CN111923883B - Brake system matching analysis method and system considering active braking function - Google Patents
Brake system matching analysis method and system considering active braking function Download PDFInfo
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- CN111923883B CN111923883B CN202010688985.7A CN202010688985A CN111923883B CN 111923883 B CN111923883 B CN 111923883B CN 202010688985 A CN202010688985 A CN 202010688985A CN 111923883 B CN111923883 B CN 111923883B
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
Abstract
The invention discloses a matching analysis method and a matching analysis system of a braking system considering an active braking function, which are characterized in that braking torque required by locking of front and rear axles is calculated according to dynamic axle load transfer of a whole vehicle under certain deceleration, and locking pressure is calculated through brake parameters to finish evaluation of the locking pressure of the whole vehicle; building a hydraulic model of a braking system in Amesim, and calculating the flow of a pump through the rotating speed of a motor, the eccentric wheel and the displacement of a plunger; calculating the volume of brake fluid entering the brake by calculating the pressure difference between two ends of the electromagnetic valve and the length of a brake pipeline to calculate the pressure of a brake wheel cylinder; obtaining a TTL simulation curve through iterative calculation of the pressure of a brake wheel cylinder: and (4) inputting the pressure of the brake wheel cylinder calculated in the step (S3) in the previous step as the pressure difference of the next step, and obtaining a TTL simulation curve through continuous iterative calculation for matching analysis of the brake system.
Description
Technical Field
The invention belongs to the technical field of automobile safety, and relates to a brake system matching analysis method and system considering an active braking function.
Background
Along with the popularization of intelligent driving, more and more passenger cars are provided with an active braking (AEB) function to improve the driving safety, an important index for evaluating the AEB function is the Time To Lock (TTL) of the vehicle, and an electric braking system carries out active boosting braking to enable the whole vehicle to achieve the maximum deceleration (the maximum deceleration of a high-attachment road surface is about 10 m/s) after receiving an active braking deceleration request 2 ) Time of day, to increase safety requirementsThis time is less than 500ms. The existing brake system matching method only considers the brake pedal feeling of a driver, national standard mandatory regulations and the like, and does not consider the AEB electric control function performance target.
FIG. 1 shows a method and a system for matching and analyzing a certain brake system, wherein the method only considers the input and output characteristics of a brake vacuum booster of a driver to obtain pipeline pressure, then performs simple calculation to obtain brake torque, and obtains the relationship between pedal force and deceleration according to a whole vehicle model.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a brake system matching analysis method and a brake system matching analysis system considering an active braking function. And comparing the model with target TTL (time to live) so as to guide the basic brake component of the brake system and the electric control system scheme to select the model, so that the decomposition from a system target to a part design scheme is realized, and system problems are discovered and eliminated as much as possible at the initial stage of design so as to reduce the cost of later-stage test improvement.
The purpose of the invention is realized by the following technical scheme:
as an aspect of the present invention, there is provided a brake system matching analysis method considering an active braking function, including the steps of:
s1, calculating braking torque required by locking of a front axle and a rear axle according to dynamic axle load transfer of a whole vehicle under a certain deceleration, and calculating to obtain locking pressure through brake parameters to finish evaluation of the locking pressure of the whole vehicle;
s2, building a hydraulic model of the braking system in Amesim, and calculating the flow of the pump through the rotating speed of the motor, the eccentric wheel and the displacement of the plunger;
s3, calculating the volume of the brake fluid entering the brake by calculating the pressure difference between two ends of the electromagnetic valve and the length of a brake pipeline to calculate the pressure of a brake wheel cylinder;
s4, obtaining a TTL simulation curve through iterative calculation of the pressure of the brake wheel cylinder: and (4) inputting the pressure of the brake wheel cylinder calculated in the step (S3) in the previous step as the pressure difference of the next step, and obtaining a TTL simulation curve through continuous iterative calculation for matching analysis of the brake system.
Further, the step S1 specifically includes:
when the automobile brakes linearly on a horizontal road surface, the vertical load of the front and rear shafts is R when the automobile brakes under the condition of deceleration alpha f And R r ：
Wherein: r is f For dynamic front axle loading, R r The dynamic rear axle load is adopted, alpha is the braking deceleration, and W is the weight of the whole vehicle;
the load transfer of alpha WH/L is generated relative to the weight at rest during braking;
and (4) predicting the braking torque required by locking of the front axle and the rear axle through stress analysis, and calculating to obtain locking pressure through brake parameters to finish the evaluation of the whole vehicle braking locking pressure.
Further, the step S2 specifically includes:
a hydraulic model of a braking system is built in Amesim, wherein an oil inlet pump is a plunger pump, an eccentric wheel is driven by a motor to drive the plunger pump, and the displacement of a plunger in the axis direction is as follows:
wherein: s is the displacement of the plunger in the axial direction, r is the radius of the eccentric wheel, e is the eccentric amount of the eccentric wheel, and theta is the rotation angle of the eccentric wheel;
flow calculation formula of pump:
wherein: q b For the output flow of the oil pump, V b Is the oil pump flow, S m Is the motor speed, P bin Is the inlet end pressure of the oil pump, P bout Is the oil pump outlet end pressure, a is the oil pump pressure factor;
calculating the flow of the electromagnetic valve:
wherein: q is the flow of the hydraulic medium, C qmax The flow rate is the maximum flow coefficient, rho is the hydraulic fluid density, delta P is the pressure difference between two ends of the electromagnetic valve, A is the cross section of the throttling hole, lambada e is the flowing Reynolds number of the hydraulic medium, chi is the wet circumference length of the throttling hole, and eta is the dynamic viscosity of the hydraulic medium;
calculating the flow of the brake pipeline:
wherein: p P Hydraulic pressure in the pipe, t time, E PF Effective bulk modulus for brake fluids and tubing, A P Is the cross-sectional area of the pipeline, Q P Is the flow in the pipe, x p Is the length of the pipeline.
Further, the step S3 specifically includes:
and (3) disconnecting the joint of the hose and the hard pipe on the real vehicle, connecting the brake caliper and the hose to the data of the amount of liquid required by the actually measured brake and the hose of the rack in the connection state of the real vehicle, obtaining the amount of required brake liquid by integrating the flow of the electromagnetic valve in the step S2, and interpolating the amount of the required brake liquid map of the front brake and the rear brake to obtain a pressure value to realize the calculation of the wheel cylinder pressure of the brake.
As another aspect of the present invention, there is provided a brake system matching analysis system including:
the locking pressure evaluation module is used for obtaining the braking locking pressure according to the parameters of the whole vehicle, the rolling radius of the tire and the braking deceleration;
the power source module is used for calculating the flow of the pump according to the rotating speed of the motor, the eccentric wheel and the displacement of the plunger;
the transmission medium module is used for evaluating the flow of the brake fluid flowing through the electromagnetic valve and the hard pipe;
the hydraulic source module is used for evaluating the flow of the sucked brake fluid when the ESC is actively boosted;
and the load module is used for obtaining the established wheel cylinder pressure through the liquid amount required by the brake.
Further, in the locking pressure evaluation module, a user interface for human-computer interaction is built by using Python.
The invention has the following beneficial effects:
according to the invention, from the perspective of improving the TTL of the active braking of the whole vehicle, a user interface for human-computer interaction is built by using Python, so that a user can conveniently input parameters of the whole vehicle and a braking system, a simulation model of each sub-component required by the active braking is built in Amesim, the integrated analysis of the active braking performance is realized by analyzing the time for reaching the braking locking pressure, and the integrated analysis can be used for the electric control of braking such as anti-lock braking system (ABS) of the vehicle.
Drawings
FIG. 1 is a flow chart of a conventional brake system matching analysis method;
FIG. 2 is a flow chart of a brake system matching analysis method of the present invention in view of the active braking function;
FIG. 3 is a schematic diagram illustrating the active braking operation of the present invention;
FIG. 4 is a block diagram of the brake system matching analysis system of the present invention;
fig. 5 shows TTL analysis results of active braking according to the present invention.
Detailed Description
The technical scheme of the invention is further described by combining the drawings and the embodiment as follows:
as shown in fig. 2, the present invention provides a brake system matching analysis method considering an active braking function, including the steps of:
s1, calculating braking torque required by locking of a front axle and a rear axle according to dynamic axle load transfer of a whole vehicle under a certain deceleration, and calculating locking pressure through brake parameters to finish evaluation of the locking pressure of the whole vehicle:
the force applied to the vehicle during linear braking on a horizontal road surface is shown in FIG. 3, and the vertical load of the front and rear axles during braking is R under deceleration alpha f And R r ：
Wherein: r f Is dynamic front axle load, R r The dynamic rear axle load is shown, alpha is the braking deceleration and W is the vehicle weight.
A load transfer of alpha WH/L occurs during braking relative to the weight at rest. Through the stress analysis, the braking torque required by the locking of the front axle and the rear axle can be estimated, and the locking pressure is calculated through the brake parameters, so that the evaluation of the locking pressure of the whole vehicle brake is completed.
S2, a hydraulic model of the braking system is built in Amesim, and the flow of the pump is calculated through the rotation speed of the motor, the eccentric wheel and the displacement of the plunger:
according to the physical structure and the brake characteristic of master cylinder, braking hard tube, oil feed pump, solenoid valve, build braking system hydraulic model in Amesim, wherein the oil feed pump is the plunger pump, drives the plunger pump by the motor drive eccentric wheel, and the displacement of plunger in the axis direction is:
wherein: s is the displacement of the plunger piston in the axial direction, r is the radius of the eccentric wheel, e is the eccentric amount of the eccentric wheel, and theta is the rotation angle of the eccentric wheel.
The flow calculation formula of the pump is as follows:
wherein: q b Oil pump output flow, V b -oil pump flow, S m -motor speed, P bin -oil pump inlet end pressure, P bout -oil pump outlet end pressure, a-oil pump pressure factor.
Calculating the flow of the electromagnetic valve:
wherein: q-flow of hydraulic medium, C qmax -maximum flow coefficient, ρ -hydraulic fluid density, Δ P-pressure difference across the solenoid valve, A-orifice cross-sectional area, λ e-hydraulic medium flow Reynolds number, χ -orifice wetted perimeter, η -hydraulic medium dynamic viscosity.
Calculating the flow of the brake pipeline:
wherein: p P Hydraulic pressure in the line, t-time, E PF Effective bulk modulus of brake fluid and tubing, A P Cross-sectional area of the conduit, Q P -flow in the line, x p -the length of the pipeline.
S3, calculating the volume of the brake fluid entering the brake by calculating the pressure difference between two ends of the electromagnetic valve and the length of a brake pipeline to calculate the pressure of the brake:
and (3) disconnecting the connection part of the hose and the hard pipe on the real vehicle, accessing the connection state of the brake caliper and the hose to the data of the liquid amount required by the actually measured brake and the hose of the bench in the connection state of the real vehicle, obtaining the required brake liquid amount (brake liquid volume) by integrating the flow of the electromagnetic valve in the step S2, and interpolating the required brake liquid amounts map of the front brake and the rear brake to obtain the pressure so as to realize the calculation of the wheel cylinder pressure of the brake.
S4, obtaining a TTL simulation curve through iterative calculation of the pressure of a brake wheel cylinder: and (4) inputting the pressure of the brake wheel cylinder calculated in the step (S3) in the previous step as the pressure difference of the next step, and obtaining a TTL simulation curve through continuous iterative calculation for matching analysis of the brake system.
The invention also provides a brake system matching analysis system, which comprises:
the locking pressure evaluation module is used for obtaining the braking locking pressure according to the parameters of the whole vehicle, the rolling radius of the tire and the braking deceleration;
the power source module is used for calculating the flow of the pump according to the rotating speed of the motor, the eccentric wheel and the displacement of the plunger;
the transmission medium module is used for evaluating the flow of brake fluid flowing through the electromagnetic valve and the hard pipe, and because the locking pressure of the rear wheel is usually lower than that of the front wheel, when the pressure of the rear wheel reaches a target pressure, the oil inlet valve of the rear wheel is closed to realize pressure maintaining, and meanwhile, the pressure build-up gradient of the front wheel can be improved;
the hydraulic source module is used for evaluating the flow rate of the brake fluid sucked in the ESC active pressurization process, and an oil outlet of the main cylinder has a certain throttling effect;
and the load module is used for obtaining the established wheel cylinder pressure through the liquid amount required by the brake.
Examples
A brake system matching analysis system considering an active braking function comprises the following construction process and working principle:
s1, calculating dynamic axle load transfer during braking of the whole vehicle on a high-attachment road surface (with an attachment coefficient mu = 1), referring to fig. 3, calculating to obtain wheel locking braking torque by considering tire rolling radius, and evaluating locking pressure through wheel brake parameters, wherein the target pressure is the wheel locking braking torque.
S2, FIG. 4 is a schematic diagram of an active braking process, taking the front right wheel (RF) wheel braking as an example; the high-pressure valve 1 is opened, the change-over valve 2 is closed, the oil inlet valve 8 is closed, the oil inlet valve 9 is opened, the oil outlet valve 15 is closed, the motor hydraulic pump works, and brake fluid flows into the high-pressure valve 1, the hydraulic pump 5 and the oil inlet valve 9 from the booster oil storage tank 18 through the main cylinder 19 in sequence and enters the RF brake wheel cylinder.
And S3, building a user interface for human-computer interaction by using Python, and facilitating the user to input parameters of the whole vehicle and a brake system, wherein the parameters of the brake comprise an effective radius, a cylinder diameter, a friction coefficient, liquid amount required by the brake and the like. The pipeline parameters include the length of the brake hard pipe, the inner diameter of the pipeline, the wall thickness and the Young modulus of the material.
And S4, supplying power to the whole vehicle at rated voltage of 12.5V, supplying power to a motor of the ESC hydraulic unit at the voltage, and taking the rotating speed characteristic of the motor as the input of system integration simulation.
S5, a hydraulic source module: the brake master cylinder and the liquid storage tank store brake fluid and are hydraulic sources, the compressibility of the brake fluid is influenced by the capacity of the brake fluid in the master cylinder, the oil outlet and the oil inlet of the master cylinder are thin-wall throttling ports, and the throttling effect and the compressibility of the brake fluid are influence factors to be considered in the module.
S6, a power source module: the flow of the hydraulic pump is calculated by considering the density of brake fluid under different pressures through the displacement of the hydraulic pump in the ESC hydraulic unit and the rotating speed of a motor, and neglecting mechanical loss and leakage.
S7, a transmission medium module: under the active braking working condition, a high-pressure valve and an oil inlet valve in the ESC hydraulic unit play a role in flow control in the pressurization process. The solenoid valve flow is calculated by the pressure difference between the input end and the output end of the solenoid valve, and the process is completed by iterative calculation. The liquid demand of the hard pipe is small, and the on-way pressure loss of the hard pipe influences the corresponding pressure building time and needs to be considered in analysis.
Because the locking pressure of the rear wheel is usually lower than that of the front wheel, when the pressure of the rear wheel reaches the target pressure, the oil inlet valve of the rear wheel is closed to realize pressure maintaining, and meanwhile, the pressure build-up gradient of the front wheel can be improved.
S8, a load module: firstly, the data of the liquid amount required by the brake and the hose are actually measured, the required liquid amount is obtained by integrating the flow of the electromagnetic valve in S7, and then the pressure is obtained by interpolating the map of the liquid amounts required by the front brake and the rear brake, so that the brake pressure evaluation module is realized.
Claims (5)
1. A brake system matching analysis method considering an active braking function is characterized by comprising the following steps:
s1, calculating braking torque required by locking of a front axle and a rear axle according to dynamic axle load transfer of a whole vehicle under a certain deceleration, and calculating to obtain locking pressure through brake parameters to finish evaluation of the locking pressure of the whole vehicle;
s2, a hydraulic model of the braking system is built in Amesim, and the flow of the pump is calculated through the rotating speed of the motor, the eccentric wheel and the displacement of the plunger; the step S2 specifically includes:
a hydraulic model of a braking system is built in Amesim, wherein an oil inlet pump is a plunger pump, an eccentric wheel is driven by a motor to drive the plunger pump, and the displacement of a plunger in the axis direction is as follows:
wherein: s is the displacement of the plunger in the axial direction, r is the radius of the eccentric wheel, e is the eccentric amount of the eccentric wheel, and theta is the rotation angle of the eccentric wheel;
flow calculation formula of pump:
wherein: q b For the output flow of the oil pump, V b Is the oil pump flow, S m Is the motor speed, P bin Is the inlet end pressure of the oil pump, P bout Is the oil pump outlet end pressure, a is the oil pump pressure factor;
calculating the flow of the electromagnetic valve:
wherein: q is the flow of the hydraulic medium, C qmax The flow rate is the maximum flow coefficient, rho is the hydraulic fluid density, delta P is the pressure difference between two ends of the electromagnetic valve, A is the cross section of the throttling hole, lambda e is the flow Reynolds number of the hydraulic medium, chi is the wet circumference length of the throttling hole, and eta is the dynamic viscosity of the hydraulic medium;
calculating the flow of the brake pipeline:
wherein: p P Hydraulic pressure in the pipe, t time, E PF Effective bulk modulus for brake fluid and tubing, A P Is the cross-sectional area of the pipeline, Q P Is the flow in the pipe, x p Is the length of the pipeline;
s3, calculating the volume of the brake fluid entering the brake by calculating the pressure difference between two ends of the electromagnetic valve and the length of a brake pipeline to calculate the pressure of a brake wheel cylinder;
s4, obtaining a TTL simulation curve through iterative calculation of the pressure of the brake wheel cylinder: and (4) inputting the pressure of the brake wheel cylinder calculated in the step (S3) in the previous step as the pressure difference of the next step, and obtaining a TTL simulation curve through continuous iterative calculation for matching analysis of the brake system.
2. The method for matching and analyzing a braking system considering an active braking function according to claim 1, wherein the step S1 specifically comprises:
when the automobile brakes linearly on a horizontal road surface, the vertical load of the front and rear shafts is R when the automobile brakes under the condition of deceleration alpha f And R r ：
Wherein: r f For dynamic front axle loading, R r The dynamic rear axle load is adopted, alpha is the braking deceleration, and W is the weight of the whole vehicle;
the load transfer of alpha WH/L is generated relative to the weight at rest during braking;
and (4) predicting the braking torque required by locking of the front axle and the rear axle through stress analysis, and calculating to obtain locking pressure through brake parameters to finish the evaluation of the whole vehicle braking locking pressure.
3. The method for matching and analyzing a braking system considering an active braking function according to claim 1, wherein the step S3 specifically comprises:
and (3) disconnecting the connection part of the hose and the hard pipe on the real vehicle, accessing the connection state of the brake caliper and the hose to the data of the actually measured brake and the liquid amount required by the hose of the bench in the actual measurement state, obtaining the required brake liquid amount by integrating the flow of the electromagnetic valve in the step S2, and interpolating the required brake liquid amounts map of the front brake and the rear brake to obtain the pressure value to realize the calculation of the wheel cylinder pressure of the brake.
4. A brake system match analysis system for implementing the match analysis method of claim 1, comprising:
the locking pressure evaluation module is used for obtaining the braking locking pressure according to the parameters of the whole vehicle, the rolling radius of the tire and the braking deceleration;
the power source module is used for calculating the flow of the pump according to the rotating speed of the motor, the eccentric wheel and the displacement of the plunger;
the transmission medium module is used for evaluating the flow of the brake fluid flowing through the electromagnetic valve and the hard pipe;
the hydraulic source module is used for evaluating the flow of the sucked brake fluid when the ESC is actively boosted;
and the load module is used for obtaining the established wheel cylinder pressure through the liquid amount required by the brake.
5. A brake system matching analysis system according to claim 4, wherein in said locking pressure assessment module, a user interface for human-computer interaction is constructed using Python.
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| CN202010688985.7A CN111923883B (en) | 2020-07-15 | 2020-07-15 | Brake system matching analysis method and system considering active braking function |
| PCT/CN2020/141896 WO2022011993A1 (en) | 2020-07-15 | 2020-12-31 | Braking system matching analysis method and system considering autonomous emergency braking (aeb) function |
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| CN202010688985.7A CN111923883B (en) | 2020-07-15 | 2020-07-15 | Brake system matching analysis method and system considering active braking function |
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| CN111923883B (en) * | 2020-07-15 | 2022-11-11 | 中国第一汽车股份有限公司 | Brake system matching analysis method and system considering active braking function |
| CN112857827B (en) * | 2021-01-13 | 2022-06-17 | 中国第一汽车股份有限公司 | Automobile braking distance testing and calculating method |
| CN114312700B (en) * | 2022-03-04 | 2022-06-03 | 万向钱潮股份有限公司 | Anti-lock pressure coordination control method for multi-axis commercial vehicle brake-by-wire system |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022011993A1 (en) | 2022-01-20 |
| CN111923883A (en) | 2020-11-13 |
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