CN108639036A - Retarder braking method and brake control method - Google Patents
Retarder braking method and brake control method Download PDFInfo
- Publication number
- CN108639036A CN108639036A CN201810314209.3A CN201810314209A CN108639036A CN 108639036 A CN108639036 A CN 108639036A CN 201810314209 A CN201810314209 A CN 201810314209A CN 108639036 A CN108639036 A CN 108639036A
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- Prior art keywords
- deceleration
- retarder
- speed
- vehicle
- braking
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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
- B60T10/00—Control or regulation for continuous braking making use of fluid or powdered medium, e.g. for use when descending a long slope
Abstract
The present invention relates to the brake control methods of Retarder.Signal collection, through hardware circuit signal port collecting signal；Deceleration converts：A=(V V0)/(3.6 × t) (m/s2), V0 are previous speed (Km/h), and V is that current vehicle speed is (Km/h), and t is the time that V is changed to from vehicle velocity V 0；Judge whether vehicle speed value is less than 5Km/h, be, closes output；It is no, brake range input is judged whether there is, it is no, close output；It is to judge whether ABS works, is, closes output；It is no, judge whether that throttle accelerates, be, closes output；It is no, judge whether current deceleration is equal to input gear deceleration, be, keeps air pressure constant, exported through PWM modulation；It is no, deceleration deviation is calculated, PID arithmetic is carried out, air pressure is adjusted, is exported through PWM modulation；It closes and exports with return to step after PWM modulation output (1)；The above process recycles successively, forms control closed circuit.
Description
Technical field
The present invention relates to the control methods in automobile assistant braking system, and in particular to Retarder braking method and
Brake control method.
Background technology
CN201410436523.0 discloses a kind of control method of Retarder constant speed gear.Its purpose is to be directed to
The existing constant-speed control system of Retarder can so that the regulating time of vehicle arrival target vehicle speed is longer and be easy to cause vehicle
The deficiency of fast overshoot oscillation up and down, and a kind of control method of Retarder constant speed gear is provided.Its technical solution：The liquid
The control method of power retarder constant speed gear, includes the following steps：Step 1, when driver is the control crank of Retarder
After being allocated to constant speed shelves, once the foot of driver has left brake pedal and accelerator pedal, then the current speed of vehicle, vehicle are recorded
The current liquid filled ratio of current acceleration and Retarder, and it is assigned to memory vehicle velocity V 1, memory acceleration a, note respectively
Recall liquid filled ratio Q, and the memory vehicle velocity V1Value as target vehicle speed Vm；1. step 2 calculates Retarder first, according to formula
Rotor speed n, i.e. n=25iV1For/3 π R 1. in formula, n is rotor speed, V1To remember speed, R is radius of wheel, and i is from liquid
For power retarder rotor rotating speed to the transmission ratio between vehicle wheel rotational speed, above-mentioned i, R are previously known；Then, it is 1. calculated according to formula
The rotor speed n and memory liquid filled ratio Q of the Retarder gone out, Retarder is found out from braking torque characteristic arteries and veins spectrogram
Currently provided brake torque value, and it is assigned to memory braking torque TY；Finally, judge the memory acceleration a of vehicle, i.e.,
(1) if when the memory acceleration a >=0 of vehicle, the target braking of the required offer of Retarder is first 2. calculated according to formula
For torque T, i.e. T=(iTY+amR)/i 2. in formula, T is target braking torque, and TY is memory braking torque, and i is from Retarder
Rotor speed is memory acceleration to the transmission ratio a between vehicle wheel rotational speed, and m is vehicular gross combined weight, and R is radius of wheel above-mentioned i, m
It is previously known with R；The new rotor speed n ' of Retarder is 3. recalculated further according to formula, i.e. n '=25iVm/3 π R are 3.
In formula, n ' is new rotor speed, and Vm is target vehicle speed, and R is radius of wheel, and i is from Retarder rotor speed to wheel
Transmission ratio between rotating speed, above-mentioned i, R are previously known；According to the new rotor of 3. Retarder that formula is recalculated
Rotating speed n ' and formula 2. calculated Retarder target braking torque T, search institute from braking torque characteristic arteries and veins spectrogram
The value of the liquid filled ratio of the Retarder needed；If finding out filling for required Retarder from braking torque characteristic arteries and veins spectrogram
The value of liquid rate then goes the pressure air of control Retarder to adjust proportioning valve quickly by fluid power as target liquid filled ratio Qm
The liquid filled ratio of retarder adjusts the size to this target liquid filled ratio Qm value；If not searched from braking torque characteristic arteries and veins spectrogram
Go out the value of the liquid filled ratio of required Retarder, then to target vehicle speed Vm again assignment, assignment method is Vm=θ, and wherein θ is
Goal-selling speed, and the new rotor speed n ' of Retarder is 3. recalculated according to formula, it is 3. counted again further according to formula
The new rotor speed n ' and formula of the Retarder of calculating 2. calculated Retarder target braking torque
T finds out the value of the liquid filled ratio of required Retarder from braking torque characteristic arteries and veins spectrogram again, and as target
Liquid filled ratio Qm goes the pressure air of control Retarder to adjust proportioning valve and the adjusting of the liquid filled ratio of Retarder is quickly arrived this
The size of one target liquid filled ratio Qm values；(II) if when the memory acceleration a ＜ 0 of vehicle, it is slow that fluid power is first 4. calculated according to formula
For target braking torque T, i.e. T=(iTY- | a | mR)/i of fast device 4. in formula, T is target braking torque, and TY is memory braking torque
I be from Retarder rotor speed to vehicle wheel rotational speed between transmission ratio, a be memory acceleration, m is vehicular gross combined weight, and R is
Radius of wheel, above-mentioned i, m and R are previously known；The new rotor speed n ' of Retarder, root are 3. recalculated further according to formula
3. the new rotor speed n ' and formula of the Retarder recalculated according to formula 4. calculated Retarder mesh
Braking torque T is marked, the value of the liquid filled ratio of required Retarder is found out from braking torque characteristic arteries and veins spectrogram, and made
The pressure air of control Retarder is gone to adjust proportioning valve quickly by the liquid filled ratio tune of Retarder for target liquid filled ratio Qm
Save the size of this target liquid filled ratio Qm value.It is disadvantageous in that：It is only applicable to the constant speed drive that vehicle target acceleration is 0
Function, in addition, this method is not provided with low speed turn-off function, when running at a low speed, the braking moment of Retarder output is micro-
Its is micro-, it is impossible to Retarder braking be leaned on to realize constant speed drive at low speeds.
Invention content
The object of the present invention is to provide a kind of the braking deceleration of vehicle is controlled by adjusting Retarder output torque
Degree realizes that vehicle reaches even retarding braking, and realizes Retarder braking method and the braking control of the even retarding braking of vehicle
Method processed.
Retarder braking method described in technical solution of the invention, is characterized in that, including following step
Suddenly：
(1) configured according to retarder brake range, director demon pre-sets the even deceleration of vehicle under each brake range
Desired value；
(2) when starting Retarder braking, first acquire current brake gear and obtain the even deceleration of target of gear setting
Angle value monitors vehicle speed of operation, vehicle braking actual deceleration degree is calculated further according to vehicle speed situation of change in real time, will be real
Border deceleration and preset even deceleration value compare and analyze, and calculate deviation；
(3) controller adjusts the operating air pressure of Retarder according to the deviation of deceleration, to adjust Retarder
Braking moment correct vehicle deceleration deviation, next carry out deceleration collection analysis again, then be modified control, formation one
The control loop of a closed loop makes vehicle realize even deceleration braking；
As preferred：Retarder brake range acquires, and the hardware circuit being connected by hand switch or baroswitch is adopted
Collection；Or, compatible receive retarder brake range information by CAN bus.
As preferred：Rotating speed of transmission shaft that speed data collection is fed back according to speed probe, rear axle number ratio, diameter of tyres calculate
Go out Vehicle Speed；Or, compatible obtain the speed information that other equipment is sent from CAN bus.
As preferred：The corresponding even deceleration target of each gear is set separately according to multiple brake ranges in the controller
Value；When retarder brake, even deceleration braking is carried out according to the even deceleration value of the corresponding target of each input gear.
Retarder brake control method described in technical solution of the invention, is characterized in that, including with
Lower step：
(1) signal collection, by hardware circuit signal port or CAN bus collecting signal, including gear signal, speed signal,
ABS signals, throttle signal；
(2) deceleration converts：A=(V-V0)/(3.6 × t) (m/s2)
V0 indicates previous vehicle speed value (Km/h) in formula
V indicates that current vehicle speed is (Km/h)
The time spent in t expressions change to V from vehicle velocity V 0；
(3) judge whether vehicle speed value is less than 5Km/h, if so, thinking that speed is too low, close output, return to step is (1)；
(4), if it is not, then having continued to determine whether brake range input, if it is not, then closing output without torque request, step is returned
Suddenly (1)；
(5), if so, continuing to judge whether ABS works, if so, closing output, return to step is (1)；
(6), if it is not, then continuing to determine whether acceleration of stepping on the gas, if so, closing output, return to step is (1)；
(7) if it is not, then continuing to judge whether current deceleration is equal to the corresponding deceleration of input gear, if so, keeping former
Air pressure is constant, and after PWM modulation exports, return to step is (1)；
(8) if it is not, calculating deceleration deviation, PID arithmetic is carried out, adjusts air pressure, after PWM modulation exports, return to step
⑴；
(9) the above process recycles successively, forms control closed circuit.
Compared with prior art, beneficial effects of the present invention:
(1) even retarding braking control method of the invention is accurately adjusted using the even deceleration closed-loop control of vehicle by algorithm
Section is, it can be achieved that the even deceleration gradual braking of vehicle.
(2) present invention not only may be implemented constant speed shelves function (even deceleration is set as 0), and can according to use demand,
Even retarding braking is carried out according to different even deceleration.
(3) existing Retarder mode of braking, when braking the deceleration of vehicle can with the variation of vehicle weight and
Variation.When vehicle weight aggravates, braking deceleration reduces；When vehicle weight mitigates, braking deceleration increases.And the system of the present invention
Dynamic method, when braking the deceleration of vehicle will not following vehicle weight and change, but the even of former setting can be always maintained at
Deceleration is slowed down.
Description of the drawings
Fig. 1 is the even retarding braking control method flow diagram of Retarder of the present invention.
Specific implementation mode
The present invention is further detailed in conjunction with the accompanying drawings below：
As shown in Figure 1, Retarder braking method, includes the following steps：
(1) signal collection, by hardware circuit signal port or CAN bus collecting signal, including gear signal, speed signal,
ABS signals, throttle signal；
(2) deceleration converts：A=(V-V0)/(3.6 × t) (m/s2)
V0 indicates previous vehicle speed value (Km/h) in formula
V indicates that current vehicle speed is (Km/h)
The time spent in t expressions change to V from vehicle velocity V 0；
(3) judge whether vehicle speed value is less than 5Km/h, if so, thinking that speed is too low, close output, return to step is (1)；
(4), if it is not, then having continued to determine whether brake range input, if it is not, then closing output without torque request, step is returned
Suddenly (1)；
(5), if so, continuing to judge whether ABS works, if so, closing output, return to step is (1)；
(6), if it is not, then continuing to determine whether acceleration of stepping on the gas, if so, closing output, return to step is (1)；
(7) if it is not, then continuing to judge whether current deceleration is equal to the corresponding deceleration of input gear, if so, keeping former
Air pressure is constant, is exported through PWM modulation；
(8) if it is not, calculating deceleration deviation, PID arithmetic is carried out, air pressure is adjusted, is exported through PWM modulation；
(9) (1) return to step, recycles successively, forms control closed circuit.
In the present embodiment, Retarder braking method includes the following steps：
(1) configured according to retarder brake range, director demon pre-sets the even deceleration of vehicle under each brake range
Desired value；
(2) when starting Retarder braking, first acquire current brake gear and obtain the even deceleration of target of gear setting
Angle value monitors vehicle speed of operation, vehicle braking actual deceleration degree is calculated further according to vehicle speed situation of change in real time, will be real
Border deceleration and preset even deceleration value compare and analyze, and calculate deviation；
(3) controller adjusts the operating air pressure of Retarder according to the deviation of deceleration, to adjust Retarder
Braking moment correct vehicle deceleration deviation, next carry out deceleration collection analysis again, then be modified control, formation one
The control loop of a closed loop makes vehicle realize even deceleration braking；
In the present embodiment, the acquisition of retarder brake range, the hardware circuit being connected by hand switch or baroswitch
Acquisition；Or, compatible receive retarder brake range information by CAN bus.
In the present embodiment, rotating speed of transmission shaft that speed data collection is fed back according to speed probe, rear axle number ratio, diameter of tyres meter
Calculate Vehicle Speed；Or, compatible obtain the speed information that other equipment is sent from CAN bus.
In the present embodiment, the corresponding even deceleration mesh of each gear is set separately according to multiple brake ranges in the controller
Scale value；When retarder brake, even deceleration braking is carried out according to the even deceleration value of the corresponding target of each input gear.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the invention as claimed with
Modification, should all belong to the covering scope of the claims in the present invention.
Claims (5)
1. a kind of Retarder braking method, which is characterized in that include the following steps：
(1) configured according to retarder brake range, director demon pre-sets the even deceleration target of the vehicle under each brake range
Value；
(2) when starting Retarder braking, first acquire current brake gear and obtain the even deceleration of target of gear setting
Value monitors vehicle speed of operation, vehicle braking actual deceleration degree is calculated further according to vehicle speed situation of change in real time, will be practical
Deceleration and preset even deceleration value compare and analyze, and calculate deviation；
(3) controller adjusts the operating air pressure of Retarder according to the deviation of deceleration, to adjust the system of Retarder
Kinetic moment corrects vehicle deceleration deviation, next carries out deceleration collection analysis again, then be modified control, forms one and closes
The control loop of ring makes vehicle realize even deceleration braking.
2. Retarder braking method according to claim 1, which is characterized in that retarder brake range acquires, and passes through
The hardware circuit acquisition that hand switch or baroswitch are connected；Or, compatible receive retarder brake range letter by CAN bus
Breath.
3. Retarder braking method according to claim 1, which is characterized in that speed data collection is anti-according to speed probe
Rotating speed of transmission shaft, rear axle number ratio, the diameter of tyres of feedback calculate Vehicle Speed；Or, compatibility obtains other from CAN bus and sets
The speed information that preparation is sent.
4. Retarder braking method according to claim 1, which is characterized in that the controller is according to multiple braking shelves
The corresponding even deceleration desired value of each gear is set separately in position；It is even according to the corresponding target of each input gear when retarder brake
Deceleration value carries out even deceleration braking.
5. a kind of Retarder brake control method, which is characterized in that include the following steps：
(1) signal collection passes through hardware circuit signal port or CAN bus collecting signal, including gear signal, speed signal, ABS
Signal, throttle signal；
(2) deceleration converts：A=(V-V0)/(3.6 × t) (m/s2)
V0 indicates previous vehicle speed value (Km/h) in formula
V indicates that current vehicle speed is (Km/h)
The time spent in t expressions change to V from vehicle velocity V 0；
(3) judge whether vehicle speed value is less than 5Km/h, if so, thinking that speed is too low, close output, return to step is (1)；
(4) if it is not, then having continued to determine whether brake range input, if it is not, then closing output, return to step without torque request
⑴；
(5), if so, continuing to judge whether ABS works, if so, closing output, return to step is (1)；
(6), if it is not, then continuing to determine whether acceleration of stepping on the gas, if so, closing output, return to step is (1)；
(7) if it is not, then continuing to judge whether current deceleration is equal to the corresponding deceleration of input gear, if so, keeping Primordial Qi pressure
Constant, after PWM modulation exports, return to step is (1)；
(8) if it is not, calculating deceleration deviation, PID arithmetic is carried out, adjusts air pressure, after PWM modulation exports, return to step is (1)；
(9) the above process recycles successively, forms control closed circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314209.3A CN108639036A (en) | 2018-04-10 | 2018-04-10 | Retarder braking method and brake control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314209.3A CN108639036A (en) | 2018-04-10 | 2018-04-10 | Retarder braking method and brake control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108639036A true CN108639036A (en) | 2018-10-12 |
Family
ID=63745610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810314209.3A Pending CN108639036A (en) | 2018-04-10 | 2018-04-10 | Retarder braking method and brake control method |
Country Status (1)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027537A (en) * | 2019-04-19 | 2019-07-19 | 吉林大学青岛汽车研究院 | A kind of Retarder control method based on quality identification |
| CN112706621A (en) * | 2020-12-31 | 2021-04-27 | 北京金万安汽车电子技术研发有限公司 | Deceleration anti-shake control method of new energy vehicle tandem type energy recovery system |
| CN113650591A (en) * | 2021-08-18 | 2021-11-16 | 一汽解放汽车有限公司 | Control method and system of hydraulic retarder, vehicle and storage medium |
| CN113984405A (en) * | 2021-10-18 | 2022-01-28 | 中国第一汽车股份有限公司 | Method for testing braking performance of retarder |
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| CN101224744A (en) * | 2007-01-12 | 2008-07-23 | 通用汽车公司 | Adaptive retarder control method and apparatus |
| CN101239589A (en) * | 2008-03-10 | 2008-08-13 | 江苏大学 | Electric eddy speed damper and vehicle friction brake combined controller and control method |
| CN102472332A (en) * | 2009-08-13 | 2012-05-23 | 沃依特专利有限责任公司 | Method for controlling power transmission of hydrodynamic retarder |
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Patent Citations (4)
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| CN101224744A (en) * | 2007-01-12 | 2008-07-23 | 通用汽车公司 | Adaptive retarder control method and apparatus |
| CN101070887A (en) * | 2007-05-18 | 2007-11-14 | 深圳市特尔佳科技股份有限公司 | Hydraulic speed buffer control system and control method |
| CN101239589A (en) * | 2008-03-10 | 2008-08-13 | 江苏大学 | Electric eddy speed damper and vehicle friction brake combined controller and control method |
| CN102472332A (en) * | 2009-08-13 | 2012-05-23 | 沃依特专利有限责任公司 | Method for controlling power transmission of hydrodynamic retarder |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027537A (en) * | 2019-04-19 | 2019-07-19 | 吉林大学青岛汽车研究院 | A kind of Retarder control method based on quality identification |
| CN110027537B (en) * | 2019-04-19 | 2023-11-24 | 吉林大学青岛汽车研究院 | Hydraulic retarder control method based on quality identification |
| CN112706621A (en) * | 2020-12-31 | 2021-04-27 | 北京金万安汽车电子技术研发有限公司 | Deceleration anti-shake control method of new energy vehicle tandem type energy recovery system |
| CN113650591A (en) * | 2021-08-18 | 2021-11-16 | 一汽解放汽车有限公司 | Control method and system of hydraulic retarder, vehicle and storage medium |
| CN113984405A (en) * | 2021-10-18 | 2022-01-28 | 中国第一汽车股份有限公司 | Method for testing braking performance of retarder |
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Application publication date: 20181012 |
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