CN111619538B - Electronic hydraulic pressurization system and control method - Google Patents
Electronic hydraulic pressurization system and control method Download PDFInfo
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- CN111619538B CN111619538B CN202010499281.5A CN202010499281A CN111619538B CN 111619538 B CN111619538 B CN 111619538B CN 202010499281 A CN202010499281 A CN 202010499281A CN 111619538 B CN111619538 B CN 111619538B
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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
Abstract
The invention relates to an electronic hydraulic pressurization system and a control method, wherein the electronic hydraulic pressurization system comprises a pressurization power source module, a pressurization transmission module, a brake master cylinder module and an electronic control unit; the output end of the boosting power source module is connected with the brake master cylinder module through the boosting transmission module, and the boosting power source module realizes the switching or superposition of boosting torque through the boosting transmission module; the electronic control unit controls the output of the pressurization power source module and the switching and mixing of the pressurization transmission module, and the brake master cylinder module is used for feeding back a pressure signal to the electronic control unit. The two motors of the supercharging power source module are subjected to torque coupling through a planetary gear mechanism and output by a gear ring; the supercharging transmission module adopts a ball screw mechanism, and the gear ring is in threaded engagement with the outer circumference of a ball screw nut; three driving pressurization modes are realized by matching the two locking mechanisms with the two motors to increase the rotating speed and the torque of the motors. The invention can ensure that the first booster motor still has boosting capacity when the first booster motor fails.
Description
Technical Field
The invention relates to the technical field of vehicle brake-by-wire, in particular to an electronic hydraulic pressurization system with failure operation capacity and a control method.
Background
A brake-by-wire system (brake-by-wire system) is the basis and the premise for realizing the recovery of brake energy of an electrically driven vehicle and the active braking of an intelligent vehicle, and plays a vital role in realizing a high-level unmanned driving technology. According to the Society of Automotive Engineers (SAE) regulations for the level of unmanned driving, automated driving at the level of L4 and L5 does not take over the driver during driving. Therefore, in the above-described level of automatic driving, the adoption of the brake-by-wire system is inevitably required. However, due to the high complexity of autonomous driving, the vehicle is inevitably subject to various malfunctions, wherein the occurrence of a malfunction of the brake system leads to a reduction or even a loss of the basic braking capacity of the vehicle, in particular an increase in the working strength of the brake-by-wire system, which increases the probability of a malfunction thereof. Based on the situation, the brake-by-wire system applied to future high-level automatic driving automobiles has complete failure operation capability, the failure operation capability can be divided into one failure operation capability and complete failure operation capability according to different requirements, and when the original brake-by-wire system fails, the backup system can completely realize the braking efficiency of the original braking system; and secondly, degraded failure operation capability, when the original brake-by-wire system fails, the backup system can partially realize the braking efficiency of the original brake system, or ensure emergency braking in a short time, so that the vehicle is safely stopped. In view of the above situation, the present invention provides an electronic hydraulic pressurization system with a failure operation capability, which can be applied to a brake-by-wire system for a vehicle to ensure the failure operation capability of the brake-by-wire system.
The existing brake-by-wire systems all have a fail-safe (fail-safe) function. For example, the scheme of iBooster + ESP of Bose in Germany can realize that when the iBooster fails, the ESP works autonomously and temporarily to enable a vehicle to stop rapidly in a safe area, but the ESP cannot work independently as a line control brake system for a long time and at a high frequency, otherwise serious accidents such as the burning of an electromagnetic coil and the disconnection can be caused. In the scheme of MK C1 in continental Germany, when a system fails, fail protection at fail-safe level is also realized through a hydraulic pipeline reserved between a master cylinder and a wheel cylinder, at the moment, a driver must take over the automobile, and at the same time, the driver needs to use larger force than normal driving to step on a brake pedal during braking, so that the automobile has a safe deceleration effect.
However, in the automated driving environment of the L4 and L5 classes, no driver takes over the vehicle, and thus the conventional brake-by-wire system with fail-safe (fail-safe) class is no longer suitable for automated driving of the L4 and L5 classes. In this context, brake-by-wire systems with fail-operate (fail-operational) capability have become a major development of brake systems.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an electronic hydraulic pressure boosting system with failure operation capability and a control method thereof, which can quickly switch a power system and maintain the braking capability of a braking system when a motor in an on-line control power system fails.
In order to achieve the purpose, the invention adopts the following technical scheme: an electronic hydraulic pressurization system comprises a pressurization power source module, a pressurization transmission module, a brake master cylinder module and an electronic control unit; the output end of the boosting power source module is connected with the brake master cylinder module through the boosting transmission module, and the boosting power source module realizes the switching or superposition of boosting torque through the boosting transmission module; the electronic control unit controls the output of the boosting power source module and the switching and mixing of the boosting transmission module, and the brake master cylinder module is used for feeding back a pressure signal to the electronic control unit; the supercharging power source module comprises a supercharging power source shell, and a supercharging power source, a planetary gear torque superposition mechanism and a locking mechanism which are arranged in the supercharging power source shell; the boosting power source comprises a first boosting motor and a second boosting motor, the planetary gear torque superposition mechanism comprises a sun gear, a planet carrier, a transmission shaft, a planet gear and a gear ring, and the locking mechanism comprises a first locking mechanism and a second locking mechanism; the first booster motor is connected with the sun gear through the transmission shaft; the second booster motor is connected with the planet carrier through the transmission shaft; the gear ring comprises an inner gear and an outer gear, the inner gear is meshed with the planet gear, the planet gear is meshed with the sun gear, and the outer gear is meshed with the supercharging transmission module; the first locking mechanism and the second locking mechanism are respectively positioned on a shaft connected with the first booster motor, the second booster motor and the sun gear, the first booster motor and the second booster motor are in information interaction with the electronic control unit, and the electronic control unit controls the locking mechanism to act.
Further, the first booster motor is a high-power and high-torque motor, and the second booster motor is a low-power and low-torque motor compared with the first booster motor.
Further, the supercharging transmission module comprises a supercharging transmission mechanism shell, and a ball screw rod, a ball screw nut, a first bearing, a second bearing and balls which are arranged in the supercharging transmission mechanism shell; the outer circumference of the ball screw nut is coaxially mounted with the first bearing and the second bearing, and an outer circumferential gear of the ball screw nut is meshed with an outer gear of the gear ring; the ball screw is coaxially arranged in the ball screw nut, and the ball is arranged between the ball screw nut and the ball screw.
Further, the inner circumference of the ball screw nut is provided with a ball guide groove, and the outer circumference of the ball screw is correspondingly provided with a ball guide groove for installing the ball.
Further, the brake master cylinder module comprises a second brake master cylinder, a second brake fluid oil can, a primary piston, a secondary piston, a first liquid outlet and a second liquid outlet; the first-stage piston is arranged in the second brake master cylinder, the first-stage piston divides the interior of the second brake master cylinder into a first cavity and a second cavity, and the second-stage piston connected with a ball screw rod in the boosting transmission module is arranged on one side of the second cavity; the second brake master cylinder is connected with the existing first brake master cylinder through the second brake fluid oil pot, the second brake fluid oil pot is connected with the first brake master cylinder through a first oil pot pipeline, and the second brake fluid oil pot is connected with the first cavity and the second cavity through a second oil pot pipeline.
Furthermore, a first one-way liquid inlet valve and a second one-way liquid inlet valve are arranged on the pipeline of the second oil can, so that hydraulic oil can flow to the second brake master cylinder from the second brake oil can in one way.
Further, a first liquid outlet and a second liquid outlet are formed in the lower portion of the second brake main cylinder, the first liquid outlet is communicated with the first cavity, and the second liquid outlet is communicated with the second cavity.
Furthermore, a main cylinder pressure sensor is arranged on a pipeline of the first liquid outlet or the second liquid outlet and transmits the acquired pressure signal to the electronic control unit.
Further, the primary piston is a floating piston.
A supercharging control method based on the system comprises the following three steps: 1) under the complete healthy state of first pressure boost motor, by the pressurization of first pressure boost motor individual drive: the electronic control unit sends a driving control instruction to the first booster motor to control the rotating speed or torque of the first booster motor, sends the driving control instruction to the first locking mechanism and the second locking mechanism to control the combination of the second clutch, the first clutch is disengaged, and the planet carrier is fixed on the booster power source shell to enable the torque of the first booster motor to be input through the sun gear and output through the gear ring; 2) under the complete inefficacy condition of first pressure boost motor, the pressure boost of second pressure boost motor individual drive: the electronic control unit sends a driving control instruction to the second supercharging motor, controls the rotating speed or torque of the second supercharging motor, sends the driving control instruction to the first locking mechanism and the second locking mechanism, controls the first clutch to be combined, and releases the second clutch, so that the sun gear is fixed on the supercharging power source shell, and the torque of the second supercharging motor is input by the planet carrier and output by the gear ring; 3) under the first pressure boost motor part health state, first pressure boost motor and second pressure boost motor drive pressure boost jointly: the electronic control unit simultaneously controls the rotating speed or torque of the first booster motor and the second booster motor, sends a driving control instruction to the first locking mechanism and the second locking mechanism, controls the first clutch to be disengaged and the second clutch to be disengaged, inputs the torque of the first booster motor and the torque of the second booster motor through the sun gear and the planet carrier respectively, and outputs the torque through the gear ring after superposition; after the torque output by the motor is output by the gear ring, the ball screw nut of the boosting transmission module is pushed to rotate, so that the brake fluid in the second brake master cylinder is pushed and compressed by the boosting transmission module, and the brake fluid in the first cavity enters a front wheel pipeline of the pressure regulating module through the first liquid outlet; brake fluid in the second cavity enters a rear wheel pipeline of the pressure regulating module through a second fluid outlet, so that normal braking of at least the front wheel or the rear wheel is realized; meanwhile, the master cylinder pressure sensor collects pressure electric signals and transmits the pressure electric signals to the electronic control unit, and closed-loop control of pressure is achieved.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention can rapidly switch the power system when the motor in the brake-by-wire system fails, maintain the braking capability of the braking system, and particularly has good compensation capability for the faults of motor locking, recession and the like. 2. The unmanned or automatic vehicle loaded with the brake-by-wire system of the invention can provide sufficient braking force and braking effect for the vehicle without the need of taking over the vehicle by a driver when the on-line control fails, thereby ensuring the personal and property safety of drivers and passengers.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the electronic hydraulic supercharging system of the present invention.
FIG. 2 is a schematic diagram of a planetary gear mechanism in the electro-hydraulic boosting system.
Fig. 3 is a schematic diagram of an embodiment of the electro-hydraulic system with fail-safe capability applied to a brake-by-wire system of the present invention.
Detailed Description
To further illustrate the technical solution of the present invention and the advantages thereof, the following detailed description of the present invention is made with reference to the accompanying drawings and examples.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in FIG. 1, the present invention provides an electro-hydraulic boost system with fail operational capability that includes a boost power source module, a boost transmission module, a master cylinder module and Electronic Control Units (ECUs) 10-25. The output end of the boosting power source module is connected with the brake master cylinder module through the boosting transmission module, and the boosting power source module realizes the switching or superposition of boosting torque through the boosting transmission module; the electronic control units 10-25 control the output of the boosting power source module and the switching and mixing of the boosting transmission module, and the brake master cylinder module is used for feeding back pressure signals to the electronic control units. The method comprises the following specific steps:
the supercharging power source module comprises a supercharging power source shell 10-8, and a supercharging power source, a planetary gear torque superposition mechanism and a locking mechanism which are arranged in the supercharging power source shell 10-8. The supercharging power source comprises a first supercharging motor 10-1 and a second supercharging motor 10-7; the planetary gear torque superposition mechanism comprises a sun gear 10-3, a planet carrier and transmission shaft 10-4 and a gear ring 10-5, wherein the planet carrier and transmission shaft 10-4 consists of a planet carrier 10-41, a transmission shaft 10-42 and a planet gear 10-43 (shown in figure 2); the locking mechanism comprises a first locking mechanism 10-2 and a second locking mechanism 10-6.
The first booster motor 10-1 is connected with the sun gear 10-3 through a transmission shaft 10-42; the second booster motor 10-7 is connected with the planet carrier 10-41 through a transmission shaft 10-42; the ring gear 10-5 includes an inner gear that meshes with the planetary gears 10-43, the planetary gears 10-43 mesh with the sun gear 10-3, and an outer gear that meshes with an outer gear of the ball screw nut 10-10 in the booster transmission module. The first locking mechanism 10-2 and the second locking mechanism 10-6 are respectively positioned on a shaft of the first booster motor 10-1, the second booster motor 10-7 and the sun gear 10-3, and when the first locking mechanism and the second locking mechanism are combined with the shaft, the shaft can be locked to be incapable of rotating. The first booster motor 10-1 and the second booster motor 10-7 are in information interaction with the electronic control unit 10-25, and the electronic control unit 10-25 controls the action of the locking mechanism.
In the above embodiment, the first locking mechanism 10-2 and the second locking mechanism 10-6 may be friction plate brakes, multi-layer ratchet locking mechanisms, or the like, which may realize bidirectional locking and unlocking. In the present embodiment, the first locking mechanism 10-2 includes a first friction brake ring 10-2-1 and a first clutch 10-2-2; the second locking mechanism 10-6 includes a second friction brake ring 10-6-1 and a second clutch 10-6-2. The first friction brake ring 10-2-1 and the second friction brake ring 10-6-1 are respectively fixed on a shaft, one end of the first clutch 10-2-2 and one end of the second clutch 10-6-2 are both fixed on the supercharging power source shell 10-8, and the other end is connected with the electronic control unit 10-25. The first clutch 10-2-2 and the second clutch 10-6-2 can be engaged with or disengaged from the first friction brake ring 10-2-1 and the second friction brake ring 10-6-1, respectively, driven by control signals from the electronic control unit 10-25.
In the above embodiment, the first booster motor 10-1 is a high-power and high-torque motor, and the second booster motor 10-7 is a low-power and low-torque motor as compared with the first booster motor 10-1. The first booster motor 10-1 can independently achieve the maximum power or torque required by hydraulic boosting; the second booster motor 10-7 can independently achieve partial power or torque required by hydraulic boosting, and the torques of the first booster motor 10-1 and the second booster motor 10-7 are coupled through a planetary gear torque superposition mechanism.
As shown in fig. 1, the boost transmission module is a ball screw mechanism, which includes a boost transmission housing 10-14 for supporting the entire boost transmission module, and a ball screw 10-9, a ball screw nut 10-10, a first bearing 10-11, a second bearing 10-12, and balls 10-13 disposed in the boost transmission housing 10-14. The outer circumference of the ball screw nut 10-10 is coaxially installed with the first bearing 10-11 and the second bearing 10-12; an outer circumferential gear of the ball screw nut 10-10 is engaged with an outer gear of the supercharging power source module gear ring 10-5, and a ball guide groove is formed in the inner circumference of the ball screw nut 10-10. The ball screw rod 10-9 is coaxially installed in the ball screw nut 10-10, and the outer circumference of the ball screw rod 10-9 is also provided with a ball guide groove corresponding to the ball guide groove of the inner circumference of the ball screw nut 10-10. The balls 10-13 are installed in the ball guide grooves between the ball screw nuts 10-10 and the ball screw shafts 10-9. When the linear motion mechanism is used, the outer circumference of the ball screw nut 10-10 is attached to the first bearing 10-11 and the second bearing 10-12, and the ball screw nut 10-10 is matched with the ball screw 10-9 through the balls 10-13 to form a ball pair, so that the rotary motion of the ball screw nut 10-10 is converted into the linear motion of the ball screw 10-9.
As shown in FIG. 1, the master cylinder module comprises a second master cylinder 10-15, a first one-way liquid inlet valve 10-18, a second one-way liquid inlet valve 10-19, a second brake fluid oil can 10-20, a master cylinder pressure sensor 10-21, a primary piston 10-22, a secondary piston, a first liquid outlet 10-23 and a second liquid outlet 10-24.
A primary piston 10-22 is arranged in the second brake master cylinder 10-15, the primary piston 10-22 divides the interior of the second brake master cylinder 10-15 into a first cavity 10-16 and a second cavity 10-17, and a secondary piston connected with a ball screw rod 10-9 is arranged on one side of the second cavity 10-17. The second brake master cylinder 10-15 is connected with the existing first brake master cylinder 4 through a second brake fluid oil can 10-20, the second brake fluid oil can 10-20 is connected with the existing first brake master cylinder 4 through a first oil can pipeline, a one-way hydraulic valve is arranged on the first oil can pipeline, and hydraulic oil can flow to the first brake master cylinder 4 from the second brake fluid oil can 10-20 in a one-way mode; the second brake fluid pot 10-20 is connected with the first cavity 10-16 and the second cavity 10-17 of the second brake master cylinder 10-15 through a second oil pot pipeline, a first one-way liquid inlet valve 10-18 and a second one-way liquid inlet valve 10-19 are arranged on the second oil pot pipeline, and hydraulic oil can flow to the second brake master cylinder 10-15 from the second brake fluid pot 10-20 in a one-way mode. A first liquid outlet 10-23 and a second liquid outlet 10-24 are arranged at the lower part of the second brake master cylinder 10-15, the first liquid outlet 10-23 is communicated with the first cavity 10-16, and the second liquid outlet 10-24 is communicated with the second cavity 10-17; a main cylinder pressure sensor 10-21 is arranged on a pipeline of the first liquid outlet 10-23 or the second liquid outlet 10-24, and the main cylinder pressure sensor 10-21 transmits the acquired pressure signal to the electronic control unit 10-25.
When in use, in the second brake master cylinder 10-15, brake fluid is contained in the first cavity 10-16 and the second cavity 10-17; the second brake fluid pot 10-20 is respectively connected with the first cavity 10-16 and the second cavity 10-17 through a pipeline, and the brake fluid in the second brake fluid pot 10-20 flows into the first cavity 10-16 and the second cavity 10-17 in a one-way mode through a one-way valve, so that the brake fluid in the second brake master cylinder 10-15 is supplemented.
In the above embodiment, the primary piston 10-22 is a floating piston, thereby ensuring that the brake fluid pressure in the first chamber 10-16 and the second chamber 10-17 is uniform.
In summary, when the system of the invention is used, under the signal drive of the electronic control unit 10-25, the boosting power source in the boosting power source module rotates to finally drive the gear ring 10-5 to rotate, further drive the ball screw nut 10-10 to rotate, the ball screw nut 10-10 drives the ball screw rod 10-9 to move leftward, and push and compress the brake fluid in the second cavity 10-17 of the second brake master cylinder 10-15, because the primary piston 10-22 is a floating piston, the pressures in the first cavity 10-16 and the second cavity 10-17 are kept consistent, and the brake fluid in the first cavity 10-16 and the second cavity 10-17 respectively flows out through the first brake fluid outlet 10-23 and the second brake fluid outlet 10-24.
Example (b): the pressurization system is mainly applied to the establishment of a high-pressure source of a vehicle hydraulic brake-by-wire system, but is not limited to other similar scenes needing to pressurize liquid. To further illustrate the function of the present invention, an exemplary embodiment of the application of the present invention is described below with reference to fig. 3: application in a brake-by-wire system of a vehicle.
The brake-by-wire system with fail-operational capability provided by this embodiment is a brake-by-wire system that needs a motor to actively build pressure, where the motor is a weak link in the entire system, and another set of motor system is backed up near its spatial position, and the two can share a transmission mechanism of the original brake-by-wire system. When the system has no fault, the first motor system is combined with the transmission mechanism, and the second motor system for backup is combined with the shell through the locking device to keep a standby state. When a fault occurs in the system, the locking device is adopted to rapidly realize switching according to different fault conditions, so that the torque coupling or switching of the power source motor is realized, and fail-operational operation (fail-operational) is realized.
As shown in fig. 3, the first brake master cylinder 4 is connected to the first brake fluid pot 3, a first brake master cylinder primary piston 5 is provided in the first brake master cylinder 4, and a secondary piston in the first brake master cylinder 4 is connected to the brake pedal 1 via the pedal link 2. The liquid outlet of the first brake master cylinder 4 and the first liquid outlet 10-23 and the second liquid outlet 10-24 of the second brake master cylinder 10-15 are connected with the wheel cylinder-wheel module 13 through pipelines and the pressure adjusting module 12. When the line control hydraulic brake system is in an electrified state, the electronic control units 10-25 control the pedal simulator normally closed electromagnetic valve 7 to be opened through electric signals, and the first normally open electromagnetic valve 8 and the second normally open battery valve 9 are closed.
In a vehicle provided with a brake-by-wire system, when a driver actively brakes, the driver pushes brake fluid in a first brake master cylinder 4 to be compressed into a pedal simulator 6 through a brake pedal 1 and a pedal connecting rod 2; a pedal simulator pressure sensor 11 connected to an oil inlet pipeline of the pedal simulator collects a pressure electric signal of the pedal simulator 6 and transmits the pressure electric signal to the electronic control unit 10-25, and the electronic control unit 10-25 determines the pressure of a target second brake master cylinder 10-15 according to the collected pressure signal; when the driver does not intervene in braking, the electronic control unit 10-25 analyzes and obtains the pressure of the target second brake master cylinder 10-15 according to the target braking deceleration requirement sent by the whole vehicle controller.
The electronic control unit 10-25 analyzes and determines a driving mode which should be adopted currently according to the fault information sent by the first booster motor 10-1 and the second booster motor 10-7, and then controls the combination and the separation of the first locking mechanism 10-2 and the second locking mechanism 10-6 according to the driving mode. After the establishment of the current driving mode is completed, the electronic control unit 10-25 realizes the closed-loop control of the first booster motor 10-1 and the second booster motor 10-7 according to the collected information of the rotating speed and the torque of the first booster motor 10-1 and the second booster motor 10-7.
The invention also provides a pressurization control method of the electronic hydraulic pressurization system, which comprises the following three steps: the control method comprises a supercharging control method under the complete health state of a first supercharging motor 10-1, a supercharging control method of torque coupling of the first supercharging motor 10-1 and a second supercharging motor 10-7 under the partial health state of the first supercharging motor 10-1, and a supercharging control method under the complete failure condition of the first supercharging motor 10-1.
1) Under the complete health state of the first booster motor 10-1, the first booster motor 10-1 is used for driving boosting independently: the electronic control unit 10-25 receives fault information sent by the first booster motor 10-1 and the second booster motor 10-7, sends a driving control instruction to the first booster motor 10-1 through analysis and judgment, controls the rotating speed or torque of the first booster motor, and sends the driving control instruction to the first locking mechanism 10-2 and the second locking mechanism 10-6, the electronic control unit 10-25 controls the second clutch 10-6-2 to be combined, the first clutch 10-2-2 is disengaged, so that the second booster motor 10-7 cannot rotate, the planet carrier 10-41 is fixed to the booster power source shell 10-8, and the torque of the first booster motor 10-1 is input through the sun gear 10-3 and output through the gear ring 10-5.
The torque of the first booster motor 10-1 is transmitted to the gear ring through the sun gear and the planet gear and then transmitted to the ball screw nut of the booster transmission module, and the ball screw nut is pushed to rotate. The rotation of the ball screw nut pushes the ball screw to move forwards leftwards, and the liquid of the main cylinder is compressed to realize pressurization. The master cylinder pressure sensor collects master cylinder pressure and transmits processed electronic signals to the electronic control module, and the electronic control module compares target pressure with actual pressure and adjusts a control instruction of the motor, so that closed-loop control of the pressure is formed.
2) Under the condition that the first booster motor 10-1 completely fails, the second booster motor 10-7 independently drives boosting: because the first booster motor 10-1 completely loses the output capacity, and the second booster motor 10-7 can only independently meet the boosting requirement of a part of the second brake master cylinder 10-15, the boosting capacity of the system is reduced at the moment, but active boosting to a certain degree can still be ensured. The specific control method comprises the following steps:
the electronic control unit 10-25 receives external electronic signals given by the master cylinder pressure sensor 10-21 and the like, receives fault information sent by the first booster motor 10-1 and the second booster motor 10-7, sends a driving control instruction to the second booster motor 10-7 through analysis and judgment, and controls the rotating speed or the torque of the second booster motor 10-7. The electronic control unit 10-25 sends a driving control instruction to the first locking mechanism 10-2 and the second locking mechanism 10-6, the electronic control unit 10-25 controls the first clutch 10-2-2 to be combined, and the second clutch 10-6-2 is disengaged, so that the sun gear 10-3 is fixed to the supercharging power source shell 10-8, the torque of the second supercharging motor 10-7 is input through the planet carrier 10-41 and is output through the gear ring 10-5.
The torque of the second booster motor 10-7 is transmitted to the gear ring 10-5 through the sun gear and the planet gear, and then transmitted to the ball screw nut 10-10 of the booster transmission module, and the ball screw nut 10-10 is pushed to rotate. The rotation of the ball screw nut 10-10 pushes the ball screw 10-9 to move leftwards, and the liquid of the second brake master cylinder 10-15 is compressed to realize pressurization. The master cylinder pressure sensor 10-21 collects the pressure of the second brake master cylinder 10-15 and transmits the processed electronic signal to the electronic control unit 10-25, and the electronic control unit 10-25 compares the target pressure with the actual pressure and adjusts the control instruction of the motor, thereby forming the closed-loop control of the pressure.
3) Under the partial health state of the first booster motor 10-1, the first booster motor 10-1 and the second booster motor 10-7 drive and boost together: as the first supercharging motor 10-1 is partially healthy and the motor output capacity is reduced, the second supercharging motor 10-7 is required to participate in output, and the superposition of the torque is realized through the planetary gear torque superposition mechanism, so that the complete supercharging torque requirement is ensured to be met. The specific control method comprises the following steps:
the electronic control unit 10-25 receives external electronic signals given by the master cylinder pressure sensor 10-21 and the like, receives fault information sent by the first booster motor 10-1 and the second booster motor 10-7, controls the rotating speed or torque of the first booster motor 10-1 and the second booster motor 10-7 through analysis and judgment, and sends driving control instructions to the first locking mechanism 10-2 and the second locking mechanism 10-6. The electronic control unit 10-25 controls the first clutch 10-2-2 to be disengaged, the second clutch 10-6-2 to be disengaged, and the torques of the first booster motor 10-1 and the second booster motor 10-7 are respectively input through the sun gear 10-3 and the planet carrier 10-4 and are output through the gear ring 10-5 after being overlapped.
The torques of the first booster motor 10-1 and the second booster motor 10-7 are coupled through a planetary gear torque superposition mechanism and then transmitted to a ball screw nut 10-10 of the booster transmission module through a gear ring 10-5, and the ball screw nut 10-10 is pushed to rotate. The rotation of the ball screw nut 10-10 pushes the ball screw 10-9 to move leftwards, and liquid in the second brake master cylinder 10-15 is compressed to realize pressurization. The master cylinder pressure sensor 10-21 collects the pressure of the second brake master cylinder 10-15 and transmits the processed electronic signal to the electronic control unit 10-25, and the electronic control unit 10-25 compares the target pressure with the actual pressure and adjusts the control instruction of the motor, thereby forming the closed-loop control of the pressure.
In summary, when the control method is used, the torque output by the motor is output by the gear ring 10-5, and then the ball screw nut 10-10 of the boosting transmission module is pushed to rotate, so that the brake fluid in the second brake master cylinder 10-15 is pushed and compressed by the boosting transmission module, and the brake fluid in the first cavity 10-16 of the second brake master cylinder 10-15 enters the front wheel pipeline of the pressure regulating module 12 through the first liquid outlet 10-23; brake fluid in the second cavity 10-17 of the second brake master cylinder 10-15 enters a rear wheel pipeline of the pressure regulating module 12 through the second liquid outlet 10-24, and due to the floating piston 10-22 arranged between the two cavities, when one cavity leaks, the brake fluid in the other cavity can be still ensured to be normally pressurized, so that normal braking of at least the front wheel or the rear wheel is realized. Meanwhile, the master cylinder pressure sensor 10-21 collects the liquid outlet pipeline pressure of the second brake master cylinder 10-15 and transmits the actual response pressure electric signal to the electronic control unit 10-25, thereby realizing the closed-loop control of the pressure.
The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and shape of each component can be changed, and on the basis of the technical scheme of the present invention, the improvement and equivalent transformation of the individual components according to the principle of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. An electro-hydraulic boosting system characterized by comprising: the brake system comprises a pressurization power source module, a pressurization transmission module, a brake master cylinder module and an electronic control unit; the output end of the boosting power source module is connected with the brake master cylinder module through the boosting transmission module, and the boosting power source module realizes the switching or superposition of boosting torque through the boosting transmission module; the electronic control unit controls the output of the boosting power source module and the switching and mixing of the boosting transmission module, and the brake master cylinder module is used for feeding back a pressure signal to the electronic control unit;
the supercharging power source module comprises a supercharging power source shell, and a supercharging power source, a planetary gear torque superposition mechanism and a locking mechanism which are arranged in the supercharging power source shell; the boosting power source comprises a first boosting motor and a second boosting motor, the planetary gear torque superposition mechanism comprises a sun gear, a planet carrier, a transmission shaft, a planet gear and a gear ring, and the locking mechanism comprises a first locking mechanism and a second locking mechanism;
the first booster motor is connected with the sun gear through the transmission shaft; the second booster motor is connected with the planet carrier through the transmission shaft; the gear ring comprises an inner gear and an outer gear, the inner gear is meshed with the planet gear, the planet gear is meshed with the sun gear, and the outer gear is meshed with the supercharging transmission module; the first locking mechanism and the second locking mechanism are respectively positioned on a shaft connected with the first booster motor, the second booster motor and the sun gear, the first booster motor and the second booster motor are in information interaction with the electronic control unit, and the electronic control unit controls the locking mechanism to act.
2. The system of claim 1, wherein: the first booster motor is a high-power and high-torque motor, and the second booster motor is a low-power and low-torque motor compared with the first booster motor.
3. The system of claim 1, wherein: the supercharging transmission module comprises a supercharging transmission mechanism shell, and a ball screw rod, a ball screw nut, a first bearing, a second bearing and balls which are arranged in the supercharging transmission mechanism shell; the outer circumference of the ball screw nut is coaxially mounted with the first bearing and the second bearing, and an outer circumferential gear of the ball screw nut is meshed with an outer gear of the gear ring; the ball screw is coaxially arranged in the ball screw nut, and the ball is arranged between the ball screw nut and the ball screw.
4. The system of claim 3, wherein: the inner circumference of the ball screw nut is provided with a ball guide groove, and the outer circumference of the ball screw is correspondingly provided with a ball guide groove for installing the ball.
5. The system of claim 1, wherein: the brake master cylinder module comprises a second brake master cylinder, a second brake fluid oil can, a primary piston, a secondary piston, a first liquid outlet and a second liquid outlet;
the first-stage piston is arranged in the second brake master cylinder, the first-stage piston divides the interior of the second brake master cylinder into a first cavity and a second cavity, and the second-stage piston connected with a ball screw rod in the boosting transmission module is arranged on one side of the second cavity; the second brake master cylinder is connected with the existing first brake master cylinder through the second brake fluid oil pot, the second brake fluid oil pot is connected with the first brake master cylinder through a first oil pot pipeline, and the second brake fluid oil pot is connected with the first cavity and the second cavity through a second oil pot pipeline.
6. The system of claim 5, wherein: and a first one-way liquid inlet valve and a second one-way liquid inlet valve are arranged on the pipeline of the second oil can, so that hydraulic oil flows to the second brake master cylinder from the second brake oil can in one way.
7. The system of claim 5, wherein: the lower part of the second brake master cylinder is provided with a first liquid outlet and a second liquid outlet, the first liquid outlet is communicated with the first cavity, and the second liquid outlet is communicated with the second cavity.
8. The system of claim 7, wherein: and a main cylinder pressure sensor is arranged on a pipeline of the first liquid outlet or the second liquid outlet and transmits the acquired pressure signal to the electronic control unit.
9. The system according to any one of claims 5 to 8, wherein: the primary piston is a floating piston.
10. A supercharging control method based on the system according to any one of claims 1 to 9, characterized by comprising three kinds of:
1) under the complete healthy state of first pressure boost motor, by the pressurization of first pressure boost motor individual drive: the electronic control unit sends a driving control instruction to the first booster motor to control the rotating speed or torque of the first booster motor, sends the driving control instruction to the first locking mechanism and the second locking mechanism to control the combination of the second clutch, the first clutch is disengaged, and the planet carrier is fixed on the booster power source shell to enable the torque of the first booster motor to be input through the sun gear and output through the gear ring;
2) under the complete inefficacy condition of first pressure boost motor, the pressure boost of second pressure boost motor individual drive: the electronic control unit sends a driving control instruction to the second supercharging motor, controls the rotating speed or torque of the second supercharging motor, sends the driving control instruction to the first locking mechanism and the second locking mechanism, controls the first clutch to be combined, and releases the second clutch, so that the sun gear is fixed on the supercharging power source shell, and the torque of the second supercharging motor is input by the planet carrier and output by the gear ring;
3) under the first pressure boost motor part health state, first pressure boost motor and second pressure boost motor drive pressure boost jointly: the electronic control unit simultaneously controls the rotating speed or torque of the first booster motor and the second booster motor, sends a driving control instruction to the first locking mechanism and the second locking mechanism, controls the first clutch to be disengaged and the second clutch to be disengaged, inputs the torque of the first booster motor and the torque of the second booster motor through the sun gear and the planet carrier respectively, and outputs the torque through the gear ring after superposition;
after the torque output by the motor is output by the gear ring, the ball screw nut of the boosting transmission module is pushed to rotate, so that the brake fluid in the second brake master cylinder is pushed and compressed by the boosting transmission module, and the brake fluid in the first cavity enters a front wheel pipeline of the pressure regulating module through the first liquid outlet; brake fluid in the second cavity enters a rear wheel pipeline of the pressure regulating module through a second fluid outlet, so that normal braking of at least the front wheel or the rear wheel is realized; meanwhile, the master cylinder pressure sensor collects pressure electric signals and transmits the pressure electric signals to the electronic control unit, and closed-loop control of pressure is achieved.
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| CN112810586A (en) * | 2021-01-20 | 2021-05-18 | 清华大学 | Commercial car stopper actuation module and braking system |
| CN113787999B (en) * | 2021-09-17 | 2023-01-24 | 南京众控电子科技有限公司 | Automobile line control mechanical brake device with emergency brake and control method |
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