CN109204283B - Electronic hydraulic braking system for acquiring braking intention based on motor - Google Patents
Electronic hydraulic braking system for acquiring braking intention based on motor Download PDFInfo
- Publication number
- CN109204283B CN109204283B CN201811271713.6A CN201811271713A CN109204283B CN 109204283 B CN109204283 B CN 109204283B CN 201811271713 A CN201811271713 A CN 201811271713A CN 109204283 B CN109204283 B CN 109204283B
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- motor
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- braking
- hydraulic
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- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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
- 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
Abstract
An electro-hydraulic braking system based on motor acquisition braking intention comprises a pedal, a spring, a first motion module, a second motion module, a third motion module, a second motor, an electric control unit, an electric control circuit, an ABS/ESP module and various hydraulic elements. The first motion module consists of a screw rod, a screw rod nut and a first motor. The second motion module consists of a screw nut, a gear, an electromagnetic clutch and a rack. The third movement module consists of a worm, a turbine and a rack structure. The first motor can be used as a generator to acquire a brake signal of a driver, and can also be used as a motor to provide braking force to realize braking failure protection, and the first motor is used for replacing a sensor in the electronic hydraulic brake system, so that the manufacturing cost is saved; the pedal and the hydraulic cylinder are mechanically connected, and the two main hydraulic pipelines of the double motors can prevent braking failure, so that the safety of the automobile is greatly improved.
Description
Technical Field
The invention relates to the technical field of automobile braking, in particular to an electronic hydraulic braking system for acquiring braking intention based on a motor.
Background
An electro-hydraulic brake system (EHB) is a type of brake-by-wire system that requires no mechanical connection to transmit the force of the driver's pedal to a brake disc or drum when the driver depresses the pedal. The principle is that the braking intention of a driver is obtained through devices such as a pedal force sensor, a displacement sensor and the like, and then a motor is adopted to provide braking force according to the braking intention of the driver.
Most of the current electronic brake hydraulic systems consist of a brake pedal unit, a hydraulic driving unit, a brake executing unit, a control unit, a sensor and the like. The existing electronic hydraulic braking system mostly adopts a single motor and a single hydraulic pipeline, and when the motor fails or the hydraulic pipeline has a problem, the braking system fails, so that the safety is poor. There is a need for improvements to the original hydraulic brake system. For example, a double-motor electronic hydraulic brake system is adopted, and when one motor fails, the other motor can provide braking force in time to provide failure protection for the vehicle.
A dual motor driven electro-hydraulic brake system has application number 201410008403.0. Wherein, a double motor is adopted to realize the braking failure protection. Brake failure is typically caused by insufficient hydraulic line fluid level and hydraulic line air ingress. The main hydraulic line connected to the master cylinder is a major component causing brake failure due to the high pressure experienced over a long period of time. The double motors of the above patent share one hydraulic pipeline, and once the hydraulic pipeline has a problem, the braking protection cannot be realized. The invention adopts double motors to prevent motor failure, and prevents brake failure caused by insufficient liquid level of the hydraulic pipeline and air entering of the hydraulic pipeline through double main hydraulic pipelines. Most of the existing electro-hydraulic brake systems adopt various complex sensors, and have high cost and complex installation. According to the characteristics of the motor, electromagnetic signals can be obtained through the motor, so that various sensors can be replaced, and the cost is saved.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems of the prior art, and provides an electro-hydraulic brake system for acquiring a brake intention based on motors, in which various sensors are omitted for acquiring a driver's brake intention through one of the motors. The design of double motors and double main hydraulic pipelines is realized, so that the whole electronic hydraulic braking system is safer and the cost is lower.
The invention can be realized by the following technical scheme: an electro-hydraulic braking system based on motor acquisition braking intention comprises a pedal, a spring, a first motion module, a second motion module, a third motion module, a second motor, an electric control unit, an electric control circuit, an AD converter and various hydraulic elements. The first motion module consists of a screw rod, a screw rod nut and a first motor. The second motion module consists of a screw nut, a gear, an electromagnetic clutch and a rack. The third movement module consists of a worm, a turbine and a rack structure. The hydraulic component comprises a hydraulic cylinder, an electromagnetic valve, a hydraulic pipeline and wheel cylinders.
When the brake is applied, a driver presses the pedal, the pedal motion is transmitted to the first motor through the first motion module, the pedal is connected with the screw rod, the linear motion of the screw rod is converted into rotation of the screw rod nut, the screw rod nut is fixedly connected with the motor rotor, and the motor rotor rotates. At the moment, the first motor generates electricity to generate induced electromotive force, and the generated analog electric signal is converted into a digital electric signal through the AD converter and is transmitted to the electric control unit. The first motor can be used as both a generator and a motor; the motor can be used as a generator to acquire a brake signal of a driver and can be used as a motor to realize failure protection.
The electromagnetic clutch disconnects the main shaft from the gear when the second motor provides braking force, and the first motor and the pedal cannot provide braking force; and when the second motor fails, the electromagnetic clutch enables the main shaft to be connected with the gear, and braking force is provided by the first motor and the pedal.
Compared with the background technology, the invention has the following beneficial effects: (1) The first motor can be used as a generator or a motor, and is characterized in that the first motor can be used for acquiring a brake signal of a driver when being used as a generator, so that a complex sensor is omitted, and the cost is reduced.
(2) The electromagnetic clutch is used for controlling the transmission of the braking force of the first motor and the pedal, so that the mutual interference between the pedal motion and the second motor is avoided, and the phenomenon of inaccurate braking force supply is prevented.
(3) The double-motor double-main hydraulic pipeline is adopted to realize failure protection during braking, so that the safety of the vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a first motor principle of the present invention.
The reference numerals in fig. 1 denote: 1-a brake pedal; 2-a screw rod; 3. 6-a lead screw nut; 4-a motor rotor; 5-a motor stator; 7, a main shaft; 8. 10-a gear; 9-an electromagnetic clutch; 11. 16-a rack; 12-a spring; 13-a second motor; 14-a worm; 15-a turbine; 17. 18-a hydraulic cylinder; 19. 20, 22-hydraulic lines; 21-an electromagnetic valve; 23-ABS/ESP module; 24-an electric control unit; 25. 26, 37, 28, 29-electrical control lines; 30-an AD conversion module, 31-a first motion module; 32-a second motion module; 33-a third motion module; 34-first motor.
The reference numerals in fig. 2 denote: 101-a power supply; 102. 110-copper ring; 103-conducting wires; 104-permanent magnet N pole; 105-rotor; 106-permanent magnet S pole; 107-a commutator; 108-a solver; 109. 112, 111-electrical control lines; 113-electromagnetic relay one; 114-electromagnetic relay two.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions will be clearly and completely described below with reference to the accompanying drawings of the present invention.
When the driver steps on the pedal 1 during braking, pedal movement is transmitted to the first motor 34 through the first movement module 31, wherein the pedal 1 is connected with the screw rod 2, linear movement of the screw rod 2 is converted into rotation of the screw rod nut 3, the screw rod nut 3 is fixedly connected with the motor rotor 4, the motor rotor 4 rotates, and the first motor 34 generates electricity to generate induced electromotive force. The analog electric signal is converted into a digital electric signal by the AD converter 30 and transmitted to the electronic control unit 24. The pedal force and pedal displacement are described by the electrical signal of the first motor 34 in combination with the direct current generator induced electromotive force formula, the image, and the mechanical formula. Basic formula of direct-current generatorThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->For inducing electromotive force>Is a potential coefficient>Is the rotor speed. The magnitude of the induced electromotive force is proportional to the rotational speed, and the direction of the potential is determined by the direction of the rotational speed.
According to the formulaThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->For angular displacement->For rotor speed>Is the electromotive force generation time. After the rotor angular displacement is determined, the displacement of the pedal is not difficult to calculate according to related parameters such as the radius of the gear.
According to the mechanical formulaThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->Which is the torque acting on the rotor. After the torque is determined, the acting force on the pedal is not difficult to calculate according to related parameters such as the radius of the gear.
The electronic control unit 24 analyses the electrical signal and drives the second motor 13 to transmit braking forces to the hydraulic components through the third movement module 33. The second motor 13 drives the worm gear to rotate, the worm wheel 15 transmits the movement to the rack 16, and the rack 16 is connected with the hydraulic cylinder 17. The motion mechanism converts the rotary motion of the motor into linear motion. At this time, the solenoid valve 21 communicates the hydraulic line 19 with the hydraulic line 22, and the brake fluid reaches the ABS/ESP module and the antilock brake system/electronic stability control system module through the hydraulic line, which functions to adjust the hydraulic braking force of each wheel cylinder.
When the second motor 13 or the hydraulic line 19 fails, the ECU drives the first motor 34 as a motor to provide braking force. The first motor 34 transmits the braking force to the hydraulic grip element via the second movement module. The first motor 34 rotates the motor rotor 4 through electromagnetic force so as to enable the screw rod 2 to do linear motion, the screw rod 2 drives the screw rod nut 6 to rotate, the outer ring of the screw rod nut 6 is meshed with the gear 8, the gear 8 and the main shaft 7 are of an integrated structure, and the gear 10 can be connected with the main shaft 7 only through the action of the electromagnetic clutch 9. At this time, the electronic control unit 24 controls the electromagnetic clutch 9 to connect the main shaft 7 with the gear 10, and controls the electromagnetic valve 21 to communicate the hydraulic line 20 with the hydraulic line 22. The rotation of the spindle 7 is transmitted to the hydraulic cylinder 18 through the gear 10 and the rack 11, and braking force is applied to each wheel cylinder through the hydraulic line.
In the above embodiments we need the first electric machine 34 to function both as a generator and as a motor. According to the motor and generator structure similarity, we can provide two action loops for the first motor 34 to meet the requirements of two working conditions. The specific schematic diagram is shown in fig. 2.
The electronic control unit controls the electromagnetic relay to determine which line is connected according to the working state, the electromagnetic relay II 114 is normally open, and the electromagnetic relay I113 is normally closed. When the driver depresses the pedal, the rotor 105 is driven, the first motor 34 generates electricity, and the generated electric signal is transmitted to the electronic control unit 24 through the resolver. When the second motor 13 fails, the electronic control unit 24 turns off the electromagnetic relay two 114, turns on the electromagnetic relay one 113, and turns on the motor circuit. The power supply 101 supplies current to the rotor 105, and the rotor 105 rotates under the action of the magnetic field, so that the lead screw nut 3 is driven to rotate, and braking force is provided by the first motor 34.
The driver releases the pedal 1 to generate a reverse electromotive force in the first motor 34, and the active braking process and the cancel braking process can be distinguished. The intention of the driver to cancel the braking process can be obtained by the same method as the active braking process. The above-mentioned electro-hydraulic brake system can also realize the mechanical connection of the brake pedal 1 and the hydraulic cylinder 18, and as long as the electronic control unit 24 controls the electromagnetic clutch 9 to connect the main shaft 7 and the gear 10, the mechanical connection of the pedal 1 and the hydraulic cylinder 18 can be realized, and a braking force acts on the wheels when the pedal 1 is depressed.
Claims (1)
1. An electro-hydraulic braking system that obtains a braking intent based on an electric motor, comprising: footboard, spring, first motion module, second motion module, third motion module, second motor, electrical control unit, ABS/ESP module and hydraulic component, its characterized in that: the first motion module consists of a screw rod, a screw rod nut and a first motor, the second motion module consists of a screw rod nut, a gear, an electromagnetic clutch and a rack, and the third motion module consists of a worm, a worm wheel and a rack structure;
the pedal is connected with a lead screw, the linear motion of the lead screw is converted into rotation of a lead screw nut, the lead screw nut is fixedly connected with a motor rotor, the motor rotor rotates, a first motor generates electricity to generate induced electromotive force, an analog-to-digital (AD) converter converts an analog-to-digital (AD) signal into a digital signal to be transmitted to an electronic control unit, when the pedal is stepped down, the pedal motion is transmitted to the first motor through a first motion module, an induced electromotive force formula, an image and a mechanical formula of a direct-current generator are combined, the pedal force and the pedal displacement are described by the electric signal of the first motor, and after the rotor angular displacement and the torque are determined, the displacement and the acting force of the pedal are calculated according to related parameters of the radius of a gear;
the electric control unit analyzes the electric signals and drives the second motor to transmit braking force to the hydraulic element through the third movement module; the second motor drives the worm gear to rotate, the worm gear transmits the motion to the rack, and the rack is connected with the hydraulic cylinder;
the ECU can drive the first motor, the first motor transmits the braking force to the hydraulic component through the second movement module, the outer ring of the screw nut is meshed with the gear, the gear and the main shaft are in an integrated structure, the first motor enables the motor rotor to rotate through electromagnetic force so as to enable the screw to do linear movement, the screw drives the screw nut to rotate, the outer ring of the screw nut is meshed with the gear, the gear and the main shaft are in an integrated structure, the gear can be connected with the main shaft only through the action of the electromagnetic clutch, at the moment, the electronic control unit controls the electromagnetic clutch to enable the main shaft to be connected with the gear, the electromagnetic valve is controlled to enable the hydraulic pipeline to be communicated with the hydraulic pipeline, rotation of the main shaft is transmitted to the hydraulic cylinder through the gear and the rack, and the braking force is applied to each wheel cylinder through the hydraulic pipeline;
when the pedal is released, the first motor generates reverse electromotive force, so that an active braking process and a canceling braking process can be distinguished, and the intention of a driver in the canceling braking process is obtained by the same method as that in the active braking process;
the first motor can be used as a generator or as a motor; when the motor is used as a generator, the motor can be used for acquiring a braking signal of a driver, and is used for realizing failure protection, the first motor comprises two action loops, two power amplification requirements are met, the electric control unit controls the electromagnetic relay I and the electromagnetic relay II, the electromagnetic relay II is normally open, the electromagnetic relay I is normally closed, the rotor is driven after the driver steps on a pedal, the first motor generates electricity, the generated electric signal is transmitted to the electric control unit through the calculating device, when the second motor fails, the electric control unit closes the electromagnetic relay II, the electromagnetic relay I is opened, the motor loop is connected, a power supply provides current for the rotor, the rotor rotates under the action of a magnetic field, so that a screw nut is driven to rotate, and braking force is provided by the first motor;
the electromagnetic clutch disconnects the main shaft from the gear when the second motor provides braking force, and the first motor and the pedal cannot provide braking force; and when the second motor fails, the electromagnetic clutch enables the main shaft to be connected with the gear, and braking force is provided by the first motor and the pedal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811271713.6A CN109204283B (en) | 2018-10-29 | 2018-10-29 | Electronic hydraulic braking system for acquiring braking intention based on motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811271713.6A CN109204283B (en) | 2018-10-29 | 2018-10-29 | Electronic hydraulic braking system for acquiring braking intention based on motor |
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| CN109204283A CN109204283A (en) | 2019-01-15 |
| CN109204283B true CN109204283B (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811271713.6A Active CN109204283B (en) | 2018-10-29 | 2018-10-29 | Electronic hydraulic braking system for acquiring braking intention based on motor |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110529235A (en) * | 2019-07-31 | 2019-12-03 | 湖南天雁机械有限责任公司 | A kind of rectilinear path electronic actuators formula turbocharger |
| CN111824106A (en) * | 2020-07-31 | 2020-10-27 | 清华大学 | Brake-by-wire system with complete failure operation capability and vehicle |
| CN112356817B (en) * | 2020-11-25 | 2021-07-23 | 吉林大学 | Unmanned automobile braking system with backup mode and control method thereof |
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