CN103754207B - Method for controlling double-motor electric-hydraulic composite brake system on basis of force control - Google Patents
Method for controlling double-motor electric-hydraulic composite brake system on basis of force control Download PDFInfo
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- CN103754207B CN103754207B CN201410008391.1A CN201410008391A CN103754207B CN 103754207 B CN103754207 B CN 103754207B CN 201410008391 A CN201410008391 A CN 201410008391A CN 103754207 B CN103754207 B CN 103754207B
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Abstract
The invention discloses a method for controlling a double-motor electric-hydraulic composite brake system on the basis of force control. The method includes controlling a brake motor to control target torque of the brake motor so as to brake a pedal force motor under the matching effect of the pedal force motor and regenerative brake force to generate corresponding target brake force; controlling a pedal force simulating motor to control brake pedal feel provided for a driver, and braking the pedal force motor under the matching effect of the pedal force motor and regenerative brake force to generate corresponding target brake force. The brake motor and the pedal force simulating motor are controlled in a force control mode. The method for controlling the double-motor electric-hydraulic composite brake system has the advantages the double-motor electric-hydraulic composite brake system can be controlled precisely, the robustness is excellent, and the excellent brake feel can be provided for the driver on the premise that brake intension of the driver can be implemented.
Description
Technical field
The invention belongs to automobile technical field, it is related to brakes control technology, be based especially on the bi-motor of power control
Electro-hydraulic brake system control method.
Background technology
Brakes is the vital system about vehicle safety performance, and the height of its performance will directly affect car load
Driving safety performance.Traditional brakes, generally by brake pedal, vacuum booster, master cylinder, ESC/ABS, braking
Wheel cylinder and its corresponding pipeline are formed.Whole system is more complexity, and in volume, quality and integrated level is in bad
Gesture.And, the continuous lifting with engine efficiency, it is caned just more and more limited to the vacuum of vacuum booster offer.
In order to make up this problem that high efficience motor is brought, a lot of vehicles take the scheme of addition of vacuum pump to increase vacuum.
However, this program is an interim solution.Increased vacuum pump not only occupies limited vehicle fore cabin space,
Also increase quality and the failure risk of brakes simultaneously.This runs in the opposite direction for vehicle and lightweight and safety.
Therefore, fast, the powerful EHB of response just increasingly receives publicity.
Mechanical electronic mode EHB generally has braking motor, master cylinder, pressure of wheel braking cylinder control valve, pedal
Simulator, inefficacy standby system and its associated pipe are formed.This system is different from the EHB of present progressively mass production, gets rid of
Abandon high pressure accumulator and its relevant control valve system, directly drive master cylinder completion system to build pressure by braking motor.Compared to
EHB, mechanical electronic mode EHB avoids using there is the high pressure accumulator of risk of leakage and its control of correlation
Valve system processed, more goes a step further from cost and reliability.Additionally, as brake-by-wire（brake by wire）One kind, machinery
Electronic type EHB structure is simple, it is possible to achieve the brake pressure precise control of each wheel cylinder, except enabling
The braking anti-lock of Conventional braking systems controls, and Anti-slip regulation controls, and electronic braking force distribution controls, and electronic stability controls etc.
Function is outer, and moreover it is possible to complete only by writing of software, brake hard assists, and brakes pitch control, brake disc moisture film is removed, slope
A series of functions such as road starting auxiliary.What is more important, due to system is decoupled system, and this system can be with regenerative braking
Power perfect adaptation, with the help of pedal simulator, realizes not changing Brake energy recovery premised on original brake feel
Bigization.The therefore employing of mechanical electronic mode EHB and promote and can lift the safety of vehicle in all directions, economical
Property and lightweight, are either still all with a wide range of applications in conventional truck on new energy vehicle.
Some external automobile relevant enterprises have had started to put into energetically opening of mechanical electronic mode EHB
Send out.Wherein BOSCH company iBooster using turbine and worm decelerator cooperation braking motor in the form of.HIT
E-Actuator system be then that mechanical electronic mode EHB is achieved by Outsourcing-type motor and ball-screw.
Additionally, CPG Gmbh ＆ Co., LSP company, TRW Ltd. (US) One Space Park, Redondo Beach CA 90278 U.S.A. of the U.S. also all using mechanical electronic mode EHB as braking
The Main way of system future development, and plan to realize volume production in 10 years.
And bi-motor Electro-hydraulic brake system is as one of mechanical electronic mode EHB, due to it
Compact conformation, hydraulic component is less, makes full use of numerous advantage such as driver pedal power, is just gradually widely paid close attention to.
Although its structure has obvious advantage compared to other mechanical electronic mode EHBs.But due to it
Employ Double Motor Control pattern, it controls difficulty accordingly to increase.Additionally, for the brake pedal force making full use of driver,
System takes the system decoupling non-fully decoupling.Therefore, the control targe of dual motors system is compared to mechanical electronic mode electronics
Brake fluid system controls from single master cylinder thrust, expands to master cylinder thrust and two control targes of brake pedal feedback force
Control.Therefore, this proposes higher requirement to the control method of bi-motor Electro-hydraulic brake system.
In order to solve this control problem it is necessary to develop a kind of bi-motor Electro-hydraulic brake system based on power control
Control method, this control method using braking motor control logic and pedal force simulated machine control logic realize master cylinder thrust and
The independent control of brake pedal feedback force, thus it is ensured that good brake pedal on the premise of meeting car load demand braking force
Sensation.
Content of the invention
It is an object of the invention to provide a kind of bi-motor Electro-hydraulic brake system control method based on power control, so that
Above-mentioned described bi-motor Electro-hydraulic brake system is overcome to control the higher problem of difficulty.
For reaching above-mentioned purpose, the solution of the present invention is：
A kind of bi-motor Electro-hydraulic brake system control method based on power control, including：
Control braking motor：Control the target moment of braking motor, thus coordinating brake pedal force motor and regenerative braking
Power produces corresponding target braking force；
Control pedal power simulated machine：Control the brake pedal feel that driver is provided, simultaneously cooperation brake pedal force electricity
Machine and regenerative braking force produce corresponding target braking force.
Further, for the control of braking motor, take is power control mode.
For the control of pedal force simulated machine, take is power control mode.
By realizing the independent control of master cylinder thrust and brake pedal feedback force, thus meeting car load demand braking force
Under the premise of it is ensured that good brake pedal feel.
By the communication cooperation with whole-control system VMS, realize the reasonable coupling of regenerative braking force and friction brake force,
Thus the Brake energy recovery realizing system maximizes.
Described machine bi-motor Electro-hydraulic brake system control method obtains regenerative braking by whole-control system VMS
Power, thus carry out further logical judgment and arbitration.
After driver tramples brake pedal and produces corresponding brake pedal displacement, system is passed through to inquire about brake pedal position
Shifting/brake pedal tries hard to obtain the car load total braking force demand of target；Meanwhile, whole-control system VMS considers car
Operational factor, so that it is determined that regenerative braking force；After VMS obtains regenerative braking force by vehicle-state, VMS is by vehicle
Regenerative braking force is sent to system；
System carries out asking poor to it, thus obtaining target after obtaining target car load total braking force demand and regenerative braking force
Friction brake force, the target propulsive force of system acquisition braking motor and pedal force simulated machine afterwards, thus pass through electric machine controller
Realize braking procedure.
System obtains target master cylinder thrust by below equation：
F in formulamcFor target master cylinder thrust；FbFor target friction braking force；β is brake-power balance coefficient；rwheelFor
Vehicle wheel roll radius；rmcFor master cylinder radius；rcaliperFor friction plate effective brake radius；μ is between front brake(-holder) block and brake disc
Coefficient of friction；rwFor wheel cylinder radius.
After obtaining target master cylinder thrust, system is passed through to obtain from preferable brake pedal displacement/pedal force in figure
Brake pedal force desired value；Afterwards, target master cylinder thrust and brake pedal force desired value are asked difference to obtain braking electricity by system
Machine target propulsive force, such as following formula：
Fbm=Fmc-Fpedal×i (2)
F in formulamcFor master cylinder target propulsive force；FbmFor target braking motor thrust；FpedalFor brake pedal force target
Value；I is brake pedal lever ratio；
FPFE=Fpedal×i (3)
Meanwhile, system is by pedal force simulated machine target propulsive force FPFEIt is sent to pedal force simulated machine so as to produce
In the consistent brake pedal feedback force of required brake pedal force；
So far, system obtains the target propulsive force of two motors, and the dependent instruction of target propulsive force is sent to motor control
Device, motor controller controls corresponding motor produces target propulsive force, completes braking and pedal force simulation, thus realizing controlling brake fluid
The simulation of active pedal force is completed, additionally, also take into account make use of manpower while pressure.
According to an aspect of the invention, it is provided a kind of bi-motor Electro-hydraulic brake system based on power control controls
Method, including：Braking motor control logic, for controlling the target moment of braking motor, thus coordinate brake pedal force motor
And regenerative braking force produces corresponding target braking force；Pedal force simulated machine control logic, provides driver's for controlling
Brake pedal feel, cooperation brake pedal force motor and regenerative braking force produce corresponding target braking force simultaneously.
Preferably, described machine bi-motor Electro-hydraulic brake system control method passes through whole-control system（VMS）Obtain
Regenerative braking force, thus carry out further logical judgment and arbitration.
The present invention realizes master cylinder thrust and braking using braking motor control logic and pedal force simulated machine control logic
The independent control of pedal feedback power, thus it is ensured that good brake pedal feel on the premise of meeting car load demand braking force.
Brief description
Fig. 1 is the bi-motor Electro-hydraulic brake system being controlled based on power according to one exemplary embodiment of the present invention
The sketch of control method；
Fig. 2 is the bi-motor Electro-hydraulic brake that the utilization according to one exemplary embodiment of the present invention is controlled based on power
The sketch of system control method system；
Fig. 3 is the maximum regenerative braking force that the present invention relates to variation diagram with speed.
Specific embodiment
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
After driver tramples brake pedal and produces corresponding brake pedal displacement, system is passed through to inquire about brake pedal position
Shifting/brake pedal tries hard to obtain the car load total braking force demand of target.Meanwhile, VMS is obtained by the driving states of vehicle
Maximum regenerative braking force.Maximum regenerative braking force is as shown in Figure 3 with the change of speed.When vehicle is travelled with low-down speed
When, because the moment in low speed for the motor has unstable, there are a lot of fluctuations.Therefore, when vehicle be in extremely low
When under fast state, regenerative braking does not generally work, and the braking of vehicle is all completed by traditional brake fluid system.And work as vehicle
When being in lower-speed state, because the work efficiency ratio in this working region motor is relatively low, generally only 50% about.Therefore, here
The heating of the regeneration brake system of working region work is very serious.Therefore, the regenerative braking moment in this regional work is limited
System.When vehicle is in middling speed, due to the current limit of electric machine controller make regenerative braking moment be limited in one constant
Maximum moment line below.And when vehicle is in high speed, the maximum braking force of regenerative braking is limited in controller maximum again
Below power line.Finally, within regenerative braking moment is limited certain speed by highest motor speed.In addition regenerative braking force value
And other vehicle parameters, as on-vehicle battery SOC value etc. also has an impact to the maximum regenerative braking force of vehicle, system will comprehensively be examined
Consider the operational factor of vehicle, so that it is determined that regenerative braking force.After VMS obtains regenerative braking force by vehicle-state, VMS is by car
Regenerative braking force be sent to system.
System carries out asking poor to it, thus obtaining target after obtaining target car load total braking force demand and regenerative braking force
Friction brake force.System obtains target master cylinder thrust by below equation afterwards：
F in formulamcFor target master cylinder thrust；FbFor target friction braking force；β is brake-power balance coefficient；rwheelFor
Vehicle wheel roll radius；rmcFor master cylinder radius；rcaliperFor friction plate effective brake radius；μ is between front brake(-holder) block and brake disc
Coefficient of friction；rwFor wheel cylinder radius.
After obtaining target master cylinder thrust, system is passed through to obtain from preferable brake pedal displacement/pedal force in figure
Brake pedal force desired value.Afterwards, target master cylinder thrust and brake pedal force desired value are asked difference to be braked by system
Motor target propulsive force, such as following formula：
Fbm=Fmc-Fpedal×i (2)
F in formulamcFor master cylinder target propulsive force；FbmFor target braking motor thrust；FpedalFor brake pedal force target
Value；I is brake pedal lever ratio.
FPFE=Fpedal×i (3)
Meanwhile, system is by pedal force simulated machine target propulsive force FPFEIt is sent to pedal force simulated machine so as to produce
In the consistent brake pedal feedback force of required brake pedal force.
As acquisition target friction braking force Fb=5000N, brake-power balance coefficient β=0.7, vehicle wheel roll radius rwheel=
0.25m, master cylinder radius rmc=11.1mm, friction plate effective brake radius rcaliper=0.1m, between front brake(-holder) block and brake disc
Coefficientoffrictionμ=0.4, is wheel cylinder radius rw=26mm.By formula（1）It is calculated Fmc=996N.Meanwhile, pedal displacement sensor
Obtain operator brake pedal displacement Spedal=30mm, tries hard to obtain brake pedal target by preferable brake pedal displacement/pedal
Value Fpedal=50N.It is equipped with dynamic foot pedal lever than i=4, by formula（2）Obtain Fbm=796N, by formula（3）Obtain FPFE=200N.
So far, system obtains the target propulsive force of two motors, and the dependent instruction of target propulsive force is sent to motor control
Device, motor controller controls corresponding motor produces target propulsive force, completes braking and pedal force simulation.Thus realizing controlling brake fluid
The simulation of active pedal force is completed, additionally, also take into account make use of manpower while pressure.
Fig. 1 shows the bi-motor Electro-hydraulic brake controlling according to one exemplary embodiment of the present invention based on power
The sketch of system control method.
Fig. 2 shows that the bi-motor that the utilization according to one exemplary embodiment of the present invention is controlled based on power is electric-hydraulic combined
The sketch of brakes control method system.
As shown in figure 1, mainly should be included based on the bi-motor Electro-hydraulic brake system control method that power controls：Braking electricity
Machine control logic, for controlling the target moment of braking motor, thus coordinate brake pedal force motor and regenerative braking force to produce
Corresponding target braking force；Pedal force simulated machine control logic, for controlling the brake pedal feel providing driver, simultaneously
Cooperation brake pedal force motor and regenerative braking force produce corresponding target braking force.
During normal work, driver is operated to brake pedal with road conditions according to vehicle condition, and system passes through brake pedal position
Displacement sensor receives the displacement signal of brake pedal, obtains regenerative braking force value and other vehicle parameters, such as car from VMS simultaneously
After carrying SOC value of battery etc., by above-mentioned, correlation is obtained based on the bi-motor Electro-hydraulic brake system control method of power control
Braking motor target propulsive force and pedal force simulated machine target propulsive force.Need to examine during obtaining braking motor target propulsive force
Consider the motor regenerative braking moment shown in Fig. 3 to limit.Maximum regenerative braking force is as shown in Figure 3 with the change of speed.Work as vehicle
When travelling with low-down speed, because the moment in low speed for the motor has unstable, there are a lot of fluctuations.Cause
This, when vehicle is under the lower-speed state of pole, regenerative braking does not generally work, and the braking of vehicle is all by traditional hydraulic braking
System completes.And when vehicle is in lower-speed state, because the work efficiency ratio in this working region motor is relatively low, generally only
50% about.Therefore, very serious in the heating of the regeneration brake system of this working region work.Therefore, in this regional work
Regenerative braking moment is limited.When vehicle is in middling speed, the current limit due to electric machine controller makes regenerative braking moment
It is limited in below a constant maximum moment line.And when vehicle is in high speed, the maximum braking force of regenerative braking and quilt
It is limited in below controller peak power line.Finally, within regenerative braking moment is limited certain speed by highest motor speed.
After obtaining braking motor target propulsive force, the as above described F of examplebm=796N, as shown in Fig. 2 brake system controller will drive accordingly
Order is sent to electric machine controller 25, and then drives braking motor 2.Braking motor 2 obtains motor after hydraulic braking order
The reducing gear 3 being driven, driving push rod 20 afterwards, thus promote master cylinder 11.Two are generally had in the cylinder of master cylinder
Individual piston：First brake piston and the second brake piston.Hydraulic cylinder is divided into each other by the first brake piston and the second brake piston
Two hydraulic cavities of hydraulic isolation：First hydraulic cavities and the second hydraulic cavities.First hydraulic cavities and the second hydraulic cavities pass through two respectively
Individual fluid pressure line is connected to ABS/ESC.Therefore, after promoting master cylinder, wheel cylinder produces corresponding hydraulic braking force.
After obtaining pedal force simulated machine target propulsive force, the as above described F of examplePFE=200N, brake system controller will be corresponding
Drive command be sent to electric machine controller 25, and then driving pedal power simulated machine 22.Pedal force simulated machine 22 obtains liquid
The reducing gear that after pressure brake command, motor is driven, promotes brake pedal 21 to produce corresponding brake pedal sense afterwards
Feel.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and apply this
Bright.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiment without through performing creative labour.Therefore, the invention is not restricted to above-mentioned enforcement
Example, according to the announcement of the present invention, the improvement made without departing from scope and modification all should be for those skilled in the art
Within protection scope of the present invention.
Claims (8)
1. a kind of bi-motor Electro-hydraulic brake system control method based on power control it is characterised in that：Including：
Control braking motor：Control the target moment of braking motor, thus coordinating pedal force simulated machine and regenerative braking force to produce
Raw corresponding target braking force；
Control pedal power simulated machine：Control the brake pedal feel that driver is provided, simultaneously cooperation braking motor and regeneration system
Power produces corresponding target braking force；
After driver tramples brake pedal and produces corresponding brake pedal displacement, system passes through the preferable brake pedal position of inquiry
Shifting/brake pedal tries hard to obtain the car load total braking force demand of target；Meanwhile, whole-control system VMS considers car
Operational factor, so that it is determined that regenerative braking force；After VMS obtains regenerative braking force by vehicle-state, VMS is by vehicle
Regenerative braking force is sent to system；
System carries out asking poor to it, thus obtaining target friction after obtaining target car load total braking force demand and regenerative braking force
Brake force, the target propulsive force of system acquisition braking motor and pedal force simulated machine afterwards, thus realized by electric machine controller
Braking procedure.
2. the method for claim 1 it is characterised in that：For the control of braking motor, take is power control mode.
3. the method for claim 1 it is characterised in that：For the control of pedal force simulated machine, take is power control
Mode processed.
4. method as claimed in claim 2 or claim 3 it is characterised in that：By realizing master cylinder thrust and brake pedal feedback force
Independent control, thus it is ensured that good brake pedal feel on the premise of meeting car load demand braking force.
5. method as claimed in claim 4 it is characterised in that：By the communication cooperation with whole-control system VMS, realize again
Raw brake force and the reasonable coupling of friction brake force, thus the Brake energy recovery realizing system maximizes.
6. method as claimed in claim 5 it is characterised in that：Described bi-motor Electro-hydraulic brake system control method passes through
Whole-control system VMS obtains regenerative braking force, thus carrying out further logical judgment and arbitration.
7. the method for claim 1 it is characterised in that：System obtains target master cylinder thrust by below equation：
F in formulamcFor target master cylinder thrust；FbFor target friction braking force；β is brake-power balance coefficient；rwheelFor wheel
Rolling radius；rmcFor master cylinder radius；rcaliperFor friction plate effective brake radius；μ is rubbing between front brake(-holder) block and brake disc
Wipe coefficient；rwFor wheel cylinder radius.
8. method as claimed in claim 7 it is characterised in that：After obtaining target master cylinder thrust, system pass through from
Preferable brake pedal displacement/pedal force in figure obtains brake pedal force desired value；Afterwards, system by target master cylinder thrust and
Brake pedal force desired value asks difference to obtain braking motor target propulsive force, such as following formula：
Fbm=Fmc-Fpedal×i (2)
F in formulamcFor master cylinder target propulsive force；FbmFor target braking motor thrust；FpedalFor brake pedal force desired value；I is
Brake pedal lever ratio；
FPFE=Fpedal×i (3)
Meanwhile, system is by pedal force simulated machine target propulsive force FPFEIt is sent to pedal force simulated machine so as to produce and institute
Need the brake pedal feedback force that brake pedal force is consistent；
So far, system obtains the target propulsive force of two motors, and the dependent instruction of target propulsive force is sent to electric machine controller, electricity
Machine controller controls corresponding motor to produce target propulsive force, completes braking and pedal force simulation, thus realizing controlling brake fluid pressure
While complete active pedal force simulation.
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| CN201410008391.1A CN103754207B (en) | 2014-01-08 | 2014-01-08 | Method for controlling double-motor electric-hydraulic composite brake system on basis of force control |
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| CN201410008391.1A CN103754207B (en) | 2014-01-08 | 2014-01-08 | Method for controlling double-motor electric-hydraulic composite brake system on basis of force control |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104309597A (en) * | 2014-09-26 | 2015-01-28 | 同济大学 | Control method for hydraulic dual motor-driven electronic hydraulic braking system |
| CN105034821A (en) * | 2015-02-05 | 2015-11-11 | 南京理工大学 | Composite regenerative braking method used for vehicle |
| CN104760586A (en) * | 2015-03-31 | 2015-07-08 | 同济大学 | Double-motor driving type electronic hydraulic brake system capable of actively simulating pedal feeling |
| CN105667484A (en) * | 2016-01-11 | 2016-06-15 | 清华大学 | Wire control brake system driven by two fully decoupled motors |
| CN109367395B (en) * | 2018-11-14 | 2023-06-09 | 南京航空航天大学 | Electrohydraulic composite braking system and control method thereof |
| CN113212403B (en) * | 2021-02-25 | 2022-11-18 | 北京工业大学 | Decoupling control method for automobile combined braking system |
| CN113525319B (en) * | 2021-09-03 | 2022-05-31 | 吉林大学 | Vacuum power-assisted regenerative braking control method based on adjustable liquid storage cylinder |
| CN114087302B (en) * | 2021-10-19 | 2024-02-27 | 中国科学院电工研究所 | Control method and control system for configuration of electronic mechanical brake line control system |
| CN114655180A (en) * | 2022-04-14 | 2022-06-24 | 江苏恒力制动器制造有限公司 | Master cylinder pressure robust control method suitable for integrated electronic hydraulic brake system |
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| JP2013006526A (en) * | 2011-06-24 | 2013-01-10 | Advics Co Ltd | Vehicular brake device |
| CN103171531A (en) * | 2013-03-19 | 2013-06-26 | 吉林大学 | Active brake pedal travel simulator and control method thereof |
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