CN102725185B - 适用于距离控制系统的用于制动系统的电子控制装置 - Google Patents
适用于距离控制系统的用于制动系统的电子控制装置 Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60T8/48—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 connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
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- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
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- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/20—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs with control of pump driving means
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Abstract
本发明涉及一种电子控制装置，包括压力控制器，借助于该压力控制器通过电子致动系统利用电流来致动用于压力调节的电磁阀。还根据压力要求致动一压力形成组件（1，1′），该压力形成组件在组件的出口处产生振幅周期性波动的体流。在主动的压力形成期间至少在实施用于稳定行驶的非安全临界干预的控制中，如果由组件形成的压力高于待设定的压力，则轮制动回路隔离阀（2，2′）以计量方式从关联的轮制动回路将部分输送体排出到相邻体中。周期性地调制用于致动隔离阀（2，2′）的线圈电流，其中调制周期对应于由组件引起的体波动或压力波动的主周期。如果控制装置必须执行用于稳定行驶的安全临界干预，则在安全临界控制包括防抱死控制和行驶动力学控制的条件下，至少中断隔离阀（2，2′）的周期性致动。
Description
技术领域
本发明涉及一种适用于距离控制系统的用于制动系统的电子控制装置。
背景技术
由DE 10 2007 032 949得知一种电子制动压力调节组件，其具有可模拟控制的座阀(所谓的A/D阀)。根据电磁阀的结构形式，阀电流被引导通过一电磁线圈以用于打开和关闭该阀，所述电磁线圈磁操作设定液压体流的所谓阀柱塞。这些阀越来越多地被用作轮压力调节装置内的进入阀或隔离阀。为了主动形成压力(无需驾驶者的制动操作而独立形成压力)，所述制动压力调节组件包括一压力形成组件，该压力形成组件由一电动机驱动。该压力形成组件的机械结构对应于偏心活塞泵的机械结构。这种泵可以包括两个或者更多活塞。特别在调节小的轮制动压力时已被证实，特别在具有少量活塞的泵中会在该泵的出口处出现被输送压力体的波动，这种波动会使通过电子阀调节装置进行足够精确的压力调整变得困难。这在距离控制系统(ACC：自适应巡航控制)中特别具有干扰性，因为即使相对较小的压力波动也会被驾驶者感知。
发明内容
因此本发明的目的在于提供一种包括一种方法的电子控制装置，利用该方法可以使由泵产生的体流变得平稳并且在此不妨碍不需要平滑到这种程度的体流的其它调节功能的可靠性。
根据本发明，该目的通过如下所述的电子控制装置得以实现。
根据本发明的电子控制装置包括一控制器，该控制器在机动车制动系统中执行压力调节，借助于该控制器致动可通过电子致动系统加载电流的电磁阀以用于压力调节。所述电磁阀包括至少一个轮制动回路隔离阀、至少一个轮制动压力进入阀和至少一个轮制动压力排出阀。根据压力要求致动(主动形成压力)一压力形成组件(例如泵)，该压力形成组件以周期性波动的振幅在组件的出口处产生非常精确计量的体流，例如就像距离控制的情况下一样。相应的控制被称作实施用于行驶稳定性调节的非安全临界干预的控制。该轮制动回路隔离阀在此这样实现用于关联的轮制动回路的压力限制功能，即制动回路中多余的体由调节模式下的阀经过计量排出到相邻体中。因此通过泵性能结合隔离阀处的体流出量来确定制动回路中的压力。
根据本发明，一方面周期性调制用于致动隔离阀的线圈电流，其中调制的周期对应于由组件引起的体波动或压力波动的主周期。由泵产生的输送体波动可以通过该措施大大减少甚至接近完全抑制，而不必在泵出口区域存在例如级联挡板(导流板)这样的机械装置。另一方面还要监控是否必须实施表示用于稳定行驶的安全临界干预的控制，例如防抱死控制(防抱死制动系统，ABS)或行驶动力学控制(ESP，ESC)。如果是这种情况，则至少不再周期性致动用于平滑泵流量的电磁阀。前述调节的列表优选也包括主要对行驶稳定性有影响的其它控制功能。
优选通过在压力形成组件或在关联的电动机上设置的位置识别装置确定所述调制的周期。根据第一优选实施方式，该位置识别装置优选为位移传感器或角度传感器，所述传感器连接到压力形成组件的可动部分。优选根据泵的偏心或活塞的位置或者连接到所述泵的电机电枢的相位位置(角位置)利用一曲线执行隔离阀电流的适当调制，所述曲线的形状必须根据期望的修正量和依据电路技术的可能性进行适当选择。所述曲线的走向和其对消除体流波动的影响在此可以容易地通过实验确定。有效的是，理论上曲线的最佳进程被简化，以便以相对简单的方式电气地实施。因此该用于电流调制的曲线优选是矩形、三角形或正弦曲线。压力形成组件或致动该组件的电机的角位置例如可以根据在DE 10 2008 018 818中描述的方法得到。
根据另一优选实施方式，位置识别装置是一确定无刷触发电动机的转子位置的装置。在具有一位置传感器的无刷触发电动机的情况下，例如可以使用传感器信号或用于电机的电子装置来识别所述转子位置。在没有位置传感器的无刷电动机的情况下，例如可以由电机致动电子装置的信号来获取所述电动机的转子位置。
作为位置识别装置的替代，根据同样优选的一种实施方式，压力调制的周期并不是通过所述组件或电机上的位置识别装置得出的，而是由用于隔离阀电流的电子致动系统、也就是直接通过压力进程得出或者通过分析另一取决于压力的信号(例如压力传感器)得出。用于监视波动的流体阀的致动磁场区域中的磁通量允许关于泵波动的推断，因为该泵波动通过流体连接管路作用于所述阀的柱塞。优选通过感应信号借助流体阀磁路中的电流环路来确定所引起的磁通变化。用于确定所述压力的流体阀液压连接到特别是所述泵的输出侧。所述感应信号的分析允许推断压力波动的周期，因为感应信号的周期基本上与压力波动的周期一致。
除了上述措施，还可以通过一控制器以另外适合于优化控制的方式有利地设定或调节泵性能。如在DE 10 2008 818中所述，为此特别优选在电机运行期间以合适的方法调制电机电流。
前面已经进一步说明，在由于在用于测量压力的电磁阀处的周期性或非周期性压力变化(压差变化)而引起柱塞运动时，磁场，更确切地说是磁通量，在阀线圈的区域内发生变化。根据第一优选实施方式，这种变化可以利用线圈磁场的区域中的电流环路或直接通过所述致动线圈确定。在所谓TPM方法中，优选由电子致动系统通过控制将阀柱塞的位置或柱塞力设定到特定目标值。在此，特别是在阀线圈的区域中获取的电流环路的感应信号用作实际值。当柱塞处于磁力(减去或加上弹簧力)和液压力之间的力平衡中或接近该力平衡时，可以特别敏感地分析柱塞反应。如果所述力相互远离，则柱塞不能或不能足够敏感地对压力变化做出反应。现在可以这样，即柱塞仅最低限度地对阀上的压力变化做出反应，而柱塞位置不会发生显著变化。但是根据一优选实施方式，TPM电子控制系统可以在预定柱塞位置不变的范围内调节阀流。在这种情况下，仅阀上的力条件发生变化(由于较高压差而设定更大的阀流)。在这种情况下，压力脉冲仅可以通过在所述控制中处理的调节值或通过实际值变化来确定。因此根据另一优选实施方式，通过在TPM控制内调节值或实际值的变化来确定磁通变化。
此外，本发明还涉及上述控制装置与距离控制(ACC)相结合的应用。该控制装置包括其它控制功能，例如至少一个防抱死制动系统和电子稳定程序(ESP)或需要时包括其它控制，例如牵引力控制系统(ASR，TCS)等。
附图说明
其它优选实施方式由借助附图对实施例的下列描述得出。
附图中：
图1示出用于ABS、TCS、ACC和ESP控制的制动装置的示意图，
图2示出说明隔离阀电流调制的影响的压力进程和阀流进程。
具体实施方式
图1中，串联主缸5连接到电子机动车制动系统的液压单元6(HCU)。电子单元7(ECU)包括一微处理器/微控制器系统，利用该系统可以电气地控制或测量包括在阀组中的致动器和传感器。液压单元6被划分为两个制动回路I和II。此外每个制动回路分别包括两个轮压力回路(A、B或C、D)，每个轮压力回路分别具有一个进入阀3或3′和一个排出阀4或4′。ECU 7的电子系统包括一多通道电流控制器，该电流控制器允许通过隔离阀2、2′和进入阀3、3′的线圈进行独立的电流调节。附图标记8或8′表示在无电流状态下关闭的电子切换阀。入口压力传感器9位于通向主缸5的液压管路中。所示出的制动系统不包括轮压力回路自身中的其它压力传感器。电机-泵组件1或1′用于在ACC、TCS和ESP控制中主动形成压力以及用于返回在排出阀排出的且位于低压储存器16或16′中的压力介质。如果开动泵1，则该泵1会在管路13的方向上输送压力体，从而系统压力升高。由于泵的双缸结构，输送体(液压流体)流在泵的出口处在取决于液压元件结构的压力范围内脉动。
在距离控制(ACC)期间，根据期望的输送性能和待设定的压力，利用预定的PWM电流致动泵1。隔离阀2在过流模式中作为A/D阀运行，从而可以控制用于整个回路的相应隔离阀的轮制动回路中的压力。在此，阀柱塞由集成在ECU 7中的电子控制电路保持在合适的中间位置。
图2的子图a)中的示图示出了没有根据本发明的阀电流调制的压力进程和阀电流进程。曲线20示出的是轮压力的时间曲线。对隔离阀2进行加载的调制电流由曲线21示出。
图2的子图b)示出了隔离阀调制期间的压力进程和电流进程。曲线21′显示的是隔离阀电流的曲线进程。曲线20′示出具有隔离阀调制的轮压力的时间曲线。与子图a)中的压力曲线20相比，压力波动显著减小。
如果在ACC控制期间由更高位阶的监控装置引入ABS或ESP控制，则隔离阀的周期性致动被中断，直至再次仅存在进行ACC控制的要求。
Claims (7)
1.一种电子控制装置，包括一控制器，该控制器在机动车制动系统中执行压力调节，借助于该控制器通过电子致动系统利用电流来致动用于压力调节的电磁阀，其中所述阀包括至少一个轮制动回路隔离阀、至少一个轮制动压力进入阀和至少一个轮制动压力排出阀，在该电子控制装置中，还根据压力要求致动一压力形成组件，该压力形成组件在组件的出口处产生振幅周期性波动的体流，其中在主动的压力形成期间至少在实施用于稳定行驶的非安全临界干预的控制中，如果由所述组件形成的压力高于待设定的压力，则所述轮制动回路隔离阀以计量方式从关联的轮制动回路将部分输送体排出到相邻体中，其中，周期性地调制用于致动所述隔离阀的线圈电流，调制的周期对应于由所述组件引起的体波动或压力波动的主周期，并且考虑所述压力形成组件的位置识别装置的信号，由该信号确定所述调制的周期，
其特征在于，
如果所述电子控制装置必须执行用于稳定行驶的安全临界干预，则至少中断所述隔离阀的周期性致动，其中所述安全临界干预包括防抱死控制和行驶动力学控制，并且表示用于稳定行驶的非安全临界干预的控制是距离控制。
2.根据权利要求1所述的电子控制装置，其特征在于，所述压力调制的周期从用于隔离阀电流的所述电子致动系统得出。
3.根据权利要求1所述的电子控制装置，其特征在于，进行所述隔离阀的柱塞位置的电子分析并通过所述隔离阀的磁路中的电流环路的感应信号来确定磁通量的变化，并且分析所述感应信号的信号振动以确定运动频率。
4.根据权利要求1至3中任一项所述的电子控制装置，其特征在于，所述隔离阀的致动电流借助一电流控制器进行调节。
5.根据权利要求1至3中任一项所述的电子控制装置，其特征在于，致动所述压力形成组件的电动机的电机电流在电机运行期间以合适的方式进行调制。
6.根据权利要求1至3中任一项所述的电子控制装置，其特征在于，所述压力形成组件是一偏心泵。
7.根据权利要求6所述的电子控制装置，其特征在于，所述压力形成组件是双活塞型的偏心泵。
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| PCT/EP2010/051029 WO2011091849A1 (de) | 2010-01-28 | 2010-01-28 | Elektronisches steuergerät für ein bremssystem, geeignet für ein abstandsregelungssystem |
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| EP (1) | EP2528789B1 (zh) |
| JP (1) | JP2013517979A (zh) |
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| CN103318158B (zh) * | 2013-07-01 | 2017-02-22 | 吉林大学 | 汽车集成式电子液压制动系统 |
| JP6069149B2 (ja) * | 2013-09-19 | 2017-02-01 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
| DE102014209414A1 (de) * | 2014-05-19 | 2015-11-19 | Robert Bosch Gmbh | Schlupfregelbare Fahrzeugbremsanlage |
| JP6481641B2 (ja) * | 2015-09-28 | 2019-03-13 | 株式会社アドヴィックス | 車両の液圧制御装置 |
| DE102017113563A1 (de) * | 2017-06-20 | 2018-12-20 | Ipgate Ag | Bremssystem |
| KR102390259B1 (ko) * | 2017-10-27 | 2022-04-25 | 현대모비스 주식회사 | 브레이크 시스템의 솔레노이드 밸브 전류 제어 장치 및 방법 |
| CN109552295B (zh) * | 2017-09-25 | 2021-05-04 | 现代摩比斯株式会社 | 用于控制制动系统的电磁阀电流的设备和方法 |
| KR102372398B1 (ko) * | 2017-09-25 | 2022-03-08 | 현대모비스 주식회사 | 브레이크 시스템의 솔레노이드 밸브 전류 제어 장치 및 방법 |
| DE102018207207A1 (de) * | 2018-05-09 | 2019-11-14 | Robert Bosch Gmbh | Verfahren zum Steuern einer Fahrdynamikregelungsvorrichtung und Fahrdynamikregelungsvorrichtung |
| DE102018208594A1 (de) * | 2018-05-30 | 2019-12-05 | Robert Bosch Gmbh | Verfahren zur Steuerung eines hydraulischen Bremssystems |
| DE102018208590A1 (de) * | 2018-05-30 | 2019-12-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Steuerung eines hydraulischen Bremssystems |
| DE102018208580A1 (de) * | 2018-05-30 | 2019-12-05 | Robert Bosch Gmbh | Verfahren zur Steuerung eines hydraulischen Bremssystems |
| DE102018009370A1 (de) * | 2018-11-29 | 2020-06-04 | Zf Active Safety Gmbh | Elektrohydraulische Fahrzeug-Bremsanlage mit redundanter Hydraulikdruckerzeugung und Verfahren zum Betreiben der Bremsanlage |
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| Publication number | Publication date |
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| CN102725185A (zh) | 2012-10-10 |
| WO2011091849A1 (de) | 2011-08-04 |
| KR101450420B1 (ko) | 2014-10-13 |
| US20130026818A1 (en) | 2013-01-31 |
| JP2013517979A (ja) | 2013-05-20 |
| EP2528789A1 (de) | 2012-12-05 |
| KR20120117908A (ko) | 2012-10-24 |
| EP2528789B1 (de) | 2016-07-13 |
| US9205819B2 (en) | 2015-12-08 |
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