CN110208012B - Active braking control method for drag chain type tackle - Google Patents
Active braking control method for drag chain type tackle Download PDFInfo
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- CN110208012B CN110208012B CN201910417171.7A CN201910417171A CN110208012B CN 110208012 B CN110208012 B CN 110208012B CN 201910417171 A CN201910417171 A CN 201910417171A CN 110208012 B CN110208012 B CN 110208012B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/04—Suspension or damping
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Abstract
The invention discloses an active braking control method of a drag chain type pulley, which is realized by a pulley active braking control module, wherein the pulley active braking control module comprises a braking system, a wheel speed sensor, a displacement sensor, a main cylinder pressure sensor, an external braking controller and a 12V vehicle-mounted storage battery, wherein the main cylinder pressure sensor, a front wheel speed sensor, a rear suspension displacement sensor, the external braking controller and an electronic booster are all powered by the 12V vehicle-mounted storage battery; the external brake controller and the electronic booster carry out sending and receiving of an external brake condition signal, a brake pressure starting signal, a brake pressure value signal, an external brake state signal and a stop power-assisting increasing signal through a CAN line.
Description
Technical Field
The invention belongs to the field of passenger car bench tests, and particularly relates to an active braking control method for a drag chain type pulley.
Background
When a suspension system is subjected to a misuse test, it is necessary to mount the entire vehicle suspension system using a tackle. The trolley is driven by a tow chain laid on the ground and needs to be braked immediately when the trolley just passes a ledger obstacle. Due to the high risk factor of this experiment, the braking system cannot be driven on the tackle by a person. The currently adopted method is as follows: the brake system of the real vehicle comprises a vacuum booster, a vacuum pump, a vacuum tube, a six-way valve, a brake caliper and a brake disc, wherein the vacuum booster is driven by an electric cylinder, a power supply system of the electric cylinder is installed on a pulley, and the electric cylinder is remotely controlled by a person to brake. The problems with this approach are: firstly, the electric cylinder has heavy weight, and the unsprung mass of a suspension system is greatly increased, so that a test result cannot accurately simulate the weight of a real vehicle; secondly, the signal of remote control is wireless signal, in case the signal is not good, then can't be in time to the coaster braking, the coaster will be because of can't braking and rush out the tow chain track and cause the accident.
Disclosure of Invention
In order to solve the problems, the invention provides an active braking control method for a drag chain type tackle.
The technical scheme adopted by the invention is as follows:
a method for controlling active braking of a drag chain type pulley is realized by a pulley active braking control module, wherein the pulley active braking control module comprises a braking system, a wheel speed sensor, a displacement sensor, a main cylinder pressure sensor, an external braking controller and a 12V vehicle-mounted storage battery, and the main cylinder pressure sensor, a front wheel speed sensor, a rear suspension displacement sensor, the external braking controller and an electronic booster are all powered by the 12V vehicle-mounted storage battery; the external brake controller and the electronic booster carry out sending and receiving of an external brake condition signal, a brake pressure starting signal, a brake pressure value signal, an external brake state signal and a stop power-assisting increasing signal through a CAN line.
According to the active braking control method for the drag chain type tackle, the installation mode of the active braking control module of the tackle is as follows: the suspension system of the vehicle type is installed on the frame of the pulley, the wheel speed sensor is installed in the knuckle of the front wheel; the displacement sensor is a stay wire type displacement sensor, the fixed end of the stay wire type displacement sensor is arranged on the upper suspension of the rear suspension, and the trigger end of the stay wire type displacement sensor is contacted with the bracket on the sliding column of the rear suspension; the brake system comprises an electronic booster, a six-way valve, a brake caliper, a brake disc and a brake oil pipe, wherein the brake caliper is fixed on a front steering knuckle and a rear steering knuckle, the brake disc is fixed on a hub bearing, one end of the six-way valve is communicated with the brake caliper through the brake oil pipe, one end of the six-way valve is communicated with the master cylinder pressure sensor through the brake oil pipe, and the other end of the six-way valve is communicated with a first oil outlet of the electronic booster through the brake; the master cylinder pressure sensor is communicated with a second oil outlet of the electronic booster through a brake oil pipe; the electronic booster, the external brake controller and the 12V vehicle-mounted storage battery are fixed on the pulley frame.
The active braking control method for the drag chain type tackle comprises the following steps:
pushing the pulley onto a ground drag chain, manually electrifying the electronic booster, and starting the test;
adjusting the electronic booster to an external braking function;
the external brake controller collects displacement signals of the rear suspension displacement sensor of a certain amount of sampling points in real time, and the average value is taken as a zero point of the rear suspension displacement;
the pulley is accelerated to advance on the drag chain until the speed is stable, when the pulley reaches a cross beam obstacle, the pulley is separated from the ground drag chain, the displacement of a rear suspension of the pulley is continuously increased, and when the displacement of the rear suspension exceeds a certain value, an external brake controller acquires the wheel speed value of a front wheel speed sensor in real time;
the external brake controller calculates a brake pressure value according to the wheel speed value of the front wheel;
the external brake controller sends a command for starting the brake pressure and a brake pressure value signal to be achieved, and sends the command and the brake pressure value signal to the electronic booster;
when the electronic booster receives a braking pressure starting instruction, the electronic booster performs motor boosting, and the boosting value is continuously increased;
the pressure sensor collects a master cylinder pressure value signal in real time, when the master cylinder pressure value is larger than a brake pressure value, the external brake controller sends an instruction for stopping increasing the power to the electronic booster, and the electronic booster stops increasing the power of the motor;
the wheel speed value is continuously reduced, when the wheel speed value is lower than a certain value, the electronic booster stops the boosting of the motor, the pulley is braked, and the pulley is kept static;
and powering off the electronic booster, and finishing the test.
The invention has the beneficial effects that:
the invention uses the electronic booster, the external sensor and the vehicle-mounted storage battery to replace a vacuum booster, a vacuum pump and a vacuum tube assembly on a real vehicle, saves an electric cylinder and an electric cylinder driving and controlling unit in the traditional control method, and has the characteristics of small volume, light weight and easy installation. Because electronic booster braking pressure can carry out the flexibility according to different wheel speeds and adjust, consequently avoided the coaster problem that braking force is not enough or the braking is too violent to appear, improved the life of coaster. The signals in the control method are only interacted inside the pulley active braking control module, and do not need to be interacted with an external controller, so that the universality is high. Because the signals in the control method are all connected through hard wires, the control method has the advantages of high signal strength, high transmission rate, good anti-interference performance and high reliability.
Drawings
FIG. 1 is a signal flow diagram of a tackle active braking control module of the present invention;
FIG. 2 is a flow chart of a control method according to the present invention.
Detailed Description
The technical scheme of the invention is described in detail in the following with reference to the attached drawings:
the active braking control method of the drag chain type pulley is realized by a pulley active braking control module, wherein the pulley active braking control module comprises a braking system, a wheel speed sensor, a displacement sensor, a main cylinder pressure sensor, an external braking controller and a 12V vehicle-mounted storage battery. A certain vehicle type suspension system is installed on a pulley frame, and a wheel speed sensor is installed in a steering knuckle of a front wheel and used for detecting the wheel speed of the front wheel in real time. The fixed end of the stay wire type displacement sensor is arranged on the upper suspension of the rear suspension, and the triggering end is contacted with the bracket on the sliding column of the rear suspension. A master cylinder pressure sensor is connected in the brake system. The braking system comprises an electronic booster, a six-way valve, a brake caliper, a brake disc and a brake oil pipe. 4 braking pincers are fixed on the front and back knuckle, and the brake disc is fixed on the wheel hub bearing, and six way valve one end is through 4 brake oil pipe and 4 braking pincers intercommunications, and one end is through 1 brake oil pipe and master cylinder pressure sensor intercommunication, and the other end is through 1 brake oil pipe and the first oil-out intercommunication of electronic booster. And the master cylinder pressure sensor is communicated with a second oil outlet of the electronic booster through 1 brake oil pipe. The electronic booster, the external brake controller and the 12V vehicle-mounted storage battery are fixed on the frame of the pulley.
Referring to fig. 1, the signal flow of the pulley active braking control module of the present invention is: the main cylinder pressure sensor, the front wheel speed sensor, the rear suspension displacement sensor, the external brake controller and the electronic booster are all powered by a 12V vehicle-mounted storage battery, the main cylinder pressure sensor, the front wheel speed sensor and the rear suspension displacement sensor respectively send a main cylinder pressure signal, a front wheel speed signal and a rear suspension displacement signal to the external brake controller, and the external brake controller and the electronic booster send and receive an external brake condition signal, a brake pressure starting signal, a brake pressure value signal, an external brake state signal and a stop boosting increasing signal through CAN lines. The sampling period of the external brake controller is 10 ms.
Referring to fig. 2, the control method of the present invention includes the following steps:
step 101: backing the ground drag chain at a constant speed;
step 102: pushing the pulley onto a ground drag chain, manually electrifying the electronic booster, and starting the test;
step 103: the electronic booster sets the external braking condition signal to be 1, sets the external braking state signal to be 0 and sends the external braking state signal in real time;
step 104: the external brake controller resets the time counter and the misuse triggering timer to 0;
step 105: the external brake controller sets the brake pressure starting signal as '0' and the brake pressure value signal as '0', and sends the signals in real time;
step 106: the external brake controller collects the displacement signal of the rear suspension displacement sensor in real time;
step 107: adding 1 to a time counter in the external brake controller;
step 108: the external brake controller records the displacement value of the rear suspension of each sampling point;
step 109: the external brake controller determines that the time counter is equal to 500, if yes, then step 110 is performed, if no, then step 107 is performed;
step 110: the external brake controller calculates the average value of the displacement values of the rear suspension of 500 sampling points, and the average value is set as the zero point of the displacement of the rear suspension;
step 111: the pulley is accelerated to advance on the drag chain until the speed is stable;
step 112: the pulley is driven by a ground drag chain to advance at a certain speed;
step 113: the pulley reaches the cross beam obstacle;
step 114: the pulley breaks away from a ground drag chain and continues to advance by utilizing inertia, and the displacement of a rear suspension of the pulley is continuously increased;
step 115: the external brake controller judges whether the displacement of the rear frame of the pulley exceeds 10mm, if so, the step 116 is carried out, and if not, the step 114 is carried out;
step 116: the external brake controller acquires the wheel speed value of the front wheel speed sensor in real time;
step 117: the external brake controller calculates a misuse trigger timing end value. The misuse triggering timing final value is obtained by dividing the total length of the crosswood obstacle by the wheel speed value acquired in the step 116;
step 118: the external brake controller adds 1 to the misuse trigger timer;
step 119: the external brake controller determines whether the misuse trigger timer equals the misuse trigger timer end value, if so, proceeds to step 120, if not, proceeds to step 118;
step 120: the external brake controller acquires the wheel speed value of the front wheel speed sensor in real time;
step 121: and the external brake controller calculates the brake pressure value according to the wheel speed value of the front wheel. Calibrating a front wheel speed-brake pressure MAP graph according to brake system parameters, embedding the MAP graph into an external brake controller, and calculating and sending out corresponding brake pressure by the external brake controller according to the front wheel speed value in the step 120;
step 122: the electronic booster receives a brake pressure starting signal in real time;
step 123: the external brake controller judges whether the brake pressure start signal is "1", if yes, proceeds to step 124, if no, proceeds to step 121;
step 124: the electronic booster receives a brake pressure value signal;
step 125: the electronic booster sets the external brake state signal to be 1 and sends the signal in real time;
step 126: the electronic booster carries out motor boosting according to the braking pressure value, and the helping hand value constantly increases. Calibrating a brake pressure-motor assistance MAP according to parameters of transmission mechanisms such as a worm gear, a ball screw, a gear and a master cylinder area in the electronic booster, embedding the MAP into a controller of the electronic booster, and calculating corresponding motor assistance by the electronic booster according to the brake pressure value;
step 127: the pressure sensor collects a master cylinder pressure value signal in real time;
step 128: the external brake controller judges whether the master cylinder pressure value is larger than the brake pressure value, if so, the step 129 is carried out, and if not, the step 126 is carried out;
step 129: the external brake controller sends a signal for stopping the increase of the power assistance to the electronic booster, and the electronic booster stops the increase of the power assistance of the motor;
step 130: the external brake controller judges whether the wheel speed value is lower than 0.5m/s, if so, the step 131 is carried out, and if not, the step 129 is carried out;
step 131: the electronic booster stops the boosting of the motor, the pulley is braked and kept static;
step 132: the external brake controller sets the brake pressure starting signal to be 0 and sets the brake pressure value signal to be 0;
step 133: the electronic booster sets the external braking condition signal to be 1 and sets the external braking state signal to be 0;
step 134: and (4) manually powering off the electronic booster, and ending the misuse test.
Claims (3)
1. A method for controlling active braking of a drag chain type pulley is characterized in that the method is realized by a pulley active braking control module, the pulley active braking control module comprises a braking system, a front wheel speed sensor, a rear suspension displacement sensor, a main cylinder pressure sensor, an external braking controller and a 12V vehicle-mounted storage battery, and the main cylinder pressure sensor, the front wheel speed sensor, the rear suspension displacement sensor, the external braking controller and the braking system are all powered by the 12V vehicle-mounted storage battery; the external brake controller and the electronic booster carry out sending and receiving of an external brake condition signal, a brake pressure starting signal, a brake pressure value signal, an external brake state signal and a stop power-assisting increasing signal through a CAN (controller area network) wire;
the active braking control method of the drag chain type tackle comprises the following steps:
pushing the pulley onto a ground drag chain, manually electrifying the electronic booster, and starting the test;
adjusting the electronic booster to an external braking function;
the external brake controller collects displacement signals of the rear suspension displacement sensor of a certain amount of sampling points in real time, and the average value is taken as a zero point of the rear suspension displacement;
the pulley is accelerated to advance on the drag chain until the speed is stable, when the pulley reaches a cross beam obstacle, the pulley is separated from the ground drag chain, the displacement of a rear suspension of the pulley is continuously increased, and when the displacement of the rear suspension exceeds a certain value, an external brake controller acquires the wheel speed value of a front wheel speed sensor in real time;
the external brake controller calculates a brake pressure value according to the wheel speed value of the front wheel;
the external brake controller sends a command for starting the brake pressure and a brake pressure value signal to be achieved, and sends the command and the brake pressure value signal to the electronic booster;
when the electronic booster receives a braking pressure starting instruction, the electronic booster performs motor boosting, and the boosting value is continuously increased;
the pressure sensor collects a master cylinder pressure value signal in real time, when the master cylinder pressure value is larger than a brake pressure value, the external brake controller sends an instruction for stopping increasing the power to the electronic booster, and the electronic booster stops increasing the power of the motor;
the wheel speed value is continuously reduced, when the wheel speed value is lower than a certain value, the electronic booster stops the boosting of the motor, the pulley is braked, and the pulley is kept static;
and powering off the electronic booster, and finishing the test.
2. The active braking control method for a tow chain tackle as claimed in claim 1, wherein the active braking control module for the tackle is installed in a manner that: the suspension system of the vehicle is installed on the frame of the pulley, the wheel speed sensor is installed in the knuckle of the front wheel; the rear suspension displacement sensor is a stay wire type displacement sensor, the fixed end of the stay wire type displacement sensor is installed on the upper suspension of the rear suspension, and the trigger end of the stay wire type displacement sensor is contacted with the bracket on the sliding column of the rear suspension; the brake system comprises an electronic booster, a six-way valve, a brake caliper, a brake disc and a brake oil pipe, wherein the brake caliper is fixed on a front steering knuckle and a rear steering knuckle, the brake disc is fixed on a hub bearing, one end of the six-way valve is communicated with the brake caliper through the brake oil pipe, one end of the six-way valve is communicated with the master cylinder pressure sensor through the brake oil pipe, and the other end of the six-way valve is communicated with a first oil outlet of the electronic booster through the brake; the master cylinder pressure sensor is communicated with a second oil outlet of the electronic booster through a brake oil pipe; the electronic booster, the external brake controller and the 12V vehicle-mounted storage battery are fixed on the pulley frame.
3. The method for controlling active braking of a towed chain tackle as claimed in claim 1, wherein the method for controlling active braking of a towed chain tackle specifically includes the steps of:
step 101: backing the ground drag chain at a constant speed;
step 102: pushing the pulley onto a ground drag chain, manually electrifying the electronic booster, and starting the test;
step 103: the electronic booster sets the external braking condition signal to be 1, sets the external braking state signal to be 0 and sends the external braking state signal in real time;
step 104: the external brake controller resets the time counter and the misuse triggering timer to 0;
step 105: the external brake controller sets the brake pressure starting signal as '0' and the brake pressure value signal as '0', and sends the signals in real time;
step 106: the external brake controller collects the displacement signal of the rear suspension displacement sensor in real time;
step 107: adding 1 to a time counter in the external brake controller;
step 108: the external brake controller records the displacement value of the rear suspension of each sampling point;
step 109: the external brake controller determines that the time counter is equal to 500, if yes, then step 110 is performed, if no, then step 107 is performed;
step 110: the external brake controller calculates the average value of the displacement values of the rear suspension of 500 sampling points, and the average value is set as the zero point of the displacement of the rear suspension;
step 111: the pulley is accelerated to advance on the drag chain until the speed is stable;
step 112: the pulley is driven by a ground drag chain to advance at a certain speed;
step 113: the pulley reaches the cross beam obstacle;
step 114: the pulley breaks away from a ground drag chain and continues to advance by utilizing inertia, and the displacement of a rear suspension of the pulley is continuously increased;
step 115: the external brake controller judges whether the displacement of the rear frame of the pulley exceeds 10mm, if so, the step 116 is carried out, and if not, the step 114 is carried out;
step 116: the external brake controller acquires the wheel speed value of the front wheel speed sensor in real time;
step 117: the external brake controller calculates a misuse triggering timing final value, and the misuse triggering timing final value is obtained by dividing the total length of the crosswood obstacles by the wheel speed value acquired in the step 116;
step 118: the external brake controller adds 1 to the misuse trigger timer;
step 119: the external brake controller determines whether the misuse trigger timer equals the misuse trigger timer end value, if so, proceeds to step 120, if not, proceeds to step 118;
step 120: the external brake controller acquires the wheel speed value of the front wheel speed sensor in real time;
step 121: the external brake controller calculates a brake pressure value according to the wheel speed value of the front wheel, calibrates a wheel speed-brake pressure MAP graph of the front wheel according to the brake system parameters, embeds the MAP graph into the external brake controller, and the external brake controller calculates and sends out the corresponding brake pressure according to the wheel speed value of the front wheel in the step 120;
step 122: the electronic booster receives a brake pressure starting signal in real time;
step 123: the external brake controller judges whether the brake pressure start signal is "1", if yes, proceeds to step 124, if no, proceeds to step 121;
step 124: the electronic booster receives a brake pressure value signal;
step 125: the electronic booster sets the external brake state signal to be 1 and sends the signal in real time;
step 126: the electronic booster performs motor boosting according to the braking pressure value, and the boosting value is continuously increased; calibrating a brake pressure-motor assistance MAP according to the area parameters of a worm gear, a ball screw, a gear and a master cylinder in the electronic booster, embedding the MAP into a controller of the electronic booster, and calculating the corresponding motor assistance by the electronic booster according to the brake pressure value;
step 127: the pressure sensor collects a master cylinder pressure value signal in real time;
step 128: the external brake controller judges whether the master cylinder pressure value is larger than the brake pressure value, if so, the step 129 is carried out, and if not, the step 126 is carried out;
step 129: the external brake controller sends a signal for stopping the increase of the power assistance to the electronic booster, and the electronic booster stops the increase of the power assistance of the motor;
step 130: the external brake controller judges whether the wheel speed value is lower than 0.5m/s, if so, the step 131 is carried out, and if not, the step 129 is carried out;
step 131: the electronic booster stops the boosting of the motor, the pulley is braked and kept static;
step 132: the external brake controller sets the brake pressure starting signal to be 0 and sets the brake pressure value signal to be 0;
step 133: the electronic booster sets the external braking condition signal to be 1 and sets the external braking state signal to be 0;
step 134: and (4) manually powering off the electronic booster, and ending the misuse test.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910417171.7A CN110208012B (en) | 2019-05-20 | 2019-05-20 | Active braking control method for drag chain type tackle |
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| CN201910417171.7A CN110208012B (en) | 2019-05-20 | 2019-05-20 | Active braking control method for drag chain type tackle |
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| CN110208012B true CN110208012B (en) | 2021-05-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113776847B (en) * | 2021-07-26 | 2023-02-10 | 中国第一汽车股份有限公司 | Test system, test method and device for vehicle regenerative braking working condition and storage medium |
| CN113581777B (en) * | 2021-07-30 | 2023-07-18 | 合肥君信电子科技有限公司 | Autonomous derailment-preventing cable-free railcar and suspended rail motion platform thereof |
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| WO2010078471A1 (en) * | 2008-12-30 | 2010-07-08 | Darco Trust | Vehicle suspension system |
| CN201909716U (en) * | 2010-11-15 | 2011-07-27 | 襄樊达安汽车检测中心 | False triggering prevention testing device for automobile safety airbags |
| CN108195600A (en) * | 2018-03-29 | 2018-06-22 | 卫国锦 | Automobile chassis life test apparatus |
| CN108918160B (en) * | 2018-07-27 | 2020-09-01 | 江西江铃集团新能源汽车有限公司 | Vehicle automatic test system, readable storage medium and test device |
| CN109141913B (en) * | 2018-07-27 | 2019-11-05 | 安徽江淮汽车集团股份有限公司 | A kind of body of a motor car installation reliability test method |
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