CN110920595A - Method for estimating brake clearance of electric caliper - Google Patents
Method for estimating brake clearance of electric caliper Download PDFInfo
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- CN110920595A CN110920595A CN201911031769.9A CN201911031769A CN110920595A CN 110920595 A CN110920595 A CN 110920595A CN 201911031769 A CN201911031769 A CN 201911031769A CN 110920595 A CN110920595 A CN 110920595A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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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
Abstract
The invention provides an electric caliper brake clearance estimation method, which comprises the following steps: s1Starting, controlling the EPB electronic parking brake system to normally work in a corresponding environment; s2An operator sends a clamping or releasing control signal to an EPB electronic parking brake system controller through an EPB electronic parking brake system key, and the controller judges whether the current requirement of control is met or not through received external information and realizes a control process; the motor rotating speed estimation model estimates in real time in the control execution process, and the release clearance of the electric caliper is calculated in real time to achieve accurate control; s3And ending, and stopping monitoring. The invention considers that the voltage and the current of the motor are used for estimating the internal resistance of the motor in the starting process of the motor, thereby identifying the current working environment temperature of the motor. And the estimation model of the motor is corrected, so that the estimation of the rotating speed of the electric caliper is more accurate.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an electric caliper brake clearance estimation method.
Background
Along with the development of automobile intellectualization, the application of an Electronic Parking Brake (EPB) system is more and more extensive, when the EPB comes out, the EPB is mainly matched with B-class and above vehicle types, along with the gradual maturity of EPB technology, a plurality of domestic brake manufacturers develop the EPB, and the EPB is rapidly popularized to A-class vehicles, even A0-class vehicles and is more and more popularized due to the existing batch production of the EPB.
In recent years, automobiles are moving toward intellectualization and networking. An epb (electronic Park brake) electronic parking brake system is an electronic product in which a chassis brake system is developed from pure mechanical brake to an electric control direction and is successfully applied, replaces a traditional mechanical Integrated Parking Brake (IPB) and a drum-in-disc brake (DIH), and develops an electric control function for assisting a driver in driving on the basis of the traditional mechanical Integrated Parking Brake (IPB) and the drum-in-disc brake (DIH). The electronic parking system is a mechanical structure operated by an electric control system to replace a traditional driver to park, wherein the release clearance control of an electric caliper of an actuator of the EPB becomes a key technical difficulty.
In the early electronic parking system, the actuator is provided with a rotating speed sensor of a motor, and the cost control sensor is gradually cancelled by a related algorithm in the controller, so that the control of the brake clearance is completely finished by the estimation of the algorithm. The accuracy of the gap control model directly determines the magnitude of the dragging torque of the electric caliper. The energy consumption of the whole vehicle is used as an important evaluation standard of the vehicle economy, the reduction of unnecessary consumption is an important reference index of vehicle research and development, and the dragging torque of the calipers influences the economy of the whole vehicle, so the control of the brake clearance of the electric calipers is critical.
In the prior art, for example, patent "CN 201180023541" proposes to control the position of the motor hydraulic pump during the operation of the stepper motor by means of a PWM signal as a control variable, and to detect the control from the first rotational position to the second rotational position by the pump member detection with a sensor, with the aim of adjusting the braking gap of the caliper hydraulically.
The above patent attaches importance to the hydraulic regulation of the braking clearance of the caliper, but the braking clearance of the electric caliper is composed of two parts, the first of which is the clearance affected by the hydraulic pressure, which is related to the hydraulic pressure inside the electric caliper; the second part is the brake clearance directly influenced by the mechanical mechanism, and the brake clearance of the part is determined by the inconsistency of the hydraulically adjustable clearance of the mechanical mechanism, and the hydraulic adjustment can not solve the problem. The patent therefore does not address the problem of gap control of electrical calipers to reduce the drag torque of the caliper.
For another example, patent "CN 201621029331" provides a caliper structure including a caliper inlay, a left brake disc, a right brake disc, a screw rod and a control end, which can automatically adjust a gap, the caliper is mainly used for the traditional caliper to realize the automatic adjustment of the gap, the main components of the adjustment are all composed of mechanical components, and the adjustment process does not require the participation of active components and is applicable to the traditional caliper structure. The gap adjustment structure taught by the above patent does not solve the technical problems of the adjustment of the braking gap of the electric caliper and the reduction of the drag torque of the vehicle during running.
In view of the above, those skilled in the art will provide an electric caliper brake clearance estimation method to overcome the above technical problems.
Disclosure of Invention
The invention aims to overcome the defects of regulation of the brake clearance of an electric caliper and reduction of dragging torque of a vehicle in the driving process in the prior art, and provides an electric caliper brake clearance estimation method.
The invention solves the technical problems through the following technical scheme:
the method for estimating the braking clearance of the electric caliper is characterized by comprising the following steps of:
S1starting, controlling the EPB electronic parking brake system to normally work in a corresponding environment;
S2an operator sends a clamping or releasing control signal to an EPB electronic parking brake system controller through an EPB electronic parking brake system key, and the controller judges whether the current requirement of control is met or not through received external information and realizes a control process; the motor rotating speed estimation model estimates in real time in the control execution process, and the release clearance of the electric caliper is calculated in real time to achieve accurate control;
S3and ending, and stopping monitoring.
According to an embodiment of the invention, said step S2The method specifically comprises the following steps:
S21judging whether a release control command is sent currently or not, if so, entering the stepS22(ii) a If not, go to step S3；
S22Monitoring the execution process of the current release instruction;
S23monitoring whether the current of the motor is in a starting stage, and if so, entering a step S24(ii) a If not, the motor can not be started, the control system sets HMI fault and gives an alarm to display, and the step S is entered3；
S24Calculating the internal resistance of the motor in the starting stage;
S25judging whether the current of the motor is in a descending stage, if so, entering the step S26(ii) a If not, the motor is started to block the rotation, the control system sets HMI fault and gives an alarm to display, and the step S is entered3；
S26Starting a motor normally, and starting a motor rotating speed estimation model to estimate the rotating speed;
S27judging whether the current of the motor is in an idling stage, if so, entering the step S28(ii) a If not, the control system sets HMI fault and gives an alarm to display, and the step S is entered3；
S28Setting a gap between the electric caliper brake friction plate and the brake disc;
S29judging whether the electric caliper brake clearance meets the standard, if so, entering the step S3(ii) a If not, returning to the step S27。
According to an embodiment of the invention, said step S22In particular to monitor the current magnitude of the current caliper.
According to an embodiment of the invention, said step S24The motor is controlled by a controller, and the motor is connected with the controller through a power line.
According to an embodiment of the invention, said step S24The resistance calculation of the motor loop is realized by using the maximum current value and the voltage in the starting process, and the internal resistance on the power line is subtracted to obtain the internal resistance of the motor.
According to an embodiment of the invention, said step S28The clearance setting stage of the electric caliper is an integral accumulation calculation process of the motor estimated rotating speed, and clearance calculation of the electric caliper is realized through structural parameters inside the electric caliper.
According to one embodiment of the invention, the supply voltage of the EPB electric parking brake system is a voltage environment of 9-16V.
According to one embodiment of the invention, the EPB electronic parking brake system controller can receive bus information of a control system of three nodes of an electronic stability control system controller, a vehicle control unit and a motor controller.
According to one embodiment of the present invention, the electronic stability control system controller needs to be correctly connected to the left electric caliper motor and the right electric caliper motor to perform normal control.
According to an embodiment of the invention, said step S3Specifically, the control of the caliper stops when the electric caliper is released to the target release gap.
The positive progress effects of the invention are as follows:
the electric caliper brake clearance estimation method has the following advantages:
the EPB electronic parking brake control system is an important component in a chassis electronic control system in the direction of automatic development of vehicles, can realize automatic control of parking, and avoids the problem that dragging torque occurs to rear calipers due to negligence of drivers.
And secondly, in the starting process of the motor, the internal resistance of the motor is estimated by using the voltage and the current of the motor, so that the current working environment temperature of the motor can be identified.
And thirdly, considering the influence of factors such as the voltage at two ends of the motor, the current passing through the motor, the working environment temperature of the motor and the like on the rotating speed of the motor, and correcting the estimation model of the motor to enable the estimation of the rotating speed of the electric caliper to be more accurate.
The application can achieve a proper and accurate target by monitoring the motor speed estimation model and further controlling the release clearance of the electric caliper of the EPB, can effectively reduce the dragging torque of the rear caliper, and improves the economical efficiency of the vehicle.
Fifthly, when the function is realized, the fault monitoring and prompting are carried out on the control process of the electric caliper, and the state of the current system is fed back in real time.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
FIG. 1 is a control schematic of the electric caliper brake clearance estimation method of the present invention.
FIG. 2 is a control flow chart of the method for estimating the braking clearance of the electric caliper according to the present invention.
[ reference numerals ]
EPB electronic parking brake system key 1
EPB electronic parking brake system controller 2
Electronic stability control system controller 4
Motor controller 6
Instrument display 7
Left side electric callipers motor 8
Left side electricity callipers mechanism assembly 9
Outer friction plate 11 of left electric clamp
Right side electric caliper motor 13
Right side electricity callipers mechanism assembly 14
Right side electric caliper inner friction plate 15
Right side electric caliper outboard friction plate 16
CAN bus network 18 for entire vehicle
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
Further, although the terms used in the present invention are selected from publicly known and used terms, some of the terms mentioned in the description of the present invention may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein.
Furthermore, it is required that the present invention is understood, not simply by the actual terms used but by the meaning of each term lying within.
FIG. 1 is a control schematic of the electric caliper brake clearance estimation method of the present invention. FIG. 2 is a control flow chart of the method for estimating the braking clearance of the electric caliper according to the present invention.
As shown in fig. 1, the EPB system in the control principle of the electric caliper brake clearance estimation method of the present invention includes the following components: the EPB electronic parking brake system comprises an EPB electronic parking brake system key 1, an EPB electronic parking brake system controller 2, a power supply 3, an electronic stability control system controller 4, a whole vehicle controller 5, a motor controller 6, an instrument display 7, a left electric caliper motor 8, a left electric caliper mechanism assembly 9, a left electric caliper inner side friction plate 10, a left electric caliper outer side friction plate 11, a left brake disc 12, a right electric caliper motor 13, a right electric caliper mechanism assembly 14, a right electric caliper inner side friction plate 15, a right electric caliper outer side friction plate 16, a right brake disc 17 and a CAN bus network 18 of the whole vehicle.
First, in the start phase: according to the working environment schematic diagram of the EPB system in FIG. 1, the EPB controls the normal operation in the corresponding environment. The power supply voltage is required to be in a voltage environment of 9-16V, the EPB electronic parking brake system controller 2 can receive bus information of a control system of three nodes of the electronic stability control system controller 4, the vehicle control unit, 5 and the motor controller 6, and the received bus information is used by the EPB controller for judging whether the current vehicle environment can meet the condition of controlling the release of the electric calipers. Meanwhile, the electronic stability control system controller 4 needs to be correctly connected with the left electric caliper motor 8 and the right electric caliper motor 13 to be capable of being normally controlled.
Then, control is started: a driver or a tester sends a clamping or releasing control signal to an EPB electronic parking brake system controller 2 through an EPB electronic parking brake system key 1, and the controller judges whether the current control requirement is met or not through received external information and realizes a control process.
In the control execution process, an estimation model of the motor rotating speed is estimated in real time, and the release clearance of the electric caliper is calculated in real time by the monitoring method shown in the figure 1, so that accurate control is achieved.
And finally, an end stage: if the current control can be correctly executed, the caliper of the electric caliper stops when the target release gap is released, the electric caliper can provide a proper brake gap, and the dragging torque in the running process of the vehicle is very small or zero. If any problem occurs in the control process, the control system will set a fault and display it through the HMI7, meter display human machine interface.
As shown in fig. 2, the present invention discloses an electric caliper brake clearance estimation method, which includes the following steps:
S1starting, controlling the EPB electronic parking brake system to normally work in a corresponding environment;
S2an operator sends a clamping or releasing control signal to an EPB electronic parking brake system controller through an EPB electronic parking brake system key, and the controller judges whether the current requirement of control is met or not through received external information and realizes a control process; the motor rotating speed estimation model estimates in real time in the control execution process, and the release clearance of the electric caliper is calculated in real time to achieve accurate control;
S3and ending, and stopping monitoring.
Preferably, the step S2The method specifically comprises the following steps:
S21judging whether a release control command is sent currently, if so, entering the step S22(ii) a If not, go to step S3。
Specifically, the controller monitors whether the control command of the current caliper is a release command, and if the control command is a release command, the controller performs the next step, and if the control command is not a release command, the controller monitors the stop.
S22And monitoring the execution process of the current release instruction.
Preferably, step S is here22In particular to monitor the current magnitude of the current caliper. Namely, after the electric caliper release command is started, the current of the current caliper is monitored.
S23Monitoring whether the current of the motor is in a starting stage, and if so, entering a step S24(ii) a If not, the motor can not be started, the control system sets HMI fault and gives an alarm to display, and the step S is entered3。
Specifically, whether the current of the electric caliper changes during starting is monitored, if the current changes during starting, monitoring in the starting process and algorithm estimation are carried out, if the current does not change in the starting stage, the electric caliper has faults, and at the moment, the monitoring is stopped after the fault setting is needed.
The start-up phase is the phase in which the motor is running with a load, and the estimation of the rotational speed of the motor in this phase needs to be corrected. The large load causes the current passing through the motor to be increased, so that the power utilization loop where the motor is located generates voltage distribution again, the voltage at two ends of the motor is changed, and the rotating speed of the motor is changed.
If the rotation speed of the motor is in the process from zero to any in the starting stage from the estimation point of view, wherein the starting initial stage is the process that the state of the motor is locked, and the motor starts to rotate in the locked stage. However, the current motor rotation has a large moment of inertia, which results in a large current of the motor (large load of the motor) but not a large rotation speed of the motor, so that the estimation model needs to correct the current, thereby achieving the purpose of correct rotation speed fault of the motor.
S24And calculating the internal resistance of the motor in the starting stage.
Preferably, the step S24The motor is controlled by a controller, and the motor is connected with the controller through a power line. Said step S24The resistance calculation of the motor loop is realized by using the maximum current value and the voltage in the starting process, and the internal resistance on the power line is subtracted to obtain the internal resistance of the motor.
Specifically, the motor is controlled by the controller, the motor is connected with the controller through a power line, and the voltage and current values at two ends of the power line of the controller can be monitored in real time. So that during the starting phase the motor's rotor is not rotating, the motor uses all the electrical energy for internal resistance consumption, which is substantially 0 for dynamic work consumption. Therefore, the resistance calculation of the motor loop can be realized by utilizing the maximum current value and the voltage in the starting process, the internal resistance of the motor can be obtained by subtracting the internal resistance on the power line, and the resistance calculation of the motor during the action of the electric clamp is realized.
The change of the internal resistance of the motor mainly reflects the current working state of the motor, if the motor is kept still for a long time (does not work), the environment temperature of the motor is the environment temperature of the electric clamp, and the environment temperature directly influences the internal resistance of the motor. Therefore, under the condition that the motor does not work for a long time, the temperature estimation of the environment where the motor is located can be realized through the internal resistance of the motor. After the motor passes through a certain working condition, the motor can generate heat during working to cause the temperature of the motor to rise, thereby causing the internal resistance of the motor to change. At this time, the current working temperature can be calculated by setting an energy accumulation model when the motor works, so that the accuracy of estimating the internal resistance of the motor is realized laterally.
S25Judging whether the current of the motor is in a descending stage, if so, entering the step S26(ii) a If not, the motor is started to block the rotation, the control system sets HMI fault and gives an alarm to display, and the step S is entered3。
Specifically, after the motor starting stage passes, the rotor of the motor rotates, the electric clamp enters the process of carrying out load action, if the current of the motor is not reduced, the motor rotor does not rotate, the motor is locked, and then the monitoring is stopped after fault setting is needed.
At this time, the motor is already rotated, but as the load of the rotating motor of the motor becomes smaller gradually, the change of the load directly causes the change of the current passing through the inside of the motor, thereby causing the change of the voltage at two ends of the motor, and at this time, the change of the load of the motor needs to be taken into account to correct the rotating speed model of the motor.
S26And normally starting the motor, and starting the motor rotating speed estimation model to estimate the rotating speed.
When the electric caliper is in the current reduction stage, the position of the motor can be estimated, and the estimated value is the motor rotating speed estimation of the electric caliper with load.
S27Judging whether the current of the motor is in an idling stage, if so, entering the step S28(ii) a If not, the control system sets HMI fault and gives an alarm to display, and the step S is entered3。
Specifically, whether the electric caliper enters an idling stage or not is judged, the idling stage is a setting stage of the clearance of the electric caliper, if the electric caliper does not enter the idling stage, the electric caliper may have a fault of being released to the bottom or being stuck, and fault setting and alarming are needed.
S28And setting the gap between the electric caliper brake friction plate and the brake disc.
Preferably, the step S28The clearance setting stage of the electric caliper is an integral accumulation calculation process of the motor estimated rotating speed, and clearance calculation of the electric caliper is realized through structural parameters inside the electric caliper.
S29Judging whether the electric caliper brake clearance meets the standard, if so, entering the step S3(ii) a If not, returning to the step S27。
And if the standard is met, finishing the control of the gap setting of the electric caliper, and if the target position is not reached, continuing the iterative calculation by the control.
In addition, the step S3Specifically, the control of the caliper stops when the electric caliper is released to the target release gap.
According to the description, the method for estimating the braking clearance of the electric caliper realizes the accurate adjustment of the braking clearance of the electric caliper in the release stage of the EPB electronic parking brake control system, realizes the real-time estimation of the rotating speed of the motor of the electric caliper by monitoring the real-time numerical value of the voltage and the current of the electric caliper in the release process and the release process of the electric caliper, and calculates the actual release clearance of the electric caliper by using an algorithm to realize the final control.
The invention relates to an electric caliper brake clearance estimation method which is an algorithm model of an electronic parking brake controller, and the algorithm estimation algorithm is realized by dividing the electric caliper release process into the following three stages:
the first stage is the start stage of the electric caliper, and in the start stage, the controller loads the voltage of a storage battery on a vehicle to two ends of a motor of the electric caliper through an H-bridge circuit, and the motor has a start current. The rotor of the motor has not yet started to rotate during the start-up phase of the motor, so the maximum motor current measured during the start-up phase is similar to the stall current of the motor. The resistance estimation measurement of the motor loop is realized by combining the current power supply voltage, and the comparison between the motor internal resistance measured by the method and the actual motor internal resistance is consistent.
The second phase is the phase of the drop of the starting current of the motor, which is the process of lowering the clamping force of the electric calliper. The descending stage of the motor current is the process of changing the electric caliper from the clamping state to the non-clamping state. At this time, the motor rotor rotates, and the motor current decreases with a certain slope at the stage that the load of the motor gradually decreases. But the brake pads of the electric calipers and the brake disc are still tightly attached together.
The third stage is the idle stroke stage of the electric caliper, the initial state of the stage is the stage that the positive pressure between the friction plate and the brake disc of the electric caliper is changed from a numerical value to 0, and the identification of the stage is the important turning point of the brake clearance setting.
After the turning point, the electric caliper is in an idle stroke stage, and the lower motor load at the moment is mainly the consumption of the friction resistance inside the electric caliper. The motor rotating speed model estimated in real time at this stage realizes the real-time calculation of the motor rotating speed, and the iterative accumulation calculation is carried out at the motor rotating speed, so that the calculation of the number of rotating turns of the motor is realized, and meanwhile, the equal proportion setting is carried out through a mechanical mechanism in the electric calipers, so that the gap setting of the electric calipers is realized, and the motor is finally stopped to rotate.
The invention relates to an electric caliper brake clearance estimation method which is an algorithm model of an electronic parking brake controller, wherein the algorithm estimation algorithm is realized by dividing the electric caliper release process into three stages and simultaneously considering the influence of the working environment of a caliper, wherein the influence in the working process comprises the working voltage of a motor and the environmental temperature in the working process.
In the first stage, aiming at the influence of the current and the voltage of the environmental influence factors on the work of the motor, the corresponding compensation algorithm of the motor rotating speed estimation model is analyzed.
This application mainly aims at there is the brush motor, and the working characteristic of motor is: the rotation speed of the motor is in proportion to the voltage across the motor, and the torque of the motor is in proportion to the current passing through the motor. Through the analysis of the three stages of the motor release, the time of the starting stage and the descending stage of the first two stages is shorter, but the load of the motor is larger, so the current of the motor is relatively larger, the voltage at two ends of the motor can be influenced correspondingly by the current of the motor, and further the rotating speed of the motor is influenced. Therefore, the influence of the voltage across the motor on the rotating speed needs to be considered in the first two stages, and the influence factor of the current passing through the motor on the rotating speed needs to be considered at the same time.
The third stage of the motor release is the stage of the motor setting idle stroke, and the load of the motor is small in the idle stroke stage of the motor, so that the current of the motor running in a small load state is not large. At the moment, the main influence factor of the motor rotating speed is the voltage at two ends of the motor, the speed of the motor rotating speed is directly determined by the voltage of the motor, and the influence factor of the estimation of the motor rotating speed is simpler.
The second stage addresses the effect of environmental influencers temperature on the operation of the motor. The working environment of the electric caliper varies with the position of the vehicle on which the electric caliper is mounted, so the working environment of the electric caliper is complicated and variable. One of the factors that has the greatest effect on the operation of an electrical clamp is the ambient temperature at which the electrical clamp is located. The temperature has a direct influence on the rotation speed of the electric clamp. For an electric caliper motor, the internal resistance of the motor per se is increased along with the increase of the temperature, the efficiency of the motor is reduced, and the torque and the rotating speed of the motor are correspondingly reduced under the same voltage and current. For the electric calipers, the power output by the motor is consumed by mechanical parts, and the load of the motor in the electric calipers becomes larger along with the reduction of the temperature, and the rotation speed of the motor is changed when the load becomes larger, so that the temperature has a great influence on the rotation speed estimation of the electric calipers.
In summary, the method for estimating the braking gap of the electric caliper has the following advantages:
the EPB electronic parking brake control system is an important component in a chassis electronic control system in the direction of automatic development of vehicles, can realize automatic control of parking, and avoids the problem that dragging torque occurs to rear calipers due to negligence of drivers.
And secondly, in the starting process of the motor, the internal resistance of the motor is estimated by using the voltage and the current of the motor, so that the current working environment temperature of the motor can be identified.
And thirdly, considering the influence of factors such as the voltage at two ends of the motor, the current passing through the motor, the working environment temperature of the motor and the like on the rotating speed of the motor, and correcting the estimation model of the motor to enable the estimation of the rotating speed of the electric caliper to be more accurate.
The application can achieve a proper and accurate target by monitoring the motor speed estimation model and further controlling the release clearance of the electric caliper of the EPB, can effectively reduce the dragging torque of the rear caliper, and improves the economical efficiency of the vehicle.
Fifthly, when the function is realized, the fault monitoring and prompting are carried out on the control process of the electric caliper, and the state of the current system is fed back in real time.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. An electric caliper brake clearance estimation method, characterized by comprising the steps of:
S1starting, controlling the EPB electronic parking brake system to normally work in a corresponding environment;
S2an operator sends a clamping or releasing control signal to an EPB electronic parking brake system controller through an EPB electronic parking brake system key, and the controller judges whether the current requirement of control is met or not through received external information and realizes a control process; the motor rotating speed estimation model estimates in real time in the control execution process, and the release clearance of the electric caliper is calculated in real time to achieve accurate control;
S3and ending, and stopping monitoring.
2. The electronic caliper brake clearance estimation method according to claim 1, wherein the step S2The method specifically comprises the following steps:
S21judging whether a release control command is sent currently, if so, entering the step S22(ii) a If not, go to step S3；
S22Monitoring the execution process of the current release instruction;
S23monitoring whether the current of the motor is in a starting stage, and if so, entering a step S24(ii) a If not, the motor can not be started, and the control system sets HMIThe step S is entered for the fault alarm display3；
S24Calculating the internal resistance of the motor in the starting stage;
S25judging whether the current of the motor is in a descending stage, if so, entering the step S26(ii) a If not, the motor is started to block the rotation, the control system sets HMI fault and gives an alarm to display, and the step S is entered3；
S26Starting a motor normally, and starting a motor rotating speed estimation model to estimate the rotating speed;
S27judging whether the current of the motor is in an idling stage, if so, entering the step S28(ii) a If not, the control system sets HMI fault and gives an alarm to display, and the step S is entered3；
S28Setting a gap between the electric caliper brake friction plate and the brake disc;
S29judging whether the electric caliper brake clearance meets the standard, if so, entering the step S3(ii) a If not, returning to the step S27。
3. The electronic caliper brake clearance estimation method according to claim 2, wherein the step S22In particular to monitor the current magnitude of the current caliper.
4. The electronic caliper brake clearance estimation method according to claim 2, wherein the step S24The motor is controlled by a controller, and the motor is connected with the controller through a power line.
5. The electronic caliper brake clearance estimation method according to claim 4, wherein the step S24The resistance calculation of the motor loop is realized by using the maximum current value and the voltage in the starting process, and the internal resistance on the power line is subtracted to obtain the internal resistance of the motor.
6. The electronic caliper brake clearance estimation method of claim 2Characterized in that said step S28The clearance setting stage of the electric caliper is an integral accumulation calculation process of the motor estimated rotating speed, and clearance calculation of the electric caliper is realized through structural parameters inside the electric caliper.
7. The electronic caliper brake clearance estimation method according to claim 1, wherein the supply voltage of the EPB electronic parking brake system is a voltage environment of 9-16V.
8. The electronic caliper brake clearance estimation method according to claim 1, wherein the EPB electronic parking brake system controller can receive bus information of a control system of three nodes of an electronic stability control system controller, a vehicle control unit, and a motor controller.
9. The method of claim 8, wherein the electronic stability control system controller requires proper connections to the left side electric caliper motor and the right side electric caliper motor for proper control.
10. The electronic caliper brake clearance estimation method according to claim 1, wherein the step S3Specifically, the control of the caliper stops when the electric caliper is released to the target release gap.
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