CN102785654B - A kind of electric control hydraulic braking system and control method thereof - Google Patents

A kind of electric control hydraulic braking system and control method thereof Download PDF

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Publication number
CN102785654B
CN102785654B CN201210233095.2A CN201210233095A CN102785654B CN 102785654 B CN102785654 B CN 102785654B CN 201210233095 A CN201210233095 A CN 201210233095A CN 102785654 B CN102785654 B CN 102785654B
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brake
braking
pressure
low pressure
loop
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CN201210233095.2A
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CN102785654A (en
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何仁
胡东海
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江苏大学
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Abstract

The present invention discloses a kind of electric control hydraulic braking system for electronlmobil and control method thereof, has high-pressure brake loop, low pressure brake circuit and alternate brake loop; High-pressure brake loop includes the first Hydraulic Pump, high pressure accumulator, three-position three-way valve and the corresponding brake wheel cylinder that connect successively; The Near Pipelines of the output rear end of high pressure accumulator is provided with pressure sensor; Low pressure brake circuit includes the second Hydraulic Pump, low pressure accumulator, three-position three-way valve and the corresponding brake wheel cylinder that connect successively; When pressure sensor pressure is lower than predetermined value, the first Hydraulic Pump inhalant liquid force feed pumps into high pressure accumulator makes automobile brake; Second Hydraulic Pump inhalant liquid force feed pumps into low pressure accumulator makes automobile brake; Open high-pressure brake loop during the rate of braking that rate of braking can provide higher than low pressure brake circuit, enable low pressure braking mode when the rate of braking that low pressure brake circuit can provide meets required rate of braking; Safety performance is good, can maximize and reclaim braking energy.<b/>

Description

A kind of electric control hydraulic braking system and control method thereof
Technical field
The present invention relates to the brake system in automotive field, specifically for the electric control hydraulic braking system in electronlmobil.
Background technology
There is the low-response of braking force in the brake system in existing automobile, brake-power control precision is low, cannot meet the problems such as the requirement of deceleration and stopping performance in an emergency braking situation.Along with wire control technology is progressively introduced among automobile design and exploitation, electric control hydraulic braking system (EHB) is a dark horse because of its advantage.EHB system is made up of parts such as electronic brake pedal module, hydraulic control unit (HCU), electronic control units (ECU).Wheel wheel cylinder inside brake hydraulic pressure no longer drives master brake cylinder to produce by driver pedal power, but control high speed electromagnetic liquid feed valve by ECU and the high pressure oil in hydraulic accumulator pressurize in wheel cylinder realize braking, and in energy storage, high hydraulic oil is obtained by direct motor drive Hydraulic Pump.The outstanding advantages of EHB system is that the brake-pressure of each wheel cylinder of wheel can accurately regulate independently.
For mixed power electric car and pure electric automobile, Brake energy recovery technology can extend electronlmobil continual mileage by actv. under existing engineering factor, therefore mean a great, and the advantage how applying EHB system uniqueness to increase the recovery of braking energy be also a problem to be solved.Braking energy of electric automobiles reclaims and is subject to many-sided restriction, and one of them important constraint condition is exactly the SOC characteristic of storage battery.Damage the performance of storage battery and life-span when storage battery SOC value reaches higher limit to prevent, just can not open braking recovery function again to battery charge, therefore a part of braking energy cannot reclaim.Particularly for plug-in hybrid-power automobile or pure electric automobile, their evenings can use the grid-connected charging of national grid in garage parking, and time go out in the morning, accumulator of electric car SOC value is very high, are unfavorable for the recovery of automobile brake energy.
Common EHB system is only equipped with a high-pressure brake loop, and the energy storage on this loop can provide repeatedly the braking of large intensity and not need direct motor drive Hydraulic Pump to pressurize to it under maximum energy accumulating state. and this just constantly cannot consume electric energy and reach the object starting brake energy recovering system when storage battery SOC reaches higher limit.Automobile is carrying out the size needing hydraulic control braking force in Brake energy recovery process, the rate of braking making automobile total remains unchanged, the about three hectonewton rice of maximum braking moment (i.e. specified lock torque) that general car selects electrical generator to produce, when common EHB system adopts the braking of high pressure accumulator loop accurately to control, high to high-speed electromagnetic valve performance requriements.Such as, the Huang of Korea S gushes clearly applies for a patent " EHB " (its publication No. is CN 1978258A) in China, it adopts a high-pressure brake loop, high pressure accumulator on loop can not need Hydraulic Pump for carrying out the large intensity braking of several under oil condition continuously, and Hydraulic Pump only just starts to fuel feeding in oil circuit lower than during setting value at energy storage pressure.So the EHB system in this patent does not substantially need storage battery to provide electric energy in braking procedure, but when carrying out braking force and accurately controlling, also need performance-oriented high-speed electromagnetic valve.
Summary of the invention
Based on the problem existing for the above-mentioned analysis to electric control hydraulic braking system prior art and Brake energy recovery thereof, the invention provides a kind of electric control hydraulic braking system and control method thereof, when ensureing safety performance, the Brake energy recovery of mixed power electric car and pure electric automobile is maximized, simultaneously, this system also when not losing Brake energy recovery, can improve the traveling comfort of braking.
The technical scheme that a kind of electric control hydraulic braking system of the present invention adopts is: comprise the brake pedal simulator that a brake pedal formed with master brake cylinder, petrol storage tank, an electronic controller and be connected some sensors of electronic controller, this electric control hydraulic braking system has high-pressure brake loop, low pressure brake circuit, these three brake circuits of alternate brake loop; High-pressure brake loop includes the first Hydraulic Pump, high pressure accumulator, three-position three-way valve and the corresponding brake wheel cylinder that connect successively; The Near Pipelines of the output rear end of high pressure accumulator is provided with the first pressure sensor; Low pressure brake circuit includes the second Hydraulic Pump, low pressure accumulator, three-position three-way valve and the corresponding brake wheel cylinder that connect successively; Alternate brake loop includes the master brake cylinder, disconnecting valve, piston and the corresponding brake wheel cylinder that connect successively; Two described Hydraulic Pumps are all connected with electrical motor and two described Hydraulic Pumps are connected petrol storage tank respectively.
The pipeline of three-position three-way valve input front end connects described petrol storage tank by the first by pass valve; The Near Pipelines of the output rear end of low pressure accumulator is provided with the second pressure sensor, and the pipeline of three-position three-way valve input front end connects described petrol storage tank by the second by pass valve; The 3rd pressure sensor is provided with between master brake cylinder and described disconnecting valve.
The control method of above-mentioned electric control hydraulic braking system is:
In high-pressure brake loop, when the first pressure sensor pressure is lower than predetermined value, control direct motor drive first Hydraulic Pump by electronic controller and pump into high pressure accumulator from petrol storage tank inhalant liquid force feed, hydraulic oil enters in each wheel wheel cylinder and makes automobile brake after being in the three-position three-way valve of high voltage conduction position;
In low pressure brake circuit, control direct motor drive second Hydraulic Pump by electronic controller and pump into low pressure accumulator from petrol storage tank inhalant liquid force feed, hydraulic oil enters in each wheel wheel cylinder and makes automobile brake after being in the three-position three-way valve of low pressure conducting position.
When the rate of braking that rate of braking can provide higher than low pressure brake circuit, open high-pressure brake loop, enter normal brake mode; When the rate of braking that low pressure brake circuit can provide meets required rate of braking, enable low pressure braking mode.
Be compared with the prior art, the technique effect that the present invention has after adopting technique scheme is: electric control hydraulic braking system of the present invention is except being equipped with a high pressure accumulator, a low pressure accumulator is also housed, forms three brake circuits and high-pressure brake loop, low pressure brake circuit, alternate brake loop.High pressure accumulator in high-pressure brake loop can ensure under Hydraulic Pump no longer supplies oil condition, carries out repeatedly the braking of large intensity continuously; And rely on Hydraulic Pump to provide by hydraulic pressure major part in low pressure brake circuit in parallel, ensure that still can provide certain rate of braking in the situation of high-pressure brake partial failure, and creating condition for opening brake energy recovering system, adopting double loop braking energy to significantly improve braking safety; In addition, arranging of low tension loop can also when not reducing regenerative braking moment, and the lock torque making automobile total maintains steady state value, and the recovery that this not only adds regenerating braking energy also improves the traveling comfort of braking.Alternate brake loop is also manual braking loop good reliability, also can provide certain brake efficiency; The cooperation of three brake circuits, safety performance is good, contributes to saving energy, and maximizes and reclaims braking energy, increases electronlmobil continual mileage.
Accompanying drawing explanation
Fig. 1 is the hydraulic loop structure connection diagram of electric control hydraulic braking system of the present invention;
1-brake pedal, 2-master brake cylinder, 3-petrol storage tank, 4-stroke sensor, 5-low pressure brake circuit, 6-electrical motor, 7,8-Hydraulic Pump, 9-high pressure accumulator, 10-low pressure accumulator, 11,36-by pass valve, 12-alternate brake loop, 13,15,17,19-reducing valve, 14,16,18,20-three-position three-way valve, 21-high-pressure brake loop, 22,23-balance cock, 24,25-piston, 26,27-disconnecting valve, 28,29,30,31,32,33,34-pressure sensor, 35-wheel speed sensors;
Fig. 2 is the characteristic map of electronlmobil vehicle electric machine, and the abscissa in figure is rotating speed, and ordinate is moment and power.
Detailed description of the invention
Work and the mode of electric control hydraulic braking system of the present invention is specifically described below in conjunction with accompanying drawing.
Electric control hydraulic braking system (being called for short " EHB system ") as shown in Figure 1, it comprises the hydraulic control unit (HCU) that the brake pedal simulator, a petrol storage tank 3, two Hydraulic Pumps 7,8, electrical motor, 6, high pressure accumulator, 9, low pressure accumulator 10 and the some electromagnetic valves that are formed by a brake pedal 1 and master brake cylinder 2 are formed, and also comprises the electronic control unit (ECU) be made up of electronic controller, some sensors and bus.Brake pedal 1 place arranges stroke sensor 4.Petrol storage tank 3 connects two Hydraulic Pumps 7,8 respectively, and two Hydraulic Pumps 7,8 are all connected with electrical motor 6, and electronic controller connects electrical motor 6, some sensors and some electromagnetic valves etc. respectively.This electric control hydraulic braking System's composition three brake circuits, i.e. high-pressure brake loop 21, low pressure brake circuit 5, alternate brake loop 12.
The Hydraulic Pump 7, high pressure accumulator 9, three-position three-way valve and the corresponding brake wheel cylinder that connect successively is included in high-pressure brake loop 21.Arrange pressure sensor 28 at the Near Pipelines of the output rear end of high pressure accumulator 9, the pipeline of three-position three-way valve input front end connects petrol storage tank 3 by by pass valve 36.
Three-position three-way valve 14,16,18,20 is wherein a kind of electromagnetism liquid feed valves, for controlling the selection of brake circuit, such as, when requiring conducting low pressure brake circuit 5, three-position three-way valve 14,16,18,20 is in left position, and during relative requirement conducting high-pressure brake loop 21, three-position three-way valve 14,16,18,20 is just in right position.
At four wheel wheel cylinder places, pressure sensor 30,31,32,33 is set respectively.Be provided with reducing valve 13,15,17,19 between each wheel wheel cylinder and petrol storage tank 3, between left and right wheel wheel cylinder, be provided with balance cock 22,23.
The Hydraulic Pump 8, low pressure accumulator 10, three-position three-way valve and the corresponding brake wheel cylinder that connect successively is included in low pressure brake circuit 5.Arrange pressure sensor 29 at the Near Pipelines of the output rear end of low pressure accumulator 10, the pipeline of three-position three-way valve input front end connects petrol storage tank 3 by by pass valve 11.
Alternate brake loop 12 includes the master brake cylinder 2, disconnecting valve, piston and the corresponding brake wheel cylinder that connect successively, master brake cylinder 2, disconnecting valve 26, piston 24 and corresponding brake wheel cylinder connect successively, and master brake cylinder 2, disconnecting valve 27, piston 25 and corresponding brake wheel cylinder connect successively.Pressure sensor 34 is set between master brake cylinder 2 and disconnecting valve.Disconnecting valve 26,27 is used for blocking when chaufeur steps on brake pedal 1, and the hydraulic pressure that the brake fluid pressure of master brake cylinder 2 and EHB system produce influences each other.
High pressure accumulator 9 energy reserve in high-pressure brake loop 21 of the present invention is comparatively large, and high pressure accumulator 9 can ensure under Hydraulic Pump 7 no longer supplies oil condition, can carry out repeatedly the braking of large intensity; Then need electrical motor 6 to drive Hydraulic Pump 8 to continue to provide braking liquid when being braked by low pressure brake circuit 5 in parallel, this just needs storage battery constantly to power to electrical motor 8, consumes the energy of storage battery.When storage battery SOC reaches near higher limit, common brake system can not restart brake energy recovering system.Electric control hydraulic braking system of the present invention is provided by low pressure brake system due to the energy of friction braking, can the energy of continuous battery consumption, now can start regenerating braking energy regenerative apparatus and carry out regenerative brake to battery charge; Namely, when the braking energy reclaimed when regeneration brake system is equal to or less than the energy of driving motor 6 battery consumption, the SOC value of storage battery maintains suitable value.Because the braking energy source of friction braking is from storage battery, belong to the consumption of energy, and regenerating braking energy is filled with in storage battery the recovery belonging to energy, shifting, so electric control hydraulic braking system of the present invention contributes to saving energy, increase electronlmobil continual mileage.The concrete control method of electric control hydraulic braking system of the present invention is as follows:
As shown in Figure 1, when automobile needs to slow down, chaufeur steps on brake pedal 1, and the generation brake-pressure of master brake cylinder 2 is gathered by brake-pressure sensor, and brake-pedal-travel sensor 4 gathers the stroke of brake pedal 1 and the acceleration/accel of brake pedal 1.The information collected is imported in electronic control unit by each sensor, brake pedal simulator is by chaufeur braking force size, the stroke of acceleration/accel and brake pedal 1 also inputs in electronic control unit, and electronic control unit judges whether to enter emergency brake modes according to the brake pedal acceleration/accel of input and the size information of braking force; Simultaneously according to brake-pedal travel---the brake-pressure curve being built in electronic control unit, calculate the rate of braking that chaufeur needs.
Judge to open which brake circuit according to the rate of braking that electronic control unit calculates.When the rate of braking that rate of braking can provide higher than low pressure brake circuit 5, open high-pressure brake loop 21, enter normal brake mode.When the rate of braking that low pressure brake circuit 5 can provide meets the rate of braking required for chaufeur, enable low pressure braking mode.
High tension loop braking mode: high pressure accumulator 9 top pressure in high-pressure brake loop 21 should be set to very large, can ensure under Hydraulic Pump 7 no longer supplies oil condition, carries out repeatedly the braking of large intensity continuously.In high-pressure brake loop 21, when pressure sensor 28 pressure is lower than predetermined value, control electrical motor 6 by electronic controller and drive Hydraulic Pump 7, pump into high-pressure brake loop 21 from petrol storage tank 3 inhalant liquid force feed, now, four three-position three-way valves 14,16,18,20 corresponding with four wheel wheel cylinders are all in high voltage conduction position, and the highly pressurised liquid of high pressure accumulator 9 just enters in each wheel wheel cylinder respectively and makes automobile brake after four three-position three-way valves.
For high-pressure brake loop 21, its main task ensures braking safety, can provide and repeatedly brake when requiring that it once pressurizes.For plug-in hybrid-power automobile or pure electric automobile, when being parked in garage at night, when utilizing national grid to battery charge, Hydraulic Pump 7 should from trend high-pressure brake loop 21 pump oil, now control electrical motor 6 to open and drive that Hydraulic Pump 7 is disposable is filled it up with by high pressure accumulator 9 energy in high tension loop 21, make high pressure accumulator 9 reach maximum energy accumulating state, the advantage that can make full use of national grid cost of electricity-generating low too increases continual mileage.The by pass valve 36 be connected with petrol storage tank 3 can prevent the oil pressure in high-pressure brake loop 21 from exceeding setting value.
In the process of running car, only power to electrical motor 6 lower than just needing Vehicular accumulator cell during setting value at the pressure of high pressure accumulator 9, electrical motor 6 drives Hydraulic Pump 7 to pressurize to high pressure accumulator 9.
Low tension loop braking mode: in low pressure brake circuit 5, hydraulic pressure major part relies on Hydraulic Pump 8 to provide, ensures that situation about losing efficacy in high-pressure brake loop 21 still can provide certain rate of braking.The top pressure of the low pressure accumulator 10 on low pressure brake circuit 5 is lower, enables this low pressure brake circuit 5 brake when three-position three-way valve 14,16,18,20 is in left low pressure conducting position, position.During braking, control electrical motor 6 by electronic controller and drive Hydraulic Pump 8 to pump into low pressure accumulator 10 from petrol storage tank 3 inhalant liquid force feed, just enter in each wheel wheel cylinder after four three-position three-way valves 14,16,18,20 respectively and make automobile brake.The Hydraulic Pump 8 driven by electrical motor 6 needs continuously to low pressure brake circuit 5 fuel feeding, so just the energy of continuous battery consumption, and the existing energy of storage battery is set to , enable brake energy recovering system to reclaim braking energy simultaneously , when time just can realize storage battery discharge and recharge balance, the situation particularly when the SOC value of storage battery is near higher limit.
The lock torque that on low pressure brake circuit 5, the top pressure of low pressure accumulator 10 provides is not more than the difference of electrical motor 6 torque rating torque corresponding to maximum speed.And the parameter of Hydraulic Pump 8 is selected with this, require that the lock torque that the hydraulic oil pressure provided is converted to also is no more than this scope.
On low pressure brake circuit 5, the top pressure of low pressure accumulator 10 is selected less, needs Hydraulic Pump 8 frequently to pressurize when braking, and Hydraulic Pump 8 drives by electrical motor 6.The object done like this is when storage battery SOC reaches near higher limit, can remain in chargeable scope by the energy of continuous battery consumption by the SOC value of storage battery, and this just provides condition for opening regenerative brake.When the Hydraulic Pump energy (direct motor drive) that electric control hydraulic braking (i.e. friction braking) consumes is more than or equal to regenerating braking energy, the SOC value of storage battery maintains in chargeable interval all the time, Here it is near storage battery SOC higher limit, opens the method for Brake energy recovery.Because drive hydraulic pressure pump motor by storage battery supply energy, fewer hydraulic braking is utilized also just to mean the consumption of saving storage battery energy, as long as brake energy recovering system is in mode of operation and just can reclaims braking energy from braking procedure simultaneously.
Back-up circuit braking mode: when EHB system jam adopts alternate brake loop 12, the hydraulic pressure of master brake cylinder 2 can be made to enter in wheel wheel cylinder and brake.Alternate brake loop 12 is also manual braking loop, and good reliability, also can provide certain brake efficiency.Therefore this Braking system safety performance is high.
Maximize control policy according to Brake energy recovery, in braking procedure, brake energy recovering system should be a direct-open, so in invariable power section along with the lock torque that the reduction electrical generator of rotor speed provides is constantly change.By the accurate control to low pressure brake circuit 5, the lock torque sum that low pressure brake circuit 5 and brake energy recovering system can be made to provide is stabilized in a definite value.Because low tension loop brake-pressure is lower, accurate control can be met, not need performance-oriented high-speed electromagnetic valve.
In the process of moving, electronic control unit collects the various information of vehicle condition by CAN, comprises automobile momentary velocity , ground attaching coefficient , the SOC state of storage battery, rotor rotating speed deng.Calculate the distribution of electric control hydraulic braking system and brake energy recovering system braking force according to the information collected when electronic control unit collects the braking instruction of chaufeur.
When rate of braking is z:
Ground is in the face of front axle normal reaction ,
Ground is in the face of rear axle normal reaction ,
Wherein, for automobile gravity, a is the distance of automobile barycenter to front axle center line, and b is the distance of automobile barycenter to rear shaft center's line, for vehicle wheel base, for automobile height of center of mass;
Ground braking force required during braking = ; Wherein for front axle ground braking force, for rear axle ground braking force;
Braking needs the total braking force square provided , for vehicle wheel roll radius.
Be the characteristic feature of motor of electric motor car as shown in Figure 2, during chaufeur braking, motor speed is , now adopt regenerative brake, the regenerative braking moment that brake energy recovering system can provide is .
When brake energy recovering system works, reduce at the rotating speed of invariable power section generator amature, and the lock torque that motor exports constantly increases, automobile does not change in order to the lock torque keeping constant deceleration/decel and just must control motor, and the generated output that electrical generator produces when lock torque is by controlling to diminish diminishes too.The lock torque that low pressure brake circuit 5 in the present invention provides brake fluid pressure to make automobile total maintains steady state value.
When time, the moment that regenerative brake provides is greater than the lock torque of chaufeur needs, and axle drive shaft adopts the drg of regenerative brake and driven shaft not perform braking.At this moment the moment in order to make regenerative brake provide equals the total braking force square that chaufeur needs, and just must be reduced the regenerative braking moment that electrical generator provides by the mode reducing rotor field intensity.
When be less than and when being less than threshold values, the lock torque namely required for chaufeur is greater than regenerative brake can be provided lock torque and be less than the threshold values entering emergency brake modes, and wherein threshold values equals rate of braking time lock torque required for automobile emergency brake (wherein value determine according to the supply capability of Hydraulic Pump 8).By the mode of piecewise fitting, the lock torque that the low pressure brake circuit 5 in the present invention is provided and regenerative braking moment sum is stabilized in certain value.As shown in Fig. 2, by regenerative braking moment transformation period is divided into limited section, and time length is .Rotating speed from arrive in this section , rotor tachogen accurately controls low tension loop lock torque as feedback.
When when being greater than threshold values, enter high tension loop braking mode.

Claims (5)

1. an electric control hydraulic braking system, comprise the brake pedal simulator that a brake pedal (1) formed with master brake cylinder (2), petrol storage tank (3), an electronic controller and be connected some sensors of electronic controller, it is characterized in that: this electric control hydraulic braking system has high-pressure brake loop (21), low pressure brake circuit (5), alternate brake loop (12) these three brake circuits; High-pressure brake loop (21) includes the first Hydraulic Pump (7), high pressure accumulator (9), three-position three-way valve and the corresponding brake wheel cylinder that connect successively; The Near Pipelines of the output rear end of high pressure accumulator (9) is provided with the first pressure sensor (28); Low pressure brake circuit (5) includes the second Hydraulic Pump (8), low pressure accumulator (10), described three-position three-way valve and the corresponding brake wheel cylinder that connect successively; Alternate brake loop (12) includes the master brake cylinder (2), disconnecting valve, piston and the corresponding brake wheel cylinder that connect successively; Two described Hydraulic Pumps (7,8) are all connected with electrical motor (6) and two described Hydraulic Pumps (7,8) are connected petrol storage tank (3) respectively; The pipeline of the three-position three-way valve input front end in high-pressure brake loop (21) connects described petrol storage tank (3) by the first by pass valve (36); The Near Pipelines of the output rear end of low pressure accumulator (10) is provided with the second pressure sensor (29), and the pipeline of the three-position three-way valve input front end in low pressure brake circuit (5) connects described petrol storage tank (3) by the second by pass valve (11); The 3rd pressure sensor (34) is provided with between master brake cylinder (2) and described disconnecting valve.
2. a kind of electric control hydraulic braking system according to claim 1, is characterized in that: be equipped with reducing valve between each wheel wheel cylinder and petrol storage tank (3), is equipped with balance cock between left and right wheel wheel cylinder.
3. a control method for electric control hydraulic braking system as claimed in claim 1, is characterized in that:
In high-pressure brake loop (21), when the first pressure sensor (28) pressure is lower than predetermined value, controlling electrical motor (6) by electronic controller drives the first Hydraulic Pump (7) to pump into high pressure accumulator (9) from petrol storage tank (3) inhalant liquid force feed, and hydraulic oil enters in each wheel wheel cylinder and makes automobile brake after being in the three-position three-way valve of high voltage conduction position;
In low pressure brake circuit (5), controlling electrical motor (6) by electronic controller drives the second Hydraulic Pump (8) to pump into low pressure accumulator (10) from petrol storage tank (3) inhalant liquid force feed, and hydraulic oil enters in each wheel wheel cylinder and makes automobile brake after being in the three-position three-way valve of low pressure conducting position;
when electronic control unit collects braking instruction, calculate the distribution of electric control hydraulic braking system and brake energy recovering system braking force according to the information collected, low pressure brake circuit (5) provides brake fluid pressure to make total lock torque maintain steady state value;
in the process of running car, when the pressure of high pressure accumulator (9) is lower than setting value, Vehicular accumulator cell is powered to electrical motor (6); When the state of charge of storage battery reaches near higher limit, drive the second Hydraulic Pump (8) continuously to low pressure brake circuit (5) fuel feeding by electrical motor (6), start brake energy recovering system and carry out regenerative brake to battery charge.
4. control method according to claim 3, is characterized in that: when the rate of braking that rate of braking can provide higher than low pressure brake circuit (5), opens high-pressure brake loop (21), enters normal brake mode; When the rate of braking that low pressure brake circuit (5) can provide meets required rate of braking, enable low pressure braking mode.
5. control method according to claim 3, is characterized in that: the lock torque that the top pressure of low pressure accumulator (10) provides is not more than the difference of electrical motor (6) torque rating torque corresponding to maximum speed.
CN201210233095.2A 2012-07-06 2012-07-06 A kind of electric control hydraulic braking system and control method thereof CN102785654B (en)

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CN103318158B (en) * 2013-07-01 2017-02-22 吉林大学 Integrated electronic hydraulic brake system of automobile
CN103770769B (en) * 2014-02-13 2016-04-27 济宁朝阳商用机器有限公司 Brake system and the vehicle with this brake system of vehicle
CN104309595B (en) * 2014-09-28 2017-03-15 浙江万向精工有限公司 Hydraulic brake unit
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