CN106167013A - 用于操作车辆中驻车制动器的方法 - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/588—Combined or convertible systems both fluid and mechanical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—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 an ultimate actuator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
- F16D55/224—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members
- F16D55/225—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads
- F16D55/226—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads in which the common actuating member is moved axially, e.g. floating caliper disc brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
- F16D65/183—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes with force-transmitting members arranged side by side acting on a spot type force-applying member
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Braking Arrangements (AREA)
Abstract
在用于操作车辆中驻车制动器的方法中由具有制动马达的电动机械式制动装置产生了夹紧力。制动马达的马达电压由调节器或者说控制器的控制器输入电压求取。
Description
技术领域
本发明涉及用于操作车辆中驻车制动器的方法。
背景技术
在DE 103 61 042 B3中说明了车辆中的驻车制动器或者说停车制动器,所述驻车制动器或者说停车制动器用于在停止状态产生固定车辆的夹紧力。驻车制动器包括电的制动马达,所述制动马达轴向地在向着制动盘的方向上调节制动活塞,所述制动活塞是制动片的载体。
具有电的制动马达的电动机械式驻车制动器也由DE 10 2011 078 900 Al已知。驻车制动器中当前作用的夹紧力由多个测量参量求取。电的制动马达的马达电流和马达电压例如在控制器中的电的电路中被确定作为测量参量,所述控制器触发电的制动马达。
发明内容
根据本发明的方法涉及车辆中具有电的制动马达的电动机械式驻车制动器,通过所述制动马达能够产生在停止状态固定车辆的夹紧力。电的制动马达的转子的旋转运动转化为主轴的轴向的调节运动,通过所述主轴,制动活塞轴向压向制动盘,所述制动活塞是制动片的载体。
在必要时,驻车制动器设置有附加制动机构,以便能够在需要时额外于电动机械的夹紧力也提供附加夹紧力。附加制动机构特别地涉及车辆的液压的车辆制动器,所述车辆制动器的液压压力作用于制动活塞上。
制动马达配设有调节器或者说控制器,在所述调节器或者说控制器中产生用于制动马达的马达电压。在根据本发明的方法中,马达电压的高低取决于控制器输入电压,所述控制器输入电压在输入侧施加在调节器或者说控制器上。因此可能的是,由控制器输入电压例如借助调节器或者说控制器中的电的电路推断出电的制动马达中的马达电压,而不必测量马达电压。相应地,原则上能够省去这样的电的电路或者用于求取调节器或者说控制器中的马达电压的另外的传感器。与此相反,控制器输入电压的高低是已知的,它在调节器或者说控制器中,特别地在调节器或者说控制器中的电的电路中优选地不依赖于驻车制动器的功能予以测量。电的电路的数量借此得到减少。
马达电压与控制器输入电压成特定的比例,所述马达电压在输出侧施加在调节器或者说控制器上,所述控制器输入电压施加在调节器或者说控制器的输入侧上。特别地,控制器输入电压的差值接近或者很大程度上接近常数,其中马达电压相比控制器输入电压更低。马达电压和控制器输入电压相应地具有至少接近平行的走向。在知道调节器或者说控制器的电阻和测量的控制器输入电压的情况下能够因此直接确定马达电压。
按照针对性的实施方案,额外地求取电的制动马达中的马达电流以及马达转速。与对马达电压来说相同地,这能够在调节器或者说控制器中无传感器或者说无电的电路的情况下执行。有利地为此考虑制动马达的机械的和/或电的马达方程式,所述马达方程式以微分方程的形式给出了马达电压、马达电流、马达转速和马达负载力矩之间的关联。
按照其它针对性的实施方案,由马达转速求取驻车制动器中制动片和制动盘之间的距离。所述距离能够考虑用于计算当前的夹紧力,办法是:制动片和制动盘之间距离的差值与制动片和制动盘之间的刚度相乘。夹紧力与制动马达中的马达负载力矩有关,特别地存在比例的关联,从而总共提供了足够数量的公式关联以用于求取马达电压、马达电流、马达转速、马达负载力矩、夹紧力和制动片和制动盘之间的距离。
求取马达电压和马达电流以及与此关联的马达转速和马达负载力矩或者说夹紧力特别地仅仅基于测量的控制器输入电压并且不测量调节器或者说控制器中的马达电流和马达电压地实现。仍旧有利的是,特别地为了确证和改善在求取马达电流和马达电压以及在调节器或者说控制器中其它的状态参量时的准确性,通过相应的电的电路要么测量马达电流要么测量马达电压要么既测量马达电流也测量马达电压。
所述关联能够按照其它针对性的实施方案作为依据不同控制器电压的特性曲线场储存在调节器或者说控制器中。当然也可能的是,由公式关联在调节器或者说控制器中在线计算所寻找的参量。
根据本发明的方法优选地在调节器或者说控制器中运行,所述调节器或者说控制器是驻车制动器的组成部分。
附图说明
其它的优点和针对性的实施方案能够由其它的权利要求、附图说明和附图中看出。图示:
图1是用于车辆的电动机械式驻车制动器的截面,在所述驻车制动器中通过电的制动马达产生夹紧力,
图2是在驻车制动器的紧致过程中具有马达电流、马达电压、马达转速和夹紧力的关于时间的走向的示意图。
具体实施方式
图1中展示了用于在停止状态固定车辆的电动机械式驻车制动器1。驻车制动器1包括具有夹钳9的制动钳2,所述夹钳搭接制动盘10。作为控制元件,驻车制动器1具有电动马达作为制动马达3,所述制动马达旋转地驱动主轴4,在所述主轴上,主轴螺母5防止转动地支承在制动活塞6中。在主轴4的旋转时主轴螺母5和制动活塞6轴向地调节。主轴螺母5位于制动活塞6内,所述制动活塞是制动片7的载体,所述制动片由制动活塞6压向制动盘10。另一个制动片8位于制动盘10的对置侧,所述制动片位置固定地保持在夹钳9上。
在制动活塞6内,主轴螺母5能够在主轴4转动运动时轴向向前朝着制动盘10的方向运动或者说在相反设置的主轴4的转动方向时轴向向后运动直到达止挡部11。为了产生夹紧力,主轴螺母5对制动活塞6内部的端侧加载,由此轴向可移动地支承在驻车制动器1中的制动活塞6利用制动片7压向制动盘10的所朝向的端面。
制动马达3由调节器或者说控制器12触发,所述调节器或者说控制器是具有驻车制动器1的驻车制动器系统的一部分。在调节器或者说控制器12上施加控制器输入电压UECU,调节器或者说控制器12提供马达电压UMot作为输出,利用所述马达电压对电的制动马达3予以加载。控制器输入电压UECU能够直接在调节器或者说控制器12中求取,例如在调节器或者说控制器12中的电子电路中。
驻车制动器能够在必要的情况下由液压的车辆制动器辅助,从而夹紧力由电动马达的份额和液压的份额组成。在液压的辅助中,利用处在压力下的液压流体加载朝向制动马达的制动活塞6的后侧。
图2中关于时间针对紧致过程展示了具有电的制动马达的电流走向IMot、电压UMot和马达转速ω的走向的的示意图。此外,在图2中绘入了电动机械的夹紧力FKl以及由制动马达或者说由制动马达加载的控制元件在紧致过程期间走过的行程s,所述夹紧力由电的制动马达产生。
在时间点t1,开始紧致过程,方法是设置电压并且在闭合的电流回路中将制动马达置于电流下。开始阶段(阶段I)由时间点t1持续直到时间点t2。在时间点t2,电压UMot和马达转速ω达到其最大值。t2和t3之间的阶段展示了空转阶段(阶段II),在所述阶段中电流IMot在最小水平上变动。
紧接着,从时间点t3开始是直到时间点t4的力建立阶段(阶段III),在所述力建立阶段中制动片靠置在制动盘上并且以增大的夹紧力FKl压向制动盘。在时间点t4,通过打开电路进行电的制动马达的切断,从而在进一步的进程中制动马达的转速ω下降直到零。
力上升点与时间点t3处的力建立的阶段叠合。力建立或者说夹紧力FKl的走向能够例如依据制动马达的电流IMot的走向求取,所述走向基本上具有与电动机械的夹紧力FKl相同的走向。由t2和t3之间的空闲阶段期间的低水平出发,电流走向IMot在时间点t3开始时陡峭地上升。这个电流IMot的这种上升能够被探测并且被考虑用于确定力上升点,只要相应的电路在制动马达的调节器或者说控制器中存在。原则上,力建立的走向当然也能够由电压走向或者转速走向或者说由电流、电压和转速信号的任意组合予以确定。
测量设备特别是用于测量马达电流IMot和马达电压UMot的电路在调节器或者说控制器中不是强制必要的。马达电压UMot能够由关联
依据马达输入电压UECU近似计算。在这里,制动马达的马达电压UMot至少近似平行地并且在控制器输入电压之下UECU走向。控制器输入电压UECU和马达电压UMot之间至少近似为常数的差值是已知的。
电的制动马达(所述制动马达涉及直流马达)的特性能够由电的和机械的微分方程按照
计算。在这里意味着:
ω 马达转速
L 线圈电感
R 欧姆电阻
k 马达常数
J 马达转动惯量
MMot 马达负载力矩
为了符合功能要求地应用电动机械式驻车制动器,必须调整制动片和制动盘之间的距离。这个距离xB按照
与马达转速ω的积分成比例。
在驻车制动器的紧致过程中必须调节制动片和制动盘之间的压紧力或者说夹紧力FKl。夹紧力FKl能够由关联
求取。其中c表示制动片和制动盘之间的刚度,xB表示制动片和制动盘之间的距离并且xS表示制动盘位置。在夹紧力FKl和马达负载力矩MMot之间同样形成了关联,特别地马达负载力矩MMot正比于夹紧力FKl。
上述的的关系允许只是在知道控制器输入电压UECU的情况下推断出马达电压UMot、马达电流IMot、马达负载力矩MMot、夹紧力FKl、马达转速ω和制动片和制动盘之间的距离xS,所述控制器输入电压在调节器或者说控制器中测量。所述关系能够作为依赖于不同的控制器电压UECU的特性曲线场储存在调节器或者说控制器中的操控软件中。
Claims (10)
1.用于操作车辆中的驻车制动器(1)的方法,其中,驻车制动器(1)的夹紧力(FKl)至少部分地由具有电的制动马达(3)的电动机械式制动装置产生,所述制动马达将制动活塞(6)压向制动盘(10),其中,制动马达(3)的马达电压(UMot)由调节器或者说控制器产生,其中,马达电压(UMot)由控制器输入电压(UECU)求取。
2.按照权利要求1所述的方法,其特征在于,制动马达的马达电压(UMot)至少近似平行于控制器输入电压(UECU)走向。
3.按照权利要求1或者2所述的方法,其特征在于,为了求取马达电流(IMot)和/或马达转速(ω),考虑制动马达机械的和/或电的马达方程式。
4.按照权利要求1到3中任一项所述的方法,其特征在于,马达电压(UMot)仅仅基于控制器输入电压(UECU)求取。
5.按照权利要求1到4中任一项所述的方法,其特征在于,在调节器或者说控制器中的电子电路中测量制动马达的电流消耗和/或电压消耗。
6.按照权利要求1到5中任一项所述的方法,其特征在于,由马达转速(ω)求取驻车制动器(1)中的制动片和制动盘之间的距离(xB)。
7.按照权利要求6所述的方法,其特征在于,由制动片和制动盘之间的距离(xB)和刚度(c)计算夹紧力(FKl)。
8.按照权利要求1到7中任一项所述的方法,其特征在于,控制器输入电压(UECU)和机动的状态参量之间的关联作为特性曲线场储存。
9.用于执行按照权利要求1到8中任一项所述的调节器或者说控制器。
10.车辆中的驻车制动器,具有带有电的制动马达(3)以及带有按照权利要求9的用于操控驻车制动器的能够调整的组件的调节器或者说控制器的电动机械式制动装置,所述电的制动马达将制动活塞(6)压向制动盘(10)。
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IT201700086468A1 (it) * | 2017-07-27 | 2019-01-27 | Freni Brembo Spa | Metodo di stima di una forza frenante esercitabile tra pastiglia e disco freno da un sistema elettrico di frenatura di stazionamento di un veicolo e sistema elettrico di frenatura di stazionamento di un veicolo implementante tale metodo |
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JP2003194116A (ja) * | 2001-12-28 | 2003-07-09 | Tokico Ltd | 電動ディスクブレーキ装置 |
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DE10361042B3 (de) | 2003-12-23 | 2005-05-25 | Lucas Automotive Gmbh | Feststellbremse und Verfahren zur Steuerung derselben |
DE102010040565A1 (de) * | 2010-09-10 | 2012-03-15 | Robert Bosch Gmbh | Verfahren zum Einstellen der von einer Feststellbremse ausgeübten Klemmkraft |
DE102011078900B4 (de) | 2011-07-08 | 2024-06-20 | Robert Bosch Gmbh | Verfahren zum Einstellen einer Feststellbremse in einem Fahrzeug |
US10389289B2 (en) * | 2014-02-06 | 2019-08-20 | Steering Solutions Ip Holding Corporation | Generating motor control reference signal with control voltage budget |
DE102015210431A1 (de) * | 2015-06-08 | 2016-12-08 | Robert Bosch Gmbh | Verfahren zum Ansteuern einer Feststellbremse in einem Fahrzeug |
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JP2001010482A (ja) * | 1999-06-24 | 2001-01-16 | Akebono Brake Ind Co Ltd | 電動ブレーキ用制御回路 |
JP2003194116A (ja) * | 2001-12-28 | 2003-07-09 | Tokico Ltd | 電動ディスクブレーキ装置 |
US20050046271A1 (en) * | 2003-08-25 | 2005-03-03 | Asmo Co., Ltd. | Electric parking brake system and method for controlling the same |
US20070085414A1 (en) * | 2005-07-22 | 2007-04-19 | Delphi Technologies, Inc. | Estimating torque/force exerted by a load against a motor-driven actuator |
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CN111376727A (zh) * | 2018-12-27 | 2020-07-07 | 北京宝沃汽车有限公司 | 汽车制动方法及装置 |
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