CN109334644A - A kind of synchronous control system based on caravan trailer - Google Patents
A kind of synchronous control system based on caravan trailer Download PDFInfo
- Publication number
- CN109334644A CN109334644A CN201811143987.7A CN201811143987A CN109334644A CN 109334644 A CN109334644 A CN 109334644A CN 201811143987 A CN201811143987 A CN 201811143987A CN 109334644 A CN109334644 A CN 109334644A
- Authority
- CN
- China
- Prior art keywords
- caravan
- braking
- brake
- main vehicle
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/32—Vehicles adapted to transport, to carry or to comprise special loads or objects comprising living accommodation for people, e.g. caravans, camping, or like vehicles
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
Abstract
The invention discloses a kind of synchronous control systems based on caravan trailer comprising: controller module is set to main tailstock portion, for controlling the brake force of caravan, main vehicle and caravan is made to reach braking consistency；Electromagnetic braking module is set at caravan wheel, by being electrically connected controller module, carries out control for brake to caravan；Matching module is braked, carries out caravan brake force matching primitives, and processing is optimized to electromagnetic brake structure；Synchronous braking control module, including acceleration transducer and ECU module, it is taken based on the braking strategy of main vehicle brake pedal/signal lamp and based on the braking strategy for following main vehicle brake deceleration degree, and then controls the consistent two kinds of Strategy For Synchronization Controls of deceleration between main vehicle and caravan.The present invention can be provided simultaneously with the caravan trailer synchronous braking controller of two kinds of switch response modes, deceleration model- following control control models, caravan trailer synchronous braking control be realized, so that the deceleration controlled between main vehicle and caravan is consistent.
Description
Technical field
The present invention relates to caravan control technology field, specially a kind of synchronous control system based on caravan trailer.
Background technique
Caravan trailer is by its flexible arrangement, complete home life configuration and the separation between main vehicle
Convenience is widely welcome in European & American Market, as the continuous development of domestic economy, living standards of the people greatly improve,
And the constantly appearance of relevant laws and regulations is perfect, caravan will embody huge market potential in China.By market survey, at present
Relevant enterprise of the China about caravan trailer is largely in the technology end for external caravan manufacturer's foundry,
Lack the relevant technologies property right, therefore China needs to be promoted for the relevant technologies deposit of caravan trailer.
In addition to Mini type trailer still using mechanical brake other than, generally pull at present caravan mostly use inertia brake with it is synchronous
Electromagnetic brake.A draw bar thrust is generated in tie point when the principle of inertia brake is tractor braking, overcomes sensitivity circle
After limit, pull rod is pushed into, while manipulation lever tenses wheel drag by transmission device, realizes automatic braking.Inertia brake
Principle determine its can not in real time according to front truck braking deceleration synchronize in real time adjustment caravan braking, therefore, for relax
Adaptive, the higher medium-and-large-sized caravan of security requirement, then be usually taken synchronous electromagnetic braking brake system and carry out the main vehicle of real-time tracking
Braking deceleration, and then caravan brake force is adjusted, so that main vehicle, caravan is reached preferable braking consistency, to improve pulling type room
General safety, the comfort of vehicle.Currently, external synchronous electromagnetic braking controller be broadly divided into switch response modes, deceleration with
With two kinds of control models of control, and then there has been no the caravan trailer synchronous braking controllers of independent development for the country.
Summary of the invention
In order to overcome the above problem, the present invention provides a kind of synchronous control system based on caravan trailer.
The technical solution of the present invention is to provide a kind of synchronous control systems based on caravan trailer, which is characterized in that its
Include:
Controller module is set to main tailstock portion, for controlling the brake force of caravan, so that main vehicle with caravan is reached braking consistent
Property；To improve general safety, the comfort of caravan trailer；
Electromagnetic braking module is set at caravan wheel, by being electrically connected controller module, carries out control for brake to caravan；
Matching module is braked, synchronous braking torque Dynamic Matching passes through to the power phase interaction between vehicle-caravan main in braking process
It is analyzed with process, establishes main vehicle-caravan braking mechanics model comprising tyre skidding characteristic, carry out the matching of caravan brake force
It calculates, and processing is optimized to electromagnetic brake structure；
Synchronous braking control module, including acceleration transducer and ECU module are taken based on main vehicle brake pedal/signal lamp
Braking strategy and based on the braking strategy for following main vehicle brake deceleration degree, and then the deceleration controlled between main vehicle and caravan is consistent
Two kinds of Strategy For Synchronization Controls.
Further, the controller module includes sensing system, circuit system and signal processing system.
Further, the electromagnetic braking module includes brake system, braking commands processing system.
Further, the acceleration transducer is set in caravan, measures the acceleration of vehicle, and by acceleration signal
It is sent to ECU module, after signal processing, by one group of pwm signal, the brake force of caravan is controlled, to guarantee caravan
Acceleration value controls in the ideal range always, prevents from colliding with front truck.
Further, the braking strategy based on main vehicle brake pedal/signal lamp is made with the brake pedal of main vehicle
It is electromagnetic brake effect starting with the time started, being totally released the brake pedal moment using main vehicle as electromagnetic brake terminates to brake
Controller is allocated to corresponding gear according to caravan different size by signal, driver, timely carry out main vehicle brake pedal step on conjunction/
Adjustment is unclamped, to achieve the effect that brake caravan.
Further, described based on following the braking strategy of main vehicle brake deceleration degree to slow down with main vehicle brake pedal and main vehicle
Degree is input signal, real-time to adjust electromagnetic brake input current by tracking the acceleration value of front truck acceleration transducer, into
And the deceleration controlled between main vehicle and caravan is consistent.
The beneficial effects of the present invention are: a kind of synchronous control system based on caravan trailer of the invention is provided with control
Device module, electromagnetic braking module, braking matching module and synchronous braking control module can be provided simultaneously with switch response modes, subtract
Speed follower controls the caravan trailer synchronous braking controller of two kinds of control models, realizes that caravan trailer is same on this basis
Control for brake is walked, so that the deceleration controlled between main vehicle and caravan is consistent.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiment is closed, the present invention is further explained.
A kind of synchronous control system based on caravan trailer of the invention, characterized in that it comprises:
Controller module is set to main tailstock portion, for controlling the brake force of caravan, so that main vehicle with caravan is reached braking consistent
Property；To improve general safety, the comfort of caravan trailer；Controller module includes sensing system, circuit system and letter
Number processing system.
Electromagnetic braking module is set at caravan wheel, by being electrically connected controller module, to carry out braking control to caravan
System；Electromagnetic braking module includes brake system, braking commands processing system, and brake system is for carrying out braking brake to caravan
Vehicle, braking commands processing system are braked for receiving braking commands and being sent to brake system in real time.
Matching module is braked, synchronous braking torque Dynamic Matching passes through to the power phase between vehicle-caravan main in braking process
Interaction process is analyzed, and main vehicle-caravan braking mechanics model comprising tyre skidding characteristic is established, and carries out caravan brake force
Matching primitives, and processing is optimized to electromagnetic brake structure.
Synchronous braking control module, including acceleration transducer and ECU module are taken based on main vehicle brake pedal/signal
The braking strategy of lamp and based on the braking strategy for following main vehicle brake deceleration degree, and then control the deceleration between main vehicle and caravan
Consistent two kinds of Strategy For Synchronization Controls.
In a preferred embodiment of the present invention, the acceleration transducer is set in caravan, measures the acceleration of vehicle,
And acceleration signal is sent to ECU module, after signal processing, by one group of pwm signal, the brake force of caravan is controlled,
To guarantee that the acceleration value of caravan controls in the ideal range always, prevent from colliding with front truck.
In a preferred embodiment of the present invention, the braking strategy based on main vehicle brake pedal/signal lamp is with main vehicle
Brake pedal acts on the time started as electromagnetic brake effect starting, is totally released the brake pedal moment as electromagnetism using main vehicle
Brake terminates brake signal, and controller is allocated to corresponding gear according to caravan different size, timely carries out main vehicle by driver
Brake pedal steps on conjunction/release adjustment, to achieve the effect that brake caravan.
It is described based on following the braking strategy of main vehicle brake deceleration degree to brake with main vehicle in a preferred embodiment of the present invention
Pedal and main vehicle deceleration are that input signal by tracking the acceleration value of front truck acceleration transducer adjusts electromagnetic system in real time
Dynamic device input current, and then the deceleration controlled between main vehicle and caravan is consistent.
A kind of synchronous control system based on caravan trailer of the invention is provided with controller module, electromagnetic system dynamic model
Block, braking matching module and synchronous braking control module can be provided simultaneously with switch response modes, two kinds of deceleration model- following control
The caravan trailer synchronous braking controller of control model realizes caravan trailer synchronous braking control on this basis, thus
The deceleration controlled between main vehicle and caravan is consistent.
Above embodiments are only the one such embodiment of the present invention, and the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of synchronous control system based on caravan trailer, characterized in that it comprises:
Controller module is set to main tailstock portion, for controlling the brake force of caravan, so that main vehicle with caravan is reached braking consistent
Property；
Electromagnetic braking module is set at caravan wheel, by being electrically connected controller module, carries out control for brake to caravan；
Matching module is braked, synchronous braking torque Dynamic Matching passes through to the power phase interaction between vehicle-caravan main in braking process
It is analyzed with process, establishes main vehicle-caravan braking mechanics model comprising tyre skidding characteristic, carry out the matching of caravan brake force
It calculates, and processing is optimized to electromagnetic brake structure；
Synchronous braking control module, including acceleration transducer and ECU module are taken based on main vehicle brake pedal/signal lamp
Braking strategy and based on the braking strategy for following main vehicle brake deceleration degree, and then the deceleration controlled between main vehicle and caravan is consistent
Two kinds of Strategy For Synchronization Controls.
2. a kind of synchronous control system based on caravan trailer according to claim 1, it is characterised in that: the control
Device module includes sensing system, circuit system and signal processing system.
3. a kind of synchronous control system based on caravan trailer according to claim 1, it is characterised in that: the electromagnetism
Brake module includes brake system, braking commands processing system.
4. a kind of synchronous control system based on caravan trailer according to claim 1, it is characterised in that: the acceleration
Degree sensor is set in caravan, the acceleration of vehicle is measured, and acceleration signal is sent to ECU module, at signal
After reason, by one group of pwm signal, the brake force of caravan is controlled, to guarantee that the acceleration value of caravan is controlled always in ideal model
In enclosing, prevent from colliding with front truck.
5. a kind of synchronous control system based on caravan trailer according to claim 1, it is characterised in that: described to be based on
The braking strategy of main vehicle brake pedal/signal lamp is acted on using the brake pedal of the main vehicle effect time started as electromagnetic brake
Starting, being totally released the brake pedal moment using main vehicle is that electromagnetic brake terminates brake signal, and driver is according to caravan difference rule
Controller is allocated to corresponding gear by lattice, and timely carry out main vehicle brake pedal steps on conjunction/release adjustment, to reach braking caravan
Effect.
6. a kind of synchronous control system based on caravan trailer according to claim 1, it is characterised in that: described to be based on
Follow the braking strategy of main vehicle brake deceleration degree using main vehicle brake pedal and main vehicle deceleration as input signal, by tracking front truck
The acceleration value of acceleration transducer adjusts electromagnetic brake input current in real time, and then controls subtracting between main vehicle and caravan
Speed is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811143987.7A CN109334644A (en) | 2018-09-29 | 2018-09-29 | A kind of synchronous control system based on caravan trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811143987.7A CN109334644A (en) | 2018-09-29 | 2018-09-29 | A kind of synchronous control system based on caravan trailer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334644A true CN109334644A (en) | 2019-02-15 |
Family
ID=65307617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811143987.7A Pending CN109334644A (en) | 2018-09-29 | 2018-09-29 | A kind of synchronous control system based on caravan trailer |
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| Country | Link |
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| CN (1) | CN109334644A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746440A (en) * | 2020-06-03 | 2020-10-09 | 知轮(杭州)科技有限公司 | Matching device and method for tractor and trailer |
| CN114559912A (en) * | 2020-11-27 | 2022-05-31 | 丰田自动车株式会社 | Brake system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0971229A (en) * | 1995-09-05 | 1997-03-18 | Yanmar Agricult Equip Co Ltd | Braking device for traveling working vehicle |
| CN205239699U (en) * | 2015-12-28 | 2016-05-18 | 贵州航天乌江机电设备有限责任公司 | But electronic trailer of self -propelled |
| DE102015116317A1 (en) * | 2015-09-28 | 2017-03-30 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Electro-pneumatic parking brake device of a vehicle with a further control circuit |
| CN107953872A (en) * | 2017-11-20 | 2018-04-24 | 江苏大学 | A kind of caravan trailer for considering electormagnetic braking sytem lag characteristic synchronously follows brake control method |
| CN108068824A (en) * | 2016-11-07 | 2018-05-25 | 现代自动车株式会社 | Estimate the device and its application method of vehicle weight |
| CN108340898A (en) * | 2018-01-15 | 2018-07-31 | 江苏大学 | One kind considering brake coordination, safety follows electormagnetic braking sytem and its control method with energy-efficient caravan trailer |
| CN108473139A (en) * | 2015-12-04 | 2018-08-31 | 斯堪尼亚商用车有限公司 | Method and apparatus for the measurement that the braking system during determining vehicle operating uses |
-
2018
- 2018-09-29 CN CN201811143987.7A patent/CN109334644A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0971229A (en) * | 1995-09-05 | 1997-03-18 | Yanmar Agricult Equip Co Ltd | Braking device for traveling working vehicle |
| DE102015116317A1 (en) * | 2015-09-28 | 2017-03-30 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Electro-pneumatic parking brake device of a vehicle with a further control circuit |
| CN108473139A (en) * | 2015-12-04 | 2018-08-31 | 斯堪尼亚商用车有限公司 | Method and apparatus for the measurement that the braking system during determining vehicle operating uses |
| CN205239699U (en) * | 2015-12-28 | 2016-05-18 | 贵州航天乌江机电设备有限责任公司 | But electronic trailer of self -propelled |
| CN108068824A (en) * | 2016-11-07 | 2018-05-25 | 现代自动车株式会社 | Estimate the device and its application method of vehicle weight |
| CN107953872A (en) * | 2017-11-20 | 2018-04-24 | 江苏大学 | A kind of caravan trailer for considering electormagnetic braking sytem lag characteristic synchronously follows brake control method |
| CN108340898A (en) * | 2018-01-15 | 2018-07-31 | 江苏大学 | One kind considering brake coordination, safety follows electormagnetic braking sytem and its control method with energy-efficient caravan trailer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746440A (en) * | 2020-06-03 | 2020-10-09 | 知轮(杭州)科技有限公司 | Matching device and method for tractor and trailer |
| CN111746440B (en) * | 2020-06-03 | 2022-07-08 | 知轮(杭州)科技有限公司 | Matching device and method for tractor and trailer |
| CN114559912A (en) * | 2020-11-27 | 2022-05-31 | 丰田自动车株式会社 | Brake system |
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| PB01 | Publication | ||
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Application publication date: 20190215 |