CN102848926B - Anti-lock control method for vehicle braked by eddy current retarder and main brake together - Google Patents
Anti-lock control method for vehicle braked by eddy current retarder and main brake together Download PDFInfo
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- CN102848926B CN102848926B CN201210381785.2A CN201210381785A CN102848926B CN 102848926 B CN102848926 B CN 102848926B CN 201210381785 A CN201210381785 A CN 201210381785A CN 102848926 B CN102848926 B CN 102848926B
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Abstract
The invention discloses an anti-lock control method for a vehicle braked by an eddy current retarder and a main brake together. A central processor calculates rotating speeds of front and rear wheels by using rotating speed signal values and tire diameters of the front and rear wheels, and outputs pulse width modulation (PWM) signals with certain duty ratio to the control end of a driving circuit of the eddy current retarder according to displacement signals of a braking pedal; and when satisfying any one of the conditions that the braking force provided by the eddy current retarder is smaller than a set threshold, the temperature of the eddy current retarder is higher than a set temperature threshold due to long-time braking of the eddy current retarder, current passing through the eddy current retarder is higher than a set current threshold and the rotating speed difference between the front and rear wheels is higher than a set threshold, the central processor outputs the PWM signals with certain duty ratio to the control end of a driving circuit of a braking master pump of the main brake. The invention is simple in structure and high in universality, can be used only by calibrating the diameters of the front and rear wheels before use, and is suitable for various vehicles.
Description
Technical field
The present invention relates to vehicle brake technology, the car brakeing anti-lock control method of current vortex retarder and foundation brakes Associated brake is specifically housed.
Background technology
Frequent or the long period braking of vehicle can cause brake hub (dish) and friction lining overheated, cause brake efficiency to fail, even braking failure.Along with the improvement of road conditions and the raising of vehicle technology performance, China's automotive average moving velocity increases substantially, and means that modern automobile drg will provide larger braking force within same braking condition, same time, produce more heat, bear more thermal load.Visible, make car side brake keep good deceleration and stopping performance, key is to control the temperature of drg well.Be subject to the restriction of drg bulk, existing car brake heat-sinking capability is limited, and its deceleration and stopping performance at most only than original raising 1-2 doubly., for motor omnibus, goods carrying vehicle, because chassis is high, on vehicle, increase complemental brake system and become an important channel of improving brake efficiency and stability now.The increase of complemental brake system, has reduced foundation brakes and has frequently braked and cause that foundation brakes temperature raises, and has improved the stability of brake efficiency.
At present on commercial car mainly with provided with electric eddy current retarder the complemental brake system as vehicle.In the vehicle of provided with electric eddy current retarder not, its brake mode is foundation brakes braking, and the oil pressure that car brakeing antiblock device is controlled foundation brakes master brake cylinder reaches the braking force of controlling each wheel, prevents the object of wheel lockup.The vehicle that current vortex retarder is housed, brake mode is respectively: eddy current retarder, foundation brakes braking, current vortex retarder and foundation brakes Associated brake.When current vortex retarder and foundation brakes Associated brake, the braking force of current vortex retarder adopts become fixed proportion relation with foundation brakes braking force or by fixed proportion, export lock torque according to the degree of driver's operation brake pedal, the braking force that can not control current vortex retarder is revised the brakig force distribution of front and back wheel automatically, cause front and back wheel braking force not distribute according to desirable brakig force distribution relation, when wheel reaches critical locking state, the possibility of making a concerted effort of front and back wheel braking force cannot reach maxim, affect brake efficiency and the safety of vehicle.
The control setup of existing current vortex retarder and foundation brakes Associated brake is comprised of control part, acquisition of signal part, drive part.Now equipping its brake control method of vehicle of current vortex retarder and the defect of existence mainly contains: the lock torque of (1) current vortex retarder becomes fixed proportion relation with the lock torque of foundation brakes, does the adjustment of certain limit according to the moving velocity of automobile.In continuing braking procedure, be difficult to give full play to the brake assisting effect of current vortex retarder; (2) for Split type electric eddy current retarder, control, current vortex retarder is exported lock torque according to the degree of driver's operation brake pedal by fixed proportion.The electric current of braking when this method is not considered eddy current retarder and temperature, be difficult to reach the object that alleviates as far as possible foundation brakes contact wear and reduce contact component operating temperature; (3) vehicle is different, the model of its tire is also different, and its diameter of the tire of different model is different, and the wheel velocity that identical wheel pulse signal obtains is different, control system can not be adjusted the diameter of tire automatically according to different automobile types, cause the commonality of control system not strong; (4) during car brakeing, due to the impact that ground attaching coefficient also produces braking, vehicle, when critical locking state, may cause front and back wheel brakig force distribution can not reach maxim, causes stopping distance to increase, and affects brake safe.
Summary of the invention
The problem that the present invention is directed to existing control method existence has proposed a kind of braking anti-lock control method that the Blend Brake of current vortex retarder and foundation brakes is housed, while making forward and backward wheel braking, can make full use of ground attaching coefficient, according to the displacement of different road surfaces situation and brake pedal, control the reasonable distribution of the braking force of current vortex retarder and foundation brakes, improve the braking force of vehicle and can prevent front and back wheel locking.
Technical scheme of the present invention is to adopt following steps: (1) is inputted front and rear wheel diameter in central process unit by current vortex retarder front and rear wheel options button and numerical key, and show corresponding input value at numerical value telltale, by central process unit, calculated the diameter of tyres of the front and rear wheel of demarcation; (2) forward and backward wheel speed sensor is by front and rear wheel tach signal value input central process unit, and the diameter of tyres phase computing with the front and rear wheel of demarcating, draws front and rear wheel wheel speed; (3) central process unit, according to the brake pedal displacement signal of brake pedal displacement pickup input, is exported the pwm signal of certain dutycycle to the control end of current vortex retarder driving circuit, controls current vortex retarder and produces braking force; (4) the long-time braking of the little while current vortex retarder of threshold value that the braking-force ratio providing when current vortex retarder is set causes when electric vortex buffering actuator temperature meets higher than the current threshold of setting and the poor arbitrary condition of threshold value higher than setting of forward and backward vehicle wheel rotational speed higher than the temperature threshold of setting, electric current by current vortex retarder, central process unit is exported the pwm signal of certain dutycycle to the control end of foundation brakes master brake cylinder driving circuit, control foundation brakes and produce braking force, realize the distribution of foundation brakes braking force and eddy current retarder power; (5) when front-wheel locking, central process unit reduces the dutycycle of foundation brakes master brake cylinder driving circuit control end pwm signal, increases the dutycycle of current vortex retarder driving circuit control end pwm signal, increases the braking force of current vortex retarder; When rear lock, central process unit reduces the dutycycle of current vortex retarder driving circuit control end pwm signal, reduce the braking force of current vortex retarder, increase the dutycycle of foundation brakes master brake cylinder driving circuit control end pwm signal simultaneously, increase the braking force of foundation brakes.
The present invention is simple in structure, and commonality is good, only need demarcate before use front and back wheel diameter and just can use, and is therefore suitable for various vehicles.Because the diameter of tyres of each vehicle is different, therefore, before this control setup is installed, first carry out the demarcation of equipment, by forward and backward wheel options button and numerical key input, set corresponding diameter of tyres numerical value.Can improve brake efficiency and the safety of braking.This device is not only used in the vehicle that current vortex retarder auxiliary braking system and foundation brakes Associated brake are housed simultaneously, is also applicable on the vehicle of other complemental brake system and foundation brakes Associated brake.
Accompanying drawing explanation
Fig. 1 is the general arrangement of current vortex retarder of the present invention and foundation brakes associated braking system;
Fig. 2 is the pie graph of Associated brake control system 4 in Fig. 1;
Fig. 3 is the figure that connects to form of forward and backward vehicle wheel rotational speed module 11,21 in Fig. 2;
Fig. 4 is the figure that connects to form of current vortex retarder current detection module 45 in Fig. 2;
In figure: 1. front vehicle wheel tachogen; 2. rear wheel tachogen; 3. current vortex retarder; 4. Associated brake control system; 5. master brake cylinder; 6. brake cylinder; 7. current vortex retarder driving circuit; 8. master brake cylinder driving circuit; 9. current vortex retarder temperature sensor; 10. brake pedal displacement pickup; 11. front vehicle wheel rotating speed modules; 21. rear wheel rotating speed modules; 40. central process units; 41. front-wheel options buttons; 42. trailing wheel options buttons; 43. numerical keys; 44. numerical value telltales; 45. current vortex retarder current detection modules; 101. current vortex retarder current detection sensors; 102. current vortex retarder electric currents; 112. front vehicle wheel tach signals; 122. rear wheel tach signals.
The specific embodiment
Referring to Fig. 1, the present invention includes forward and backward wheel speed sensor 1,2, current vortex retarder 3, Associated brake control system 4, master brake cylinder 5, brake cylinder 6.Wherein, forward and backward wheel speed sensor 1,2 is arranged in forward and backward wheel place, Associated brake control system 4 connects respectively current vortex retarder 3, master brake cylinder 5 and each sensor, and master brake cylinder 5 acts on respectively forward and backward car side brake by brake cylinder 6.
As shown in Figure 2, Associated brake control system 4 is comprised of central process unit 40, signal detection part, drive part and numerical value telltale 44.Signal detection part, drive part, numerical value telltale 44 connect respectively central process unit 40, and signal detection partly connects the input end of central process unit 40, and drive part and numerical value telltale 44 are connected to the mouth of central process unit 40.Signal detecting part divides and comprises and detect the brake pedal displacement pickup 10 of brake pedal displacement signal, the forward and backward vehicle wheel rotational speed module 11,21 of vehicle wheel rotational speed and detect current vortex retarder current detection module 45 by current vortex retarder electric current and temperature and current vortex retarder temperature sensor 9 etc.Signal detection part also comprises front and rear wheel options button 41,42, numerical key 43.Drive part is comprised of current vortex retarder driving circuit 7 and master brake cylinder driving circuit 8.Brake pedal displacement pickup 10 is connected with brake pedal, current vortex retarder current detection module 45 is series between current vortex retarder 3 circuit and ground, current vortex retarder driving circuit 7 connects power supply and current vortex retarder 3 circuit, and current vortex retarder temperature sensor 9 is installed on current vortex retarder 3.
As shown in Figure 3, forward and backward vehicle wheel rotational speed module 11,21 forms by optocoupler, resistance, and in front vehicle wheel rotating speed module 11, one end of resistance R 1 is connected with front vehicle wheel tachogen 1, and the other end connects the input end of optocoupler U1.The common end of resistance R 2, R21 is connected with the mouth of optocoupler U1, the other end ground connection of resistance R 2, and the other end of resistance R 21 is connected with central process unit 40, and front wheel rotation speed signal 112 is inputed to central process unit 40.One end of resistance R 3 in rear wheel rotating speed module 21 is connected with rear wheel tachogen 2, and the other end connects the input end of optocoupler U2.The common end of resistance R 4, R41 is connected with the mouth of optocoupler U2, the other end ground connection of resistance R 4, and the other end of resistance R 41 is connected with central process unit 40, and rear wheel tach signal 122 is inputed to central process unit 40.
As shown in Figure 4, current vortex retarder current detection module 45 is comprised of op amp, voltage comparator and resistance, electric capacity.Current vortex retarder current detection sensor 101 is connected with resistance R 7 with sampling resistor.The other end of sampling resistor connects ground, and the other end of resistance R 7 is held and is connected with "+" of amplifier."-" end of amplifier is connected with ground by resistance R 9.The input end of amplifier is connected with one end of resistance R 11, R10, and the other end of resistance R 10 connects "-" end of amplifier, and the other end of resistance R 11 is connected with the input pin of voltage comparator.Resistance R 12 and R13 series connection, wherein one end of resistance R 12 connects power supply, one end ground connection of resistance R 13, the common end of resistance R 12 and R13 is connected another input pin of voltage comparator.The mouth contact resistance R14 of voltage comparator, resistance R 14 other ends connect central process unit 40, and resistance R 14 other end output current vortex retarder electric currents 102, by current vortex retarder electric current 102 input central process units 40.
Structure based on above-mentioned Fig. 1-Fig. 4, the following specifically describes control method of the present invention:
Because the diameter of tyres of various vehicles is different, need to be in the advance demarcation of row diameter of tyres of installation.Its calibration process is:
Press current vortex retarder front-wheel options button 41, central process unit 40 receives the incoming signal of front-wheel options button 41, wheel diameter input before numerical value telltale 44 shows wait.Then press numerical key 43, key value is input in central process unit 40, and shows corresponding input value at numerical value telltale 44.Central process unit 40, by internal calculation, draws the diameter of tyres of front-wheel.
Press current vortex retarder trailing wheel options button 42, central process unit 40 receives the incoming signal of trailing wheel options button 42, at numerical value telltale 44, shows and waits for rear wheel diameter input.Then press numerical key 43, key value is input in central process unit 40, and shows corresponding input value at numerical value telltale 44.Central process unit 40, by internal calculation, draws the diameter of tyres of trailing wheel.
The incoming signal of front vehicle wheel tachogen 1 and resistance R 1 are connected in series the input end of optocoupler U1, and optocoupler U1 plays disturbance rejection and isolation, and the signal filtering through optocoupler U1 is sent into central process unit 40 by resistance R 21.Central process unit 40 is by catching front wheel rotation speed signal 112, and the front tyre diameter computing with demarcating, draws front-wheel wheel speed.
The incoming signal of rear wheel tachogen 2 and resistance R 3 are connected in series the input end of optocoupler U2, and the signal filtering through optocoupler U2 is sent into central process unit 40 by resistance R 41.Central process unit 40 is by catching rear wheel rotation speed signal 122, and the rear tire diameter computing with demarcating, draws trailing wheel wheel speed.
The voltage that brake pedal displacement pickup 10 is input to central process unit 40 is analog voltage signal, when stepping on brake pedal, brake pedal displacement pickup 10 voltages change, central process unit 40 is exported the pwm signal of certain dutycycle to the control end of current vortex retarder driving circuit 7 according to brake pedal displacement signal, control current vortex retarder 3 and produce braking force.When the long-time braking of current vortex retarder causes that electric vortex buffering actuator temperature meets higher than the current threshold of setting and the poor arbitrary condition of threshold value higher than setting of forward and backward vehicle wheel rotational speed higher than the temperature threshold of setting, electric current by current vortex retarder 3, the pwm signal of the certain dutycycle of central process unit 40 output is to the control end of foundation brakes master brake cylinder driving circuit 8, control the braking force that foundation brakes produces, realize the distribution of foundation brakes braking force and eddy current retarder power.Its concrete control policy is:
1, by the electric current of current vortex retarder and the current threshold comparison of setting
Current vortex retarder produces pressure reduction at sampling resistor two ends by electric current 101, the pressure reduction at sampling resistor two ends is sampled voltage, and sampled voltage is input to the anode of amplifier.By op amp, show that the magnification factor of sampled voltage is 1+(R10/R9).The sampled voltage that amplifier amplifies is input to 6 pin of voltage comparator through resistance R 11, the overcurrent threshold voltage that the voltage of voltage comparator 7 pin is the current vortex retarder 3 set, and overcurrent threshold voltage value is VCC * (R12/R13).When the sampled voltage amplifying when amplifier is less than the overcurrent threshold voltage value of current vortex retarder 3 of setting, voltage comparator be low level through resistance R 14 output retarder electric currents 102, illustrates that the electric current that passes through current vortex retarder 3 is in the scope of safety; When the sampled voltage that amplifier amplifies is greater than the overcurrent threshold voltage value of current vortex retarder 3 of setting, voltage comparator is high level through resistance R 14 output retarder electric currents 102, explanation has surpassed allowed band by the electric current of current vortex retarder 3, central process unit 40 reduces the dutycycle of current vortex retarder driving circuit 7 control end pwm signals, increase the dutycycle of foundation brakes master brake cylinder driving circuit 8 control end PWM, to reduce the braking force that current vortex retarder 3 provides the braking force that increases foundation brakes simultaneously.
2, the threshold value comparable situation of front and back wheel speed discrepancy and setting
Central process unit 40 detects the wheel speed signal of forward and backward wheel, the difference that compares front and rear wheel wheel speed, current, the poor ratio of trailing wheel wheel speed is less than the threshold value of setting, central process unit 40 increases the dutycycle of current vortex retarder driving circuit 7 control end pwm signals, increases the braking force of current vortex retarder 3.When forward and backward speed discrepancy ratio is greater than the threshold value of setting, central process unit 40 reduces the dutycycle of current vortex retarder driving circuit 7 control end pwm signals, reduce the poor ratio of wheel speed of forward and backward wheel, increase the output signal of foundation brakes master brake cylinder driving circuit 8 simultaneously, increase the braking force of foundation brakes.
When front-wheel locking is that front-wheel wheel speed is while being zero, central process unit 40 reduces the dutycycle of foundation brakes master brake cylinder driving circuit 8 control end pwm signals, reduce the braking force of foundation brakes, increase the dutycycle of current vortex retarder driving circuit 7 control end pwm signals simultaneously, increase the braking force of current vortex retarder 3, the braking force summation of trailing wheel is increased.
When rear lock is that rear wheel rotation speed is while being zero, central process unit 40 reduces the dutycycle of current vortex retarder driving circuit 7 control end pwm signals, reduce the braking force of current vortex retarder 3, increase the dutycycle of foundation brakes master brake cylinder driving circuit 8 control end pwm signals simultaneously, increase the braking force of foundation brakes, increase front wheel brake power and reduce foundation brakes and the coefficient rear-wheel braking force of current vortex retarder 3.Central process unit 40, by detecting the wheel speed of forward and backward wheel, distributes the braking force of forward and backward wheel, prevents wheel lockup.
3, the long-time braking of the little while current vortex retarder of threshold value that the braking-force ratio that current vortex retarder 3 provides is set causes that electric vortex buffering actuator temperature is higher than the situation of the temperature threshold of setting
Central process unit 40 detects the numerical value of current vortex retarder temperature sensor 9, when temperature threshold higher than setting, central process unit 40 increases the dutycycle of foundation brakes master brake cylinder driving circuit 8 control end pwm signals, increase the braking force of foundation brakes, reduce the dutycycle of current vortex retarder driving circuit 7 control end pwm signals, reduce the braking force of current vortex retarder 3, reduce the temperature of current vortex retarder 3.
Claims (2)
1. an anti-lock vehicle control method for current vortex retarder and foundation brakes Associated brake, is characterized in that adopting following steps:
(1) by current vortex retarder front and rear wheel options button and numerical key, front and rear wheel diameter is inputted in central process unit, and shown corresponding input value at numerical value telltale, by central process unit, calculated the diameter of tyres of the front and rear wheel of demarcation;
(2) forward and backward wheel speed sensor is by front and rear wheel tach signal value input central process unit, and the diameter of tyres phase computing with the front and rear wheel of demarcating, draws front and rear wheel wheel speed;
(3) central process unit, according to the brake pedal displacement signal of brake pedal displacement pickup input, is exported the pwm signal of certain dutycycle to the control end of current vortex retarder driving circuit, controls current vortex retarder and produces braking force;
(4) the long-time braking of the little while current vortex retarder of threshold value that the braking-force ratio providing when current vortex retarder is set causes when electric vortex buffering actuator temperature meets higher than the current threshold of setting and the poor arbitrary condition of threshold value higher than setting of forward and backward vehicle wheel rotational speed higher than the temperature threshold of setting, electric current by current vortex retarder, central process unit is exported the pwm signal of certain dutycycle to the control end of foundation brakes master brake cylinder driving circuit, control foundation brakes and produce braking force, realize the distribution of foundation brakes braking force and eddy current retarder power;
(5) when front-wheel locking, central process unit reduces the dutycycle of foundation brakes master brake cylinder driving circuit control end pwm signal, increases the dutycycle of current vortex retarder driving circuit control end pwm signal, increases the braking force of current vortex retarder; When rear lock, central process unit reduces the dutycycle of current vortex retarder driving circuit control end pwm signal, reduce the braking force of current vortex retarder, increase the dutycycle of foundation brakes master brake cylinder driving circuit control end pwm signal simultaneously, increase the braking force of foundation brakes.
2. the anti-lock vehicle control method of current vortex retarder according to claim 1 and foundation brakes Associated brake, it is characterized in that: in step (4), the long-time braking of the little while current vortex retarder of threshold value that the braking-force ratio providing when current vortex retarder is set cause electric vortex buffering actuator temperature higher than set temperature threshold time, central process unit increases the dutycycle of foundation brakes master brake cylinder driving circuit control end pwm signal, reduce the dutycycle of current vortex retarder driving circuit control end pwm signal, reduce the braking force of current vortex retarder;
When the electric current by current vortex retarder higher than set current threshold time, central process unit reduces the dutycycle of current vortex retarder driving circuit control end pwm signal, increases the dutycycle of foundation brakes master brake cylinder driving circuit control end PWM simultaneously;
Current, rear wheel speed discrepancy higher than set threshold value time, central process unit reduces the dutycycle of current vortex retarder driving circuit control end pwm signal, increases the output signal of foundation brakes master brake cylinder driving circuit simultaneously, increases the braking force of foundation brakes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210381785.2A CN102848926B (en) | 2012-10-10 | 2012-10-10 | Anti-lock control method for vehicle braked by eddy current retarder and main brake together |
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| CN201210381785.2A CN102848926B (en) | 2012-10-10 | 2012-10-10 | Anti-lock control method for vehicle braked by eddy current retarder and main brake together |
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| CN102848926A CN102848926A (en) | 2013-01-02 |
| CN102848926B true CN102848926B (en) | 2014-10-29 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3070834A4 (en) * | 2013-11-14 | 2017-07-05 | TBK Co., Ltd. | Electromagnetic retarder |
| CN103723047B (en) * | 2014-01-04 | 2015-10-14 | 山东交通职业学院 | A kind of eddy current retarder force signal generation method and control method |
| CN104477154B (en) * | 2014-12-31 | 2017-02-08 | 中联重科股份有限公司 | Braking control method, device and system |
| CN104648164B (en) * | 2015-02-04 | 2017-01-18 | 江苏大学 | Composite anti-lock brake system for electric automobile and brake control method |
| CN113002313A (en) * | 2021-03-23 | 2021-06-22 | 浙江鼎奕科技发展有限公司 | Automatic braking device and method for vehicle |
| CN113619549A (en) * | 2021-08-10 | 2021-11-09 | 湖南三一华源机械有限公司 | Vehicle brake control system, vehicle, and control method of vehicle brake control system |
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| CN101049804A (en) * | 2007-05-11 | 2007-10-10 | 江苏大学 | Joint controller of service brake of auto car and relaxed speed device, and controlling method |
| CN101239589A (en) * | 2008-03-10 | 2008-08-13 | 江苏大学 | Electric eddy speed damper and vehicle friction brake combined controller and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08169325A (en) * | 1994-12-20 | 1996-07-02 | Mitsubishi Motors Corp | Integrated control device for trailer brake force |
| US6871919B2 (en) * | 2002-08-20 | 2005-03-29 | Visteon Global Technologies, Inc. | Method and apparatus for power management of a braking system |
| US7029077B2 (en) * | 2002-08-20 | 2006-04-18 | Visteon Global Technologies, Inc. | Method and apparatus for power management of a regenerative braking system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101049804A (en) * | 2007-05-11 | 2007-10-10 | 江苏大学 | Joint controller of service brake of auto car and relaxed speed device, and controlling method |
| CN101239589A (en) * | 2008-03-10 | 2008-08-13 | 江苏大学 | Electric eddy speed damper and vehicle friction brake combined controller and control method |
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