CN105946592B - Electric braking and hydraulic braking coordination control method for electric automobile - Google Patents
Electric braking and hydraulic braking coordination control method for electric automobile Download PDFInfo
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- CN105946592B CN105946592B CN201610302323.5A CN201610302323A CN105946592B CN 105946592 B CN105946592 B CN 105946592B CN 201610302323 A CN201610302323 A CN 201610302323A CN 105946592 B CN105946592 B CN 105946592B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 55
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000007789 sealing Methods 0.000 claims abstract description 16
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 15
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000002153 concerted effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims 10
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 238000011084 recovery Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a coordinated control method for electric braking and hydraulic braking of an electric automobile, which is implemented by a coordinated control system and comprises a wheel hub, a hydraulic braking assembly, a wheel driving motor M, a power battery E, a braking assembly and an electric braking coordinated assembly; the electric braking coordination assembly comprises a second fixed guide rail, a single-sided rack sliding block, a connecting rod, an electromagnet, an iron core sealing ring, nitrogen and a brake pedal travel switch K; the working method of the electric braking and hydraulic braking coordination control system of the electric automobile mainly utilizes the reverse charging current of a wheel driving motor M for a power battery E during braking to generate reverse braking force to coordinate with the hydraulic braking force through an electromagnet, so that the hydraulic braking pressure is reduced. The invention adopts a mechanical structure to realize the continuous and real-time coordination and adjustment of the motor braking force and the hydraulic braking force in a certain range, has relatively simple structure, greatly reduces the cost and obviously improves the working reliability.
Description
The application is Application No. 201410719888.4, and the applying date is on December 1st, 2014, and invention and created name is
The divisional application of the application for a patent for invention of " electric automobile electric braking and hydraulic braking control method for coordinating ".
Technical field
The present invention relates to electric vehicle brake technical field, and in particular to a kind of electric automobile electric braking is assisted with hydraulic braking
Adjust control system and control method.
Background technology
Currently, as the pay attention to day by day of energy-conserving and environment-protective, the use of electric automobile gradually increase.Brakes is that automobile extremely closes
One of important system.Traditional automobile brake typically uses brake fluid system, and it can not realize energy regenerating, and brake
Piece frictional dissipation is very fast.At present, the brakes of electric automobile, in addition to some use traditional brake fluid system, also adopt
Combined with electric braking with hydraulic braking（Or mixing）One of brakes, its main purpose be using brake when wheel driving
Motor charges to battery, to realize the recovery of energy, saves the energy.Such as Publication No. CN 1986272A, entitled
The Chinese patent literature of " electric automobile combines braking control system and control method ", that is, disclose one kind and gathered by sensor
Signal and single-chip microcomputer calculate, corresponding to control proportioning valve output hydraulic pressure brake force, to realize the combination of electric braking and hydraulic braking；Again
Such as Publication No. CN 101913352A, entitled " coordinated braking control method of electric automobile " Chinese patent literature,
It is stilled need by the step such as signal acquisition and single-chip microcomputer calculating to realize the cooperation of electric braking and hydraulic braking；For another example it is public
The number of opening is CN 102310850A, the China of entitled " braking system of electric car that can carry out Brake energy recovery " is special
Sharp document, it is still desirable to calculating and control based on single-chip microcomputer for the control of core.
The above-mentioned electric braking for electric automobile in the prior art and the control mode of hydraulic braking mostly utilize integrated control
Device processed（Or similar single chip machine controlling circuit etc.）Judge to draw according to control logic set in advance, according to the signal of sensor
The time of control, the mode of control actuator work, the times or frequency of control etc. parameter, but associated actuator is carried out
Control, its whole process need to include gathering the steps such as signal, judgement, calculating, execution, need the regular hour in the process
Delay, it is impossible to adjust the size of conventional hydraulic brake force in real time according to the size of motor braking power in real time；Moreover, prior art
In control process be required for meeting that certain condition just controls actuator to act, control actuator to enter again when meeting next condition
Row acts in next step, and its control process is to be interrupted, be discontinuous；In addition, its Control system architecture is relative complex, the electricity used
Sub- component is more, and cost is more expensive and functional reliability reduces.
The content of the invention
The purpose of the present invention is：In view of the shortcomings of the prior art, there is provided a kind of to be calculated without controller or single chip circuit
Control, motor braking power and hydraulic braking force are continuously adjusted, are being protected in real time within the specific limits by mechanical structure
Energy Efficient recovery is realized on the premise of card automobile effective brake and cost is high, electric automobile electric braking and liquid of reliable operation
The dynamic control method for coordinating of compacting.
The technical scheme is that：The electric automobile electric braking of the present invention and hydraulic braking control method for coordinating, by electricity
Electrical automobile electric braking is implemented with hydraulic braking coordinated control system, including wheel hub, hydraulic brake assembly, brake assemblies, electricity system
Dynamic coordination component, wheel drive motors M and electrokinetic cell E；Hydraulic brake assembly includes brake block, wheel cylinder, master cylinder
And piston；Piston has connected piston ring and piston rod, and the piston ring of piston is movably disposed in master cylinder；Piston rod
One end be fixedly connected with piston ring, the other end of piston rod is stretched out outside master cylinder；
Above-mentioned brake assemblies include brake pedal, the first transfer gear, the second transfer gear, the 3rd transfer gear, the
Four transfer gears, first fix guide rail and the two-sided rack sliding block；
Brake pedal and the first transfer gear are connected；First transfer gear and the second transfer gear are connected, the
Two transfer gears are connected with the coaxial transmission of the 3rd transfer gear；First fixation guide rail is fixedly installed on electric automobile；It is two-sided
Rack slide is the sliding block that upper and lower both sides are provided with the rack being respectively cooperating with the 3rd transfer gear and the 4th transfer gear；Double cog
Bar sliding block is arranged on the first fixation guide rail and the first fixation guide rail can be relied on to move；3rd transfer gear and the two-sided rack sliding block
Downside drive connection；The upside of the two-sided rack sliding block is connected with the 4th transfer gear；4th transfer gear with it is above-mentioned
The right-hand member that the piston rod of the piston of hydraulic brake assembly is stretched out outside master cylinder is fixedly connected；
Electric braking coordination component include second fix guide rail, single-side rack sliding block, connecting rod, electromagnet, iron core sealing ring,
Nitrogen and brake pedal travel switch K；
Second fixation guide rail is fixedly installed on electric automobile；Single-side rack sliding block is that downside is provided with and the 4th transfer gear
The sliding block of the rack of cooperation；Single-side rack sliding block is arranged on the second fixation guide rail and can rely on the second fixation guide rail or so Xiang Yi
It is dynamic；4th transfer gear of single-side rack sliding block and described brake assemblies is connected；The left end and single-side rack of connecting rod
The right-hand member of sliding block is fixedly connected；Electromagnet includes housing, iron core and coil；Housing is hollow column member, the left side of housing
Opening；Coil is wrapped on housing；Iron core is arranged in housing, and can be moved left and right in housing, and the right part of iron core is provided with close
Seal mounting groove；The right-hand member of connecting rod is fixedly connected by the opening of housing with the left side of iron core；Iron core sealing ring is arranged on
In the sealing ring mounting groove of iron core；So as to be made up of the right part inner chamber of the housing of the right-hand member of iron core, iron core sealing ring and electromagnet
One plenum space；Nitrogen is compressiblly arranged in the plenum space；Brake pedal travel switch K and above-mentioned brake assemblies
Brake pedal be equipped with；When brake pedal is not stepped on, brake pedal travel switch K is in closure state；When brake is stepped on
When plate is stepped on, brake pedal travel switch K is in open mode；
The positive pole of brake pedal travel switch K one end, one end of coil and electrokinetic cell E is conllinear；Electrokinetic cell E's
Negative pole electrically connects with one end of wheel drive motors M power end；The brake pedal travel switch K other end, coil it is another
The other end of end and wheel drive motors M power end is conllinear；
Above-mentioned electric automobile electric braking and hydraulic braking control method for coordinating, comprise the following steps：
1. in electric automobile during traveling, when driver does not touch on the brake pedal, brake pedal travel switch K closures, it will pass through
The line short of magnet spool, electrokinetic cell E power to wheel drive motors M and drive running car；Now in electromagnet
Iron core be pressed in by nitrogen electromagnet housing opening side；
2. in electric automobile during traveling, when driver steps on brake pedal, brake pedal pass sequentially through the first transfer gear,
Second transfer gear, the 3rd transfer gear, the two-sided rack sliding block and the 4th transfer gear driving piston are moved to the left and braked
Hydraulic pressure is produced in master cylinder, produce hydraulic braking force in the hydraulic conduction to wheel cylinder acts on wheel hub system by brake block
It is dynamic；Meanwhile brake pedal travel switch K disconnects, wheel drive motors M produces plugging power and by circuit to electrokinetic cell
E charges, and charging current produces magnetic field when passing through coil in electromagnet so that iron core overcomes the pressure of nitrogen to move right, iron
Core by connecting rod drive single-side rack sliding block move right, so as to single-side rack sliding block by the 4th transfer gear on piston
Apply opposition to the right, reduce the hydraulic brake pressure in master cylinder；
3. in electric automobile during traveling, when driver continues to step on brake pedal, the brake force being applied on wheel hub is
Plugging power caused by hydraulic braking force caused by hydraulic brake assembly and wheel drive motors M is made a concerted effort；When speed is faster,
Then caused stalling current is bigger in wheel drive motors M, and motor braking power is bigger, and suction is got over caused by electromagnet
Greatly, with regard to smaller, hydraulic braking force accordingly reduces the hydraulic pressure in master cylinder；
4. in electric automobile during traveling, if the circuit of electric braking coordination component breaks down or electrokinetic cell E is in full electric shape
During state, wheel drive motors M charges without normal direction electrokinetic cell E, and no current is by the way that iron core is compressed by nitrogen in magnet spool
Motionless in the left end in the housing of electromagnet, so as to which single-side rack sliding block does not move, the 4th transfer gear is relative to single-side rack
Sliding block only makees pure rolling, and during electric vehicle brake, the first transfer gear, the second transfer gear, are passed sequentially through by brake pedal
Three transfer gears, the two-sided rack sliding block and the 4th transfer gear driving piston are moved to the left and hydraulic pressure are produced in master cylinder,
Hydraulic braking force is produced in the hydraulic conduction to wheel cylinder wheel hub braking is acted on by brake block.
The present invention has positive effect：（1）The electric automobile electric braking of the present invention and hydraulic braking control method for coordinating,
Braking energy in braking procedure can be improved in the case where the braking for ensureing both makes a concerted effort to meet automobile brake requirement
Rate of recovery and can reduces the loss of conventional brake friction plate.（2）The electric automobile electric braking of the present invention is coordinated with hydraulic braking
Control system used by control method, realize that motor braking power connects within the specific limits with hydraulic braking force using mechanical structure
Continuous ground, cooperation regulation is carried out in real time, without as needing in the prior art by collecting sensor signal, controller or list
Piece machine circuit counting controls, so as to which structure is relatively easy, cost is greatly reduced and functional reliability significantly improves.（3）This hair
Control system used by bright electric automobile electric braking and hydraulic braking control method for coordinating, makes electric braking by mechanical structure
Power is continuously adjusted in real time within the specific limits with hydraulic braking force, eliminates controller in the prior art or monolithic is electromechanical
Road calculate control and deterministic process, thus its coordinate braking it is ageing more preferably.
Brief description of the drawings
Fig. 1 is electric automobile electric braking of the present invention and a kind of structural representation of hydraulic braking coordinated control system
Figure；
Fig. 2 is that electric automobile electric braking of the present invention and another structure of hydraulic braking coordinated control system are shown
It is intended to.
Reference in above-mentioned accompanying drawing is as follows：
Wheel hub 1,
Hydraulic brake assembly 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24,
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, the 3rd transfer gear 34, the
Four transfer gears 35, the first fixation guide rail 36, the two-sided rack sliding block 37,
Electric braking coordination component 4, second fixes guide rail 41, single-side rack sliding block 42, connecting rod 43, electromagnet 44, housing
44-1, iron core 44-2, coil 44-3, compression spring 45, brake pedal travel switch K, iron core sealing ring 46, nitrogen 47,
Wheel drive motors M,
Electrokinetic cell E.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
（Embodiment 1）
See Fig. 1, the electric automobile electric braking and hydraulic braking control method for coordinating of the present embodiment, it is made by electric automobile electricity
It is dynamic to implement with hydraulic braking coordinated control system.Electric automobile electric braking is with hydraulic braking coordinated control system mainly by wheel hub
1st, hydraulic brake assembly 2, brake assemblies 3, electric braking coordination component 4, wheel drive motors M and electrokinetic cell E compositions.
Hydraulic brake assembly 2 is mainly made up of brake block 21, wheel cylinder 22, master cylinder 23 and piston 24.Brake block
21 and wheel cylinder 22 on each wheel hub 1 of automobile distinguish it is each set 1 set；Master cylinder 23 is arranged on automobile, piston
24 have connected piston ring and piston rod, and the piston ring of piston 24 is movably disposed in master cylinder 23；The one of piston rod
End is fixedly connected with piston ring, and the other end of piston rod is stretched out to the right outside master cylinder 23.
Brake assemblies 3 are mainly by brake pedal 31, the first transfer gear 32, the second transfer gear 33, the 3rd transfer gear
34th, the 4th transfer gear 35, the first fixation guide rail 36 and the two-sided rack sliding block 37 form.
The top of brake pedal 31 and the center of the first transfer gear 32 are respectively and fixedly installed in same root rotating shaft, so as to
So that brake pedal 31 is coordinated by rotating shaft and the transmission of the first transfer gear 32；First transfer gear 32 and the second transfer gear 33
Drive connection, the second transfer gear 33 and the 3rd transfer gear 34 are coaxially connected；First fixation guide rail 36 is fixedly installed on electronic
On automobile；The two-sided rack sliding block about 37 both sides be provided be respectively cooperating with the 3rd transfer gear 34 and the 4th transfer gear 35
The sliding block of rack；The two-sided rack sliding block 37 is arranged on the first fixation guide rail 36 and the first fixation guide rail can be relied on to move；3rd
The downside of transfer gear 34 and the two-sided rack sliding block 37 is connected；The upside of the two-sided rack sliding block 37 and the 4th transfer gear 35
Drive connection；The stretching master cylinder 23 of 4th transfer gear 35 and the piston rod of the piston 24 of foregoing hydraulic brake assembly 2
Outer right-hand member is fixedly connected.
Electric braking coordination component 4 mainly by second fix guide rail 41, single-side rack sliding block 42, connecting rod 43, electromagnet 44,
Compression spring 45 and brake pedal travel switch K compositions.
Second fixation guide rail 41 is fixedly installed on electric automobile；Single-side rack sliding block 42 is that side is provided with and the 4th conduction
The sliding block for the rack that gear 35 coordinates；Single-side rack sliding block 42 is arranged on the second fixation guide rail 41 and the second fixation can be relied on to lead
Rail 41 or so is to movement；4th transfer gear 35 of single-side rack sliding block 42 and brake assemblies 3 is connected；A left side for connecting rod 43
End is fixedly connected with the right-hand member of single-side rack sliding block 42；Electromagnet 44 includes housing 44-1, iron core 44-2 and coil 44-3；Housing
44-1 is hollow column member, housing 44-1 left side opening；Coil 44-3 is wrapped on housing 44-1；Iron core 44-2 is set
In housing 44-1, and it can be moved left and right in housing 44-1；The opening and iron core that the right-hand member of connecting rod 43 passes through housing 44-1
44-2 left side is fixedly connected, so as to realize iron core 44-2 and single-side rack sliding block 42 drive connection by connecting rod 43；
Iron core 44-2 right-hand member is in housing 44-1 by being arranged on the compression spring 45 of right part in housing 44-1 and the housing 44-1 right side
Side inwall elastic abutment.Brake pedal travel switch K and foregoing brake assemblies 3 brake pedal 31 are equipped with；Work as brake
When pedal 31 is not stepped on, brake pedal travel switch K is in closure state；When brake pedal 31 is stepped on, brake pedal stroke
Switch K is in open mode.
The positive pole of brake pedal travel switch K one end, coil 44-3 one end and electrokinetic cell E is conllinear；Power electric
Pond E negative pole electrically connects with one end of wheel drive motors M power end；The brake pedal travel switch K other end, coil
The other end of the 44-3 other end and wheel drive motors M power end electrically connects.
The electric automobile electric braking of the present embodiment and hydraulic braking coordinated control system, its method of work include following step
Suddenly：
1. in electric automobile during traveling, when driver does not touch on the brake pedal 31, brake pedal travel switch K closures will be through
The coil 44-3 of electromagnet 44 line short is crossed, electrokinetic cell E powers to wheel drive motors M and drives running car；Now
Iron core 44-2 in electromagnet 44 is pressed in the housing 44-1 of electromagnet 44 opening side by compression spring 45；
2. in electric automobile during traveling, when driver steps on brake pedal 31, brake pedal 31 passes sequentially through the first conduction
Gear 32, the second transfer gear 33, the 3rd transfer gear 34, the transfer gear 35 of the two-sided rack sliding block 37 and the 4th driving piston 24
It is moved to the left and hydraulic pressure is produced in master cylinder 23, producing hydraulic braking force in the hydraulic conduction to wheel cylinder 22 passes through brake
Car piece 21 acts on wheel hub 1 and braked；Meanwhile brake pedal travel switch K is opened, wheel drive motors M produces plugging
Power is simultaneously charged by circuit to electrokinetic cell E, and charging current produces magnetic field when passing through coil 44-3 in electromagnet 44 so that iron
Core 44-2 overcomes the elastic force of compression spring 45 to move right, and iron core 44-2 drives single-side rack sliding block 42 to the right by connecting rod 43
It is mobile, so that single-side rack sliding block 42 applies opposition to the right by the 4th transfer gear 35 on piston 24, reduce
Hydraulic brake pressure in master cylinder 23.
3. in electric automobile during traveling, when driver continues to step on brake pedal 31, the brake force that is applied on wheel hub 1
For making a concerted effort for plugging power caused by hydraulic braking force caused by hydraulic brake assembly 2 and wheel drive motors M；When speed is got over
It hurry up, then caused stalling current is bigger in wheel drive motors M, and motor braking power is bigger, suction caused by electromagnet 44
Bigger, for the hydraulic pressure in master cylinder with regard to smaller, hydraulic braking force is smaller, so as to when automobile high-speed is braked, increase motor system
Power, reduction, so as to reduce the abrasion of friction plate in conventional brake, are improved simultaneously by the conventional friction brake force of hydraulic braking
The rate of recovery of the wheel drive motors M to braking energy.
4. in electric automobile during traveling, if the circuit of electric braking coordination component 4 breaks down or electrokinetic cell E is in full electric shape
During state, wheel drive motors M charges without normal direction electrokinetic cell E, and no current is by the way that iron core 44-2 is pressed in the coil of electromagnet 44
The left end that contracting spring 45 is pressed in the housing 44-1 of electromagnet 44 is motionless, and so as to which single-side rack sliding block 42 does not move, the 4th passes
Lead gear 35 and only make pure rolling relative to single-side rack sliding block 42, electric automobile passes sequentially through the first conduction tooth by brake pedal 31
Take turns the 32, second transfer gear 33, the 3rd transfer gear 34, the transfer gear 35 of the two-sided rack sliding block 37 and the 4th drive piston 24 to
Move left and hydraulic pressure is produced in master cylinder 23, producing hydraulic braking force in the hydraulic conduction to wheel cylinder 22 passes through brake
Piece 21 acts on wheel hub 1 and braked, and ensures traffic safety.
（Embodiment 2）
See Fig. 2, the electric automobile electric braking and hydraulic braking control method for coordinating of the present embodiment, its electric automobile implemented
Electric braking and hydraulic braking coordinated control system, other aspects are same as Example 1, and difference is：Electric braking coordination group
Part 4 removes compression spring 45, changes nitrogen 47 into, meanwhile, add iron core sealing ring 46, the iron core 44-2 of electromagnet 44 right side
Portion sets up sealing ring mounting groove, and iron core sealing ring 46 is in iron core 44-2 sealing ring mounting groove, so as to by iron core 44-2
Right-hand member, the housing 44-1 right part inner chamber of iron core sealing ring 46 and electromagnet 44 form a plenum space；Nitrogen 47 can press
Contracting ground is arranged in the plenum space, and during work, the operation principle and method of nitrogen 47 are similar to the compression spring in embodiment 1
45。
Above example is the explanation to the embodiment of the present invention, rather than limitation of the present invention, relevant technology
The technical staff in field without departing from the spirit and scope of the present invention, can also make various conversion and change and obtain
To corresponding equivalent technical scheme, therefore all equivalent technical schemes should be included into the patent protection model of the present invention
Enclose.
Claims (1)
1. a kind of electric automobile electric braking and hydraulic braking control method for coordinating, are coordinated by electric automobile electric braking and hydraulic braking
Control system is implemented, and described electric automobile electric braking includes wheel hub with hydraulic braking coordinated control system（1）, hydraulic braking
Component（2）, brake assemblies（3）, electric braking coordination component（4）, wheel drive motors M and electrokinetic cell E；Described hydraulic braking
Component（2）Including brake block（21）, wheel cylinder（22）, master cylinder（23）And piston（24）；Piston（24）With connected
Piston ring and piston rod, piston（24）Piston ring be movably disposed at master cylinder（23）It is interior；One end of piston rod and piston
Ring is fixedly connected, and the other end of piston rod stretches out master cylinder（23）Outside；Described brake assemblies（3）Including brake pedal
（31）；It is characterized in that：
Described brake assemblies（3）Also include the first transfer gear（32）, the second transfer gear（33）, the 3rd transfer gear
（34）, the 4th transfer gear（35）, first fix guide rail（36）With the two-sided rack sliding block（37）；
Brake pedal（31）With the first transfer gear（32）Drive connection；First transfer gear（32）With the second transfer gear（33）
Drive connection, the second transfer gear（33）With the 3rd transfer gear（34）Coaxial transmission connection；First fixes guide rail（36）Gu
Surely it is arranged on electric automobile；The two-sided rack sliding block（37）It is provided with and the 3rd transfer gear for upper and lower both sides（34）With the 4th conduction
Gear（35）The sliding block for the rack being respectively cooperating with；The two-sided rack sliding block（37）Guide rail is fixed installed in first（36）Above and it can rely on
First fixes guide rail（36）It is mobile；3rd transfer gear（34）With the two-sided rack sliding block（37）Downside drive connection；Double cog
Bar sliding block（37）Upside and the 4th transfer gear（35）Drive connection；4th transfer gear（35）With described hydraulic braking group
Part（2）Piston（24）Piston rod stretch out master cylinder（23）Outer right-hand member is fixedly connected；
Electric braking coordination component（4）Guide rail is fixed including second（41）, single-side rack sliding block（42）, connecting rod（43）, electromagnet
（44）, iron core sealing ring（46）, nitrogen（47）With brake pedal travel switch K；
Second fixes guide rail（41）It is fixedly installed on electric automobile；Single-side rack sliding block（42）It is provided with and the 4th conduction for downside
Gear（35）The sliding block of the rack of cooperation；Single-side rack sliding block（42）It is arranged on the second fixation guide rail（41）It is upper and can rely on second
Fixed guide rail（41）Left and right is to movement；Single-side rack sliding block（42）With described brake assemblies（3）The 4th transfer gear（35）
Drive connection；Connecting rod（43）Left end and single-side rack sliding block（42）Right-hand member be fixedly connected；Electromagnet（44）Including housing
（44-1）, iron core（44-2）And coil（44-3）；Housing（44-1）For hollow column member, housing（44-1）Left side open
Mouthful；Coil（44-3）It is wrapped in housing（44-1）On；Iron core（44-2）It is arranged on housing（44-1）It is interior, and can be in housing（44-1）
Inside move left and right, iron core（44-2）Right part be provided with sealing ring mounting groove；Connecting rod（43）Right-hand member pass through housing（44-1）'s
Opening and iron core（44-2）Left side be fixedly connected；Iron core sealing ring（46）Installed in iron core（44-2）Sealing ring mounting groove
It is interior；So as to by iron core（44-2）Right-hand member, iron core sealing ring（46）And electromagnet（44）Housing（44-1）Right part inner chamber structure
Into a plenum space；Nitrogen（47）Compressiblly it is arranged in the plenum space；Brake pedal travel switch K and described brake
Car component（3）Brake pedal（31）It is equipped with；Work as brake pedal（31）When not stepping on, brake pedal travel switch K is in
Closure state；Work as brake pedal（31）When stepping on, brake pedal travel switch K is in open mode；
Brake pedal travel switch K one end, coil（44-3）One end and electrokinetic cell E positive pole it is conllinear；Electrokinetic cell E
Negative pole electrically connected with one end of wheel drive motors M power end；The brake pedal travel switch K other end, coil（44-
3）The other end and wheel drive motors M power end the other end it is conllinear；
Described electric automobile electric braking and hydraulic braking control method for coordinating, comprise the following steps：
1. in electric automobile during traveling, when driver does not touch on the brake pedal（31）When, brake pedal travel switch K closures, it will pass through
Electromagnet（44）Coil（44-3）Line short, electrokinetic cell E give wheel drive motors M power supply driving running car；This
When electromagnet（44）Interior iron core（44-2）By nitrogen（47）It is pressed in electromagnet（44）Housing（44-1）Opening side；
2. in electric automobile during traveling, when driver steps on brake pedal（31）When, brake pedal（31）Pass sequentially through the first conduction
Gear（32）, the second transfer gear（33）, the 3rd transfer gear（34）, the two-sided rack sliding block（37）With the 4th transfer gear（35）
Drive piston（24）It is moved to the left and in master cylinder（23）Interior generation hydraulic pressure, the hydraulic conduction to wheel cylinder（22）Interior generation
Hydraulic braking force passes through brake block（21）Act on wheel hub（1）Braking；Meanwhile brake pedal travel switch K disconnects, wheel drives
Dynamic motor M produces plugging power and electrokinetic cell E is charged by circuit, and charging current passes through coil（44-3）When in electromagnetism
Iron（44）Interior generation magnetic field so that iron core（44-2）Overcome nitrogen（47）Pressure move right, iron core（44-2）Pass through connection
Bar（43）Drive single-side rack sliding block（42）Move right, so as to single-side rack sliding block（42）Pass through the 4th transfer gear（35）
Piston（24）The opposition of upper application to the right, reduces master cylinder（23）Interior hydraulic brake pressure；
3. in electric automobile during traveling, when driver continues to step on brake pedal（31）When, it is applied to wheel hub（1）On brake force
For hydraulic brake assembly（2）Plugging power caused by caused hydraulic braking force and wheel drive motors M is made a concerted effort；Work as speed
Faster, then caused stalling current is bigger in wheel drive motors M, and motor braking power is bigger, electromagnet（44）It is caused
Suction is bigger, master cylinder（23）With regard to smaller, hydraulic braking force accordingly reduces interior hydraulic pressure；
4. in electric automobile during traveling, if electric braking coordination component（4）Circuit break down or electrokinetic cell E be in full power state
When, wheel drive motors M charges without normal direction electrokinetic cell E, electromagnet（44）Coil（44-3）Interior no current passes through iron core
（44-2）By nitrogen（47）It is pressed in electromagnet（44）Housing（44-1）Interior left end is motionless, so as to single-side rack sliding block（42）
Do not move, the 4th transfer gear（35）Relative to single-side rack sliding block（42）Only make pure rolling, during electric vehicle brake, by braking
Pedal（31）Pass sequentially through the first transfer gear（32）, the second transfer gear（33）, the 3rd transfer gear（34）, the two-sided rack slide
Block（37）With the 4th transfer gear（35）Drive piston（24）It is moved to the left and in master cylinder（23）Interior generation hydraulic pressure, the hydraulic pressure
Conduct to wheel cylinder（22）Interior generation hydraulic braking force passes through brake block（21）Act on wheel hub（1）Braking.
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| CN201610302323.5A CN105946592B (en) | 2014-12-01 | 2014-12-01 | Electric braking and hydraulic braking coordination control method for electric automobile |
| CN201410719888.4A CN104442413B (en) | 2014-12-01 | 2014-12-01 | Electric braking and hydraulic braking coordination control method for electric automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104875734A (en) * | 2014-12-30 | 2015-09-02 | 朱海燕 | Electromobile with electric brake and hydraulic brake coordinated control system |
| CN104875621A (en) * | 2014-12-30 | 2015-09-02 | 朱海燕 | Electromobile with brake energy recovery system |
| CN108032736A (en) * | 2014-12-30 | 2018-05-15 | 朱海燕 | Electric automobile and its method for recovering brake energy |
| CN104859462A (en) * | 2014-12-30 | 2015-08-26 | 朱海燕 | Brake energy recovering method for electromobile |
| CN105564252B (en) * | 2015-12-31 | 2017-12-05 | 杭州新时空电动汽车有限公司 | Whole pure electric vehicle brakes and its energy back-feed control method |
| IT201600108159A1 (en) * | 2016-10-26 | 2018-04-26 | Freni Brembo Spa | Electronic traction and braking control system of a vehicle and its method |
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| CN112125245B (en) * | 2020-09-02 | 2022-03-15 | 深圳市宏丰达机械设备有限公司 | Crane with loading frame |
| CN113060167A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Rail transit inspection robot platform |
| CN113665374B (en) * | 2021-09-28 | 2024-06-18 | 潍柴动力股份有限公司 | Vehicle speed control method, device, equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN104442413A (en) | 2015-03-25 |
| CN105946592A (en) | 2016-09-21 |
| CN104442413B (en) | 2016-06-29 |
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