CN105172771B - A kind of automobile electricity, liquid are combined line control brake system and its control method - Google Patents
A kind of automobile electricity, liquid are combined line control brake system and its control method Download PDFInfo
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- CN105172771B CN105172771B CN201510652159.6A CN201510652159A CN105172771B CN 105172771 B CN105172771 B CN 105172771B CN 201510652159 A CN201510652159 A CN 201510652159A CN 105172771 B CN105172771 B CN 105172771B
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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
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/343—Systems characterised by their lay-out
- B60T8/344—Hydraulic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
A kind of automobile electricity, liquid are combined line control brake system and its control method, belong to brake system of car technical field.System, including four Electro-hydraulic brake devices, CAN and Comprehensive Control unit, Electro-hydraulic brake device is arranged on the wheel side of automobile, and is connected by CAN with integrated controller, motor in Electro-hydraulic brake device is directly connected with wheel, and drives the hydraulic pump in brake fluid system.Method：When non-brake, motor belt motor hydrodynamic press pump produces hydraulic oil required during braking, during braking, motor one opposing torque of application, which is acted on, produces electric braking force on wheel, hydraulic oil, which is acted on hydraulic cylinder, simultaneously produces hydraulic braking force to make up the sluggishness of electric braking, the relations of distribution of the brake force between electric braking and hydraulic braking are controlled in real time by integrated controller by CAN, if speed is higher than threshold value less than threshold value or battery pack SOC, electrical brake system is then closed, is individually braked by brake fluid system.
Description
Technical field
The invention belongs to brake system of car technical field, more particularly to a kind of automobile electricity, liquid is combined brake-by-wire
System and its control method.
Background technology
Recently as the integrated demand of communication, the development of control technology and vehicle drive system, wire control technology (X-
By-wire the attention of people) has been caused, such as steering-by-wire technology has been successfully applied in the vehicle of part.Using line
Control technology, can effectively save the arrangement space of transmission system, realized by bus connection it is more flexible, accurately control,
It is also advantageous for realizing the synthesization, integrated of many vehicle control syetems, is a development trend of automobile control technology.
Brake system of car has highly important influence for security, the stability of automobile, at present, foreign countries existing one
A little mechanisms (such as Ford Motor Company) take up the research and development of brake-by-wire technology.If wire control technology can be applied in vapour
In car brakes, suffered from for simplifying the complexity of brakes, improving control accuracy, the lightweight for realizing automobile etc.
Highly important meaning, however, compared with the conventional hydraulic brakes that driver directly controls, brake-by-wire technology is generally deposited
A problem be, for producing the hydraulic pump of braking oil pressure and motor for driving hydraulic pump, all inevitably to deposit
In mechanical hysteresis.
On the other hand, in braking procedure, substantial amounts of energy is dissipated by the form of heat energy, how in braking procedure
It is also always the focus of braking technology research in recent years to realize energy regenerating.Using electric braking, energy can be effectively realized and returned
Receive, but the drawbacks of there is itself in electric braking, on the one hand, electric braking is to export opposing torque by motor to apply brake force,
Therefore electric braking is there is also obvious electromechanics braking problems at the beginning of startup, and on the other hand, motor is in rotating speed is too high when institute
Can produce brake force it is extremely limited, and rotating speed it is too low when be not easily accomplished stably braking effect.
The content of the invention
The problem of existing for prior art, the present invention provides a kind of automobile electricity, liquid and is combined line control brake system and its control
Method processed.The present invention is comprising electric braking and two kinds of modes of braking of hydraulic braking, the function with Brake energy recovery, wherein electricity system
It is dynamic not to be simple with hydraulic braking and deposit, but intercouple, cooperate, by the motor-driven hydraulic pumps production in electric braking
Hydraulic oil needed for raw hydraulic braking, the sluggishness of electric braking is made up by hydraulic braking and insensitivity is improved.
To achieve these goals, the present invention is adopted the following technical scheme that, a kind of automobile electricity, liquid are combined brake-by-wire system
System, including four Electro-hydraulic brake devices and integrated controller, four Electro-hydraulic brake devices are separately mounted to automobile
The wheel side of four wheels, the motor of four Electro-hydraulic brake devices is connected with four wheels respectively；Described four electric-hydraulic combined
Brake is connected by CAN with integrated controller respectively, driver pedal signal, speed feedback signal, motor braking
Force feedback signal and battery pack SOC signals are connected with integrated controller respectively.
The Electro-hydraulic brake device include motor, electromagnetic clutch, hydraulic pump, overflow valve, high pressure accumulator, pressure after
Electrical equipment, hydraulic cylinder, the first check valve, the second check valve, pressure-reducing valve, liquid inlet electromagnetic valve and liquid outlet electromagnetic valve, the motor and liquid
It is connected between the control end of press pump by electromagnetic clutch；The oil inlet of hydraulic pump is connected with fuel reserve tank, and oil-out is through
Oil inlet after one check valve all the way with overflow valve is connected, another road respectively with high pressure accumulator, the oil inlet of pressure-reducing valve and
The oil inlet of pressure switch is connected；The draining of the oil-out of the overflow valve, the oil-out of pressure switch and pressure-reducing valve
Mouth is connected with fuel reserve tank respectively；The oil-out of pressure-reducing valve is connected with the oil inlet of liquid inlet electromagnetic valve, and liquid inlet electromagnetic valve goes out
Hydraulic fluid port is connected with the oil inlet of liquid outlet electromagnetic valve all the way, and another road is connected with hydraulic cylinder；The oil-out warp of liquid outlet electromagnetic valve
Second check valve is connected with fuel reserve tank, and the hydraulic cylinder is connected with the brake disc of vehicle.
The liquid inlet electromagnetic valve and liquid outlet electromagnetic valve are two-position two-way electromagnetic directional valve, and wherein liquid inlet electromagnetic valve is normally closed
Formula, liquid outlet electromagnetic valve is open in usual.
Described automobile is electric, the control method of the compound line control brake system of liquid, comprises the following steps：
Step one：After vehicle launch, motor belt motor hydrodynamic press pump produces hydraulic oil, and the hydraulic oil obtained is stored in high pressure storage
In energy device；
Step 2：After the oil pressure of high pressure accumulator reaches threshold value, triggering pressure switch produces electric signal, the electricity
Signal is sent to electromagnetic clutch as control signal, disconnects electromagnetic clutch, the connection between cut-out hydraulic pump and motor；
Step 3：When vehicle is braked, driver produces a driver pedal signal, control letter by brake pedal
Number send to Comprehensive Control unit integrated controller；
Step 4：Integrated controller determines each car in real time according to driver pedal signal and status feedback signal
Brake force needed for wheel, and determine allocation proportion relation of the brake force between electric braking and hydraulic braking；
Step 5：Integrated controller exists the brake force and the brake force needed for each wheel determined in step 4
Allocation proportion relation between electric braking and hydraulic braking is sent to CAN as control instruction；
Step 6：The Electro-hydraulic brake device of four wheels obtains respective control instruction from CAN respectively；
Step 7：Four Electro-hydraulic brake devices adjust respective motor torque according to control instruction, motor is directly applied
Plus an opposing torque acts on and electric braking force is produced on the wheel of vehicle；When needing hydraulic braking force to participate in, feed liquor is opened
Magnetic valve, closes liquid outlet electromagnetic valve, is acted on by hydraulic cylinder and hydraulic braking force is produced on the wheel of vehicle, and by controlling to depressurize
Valve is come the oil liquid pressure needed for adjusting；
Step 8：In braking procedure, with the reduction of speed, electric braking force is closed if speed is less than threshold value,
Braked by hydraulic braking force；
Step 9：After braking procedure terminates, liquid outlet electromagnetic valve is opened, liquid inlet electromagnetic valve, Electro-hydraulic brake is closed
Device pressure release；
Step 10：After Electro-hydraulic brake device pressure release, if the pressure of the oil inlet of pressure switch is less than thresholding
Value, then electromagnetic clutch adhesive again, motor drives hydraulic pump to produce hydraulic oil again, supplements the oil pressure of high pressure accumulator, with
Standby driver brake operating next time.
Integrated controller described in step 4 is determined in real time according to driver pedal signal and status feedback signal
Brake force needed for each wheel, and allocation proportion relation of the brake force between electric braking and hydraulic braking is determined, its
Comprise the following steps that：
Step A：Braking moment and yaw moment according to needed for Current vehicle determine the brake force of four wheels, calculate
Shown in relation such as formula (1)~(3)：
F11+F12+F21+F22=Fbrake (1)
In formula：F11- the near front wheel brake force；
F12- off-front wheel brake force；
F21- left rear wheel brake force；
F22- off hind wheel brake force；
Fbrake- total braking force；
B- wheelspans；
Tω- active yaw moment；
The antero posterior axis brake-power balance coefficient that-optimum braking force distribution curve is determined；
- traction coefficient；
Step B：The mechanical hysteresis of motor is determined,
At the beginning of electric braking starts, there is a mechanical hysteresis in motor, and the mechanical hysteresis is described with following first-order system：
In formula：Tm- motor actual output torque；
TM, comThe target torque of-electric machine controller；
The time constant for τ-be determined by experiment；
Step C：Determined to brake according to demand braking force, the motor braking power upper limit, motor lagging characteristics and battery pack SOC
Power allocation proportion relation, the braking force distribution ratio relation is as follows：
Electric braking is preferred brake force, and hydraulic braking force is then to make up the deficiency of electric braking force, in the braking starting stage
Hydraulic braking force fills up the gap between target braking force that electric braking force is caused due to sluggish；When electric braking force is not enough to
When required braking moment is provided separately, hydraulic braking force is supplemented；It is higher than door less than threshold value or battery pack SOC in speed
In the case of limit value, electric braking is closed, and all demand braking forces are met by hydraulic braking.
Beneficial effects of the present invention：
1st, the present invention includes two kinds of modes of braking of electric braking and hydraulic braking, combines the technology of electric braking and hydraulic braking
Advantage, the braking energy recovering function in vehicle braking procedure is realized using electric braking；By the motor driven liquid in electric braking
Press pump produces the hydraulic oil needed for hydraulic braking, when the sluggishness of electric braking is made up using hydraulic braking and electric braking low speed is improved
Insensitivity；
2nd, the hydraulic energy needed for hydraulic braking of the present invention comes from the motor in system, therefore need not connect brakes
Outside power part；
3rd, the line control brake system based on the present invention, control method of the invention passes through between electric braking and hydraulic braking
Distribution control, realizes maximum energy regenerating effect, and motor when considering braking is sluggish and stability problem.
Brief description of the drawings
Fig. 1 is combined the overall structure diagram of line control brake system for automobile electricity, the liquid of the present invention；
Fig. 2 is the hydraulic schematic diagram of the Electro-hydraulic brake device of the present invention；
In figure：1- motors, 2- electromagnetic clutch, 3- hydraulic pumps, the check valves of 4- first, 5- overflow valves, 6- high pressure accumulators,
7- pressure-reducing valves, 8- liquid inlet electromagnetic valves, 9- liquid outlet electromagnetic valves, the check valves of 10- second, 11- fuel reserve tanks, 12- pressure switches, 13-
Hydraulic cylinder.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of automobile electricity, liquid are combined line control brake system, including four Electro-hydraulic brake devices and synthesis
Controller, four Electro-hydraulic brake devices are respectively the first Electro-hydraulic brake device, the second Electro-hydraulic brake device, the 3rd
Electro-hydraulic brake device and the 4th Electro-hydraulic brake device；Four Electro-hydraulic brake devices are separately mounted to four of automobile
The wheel side of wheel, the motor 1 of four Electro-hydraulic brake devices is connected with four wheels respectively；Four Electro-hydraulic brakes
Device is connected by CAN with integrated controller respectively, is communicated by CAN with integrated controller, realizes line traffic control
The function of braking；Driver pedal signal, speed feedback signal, motor braking force feedback signal and battery pack SOC signals difference
It is connected with integrated controller.
As shown in Fig. 2 the Electro-hydraulic brake device includes motor 1, controllable electromagnetic clutch 2, hydraulic pump 3, overflow
Valve 5, high pressure accumulator 6, pressure switch 12, hydraulic cylinder 13, the first check valve 4, the second check valve 10, pressure-reducing valve 7, feed liquor electricity
Magnet valve 8 and liquid outlet electromagnetic valve 9, are connected between the motor 1 and the control end of hydraulic pump 3 by electromagnetic clutch 2；Hydraulic pump
3 oil inlet is connected with fuel reserve tank 11, and oil inlet of the oil-out all the way with overflow valve 5 after the first check valve 4 is connected, separately
The oil inlet respectively with high pressure accumulator 6, the oil inlet of pressure-reducing valve 7 and pressure switch 12 is connected all the way；The overflow valve 5
Oil-out, the drain tap of the oil-out of pressure switch 12 and pressure-reducing valve 7 is connected with fuel reserve tank 11 respectively；Pressure-reducing valve 7
Oil-out is connected with the oil inlet of liquid inlet electromagnetic valve 8, the oil-feed of the oil-out of liquid inlet electromagnetic valve 8 all the way with liquid outlet electromagnetic valve 9
Mouth is connected, and another road is connected with hydraulic cylinder 13；The oil-out of liquid outlet electromagnetic valve 9 is through the second check valve 10 and the phase of fuel reserve tank 11
Connection, the hydraulic cylinder 13 is connected with the brake disc of vehicle.The liquid inlet electromagnetic valve 8 and liquid outlet electromagnetic valve 9 are two two
Electric change valve, wherein liquid inlet electromagnetic valve 8 are normally closed type, and liquid outlet electromagnetic valve 9 is open in usual.
Automobile electricity, the liquid of the present invention is combined line control brake system and contains two kinds of modes of braking of electric braking and hydraulic braking, two
Mode of braking mutual cooperation work is planted, the braking of vehicle is realized.Wherein electric braking by one be applied directly on wheel it is negative
Torque is used as braking moment, it is possible to achieve the function of energy regenerating, and hydraulic braking is then sent out by applying pressure to brake disc
Wave brake force；Electric braking and the allocation proportion of hydraulic braking, by Comprehensive Control unit according to motor braking force feedback signal, battery
Group SOC signals and speed feedback signal carry out dynamic regulation.
The executing agency of described electric braking is motor, for electric automobile or hybrid vehicle, and the motor exists
Under the non-brake state of vehicle, it can be used for driving vehicle traveling, braking motor then also served as in braking；And for ordinary internal combustion engine
Automobile, the motor is not involved in the driving of vehicle, and as special braking motor.
Described hydraulic braking produces hydraulic oil by hydraulic pump 3, for driving braking of the hydraulic actuating mechanism to wheel
Disk produces brake force.Wherein, hydraulic pump 3 is driven by braking motor, therefore does not need the power part beyond brakes to participate in；
In the case where not needing hydraulic braking work, the hydraulic oil that hydraulic pump 3 is produced is stored in high pressure accumulator 6；Hydraulic braking
During be controlled by pressure-reducing valve 7, liquid inlet electromagnetic valve 8 and liquid outlet electromagnetic valve 9.
Described Comprehensive Control unit includes a set of layering brake control method, main in top layer control strategy to consider four
The distribution of individual wheel braking force, the requirement for making it meet insensitivity；In bottom control strategy it is main consider electric braking with
The relations of distribution of hydraulic braking, on the premise of vehicle insensitivity is ensured, give full play to the energy regenerating advantage of electric braking.
Described top layer control strategy, by the brake force of four wheels of independent control, improves the riding stability of vehicle,
The influence of directional stability when not only considering front and back wheel brake force distribution to braking, while considering left and right braking force distribution to horizontal stroke
Put the influence of torque.
Described bottom control strategy, when distributing the proportionate relationship of hydraulic braking force and electric braking force, takes into full account electricity
SOC states of pond group, and make up using hydraulic braking the mechanical hysteresis problem of electric braking, at braking action initial stage, use liquid
Compacting power is not enough to fill up the brake force that motor sluggishness is brought, and after electric braking force can meet brake request, control
Hydraulic braking force is exited in liquid inlet electromagnetic valve 8 and liquid outlet electromagnetic valve 9 action processed, maximizes energy regenerating effect；When speed is relatively low,
Exit electric braking and more stable control effect is realized using hydraulic braking.
Described automobile is electric, the control method of the compound line control brake system of liquid, comprises the following steps：
Step one：After vehicle launch, motor 1 drives hydraulic pump 3 to produce hydraulic oil, and the hydraulic oil obtained is stored in high pressure
In accumulator 6；
Step 2：After the oil pressure of high pressure accumulator 6 reaches threshold value, triggering pressure switch 12 produces electric signal,
The electric signal is sent to electromagnetic clutch 2 as control signal, disconnects electromagnetic clutch 2, cut-out hydraulic pump 3 and motor 1 it
Between connection, under non-brake state, electromagnetic clutch 2 be in closure state；
Step 3：When vehicle is braked, driver produces a driver pedal signal, control letter by brake pedal
Number send to Comprehensive Control unit integrated controller；
Step 4：Integrated controller determines each car in real time according to driver pedal signal and status feedback signal
Brake force needed for wheel, and allocation proportion relation of the brake force between electric braking and hydraulic braking is determined, the state is anti-
Feedback signal includes speed feedback signal, motor braking force feedback signal and battery pack SOC (State of Charge) signal；
Step 5：Integrated controller exists the brake force and the brake force needed for each wheel determined in step 4
Allocation proportion relation between electric braking and hydraulic braking is sent to CAN as control instruction；
Step 6：The Electro-hydraulic brake device of four wheels obtains respective control instruction from CAN respectively；
Step 7：Four Electro-hydraulic brake devices adjust respective motor torque according to control instruction, motor 1 is directly applied
Plus an opposing torque acts on and electric braking force is produced on the wheel of vehicle, you can produce motor 1 during electric braking, electric braking
A generator dragged by wheel can be considered as, the kinetic energy of vehicle is converted into power storage by motor 1 and existed in this process
In the battery pack of automobile；When needing hydraulic braking force to participate in, liquid inlet electromagnetic valve 8 is opened, liquid outlet electromagnetic valve 9 is closed, by hydraulic pressure
Cylinder 13 acts on and hydraulic braking force is produced on the wheel of vehicle, and adjusts by controlling pressure-reducing valve 7 required oil liquid pressure；
Step 8：In braking procedure, with the reduction of speed, electric braking force is closed if speed is less than threshold value,
Braked by hydraulic braking force；
Step 9：After braking procedure terminates, liquid outlet electromagnetic valve 9 is opened, liquid inlet electromagnetic valve 8, electric-hydraulic combined system is closed
Dynamic device pressure release；
Step 10：After Electro-hydraulic brake device pressure release, if the pressure of the oil inlet of pressure switch 12 is less than door
Limit value, the then adhesive again of electromagnetic clutch 2, motor 1 drives hydraulic pump 3 to produce hydraulic oil again, supplements the oil of high pressure accumulator 6
Pressure, in case driver's brake operating next time.
Integrated controller described in step 4 is determined in real time according to driver pedal signal and status feedback signal
Brake force needed for each wheel, and allocation proportion relation of the brake force between electric braking and hydraulic braking is determined, its
Comprise the following steps that：
Step A：Need to take into account vehicle insensitivity, energy regenerating effect and battery during the control for carrying out brake-by-wire
Working condition etc., in top layer control strategy, braking moment and yaw moment mainly according to needed for Current vehicle are determined
The brake force of four wheels, shown in calculated relationship such as formula (1)~(3)：
F11+F12+F21+F22=Fbrake (1)
In formula：F11- the near front wheel brake force；
F12- off-front wheel brake force；
F21- left rear wheel brake force；
F22- off hind wheel brake force；
Fbrake- total braking force；
B- wheelspans；
Tω- active yaw moment；
The antero posterior axis brake-power balance coefficient that-optimum braking force distribution curve is determined；
- traction coefficient；
Step B：Determine the mechanical hysteresis of motor, top layer control strategy determine four wheels demand braking force it
Afterwards, the design of bottom control strategy is in order to ensure brake force is reasonably distributed between electric braking and hydraulic braking, in electricity system
At the beginning of dynamic startup, there is a mechanical hysteresis in motor, and the mechanical hysteresis can be described with following first-order system：
In formula：Tm- motor actual output torque；
TM, comThe target torque of-electric machine controller；
The time constant for τ-be determined by experiment；
Step C：Determined to brake according to demand braking force, the motor braking power upper limit, motor lagging characteristics and battery pack SOC
Power allocation proportion relation, the braking force distribution ratio relation is as follows：
In order to play energy recovery function as much as possible, electric braking is preferred brake force, and hydraulic braking force is then to make up
The deficiency of electric braking force, is braked what braking starting stage hydraulic braking force filled up that electric braking force caused due to sluggish with target
Gap between power；On the other hand, when electric braking force is not enough to be provided separately required braking moment, hydraulic braking force is carried out
Supplement；When speed is relatively low, because the principle of electric braking is to provide a reverse opplied moment, therefore in order to realize stabilization
Stopping brake effect, in the case where speed is higher than threshold value less than threshold value or battery pack SOC, closes electric braking, and by liquid
Compacting is moved to meet all demand braking forces.
Claims (4)
1. a kind of automobile electricity, liquid are combined line control brake system, it is characterised in that including four Electro-hydraulic brake devices and comprehensive control
Device processed, four Electro-hydraulic brake devices are separately mounted to the wheel side of four wheels of automobile, four Electro-hydraulic brake devices
Motor be connected respectively with four wheels；Four Electro-hydraulic brake devices pass through CAN and integrated controller respectively
Be connected, driver pedal signal, speed feedback signal, motor braking force feedback signal and battery pack SOC signals respectively with it is comprehensive
Hop controller is connected；
The Electro-hydraulic brake device includes motor, electromagnetic clutch, hydraulic pump, overflow valve, high pressure accumulator, pressure relay
Device, hydraulic cylinder, the first check valve, the second check valve, pressure-reducing valve, liquid inlet electromagnetic valve and liquid outlet electromagnetic valve, the motor and hydraulic pressure
It is connected between the control end of pump by electromagnetic clutch；The oil inlet of hydraulic pump is connected with fuel reserve tank, and oil-out is through first
Oil inlet after check valve all the way with overflow valve is connected, another road respectively with high pressure accumulator, the oil inlet of pressure-reducing valve and pressure
The oil inlet of power relay is connected；The drain tap of the oil-out of the overflow valve, the oil-out of pressure switch and pressure-reducing valve
It is connected respectively with fuel reserve tank；The oil-out of pressure-reducing valve is connected with the oil inlet of liquid inlet electromagnetic valve, liquid inlet electromagnetic valve it is fuel-displaced
Mouth is connected with the oil inlet of liquid outlet electromagnetic valve all the way, and another road is connected with hydraulic cylinder；The oil-out of liquid outlet electromagnetic valve is through
Two check valves are connected with fuel reserve tank, and the hydraulic cylinder is connected with the brake disc of vehicle.
2. automobile according to claim 1 electricity, liquid are combined line control brake system, it is characterised in that the liquid inlet electromagnetic valve and
Liquid outlet electromagnetic valve is two-position two-way electromagnetic directional valve, and wherein liquid inlet electromagnetic valve is normally closed type, and liquid outlet electromagnetic valve is open in usual.
3. automobile electricity, the liquid described in claim 1 are combined the control method of line control brake system, it is characterised in that including as follows
Step：
Step one：After vehicle launch, motor belt motor hydrodynamic press pump produces hydraulic oil, and the hydraulic oil obtained is stored in high pressure accumulator
In；
Step 2：After the oil pressure of high pressure accumulator reaches threshold value, triggering pressure switch produces electric signal, the electric signal
Electromagnetic clutch is sent to as control signal, electromagnetic clutch is disconnected, the connection between cut-out hydraulic pump and motor；
Step 3：When vehicle is braked, driver produces a driver pedal signal, control signal hair by brake pedal
Deliver to the integrated controller of Comprehensive Control unit；
Step 4：Integrated controller determines each wheel institute according to driver pedal signal and status feedback signal in real time
The brake force needed, and determine allocation proportion relation of the brake force between electric braking and hydraulic braking；
Step 5：Integrated controller makes the brake force and the brake force needed for each wheel determined in step 4 in electricity
The dynamic allocation proportion relation between hydraulic braking is sent to CAN as control instruction；
Step 6：The Electro-hydraulic brake device of four wheels obtains respective control instruction from CAN respectively；
Step 7：Four Electro-hydraulic brake devices adjust respective motor torque according to control instruction, motor is directly applied one
Individual opposing torque, which is acted on, produces electric braking force on the wheel of vehicle；When needing hydraulic braking force to participate in, open into liquid electromagnetic
Valve, close liquid outlet electromagnetic valve, acted on by hydraulic cylinder and hydraulic braking force produced on the wheel of vehicle, and by control pressure-reducing valve come
Oil liquid pressure needed for regulation；
Step 8：In braking procedure, with the reduction of speed, electric braking force is closed if speed is less than threshold value, by liquid
Power is suppressed to be braked；
Step 9：After braking procedure terminates, liquid outlet electromagnetic valve is opened, liquid inlet electromagnetic valve is closed, Electro-hydraulic brake device is let out
Pressure；
Step 10：After Electro-hydraulic brake device pressure release, if the pressure of the oil inlet of pressure switch is less than threshold value,
Electromagnetic clutch adhesive again, motor drives hydraulic pump to produce hydraulic oil again, supplements the oil pressure of high pressure accumulator, in case driving
Member's brake operating next time.
4. automobile electricity according to claim 3, liquid are combined the control method of line control brake system, it is characterised in that step 4
Described in integrated controller each wheel is determined according to driver pedal signal and status feedback signal in real time needed for
Brake force, and determine allocation proportion relation of the brake force between electric braking and hydraulic braking, it is comprised the following steps that：
Step A：Braking moment and yaw moment according to needed for Current vehicle determine the brake force of four wheels, calculated relationship
As shown in formula (1)~(3)：
F11+F12+F21+F22=Fbrake (1)
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In formula：F11- the near front wheel brake force；
F12- off-front wheel brake force；
F21- left rear wheel brake force；
F22- off hind wheel brake force；
Fbrake- total braking force；
B- wheelspans；
Tω- active yaw moment；
The antero posterior axis brake-power balance coefficient that-optimum braking force distribution curve is determined；
- traction coefficient；
Step B：The mechanical hysteresis of motor is determined,
At the beginning of electric braking starts, there is a mechanical hysteresis in motor, and the mechanical hysteresis is described with following first-order system：
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<mi>o</mi>
<mi>m</mi>
</mrow>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula：Tm- motor actual output torque；
TM, comThe target torque of-electric machine controller；
The time constant for τ-be determined by experiment；
Step C：Brake force point is determined according to demand braking force, the motor braking power upper limit, motor lagging characteristics and battery pack SOC
With proportionate relationship, the braking force distribution ratio relation is as follows：
Electric braking is preferred brake force, and hydraulic braking force is then to make up the deficiency of electric braking force, in braking starting stage hydraulic pressure
Brake force fills up the gap between target braking force that electric braking force is caused due to sluggish；When electric braking force is not enough to individually
When providing required braking moment, hydraulic braking force is supplemented；It is higher than threshold value less than threshold value or battery pack SOC in speed
In the case of, electric braking is closed, and all demand braking forces are met by hydraulic braking.
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| DE102016209042A1 (en) * | 2016-05-24 | 2017-11-30 | Robert Bosch Gmbh | Method for monitoring the braking force in a vehicle |
| CN106379178A (en) * | 2016-08-31 | 2017-02-08 | 吉林大学 | Coordination control method simulating automobile braking |
| CN109552287A (en) * | 2017-09-26 | 2019-04-02 | 比亚迪股份有限公司 | Line control brake system and vehicle |
| CN108263216B (en) * | 2018-01-25 | 2023-08-08 | 吉林大学 | Regenerative braking system and braking method for hub motor driven automobile |
| CN109367395B (en) * | 2018-11-14 | 2023-06-09 | 南京航空航天大学 | Electrohydraulic composite braking system and control method thereof |
| CN110614921B (en) * | 2019-08-19 | 2023-08-25 | 南京理工大学 | Braking energy recovery system of electric commercial vehicle and control method |
| CN110962616B (en) * | 2019-12-20 | 2021-01-22 | 湘潭大学 | Vehicle composite energy system integrating hydraulic power and battery and control method thereof |
| CN111923887A (en) * | 2020-06-08 | 2020-11-13 | 芜湖伯特利汽车安全系统股份有限公司 | Electro-hydraulic hybrid vehicle braking system |
| CN111942356B (en) * | 2020-07-10 | 2022-07-26 | 浙江吉利控股集团有限公司 | Parking method, device, system and terminal |
| CN112721647A (en) * | 2021-01-13 | 2021-04-30 | 奇瑞新能源汽车股份有限公司 | Brake control system and brake control method of electric automobile and electric automobile |
| CN113386820A (en) * | 2021-07-28 | 2021-09-14 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle and air-electric combined braking system and method |
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