CN107264295A - Magnetorheological line traffic control composite braking system and control method for electric automobile - Google Patents
Magnetorheological line traffic control composite braking system and control method for electric automobile Download PDFInfo
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- CN107264295A CN107264295A CN201710546659.0A CN201710546659A CN107264295A CN 107264295 A CN107264295 A CN 107264295A CN 201710546659 A CN201710546659 A CN 201710546659A CN 107264295 A CN107264295 A CN 107264295A
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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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- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of magnetorheological line traffic control composite braking system and control method for electric automobile, system includes composite braking control unit, magnetic rheological brake brake unit, motor regenerative brake unit, the running brake with force feedback function.Present system combination controlling method, braking moment required during automobile brake can efficiently, be rapidly provided, automobile anti-lock braking function can be realized, it is ensured that directional stability and steering capability during automobile brake, but also can simulated automotive braking when brake pedal feel.
Description
Technical field
The present invention relates to braking system of electric car field, a kind of specifically magnetorheological line traffic control for electric automobile is combined
Brakes and control method.
Background technology
With increasingly sharpening for energy crisis and problem of environmental pollution, electric automobile is as future automobile industry development
Main trend.Electric automobile depends on clean energy resource, and the pernicious gas of pollution atmospheric environment will not be produced during use, is had
The advantages of energy-conserving and environment-protective.The brakes of automobile is to concern passenger to ride safe key, the brakes of current electric automobile
It is main to use motor regenerative braking or conventional hydraulic brake apparatus, also there is automaker to use motor regenerative braking and tradition
The Electro-hydraulic brake that hydraulic braking is combined.But, because the braking moment that motor regenerative braking is provided is limited, only in buffering
Play a part of energy regenerating during braking, braking moment required during electric vehicle brake can not be fully met, this can influence
Braking effect during automobile normal brake application.Although traditional hydraulic brake system can provide system required during electric vehicle brake
Kinetic moment, but be due to that traditional hydraulic brake system has structure and pipeline arrangement is complicated, hydraulic circuit is easily revealed, assembled
With the shortcomings of maintenance difficulty is big, braking response speed is not fast enough, the design original intention of this and electric automobile has been run counter to.
Chinese patent 201410007342.6 discloses a kind of water-cooled magnetic rheological brake, Chinese patent
201310393903.6 disclose a kind of magnetic rheological brake.Magnetic rheological brake is that, using magnetic flow liquid as working media, have
Lightweight, energy consumption is low, integrated level is high, fast response time and the advantages of suitable for brake-by-wire.These of magnetic rheological brake are excellent
Point meets the design concept of following electric automobile, therefore considers motor regenerative braking braking what is be combined with magnetic rheological brake
Line traffic control composite braking is applied in the brakes of electric automobile.
Brake pedal feel during automobile brake is to weigh one of index of automotive performance, is provided with hydraulic brake system
Automobile is to provide brake feel by the loine pressure of brake pedal hydraulic system.When line traffic control composite braking system replaces tradition
Hydraulic brake system when, in order to ensure brake pedal feel during automobile brake, original brake pedal system be accomplished by into
Row is corresponding to be changed.
The content of the invention
The present invention is compound there is provided a kind of magnetorheological line traffic control for electric automobile for the deficiencies in the prior art
Brakes and control method, can efficiently, rapidly provide braking moment required during automobile brake, can realize automobile
Anti-lock function, it is ensured that directional stability and steering capability during automobile brake, but also can simulated automotive braking when system
Dynamic pedal sense.
In order to achieve the above object, the technical solution adopted in the present invention is：
Magnetorheological line traffic control composite braking system for electric automobile, it is characterised in that：Including composite braking control unit,
Magnetic rheological brake brake unit, motor regenerative brake unit, the running brake with force feedback function, wherein：
Composite braking control unit includes composite braking ECU and braking signal collection module, wherein braking signal collection mould
Block is connected with composite braking ECU, and composite braking ECU connects with magnetic rheological brake brake unit, motor regenerative brake unit respectively
Connect, braking signal collection module gathers the brake signal of automobile, composite braking ECU receives the system of braking signal collection module collection
Signal is moved, and generates control instruction and is respectively sent to magnetic rheological brake brake unit, motor regenerative brake unit；
Magnetic rheological brake brake unit includes magnetic rheological brake and magnetic rheological brake ECU, wherein magnetorheological braking
Device is arranged on the semiaxis of driving moment rotation, and braking moment, magnetic are applied to wheel in automobile brake by magnetic rheological brake
Rheology brake is connected with magnetic rheological brake ECU, magnetic rheological brake ECU and composite braking in composite braking control unit
ECU connections, the control instruction that composite braking ECU is sent is received by magnetic rheological brake ECU, and by magnetic rheological brake ECU roots
The size that magnetic rheological brake exports braking moment is adjusted according to control instruction；
Motor regenerative brake unit includes wheel hub motor, motor ECU, and wherein wheel hub motor is arranged at the driving of electric automobile
On wheel, provide driving moment and braking moment to driving wheel by wheel hub motor, wheel hub motor is connected with motor ECU, motor ECU and
Composite braking ECU connections in composite braking control unit, the control instruction sent by motor ECU receptions composite braking ECU, and by
Motor ECU adjusts the regenerative braking moment that wheel hub motor is exported according to control instruction；
Running brake with force feedback function includes automobile frame, brake pedal, torsionspring, connecting rod, angular displacement
Sensor, linear displacement transducer and MR damper, wherein brake pedal one end are rotatably installed in vapour by pedal shaft
At vehicle carriage, torsionspring is set on the outer peripheral face of pedal shaft, so that brake pedal resets upon completion of the braking, angular displacement
Sensor is installed on pedal shaft, to detect the folding angle of brake pedal in braking procedure, linear displacement transducer and magnetic
Rheological damper is fixedly mounted on automobile frame, and by bearing pin pin joint in the middle of connecting rod one end and brake pedal, connecting rod is another
End and the piston rod of MR damper pass through bearing pin pin joint, the slide plate of linear displacement transducer and the piston of MR damper
Bar is fixed together by thin bar, and the telescopic direction of slide plate is consistent with the telescopic direction of MR damper piston rod, by
The travel displacement of MR damper piston rod in linear displacement transducer detection braking procedure, to reflect brake pedal indirectly
Folding angle, composite braking ECU in composite braking control unit respectively with angular displacement sensor, linear displacement transducer and
MR damper is connected, and the brake signal that angular displacement sensor and linear displacement transducer are detected is transferred to composite braking
ECU, and the instruction sent by composite braking ECU adjusts accordingly to the working condition of MR damper.
The described magnetorheological line traffic control composite braking system for electric automobile, it is characterised in that：Composite braking control is single
In member, braking signal collection module includes outside road conditions sensor, vehicle speed sensor, angular speed of wheel sensor, service brake
Device and EPB, wherein outside road conditions sensor are arranged on body of a motor car, for the road conditions of probe vehicle local environment,
Vehicle speed sensor is arranged on body of a motor car, and the speed for detecting automobile, angular speed of wheel sensor is arranged at the four of automobile
On individual wheel, the angular speed for detecting automotive wheel, running brake and EPB are arranged at motorcar interior, use
The brake command sent in reception driver.
The described magnetorheological line traffic control composite braking system for electric automobile, it is characterised in that：Motor regenerative braking list
Member also include stand-by power supply, standby vehicle power respectively with magnetorheological braking in wheel hub motor, magnetic rheological brake brake unit
Device is connected, by standby vehicle-mounted power storage wheel hub motor regenerative braking when the electric energy that produces, and in parking braking or automobile primary
Powering for magnetic rheological brake in the case of exception occurs in power supply.
A kind of ABS control methods of magnetorheological line traffic control composite braking system for electric automobile, it is characterised in that：Including
EPB braking, running brake braking and three kinds of braking modes of brake hard, wherein：
The EPB is braked stopped for vehicle after stable vehicle, to avoid vehicle from being sent out when slope pavement stops
Raw car slipping phenomenon；When composite braking ECU receives the brake command that EPB is sent, by magnetic rheological brake
ECU sends corresponding brake signal so that magnetic rheological brake applies certain braking moment to wheel, so that stable vehicle；
The running brake braking efficiently, rapidly adjusts auto brake system according to the actual braking requirement of driver
The output braking moment of system；When driver's brake pedal is braked, angular displacement sensor and straight line in running brake
Corresponding angle signal θ and displacement signal l are transferred to composite braking ECU by displacement transducer, if angle signal θ is less than thresholding
Angle, θ1Or displacement signal l is less than thresholding displacement l1, then composite braking ECU corresponding brake signal is sent to motor ECU, make
Obtain wheel hub motor intervention braking；If angle signal θ is more than thresholding angle, θ1Or displacement signal l is more than thresholding displacement l1, then it is multiple
Close braking ECU and corresponding brake signal is sent to magnetic rheological brake ECU so that magnetic rheological brake intervention braking, it is exported
The value of braking moment and angle signal θ or displacement signal l value positive correlation；In braking procedure, composite braking ECU is monitored in real time
The slip rate S of automotive wheel, slip rateWherein v is automobile speed, and w is angular speed of wheel, and r is wheel
Radius, if slip rate S described in braking procedure is more than thresholding slip rate S1, now automotive wheel have locking trend, then be combined
Braking ECU sends signal to the MR damper in running brake so that the increase of damper damping force is so as to simulate tradition
Brake pedal feel of the automobile in braking, while composite braking ECU sends signal to magnetic rheological brake ECU, reduces magnetic current
Become the output braking moment of brake；When shifting rate S is less than thresholding slip rate S2, now automotive wheel there is no locking trend, then it is multiple
Close braking ECU and send signal to the MR damper in running brake so that damper damping force reduces, now driver
It can be continued to take brake measure according to actual conditions, so as to complete an ABS control circulation；
The brake hard is to run into need the situation of brake hard in vehicle traveling process, by composite braking ECU certainly
It is dynamic to send brake command, can avoid because operator brake not in time caused by danger；In vehicle traveling process, outside road conditions
The road conditions Real-time Feedback of automobile local environment is given composite braking ECU by sensor, if composite braking ECU is according to the road conditions received
Parameter decision automobile needs brake hard, then by sending corresponding brake signal to magnetic rheological brake ECU so that magnetorheological
Brake intervention braking, its value for exporting braking moment and the speed positive correlation of now automobile.
The present invention uses above technical scheme compared with prior art, with following technique effect：
(1) present invention proposes a kind of magnetorheological line traffic control composite braking system for electric automobile, is regenerated using motor
Brake and brake the line traffic control composite braking being combined with magnetic rheological brake, original mechanical/hydraulic connection in brakes is used
Circuit connection is replaced, so as to improve braking response speed, the difficulty for simplifying the structure of brakes, reducing assembling and maintenance
Degree, can efficiently, rapidly provide braking moment required during automobile brake；
(2) present invention proposes a kind of ABS control methods for the magnetorheological line traffic control composite braking system of electric automobile, energy
Enough realize automobile anti-lock braking function, it is ensured that directional stability and steering capability during automobile brake；
(3) present invention propose a kind of running brake with force feedback function, by using with damp it is controllable, consume
Can less, response it is rapid the advantages of MR damper so that the electric automobile equipped with line traffic control composite braking can simulate tradition
Brake pedal feel of the automobile in braking, so as to ensure more preferable driving experience；
(4) present invention can work as automobile by using outside road conditions sensor with the road conditions of real-time detection automobile local environment
Running into the process of moving needs the situation of brake hard, and brake command is sent automatically by composite braking ECU, can avoid because driving
The danger that the person's of sailing braking is caused not in time.
Brief description of the drawings
Fig. 1 is the theory diagram of line traffic control composite braking system of the present invention.
Fig. 2 has the structure diagram of force feedback function running brake for the present invention.
Fig. 3 is the flow chart of three kinds of braking modes of line traffic control composite braking system of the present invention.
Fig. 4 is the structure diagram of line traffic control composite braking system of the present invention.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
A kind of magnetorheological line traffic control composite braking system for electric automobile, including magnetic rheological brake brake unit, electricity
Machine regenerative brake unit, composite braking control unit and the running brake with force feedback function.
As shown in Figure 1 and Figure 4, magnetic rheological brake brake unit includes magnetic rheological brake 9 and magnetic rheological brake
ECU12.Magnetic rheological brake 9 is arranged on the semiaxis of driving moment rotation, and brake force is applied to wheel during for automobile brake
Square.Magnetic rheological brake ECU12 is electrically connected with magnetic rheological brake 9, composite braking ECU14 respectively, for receiving compound system
The control instruction that dynamic ECU14 is sent, and the big of the output braking moment of magnetic rheological brake 9 is adjusted according to corresponding control instruction
It is small.The value of the output braking moment of magnetic rheological brake 9 and the current value positive correlation accessed, therefore only need to adjust input current
Size, just can promptly change magnetic rheological brake 9 export braking moment size.
As shown in Figure 1 and Figure 4, motor regenerative brake unit includes wheel hub motor 11, motor ECU13 and standby vehicle power
10.Wheel hub motor 11 is arranged on the driving wheel of electric automobile, for providing driving moment and braking moment to driving wheel.Motor
ECU13 is electrically connected with wheel hub motor 11, composite braking ECU14 respectively, is referred to for receiving the control that composite braking ECU14 is sent
Order, and the regenerative braking moment that wheel hub motor 11 is exported is adjusted according to corresponding control instruction.Standby vehicle power 10 respectively and
Wheel hub motor 11, magnetic rheological brake 9 are electrically connected, the electric energy produced during for storing 11 regenerative braking of wheel hub motor, and
Powering for magnetic rheological brake 9 in the case of exception occur in parking braking or automobile main power source, it is ensured that the braking of electric automobile
Ability.
As shown in Figure 1 and Figure 4, composite braking control unit includes composite braking ECU14 and braking signal collection module.Institute
State braking signal collection module including outside road conditions sensor, vehicle speed sensor, angular speed of wheel sensor, running brake and
EPB.Outside road conditions sensor is arranged on body of a motor car, for the road conditions of probe vehicle local environment, speed sensing
Device is arranged on body of a motor car, and the speed for detecting automobile, angular speed of wheel sensor is arranged on four wheels of automobile,
Angular speed for detecting automotive wheel, running brake and EPB are arranged at motorcar interior, are driven for receiving
The brake command that the person of sailing sends.Composite braking ECU14 is passed with magnetic rheological brake ECU12, motor ECU13, outside road conditions respectively
Sensor, vehicle speed sensor, angular speed of wheel sensor, running brake, EPB electrical connection, for receiving braking letter
The brake signal that number acquisition module is sent, and wheel hub motor 11 and magnetic rheological brake 9 are adjusted according to corresponding brake signal
Export braking moment.Composite braking ECU14 can calculate automotive wheel according to the automobile speed and angular speed of wheel that receive
Slip rate S.The road conditions parameter Real-time Feedback of automobile local environment is given composite braking ECU14 by outside road conditions sensor, so as to
Composite braking ECU14 differentiates whether automobile needs to take brake hard.
As shown in Fig. 2 the running brake with force feedback function mainly includes automobile frame 1, brake pedal 5, reversed
Spring 2, connecting rod 4, angular displacement sensor 3, linear displacement transducer 8 and MR damper 6.The brake pedal 5 passes through flat
Key is fixedly connected on pedal shaft, and torsionspring 2 is set on the outer peripheral face of pedal shaft, is stepped on for braking after the completion of braking
The reset of plate 5, connecting rod 4 is fixedly connected by bearing pin respectively with the piston rod of brake pedal 5, MR damper 6, and angular displacement is passed
Sensor 3 is installed on the pedal shaft of running brake, the folding angle for detecting brake pedal 5 in braking procedure, straight line
The piston rod of the slide plate of displacement transducer 8 and MR damper 6 is fixed together by thin bar 7, the flexible side of slide plate
To consistent with the telescopic direction of the piston rod of MR damper 6, for detecting the piston rod of MR damper 6 in braking procedure
Travel displacement, to reflect the folding angle of brake pedal 5 indirectly, linear displacement transducer 8 and MR damper 6 are solid
Dingan County is on automobile frame 1.Angular displacement sensor 3, linear displacement transducer 8 and MR damper 6 respectively with compound system
Dynamic ECU electrical connections, the brake signal for angular displacement sensor 3 and linear displacement transducer 8 to be detected is transferred to compound
The instruction braked ECU and sent according to composite braking ECU is adjusted accordingly to the working condition of MR damper 6.Braking
During, the displacement signal l that the angle signal θ and linear displacement transducer 8 that angular displacement sensor 3 is produced are produced is one a pair
Answer, composite braking ECU judges according to any one signal in both with regard to that can make corresponding braking.Using two sensors
Purpose allow for when one of sensor breaks down, another remains to normal work, enhances auto brake system
The reliability of system.
A kind of ABS control methods for the magnetorheological line traffic control composite braking system of electric automobile, including EPB system
Dynamic, running brake braking and three kinds of braking modes of brake hard.
As shown in figure 3, EPB brakes stable vehicle after being stopped for vehicle, to avoid vehicle from stopping in slope pavement
Car slipping phenomenon occurs during car.When composite braking ECU receives the brake command that EPB is sent, by magnetorheological system
Dynamic device ECU sends corresponding brake signal so that magnetic rheological brake applies certain braking moment to wheel, so that stable car
.When being braked using EPB, magnetic rheological brake provides electric energy by standby vehicle power, so as to realize magnetorheological braking
Device remains to normal work under conditions of automobile primary power-off.
As shown in figure 3, running brake braking efficiently, rapidly adjusts automobile according to the actual braking requirement of driver
The output braking moment of brakes.When driver's brake pedal is braked, the angular displacement sensor in running brake
Corresponding angle signal θ and displacement signal l are transferred to composite braking ECU with linear displacement transducer, if the angle is believed
Number θ is less than thresholding angle, θ1Or displacement signal l is less than thresholding displacement l1, then the composite braking ECU phase is sent to motor ECU
The brake signal answered so that wheel hub motor intervention braking.If the angle signal θ is more than thresholding angle, θ1Or displacement signal
L is more than thresholding displacement l1, then the composite braking ECU corresponding brake signal is sent to magnetic rheological brake ECU so that magnetic current
Become brake intervention braking, it exports value positive correlation of the value with angle signal θ or displacement signal l of braking moment.Braked
Cheng Zhong, composite braking ECU monitor the slip rate S of automotive wheel, the slip rate in real timeWherein v is vapour
Car speed, w is angular speed of wheel, and r is radius of wheel, if slip rate S described in braking procedure is more than thresholding slip rate S1, this
When automotive wheel have locking trend, then the composite braking ECU sends signal to the MR damper in running brake, makes
The increase of damper damping force is obtained so as to simulate brake pedal feel of the orthodox car in braking, while composite braking ECU is to magnetic
Rheology brake ECU sends signal, reduces the output braking moment of magnetic rheological brake.When the slip rate S is slided less than thresholding
Shifting rate S2, now automotive wheel there is no locking trend, then the composite braking ECU is to the MR damper in running brake
Send signal so that damper damping force reduces, and now driver can continue to take brake measure according to actual conditions, so that
Complete an ABS control circulation.The thresholding slip rate S2<Thresholding slip rate S1, according to existing literature research, by automotive wheel
Slip rate S is controlled between 15%~30%, and now vehicle can both reach optimal brake efficiency, and directional stability is can guarantee that again
And steering capability.
As shown in figure 3, brake hard is to run into need the situation of brake hard in vehicle traveling process, by composite braking
ECU sends brake command automatically, can avoid because operator brake not in time caused by danger.In vehicle traveling process, outside
The road conditions Real-time Feedback of automobile local environment is given composite braking ECU by portion's road conditions sensor, if composite braking ECU is according to receiving
Road conditions parameter decision automobile need brake hard, then by sending corresponding brake signal to magnetic rheological brake ECU so that
Magnetic rheological brake intervention braking, its value for exporting braking moment and the speed positive correlation of now automobile.
Claims (4)
1. the magnetorheological line traffic control composite braking system for electric automobile, it is characterised in that：Including composite braking control unit, magnetic
Rheology brake unit, motor regenerative brake unit, the running brake with force feedback function, wherein：
Composite braking control unit include composite braking ECU and braking signal collection module, wherein braking signal collection module with
Composite braking ECU connections, composite braking ECU is connected with magnetic rheological brake brake unit, motor regenerative brake unit respectively, system
Dynamic signal acquisition module gathers the brake signal of automobile, and composite braking ECU receives the braking letter of braking signal collection module collection
Number, and generate control instruction and be respectively sent to magnetic rheological brake brake unit, motor regenerative brake unit；
Magnetic rheological brake brake unit includes magnetic rheological brake and magnetic rheological brake ECU, and wherein magnetic rheological brake is set
On the semiaxis for being placed in driving moment rotation, braking moment is applied to wheel in automobile brake by magnetic rheological brake, it is magnetorheological
Brake is connected with magnetic rheological brake ECU, and magnetic rheological brake ECU connects with composite braking ECU in composite braking control unit
Connect, the control instruction that composite braking ECU is sent is received by magnetic rheological brake ECU, and by magnetic rheological brake ECU according to control
Instruction adjustment magnetic rheological brake exports the size of braking moment；
Motor regenerative brake unit includes wheel hub motor, motor ECU, and wherein wheel hub motor is arranged at the driving wheel of electric automobile
On, driving moment and braking moment are provided to driving wheel by wheel hub motor, wheel hub motor is connected with motor ECU, motor ECU is with answering
Composite braking ECU connections in brak control unit are closed, the control instruction that composite braking ECU is sent is received by motor ECU, and by electricity
Machine ECU adjusts the regenerative braking moment that wheel hub motor is exported according to control instruction；
Running brake with force feedback function includes automobile frame, brake pedal, torsionspring, connecting rod, angle displacement transducer
Device, linear displacement transducer and MR damper, wherein brake pedal one end are rotatably installed in Automobile by pedal shaft
At frame, torsionspring is set on the outer peripheral face of pedal shaft, so that brake pedal resets upon completion of the braking, angle displacement transducer
Device is installed on pedal shaft, to detect the folding angle of brake pedal in braking procedure, linear displacement transducer and magnetorheological
Damper is fixedly mounted on automobile frame, by bearing pin pin joint in the middle of connecting rod one end and brake pedal, the connecting rod other end with
The piston rod of MR damper is by bearing pin pin joint, and the slide plate of linear displacement transducer and the piston rod of MR damper are logical
Cross thin bar to be fixed together, the telescopic direction of slide plate is consistent with the telescopic direction of MR damper piston rod, by straight line
The travel displacement of MR damper piston rod in displacement transducer detection braking procedure, to reflect opening for brake pedal indirectly
Close angle, the composite braking ECU in composite braking control unit respectively with angular displacement sensor, linear displacement transducer and magnetic current
Mutative damp device is connected, and the brake signal that angular displacement sensor and linear displacement transducer are detected is transferred to composite braking ECU, and
The instruction sent by composite braking ECU is adjusted accordingly to the working condition of MR damper.
2. the magnetorheological line traffic control composite braking system according to claim 1 for electric automobile, it is characterised in that：It is compound
In brak control unit, braking signal collection module includes outside road conditions sensor, vehicle speed sensor, angular speed of wheel sensing
Device, running brake and EPB, wherein outside road conditions sensor are arranged on body of a motor car, for residing for probe vehicle
The road conditions of environment, vehicle speed sensor is arranged on body of a motor car, the speed for detecting automobile, and angular speed of wheel sensor is set
In on four wheels of automobile, the angular speed for detecting automotive wheel, running brake and EPB are arranged at automobile
Interior of body, for receiving the brake command that driver sends.
3. the magnetorheological line traffic control composite braking system according to claim 1 for electric automobile, it is characterised in that：Motor
Regenerative brake unit also include stand-by power supply, standby vehicle power respectively with wheel hub motor, magnetic rheological brake brake unit
Magnetic rheological brake is connected, by standby vehicle-mounted power storage wheel hub motor regenerative braking when the electric energy that produces, and in parking braking
Or powering for magnetic rheological brake in the case of exception occurs in automobile main power source.
4. being used for the ABS control methods of the magnetorheological line traffic control composite braking system of electric automobile described in a kind of claim 1, it is special
Levy and be：Including EPB braking, running brake braking and three kinds of braking modes of brake hard, wherein：
The EPB is braked stopped for vehicle after stable vehicle, to avoid vehicle from being slipped when slope pavement stops
Car phenomenon；When composite braking ECU receives the brake command that EPB is sent, by sending out magnetic rheological brake ECU
Go out corresponding brake signal so that magnetic rheological brake applies certain braking moment to wheel, so that stable vehicle；
The running brake braking efficiently, rapidly adjusts brake system of car according to the actual braking requirement of driver
Export braking moment；When driver's brake pedal is braked, angular displacement sensor and straight-line displacement in running brake
Corresponding angle signal θ and displacement signal l are transferred to composite braking ECU by sensor, if angle signal θ is less than thresholding angle
θ1Or displacement signal l is less than thresholding displacement l1, then composite braking ECU corresponding brake signal is sent to motor ECU so that wheel
The intervention braking of hub motor；If angle signal θ is more than thresholding angle, θ1Or displacement signal l is more than thresholding displacement l1, then it is combined system
Dynamic ECU sends corresponding brake signal to magnetic rheological brake ECU so that magnetic rheological brake intervention braking, it exports braking
The value of torque and angle signal θ or displacement signal l value positive correlation；In braking procedure, composite braking ECU monitors automobile in real time
The slip rate S of wheel, slip rateWherein v is automobile speed, and w is angular speed of wheel, and r is wheel half
Footpath, if slip rate S described in braking procedure is more than thresholding slip rate S1, now automotive wheel have locking trend, then be combined system
Dynamic ECU sends signal to the MR damper in running brake so that the increase of damper damping force is so as to simulate traditional vapour
Brake pedal feel of the car in braking, while composite braking ECU sends signal to magnetic rheological brake ECU, reduces magnetorheological
The output braking moment of brake；When shifting rate S is less than thresholding slip rate S2, now automotive wheel there is no locking trend, then be combined
Braking ECU sends signal to the MR damper in running brake so that damper damping force reduces, and now driver can
To be continued to take brake measure according to actual conditions, so as to complete an ABS control circulation；
The brake hard is to run into need the situation of brake hard in vehicle traveling process, is sent out automatically by composite braking ECU
Go out brake command, can avoid because operator brake not in time caused by danger；In vehicle traveling process, outside road conditions sensing
The road conditions Real-time Feedback of automobile local environment is given composite braking ECU by device, if composite braking ECU is according to the road conditions parameter received
Judge that automobile needs brake hard, then by sending corresponding brake signal to magnetic rheological brake ECU so that magnetorheological braking
Device intervention braking, its value for exporting braking moment and the speed positive correlation of now automobile.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710546659.0A CN107264295A (en) | 2017-07-06 | 2017-07-06 | Magnetorheological line traffic control composite braking system and control method for electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710546659.0A CN107264295A (en) | 2017-07-06 | 2017-07-06 | Magnetorheological line traffic control composite braking system and control method for electric automobile |
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| CN201710546659.0A Pending CN107264295A (en) | 2017-07-06 | 2017-07-06 | Magnetorheological line traffic control composite braking system and control method for electric automobile |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692954A (en) * | 2018-04-03 | 2018-10-23 | 合肥工业大学 | A kind of experiment porch for the magnetorheological braking of automobile distribution |
| CN109278563A (en) * | 2018-09-30 | 2019-01-29 | 合肥工业大学 | The control method of automobile-used magnetorheological fluid braking system based on braking intention identification |
| CN110395238A (en) * | 2019-08-06 | 2019-11-01 | 苏州泛像汽车技术有限公司 | A kind of line control brake system and control method powering off band-type brake |
| CN112248985A (en) * | 2020-10-20 | 2021-01-22 | 山东润江智控科技有限公司 | Automobile domain control system, accelerator braking device and braking method |
| CN113734117A (en) * | 2021-11-08 | 2021-12-03 | 浙江万泉信息技术有限公司 | Semi-decoupling braking device for regenerative braking of new energy automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108692954A (en) * | 2018-04-03 | 2018-10-23 | 合肥工业大学 | A kind of experiment porch for the magnetorheological braking of automobile distribution |
| CN108692954B (en) * | 2018-04-03 | 2019-11-12 | 合肥工业大学 | A kind of experiment porch for the magnetorheological braking of automobile distribution |
| CN109278563A (en) * | 2018-09-30 | 2019-01-29 | 合肥工业大学 | The control method of automobile-used magnetorheological fluid braking system based on braking intention identification |
| CN109278563B (en) * | 2018-09-30 | 2021-09-17 | 合肥工业大学 | Control method of vehicle magnetorheological fluid braking system based on braking intention identification |
| CN110395238A (en) * | 2019-08-06 | 2019-11-01 | 苏州泛像汽车技术有限公司 | A kind of line control brake system and control method powering off band-type brake |
| CN112248985A (en) * | 2020-10-20 | 2021-01-22 | 山东润江智控科技有限公司 | Automobile domain control system, accelerator braking device and braking method |
| CN113734117A (en) * | 2021-11-08 | 2021-12-03 | 浙江万泉信息技术有限公司 | Semi-decoupling braking device for regenerative braking of new energy automobile |
| CN113734117B (en) * | 2021-11-08 | 2022-02-25 | 浙江万泉信息技术有限公司 | Semi-decoupling braking device for regenerative braking of new energy automobile |
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Application publication date: 20171020 |