CN110733482A - Hydro-electric nonlinear control pedal simulator and control method thereof - Google Patents
Hydro-electric nonlinear control pedal simulator and control method thereof Download PDFInfo
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- CN110733482A CN110733482A CN201910987900.2A CN201910987900A CN110733482A CN 110733482 A CN110733482 A CN 110733482A CN 201910987900 A CN201910987900 A CN 201910987900A CN 110733482 A CN110733482 A CN 110733482A
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- piston
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- brake
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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
- 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
Abstract
The invention discloses hydraulic-electric nonlinear control pedal simulators and a control method thereof.A piston of the pedal simulator is arranged in a pedal simulator cylinder body, the inner cavity of the pedal simulator cylinder body is divided into two cavities of a piston front cavity and a piston rear cavity, a piston return spring is arranged in the piston rear cavity of the pedal simulator cylinder body, the piston rear cavity of the pedal simulator cylinder body is communicated with an oil can through a foot feel regulating valve, the piston front cavity of the pedal simulator cylinder body is communicated with a master cylinder of a brake through an electromagnetic valve, braking is carried out by stepping on, brake fluid of a brake master cylinder enters the pedal simulator, the piston compresses the cavity in which the piston return spring is arranged, the foot feel regulating valve is electrified to regulate the discharge flow of the rear brake fluid, and resistance feel is formed by regulating the flow.
Description
Technical Field
The invention relates to electrohydraulic nonlinear control pedal simulators and a control method thereof, in particular to simulators for simulating the feeling of a traditional automobile driving brake pedal applied to an electric automobile, and belongs to the field of electric automobile braking.
Background
The brake system is in a work mode that the brake action and the brake execution are decoupled in the brake system, the brake action is the action of stepping on a brake pedal by a driver, and the brake execution is the action of acting a friction plate and a brake disc or a brake drum.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide electrohydraulic nonlinear control pedal simulators and control methods thereof.
Specifically, the purpose of the invention is realized by the following technical scheme:
, hydraulic-electric nonlinear control pedal simulator comprises a pedal simulator cylinder, a pedal simulator piston, a piston return spring, a foot feel adjusting valve, a simulator valve, an oil pot and a pressure sensor, wherein the pedal simulator piston is arranged in the pedal simulator cylinder, an inner cavity of the pedal simulator cylinder is divided into two cavities of a piston front cavity and a piston rear cavity, the piston return spring is arranged in the piston rear cavity of the pedal simulator cylinder, the piston rear cavity of the pedal simulator cylinder is communicated with the oil pot through the foot feel adjusting valve, and the piston front cavity of the pedal simulator cylinder is communicated with a main cylinder of a brake through the simulator valve.
And a pressure sensor is arranged on an oil pipeline between the simulator valve and a master cylinder of the brake.
The foot feeling regulating valve is a linear control electromagnetic valve and can linearly regulate the flow, and the rear brake fluid flows into the rear cavity of the piston from the oil pot through the foot feeling regulating valve; the simulator valve is a switching valve, and the pressure brake fluid flows into the brake master cylinder from the piston front chamber through the simulator valve without regulating the flow rate.
The simulator valve is connected in parallel with a front one-way valve for brake fluid backflow, and the front one-way valve flows to the brake master cylinder from the piston front cavity under the control of specific oil pressure.
The foot-sensing regulating valve is connected with a rear one-way valve for brake fluid backflow in parallel, and the rear one-way valve flows to the rear cavity of the piston from the oil pot under the control of specific oil pressure.
And methods for simulating a hydraulic and electric nonlinear control pedal, wherein the pedal simulator is adopted, the method is specific to a brake system, and the pedal simulator is connected to the brake system.
The pedal simulator is used as the part of the brake system and is connected to the master cylinder of the brake system.
The invention can simulate the foot feel of the traditional brake pedal and realize the nonlinear control of the brake pedal simulation through the electro-hydraulic cooperation.
After the ignition of the driver, the brake system is initialized to carry out fault self-checking:
if the self-checking of the brake system fails, the pedal simulator does not intervene in the work;
if no failure occurs in self-checking of the brake system, the pedal simulator is involved to enter into work, and the method specifically comprises the following steps:
when a driver steps on a brake pedal, a simulator valve and a foot feel adjusting valve are electrified, the brake pedal pushes a piston in a main cylinder of the brake to move, so that front brake fluid in the main cylinder of the brake forms pressure brake fluid and enters a piston front cavity of a pedal simulator cylinder body of the pedal simulator through the simulator valve, the piston compresses a piston return spring to increase the oil pressure of a piston rear cavity of the pedal simulator cylinder body, rear brake fluid in the piston rear cavity of the pedal simulator cylinder body is discharged to an oil can through the foot feel adjusting valve, the foot feel adjusting valve adjusts the flow rate of the rear brake fluid discharged from the piston rear cavity of the pedal simulator cylinder body, resistance is formed by adjusting the flow rate, and the brake resistance and the spring force of the piston return spring jointly act to form brake resistance feel fed back to the driver;
when the driver keeps the pedal unchanged or lifts the pedal, the simulator valve and the foot feeling regulating valve are powered off, the pressure sensor collects pressure variation and processes the pressure variation to keep the pressure of brake fluid, and the pressure is maintained to ensure the brake foot feeling of the driver.
The pedal simulator and the control method change the pure mechanical structure of other pedal simulators, have extremely simple mechanical structure, compared with other pedal simulators, most of the existing simulators rely on a plurality of linear intervals to simulate nonlinear curves to meet the brake foot feeling, so the pedal simulator has the foot feeling of only , while the pedal simulator of the invention is filled with brake fluid, a piston is taken as a boundary, front and rear chambers are filled with the brake fluid, the rear chamber brake fluid adjusts the pressure value of the rear chamber through a linear regulating valve, and the pressure of a driver at different brake depths is provided to simulate the brake feeling under different states.
The invention has the beneficial effects that:
the invention has the advantages of simple structure, low cost and small arrangement space.
The invention adjusts and simulates various brake foot feelings of all vehicles by an electro-hydraulic matching control mode, can realize nonlinear brake foot feeling simulation, and has complete universality.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a diagram of the simulated foot feel PV characteristics of the present invention.
Fig. 3 is a control flow rate linear characteristic diagram of the pedal simulator foot-feel adjusting valve according to the present invention.
Fig. 4 is an overall control flow chart of the present invention.
FIG. 5 is a schematic diagram of the operation of the components of the present invention during a brake-down driving process.
FIG. 6 is a schematic diagram of the operation of the components of the present invention during a steering lift or hold brake application.
In the figure: the pedal simulator comprises a pedal simulator cylinder body 1, a pedal simulator piston 2, a piston return spring 3, a foot feeling adjusting valve 4, a simulator valve 5, an oil can 6 and a pressure sensor 7.
Detailed Description
The invention is further illustrated in the following description with reference to the figures and examples.
As shown in fig. 1, the specific implementation includes a pedal simulator cylinder 1, a pedal simulator piston 2, a piston return spring 3, a foot feel adjusting valve 4, a simulator valve 5, an oil can 6 and a pressure sensor 7; the pedal simulator piston 2 is arranged in the pedal simulator cylinder body 1, the inner cavity of the pedal simulator cylinder body 1 is divided into two cavities of a piston front cavity and a piston rear cavity, the piston return spring 3 is arranged in the piston rear cavity of the pedal simulator cylinder body 1, the piston return spring 3 is connected between the pedal simulator piston 2 and the inner cavity wall of the piston rear cavity of the pedal simulator cylinder body 1, the piston rear cavity of the pedal simulator cylinder body 1 is communicated with the oil can 6 through the foot feel adjusting valve 4, and the piston front cavity of the pedal simulator cylinder body 1 is communicated with the main cylinder of the brake through the simulator valve 5.
A pressure sensor 7 is arranged on an oil pipeline between the simulator valve 5 and a master cylinder of the brake; the foot feel adjusting valve 4 is a linear control electromagnetic valve, and the back brake fluid flows into the piston back cavity from the oil can 6 through the foot feel adjusting valve 4; the simulator valve 5 is an on-off valve, and pressure brake fluid flows from the piston front chamber to the brake master cylinder through the simulator valve 5.
The simulator valve 5 is connected in parallel with a front one-way valve for brake fluid backflow, and the foot-sensing regulating valve 4 is connected in parallel with a rear one-way valve for brake fluid backflow. The one-way valves connected in parallel with the simulator valve 5 and the foot-sensing regulating valve 4 are controlled by oil pressure to realize one-way flow, and can be opened only when the oil pressure at the inlet end is greater than that at the outlet end. If the oil pressure at the inlet end is less than the oil pressure at the outlet end, the valve core is blocked by the higher oil pressure at the outlet end and cannot be opened.
The piston front cavity is used for collecting pressure brake fluid stepped from a master cylinder of the brake when a driver brakes. The piston rear cavity is provided with a piston return spring 3 end which is a sealed cavity and is filled with oil can brake fluid, wherein the piston rear cavity is connected to a brake fluid oil can 6 through a foot feel adjusting valve 4. The pressure sensor 7 is arranged to monitor the pressure in the front chamber of the piston during operation of the entire pedal simulator.
As shown by the broken line in fig. 2, most of the pedal simulators today adopt a non-linear curve in a linear fitting graph of a multi-segment broken line type in the graph to satisfy the pedal feeling of the driver.
Fig. 3 shows a characteristic curve of the flow rate controlled by the foot-feel adjusting valve of the present invention. The amount of brake fluid flowing out of the rear chamber of the pedal simulator is controlled by controlling the solenoid valve to change the pressure, thereby simulating a changing foot feeling.
Fig. 4 shows the control flow of the pedal simulator in the whole brake system.
The implementation working process of the invention is as follows:
after the ignition of the driver, the brake system is initialized to carry out fault self-checking:
if the self-checking of the brake system fails, the pedal simulator does not intervene in the work;
if no failure occurs in self-checking of the brake system, the pedal simulator is involved to enter into work, and the method specifically comprises the following steps:
when a driver steps on a brake pedal, as shown in fig. 5, a simulator valve 5 and a foot feeling regulating valve 4 are electrified, the brake pedal pushes a piston in a main cylinder of the brake to move, so that the front brake fluid pressure in the main cylinder of the brake is increased to form pressure brake fluid, the pressure brake fluid enters a piston front cavity of a pedal simulator cylinder 1 of the pedal simulator through the simulator valve 5, a piston 2 compresses a piston return spring 3 to increase the oil pressure of a piston rear cavity of the pedal simulator cylinder 1, the rear brake fluid in the piston rear cavity of the pedal simulator cylinder 1 is discharged to an oil can 6 through the foot feeling regulating valve 4, the foot feeling regulating valve 4 regulates the flow rate of the rear brake fluid in the piston rear cavity of the pedal simulator cylinder 1 when the rear brake fluid is discharged, resistance is formed by regulating the flow rate, and the brake resistance fed back to the driver is formed by the combined action of the resistance and the spring force of the piston return spring 3, namely the brake feel;
when the driver keeps the pedal unchanged or lifts the pedal, the simulator valve 5 and the foot feel adjusting valve 4 are powered off, the pressure sensor 7 collects pressure variation and processes the pressure variation to keep the pressure of the brake fluid (specifically, when the pressure sensor 7 collects pressure and becomes small, the simulator valve 5 and the foot feel adjusting valve 4 are closed and do not circulate, oil is returned through the two one-way valves, so that the pressures of the front cavity and the rear cavity are kept balanced), and the pressure is maintained to ensure the brake foot feel of the driver.
The resulting braking resistance is denoted by F, and the composition is F ═ FL+FS，FLDamping force F generated when the brake fluid flowsSIs the elastic force of a spring in the back cavity of the piston. Wherein FL＝PL×S，PLIs the instantaneous pressure of the back cavity of the piston and S is the area of the back cavity of the piston acted by the hydraulic pressure. Wherein Fs＝Ks×L，KsIs the spring rate of the piston return spring 2 and L is the length of compression of the piston return spring 2. FIG. 2 is a continuity chart showing a simulated PV characteristic curve relationship between a target brake pressure and a brake fluid volume, and F is obtained by calculating a compression length of a spring at a current target pressure P using a required V brake fluid volumesIn known amounts.
In a specific embodiment, control FLThe damping force generated when the brake fluid flows further performs nonlinear control of the foot feeling. Because the liquid flow type is due to the action of pressure difference, the liquid flow formula is provided
Wherein P isLThe rear end of the pedal simulator foot feeling regulating valve is directly connected with an oil cup for the instant pressure of the rear cavity of the pedal simulator, P0Indicates the atmospheric pressure P0Gamma is the volume weight of the liquid, the intrinsic parameters of the liquid, and u is the flow rate of the liquid in the current state.
The foot-sensing regulating valve shown in fig. 3 is used for controlling the flow characteristic, converting the flow into the flow velocity u, and controlling the setting of the flow velocity u of the liquid flow by controlling the foot-sensing regulating valve 4
To obtain FLAnd thus the magnitude of the resistance feel F value, to achieve a non-linear continuous feel adjustment of the entire pedal simulator, to achieve a non-linear process as represented by the continuous curve of fig. 2.
When the driver keeps still, the foot feel adjusting valve 4 is immediately powered off, and the pressure of the rear cavity of the piston of the simulator is maintained.
When the driver lifts the brake pedal, as shown in fig. 6, all the foot-sensing regulating valves 4 and the simulator valves 5 are powered off, the piston 2 moves forwards, the front brake fluid is pushed by the piston 2 to return to the brake master cylinder through the front check valve connected with the simulator valves 5 in parallel, the rear cavity brake fluid forms negative pressure, and the rear brake fluid in the oil can is sucked back to the rear cavity of the piston through the rear check valve connected with the foot-sensing electromagnetic valve 4 in parallel to prepare for times of simulation braking.
Claims (6)
- The hydraulic-electric nonlinear control pedal simulator is characterized by comprising a pedal simulator cylinder body (1), a pedal simulator piston (2), a piston return spring (3), a foot feel adjusting valve (4), a simulator valve (5), an oil pot (6) and a pressure sensor (7), wherein the pedal simulator piston (2) is arranged in the pedal simulator cylinder body (1), an inner cavity of the pedal simulator cylinder body (1) is divided into two cavities of a piston front cavity and a piston rear cavity, the piston return spring (3) is arranged in the piston rear cavity of the pedal simulator cylinder body (1), the piston rear cavity of the pedal simulator cylinder body (1) is communicated with the oil pot (6) through the foot feel adjusting valve (4), and the piston front cavity of the pedal simulator cylinder body (1) is communicated with a main cylinder of a brake through the simulator valve (5).
- 2. The electro-hydraulic nonlinear control pedal simulator of claim 1, wherein:and a pressure sensor (7) is arranged on an oil pipeline between the simulator valve (5) and a master cylinder of the brake.
- 3. The electro-hydraulic nonlinear control pedal simulator of claim 1, wherein:the foot feel adjusting valve (4) is a linear control electromagnetic valve and can linearly adjust the flow, and the rear brake fluid flows into the rear cavity of the piston from the oil pot (6) through the foot feel adjusting valve (4); the simulator valve (5) is an on-off valve, and the pressure brake fluid flows into the brake master cylinder from the piston front cavity through the simulator valve (5) without regulating the flow rate.
- 4. The electro-hydraulic nonlinear control pedal simulator of claim 1, wherein:and a front check valve for brake fluid backflow is connected in parallel to the simulator valve (5), and the front check valve flows to the brake master cylinder from the piston front cavity under the control of specific oil pressure.
- 5. The electro-hydraulic nonlinear control pedal simulator of claim 1, wherein:the foot feeling adjusting valve (4) is connected with a rear one-way valve for brake fluid backflow in parallel, and the rear one-way valve is controlled by specific oil pressure to flow to the rear cavity of the piston from the oil can (6).
- 6, A method for simulating a hydraulic and electric nonlinear control pedal, which is characterized in that the pedal simulator of any of claims 1-5 is adopted, and after ignition of a driver, a brake system is initialized to carry out fault self-checking:if the self-checking of the brake system fails, the pedal simulator does not intervene in the work;if no failure occurs in self-checking of the brake system, the pedal simulator is involved to enter into work, and the method specifically comprises the following steps:when a driver steps on the brake pedal, the simulator valve (5) and the foot feeling regulating valve (4) are electrified, the brake pedal pushes a piston in a master cylinder of the brake to move, so that front brake fluid in the master cylinder of the brake forms pressure brake fluid, and enters a piston front cavity of a pedal simulator cylinder body (1) of the pedal simulator through a simulator valve (5), the piston (2) compresses the piston return spring (3) to increase the oil pressure of the piston rear cavity of the pedal simulator cylinder body (1), the rear brake fluid of the piston rear cavity of the pedal simulator cylinder body (1) is discharged to the oil can (6) through the foot feel adjusting valve (4), the foot feel adjusting valve (4) adjusts the flow when the rear brake fluid of the piston rear cavity of the pedal simulator cylinder body (1) is discharged, resistance is formed by adjusting the flow, and braking resistance feeling fed back to a driver is formed by the combined action of the resistance and the spring force of the piston return spring (3);when the driver keeps the pedal unchanged or lifts the pedal, the simulator valve (5) and the foot feeling regulating valve (4) are powered off, the pressure sensor (7) collects pressure variation and processes the pressure variation to keep the pressure of brake fluid, and the pressure is maintained to ensure the brake foot feeling of the driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910987900.2A CN110733482A (en) | 2019-10-17 | 2019-10-17 | Hydro-electric nonlinear control pedal simulator and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910987900.2A CN110733482A (en) | 2019-10-17 | 2019-10-17 | Hydro-electric nonlinear control pedal simulator and control method thereof |
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| CN110733482A true CN110733482A (en) | 2020-01-31 |
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| CN201910987900.2A Pending CN110733482A (en) | 2019-10-17 | 2019-10-17 | Hydro-electric nonlinear control pedal simulator and control method thereof |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102529925A (en) * | 2010-12-24 | 2012-07-04 | 日立汽车系统株式会社 | Brake control apparatus |
| CN103241233A (en) * | 2012-02-10 | 2013-08-14 | 株式会社万都 | Electric brake system for vehicle |
| CN204870978U (en) * | 2015-06-16 | 2015-12-16 | 吉林大学 | Hydraulic braking system with two pneumatic cylinder four -wheels lost efficacy sparely |
| CN206633997U (en) * | 2017-04-20 | 2017-11-14 | 华东交通大学 | A kind of EHB |
| CN108791251A (en) * | 2018-06-08 | 2018-11-13 | 芜湖伯特利电子控制系统有限公司 | A kind of pedal travel simulator apparatus |
| CN109177945A (en) * | 2018-11-02 | 2019-01-11 | 吉林大学 | A kind of full decoupled electronic hydraulic brake system |
| CN109572652A (en) * | 2017-09-29 | 2019-04-05 | 株式会社万都 | Electric brake system and starting method |
| CN211335943U (en) * | 2019-10-17 | 2020-08-25 | 浙江亚太机电股份有限公司 | Electrohydraulic nonlinear control pedal simulator |
-
2019
- 2019-10-17 CN CN201910987900.2A patent/CN110733482A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102529925A (en) * | 2010-12-24 | 2012-07-04 | 日立汽车系统株式会社 | Brake control apparatus |
| CN103241233A (en) * | 2012-02-10 | 2013-08-14 | 株式会社万都 | Electric brake system for vehicle |
| CN204870978U (en) * | 2015-06-16 | 2015-12-16 | 吉林大学 | Hydraulic braking system with two pneumatic cylinder four -wheels lost efficacy sparely |
| CN206633997U (en) * | 2017-04-20 | 2017-11-14 | 华东交通大学 | A kind of EHB |
| CN109572652A (en) * | 2017-09-29 | 2019-04-05 | 株式会社万都 | Electric brake system and starting method |
| CN108791251A (en) * | 2018-06-08 | 2018-11-13 | 芜湖伯特利电子控制系统有限公司 | A kind of pedal travel simulator apparatus |
| CN109177945A (en) * | 2018-11-02 | 2019-01-11 | 吉林大学 | A kind of full decoupled electronic hydraulic brake system |
| CN211335943U (en) * | 2019-10-17 | 2020-08-25 | 浙江亚太机电股份有限公司 | Electrohydraulic nonlinear control pedal simulator |
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