CN103895518B - A kind of braking during standstill control method - Google Patents
A kind of braking during standstill control method Download PDFInfo
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- CN103895518B CN103895518B CN201210590093.9A CN201210590093A CN103895518B CN 103895518 B CN103895518 B CN 103895518B CN 201210590093 A CN201210590093 A CN 201210590093A CN 103895518 B CN103895518 B CN 103895518B
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Classifications
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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
Abstract
The present invention proposes a kind of braking during standstill control method, comprises the following steps: detected the electric current of parking motor respectively by sensing element and sampling resistor to obtain the first and second current detection values; The rotating speed of parking motor is detected respectively to obtain the first and second Rotating speed measring values by tachogen and sampling resistor; Calculate the difference of the first and second current detection values, calculate the difference of the first and second Rotating speed measring values; Current calculation value and rotating speed computing value is obtained respectively according to the first current differential and the first rotating speed difference; Calculate the first and second temperature detection values of parking motor; Difference according to the first and second temperature detection values obtains temperature gap; Temperature calculations is obtained according to temperature gap; Default a reference value form is searched to obtain parking motor current braking effort according to Current calculation value, rotating speed computing value and temperature calculations.The method can the fault of detected electrons parking brake apparatus effectively, and can guarantee the safety of electronic brake equipment operating.
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 vehicle is slowed down during travelling so that stops and making vehicle keep the system of quiescence.Brake system comprises to be made vehicle slow down during travelling so that stops and making vehicle keep the parking brake apparatus of quiescence simultaneously.
The using method of parking brake apparatus is driver's operation pull bar, and pull bar drives parking drag-line, then drives the drg being connected to the wheel of parking drag-line, thus provides braking force, to keep the quiescence of wheel.When pull bar is released, parking drag-line is released to discharge braking force from wheel.The pulling force of this use parking drag-line provides braking force to wheel or is called as cabble-actuated brake type from the action type of wheel release braking force.
For cabble-actuated brake, no matter when be all could work when driver's operation, and, chaufeur only just can play a role when exerting oneself pull-up pull bar, so not only affect the use of interior space, returning chaufeur to make troubles, just there is the possibility of drawing motionless pull bar in leptosome chaufeur.Therefore, developing a kind of electrical motor that uses in prior art 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, thus carries out service brake and the large function of braking during standstill two, and wherein, braking during standstill is the common function of electronic brake system.The braking procedure of electronic brake system is as follows:
Electronic control unit receives information, and after being judged as effective order, control relay is connected, electrical motor is energized, electrical motor obtain electric after, produce rotate, by driving gear set, swivel nut is passed in rotation, swivel nut rotates and drives screw rod, because screw rod is rotating upper limit, makes it under the rotation of swivel nut, produce rectilinear movement, thus drive drag-line is elongated or shorten, it is then tension parking that drag-line shortens, and drag-line is elongated, be then release braking.
In electronic control unit, key is the size obtaining drag-line power, if the sensor failure for sensing drag-line power, then can not judge whether to reach required braking force, produces serious threat to the safety of vehicle.
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 can the fault of detected electrons parking brake apparatus effectively to guarantee the safety of electronic brake equipment operating.
To achieve these goals, The embodiment provides a kind of braking during standstill control method and comprise: the electric current being detected parking motor by sensing element and sampling resistor respectively, to obtain the first current detection value and the second current detection value; The rotating speed of described parking motor is detected respectively, to obtain the first Rotating speed measring value and the second Rotating speed measring value by tachogen and described sampling resistor; The difference calculating described first current detection value and the second current detection value obtains the first current differential, and the difference calculating described first Rotating speed measring value and the second Rotating speed measring value obtains the first rotating speed difference; Current calculation value and rotating speed computing value is obtained respectively according to described first current differential and described first rotating speed difference; The first temperature detection value and second temperature detection value of described parking motor is calculated respectively by the gross horsepower of current maxima during described parking electric motor starting and described parking motor; Difference according to described first temperature detection value and the second temperature detection value obtains temperature gap; Temperature calculations is obtained according to described temperature gap; Default a reference value form is searched to obtain the current braking force of described parking motor according to described Current calculation value, rotating speed computing value and temperature calculations.
According to the braking during standstill control method of the embodiment of the present invention; the sampling resistor in motor path is utilized to obtain current of electric; and the rotating speed of motor is read by the ripple process of current sample curve; and be furnished with the sensor measuring motor speed and electric current in addition, make electric current and rotating speed possess duplicate protection.The tension force of parking cable is estimated again by the electric current of motor and rotating speed.Estimate braking force by the combination of electric current and rotating speed, add the accuracy of braking force.Do not use other dynamometry components and parts, thus simplify physical construction and reduce the manufacturing cost of electronic brake system.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, 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;
The constructional drawing of the electronic brake system that Fig. 3 uses for braking during standstill control method 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
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of 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 in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that 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, fisrt feature described below second feature it " on " structure can comprise the embodiment that the first and second features are formed as directly contact, also can comprise other feature and be formed in embodiment between the first and second features, such first and second features may not be direct contacts.
In describing the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
With reference to description below and accompanying drawing, these and other aspects of embodiments of the invention will be known.Describe at these and in accompanying drawing, specifically disclose some particular implementation in embodiments of the invention, representing some modes of the principle 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 fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
With reference to figure 1, being the diagram of circuit of a kind of braking during standstill control method according to the embodiment of the present invention, with reference to figure 2, is 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 speed.
Electronic brake system comprises drag-line and pulls type electronic brake equipment, drg, wheel, parking switch, electronic control unit (ECU, ElectronicControlUnit) and display unit.Electronic brake system also comprises the battery providing power for operation to all parts.Electronic brake system will be described in detail below.
Under the operation of automatic switch, electronic control unit (ECU) makes motor 10 forward or reverse by the electric power that battery provides, motor 10 drives parking drag-line 40 shorten or extend by train of gears 20, screw rod 25 and screw sleeve 30, thus provides braking force or release braking force to drg.
Electronic control unit (ECU) is based on the electric current of two-way motor 10 and the rotating speed of motor 10 and the temperature estimating motor 10 estimates applying braking force on the brake, and control the rotation of motor 10 based on the braking force calculated, control the pulling force of drag-line and the braking force of drg thus.The result of a measurement analyzing two-way electric current and rotating speed can show that electronic brake equipment has fault, provides corresponding prompting, and performs corresponding operating.
Shown in figure 3, for according to the embodiment of the present invention by electronic control unit (ECU) control to electronic brake equipment and the constructional drawing of fault detection unit.
Electronic control unit (ECU) 100 comprises the electric current of motor and rotation speed detection unit 100a, the detection of motor temperature 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 braking force evaluation unit 100g.
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 that read inducing current I1, accessible site on circuit card, and stays out of current of electric loop, and the reliability of measurement is high with the little sensing element of volume; Another kind is connected in current of electric loop with accurate sampling resistor, takes out sampling resistor both end voltage value calculating current value size I2 after amplifier amplifies, general more reliable with copper sheet type sampling resistor.Rotating speed measring 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 reads with electric current to share an accurate sampling resistor, after larger magnification factor, the variation number of times of Motor Commutating Segment is taken out by the ripple of current of electric, again divided by the commutation number often enclosed, just obtain motor speed R2.
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 with the lowest high-current value of moment impact during electric motor starting, from reality, it is then the value that the voltage of motor obtains divided by the wire resistor of motor, electric moter voltage can record, then the wire resistor value of motor just can obtain, resistance value due to electric machine winding is temperature variant, then 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, motor power output is calculated again from the current value of motor and tachometer value, thus calculate the mechanical horsepower of motor, gross horsepower is deducted mechanical horsepower, just obtains heat, deduct the radiating effect of time gap wherein again, namely 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 using 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 the deviation that temperature detection just can revise motor power output is carried out to motor, if temperature is too high or too low, same braking force be obtained, then need to increase certain electric current and rotating speed correction.
The current value of two-way and tachometer value pass through to compare by electric current and rotating speed use value judging unit 100c, 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, { with in { △ R }, illustrate that all are normal, the observed reading I1 of obtaining current and rotating speed and R1 calculates and controls △ I}; If two-way current differential is not in error limit { in △ I}, but two-way rotating speed difference is in error limit { △ R }, then indicating alarm single channel fault, and the tachometer value of measurement is tabled look-up find out standard current value I3, get I1, I2 and make 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 current differential is in error limit { △ I }, then indicating alarm single channel fault, and the current value of measurement is tabled look-up find out standard revolving speed value R3, get R1, R2 and make 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, then 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, if there be a pair electric current or rotating speed tabling look-up corresponding thereto to draw, the difference of rotating speed or current value is in error limit, then first use this group electric current and tachometer value Emergency use.
Temperature use value judging unit 100d is for the result of two-way temperature value being compared, and whether in error limit, if two-way is normal, then confirms that this two-way aviation value is as use value; If two-way is not in error limit, then motor is using poor temperature as use value, and poor temperature to get in temperature above freezing both highest temperatures herein, both lowest temperature subzero, the concurrent signal that is out of order.
The characteristic of motor is done a data list by a reference value memory cell 100f, stored in the memory cell of micro controller system, is made an a reference value sheet format by current of electric, motor speed, motor temperature, Motor torque.
Braking force evaluation unit 100g is the result drawn of tabling look-up to a reference value memory cell 100f, when confirmation current of electric, motor speed and motor temperature, tables look-up and draws the output torque of motor, had the output torque of motor, just drawn braking force.
Shown in figure 1, a kind of braking during standstill control method according to the embodiment of the present invention comprises the steps:
Step S101, detects the electric current of parking motor respectively by sensing element and sampling resistor, to obtain the first current detection value and the second current detection value.
When performing 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 being fixed to screw rod 25 end is stretched by the motion of screw rod 25.When the pulling force of stretching drg reaches target braking force, the stable of vehicle can be kept.
The size of target braking force is controlled by electronic control unit (ECU) 100.Parking switch action, order performs tension, then control flow starts, electric motor loop is connected, motor starts to rotate 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 that read the first current detection value I1, accessible site on circuit card, and stays out of current of electric loop, and the reliability of measurement is high with the little sensing element of volume; Another kind is 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, general more reliable with copper sheet type sampling resistor.
Step S102, detects the rotating speed of parking motor respectively by tachogen and sampling resistor, to obtain the first Rotating speed measring value and the second Rotating speed measring value.
As shown in Figure 3, rotation speed measurement unit detects motor first Rotating speed measring value R1 and the current curve analysis of calculating sampling resistance after ripple amplifies draws motor second Rotating speed measring value R2, to make comparisons judgement while detection electric current and rotating speed, the expected value that electric current and rotating speed will arrive first is set.
Rotating speed measring is also divided into two kinds of detection modes: a kind of is tachogen 110 integrated on motor, directly can read the first Rotating speed measring value R1, another kind reads with electric current to share an accurate sampling resistor, after larger magnification factor, the variation number of times of Motor Commutating Segment is taken out by the ripple of current of electric, again divided by the commutation number often enclosed, just obtain the second Rotating speed measring value R2.
Step S103, the difference calculating the first current detection value and the second current detection value obtains the first current differential, and the difference calculating the first Rotating speed measring value and the second Rotating speed measring value obtains the first rotating speed difference.
As shown in Figure 3, the current value of two-way and tachometer value pass through to compare by electric current and rotating speed use value judging unit 100c, be confirmed whether that two-way value is all in usable range, this usable range refers to that the first current differential △ 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 measring value R1 and the second Rotating speed measring value R2 is 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 current differential and the first rotating speed difference respectively.
Specifically comprise the steps:
Judge whether the first current differential and the first rotating speed difference are less than current threshold and rotary speed threshold value respectively;
If the first current differential and the first rotating speed difference are less than current threshold and rotary speed threshold value respectively, then using the first current detection value as Current calculation value, and using the first Rotating speed measring value as rotating speed computing value.
Shown in figure 3, if the first current differential △ I and the first rotating speed difference △ R all { in △ I} and rotary speed threshold value { △ R } scope, represents normal at current threshold, now, gets the first current detection value I1 and the first Rotating speed measring value R1 and calculate and control.
If the first current differential is less than current threshold, and the first rotating speed difference is greater than rotary speed threshold value, then 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 measring value and standard revolving speed value are compared to form the second Rotating speed measring difference, the second Rotating speed measring value and standard revolving speed value are compared to form the 3rd Rotating speed measring difference;
If the second Rotating speed measring difference is less than rotary speed threshold value, then using the first Rotating speed measring value as rotating speed computing value;
If the 3rd Rotating speed measring difference is less than rotary speed threshold value, then using the second Rotating speed measring 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 current differential △ I is in current threshold { △ I }, then indicating alarm single channel fault, and the current value of measurement is tabled look-up find out standard revolving speed value R3, get R1, R2 and make 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 current differential is greater than current threshold, then report to the police, and according to the first Rotating speed measring value or the second Rotating speed measring 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 form the 3rd current detecting difference;
If the second current detecting difference is less than current threshold, then using the first current detection value as Current calculation value;
If the 3rd current detecting difference is less than current threshold, then using the second current detection value as Current calculation value.
As shown in Figure 3, if the first current differential △ I is not at current threshold { in △ I}, but the first rotating speed difference △ R is in rotary speed threshold value { △ R }, then indicating alarm single channel fault, and the tachometer value of measurement is tabled look-up find out standard current value I3, get I1, I2 and make 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 current differential is greater than current threshold, then after delay Preset Time, power-off is carried out to parking motor, and report to the police.
As shown in Figure 3, if two-way electric current and tachometer value Dou You mono-tunnel value mal, then there is large fault in illustrative system, by the power-off of timework 3 rear motor in 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, if the difference of rotating speed or current value is in error limit, then first use this group electric current and tachometer value Emergency use to have a pair electric current or rotating speed tabling look-up corresponding thereto to draw.
Step S105, calculates the first temperature detection value and second temperature detection value of parking motor respectively by the gross horsepower of current maxima during parking electric motor starting and 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 with the lowest high-current value of moment impact during electric motor starting, from reality, say it is the value that the voltage of motor obtains divided by the wire resistor of motor, electric moter voltage can record, then the wire resistor value of motor just can obtain, resistance value due to electric machine winding is temperature variant, then 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, motor power output is calculated again from the current value of motor and tachometer value, thus calculate the mechanical horsepower of motor, gross horsepower is deducted mechanical horsepower, just obtains heat, deduct the radiating effect of time gap wherein again, namely 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 using 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 the deviation that temperature detection just can revise motor power output is carried out to motor, if temperature is too high or too low, same braking force be obtained, then need to increase certain electric current and rotating speed correction.
Step S106, the difference according to the first temperature detection value and the second temperature detection value obtains temperature gap.
Shown in figure 3, temperature use value judging unit 100d is for the result of two-way temperature value being compared, and the difference according to the first temperature detection value and the second temperature detection value obtains temperature gap.
Step S107, obtains temperature calculations according to temperature gap.
Shown in figure 3, temperature use value judging unit 100d judges temperature gap whether in error limit, if two-way is normal, then confirms that this two-way aviation value is as temperature calculations; If two-way is not in error limit, then motor is using poor temperature as use value, and poor temperature to get in temperature above freezing both highest temperatures herein, both lowest temperature subzero, 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 calculations.
Shown in figure 3, the characteristic of motor is done a data list by a reference value memory cell 100f, stored in the memory cell of micro controller system, is made an a reference value sheet format by Current calculation value, rotating speed computing value, temperature calculations and Motor torque.
Braking force evaluation unit 100g is the result drawn of tabling look-up to a reference value memory cell 100f, when confirmation Current calculation value, rotating speed computing value and temperature calculations, tables look-up and draws the output torque of motor, had the output torque of motor, 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, operates electronic brake equipment and timing.
Step S403, measures the electric current I 1 of electronic parking motor.The electric current of parking motor is detected, to obtain the first current detection value I1 by sensing element.
Step S404, calculates the electric current I 2 of electronic parking motor.The electric current of parking motor is detected, to obtain the second current detection value I2 by sampling resistor.
Step S405, measures the rotating speed R1 of electronic parking motor.The rotating speed of parking motor is detected, to obtain the first Rotating speed measring value R1 by tachogen.
Step S406, calculates the rotating speed R2 of electronic parking motor.The rotating speed of parking motor is detected, to obtain the second Rotating speed measring value R2 by sampling resistor.
Whether step S407, I1-I2 be in permission current error scope { in △ I}.The difference calculating the first current detection value and the second current detection value obtains the first current differential, and judges I1-I2 whether in permission current error scope { in △ I}.
Whether step S408, R1-R2 be in permission speed error scope { in △ R}.The difference calculating the first Rotating speed measring value and the second Rotating speed measring value obtains the first rotating speed difference, and judges R1-R2 whether in permission speed error scope { in △ R}.
Step S409,
if meet this condition, then perform step S413.
Step S410,
r1-R2 ∈ { △ R}.If meet this condition, then perform step S414.
Step S411, I1-I2 ∈ △ I},
if meet this condition, then perform step S415.
Step S412, I1-I2 ∈ { △ I}, R1-R2 ∈ { △ R}.If meet this condition, then perform step S416.
Step S413, the power-off of evaluation work 3 rear motor in second.If two-way electric current and tachometer value Dou You mono-tunnel value mal, then there is large fault in illustrative system, by the power-off of timework 3 rear motor in 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, if there be a pair electric current or rotating speed tabling look-up corresponding thereto to draw, the difference of rotating speed or current value is in error limit, then 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 current differential is greater than current threshold, then report to the police, and performs step S417.
Step S415, prompting warning single channel fault.If the first current differential is less than current threshold, and the first rotating speed difference is greater than rotary speed threshold value, then report to the police, and perform step S418.
Step S416, the observed reading of obtaining current and rotating speed.Then step S424 is performed.
Step S417, gets the observed reading calculating current value I3 of rotating speed.According to the first Rotating speed measring value or the second Rotating speed measring value inquiry predetermined current and rotating speed synopsis to obtain standard current value, and perform step S419.
Step S418, the observed reading of obtaining current calculates tachometer value R3.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, and perform step S420.
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, second current detection value and standard current value are compared form the 3rd current detecting difference, if not I1 or I2 and I3 difference in △ I}, then perform step S421.If had, then perform step S422.
Whether step S420, exist the difference of R1 or R2 and R3 { in △ R}.Respectively the first Rotating speed measring value and standard revolving speed value are compared to form the second Rotating speed measring difference, second Rotating speed measring value and standard revolving speed value are compared to form the 3rd Rotating speed measring difference, if the difference of R1 or R2 and R3 is not { in △ R}, then perform step S421, if had, and perform step S423.
Step S421, prompting major failure is reported to the police.Then step S426 is performed.
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, then using the first current detection value as Current calculation value; If the 3rd current detecting difference is less than current threshold, then using the second current detection value as Current calculation value.Then step S424 is performed.
Step S423, get I1 and with the difference of R3 at the { tachometer value in △ R}.If the second Rotating speed measring difference is less than rotary speed threshold value, then using the first Rotating speed measring value as rotating speed computing value; If the 3rd Rotating speed measring difference is less than rotary speed threshold value, then using the second Rotating speed measring value as rotating speed computing value.Then step S424 is performed.
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 with the lowest high-current value of moment impact during electric motor starting, from reality, say it is the value that the voltage of motor obtains divided by the wire resistor of motor, electric moter voltage can record, then the wire resistor value of motor just can obtain, resistance value due to electric machine winding is temperature variant, then 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, motor power output is calculated again from the current value of motor and tachometer value, thus calculate the mechanical horsepower of motor, gross horsepower is deducted mechanical horsepower, just obtains heat, deduct the radiating effect of time gap wherein again, namely 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 using 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 the deviation that temperature detection just can revise motor power output is carried out to motor, if temperature is too high or too low, same braking force be obtained, then need to increase certain electric current and rotating speed correction.
Step S425, calculates the braking force of drg.Shown in figure 3, the characteristic of motor is done a data list by a reference value memory cell 100f, stored in the memory cell of micro controller system, is made an a reference value sheet format by Current calculation value, rotating speed computing value, temperature calculations and Motor torque.
Braking force evaluation unit 100g is the result drawn of tabling look-up to a reference value memory cell 100f, when confirmation Current calculation value, rotating speed computing value and temperature calculations, tables look-up and draws the output torque of motor, had the output torque of motor, just drawn braking force.
Step S426, terminates.
According to a kind of braking during standstill control method of the embodiment of the present invention; the accurate sampling resistor in motor path is utilized to obtain current of electric; and the rotating speed of motor is read by the ripple process of current sample curve; and be furnished with the sensor measuring motor speed and electric current in addition, make electric current and rotating speed possess duplicate protection.The tension force of parking cable is estimated again by the electric current of motor and rotating speed.Estimate braking force by the combination of electric current and rotating speed, add the accuracy of braking force.Do not use other dynamometry components and parts, thus simplify physical construction and reduce the manufacturing cost of electronic brake system.
Describe and can be understood in diagram of circuit or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of treater or other can from instruction execution system, device or equipment fetch instruction and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this specification sheets, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses 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 wiring, portable computer diskette box (magnetic device), random-access memory (ram), read-only memory (ROM) (ROM), erasablely edit read-only memory (ROM) (EPROM or flash memory), fiber device, and portable optic disk read-only memory (ROM) (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanning to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, 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 step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, 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: the discrete logic with the logic gates for realizing logic function to data-signal, 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 that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (5)
1. a braking during standstill control method, is characterized in that, comprises the following steps:
The electric current of parking motor is detected respectively, to obtain the first current detection value and the second current detection value by sensing element and sampling resistor;
The rotating speed of described parking motor is detected respectively, to obtain the first Rotating speed measring value and the second Rotating speed measring value by tachogen and described sampling resistor;
The difference calculating described first current detection value and the second current detection value obtains the first current differential, and the difference calculating described first Rotating speed measring value and the second Rotating speed measring value obtains the first rotating speed difference;
Obtain Current calculation value according to described first current differential and described first rotating speed difference, and obtain rotating speed computing value according to described first current differential and described first rotating speed difference;
The first temperature detection value and second temperature detection value of described parking motor is calculated respectively by the gross horsepower of current maxima during described parking electric motor starting and described parking motor;
Difference according to described first temperature detection value and the second temperature detection value obtains temperature gap;
Temperature calculations is obtained according to described temperature gap;
Default a reference value form is searched to obtain the current braking force of described parking motor according to described Current calculation value, rotating speed computing value and temperature calculations.
2. braking during standstill control method as claimed in claim 1, it is characterized in that, obtain Current calculation value according to described first current differential and described first rotating speed difference, and comprise further according to described first current differential and described first rotating speed difference acquisition rotating speed computing value:
Judge whether described first current differential and described first rotating speed difference are less than current threshold and rotary speed threshold value respectively;
If described first current differential and described first rotating speed difference are less than described current threshold and rotary speed threshold value respectively, then using described first current detection value as described Current calculation value, and using described first Rotating speed measring value as described rotating speed computing value.
3. braking during standstill control method as claimed in claim 2, is characterized in that, also comprise:
If described first current differential is less than described current threshold, and described first rotating speed difference is greater than described rotary speed threshold value, then report to the police, and according to described 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 first Rotating speed measring value and described standard revolving speed value are compared to form the second Rotating speed measring difference, described second Rotating speed measring value and described standard revolving speed value are compared to form the 3rd Rotating speed measring difference;
If described second Rotating speed measring difference is less than described rotary speed threshold value, then using described first Rotating speed measring value as described rotating speed computing value; And
If described 3rd Rotating speed measring difference is less than described rotary speed threshold value, then using described second Rotating speed measring value as described rotating speed computing value.
4. braking during standstill control method as described in Claims 2 or 3, is characterized in that, also comprise:
If described first rotating speed difference is less than described rotary speed threshold value, and described first current differential is greater than described current threshold, then report to the police, and according to described first Rotating speed measring value or the second Rotating speed measring value inquiry predetermined current and rotating speed synopsis to obtain standard current value;
Respectively described first current detection value and described standard current value are compared to form the second current detecting difference, described second current detection value and described standard current value are compared to form the 3rd current detecting difference;
If described second current detecting difference is less than described current threshold, then using described first current detection value as described Current calculation value; And
If described 3rd current detecting difference is less than described current threshold, then using described second current detection value as described Current calculation value.
5. braking during standstill control method as claimed in claim 2, is characterized in that, also comprise:
If described first rotating speed difference is greater than described rotary speed threshold value, and described first current differential is greater than described current threshold, then after delay Preset Time, power-off is carried out to described parking motor, and report to the police.
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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| 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 |
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| CN103895518B true CN103895518B (en) | 2016-04-27 |
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| CN105691371B (en) * | 2014-11-28 | 2019-01-11 | 比亚迪股份有限公司 | Interactive double loop parking braking system and parking braking method |
| JP6502172B2 (en) * | 2015-05-18 | 2019-04-17 | Ntn株式会社 | Electric brake device |
| EP3328699B1 (en) * | 2015-07-31 | 2020-04-01 | Continental Teves AG & Co. OHG | Method for actuating an electric parking brake |
| JP6933517B2 (en) * | 2017-07-13 | 2021-09-08 | ファナック株式会社 | Motor control device |
| CN109000833B (en) * | 2018-06-07 | 2021-01-29 | 青岛迈金智能科技有限公司 | Method for converting torque of current rotating speed of electromagnetic resistance-adding system |
| CN108839650B (en) * | 2018-06-25 | 2020-04-21 | 浙江吉润汽车有限公司 | Fault-tolerant control method and device |
| CN110758366B (en) * | 2019-10-31 | 2021-12-10 | 上海拿森汽车电子有限公司 | Torque control method and device of electronic power-assisted brake system |
| CN111717175B (en) * | 2020-06-24 | 2021-12-21 | 苏州萨克汽车科技有限公司 | Electronic parking switch |
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| CN103895518A (en) | 2014-07-02 |
| WO2014101868A1 (en) | 2014-07-03 |
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