CN113104011B - Footboard sensation simulator with changeable footboard sensation - Google Patents

Footboard sensation simulator with changeable footboard sensation Download PDF

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Publication number
CN113104011B
CN113104011B CN202110540471.1A CN202110540471A CN113104011B CN 113104011 B CN113104011 B CN 113104011B CN 202110540471 A CN202110540471 A CN 202110540471A CN 113104011 B CN113104011 B CN 113104011B
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China
Prior art keywords
piston
pedal
electromagnetic valve
spring
cylinder
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Expired - Fee Related
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CN202110540471.1A
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Chinese (zh)
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CN113104011A (en
Inventor
朱冰
张学思
赵健
张伊晗
靳万里
康宇
姜泓屹
刘彦辰
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/06—Disposition of pedal

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Braking Elements And Transmission Devices (AREA)

Abstract

The invention relates to a pedal feel simulator with variable pedal feel, which comprises a simulation cylinder, a first piston, a second piston, a third piston, a fourth piston, a fifth piston, a first spring, a second spring, a third spring, a pedal cylinder, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, an Electronic Control Unit (ECU) and a pedal displacement sensor, wherein the simulation cylinder is connected with the first piston and the second piston; the pedal feeling simulator with the variable pedal feeling comprises three pedal feeling modes, is simple in structure and can provide good pedal feeling, springs are mainly used as elements for generating pedal feedback force, the pedal feeling at different braking stages is simulated through different spring combinations, the on-off of a hydraulic circuit can be controlled through the on-off of an electromagnetic valve, different pedal feelings are realized through different combinations of the springs in a working state, and a driver can select different pedal feeling modes according to own driving habits, so that better driving experience is achieved.

Description

Footboard sensation simulator with changeable footboard sensation
Technical Field
The invention relates to a pedal feel simulator, in particular to a multi-mode pedal feel simulator with variable pedal feel.
Background
With the development of automobile electromotion and intellectualization, more and more automobiles adopt a brake-by-wire system to replace a traditional brake system adopting a vacuum booster. In the brake-by-wire system, an electronic control unit ECU receives a signal of a pedal stroke sensor, controls a brake motor to rotate according to the signal, and pushes a piston to generate brake pressure. The brake-by-wire system is simple in structure, has higher response speed and better controllability compared with the traditional brake system, and is an advanced development direction of the brake system.
The brake pedal of the brake-by-wire system is decoupled from the brake hydraulic circuit, so that the regenerative braking function can be conveniently realized. However, also in this case, the brake-by-wire system cannot provide the driver with the brake pedal feel through the brake hydraulic circuit, which is disadvantageous for the driver to operate the vehicle, and thus the pedal feel simulator is required to provide a feedback force to ensure the driver's foot feel. However, the pedal feeling simulators can simulate a single pedal feeling, lack variations, cannot selectively select a proper pedal feeling, and cannot well match drivers with different driving habits.
Disclosure of Invention
The invention aims to solve the technical problems and provides a pedal feel simulator with variable pedal feel, which comprises a simulation cylinder, a first piston, a second piston, a third piston, a fourth piston, a fifth piston, a first spring, a second spring, a third spring, a pedal cylinder, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, an Electronic Control Unit (ECU) and a pedal displacement sensor, wherein the simulation cylinder is connected with the first piston, the second piston, the third piston, the fourth piston, the fifth piston, the first spring, the second spring, the third spring, the pedal cylinder, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the Electronic Control Unit (ECU) and the pedal displacement sensor; the simulation cylinder comprises a first cavity and a second cavity, and the first cavity is communicated with the second cavity and provided with a channel;
the first piston, the second piston and the third piston are sequentially arranged in a first cavity of the simulation cylinder, a convex shoulder is arranged on a cavity between the second piston and the first piston, the second piston is initially abutted against the convex shoulder, a through hole and a concave surface are arranged in the middle of the second piston, the first spring penetrates through the through hole of the second piston, and two ends of the first spring are respectively abutted against the first piston and the third piston; the second spring is sleeved outside the first spring, and two ends of the second spring are respectively abutted against the second piston and the third piston; a distance is reserved between the first piston and the second piston in the initial stage;
the fourth piston and the fifth piston are sequentially arranged in a second cavity of the simulation cylinder, a sleeve extending to one side of the third piston is arranged in the middle of the fourth piston, the sleeve is communicated with a through hole in the fourth piston, the sleeve can penetrate through a channel between the first cavity and the second cavity of the simulation cylinder and is abutted to the third piston, a push rod is arranged on one side of the fifth piston, and the push rod sequentially penetrates through the sleeve of the fourth piston and the channel between the first cavity and the second cavity of the simulation cylinder and is abutted to the third piston; a convex shoulder is arranged at a channel between the first cavity and the second cavity of the simulation cylinder, a third spring is sleeved outside a sleeve of the fourth piston, and two ends of the third spring are respectively abutted against the convex shoulder and the fourth piston; a distance is reserved between a sleeve of the fourth piston and the third piston in the initial stage, and a distance is reserved between the fifth piston and the fourth piston;
a first hydraulic cavity is formed between the first piston and the simulation cylinder, a first liquid inlet is formed in the cylinder body corresponding to the first hydraulic cavity, and a liquid outlet of the pedal cylinder is communicated with the first liquid inlet through a first pipeline; a second hydraulic cavity is formed between the fourth piston and the fifth piston, a second liquid inlet is formed in the cylinder body corresponding to the second hydraulic cavity, and a liquid outlet of the pedal cylinder is communicated with the second liquid inlet through a second pipeline; a third hydraulic cavity is formed between the fifth piston and the simulation cylinder, a third liquid inlet is formed in the cylinder body corresponding to the third hydraulic cavity, and a liquid outlet of the pedal cylinder is communicated with the third liquid inlet through a third pipeline;
the first electromagnetic valve is arranged on the first pipeline, the second electromagnetic valve is arranged on the second pipeline, the third electromagnetic valve is arranged on the third pipeline, and the electronic control unit ECU is respectively connected with the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve through lines;
the pedal displacement sensor is connected with the pedal push rod, and the electronic control unit ECU is connected with the pedal displacement sensor through a circuit.
The brake pedal is pivoted with a pedal push rod which is connected with the pedal piston, a pedal hydraulic cavity is formed between the pedal piston and the pedal cylinder, the fourth spring is arranged in the pedal hydraulic cavity, and a liquid outlet is formed in a pedal cylinder body corresponding to the pedal hydraulic cavity.
The first electromagnetic valve is a normally open electromagnetic valve, and the second electromagnetic valve and the third electromagnetic valve are normally closed electromagnetic valves.
And a sealing ring is arranged on the inner ring of the through hole of the fourth piston and is in sealing connection with the push rod of the fifth piston.
A first limiting block which limits the second piston and the third piston is arranged between the second piston and the third piston and on the inner wall of the cylinder body of the simulation cylinder; and a second limiting block which has a limiting effect on the fifth piston is arranged on the inner wall of the simulation cylinder body corresponding to the third hydraulic cavity.
Cushion pads are respectively arranged on one side of the first piston facing the first hydraulic cavity, one side of the second piston facing the first piston, two sides of the first limiting block, the tail end of the sleeve of the fourth piston, the tail end of the push rod of the fifth piston, one side of the fifth piston facing the fourth piston and one side of the second limiting block facing the fifth piston.
The pedal hydraulic cavity of the pedal cylinder is connected with the liquid storage tank through a pipeline, and one side of the pedal piston, which faces the pedal push rod, is provided with a cushion pad.
The simulation cylinder of the pedal feel simulator with variable pedal feel comprises three pedal feel modes:
the first mode is as follows:
the electronic control unit ECU controls the first electromagnetic valve to be opened, the second electromagnetic valve and the third electromagnetic valve to be closed, brake fluid flows through the first pipeline and the first liquid inlet from a pedal hydraulic cavity of the pedal cylinder, flows into the first hydraulic cavity to push the first piston to move, the first stage compresses the first spring, and the slope of the feedback force is the rigidity k1 of the first spring; the first piston continues to move into contact with the concave surface of the second piston to begin a second phase while compressing the first and second springs, the feedback force slope being the sum of the stiffness of the first and second springs and k1+ k 2;
and a second mode:
the electronic control unit ECU controls the second electromagnetic valve to be opened, the first electromagnetic valve and the third electromagnetic valve are closed, brake fluid flows through a second pipeline and a second liquid inlet from a pedal hydraulic cavity of the pedal cylinder, flows into the second hydraulic cavity to push the fourth piston to move, the third spring is compressed in the first stage, and the slope of the feedback force is the rigidity k3 of the third spring; the fourth piston continues to move to the point where the sleeve passes through the passage between the first chamber and the second chamber of the analog cylinder to contact the third piston, initiating a second phase while compressing the first, second, and third springs, the feedback force slope being the stiffness of the first, second, and third springs and k1+ k2+ k 3;
and a third mode:
the electronic control unit ECU controls the third electromagnetic valve to be opened, the first electromagnetic valve and the second electromagnetic valve are closed, brake fluid flows through a third pipeline and a third fluid inlet from a pedal hydraulic cavity of the pedal cylinder, flows into the third hydraulic cavity to push the fifth piston to move, in the first stage, the fifth piston pushes the third piston to move and simultaneously compresses the first spring and the second spring, and the slope of the feedback force is the sum of the stiffness of the first spring and the stiffness of the second spring and k1+ k 2; the fifth piston continues to move into abutment with the fourth piston, initiating a second phase while compressing the first, second and third springs, with a feedback force slope of the stiffness of the first, second and third springs and k1+ k2+ k 3.
The invention has the beneficial effects that:
the invention provides a multi-mode switchable pedal feeling simulator with variable pedal feeling, which has a simple structure and can provide good pedal feeling, springs are mainly used as elements for generating pedal feedback force, pedal feeling at different braking stages is simulated through different spring combinations, the on-off of a hydraulic circuit can be controlled through the on-off of an electromagnetic valve, different pedal feeling is realized through different combinations of the springs in a working state, and a driver can select different pedal feeling modes according to own driving habits, so that better driving experience is achieved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a simulated cylinder according to the present invention;
FIG. 3 is a schematic diagram of pedal feel feedback provided by the simulated cylinder in various modes of the present invention.
1. Simulation cylinder
101. A first piston 102, a second piston 103, a third piston 104, a fourth piston
105. A fifth piston 106, a first spring 107, a second spring 108, a third spring
109. Concave surface
2. Pedal cylinder 3, first solenoid valve 4, second solenoid valve 5, third solenoid valve
6. An electronic control unit ECU 7, a pedal displacement sensor 8, a first cavity 9 and a second cavity
10. Sleeve 11, push rod 12, first hydraulic cavity 13, first liquid inlet 14 and first pipeline
15. A second hydraulic cavity 16, a second liquid inlet 17, a second pipeline 18 and a third hydraulic cavity
19. A third liquid inlet 20, a third pipeline 21, a pedal piston 22 and a fourth spring
23. Brake pedal 24, pedal push rod 25, pedal hydraulic cavity 26 and first limiting block
27. A second limit block 28, a cushion pad 29, a seal ring 30 and a liquid storage tank.
Detailed Description
Please refer to fig. 1-3:
in order to solve the technical problems, the invention provides a pedal feel simulator with variable pedal feel, which comprises a simulation cylinder 1, a first piston 101, a second piston 102, a third piston 103, a fourth piston 104, a fifth piston 105, a first spring 106, a second spring 107, a third spring 108, a pedal cylinder 2, a first electromagnetic valve 3, a second electromagnetic valve 4, a third electromagnetic valve 5, an electronic control unit ECU6 and a pedal displacement sensor 7; the simulation cylinder 1 comprises a first cavity 8 and a second cavity 9, and a communicated channel is arranged between the first cavity 8 and the second cavity 9;
the first piston 101, the second piston 102 and the third piston 103 are sequentially arranged in the first cavity 8 of the simulation cylinder 1 from left to right (the left and the right are only used for description with reference to the attached drawings, and the same is below), a shoulder is arranged on a cavity between the second piston 102 and the first piston 101, the second piston 102 is initially abutted against the shoulder, a through hole and a concave surface 109 with the same diameter as the shoulder are arranged in the middle of the second piston, and the limiting function is achieved on the first piston 101; the first spring 106 passes through the through hole of the second piston 102, and both ends of the first spring are respectively abutted against the first piston 101 and the third piston 103; the second spring 107 is sleeved outside the first spring 106, and two ends of the second spring are respectively abutted against the second piston 102 and the third piston 103; a certain distance of idle stroke is reserved between the first piston 101 and the second piston 102 in the initial stage;
the fourth piston 104 and the fifth piston 105 are sequentially arranged in the second cavity 9 of the simulation cylinder 1 from left to right, a sleeve 10 extending to one side of the third piston 103 is arranged in the middle of the fourth piston 104, the sleeve 10 is communicated with a through hole in the middle of the fourth piston 104, the sleeve 10 can penetrate through a channel between the first cavity 8 and the second cavity 9 of the simulation cylinder 1 to be abutted against the third piston 103, and a distance idle stroke is reserved between the sleeve 10 of the fourth piston 104 and the third piston 103 in the initial stage; a push rod 11 is arranged on one side of the fifth piston 105, and the push rod 11 sequentially passes through a sleeve 10 of the fourth piston 104 and a channel between the first cavity 8 and the second cavity 9 of the simulation cylinder 1 and is abutted against the third piston 103; a shoulder is arranged at the passage between the first cavity 8 and the second cavity 9 of the simulation cylinder 1, the third spring 108 is sleeved outside the sleeve 10 of the fourth piston 104, and two ends of the third spring are respectively abutted against the shoulder and the fourth piston 104; a certain distance of idle stroke is reserved between the fifth piston 105 and the fourth piston 104 in the initial stage;
a first hydraulic cavity 12 is formed between the first piston 101 and the simulation cylinder 1, a first liquid inlet 13 is formed in the left end part of the cylinder body of the simulation cylinder 1 corresponding to the first hydraulic cavity 12, and a liquid outlet of the pedal cylinder 2 is communicated with the first liquid inlet 13 through a first pipeline 14; a second hydraulic cavity 15 is formed between the fourth piston 104 and the fifth piston 105, a second liquid inlet 16 is formed in the side wall of the simulation cylinder 1 corresponding to the second hydraulic cavity 15, and a liquid outlet of the pedal cylinder 2 is communicated with the second liquid inlet 16 through a second pipeline 17; a third hydraulic cavity 18 is formed between the fifth piston 105 and the simulation cylinder 1, a third liquid inlet 19 is formed in the right end part of the cylinder body of the simulation cylinder 1 corresponding to the third hydraulic cavity 18, and a liquid outlet of the pedal cylinder 2 is communicated with the third liquid inlet 19 through a third pipeline 20;
the first electromagnetic valve 3 is arranged on the first pipeline 14, the second electromagnetic valve 4 is arranged on the second pipeline 17, the third electromagnetic valve 5 is arranged on the third pipeline 20, and the electronic control unit ECU6 is respectively connected with the first electromagnetic valve 3, the second electromagnetic valve 4 and the third electromagnetic valve 5 through lines to control the on-off of the first electromagnetic valve 3, the second electromagnetic valve 4 and the third electromagnetic valve 5;
the pedal displacement sensor 7 is connected with a pedal push rod 24 and is used for detecting the displacement of the pedal push rod 24; the electronic control unit ECU6 is connected to the pedal displacement sensor 7 through a line, and the pedal displacement sensor 7 transmits the collected displacement data of the brake pedal 23 to the electronic control unit ECU 6.
The pedal cylinder 2 is internally provided with a pedal piston 21 and a fourth spring 22, the brake pedal 23 is pivoted with a pedal push rod 24, the pedal push rod 24 is connected with the pedal piston 21, a pedal hydraulic cavity 25 is formed between the pedal piston 21 and the pedal cylinder 2, the fourth spring 22 is arranged in the pedal hydraulic cavity 25, and a liquid outlet is formed in a cylinder body of the pedal cylinder 2 corresponding to the pedal hydraulic cavity 25.
The first electromagnetic valve 3 is a normally open electromagnetic valve, and the second electromagnetic valve 4 and the third electromagnetic valve 5 are normally closed electromagnetic valves.
The inner ring of the through hole of the fourth piston 104 is provided with a sealing ring 29 which is connected with the push rod 11 of the fifth piston 105 in a sealing way.
A first limiting block 26 which limits the second piston 102 and the third piston 103 is arranged between the second piston 102 and the third piston 103 and on the inner wall of the cylinder body of the simulation cylinder 1; the inner wall of the cylinder body of the simulation cylinder 1 corresponding to the third hydraulic chamber 18 is provided with a second limiting block 27 which limits the fifth piston 105.
Cushion pads 28 are respectively arranged on the side of the first piston 101 facing the first hydraulic pressure chamber 12, the side of the second piston 102 facing the first piston 101, both sides of the first stopper 26, the end of the sleeve 10 of the fourth piston 104, the end of the push rod 11 of the fifth piston 105, the side of the fifth piston 105 facing the fourth piston 104, and the side of the second stopper 27 facing the fifth piston 105.
The pedal hydraulic chamber 25 of the pedal cylinder 2 is connected with the reservoir tank 30 through a pipeline, and the reservoir tank 30 supplements the brake fluid to the pedal cylinder 2. The fourth spring 22 in the pedal cylinder 2 has a stiffness of k4, resulting in a feedback force with a fixed slope k 4. The side of the pedal piston 21 facing the pedal push rod 24 is provided with a cushion pad 28.
The simulation cylinder 1 of the pedal feel simulator with variable pedal feel according to the present invention includes three pedal feel modes:
the first mode is as follows:
the electronic control unit ECU6 controls the first electromagnetic valve 3 to be powered off and opened, the second electromagnetic valve 4 and the third electromagnetic valve 5 to be powered off and closed, brake fluid flows from the pedal hydraulic chamber 25 of the pedal cylinder 2 through the first pipeline 14 and the first liquid inlet 13, flows into the first hydraulic chamber 12 to push the first piston 101 to move rightwards, the first stage compresses the first spring 106, and the slope of the feedback force is the stiffness k1 of the first spring 106; the first piston 101 continues to move to the right overcoming the lost motion to contact the concave surface 109 of the second piston 102, initiating the second phase while compressing the first spring 106 and the second spring 107, the feedback force slope being the sum of the stiffness of the first spring 106 and the second spring 107 and k1+ k 2;
and a second mode:
the electronic control unit ECU6 controls the second electromagnetic valve 4 to be electrified and opened, the first electromagnetic valve 3 to be electrified and closed, the third electromagnetic valve 5 to be powered and closed, brake fluid flows from the pedal hydraulic cavity 25 of the pedal cylinder 2 through the second pipeline 17 and the second liquid inlet 16, flows into the second hydraulic cavity 15 to push the fourth piston 104 to move leftwards, the third spring 108 is compressed in the first stage, and the slope of the feedback force is the rigidity k3 of the third spring 108; the fourth piston 104 continues to move to the left until the sleeve 10 contacts the third piston 103 through the passage between the first chamber 8 and the second chamber 9 of the simulation cylinder 1 against the lost motion, starting the second phase while compressing the first spring 106, the second spring 107 and the third spring 108, the feedback force slope being the stiffness of the first spring 106, the second spring 107 and the third spring 108 and k1+ k2+ k 3;
and a third mode:
the electronic control unit ECU6 controls the third electromagnetic valve 5 to be powered on and opened, the first electromagnetic valve 3 to be powered off and closed, the brake fluid flows from the pedal hydraulic chamber 25 of the pedal cylinder 2 through the third pipeline 20 and the third fluid inlet 19, flows into the third hydraulic chamber 18 to push the fifth piston 105 to move leftwards, in the first stage, the push rod 11 of the fifth piston 105 pushes the third piston 103 to move leftwards and simultaneously compresses the first spring 106 and the second spring 107, and the feedback force slope is 1+ k 2; the fifth piston 105 continues to move against the lost motion into abutment with the fourth piston 104, initiating the second phase while compressing the first, second and third springs 106, 107, 108, with a feedback force slope of the stiffness of the first, second and third springs 106, 107, 108 and k1+ k2+ k 3.
The stiffness k4 of the fourth spring 22 is set to be small, with a fixed slope of the resulting feedback force, which in combination with the three modes of the simulator cylinder 1 results in three different pedal feel simulator operating modes. When the stiffness of the first spring 106, the second spring 107, and the third spring 108 satisfies k1+ k2> k3, the pedals for mode one, mode two, and mode three, respectively, feel light, moderate, and hard. Therefore, the driver can select different modes through a mode selection button arranged on the cab operation panel, the electronic control unit ECU6 controls the opening and closing of the electromagnetic valve during braking, and the driver enters the corresponding modes, so that different pedal feelings can be obtained to match the driving habits of the driver.

Claims (6)

1. A variable pedal feel simulator, characterized by: the device comprises a simulation cylinder, a first piston, a second piston, a third piston, a fourth piston, a fifth piston, a first spring, a second spring, a third spring, a pedal cylinder, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, an Electronic Control Unit (ECU) and a pedal displacement sensor; the simulation cylinder comprises a first cavity and a second cavity, and a channel is arranged between the first cavity and the second cavity;
the first piston, the second piston and the third piston are sequentially arranged in a first cavity of the simulation cylinder, a convex shoulder is arranged on a cavity between the second piston and the first piston, the second piston is initially abutted against the convex shoulder, a through hole and a concave surface are arranged in the middle of the second piston, the first spring penetrates through the through hole of the second piston, and two ends of the first spring are respectively abutted against the first piston and the third piston; the second spring is sleeved outside the first spring, and two ends of the second spring are respectively abutted against the second piston and the third piston; the fourth piston and the fifth piston are sequentially arranged in a second cavity of the simulation cylinder, a sleeve extending to one side of the third piston is arranged in the middle of the fourth piston, the sleeve is communicated with a through hole in the fourth piston, a push rod is arranged on one side of the fifth piston, and the push rod sequentially penetrates through the sleeve of the fourth piston and a channel between the first cavity and the second cavity of the simulation cylinder and is abutted against the third piston; a distance idle stroke is reserved between the sleeve of the fourth piston and the third piston in the initial stage; a convex shoulder is arranged at a channel between the first cavity and the second cavity of the simulation cylinder, a third spring is sleeved outside a sleeve of the fourth piston, two ends of the third spring are respectively abutted against the convex shoulder and the fourth piston, and a certain distance of idle stroke is reserved between the fifth piston and the fourth piston in the initial stage;
a first hydraulic cavity is formed between the first piston and the simulation cylinder, a first liquid inlet is formed in the cylinder body corresponding to the first hydraulic cavity, and a liquid outlet of the pedal cylinder is communicated with the first liquid inlet through a first pipeline; a second hydraulic cavity is formed between the fourth piston and the fifth piston, a second liquid inlet is formed in the cylinder body corresponding to the second hydraulic cavity, and a liquid outlet of the pedal cylinder is communicated with the second liquid inlet through a second pipeline; a third hydraulic cavity is formed between the fifth piston and the simulation cylinder, a third liquid inlet is formed in the cylinder body corresponding to the third hydraulic cavity, and a liquid outlet of the pedal cylinder is communicated with the third liquid inlet through a third pipeline;
the first electromagnetic valve is arranged on the first pipeline, the second electromagnetic valve is arranged on the second pipeline, the third electromagnetic valve is arranged on the third pipeline, and the electronic control unit ECU is respectively connected with the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve through lines; the pedal displacement sensor is connected with the pedal push rod, and the electronic control unit ECU is connected with the pedal displacement sensor through a circuit;
a pedal piston and a fourth spring are arranged in the pedal cylinder, the brake pedal is pivoted with a pedal push rod, the pedal push rod is connected with the pedal piston, a pedal hydraulic cavity is formed between the pedal piston and the pedal cylinder, the fourth spring is arranged in the pedal hydraulic cavity, and a liquid outlet is formed in a pedal cylinder body corresponding to the pedal hydraulic cavity; the pedal hydraulic cavity of the pedal cylinder is connected with the liquid storage tank through a pipeline.
2. A variable pedal feel simulator according to claim 1 wherein: the first electromagnetic valve is a normally open electromagnetic valve, and the second electromagnetic valve and the third electromagnetic valve are normally closed electromagnetic valves.
3. A variable pedal feel simulator according to claim 1 wherein: and a sealing ring is arranged on the inner ring of the through hole of the fourth piston and is in sealing connection with the push rod of the fifth piston.
4. A variable pedal feel simulator according to claim 1 wherein: a first limiting block which limits the second piston and the third piston is arranged between the second piston and the third piston and on the inner wall of the cylinder body of the simulation cylinder; and a second limiting block which has a limiting effect on the fifth piston is arranged on the inner wall of the simulation cylinder body corresponding to the third hydraulic cavity.
5. A variable pedal feel simulator according to claim 1 wherein: cushion pads are respectively arranged on one side of the first piston facing the first hydraulic cavity, one side of the second piston facing the first piston, two sides of the first limiting block, the tail end of a sleeve of the fourth piston, the tail end of a push rod of the fifth piston, one side of the fifth piston facing the fourth piston, one side of the second limiting block facing the fifth piston and one side of the pedal piston facing the pedal push rod.
6. A variable pedal feel simulator according to claim 1 wherein: the simulated cylinder includes three pedal feel modes:
the first mode is as follows:
the electronic control unit ECU controls the first electromagnetic valve to be opened, the second electromagnetic valve and the third electromagnetic valve to be closed, brake fluid flows through the first pipeline and the first liquid inlet from a pedal hydraulic cavity of the pedal cylinder, flows into the first hydraulic cavity to push the first piston to move, the first stage compresses the first spring, and the slope of the feedback force is the rigidity k1 of the first spring; the first piston continues to move into contact with the concave surface of the second piston to begin a second phase while compressing the first and second springs, the feedback force slope being the sum of the stiffness of the first and second springs and k1+ k 2;
and a second mode:
the electronic control unit ECU controls the second electromagnetic valve to be opened, the first electromagnetic valve and the third electromagnetic valve are closed, brake fluid flows through a second pipeline and a second liquid inlet from a pedal hydraulic cavity of the pedal cylinder, flows into the second hydraulic cavity to push the fourth piston to move, the third spring is compressed in the first stage, and the slope of the feedback force is the rigidity k3 of the third spring; the fourth piston continues to move to the point where the sleeve passes through the passage between the first chamber and the second chamber of the analog cylinder to contact the third piston, initiating a second phase while compressing the first, second, and third springs, the feedback force slope being the stiffness of the first, second, and third springs and k1+ k2+ k 3;
and a third mode:
the electronic control unit ECU controls the third electromagnetic valve to be opened, the first electromagnetic valve and the second electromagnetic valve are closed, brake fluid flows through a third pipeline and a third fluid inlet from a pedal hydraulic cavity of the pedal cylinder, flows into the third hydraulic cavity to push the fifth piston to move, in the first stage, the fifth piston pushes the third piston to move and simultaneously compresses the first spring and the second spring, and the slope of the feedback force is the sum of the stiffness of the first spring and the stiffness of the second spring and k1+ k 2; the fifth piston continues to move into abutment with the fourth piston, initiating a second phase while compressing the first, second and third springs, with a feedback force slope of the stiffness of the first, second and third springs and k1+ k2+ k 3.
CN202110540471.1A 2021-05-18 2021-05-18 Footboard sensation simulator with changeable footboard sensation Expired - Fee Related CN113104011B (en)

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Application Number Priority Date Filing Date Title
CN202110540471.1A CN113104011B (en) 2021-05-18 2021-05-18 Footboard sensation simulator with changeable footboard sensation

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Application Number Priority Date Filing Date Title
CN202110540471.1A CN113104011B (en) 2021-05-18 2021-05-18 Footboard sensation simulator with changeable footboard sensation

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CN113104011A CN113104011A (en) 2021-07-13
CN113104011B true CN113104011B (en) 2022-01-28

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