CN109159775A - A kind of electric mechanical supercharge control system and its control method - Google Patents
A kind of electric mechanical supercharge control system and its control method Download PDFInfo
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- CN109159775A CN109159775A CN201810890705.3A CN201810890705A CN109159775A CN 109159775 A CN109159775 A CN 109159775A CN 201810890705 A CN201810890705 A CN 201810890705A CN 109159775 A CN109159775 A CN 109159775A
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- control system
- pressure
- motor
- master control
- electric mechanical
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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
- B60T13/74—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
- B60T13/745—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 a hydraulic system, e.g. a master cylinder
-
- 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
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/36—Other control devices or valves characterised by definite functions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Abstract
Present invention discloses a kind of electric mechanical supercharge control systems, the signal wire of signal input part the connection pedal switch and pedal displacement sensor of master control system, vehicle is for being equipped with fluid pressure line between the hydraulic main cylinder and former vehicle EPS module of braking, the first external pressure retaining valve and the second external pressure retaining valve are respectively equipped on the inlet tube and outlet tube of the fluid pressure line, the signal output end of the master control system connects permanent magnet synchronous motor, the output axis connection electric mechanical pressure charging system input shaft of the permanent magnet synchronous motor, on the output mechanism of the electric mechanical pressure charging system and the hydraulic stem of hydraulic main cylinder, the signal input part of the status signal lines of the first external pressure retaining valve and the second external pressure retaining valve connection master control system.Electric mechanical supercharge control system of the present invention replaces former vehicle vacuum booster by a set of electric mechanical supercharging device (driving unit containing control), so that system is more safe and stable, reliable.
Description
Technical field
The present invention relates to intelligent vehicle technical fields, and in particular to a kind of electric mechanical supercharge control system and its controlling party
Method.
Background technique
Vehicle will realize the driving of intelligence auxiliary and automatic Pilot at present, require brake-by-wire and realize active brake.At present
The technology of comparative maturity mainly has three classes, and the first kind is the active brake system based on conventional hydraulic braking system, such as band active
The ESP of hydraulic booster.In addition one kind is the vacuum-assisted brake based on traditional vacuum power-assisted, such as EVB, in the base of traditional booster
Increase 3-position-3-way solenoid valve on plinth.Third class is exactly electric mechanical booster brake system.Increase by four increasings on four wheel cylinders
Pressure device, which realizes pressurization or increases electric mechanical supercharging device on former hydraulic main cylinder, realizes active boost.
First and second class pressure charging system, since the response time is long, about 500ms is unable to satisfy intelligent vehicle braking system and rings in real time
It should require.Third electron-like engine driven supercharging system, then response is fast, about 180ms.But motor is needed to continue stall when pressure maintaining, it sends out
Heat is big, and electric energy loss is big, motor easy burn-out, cannot achieve prolonged pressure and keeps.
Summary of the invention
The technical problem to be solved by the present invention is to brake when current intelligent vehicle electric handset tool active brake system pressure maintaining
The problem of motor can not continue stall, and calorific value is big, big energy-consuming and easy burn-out.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of electric mechanical supercharge control system, master control
The signal wire of signal input part the connection pedal switch and pedal displacement sensor of system processed, hydraulic main cylinder of the vehicle for braking
Fluid pressure line is equipped between former vehicle EPS module, it is external to be respectively equipped with first on the inlet tube and outlet tube of the fluid pressure line
The signal output end of pressure retaining valve and the second external pressure retaining valve, the master control system connects permanent magnet synchronous motor, and the permanent magnetism is same
Walk motor output axis connection electric mechanical pressure charging system input shaft, the output mechanism of the electric mechanical pressure charging system with it is hydraulic
On the hydraulic stem of master cylinder, the status signal lines connection master control system of the first external pressure retaining valve and the second external pressure retaining valve
Signal input part.
The master control system controls signal driving permanent magnet synchronous motor, institute by PWMA, PWMB, PWMC three-phase drive
Permanent magnet synchronous motor is stated equipped with motor position encoder, the motor position feedback position of encoder signal to master control system,
The permanent magnet synchronous motor feedback current I is to master control system.
The first off-board pressure transducer and the second off-board pressure transducer are in series on the inlet tube and outlet tube respectively,
First off-board pressure transducer and the second off-board pressure transducer output pressure signal are to master control system.
The master control system receives the target braking pressure signal reality that top level control system is sent by vehicle CAN network
Apply braking.
The electric mechanical pressure charging system is made of deceleration Zeng Ju mechanism and turbine and worm and rack gear, and the deceleration increases square
The input axis connection permanent magnet synchronous electric of mechanism, which is translatable, to be slided, and the rack gear is fixed on the hydraulic stem of hydraulic main cylinder, the rack gear
Translational direction it is identical as the telescopic direction of hydraulic stem.
The present invention replaces former vehicle vacuum booster by a set of electric mechanical supercharging device (driving unit containing control).It is mechanical
Displacement sensor is installed on brake pedal additional for detecting pedal displacement.When driver tramples brake pedal, the drive of supercharging device
After dynamic control unit captures the signal, rotation is converted translation by control driving motor driving deceleration Zeng Ju mechanism, to push away
Hydrodynamic pressure master cylinder implements braking.Outer string pressure retaining valve, which is realized, on double brake pipeline between master cylinder and former vehicle EPS control unit protects
Pressure, outer string pressure sensor realize pressure feedback.The final closed-loop control for realizing master cylinder hydraulic pressure pressure.
When pedal depresses, master cylinder hydraulic pressure pressure is in pressurization stages, by controlling the output electric current and output torque of motor,
The closed-loop control of master cylinder hydraulic pressure pressure is realized in combination with the pressure feedback of pressure sensor.
When brake pedal, which discharges, to be returned, the displacement of pedal return is detected by displacement sensor, then passes through reduction
Output electric current, that is, output torque of motor be forced by the turbine and worm non-self-lock-ing mechanism in electric mechanical booster body anti-
It moves back and realizes that pressure reduces.Or vector control algorithm and position by the position coder combination permanent magnet synchronous motor of electric machine built-in
Ring control algolithm is set, realizes accurate position control, and by real-time pressure feedback, realizes that the decompression of master cylinder hydraulic pressure pressure is closed
Ring control.
Electric mechanical supercharge control system of the present invention has the advantages that compared with existing electric mechanical pressure charging system
1, system has the non-self-lock-ing turbine and worm by booster body, and the output torque realization by reducing motor is forced
It is counter to move back, realize the control that pressure reduces or discharges.Or passes through motor reversal and exact position closed loop is combined to realize that pressure subtracts
Small or release control.It realizes the Redundancy Design that pressure reduces, improves security of system.
2, system realizes pressure closed loop feedback by two external hydraulic pressure sensors, while realizing that pressure feedback passes
The redundancy of sensor improves safety.
3, system realizes that service brake lengthy pressure is kept, in combination with electricity by two external pressure retaining valves of pressurization
Machine stall pressure maintaining realizes the Redundancy Design of pressure holding.When needing parking, by former vehicle parking braking system, realization is stayed
Vehicle braking.Overcoming existing electric mechanical pressure charging system cannot achieve the problem of long-time pressure is kept.It is stifled in combination with motor
Turn pressure maintaining, realizes the Redundancy Design of pressure holding.
Detailed description of the invention
Below to width attached drawing every in description of the invention expression content and figure in label be briefly described:
Fig. 1 is electric mechanical supercharge control system schematic diagram；
Label in above-mentioned figure is equal are as follows: 1, master control system；2, driving control system for electric machine；3, pedal switch；4, pedal
Displacement sensor；5, permanent magnet synchronous motor；6, electric mechanical pressure charging system；7, hydraulic main cylinder；8, the first external pressure retaining valve, 9,
Two external pressure retaining valves；10, the first off-board pressure transducer；11, the second off-board pressure transducer；12, former vehicle ESP module；13, whole
Vehicle CAN network；14 and motor position encoder.
Specific embodiment
As shown in Figure 1, electric mechanical supercharge control system system includes master control system 1；Driving control system for electric machine 2；
Pedal switch 3；Pedal displacement sensor 4；Permanent magnet synchronous motor 5；Electric mechanical pressure charging system 6；Hydraulic main cylinder 7；First is external
Pressure retaining valve 8, the second external pressure retaining valve 9；First off-board pressure transducer 10, the second off-board pressure transducer 11；Former vehicle ESP module
12, vehicle CAN network 13 and motor position encoder 14 form.
For master control system 1 for receiving pedal switch 3, the signal that pedal displacement sensor 4 inputs in real time works as pilot steering
When mode, for judging driver intention；When automatic driving mode, for having judged whether to manual intervention.When automatic
When driving mode, if receiving the target braking that top level control system is sent by vehicle CAN network 13 without manual intervention
Pressure signal implements braking.Master control system 1 controls signal to permanent magnet synchronous motor 5 by PWMA, PWMB, PWMC three-phase drive
It is controlled, and pressure closed loop control is carried out by feedback current I.
Driving control system for electric machine 2 controls signal by PWMA, PWMB, PWMC three-phase drive and controls permanent magnet synchronous motor 5.
Position-force control is realized to master control system by the position sensor Real-time Feedback position signal of motor 5 simultaneously.
The braking that pedal switch 3 is used to capture driver starts to act.
Pedal displacement sensor 4 is for capturing the intention of driver and trampling the displacement of brake pedal.
Permanent magnet synchronous motor 5 drives electric mechanical pressure charging system 6 to act on hydraulic main cylinder 7.Vector controlled is mainly used, is led to
Overdrive circuit generates three-phase alternating voltage driving motor, which makes motor pulsation small, and driving is steady, controls precision
It is high.
Electric mechanical pressure charging system 6 is mainly made of deceleration Zeng Ju mechanism and turbine and worm and rack gear, realizes increasing of slowing down
While square, translation is converted by rotation.
First external pressure retaining valve 8 and the second external pressure retaining valve 9 are connected between hydraulic main cylinder 7 and original vehicle EPS module 12
On dual circuit.Pressure when for service brake is kept.After closing this solenoid valve, driving motor can be closed, both reduce function
Consumption, while also cooling down to motor radiating.
First off-board pressure transducer 10 and the second off-board pressure transducer 11 are connected on hydraulic main cylinder 7 and former vehicle EPS mould
On dual circuit between block 12.For be pressurized and pressure maintaining period in pressure feedback, to realize the closed-loop control of pressure.
Former vehicle ESP module 12 is for realizing original vehicle stability control function.This active boost system is to former vehicle ESP mould
Block 12 does not have any influence.
When this system work is in pilot steering mode, master control system 1 receives pedal switch 3 and pedal displacement sensing
After the output signal of device 4, permanent magnet synchronous motor 5 is controlled by controlling driving control system for electric machine 2, at this time if pedal
In the stage that depresses, pressure rises, and master control system 1 mainly carries out pressure by the electric current I that driving control system for electric machine 2 is fed back
Closed-loop control, mainly according to the corresponding relationship between pedal displacement and master cylinder goal pressure.In braking process, if driver
When brake pedal discharges, master cylinder hydraulic pressure pressure needs to reduce.Master control system 1 passes through acquisition pedal displacement sensor 4 at this time
Pedal displacement signal judges the actual displacement of brake pedal, to reduce permanent magnet synchronous electric by control motor drive controller 2
The output electric current of machine 5, to reduce electric mechanical pressure charging system 6 to the thrust of hydraulic main cylinder 7.Or pass through control motor driven
Controller 2, control motor 5 inverts, while the position feedback of the motor position encoder 14 according to permanent magnet synchronous motor 5, to electricity
Machine carries out accurate position control, to reduce electric mechanical pressure charging system 6 to the thrust of hydraulic main cylinder 7.
When this system work is in automatic driving mode, master control system 1 receives master cylinder target pressure by CAN bus 13
Power, and pressure closed loop control is carried out by the electric current I that driving control system for electric machine 2 is fed back, realize the control of goal pressure.Work as mesh
When marking pressure increase, master control system 1 increases the output electric current of permanent magnet synchronous motor 5 by control driving control system for electric machine 2,
To increase electric mechanical pressure charging system 6 to the thrust of hydraulic main cylinder 7.When goal pressure reduces, master control system 1 passes through control
Motor drive controller 2 processed reduces the output electric current of permanent magnet synchronous motor 5, to reduce electric mechanical pressure charging system 6 to hydraulic
The thrust of master cylinder 7.Or by control motor drive controller 2, control permanent magnet synchronous motor 5 is inverted, while same according to permanent magnetism
The position feedback for walking the motor position encoder 14 of motor 5 carries out accurate position control to motor, to reduce electric mechanical
Thrust of the pressure charging system 6 to hydraulic main cylinder 7.
When master control system 1 judge driver's release brake pedal by the feedback signal of pedal switch 3 or master control
System processed by CAN bus receive master cylinder target hydraulic pressure be 0 when, active boost system discharges completely, master control system 1
Motor 5 is controlled by control driving control system for electric machine 2 to invert, and by the feedback current I of control drive system 2, is tied simultaneously
The position feedback for closing motor position encoder 14 judges the whether complete return of electric mechanical booster body.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (9)
1. a kind of electric mechanical supercharge control system, the signal input part connection pedal switch and pedal displacement of master control system are passed
The signal wire of sensor, vehicle is for being equipped with fluid pressure line, the fluid pressure line between the hydraulic main cylinder and former vehicle EPS module of braking
Inlet tube and outlet tube on be respectively equipped with the first external pressure retaining valve and the second external pressure retaining valve, it is characterised in that: the master control
The signal output end of system processed connects permanent magnet synchronous motor, and the output axis connection electric mechanical of the permanent magnet synchronous motor is pressurized system
System input shaft, using the permanent magnet synchronous motor stall pressure maintaining, the output mechanism and Hydraulic Main of the electric mechanical pressure charging system
On the hydraulic stem of cylinder, the letter of the status signal lines connection master control system of the first external pressure retaining valve and the second external pressure retaining valve
Number input terminal.
2. electric mechanical supercharge control system according to claim 1, it is characterised in that: the master control system passes through
PWMA, PWMB, PWMC three-phase drive control signal and drive permanent magnet synchronous motor, and the permanent magnet synchronous motor is compiled equipped with motor position
Code device, the motor position feedback position of encoder signal is to master control system, the permanent magnet synchronous motor feedback current I to master
Control system.
3. electric mechanical supercharge control system according to claim 2, it is characterised in that: on the inlet tube and outlet tube
It is in series with the first off-board pressure transducer and the second off-board pressure transducer, first off-board pressure transducer and second respectively
Off-board pressure transducer output pressure signal is to master control system.
4. electric mechanical supercharge control system according to claim 1,2 or 3, it is characterised in that: the master control system
The target braking pressure signal that top level control system is sent, which is received, by vehicle CAN network implements braking.
5. electric mechanical supercharge control system according to claim 4, it is characterised in that: the electric mechanical pressure charging system
It is made of deceleration Zeng Ju mechanism and turbine and worm and rack gear, the input axis connection permanent magnet synchronous electric of deceleration Zeng Ju mechanism is flat
Dynamic sliding, the rack gear are fixed on the hydraulic stem of hydraulic main cylinder, the translational direction of the rack gear and the telescopic direction of hydraulic stem
It is identical.
6. the control method based on the electric mechanical supercharge control system as described in any in claim 1-5, it is characterised in that:
Pedal switch and pedal displacement sensor real time output are to master control system；
When driver tramples brake pedal, after the drive control unit of supercharging device captures the signal, control driving permanent magnetism
Synchronous motor, and then deceleration Zeng Ju mechanism is driven to convert translation for rotation, so that hydraulic main cylinder be pushed to implement braking.
7. control method according to claim 6, it is characterised in that: when this system work is in pilot steering mode:
If pedal is in and depresses the stage, master control system according to current pedal switching signal driving motor driving control system,
Master cylinder current pressure is obtained according to the electric current I of driving control system for electric machine feedback simultaneously, is pushed by comparing current pedal switch
The corresponding master cylinder goal pressure in position and master cylinder current pressure, the driving signal of amendment master control system output；
If pedal is in the release stage, master control system drives according to the pedal displacement signal electric machine of current pedal displacement sensor
Autocontrol system, while permanent magnet synchronous motor is obtained according to the permanent magnet synchronous motor turned position of motor position encoder feedback and is worked as
Front position, by compare current pedal displacement sensor the corresponding permanent magnet synchronous motor target position in pedal displacement position with forever
Magnetic-synchro motor current location, the driving signal of amendment master control system output.
8. control method according to claim 6 or 7, it is characterised in that: when this system work is in automatic driving mode:
Master control system receives master cylinder goal pressure, and the electric current I fed back by driving control system for electric machine by CAN bus
Pressure closed loop control is carried out, realizes the control of goal pressure；
When goal pressure increases, master control system increases the output of permanent magnet synchronous motor by control driving control system for electric machine
Electric current, to increase electric mechanical pressure charging system to the thrust of hydraulic main cylinder；
When goal pressure reduces, master control system reduces the output electric current of motor by control motor drive controller, thus
Reduce electric mechanical pressure charging system to the thrust of hydraulic main cylinder；Or by control motor drive controller, motor reversal is controlled,
Simultaneously according to the position feedback of the motor position encoder of motor, accurate position control is carried out to motor, to reduce electronics
Thrust of the engine driven supercharging system to hydraulic main cylinder.
9. control method according to claim 8, it is characterised in that: when the feedback letter that master control system passes through pedal switch
Number judge when driver discharges brake pedal or master control system to receive master cylinder target hydraulic pressure by CAN bus be 0
When, active boost system discharges completely, and master control system controls motor reversal by control driving control system for electric machine, and passes through
The feedback current I for controlling drive system, judges electric mechanical booster body in combination with the position feedback of motor position encoder
Whether complete return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810890705.3A CN109159775A (en) | 2018-08-07 | 2018-08-07 | A kind of electric mechanical supercharge control system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810890705.3A CN109159775A (en) | 2018-08-07 | 2018-08-07 | A kind of electric mechanical supercharge control system and its control method |
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| CN109159775A true CN109159775A (en) | 2019-01-08 |
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| CN201810890705.3A Pending CN109159775A (en) | 2018-08-07 | 2018-08-07 | A kind of electric mechanical supercharge control system and its control method |
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Cited By (3)
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| CN111002966A (en) * | 2019-12-24 | 2020-04-14 | 精诚工科汽车系统有限公司 | Vehicle brake control method and device and line control power-assisted brake system |
| CN111361534A (en) * | 2020-02-25 | 2020-07-03 | 苏州挚途科技有限公司 | Method and device for controlling pressure of main cylinder |
| CN116118686A (en) * | 2022-12-23 | 2023-05-16 | 吉林大学 | Automobile brake slip rate control method based on integrated electro-hydraulic brake system |
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| CN116118686A (en) * | 2022-12-23 | 2023-05-16 | 吉林大学 | Automobile brake slip rate control method based on integrated electro-hydraulic brake system |
| CN116118686B (en) * | 2022-12-23 | 2024-07-30 | 吉林大学 | Automobile brake slip rate control method based on integrated electro-hydraulic brake system |
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Application publication date: 20190108 |