CN110550009B - 用于控制液压制动系统的方法 - Google Patents

用于控制液压制动系统的方法 Download PDF

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CN110550009B
CN110550009B CN201910450393.9A CN201910450393A CN110550009B CN 110550009 B CN110550009 B CN 110550009B CN 201910450393 A CN201910450393 A CN 201910450393A CN 110550009 B CN110550009 B CN 110550009B
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brake system
hydraulic brake
electric motor
rotational speed
hydraulic
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C·埃姆德
H·德鲁肯米勒
H·库尔茨
P·谢林杰
Y·纳夫鲁兹
A·施密特莱因
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Robert Bosch GmbH
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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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
    • B60T13/20—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs with control of pump driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/142—Systems with master cylinder
    • B60T13/145—Master cylinder integrated or hydraulically coupled with booster
    • B60T13/146—Part of the system directly actuated by booster pressure
    • 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
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/02—Arrangements of pumps or compressors, or control devices therefor
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • 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
    • B60T8/173—Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B60T8/4054—Control of the pump unit involving the delivery pressure control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4068—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system the additional fluid circuit comprising means for attenuating pressure pulsations
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems

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  • Physics & Mathematics (AREA)
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Abstract

本发明涉及一种用于控制液压制动系统的方法，其中该制动系统包括由电动机驱动的液压泵，以用于产生液压制动系统的流体体积流量。该方法的特征在于，驱控电动机，使得通过由驱控产生的对电动机转速的调制来抵消液压制动系统中的流体脉动。此外，本发明涉及一种设备，其被构造并配置用于执行上述方法。

Description

用于控制液压制动系统的方法
技术领域
本发明涉及一种用于控制液压制动系统的方法，其中制动系统包括由电动机驱动的液压泵，以用于产生液压制动系统的流体体积流量。该方法的特征在于，驱控电动机，使得通过由驱控产生的对电动机转速的调制来抵消液压制动系统中的流体脉动。此外，本发明涉及一种设备，其被构造并配置用于执行上述方法。
背景技术
诸如ESP的驾驶员辅助系统需要压力供应单元，以用于主动介入车轮制动钳的压力调制。最常用的类型是径向柱塞泵与由电动机驱动的偏心轮组合。当以恒定转速运行时，泵的吸入冲程和输送冲程周期性地交替，其中体积流量在理想情况下相应地半正弦地脉动。然而，在实际运行中，这些过程仍受吸入阀和排出阀的响应的影响。此外，直流电动机的转速也会受到负载转矩波动的影响，这会影响体积流量。除了由于半正弦过程引起的脉动之外，在吸入侧由于空气释放效应产生压力峰值，然而在泵的出口阀的压力侧产生高频脉动(“泵送冲击”)。该脉动通过液压管路的结构振动传递进车辆内部，并且被驾驶员感知为干扰噪音。因此存在NVH问题(噪声振动粗糙度)。为了减少高频脉动，可以安装低通滤波器部件(容量器和节流阀的串联连接)，但这会产生成本。
发明内容
与之相反，本发明的方法和设备能够有利地在降低成本的情况下改善NVH。
根据本发明提供一种用于控制液压制动系统的方法，其中制动系统包括由电动机驱动的液压泵，以用于产生用于液压制动系统的流体体积流量，其特征在于，驱控电动机，使得通过由驱控产生的对电动机转速的调制来抵消液压制动系统中的流体脉动。
这应该理解为，驱控电动机，使得电动机的转速经历限定的调制，其中该调制被设计为使得液压制动系统中的流体脉动减小。转速通常理解为每单位时间的转数。调制转速应该理解为随时间(或者随转子位置等)改变转速。因此，这对应于特定转速曲线的定义。这可以通过角转速的变化来实现。例如，控制ESP系统或其他驾驶员辅助系统可以例如被理解为控制液压制动系统。这种系统通常具有至少一个电磁阀，以用于控制从液压泵到车轮制动器的流体体积流量。
通过减小制动系统中的压力波动和/或体积波动来实现对流体脉动的抵消。对流体脉动进行平滑。例如在具有偏心轮的径向活塞泵中通过半正弦体积流量过程来避免或减少脉动而实现优化。替代地或附加地，优化是减小压力峰值，该压力峰值由于空气释放效应产生在吸入侧上。替代地或附加地，通过减小高频脉动来实现优化，该高频脉动通过泵排出阀而在压力侧上产生，即减小压力振动宽度(也称为压力振动幅度)。特别地，提供了对无刷直流电动机(BLDC)的优化驱控。
有利地，这种控制器避免或至少减少压力脉动。因此，实现了避免或至少减少干扰噪声。总体上，这因此改善了NVH特性(噪声振动粗糙度)。有利地，本发明直接在脉动产生方面，实现减少或避免脉动。因此，这是一种非常有效和高效的抑制。此外，由于可以在液压制动系统中省去其他的物理阻尼措施，因此可以通过新型的驱控来降低成本。
在有利的实施例中，该方法的特征在于在旋转一周期间调制电动机的转速。
这应理解为，在电动机转子旋转一周期间，调制电动机转速，从而抵消液压制动系统中的流体脉动。也就是说，在旋转一周期间改变转速曲线，以减少流体脉动。当然，也可以规定，在旋转多周期间或在旋转一周的一部分期间改变转速。例如，在旋转半周(半正弦)期间改变转速。
在可行的实施例中，该方法的特征在于，根据转子位置来调制电动机的转速。
这应理解为，根据转子位置调制电动机的转速，使得液压制动系统中的流体脉动被抵消。例如，在第一个转子位置设定第一转速并在第二转子位置设定第二转速，第二转速与第一转速不同，原则上可以为每个转子位置设定适当的转速。这种实施方式相当于定义关于转子角位置的转速曲线，或者相当于定义关于旋转一周时间的转速曲线。有利地，为此目的使用并评估转子位置传感器。基于所确定的转子位置，可以定义和采用用于电动机的合适的驱控电流。
在优选的实施例中，该方法的特征在于周期性地调制电动机的转速。
这应理解为，电动机的转速以规则的间隔(例如以重复的模式)变化。相应地，进行这种变化(调制)以减少或避免流体脉动。例如，在带有2活塞的径向柱塞泵中，转速可以改为半正弦曲线。这意味着转速曲线理想地与现有泵结构匹配。由于泵结构具有2个相同的活塞，两个泵的吸入冲程和输送冲程的转速曲线是相同的，因此可以针对两个活塞统一地设定。由于泵结构具有2个相对的活塞，理想的转速曲线在转子的每180°转角继续重复。
在备选的改进方案中，该方法的特征在于，通过考虑傅立叶模式的公式来调制电动机的转速。
这应理解为，选择基于傅立叶模式的公式，以用于电动机转速的周期性调制，其基频特别地对应于电动机旋转半周。
在有利的实施例中，该方法的特征在于，通过考虑以下公式来调制电动机的转速：
Figure BDA0002074952100000031
其中
Figure BDA0002074952100000032
在这里描述了关于傅立叶模式的公式，其基频对应于电动机旋转半周。这里，n＝(时刻t的转速)n0＝(基本转速)，ai＝(傅立叶系数1)，
Figure BDA0002074952100000041
i＝(运行指标)，ω0＝(基频)，t＝(时间)。
在可行的实施例中，该方法的特征在于，系数ai和
Figure BDA0002074952100000042
通过模拟确定，和/或系数ai和
Figure BDA0002074952100000043
通过实验确定。
在优选的实施例中，该方法的特征在于，该驱控被实现为对无刷直流电动机的驱控。
这应理解为，该方法提供对无刷直流电动机(BLDC)的优化驱控，并且被设计为通过由驱控产生的对无刷直流电动机的转速的调制来抵消液压制动系统中的流体脉动。
在备选的实施例中，该方法的特征在于，该方法包括以下步骤中的至少一个：
-确定电动机的转子位置；
-确定排出阀的状态；
-定义电动机的预期转速，以用于抵消液压制动系统中的流体脉动；
-驱控电动机以调节预期的转速。
有利地，确定电动机的转子位置以确定泵的位置。根据转子位置和已知构造，可以精确地推断出泵当前位于哪种情况以及在当前位置和接下来的位置预期具有哪些属性特征。定义预期转速应理解为确定合适的转速以抵消流体脉动。该确定可以例如通过傅立叶公式实现。在这种情况下，可以动用存储在数据库中的值，该值例如是在模拟和/或测试的基础上确定的。
该方法可以例如以软件或硬件或以软件和硬件的混合形式实现，例如在控制装置中实现。
本文介绍的方法还提供了一种设备，该设备被构造为在相应的装置中执行、驱控或实施本文提出的方法的变体的步骤。同样通过本发明的这种以设备形式的实施例，可以快速有效地解决本发明的根本问题。
在本文中，该设备可以被理解为处理传感器信号并且据此输出控制信号和/或数据信号的电子设备。该设备可以具有接口，该接口可以构造为硬件和/或软件形式。在基于硬件形式的实施例中，接口可以是所谓的系统ASIC的一部分，其例如包含设备的各种功能。然而，接口也可以是单独的集成电路或者至少部分地由分立元件组组成。在软件形式的实施例中，接口可以是与其他软件模块并行存在于例如微控制器上的软件模块。
有利地，提供一种具有程序代码的计算机程序产品或计算机程序，该程序代码可以存储在机器可读载体或存储介质上，例如半导体存储器、硬盘存储器或光学存储器，并且用于执行、实现和/或控制根据上述实施例中任一项所述的方法的步骤。特别是当程序产品或程序在计算机或设备上执行时。
在本文，设备也可以理解为无刷直流电动机，已用于驱动液压制动系统的泵，其中直流电动机包括转子位置传感器。
设备还可以理解为液压制动系统，该系统被配置为用于执行所述方法，其中制动系统没有用于抵消液压制动系统中的流体脉动的液压阻尼部件，特别是没有液压低通滤波器。特别地，液压低通滤波器可以理解为液压容量和液压阻力(节流阀)的串联回路。
附图说明
应当注意，说明书中单独列出的特征可以以任何技术上有意义的方式彼此组合，并且示出了本发明的其他实施例。参考附图根据实施例的描述得出本发明的其他特征和用途。
从图中可以看出：
图1以简化图示出了机动车辆的制动系统；
图2a示出了液压制动系统的特定参数的曲线；
图2b示出了本发明第一实施例中的液压制动系统的特定参数的曲线；
图3a示出了液压制动系统的特定参数的曲线；
图3b示出了本发明其他实施例中的液压制动系统的特点参数的曲线。
具体实施方式
图1以简化图示出了(这里未详细示出的)用于机动车辆的制动系统1。该制动系统1具有多个车轮制动器2，该车轮制动器可以通过制动踏板装置3作为行车制动器由机动车辆的驾驶员进行操作。车轮制动器2由LR、RF、LF和RR表示，可以通过它们在机动车辆上的位置或分配进行解释，LR为左后方，RF为右前方，LF为左前方，RR为右后方。在制动踏板装置3和车轮制动器2之间构成两个制动回路4和5，其中车轮制动器LF和RR被分配给制动回路4，以及车轮制动器LR和RF被分配给制动回路5。两个制动回路4和5构造相同，因此下面将参考制动回路4更详细地说明两个制动回路4、5的结构。
制动回路4首先与制动踏板装置3的主制动缸6连接，其中制动踏板装置3还具有由驾驶员操作的制动踏板7，以及具有制动助力器8。该制动助力器可以例如气动或机电致动。制动回路4具有开关阀9'和高压开关阀9，他们彼此并联连接，并且连接到主制动缸6。开关阀9'被构造为常开的，并允许制动回路的液压介质(即制动液)在两个方向上流动。高压开关阀9被构造为常闭的，在通电状态下，制动液仅朝车轮制动器2的方向流动。开关阀9'还通过插入进入阀10与两个车轮制动器2连接，进入阀10被构造成在两个方向上是常开的。排出阀11相应地分配给制动回路4的车轮制动器2，该排出阀被构造为常闭的。排气阀11连接在液压蓄压器12的下游。在出口侧，出口阀11与泵13的吸入侧连接，泵13在开关阀9'和进入阀10之间的压力侧与制动回路4连接。泵13与电动机14机械地连接。电动机14被分配给两个制动回路4和5的泵13。替代地，也可以每个制动回路4、5具有其自己的电动机14。控制单元20控制电动机14和阀9、9'、10、11。
如果制动回路4、5的两个开关阀9'关闭，则液压保持在制动回路4、5的下面部分中，如果驾驶员释放制动踏板7，则开关阀和车轮制动器2之间液压可以被锁定或保持。
图2a示出了根据现有技术的液压制动系统的特定参数的曲线。上图显示了随时间变化的转速n。该转速基本上保持不变。由此设定的体积流量V在中间的图示中示出。下图显示了泵前面的压力p_up(上游压力)。第二峰的较高的压力峰值是清晰可见的。
图2b示出了本发明第一实施例中的液压制动系统的特定参数的曲线。这里示出了如图2a所示的相同的参数以获得更好的可比性。在上图中可以明显辨认，转速随时间调制。在这种情况下，在本实施例中定义的转速曲线的周期性模式已经可识别，该周期性模式大约每0.02秒重复一次，0.02秒的时间对应于电动机轴旋转半周。基于此，建立略微改变的体积流量V，如中图所示。在下图中可以再次清楚地看到压力p_up的压力峰值减小。
图3a再次示出了根据现有技术的液压制动系统的特定参数的曲线。上图示出了随时间变化的转速n。该转速基本上保持不变。中图示出了泵后面的压力p_down(下游压力)。下图示出了泵出口处的压力振动宽度p_swing_amp(也称为压力振动幅度)。
图3b示出了本发明第二实施例中液压制动系统的相同参数的曲线，可以再次清楚地看到调制的电动机转速。泵后面的压力曲线p_down在中图中显示略微改变的曲线。压力振动宽度p_swing_amp的减小和均匀分布可以在下图中清楚地看到。
应当注意，各个图示中的X轴和Y轴的标尺(a＝现有技术，b＝本发明的实施例)是相同的。由此可以以简单的方式确定差异。

Claims (12)

1.一种用于控制液压制动系统(1)的方法，其中所述液压制动系统(1)包括由电动机(14)驱动的液压泵(13)，以用于产生所述液压制动系统(1)的流体体积流量，其特征在于，驱控所述电动机(14)，使得通过由驱控产生的对所述电动机(14)的转速以正弦方式的调制来抵消所述液压制动系统(1)中的流体脉动。
2.根据权利要求1所述的方法，其特征在于，所述电动机(14)的转速在旋转一周期间被调制。
3.根据权利要求1或2所述的方法，其特征在于，根据转子位置来调制所述电动机(14)的转速。
4.根据权利要求1或2所述的方法，其特征在于，周期性地调制所述电动机(14)的转速。
5.根据权利要求1或2所述的方法，其特征在于，通过考虑关于傅立叶模式的公式来调制所述电动机(14)的转速。
6.根据权利要求5所述的方法，其特征在于，通过考虑以下公式来调制所述电动机(14)的转速：
Figure FDA0003247993460000011
其中
Figure FDA0003247993460000012
7.根据权利要求6所述的方法，其特征在于，系数ai和
Figure FDA0003247993460000013
通过模拟确定，和/或系数ai和
Figure FDA0003247993460000014
通过实验确定。
8.根据权利要求1或2所述的方法，其特征在于，所述驱控被实现为对无刷直流电动机的驱控。
9.根据权利要求1或2所述的方法，其特征在于，所述方法包括以下步骤中的至少一个：
-确定所述电动机(14)的转子位置；
-确定排出阀(11)的状态；
-定义所述电动机(14)的预期转速，以用于抵消所述液压制动系统(1)中的流体脉动；
-驱控所述电动机(14)以调节所述预期转速。
10.一种控制装置(20)，被配置为执行根据权利要求1至9中任一项所述的方法。
11.一种液压制动系统(1)，被配置为执行根据权利要求1至9中任一项所述的方法，其中所述液压制动系统(1)没有用于抵消所述液压制动系统(1)中的流体脉动的液压阻尼部件。
12.根据权利要求11所述的液压制动系统(1)，其中所述液压制动系统(1)不包括用于抵消所述液压制动系统(1)中的流体脉动的液压低通滤波器。
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