CN103895518A - Parking braking control method - Google Patents
Parking braking control method Download PDFInfo
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- CN103895518A CN103895518A CN201210590093.9A CN201210590093A CN103895518A CN 103895518 A CN103895518 A CN 103895518A CN 201210590093 A CN201210590093 A CN 201210590093A CN 103895518 A CN103895518 A CN 103895518A
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60T13/746—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 and mechanical transmission of the braking action
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
- F16D2125/40—Screw-and-nut
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/44—Mechanical mechanisms transmitting rotation
- F16D2125/46—Rotating members in mutual engagement
- F16D2125/48—Rotating members in mutual engagement with parallel stationary axes, e.g. spur gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/58—Mechanical mechanisms transmitting linear movement
- F16D2125/60—Cables or chains, e.g. Bowden cables
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a parking braking control method. The method comprises the steps that the current of a parking motor is respectively detected by a sensing element and a sampling resistor so as to obtain a first current detection value and a second current detection value; the rotating speed of the parking motor is respectively detected by a rotating speed sensor and the sampling resistor so as to obtain a first rotating speed detection value and a second rotating speed detection value; the difference between the first current detection value and the second current detection value is calculated, and the difference between the first rotating speed detection value and the second rotating speed detection value is calculated; a current calculated value and a rotating speed calculated value are obtained based on the first current difference value and the first rotating speed difference value respectively; a first temperature detection value and a second temperature detection value of the parking motor are calculated; a temperature difference value is obtained based on the difference between the first temperature detection value and the second temperature detection value; a temperature calculated value is obtained based on the temperature difference value; a preset reference value form is searched for according to the current calculated value, the rotating speed calculated value and the temperature calculated value so as to obtain the current braking force of the parking motor. According to the parking braking control method, faults of an electronic parking braking device can be effectively detected, and operation safety of the electronic parking barking device can be ensured.
Description
Technical field
The present invention relates to vehicle brake technology field, particularly a kind of braking during standstill control method.
Background technology
Brake system is vehicle is slowed down during travelling so that stop and making vehicle keep the system of quiescence.Brake system comprises to be slowed down vehicle so that stops and making vehicle keep the parking brake apparatus of quiescence simultaneously during travelling.
The using method of parking brake apparatus is driver's operation pull bar, and pull bar drives parking drag-line, then drives the drg of the wheel that is connected to parking drag-line, thereby braking force is provided, to keep the quiescence of wheel.In the time that pull bar is released, parking drag-line is released with from wheel releasing brake power.The pulling force of this use parking drag-line provides braking force or is called as cabble-actuated brake type from the action type of wheel releasing brake power to wheel.
For cabble-actuated brake, no matter when be all could work the in the situation that of driver's operation, and, chaufeur only just can play a role in the time exerting oneself pull-up pull bar, so not only affect the use of interior space, returning chaufeur and make troubles, just there is the possibility of drawing motionless pull bar in leptosome chaufeur.Therefore, in prior art, having developed a kind of electrical motor that uses replaces chaufeur to pull the electronic brake system of pull bar.
Electronic brake system comprises electronic control unit, electrical motor, driving gear set, screw rod swivel nut, parking drag-line.Electronic control unit intercoms mutually with the controller area network of vehicle, obtains driver intention, thereby carries out service brake and the large function of braking during standstill two, wherein, and the common function that braking during standstill is electronic brake system.The braking procedure of electronic brake system is as follows:
Electronic control unit is received information, is judged as after effective order, and control relay is connected, make electrical motor energising, electrical motor obtain electric after, rotate, by driving gear set, rotation is passed to swivel nut, swivel nut rotates and drives screw rod, because screw rod is having rotated upper limit, makes it under the rotation of swivel nut, produce rectilinear movement, thereby drive drag-line elongated or shorten, it is tension parking that drag-line shortens, and drag-line is elongated, is releasing brake.
In electronic control unit, key is to obtain the size of drag-line power, if for the sensor et out of order of sensing drag-line power, can not judge whether to have reached needed braking force, the safety of vehicle is produced to serious threat.
Summary of the invention
The present invention one of is intended to solve the problems of the technologies described above at least to a certain extent or at least provides a kind of useful business to select.
For this reason, the object of the invention is to propose a kind of braking during standstill control method, the method effectively the fault of detected electrons parking brake apparatus to guarantee the safety of electronic brake equipment operating.
To achieve these goals, embodiments of the invention provide a kind of braking during standstill control method to comprise: detect respectively the electric current of parking motor by sensing element and sampling resistor, to obtain the first current detection value and the second current detection value; Detect respectively the rotating speed of described parking motor by tachogen and described sampling resistor, to obtain the first rotating speed detected value and the second rotating speed detected value; The difference of calculating described the first current detection value and the second current detection value obtains the first electric current difference, and the difference of calculating described the first rotating speed detected value and the second rotating speed detected value obtains the first rotating speed difference; Obtain Current calculation value and rotating speed computing value according to described the first electric current difference and described the first rotating speed difference respectively; Current maxima during by described parking electric motor starting and the gross horsepower of described parking motor calculate respectively the first temperature detection value and second temperature detection value of described parking motor; Obtain temperature gap according to the difference of described the first temperature detection value and the second temperature detection value; Obtain temperature computation value according to described temperature gap; Search default a reference value form to obtain the current braking force of described parking motor according to described Current calculation value, rotating speed computing value and temperature computation value.
According to the braking during standstill control method of the embodiment of the present invention; utilize the sampling resistor in motor path to obtain current of electric; and read the rotating speed of motor by the ripple processing of current sample curve; and be furnished with in addition the sensor of measuring motor speed and electric current, make electric current and rotating speed possess duplicate protection.Estimated again the tension force of parking cable by the electric current of motor and rotating speed.By the combination estimation braking force of electric current and rotating speed, increase the accuracy of braking force.Do not use other dynamometry components and parts, thereby simplified physical construction and reduced the manufacturing cost of electronic brake system.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Brief description of the drawings
The present invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments obviously and easily and understand, wherein:
Fig. 1 is the diagram of circuit of braking during standstill control method according to an embodiment of the invention;
Fig. 2 is a kind of constructional drawing of electronic brake equipment;
Fig. 3 is the constructional drawing of the electronic brake system that braking during standstill control method is used according to an embodiment of the invention; And
Fig. 4 is the diagram of circuit of braking during standstill control method according to another embodiment of the present invention.
Detailed description of the invention
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
Disclosing below provides many different embodiment or example to be used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts to specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can be in different examples repeat reference numerals and/or letter.This repetition is in order to simplify and object clearly, itself do not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, First Characteristic described below Second Characteristic it " on " structure can comprise that the first and second Characteristics creations are the direct embodiment of contact, also can comprise the embodiment of other Characteristics creation between the first and second features, such the first and second features may not be direct contacts.
In description of the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, for example, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be to be directly connected, and also can indirectly be connected by intermediary, for the ordinary skill in the art, can understand as the case may be the concrete meaning of above-mentioned term.
With reference to description and accompanying drawing below, these and other aspects of embodiments of the invention will be known.In these descriptions and accompanying drawing, specifically disclose some specific implementations in embodiments of the invention, represent some modes of the principle of implementing embodiments of the invention, but should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise all changes, amendment and the equivalent within the scope of spirit and the intension that falls into additional claims.
With reference to figure 1, for according to the diagram of circuit of a kind of braking during standstill control method of the embodiment of the present invention, with reference to figure 2, be a kind of constructional drawing of electronic brake equipment.
Be that drag-line pulls type electronic brake equipment with reference to the electronic brake equipment shown in figure 2, it comprises motor 10, train of gears 20, screw rod 25, swivel nut 30, parking drag-line 40.The on period that drag-line pulls type electronic brake equipment to be also included in electronic brake equipment detects the tachogen 110 of motor 10 rotating speeds.
Electronic brake system comprises that drag-line pulls type electronic brake equipment, drg, wheel, parking switch, electronic control unit (ECU, Electronic Control Unit) and display unit.Electronic brake system also comprises the battery that power for operation is provided to all parts.To describe electronic brake system below in detail.
Under the operation of automatic switch, the electric power that electronic control unit (ECU) provides by battery makes motor 10 forward or reverse, motor 10 drives parking drag-line 40 shorten or extend by train of gears 20, screw rod 25 and screw sleeve 30, thereby provides braking force or releasing brake power to drg.
The rotating speed of the electric current of electronic control unit (ECU) based on two-way motor 10 and motor 10 temperature that estimates motor 10 estimate the braking force being applied on drg, and the braking force based on calculating is controlled the rotation of motor 10, control thus the pulling force of drag-line and the braking force of drg.The result of a measurement of analyzing two-way electric current and rotating speed can show that electronic brake equipment has fault, provides corresponding prompting, and carries out corresponding operating.
Shown in figure 3, for passing through the control of electronic control unit (ECU) to electronic brake equipment and the constructional drawing of fault detection unit according to the embodiment of the present invention.
Electronic control unit (ECU) 100 comprises detection and evaluation unit 100b, electric current and rotating speed use value judging unit 100c, temperature use value judging unit 100d, a reference value memory cell 100f and the braking force evaluation unit 100g of the electric current of motor and rotation speed detection unit 100a, motor temperature.
The electric current of motor and rotation speed detection unit 100a are for determining electric current and the rotating speed of motor.Electric current adopts two kinds of detection modes: a kind of is with the little sensing element of volume, reads inducing current I1, can be integrated on circuit card, and stay out of current of electric loop, and the reliability of measurement is high; Another kind is to be connected in current of electric loop with accurate sampling resistor, takes out sampling resistor both end voltage value and after amplifier amplifies, calculates current value size I2, generally uses copper sheet formula sampling resistor more reliable.Rotating speed detects and is also divided into two kinds of detection modes: a kind of is tachogen 110 integrated on motor, can directly read motor speed R1, another kind is to read and share an accurate sampling resistor with electric current, after larger magnification factor, take out the variation number of times of Motor Commutating Segment by the ripple of current of electric, divided by the commutation number of every circle, just obtain motor speed R2 again.
The detection of motor temperature and evaluation unit 100b are for determining the output torque value of motor motor under certain electric current and certain rotating speed.Motor temperature adopts two kinds of detection modes: a kind of is the lowest high-current value of the moment impact while using electric motor starting, from reality, it is the value that the voltage of motor obtains divided by the wire resistor of motor, electric moter voltage can record, the wire resistor value of motor just can obtain, because the resistance value of electric machine winding is temperature variant, can obtain motor temperature from electric machine winding resistance value.Another kind is the magnitude of voltage by motor, working current value, operating time, and these parameters of standing time interval, obtain the gross horsepower of motor, calculate motor power output from current value and the tachometer value of motor again, thereby the mechanical horsepower that calculates motor, deducts mechanical horsepower by gross horsepower, just obtain heat, deduct again the radiating effect of time gap wherein, push away to obtain current motor temperature.Mechanical horsepower may have deviation herein, but deviation is very little on the impact of power difference.In the calculating that uses current value as motor power output, consider that motor is subject to the impact of temperature, the respective value of current value and motor output torque slightly changes, and same moment of torsion, temperature is higher, and the rotation speed change that unit moment of torsion is corresponding is larger, therefore motor is carried out temperature detection and just can be revised the deviation of motor power output, if temperature is too high or too low, obtain same braking force, need to increase certain electric current and rotating speed correction.
Electric current and rotating speed use value judging unit 100c compare the current value of two-way and tachometer value process, be confirmed whether that two-way value is all in usable range, this usable range refers to that the difference of two-way electric current I 1 and I2 and the difference of two-way rotating speed R1 and R2 are no more than error limit { △ I} and { △ R }.If two-way value is all in error limit, { in △ I} and { △ R }, illustrate that all are normal, the observed reading I1 of obtaining current and rotating speed and R1 calculate and control; If two-way electric current difference is not in error limit { in △ I}, but two-way rotating speed difference is in error limit { △ R }, indicating alarm single channel fault, and the tachometer value of measurement is tabled look-up and found out standard current value I3, get I1, I2 makes difference with I3 respectively, { the I value in △ I} is as electric current use value to be taken at error limit.In like manner, if two-way rotating speed difference is not in error limit { in △ R}, but two-way electric current difference is in error limit { △ I }, indicating alarm single channel fault, and the current value of measurement is tabled look-up and found out standard revolving speed value R3, get R1, R2 makes difference with R3 respectively, { the R value in △ R} is as rotating speed use value to be taken at error limit.If two-way electric current and tachometer value Dou You mono-tunnel value mal, there is large fault in illustrative system, by the power-off of timework 3S rear motor, report to the police and keep in repair, prompting major failure is reported to the police, or can respectively use a road to mate other two-way Zhong mono-tunnel, a pair of electric current or rotating speed tabling look-up corresponding thereto draw rotating speed or current value if having difference, in error limit, is first used this group electric current and tachometer value Emergency use.
Temperature use value judging unit 100d is for the result of two-way temperature value is compared, and whether, in error limit, if two-way is normal, confirms that this two-way aviation value is as use value; If two-way is not in error limit, motor is using poor temperature as use value, and poor temperature is got in temperature above freezing both highest temperatures herein, subzero both lowest temperature, the concurrent signal that is out of order.
The characteristic of motor is done a data list by a reference value memory cell 100f, deposits in the memory cell of micro controller system, makes an a reference value sheet format by current of electric, motor speed, motor temperature, Motor torque.
Braking force evaluation unit 100g is the result of tabling look-up and drawing to a reference value memory cell 100f, when confirming current of electric, motor speed and motor temperature, tables look-up and draws the output torque of motor, has had the output torque of motor, has just drawn braking force.
Shown in figure 1, comprise the steps: according to a kind of braking during standstill control method of the embodiment of the present invention
Step S101, detects respectively the electric current of parking motor, to obtain the first current detection value and the second current detection value by sensing element and sampling resistor.
In the time carrying out parking order by parking switch, the rotational force of motor 10 is converted to the straight-line motion of screw rod 25 by train of gears 20, swivel nut 30, and the parking drag-line 40 that is fixed to screw rod 25 ends is stretched by the motion of screw rod 25.In the time that the pulling force of stretching drg reaches target braking force, can keep the stable of vehicle.
The size of target braking force is controlled by electronic control unit (ECU) 100.Parking switch action, command execution tension, control flow starts, electric motor loop is connected, motor starts to be rotated in the forward action, and counting machine starts timing, current measuring unit induction original paper detects the first current detection value I1 and calculating sampling resistance obtains the second current detection value I2 through amplifying signal.
As shown in Figure 3, the electric current of motor and rotation speed detection unit 100a are for determining electric current and the rotating speed of motor.Electric current adopts two kinds of detection modes: a kind of is with the little sensing element of volume, reads the first current detection value I1, can be integrated on circuit card, and stay out of current of electric loop, and the reliability of measurement is high; Another kind is to be connected in current of electric loop with accurate sampling resistor, takes out sampling resistor both end voltage value and calculate the second current detection value I2 after amplifier amplifies, and generally uses copper sheet formula sampling resistor more reliable.
Step S102, detects respectively the rotating speed of parking motor, to obtain the first rotating speed detected value and the second rotating speed detected value by tachogen and sampling resistor.
As shown in Figure 3, the current curve analysis after ripple amplifies of tachometric survey unit inspection motor the first rotating speed detected value R1 calculating sampling resistance draws motor the second rotating speed detected value R2, the judgement of making comparisons in detecting electric current and rotating speed, first arranges the expected value that electric current and rotating speed will arrive.
Rotating speed detects and is also divided into two kinds of detection modes: a kind of is tachogen 110 integrated on motor, can directly read the first rotating speed detected value R1, another kind is to read and share an accurate sampling resistor with electric current, after larger magnification factor, take out the variation number of times of Motor Commutating Segment by the ripple of current of electric, divided by the commutation number of every circle, just obtain the second rotating speed detected value R2 again.
Step S103, the difference of calculating the first current detection value and the second current detection value obtains the first electric current difference, and the difference of calculating the first rotating speed detected value and the second rotating speed detected value obtains the first rotating speed difference.
As shown in Figure 3, electric current and rotating speed use value judging unit 100c compare the current value of two-way and tachometer value process, be confirmed whether that two-way value is all in usable range, this usable range refers to that the first electric current difference △ I of the first current detection value I1 and the second current detection value I2 and the first rotating speed difference △ R of the first rotating speed detected value R1 and the second rotating speed detected value R2 are no more than current threshold { △ I} and rotary speed threshold value { △ R }.
Step S104, obtains Current calculation value and rotating speed computing value according to the first electric current difference and the first rotating speed difference respectively.
Specifically comprise the steps:
Judge respectively whether the first electric current difference and the first rotating speed difference are less than current threshold and rotary speed threshold value;
If the first electric current difference and the first rotating speed difference are less than respectively current threshold and rotary speed threshold value, using the first current detection value as Current calculation value, and using the first rotating speed detected value as rotating speed computing value.
Shown in figure 3, if the first electric current difference △ I and the first rotating speed difference △ R all { in △ I} and rotary speed threshold value { △ R } scope, represent normally, now, get the first current detection value I1 and the first rotating speed detected value R1 and calculate control at current threshold.
If the first electric current difference is less than current threshold, and the first rotating speed difference is greater than rotary speed threshold value, report to the police, and according to the first current detection value or the second current detection value inquiry predetermined current and rotating speed synopsis to obtain standard revolving speed value;
Respectively the first rotating speed detected value and standard revolving speed value are compared to form the second rotating speed detection difference, the second rotating speed detected value and standard revolving speed value are compared to form the 3rd rotating speed detection difference;
If detecting difference, the second rotating speed is less than rotary speed threshold value, using the first rotating speed detected value as rotating speed computing value;
If detecting difference, the 3rd rotating speed is less than rotary speed threshold value, using the second rotating speed detected value as rotating speed computing value.
As shown in Figure 3, if the first rotating speed difference △ R is not in rotary speed threshold value { in △ R}, but the first electric current difference △ I is in current threshold { △ I }, indicating alarm single channel fault, and the current value of measurement is tabled look-up and found out standard revolving speed value R3, get R1, R2 makes difference with R3 respectively, { the R value in △ R} is as rotating speed use value to be taken at rotary speed threshold value.
If the first rotating speed difference is less than rotary speed threshold value, and the first electric current difference is greater than current threshold, report to the police, and according to the first rotating speed detected value or the second rotating speed detected value inquiry predetermined current and rotating speed synopsis to obtain standard current value;
Respectively the first current detection value and standard current value are compared to form the second current detecting difference, the second current detection value and standard current value are compared to form the 3rd current detecting difference;
If the second current detecting difference is less than current threshold, using the first current detection value as Current calculation value;
If the 3rd current detecting difference is less than current threshold, using the second current detection value as Current calculation value.
As shown in Figure 3, if the first electric current difference △ I is not at current threshold { in △ I}, but the first rotating speed difference △ R is in rotary speed threshold value { △ R }, indicating alarm single channel fault, and the tachometer value of measurement is tabled look-up and found out standard current value I3, get I1, I2 makes difference with I3 respectively, { the I value in △ I} is as electric current use value to be taken at current threshold.
If the first rotating speed difference is greater than rotary speed threshold value, and the first electric current difference is greater than current threshold, after postponing Preset Time, parking motor carried out to power-off, and warning.
As shown in Figure 3, if two-way electric current and tachometer value Dou You mono-tunnel value mal, there is large fault in illustrative system, by timework rear motor power-off in 3 second, report to the police and keep in repair, prompting major failure is reported to the police, or can respectively use a road to mate other two-way Zhong mono-tunnel, a pair of electric current or rotating speed tabling look-up corresponding thereto draw rotating speed or current value if having difference, in error limit, is first used this group electric current and tachometer value Emergency use.
Step S105, the current maxima during by parking electric motor starting and the gross horsepower of parking motor calculate respectively the first temperature detection value and second temperature detection value of parking motor.
Shown in figure 3, the detection of motor temperature and evaluation unit 100b are for determining the output torque value of motor motor under certain electric current and certain rotating speed.Motor temperature adopts two kinds of detection modes: a kind of is the lowest high-current value of the moment impact while using electric motor starting, from reality, say the value that the voltage of motor obtains divided by the wire resistor of motor, electric moter voltage can record, the wire resistor value of motor just can obtain, because the resistance value of electric machine winding is temperature variant, can obtain motor temperature from electric machine winding resistance value.Another kind is the magnitude of voltage by motor, working current value, operating time, and these parameters of standing time interval, obtain the gross horsepower of motor, calculate motor power output from current value and the tachometer value of motor again, thereby the mechanical horsepower that calculates motor, deducts mechanical horsepower by gross horsepower, just obtain heat, deduct again the radiating effect of time gap wherein, push away to obtain current motor temperature.Mechanical horsepower may have deviation herein, but deviation is very little on the impact of power difference.In the calculating that uses current value as motor power output, consider that motor is subject to the impact of temperature, the respective value of current value and motor output torque slightly changes, and same moment of torsion, temperature is higher, and the rotation speed change that unit moment of torsion is corresponding is larger, therefore motor is carried out temperature detection and just can be revised the deviation of motor power output, if temperature is too high or too low, obtain same braking force, need to increase certain electric current and rotating speed correction.
Step S106, obtains temperature gap according to the difference of the first temperature detection value and the second temperature detection value.
Shown in figure 3, temperature use value judging unit 100d is for the result of two-way temperature value is compared, and obtains temperature gap according to the difference of the first temperature detection value and the second temperature detection value.
Step S107, obtains temperature computation value according to temperature gap.
Shown in figure 3, temperature use value judging unit 100d judges that temperature gap whether in error limit, if two-way is normal, confirms that this two-way aviation value is as temperature computation value; If two-way is not in error limit, motor is using poor temperature as use value, and poor temperature is got in temperature above freezing both highest temperatures herein, subzero both lowest temperature, the concurrent signal that is out of order.
Step S108, searches default a reference value form to obtain the current braking force of parking motor according to Current calculation value, rotating speed computing value and temperature computation value.
Shown in figure 3, the characteristic of motor is done a data list by a reference value memory cell 100f, deposits in the memory cell of micro controller system, makes an a reference value sheet format by Current calculation value, rotating speed computing value, temperature computation value and Motor torque.
Braking force evaluation unit 100g is the result of tabling look-up and drawing to a reference value memory cell 100f, when confirming Current calculation value, rotating speed computing value and temperature computation value, tables look-up and draws the output torque of motor, has had the output torque of motor, has just drawn braking force.
Shown in figure 4, it is the diagram of circuit of braking during standstill control method according to an embodiment of the invention.
Step S401, electronic brake system is started working.
Step S402, operation electronic brake equipment timing.
Step S403, the electric current I 1 of measurement electronic parking motor.Detect the electric current of parking motor by sensing element, to obtain the first current detection value I1.
Step S404, the electric current I 2 of calculating electronic parking motor.Detect the electric current of parking motor by sampling resistor, to obtain the second current detection value I2.
Step S405, the rotating speed R1 of measurement electronic parking motor.Detect the rotating speed of parking motor by tachogen, to obtain the first rotating speed detected value R1.
Step S406, the rotating speed R2 of calculating electronic parking motor.Detect the rotating speed of parking motor by sampling resistor, to obtain the second rotating speed detected value R2.
Step S407, whether I1-I2 is allowing current error scope { in △ I}.The difference of calculating the first current detection value and the second current detection value obtains the first electric current difference, and judges that I1-I2 is whether allowing current error scope { in △ I}.
Step S408, whether R1-R2 is allowing speed error scope { in △ R}.The difference of calculating the first rotating speed detected value and the second rotating speed detected value obtains the first rotating speed difference, and judges that R1-R2 is whether allowing speed error scope { in △ R}.
Step S409,
if meet this condition, perform step S413.
Step S410,
r1-R2 ∈ { △ R}.If meet this condition, perform step S414.
Step S411, I1-I2 ∈ △ I},
if meet this condition, perform step S415.
Step S412, I1-I2 ∈ { △ I}, R1-R2 ∈ { △ R}.If meet this condition, perform step S416.
Step S413, evaluation work rear motor power-off in 3 second.If two-way electric current and tachometer value Dou You mono-tunnel value mal, there is large fault in illustrative system, by timework rear motor power-off in 3 second, report to the police and keep in repair, prompting major failure is reported to the police, or can respectively use a road to mate other two-way Zhong mono-tunnel, and a pair of electric current or rotating speed tabling look-up corresponding thereto draw rotating speed or current value if having difference is in error limit, first use this group electric current and tachometer value Emergency use, and perform step S421.
Step S414, prompting warning single channel fault.If the first rotating speed difference is less than rotary speed threshold value, and the first electric current difference is greater than current threshold, reports to the police, and performs step S417.
Step S415, prompting warning single channel fault.If the first electric current difference is less than current threshold, and the first rotating speed difference is greater than rotary speed threshold value, reports to the police, and performs step S418.
Step S416, the observed reading of obtaining current and rotating speed.Then perform step S424.
Step S417, gets the observed reading of rotating speed and calculates current value I 3.To obtain standard current value, and perform step S419 according to the first rotating speed detected value or the second rotating speed detected value inquiry predetermined current and rotating speed synopsis.
Step S418, the observed reading of obtaining current is calculated tachometer value R3.To obtain standard revolving speed value, and perform step S420 according to the first current detection value or the second current detection value inquiry predetermined current and rotating speed synopsis.
Whether step S419, exist the difference of I1 or I2 and I3 { in △ I}.Respectively the first current detection value and standard current value are compared to form the second current detecting difference, the second current detection value and standard current value are compared to form the 3rd current detecting difference, if the difference of I1 or I2 and I3 is not { in △ I}, performing step S421.If had, perform step S422.
Whether step S420, exist the difference of R1 or R2 and R3 { in △ R}.Respectively the first rotating speed detected value and standard revolving speed value are compared to form the second rotating speed detection difference, the second rotating speed detected value and standard revolving speed value are compared to form the 3rd rotating speed detection difference, if the difference of R1 or R2 and R3 is not { in △ R}, perform step S421, if had, and perform step S423.
Step S421, prompting major failure is reported to the police.Then perform step S426.
Step S422, get R1 and with the difference of I3 at the { current value in △ I}.If the second current detecting difference is less than current threshold, using the first current detection value as Current calculation value; If the 3rd current detecting difference is less than current threshold, using the second current detection value as Current calculation value.Then perform step S424.
Step S423, get I1 and with the difference of R3 at the { tachometer value in △ R}.If detecting difference, the second rotating speed is less than rotary speed threshold value, using the first rotating speed detected value as rotating speed computing value; If detecting difference, the 3rd rotating speed is less than rotary speed threshold value, using the second rotating speed detected value as rotating speed computing value.Then perform step S424.
Step S424, the temperature of estimation electronic parking motor.Shown in figure 3, the detection of motor temperature and evaluation unit 100b are for determining the output torque value of motor motor under certain electric current and certain rotating speed.Motor temperature adopts two kinds of detection modes: a kind of is the lowest high-current value of the moment impact while using electric motor starting, from reality, say the value that the voltage of motor obtains divided by the wire resistor of motor, electric moter voltage can record, the wire resistor value of motor just can obtain, because the resistance value of electric machine winding is temperature variant, can obtain motor temperature from electric machine winding resistance value.Another kind is the magnitude of voltage by motor, working current value, operating time, and these parameters of standing time interval, obtain the gross horsepower of motor, calculate motor power output from current value and the tachometer value of motor again, thereby the mechanical horsepower that calculates motor, deducts mechanical horsepower by gross horsepower, just obtain heat, deduct again the radiating effect of time gap wherein, push away to obtain current motor temperature.Mechanical horsepower may have deviation herein, but deviation is very little on the impact of power difference.In the calculating that uses current value as motor power output, consider that motor is subject to the impact of temperature, the respective value of current value and motor output torque slightly changes, and same moment of torsion, temperature is higher, and the rotation speed change that unit moment of torsion is corresponding is larger, therefore motor is carried out temperature detection and just can be revised the deviation of motor power output, if temperature is too high or too low, obtain same braking force, need to increase certain electric current and rotating speed correction.
Step S425, the braking force of calculating drg.Shown in figure 3, the characteristic of motor is done a data list by a reference value memory cell 100f, deposits in the memory cell of micro controller system, makes an a reference value sheet format by Current calculation value, rotating speed computing value, temperature computation value and Motor torque.
Braking force evaluation unit 100g is the result of tabling look-up and drawing to a reference value memory cell 100f, when confirming Current calculation value, rotating speed computing value and temperature computation value, tables look-up and draws the output torque of motor, has had the output torque of motor, has just drawn braking force.
Step S426, finishes.
According to a kind of braking during standstill control method of the embodiment of the present invention; utilize the accurate sampling resistor in motor path to obtain current of electric; and read the rotating speed of motor by the ripple processing of current sample curve; and be furnished with in addition the sensor of measuring motor speed and electric current, make electric current and rotating speed possess duplicate protection.Estimated again the tension force of parking cable by the electric current of motor and rotating speed.By the combination estimation braking force of electric current and rotating speed, increase the accuracy of braking force.Do not use other dynamometry components and parts, thereby simplified physical construction and reduced the manufacturing cost of electronic brake system.
Any process of otherwise describing in diagram of circuit or at this or method are described and can be understood to, represent to comprise that one or more is for realizing module, fragment or the part of code of executable instruction of step of specific logical function or process, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by contrary order, carry out function, this should be understood by embodiments of the invention person of ordinary skill in the field.
The logic and/or the step that in diagram of circuit, represent or otherwise describe at this, for example, can be considered to the sequencing list of the executable instruction for realizing logic function, may be embodied in any computer-readable medium, use for instruction execution system, device or equipment (as computer based system, comprise that the system of treater or other can and carry out the system of instruction from instruction execution system, device or equipment fetch instruction), or use in conjunction with these instruction execution systems, device or equipment.With regard to this specification sheets, " computer-readable medium " can be anyly can comprise, device that storage, communication, propagation or transmission procedure use for instruction execution system, device or equipment or in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronics package) with one or more wirings, portable computer diskette box (magnetic device), random-access memory (ram), read-only memory (ROM) (ROM), the erasable read-only memory (ROM) (EPROM or flash memory) of editing, fiber device, and portable optic disk read-only memory (ROM) (CDROM).In addition, computer-readable medium can be even paper or other the suitable medium that can print described program thereon, because can be for example by paper or other media be carried out to optical scanning, then edit, decipher or process in electronics mode and obtain described program with other suitable methods if desired, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple steps or method can realize with being stored in software or the firmware carried out in memory device and by suitable instruction execution system.For example, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: there is the discrete logic for data-signal being realized to the logic gates of logic function, there is the special IC of suitable combinatory logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is can carry out the hardware that instruction is relevant by program to complete, described program can be stored in a kind of computer-readable recording medium, this program, in the time carrying out, comprises step of embodiment of the method one or a combination set of.
In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing module, can be also that the independent physics of unit exists, and also can be integrated in a module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and also can adopt the form of software function module to realize.If described integrated module realizes and during as production marketing independently or use, also can be stored in a computer read/write memory medium using the form of software function module.
The above-mentioned storage medium of mentioning can be read-only memory (ROM), disk or CD etc.
In the description of this specification sheets, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And specific features, structure, material or the feature of description can be with suitable mode combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, amendment, replacement and modification to these embodiment, scope of the present invention is by claims and be equal to and limit.
Claims (5)
1. a braking during standstill control method, is characterized in that, comprises the following steps:
Detect respectively the electric current of parking motor by sensing element and sampling resistor, to obtain the first current detection value and the second current detection value;
Detect respectively the rotating speed of described parking motor by tachogen and described sampling resistor, to obtain the first rotating speed detected value and the second rotating speed detected value;
The difference of calculating described the first current detection value and the second current detection value obtains the first electric current difference, and the difference of calculating described the first rotating speed detected value and the second rotating speed detected value obtains the first rotating speed difference;
Obtain Current calculation value and rotating speed computing value according to described the first electric current difference and described the first rotating speed difference respectively;
Current maxima during by described parking electric motor starting and the gross horsepower of described parking motor calculate respectively the first temperature detection value and second temperature detection value of described parking motor;
Obtain temperature gap according to the difference of described the first temperature detection value and the second temperature detection value;
Obtain temperature computation value according to described temperature gap;
Search default a reference value form to obtain the current braking force of described parking motor according to described Current calculation value, rotating speed computing value and temperature computation value.
2. braking during standstill control method as claimed in claim 1, is characterized in that, respectively according to described the first electric current difference with described the first rotating speed difference obtains Current calculation value and rotating speed computing value further comprises:
Judge respectively whether described the first electric current difference and described the first rotating speed difference are less than current threshold and rotary speed threshold value;
If described the first electric current difference and described the first rotating speed difference are less than respectively described current threshold and rotary speed threshold value, using described the first current detection value as described Current calculation value, and using described the first rotating speed detected value as described rotating speed computing value.
3. braking during standstill control method as claimed in claim 2, is characterized in that, also comprises:
If described the first electric current difference is less than described current threshold, and described the first rotating speed difference is greater than described rotary speed threshold value, report to the police, and according to described the first current detection value or the second current detection value inquiry predetermined current and rotating speed synopsis to obtain standard revolving speed value;
Respectively described the first rotating speed detected value and described standard revolving speed value are compared to form the second rotating speed detection difference, described the second rotating speed detected value and described standard revolving speed value are compared to form the 3rd rotating speed detection difference;
If detecting difference, described the second rotating speed is less than described rotary speed threshold value, using described the first rotating speed detected value as described rotating speed computing value; And
If detecting difference, described the 3rd rotating speed is less than described rotary speed threshold value, using described the second rotating speed detected value as described rotating speed computing value.
4. braking during standstill control method as described in claim 2 or 3, is characterized in that, also comprises:
If described the first rotating speed difference is less than described rotary speed threshold value, and described the first electric current difference is greater than described current threshold, report to the police, and according to described the first rotating speed detected value or the second rotating speed detected value inquiry predetermined current and rotating speed synopsis to obtain standard current value;
Respectively described the first current detection value and described standard current value are compared to form the second current detecting difference, described the second current detection value and described standard current value are compared to form the 3rd current detecting difference;
If described the second current detecting difference is less than described current threshold, using described the first current detection value as described Current calculation value; And
If described the 3rd current detecting difference is less than described current threshold, using described the second current detection value as described Current calculation value.
5. braking during standstill control method as described in claim 1-4 any one, is characterized in that, also comprises:
If described the first rotating speed difference is greater than described rotary speed threshold value, and described the first electric current difference is greater than described current threshold, after postponing Preset Time, described parking motor carried out to power-off, and warning.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210590093.9A CN103895518B (en) | 2012-12-29 | 2012-12-29 | A kind of braking during standstill control method |
| PCT/CN2013/090883 WO2014101868A1 (en) | 2012-12-29 | 2013-12-30 | Method and apparatus for controlling electronic parking brake system |
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| CN201210590093.9A CN103895518B (en) | 2012-12-29 | 2012-12-29 | A kind of braking during standstill control method |
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| CN103895518A true CN103895518A (en) | 2014-07-02 |
| CN103895518B CN103895518B (en) | 2016-04-27 |
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| WO (1) | WO2014101868A1 (en) |
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| CN103895518B (en) | 2016-04-27 |
| WO2014101868A1 (en) | 2014-07-03 |
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