CN104494584B - A kind of six passage ABS systems - Google Patents
A kind of six passage ABS systems Download PDFInfo
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- CN104494584B CN104494584B CN201410706221.0A CN201410706221A CN104494584B CN 104494584 B CN104494584 B CN 104494584B CN 201410706221 A CN201410706221 A CN 201410706221A CN 104494584 B CN104494584 B CN 104494584B
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- wheel speed
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of six passages ABS system, it includes main control chip, six vehicle-wheel speed sensors and six ABS adjuster magnetic valves, described main control chip is connected to wheel speed signal processing unit, drive control unit, bus communication unit and memory cell, six vehicle-wheel speed sensors are connected with wheel speed signal processing unit, and six ABS adjusters magnetic valve is connected with drive control unit.The present invention has simple in construction, performance comprehensively and a variety of advantages such as performance optimization.The present invention can be widely applied in multiaxis commercial car as a kind of six passages ABS system.
Description
Technical field
The present invention relates to the ABS technologies for automobile brake, more particularly to a kind of six passages ABS system.
Background technology
Technology word is explained：
CAN：It is controller local area network (Controller Area Network, CAN) abbreviation, is to apply in the world
One of widest fieldbus.
ASR：It is Anti-Slip Regulation abbreviation, is also TCS, is one based on ABS system
Set prevents the device that driving wheel skids, and the system can carry out effective control to driving wheel and engine.
EBD：EBD.
TPM：Indirect tire pressure monitoring system, TPM is TirePressure Monitoring abbreviation.
ABS is Anti-lock Braking System abbreviation, i.e. anti-blocking brake system of automobile, is a kind of making
The electronic control system of monitoring and control car speed during dynamic.The development of the anti-blocking brake system of automobile can be traced back to
Early in the twentieth century, its task is the wheel lock up for preventing from causing because brake force is excessive（Especially on smooth road surface）,
Therefore, by using anti-blocking brake system of automobile, it just can also maintain transverse traction force even if full application of brake, it is ensured that drive
The stability and the course changing control of vehicle and the optimum efficiency of main trailer braking protection valve harmony sailed, while ensure that available
The optimization of drag friction and vehicle deceleration and braking distance between tire and road surface.
Four-way abs controller on sale in the market, its can only 4 wheels of independent control, therefore, it can not
Meet the braking effect requirement of the multiaxis commercial car of high-power, big bearing capacity.Moreover, the integrated functionality list of current ABS system
One, therefore, it is applicable only to that in the market is a small number of and on vehicle of low configuration.
The content of the invention
In order that ABS system can meet the braking effect requirement of multiaxis commercial car, it is an object of the invention to provide one kind six
Passage ABS system.
The technical solution adopted in the present invention is：A kind of six passage ABS systems, it includes main control chip, six wheel speed
Sensor and six ABS adjuster magnetic valves are spent, described main control chip is connected to wheel speed signal processing unit, driving
Control unit, bus communication unit and memory cell, six vehicle-wheel speed sensors with wheel speed signal processing unit
Connection, six ABS adjusters magnetic valve is connected with drive control unit, and described main control chip is used to obtain wheel speed
The wheel speed signal of sensor output is spent, then according to the wheel speed signal of acquisition so as to calculate the slippage rate of wheel, according to calculating
To slippage rate so as to being controlled to ABS adjuster magnetic valves.
Further, described wheel speed signal processing unit includes wheel speed signal process circuit, the vehicle-wheel speed sensor
It is connected with wheel speed signal process circuit, the wheel speed signal process circuit is connected with main control chip；
Described wheel speed signal process circuit includes voltage comparator circuit and RC low-pass filter circuits, the RC low pass filtereds
The negative input end of the output end of wave circuit and voltage comparator circuit is connected, the output end of the vehicle-wheel speed sensor respectively with
The positive input terminal connection of the input and voltage comparator circuit of RC low-pass filter circuits.
Further, the voltage comparator circuit include the first electric capacity, first resistor, second resistance, 3rd resistor and
Voltage comparator, the RC low-pass filter circuits include the 4th resistance, the second electric capacity and the 3rd electric capacity；
One the first power supply of termination of the first resistor, the other end of the first resistor respectively with the first electric capacity one
One end connection at end, one end of second resistance and the 4th resistance, the other end ground connection of first electric capacity, the second resistance
The other end be connected respectively with one end of 3rd resistor and the positive input terminal of voltage comparator, the other end of the 3rd resistor with
The output end connection of voltage comparator, the other end of the 4th resistance one end respectively with the second electric capacity and voltage comparator
Negative input end connection, the other end of second electric capacity is connected with one end of the 3rd electric capacity, the other end of the 3rd electric capacity
Ground connection；
The other end of the first resistor and the output end of vehicle-wheel speed sensor are connected.
Further, the wheel speed signal process circuit also includes the 5th resistance and the 4th electric capacity, the one of first electric capacity
End is connected with one end of the 5th resistance, and the other end of the 5th resistance is connected with one end of the 4th electric capacity, the 4th electric capacity
The other end ground connection.
Further, described drive control unit includes drive control chip, and the drive control chip is connected with branch road,
Described branch road includes the 6th resistance, the 7th resistance and the 5th electric capacity, control end and the drive control core of the main control chip
The input connection of piece, the control end and output end of the output end of the drive control chip respectively with ABS adjuster magnetic valves
Connection；
One end, the one end and the 7th of the 6th resistance of the output end of the drive control chip also respectively with the 5th electric capacity
One end connection of resistance, the other end ground connection of the 5th electric capacity, another termination second source of the 6th resistance, described the
The other end of seven resistance and the I/O ports of main control chip are connected.
Further, described bus communication unit is CAN communication unit, and described CAN communication unit includes
CAN transceiver interface chip and common mode choke, the CAN transceiver interface chip are connected with main control chip, and the common mode is gripped
Stream circle includes first coil and the second coil；The CANH ends of the CAN transceiver interface chip and one end of first coil are connected,
The CANL ends of the CAN transceiver interface chip are connected with one end of the second coil.
Further, described CAN communication unit also includes the 8th resistance, the 9th resistance, the 6th electric capacity, the 7th electricity
Appearance, the 8th electric capacity, the first voltage-regulator diode, the second voltage-regulator diode, the 3rd voltage-regulator diode and the 4th voltage-regulator diode；
The other end of the first coil is connected with one end of the 8th resistance and one end of the 7th electric capacity respectively, and described
The other end of eight resistance is connected with the 3rd power supply, one end of the 9th resistance and one end of the 6th electric capacity respectively, the 9th electricity
The other end of resistance is connected with the other end of the second coil and one end of the 8th electric capacity respectively, the other end of the 7th electric capacity,
The other end of the other end of six electric capacity and the 8th electric capacity is grounded；
Negative pole of the other end of the first coil also with the first voltage-regulator diode is connected, first voltage-regulator diode
Positive pole is connected with the positive pole of the second voltage-regulator diode, the negative pole of second voltage-regulator diode ground connection, second coil it is another
Negative pole of the one end also with the 3rd voltage-regulator diode is connected, and the positive pole and the 4th voltage-regulator diode of the 3rd voltage-regulator diode are just
Pole is connected, the negative pole ground connection of the 4th voltage-regulator diode.
Further, it also includes ASR differential braking valves, and described ASR differential braking valves are connected with drive control unit；
The main control chip includes RBT ASR module, and described RBT ASR module is defeated for obtaining vehicle-wheel speed sensor
The wheel speed signal gone out, according to the wheel speed signal of acquisition so as to judge whether wheel skids, then by controlling ASR differential braking valves
So that the ABS adjusters magnetic valve pair drive axle corresponding with the wheel skidded is braked.
Further, the main control chip also includes EBD functional modules, and described EBD functional modules are used to obtain wheel speed
The wheel speed signal of sensor output is spent, so as to calculate the adhesive force of each wheel, the adhesive force obtained according to calculating is so as to automatic
Adjust brake pressure.
Further, the main control chip also includes TPM functional modules and/or hill start supplemental functionality；
Described TPM functional modules are used for the wheel speed signal for obtaining vehicle-wheel speed sensor output, so as to calculate wheel
Tire rolling radius, the tire rolling radius obtained according to calculating is so as to realize tire pressure monitoring function；
Described hill start supplemental functionality works as judged result for judging whether to meet auxiliary brake entry condition
During to be, then trailing wheel pressurize is controlled, so as to prevent vehicle car slipping.
The beneficial effects of the invention are as follows：The six passage ABS systems of the present invention are provided with six vehicle-wheel speed sensors and six
ABS adjuster magnetic valves, six described vehicle-wheel speed sensors are respectively right front wheel velocity sensor, front left wheel speed
Vehicle-wheel speed sensor, left vehicle-wheel speed sensor, right rear wheel velocity sensor and rear left wheel speed in sensor, the right side
Sensor is spent, six described ABS adjuster magnetic valves are respectively left front wheel regulator magnetic valve, off-front wheel adjuster electromagnetism
Wheel regulator magnetic valve, left wheel regulator magnetic valve, off hind wheel adjuster magnetic valve and left back wheel regulator electricity in valve, the right side
Magnet valve, therefore, compared to traditional four-way abs controller, many two vehicle-wheel speed sensors of ABS system of the invention and
Adjuster magnetic valve, just suitable for multiaxis commercial car, can so meet the braking effect requirement of multiaxis commercial car.
In addition, the main control chip of the present invention includes RBT ASR module, EBD functional modules, TPM functional modules and half way up the mountain
Start to walk supplemental functionality, therefore, in addition to ABS functions, ABS system of the invention can also realize RBT ASR, EBD functions,
TMP functions and hill start miscellaneous function, function are more fully, more preferable thereby using the operating experience sense of user, commercial valency
Value is higher.And the ABS system of the present invention also has the advantages that simple in construction, performance optimizes.
Brief description of the drawings
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structured flowchart of six passages ABS system of the present invention；
Fig. 2 is the structured flowchart of wheel speed signal process circuit in a kind of six passages ABS system of the present invention；
Fig. 3 is a specific embodiment electronic circuit schematic of Fig. 2 wheel speed signal process circuits；
Fig. 4 is the specific embodiment electronic circuit signal of drive control unit in a kind of six passages ABS system of the present invention
Figure；
Fig. 5 is that a specific embodiment electronic circuit of CAN communication unit in a kind of six passages ABS system of the present invention shows
It is intended to.
Embodiment
As shown in figure 1, a kind of six passages ABS system, it includes main control chip, six vehicle-wheel speed sensors and six
ABS adjuster magnetic valves, described main control chip is connected to wheel speed signal processing unit, drive control unit, bus and led to
Unit and memory cell are interrogated, six vehicle-wheel speed sensors are connected with wheel speed signal processing unit, six ABS
Adjuster magnetic valve is connected with drive control unit, and described main control chip is used for the wheel for obtaining vehicle-wheel speed sensor output
Fast signal, then according to the wheel speed signal of acquisition so as to calculate the slippage rate of wheel, the slippage rate obtained according to calculating is so as to right
ABS adjuster magnetic valves are controlled, to realize automotive anti-lock braking.Six described vehicle-wheel speed sensors are respectively the right side
Vehicle-wheel speed sensor, left vehicle-wheel speed sensor, the right side in front vehicle wheel velocity sensor, front left wheel velocity sensor, the right side
Rear wheel velocity sensor and rear left wheel velocity sensor, six described ABS adjuster magnetic valves are respectively the near front wheel
Wheel regulator magnetic valve, left wheel regulator magnetic valve, off hind wheel in adjuster magnetic valve, off-front wheel adjuster magnetic valve, the right side
Adjuster magnetic valve and left back wheel regulator magnetic valve.
For the operation principle of ABS system, it is specially：The wheel speed signal of 6 vehicle-wheel speed sensor output is through wheel speed
Signal processing unit is inputted into main control chip after being handled, and described main control chip is according to each vehicle-wheel speed sensor institute
The wheel speed signal of output, so that the reference speed of automobile, each wheel velocity and deceleration are calculated, to determine trackslipping for each wheel
Rate, then will calculate slippage rate control threshold value of the obtained slippage rate with setting and is compared, when the slippage rate of some wheel
The slippage rate control threshold value of setting is exceeded, then drive control output order is depressurized to ABS adjuster magnetic valves, makes this
The pressure of wheel braking air chamber reduces；When the slippage rate that the slippage rate of some wheel is not above setting controls threshold value, then drive
Dynamic control output order is pressurized to ABS adjuster magnetic valves, increases the pressure of the wheel braking air chamber；When some wheel
Slippage rate close to setting slippage rate control threshold value, then drive control output order give ABS adjusters magnetic valve carry out
Pressurize, makes the wheel braking air chamber pressure keep certain.The slippage rate of each wheel so can be then set to be maintained at preferable scope
Within, prevent wheel lock up.In addition, in braking procedure, if no wheel tends to locking, ABS system will not participate in braking
The control of pressure, now braking procedure is identical with conventional braking system braking procedure.Also, when ABS breaks down, driving control
System no longer will be controlled to ABS adjuster magnetic valves, and the ABS alarm lamps on instrument board are lighted, and letter is sent to driver
Number, now ABS, braking procedure will be identical with the course of work of the conventional braking system without ABS.
Obtained by above-mentioned, because the ABS system of the present invention is provided with six vehicle-wheel speed sensors and six ABS adjusters
Magnetic valve, two vehicle-wheel speed sensors and ABS adjuster magnetic valves more than traditional four-way ABS system, because
This, ABS system of the invention suitable for multiaxis commercial car, can meet the braking effect requirement of multiaxis commercial car.
It is further used as preferred embodiment, described wheel speed signal processing unit includes wheel speed signal process circuit,
The vehicle-wheel speed sensor is connected with wheel speed signal process circuit, and the wheel speed signal process circuit is connected with main control chip；
As shown in Fig. 2 described wheel speed signal process circuit includes voltage comparator circuit and RC low-pass filter circuits, institute
State RC low-pass filter circuits output end and voltage comparator circuit negative input end connect, the vehicle-wheel speed sensor it is defeated
Go out end to be connected with the input of RC low-pass filter circuits and the positive input terminal of voltage comparator circuit respectively.One wheel velocity is passed
Sensor correspondence one wheel speed signal process circuit of connection, therefore, wheel speed signal processing unit of the invention should include six wheel speeds
Signal processing circuit.
Be further used as preferred embodiment, as shown in figure 3, the voltage comparator circuit include the first electric capacity C1,
First resistor R1, second resistance R2,3rd resistor R3 and voltage comparator, the RC low-pass filter circuits include the 4th resistance
R4, the second electric capacity C2 and the 3rd electric capacity C3；
A first power supply VCC, the first resistor R1 of termination of the first resistor R1 other end is electric with first respectively
Hold one end connection of C1 one end, second resistance R2 one end and the 4th resistance R4, another termination of the first electric capacity C1
Ground, the other end of the second resistance R2 is connected with 3rd resistor R3 one end and the positive input terminal of voltage comparator respectively, institute
State the output end OUT connections of 3rd resistor the R3 other end and voltage comparator, the other end of the 4th resistance R4 respectively with
Second electric capacity C2 one end and the negative input end connection of voltage comparator, the other end and the 3rd electric capacity of the second electric capacity C2
C3 one end connection, the other end ground connection of the 3rd electric capacity C3；
The other end of the first resistor R1, i.e. terminal A, are connected with the output end of vehicle-wheel speed sensor.
For described wheel speed signal process circuit, its operation principle is：The wheel speed letter that vehicle-wheel speed sensor is exported
Number it is compared after processing with reference voltage, is analyzed and processed so as to export to main control chip, and described reference voltage, its
Be the wheel speed signal exported by vehicle-wheel speed sensor after RC low-pass filtering treatments so as to converted.It can thus be concluded that,
The wheel speed signal process circuit of the present invention using a special circuit without carrying out the output of reference voltage, it is only necessary in wheel
Between the output end of velocity sensor and the negative input end of voltage comparator circuit provided with a RC low-pass filter circuit just can, because
This, the present invention has the advantages that simple in construction, small volume and cost is relatively low.
In addition, for the terminal B shown in Fig. 3, just can be according to ginseng by gathering the voltage of terminal B, i.e. reference voltage
The size of voltage is examined, so as to realize the detection of vehicle-wheel speed sensor volatile fault.
It is further used as preferred embodiment, the wheel speed signal process circuit also includes the electricity of the 5th resistance R5 and the 4th
Hold C4, one end of the first electric capacity C1 is connected with the 5th resistance R5 one end, the other end and the 4th of the 5th resistance R5
Electric capacity C4 one end connection, the other end ground connection of the 4th electric capacity C4.By gathering the voltage of the end points C shown in Fig. 3, energy
Enough realize vehicle-wheel speed sensor short circuit and the detection of open circuit fault.
It is further used as preferred embodiment, described drive control unit includes drive control chip, the driving
Control chip is connected with branch road, and described branch road includes the 6th resistance, the 7th resistance and the 5th electric capacity, the main control chip
Control end is connected with the input of drive control chip, the output end of the drive control chip respectively with ABS adjuster electromagnetism
Control end and the output end connection of valve；
One end, the one end and the 7th of the 6th resistance of the output end of the drive control chip also respectively with the 5th electric capacity
One end connection of resistance, the other end ground connection of the 5th electric capacity, another termination second source of the 6th resistance, described the
The other end of seven resistance and the I/O ports of main control chip are connected.For the number of drive control chip, and a drive control
The number for the branch road that chip is connected, should be set according to actual conditions.
For this embodiment of the present invention, as shown in figure 4, described drive control unit employs 2
BTS724G chips realize that BTS724G chips include 4 inputs, respectively IN1, IN2, IN3 and IN4, and
BTS724G chips include 4 output ends, respectively OUT1, OUT2, OUT3 and OUT4,4 of the BTS724G chips
Input is connected with the control end of main control chip, and 4 output ends of BTS724G chips are corresponded with 4 branch roads respectively to be connected
Connect, and the control end and output end with 4 ABS adjuster magnetic valves connect one to one respectively.As shown in figure 4, BTS724G
The output end OUT1 of chip, i.e. end points JO0, it is connected with the control end and output end of an ABS adjuster magnetic valves respectively, with
And, it is also connected with a branch road；Described branch road includes electric capacity C332, resistance R322 and resistance R332, BTS724G chip
Output end OUT1, i.e. end points JO0, its one end also respectively with electric capacity C332, the one of resistance R322 one end and resistance R332
End connection, the electric capacity C332 the other end ground connection, resistance R322 another termination second source, the resistance R332 other end with
The I/O ports connection of main control chip.
By the I/O port processing resistance R332 of the main control chip other end, i.e. JO0T ends, voltage, just can realize
Detection to ABS adjuster magnetic valve short interruption failures, and for the inspection to ABS adjuster magnetic valve short interruption failures
Survey, its operation principle is：The output end output high level of main control chip control drive control chip, when the voltage at JO0T ends is height
During level, then it represents that ABS adjusters magnetic valve is normal, when the voltage at JO0T ends is low level, then it represents that ABS adjuster electromagnetism
Short trouble occurs for valve；The output end output low level of main control chip control drive control chip, when the voltage at JO0T ends is low
During level, then it represents that ABS adjusters magnetic valve is normal, when the level at JO0T ends is high level, then it represents that ABS adjuster electromagnetism
Open circuit fault occurs for valve.
Obtained by above-mentioned, drive control unit of the invention it is simple in construction, and it can not only realize drive control
The function of ABS adjuster magnetic valves, but also the short interruption fault detection capability to ABS adjuster magnetic valves can be realized.
In addition, for the main control chip of the present invention, its control principle to drive control chip is to use loop control theory, therefore,
It so ensure that ABS adjusters magnetic valve can also realize conventional brake in failure.
It is further used as preferred embodiment, described bus communication unit is CAN communication unit, such as Fig. 5 institutes
Show, described CAN communication unit includes CAN transceiver interface chip and common mode choke, the CAN transceiver interface core
The TXD ends and RXD ends of piece are connected with main control chip, and the common mode choke includes first coil and the second coil；
The CANH ends of the CAN transceiver interface chip and one end of first coil, i.e. end points 1, connection, the CAN are received
Send out the CANL ends of device interface chip and one end of the second coil, i.e. end points 3, connection.And the other end of first coil, i.e. end points 2,
And second coil the other end, i.e. end points 4, they are used as the connection end being connected with peripheral hardware.Described CAN transceiver interface core
Piece can be 82C250 chips.
CAN belongs to the category of fieldbus, and it is a kind of effective serial communication supported distributed AC servo system or controlled in real time
Network.For the dcs built than current many RS-485 based on R lines, the distributed control based on CAN
System processed has obvious superiority in the following areas：
（1）, the data communication between each node of network it is real-time, first, CAN controller works in various ways, net
Each node in network all can be according to bus access priority (depending on message identifier) using the bit-by-bit arbitration of lossless structure
Mode is competed to bus and sends data, and CAN protocol has abolished station address coding, and instead communication data is encoded,
This can make different nodes while receiving identical data, and these features cause between each node of network that CAN is constituted
Data communication it is real-time, and easily constitute redundancy structure, improve the flexibility of the reliability and system of system, and utilize
RS-485 can only constitute primary and secondary structure system, and communication mode can only also be carried out in the way of main website poll, the real-time of system,
Reliability is poor；
（2）, shorten the construction cycle, CAN communication unit is defeated by two of CAN transceiver interface chip 82C250
Go out to hold CANH and CANL to be connected with physical bus, and the state at CANH ends can only be high level or suspended state, CANL ends can only
It is low level or suspended state, this, which is ensured that, that is, when system is wrong, to occur in the phenomenon in appearing in RS-485 networks
When multinode sends data to bus simultaneously, cause bus that short circuit is presented, so that the phenomenon of some nodes is damaged, and also CAN is saved
Point has in the case where mistake is serious closes output function automatically, so that the operation of other nodes is unaffected in bus, from
And it is not in as in a network, because respective nodes go wrong to ensure so that bus is in " deadlock " state, also have, CAN tools
The perfect communication protocol having can be realized by CAN controller chip and its interface chip, so that it is difficult to substantially reduce system development
Degree, shorten the construction cycle, these be only electric agreement RS-485 it is incomparable.
With other fieldbus comparatively speaking, in addition, CAN is with traffic rate height, easily realized and cost performance
A kind of fieldbus for having formed international standard of high various features.These are also that current CAN is applied to numerous necks
Domain, the major reason with the powerful market competitiveness.
And for the CAN communication unit of the present invention, it connects at the CANH ends of CAN transceiver interface chip and CANL ends
A common mode choke is connect, therefore, it is possible to be disturbed for suppression common mode（Connection interference）.Due to CAN high-speed signal transmission lines
Certain with that can exist between ground wire potential difference institute is to generate common mode disturbances.So there is interference, then utilize CAN
The signal of transmission will distortion, so as to cause miscommunication.In order to eliminate this interference, in the circuit of CAN communication unit
In add common mode choke, it can eliminate the common mode disturbances from ground wire, and 80% EMC interference.And the present invention is adopted
CAN lines belong to a differential signal, and decay of the common mode choke to differential signal is very little, so then can guarantee that letter
Number distortion level greatly reduce, moreover, adding common mode choke, additionally it is possible to increase transmission signal symmetry.
The principle that the common mode choke plays Anti-Jamming is：The filter circuit of common mode inductance, La and Lb are exactly altogether
Mould inductance coil.The two coils are wound on same iron core, and the number of turn and phase are all identical (coiling is reverse).So, when in circuit
Normal current when flowing through common mode inductance, electric current produces reverse magnetic field in the inductance coil of same-phase coiling and mutually supported
Disappear, now normal signal electric current is mainly influenceed (and a small amount of damping caused by leakage inductance) by coil resistance；When there is common mode current
During flowing through coil, due to the same tropism of common mode current, understand the induction reactance that magnetic field in the same direction is produced in coil and increases coil, make line
Circle shows as high impedance, produces stronger damping, with this attenuation common-mode electric current, reaches the purpose of filtering.
CAN serial communication is in summary it can be seen, there is very big advantage relative to other communication modes.CAN's is real-time
Property it is higher than UART, RS-232/485 and Ethernet, and security is high with accuracy.Therefore, can be more accurate by CAN communication
Really, communication is safely carried out data transmission with other peripheral hardwares.
Preferably, as shown in figure 5, described CAN communication unit also includes the 8th resistance R8, the 9th resistance R9, the
Six electric capacity C6, the 7th electric capacity C7, the 8th electric capacity C8, the first voltage-regulator diode D1, the second voltage-regulator diode D2, the pole of the 3rd voltage stabilizing two
Pipe D3 and the 4th voltage-regulator diode D4；
The other end of the first coil, i.e. end points 2, respectively with the one of the 8th resistance R8 one end and the 7th electric capacity C7
End connection, the other end of the 8th resistance R8 respectively with the 3rd power supply, the 9th resistance R9 one end and the 6th electric capacity C6
One end is connected, the other end of the other end of the 9th resistance R9 respectively with the second coil, i.e. end points 4, and the 8th electric capacity C8
One end is connected, and the other end, the 6th electric capacity C6 other end and the 8th electric capacity C8 other end of the 7th electric capacity C7 connect
Ground；
The other end of the first coil, i.e. end points 2, the also negative pole with the first voltage-regulator diode D1 are connected, and described first
Voltage-regulator diode D1 positive pole is connected with the second voltage-regulator diode D2 positive pole, and the negative pole of the second voltage-regulator diode D2 connects
Ground, the also other end of second coil, i.e. end points 4, the negative pole with the 3rd voltage-regulator diode D3 are connected, the 3rd voltage stabilizing two
Pole pipe D3 positive pole is connected with the 4th voltage-regulator diode D4 positive pole, the negative pole ground connection of the 4th voltage-regulator diode D4.Pass through
Such protection circuit is set, CAN communication unit can be greatly improved and carry out data transmission the security of communication and reliable
Property.
It is further used as preferred embodiment, ABS system of the invention, it also includes ASR differential braking valves, described
ASR differential braking valves are connected with drive control unit, as shown in figure 4, the drive control unit using BTS723G chips come real
Now to the drive control of ASR differential braking valves, the input of BTS723G chips and the control end of main control chip are connected, BTS723G
The output end of chip is connected with the control end and output end of ASR differential braking valves respectively, and the output end of BTS723G chips,
That is ASR FA ends, one end of one end also respectively with electric capacity C541, resistance R529 one end and resistance R539 is connected, the electricity
Hold C541 other end ground connection, a resistance R529 termination second source, the resistance R539 other end, i.e. JO9T ends, with master control
The I/O ports connection of chip, so, as shown in the above, then can not only be driven control to ASR differential braking valves, and
And the short interruption failure of ASR differential braking valves can also be detected；
The main control chip includes RBT ASR module, and described RBT ASR module is defeated for obtaining vehicle-wheel speed sensor
The wheel speed signal gone out, according to the wheel speed signal of acquisition so as to judge whether wheel skids, then by controlling ASR differential braking valves
So that the ABS adjusters magnetic valve pair drive axle corresponding with the wheel skidded is braked.In addition, described RBT ASR
Module is additionally operable to be controlled engine.
ASR, it is Anti-Slip Regulation abbreviation, is also TCS, is based on ABS system
A set of device for preventing driving wheel from skidding, the system can carry out effective control to driving wheel and engine.Its effect is to prevent
Driving wheel skids in vehicle starting, accelerator, particularly prevents automobile driving wheel at asymmetric road surface or turning from dallying, and
By slip-based controller in the range of 10% -20%.ASR system grows up on the basis of ABS.ASR principle is to make to beat
The sliding of sliding driving wheel is compared with non-skidding wheel, keeps it in the scope for providing Ideal Traction power and stability, to produce
Good tractive force, and keep the stability of vehicle.As the Function Extension of ABS systems, Anti-slip regulation device ASR can show
Write the starting and acceleration for improving vehicle on wet-skid road surface.ABS certain modifications can just realize RBT ASR.Described ASR
The signal that functional module is sent according to six vehicle-wheel speed sensors of six passage ABS systems judges whether wheel skids, so
Afterwards by controlling ASR differential braking valves, make after it is excited, its gas port is opened, and gas passes through, so that ABS adjuster magnetic valves
Pair implement to brake with the corresponding drive axle of wheel skidded, i.e., driving wheel is implemented to brake, so that good tractive force is produced, it is anti-
Only wheel-slip, keeps the stability of vehicle.In addition, described RBT ASR module can also be used to control by sending CAN orders
Engine, when driving wheel skids, controls engine speed, exports maximum drive torque, control driving wheel speed, so as to reduce cunning
Shifting rate, improves driving force.Now, described bus communication unit is CAN communication unit, and its CAN with engine
EBI is connected.
By using above-mentioned RBT ASR module, its effect brought includes：
（1）, when driving wheel one side is skidded, differential braking can be carried out to the wheel of skidding；
（2）, engine control；
（3）, can simultaneously be worked with differential braking；
（4）, make under various road surfaces the optimal starting of vehicle；
（5）, vehicle can be made more stable when excessively curved；
（6）, ASR indicator lamps can be activated in control process and related CAN message can be sent out and.
It is further used as preferred embodiment, the main control chip also includes EBD functional modules, described EBD functions
Module is used for the wheel speed signal for obtaining vehicle-wheel speed sensor output, according to the wheel speed signal of acquisition, calculates the attached of each wheel
Put forth effort, the adhesive force of each wheel then obtained according to calculating, just can judge vehicle now for it is unloaded, fully loaded, preceding heavy or after
The state such as again, so that adjust automatically brake pressure, so shortening braking distance, there is provided the comfortableness of driving.Described EBD,
It is Electronic Brake force Distribution abbreviation, and Chinese is EBD.
EBD functional modules are additionally provided with the ABS system of the present invention, so ABS system can effectively be supplemented, its is general
It can be applied in combination with ABS, ABS effect can be improved.When occurring brake hard, EBD, can be according to car before ABS effects
The weight and pavement conditions of body, are gone to compare the sliding ratio of rear tyre on the basis of front-wheel, such as realize that this difference degree must automatically
When must be adjusted, brake system will adjust the brake pressure of wheel, more to be balanced and closer to Utopian brake weight
Distribution.
EBD functions are the slip rate and vehicle deceleration that the vehicle-wheel speed sensor based on ABS system calculates back axle, when
The deceleration of the vehicle slip rate of back axle and vehicle in braking procedure exceedes the scope of setting, and EBD is functioned to.Work as vehicle
Being mounted with the output pressure of back axle during with EBD functions can change with the difference of load.
When brake, all wheels can be acted, and vehicle is stopped.But because pavement behavior has variation, plus
The transfer of vehicle's center of gravity during upper deceleration, the earth-grasping force between wheel and ground will be different.Traditional brake system averagely can will
Brake strength is distributed to each wheel.From the foregoing, such utilization benefit distributed and do not meet brake weight.And by adopting
EBD functional modules are used, brake weight just can be made to optimal application.
EBD functions can be in the moment of automobile brake, and supercomputing goes out what all tire was produced due to the difference of adhesive force
Friction value, then adjusts brake apparatus, it is adjusted at a high speed during exercise according to the program of setting, reaches brake force with rubbing
The matching of power (tractive force) is wiped, to ensure the steady and safe of vehicle.In the case of emergency brake wheel lock up, EBD is in ABS
Effective ground grip of each wheel has just been balanced before action, whipping and sidesway can have been prevented, and shorten
Automobile brake distance.
It is further used as preferred embodiment, the main control chip also includes TPM functional modules and/or hill start is auxiliary
Help functional module.
For described TPM functional modules, it is used for the wheel speed signal for obtaining vehicle-wheel speed sensor output, so as to calculate
The tire rolling radius of wheel, the tire rolling radius obtained according to calculating is so as to realize tire pressure monitoring function.TPM is
TirePressure Monitoring abbreviation, Chinese is indirect tire pressure monitoring system.
TPM functional modules are by the wheel speed signal acquired in vehicle-wheel speed sensor, so as to calculate the tire rolling of wheel
Radius.When the air pressure of certain tire declines, tire rolling radius reduces, wheel speed increase, is after the alarm range of setting is reached
System can be alarmed by the way that ASR indicator lamps are often bright（When RBT ASR works, indicator lamp flicker）.Also, it is by changing master
The program of chip internal is controlled come what is realized, extra parts need not be installed in ABS system.
Described hill start supplemental functionality works as judged result for judging whether to meet auxiliary brake entry condition
During to be, then trailing wheel pressurize 3 seconds is controlled, so as to prevent vehicle car slipping.For described hill start supplemental functionality, its
Need vehicle with CAN function just can, the engine CAN bus of vehicle and the CAN communication unit of present system
Connecting communication.So, when manual vehicle half-slope starting just can be solved by using hill start supplemental functionality
Car slipping phenomenon, effectively prevent car slipping produce hidden danger.Hill start supplemental functionality is, by CAN communication, and to control ASR
Differential braking valve realizes auxiliary brake.
1st, auxiliary brake entry condition
A, vehicle do not have speed.
B, step on service brake and must reach more than 2 seconds.
2nd, auxiliary brake condition subsequent
Method one：Service brake is unclamped, was stepped on the gas in 3 seconds, auxiliary brake slow release.
Method two：Service brake is unclamped, is not stepped on the gas, auxiliary brake is automatically terminated after 3 seconds.
3rd, function declaration：
1., vehicle has speed, and auxiliary brake will not be also started even if brake is stepped on.
2., vehicle is to step on the gas releasing or to unclamp service brake 3 seconds in the method that upward slope, descending, level road release auxiliary brake
After release.
In addition, for the ABS system of the present invention, described main control chip has been also respectively connected with PMU and event
Hinder administrative unit.
Obtained by above-mentioned, ABS system of the invention is simple in construction, and the present invention ABS system also have RBT ASR,
EBD functions, TPM functions, hill start miscellaneous function, power management and fault management capability, therefore the ABS system of the present invention
Also there is full-featured, the advantages of performance optimizes, can be widely used in multiaxis commercial car.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (7)
1. a kind of six passages ABS system, it is characterised in that：It includes main control chip, six vehicle-wheel speed sensors and six
ABS adjuster magnetic valves, described main control chip is connected to wheel speed signal processing unit, drive control unit, bus and led to
Unit and memory cell are interrogated, six vehicle-wheel speed sensors are connected with wheel speed signal processing unit, six ABS
Adjuster magnetic valve is connected with drive control unit, and described main control chip is used for the wheel for obtaining vehicle-wheel speed sensor output
Fast signal, then according to the wheel speed signal of acquisition so as to calculate the slippage rate of wheel, the slippage rate obtained according to calculating is so as to right
ABS adjuster magnetic valves are controlled；
Described drive control unit includes drive control chip, and the drive control chip is connected with branch road, described branch road
Including the 6th resistance, the 7th resistance and the 5th electric capacity, the control end of the main control chip and the input of drive control chip
Connection, the output end of the drive control chip is connected with the control end and output end of ABS adjuster magnetic valves respectively；It is described to drive
The one end of the output end of dynamic control chip also respectively with one end, one end of the 6th resistance and the 7th resistance of the 5th electric capacity connects
Connect, the other end of the 5th electric capacity ground connection, another termination second source of the 6th resistance, the 7th resistance it is another
End is connected with the I/O ports of main control chip；
The main control chip includes the wheel speed signal for being used to obtain vehicle-wheel speed sensor output, so as to calculate the attached of each wheel
Put forth effort, the adhesive force obtained according to calculating passes so as to the EBD functional modules of adjust automatically brake pressure, for obtaining wheel velocity
The wheel speed signal of sensor output, so as to calculate the tire rolling radius of wheel, according to calculate obtained tire rolling radius so as to
Realize the TPM functional modules of tire pressure monitoring function and/or for judging whether to meet auxiliary brake entry condition, work as judged result
During to be, then trailing wheel pressurize is controlled, so as to prevent the hill start supplemental functionality of vehicle car slipping.
2. a kind of six passages ABS system according to claim 1, it is characterised in that：Described wheel speed signal processing unit
Including wheel speed signal process circuit, the vehicle-wheel speed sensor is connected with wheel speed signal process circuit, at the wheel speed signal
Reason circuit is connected with main control chip；
Described wheel speed signal process circuit includes voltage comparator circuit and RC low-pass filter circuits, the RC LPFs electricity
The output end on road and the negative input end of voltage comparator circuit are connected, and the output end of the vehicle-wheel speed sensor is low with RC respectively
The positive input terminal connection of the input and voltage comparator circuit of bandpass filter circuit.
3. a kind of six passages ABS system according to claim 2, it is characterised in that：The voltage comparator circuit includes
First electric capacity, first resistor, second resistance, 3rd resistor and voltage comparator, the RC low-pass filter circuits include the 4th
Resistance, the second electric capacity and the 3rd electric capacity；
One the first power supply of termination of the first resistor, the other end of first resistor one end respectively with the first electric capacity, the
One end of two resistance and one end of the 4th resistance connection, first electric capacity the other end ground connection, the second resistance it is another
One end is connected with one end of 3rd resistor and the positive input terminal of voltage comparator respectively, the other end and voltage of the 3rd resistor
The output end connection of comparator, the other end of the 4th resistance is negative with one end of the second electric capacity and voltage comparator respectively
Input is connected, and the other end of second electric capacity is connected with one end of the 3rd electric capacity, the other end ground connection of the 3rd electric capacity；
The other end of the first resistor and the output end of vehicle-wheel speed sensor are connected.
4. a kind of six passages ABS system according to claim 3, it is characterised in that：The wheel speed signal process circuit is also
Including the 5th resistance and the 4th electric capacity, one end of first electric capacity is connected with one end of the 5th resistance, the 5th resistance
The other end is connected with one end of the 4th electric capacity, the other end ground connection of the 4th electric capacity.
5. a kind of six passages ABS system according to claim any one of 1-4, it is characterised in that：Described bus communication
Unit is CAN communication unit, and described CAN communication unit includes CAN transceiver interface chip and common mode choke,
The CAN transceiver interface chip is connected with main control chip, and the common mode choke includes first coil and the second coil；It is described
The CANH ends of CAN transceiver interface chip and one end of first coil are connected, the CANL ends of the CAN transceiver interface chip with
One end connection of second coil.
6. a kind of six passages ABS system according to claim 5, it is characterised in that：Described CAN communication unit is also
Including the 8th resistance, the 9th resistance, the 6th electric capacity, the 7th electric capacity, the 8th electric capacity, the first voltage-regulator diode, the pole of the second voltage stabilizing two
Pipe, the 3rd voltage-regulator diode and the 4th voltage-regulator diode；
The other end of the first coil is connected with one end of the 8th resistance and one end of the 7th electric capacity respectively, the 8th electricity
The other end of resistance is connected with the 3rd power supply, one end of the 9th resistance and one end of the 6th electric capacity respectively, the 9th resistance
The other end is connected with the other end of the second coil and one end of the 8th electric capacity respectively, the other end of the 7th electric capacity, the 6th electricity
The other end of the other end of appearance and the 8th electric capacity is grounded；
Negative pole of the other end of the first coil also with the first voltage-regulator diode is connected, the positive pole of first voltage-regulator diode
It is connected with the positive pole of the second voltage-regulator diode, the negative pole ground connection of second voltage-regulator diode, the other end of second coil
Negative pole also with the 3rd voltage-regulator diode is connected, and the positive pole of the 3rd voltage-regulator diode and the positive pole of the 4th voltage-regulator diode connect
Connect, the negative pole ground connection of the 4th voltage-regulator diode.
7. a kind of six passages ABS system according to claim any one of 1-4, it is characterised in that：It is differential that it also includes ASR
Brake valve, described ASR differential braking valves are connected with drive control unit；
The main control chip includes RBT ASR module, and described RBT ASR module is used to obtain vehicle-wheel speed sensor output
Wheel speed signal, according to the wheel speed signal of acquisition so as to judging whether wheel skids, then by control ASR differential brakings valve so as to
The drive axle for making ABS adjusters magnetic valve pair corresponding with the wheel skidded is braked.
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| CN105676731B (en) * | 2016-01-14 | 2019-04-05 | 重庆大学 | ABS system based on GMR sensor |
| CN106515692B (en) * | 2016-12-19 | 2018-12-25 | 安徽江淮汽车集团股份有限公司 | A kind of emergency vehicle method and system in slope |
| CN107487305A (en) * | 2017-06-28 | 2017-12-19 | 北汽福田汽车股份有限公司 | ABS control systems and vehicle |
| CN109383473A (en) * | 2018-09-28 | 2019-02-26 | 北京航天发射技术研究所 | A kind of automobile-used Electro-mechanical brake system of multiaxis |
| CN109739078A (en) * | 2018-12-28 | 2019-05-10 | 芜湖伯特利电子控制系统有限公司 | A kind of wheel speed signal processing redundancy approach |
| CN110244685A (en) * | 2019-05-13 | 2019-09-17 | 思与行科技(苏州)有限公司 | The safety control circuit of controller for active electronic braking system |
| CN110103914A (en) * | 2019-05-13 | 2019-08-09 | 思与行科技(苏州)有限公司 | Active electronic Pneumatic braking system |
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