CN108791252A - A kind of brake control method of drum type braking device, system and relevant apparatus - Google Patents
A kind of brake control method of drum type braking device, system and relevant apparatus Download PDFInfo
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- CN108791252A CN108791252A CN201810594985.3A CN201810594985A CN108791252A CN 108791252 A CN108791252 A CN 108791252A CN 201810594985 A CN201810594985 A CN 201810594985A CN 108791252 A CN108791252 A CN 108791252A
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- trigger point
- limit signal
- signal trigger
- oil
- tappet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
This application discloses a kind of brake control method of drum type braking device, the brake control method includes the torque command for receiving controller and sending；Oil tappet compression cylinder of the corresponding actual torque driving of the rated moment percentage positioned at initial position is exported using electric current loop, so as to realize brake operation；Wherein, the initial position is limit signal trigger point；When it is zero to detect the corresponding rated moment percentage of the torque command, switches to speed ring and control described in the oil tappet to the movement of limit signal trigger point direction until stopping at the limit signal trigger point.This method can after executing brake operation accurate, Rapid reset oil tappet.Disclosed herein as well is a kind of brake control system of drum type braking device, a kind of computer readable storage medium and a kind of drum type braking devices, have the above advantageous effect.
Description
Technical field
The present invention relates to technical field of vehicle control, more particularly to a kind of brake control method of drum type braking device is
System, a kind of computer readable storage medium and a kind of drum type braking device.
Background technology
Drum type braking device is a kind of device being widely used in vehicle braking, and generally drum type braking device includes stopping
The components such as car bottom plate, brake rim, drum brake oil pump, Oil pump electrical machinery and the servo-driver of the control Oil pump electrical machinery rotation.Drum
Formula brake gear is rotated by servo-driver control oil pump motor, and then the oil tappet movement of drum brake oil pump is driven to change drum
Pressure in brake oil pump, and then realize brake operation.Oil tappet is relative to drum brake oil pump during above-mentioned brake operation
Position change, therefore for convenience carry out next time brake operation needed after this brake operation to oil tappet into
Row resets.
In the prior art, drum brake oil pump device realizes the reset of oil tappet by the method for calibration, i.e., in car body
When being assembled to half, the electric current of test recycling oil pressure putter action, brake operation carry out oil according to the electric current later repeatedly
The reset of push rod is pressed, but since brake travel difference can cause different current values, this scheme that can cause to collide mechanical position limitation
The case where.Moreover, the calibration technique is needed to interrupt assemble flow and be tested repeatedly, also relate to the case where unfinished vehicle assembles
Under with regard to oil-feed pump oiling the problem of, it is desirable that drum brake oil pump will in advance be completed before electrical assembly, influence technical flow design.
Therefore, how after executing brake operation it is accurate, Rapid reset oil tappet is those skilled in the art needs at present
Technical problems to be solved.
Invention content
The purpose of the application is to provide a kind of brake control method of drum type braking device, system, a kind of computer-readable
Storage medium and a kind of drum type braking device, can after executing brake operation accurate, Rapid reset oil tappet.
In order to solve the above technical problems, the application provides a kind of brake control method of drum type braking device, the brake control
Method processed includes：
Receive the torque command that controller is sent；Wherein, the torque command includes rated moment percentage；
The corresponding actual torque of the rated moment percentage is exported using electric current loop, to drive the oil positioned at initial position
Push rod compression cylinder is pressed to realize brake operation；Wherein, the initial position is limit signal trigger point；
When it is zero to detect the corresponding rated moment percentage of the torque command, switches to speed ring and control the oil
It is moved to limit signal trigger point direction described in pressure push rod until stopping at the limit signal trigger point.
Optionally, oil tappet compression cylinder is being driven according to the corresponding actual torque of the rated moment non-standard output signal
Before, further include：
Receive the back to zero speed that the controller is sent；
It is moved to limit signal trigger point direction correspondingly, switching to speed ring and controlling the oil tappet until stopping at
The limit signal trigger point includes：
It is straight to the movement of limit signal trigger point direction with the back to zero speed to switch to the speed ring control oil tappet
To stopping at the limit signal trigger point.
Optionally, it switches to speed ring and controls the oil tappet to the movement of limit signal trigger point direction until stopping at
The limit signal trigger point includes：
It switches to the speed ring and controls the oil tappet to the movement of limit signal trigger point direction；
Judge whether the optoelectronic switch positioned at the limit signal trigger point detects the oil tappet；
If so, controlling the oil tappet using the speed ring stops movement, so that the oil tappet stops at
The limit signal trigger point.
Optionally, further include：
Detect whether the oil tappet is in the limit signal trigger point according to predetermined period；
If so, exporting the reset signal that the oil tappet has resetted.
Present invention also provides a kind of brake control system of drum type braking device, which includes：
Receiving module, the torque command for receiving controller transmission；Wherein, the torque command includes rated moment hundred
Divide ratio；
Brake module, for exporting the corresponding actual torque of the rated moment percentage using electric current loop, to drive position
Brake operation is realized in the oil tappet compression cylinder of initial position；Wherein, the initial position is limit signal trigger point；
Reseting module, for when it is zero to detect the corresponding rated moment percentage of the torque command, switching to speed
Degree ring is controlled and is moved to limit signal trigger point direction until stopping at the limit signal trigger point described in the oil tappet.
Optionally, further include：
Back to zero speed receiving module, the back to zero speed sent for receiving the controller；
Correspondingly, the reseting module be specially switch to speed ring control the oil tappet with the back to zero speed to
The movement of limit signal trigger point direction is until stop at the module of the limit signal trigger point.
Optionally, the reseting module includes：
Mobile unit controls the oil tappet to limit signal trigger point direction for switching to the speed ring
It is mobile；
Judging unit, for judging whether the optoelectronic switch positioned at the limit signal trigger point detects that the oil pressure pushes away
Bar；
Stop unit, for when optoelectronic switch detects the oil tappet, the oil to be controlled using the speed ring
Push rod is pressed to stop movement, so that the oil tappet stops at the limit signal trigger point.
Optionally, further include：
Reset detection module, for whether detecting the oil tappet in limit signal triggering according to predetermined period
Point；
Reminding module is resetted, for when the oil tappet is in the limit signal trigger point, exporting the oil pressure
The reset signal that push rod has resetted.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer
Program realizes the step of brake control method of above-mentioned drum type braking device executes when executing.
Present invention also provides a kind of drum type braking devices, including motor servo driver, drum brake oil pump, memory and place
Manage device；The motor servo driver is used to pass through speed ring, electric current loop and position ring control oil pump motor；The drum brake oil pump
For realizing brake operation under the promotion of the oil tappet of the Oil pump electrical machinery；Computer journey is stored in the memory
Sequence, the processor realize the brake control method of above-mentioned drum type braking device when calling the computer program in the memory
The step of execution.
The present invention provides a kind of brake control methods of drum type braking device, including：Receive the torque that controller is sent
Instruction；Wherein, the torque command includes rated moment percentage；It is corresponding that the rated moment percentage is exported with electric current loop
Actual torque, to drive the oil tappet compression cylinder positioned at initial position to realize brake operation；Wherein, the initial position is
Limit signal trigger point；When it is zero to detect the corresponding rated moment percentage of the torque command, speed ring control is switched to
It makes and is moved to limit signal trigger point direction until stopping at the limit signal trigger point described in the oil tappet.
Rated moment percentage in the torque command that the present invention is sent according to controller executes specific brake operation,
Due to needing the torque for keeping output stable when executing brake operation, needed in electricity during executing brake operation
It flows and executes relevant operation under the operating mode of ring.Oil tappet is by rated moment percentage during executing brake operation
The effect compression cylinder of corresponding torque, since oil tappet can leave limit signal to oil tappet during compression cylinder
Trigger point is until oil tappet stress balance.After brake operation, controller changes into the rated moment percentage of transmission
Zero, it can be confirmed need to execute the operation that oil tappet resets at this time.Oil tappet needs to keep stabilization during resetting
Speed, therefore need during oil tappet resets the operating mode for being switched to speed ring.Although it is worth noting that, watching
Take driver under enabled state cannot random switching working mode, but since this programme is the nominal force sent in controller
The operating mode that square percentage switches when being zero, and there is no enabled troublesome operation is needed, be directly switched to electric current loop
Speed ring, final oil pressure push rod are reset to limit signal trigger point under the operating mode of speed ring.The standard of oil tappet
It really resets so that the good performance of drum type braking device holding, improves the service life of drum type braking device.This programme can
Accurate, the Rapid reset oil tappet after executing brake operation.The application additionally provides a kind of brake of drum type braking device simultaneously
Vehicle control, a kind of computer readable storage medium and a kind of drum type braking device have above-mentioned advantageous effect, herein no longer
It repeats.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for ordinary skill people
For member, without creative efforts, other drawings may also be obtained based on these drawings.
A kind of flow chart of the brake control method for drum type braking device that Fig. 1 is provided by the embodiment of the present application；
The flow chart of the brake control method for another drum type braking device that Fig. 2 is provided by the embodiment of the present application；
A kind of structural schematic diagram of the brake control system for drum type braking device that Fig. 3 is provided by the embodiment of the present application；
Fig. 4 is the structural schematic diagram of drum type braking device.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Fig. 1, a kind of brake control method for drum type braking device that Fig. 1 is provided by the embodiment of the present application are referred to below
Flow chart.
Specific steps may include：
S101：Receive the torque command that controller is sent；
Wherein, the torque command includes rated moment percentage, which is exactly wanted reality output
Torque account for the percent value (0%~100%) of rated moment.Certainly, there may also be according to the power in the present embodiment
Square instructs to obtain the operation of rated moment percentage.Rated moment refers to the rated moment of Oil pump electrical machinery, rated moment percentage
It is to be determined by controller, the concrete numerical value of rated moment percentage is not defined herein.It is understood that specified
Torque percentage can be a revocable value changed with brake operation.It should be noted that receiving torque command
Operation needs to repeat in subsequent steps, i.e., after controller has sent control instruction, it is necessary to execute reception
The operation of square instruction, and corresponding operation is executed according to torque command.
S102：The corresponding actual torque of the rated moment percentage is exported using electric current loop, initial bit is located at driving
The oil tappet compression cylinder set realizes brake operation；Wherein, the initial position is limit signal trigger point；
Wherein, under the premise of this step is built upon the rated moment percentage that S101 receives controller transmission, into
And electric current loop is utilized to export the corresponding actual torque of the rated moment percentage.It is noted that being mentioned in the present embodiment
Electric current loop, speed ring be motor servo driver operating mode, in addition to this two, the Working mould of motor servo driver
Formula further includes position ring.Motor servo driver is made of tricyclic nesting, when motor is operated under the operating mode of electric current loop, control
Variable processed is exactly the percentage of torque, and speed ring and position ring are stopped；When motor is operated under the operating mode of speed ring,
Control variable is speed, and electric current loop and position ring become the inner ring of speed ring, receive to execute the output from speed ring；Work as motor
It is operated under the ring mode of position, control variable is the turned position of motor, and speed ring and electric current loop all become interior capel, execute and
From the output of position ring.
In brief, electric current loop actually refers to current feedback system, the Oil pump electrical machinery under the operating mode of electric current loop
Torque is the unique control parameter of servo-driver；Speed ring actually refers to rate feedback system, in the Working mould of speed ring
The speed for the oil tappet that Oil pump electrical machinery drives under formula is the unique control parameter of servo-driver；Position ring actually refers to position
Reponse system is set, the position that Oil pump electrical machinery rotates under the operating mode of position ring is the unique control parameter of servo-driver.
The actual torque exported in this step is that the rated moment percentage issued according to controller obtains, due to volume
It can be a revocable value to determine torque percentage, thus export actual torque be also with rated moment percentage variation and
Variation.Such as：The rated moment percentage at current time is 20%, rated moment 1000Nm, then current time output
Actual torque be 200Nm；If the rated moment percentage of subsequent time is 10%, the actual torque of subsequent time output
For 100Nm.Due to this step need the actual torque that exports be it is corresponding with rated moment percentage, this step be
It is realized under the operating mode of electric current loop.
S103：When it is zero to detect the corresponding rated moment percentage of the torque command, speed ring control is switched to
It is moved to limit signal trigger point direction until stopping at the limit signal trigger point described in the oil tappet.
Wherein, since rated moment percentage is determined by controller, it is not limited to invariable value, because
The corresponding rated moment percentage of this torque command before S103 can sport zero, can also be slowly to fall to zero,
Zero detailed process is not dropped to rated moment percentage herein to be defined, but this step is to be happened at rated moment in a word
Under the premise of percentage becomes zero.
It is understood that there is the operation for detecting rated moment percentage according to predetermined period in this step acquiescence, only
Otherwise the step of can just being executed described in S103 when rated moment percentage becomes zero, needs to repeat in S101, S102
Step is until the corresponding rated moment percentage of torque command becomes zero.Since the purpose of the reset operation of oil tappet is to make oil
Pressure push rod restores to initial position, and mechanical interference does not occur with other mechanical structures in reseting procedure, therefore this programme is adopted
With the rotating speed of speed ring operating mode control oil pump motor and then realize control to oil tappet reset speed, avoid the occurrence of because
Collision phenomenon caused by excessive velocities.The speed of oil tappet in reseting procedure is not defined herein, as long as convenient for control
The speed that oil tappet processed resets, as a preferred embodiment, the back to zero speed of controller transmission can be received；
Control oil tappet is moved to limit signal trigger point direction with the back to zero speed and is triggered until stopping at the limit signal
Point.It can be by the way that optoelectronic switch be arranged in limit signal trigger point, when detecting that oil tappet moves to limit signal trigger point
When, the speed of oil tappet is changed into zero under speed ring operating mode, and then realize oil tappet it is accurate, reply immediately soon
Position.It is worth noting that, this programme is pushed away indeed through the operating mode of switching motor servo driver come the oil pressure realized
The operation that bar resets, the operating mode for usually switching motor servo driver has to first to go to enable, switch operating mould again
Formula finally enables again, but since the present embodiment is first to carry out brake operation under electric current loop, when the reality under electric current loop
The reset operation that speed ring carries out oil tappet is switched to when torque becomes zero again, realize two kinds of operating modes without seaming and cutting
It changes, avoids and enable, restore enabled tedious steps.
Rated moment percentage that the present embodiment is sent according to controller executes specific brake operation, due to executing
The torque for keeping output stable is needed when brake operation, therefore the work in electric current loop is needed during executing brake operation
Relevant operation is executed under pattern.Oil tappet is by the corresponding torque of rated moment percentage during executing brake operation
Effect compression cylinder, due to oil tappet during compression cylinder oil tappet can leave limit signal trigger point until
Oil tappet stress balance.After brake operation, the rated moment percentage of transmission is reverted to zero by controller, at this time can be with
Confirm and needs to execute the operation that oil tappet resets.Oil tappet needs holding stable speed during resetting, therefore
Oil tappet needs the operating mode for being switched to speed ring during resetting.It is worth noting that, although servo-driver exists
Under enabled state cannot random switching working mode, but since the present embodiment is the rated moment percentage sent in controller
The operating mode switched when being zero, and there is no enabled troublesome operation is needed, electric current loop is directly switched to speed ring i.e.
Seamless switching can may be implemented between electric current loop and speed ring, final oil pressure push rod is reset to limit under the operating mode of speed ring
Position signal trigger point.The parking position accuracy of oil tappet makes drum type braking device keep good performance, improves drum brakes
The service life of device.This programme can after executing brake operation accurate, Rapid reset oil tappet.
Fig. 2, the brake controlling party for another drum type braking device that Fig. 2 is provided by the embodiment of the present application are referred to below
The flow chart of method；
Specific steps may include：
S201：Receive the rated moment percentage and back to zero speed that controller is sent；
S202：The corresponding actual torque of the rated moment percentage is exported using electric current loop, initial bit is located at driving
The oil tappet compression cylinder set realizes brake operation；Wherein, the initial position is limit signal trigger point；
S203：When it is zero to detect the corresponding rated moment percentage of torque command, the speed ring control is switched to
The oil tappet is moved to limit signal trigger point direction；
S204：Judge whether the optoelectronic switch positioned at the limit signal trigger point detects the oil tappet；If so,
Then enter S205；If it is not, then entering S204；
S205：The oil tappet is controlled using the speed ring and stops movement, so that the oil tappet stops at institute
State limit signal trigger point.
Certainly, there may also be detect whether the oil tappet is in the limit according to predetermined period except this step
The operation of position signal trigger point；If detecting, the reset signal that the oil tappet has resetted is exported, to notify work people
Member's oil tappet, which has resetted, to be finished, other relevant operations can be executed.
Wherein, rated moment percentage and back to zero speed are the control instructions issued by controller in the present embodiment,
Rated moment percentage about brake torque possesses limited execution grade, when rated moment percentage is zero,
Motor servo driver can just drive oil tappet to return to limit signal trigger point after back to zero speed.In above process,
The feedback that motor servo driver can continue to read electric current loop and speed ring selects control ring and control according to actual demand
Variable processed realizes the switching of two kinds of operating modes in the case where not going enabled.
Method described in above-described embodiment can utmostly reduce the calibration demand in actual production, make full use of
The characteristics of motor servo driver, the control of forward current ring, inverted speed ring control, in the premise for ensureing braking effect consistency
Under, reduce the impact to machinery.
Illustrate the flow of above-described embodiment description below by embodiment in practical applications.
Under the scene using canOpen as communications protocol, two control variables can be by under the same PDO data packets
Hair.Such as comprising two variables of 0x60FF (back to zero speed) and 0x6071 (brake torque) in PDO#1.It is examined based on safety
Consider, brake torque possesses preferential execution level, and when brake torque is zero, driver can be according to back to zero speed control
Limit signal trigger point is returned to after oil tappet.
Refer to Fig. 3, a kind of knot of the brake control system for drum type braking device that Fig. 3 is provided by the embodiment of the present application
Structure schematic diagram；
The system may include：
Receiving module 100, the torque command for receiving controller transmission；Wherein, the torque command includes nominal force
Square percentage；
Brake module 200, for exporting the corresponding actual torque of the rated moment percentage using electric current loop, with driving
Oil tappet compression cylinder positioned at initial position realizes brake operation；Wherein, the initial position is limit signal trigger point；
Reseting module 300, for when it is zero to detect the corresponding rated moment percentage of the torque command, switching to
Speed ring is controlled and is moved to limit signal trigger point direction until stopping at the limit signal triggering described in the oil tappet
Point.
Further, which further includes：
Back to zero speed receiving module, the back to zero speed sent for receiving the controller；
Correspondingly, the reseting module 300 is specially to switch to the speed ring to control the oil tappet with described time
Zero velocity is moved to limit signal trigger point direction until stopping at the module of the limit signal trigger point.
Further, the reseting module 300 can also include：
Mobile unit controls the oil tappet to limit signal trigger point direction for switching to the speed ring
It is mobile；
Judging unit, for judging whether the optoelectronic switch positioned at the limit signal trigger point detects that the oil pressure pushes away
Bar；
Stop unit, for when optoelectronic switch detects the oil tappet, the oil to be controlled using the speed ring
Push rod is pressed to stop movement, so that the oil tappet stops at the limit signal trigger point.
Further, which further includes：
Reset detection module, for whether detecting the oil tappet in limit signal triggering according to predetermined period
Point；
Reminding module is resetted, for when the oil tappet is in the limit signal trigger point, exporting the oil pressure
The reset signal that push rod has resetted.
Since the embodiment of components of system as directed is corresponded with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and the step of above-described embodiment is provided may be implemented.The storage medium may include：USB flash disk, read-only is deposited mobile hard disk
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or
The various media that can store program code such as CD.
Present invention also provides a kind of drum type braking devices, may include motor servo driver, drum brake oil pump, memory
And processor, the motor servo driver are used for through speed ring, electric current loop and position ring control oil pump motor, the drum brake
Oil pump has computer journey for realizing brake operation under the promotion of the oil tappet of the Oil pump electrical machinery in the memory
The step of above-described embodiment is provided may be implemented when the processor calls the computer program in the memory in sequence.When
The right drum type braking device can also include various network interfaces, the components such as power supply.Fig. 4 is referred to, Fig. 4 fills for drum brakes
The structural schematic diagram set, wherein 1 being motor servo driver, 2 being oil tappet, 3 be drum brake oil pump, 4 being servo motor, servo
Motor driver 1 compresses the oil cylinder of drum brake oil pump 3 by servo motor 4 drives oil tappet 2 to move.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the application scope of the claims
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of brake control method of drum type braking device, which is characterized in that including：
Receive the torque command that controller is sent；Wherein, the torque command includes rated moment percentage；
The corresponding actual torque of the rated moment percentage is exported using electric current loop, to drive the oil pressure positioned at initial position to push away
Bar compression cylinder realizes brake operation；Wherein, the initial position is limit signal trigger point；
When it is zero to detect the corresponding rated moment percentage of the torque command, switches to the speed ring control oil pressure and push away
It is moved to limit signal trigger point direction until stopping at the limit signal trigger point described in bar.
2. brake control method according to claim 1, which is characterized in that exporting the rated moment hundred using electric current loop
Before dividing than corresponding actual torque, further include：
Receive the back to zero speed that the controller is sent；
It is moved to limit signal trigger point direction correspondingly, switching to speed ring and controlling the oil tappet until stopping at described
Limit signal trigger point includes：
It is straight to the movement of limit signal trigger point direction with the back to zero speed to switch to the speed ring control oil tappet
To stopping at the limit signal trigger point.
3. brake control method according to claim 1, which is characterized in that switch to speed ring control the oil tappet to
Limit signal trigger point direction is moved includes up to stopping at the limit signal trigger point：
It switches to the speed ring and controls the oil tappet to the movement of limit signal trigger point direction；
Judge whether the optoelectronic switch positioned at the limit signal trigger point detects the oil tappet；
If so, controlling the oil tappet using the speed ring stops movement so that the oil tappet stop at it is described
Limit signal trigger point.
4. brake control method according to claim 1, which is characterized in that further include：
Detect whether the oil tappet is in the limit signal trigger point according to predetermined period；
If so, exporting the reset signal that the oil tappet has resetted.
5. a kind of brake control system of drum type braking device, which is characterized in that including：
Receiving module, the torque command for receiving controller transmission；Wherein, the torque command includes rated moment percentage
Than；
Brake module is located at just for exporting the corresponding actual torque of the rated moment percentage using electric current loop with driving
The oil tappet compression cylinder of beginning position realizes brake operation；Wherein, the initial position is limit signal trigger point；
Reseting module, for when it is zero to detect the corresponding rated moment percentage of the torque command, switching to speed ring
It controls and is moved to limit signal trigger point direction until stopping at the limit signal trigger point described in the oil tappet.
6. brake control system according to claim 5, which is characterized in that further include：
Back to zero speed receiving module, the back to zero speed sent for receiving the controller；
Correspondingly, the reseting module be specially switch to the speed ring control the oil tappet with the back to zero speed to
The movement of limit signal trigger point direction is until stop at the module of the limit signal trigger point.
7. brake control system according to claim 5, which is characterized in that the reseting module includes：
Mobile unit controls the oil tappet to the shifting of limit signal trigger point direction for switching to the speed ring
It is dynamic；
Judging unit, for judging whether the optoelectronic switch positioned at the limit signal trigger point detects the oil tappet；
Stop unit, for when optoelectronic switch detects the oil tappet, controlling the oil pressure using the speed ring and pushing away
Bar stops movement, so that the oil tappet stops at the limit signal trigger point.
8. brake control system according to claim 5, which is characterized in that further include：
Reset detection module, for detecting whether the oil tappet is in the limit signal trigger point according to predetermined period；
Reminding module is resetted, for when the oil tappet is in the limit signal trigger point, exporting the oil tappet
The reset signal resetted.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor such as Claims 1-4 any one of them drum type braking device
The step of brake control method.
10. a kind of drum type braking device, which is characterized in that including：
Motor servo driver, for passing through speed ring, electric current loop and position ring control oil pump motor；
Drum brake oil pump, for realizing brake operation under the promotion of the oil tappet of the Oil pump electrical machinery；
Memory, for storing computer program；
Processor executes such as Claims 1-4 any one of them drum type braking device when for executing the computer program
Brake control method the step of.
Priority Applications (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968138A (en) * | 2021-11-10 | 2022-01-25 | 武汉萨普科技股份有限公司 | Vehicle antiskid method |
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| JP2017019427A (en) * | 2015-07-13 | 2017-01-26 | トヨタ自動車株式会社 | Electric vehicle |
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| JPH08324416A (en) * | 1995-06-01 | 1996-12-10 | Mitsubishi Motors Corp | Braking force control method |
| DE102010040726A1 (en) * | 2010-09-14 | 2012-03-15 | Robert Bosch Gmbh | Method for controlling a brake system of a motor vehicle and brake system for a motor vehicle |
| CN104143011A (en) * | 2013-05-09 | 2014-11-12 | 广州汽车集团股份有限公司 | Braking system matching analysis method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113968138A (en) * | 2021-11-10 | 2022-01-25 | 武汉萨普科技股份有限公司 | Vehicle antiskid method |
| CN113968138B (en) * | 2021-11-10 | 2024-09-03 | 武汉萨普科技股份有限公司 | Anti-skid method for vehicle |
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| CN108791252B (en) | 2020-03-17 |
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