CN108340898A - One kind considering brake coordination, safety follows electormagnetic braking sytem and its control method with energy-efficient caravan trailer - Google Patents
One kind considering brake coordination, safety follows electormagnetic braking sytem and its control method with energy-efficient caravan trailer Download PDFInfo
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- CN108340898A CN108340898A CN201810035553.9A CN201810035553A CN108340898A CN 108340898 A CN108340898 A CN 108340898A CN 201810035553 A CN201810035553 A CN 201810035553A CN 108340898 A CN108340898 A CN 108340898A
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- caravan
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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
- B60T13/748—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 electro-magnetic brakes
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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
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses one kind considering brake coordination, safety follows electormagnetic braking sytem and its control method with energy-efficient caravan trailer, increase wheel speed sensors on caravan, the slip rate that caravan wheel is obtained in conjunction with main vehicle speed realizes the caravan synchronous braking of anti-lock；Increase energy regenerating motor between caravan two-wheeled, clutch is set between motor output shaft and wheel connecting bridge, clutch combines when needing motor to intervene, clutch separation when without motor work；Main vehicle accelerometer signal is monitored in real time, and when its signal is negative value, then clutch combines, and electric motor starting energy recuperation mode charges to super capacitor；It further detects by stress-strain at hook, when stress is compression, access electromagnetic brake is further braked；Wherein energy regenerating motor can also auxiliary drive, clutch combined when stress is tensile stress at accelerometer is positive value and hook, the auxiliary drive of caravan is carried out using super capacitor driving motor, is short of power with coping with main vehicle.
Description
Technical field
The present invention relates to the brake coordination technical field more particularly to one kind of caravan trailer consider brake coordination,
It is safe to follow electormagnetic braking sytem and its control method with energy-efficient caravan trailer.
Background technology
As the continuous development of domestic economy, living standards of the people greatly improve, caravan will embody huge in China
Market potential, also there is an urgent need for promoted for matched sedan braking system the relevant technologies.Electormagnetic braking sytem relies on its flexible cloth
Mode, the versatility of quick response characteristic and system transplantation are set, the favor of light-load tractor-trailer is received, it is especially suitable
In the caravan trailer braking system relatively independent with trailer.
The method that the main vehicle braking deceleration of synchronized tracking is usually taken in electormagnetic braking sytem in caravan trailer, and then adjust
Whole caravan brake force makes main vehicle, caravan reach preferable braking consistency, to improve the general safety, comfortable of caravan trailer
Property.When caravan trailer travels on complex road condition (emergency braking, frequent acceleration and deceleration, slipperiness on roads etc.), at this time merely with master
Vehicle braking deceleration is that caravan tracks braking target, then cannot be satisfied insensitivity, security reliability and the requirements such as energy saving.
Existing caravan trailer electromagnetic brake brake signal generates generally according to the brake pedal signal of main vehicle, or
Using the braking deceleration signal of main vehicle as foundation, to carry out the real-time adjusting of electromagnetic brake severity of braking, above-mentioned adjusting side
Formula presence can not prevent caravan wheel lock up from happening, furthermore there are energy consumptions during caravan electromagnetic brake frequently braking
Dissipate loss phenomenon.Therefore, the present invention increases a set of caravan trailer on the basis of caravan trailer has electormagnetic braking sytem
Energy-recuperation system can provide moment extra power when caravan follows main vehicle to brake when auxiliary braking, the acceleration of main vehicle
The states such as auxiliary drive, then comprehensive wheel slip, main vehicle/caravan deceleration, ultimately form it is a set of consider brake coordination,
It is safe to follow electormagnetic braking sytem and its control method with energy-efficient caravan trailer, to increase pulling type room to the maximum extent
The reliability and stability of vehicle electormagnetic braking sytem.
Invention content
It is an object of the invention to be directed to caravan trailer electormagnetic braking sytem, increase a set of caravan trailer energy regenerating
System can provide moment extra power auxiliary drive when caravan follows main vehicle to brake when auxiliary braking, the acceleration of main vehicle,
The states such as wheel slip, main vehicle/caravan deceleration are integrated again, are ultimately formed and a set of are considered brake coordination, safety and section
The caravan trailer of energy follows electormagnetic braking sytem and its control method, to increase caravan trailer electromagnetic system to the maximum extent
The reliability and stability of dynamic system.The present invention adopts the following technical scheme that：
One kind considering brake coordination, safety follows electormagnetic braking sytem, including caravan with energy-efficient caravan trailer
Energy regenerating-coordination brake module；Caravan energy regenerating-coordination the brake module can be auxiliary when caravan follows main vehicle to brake
It helps braking, moment extra power auxiliary drive is provided when main vehicle accelerates, and can recover energy in auxiliary braking.
Further, the caravan energy regenerating-coordination brake module include energy regenerating motor, it is electric control clutch, super
Capacitance, electromagnetic brake and energy regenerating controller；The energy regenerating motor is connect by the control of the electric control clutch
Enter or disconnect the electormagnetic braking sytem；The electromagnetic brake is used for main vehicle-caravan synchronous braking of the caravan trailer,
When braking, under the control of the energy regenerating controller by the energy storage recycled in the super capacitor；It is described super
The electric energy of grade capacitance storage can provide instantaneous additional auxiliary drive power in caravan transient state accelerator for caravan.
Further, the energy regenerating motor is arranged between the two-wheeled of caravan, and the electric control clutch is arranged described
Between energy regenerating motor output shaft and wheel connecting bridge；When needing motor to intervene work, clutch combines；Without motor work
When making, clutch separation.
Further, it further includes caravan brake safe backup module that the caravan trailer, which follows electormagnetic braking sytem,；It is described
Caravan brake safe backup module includes the energy regenerating motor, the super capacitor, the electromagnetic brake and safety
Backup controller；In the case where caravan electromagnetic brake powers off, it is electricity to control access super capacitor by carrying out safety backup controller
Magnetic brake provides backup battery；When electromagnetic brake failure can not work, access energy is controlled by carrying out safety backup controller
It recycles motor and carries out secondary backup braking.
Further, the energy regenerating controller is arranged at electronic control unit ECU with the carrying out safety backup controller
It is interior.
Further, further include that anti-lock is coordinated to track main vehicle brake module；The anti-lock is coordinated to track main vehicle braking mould
Block includes caravan wheel speed sensors, caravan vehicle speed sensor and electromagnetic brake；In caravan electromagnetic brake braked
Cheng Zhong, by electronic control unit combination caravan wheel speed information, caravan speed information, to cunning of each wheel of caravan in braking process
Shifting rate real-time control is realized and coordinates braking and anti-lock.
Further, slip-based controller range of each wheel of the caravan in braking process is 15%~20%.
Further, the electronic control unit includes input module, operation control module, output module；
The input module respectively with brake-pedal-travel sensor, wheel speed sensors, accelerometer, hook stress-strain
Piece, state monitor connection, the input module is for receiving brake pedal opening amount signal, wheel speed signal, acceleration/deceleration
Signal, hook stress signal, electromagnetic brake on/off signal, power state signal, and pass the signal to the operation mould
Block；
The computing module includes that anti-lock is coordinated to track computing module, the caravan energy regenerating-association of main vehicle brake module
Adjust the computing module of the computing module of brake module, caravan brake safe backup module, each computing module according to input state into
The comprehensive operation judgement of row, finally provides control instruction to output execution module；
The output module is electrically connected with actuator, and the output module controls actuator according to the instruction of generation and transports
Row；The actuator includes super capacitor controllable switch, energy regenerating electric machine operation state switch, electric control clutch switch, electricity
The output waveform of the PWM controller of magnetic brake.
A kind of controlling party for considering brake coordination, safety and energy-efficient caravan trailer and following electormagnetic braking sytem
Method, including anti-lock are coordinated to track main vehicle braking method, caravan energy regenerating-coordination braking method, the backup of caravan brake safe
Method；
The anti-lock is coordinated to track main vehicle braking method：Increase wheel speed sensors on caravan wheel, in conjunction with main vehicle
Speed signal obtains slip rate of each wheel of caravan in braking process, when main vehicle brakes, measures main vehicle deceleration and gives
Corresponding braking moment, to keep the consistency of main vehicle-caravan braking deceleration, during tracking main vehicle deceleration, when going out
When existing apartment vehicle wheel lock up situation, then by suitably unclamping caravan electromagnetic brake, caravan wheel slip is stablized 15%
~20%, to ensure the best insensitivity of caravan；
Caravan energy regenerating-coordination the braking method：Increase energy regenerating motor, motor output between caravan two-wheeled
Electric control clutch is set between axis and wheel connecting bridge, when it is negative value to detect main vehicle accelerometer signal, i.e., main vehicle is in
Braking deceleration state, then electric control clutch combine, electric motor starting energy recuperation mode to super capacitor charge, and by motor at
The moment of resistance provided when generating state tentatively brakes caravan；On this basis, further detection hook place by
Stress-strain information then accesses electromagnetic brake and is further braked, to reach main vehicle-when stress is compression at hook
The braking consistency of caravan；
The caravan brake safe backup method：Backup when energy regenerating motor is broken down as electromagnetic brake
Brake combines clutch when electromagnetic brake does not work, and motor is adjusted to generating state and tows caravan, and it is standby to play auxiliary
The function of part braking；Alternatively, if electromagnetic brake intervenes super capacitor from the taken power supply line failure of main vehicle
Backup battery is provided.
Further, in the caravan energy regenerating-coordination braking method, access electromagnetic brake is further braked
When, the calculation formula for requiring supplementation with the braking moment of offer is as follows：
Wherein, n is brake wheel number；F is stress at hook；U is generator voltage；I is electrical power generators electric current；For power factor (PF)；W is vehicle wheel rotational speed；R is brake wheel radius；I is transmission of the brake wheel to generator drive gear system
Than；
The energy regenerating motor is also equipped with the function of auxiliary drive, when main vehicle accelerometer detect signal be positive value,
I.e. main vehicle is in and gives it the gun state, and when stress is tensile stress at hook, then combines electric control clutch, utilize super capacitor
The electrical energy drive motor of middle storage carries out the auxiliary drive of caravan.
Beneficial effects of the present invention：
The present invention increases ABS and energy recovery function on the basis of caravan trailer conventional synchronization electormagnetic braking sytem,
And main vehicle, caravan movement-state are introduced into ABS and energy recovery control system, to realize that a kind of safety can
It leans on, energy-saving and environment-friendly caravan trailer follows and coordinates braking system and its control method.
Description of the drawings
Fig. 1 is caravan trailer brake system structure schematic layout pattern
Fig. 2 is to integrate energy regenerating and coordinate the control system relational graph of braking
Fig. 3 is the electronic control system structure chart of one embodiment of the invention；
Fig. 4 is main vehicle-caravan force effect relation schematic diagram
Fig. 5 is that the main vehicle brake module of anti-lock coordination tracking corresponds to control flow chart
Fig. 6 is caravan energy regenerating-coordination brake module control flow schematic diagram
Fig. 7 is caravan brake safe backup module control flow schematic diagram
It is marked in figure：1- accelerometers；2- connecting ball heads；3- links up with stress-strain piece；4- energy regenerating motors；5- electromagnetic systems
Dynamic device；The right wheel speed sensors of 6- caravans；7- super capacitors；The left wheel speed sensors of 8- caravans；9- clutches；10- electromagnetic braking controls
Device processed.
Specific implementation mode
The present invention is tracking with the single braking deceleration of main vehicle compared to traditional caravan trailer electromagnetism synchronous braking system
For target, improved content includes as follows：
1, wheel speed sensors are increased on caravan wheel, can show that each wheel of caravan is being made in conjunction with the speed signal of caravan
Slip rate during dynamic, realizes the caravan synchronous braking function of taking into account anti-lock.
2, the present invention increases by an energy regenerating motor 4 between caravan two-wheeled, between motor output shaft and wheel connecting bridge
One electric control clutch 9 is set, and when needing motor to intervene work, clutch combines；When working without motor, clutch separation,
With the loss of energy in reduction system.
3, the present invention monitors main vehicle accelerometer signal in real time, when detecting that main 1 signal of vehicle accelerometer is that negative value is (i.e. main
Vehicle is in braking deceleration state), then clutch combines, and electric motor starting energy recuperation mode charges to super capacitor；Further
It detects and is then accessed electromagnetic brake when stress is compression at hook by stress-strain at hook and further braked, to reach
To the braking consistency of main vehicle-caravan.
4, the energy regenerating motor in the present invention is also equipped with the function of auxiliary drive, when accelerometer detects that signal is just
Be worth (i.e. main vehicle is in acceleration mode), and at hook stress for tensile stress when, then clutch is combined, using being stored up in super capacitor
The electrical energy drive motor deposited carries out the auxiliary drive of caravan, to cope with caravan trailer in actual travel, due to roads such as upward slopes
Main vehicle is short of power phenomenon caused by condition.
5, the present invention applies to ABS, the braking energy recovering function of traditional bicycle in caravan trailer braking system,
The relationships amounts such as deceleration, the interaction force between main vehicle-caravan are introduced, machine is coordinated in the operation considered between each component
Reason, provide it is a set of consider brake coordination, safety with energy-efficient caravan trailer follow electormagnetic braking sytem and its controlling party
Method.
The invention will be further described below in conjunction with the accompanying drawings.
The caravan trailer that the present invention is directed to synchronizes electormagnetic braking sytem work connection diagram as shown in Figure 1, wherein main
To include that anti-lock is coordinated to track main vehicle brake module, caravan energy regenerating-coordination brake module, caravan brake safe backup mould
Block, it is specific as follows：
Anti-lock is coordinated to track main vehicle brake module to include caravan wheel speed sensors, caravan vehicle speed sensor, electromagnetic braking
Device 5 and electromagnetic braking controller 10, in caravan braking process, while coordination caravan follows main vehicle consistency to brake,
Slip rate is calculated in real time according to each wheel actual speed and caravan actual linear velocity, when slip rate exceeds a certain range
Locking is dead, suitably turns down electromagnetic brake signal strength, until real-time slip rate is reduced to OK range, to the slip rate of caravan
Also inhibiting effect is played, while playing coordination braking and anti-lock function；
Caravan energy regenerating-coordination brake module includes energy regenerating motor, electric control clutch, super capacitor, electromagnetic system
Dynamic device and energy regenerating controller (energy regenerating controller by detect caravan transport condition (sense deceleration evaluation, greatly
In being driving equal to 0, it be to brake to be less than 0), the SOC states etc. of battery, energy regenerating electric machine operation state is controlled),
In caravan braking process, while ensureing to implement main vehicle-caravan synchronous braking safety, the maximization of braking energy is realized
Recycling, and will recover energy and be stored in super capacitor, in caravan transient state accelerator instantaneous additional auxiliary is provided for caravan
Drive power；
Caravan brake safe backup module includes energy regenerating motor, super capacitor, electromagnetic brake and carrying out safety backup
Controller, in the case where caravan electromagnetic brake powers off, access super capacitor provides backup battery for it, in electromagnetic brake
When failure, access energy regenerating motor carries out secondary backup braking.Specifically, carrying out safety backup controller is by detecting electromagnetic braking
Device terminal voltage, when terminal voltage is 0, i.e., electromagnetic brake powers off, and accesses super capacitor at this time and provides backup battery for it；Detection
Electromagnetic brake operating current, when electric current is more than 10 times of rated current, i.e. electromagnetic brake breakdown failure accesses energy at this time
It recycles motor and carries out secondary backup braking.
Each component function relational graph in the present invention is as shown in Fig. 2, wherein main vehicle accelerometer 1 longitudinally subtracts to measure main vehicle
Speed/acceleration value；Hook stress-strain piece 3 pulls place tension/pressure value to measure；Wheel speed sensors measure wheel and turn
Speed；Electromagnetic braking power supply is powered to electromagnetic brake 5 and electromagnetic braking controller 10；Motor is recovering energy and assist
Driving；Super capacitor is storage recycling electricity and provides power supply for auxiliary drive motor；Electromagnetic braking controller 10 integrates main vehicle
The signals such as deceleration, wheel speed, hook power, provide electromagnet stalling current；Auxiliary braking/drive control device integrates main vehicle and slows down
The signals such as degree/acceleration, hook power, super capacitor state, provide motor work order.
Electronic control unit described in Fig. 3 can design on the basis of existing pulling type train brake control unit, including defeated
Enter module, operation control module, output module.
The input module is answered with the brake-pedal-travel sensor, wheel speed sensors, accelerometer, hook power respectively
Become piece, state monitor connection, the input module is for receiving brake pedal opening amount signal, wheel speed signal, acceleration/deceleration
Signal, hook stress signal, brake on/off road signal, power state signal are spent, and passes the signal to the operation mould
Block.Wherein, state monitor is by detecting power supply terminal voltage, when terminal voltage is electromagnetic brake operating voltage, out-put supply
Signal is worked normally, when terminal voltage is 0, then out-put supply fault-signal.
The operation control module includes that anti-lock is coordinated to track the computing module of main vehicle brake module, caravan energy time
The computing module of receipts-coordination brake module, the computing module of caravan brake safe backup module, each computing module is according to input shape
State carries out comprehensive operation judgement, finally provides control instruction to output module.
The output module is electrically connected with actuator, and output module controls actuator according to the instruction of generation and runs.It is described
Actuator include super capacitor controllable switch, energy regenerating electric machine operation state switch, clutch switch, PWM controller it is defeated
Go out waveform (for controlling electromagnetic brake).
Anti-lock coordination tracks main vehicle brake module and corresponds to control flow chart as shown in figure 4, in caravan wheel in the present invention
Upper increase wheel speed sensors 6,8 obtain slip rate of each wheel of caravan in braking process in conjunction with the speed signal of main vehicle, work as master
When vehicle brakes, measures main vehicle deceleration and give corresponding braking moment, to keep the consistent of main vehicle-caravan braking deceleration
Property, during tracking main vehicle deceleration, when there is caravan wheel lock up situation, then by suitably unclamping caravan electromagnetic braking
Device 5 stablizes caravan wheel slip 15%~20%, to ensure the best insensitivity of caravan.
Caravan energy regenerating-coordination brake module control flow schematic diagram in the present invention as shown in figure 5, caravan two-wheeled it
Between increase by an energy regenerating motor 4, an electric control clutch 9 is set between motor output shaft and wheel connecting bridge, when detecting master
When 1 signal of vehicle accelerometer is negative value (main vehicle is in braking deceleration state), then clutch 9 combines, and electric motor starting energy returns
Receipts pattern charges to super capacitor 7, and the moment of resistance that while being in generating state by motor provides tentatively brakes caravan；
On this basis, further institute is then accessed electromagnetic system by stress-strain when stress is compression at hook 2 at detection hook 2
Dynamic device 5 is further braked, to reach the braking consistency of main vehicle-caravan.
It is above-mentioned in the case where energy regenerating motor intervenes work, illustrated according to the main vehicle of Fig. 6-caravan force effect relationship
Figure, the braking moment calculation formula that electromagnetic brake need to supplement offer are as follows：
Wherein, n is brake wheel number；F is stress at hook；U is generator voltage；I is electrical power generators electric current；For power factor (PF)；W is vehicle wheel rotational speed；R is brake wheel radius；I is transmission of the brake wheel to generator drive gear system
Than.
Energy regenerating motor 4 is also equipped with the function of auxiliary drive, when main vehicle accelerometer 1 detects that signal is on the occasion of (i.e.
Main vehicle is in and gives it the gun state), and when linking up with that stress is tensile stress at 2, then combine clutch 9, using in super capacitor 7
The electrical energy drive motor of storage carries out the auxiliary drive of caravan, to cope with caravan trailer in actual travel, due to upward slope etc.
Main vehicle is short of power phenomenon caused by road conditions.
Caravan brake safe backup module control flow schematic diagram in the present invention is as shown in fig. 7, energy regenerating motor 4 is made
Backup brake when breaking down for electromagnetic brake 5 combines clutch 9, motor when electromagnetic brake 5 does not work
It is adjusted to generating state and tows caravan, play the function of secondary backup braking；Meanwhile if electromagnetic brake takes power supply from main vehicle
Power circuit breaks down, and super capacitor 7 is intervened to provide backup battery, with the caravan trailer electormagnetic braking sytem of raising
Braking reliability.
In conclusion the ABS of traditional single car, braking energy recovering function are applied to caravan trailer system by the present invention
In dynamic system, the relationships amounts such as deceleration, the interaction force between main vehicle-caravan are introduced, the fortune between each component is considered
Row concerted mechanism, provide it is a set of consider brake coordination, safety with energy-efficient caravan trailer follow electormagnetic braking sytem and
Its control method.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically
Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
1. one kind considering brake coordination, safety follows electormagnetic braking sytem with energy-efficient caravan trailer, which is characterized in that
Including caravan energy regenerating-coordination brake module；Caravan energy regenerating-coordination the brake module can follow main vehicle in caravan
Auxiliary braking, the offer moment extra power auxiliary drive when main vehicle accelerates when braking, and energy can be recycled in auxiliary braking
Amount.
2. one kind according to claim 1 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
Braking system, which is characterized in that the caravan energy regenerating-coordination brake module includes energy regenerating motor (4), electric control clutch
Device (9), super capacitor (7), electromagnetic brake (5) and energy regenerating controller；The energy regenerating motor (4) passes through described
The control of electric control clutch (9) is switched in or out the electormagnetic braking sytem；The electromagnetic brake (5) is used for the pulling type
Main vehicle-caravan synchronous braking of caravan, when braking, the energy storage that will be recycled under the control of the energy regenerating controller
In the super capacitor (7)；The electric energy of super capacitor (7) storage can carry in caravan transient state accelerator for caravan
For instantaneous additional auxiliary drive power.
3. one kind according to claim 2 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
Braking system, which is characterized in that the energy regenerating motor (4) is arranged between the two-wheeled of caravan, the electric control clutch (9)
It is arranged between the energy regenerating motor output shaft and wheel connecting bridge；When needing motor to intervene work, clutch (9) knot
It closes；When working without motor, clutch separation.
4. one kind according to claim 2 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
Braking system, which is characterized in that it further includes caravan brake safe backup module that the caravan trailer, which follows electormagnetic braking sytem,；
The caravan brake safe backup module includes the energy regenerating motor (4), the super capacitor (7), the electromagnetic braking
Device (5) and carrying out safety backup controller；In the case where caravan electromagnetic brake powers off, is controlled and accessed by carrying out safety backup controller
Super capacitor (7) provides backup battery for electromagnetic brake；When electromagnetic brake (5) failure can not work, by carrying out safety backup
Controller control access energy regenerating motor carries out secondary backup braking.
5. one kind according to claim 2 or 4 considers brake coordination, safety follows electricity with energy-efficient caravan trailer
Magnetic brake system, which is characterized in that the energy regenerating controller is arranged at electronic control with the carrying out safety backup controller
It is a part for electronic control unit in unit ECU.
6. one kind according to claim 1 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
Braking system, which is characterized in that further include that anti-lock is coordinated to track main vehicle brake module；The anti-lock is coordinated to track main vehicle system
Dynamic model block includes caravan wheel speed sensors, caravan vehicle speed sensor and electromagnetic brake；In caravan electromagnetic brake system
During dynamic, by electronic control unit combination caravan wheel speed information, caravan speed information, to each wheel of caravan in braking process
Slip rate real-time control, realize coordinate braking and anti-lock.
7. one kind according to claim 6 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
Braking system, which is characterized in that slip-based controller range of each wheel of caravan in braking process is 15%~20%.
8. one kind according to claim 6 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
Braking system, which is characterized in that the electronic control unit includes input module, operation control module, output module；
The input module respectively with brake-pedal-travel sensor, wheel speed sensors, accelerometer, hook stress-strain piece, shape
State monitor connect, the input module for receive brake pedal opening amount signal, wheel speed signal, acceleration/deceleration signal,
Stress signal, electromagnetic brake on/off signal, power state signal are linked up with, and passes the signal to the computing module；
The computing module includes that anti-lock is coordinated to track computing module, the caravan energy regenerating-coordination system of main vehicle brake module
The computing module of dynamic model block, the computing module of caravan brake safe backup module, each computing module carry out comprehensive according to input state
Operation judgement is closed, finally provides control instruction to output execution module；
The output module is electrically connected with actuator, and the output module controls actuator according to the instruction of generation and runs；Institute
It includes super capacitor controllable switch, energy regenerating electric machine operation state switch, electric control clutch switch, electromagnetic braking to state actuator
The output waveform of the PWM controller of device.
9. a kind of control method for considering brake coordination, safety and energy-efficient caravan trailer and following electormagnetic braking sytem,
It is characterised in that it includes anti-lock is coordinated to track main vehicle braking method, caravan energy regenerating-coordination braking method, caravan braking
The method of carrying out safety backup；
The anti-lock is coordinated to track main vehicle braking method：Increase wheel speed sensors 6,8 on caravan wheel, in conjunction with the vehicle of main vehicle
Fast signal obtains slip rate of each wheel of caravan in braking process, when main vehicle brakes, measures main vehicle deceleration and gives phase
The braking moment answered during tracking main vehicle deceleration, works as appearance to keep the consistency of main vehicle-caravan braking deceleration
When caravan wheel lock up situation, then by suitably unclamping caravan electromagnetic brake, caravan wheel slip is stablized 15%~
20%, to ensure the best insensitivity of caravan；
Caravan energy regenerating-coordination the braking method：Increase energy regenerating motor (4), motor output between caravan two-wheeled
Electric control clutch (9) is set between axis and wheel connecting bridge, it is when it is negative value to detect main vehicle accelerometer (1) signal, i.e., main
Vehicle is in braking deceleration state, then electric control clutch combines, and electric motor starting energy recuperation mode charges to super capacitor (7), and
The moment of resistance provided when being in generating state by motor tentatively brakes caravan；On this basis, it further detects
Place stress strain information is linked up with, when stress is compression at hook, then electromagnetic brake is accessed and is further braked, with
Reach the braking consistency of main vehicle-caravan；
The caravan brake safe backup method：Backup braking when energy regenerating motor is broken down as electromagnetic brake
Device combines clutch when electromagnetic brake does not work, and motor is adjusted to generating state and tows caravan, plays secondary backup system
Dynamic function；Alternatively, if electromagnetic brake provides super capacitor intervention from the taken power supply line failure of main vehicle
Backup battery.
10. one kind according to claim 9 considers brake coordination, safety follows electromagnetism with energy-efficient caravan trailer
The control method of braking system, which is characterized in that in the caravan energy regenerating-coordination braking method, access electromagnetic braking
When device is further braked, the calculation formula for requiring supplementation with the braking moment of offer is as follows：
Wherein, n is brake wheel number；F is stress at hook；U is generator voltage；I is electrical power generators electric current；
For power factor (PF)；W is vehicle wheel rotational speed；R is brake wheel radius；I is transmission ratio of the brake wheel to generator drive gear system；
The energy regenerating motor is also equipped with the function of auxiliary drive, when main vehicle accelerometer detects that signal for positive value, that is, is led
Vehicle is in and gives it the gun state, and when stress is tensile stress at hook, then combines electric control clutch, using being stored up in super capacitor
The electrical energy drive motor deposited carries out the auxiliary drive of caravan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035553.9A CN108340898B (en) | 2018-01-15 | 2018-01-15 | Trailer type caravan following electromagnetic braking system comprehensively considering braking coordination, safety and energy conservation and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035553.9A CN108340898B (en) | 2018-01-15 | 2018-01-15 | Trailer type caravan following electromagnetic braking system comprehensively considering braking coordination, safety and energy conservation and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108340898A true CN108340898A (en) | 2018-07-31 |
| CN108340898B CN108340898B (en) | 2020-06-09 |
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| CN109334644A (en) * | 2018-09-29 | 2019-02-15 | 苏州广佰广艺电子科技有限公司 | A kind of synchronous control system based on caravan trailer |
| CN109334643A (en) * | 2018-09-29 | 2019-02-15 | 苏州广佰广艺电子科技有限公司 | A kind of synchronous braking control method based on caravan trailer |
| CN109501787A (en) * | 2018-10-29 | 2019-03-22 | 江苏大学 | A kind of caravan trailer synchronous braking control method of full working scope |
| CN111546996A (en) * | 2020-05-25 | 2020-08-18 | 深圳市易中电子有限公司 | Car as a house controlling means and car as a house |
| CN109733350B (en) * | 2018-12-28 | 2021-06-22 | 江苏大学 | Trailer type caravan braking force control system and method based on multi-model control |
| CN113734208A (en) * | 2021-08-24 | 2021-12-03 | 青岛中车四方轨道车辆有限公司 | Rail transit traction vehicle |
| CN114162100A (en) * | 2021-11-09 | 2022-03-11 | 中车长江运输设备集团有限公司 | Vehicle marshalling brake control method and vehicle marshalling |
| CN115230657A (en) * | 2022-07-29 | 2022-10-25 | 中国第一汽车股份有限公司 | Trailer brake control method, device, brake controller, medium and vehicle |
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| CN109334644A (en) * | 2018-09-29 | 2019-02-15 | 苏州广佰广艺电子科技有限公司 | A kind of synchronous control system based on caravan trailer |
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| CN114162100A (en) * | 2021-11-09 | 2022-03-11 | 中车长江运输设备集团有限公司 | Vehicle marshalling brake control method and vehicle marshalling |
| CN114162100B (en) * | 2021-11-09 | 2023-01-24 | 中车长江运输设备集团有限公司 | Vehicle marshalling brake control method and vehicle marshalling |
| CN115230657A (en) * | 2022-07-29 | 2022-10-25 | 中国第一汽车股份有限公司 | Trailer brake control method, device, brake controller, medium and vehicle |
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