CN112693440B - Automatic exhaust device and exhaust method for integrated electrohydraulic braking system - Google Patents
Automatic exhaust device and exhaust method for integrated electrohydraulic braking system Download PDFInfo
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- CN112693440B CN112693440B CN202011457363.XA CN202011457363A CN112693440B CN 112693440 B CN112693440 B CN 112693440B CN 202011457363 A CN202011457363 A CN 202011457363A CN 112693440 B CN112693440 B CN 112693440B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000007788 liquid Substances 0.000 claims abstract description 66
- 239000010720 hydraulic oil Substances 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000002955 isolation Methods 0.000 claims description 5
- 230000002045 lasting effect Effects 0.000 claims description 4
- 239000000243 solution Substances 0.000 description 7
- 239000012530 fluid Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000011550 stock solution Substances 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/002—Air treatment devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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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 an automatic exhaust device of an integrated electrohydraulic braking system, which comprises: the integrated electrohydraulic brake comprises a hydraulic unit, a liquid storage tank, a main cylinder push rod and a motor, wherein a brake main cylinder, a driving cylinder, a plurality of integrated electrohydraulic brake electromagnetic valves and hydraulic pipelines are integrated in the hydraulic unit, and the brake main cylinder is decoupled from the driving cylinder. The invention also discloses an automatic exhaust method of the integrated electrohydraulic braking system. The invention aims at the problem that the air of a hydraulic pipeline is difficult to exhaust due to decoupling of a brake master cylinder and a driving cylinder of an integrated electrohydraulic brake system, realizes automatic and thorough exhaust of the integrated electrohydraulic brake system by controlling the hydraulic cylinder, a motor and an integrated electrohydraulic brake electromagnetic valve, and provides a perfect solution for automatic exhaust of the integrated electrohydraulic brake system with complete decoupling.
Description
Technical Field
The invention belongs to a brake system exhaust method, and particularly relates to an automatic exhaust device and an exhaust method of an integrated electro-hydraulic brake system.
Background
At present, with the continuous development of intelligent and electric technologies of automobiles, the traditional vacuum booster braking system is difficult to meet the requirements of intelligent automobiles and electric automobiles on the braking system, so that the intelligent automobiles and the electric automobiles are gradually replaced by novel integrated electro-hydraulic braking systems. Frequent operation of the brake system may result in air ingress. Once air appears in the hydraulic brake pipeline, the brake pressure can be reduced, even the brake is invalid, and huge potential safety hazards exist. The traditional exhaust method is that after one person steps on the brake pedal to the lowest end, the other person unscrews the air release bolt on the brake wheel cylinder, releases a certain amount of brake fluid and air, then tightens the bolt, loosens the brake pedal, and repeats the actions until no air bubble exists in the brake fluid discharged by the four wheel cylinders. The mode not only needs two people to cooperate at the same time, wastes time and labor, but also frequently loosens the tightening bolts, and influences the service life of the wheel cylinders.
There is also a scheme of realizing automatic exhaust through a motor of an electrohydraulic brake system at present, for example, chinese patent application number 201320782492.5 discloses an exhaust device of an automobile brake pipeline, wherein a driving piston in an acting cylinder drives a guide rod to drive a rotating pedal fixed with the guide rod to move, and the driving piston returns through the action of a control valve and a return spring. The pneumatic pedal is used for replacing manual pedal stepping, so that the problem of high labor intensity is solved, automatic exhaust cannot be realized, and an additional device is needed. Chinese patent application number 201220429748.2 discloses an electronic suction means of brake piping residual air, solve the exhaust thoroughly, waste time and energy, brake fluid corrode operating personnel and polluted environment, cause extravagant scheduling problem, which is characterized by including the motor, motor output shaft screw axle, screw axle drive piston, the external diameter of piston cooperates with the internal diameter of cylinder body, the cylinder body is equipped with the air vent towards the one end of motor, the other end of cylinder body is passed to the sleeve, the screw axle passes through planetary gear mechanism connecting sleeve, the sleeve is located the one end in the cylinder body and is equipped with the oil drain hole, the cylinder body is equipped with the oil outlet that leads to the stock solution bottle on the cylinder body chamber wall that the oil drain hole is located. However, the system has relatively high cost, more complex mechanical devices are required to be additionally added, the exhaust end state is required to be manually judged, and automatic exhaust cannot be realized. Chinese patent application number 201721180705.1 discloses an automatic exhaust device of an electrohydraulic brake experiment bench, which can solve the problems of time and labor waste, incomplete exhaust, corrosion of brake fluid to operators and the like in the brake exhaust process. And the motor pressure building of the motor mechanical booster and the detection of bubbles by the camera are controlled to realize the exhaust of the braking system. However, this method is not suitable for an integrated electro-hydraulic brake system with complex hydraulic lines, and in addition, the reliability of detecting bubbles in the lines by using a camera is not enough and the cost is high. Chinese patent application No. 201810601470.1 discloses an automatic ESC exhaust device and an exhaust method, which can be used for relieving the problem that the normal operation of an ESC system is affected due to gas residues existing in the exhaust of the traditional method in the prior art. The braking system is exhausted through the cooperation of the ESC motor and the electromagnetic valve. However, because the ESC is arranged in the middle of the braking system, the method can not exhaust the gas between the brake master cylinder and the ESC pipeline, and the problem of incomplete exhaust still exists. In addition, the system controls the motor and the electromagnetic valve to work according to the time process, and the exhaust is finished after working according to the flow, so that whether the system exhausts thoroughly cannot be judged.
And because the integrated electrohydraulic braking system has high integration level and is completely decoupled, the brake master cylinder and the active cylinder are in the same hydraulic system, and the exhaust of the brake system is difficult to exhaust by using the traditional method or by using a motor and an electromagnetic valve. It is therefore particularly critical to provide an automated exhaust apparatus and method for fully decoupled integrated electro-hydraulic brake systems.
Disclosure of Invention
Therefore, the invention aims to provide an automatic exhaust device and an exhaust method for an integrated electro-hydraulic brake system, which can realize automatic exhaust of the integrated electro-hydraulic brake system with complete decoupling, and solve the problems that two persons are required to be matched at the same time, time and labor are wasted, the exhaust is not thorough, the screw bolt is required to be frequently loosened, and the service life of a wheel cylinder is influenced.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automatic exhaust device of an integrated electro-hydraulic brake system, which is used for respectively exhausting a brake master cylinder and a driving cylinder loop of a decoupling integrated brake system, and comprises: the hydraulic system comprises an integrated electrohydraulic brake, a hydraulic cylinder, a first electromagnetic valve, a stroke sensor, a hydraulic motor, a brake cylinder, a flow dividing and collecting valve, a second electromagnetic valve, a bubble detector and a controller;
the integrated electrohydraulic brake comprises a hydraulic unit, a liquid storage tank, a main cylinder push rod and a motor, wherein the liquid storage tank is arranged at the upper part of the hydraulic unit; a brake master cylinder, a driving cylinder, a plurality of integrated electro-hydraulic brake electromagnetic valves and hydraulic pipelines are integrated in the hydraulic unit, and the brake master cylinder is decoupled from the driving cylinder; the brake master cylinder is provided with a master cylinder push rod, the master cylinder push rod is provided with a travel sensor, and the driving cylinder is provided with a motor; the electromagnetic valve, the stroke sensor and the motor of the integrated electrohydraulic brake are electrically connected with the controller;
the hydraulic cylinder is a two-cavity piston hydraulic cylinder and comprises a hydraulic cylinder push rod, a first cavity and a second cavity, wherein the hydraulic cylinder push rod is connected with the main cylinder push rod and can drive the main cylinder push rod to horizontally move; the hydraulic cylinder push rod divides the inner cavity of the hydraulic cylinder into a first cavity and a second cavity;
the first electromagnetic valve is a three-position four-way electromagnetic valve and is electrically connected with the controller; when the first electromagnetic valve is in a power-off state, the first electromagnetic valve is switched to an intermediate working position, and at the moment, the two inlets of the first electromagnetic valve are communicated with each other in the middle; when the position A is switched, the two inlets are communicated with the corresponding outlets, and when the position B is switched, the two inlets are communicated with the outlets in a crossing way; two outlets of the first electromagnetic valve are respectively communicated with the first cavity and the second cavity through pipelines, two inlets are respectively connected with the hydraulic motor and the hydraulic oil drum through pipelines, and the hydraulic motor is electrically connected with the controller;
the brake wheel cylinders comprise an FR brake wheel cylinder, an FL brake wheel cylinder, an RR brake wheel cylinder and an RL brake wheel cylinder, liquid inlets of the four brake wheel cylinders are communicated with four outlets of the integrated electrohydraulic brake through pipelines, liquid outlets of the four brake wheel cylinders are communicated with liquid inlets of the flow dividing and collecting valve through pipelines, and liquid outlets of the flow dividing and collecting valve are communicated with an inlet of the second electromagnetic valve;
the second electromagnetic valve is a high-flow two-position two-way normally-closed switch valve, is electrically connected with the controller and is in a normally-closed state when power is off; the outlet of the second electromagnetic valve is communicated with the liquid storage tank through a pipeline, and a bubble detector is further connected in the corresponding liquid outlet pipeline and is electrically connected with the controller.
The beneficial effects of the technical scheme adopted by the invention are as follows: according to the automatic exhaust device of the integrated electrohydraulic braking system, provided by the invention, the automatic complete exhaust of the integrated electrohydraulic braking system is realized by controlling the hydraulic cylinder, the motor and the integrated electrohydraulic brake electromagnetic valve, so that a perfect solution is provided for the automatic exhaust of the integrated electrohydraulic braking system which is completely decoupled, aiming at the problem that the air of a hydraulic pipeline is difficult to exhaust due to the decoupling of the brake master cylinder and the active cylinder of the integrated electrohydraulic braking system.
Preferably, the pipeline that hydraulic motor and first solenoid valve are connected is still connected with the overflow valve, and hydraulic motor's pan feeding mouth and overflow valve's liquid outlet all communicate with the hydraulic oil bucket.
According to the invention, the state of the three-position four-way electromagnetic valve is accurately controlled according to the displacement of the push rod of the main cylinder, and the overload of the system is prevented by arranging the overflow valve, so that the safety is high.
Preferably, the liquid storage tank is connected with a first hydraulic pipeline, a second hydraulic pipeline and a third hydraulic pipeline, the liquid storage tank is respectively communicated with the driving cylinder and the brake wheel cylinder through the first hydraulic pipeline, the liquid storage tank is communicated with the brake master cylinder through the second hydraulic pipeline and the third hydraulic pipeline, the brake master cylinder is communicated with the brake wheel cylinder through the fourth hydraulic pipeline, and the brake master cylinder is respectively communicated with the driving cylinder and the brake wheel cylinder through the fifth hydraulic pipeline.
Preferably, the bubble detector is an ultrasonic bubble detector.
The ultrasonic bubble detector is a sensor specially used for detecting bubbles in a hydraulic pipeline by utilizing the characteristic that the acoustic impedances of air and water are greatly different. The ultrasonic bubble detector is used for detecting whether bubbles exist in a pipeline connected with the liquid outlet of the second electromagnetic valve and transmitting result information to the controller in real time.
Preferably, a filter is also connected between the pipeline of the second electromagnetic valve communicated with the liquid storage tank.
According to the invention, hydraulic oil discharged by the brake cylinder is directly introduced into the liquid storage tank through the pipeline after being filtered, and brake liquid is not required to be added in the whole exhaust process, so that the two problems that the brake liquid cannot be recycled and sprayed out of the brake liquid pollutes the ground are solved.
Preferably, the controller drives the relevant actuator in the integrated electrohydraulic brake to work through a driver connected with the controller, and the controller and the actuator are powered by a 12V direct current power supply.
Preferably, the controller is a MicroAutobox II 1401/1512 from Dspace, and the driver is a RapidPro from Dspace.
The invention also provides an automatic exhaust method of the integrated electrohydraulic braking system, which comprises the following steps:
step one: compiling a program and loading the program into a controller;
step two: in the power-off state of the integrated electrohydraulic brake, the controller is used for controlling the hydraulic motor to start working, and simultaneously controlling the first electromagnetic valve to switch to the B working position, and the hydraulic cylinder push rod is used for pushing the master cylinder push rod to build pressure for the four brake cylinders;
step three: when the stroke sensor detects that the push rod of the main cylinder reaches the maximum displacement, the controller controls the first electromagnetic valve to switch to the middle working position, and simultaneously, the hydraulic motor is closed;
step four: opening the second electromagnetic valve, closing after lasting 0.5-1.5s, and detecting whether bubbles exist in the liquid outlet pipeline by a bubble detector; if bubbles exist, the first electromagnetic valve is controlled to be switched to the working position A, the hydraulic motor is started to enable the hydraulic cylinder to return, the travel sensor detects that the main cylinder push rod returns to the initial position, the first electromagnetic valve and the hydraulic motor are closed, and the second step is switched; if no bubble exists, the master cylinder of the integrated electrohydraulic brake and related pipelines are exhausted, the first electromagnetic valve is controlled to be switched to the working position A, and the hydraulic motor is started to return the hydraulic cylinder; when the stroke sensor detects that the main cylinder push rod returns to the initial position, the first electromagnetic valve and the hydraulic motor are closed, and the fifth step is continuously carried out;
step five: the controller sends a control command to control the integrated electrohydraulic brake to close the two brake master cylinder isolation valves, open the two active cylinder suction valves, and simultaneously control the motor to run to the maximum working position to build pressure for the four brake cylinders;
step six: opening the second electromagnetic valve, closing after lasting 0.5-1.5s, and detecting whether bubbles exist in the liquid outlet pipeline by a bubble detector; if the air bubbles exist, the controller controls the motor to reach an initial position and then switches to the step five; if no bubble exists, the active cylinder of the integrated electrohydraulic brake and the related pipeline are exhausted, and the seventh step is continued;
step seven: closing all the devices, and completing automatic exhaust of the integrated electrohydraulic brake system.
According to the automatic exhaust device and the method for the integrated electro-hydraulic braking system, which are provided by the invention, the automatic complete exhaust of the integrated electro-hydraulic braking system is realized by controlling the hydraulic cylinder, the motor and the electromagnetic valve of the integrated electro-hydraulic brake, so that a perfect solution is provided for the automatic exhaust of the integrated electro-hydraulic braking system which is completely decoupled, aiming at the problem that the air of a hydraulic pipeline is difficult to exhaust due to the decoupling of the brake master cylinder and the active cylinder of the integrated electro-hydraulic braking system.
According to the invention, the hydraulic motor drives the hydraulic cylinder to work to replace a pedal to exhaust the brake master cylinder loop, so that the use of personnel and the loss of manpower can be reduced, and in addition, the hydraulic cylinder can realize larger braking strength, so that the exhaust is faster and more thorough.
According to the invention, the motor and the electromagnetic valve in the integrated electrohydraulic braking system are controlled to work together with the exhaust device, and the motor is used for building pressure to exhaust the active cylinder loop, so that the complete exhaust of the inside of the integrated brake is realized.
According to the invention, the brake fluid sent out by the four wheel cylinders is converged by adopting the flow dividing and collecting valve, and the ultrasonic bubble detector is used for detecting the pipeline bubbles, so that the accurate unified control and detection can be realized, the system cost is saved, and the exhaust efficiency is improved.
According to the invention, the state of the three-position four-way electromagnetic valve is accurately controlled according to the displacement of the push rod of the main cylinder, and the overload of the system is prevented by arranging the overflow valve, so that the safety is high.
According to the invention, hydraulic oil discharged by the brake cylinder is directly introduced into the liquid storage tank through the pipeline after being filtered, and brake liquid is not required to be added in the whole exhaust process, so that the two problems that the brake liquid cannot be recycled and sprayed out of the brake liquid pollutes the ground are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an overall structure of an automatic exhaust device of an integrated electro-hydraulic brake system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the overall structure of an integrated electronic control brake system according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating an automatic exhaust method of an integrated electro-hydraulic brake system according to an embodiment of the present invention.
In the figure, 1, an integrated electro-hydraulic brake, 2, a hydraulic cylinder, 3, a first electromagnetic valve, 4, a stroke sensor, 5, a hydraulic motor, 6, a relief valve, 7, an FR brake cylinder, 8, an FL brake cylinder, 9, an RR brake cylinder, 10, an RL brake cylinder, 11, an shunt and collection valve, 12, a second electromagnetic valve, 13, an ultrasonic bubble detector, 14, a controller, 15, a direct current power supply, 16, a driver, 17, a filter, 101, a master cylinder push rod, 102, a liquid storage tank, 103, a motor, 104, a hydraulic unit, 201, a hydraulic cylinder push rod, 202, a first cavity, 203, a second cavity, 1041, a brake master cylinder, 1042, a master cylinder, 1043, a brake master cylinder isolation valve, 1044, a master cylinder suction valve, 1045, a first hydraulic line, 1046, a second hydraulic line, 1047, a third hydraulic line, 1048, a fourth hydraulic line, 1049 and a fifth hydraulic line.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An automatic exhaust device and an exhaust method of an integrated electro-hydraulic brake system according to an embodiment of the present invention are described in detail below with reference to fig. 1 to 3.
Examples:
the embodiment of the invention provides an automatic exhaust device of an integrated electro-hydraulic braking system, which is used for exhausting loops of a brake master cylinder 1041 and a driving cylinder 1042 of a decoupled integrated braking system respectively. As shown in fig. 1, the automatic exhaust apparatus includes: the integrated electrohydraulic brake 1, a hydraulic cylinder 2, a first electromagnetic valve 3, a stroke sensor 4, a hydraulic motor 5, a brake wheel cylinder, a flow dividing and collecting valve 11, a second electromagnetic valve 12, a bubble detector and a controller 14; in fig. 1, the broken line represents the control signal, and the solid line represents the hydraulic line.
The integrated electrohydraulic brake 1 comprises a hydraulic unit 104, a liquid storage tank 102, a master cylinder push rod 101 and a motor 103, wherein the liquid storage tank 102 is arranged at the upper part of the hydraulic unit 104 so as to supply hydraulic oil to the whole brake system; as shown in fig. 2, a brake master cylinder 1041, a master cylinder 1042, a plurality of integrated electro-hydraulic brake solenoid valves and hydraulic pipelines are integrated in the hydraulic unit 104, and the brake master cylinder 1041 is decoupled from the master cylinder 1042; the brake master cylinder 1041 is provided with a master cylinder push rod 101, that is, the master cylinder push rod 101 acts on the brake master cylinder 1041; the master cylinder push rod 101 is provided with a travel sensor 4; the driving cylinder 1042 is provided with a motor 103, i.e. the motor 103 acts on the driving cylinder 1042; the integrated electro-hydraulic brake electromagnetic valve, the stroke sensor 4 and the motor 103 are electrically connected with the controller 14, and the stroke sensor 4 can transmit the stroke information of the main cylinder push rod 101 to the controller 14 in real time;
the hydraulic cylinder 2 is a two-cavity piston hydraulic cylinder and comprises a hydraulic cylinder push rod 201, a first cavity 202 and a second cavity 203, wherein the hydraulic cylinder push rod 201 is connected with the main cylinder push rod 101 and can drive the main cylinder push rod 101 to horizontally move left and right; the cylinder push rod 201 divides the inner cavity of the cylinder 2 into a first cavity 202 and a second cavity 203;
the first electromagnetic valve 3 is a three-position four-way electromagnetic valve and is electrically connected with the controller 14; when the first electromagnetic valve 3 is in a power-off state, the first electromagnetic valve is switched to an intermediate working position, and at the moment, the two inlets of the first electromagnetic valve are communicated with each other; when the position A is switched, the two inlets are communicated with the corresponding outlets, and when the position B is switched, the two inlets are communicated with the outlets in a crossing way; two outlets of the first electromagnetic valve 3 are respectively communicated with the first cavity 202 and the second cavity 203 through pipelines, two inlets are respectively connected with the hydraulic motor 5 and the hydraulic oil drum through pipelines, and the hydraulic motor 5 is electrically connected with the controller 14; the first solenoid valve 3 is capable of controlling the operating mode of the hydraulic cylinder 2;
the brake wheel cylinders comprise an FR brake wheel cylinder 7, an FL brake wheel cylinder 8, an RR brake wheel cylinder 9 and an RL brake wheel cylinder 10, liquid inlets of the four brake wheel cylinders are communicated with four outlets of the integrated electrohydraulic brake 1 through pipelines, liquid outlets are communicated with liquid inlets of the flow dividing and collecting valve 11 through pipelines, and liquid outlets of the flow dividing and collecting valve 11 are communicated with an inlet of the second electromagnetic valve 12;
the second electromagnetic valve 12 is a high-flow two-position two-way normally-closed switch valve, which is electrically connected with the controller 14 and is in a normally-closed state when power is off; the outlet of the second solenoid valve 12 is connected to the liquid storage tank 102 via a pipeline, and a bubble detector is further connected to the corresponding liquid outlet pipeline, and the bubble detector is electrically connected to the controller 14.
In order to further optimize the technical scheme of the embodiment, the pipeline that the hydraulic motor 5 is connected with the first electromagnetic valve 3 is also connected with an overflow valve 6, the safe pressure can be set to prevent the overload of the loop of the hydraulic cylinder 2, and the liquid inlet of the hydraulic motor 5 and the liquid outlet of the overflow valve 6 are both communicated with the hydraulic oil drum.
In order to further optimize the technical solution of the foregoing embodiment, as shown in fig. 2, a first hydraulic pipeline 1045, a second hydraulic pipeline 1046 and a third hydraulic pipeline 1047 are connected to the liquid storage tank 102, the liquid storage tank 102 is respectively communicated with the master cylinder 1042 and the brake wheel cylinder through the first hydraulic pipeline 1045, the liquid storage tank 102 is respectively communicated with the brake master cylinder 1041 through the second hydraulic pipeline 1046 and the third hydraulic pipeline 1047, the brake master cylinder 1041 is respectively communicated with the brake wheel cylinder through a fourth hydraulic pipeline 1048, and the brake master cylinder 1041 is respectively communicated with the master cylinder 1042 and the brake wheel cylinder through a fifth hydraulic pipeline 1049.
In order to further optimize the solution of the above embodiment, the bubble detector is an ultrasonic bubble detector 13. The ultrasonic bubble detector 13 is a sensor specially used for bubble detection in a hydraulic line, taking advantage of the characteristic that the acoustic impedances of air and water differ greatly. The ultrasonic bubble detector 13 is used for detecting whether bubbles exist in a pipeline connected with the liquid outlet of the second electromagnetic valve 12, and transmitting result information to the controller 14 in real time.
In order to further optimize the technical scheme of the embodiment, a filter 17 is further connected between the pipelines of the second electromagnetic valve 12 and the liquid storage tank 102, and the hydraulic oil flowing out of the second electromagnetic valve 12 can flow back to the liquid storage tank 102 through the liquid outlet pipeline after being filtered by the filter 17, so that the hydraulic oil is automatically replenished in the automatic exhaust process.
In order to further optimize the technical scheme of the embodiment, the controller 14 drives the relevant actuator in the integrated electrohydraulic brake 1 to work through the driver 16 connected with the controller, and the controller 14 and the actuator are powered by the 12V direct current power supply 15.
To further optimize the solution of the above embodiment, the controller 14 uses MicroAutobox II 1401/1512 from Dspace, and the driver 16 uses RapidPro from Dspace.
In this embodiment, the controller 14 adopts the product of MicroAutobox II 1401/1512 of Dspace company, and is powered by a 12V DC power supply 15, so as to collect the displacement signal of the main cylinder push rod 101 of the travel sensor 4 and the information of the ultrasonic bubble detector 13 in real time, and after processing, the controller sends PWM instructions to control the operation of the first electromagnetic valve 3 and the second electromagnetic valve 12 through program logic. Meanwhile, the controller 14 can also send a motor 103 of the integrated electrohydraulic brake 1 and a pwm control signal of an electromagnetic valve pwm of the integrated electrohydraulic brake to the driver 16, and drive the relevant actuator to work through the driver 16.
The driver 16 adopts the RapidPro product of Dspace company, and is powered by a 12V direct current power supply 15, so that a signal level control instruction sent by the controller 14 can be amplified into a power level and drive the motor 103 and the electromagnetic valve in the integrated electro-hydraulic brake 1 to work. The driver 16 may also send feedback signals such as current to the controller 14 to implement closed loop feedback control.
As shown in the overall structure schematic diagram of the integrated electronic control brake system in fig. 2, when the pedal is depressed in the power-off state, hydraulic oil in the dual chambers of the brake master cylinder 1041 is pushed to flow into four brake cylinders from two circuits respectively, and during this period, the hydraulic oil passes through the brake master cylinder isolation valves 1043 of the two circuits and the liquid inlet valves of the four wheel cylinders. However, since the two cylinder suction valves 1044 at the outlet of the cylinder 1042 are closed, complete exhaust of the cylinder 1042 and part of the piping cannot be achieved. If the two cylinder suction valves 1044 at the outlet of the cylinder 1042 are opened when the pedal is depressed, the two circuits are connected in the middle, and the air in the cylinder 1042 and part of the pipeline cannot be exhausted due to the fact that the pressures of the two circuits are basically consistent. If the two master cylinder suction valves 1044 at the outlet of the master cylinder 1042 are opened and then the motor 103 is controlled to operate, the master cylinder 1041 and part of the air in the pipeline cannot be purged because the master cylinder 1042 directly draws hydraulic oil from the reservoir 102. Therefore, only by designing a combined exhaust strategy, the air in the integrated electro-hydraulic brake system can be exhausted by exhausting the related pipelines of the brake master cylinder 1041 and the related pipelines of the master cylinder 1042. The automatic exhaust device of the integrated electro-hydraulic braking system in the embodiment realizes the function, and the automatic exhaust method thereof, as shown in fig. 3, comprises the following steps:
step one: the Matlab/Simulink software is opened in the upper computer to compile the program, and the Dspace company control desk software in the upper computer is opened to download the program to the controller 14;
step two: in the power-off state of the integrated electrohydraulic brake 1, the controller 14 controls the hydraulic motor 5 to start working, and simultaneously controls the first electromagnetic valve 3 to switch to the B working position, and the hydraulic cylinder push rod 201 pushes the master cylinder push rod 101 to build pressure for four brake cylinders;
step three: when the stroke sensor 4 detects that the master cylinder push rod 101 reaches the maximum displacement, the controller 14 controls the first electromagnetic valve 3 to switch to the middle working position, and simultaneously, the hydraulic motor 5 is turned off;
step four: the second electromagnetic valve 12 is opened for 0.5 to 1.5 seconds and then closed, and at the same time, the bubble detector detects whether bubbles exist in the liquid outlet pipeline; if bubbles exist, the first electromagnetic valve 3 is controlled to be switched to the working position A, the hydraulic motor 5 is started to enable the hydraulic cylinder 2 to return, the travel sensor 4 detects that the main cylinder push rod 101 returns to the initial position, the first electromagnetic valve 3 and the hydraulic motor 5 are closed, and the second step is switched to; if no bubbles exist, the master cylinder 1041 and related pipelines of the integrated electrohydraulic brake 1 are exhausted, the first electromagnetic valve 3 is controlled to be switched to the working position A, and the hydraulic motor 5 is started to return the hydraulic cylinder 2; after the stroke sensor 4 detects that the main cylinder push rod 101 returns to the initial position, the first electromagnetic valve 3 and the hydraulic motor 5 are closed, and the step five is continued;
step five: the controller 14 sends a control command to control the integrated electrohydraulic brake 1 to close the two master cylinder isolation valves 1043, open the two active cylinder suction valves 1044, and simultaneously control the motor 103 to run to the maximum working position to build pressure for the four brake cylinders;
step six: the second electromagnetic valve 12 is opened for 0.5 to 1.5 seconds and then closed, and at the same time, the bubble detector detects whether bubbles exist in the liquid outlet pipeline; if the air bubbles exist, the controller 14 controls the motor 103 to reach an initial position and then switches to the step five; if no bubbles exist, the exhaust of the active cylinder 1042 and the related pipelines of the integrated electrohydraulic brake 1 is completed, and the seventh step is continued;
step seven: closing all the devices, and completing automatic exhaust of the integrated electrohydraulic brake system.
According to the automatic exhaust device and the exhaust method for the integrated electro-hydraulic braking system, provided by the invention, the problem that the air of a hydraulic pipeline is difficult to exhaust due to decoupling of the brake master cylinder 1041 and the active cylinder 1042 of the integrated electro-hydraulic braking system is solved, the automatic complete exhaust of the integrated electro-hydraulic braking system is realized by controlling the hydraulic cylinder 2, the motor 103 and the electromagnetic valve of the integrated electro-hydraulic brake, and a perfect solution is provided for the automatic exhaust of the integrated electro-hydraulic braking system which is completely decoupled.
The invention precisely controls the state of the three-position four-way electromagnetic valve according to the displacement of the main cylinder push rod 101, and prevents the overload of the system by arranging the overflow valve 6, thereby having higher safety. According to the invention, the hydraulic motor 5 drives the hydraulic cylinder 2 to work to replace a pedal to exhaust the circuit of the brake master cylinder 1041, so that the personnel use and the manpower loss can be reduced, and in addition, the hydraulic cylinder 2 can realize larger braking strength, so that the exhaust is faster and more thorough. The invention realizes thorough exhaust of the inside of the integrated brake by controlling the motor 103 and the electromagnetic valve in the integrated electro-hydraulic brake system to work together with the exhaust device and utilizing the pressure built by the motor 103 to exhaust the loop of the active cylinder 1042. According to the invention, the brake fluid sent out by the four wheel cylinders is converged by the flow dividing and collecting valve 11, and the ultrasonic bubble detector 13 is used for detecting the pipeline bubbles, so that accurate unified control and detection can be realized, the system cost is saved, and the exhaust efficiency is improved. According to the invention, hydraulic oil discharged by the brake cylinder is directly introduced into the liquid storage tank 102 through the pipeline after being filtered, and brake liquid is not required to be added in the whole exhaust process, so that the two problems that the brake liquid cannot be recycled and sprayed out of the brake liquid pollutes the ground are solved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An automatic exhaust device of an integrated electro-hydraulic brake system, which is used for exhausting a brake master cylinder (1041) and a driving cylinder (1042) loop of a decoupled integrated brake system respectively, comprising: the integrated electrohydraulic brake comprises an integrated electrohydraulic brake (1), a hydraulic cylinder (2), a first electromagnetic valve (3), a stroke sensor (4), a hydraulic motor (5), a brake cylinder, a flow dividing and collecting valve (11), a second electromagnetic valve (12), a bubble detector and a controller (14);
the integrated electrohydraulic brake (1) comprises a hydraulic unit (104), a liquid storage tank (102), a main cylinder push rod (101) and a motor (103), wherein the liquid storage tank (102) is arranged at the upper part of the hydraulic unit (104); a brake master cylinder (1041), a driving cylinder (1042), a plurality of integrated electro-hydraulic brake electromagnetic valves and hydraulic pipelines are integrated in the hydraulic unit (104), and the brake master cylinder (1041) is decoupled from the driving cylinder (1042); a master cylinder push rod (101) is assembled on the brake master cylinder (1041), a travel sensor (4) is arranged on the master cylinder push rod (101), and a motor (103) is assembled on the driving cylinder (1042); the electromagnetic valve of the integrated electrohydraulic brake, the stroke sensor (4) and the motor (103) are electrically connected with the controller (14);
the hydraulic cylinder (2) is a two-cavity piston hydraulic cylinder and comprises a hydraulic cylinder push rod (201), a first cavity (202) and a second cavity (203), wherein the hydraulic cylinder push rod (201) is connected with the main cylinder push rod (101) and can drive the main cylinder push rod (101) to horizontally move left and right; the hydraulic cylinder push rod (201) divides the inner cavity of the hydraulic cylinder (2) into a first cavity (202) and a second cavity (203);
the first electromagnetic valve (3) is a three-position four-way electromagnetic valve and is electrically connected with the controller (14); when the first electromagnetic valve (3) is in a power-off state, the first electromagnetic valve is switched to an intermediate working position, and at the moment, the two inlets of the first electromagnetic valve are communicated with each other in the middle; when the position A is switched, the two inlets are communicated with the corresponding outlets, and when the position B is switched, the two inlets are communicated with the outlets in a crossing way; two outlets of the first electromagnetic valve (3) are respectively communicated with the first cavity (202) and the second cavity (203) through pipelines, two inlets are respectively connected with the hydraulic motor (5) and the hydraulic oil drum through pipelines, and the hydraulic motor (5) is electrically connected with the controller (14);
the brake wheel cylinders comprise FR brake wheel cylinders (7), FL brake wheel cylinders (8), RR brake wheel cylinders (9) and RL brake wheel cylinders (10), liquid inlets of the four brake wheel cylinders are communicated with four outlets of the integrated electrohydraulic brake (1) through pipelines, liquid outlets of the four brake wheel cylinders are communicated with liquid inlets of the flow dividing and collecting valve (11) through pipelines, and liquid outlets of the flow dividing and collecting valve (11) are communicated with an inlet of the second electromagnetic valve (12);
the second electromagnetic valve (12) is a high-flow two-position two-way normally-closed switch valve, is electrically connected with the controller (14), and is in a normally-closed state when power is off; the outlet of the second electromagnetic valve (12) is communicated with the liquid storage tank (102) through a pipeline, a bubble detector is also connected in the pipeline between the second electromagnetic valve (12) and the liquid storage tank (102), and the bubble detector is electrically connected with the controller (14);
the exhaust method of the automatic exhaust device of the integrated electro-hydraulic brake system comprises the following steps:
step one: compiling and loading the program into the controller (14);
step two: in the power-off state of the integrated electrohydraulic brake (1), the controller (14) controls the hydraulic motor (5) to start working, and simultaneously controls the first electromagnetic valve (3) to switch to the B working position, and the hydraulic cylinder push rod (201) pushes the master cylinder push rod (101) to build pressure for four brake cylinders;
step three: when the stroke sensor (4) detects that the main cylinder push rod (101) reaches the maximum displacement, the controller (14) controls the first electromagnetic valve (3) to be switched to the middle working position, and simultaneously, the hydraulic motor (5) is closed;
step four: opening a second electromagnetic valve (12), closing after lasting 0.5-1.5s, and detecting whether bubbles exist in the liquid outlet pipeline by a bubble detector; if bubbles exist, the first electromagnetic valve (3) is controlled to be switched to the working position A, the hydraulic motor (5) is started to enable the hydraulic cylinder (2) to return, the stroke sensor (4) detects that the main cylinder push rod (101) returns to the initial position, the first electromagnetic valve (3) and the hydraulic motor (5) are closed, and the second step is switched; if no bubbles exist, the master cylinder (1041) of the integrated electrohydraulic brake (1) and related pipelines are exhausted, the first electromagnetic valve (3) is controlled to be switched to the working position A, and the hydraulic motor (5) is started to return the hydraulic cylinder (2); when the stroke sensor (4) detects that the main cylinder push rod (101) returns to the initial position, the first electromagnetic valve (3) and the hydraulic motor (5) are closed, and the fifth step is continuously carried out;
step five: the controller (14) sends a control instruction to control the integrated electrohydraulic brake (1) to close two brake master cylinder isolation valves (1043), open two active cylinder suction valves (1044), and simultaneously control the motor (103) to run to the maximum working position to build pressure for four brake cylinders;
step six: opening a second electromagnetic valve (12), closing after lasting 0.5-1.5s, and detecting whether bubbles exist in the liquid outlet pipeline by a bubble detector; if the air bubbles exist, the controller (14) controls the motor (103) to an initial position and then switches to the step five; if no bubbles exist, the active cylinder (1042) of the integrated electrohydraulic brake (1) and related pipelines are exhausted, and the step seven is continued;
step seven: closing all the devices, and completing automatic exhaust of the integrated electrohydraulic brake system.
2. The automatic exhaust device of the integrated electro-hydraulic braking system according to claim 1, wherein an overflow valve (6) is further connected to a pipeline connected with the first electromagnetic valve (3) by the hydraulic motor (5), and a liquid inlet of the hydraulic motor (5) and a liquid outlet of the overflow valve (6) are both communicated with the hydraulic oil drum.
3. The automatic exhaust device of an integrated electro-hydraulic brake system according to claim 1, wherein a first hydraulic pipeline (1045), a second hydraulic pipeline (1046) and a third hydraulic pipeline (1047) are connected to the liquid storage tank (102), the liquid storage tank (102) is respectively communicated with the driving cylinder (1042) and the brake wheel cylinder through the first hydraulic pipeline (1045), the liquid storage tank (102) is respectively communicated with the brake master cylinder (1041) through the second hydraulic pipeline (1046) and the third hydraulic pipeline (1047), the brake master cylinder (1041) is respectively communicated with the brake wheel cylinder through a fourth hydraulic pipeline (1048), and the brake master cylinder (1041) is respectively communicated with the driving cylinder (1042) and the brake wheel cylinder through a fifth hydraulic pipeline (1049).
4. The automatic exhaust device of an integrated electro-hydraulic brake system according to claim 1, characterized in that the bubble detector is an ultrasonic bubble detector (13).
5. The automatic exhaust device of the integrated electro-hydraulic brake system according to claim 1, wherein a filter (17) is further connected between the second electromagnetic valve (12) and the pipeline communicated with the liquid storage tank (102).
6. The automatic exhaust device of an integrated electro-hydraulic brake system according to any one of claims 1-5, wherein the controller (14) drives the relevant actuator in the integrated electro-hydraulic brake (1) to work through a driver (16) connected with the controller, and the controller (14) and the actuator are powered by a 12V direct current power supply (15).
7. The automatic exhaust device of an integrated electro-hydraulic brake system according to claim 6, wherein the controller (14) is a microsobox ii 1401/1512 product from Dspace corporation, and the driver (16) is a RapidPro product from Dspace corporation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113147705B (en) * | 2021-06-04 | 2022-05-27 | 吉林大学 | Brake system for unmanned vehicle |
| CN113212402B (en) * | 2021-06-23 | 2022-02-11 | 中国第一汽车股份有限公司 | Integrated braking system and integrated braking system control method |
| CN114435333A (en) * | 2022-03-11 | 2022-05-06 | 东风汽车集团股份有限公司 | Device and method for monitoring exhaust effect of brake pipeline |
| CN115949884A (en) * | 2023-01-03 | 2023-04-11 | 中冶赛迪技术研究中心有限公司 | Refueling system |
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