CN112208501A - Brake pedal feel simulation device and method based on controllable variable-stiffness hydraulic cylinder - Google Patents
Brake pedal feel simulation device and method based on controllable variable-stiffness hydraulic cylinder Download PDFInfo
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- CN112208501A CN112208501A CN202011078162.9A CN202011078162A CN112208501A CN 112208501 A CN112208501 A CN 112208501A CN 202011078162 A CN202011078162 A CN 202011078162A CN 112208501 A CN112208501 A CN 112208501A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
- B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
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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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention relates to a brake pedal feel simulation device and method based on a controllable variable-stiffness hydraulic cylinder, wherein the brake pedal feel simulation device comprises a simulation cylinder assembly, a simulation cylinder pressure sensor and a three-way joint which are sequentially connected, and the other two ends of the three-way joint are respectively connected with a brake master cylinder and a hydraulic adjusting unit through master cylinder oil pipes; the simulation cylinder assembly and the adjusting motor are respectively and mechanically connected with the speed reducing mechanism assembly; the simulation cylinder assembly is an actuating mechanism for adjusting the pressure of the pedal sensing liquid; the adjusting motor is used as a power source to provide power with equivalent rigidity for adjusting a series spring piston system of the simulation cylinder assembly; the speed reducing mechanism assembly is used for reducing speed and increasing torque, and transmits the adjusting driving force of the simulation cylinder assembly output by the adjusting motor to the simulation cylinder assembly. The invention controls the movement of the regulating motor by comparing the pedal feeling characteristic MAP data under different pedal speeds and combining feedback information such as push rod speed, hydraulic pressure deviation and the like, realizes feedback tracking control of expected main cylinder pressure, and accurately simulates the brake pedal feeling in a dynamic process.
Description
Technical Field
The invention relates to the technical field of automobile braking, in particular to a brake pedal feel simulation device and method based on a controllable variable-stiffness hydraulic cylinder.
Background
The motorization and intellectualization of the automobile technology put forward higher-level requirements on a brake system, and particularly, how to realize the more comfortable, safe and efficient performance level of a wire control brake system by the means of the prior art under the background of the integration and development of a wire control chassis system is the key of deep consideration of a brake system developer.
The technical scheme based on the brake-by-wire systems such as a power-assisted motor, a high-voltage energy accumulator, a novel master cylinder and the like becomes a mainstream route for design and development. Different from the characteristic that a master cylinder and a wheel cylinder of a traditional mechanical hydraulic brake system are directly connected, the scheme of the wire control system inevitably partially or completely isolates the direct transmission of the braking force between the master cylinder and the wheel cylinder in a decoupling mode, namely, the electrified brake control system replaces the coupling relation of the original mechanical hydraulic brake. However, while the decoupled brake-by-wire system improves the brake controllability and the degree of freedom, the correspondence relationship (brake pedal feel characteristics) between the vehicle brake performance and the brake pedal operation of the driver is significantly different from that of the conventional brake system, and this change directly affects the operation habits and the driving experience of the driver, and the subjective comfort is poor. Therefore, it is necessary to design a device for simulating the brake pedal feel to achieve the brake feel intended by the driver.
The known brake pedal feel simulators typically employ resilient damping elements in conjunction with a hydraulic system, or directly use a pedal feedback action controlled by a booster motor. The brake pedal simulation device can be divided into a passive type and an active type in principle, wherein the brake pedal simulation device has a certain brake pedal feeling characteristic after the design is finished, and the active type can realize the active adjustment of the brake pedal feeling by designing a controller algorithm to control the pedal simulation device. Although the active simulator has better simulation performance, the existing design scheme can only realize pedal feel calibration under static conditions generally, and does not consider the problem of dynamic change of hydraulic pressure of the brake pedal simulator, so that the active simulator still has obvious limitation.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a brake pedal feel simulation apparatus and method based on a controllable variable stiffness hydraulic cylinder, which can overcome the deficiency of pedal feel simulation technology in terms of simulation accuracy of dynamic process. The device can actively simulate the subjective feeling of a driver to the brake pedal, and has the characteristics of graded adjustment and fine control of the pedal feeling.
In order to achieve the purpose, the invention adopts the following technical scheme: a brake pedal feel simulation device based on a controllable variable stiffness hydraulic cylinder, comprising: the device comprises a three-way joint, a simulation cylinder oil pipe, a simulation cylinder pressure sensor, a simulation cylinder assembly, a speed reducing mechanism assembly, an adjusting motor and a simulation device controller; the simulation cylinder assembly and the simulation cylinder pressure sensor are sequentially connected with one end of the three-way joint through the simulation cylinder oil pipe, and the other two ends of the three-way joint are respectively connected with an upstream brake master cylinder and a downstream hydraulic adjusting unit through master cylinder oil pipes, so that the brake pedal feel simulation device is connected into the on-line control hydraulic brake system; the simulation cylinder assembly and the adjusting motor are respectively and mechanically connected with the speed reducing mechanism assembly; the inside of the simulation cylinder assembly is equivalent to a series spring piston system which is used as an actuating mechanism for adjusting the pressure of the pedal sensing liquid; the adjusting motor is used as a power source to provide power with equivalent rigidity for adjusting a series spring piston system of the simulation cylinder assembly; the speed reducing mechanism assembly is used for reducing speed and increasing torque, and transmitting the adjusting driving force of the simulation cylinder assembly output by the adjusting motor to the simulation cylinder assembly.
Further, the simulation cylinder assembly comprises a simulation cylinder body, a primary piston, a primary spring, a secondary piston, a secondary spring, a rubber body, a tertiary piston, a tertiary spring, a simulation cylinder cover and an adjusting mechanism; the simulation cylinder body is of an open structure, a simulation cylinder oil hole is formed in the center of the end of the simulation cylinder body, and the simulation cylinder assembly is in threaded communication with the simulation cylinder oil pipe through the simulation cylinder oil hole; the opening of the simulation cylinder body is provided with the simulation cylinder cover; the simulation cylinder comprises a simulation cylinder body, a first-stage piston, a second-stage piston and a third-stage piston, wherein the first-stage piston, the second-stage piston and the third-stage piston are sequentially arranged in the simulation cylinder body from left to right, a simulation cylinder hydraulic cavity is formed between the end part of the simulation cylinder body and the first-stage piston, a first containing cavity is formed between the first-stage piston and the second-stage piston, a second containing cavity is formed between the second-stage piston and the third-stage piston, and a third containing cavity is formed between; the first-stage spring is arranged in the first accommodating cavity; the second cavity is internally provided with the second-level spring and a rubber body, one end of the rubber body is fixed on the third-level piston, and the second-level spring is positioned outside the rubber body; the third accommodating cavity is internally provided with the third-level spring;
the simulation cylinder hydraulic cavity is directly communicated with the brake master cylinder and the liquid storage device through the simulation cylinder oil pipe, the three-way joint and the master cylinder oil pipe;
the middle part of the simulation cylinder cover is provided with the adjusting mechanism, and the adjusting mechanism is connected with the reduction gear of the reduction mechanism assembly.
Further, the adjusting mechanism comprises a connecting bolt, a hollow screw rod, a ball and an external gear thread sleeve; the hollow screw rod is arranged in the middle of the cylinder cover of the simulation cylinder, the bottom of the hollow screw rod is positioned in the third accommodating cavity, the connecting bolt penetrates through the bottom of the hollow screw rod to be connected with the three-stage piston, and the connecting bolt and the hollow screw rod are both positioned in the three-stage spring; the other end of the hollow screw rod is positioned outside the cylinder body of the simulation cylinder; the outer gear thread insert is arranged on the periphery of the hollow screw rod positioned outside, and the ball is arranged between the outer gear thread insert and the hollow screw rod; and the cylinder cover of the simulation cylinder is connected to a reduction gear of the reduction mechanism assembly through an external gear of the external gear thread sleeve.
Further, a first-stage sealing ring is arranged between the first-stage piston and the simulation cylinder body, a second-stage sealing ring is arranged between the second-stage piston and the simulation cylinder body, and a third-stage sealing ring is arranged between the third-stage piston and the simulation cylinder body.
Furthermore, the simulated cylinder cover and the simulated cylinder body are in threaded connection.
Furthermore, a round hole is formed in the bottom of the hollow screw, the connecting bolt penetrates through the round hole in the bottom of the hollow screw, and the connecting bolt can freely move in the hollow screw along the longitudinal direction.
Further, the primary spring and the secondary spring are variable pitch springs; the rubber body is in a round top cylindrical shape or a conical shape; the three stage spring selects a conical spring with a more linear change in stiffness.
Further, the rigidity of the primary spring, the rigidity of the secondary spring, the rigidity of the tertiary spring and the rigidity of the rubber body are sequentially increased.
A closed-loop control method of a brake pedal feel simulator, for controlling the brake pedal feel simulator, comprising the steps of:
11) after initialization, a driver steps on a brake pedal, the brake pedal is transmitted to a brake push rod through a brake lever, a primary brake piston and a secondary brake piston are pushed, and brake fluid is compressed in a brake master cylinder;
12) brake fluid compressed in the brake master cylinder flows into a simulation cylinder hydraulic cavity of a simulation cylinder assembly of the pedal feel simulation device through a master cylinder oil pipe through a three-way joint, a primary piston in the brake fluid compression hydraulic cylinder moves backwards to compress a primary spring to push a secondary piston to move backwards, and then the secondary spring is compressed to compress a rubber body; the three-stage piston is tightly attached to the end part of the hollow screw at the moment, so that the position of the three-stage piston is kept unchanged;
13) according to the motion condition of the serially connected spring piston in the simulation cylinder assembly in the step 12) and the rigidity of the primary spring, the secondary spring and the rubber body, the hydraulic pressure value in the hydraulic cavity of the simulation cylinder finally presents a sectional change curve form along with the increase of the pedal displacement, and the simulation of the pedal feeling characteristic is realized;
14) if a driver manually selects a more aggressive or soft brake pedal feeling, the control and adjustment motor rotates forwards or backwards for a preset rotation angle or number of turns, and the change setting of the hollow screw rod at the axial position of the simulation cylinder assembly is realized through the speed reduction mechanism and the ball screw assembly, so that the equivalent stiffness of the series spring piston is statically set, and different brake pedal styles are realized.
A pedal feel dynamic adjustment and fine control method of a brake pedal feel simulator, for controlling the above brake pedal feel simulator, comprising the steps of:
21) the brake controller obtains a brake push rod displacement signal S through the brake push rod displacement sensorpushrodAnd processing the signal to obtain a brake push rod speed signal Vpushrod；
22) The simulation device controller obtains a brake push rod displacement signal S sent by the brake controller through a vehicle-mounted network buspushrodAnd brake pushrod velocity signal VpushrodCalibrating MAP data by combining internally stored pedal feeling characteristics of hydraulic pressure-push rod displacement at different pedal speeds, and obtaining the pedal force or master cylinder hydraulic pressure value P expected by a driver at the current push rod displacement and push rod speed by means of table look-up, interpolation and fittingtgt；
23) The simulator controller obtains the master cylinder hydraulic pressure or the hydraulic cavity hydraulic pressure signal P of the simulation cylinder at the current moment through the simulation cylinder pressure sensoractWith master cylinder pressure PtgtObtaining the hydraulic pressure deviation value e at the moment through differenceP；
24) Simulator controller using hydraulic pressure deviation ePCalculating a PWM control signal required by the adjusting motor by using a feedback control algorithm, and controlling the motion of the adjusting motor;
25) the adjusting motor drives the speed reducing mechanism assembly to realize the functions of reducing speed and increasing torque under the action of the PWM control signal, and the functions are transmitted to the ball screw assembly through the external gear;
26) the ball screw assembly drives the screw rod to control the motion in the axial direction of the simulation cylinder assembly; when the hollow screw moves towards the right side, the hollow screw pulls the connecting bolt to drive the three-stage piston to move rightwards and compress the three-stage spring, so that the equivalent stiffness of the serial spring piston of the hydraulic cylinder of the pedal feel simulation device is increased, the brake hydraulic pressure in the hydraulic cavity of the simulation cylinder is adjusted, and the hydraulic pressure fed back to the brake main cylinder is increased; in the case where the hollow screw moves leftward, the equivalent stiffness of the tandem spring piston becomes small, and the hydraulic pressure fed back to the interior of the master cylinder becomes small, similarly to the above process.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the electric control adjustable variable-rigidity hydraulic cylinder (simulation cylinder assembly) adopted by the invention not only can statically set a self-defined pedal feeling characteristic, but also can dynamically adjust the real-time pedal feeling along with different speeds of a driver for stepping on the brake pedal, thereby realizing automatic and accurate simulation of the expected brake pedal feeling. 2. The brake pedal feel simulation device can be widely applied to the line control hydraulic brake system only by simply connecting the hydraulic pipelines, and can finish the adaptation of different line control hydraulic brake systems by adjusting and correcting later parameters. 3. According to the method, the motion control of the adjusting motor is performed by combining the feedback control algorithm to calculate the PWM command according to the relevant sensor signals and the expected pedal feel characteristic MAP data calibrated in advance, and the method is simple to realize, mature in condition, low in cost and high in adaptability.
In conclusion, the invention can be applied to the line-control hydraulic brake system on platforms such as electric vehicles or intelligent vehicles, and the like, can realize the active, accurate and controllable pedal feeling characteristics according to the operation habits and styles of drivers, and improves the subjective comfort of pedal feeling.
Drawings
Fig. 1 is a schematic view showing the arrangement of a brake pedal feel simulator of the present invention mounted on a hydraulic brake system by wire.
FIG. 2 is a schematic view of a simulated cylinder assembly of the brake pedal feel simulator of the present invention.
FIG. 3 is a schematic diagram of "hydraulic pressure versus pushrod displacement" characteristics stored within a controller of the brake pedal feel simulator of the present invention for different brake pedal speeds.
Reference numerals: in the figure: 101 a brake pedal; 102 a brake lever; 103 a brake push rod displacement sensor; 104 braking the push rod; 105 a secondary brake piston; 106 primary brake pistons; 107 braking the return spring; 108 a brake master cylinder; 109 a reservoir; 2 simulating a cylinder assembly; 301 a three-way joint; 302 simulating a cylinder oil pipe; 303 a simulated cylinder pressure sensor; 401 master cylinder oil line; 402 a hydraulic pressure regulation unit; 403 hydraulic controller; 404 a hydraulic unit; 405 a brake caliper disc assembly; 501 adjusting a motor; 502 a reduction mechanism assembly; 503 a motor controller;
200 simulating a cylinder oil hole; 201 simulating a cylinder block; 202 a primary piston; 203, a primary sealing ring; 204 a primary spring; 205 a secondary piston; 206 a secondary seal ring; 207 a secondary spring; 208 a rubber body; 209 a three-stage piston; 210 three-stage sealing rings; 211 connecting bolts; 212 a three-stage spring; 213 simulating a cylinder head; 221 simulation cylinder hydraulic chamber; 222 a first volume; 223 a second volume; 224 a third volume; 231 an external gear; 232 an outer gear thread sleeve; 233 balls; 234 hollow screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
In the description of the present invention, it is to be understood that the terms "left", "right", "inside", "outside", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In a first embodiment of the present invention, as shown in fig. 1, the present invention provides a brake pedal feel simulation device based on a controllable variable stiffness hydraulic cylinder, which includes a three-way joint 301, a simulated cylinder oil pipe 302, a simulated cylinder pressure sensor 303, a simulated cylinder assembly 2, a speed reduction mechanism assembly 502, an adjustment motor 501, and a simulation device controller 503.
The simulation cylinder assembly 2 and the simulation cylinder pressure sensor 303 are sequentially connected with one end of the three-way joint 301 through a simulation cylinder oil pipe 302, the other two ends of the three-way joint 301 are respectively connected with the upstream brake master cylinder 108 and the downstream hydraulic adjusting unit 402 through a master cylinder oil pipe 401, and the brake pedal feeling simulation device is connected into a line control hydraulic brake system, and the brake oil pipe is used for generating, transmitting, adjusting and controlling hydraulic pressure forming pedal feeling simulation.
The simulation cylinder assembly 2 and the adjusting motor 501 are mechanically connected with the speed reducing mechanism assembly 502 respectively. The simulation cylinder assembly 2 is essentially a variable-stiffness hydraulic cylinder, and the interior of the simulation cylinder assembly can be equivalent to a series spring piston system which is used as an actuating mechanism for adjusting the pressure of the pedal sensing liquid; the adjusting motor 501 serves as a power source to provide power with equivalent rigidity for adjusting a series spring piston system of the simulation cylinder assembly 2; the speed reducing mechanism assembly 502 is used for reducing speed and increasing torque, and transmitting the adjusting driving force of the simulation cylinder assembly output by the adjusting motor 501 to the simulation cylinder assembly 2.
As shown in fig. 2, the simulation cylinder assembly 2 includes a simulation cylinder body 201, a primary piston 202, a primary spring 204, a secondary piston 205, a secondary spring 207, a rubber body 208, a tertiary piston 209, a tertiary spring 212, a simulation cylinder head 213, and an adjustment mechanism.
The simulation cylinder body 201 is of an open structure, a simulation cylinder oil hole 200 is formed in the center of the end of the simulation cylinder body 201, and the simulation cylinder assembly 2 is in threaded communication with the simulation cylinder oil pipe 302 through the simulation cylinder oil hole 200; the opening of the analog cylinder body 201 is provided with an analog cylinder head 213. A first-stage piston 202, a second-stage piston 205 and a third-stage piston 209 are sequentially arranged in the simulation cylinder body 201 from left to right, a simulation cylinder hydraulic cavity 221 is formed between the end portion of the simulation cylinder body 201 and the first-stage piston 202, a first containing cavity 222 is formed between the first-stage piston 202 and the second-stage piston 205, a second containing cavity 223 is formed between the second-stage piston 205 and the third-stage piston 209, and a third containing cavity 224 is formed between the third-stage piston 209 and the simulation cylinder cover 213. A primary spring 204 is arranged in the first cavity 222; a secondary spring 207 and a rubber body 208 are arranged in the second cavity 223, one end of the rubber body 208 is fixed on the tertiary piston 209, and the secondary spring 207 is positioned outside the rubber body 208; a tertiary spring 212 is disposed within third cavity 224. The primary spring 204, the secondary spring 207, and the tertiary spring 212 are located on the same axis.
The dummy cylinder hydraulic pressure chamber 221 directly communicates with the master cylinder 108 and the reservoir 109 through the dummy cylinder oil pipe 302, the three-way joint 301, and the master cylinder oil pipe 401, and therefore, the master cylinder 108 and the dummy cylinder hydraulic pressure chamber 221 are in accordance with each other, thereby feeding back the brake foot applied to the driver through the brake push rod 104 and the brake pedal 101.
The middle part of the simulation cylinder cover 213 is provided with an adjusting mechanism which is connected with a reduction gear of the reduction mechanism assembly 502 through the adjusting mechanism.
In the above embodiment, the adjusting mechanism includes the connecting bolt 211, the hollow screw 234, the ball 233, and the external gear thread insert 232. The hollow screw 234 is arranged in the middle of the simulation cylinder cover 213, the bottom of the hollow screw 234 is positioned in the third cavity 224, the connecting bolt 211 penetrates through the bottom of the hollow screw 234 to be connected with the third-stage piston 209, and both the connecting bolt 211 and the hollow screw 234 are positioned in the third-stage spring 212; the other end of the hollow screw 234 is located outside the analog cylinder block 201. An external gear thread insert 232 is provided on the outer periphery of the hollow screw 234 located outside, and balls 233 are provided between the external gear thread insert 232 and the hollow screw 234. The analog cylinder cover 213 is connected to a reduction gear of the reduction mechanism assembly 502 through an external gear 231 of an external gear thread sleeve 232 to obtain the adjusting power of the adjusting motor 501, and the position of the three-stage piston 209 in the analog cylinder body or the rigidity of the three-stage spring 212 is changed, so that the adjustment and the control of the pedal feeling are realized.
When the pedal-feeling control device is used, the hollow screw 234 can move back and forth by rotating to push the three-stage piston 209 forwards to adjust the equivalent stiffness of the first-stage spring piston part and the second-stage spring piston part, so that the quasi-static adjusting function of the pedal feeling is realized, if the hollow screw moves backwards, the three-stage piston 209 can be pulled to move backwards to compress the three-stage spring 212 so as to adjust the stiffness of the three-stage spring piston part, the control on the integral equivalent stiffness of the first-stage spring piston system, the second-stage spring piston system and the third-stage spring piston system is further realized, and.
In the above embodiments, the primary sealing ring 203 is disposed between the primary piston 202 and the simulated cylinder 201, the secondary sealing ring 206 is disposed between the secondary piston 205 and the simulated cylinder 201, and the tertiary sealing ring 210 is disposed between the tertiary piston 209 and the simulated cylinder 201.
In the above embodiments, the springs, the pistons, the seal rings and the rubber body 208 constitute a serial spring-piston system for adjusting the hydraulic pressure in the hydraulic chamber 221 of the simulation cylinder in stages, thereby directly simulating the stage-by-stage characteristic of the pedal feel.
In the above embodiments, the simulated cylinder head 213 and the simulated cylinder body 201 are connected by screw threads. The bottom of the hollow screw 234 is provided with a round hole, and the connecting bolt 211 penetrates through the bottom of the hollow screw 234 through the round hole, so that the hollow screw 234 and the connecting bolt 211 are in a non-fit relation, that is, the connecting bolt 211 can freely move in the hollow screw 234 along the longitudinal direction.
In the above embodiments, the selection of the types and stiffness parameters of the primary spring 204, the secondary spring 207, the rubber body 208 and the tertiary spring 212 need to be considered preferably. Wherein, the first and second springs 204, 207 can be selected from variable pitch springs; the rubber body 208 can be in a dome shape or a cone shape; the third-stage spring 212 can select a conical spring with more linear stiffness change, so that the linear control of stiffness adjustment is facilitated, the controllability of the controllable variable-stiffness hydraulic cylinder is higher, and the accuracy of hydraulic control is improved. The primary spring (204), secondary spring 207, tertiary spring 212 and rubber body 208 sequentially increase in stiffness to provide a stepped or segmented pedal characteristic.
In the second embodiment of the present invention, the brake pedal feel simulation apparatus of the present invention needs to realize the simulation of the brake pedal feel in accordance with the cooperative cooperation of the brake controller HCU403 and the simulator controller MCU 503. In this embodiment, the present invention provides a closed-loop control method for a brake pedal feel simulator, including the steps of:
11) after initialization, the driver depresses the brake pedal 101, and the depression is transmitted to the brake push rod 104 via the brake lever 102, thereby pushing the primary brake piston 105 and the secondary brake piston 106, and compressing the brake fluid in the brake master cylinder 108.
Initialization: and the brake-by-wire system and the brake pedal simulation device system are powered on and are in a standby state. The hydraulic pipeline is filled with brake fluid, the primary piston 202 and the secondary piston 205 are both in a balance position, at the moment, the end part of the hollow screw 234 is tightly attached to the tertiary piston 209, namely, the tertiary piston 209 cannot move backwards to compress the tertiary spring 212. The driver can manually select the characteristic styles of the pedal, such as a comfortable style, a common style and a sport style, that is, the brake style can be changed by adjusting the end position of the hollow screw 234, which is only described by taking the common style as an example, and the working principle is the same in other cases.
12) The brake fluid compressed in the brake master cylinder 108 in the step 11) flows into the simulation cylinder hydraulic chamber 221 of the simulation cylinder assembly 2 of the pedal feel simulation device through the master cylinder oil pipe 401 via the three-way joint 301, the primary piston 202 in the brake fluid compression hydraulic cylinder moves backwards, the primary spring 204 is further compressed, the secondary piston 205 is pushed to move backwards, the secondary spring 207 is further compressed, and the rubber body 208 is compressed accordingly; since tertiary piston 209 is now abutting the end of hollow screw 234, tertiary piston 209 remains stationary.
13) According to the motion condition of the serial spring piston in the simulation cylinder assembly 2 in the step 12) and the sequentially increased rigidity of the primary spring 204, the secondary spring 207 and the rubber body 208, it can be known that the hydraulic pressure value in the simulation cylinder hydraulic chamber 221 finally presents a sectional (graded) change curve form along with the increase of pedal displacement, and the characteristic is consistent with the pedal characteristic of the conventional hydraulic brake system, thereby basically realizing the simulation of the pedal feel characteristic.
14) If a driver manually selects a more aggressive or softer brake pedal feel, the simulation device controller 503 controls the adjusting motor 501 to rotate forward or backward by a preset rotation angle or number of turns, and realizes the change setting of the hollow screw 234 at the axial position of the simulation cylinder assembly 2 through the ball screw assembly by the speed reducing mechanism 502, so that the equivalent stiffness of the series spring piston is statically set, and different brake pedal styles are realized.
The principle of the implementation of the pedal feel simulation function in the conventional case is described in the second embodiment of the present invention, so the present invention provides a pedal feel dynamic adjustment and fine control method of a brake pedal feel simulation device in the third embodiment. Because the process of operating the brake pedal by the driver is a complex dynamic process, the statically calibrated brake pedal feeling data curve does not conform to the actual brake pedal feeling expectation of the driver, and the hydraulic pressure often fluctuates in the dynamic process to further influence the master cylinder feeling of the brake pedal of the driver, so that the accurate simulation of the pedal feeling in the dynamic braking process needs to be considered. In the present embodiment, the pedal feel dynamic adjustment and fine control method includes the steps of:
21) the brake controller 403 obtains the brake push rod displacement signal S through the brake push rod displacement sensor 103pushrodAnd according to the signal making filtering, derivation and amplitude-limiting treatment to obtain brake push rod speed signal Vpushrod。
22) The simulator controller 503 obtains the brake push rod displacement signal S sent by the brake controller 403 through the vehicle network buspushrodAnd brake pushrod velocity signal VpushrodThe method comprises the steps of calibrating MAP data by combining internally stored pedal feel characteristics of hydraulic pressure-push rod displacement under different pedal speeds (as shown in figure 3, the pedal force and the main cylinder hydraulic pressure (simulated cylinder hydraulic pressure) are approximately in a proportional relation in numerical values, the pedal displacement and the push rod displacement are approximately in a proportional relation in numerical values, pedal characteristic curve data under other pedal/push rod speeds which are not specifically calibrated can be obtained by performing linear fitting on test data of two adjacent pedal speeds), and obtaining the pedal force or the main cylinder hydraulic pressure value P expected by a driver under the current push rod displacement and push rod speed by means of table look-up, interpolation and fittingtgt。
23) The simulator controller 503 obtains the master cylinder hydraulic pressure or the simulated cylinder hydraulic cavity hydraulic pressure signal P at the current moment through the simulated cylinder pressure sensor 303actWith master cylinder pressure PtgtObtaining the hydraulic pressure deviation value e at the moment through differenceP。
24) Simulator controller 503 uses hydraulic pressure offset value ePAnd a PWM control signal required by the adjusting motor 501 is calculated by using a feedback control algorithm (such as PID control, sliding mode control and the like) and is used for controlling the movement of the adjusting motor 501.
25) The adjusting motor 501 drives the speed reducing mechanism assembly to realize the functions of speed reduction and torque increase under the action of the PWM control signal, and the speed reducing mechanism assembly is transmitted to the ball screw assembly through the external gear 231.
26) The ball screw assembly drives the screw rod to control the axial movement of the simulation cylinder assembly 2. Taking the hollow screw 234 moving to the right in fig. 2 as an example, the hollow screw 234 pulls the connecting bolt 211, so that the tertiary piston 209 is driven to move to the right, and the tertiary spring 212 is compressed. Because the three-stage spring 212 is a conical spring, the rigidity of the spring is increased after compression, so that the equivalent rigidity of a serial spring piston of a hydraulic cylinder of the pedal feel simulation device is changed (increased), the brake hydraulic pressure in a hydraulic cavity of the simulation cylinder is adjusted, and the hydraulic pressure fed back to the brake master cylinder 108 is increased; in the case where the hollow screw 234 moves leftward, the equivalent stiffness of the tandem spring piston becomes small, and the hydraulic pressure fed back to the interior of the master cylinder 108 becomes small, similarly to the above-described process. Through the hydraulic pressure closed-loop feedback control of the variable-stiffness hydraulic cylinder of the brake pedal simulation device, the brake pedal is finally more accurate in feeling.
The above operating principles fully describe the controllable variable stiffness feature of the pedal feel simulation apparatus of the present invention. It should be noted that the "hydraulic pressure-push rod displacement" pedal feel characteristic MAP data at different pedal speeds stored inside the simulator controller 503 of the present invention needs to be obtained by experimental calibration in advance.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A brake pedal feel simulation device based on a controllable variable stiffness hydraulic cylinder, comprising: the device comprises a three-way joint (301), a simulated cylinder oil pipe (302), a simulated cylinder pressure sensor (303), a simulated cylinder assembly (2), a speed reducing mechanism assembly (502), an adjusting motor (501) and a simulation device controller (503);
the simulation cylinder assembly (2) and the simulation cylinder pressure sensor (303) are sequentially connected with one end of the three-way joint (301) through the simulation cylinder oil pipe (302), and the other two ends of the three-way joint (301) are respectively connected to an upstream brake master cylinder (108) and a downstream hydraulic adjusting unit (402) through a master cylinder oil pipe (401), so that the brake pedal feeling simulation device is connected into the on-line control hydraulic brake system;
the simulation cylinder assembly (2) and the adjusting motor (501) are respectively and mechanically connected with the speed reducing mechanism assembly (502); the inside of the simulation cylinder assembly (2) is equivalent to a series spring piston system which is used as an actuating mechanism for adjusting the pressure of the pedal sensing liquid; the adjusting motor (501) is used as a power source to provide power with equivalent rigidity for adjusting a series spring piston system of the simulation cylinder assembly (2); the speed reducing mechanism assembly (502) is used for reducing speed and increasing torque, and transmitting the adjusting driving force of the simulation cylinder assembly output by the adjusting motor (501) to the simulation cylinder assembly (2).
2. The brake pedal feel simulation device according to claim 1, wherein the simulated cylinder assembly (2) includes a simulated cylinder block (201), a primary piston (202), a primary spring (204), a secondary piston (205), a secondary spring (207), a rubber body (208), a tertiary piston (209), a tertiary spring (212), a simulated cylinder head (213), and an adjustment mechanism;
the simulation cylinder body (201) is of an open structure, a simulation cylinder oil hole (200) is formed in the center of the end portion of the simulation cylinder body (201), and the simulation cylinder assembly (2) is in threaded communication with the simulation cylinder oil pipe (302) through the simulation cylinder oil hole (200); the opening of the simulation cylinder body (201) is provided with the simulation cylinder cover (213); the simulation cylinder body (201) is internally provided with the primary piston (202), the secondary piston (205) and the tertiary piston (209) from left to right in sequence, a simulation cylinder hydraulic cavity (221) is formed between the end part of the simulation cylinder body (201) and the primary piston (202), a first containing cavity (222) is formed between the primary piston (202) and the secondary piston (205), a second containing cavity (223) is formed between the secondary piston (205) and the tertiary piston (209), and a third containing cavity (224) is formed between the tertiary piston (209) and the simulation cylinder cover (213); the first-stage spring (204) is arranged in the first cavity (222); the second-stage spring (207) and the rubber body (208) are arranged in the second cavity (223), one end of the rubber body (208) is fixed on the third-stage piston (209), and the second-stage spring (207) is positioned outside the rubber body (208); the third cavity (224) is internally provided with the third-stage spring (212);
the simulation cylinder hydraulic cavity (221) is directly communicated with the brake master cylinder (108) and the reservoir (109) through the simulation cylinder oil pipe (302), the three-way joint (301) and the master cylinder oil pipe (401);
the middle part of the simulation cylinder cover (213) is provided with the adjusting mechanism, and the adjusting mechanism is connected with a reduction gear of the reduction mechanism assembly (502).
3. The brake pedal feel simulation device according to claim 2, wherein the adjustment mechanism includes a connecting bolt (211), a hollow screw (234), a ball (233), and an external gear barrel (232); the hollow screw (234) is arranged in the middle of the simulation cylinder cover (213), the bottom of the hollow screw (234) is located in the third containing cavity (224), the connecting bolt (211) penetrates through the bottom of the hollow screw (234) to be connected with the three-stage piston (209), and both the connecting bolt (211) and the hollow screw (234) are located inside the three-stage spring (212); the other end of the hollow screw (234) is positioned outside the simulation cylinder body (201); the outer gear thread insert (232) is arranged on the outer periphery of the hollow screw (234) positioned at the outer part, and the ball (233) is arranged between the outer gear thread insert (232) and the hollow screw (234); the simulation cylinder head (213) is connected to a reduction gear of the reduction mechanism assembly (502) through an external gear (231) of the external gear thread insert (232).
4. The brake pedal feel simulation device according to claim 1, characterized in that a primary seal ring (203) is provided between the primary piston (202) and the simulation cylinder block (201), a secondary seal ring (206) is provided between the secondary piston (205) and the simulation cylinder block (201), and a tertiary seal ring (210) is provided between the tertiary piston (209) and the simulation cylinder block (201).
5. The brake pedal feel simulation device of claim 1, wherein the simulated cylinder head (213) is threadably engaged with the simulated cylinder body (201).
6. The brake pedal feel simulation device according to claim 3, wherein a circular hole is formed at the bottom of the hollow screw (234), through which the connection bolt (211) is inserted into the bottom of the hollow screw (234), the connection bolt (211) being freely movable in the longitudinal direction inside the hollow screw (234).
7. The brake pedal feel simulation device of claim 1, wherein the primary spring (204), the secondary spring (207) is selected from a variable pitch spring; the rubber body (208) is in a dome-shaped cylindrical shape or a conical shape; the tertiary spring (212) selects a conical spring with a more linear change in stiffness.
8. The brake pedal feel simulation device according to claim 7, wherein the primary spring (204), the secondary spring (207), the tertiary spring (212), and the rubber body (208) are sequentially increased in stiffness.
9. A closed-loop control method of a brake pedal feel simulator, characterized by a method for controlling the brake pedal feel simulator according to any one of claims 1 to 8, comprising the steps of:
11) after initialization, a driver steps on a brake pedal (101), the brake pedal is transmitted to a brake push rod (104) through a brake lever (102), a primary brake piston (105) and a secondary brake piston (106) are pushed, and brake fluid is compressed in a brake master cylinder (108);
12) brake fluid compressed in a brake master cylinder (108) flows into a simulation cylinder hydraulic cavity (221) of a simulation cylinder assembly (2) of the pedal sensation simulation device through a master cylinder oil pipe (401) through a three-way joint (301), a primary piston (202) in the brake fluid compression hydraulic cylinder moves backwards, a primary spring (204) is further compressed, a secondary piston (205) is pushed to move backwards, a secondary spring (207) is further compressed, and a rubber body (208) is compressed; the three-stage piston (209) keeps the position unchanged because the three-stage piston (209) is tightly attached to the end part of the hollow screw (234);
13) according to the motion condition of the serially connected spring pistons in the simulation cylinder assembly (2) in the step 12) and the rigidity of the primary spring (204), the secondary spring (207) and the rubber body (208) which are sequentially increased, the hydraulic pressure value in the simulation cylinder hydraulic cavity (221) finally presents a sectional change curve form along with the increase of pedal displacement, and the simulation of the pedal feeling characteristic is realized;
14) if a driver manually selects a more aggressive or softer brake pedal feel, the control and adjustment motor (501) rotates forwards or backwards for a preset rotation angle or number of turns, and the change setting of the hollow screw (234) at the axial position of the simulation cylinder assembly (2) is realized through the speed reduction mechanism (502) and the ball screw assembly, so that the equivalent stiffness of the series spring piston is statically set, and different brake pedal styles are realized.
10. A pedal feel dynamic adjustment and fine control method of a brake pedal feel simulator, characterized by a method for controlling the brake pedal feel simulator according to any one of claims 1 to 8, comprising the steps of:
21) the brake controller (403) acquires a brake push rod displacement signal S through the brake push rod displacement sensor (103)pushrodAnd processing the signal to obtain a brake push rod speed signal Vpushrod；
22) The analog device controller (503) acquires a brake push rod displacement signal S sent by the brake controller (403) through a vehicle-mounted network buspushrodAnd brake pushrod velocity signal VpushrodPedal feel characteristics combined with internally stored "hydraulic pressure-push rod displacement" at different pedal speedsCalibrating MAP data, and obtaining pedal force or master cylinder hydraulic pressure value P expected by a driver under the current push rod displacement and push rod speed by methods of table lookup, interpolation and fittingtgt；
23) The simulator controller (503) obtains the master cylinder hydraulic pressure or the simulation cylinder hydraulic cavity hydraulic pressure signal P at the current moment through the simulation cylinder pressure sensor (303)actWith master cylinder pressure PtgtObtaining the hydraulic pressure deviation value e at the moment through differenceP；
24) The simulator controller (503) uses the hydraulic pressure offset ePCalculating a PWM control signal required by the adjusting motor (501) by using a feedback control algorithm, wherein the PWM control signal is used for controlling the motion of the adjusting motor (501);
25) the adjusting motor (501) drives the speed reducing mechanism assembly to realize the functions of reducing speed and increasing torque under the action of the PWM control signal, and the speed reducing mechanism assembly is transmitted to the ball screw assembly through the external gear (231);
26) the ball screw assembly drives the screw to move and control in the axial direction of the simulation cylinder assembly (2); when the hollow screw (234) moves towards the right side, the hollow screw (234) pulls the connecting bolt (211), so that the tertiary piston (209) is driven to move towards the right side, and the tertiary spring (212) is compressed, so that the equivalent rigidity of the serial spring piston of the hydraulic cylinder of the pedal feel simulation device is increased, the brake fluid pressure in the hydraulic cavity of the simulation cylinder is adjusted, and the fluid pressure fed back to the interior of the brake main cylinder (108) is increased; in the case where the hollow screw (234) moves leftward, the equivalent stiffness of the tandem spring piston becomes small, and the hydraulic pressure fed back to the interior of the master cylinder (108) becomes small, similarly to the above-described process.
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