CN112277917B - Control method for brake assistance of decoupling Qboost system - Google Patents
Control method for brake assistance of decoupling Qboost system Download PDFInfo
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- CN112277917B CN112277917B CN202011042259.4A CN202011042259A CN112277917B CN 112277917 B CN112277917 B CN 112277917B CN 202011042259 A CN202011042259 A CN 202011042259A CN 112277917 B CN112277917 B CN 112277917B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 54
- 238000006243 chemical reaction Methods 0.000 claims description 3
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 claims 1
- 238000011217 control strategy Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a decoupling typeThe control method of the Qboost system brake boosting mainly comprises the steps of establishing a master cylinder pressure target curve; testing the curve of the displacement and the pressure of the main cylinder under the current braking structure, and determining e by combining the structural parameters min 、e max ，e min 、e max Setting a range for the displacement of the master cylinder; according to the push rod displacement, the main cylinder displacement and the main cylinder pressure, adopting a certain calculation strategy to calculate a required motor torque target, a rotating speed target and a driving mode; calculating a master cylinder pressure target according to the master cylinder pressure target curve; judging the going-out and return stroke; and performing open loop control current calculation of the motor. The invention realizes the dual-mode control of the master cylinder pressure following and the master cylinder displacement following of the electronic brake booster control, can directly take the master cylinder pressure as a control target on the premise of meeting certain constraint conditions, and has flexible pressure target setting, high tracking speed and high precision.
Description
Technical Field
The invention relates to the field of electronic brake assistance, in particular to a control method of brake assistance of a decoupling Qboost system.
Background
In the existing electronic brake boosting control strategy, the displacement of a booster push rod is controlled in a following way, so that the stroke of a main cylinder and the displacement of the push rod are kept at set distances. In the prior art, only the stroke of the master cylinder is used as a control target, and after the brake pedal generates displacement, the master cylinder is controlled to move to the corresponding target displacement. The relationship curve of the booster push rod displacement and the master cylinder pressure depends on the setting of the master cylinder stroke and the push rod displacement distance, the structural design of a brake system and the actual state thereof, and the master cylinder pressure cannot be directly taken as a control target according to the requirement. Therefore, when the performance of the actuator is lowered and braking energy is recovered, or when the braking strength in different driving modes is switched, it is difficult to realize pressure compensation control, or the influence on the brake pedal feel is large.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control method for braking assistance of a decoupling Qboost system.
The invention aims at completing the following steps through the following technical scheme:
1) Establishing a master cylinder pressure target curve: according to the relation between the brake pedal displacement and the brake intensity in the design requirement of the vehicle brake system, obtaining a relation curve between the push rod position and the master cylinder pressure of the booster of the Qboost system through conversion;
2) Testing the curve of the displacement and the pressure of the main cylinder under the current braking structure, and determining e by combining the structural parameters min 、e max ，e min 、e max Setting a range for the displacement of the master cylinder;
3) According to the push rod displacement, the main cylinder displacement and the main cylinder pressure, adopting a certain calculation strategy to calculate a required motor torque target, a rotating speed target and a driving mode;
4) Calculating a master cylinder pressure target according to the master cylinder pressure target curve;
5) Judging the going-out and return stroke;
6) And calculating open loop control current of the motor, wherein the calculation formula is as follows:
Current open ＝Pre obj /(c t *c p *2/k r )*(r c 2 )
wherein c t Is the motor torque constant;
c p is the lead of the lead screw;
k r is a reduction ratio;
r c is the radius of the master cylinder;
Pre obj for pressure target, i.e. Pre obj_forward Or Pre obj_forward The forward path is Pre depending on the judgment result of the forward path and the return path obj_forward Backhaul is Pre obj_forward The actual Current target of the motor is Current open And the sum of the calculated values is closed-loop controlled, and then the motor current is controlled to realize the master cylinder pressure control.
Said e min 、e max Has the following constraint conditions:
1)e min not less than 0-d1-d2, wherein d1 is the initial gap of the booster push rod, and d2 isMaximum deformation value of the rubber disc;
2)e max the displacement of the main cylinder is not caused to exceed a maximum design value L0;
3)e min 、e max a master cylinder displacement range at the master cylinder pressure in the brake characteristic curve may be covered.
The calculation strategy is that pressure control is normally adopted to realize accurate control of the pressure of the main cylinder, namely when the pressure of the main cylinder is smaller than the target pressure, the torque output of the motor is increased, otherwise, the torque output of the motor is reduced, and the current main cylinder displacement is monitored in real time at the same time, if the deviation exceeds e min 、e max After the range, judging that the required master cylinder pressure cannot be reached under reasonable master cylinder displacement, and switching to position control to avoid the overrun of the master cylinder displacement.
The master cylinder pressure target is calculated according to the actual vehicle braking and pedal response requirements, and cg1, cg2, cg3, cg4 and cb1, cb2, cb3 and cb4 are determined in the calibration process, and the master cylinder pressure target comprises a forward master cylinder pressure target and a return master cylinder pressure target:
1) Go-to master cylinder pressure target:
Pre obj_forward ＝cg 1 ·Disp pedal 3 +cg 2 ·Disp pedal 2 +cg 3 ·Disp pedal +cg 4
wherein, pre obj_forward Is the target of the going master cylinder pressure;
Disp pedal is pedal displacement;
2) Return master cylinder pressure target:
Pre obj_backward ＝cb 1 ·Disp pedal 3 +cb 2 ·Disp pedal 2 +cb 3 ·Disp pedal +cb 4
wherein, pre obj_backward Is the return master cylinder pressure target. .
The beneficial effects of the invention are as follows: the invention establishes master cylinder pressure following control of electronic brake booster control, can directly determine the relation curve of booster push rod displacement and master cylinder pressure, and can compensate the difference caused by vehicle manufacturing errors and the difference caused by pipeline exhaust conditions; in the pressure control mode, if the displacement deviation of the master cylinder exceeds a certain range, judging that the required master cylinder pressure cannot be reached under the condition of reasonable master cylinder displacement at present, and can be used for fault identification; the dual-mode control of the master cylinder pressure following and the master cylinder displacement following of the electronic brake booster control is realized, the master cylinder pressure can be directly used as a control target on the premise of meeting certain constraint conditions, and the pressure target is flexible to set, and has high tracking speed and high precision.
Drawings
Fig. 1 is a schematic diagram of a prior art booster pushrod displacement following control strategy.
FIG. 2 is a master cylinder pressure target graph of the present invention.
Fig. 3 is a brake characteristic diagram of the present invention.
FIG. 4 is a schematic diagram of a computing strategy according to the present invention.
Fig. 5 is a flowchart of the forward and backward judgment of the present invention.
Detailed Description
The invention will be described in detail below with reference to the attached drawings:
as shown in the attached drawing, the control method of the brake assistance of the decoupling Qboost system mainly comprises the following steps:
1) Establishing a master cylinder pressure target curve: according to the relation between the brake pedal displacement and the brake intensity in the design requirement of the vehicle brake system, obtaining a relation curve between the push rod position and the master cylinder pressure of the booster of the Qboost system through conversion; as shown in fig. 2, for a vehicle model, there are one or more curves (corresponding to different comfort, sport, etc. driving modes) that are introduced into the master cylinder target pressure calculation module of fig. 4.
2) Testing the curve of the displacement and the pressure of the main cylinder under the current braking structure, and determining e by combining the structural parameters min 、e max ，e min 、e max Setting a range for the displacement of the master cylinder; emin, emax has the following constraints:
1) The emin is not less than 0-d1-d2, wherein d1 is the initial gap of the booster push rod, and d2 is the maximum deformation value of the rubber disc;
2) emax does not cause the master cylinder displacement to exceed the maximum design value L0;
3) The emin, emax may cover a range of master cylinder displacements at master cylinder pressure in the brake characteristic.
3) According to the push rod displacement, the main cylinder displacement and the main cylinder pressure, adopting a certain calculation strategy to calculate a required motor torque target, a rotating speed target and a driving mode; the calculation strategy is that pressure control is adopted under normal conditions to realize accurate control of the master cylinder pressure, namely, when the master cylinder pressure is smaller than target pressure, the motor torque output is increased, otherwise, the motor torque output is reduced, meanwhile, the current master cylinder displacement is monitored in real time, if deviation exceeds the limit of emin and emax, the current master cylinder displacement is judged to be unable to reach the required master cylinder pressure under reasonable master cylinder displacement, and the master cylinder displacement is transferred to position control to avoid overrun. FIG. 4 is a flowchart of a specific calculation strategy, epos in the diagram being the master cylinder displacement error, emin, emax being the set ranges thereof; epres is master cylinder pressure error; tormin, tormax is a torque target range; rpmmin, rpmmax is a target range of rotational speeds; mode_torq is torque control, and mode_rpm is rotational speed control.
4) Calculating a master cylinder pressure target;
5) Making the determination of the outbound and inbound paths, fig. 5 is an embodiment of the outbound and inbound path determination. The method comprises the steps of carrying out a first treatment on the surface of the
6) And calculating open loop control current of the motor, wherein the calculation formula is as follows:
Current open ＝Pre obj /(c t *c p *2/k r )*(r c 2 )
wherein c t Is the motor torque constant;
c p is the lead of the lead screw;
k r is a reduction ratio;
r c is the radius of the master cylinder;
Pre obj for pressure target, i.e. Pre obj_forward Or Pre obj_forward The forward path is Pre depending on the judgment result of the forward path and the return path obj_forward Backhaul is Pre obj_forward The actual Current target of the motor is Current open And the sum of the calculated values is closed-loop controlled, and then the motor current is controlled to realize the master cylinder pressure control.
The master cylinder pressure target is calculated according to the actual vehicle braking and pedal response requirements, and cg1, cg2, cg3, cg4 and cb1, cb2, cb3 and cb4 are determined in the calibration process, including a go master cylinder pressure target and a return master cylinder pressure target:
1) Go-to master cylinder pressure target:
Pre obj_forward ＝cg 1 ·Disp pedal 3 +cg 2 ·Disp pedal 2 +cg 3 ·Disp pedal +cg 4
wherein, pre obj_forward Is the target of the going master cylinder pressure;
Disp pedal is pedal displacement.
2) Return master cylinder pressure target:
Pre obj_backward ＝cb 1 ·Disp pedal 3 +cb 2 ·Disp pedal 2 +cb 3 ·Disp pedal +cb 4
wherein, pre obj_backward Is the return master cylinder pressure target.
According to the invention, the dual-mode control of the master cylinder pressure following and the master cylinder displacement following of the electronic brake booster control is realized, the master cylinder pressure can be directly used as a control target on the premise of meeting constraint conditions 1 and 2, the pressure target is flexible to set, and the tracking speed is high and the precision is high; thus, a more accurate pressure control curve can be obtained; the control strategy is mainly based on master cylinder pressure following control, and when the required pressure cannot be reached in the master cylinder displacement range, the control strategy is switched to a master cylinder displacement following control mode, so that the master cylinder displacement is controlled, and the master cylinder displacement is prevented from exceeding the structural design range; therefore, the requirements for structural design accuracy and durability can be reduced.
It should be understood that equivalents and modifications to the technical scheme and the inventive concept of the present invention should fall within the scope of the claims appended hereto.
Claims (2)
1. A control method of a decoupling system brake booster is characterized by comprising the following steps: mainly comprises the following steps:
1) Establishing a master cylinder pressure target curve: according to the relation between the brake pedal displacement and the brake intensity in the design requirement of the vehicle brake system, obtaining a relation curve between the push rod position of the system booster and the pressure of the main cylinder through conversion;
2) Testing the curve of the displacement and the pressure of the main cylinder under the current braking structure, and determining e by combining the structural parameters min 、e max ，e min 、e max Setting a range for the displacement of the master cylinder;
3) According to the push rod displacement, the main cylinder displacement and the main cylinder pressure, adopting a certain calculation strategy to calculate a required motor torque target, a rotating speed target and a driving mode;
4) Calculating a master cylinder pressure target according to the master cylinder pressure target curve;
5) Judging the going-out and return stroke;
6) And calculating open loop control current of the motor, wherein the calculation formula is as follows:
Current open ＝Pre obj /(c t *c p *2/k r )*(r c 2 )
wherein c t Is the motor torque constant;
c p is the lead of the lead screw;
k r is a reduction ratio;
r c is the radius of the master cylinder;
Pre obj for master cylinder pressure target, i.e. Pre obj_forward Or Pre obj_backward The forward path is Pre depending on the judgment result of the forward path and the return path obj_forward Backhaul is Pre obj_backward The actual Current target of the motor is Current open And closed-loop control the sum of calculated values, and then controlling the motor current to realize master cylinder pressure control;
the calculation strategy is that pressure control is normally adopted to realize accurate control of the pressure of the main cylinder, namely, when the pressure of the main cylinder is smaller than a target pressure of the main cylinder, a motor is increasedThe torque output is reduced if the deviation exceeds e, while the current master cylinder displacement is monitored in real time min 、e max After the range, judging that the required master cylinder pressure cannot be reached under reasonable master cylinder displacement, and switching to position control to avoid the overrun of the master cylinder displacement.
2. The control method of the brake assist of the decoupling system according to claim 1, wherein: the master cylinder pressure target is calculated according to the actual vehicle braking and pedal response requirements, and cg is determined in the calibration process 1 、cg 2 、cg 3 、cg 4 And cb 1 、cb 2 、cb 3 、cb 4 Including a go master cylinder pressure target and a return master cylinder pressure target:
1) Go-to master cylinder pressure target:
Pre obj_forward ＝cg 1 ·Disp pedal 3 +cg 2 ·Disp pedal 2 +cg 3 ·Disp pedal +cg 4
wherein, pre obj_forward Is the target of the going master cylinder pressure;
Disp pedal is pedal displacement;
2) Return master cylinder pressure target:
Pre obj_backward ＝cb 1 ·Disp pedal 3 +cb 2 ·Disp pedal 2 +cb 3 ·Disp pedal +cb 4
wherein, pre obj_backward Is the return master cylinder pressure target.
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| CN202011042259.4A CN112277917B (en) | 2020-09-28 | 2020-09-28 | Control method for brake assistance of decoupling Qboost system |
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| CN112277917B true CN112277917B (en) | 2024-02-23 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113252360B (en) * | 2021-05-17 | 2022-06-14 | 中国第一汽车股份有限公司 | Electronic booster test method and device and storage medium |
| CN113565832B (en) * | 2021-07-19 | 2024-05-10 | 奇瑞新能源汽车股份有限公司 | Hydraulic calibration method and device for electronic booster of automatic driving vehicle and vehicle |
| CN114056308B (en) * | 2022-01-17 | 2022-04-22 | 万向钱潮股份有限公司 | Brake force control method and distribution method of multi-axis commercial vehicle based on line control booster |
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| US8718893B1 (en) * | 2013-04-23 | 2014-05-06 | Hyundai Mobis Co., Ltd. | Method and apparatus for detecting failure of motor of electric brake booster for vehicle |
| DE102015210106A1 (en) * | 2015-06-02 | 2016-12-08 | Robert Bosch Gmbh | Method for operating an on-board brake system with an electromechanical brake booster and corresponding control device |
| CN108860116A (en) * | 2018-06-14 | 2018-11-23 | 清华大学 | Control method, device and the vehicle booster braking system of vehicle booster braking |
| CN109177958A (en) * | 2018-08-28 | 2019-01-11 | 华南理工大学 | A kind of compress control method of decoupling type electronic hydraulic brake system |
| CN110962828A (en) * | 2019-12-23 | 2020-04-07 | 奇瑞汽车股份有限公司 | Method and equipment for predicting brake pressure of electric automobile |
| CN111391805A (en) * | 2019-01-03 | 2020-07-10 | 现代摩比斯株式会社 | Air bleeding apparatus and method for electric brake system |
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2020
- 2020-09-28 CN CN202011042259.4A patent/CN112277917B/en active Active
Patent Citations (6)
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|---|---|---|---|---|
| US8718893B1 (en) * | 2013-04-23 | 2014-05-06 | Hyundai Mobis Co., Ltd. | Method and apparatus for detecting failure of motor of electric brake booster for vehicle |
| DE102015210106A1 (en) * | 2015-06-02 | 2016-12-08 | Robert Bosch Gmbh | Method for operating an on-board brake system with an electromechanical brake booster and corresponding control device |
| CN108860116A (en) * | 2018-06-14 | 2018-11-23 | 清华大学 | Control method, device and the vehicle booster braking system of vehicle booster braking |
| CN109177958A (en) * | 2018-08-28 | 2019-01-11 | 华南理工大学 | A kind of compress control method of decoupling type electronic hydraulic brake system |
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