CN102887141B - 马达驱动助力型制动系统和其方法 - Google Patents

马达驱动助力型制动系统和其方法 Download PDF

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CN102887141B
CN102887141B CN201210015401.5A CN201210015401A CN102887141B CN 102887141 B CN102887141 B CN 102887141B CN 201210015401 A CN201210015401 A CN 201210015401A CN 102887141 B CN102887141 B CN 102887141B
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郑完教
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Hyundai Mobis Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • B60T13/74—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 electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • B60T13/74—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 electrical assistance or drive
    • B60T13/745—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 electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—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 deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/326—Hydraulic systems
    • B60T8/3265—Hydraulic systems with control of the booster
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4077—Systems in which the booster is used as an auxiliary pressure source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • B60T2270/14—ABS control systems hydraulic model
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—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
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4836—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems wherein a booster output pressure is used for normal or anti lock braking

Abstract

本发明提供一种马达驱动助力型制动系统和其方法。制动系统包括用于检测驾驶员施加到制动踏板上的踏板力的踏板力传感器、将液压传递到车轮制动器的主汽缸，利用马达将倍增的力传递到所述主汽缸的助力器、和基于所述踏板力的检测值控制所述马达的ECU。在制动系统中，如果ABS模式不启动，所述ECU基于从所述主汽缸传递到所述车轮制动器的液压控制所述马达，如果ABS模式启动，所述ECU通过将输入到所述马达的电流保持在电流的预设范围内而控制所述马达。

Description

马达驱动助力型制动系统和其方法
技术领域
本发明一般地涉及一种马达驱动助力型制动系统和其方法。更具体地，本发明涉及一种马达驱动助力型制动系统和其方法，该系统被构造成利用马达驱动助力器的马达通过力的倍增在主汽缸中产生液压以实现车辆制动。
背景技术
韩国专利公开No.2010-0098847(公开日：2010年9月10日)公开了本发明的背景技术。
典型地，在马达驱动助力型制动系统中，当驾驶员压制动踏板时，踏板力传感器检测驾驶员的踏板力且电子控制单元(ECU)基于传感器的检测结果驱动助力器的马达以将倍增的力传递到主汽缸。基于从助力器传递的倍增的力，主汽缸将液压传递到车轮制动器，即前、后车轮制动器。然后，电子稳定控制器(ESC)根据制动模式调整传递到前、后车轮的液压以允许适当的制动。换言之，在正常操作模式下，ESC允许制动油被供应到相应的车轮制动器。然而，在防抱死制动系统(ABS)模式下，即，当在至少一个车轮中发生锁定现象时，ESC通过关闭一些油通道允许执行ABS的制动。
然而，这种传统马达驱动助力型制动系统有如此问题，当车辆处于ABS模式下时，在车辆制动中施加到车轮制动器的液压增加或波动。
具体地，当利用马达驱动助力器在主汽缸中产生液压时，传统马达驱动助力型制动系统将从主汽缸输出的实际液压与目标液压比较，以将主汽缸的液压调整到目标范围内。在这种情况下，然而，如果在ABS模式下重复关闭或打开至车轮制动器的一些油通道，难以实现从主汽缸输出的液压的快速变化以对相应车轮制动器提供适当的踏板力，导致过量压力被施加到车轮制动器。
也就是，由于传统制动系统简单地将从主汽缸输出的实际液压与计算的目标液压进行比较且根据比较结果改变马达驱动型助力器，制动系统不能根据ABS的操作快速和有效地与作用到车轮制动器的每一个的希望的踏板力合作，从而过量踏板力被作用到车轮制动器或发生制动压力的波动或分散，如图1的下部示出的波形所示。而且，这种液压的过量增加能够导致制动系统故障。
图1中上部示出的波形表示从主汽缸传递到车轮制动器的液压的变化，下部示出的波形表示作用到车轮制动器的液压的变化。
发明内容
本发明的方面是提供一种马达驱动助力型制动系统和其方法，该系统可抑制在采用ABS的车辆的防抱死制动系统(ABS)模式下、车辆制动期间液压或制动压力由于从主汽缸传递到车轮制动器的液压过度增加或减少而波动和分散。
根据一方面，本发明提供一种马达驱动助力型制动系统的制动方法，该系统包括用于检测驾驶员施加到制动踏板上的踏板力的踏板力传感器、将液压传递到车轮制动器的主汽缸，利用马达将倍增的力传递到所述主汽缸的助力器，和基于所述踏板力的检测值控制所述马达的电子控制单元(ECU)，其中，如果ABS模式不启动，所述ECU基于从所述主汽缸传递到所述车轮制动器的液压控制所述马达，如果ABS模式启动，所述ECU通过将输入到所述马达的电流保持在电流的预设范围内而控制所述马达。
该方法可包括：输入制动命令；基于所述踏板力的检测值计算关于从所述主汽缸传递到所述车轮制动器的液压的目标压力；确定ABS模式是否启动；如果确定ABS模式启动，通过ECU控制马达；和确认输入到所述马达的电流是否在电流的预设范围内，接着如果输入到所述马达的电流不在电流的所述预设范围内，返回到控制所述马达的步骤。
该方法可进一步包括：如果确定ABS模式未启动，通过ECU控制所述马达以调整从所述主汽缸传递到所述车轮制动器的液压；和确认从所述主汽缸传递到所述车辆制动器的液压是否在压力的预设范围内，接着如果液压不在压力的所述预设范围内，返回到控制所述液压的步骤。
可基于关于所述液压的所述目标压力设定电流的所述预设范围。特别地，电流的所述预设范围被与所述目标压力成比例地设置。
根据另一方面，本发明提供一种马达驱动助力型制动系统，包括：踏板力传感器，所述踏板力传感器用于检测驾驶员施加到制动器踏板上的踏板力；主汽缸，所述主汽缸将液压传递到车轮制动器；助力器，所述助力器利用马达将倍增的力传递到所述主汽缸；和ECU，所述ECU基于所述踏板力的检测值控制所述马达，其中如果ABS模式未启动，所述ECU基于从所述主汽缸传递到所述车轮制动器的液压控制所述马达，如果ABS模式启动，所述ECU通过将输入到所述马达的电流保持在电流的预设范围而控制所述马达。
附图说明
图1是示出在传统马达驱动助力型制动系统的ABS模式下，主汽缸中液压的变化和作用到车轮制动器的液压的变化的图；
图2是根据本发明一个示范性实施例的马达驱动助力型制动系统的示意图；
图3是根据本发明一个示范性实施例的马达驱动助力型制动系统的制动方法的流程图；和
图4是描绘根据本发明的示范性实施例在ABS模式下施加到助力器所包括的马达的电流的变化的图。
具体实施方式
现在将参考附图详细描述本发明的示范性实施例。应该理解这些实施例仅是为了说明性目的提供，因而本发明的范围不由此限定。
图2是根据一个示范性实施例的马达驱动助力型制动系统的示意图；图3是根据一个示范性实施例的马达驱动助力型制动系统的制动方法的流程图；和图4是描绘根据该示范性实施例在ABS模式下施加到助力器所包括的马达的输入电流的变化的图。
参考图2至图4，将描述示范性实施例。
在图2中，根据一个示范性实施例的马达驱动助力型制动系统包括用于检测驾驶员压在制动踏板上的踏板力的踏板力传感器12、将液压传递到车轮制动器70的主汽缸30、利用马达21将倍增的力传递到主汽缸30的助力器20、和基于踏板力的检测值控制马达21的ECU(未示出)。如果ABS模式不启动，ECU基于从主汽缸30传递到车轮制动器70的液压的控制马达21，且如果ABS模式启动，ECU通过将输入到马达的电流保持在电流的预设范围内而控制马达21。
接下来，将参考图2至图4详细描述根据示范性实施例的马达驱动助力型制动系统的操作。
当驾驶员压到制动踏板11上时，踏板力传感器12检测制动踏板11上的踏板力且将踏板力的检测结果发送到ECU(未示出)，且在S301中制动命令被输入到ECU。踏板力传感器12可通过能够检测施加到制动踏板11的踏板力的各种传感器实现，例如踏板角度传感器等。
然后，在S302中ECU(未示出)基于踏板力的检测值计算关于从主汽缸30传递到车轮制动器的液压的目标压力。在目标压力的计算中，除了踏板力的检测值之外，ECU可采用踏板仿真器50检测的压力。通过当驾驶员压到制动踏板上时，产生踏板反作用力和将其传递到驾驶员，踏板仿真器50使得驾驶员感知适当制动的感觉。
助力器20利用马达21使驾驶员的踏板力倍增且将倍增的力传递到主汽缸30。基于来自助力器20的倍增的力，主汽缸30利用存储在流体容器40中的流体将液压传递到车轮制动器70。这里，从主汽缸30传递的液压意味着从主汽缸30朝车轮制动器70传递以在相应车轮制动器产生希望摩擦制动力的液体的压力。可通过位于主汽缸附近的压力传感器(未示出)测量从主汽缸30传递的液压。明显地，压力传感器的位置不限于主汽缸附近，压力传感器可以位于任何适当位置。
电子稳定控制器(ESC)60根据制动模式调整传递到前、后车轮制动器的液压以实现适当的制动。具体地，在普通操作模式下，电子稳定控制器60允许制动油递送到车轮制动器的每一个，且在ABS模式下、即当至少车轮之一经受锁定现象时，通过关闭(阻隔)一些油通道允许执行ABS制动。
然后，在S303中ECU确定是否启动ABS模式。
如果在S303中确定ABS模式被启动，在S304中ECU通过调整助力器20中的马达21的扭矩来控制马达21。
接下来，在S305中ECU确认输入到马达21的电流是否在电流的预设范围内。这里，如果输入到马达21的电流不在电流的预设范围内，处理前进到S304中的操作以将输入到马达21的电流调整至电流的预设范围内。也就是，如图4所示，当制动系统进入ABS模式(ABS标记被转变为高电平)时，输入到马达的电流被调整以在电流的预设适当范围内。通过该操作，能够防止施加到车轮制动器70的实际制动压力过度增加或在ABS操作期间由于从主汽缸30传递的液压而使得液压或制动压力巨大波动或分散，从而防止制动系统由于液压的过度增加而故障。
可基于关于液压的目标压力设定电流的预设范围，特别地，与目标压力成比例。例如，电流的预设范围可被设定为与目标压力成线性比例或与目标压力成如抛物线的非线性比例。也就是，通过将电流的范围设定为与关于液压的目标压力成比例，能够最小化希望适当制动力和实际制动力之间的差别。
如果在S305中确定输入到马达中的电流在电流的预设范围内，在S308中主汽缸30中产生的液压被朝车轮制动器70传递。
如果在S303中确定未启动ABS模式，在S306中通过控制助力器20的马达21，ECU调整从主汽缸30朝车轮制动器70传递的液压。
然后，在S307中ECU确认从主汽缸30朝车轮制动器70传递的液压是否在压力的预设范围内。如果确定主汽缸30的液压不在压力的预设范围内，处理返回到S307中的操作，以将从主汽缸30传递的液压调整到压力的预设范围内。
如果在S307中确定在主汽缸30中产生的液压在压力的预设范围内，在S308中液压被从主汽缸30朝车轮制动器70传递。
最后，在S309中确认制动是否完成。如果确定制动未完成，处理返回到S301中的操作且重复上述操作。如果确认制动完成，系统结束制动操作。
如此，根据实施例，马达驱动助力型制动系统和其方法可防止由于在ABS模式下车辆制动期间从主汽缸传递到车轮制动器的液压过度增加或减少而造成的液压的波动或分散，从而防止由于液压的过度增加而导致的制动系统故障。
尽管已经描述了一些实施例，应该理解这些实施例仅通过示例方式给出且不构成限制，在不背离仅由所附权利要求和其等价物限定的本发明的精神和范围的情况下，对于本领域技术人员而言可以进行各种变化、变型和改变。
以上所述，仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。

Claims (6)

1.一种马达驱动助力型制动系统的制动方法，其特征在于，该系统包括用于检测驾驶员施加到制动踏板上的踏板力的踏板力传感器、将液压传递到车轮制动器的主汽缸，利用马达将倍增的力传递到所述主汽缸的助力器，和基于所述踏板力的检测值控制所述马达的ECU，
其中，如果ABS模式不启动，所述ECU基于从所述主汽缸传递到所述车轮制动器的液压控制所述马达，如果ABS模式启动，所述ECU通过将输入到所述马达的电流保持在电流的预设范围内而控制所述马达；
输入制动命令；
基于所述踏板力的所述检测值计算关于从所述主汽缸传递到所述车轮制动器的液压的目标压力；
确定ABS模式是否启动；
如果确定ABS模式启动，通过ECU控制马达；和
确认输入到所述马达的电流是否在电流的所述预设范围内，接着如果输入到所述马达的电流不在电流的所述预设范围内，返回到控制所述马达的步骤；
基于关于所述液压的所述目标压力设定电流的所述预设范围。
2.根据权利要求1所述的马达驱动助力型制动系统的制动方法，其特征在于，还包括：
如果确定ABS模式未启动，通过ECU控制所述马达调整从所述主汽缸传递到所述车轮制动器的液压；和
确认从所述主汽缸传递到所述车轮制动器的液压是否在压力的预设范围内，接着如果液压不在压力的所述预设范围内，返回到调整所述液压的步骤。
3.根据权利要求1所述的马达驱动助力型制动系统的制动方法，其特征在于，电流的所述预设范围被设定为与所述目标压力成比例。
4.一种马达驱动助力型制动系统，其特征在于，包括：
踏板力传感器，所述踏板力传感器用于检测驾驶员施加到制动器踏板上的踏板力；
主汽缸，所述主汽缸将液压传递到车轮制动器；
助力器，所述助力器利用马达将倍增的力传递到所述主汽缸；和
ECU，所述ECU基于所述踏板力的检测值控制所述马达，
其中如果ABS模式未启动，所述ECU基于从所述主汽缸传递到所述车轮制动器的液压控制所述马达，如果ABS模式启动，所述ECU通过将输入到所述马达的电流保持在电流的预设范围而控制所述马达,
所述ECU响应制动命令基于所述踏板力的检测值计算关于从所述主汽缸传递到所述车轮制动器的液压的目标压力,
基于关于所述液压的所述目标压力设定电流的所述预设范围。
5.根据权利要求4所述的马达驱动助力型制动系统，其特征在于，如果确定ABS模式未启动，所述ECU将从所述主汽缸传递到所述车轮制动器的液压调整至压力的预设范围内。
6.根据权利要求4所述的马达驱动助力型制动系统，其特征在于，电流的所述预设范围被设定为与所述目标压力成比例。
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