applicable to any multiwheeled vehicle, and described multiwheeled vehicle can according to the electric brake of its actual demand configuration respective numbers.
Described speed-slackening signal input block comprises electronic brake pedal.Described electronic brake pedal is a kind of stretcher pressure simulation device, for replacing existing brake pedal and vacuum booster.Electronic brake pedal inbuilt displacement sensor, it can catch the displacement size (i.e. displacement) that chaufeur tramples electronic brake pedal accurately, when chaufeur needs brake system to export larger braking force, firmly can step on electronic brake pedal, electronic brake pedal then produces larger displacement; When chaufeur needs brake system to export less braking force, its dynamics of trampling electronic brake pedal is less, and electronic brake pedal then produces comparatively thin tail sheep.Caught displacement can be converted into displacement signal by institute's displacement sensors, export this displacement signal to EMB control unit as speed-slackening signal simultaneously, namely this speed-slackening signal represents the braking intention of chaufeur, thus makes EMB control unit can carry out action according to the braking intention of chaufeur.
Described electromechanical braking system also includes multiple wheel speed sensors, the quantity of wheel speed sensors is identical with the quantity of described electric brake, in the present embodiment, described wheel speed sensors adopts four, four wheels of the corresponding automobile of described four wheel speed sensors difference.Described wheel speed sensors for obtaining the wheel speed of the wheel corresponding to it, and sends obtained wheel speed signal to EMB control unit.Described EMB control unit is while receiving the speed-slackening signal (i.e. displacement signal) that the built-in displacement pickup of electronic brake pedal exports in real time, the beginning cycle gathers the wheel speed signal that each wheel speed sensors transmits, according to the wheel speed signal collected by calculating the road surface identified residing for automobile, the speed-slackening signal that information of road surface again residing for automobile exports in real time in conjunction with described electronic brake pedal carries out brakig force distribution to four electric brakes, and form four road duty cycle signals according to distributing four braking forces obtained, described four road duty cycle signals export EMB driver element to.In the present embodiment, described EMB control unit is 10ms to the collection period that the wheel speed signal that wheel speed sensors transmits gathers.
Particularly, as shown in Figure 2, in the present embodiment, described EMB control unit comprises wheel speed calculation module, automobile speedestimate module, road surface identification module, conventional brake control policy module, electronic braking force distribution (EBD, Electric Brakeforce Distribution) module, ABS (Anti-lock Braking System) control policy (ABS, Anti-locked Braking System) module and PID current loop control module.Motor is included respectively in described each electric brake.
Wheel speed signal after described wheel speed calculation module is used for that collect the EMB control unit cycle, through EMB control unit inside filtering, amplification and shaping circuit process calculates the wheel speed of each wheel respectively, and is exported to described automobile speedestimate module.Wherein, the wheel speed signal that described wheel speed sensors exports is current signal, described current signal is converted to the voltage signal of faint near sinusoidal ripple by EMB control unit by the sampling resistor of its inside, export pulse square wave signal after again the modulate circuits such as the filtering of described voltage signal through its inside, amplification and shaping being carried out signal transacting, then described pulse square wave signal counted and calculated the wheel speed of each wheel in conjunction with timer by wheel speed calculation module respectively.
Described automobile speedestimate module is used for the rate of angular acceleration estimating the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and each wheel according to the wheel speed calculating each wheel, and will estimate that the above-mentioned data-signal obtained exports road surface identification module to.
Described road surface identification module obtains the speed of a motor vehicle of the automobile estimated described in basis by Kalman filter, the cireular frequency of each wheel, the angular acceleration of each wheel, and the filter value of the rate of angular acceleration of each wheel, according to described filter value, the target slip ratio of each wheel is obtained by polynomial transformation, the surface friction coefficient of each wheel is obtained by triangular transformation, the road surface residing for automobile can be identified according to the surface friction coefficient of each wheel, and export the information of road surface residing for the described target slip ratio of each wheel extrapolated and the surface friction coefficient of each wheel and automobile to electronic braking force distribution module.
The speed-slackening signal that described conventional brake control policy module exports in real time for receiving electronic brake pedal, and calculate according to the speed-slackening signal of described reception and the displacement of electronic brake pedal of mating with car load and brake application curve the braking force that each electric brake exports, the braking force exported according to radius of wheel and described each electric brake extrapolates the lock torque that each electric brake should export, each brake disc brake torque is extrapolated according to the radius of the brake disc in radius of wheel and each electric brake, the lock torque exported in conjunction with described each electric brake and each brake disc brake torque also extrapolate the output torque of motor in each electric brake according to the physical construction transmitting ratio of electric brake, again according to the corresponding relation of motor output torque and current of electric in described each electric brake, extrapolate the initial target electric current of motor in each electric brake.
The target slip ratio of each wheel that described electronic braking force distribution module is extrapolated according to road surface identification module and surface friction coefficient, by Full Vehicle Dynamics equation obtain vehicle keep straight on, turn time each wheel braking force partition ratio and vehicle body reference acceleration, in each electric brake extrapolate conventional brake control policy module, the initial target electric current of motor carries out original allocation.
Described ABS (Anti-lock Braking System) control policy module is used for the target slip ratio of each wheel extrapolated by road surface identification module and the actual slip rate of each wheel compares, and in conjunction with the actual angular acceleration of each wheel, the initial target electric current of motor in each electric brake completing original allocation is adjusted, and export the target current after adjustment to PID current loop control module.
Described PID current loop control module is used for the target current after according to the adjustment of ABS (Anti-lock Braking System) control policy module and exports four road duty cycle signals to EMB driver element.
Described EMB driver element comprises four motor-drive circuits, the quantity of described motor-drive circuit is identical with the quantity of described electric brake, and the corresponding electric brake of each motor-drive circuit, after described four motor-drive circuits are respectively used to four road duty cycle signals of real-time reception EMB control unit output, export quadruple diversity system more respectively in real time and move the electric brake of control drive singal to its correspondence, by electric brake, braking is implemented to the wheel of its correspondence; EMB driver element is also for the actual current of motor in Real-time Collection each electric brake current simultaneously, and the PID current loop control module fed back in EMB control unit, described PID current loop control module constantly adjust according to the difference of described target current and described actual current and output duty cycle signal to EMB driver element, until described target current and described actual current reach unanimity or the difference of described target current and actual current in error allowed band till.
Described speed-slackening signal input block also comprises electronic parking switch and parking brake pull bar.Described electronic parking switch and parking brake pull bar are all for exporting speed-slackening signal to EMB control unit.
When the vehicle is stopped, chaufeur can triggerable electronic parking switch, exports speed-slackening signal in real time to EMB control unit by described electronic parking switch.
Described electromechanical braking system remains the parking brake parking braking function in conventional hydraulic brake system, and when the vehicle is stopped, chaufeur can also select operation parking brake pull bar, exports speed-slackening signal in real time to EMB control unit by described parking brake pull bar.
After described EMB control unit real-time reception to the speed-slackening signal (also can be described as park brake switch signal) of described electronic parking switch/parking brake pull bar output, according to the speed-slackening signal that described electronic parking switch/parking brake pull bar exports, in conjunction with the clutch switch signal read from car load CAN, the speed-slackening signal exported by electronic brake pedal and described in the speed of a motor vehicle that estimates judge whether to implement braking during standstill, as implemented braking during standstill, then the speed-slackening signal that described electronic parking switch/parking brake pull bar exports is converted into the maximum target electric current of motor in each electric brake and the PID current loop control module exported in EMB control unit, described PID current loop control module exports four road maximum duty cycle signals to EMB driver element according to the maximum target electric current of motor in each electric brake described.When after the four road maximum duty cycle signals that EMB driver element real-time reception exports to EMB control unit, export four tunnel parkings respectively in real time by described four motor-drive circuits in it and control the electric brake of drive singal to its correspondence, by electric brake, braking during standstill is implemented to the wheel of its correspondence.If judge not implement braking during standstill, then continue speed-slackening signal described in real-time reception, till braking during standstill is implemented in judgement.
As shown in Figure 3, in the present embodiment, described electric brake comprises motor 8, deceleration Zeng Ju mechanism, propulsive mechanism, brake disc 2 and friction lining 1,3.
Described deceleration Zeng Ju mechanism adopts the reduction gear and sun and planet gear that are connected successively.Include the multiple reducing gear engaged successively in reduction gear, wherein first order reducing gear is connected with the output shaft of motor 8, and afterbody reducing gear is reducing gear 13; Include sun wheel, planetary wheel 11 and pinion carrier 10 in sun and planet gear, described sun wheel is fixedly connected with reducing gear 13.
Described propulsive mechanism adopts ball wire rod mechanism, and described ball wire rod mechanism comprises screw mandrel 4 and nut 6.Wherein screw mandrel 4 is fixedly connected with by the rectangular spline that pinion carrier carries with the pinion carrier 10 in sun and planet gear, when its output torque is delivered to screw mandrel 4 thus drives screw mandrel 4 to rotate by motor 8, nut 6 on screw mandrel 4 moving linearly on screw mandrel 4, makes nut 6 do feed motion to the direction of friction lining.
In the present embodiment, leading screw 4 in described ball wire rod mechanism is connected by screw thread non-self-lock-ing with nut 6, namely described propulsive mechanism adopts non-self-lock-ing mechanism, its advantage is, when needing when acting on the braking clamping force on wheel and being excessive to reduce, only need reduce the output torque of motor 8, described non-self-lock-ing mechanism can at brake disc 2 and friction lining 1, automatic rollback under the effect of the antagonistic force of 3, to reduce the braking clamping force acted on wheel, when balance between described braking clamping force and antagonistic force occurs to offset, described non-self-lock-ing mechanism can automatically advance or retreat till described gripping power and antagonistic force balance, the object of the power of unloading can be reached without the need to motor 8 reversion, thus shorten the response time of electromechanical braking system, and described non-self-lock-ing mechanism there will not be locked phenomenon when advancing or retreat.
The output shaft of motor 8 is connected with reduction gear, sun and planet gear, ball wire rod mechanism successively.Motor 8 rotates and output torque, drives reduction gear to rotate, thus drives sun and planet gear to rotate, and then passes torque to the ball wire rod mechanism be fixedly connected with by the rectangular spline that it carries with the pinion carrier 10 in sun and planet gear.
Drg caliper 9 is placed on the outside of ball wire rod mechanism, for bearing the antagonistic force of braking clamping force.
In the present embodiment, described motor 8 adopts the DC brushless motor having Hall.Described have the DC brushless motor of Hall can export larger torque when rotating speed is lower, thus can be the detent torque that electric brake provides larger; It adopts electronic commutator to substitute mechanical brush to realize commutation, reliable and stable.The DC brushless motor of Hall is had also to have the advantages such as speed-regulating range width, efficiency is high, overload capacity is strong.Three ring (position rings of described DC brushless motor also can be realized by the described hall sensor signal having the Hall element in the DC brushless motor of Hall to export, speed ring, three close loop negative feedback PID control systems such as electric current loop) control, namely carry out by described Hall element the rotating speed that Hall counting can calculate described DC brushless motor, and the number of turns that described DC brushless motor rotates from reference position, thus calculate propulsive mechanism stroke, the numerical value of braking clamping force is extrapolated again according to the relation between propulsive mechanism stroke and braking clamping force, thus achieve when without when pressure sensor to the closed loop control of braking clamping force.
When vehicle starts to brake in order to reduce the braking response time, quick elimination idle travel, need motor to promote propulsive mechanism at full speed to move to friction lining direction, to eliminate the gap between brake disc and friction lining fast, producing gripping power for braking, using the above-mentioned accurate control having the speed ring of the DC brushless motor of Hall to carry out control and regulation can to realize this motor speed.
The principle of work of described electric brake is as follows: after described motor-drive circuit exports control for brake drive singal/parking control drive singal to the electric brake of its correspondence, the motor controlled in described electric brake exports corresponding moment, described moment carries out passing to propulsive mechanism after deceleration increases square through described deceleration Zeng Ju mechanism, the convert rotational motion that motor exports by described propulsive mechanism is straight-line motion and feed motion is done in direction to friction lining, eliminate the gap between brake disc and friction lining, produce the braking clamping force for braking, to realize braking/braking during standstill.
Described power supply is used for powering for EMB control unit and EMB driver element.
A kind of automobile adopting electromechanical braking system described in the present embodiment.
The working process of electromechanical braking system of the present invention is as follows:
In vehicle travel process, when needs are braked, chaufeur steps on electronic brake pedal, described electronic brake pedal exports speed-slackening signal in real time, the described EMB control unit cycle that starts gathers the speed-slackening signal that electronic brake pedal exports simultaneously, this speed-slackening signal is the analog signal of 0 ~ 5V, then the speed-slackening signal that described electronic brake pedal exports is inputed to EMB control unit in real time.The object that the described cycle gathers is the speed-slackening signal exported to catch pedal in real time, to know the braking intention of chaufeur in time.Described collection period is 10ms.
While described EMB control unit receives the speed-slackening signal that electronic brake pedal exports in real time, the beginning cycle gathers wheel speed signal that each wheel speed sensors sends, the wheel speed calculation module of speed-slackening signal through its inside that described wheel speed signal exports in conjunction with described electronic brake pedal by EMB control unit, automobile speedestimate module, road surface identification module, conventional brake control policy module, electronic braking force distribution module and ABS (Anti-lock Braking System) control policy module are converted into the target current of motor in each electric brake, then four road duty cycle signals are exported to EMB driver element by PID current loop control module according to the target current of motor in each electric brake described.Described collection period is 10ms.
When after the four road duty cycle signals that EMB driver element real-time reception exports to EMB control unit, export quadruple diversity system respectively in real time by described four motor-drive circuits in it and move the electric brake of control drive singal to its correspondence, thus corresponding moment can be exported by the motor controlled in real time in each electric brake, motor in each electric brake, deceleration Zeng Ju mechanism and propulsive mechanism cooperatively interact produce gripping power act on brake disc, with realize braking; The simultaneously actual current of motor in EMB driver element Real-time Collection each electric brake current, and the PID current loop control module fed back in EMB control unit, described PID current loop control module constantly adjust according to the difference of described target current and described actual current and output duty cycle signal to EMB driver element, until described target current and described actual current reach unanimity or the difference of described target current and actual current in error allowed band till.
In car brakeing process, when chaufeur needs to strengthen braking strength, when namely needing to export larger braking force, only need strengthen the dynamics of trampling electronic brake pedal, electronic brake pedal will produce more Large travel range, its speed-slackening signal exported also can correspondingly increase, after speed-slackening signal after described increase inputs to EMB control unit, the larger target current of motor in each electric brake is extrapolated by it, then described target current is converted into the larger duty cycle signals in four tunnels to EMB driver element, motor-drive circuit in EMB driver element exports the electric brake of control for brake drive singal to its correspondence according to described duty cycle signals, thus control the larger lock torque of each electric brake output, namely produce larger braking clamping force and act on each wheel.
When act on the braking clamping force on wheel excessive cause some or several wheel produce slippage time, EMB control unit draws wheel speed and the speed of a motor vehicle of wheel by the wheel speed calculation module of its inside and automobile speedestimate module, can judge which or several wheel create slippage in conjunction with the wheel speed of each wheel and the speed of a motor vehicle, now EMB control unit can pass through road surface identification module, electronic braking force distribution module and ABS (Anti-lock Braking System) control policy module carry out anti-slip regulation automatically, and for producing the duty cycle signals of the corresponding wheel that the wheel of slippage constantly regulates EMB control unit to export, to regulate the input voltage of the motor in the electric brake of the wheel producing slippage and then to control its moment exported, achieve the real-time adjustment of the braking clamping force to the wheel producing slippage.
In car brakeing process, when chaufeur needs to reduce braking strength, when namely needing to export less braking force, only need reduce the dynamics of trampling electronic brake pedal, electronic brake pedal will produce more thin tail sheep, its speed-slackening signal also corresponding reduction exported, after speed-slackening signal after described reduction inputs to EMB control unit, the less target current of motor in each electric brake is extrapolated by it, then described target current is converted into the less duty cycle signals in four tunnels to EMB driver element, motor-drive circuit in EMB driver element exports the electric brake of control for brake drive singal to its correspondence according to described duty cycle signals, thus control the less lock torque of each electric brake output, namely produce less braking clamping force and act on each wheel.
Because the propulsive mechanism in described electric brake adopts non-self-lock-ing mechanism, when therefore needing the braking clamping force reducing to act on each wheel, without the need to controlling the motor reversal in each electric brake, only need regulate the duty cycle signals that the electric brake of each wheel is corresponding, and then the input voltage of motor in the electric brake regulating described wheel, and the output torque reducing motor and the braking clamping force acted on friction lining, described non-self-lock-ing mechanism can automatic rollback under the effect of the antagonistic force of brake disc and friction lining, achieve the balance adjustment of braking clamping force and described antagonistic force, and then the anti-lock achieving described wheel regulates.In above-mentioned whole control process, motor is in locked rotor condition always.The brake system of this kind of structure makes each wheel can not produce deadlock phenomenon because bearing larger braking clamping force, and namely vehicle still can turn under braking mode, ensure that the stability in car brakeing direction, prevents it from producing and breaks away and sideslip.
The cycle gathering wheel speed signal due to EMB control unit is 10ms, it can the wheel speed signal of multi collect four wheels in car brakeing process, and the input voltage of the four road duty cycle signals repeatedly regulating it to export according to wheel speed signal and each motor corresponding to four electric brakes, and then the braking clamping force of the moment repeatedly regulating each motor to export and corresponding wheel, its wheel speed can be changed again after the braking clamping force of corresponding wheel is conditioned, go round and begin again, thus realize the anti-lock function of described brake system.Motor adopts PID closed-loop current control, makes the control of each motor more accurate.Gather real-time adjustment and the dynamic assignment that can realize the braking clamping force of each wheel by the cycle of wheel speed signal, described brake system also has anti-lock function simultaneously, thus the stability that when improving deceleration and stopping performance and the braking of vehicle, vehicle travels.
When the vehicle is stopped, chaufeur can triggerable electronic parking switch, described electronic parking switch exports speed-slackening signal in real time to EMB control unit, after the speed-slackening signal that described EMB control unit real-time reception exports in real time to electronic parking switch, according to described speed-slackening signal, in conjunction with the clutch switch signal read from car load CAN, the speed-slackening signal that electronic brake pedal exports in real time and vehicle speed signal judge whether to implement braking during standstill, as implemented braking during standstill, then the speed-slackening signal that electronic parking switch exports in real time is converted into the maximum target electric current of motor in each electric brake and the PID current loop control module exported in EMB control unit, described PID current loop control module exports four road maximum duty cycle signals to EMB driver element according to the maximum target electric current of motor in each electric brake described.When after the four road maximum duty cycle signals that EMB driver element real-time reception exports to EMB control unit, export four tunnel parkings respectively in real time by described four motor-drive circuits in it and control the electric brake of drive singal to its correspondence, thus the corresponding moment of output of the motor in each electric brake can be controlled in real time, motor in each electric brake, deceleration Zeng Ju mechanism and propulsive mechanism cooperatively interact and produce enough large gripping power and act on brake disc, eliminate the gap between brake disc and friction lining, thus realize braking during standstill.
Electromechanical braking system of the present invention remains the parking brake parking braking function in conventional hydraulic brake system, and when the vehicle is stopped, chaufeur can also select operation parking brake pull bar, makes described parking brake pull bar export speed-slackening signal, to realize braking during standstill.
Embodiment 2:
The difference of the present embodiment and embodiment 1 is: do not comprise electronic parking switch in speed-slackening signal input block.
Other structures in the present embodiment are all identical with embodiment 1, repeat no more here.
Embodiment 3:
The difference of the present embodiment and embodiment 1 is: do not have described ABS (Anti-lock Braking System) control policy module in EMB control unit.
Other structures in the present embodiment are all identical with embodiment 1, repeat no more here.
Be understandable that, the illustrative embodiments that above embodiment is only used to principle of the present invention is described and adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (11)
1. an electromechanical braking system, is characterized in that comprising speed-slackening signal input block, EMB control unit, EMB driver element and several electric brakes corresponding respectively with several wheels,
Described speed-slackening signal input block for generation of speed-slackening signal, and exports described speed-slackening signal to EMB control unit in real time;
Described EMB control unit is used for speed-slackening signal described in real-time reception, and the information of road surface residing for automobile exports some roads duty cycle signals to EMB driver element in real time in conjunction with described speed-slackening signal, the way of described duty cycle signals is identical with the quantity of described electric brake;
Described EMB driver element is used for some roads duty cycle signals described in real-time reception, and according to described some roads duty cycle signals Real Time Drive and control several electric brakes described respectively;
Several electric brakes described are respectively used to implement braking to the wheel of its correspondence;
Described speed-slackening signal input block comprises electronic brake pedal, described electronic brake pedal meat displacement sensor, institute's displacement sensors tramples the displacement of electronic brake pedal for catching chaufeur, and convert described displacement to displacement signal, export this displacement signal to EMB control unit in real time as speed-slackening signal simultaneously;
Described brake system also includes several wheel speed sensors corresponding respectively with several wheels, the quantity of described wheel speed sensors is identical with the quantity of described electric brake, described wheel speed sensors is for obtaining the wheel speed of the wheel corresponding to it, and send obtained wheel speed signal to EMB control unit, while described EMB control unit receives the speed-slackening signal that electronic brake pedal exports in real time, the beginning cycle gathers the wheel speed signal that each wheel speed sensors transmits, according to the wheel speed signal collected by calculating the road surface identified residing for automobile, the speed-slackening signal that information of road surface again residing for automobile exports in real time in conjunction with described electronic brake pedal carries out brakig force distribution, and form described some roads duty cycle signals according to distributing several braking forces obtained, described some roads duty cycle signals exports EMB driver element to,
Described EMB control unit comprises wheel speed calculation module, automobile speedestimate module, road surface identification module, conventional brake control policy module, electronic braking force distribution module, ABS (Anti-lock Braking System) control policy module and PID current loop control module,
When act on the braking clamping force on wheel excessive cause wherein some or several wheel produces slippage time, EMB control unit draws wheel speed and the speed of a motor vehicle of wheel by the wheel speed calculation module of its inside and automobile speedestimate module, judge which or several wheel create slippage in conjunction with the wheel speed of each wheel and the speed of a motor vehicle, now EMB control unit is by road surface identification module, electronic braking force distribution module and ABS (Anti-lock Braking System) control policy module carry out anti-slip regulation automatically, and for producing the duty cycle signals of the corresponding wheel that the wheel of slippage constantly regulates EMB control unit to export, to realize the real-time adjustment of the braking clamping force to the wheel producing slippage,
Described EMB driver element is also for after receiving described some roads duty cycle signals, the actual current of motor in each electric brake of Real-time Collection, and the PID current loop control module fed back in EMB control unit, described PID current loop control module also for the target current of motor in each electric brake and the difference of actual current are constantly adjusted and output duty cycle signal to EMB driver element, until described target current and actual current reach unanimity or the difference of described target current and actual current in the scope that error allows till.
2. system according to claim 1, is characterized in that, described EMB control unit is 10ms to the collection period that the wheel speed signal that wheel speed sensors transmits gathers.
3. system according to claim 1, is characterized in that,
Described wheel speed calculation module is used for the wheel speed calculating to draw each wheel to the wheel speed signal that the EMB control unit cycle collects, and exports the described wheel speed calculated to automobile speedestimate module;
Described automobile speedestimate module is used for the rate of angular acceleration estimating the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and each wheel according to the wheel speed calculating each wheel, and will estimate that the above-mentioned data-signal obtained exports road surface identification module to;
Described road surface identification module be used for according to described in the rate of angular acceleration of the speed of a motor vehicle of automobile, the cireular frequency of each wheel, the angular acceleration of each wheel and each wheel that estimates extrapolate the target slip ratio of each wheel and the surface friction coefficient of each wheel, identify the road surface residing for automobile according to the surface friction coefficient of each wheel again, and export the information of road surface residing for automobile to electronic braking force distribution module;
Described conventional brake control policy module is for the speed-slackening signal that receives electronic brake pedal and export in real time and extrapolate according to the speed-slackening signal of described reception the braking force that each electric brake need export, and will calculate that the braking force that each electric brake obtained exports exports electronic braking force distribution module to;
The braking force that each electric brake that the road surface signal combination conventional brake control policy module residing for automobile that described electronic braking force distribution module is used for transmitting according to road surface identification module is extrapolated exports carries out original allocation to the braking force of each electric brake, thus form described some roads duty cycle signals, then export this some roads duty cycle signals to EMB driver element.
4. system according to claim 3, is characterized in that, described electric brake includes motor;
Conventional brake control policy module extrapolates according to the speed-slackening signal that described electronic brake pedal exports in real time the braking force that each electric brake need export, and extrapolates the initial target electric current of motor in each electric brake according to described speed-slackening signal;
It is that the initial target electric current of motor in each electric brake of extrapolating conventional brake control policy module carries out original allocation that the braking force that each electric brake of road surface signal combination residing for automobile of described electronic braking force distribution module exports carries out original allocation to the braking force of each electric brake;
Described ABS (Anti-lock Braking System) control policy module is used for the target slip ratio of each wheel extrapolated by road surface identification module and the actual slip rate of each wheel compares, and in conjunction with the actual angular acceleration of each wheel, the initial target electric current of motor in each electric brake completing original allocation is adjusted, and export the target current after adjustment to PID current loop control module;
Described PID current loop control module is used for the target current after according to the adjustment of ABS (Anti-lock Braking System) control policy module and exports described some roads duty cycle signals to EMB driver element.
5. system according to claim 4, it is characterized in that, described EMB driver element comprises several motor-drive circuits, the quantity of described motor-drive circuit is identical with the quantity of described electric brake, and the corresponding electric brake of each motor-drive circuit, after several motor-drive circuits described are respectively used to some roads duty cycle signals of real-time reception EMB control unit output, export the electric brake of some roads control for brake drive singal to its correspondence in real time respectively again, by electric brake, braking is implemented to the wheel of its correspondence.
6. system according to claim 4, is characterized in that, also includes electronic parking switch and/or parking brake pull bar in described speed-slackening signal input block,
Described electronic parking switch/parking brake pull bar is for exporting speed-slackening signal to EMB control unit.
7. system according to claim 6, it is characterized in that, described EMB control unit is also for after real-time reception to the speed-slackening signal of described electronic parking switch/parking brake pull bar output, and the clutch switch signal read from car load CAN is combined according to described speed-slackening signal, the speed-slackening signal that electronic brake pedal exports and the speed of a motor vehicle estimated by automobile speedestimate module judge whether to implement braking during standstill: if judge to implement braking during standstill, then the speed-slackening signal that described electronic parking switch/parking brake pull bar exports is converted into the maximum target electric current of motor in each electric brake and exports PID current loop control module to, described PID current loop control module exports some roads maximum duty cycle signal to EMB driver element according to the maximum target electric current of motor in each electric brake described, when after several motor-drive circuits in EMB driver element respectively real-time reception to some roads maximum duty cycle signal that EMB control unit exports, several motor-drive circuits described also control the electric brake of drive singal to its correspondence for exporting the parking of some roads respectively in real time, by electric brake, braking during standstill is implemented to the wheel of its correspondence, if judge not implement braking during standstill, then continue the speed-slackening signal that described in real-time reception, electronic parking switch/parking brake pull bar exports, till braking during standstill is implemented in judgement.
8. system according to claim 7, it is characterized in that, described electric brake comprises motor, deceleration Zeng Ju mechanism, propulsive mechanism, brake disc and friction lining, after described motor-drive circuit exports control for brake drive singal to the electric brake of its correspondence, motor in described electric brake exports corresponding moment, described moment carries out passing to propulsive mechanism after deceleration increases square through deceleration Zeng Ju mechanism, the convert rotational motion that motor exports by described propulsive mechanism is straight-line motion and ahead running is made in direction to friction lining, eliminate the gap between brake disc and friction lining, produce the braking clamping force for braking, to realize braking.
9. system according to claim 7, it is characterized in that, described electric brake comprises motor, deceleration Zeng Ju mechanism, propulsive mechanism, brake disc and friction lining, after described motor-drive circuit exports parking control drive singal to the electric brake of its correspondence, motor in described electric brake exports corresponding moment, described moment carries out passing to propulsive mechanism after deceleration increases square through deceleration Zeng Ju mechanism, the convert rotational motion that motor exports by described propulsive mechanism is straight-line motion and ahead running is made in direction to friction lining, eliminate the gap between brake disc and friction lining, produce the braking clamping force for braking, to realize braking during standstill.
10. system according to claim 8 or claim 9, is characterized in that, described propulsive mechanism adopts non-self-lock-ing mechanism; Described motor adopts the DC brushless motor having Hall.
11. 1 kinds of automobiles, comprise brake system, it is characterized in that the electromechanical braking system that described brake system adopts one of claim 1-10 described.
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