CN112389418B - Self-learning method and system for current valve pressure difference-current characteristics - Google Patents

Self-learning method and system for current valve pressure difference-current characteristics Download PDF

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Publication number
CN112389418B
CN112389418B CN202011338434.4A CN202011338434A CN112389418B CN 112389418 B CN112389418 B CN 112389418B CN 202011338434 A CN202011338434 A CN 202011338434A CN 112389418 B CN112389418 B CN 112389418B
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current
learning
pressure difference
self
motor
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CN112389418A (en
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朱心放
刘倩
施雯
苗会彬
刘海珍
张万里
李亮
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Nasn Automotive Electronics Co Ltd
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Nasn Automotive Electronics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60T13/10—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 fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation

Abstract

The invention provides a self-learning method and a self-learning system for a current valve pressure difference-current characteristic, wherein the self-learning method is applied to the self-learning system and comprises the following steps: acquiring a plurality of self-learning current points of the pressure difference-current characteristic; respectively applying respective learning current points to the current valves under a preset working condition; after the preset time, obtaining the motor bus current corresponding to the respective learning current points; calculating a corresponding first pressure difference according to the motor bus current; obtaining second pressure differences corresponding to the respective learning current points according to the stored pressure difference-current characteristics; calculating a difference between the first pressure difference and the second pressure difference, and adjusting the stored pressure difference-current characteristic based on the difference. The invention adjusts the pressure difference-current characteristic of the current valve by a self-learning method, improves the braking precision of the electronic stability control system and reduces the manufacturing process cost of the current valve.

Description

Self-learning method and system for current valve pressure difference-current characteristics
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a self-learning method and a self-learning system for a pressure difference-current characteristic of a current valve.
Background
The electronic stability control system is a novel active safety system of a vehicle, is a further extension of functions of an automobile anti-lock braking system and a traction control system, and is additionally provided with a yaw rate sensor, a lateral acceleration sensor and a steering wheel angle sensor when the vehicle turns to run, and driving force and braking force of front and rear wheels and left and right wheels are controlled through an ECU (electronic control Unit), so that the running stability of the vehicle is ensured.
For an electronic stability control system, the braking precision is a very important index, the accuracy of the relation between the pressure difference and the current is ensured mainly by improving the manufacturing process precision of the current valve at present, the manufacturing process precision of the current valve is generally required to reach 10%, and the manufacturing process cost is very high; in addition, because the production, calibration and other links of the current valves cannot be completely the same, the pressure difference-current characteristic curves of the current valves have certain difference, so that the braking precision of the electronic stability control system cannot meet the actual requirement.
Disclosure of Invention
Aiming at the technical problems, the invention provides a self-learning method and a self-learning system for the pressure difference-current characteristic of the current valve, which adjust the pressure difference-current characteristic of the current valve through self-learning, improve the braking precision of an electronic stability control system and reduce the manufacturing process cost of the current valve.
The invention provides a self-learning method of a current valve pressure difference-current characteristic, which is applied to a self-learning system and comprises the following steps: acquiring a plurality of self-learning current points of the pressure difference-current characteristic; respectively applying respective learning current points to the current valves under a preset working condition; after the preset time, obtaining the motor bus current corresponding to the respective learning current points; calculating a corresponding first pressure difference according to the motor bus current; obtaining second pressure differences corresponding to the respective learning current points according to the stored pressure difference-current characteristics; calculating a difference between the first pressure difference and the second pressure difference, and adjusting the stored pressure difference-current characteristic based on the difference.
In one embodiment, the method for obtaining a plurality of self-learning current points of the pressure difference-current characteristic comprises the following steps: and selecting different pressure differences within a preset range, and acquiring a corresponding current value as the self-learning current point according to the stored pressure difference-current characteristics.
In one embodiment, the preset operation condition includes: controlling the motor to stably run at a rotating speed value not higher than a preset rotating speed; and opening the pressure release valve and the electromagnetic valve corresponding to any wheel, and closing the regulating valve corresponding to the wheel.
In one embodiment, the step of calculating a corresponding first pressure difference based on the motor bus current includes: calculating the first pressure difference according to the following equation: p ═ I (I)m*Kt*η*π)/(Ak*e*Z*105) Wherein P is the first pressure difference, ImFor the motor bus current, KtIs motor torque constant, eta is conversion efficiency of motor torque to pump load, AkPump cross-sectional area, e motor eccentricity, and Z pump number.
In one embodiment, the self-learning method includes: acquiring the motor bus current corresponding to the respective learning current points according to a preset frequency within the preset time; and respectively calculating the average value of the obtained results of the motor bus current corresponding to the respective learning current points, and taking the average value as the final motor bus current corresponding to the respective learning current points.
The invention also provides a self-learning system of the pressure difference-current characteristic of the current valve, which comprises the following components: the control unit, the current valve and the motor; the control unit is respectively connected with the current valve and the motor and used for acquiring a plurality of self-learning current points of the pressure difference-current characteristic, applying respective learning current points to the current valve under a preset working condition, acquiring bus currents corresponding to the respective learning current points of the motor after preset time, calculating a corresponding first pressure difference according to the bus currents, acquiring a second pressure difference corresponding to the respective learning current points according to the stored pressure difference-current characteristic, calculating a difference value between the first pressure difference and the second pressure difference, and adjusting the stored pressure difference-current characteristic according to the difference value.
In an embodiment, the control unit is further configured to select different pressure differences within a preset range, and obtain a corresponding current value as the self-learning current point according to the stored pressure difference-current characteristic.
In one embodiment, the self-learning system further comprises: the electromagnetic valve, the regulating valve and the pressure release valve; the control unit is respectively connected with the pressure release valve, the electromagnetic valve and the regulating valve and is also used for controlling the motor to stably run at a rotating speed value lower than a preset rotating speed; and opening the pressure release valve and the electromagnetic valve corresponding to any wheel, and closing the regulating valve corresponding to the wheel at the same time so as to achieve the preset working condition.
In one embodiment, the control unit is further configured to calculate a corresponding first pressure difference according to the motor bus current by: p ═ I (I)m*Kt*η*π)/(Ak*e*Z*105) Wherein P is the first pressure difference, ImFor the motor bus current, KtIs motor torque constant, eta is conversion efficiency of motor torque to pump load, AkPump cross-sectional area, e motor eccentricity, and Z pump number.
In an embodiment, the control unit is further configured to obtain, within the preset time and according to a preset frequency, bus currents of the motor corresponding to the respective learning current points; and respectively calculating the average value of the obtained results of the bus current corresponding to the learned current points of the motors, and taking the average value as the final bus current corresponding to the learned current points of the motors.
The self-learning method and the self-learning system for the pressure difference-current characteristic of the current valve can adjust the pressure difference-current characteristic of the current valve through self-learning, improve the braking precision of an electronic stability control system and reduce the manufacturing process cost of the current valve.
Drawings
FIG. 1 is a schematic flow chart of a self-learning method provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a basic hydraulic actuator of the electronic stability control system provided by the embodiment of the invention;
FIG. 3 is a comparison diagram of pressure difference-current characteristics before and after self-learning provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of self-learning pre-braking accuracy provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of braking accuracy after self-learning provided by an embodiment of the invention;
FIG. 6 is a schematic diagram of braking accuracy stability after self-learning provided by the embodiment of the invention;
fig. 7 is a schematic structural diagram of a self-learning system provided in an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further elaborated by combining the drawings and the specific embodiments in the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic flow chart of a self-learning method according to an embodiment of the present invention. As shown in fig. 1, the self-learning method of the present invention may include the steps of:
step S101: acquiring a plurality of self-learning current points of the pressure difference-current characteristic of the current valve;
specifically, the method for acquiring the multiple self-learning current points of the current valve pressure difference-current characteristic comprises the following steps: and selecting different pressure differences within a preset range, and acquiring a corresponding current value as a self-learning current point according to the stored pressure difference-current characteristics. Optionally, the preset range of the pressure difference is between the minimum pressure required by active pressurization of the system and the maximum pressure required by wheel locking (10 bar-150 bar), a plurality of voltage differences (such as 10bar, 30bar, 40bar, 70bar, 90bar, 105bar, 120bar and 150bar) are dispersedly selected, and corresponding current values are obtained as self-learning current points according to pressure difference-current characteristics stored before self-learning, wherein the more the self-learning current points are, the more accurate the obtained self-learning result is.
Step S102: respectively applying respective learning current points to the current valves under a preset working condition;
optionally, the preset operating conditions include: controlling the motor to stably run at a rotating speed value not higher than a preset rotating speed; and opening the pressure release valve and the electromagnetic valve corresponding to any wheel, and closing the regulating valve corresponding to the wheel. Preferably, the preset rotation speed is 900 rpm. The electromagnetic valve, the regulating valve and the current valve have the characteristic of regulating the size of the hydraulic oil passage according to the size of current; the relief valve plays a role in releasing hydraulic pressure by discharging hydraulic oil.
Specifically, referring to fig. 2, taking the left front wheel as an example, the motor is controlled to operate stably at a speed of 600rpm, the electromagnetic valve 1 and the pressure relief valve 2 are opened, the regulating valve 1 is closed, respective learning current points are respectively applied to the current valves 2, the motor drives the pump 1 to operate, so that the hydraulic oil flows out of the master cylinder, passes through the electromagnetic valve 1, the pump 1, the current valves 2 and the pressure relief valve 2, and is finally recovered into the energy accumulator 1.
Step S103: after the preset time, obtaining the motor bus current corresponding to the respective learning current points;
optionally, in a preset time, obtaining the motor bus current corresponding to each learning current point according to a preset frequency; and respectively calculating the average values of the obtained results of the motor bus currents corresponding to the respective learning current points, and taking the average values as the final motor bus currents corresponding to the respective learning current points. Preferably, the preset time is 1 second.
Step S104: calculating a corresponding first pressure difference according to the motor bus current;
specifically, the first pressure difference is calculated according to the following formula:
P＝(Im*Kt*η*π)/(Ak*e*Z*105)
wherein P is a first pressure difference, ImFor the bus current, K, of the motortIs motor torque constant, eta is conversion efficiency of motor torque to pump load, AkThe pump sectional area, the motor eccentricity and the pump number are respectively expressed as e and Z; ktEta is motor constant, e, Z, AkIs a fixed value.
Step S105: obtaining second pressure differences corresponding to the respective learning current points according to the stored pressure difference-current characteristics;
step S106: calculating a difference between the first pressure difference and the second pressure difference, and adjusting the stored pressure difference-current characteristic based on the difference.
Specifically, the pressure difference-current characteristic curve obtained after self-learning is shown as L2 in fig. 3, and the voltage difference corresponding to most of the current points is changed compared with the pressure difference-current characteristic curve L1 stored before self-learning. Furthermore, according to the master cylinder pressure, the wheel cylinder pressure can be calculated by combining the pressure difference-current characteristic curve, and the closer the calculated wheel cylinder pressure is to the actual wheel cylinder pressure collected by the sensor, the higher the braking precision is. The braking accuracy obtained by using the pressure difference-current characteristic curve L1 stored before self-learning in fig. 3 is shown in fig. 4, and the deviation between the wheel cylinder pressure value calculated before self-learning and the actual wheel cylinder pressure value collected by the sensor is larger by comparing the pressure curve before self-learning with the actual pressure curve, while the braking accuracy obtained by using the pressure difference-current characteristic curve L2 calculated after self-learning in fig. 3 is shown in fig. 5, and the deviation between the wheel cylinder pressure value calculated after self-learning and the actual wheel cylinder pressure value collected by the sensor is smaller by comparing the pressure curve after self-learning with the actual pressure curve after self-learning, compared with the pressure difference-current characteristic curve obtained after self-learning, higher braking accuracy can be achieved. In addition, the stability of the self-learning braking accuracy is shown in fig. 6, a pressure difference-current characteristic curve L2 obtained after self-learning in fig. 3 is adopted to obtain a self-learning pressure curve of 5 sets of wheel cylinders, and compared with the actual wheel cylinder pressure acquired by a sensor, 5 comparison curves in fig. 6 are obtained, compared with the standard curve in fig. 5, the maximum deviation of 7.7bar occurs at 30bar in a small pressure range, the maximum deviation of 7bar occurs at 90bar in a large pressure range, and the errors do not exceed 10%, and both meet the braking accuracy requirement. Therefore, the pressure difference-current characteristic curve L1 stored before self-learning is adjusted to the pressure difference-current characteristic curve L2 obtained after self-learning, the braking precision of the electronic stability control system can be obviously improved, and meanwhile, the requirement on the manufacturing process precision of the current valve can be reduced to 20% from 10%.
According to the self-learning method of the current valve pressure difference-current characteristic provided by the embodiment of the invention, the current valve pressure difference-current characteristic is adjusted through self-learning, so that the braking precision of an electronic stability control system is improved, and the manufacturing process cost of a current valve is reduced.
Fig. 7 is a schematic structural diagram of a self-learning system provided in an embodiment of the present invention. As shown in fig. 7, the self-learning system of this embodiment includes: the control device comprises a control unit 110, a current valve 111, a motor 112, an electromagnetic valve 113, a regulating valve 114 and a pressure relief valve 115, wherein the control unit 110 is respectively connected with the current valve 111, the motor 112, the electromagnetic valve 113, the regulating valve 114 and the pressure relief valve 115.
In an embodiment, the control unit 110 is configured to obtain a plurality of self-learning current points of the pressure difference-current characteristic, apply respective learning current points to the current valve 111 under a preset working condition, obtain bus currents corresponding to the respective learning current points of the motor 112 after a preset time, calculate a corresponding first pressure difference according to the bus currents, obtain a second pressure difference corresponding to the respective learning current points according to the stored pressure difference-current characteristic, calculate a difference between the first pressure difference and the second pressure difference, and adjust the stored pressure difference-current characteristic according to the difference.
In other embodiments, the control unit 110 is further configured to select different pressure differences within a preset range, and obtain a corresponding current value as a self-learning current point according to the stored pressure difference-current characteristic.
In other embodiments, the control unit 110 is further configured to control the motor 112 to operate stably at a rotation speed value lower than the preset rotation speed; and opening the electromagnetic valve 113 and the pressure relief valve 115 corresponding to any wheel, and closing the regulating valve 114 corresponding to the wheel at the same time to achieve the preset working condition.
In other embodiments, the control unit 110 is further configured to calculate the corresponding first pressure difference according to the motor bus current by:
P＝(Im*Kt*η*π)/(Ak*e*Z*105)
wherein P is a first pressure difference, ImFor the bus current, K, of the motortIs motor torque constant, eta is motorEfficiency of conversion of torque to pump load, AkThe pump sectional area, the motor eccentricity and the pump number are respectively expressed as e and Z; ktEta is motor constant, e, Z, AkIs a fixed value.
In other embodiments, the control unit 110 is further configured to obtain, within a preset time and at a preset frequency, the bus currents of the motors 112 corresponding to the respective learning current points; the average values of the bus currents obtained by the motor 112 at the respective learning current points are respectively obtained, and the average values are used as the final bus currents of the motor 112 at the respective learning current points.
According to the self-learning system of the current valve pressure difference-current characteristic provided by the embodiment of the invention, the current valve pressure difference-current characteristic is adjusted through self-learning, so that the braking precision of an electronic stability control system can be improved, and the manufacturing process cost of a current valve can be reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (8)

1. A self-learning method of a current valve pressure difference-current characteristic is applied to a self-learning system and comprises the following steps:
acquiring a plurality of self-learning current points of the pressure difference-current characteristic;
respectively applying respective learning current points to the current valves under a preset working condition;
after the preset time, obtaining the motor bus current corresponding to the respective learning current points;
calculating a corresponding first pressure difference according to the motor bus current and the following formula:
P＝(Im*Kt*η*π)/(Ak*e*Z*105)
wherein P is the first pressure difference, ImFor the motor bus current, KtIs motor torque constant, eta is conversion efficiency of motor torque to pump load, AkThe pump sectional area, the motor eccentricity and the pump number are respectively expressed as e and Z;
obtaining second pressure differences corresponding to the respective learning current points according to the stored pressure difference-current characteristics;
calculating a difference between the first pressure difference and the second pressure difference, and adjusting the stored pressure difference-current characteristic based on the difference.
2. The self-learning method of claim 1, wherein the method of obtaining the plurality of self-learning current points of the pressure difference-current characteristic comprises:
and selecting different pressure differences within a preset range, and acquiring a corresponding current value as the self-learning current point according to the stored pressure difference-current characteristics.
3. The self-learning method of claim 1, wherein the predetermined conditions include:
controlling the motor to stably run at a rotating speed value not higher than a preset rotating speed;
and opening the pressure release valve and the electromagnetic valve corresponding to any wheel, and closing the regulating valve corresponding to the wheel.
4. The self-learning method of claim 1, wherein the self-learning method comprises:
acquiring the motor bus current corresponding to the respective learning current points according to a preset frequency within the preset time;
and respectively calculating the average value of the obtained results of the motor bus current corresponding to the respective learning current points, and taking the average value as the final motor bus current corresponding to the respective learning current points.
5. A self-learning system for differential pressure versus current characteristics of a current valve, comprising: the control unit, the current valve and the motor;
the control unit is respectively connected with the current valve and the motor and used for acquiring a plurality of self-learning current points of the pressure difference-current characteristic, applying respective learning current points to the current valve under a preset working condition, acquiring bus currents corresponding to the respective learning current points of the motor after preset time, and calculating a corresponding first pressure difference according to the bus currents and the following formula: p ═ I (I)m*Kt*η*π)/(Ak*e*Z*105) Wherein P is the first pressure difference, ImFor the bus current, KtIs motor torque constant, eta is conversion efficiency of motor torque to pump load, AkObtaining second pressure differences corresponding to the respective learning current points according to the stored pressure difference-current characteristics, calculating a difference value between the first pressure difference and the second pressure difference, and adjusting the stored pressure difference-current characteristics according to the difference value.
6. The self-learning system of claim 5, wherein the control unit is further configured to select different pressure differences within a preset range, and obtain a corresponding current value as the self-learning current point according to the stored pressure difference-current characteristics.
7. The self-learning system of claim 5, further comprising: the electromagnetic valve, the regulating valve and the pressure release valve;
the control unit is respectively connected with the pressure release valve, the electromagnetic valve and the regulating valve and is also used for controlling the motor to stably run at a rotating speed value lower than a preset rotating speed; and opening the pressure release valve and the electromagnetic valve corresponding to any wheel, and closing the regulating valve corresponding to the wheel at the same time so as to achieve the preset working condition.
8. The self-learning system of claim 5, wherein the control unit is further configured to obtain bus currents of the motors corresponding to the respective learning current points at a preset frequency within the preset time; and respectively calculating the average value of the obtained results of the bus current corresponding to the learned current points of the motors, and taking the average value as the final bus current corresponding to the learned current points of the motors.
CN202011338434.4A 2020-11-25 2020-11-25 Self-learning method and system for current valve pressure difference-current characteristics Active CN112389418B (en)

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JP5125813B2 (en) * 2008-07-02 2013-01-23 日産自動車株式会社 Electronically controlled hydraulic brake device
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