CN110654363A - Distributed brake system with parking function and pressure regulation control method thereof - Google Patents

Distributed brake system with parking function and pressure regulation control method thereof Download PDF

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Publication number
CN110654363A
CN110654363A CN201911071742.2A CN201911071742A CN110654363A CN 110654363 A CN110654363 A CN 110654363A CN 201911071742 A CN201911071742 A CN 201911071742A CN 110654363 A CN110654363 A CN 110654363A
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CN
China
Prior art keywords
brake
braking
pressure
wheel
electric
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Pending
Application number
CN201911071742.2A
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Chinese (zh)
Inventor
邓伟文
丁能根
张凯
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Nanjing Jingweida Automobile Technology Co Ltd
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Nanjing Jingweida Automobile Technology Co Ltd
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Priority to CN201911071742.2A priority Critical patent/CN110654363A/en
Publication of CN110654363A publication Critical patent/CN110654363A/en
Pending legal-status Critical Current

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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
    • B60T13/58—Combined or convertible systems
    • 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
    • B60T13/746—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 and mechanical transmission of the braking action
    • 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
    • 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
    • B60T8/32—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
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/02—Fluid pressure
    • F16D2121/04—Fluid pressure acting on a piston-type actuator, e.g. for liquid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/24—Electric or magnetic using motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2123/00—Multiple operation forces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2125/00—Components of actuators
    • F16D2125/02—Fluid-pressure mechanisms
    • F16D2125/04—Cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2125/00—Components of actuators
    • F16D2125/18—Mechanical mechanisms
    • F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
    • F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
    • F16D2125/40—Screw-and-nut

Abstract

The invention relates to the technical field of vehicle brake control systems, and particularly provides a distributed brake system with a parking function and a pressure regulation control method thereof. The distributed composite braking system also comprises at least three electric cylinders which are respectively and electrically connected with the braking controller; the brake master cylinder is connected with at least three electric cylinders through brake pipelines; the electric cylinders are connected to the same number of wheel brakes on the automobile in a one-to-one correspondence manner, and each electric cylinder and a corresponding wheel brake form a brake circuit. The invention has the beneficial effects that: the intelligent driving automobile brake system has the advantages of flexible control, quick brake response and high brake pressure control precision, and enables the intelligent driving automobile to have good motion stability and high reliability during braking.

Description

Distributed brake system with parking function and pressure regulation control method thereof
Technical Field
The invention relates to the technical field of vehicle brake control systems, in particular to a distributed brake system with a parking function and a pressure regulation control method thereof.
Background
The automobile brake system is closely related to the automobile driving safety. In a conventional hydraulic brake system for an automobile, a driver applies a brake pressure to wheel brakes of the wheel brakes by pressing a brake pedal, thereby braking and decelerating the automobile. The hydraulic brake system mainly comprises a brake pedal, a vacuum booster, a brake manpower cylinder, a hydraulic pipeline, a rear wheel brake, a front wheel brake and the like.
From the aspect of a brake boosting mode, most of the existing automobile hydraulic brake systems still adopt vacuum boosting, and only a few automobiles adopt other forms of boosting such as electric boosting. Because the electric automobile is not provided with an engine to provide a vacuum source, when the automobile adopts vacuum assistance, a vacuum pump and a vacuum tank are additionally arranged, and the defects of high working noise, slow brake pressure response and non-compact structure are brought. With the increasing proportion of electric automobiles in the automobile market and the increasing development of intelligent automobile systems, electric power assistance has a tendency to replace vacuum power assistance. Another disadvantage of conventional vacuum assisted brake systems is that it is difficult to meet the autonomous braking (so-called "autonomous braking", which refers to the braking applied to some or all of the wheels without depressing the brake pedal) required by smart car systems such as Advanced Driving Assistance Systems (ADAS) and Automated Driving Systems (ADS). For the development of unmanned logistics distribution vehicles, this approach is not suitable since the brake operating device is no longer required. And the existing autonomous braking system developed for ADS lacks failure protection function, and the safety performance is lower.
In order to improve the reliability and the driving safety of braking, the automobile braking system generally adopts a mutually independent multi-loop structure to ensure that other normal loops can still continue to play a braking role when one or more loops fail. Therefore, the autonomous braking system developed specifically for ADS should consider not only the follow-up of the conventional wheel brakes as much as possible, but also the adoption of a multi-circuit redundancy structure. Compared with the traditional double-loop brake system, the four-wheel independent brake distributed brake system is equivalent to a four-loop system, and the reliability of the system is further improved. In most service braking conditions, two front wheels and two rear wheels respectively require consistent braking pressure, and in order to realize the function, the control difficulty is additionally increased, and the effect is also not ideal.
In recent years, ESC HCU active boost braking, electro-hydraulic servo braking (EHB) and integrated electro-hydraulic braking superimposed on vacuum boosting have been developed successively, and the function and performance of the braking system are continuously enhanced. In particular, in recent years, the electro-hydraulic servo brake and the integrated electro-hydraulic brake are adopted, wherein the electro-hydraulic servo brake can realize power-assisted braking, autonomous braking and brake-by-wire braking supporting braking energy recovery by being used alone or being matched with an HCU of an ESC, and the electro-hydraulic servo brake and the integrated electro-hydraulic brake can have all the functions independently. These braking systems, which occur after vacuum boosting, invariably employ solenoid valves to regulate wheel cylinder pressure to meet the pressure control needs of the ABS or ASR or ESC.
These new electro-hydraulic brake devices still have deficiencies. For example, the hydraulic unit of the ESC has the problems that the electromagnetic valve is not suitable for long-time continuous operation, the service life of the plunger pump is difficult to meet, the motor noise of the plunger pump is large, and the like; the high-pressure accumulator of the EHB has high sealing difficulty, potential safety hazards exist due to high pressure, and the whole system needs to work frequently to consume more energy in order to maintain enough stock pressure; some electric power assisting devices are not decoupled, and the ESC hydraulic unit is matched to realize the simulation of the stroke of the brake pedal and the brake-by-wire, so that the complexity of the system is increased. Essentially, the brake pressure regulation modes of the novel electro-hydraulic brake devices belong to circulation regulation, and the pressure response dynamic characteristics of the electro-hydraulic brake devices are inferior to those of variable-capacity regulation.
The problem that how to design a brake system with compact structure, high system reliability, balanced shaft pressure, parking function, lower cost and failure protection is urgently needed to be solved is the automatic driving system of the motor vehicle.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a distributed autonomous braking system with multiple working modes and shaft pressure balance, which has a failure protection function, shaft pressure balance and higher safety performance, has electric power assistance and parking functions.
The technical scheme adopted by the invention for solving the problems is that the brake system comprises a power supply, a brake controller, a brake master cylinder, a master cylinder displacement sensor, a brake pedal, a pedal displacement sensor and an electric power assisting device;
the electric power assisting device, the master cylinder displacement sensor and the pedal displacement sensor are respectively electrically connected with the brake controller;
the distributed brake system also comprises at least three electric cylinders which are respectively and electrically connected with the brake controller; the brake master cylinder is connected with the at least three electric cylinders through brake pipelines; the electric cylinders are correspondingly connected to the wheel brakes of the automobile in the same number one by one, and each electric cylinder and one corresponding wheel brake form a brake loop;
the two wheel brakes at two ends of the same shaft are communicated through a brake pipeline, an electromagnetic valve is arranged on the brake pipeline, and the electromagnetic valve is electrically connected with the brake controller. The electromagnetic valve is a normally open type electromagnetic valve;
the wheels of the vehicle are electrically connected with wheel speed sensors which are electrically connected with the brake controller.
The four electric cylinders comprise a first electric cylinder, a second electric cylinder, a third electric cylinder and a fourth electric cylinder, and the wheel brakes comprise a right rear wheel brake, a left rear wheel brake, a right front wheel brake and a left front wheel brake; the electromagnetic valves comprise a front electromagnetic valve arranged on a brake pipeline between the left front brake and the right front brake and a rear electromagnetic valve arranged on a brake pipeline between the right rear brake and the left rear brake;
the first electric cylinder and the right rear wheel brake, the second electric cylinder and the left rear wheel brake, the third electric cylinder and the right front wheel brake, and the fourth electric cylinder and the left front wheel brake are respectively connected through a brake pipeline.
Further, the electric cylinder includes:
the device comprises a transmission shell, a main cylinder shell, an electric cylinder motor and a piston, wherein the transmission shell and the main cylinder shell are fixedly connected, the electric cylinder motor is arranged on one side of the transmission shell, the piston is arranged in the main cylinder shell in a sliding mode, and the piston comprises a rear piston and a front piston attached to the rear piston;
a transmission mechanism is arranged between the front piston and the electric cylinder motor in the transmission shell, and an elastic reset piece is arranged between the rear piston and the inner wall of the main cylinder shell in the main cylinder shell;
the transmission mechanism comprises a lead screw pair and a screw rod pair which are arranged in a transmission shell, wherein the lead screw pair is driven by the electric cylinder motor and a nut which is matched with the lead screw and can only be arranged in an axial translation manner;
the screw pair comprises a screw fixed with the screw along the same central axis and a nut matched with the screw and only capable of being arranged in a translational way along the axial direction;
the lead of the screw is greater than that of the lead screw;
the transmission mechanism is provided with an initial position and a self-locking position, and the screw nut is attached to the front piston at the initial position; when the self-locking device is in a self-locking position, the nut is separated from the front piston, and the nut is attached to the front piston.
Furthermore, the transmission mechanism also comprises a rotation limiting element, one end of the rotation limiting element is fixedly connected with the shell, and the other end of the rotation limiting element movably penetrates through the nut and the nut along the direction parallel to the same central axis; the rotation limiting element is a cylindrical pin.
Furthermore, a first cavity is formed between one end face of the rear piston and the inner wall of the main cylinder shell, the outer peripheral surface of the position where the rear piston is attached to the front piston is recessed inwards, so that a second cavity is formed between the piston and the inner wall of the main cylinder shell, the elastic resetting piece is arranged in the first cavity, and two ends of the elastic resetting piece are respectively abutted to the rear piston and the inner wall of the main cylinder shell;
the main cylinder shell is provided with a liquid supply hole and a liquid discharge hole, wherein the liquid supply hole is communicated with the second cavity, the liquid discharge hole is communicated with the first cavity, the rear piston is provided with a first leather cup, and the first leather cup is axially positioned between the liquid supply hole and the liquid discharge hole in a prepressing state of the elastic resetting piece;
the front piston is provided with a second leather cup, and the second cavity is positioned between the first leather cup and the second leather cup.
Further, the electric booster includes:
the end cover is internally provided with a pedal push rod, a rack arranged on the pedal push rod is meshed with a first sensor gear, the pedal displacement sensor is used for detecting the rotation of the first sensor gear, and the pedal push rod is connected with the brake pedal through a connecting device;
the extrusion device comprises an ejector rod, a reaction disc, a small push rod and a tray arranged in a ball screw, wherein the ejector rod, the reaction disc and the small push rod are all arranged in the tray, and the small push rod is connected with the pedal push rod through a first nut; a first spring is arranged between the tray and the shell;
the motor is fixedly connected with a small gear arranged in the shell, the small gear forms secondary transmission with a large gear through a duplicate gear, the large gear is connected with a nut through a key, and the nut is arranged on the ball screw;
the master cylinder displacement sensor is used for detecting a second sensor gear meshed with the large gear.
Furthermore, the ball screw is axially provided with a through hole, the tray is provided with a sliding sleeve part which is movably inserted into the through hole of the ball screw, a through hole is formed in the sliding sleeve part, one end of the small push rod is movably matched with the reaction disc, penetrates through the through hole and is connected with the pedal push rod, and the other end of the small push rod is connected with the reaction disc.
Furthermore, a round hole with the diameter larger than that of the through hole is formed in the other end, far away from the sliding sleeve part, of the tray, and the reaction disc is movably arranged in the round hole; the diameter of the small push rod is smaller than that of the pedal push rod, and a gap is formed between the pedal push rod and the sliding sleeve portion.
Further, the brake controller is also connected with other electric control systems of the vehicle and is used for receiving brake requests of the other electric control systems.
Further, the invention also comprises the following braking modes and pressure regulation control methods:
an autonomous braking mode: when the brake controller detects a brake request, the brake controller controls the electric cylinder to generate brake pressure and transmits the brake pressure to the corresponding wheel brake through a brake pipeline, and automatic braking is realized;
and (3) an assisted braking mode: when a driver steps on the brake pedal, the brake controller drives the electric power assisting device to work according to data measured by the pedal displacement sensor and data fed back by the main cylinder displacement sensor, the brake main cylinder is pushed to generate brake pressure, the brake pressure is transmitted to the electric cylinder and the corresponding wheel brake through the brake pipeline, power assisting brake is realized, and in the brake process, the two electromagnetic valves are normally opened to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipeline;
if the electric control part of the electric power assisting device fails, power-assisted braking is realized through the electric cylinder, the pedal displacement sensor detects pedal displacement and drives the corresponding electric cylinder to work, and the working process and the autonomous braking process realize the power-assisted braking;
failure protection braking mode: when the brake controller detects that one or more brake circuits of the system are failed, failure protection braking is implemented by controlling the electric cylinders of the non-failed brake circuits; the brake controller firstly calculates target brake force according to signals of the pedal displacement sensor or brake requests from other electric control systems, distributes the target brake force to each wheel brake of the non-failure brake loop, controls the output torque of the electric cylinder of the non-failure brake loop to realize failure protection braking, and in the braking process, the two electromagnetic valves are normally opened to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines;
failure backup manual braking mode: when the brake controller and the power supply have faults, and the wire-controlled brake circuit fails, certain brake capacity can still be ensured through manual braking; after a driver steps on the brake pedal, pedal force acts on the brake master cylinder to generate brake pressure, the brake pressure is output to the corresponding wheel brake through the brake pipeline, manual backup braking is implemented, and in the braking process, the two electromagnetic valves are normally opened to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipeline;
ABS or ASR brake pressure regulation mode: under the autonomous braking mode and the failure protection braking mode, when the braking controller receives an ABS or ASR signal, the braking pressure adjusting mode is entered to adjust the pressure of each wheel brake; the pressure regulation comprises 3 working states of pressurization, pressure maintaining and pressure reduction, and the working state is determined by an ABS or ASR controller; when the brake controller receives a pressure reduction request of the ABS or ASR controller, the electric cylinder in the corresponding brake loop is enabled to reduce the brake pressure output; when the brake controller receives a pressure maintaining request, the output pressure of the electric cylinder in the corresponding brake loop is kept unchanged, so that the brake pressure in the corresponding wheel brake is kept unchanged, namely, in a pressure maintaining state; when the pressure of a certain wheel brake needs to be increased, the output pressure of an electric cylinder in the corresponding brake loop is increased so as to implement wheel brake pressurization control;
ESC braking intervention mode: when an ESC system in a vehicle issues a braking intervention request, requiring one or both wheels on one side to apply a braking torque; at the moment, the wheel brakes needing to be braked are braked by distributed braking, the condition that the vehicle is over-steered or under-steered can be judged by a vehicle VCU (vehicle control unit) according to a vehicle yaw velocity or lateral acceleration sensor, a steering wheel angle sensor reflecting the steering intention of a driver and a vehicle speed signal, the braking pressure is finally transmitted to the corresponding wheel brakes by controlling the output torque of the corresponding electric cylinders in the distributed braking system, and the braking of a single wheel in the distributed braking system is automatically braked by each corresponding electric cylinder.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the invention has the advantages of flexible control, quick braking response and good dynamic characteristic of braking pressure, and has high reliability of a manual braking system;
2. according to the invention, a special brake-by-wire failure backup device is not required to be additionally arranged, and even if the motor fails, a driver can still complete manual backup braking through the operation of the brake pedal;
3. compared with other electric power-assisted systems, the invention can obtain good brake pedal force feeling without a complex power-assisted control algorithm;
4. the four brake circuits are mutually independent and redundant, so that the braking reliability is high, and the failure protection performance is strong;
5. the invention adopts distributed four-wheel independent braking to greatly improve the flexibility of dynamic braking control of the automobile, thereby obtaining more excellent dynamic performance of the whole automobile. On the one hand, the short brake pressure build-up time results in a shorter braking distance. On the other hand, the independent control of four-wheel brake pressure and good initial response and dynamic response characteristics of brake pressure can greatly improve the performance of ABS or ASR or ESC under the limit working condition, and meet the control requirement of an intelligent driving automobile;
6. the invention adopts two mutually independent electromagnetic valves, and can control whether the brake pressure of the brake on the same shaft is balanced or not through the on-off of the electromagnetic valves, so that the reliability of the brake system is high, and the brake process is more stable;
7. the braking force of all wheels can be independently controlled and adjusted, the braking force of the wheels is flexibly controlled, and the pressure control precision is high.
Drawings
FIG. 1 is a schematic diagram of an X-shaped circuit according to the present invention;
FIG. 2 is a schematic diagram of the H-loop of the present invention;
FIG. 3 is a schematic view of the structure of the electric cylinder according to the present invention;
FIG. 4 is a schematic view of an electric power assisting device according to the present invention;
FIG. 5 is a schematic diagram of an ESC operating in the event of excessive left turn in accordance with the present invention;
FIG. 6 is a schematic diagram of a left turn deficient condition during ESC operation in accordance with the present invention;
fig. 7 is a schematic structural view of a cylinder portion of the dual chamber electric cylinder of the present invention.
The parts in the figures are numbered: 1-brake pedal; 2-a support pin; 3, an electric power assisting device; 4-master cylinder displacement sensor; 5-a liquid storage tank; 6-a master brake cylinder; 7-pedal displacement sensor; 8 a-a first electric cylinder; 8 b-a second electric cylinder; 8 c-a third electric cylinder; 8 d-a fourth electric cylinder; 9-a power supply; 10-a brake controller; 11-right rear wheel brake; 12-left rear wheel brake; 13-the right front wheel brake; 14-left front wheel brake; 15 a-front solenoid valve; 15 b-rear electromagnetic valve; 16 a-a right rear wheel speed sensor; 16 b-left rear wheel speed sensor;
201-electric cylinder motor; 202-a first snap spring; 203-a bearing; 204-a second clamp spring; 205-cylindrical pins; 206-a nut; 207-lead screw; 208-a screw; 209-nut; 210-a transmission housing; 211-sealing ring; 212-second cup leather; 213-front piston; 214-first leather cup; 215-a return spring; 216-master cylinder housing; 217-rear piston; a-a second cavity; b-a liquid supply hole; d-a first cavity; e-drain hole.
301-a first spring; 302-mandril; 303-a tray; 304-small push rod; 305-a first nut; 306-a second sensor gear; 307-bull gear; a 308-bond; 309-ball screw; 310-an end cap; 311-a first sensor gear; 312-a conical spring; 313-pedal push rod; 314-a second lock nut; 315-second nut; 316-ball head; 317-U type hinge; 318-first locking nut; 319-cover plate; 320-nut; 321-a first bearing; 322-shaft sleeve; 323-circlip; 324-a second bearing; 325-duplicate gear; 326-pinion gear; 327-a motor; 328-a reaction tray; 329-a housing; 330-a third bearing; 331-axis; 332-a slip sleeve portion;
412-a first piston; 413-third leather cup; 414-a connector; 415-a first reservoir; 416-a first resilient member; 417-electric cylinder block; 418-fourth leather cup; 419-a second piston; 420-a second elastic member; 421-a limit pin; 422-a limiting hole; 414 a-crossbar; 414 b-a separator; a 1-third cavity; b1 — first supply hole; b2 — second feed hole; d1-fourth cavity; d2-fifth cavity; e1-first drainage hole; e2-second drain hole.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example one
As shown in fig. 1, the distributed brake system with parking function and the pressure regulation control method thereof of the present invention includes a brake pedal 1, a support pin 2, an electric power assisting device 3, a master cylinder displacement sensor 4, a fluid reservoir 5, a master brake cylinder 6, a pedal displacement sensor 7, a first electric cylinder 8a, a second electric cylinder 8b, a third electric cylinder 8c, a fourth electric cylinder 8d, a power supply 9, a brake controller 10, a right rear wheel brake 11, a left rear wheel brake 12, a right front wheel brake 13, a left front wheel brake 14, a signal line, a power line and a brake pipeline. The brake system also comprises wheel brakes connected with the electric cylinders and electromagnetic valves arranged on brake pipelines between the wheel brakes.
There are various connection modes between the electric booster 3 and the electric cylinder. Referring to fig. 1, as one of the modes, one circuit of the electric booster 3 is connected to the electric cylinder to which the front right wheel brake 13 and the rear left wheel brake 12 of the automobile are coupled, and the other circuit of the electric booster 3 is connected to the electric cylinder to which the front left wheel brake 14 and the rear right wheel brake 11 of the automobile are coupled, that is, an X-type circuit. Referring to fig. 2, as a second mode, one circuit of the electric booster 3 is connected to the electric cylinders to which the two front wheel brakes of the vehicle are coupled, and the other circuit of the electric booster is connected to the electric cylinders to which the two rear wheel brakes of the vehicle are coupled, i.e., an H-shaped circuit is formed. Both forms of circuit achieve the object of the invention.
The electric cylinders are connected to the wheel brakes of the automobile in the same number in a one-to-one correspondence mode, and each electric cylinder and one corresponding wheel brake form a brake loop; the number of the electric cylinders corresponds to the number of the corresponding wheel brakes one by one, if the three wheel brakes have three corresponding electric cylinders, the situation is similar to a tricycle form; the four wheel brakes have corresponding four electric cylinders, or six-wheel vehicle has six electric cylinders. In the present embodiment, four wheel brakes correspond to four electric cylinders.
The brake pedal 1 is connected with the electric power assisting device 3 through a supporting pin 2; as shown in fig. 1, the second electric cylinder 8b, the first electric cylinder 8a, the fourth electric cylinder 8d, and the third electric cylinder 8c are coupled with a left rear wheel brake 12, a right rear wheel brake 11, a left front wheel brake 14, and a right front wheel brake 13, respectively, through brake lines. The master cylinder displacement sensor 4 is used to measure the displacement of the master cylinder, and the pedal displacement sensor 7 is used to measure the displacement of the pedal, which are coupled to the brake controller 10 through signal lines. The brake controller 10 is connected with the electric cylinder motor 201 through a power line, and the brake controller 10 is connected with the power supply 9 through a brake pipeline. The brake controller 10 is also coupled to a right rear wheel speed sensor 16a and a left rear wheel speed sensor 16b shown in fig. 1 or 2 and other electronic control systems via signal lines. In this embodiment, two wheel speed sensors are disposed respectively at the left rear wheel and the right rear wheel, in other embodiments, two wheel speed sensors may be disposed at the left front wheel and the right front wheel, four wheel speed sensors may be disposed respectively at the left rear wheel, the right rear wheel, the left front wheel and the right front wheel, and two wheel speed sensors may be disposed respectively at the left front wheel and the right rear wheel or the right front wheel and the left rear wheel, and the like, which are within the protection scope of the present invention.
The two wheel brakes at two ends of the same shaft are communicated through a brake pipeline, an electromagnetic valve is arranged on the brake pipeline, and the electromagnetic valve is electrically connected with the brake controller 10. A rear electromagnetic valve 10b is connected to a brake line between the first electric cylinder 8a and the right rear brake 11 and a brake line between the second electric cylinder 8b and the left rear brake 12, and a front electromagnetic valve 15a is connected to a brake line between the third electric cylinder 8c and the left front brake 14 and a brake line between the fourth electric cylinder 8d and the right front brake 13. The front solenoid valve 15a and the rear solenoid valve 15b are electrically connected to the brake controller 10. Referring to fig. 1 or 2, by opening and closing the front solenoid valve 15a and the rear solenoid valve 15b, the balance adjustment of the hydraulic pressure in the corresponding wheel brake and the pipe connected thereto may be achieved.
As shown in fig. 3, the electric cylinder structure includes a transmission housing 210 and a master cylinder housing 216 fixedly connected to each other, and an electric cylinder motor 201 disposed on one side of the transmission housing 210. In this embodiment, the electric cylinder motor 201 is a servo motor. The transmission housing 210 and the master cylinder housing 216 are fastened by a fastener, and a seal ring 211 is provided between the transmission housing 210 and the master cylinder housing 216 to seal them. In this embodiment, the fasteners are bolts. The electric cylinder motor 201 is provided on the transmission housing 210 on the side away from the master cylinder housing 216. A plurality of transmission devices are provided in the transmission housing 210.
In this embodiment, the transmission housing 210 has a screw transmission device therein, which mainly includes a screw pair transmission mechanism and a screw pair transmission mechanism, the screw pair mechanism in this embodiment is a single-head screw pair mechanism (the self-locking function of the single-head screw pair is a conventional technical means, and will not be described here in detail), and includes a screw 208 and a nut 209; the screw pair transmission mechanism includes a screw 207 coupled to the electric cylinder motor 201 and a nut 206 that is only axially translatable.
In this embodiment, the left end of the screw 207 has a linear groove, the right end of the screw 208 has a linear protrusion, and the linear protrusion of the screw 208 is inserted into the linear groove of the screw 207. The lead screw 207 is supported by a pair of bearings 203, and the lead screw 207 is coupled in line with an output shaft of the electric cylinder motor 201. The first clamp spring 202 and the second clamp spring 204 are used for axially positioning the bearing 203 and limiting the axial movement of the lead screw 207.
In this embodiment, the nut 206 and the nut 209 are provided with a rotation limiting element cylindrical pin 205, axes of the cylindrical pin 205, the lead screw 207 and the screw 208 are both horizontally arranged, one end of the cylindrical pin 205 is fixedly connected with a hole of the transmission housing 210, in this embodiment, one end of the cylindrical pin 205 is in interference connection with the hole of the transmission housing 210, and if other fixing connection methods such as welding, bolt connection, key pin connection and the like are adopted, the present invention is also within the protection scope of the present invention. The cylindrical pin 205 not only restricts the rotation of the nut 206 and the nut 209 so that they can only translate, but also guides the axial movement of the nut 206 and the nut 209.
In this embodiment, a piston is slidably disposed in the master cylinder housing 216, the piston includes a rear piston 217 and a front piston 213, in an initial state, a right end surface of the rear piston 217 is attached to a left end surface of the front piston 213, and a first cavity D is formed between the left end surface of the rear piston 217 and an inner wall of the master cylinder housing 216; the outer peripheral surface of the joint of the rear piston 217 and the front piston 213 is recessed inwards, and a second cavity A is formed between the recessed surface of the rear piston and the inner wall of the master cylinder shell 216; an elastic return member, in this embodiment, a return spring 215, is also provided between the rear piston 217 and the inner wall of the master cylinder housing 216. In the embodiment, the end surfaces of the front and rear pistons which are jointed are vertical to the axial direction of the piston; in other embodiments, the abutting end surface is not perpendicular to the axial direction of the piston.
In the present embodiment, the master cylinder case 216 is provided with a fluid supply hole B and a fluid discharge hole E. The liquid supply hole B is communicated with the second cavity A, and the liquid discharge hole E is communicated with the first cavity D and the corresponding wheel brake. A first cup 214 is disposed on an annular step between the first chamber D and the second chamber a on the rear piston 217. The first cup 214 follows the movement of the rear piston 217. In the initial state, the right end face of the front piston 213 is in contact with the left end face of the nut 206, the right end face of the nut 206 abuts against the limit boss of the transmission housing, and the nut 206 and the return spring 215 work together to axially position the first packing cup 214 between the drain hole E and the liquid supply hole B.
In this embodiment, a second cup 212 is disposed on the front piston 213, and the second chamber a is located between the first cup 214 and the second cup 212. The second cup 212 acts as a seal to prevent fluid in the second chamber A from flowing into the transmission housing 210.
The electric cylinder adopted by the invention has a parking function, and the working principle is as follows:
the nut 206 converts the rotation of the electric cylinder motor 201 into thrust, pushing the front piston 213 to move leftward, and driving the rear piston 217 to move leftward. The screw 207 and the screw 208 rotate at the same speed, the lead of the screw pair mechanism is larger than that of the screw pair mechanism, the nut 209 moves at a speed higher than that of the nut 206, and when the pressure generated by the piston reaches a specified value, the nut 209 is abutted against the right end face of the front piston 213 against the stroke Δ x. At the moment, the electric cylinder motor 201 is powered off, the braking pressure acts on the nut 209 through the front piston 213, and the piston position can be maintained unchanged due to the fact that the screw pair is a single-head screw pair and the single-head screw pair has a self-locking effect, so that the output pressure of the electric cylinder is kept, and parking is achieved.
The electric booster 3 shown in fig. 4 is provided with a U-shaped hinge 317, one end of the hinge 317 is coupled to the brake pedal 1 through a support pin 2, and the other end is coupled to a cover plate 319 through a first lock nut 318. The cover plate 319 is coupled to a second nut 315 via a ball head 316, and the second nut 315 is secured to the pedal push rod 313 via a second locking nut 314. A conical spring 312 is mounted on the end cap 310 at one end and on a second nut 315 at the other end. A first sensor gear 311 is arranged in the end cover 310, and the first sensor gear 311 is meshed with a rack on the pedal push rod 313. When the pedal push rod 313 moves, the first sensor gear 311 rotates, and the pedal displacement sensor 7 measures the rotation of the first sensor gear 311 by the hall effect, measuring the pedal stroke. The series of devices are used for converting manpower into braking thrust to be transmitted to the electric power assisting device 3.
The electric power assisting device 3 is provided with a ball screw 309 with a central opening, one end of the ball screw 309 props against the tray 303, the reaction disc 328 is arranged at the end with the larger diameter of the tray 303, and the end with the smaller diameter is arranged in the hole of the ball screw 309. One end of a small push rod 304 is arranged in the smaller diameter end of the tray 303, is connected with a pedal push rod 313 through a first nut 305 and moves in a hole of the ball screw 309, and the other end of the small push rod pushes against a reaction disc 328. A first spring 301 is provided between the tray 303 and the housing 329.
The brake controller 10 transmits the electric signal to the motor 327, and the motor 327 is fixedly connected with the pinion 326 to form a two-stage transmission through the duplicate gear 325 and the bull gear 307. The bull gear 307 is coupled to a nut 320 by a key 308, the nut 320 being secured between a housing 329 and an end cap 310 by a first bearing 321 and a third bearing 330. The torque of the motor 327 is transmitted to the ball screw 309 through the transmission, and the ball screw 309 applies force to the tray 303 and pushes the reaction plate 328.
The reaction disc 328 is coupled with the push rod 302, and when the reaction disc 328 is subjected to the thrust force transmitted by the small push rod 304 and the tray 303, the push rod 302 is pushed to pressurize the brake master cylinder 6 to generate a braking effect.
The second sensor gear 306 is matched with the large gear 307, the linear motion of the ball screw 309 is transmitted to the second sensor gear 306 through the rotation of the nut 320 and the large gear 307, the rotation of the second sensor gear 306 is measured by the master cylinder displacement sensor 4 through the Hall effect, and the screw stroke is measured through conversion.
The working principle of the invention is as follows: under the action of the electric cylinder motor 201, the piston is forced leftwards, high pressure is built in the first cavity D, low pressure is built in the second cavity A, and oil is discharged through the liquid discharge hole E to brake the automobile.
And a pressure fluctuation is output in the positive and negative rotation of the electric cylinder motor 201, so that the oil pressure in the brake pipeline can have relative high pressure and low pressure, namely, when the electric cylinder motor 201 rotates positively, high-pressure oil is formed in the brake pipeline, and when the electric cylinder motor 201 rotates negatively, low-pressure oil is formed in the brake pipeline. In the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines; when the hydraulic pressure balance is not required to be maintained in certain specific situations, for example, in a turning state and the like, the brake controller 10 receives an electric signal and controls the electromagnetic valves to be closed, the brake pipeline between the two wheel brakes at the two ends of the same shaft is disconnected, and the hydraulic pressures in the two wheel brakes are not maintained in balance any more.
If a certain brake circuit has a fault, the electromagnetic valve on the corresponding brake pipeline connected with the brake circuit receives the electric signal of the brake controller 10 to cut off the power of the electromagnetic valve, and the oil way of the electromagnetic valve is closed, so that the normal brake circuit connected with the electromagnetic valve can still continue to participate in braking without being influenced.
The electric booster 3 can realize an autonomous braking mode, a booster braking mode and a function of failure backup manual braking in a loop. And the electric cylinder mainly realizes the modes of autonomous braking and fail-safe braking in a loop. The hybrid braking system can realize an autonomous braking mode, a power-assisted braking mode, a failure protection braking mode and a failure backup manual braking function. Each function will be described in detail below.
1. Autonomous braking mode
When the brake controller 10 detects that other electric control systems of the vehicle have brake requests, an autonomous braking mode is selected, and the autonomous braking mode mainly comprises the step that the brake controller 10 controls the electric cylinder to perform autonomous braking on the 4 loops.
In this mode, the brake controller 10 controls the electric cylinder motor 201 to output torque according to the braking torque requested by the electric control system, and drives the screw rod pair to push the piston to move; the pressure is established in the first cavity D and transmitted to a wheel brake through the electric cylinder liquid discharge hole E and a brake pipeline, and the wheel generates brake torque to realize autonomous braking. And in the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines.
2. Boosted braking mode
When a driver steps on the brake pedal 1, pedal force is amplified by a pedal arm and then pushes the pedal push rod 313 to move forwards, the brake controller 10 converts the pedal force into target torque and target current of the motor 327 according to data measured by the pedal displacement sensor 7 and data fed back by the main cylinder displacement sensor 4 through a PV characteristic curve measured in advance to drive the motor 327 to work and drive a transmission device of the electric power assisting device 3 to work, the motor and the pedal push rod 313 push the brake main cylinder 6 together to generate brake pressure, the brake pressure is transmitted to the second cavity A of the electric cylinder through a brake pipeline, the piston is pushed to move leftwards, brake fluid of the first cavity D is squeezed, and the brake fluid is enabled to output the brake pressure from the liquid discharge hole E, and power-assisted braking is achieved.
If the electric control part of the electric power assisting device 3 fails, the invention can still realize power-assisted braking. The power-assisted braking is realized through 4 electric cylinders, the pedal displacement sensor 7 detects the pedal displacement, the target current of each electric cylinder motor is calculated according to the preset power-assisted ratio, the motors are driven to work, and the working process and the autonomous braking process realize the power-assisted braking. And in the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines.
3. Fail safe braking mode
When one brake circuit fails, the system operates in a fail-safe braking mode.
When the brake controller 10 detects that one or more brake circuits of the system are failed, the target torque which is larger than that of the motor of the non-failed brake circuit is applied to implement failure protection braking; at this time, the brake controller 10 first calculates a target braking force according to a pedal stroke sensor signal or a braking request from another electronic control system, distributes the target braking force to each brake of the non-failed brake circuit, and then controls the electric cylinder of the non-failed brake circuit to output torque, thereby implementing fail-safe braking. And in the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines.
4. Failure backup manual braking mode
When the brake controller 10 and the power supply 9 are in failure, the brake-by-wire circuit fails, and a certain braking capability can still be ensured through manual braking. After a driver steps on the brake pedal 1, the brake pressure is generated on the brake master cylinder 6 through the acting force of the pedal push rod 313, the small push rod 304, the reaction disc 328 and the ejector rod 302, so that high-pressure oil enters the second cavity A from the liquid supply hole B, and the high-pressure oil cannot push the front right piston 213 because the right end face of the front piston 213 is attached to the left end face of the nut 206, so that the high-pressure oil pushes the rear piston 217 to move leftwards, the brake liquid of the first cavity D is squeezed, the brake liquid is enabled to output the brake pressure from the liquid discharge hole E, and manual backup braking is implemented. And in the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines.
5. Working process in ABS (Anti-lock Braking System) or ASR (Acceleration Slip Regulation traction control System) Braking pressure Regulation mode
In three operating modes of power-assisted braking, autonomous braking, and fail-safe braking, when the brake controller 10 receives an ABS or ASR signal, it enters a brake pressure adjusting mode to adjust the brake pressure of each wheel. The pressure regulation of the wheel brake comprises 3 working states of pressurization, pressure maintaining and pressure reduction, and the working state is determined by an ABS or ASR controller.
When the brake controller 10 receives a pressure reduction request of an ABS or ASR controller (in the prior art, the internal structure and the connection mode are not described in detail) for a certain wheel cylinder, the corresponding motor 201 is made to reduce the torque output; if necessary, the electric cylinder motor 201 may be made to generate a reverse torque to rapidly reduce the wheel cylinder pressure; when the brake controller 10 receives the pressure maintaining request, the target current of the corresponding electric cylinder motor 201 is kept unchanged, so that the brake pressure in the corresponding wheel brake is kept unchanged, that is, in a pressure maintaining state; when the pressure of a certain wheel brake needs to be increased, the working current of the corresponding electric cylinder motor 201 is increased to implement the wheel brake pressurization control. And in the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines.
6. ESC (Electronic Stability Control) brake intervention mode
When a braking intervention request is issued by an ESC system in a vehicle, a braking torque is required to be applied to one wheel on one side. At this time, the wheel brakes to be braked may be braked by distributed braking, that is, the electric cylinder motors 201 of the electric cylinders corresponding to the respective wheel brakes are controlled to operate to generate the requested braking torque, and the other electric cylinder motors 201 do not operate. And in the braking process, the two electromagnetic valves are normally opened so as to maintain the hydraulic balance between the wheel brakes at the two coaxial ends and the corresponding brake pipelines.
The ABS and ASR brake pressure adjusting mode working principle is as follows:
when the ABS system is operating, an ECU (Electronic Control Unit) continuously acquires and processes speed signals of the corresponding wheels from the right rear wheel speed sensor 16a and the left rear wheel speed sensor 16b, and further determines whether the wheels are about to be locked. When a certain wheel in the distributed brake system is locked, the ECU controls the electric cylinder in the corresponding brake loop to control the motor 201 to reduce torque output and output reverse torque if necessary, so that the oil pressure of the wheel brake is rapidly reduced, the braking force is reduced, and the condition that the wheel is locked and the dragging and slipping state occurs to influence the driving safety is avoided.
The ABS can maintain directional stability during braking even on a split road surface where the difference in the adhesion coefficient between the wheels on both sides is large. For example, when a 'low selection' control strategy is adopted, the braking forces of the left and right rear wheels are equal, even if the braking forces of the two wheels are limited to the level with small adhesive force, the braking forces of the two rear wheels are always kept balanced, and the good direction stability of the automobile is ensured when the automobile is braked under various conditions. In practice, the front wheels are generally controlled independently by correction, the rear wheels are controlled independently, and the braking force of the two rear wheels is controlled by an ABS controller, a brake controller and the like; the running states of the two rear wheels are detected by the ABS controller and the corresponding wheel speed sensors, and the correction signals calculated and analyzed by the ABS controller are converted into target currents by the brake controller 10, so that the motors in the third electric cylinder 8c and the fourth electric cylinder 8d are controlled to reduce output torque or output reverse torque, thereby realizing control of braking forces of the two front wheels. By means of distributed braking of four braking circuits of four wheels, the direction stability during braking can be maintained on the split road surface, and the braking distance is shortened to the maximum extent.
The electric cylinder can respond to a request of reducing the braking pressure sent by the ABS system in time, thereby ensuring that the braking force of wheels of the automobile is adapted to the adhesion force of the road surface as soon as possible under various road adhesion conditions. Particularly on low-adhesion road surfaces or butt road surfaces, the electric cylinder can quickly reduce the brake pressure to quickly match the brake force with the road surface adhesion, thereby shortening the brake distance and better maintaining the directional stability during braking.
When the ASR system works, the ECU continuously acquires and processes speed signals of the driving wheels from the right rear wheel speed sensor 16a and the left rear wheel speed sensor 16b to judge whether the driving wheels skid or not, and the ECU controls corresponding electric cylinders in the distributed braking system to brake the skidding driving wheels independently. ASR systems can improve the stability of the vehicle in the direction of travel, in particular preventing the idle running of the drive wheels on asymmetrical roads or in cornering. In the invention, the ABS system and the ASR system simultaneously control the slip rate of the wheel and the road surface, so that the adhesive force between the wheel and the ground is not reduced, and the ABS system and the ASR system are combined together for development.
ESC braking intervention mode theory of operation:
according to a yaw velocity or lateral acceleration sensor of a vehicle, a steering wheel angle sensor (both sensors are in the prior art, and the internal structure and the connection mode are not repeated) reflecting the steering intention of a driver and a vehicle speed signal, a complete vehicle VCU (a complete vehicle controller) can judge whether the vehicle has excessive or insufficient steering. Each electric cylinder in the distributed braking system can be automatically braked to realize the braking of a single wheel, so that the electric cylinder can be used as an active boosting component of the ESC system, can timely respond to an active boosting request sent by the ESC system, and carries out independent braking force distribution control on four wheels through the electric cylinder to achieve the vehicle target yaw moment required by the ESC, so that the automobile can run according to the steering intention of a driver, and the operation stability of the vehicle is improved.
As shown in fig. 5, when the actual yaw rate is greater than the target yaw rate determined by the steering wheel angle, it is explained that excessive steering occurs. At this time, by applying a braking moment to the outer front wheel (which ultimately transmits the braking pressure to the corresponding wheel brake by the torque output of the motor 201 in the corresponding third electric cylinder 8c or fourth electric cylinder 8d), the yaw moment generated by the braking force generated by the wheel can reduce the oversteer. When the vehicle has excessive left turning, the VCU receives a yaw rate or lateral acceleration sensor, a steering wheel angle sensor reflecting the steering intention of the driver, and a vehicle speed signal, and then feeds back the signals to the brake controller 10, and the third electric cylinder 8c outputs torque to make the right front wheel brake 13 output brake pressure (the direction of an arrow on the right front wheel brake 13 in fig. 1 is the direction of the brake force acting on the right front wheel at this time);
as shown in fig. 6, when applying a braking torque at the inner rear wheels (by outputting a torque by the motor 201 in the corresponding first electric cylinder 8a or second electric cylinder 8b to finally transmit a braking pressure to the corresponding wheel brakes) during understeer, the braking force creates a yaw moment that can reduce understeer. When the vehicle runs short of left turn, the VCU receives the yaw rate or lateral acceleration sensor, the steering wheel angle sensor reflecting the driver's steering intention, and the vehicle speed signal, and then feeds back the signals to the brake controller 10, and the second electric cylinder 8b outputs torque to cause the left rear wheel brake 12 to output brake pressure (the direction of the arrow on the left rear wheel brake 12 in fig. 2 is the direction of the braking force acting on the right front wheel at this time). If the automobile is in reverse steering on the left lane running after the automobile is in emergency avoidance steering, the automobile has the danger of over-steering, and the excessive yaw angular speed causes the tail of the automobile to throw to the left side. At this time, the ESC controller transmits the braking signal to the motor 201 of the fourth electric cylinder 8d through the brake controller 10 to output torque, and finally transmits the braking pressure to the left front wheel brake 14 to realize left front wheel braking, and the generated additional yaw moment reduces excessive steering, so that the vehicle is smoothly steered.
Other oversteer ESC intervention braking modes and so on.
Example two
The electric cylinder in the first embodiment may also be configured as a dual-chamber electric cylinder in the present embodiment; a portion of a dual chamber electric cylinder block 417 is shown in fig. 7, and the other portions correspond to the embodiment.
The piston assembly includes a first piston 412 and a second piston 419 disposed along a sliding direction thereof and a connecting member 414 for connecting the first piston 412 and the second piston 419, a fourth cavity D1 is formed between the first piston 412, an inner wall of the electric cylinder 417 and the connecting member 414, and a fifth cavity D2 is formed between the second piston 419 and the inner wall of the electric cylinder 417.
A first elastic member 416 and a second elastic member 420 are arranged in the electric cylinder 417, the first elastic member 416 is arranged between the connecting member 414 and the first piston 412, the second elastic member 420 is arranged between the electric cylinder 417 and the second piston 419, and the first piston 412 is slidably connected with the connecting member 414;
the connecting member 414, the second piston 419 and the inner wall of the electric cylinder 417 form a third chamber a1 therebetween, and the connecting member 414 includes a partition 414b for separating the fourth chamber D1 from the fifth chamber D2 and a cross bar 414a extending outward along both sides of the partition 414b and connected to the first piston 412 and the second piston 419.
The size of the partition 414b should be adapted to the size of the electric cylinder 417, i.e. oil cannot pass through, and in this embodiment, a leather cup is also added to the partition 414 b. The cross bar 414a penetrates the partition 414b and has one end screw-coupled to the second piston 419 and the other end slidably coupled to the first piston 412. The first piston 412 is provided with a third cup 413 and the second piston 419 is provided with a fourth cup 418.
The electric cylinder block 417 is provided with: a first liquid supply hole B1 communicated with the first liquid storage tank 415, a first liquid discharge hole E1 communicated with the fourth cavity D1, a second liquid supply hole B2 communicated with the first liquid storage tank 415 and the third cavity A1, and a second liquid discharge hole E2 communicated with the fifth cavity D2;
when the first elastic element 416 is in a pre-compressed state, the third packing cup 413 is axially located between the first liquid supply hole B1 and the first liquid discharge hole E1, and when the second elastic element 420 is in a pre-compressed state, the fourth packing cup 418 is axially located between the second liquid supply hole B2 and the second liquid discharge hole E2.
The working principle after the structure is adopted is as follows: under the action of the electric cylinder motor 201, the first piston 412 is subjected to a leftward force, and the pressures of the first elastic member 416 and the second elastic member 420 are always in equilibrium. When the piston assembly moves to the left under the action of the force of the first elastic element 416 and the second elastic element 420, the first elastic element 416 is compressed again, the reaction force increases, and the second elastic element 420 is compressed.
In the present embodiment, the elastic coefficient of the first elastic member 416 is greater than the elastic coefficient of the second elastic member 420. The elastic coefficient of the first elastic element 416 is greater than that of the second elastic element 420, and in the initial stage, the first piston 412 and the second piston 419 will both move together to the left under the action of force to compress the second elastic element 420, so that the first elastic element 416 will not be further compressed under the action of force; in the compression process of the second elastic element 420, the elastic force thereof will gradually increase until the elastic force is larger than the force required by the deformation of the first elastic element 416, the first elastic element 416 will be compressed, and the above operation will continue, the first elastic element 416 and the second elastic element 420 are always in a balanced state, a high pressure is established in the fourth cavity D1 and the fifth cavity D2, and the oil is discharged through the first drain hole E1 and the second drain hole E2 to brake the vehicle.
In this embodiment, the first piston 412 is provided with a limit pin 421, the cross bar 414a is provided with a limit hole 422 matching with the limit pin 421, and both the limit pin 421 and the limit hole 422 are arranged along the horizontal direction and along the sliding direction of the piston assembly. The first piston 412 is slidably coupled to the cross bar 414a via a stopper pin 421 and a stopper hole 422. When the force compressing the first elastic element 416 is smaller than the force compressing the second elastic element 420, the stopper pin 421 will move leftward along the stopper hole 422 under the driving of the first piston 412, and the second piston 419 will not move; when the force compressing the first elastic member 416 is smaller than the force compressing the second elastic member 420, the entire piston assembly moves leftward at the same time.
In this embodiment, the first piston 412 is in abutting fit with the nut 7 and the nut 9 in the first embodiment, that is, the first piston 412 can move axially under the pushing of the nut and the nut.
In the present embodiment, the first drain hole E1 and the second drain hole E2 are communicated with the same brake line outside the electric cylinder 417, and the brake lines are communicated with the corresponding wheel brakes as shown in fig. 1 and 2.
In the ESC brake pressure intervention mode in the service brake condition, the parking brake condition, the autonomous brake, the power-assisted brake, the fail-safe brake, the ABS or ASR brake pressure regulation mode in the embodiment, when the brake pressure needs to be output or increased, the first piston 412 and the second piston 419 are pushed by the nut 206 or the nut 209, the high pressure is established in the fourth cavity D1 and the fifth cavity D2, and the oil is discharged through the first drain hole E1 and the second drain hole E2 to realize the output or increase of the brake pressure; and under the power-assisted braking and failure manpower backup braking modes, pedal force finally acts on the first piston 412 and the second piston 419 through the brake master cylinder 6, the brake pipeline, the first liquid supply hole B1 and the second liquid supply hole B2, high pressure is established in the fourth cavity D1 and the fifth cavity D2, oil is discharged through the first liquid discharge hole E1 and the second liquid discharge hole E2, and power-assisted braking or failure manpower backup braking is realized.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.

Claims (10)

1. The utility model provides a take distributed brake system of parking function and pressure regulation control method thereof, includes power (9), brake controller (10), brake master cylinder (6), master cylinder displacement sensor (4), brake pedal (1), footboard displacement sensor (7) and electronic power assist device (3), its characterized in that:
the electric power assisting device (3), the master cylinder displacement sensor (4) and the pedal displacement sensor (7) are respectively and electrically connected with the brake controller (10);
the distributed brake system also comprises at least three electric cylinders with parking function, and the at least three electric cylinders are respectively and electrically connected with the brake controller; the brake master cylinder is connected with the at least three electric cylinders through brake pipelines; the electric cylinders are correspondingly connected to the wheel brakes of the automobile in the same number one by one, and each electric cylinder and one corresponding wheel brake form a brake loop;
the two wheel brakes at two ends of the same shaft are communicated through a brake pipeline, an electromagnetic valve is arranged on the brake pipeline, and the electromagnetic valve is electrically connected with the brake controller (10);
the wheels of the vehicle are electrically connected with wheel speed sensors which are electrically connected with the brake controller (10).
2. The distributed brake system with parking function according to claim 1, characterized in that: the four electric cylinders comprise a first electric cylinder (8a), a second electric cylinder (8b), a third electric cylinder (8c) and a fourth electric cylinder (8d), and the wheel brakes comprise a right rear wheel brake (11), a left rear wheel brake (12), a right front wheel brake (13) and a left front wheel brake (14); the electromagnetic valves comprise a front electromagnetic valve (15a) arranged on a brake pipeline between the left front brake (14) and the right front brake (13), and a rear electromagnetic valve (15b) arranged on a brake pipeline between the right rear brake (11) and the left rear brake (12);
first electronic jar (8a) and right rear wheel stopper (11), second electronic jar (8b) and left rear wheel stopper (12), third electronic jar (8c) and right front wheel stopper (13), fourth electronic jar (8d) and left front wheel stopper (14) are all connected through the brake pipe respectively.
3. The distributed brake system with parking function according to claim 1, wherein the electric cylinder includes:
the device comprises a transmission shell (210) and a master cylinder shell (216) which are fixedly connected, an electric cylinder motor (201) arranged on one side of the transmission shell (210), and a piston arranged in the master cylinder shell (216) in a sliding manner, wherein the piston comprises a rear piston (217) and a front piston (213) attached to the rear piston (217);
a transmission mechanism is arranged between the front piston (213) and the electric cylinder motor (201) in the transmission shell (210), and an elastic reset piece is arranged between the rear piston (217) and the inner wall of the main cylinder shell (216) in the main cylinder shell (216);
the transmission mechanism comprises a lead screw pair and a screw pair which are arranged in a transmission shell (210), wherein the lead screw pair is composed of a lead screw (207) driven by the electric cylinder motor (201) and a nut (206) which is matched with the lead screw (207) and can only be arranged in an axial translation manner;
the screw pair comprises a screw (208) fixed with the lead screw (207) along the same central axis and a nut (209) matched with the screw (208) and only arranged in an axial translation manner;
the lead of the screw (208) is greater than the lead of the lead screw (207);
the transmission mechanism is provided with an initial position and a self-locking position, and in the initial position, the nut (206) is attached to the front piston (213); when in the self-locking position, the nut (206) is separated from the front piston (213), and the nut (209) is attached to the front piston (213).
4. The distributed brake system with parking function according to claim 3, characterized in that: the transmission mechanism further comprises a rotation limiting element, one end of the rotation limiting element is fixedly connected with the shell, the other end of the rotation limiting element movably penetrates through the nut (206) and the nut (209) along the direction parallel to the same central axis, and the rotation limiting element is a cylindrical pin (205).
5. The distributed brake system with parking function according to claim 3, characterized in that: a first cavity (D) is formed between one end face of the rear piston (217) and the inner wall of the master cylinder shell (216), the outer peripheral surface of the part, where the rear piston (217) is attached to the front piston (213), is recessed inwards, so that a second cavity (A) is formed between the piston and the inner wall of the master cylinder shell (216), the elastic resetting piece is arranged in the first cavity (D), and two ends of the elastic resetting piece are respectively abutted to the rear piston (217) and the inner wall of the master cylinder shell (216);
a liquid supply hole (B) and a liquid discharge hole (E) are formed in the main cylinder shell (216), the liquid supply hole (B) is communicated with the second cavity (A), the liquid discharge hole (E) is communicated with the first cavity (D), a first leather cup (214) is arranged on the rear piston (217), and the first leather cup (214) is axially positioned between the liquid supply hole (B) and the liquid discharge hole (E) in the prepressing state of the elastic resetting piece;
and a second packing cup (212) is arranged on the front piston (213), and the second cavity (A) is positioned between the first packing cup (214) and the second packing cup (212).
6. The distributed brake system with parking function according to claim 1, wherein the electric booster (3) includes:
the brake pedal comprises an end cover (310), wherein a pedal push rod (313) is arranged in the end cover (310), a rack arranged on the pedal push rod (313) is meshed with a first sensor gear (311), the pedal displacement sensor (7) is used for detecting the rotation of the first sensor gear (311), and the pedal push rod (313) is connected with the brake pedal (1) through a connecting device;
the device comprises a shell (329), wherein a squeezing device is arranged inside the shell (329), the shell (329) is fixedly connected with the master brake cylinder (6), the squeezing device comprises a push rod (302), a reaction disc (328), a small push rod (304) and a tray (303) installed in a ball screw (309), the push rod (302), the reaction disc (328) and the small push rod (304) are all arranged in the tray (303), and the small push rod (304) is connected with the pedal push rod (313) through a first nut (305); a first spring (301) is arranged between the tray (303) and the shell (329);
a motor (327) fixedly coupled with a pinion (326) arranged in the housing (329), wherein the pinion (326) forms a secondary transmission with a gearwheel (307) through a duplicate gear (325), the gearwheel (307) is coupled with a screw nut (320) through a key (308), and the screw nut (320) is mounted on the ball screw (309);
the master cylinder displacement sensor (4) is used for detecting a second sensor gear (306) meshed with the large gear (307).
7. The distributed brake system with parking function according to claim 6, characterized in that: the ball screw (309) is provided with a through hole along the axial direction, the tray (303) is provided with a sliding sleeve part (332) which is movably inserted into the through hole of the ball screw (309), a through hole is formed in the sliding sleeve part (332), one end of the small push rod (304) is movably matched and penetrates through the through hole to be connected with the pedal push rod (313), and the other end of the small push rod is connected with the reaction disc (328).
8. The distributed brake system with parking function according to claim 7, characterized in that: the other end of the tray (303) far away from the sliding sleeve part (332) is provided with a round hole with the diameter larger than that of the through hole, and the reaction disc (328) is movably arranged in the round hole; the diameter of the small push rod (304) is smaller than that of the pedal push rod (313), and a gap is arranged between the pedal push rod (313) and the sliding sleeve part (332).
9. The distributed brake system with parking function according to any one of claims 1 to 8, characterized in that: the brake controller (10) is also connected with other electric control systems of the vehicle and is used for receiving brake requests of the other electric control systems.
10. The pressure regulation control method of a distributed brake system with parking function according to any one of claims 1 to 9, characterized in that: the method comprises the following braking modes and pressure regulation control methods:
an autonomous braking mode: when the brake controller (10) detects a brake request, the brake controller (10) controls the electric cylinder to generate brake pressure and transmit the brake pressure to the corresponding wheel brake through a brake pipeline, and automatic braking is realized;
and (3) an assisted braking mode: when a driver steps on the brake pedal (1), the brake controller (10) drives the electric power assisting device (3) to work according to data measured by the pedal displacement sensor (7) and data fed back by the main cylinder displacement sensor (4), the brake main cylinder (6) is pushed to generate brake pressure, and the pressure is transmitted to the electric cylinder and a corresponding wheel brake through a brake pipeline to realize power-assisted braking;
if the electric control part of the electric power assisting device (3) fails, power-assisted braking is realized through the electric cylinder, the pedal displacement sensor (7) detects the displacement of the pedal and drives the corresponding electric cylinder to work, and the working process and the autonomous braking process realize the power-assisted braking;
failure protection braking mode: when the brake controller (10) detects that one or more brake circuits of the system fail, failure protection braking is implemented by controlling the electric cylinders of the non-failed brake circuits; the brake controller (10) firstly calculates target braking force according to signals of the pedal displacement sensor (7) or braking requests from other electric control systems, distributes the target braking force to each wheel brake of the non-failure braking loop, and then controls the output torque of the electric cylinder of the non-failure braking loop to realize failure protection braking;
failure backup manual braking mode: when the brake controller (10) and the power supply (9) have faults, the brake-by-wire circuit fails, and a certain braking capacity can be ensured through manual braking; after a driver steps on the brake pedal (1), pedal force acts on the brake master cylinder (6) to generate brake pressure, the brake pressure is output to a corresponding wheel brake through a brake pipeline, and manual backup braking is implemented;
ABS or ASR brake pressure regulation mode: in any one of the power-assisted braking, the autonomous braking and the fail-safe braking, when the brake controller (10) receives an ABS or ASR signal, the brake pressure adjusting mode is entered to adjust the pressure of each wheel brake; the pressure regulation comprises 3 working states of pressurization, pressure maintaining and pressure reduction; when the brake controller (10) receives a pressure reduction request of an ABS or ASR controller, the electric cylinders in the corresponding brake circuits are enabled to reduce brake pressure output; when the brake controller (10) receives a pressure maintaining request, the output pressure of the electric cylinder in the corresponding brake loop is kept unchanged, so that the brake pressure in the corresponding wheel brake is kept unchanged, namely, in a pressure maintaining state; when the pressure of a certain wheel brake needs to be increased, the output pressure of an electric cylinder in the corresponding brake loop is increased so as to implement wheel brake pressurization control; when the locking and slipping of wheels or different adhesion coefficients of the wheels are detected, the ABS or ASR controller sends corresponding pressure reduction or pressure increase requests to the brake controller (10) and controls corresponding electric cylinders in the distributed brake system to increase or decrease brake pressure output;
ESC braking intervention mode: when an ESC system in a vehicle issues a braking intervention request, requiring one or both wheels on one side to apply a braking torque; at the moment, the wheel brakes needing to be braked are braked by utilizing distributed braking, and the vehicle VCU can judge whether the vehicle has excessive or insufficient steering according to a vehicle yaw angular velocity or lateral acceleration sensor, a steering wheel corner sensor reflecting the steering intention of a driver and a vehicle speed signal; when excessive steering occurs, a braking torque is applied to the front wheel on the outer side of the automobile, and when insufficient steering occurs, a braking torque is applied to the rear wheel on the inner side of the automobile; the braking of a single wheel in a distributed braking system is autonomously braked by each corresponding electric cylinder by controlling the output torque of the corresponding electric cylinder in the distributed braking system to finally transmit the braking pressure to the corresponding wheel brake.
CN201911071742.2A 2019-11-05 2019-11-05 Distributed brake system with parking function and pressure regulation control method thereof Pending CN110654363A (en)

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