CN106218622A - A kind of vehicle actively power-assisted braking arrangement and control method thereof - Google Patents
A kind of vehicle actively power-assisted braking arrangement and control method thereof Download PDFInfo
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- CN106218622A CN106218622A CN201610850415.7A CN201610850415A CN106218622A CN 106218622 A CN106218622 A CN 106218622A CN 201610850415 A CN201610850415 A CN 201610850415A CN 106218622 A CN106218622 A CN 106218622A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T13/24—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 the fluid being gaseous
- B60T13/46—Vacuum systems
- B60T13/52—Vacuum systems indirect, i.e. vacuum booster units
- B60T13/57—Vacuum systems indirect, i.e. vacuum booster units characterised by constructional features of control valves
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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
- B60T13/72—Electrical control in fluid-pressure brake systems in vacuum systems or vacuum booster units
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
Abstract
Present invention is disclosed a kind of vehicle actively power-assisted braking arrangement, including brake pedal push rod, master cylinder push rod, vacuum chamber and working chamber and three-way magnetic valve, the present invention cancels high-voltage energy storage device, two-bit triplet electromagnetic valve is replaced with the 3-position-3-way solenoid valve of band auto-lock function, it is capable of under power-down state, long-time pressure keeps, and ensure that foot-propelled braking and the validity and reliability of failure mode braking simultaneously.
Description
Technical field
The present invention relates to car braking field, particularly relate to actively power-assisted braking arrangement and implementation method.
Background technology
Along with vehicle drive auxiliary and the development of intelligent driving technology, conventional vehicular brake cannot meet braking requirement,
Actively braking function must be increased.The scheme of main flow is namely based on brake fluid system, at the base of original brakes ESP at present
Realize series/parallel on active boost function or the dual input pipeline between master cylinder and ABS/ESP on plinth actively to increase
Pressure device realizes.
In addition, a kind of mode realizing actively braking, it is simply that vacuum booster is improved, by automatically controlled
Mode realize actively power brake, it is possible to drive simulating person is trampled brake pedal and is realized the mistake of braking by vacuum booster
Journey, former car brakes still retains.
Patent CN 102060009 B proposes a kind of brakes with electronic braking assisting function, and the program is very
Add electric magnet, sleeve pipe and solenoid inside empty booster, by controlling the size of solenoid current, control electric magnet
And the direction of motion of sleeve pipe, it is achieved vacuum chamber and the control of working chamber valve.
Patent CN 102050100 A electronic vacuum booster device also uses similar scheme.The program is in reality
During border uses, having that control accuracy is low, opened loop control, stability is difficult to ensure that, and along with the passage of the time of use, control
Site error processed accumulation is easily caused position excursion, and system exists failure risk.
In view of problem above, patent CN 105539410 A proposes a kind of brake system of car active boost device,
The program, on the basis of former vacuum booster, has carried out perforate on vacuum chamber and working chamber, has added vacuum lumen respectively
With work lumen, and control vacuum lumen by two-bit triplet electromagnetic valve, the break-make that works between lumen and air realizes vacuum
Power-assisted process, it is possible to simulate manually trample brake pedal completely, realizes the process of actively braking by means of vacuum booster, it is achieved
Actively braking.But the program have employed high-voltage energy storage device, reduce pressure in advance, although shorten and build the pressure time, but there is oil
The risk that liquid is revealed, builds pressure again when accumulator oil liquid pressure is less than the value set, and for continuing braking requirement repeatedly, system is rung
Answer time lengthening, additionally have employed two-bit triplet electromagnetic valve, pass through, control spool by the size of current controlling electromagnetic valve coil
Position, when needs pressurize, need persistently to be energized to coil, it is impossible to meet the demand braked for a long time, especially pin
To the vehicle not having EPB brakes, it is impossible to realize long-time parking braking.
Summary of the invention
The technical problem to be solved is to realize one to be able to ensure that long-time parking safety, reliable vehicle master
Dynamic power-assisted braking arrangement.
To achieve these goals, the technical solution used in the present invention is: a kind of vehicle actively power-assisted braking arrangement, including
Brake pedal push rod, master cylinder push rod, vacuum chamber and working chamber, described vacuum chamber connects vacuum tube, and described vehicle actively helps
Power-absorption unit is provided with three-way magnetic valve, and the solenoid valve casing two ends of described three-way magnetic valve are provided with the port A connected with inside
With port C, middle part is provided with the port B, described port A connected with inside and is connected with the first fairlead of vacuum chamber, described port B
Being connected with the second fairlead of working chamber, described port C connects air, is provided with spool, described electromagnetism in described solenoid valve casing
Being respectively arranged at two ends with of valve shell drive spool along the A end-coil of solenoid valve casing internal slide and B end-coil, when described spool
When being positioned at solenoid valve casing medium position, vacuum chamber, working chamber and air are mutually isolated, when described spool is positioned at solenoid valve casing
Port location of C time, vacuum chamber connects with working chamber.
Described solenoid valve casing is provided with self-locking mechanism shell near the position of port C one end, in described self-locking mechanism shell
Being provided with and can slide along the self-locking mechanism magnetic pin stretching into or exiting solenoid valve casing, described spool is provided with spool breach, works as institute
When stating the port location of C that spool is positioned at solenoid valve casing, if described self-locking mechanism magnetic pin stretches in solenoid valve casing, embed valve
In core breach, described spool is slided in self-locking mechanism shell by self-locking mechanism coil drive.
It is provided with self-locking mechanism back-moving spring between described self-locking mechanism coil and spool.
Described solenoid valve casing is provided with the A end spring supporting spool, described solenoid valve casing near the inside of port A one end
The B end spring supporting spool it is provided with near the inside of port B one end
The back-moving spring for supporting cavity it is provided with in described vacuum chamber.
Described vehicle actively power-assisted braking arrangement is provided with control module, and described control module receives brake pedal displacement sensing
The on-position signal of device, the parked state information of electronic brake button, the top level control systematic parameter of CAN
Signal, and the master cylinder current pressure signal of master cylinder pressure sensor, described control module output drive signal to A end-coil, B
End-coil and self-locking mechanism coil.
Control method based on described vehicle actively power-assisted braking arrangement:
Step 1, system electrification, static self-inspection, if faulty, then fault alarm, otherwise perform step 2；
Step 2, Real-time Collection brake pedal displacement signal, if pedal displacement signal is judged as that manual intervention is braked, then
Enter foot-propelled braking mode and perform step 3, otherwise perform step 4；
Step 3, foot-propelled are braked, and three-way magnetic valve resets, and it is invalid actively to brake, and return step 2；
The brake request that step 4, Real-time Collection car load CAN module send, if having active braking requirement and being provided with mesh
Mark loine pressure P, then perform step 5 and enter actively braking mode, otherwise perform step 3；
Step 5, judge whether this car speed is 0, if speed is 0, then performs step 6, otherwise perform step 8；
Step 6, entrance EPB electronic brake pattern, control electronic brake system and implement braking, actively power-assisted system
Dynamic device does not starts, and performs step 7；
Step 7, the satisfied condition exiting EPB electronic brake pattern that judges whether, if it is perform step 2, no
Then perform step 6；
Step 8, entrance service brake actively braking mode, self-locking mechanism unlocks, valve core of the electromagnetic valve set to the left, working chamber
And atmosphere, entering power-assisted increases the stage, and performs step 9；
Step 9, in real time detection master cylinder hydraulic pressure Real-time Feedback pressure value P ', according to P and P' difference and setting
Thresholding T compare, if P-P'＞ T, then perform step 10, else if | P-P'| ＜ T, then perform step 11, otherwise
Perform step 12；
Step 10, entrance power-assisted increase the control cycle, and A end-coil is energized, and valve core of the electromagnetic valve is set to left end, enters PID
Periodic Control, by adjusting Duty ratio control working chamber 4 and the time of atmosphere of the PWM controlling A end-coil, then performs
Step 2；
Step 11, entrance power-assisted keep the stage, and A end-coil power down, valve core of the electromagnetic valve is at A end spring and the work of B end spring
Use lower reset, vacuum chamber, working chamber and air to be isolated from each other, then perform step 2；
Step 12, entrance power-assisted reduce the control cycle, and to self-locking mechanism coil electricity, self-locking mechanism unlocks, then A end line
Circle power down, B end-coil is energized, and valve core of the electromagnetic valve is set to right-hand member, enters PID periodic Control, controls A end-coil by adjusting
The Duty ratio control working chamber 4 of PWM and the time of atmosphere, then perform step 2.
It is an advantage of the current invention that:
This device eliminates high-voltage energy storage device, is braked pipeline real-time pressure by pressure transducer and feeds back, overcomes
The risk that fluid is revealed, in actual applications, can build the pressure time by pre-braking shortening system, it is possible to meet application demand；
This device have employed 3-position-3-way solenoid valve, overcomes two-bit triplet electromagnetic valve by control coil size of current control
During spool position processed, there is position excursion and the problem that causes thrashing；
The 3-position-3-way solenoid valve that this device uses is built-in with self-locking mechanism, can realize power down power-assisted by this mechanism and protect
Hold, i.e. realize long-time braking requirement under electronic brake and extreme operating condition.
Accompanying drawing explanation
Labelling in the content expressed every width accompanying drawing in description of the invention below and figure is briefly described:
Fig. 1 is vehicle actively power-assisted braking arrangement structural representation；
Fig. 2 be Fig. 1 be middle three-way magnetic valve structural representation；
Fig. 3 is vehicle actively power-assisted braking arrangement theory diagram；
Fig. 4 is that vehicle actively power-assisted braking arrangement loine pressure controls schematic diagram；
Fig. 5 is vehicle actively power-assisted braking arrangement control flow chart；
Labelling in above-mentioned figure is:
1, brake pedal push rod；2, master cylinder push rod；3, vacuum chamber；4, working chamber；5, back-moving spring；6, vacuum tube；
7, the first fairlead；8, the second fairlead；9, three-way magnetic valve；10, control module；11, brake pedal displacement transducer；12、
Electronic brake button；13, CAN；14, master cylinder pressure sensor；
91, self-locking mechanism coil；92, self-locking mechanism back-moving spring；93, self-locking mechanism shell；94, self-locking mechanism magnetic pin；
95, A end-coil 95；96, A end spring；97, spool；98, spool breach；99, B end spring；910, B end-coil；911, electromagnetic valve
Shell；912, port A；913, port B；914, port C.
Detailed description of the invention
Two-bit triplet electromagnetic valve 9 is replaced with the 3-position-3-way of band auto-lock function by vehicle of the present invention actively power-assisted braking arrangement
Electromagnetic valve 9, it is possible to realize under power-down state, long-time pressure keeps, and ensure that foot-propelled braking and failure mode are braked simultaneously
Validity and reliability.
I.e. perforate on former car vacuum booster vacuum chamber 3 and working chamber 4, draws three energisings of pipeline and band auto-lock function
Two input ports of magnet valve 9 connect, and the another one port of electromagnetic valve leads directly to air.By control electromagnetic valve two ends coil with
And self-locking mechanism can realize three-way magnetic valve 9 and power on set to the left, power down intermediate reset and realize power down by self-locking mechanism
In the case of set to the right.Thus realize long-time power-assisted and keep i.e. realizing the holding of long-time hydraulic coupling, meet parking braking and pole
Long-time braking requirement under end operating mode.
The program can realize the automatic switchover between foot-propelled braking and active power brake pattern.Control unit only needs in real time
Capture electronic brake pedal inbuilt displacement sensor output signal, it is judged that whether driver has carried out foot-propelled brake regulation, thus
It is automatically obtained pattern switching.
Specifically, device as described in Figure 1, including brake pedal push rod 1, master cylinder push rod 2, vacuum chamber 3, working chamber
4, back-moving spring 5, vacuum tube 6, vacuum chamber 3 fairlead, working chamber 4 fairlead and three-way magnetic valve 9.
Refering to Fig. 2, three-way magnetic valve 9 is 3-position-3-way valve body, including self-locking mechanism coil 91, self-locking mechanism back-moving spring
92, self-locking mechanism shell 93, self-locking mechanism magnetic pin 94, A end-coil 95, A end spring 96, spool 97, spool breach 98, B end bullet
Spring 99, B end-coil 910, solenoid valve casing 911, port A 912, port B913, port C914.
As it is shown on figure 3, actively power brake control system includes control module 10, brake pedal displacement transducer 11, electricity
Sub-parking brake button 12, CAN 13 and master cylinder pressure sensor 14.
Brake pedal is built-in with displacement transducer, and Power assisted control unit judges to drive by the output signal of displacement transducer
Whether member has carried out foot-propelled brake regulation, thus judges whether to need to be braked pattern switching.
The input port A of the three-way magnetic valve 9 with auto-lock function is connected with vacuum chamber 3 fairlead, input port B 913 with
Vacuum chamber 3 fairlead connects, and input port C is connected with air.It is built in different at valve housing by controlling valve core of the electromagnetic valve 97
Position, can realize controlling vacuum chamber 3, connection between working chamber 4 and air, it is achieved actively power brake.
Three-way magnetic valve 9 is built-in with self-locking mechanism, by magnetic pin being picked up to self-locking mechanism coil 91 energising, and self-locking
Mechanism unlocks.Being energized then to A end-coil 95, spool 97 is set to the left under the effect of magnetic force, and working chamber 4 pipe and air pipe are even
Logical, vacuum boost system is in power-assisted increases the stage.Valve opening can be controlled by controlling the PWM duty cycle of A end-coil 95
Time i.e. controls pressurization time.System carries out pressure closed loop control by the pressure feedback signal of master cylinder hydraulic pressure pressure transducer.
After feedback pressure reaches the desired value set, if needing power-assisted to keep, then give A end-coil 95 power down, spool
97 reset under the effect of A end spring 96 and B end spring 99, in an intermediate position, now vacuum chamber 3, working chamber 4 and big gas phase
Isolation mutually.Power-assisted is in the holding stage.Now electromagnetic valve power down, therefore long-time power-assisted can be realized and keep, it is possible to achieve electronics
Parking braking and brake holding for a long time.
When needs power-assisted reduces, being then energized to self-locking mechanism coil 91, self-locking mechanism unlocks, and then gives B end-coil 910
Energising, spool 97 is set to the right under the effect of magnetic force, when power-assisted is in the regulation stage, self-locking mechanism can be allowed to be continuously in
Unlocking phases, the dutycycle now by the PWM of regulation control B end-coil 910 carries out vacuum chamber 3 and working chamber 4 Lifetime
Control.
When, after end of braking, spool 97 set to the right, then to self-locking mechanism coil 91 power down, magnetic pin is multiple at self-locking mechanism
Under the effect of position spring 92, reset falls in spool breach 98, and after to B end-coil 910 power down, spool 97 is due to self-locking mechanism
Spacing, also cannot reset under the effect of B end spring 99, therefore vacuum chamber 3 and the company of working chamber 4 under power-down conditions can be realized
Logical.
After control module 10 is by the displacement signal of the pedal displacement sensor output gathered, if it is determined that driver steps on
Stepped on brake pedal, then braking mode enters foot-propelled braking mode.Power on, in the effect of magnetic force first to self-locking mechanism coil 91
Lower being picked up by magnetic pin, spool 97 automatically resets under the effect of B end spring 99.Vacuum chamber 3, working chamber 4 and air are isolated from each other.
A the end-coil 95 and B end-coil 910 of three-way magnetic valve 9 is controlled by PWM as shown in Figure 4, by adjusting
The dutycycle of PWM can control the opening time of valve, thus realizes the accurate control that power-assisted increases and reduces.According to master cylinder liquid
The pressure feedback of pressure pressure sensor, it is achieved cycle Closed-loop pressure control.Assume that control unit receives upper strata by CAN and controls
The master cylinder hydraulic pressure pressure target value of default processed is P, and the pressure feedback value of master cylinder hydraulic pressure pressure transducer is P', then according to difference
The absolute value of value | P'-P | compares with setting threshold value T, determines that current power-assisted is to increase, reduces or keeps.Determine
After, the regulation of next cycle PWM duty cycle is carried out according to difference.
Refering to Fig. 5, control method based on above-mentioned vehicle actively power-assisted braking arrangement is as follows:
Step 1, system electrification, static self-inspection, if faulty, then fault alarm, otherwise perform step 2；
According to pedal displacement signal, step 2, Real-time Collection brake pedal displacement signal, if judging that manual intervention is made
Dynamic, then enter foot-propelled braking mode and perform step C, otherwise perform step 4；
Step 3, foot-propelled are braked, and 3-position-3-way solenoid valve 9 resets, and it is invalid actively to brake, and then perform step 2；
The brake request that step 4, Real-time Collection car load CAN module send, if having active braking requirement and being provided with mesh
Mark loine pressure P, then perform step 5, enters actively braking mode, otherwise performs step 3；
Step 5, judge whether this car speed is 0, if speed is 0, then performs step 6, otherwise perform step 8；
Step 6, entrance EPB electronic brake pattern, control electronic brake system and implement braking, this active power-assisted
Brakes does not starts, and then performs step 7；
Step 7, the satisfied condition exiting EPB electronic brake pattern that judges whether, if it is perform step 8, no
Then perform step 6；
Step 8, entrance service brake actively braking mode, self-locking mechanism unlocks, valve core of the electromagnetic valve 97 set to the left, work
Chamber 4 and atmosphere, entering power-assisted increases the stage, then performs step 9；
Step 9, in real time detection master cylinder hydraulic pressure Real-time Feedback pressure value P ', according to P and P' difference and setting
Thresholding T compare, if P-P'＞ T, then perform step 10, else if | P-P'| ＜ T, then perform step 11, otherwise
Perform step 12；
Step 10, entrance power-assisted increase the control cycle, and A end-coil 95 is energized, and valve core of the electromagnetic valve 97 is set to left end, enters
PID periodic Control, by adjusting Duty ratio control working chamber 4 and the time of atmosphere of the PWM controlling A end-coil 95, so
Rear execution step 2；
Step 11, entrance power-assisted keep the stage, and A end-coil 95 power down, valve core of the electromagnetic valve 97 is at back-moving spring 5A end spring
Resetting under the effect of 96 and B end springs 99, vacuum chamber 3, working chamber 4 and air are isolated from each other, and then perform step 2；
Step 12, entrance power-assisted reduce the control cycle, are energized to self-locking mechanism coil 91, and self-locking mechanism unlocks, then A end
Coil 95 power down, B end-coil 910 is energized, and valve core of the electromagnetic valve 97 is set to right-hand member, enters PI D periodic Control, is controlled by adjustment
The Duty ratio control working chamber 4 of the PWM of A end-coil 95 processed and the time of atmosphere, then perform step 2.
Above in conjunction with accompanying drawing, the present invention is exemplarily described, it is clear that the present invention implements not by aforesaid way
Restriction, as long as have employed the method design of the present invention and the improvement of various unsubstantialities that technical scheme is carried out, or without changing
Enter and design and the technical scheme of the present invention are directly applied to other occasion, all within protection scope of the present invention.
Claims (7)
1. a vehicle actively power-assisted braking arrangement, including brake pedal push rod, master cylinder push rod, vacuum chamber and working chamber,
Described vacuum chamber connects vacuum tube, it is characterised in that: described vehicle actively power-assisted braking arrangement is provided with three-way magnetic valve, and described three
The solenoid valve casing two ends of three-way electromagnetic valve are provided with the port A and port C connected with inside, and middle part is provided with the port connected with inside
B, described port A are connected with the first fairlead of vacuum chamber, and described port B is connected with the second fairlead of working chamber, described end
Mouth C connects air, is provided with spool in described solenoid valve casing, and being respectively arranged at two ends with of described solenoid valve casing drives spool along electricity
The A end-coil of magnet valve enclosure slip and B end-coil, when described spool is positioned at solenoid valve casing medium position, vacuum chamber,
Working chamber and air are mutually isolated, and when described spool is positioned at the port location of C of solenoid valve casing, vacuum chamber and working chamber are even
Logical.
Vehicle the most according to claim 1 actively power-assisted braking arrangement, it is characterised in that: described solenoid valve casing is near end
The position of mouth C one end is provided with self-locking mechanism shell, is provided with to slide along and stretches into or exit electromagnetism in described self-locking mechanism shell
The self-locking mechanism magnetic pin of valve shell, described spool is provided with spool breach, when described spool is positioned at the port C position of solenoid valve casing
When putting, if described self-locking mechanism magnetic pin stretches in solenoid valve casing, embedding in spool breach, described spool is by self-locking mechanism line
Circle drives and slides in self-locking mechanism shell.
Vehicle the most according to claim 2 actively power-assisted braking arrangement, it is characterised in that: described self-locking mechanism coil and valve
Self-locking mechanism back-moving spring it is provided with between core.
Vehicle the most according to claim 3 actively power-assisted braking arrangement, it is characterised in that: described solenoid valve casing is near end
The inside of mouth A one end is provided with the A end spring supporting spool, and described solenoid valve casing is provided with support near the inside of port B one end
The B end spring of spool.
Vehicle the most according to claim 4 actively power-assisted braking arrangement, it is characterised in that: be provided with in described vacuum chamber for
Support the back-moving spring of cavity.
6. according to the actively power-assisted braking arrangement of the vehicle described in claim 2,3,4 or 5, it is characterised in that: described vehicle is actively
Power-assisted braking arrangement is provided with control module, and described control module receives the on-position signal of brake pedal displacement transducer, electricity
The parked state information of sub-parking brake button, the top level control systematic parameter signal of CAN, and master cylinder pressure biography
The master cylinder current pressure signal of sensor, described control module output drive signal to A end-coil, B end-coil and self-locking mechanism line
Circle.
7. control method based on the actively power-assisted braking arrangement of vehicle according to any one of claim 1-6, it is characterised in that:
Step 1, system electrification, static self-inspection, if faulty, then fault alarm, otherwise perform step 2；
Step 2, Real-time Collection brake pedal displacement signal, if pedal displacement signal is judged as that manual intervention is braked, then enter
Foot-propelled braking mode performs step 3, otherwise performs step 4；
Step 3, foot-propelled are braked, and three-way magnetic valve resets, and it is invalid actively to brake, and return step 2；
The brake request that step 4, Real-time Collection car load CAN module send, if having active braking requirement and being provided with target tube
Road pressure P, then perform step 5 and enter actively braking mode, otherwise perform step 3；
Step 5, judge whether this car speed is 0, if speed is 0, then performs step 6, otherwise perform step 8；
Step 6, entrance EPB electronic brake pattern, control electronic brake system and implement braking, actively power brake dress
Put and do not start, and perform step 7；
Step 7, the satisfied condition exiting EPB electronic brake pattern that judges whether, if it is perform step 2, otherwise hold
Row step 6；
Step 8, entrance service brake actively braking mode, self-locking mechanism unlocks, valve core of the electromagnetic valve set to the left, and working chamber is with big
Gas connects, and entering power-assisted increases the stage, and performs step 9；
Step 9, in real time detection master cylinder hydraulic pressure Real-time Feedback pressure value P ', according to the door of P and P' difference Yu setting
Limit T compares, if P-P'＞ is T, then performs step 10, else if | P-P'| ＜ T, then and perform step 11, otherwise perform
Step 12；
Step 10, entrance power-assisted increase the control cycle, and A end-coil is energized, and valve core of the electromagnetic valve is set to left end, enters the PID cycle
Control, by adjusting Duty ratio control working chamber 4 and the time of atmosphere of the PWM controlling A end-coil, then perform step
2；
Step 11, entrance power-assisted keep the stage, and A end-coil power down, valve core of the electromagnetic valve is under the effect of A end spring and B end spring
Resetting, vacuum chamber, working chamber and air are isolated from each other, and then perform step 2；
Step 12, entrance power-assisted reduce the control cycle, and to self-locking mechanism coil electricity, self-locking mechanism unlocks, and then A end-coil falls
Electricity, B end-coil is energized, and valve core of the electromagnetic valve is set to right-hand member, enters PID periodic Control, by adjusting the PWM controlling A end-coil
Duty ratio control working chamber 4 and the time of atmosphere, then perform step 2.
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| CN201610850415.7A CN106218622B (en) | 2016-09-26 | 2016-09-26 | A kind of vehicle active power-assisted braking arrangement and its control method |
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| CN201610850415.7A CN106218622B (en) | 2016-09-26 | 2016-09-26 | A kind of vehicle active power-assisted braking arrangement and its control method |
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| CN106218622B CN106218622B (en) | 2019-02-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112533806A (en) * | 2018-08-08 | 2021-03-19 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Brake system for a motor vehicle |
| CN112896133A (en) * | 2019-11-19 | 2021-06-04 | Zf主动安全美国股份公司 | Diagnostic method for determining leaks in one or more three-way valves |
| CN112896131A (en) * | 2019-11-19 | 2021-06-04 | Zf主动安全美国股份公司 | Diagnostic method for determining leaks in one or more three-way valves |
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| CN112896131A (en) * | 2019-11-19 | 2021-06-04 | Zf主动安全美国股份公司 | Diagnostic method for determining leaks in one or more three-way valves |
| CN112896133B (en) * | 2019-11-19 | 2023-08-04 | Zf主动安全美国股份公司 | Diagnostic method for determining leakage in one or more three-way valves |
| CN112896131B (en) * | 2019-11-19 | 2024-01-26 | Zf主动安全美国股份公司 | Diagnostic method for determining leakage in one or more three-way valves |
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| CN106218622B (en) | 2019-02-26 |
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