CN113460008A - Dual-redundancy fully-decoupled brake-by-wire system - Google Patents
Dual-redundancy fully-decoupled brake-by-wire system Download PDFInfo
- Publication number
- CN113460008A CN113460008A CN202110932161.4A CN202110932161A CN113460008A CN 113460008 A CN113460008 A CN 113460008A CN 202110932161 A CN202110932161 A CN 202110932161A CN 113460008 A CN113460008 A CN 113460008A
- Authority
- CN
- China
- Prior art keywords
- motor
- brake
- braking
- hydraulic
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B60T8/88—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/92—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action
-
- 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
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
-
- 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
- B60T8/88—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The application discloses two redundant full decoupling drive-by-wire braking systems, this system includes: a brake pedal; the foot feeling simulator is used for providing braking force and damping simulation; the redundant pedal travel sensor is used for sensing a travel signal of a brake pedal when a driver brakes; a liquid storage tank; four brake wheel cylinders for braking four wheels; the hydraulic source comprises a main motor and an auxiliary motor, and the main motor and the auxiliary motor are controlled to brake according to different braking modes; and the controller is used for converting the stroke signal of the brake pedal into a motor execution instruction and controlling the motor of the hydraulic source to output corresponding hydraulic pressure according to the motor execution instruction. The system can realize undifferentiated redundant braking safety, and when the main motor fails, the backup motor can take over immediately; under the condition that fluid infusion is needed, a fluid infusion mode can be started, the double motors act simultaneously, driving torque is increased, and fluid infusion time is shortened.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to a dual-redundancy full-decoupling brake-by-wire system.
Background
The automobile brake system is a direct device for realizing automobile brake control, and plays an important role in the aspects of automobile stability and safety. With the continuous development of automatic driving technology, the realization of the active safety of the automobile becomes possible, and a braking system which can be decoupled from a driver and realizes active braking is urgently needed. And the requirements on control accuracy and response time are higher and higher.
The existing scheme is as follows: a fully decoupled brake. The company Boshi, the company continental, the company Shilefu, the company Tianhe, etc. all have related products. As shown in fig. 1, this solution integrates active braking and stability control in a fully decoupled brake and achieves complete decoupling of the driver and the brake cylinders. During normal braking, the controller connects the pedal of the driver with the pedal simulator mechanically/hydraulically through controlling the electromagnetic valve and drives the active hydraulic source to generate braking pressure to control the wheel cylinder, so that decoupling is realized.
The disadvantages of this solution are: 1) the degree of safety redundancy is low. Once the faults of the key components such as the hydraulic power source fault, the power source fault and the like occur, the active braking capability is completely lost, and the braking force needs to be completely provided by a driver. For less powerful drivers, the difficulty and risk of driving increases dramatically. 2) The brake fluid reserve of the brake master cylinder is limited, and the fluid infusion amount is easily insufficient during the control period of needing rapid pressure reduction and pressure increase of ABS and the like. The existing control method is quite complex and long in time interval, and the control effects of ABS and the like are influenced. 3) Due to the limitation of the volume of the main cylinder and the power/torque of the motor, the matching range of the fully decoupled brake product is limited, and the universality is not high when the fully decoupled brake product is used for different vehicle types.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the double-redundancy fully-decoupled brake-by-wire system can achieve undifferentiated redundant braking safety, when a main motor fails, a backup motor can take over immediately, a fluid supplementing mode can be started under the condition that fluid is needed to be supplemented, double motors act simultaneously, driving torque is increased, and fluid supplementing time is shortened.
In order to achieve the above object, an embodiment of the present application provides a dual-redundancy fully-decoupled brake-by-wire system, including: the brake pedal is used for braking by a driver; the foot feeling simulator is connected with the brake pedal and is used for providing braking force and damping simulation; the redundant pedal stroke sensor is connected with the brake pedal and used for sensing a stroke signal of the brake pedal when a driver brakes; the liquid storage tank is used for storing brake fluid; the four brake wheel cylinders are respectively used for braking the four wheels; the hydraulic source comprises a main motor and an auxiliary motor, the main motor and the auxiliary motor are controlled to brake according to different brake modes, a liquid inlet of the hydraulic source is connected with a pipeline of the liquid storage tank, a liquid outlet of the hydraulic source is connected with the four brake wheel cylinder pipelines, a plurality of one-way valves are arranged on the pipelines, and when the one-way valves are opened, the hydraulic source outputs brake fluid to the brake wheel cylinders to brake; the brake fluid reservoir is connected with the brake wheel cylinder through a pipeline, a plurality of one-way valves are arranged on the pipeline, and when the one-way valves are opened, the brake fluid flows back to the brake fluid reservoir; and the controller is used for converting the stroke signal of the brake pedal into a motor execution instruction and controlling the motor of the hydraulic source to output corresponding hydraulic pressure according to the motor execution instruction.
In addition, the dual-redundancy fully-decoupled brake-by-wire system according to the above-mentioned embodiment of the present application may further have the following additional technical features:
optionally, in an embodiment of the present application, a one-way valve is disposed on a pipe between the liquid inlet of the hydraulic source and the liquid storage tank.
Optionally, in the embodiment of the present application, a dual redundant pressure sensor is provided at the outlet of the hydraulic pressure source for correcting the action of the hydraulic pressure source.
Alternatively, in the embodiment of the present application, pressure sensors are respectively provided at the four brake cylinders for detecting the current brake pressures of the four brake cylinders.
Optionally, in an embodiment of the present application, the hydraulic pressure source includes:
the main motor and the auxiliary motor are coaxially arranged on two sides of the hydraulic block, and the main motor and the auxiliary motor are fixed on the hydraulic block through bolts;
a motor master cylinder integrated on the hydraulic block,
the two sides of the double-screw rod piston are respectively fixed with a screw rod which is used for being connected with the two main motors and the two auxiliary motors which are oppositely arranged;
two roller screw mechanisms integrated in the motor rotor;
two identical motor main cylinder sealing covers;
two cross-shaped stop posts for preventing circumferential rotation of the piston;
two sets of power supplies and two controllers.
Optionally, in an embodiment of the present application, the controlling braking of the primary motor and the secondary motor according to different braking modes includes: under the normal braking mode, main motor works alone, vice motor three-phase line ground connection prevents to produce the magnetic resistance, during the pressure boost, main motor positive direction is rotatory, during the fluid infusion, main motor negative direction is rotatory.
Optionally, in an embodiment of the present application, the controlling braking of the primary motor and the secondary motor according to different braking modes includes: and when the main motor fails, the auxiliary motor brakes.
Optionally, in an embodiment of the present application, the controlling braking of the primary motor and the secondary motor according to different braking modes includes: when the rate of replenishing the brake fluid by the hydraulic source is greater than the preset rate, the main motor and the auxiliary motor work simultaneously.
Optionally, in an embodiment of the present application, the controller is further configured to update and correct the motor execution command according to the current brake pressures of the four brake wheel cylinders and the pressure data of the dual redundant pressure sensor.
Optionally, in an embodiment of the present application, the controller is further configured to send an alarm signal when the main motor fails.
The dual-redundancy full-decoupling brake-by-wire system has the following beneficial effects:
1. the brake system is provided for advanced automatic driving vehicles, compared with the traditional brake system, the brake system can realize complete decoupling braking, and the requirement that a driver does not need to access in the whole process of automatic driving is met; higher accuracy and better performance of brake control can be achieved.
2. The safety of the fully-decoupled brake system is improved, so that the auxiliary motor can be controlled in an intervention manner without difference under the condition that the main motor fails, and the auxiliary motor can realize the same brake performance.
3. The performance and accuracy of brake control are improved. The main motor and the auxiliary motor can work simultaneously to meet the requirement of shorter response time, especially when fluid replacement operation is needed.
4. The driving comfort during backup brake engagement is improved.
5. The design of a cross-shaped stop column can limit circumferential motion of the piston, and meanwhile, inertia of the piston is smaller due to the hollow design of the piston lead screw, so that hysteresis generated when the piston moves at a large acceleration is shorter.
6. The compactness and the integration degree of the dual-motor redundant fully-decoupled brake system are improved. The double motors are coaxially and oppositely arranged, share the structure of one motor main cylinder, and do not need a special external motor main cylinder or two special spaces for placing the motor main cylinder on the hydraulic block.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a dual redundant fully decoupled brake-by-wire system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a dual motor configuration according to one embodiment of the present application;
FIG. 3 is a diagram of a dual controller and dual power supply according to one embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Compared with the prior art, the application has the following improvements:
the existing fully-decoupled brake has low redundancy degree, braking force can be provided only by a driver after a main hydraulic source fails, and driving difficulty and danger are increased sharply for drivers with insufficient power. According to the hydraulic control system, the safety redundancy is improved by the scheme that a plurality of hydraulic sources and a plurality of power sources are arranged and matched one by one;
the common main cylinder type double-motor structure is provided, under the condition of meeting multiple hydraulic sources, the whole volume is reduced, and the compactness is improved;
the structure comprises a cross-shaped stop column, so that the inertia of the piston is reduced while the axial movement of the piston is limited;
the structure comprises an integrated sealing cover, wherein a bearing stop is integrated with a sealing cover of a main cylinder of the motor;
the structure comprises an integrated roller screw structure, wherein a motor rotor is integrated with the roller screw structure, and a piston is integrated with a screw rod;
a simple and rapid fluid infusion mode is provided when the brake fluid of the master cylinder is insufficient;
for higher levels of automatic driving, the brake pedal may optionally be hidden. A hydraulic circuit is proposed in which the pedal is completely free of any mechanical or hydraulic connection to the service brake, meaning that the brake pedal is optionally removably concealed, or not provided.
The dual-redundancy fully-decoupled brake-by-wire system proposed according to an embodiment of the present application is described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a dual-redundancy fully-decoupled brake-by-wire system according to an embodiment of the present application.
As shown in fig. 1, the dual-redundancy fully-decoupled brake-by-wire system includes: the brake pedal, the foot feel simulator, the redundant pedal travel sensor, the liquid storage tank, the four brake wheel cylinders, the hydraulic source and the controller.
In particular, a brake pedal for braking by the driver.
And the foot feeling simulator is connected with the brake pedal and is used for providing braking force and damping simulation.
And the redundant pedal stroke sensor is connected with the brake pedal and used for sensing a stroke signal of the brake pedal when a driver brakes.
The driver's intention to brake is sensed by a redundant pedal travel sensor, and a pressure sensor is provided as a third redundancy, and the sensor is powered by a second power source.
And the liquid storage tank is used for storing brake fluid.
And the four brake wheel cylinders are respectively used for braking the four wheels.
The hydraulic source comprises a main motor and an auxiliary motor, the main motor and the auxiliary motor are controlled to brake according to different brake modes, a liquid inlet of the hydraulic source is connected with a liquid storage tank through a pipeline, a liquid outlet of the hydraulic source is connected with four brake wheel cylinder pipelines, a plurality of one-way valves are arranged on the pipelines, and when the one-way valves are opened, the hydraulic source outputs brake fluid to the brake wheel cylinders to brake.
The liquid storage tank is connected with the brake wheel cylinder pipeline, a plurality of one-way valves are arranged on the pipeline, and when the one-way valves are opened, the brake fluid flows back to the liquid storage tank.
And the controller is used for converting the stroke signal of the brake pedal into a motor execution instruction and controlling the motor of the hydraulic source to output corresponding hydraulic pressure according to the motor execution instruction.
Furthermore, a one-way valve is arranged on a pipeline between the liquid inlet of the hydraulic source and the liquid storage tank.
Further, a dual-redundancy pressure sensor is arranged at the outlet of the hydraulic source and used for correcting the action of the hydraulic source.
Further, pressure sensors are respectively arranged at the four brake wheel cylinders and used for detecting the current brake pressures of the four brake wheel cylinders.
One pressure sensor is provided at each of the four wheel cylinders. The sensor can reflect the current brake pressure more accurately, and creates conditions for further improving the control precision.
As shown in fig. 1, the brake system comprises a liquid storage tank, four brake wheel cylinders, a brake pedal, a foot feeling simulator, a pedal stroke sensor, a master cylinder pressure sensor and a pressure regulating valve system.
The pressure regulating valve system comprises four pressure relief electromagnetic valves 1-4, four pressure boost electromagnetic valves and one-way valves thereof 5-8, two distributing valves 9 and 10 and two one-way valves 1 and 2.
The driver brake pedal is connected with only one foot feeling simulator capable of providing braking force and damping simulation, and is not connected with the brake wheel cylinder in any mechanical or hydraulic mode.
In the pressure-increasing mode, the hydraulic pressure source directly controls the wheel cylinder pressure. Taking the left front wheel as an example, after receiving the command from the controller, the hydraulic source outputs brake fluid, and the brake fluid is input to the brake wheel cylinder through the valve 9 and the valve 5. In the pressure reduction mode, taking the left front wheel as an example, the electromagnetic valve 1 is opened, and the wheel cylinder pressure is directly returned from the electromagnetic valve 1 to the reservoir tank.
Further, the hydraulic pressure source includes: the main motor and the auxiliary motor are coaxially arranged on two sides of the hydraulic block and are fixed on the hydraulic block through bolts;
a motor master cylinder integrated on the hydraulic block,
the double-screw rod piston is fixedly provided with a screw rod at two sides respectively and is used for being connected with two main motors and two auxiliary motors which are oppositely arranged, and the motors can adopt brushless direct current motors, direct current motors and the like;
two roller screw mechanisms integrated in the motor rotor;
two identical motor main cylinder sealing covers;
two cross-shaped stop posts for preventing circumferential rotation of the piston;
two sets of power supplies and two controllers.
Specifically, a roller screw mechanism is connected to each of the front and rear portions of a piston of a master cylinder of a motor, so that the piston can be pushed/pulled by both a front end motor (a main motor) and a rear end motor (a sub motor). As shown in fig. 2 and 3.
The hydraulic source assembly comprises the following main parts:
1) two same permanent magnet synchronous motors are respectively installed on two sides of the hydraulic block and are coaxial during installation. The motor is fixed on the hydraulic block through a bolt. The hydraulic block has the advantages that the arrangement is simple, the structure is compact, and the hydraulic pipeline inside the hydraulic block can continue to use the existing product. Most of the existing schemes are double-winding motors or two motors drive different motor master cylinders. The double-winding motor is difficult to process and large in size. The scheme that two motors drive different motor master cylinders increases the product volume and increases the arrangement difficulty of the hydraulic pipeline due to the addition of the master cylinder.
2) And the motor master cylinder is integrated on the hydraulic block. According to the scheme, an additional external hydraulic cylinder is not needed, the whole structure is more compact, and the integration level is improved. The two ends of the hydraulic cylinder are respectively provided with a boss for installing a sealing cover of a main cylinder of the motor.
3) A double lead screw piston. Two sides of the piston are respectively fixed with a lead screw which is used for being connected with two oppositely arranged motors. The end of the piston is in a boss shape, so as to prevent the piston from forming a closed space after reaching the limit position and generate larger resistance when the piston retracts. Two sealing rings are arranged on the periphery of the piston and used for sealing the main hydraulic chamber.
4) Two identical motor master cylinder seal covers. The sealing cover can play a role in sealing the hydraulic cylinder and can also be used as a bearing support of the roller screw structure. Alternatively, the sealing cover can be fixed on the hydraulic block in a sealing threaded connection mode, and can also be fixed on the hydraulic block in a bolt and sealing ring mode.
5) Two roller screw mechanisms integrated in the rotor of the motor.
6) Two cross-shaped stop posts for preventing circumferential rotation of the piston. The stop post limits circumferential movement of the piston so that the piston can only move axially. The advantage of this scheme lies in, can integrate inside the motor, improves the integrated level of hydraulic pressure source, reduces the inertia of piston simultaneously, improves control accuracy.
7) Two separate sets of power supplies A, B and a controller A, B.
8) Motor housings, bearings, seal rings, etc.
Further, the main motor and the auxiliary motor are controlled to brake according to different brake modes, and the method comprises the following steps: under the normal braking mode, the main motor works alone, the three-phase line of the auxiliary motor is grounded to prevent the generation of magnetic resistance, the main motor rotates in the positive direction during pressurization, and the main motor rotates in the negative direction during liquid supplement.
Further, the main motor and the auxiliary motor are controlled to brake according to different brake modes, and the method comprises the following steps: when the main motor fails, the auxiliary motor brakes.
Further, the main motor and the auxiliary motor are controlled to brake according to different brake modes, and the method comprises the following steps: when the rate of replenishing the brake fluid by the hydraulic source is greater than the preset rate, the main motor and the auxiliary motor work simultaneously.
The preset speed can be set according to actual needs, and when the hydraulic source needs to supplement brake fluid quickly, the main motor and the auxiliary motor work simultaneously, so that the fluid supplementing efficiency is improved, and the time required by fluid supplementing is reduced.
Further, the controller is also used for updating and correcting the motor execution command according to the current braking pressures of the four brake wheel cylinders and the pressure data of the dual redundant pressure sensor.
Further, the controller is also used for sending out an alarm signal when the main motor fails.
Specifically, the hydraulic source operation method is as follows:
in the normal braking mode:
a) the main motor works independently, and the three-phase line of the auxiliary motor is grounded to prevent the generation of magnetic resistance.
b) When the pressure is increased, the main motor rotates in the positive direction, the rotation is changed into translation through the roller screw mechanism, the piston is pushed to move in the positive direction (move to the right in the figure), and the liquid is transmitted to the pressure adjusting module through the one-way valve 1.
c) When fluid is replenished, the main motor rotates in the opposite direction, the piston is pulled to move in the opposite direction (leftwards in the figure), and the fluid enters the piston cavity from the fluid reservoir through the one-way valve 2.
In the enhanced braking mode:
in the ABS braking process or the braking of a large-sized load-carrying vehicle, the brake fluid amount of a motor master cylinder may not meet the requirement of brake fluid. In this case, the hydraulic source is replenished. The specific operation method is that the distributing valve 9 and the valve 10 are closed, the motor piston rapidly retracts to suck enough brake fluid, then the piston moves forwards to enable the master cylinder pressure to be higher than or equal to the wheel cylinder pressure, then the valve 9 and the valve 10 are rapidly opened, and the brake pressure and the brake fluid are continuously provided by the motor.
Backup braking mode: at this time, the main motor fails, and the auxiliary motor takes over braking completely. Since the auxiliary motor and the main motor are completely consistent in configuration and transmission mechanism, the braking effect provided by the auxiliary motor is completely consistent. The enhanced braking mode can no longer be entered at this time and the driver should be alerted while the main motor is disabled.
According to the dual-redundancy fully-decoupled brake-by-wire system provided by the embodiment of the application, the undifferentiated redundant braking safety is realized. When the primary motor fails, the backup motor can take over immediately. Because the main motor and the auxiliary motor are completely consistent, the performance of the backup brake is consistent with that of the conventional brake, so that when the backup brake is switched, the brake force can be timely and smoothly realized according to the intention of a driver. Under the condition that needs the fluid infusion, can start the fluid infusion mode, the bi-motor simultaneous action increases driving torque for the fluid infusion time is shorter, and the brake force supplies more in time, and the driver drives and feels better.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A dual redundant fully decoupled brake-by-wire system, comprising:
the brake pedal is used for braking by a driver;
the foot feeling simulator is connected with the brake pedal and is used for providing braking force and damping simulation;
the redundant pedal stroke sensor is connected with the brake pedal and used for sensing a stroke signal of the brake pedal when a driver brakes;
the liquid storage tank is used for storing brake fluid;
the four brake wheel cylinders are respectively used for braking the four wheels;
the hydraulic source comprises a main motor and an auxiliary motor, the main motor and the auxiliary motor are controlled to brake according to different brake modes, a liquid inlet of the hydraulic source is connected with a pipeline of the liquid storage tank, a liquid outlet of the hydraulic source is connected with the four brake wheel cylinder pipelines, a plurality of one-way valves are arranged on the pipelines, and when the one-way valves are opened, the hydraulic source outputs brake fluid to the brake wheel cylinders to brake;
the brake fluid reservoir is connected with the brake wheel cylinder through a pipeline, a plurality of one-way valves are arranged on the pipeline, and when the one-way valves are opened, the brake fluid flows back to the brake fluid reservoir;
and the controller is used for converting the stroke signal of the brake pedal into a motor execution instruction and controlling the motor of the hydraulic source to output corresponding hydraulic pressure according to the motor execution instruction.
2. The system of claim 1, wherein a one-way valve is disposed on a conduit between the fluid inlet of the fluid pressure source and the fluid reservoir.
3. The system of claim 1, wherein dual redundant pressure sensors are provided at the source outlet to correct for source motion.
4. The system according to claim 1, characterized in that pressure sensors are provided at the four wheel cylinders, respectively, for detecting current brake pressures of the four wheel cylinders.
5. The system of claim 1, wherein the hydraulic pressure source comprises:
the main motor and the auxiliary motor are coaxially arranged on two sides of the hydraulic block, and the main motor and the auxiliary motor are fixed on the hydraulic block through bolts;
a motor master cylinder integrated on the hydraulic block,
the two sides of the double-screw rod piston are respectively fixed with a screw rod which is used for being connected with the two main motors and the two auxiliary motors which are oppositely arranged;
two roller screw mechanisms integrated in the motor rotor;
two identical motor main cylinder sealing covers;
two cross-shaped stop posts for preventing circumferential rotation of the piston;
two sets of power supplies and two controllers.
6. The system of claim 5, wherein said controlling braking of said primary motor and said secondary motor according to different braking modes comprises:
under the normal braking mode, main motor works alone, vice motor three-phase line ground connection prevents to produce the magnetic resistance, during the pressure boost, main motor positive direction is rotatory, during the fluid infusion, main motor negative direction is rotatory.
7. The system of claim 5, wherein said controlling braking of said primary motor and said secondary motor according to different braking modes comprises:
and when the main motor fails, the auxiliary motor brakes.
8. The system of claim 5, wherein said controlling braking of said primary motor and said secondary motor according to different braking modes comprises:
when the rate of replenishing the brake fluid by the hydraulic source is greater than the preset rate, the main motor and the auxiliary motor work simultaneously.
9. The system of claim 1, wherein the controller is further configured to update and correct the motor execution command based on the current brake pressures of the four brake cylinders and pressure data of the dual redundant pressure sensor.
10. The system of claim 7, wherein the controller is further configured to issue an alarm signal in the event of a failure of the main motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110932161.4A CN113460008A (en) | 2021-08-13 | 2021-08-13 | Dual-redundancy fully-decoupled brake-by-wire system |
| CN202210897909.6A CN115320560B (en) | 2021-08-13 | 2022-07-28 | Dual redundancy fully decoupled brake-by-wire system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110932161.4A CN113460008A (en) | 2021-08-13 | 2021-08-13 | Dual-redundancy fully-decoupled brake-by-wire system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113460008A true CN113460008A (en) | 2021-10-01 |
Family
ID=77866567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110932161.4A Pending CN113460008A (en) | 2021-08-13 | 2021-08-13 | Dual-redundancy fully-decoupled brake-by-wire system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113460008A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954803A (en) * | 2021-11-29 | 2022-01-21 | 万向钱潮股份有限公司 | Electronic braking boosting system for large vehicle |
| CN114194165A (en) * | 2021-11-22 | 2022-03-18 | 浙江天尚元科技有限公司 | Brake-by-wire system based on six-phase motor and control method |
| CN114312713A (en) * | 2022-02-14 | 2022-04-12 | 吉林农业大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN115158266A (en) * | 2022-09-07 | 2022-10-11 | 万向钱潮股份公司 | Brake system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203558059U (en) * | 2013-11-18 | 2014-04-23 | 扬州泰博汽车电子智能科技有限公司 | Dual-motor line control braking system with multiple work modes and multiple pressure adjustment modes |
| CN104760586A (en) * | 2015-03-31 | 2015-07-08 | 同济大学 | Double-motor driving type electronic hydraulic brake system capable of actively simulating pedal feeling |
| US20160167632A1 (en) * | 2014-12-10 | 2016-06-16 | Yangzhou Taibo Automotive Electronics Intelligent Technology Company, Ltd | Brake-by-wire system based on dual-motor configuration and operation methods thereof |
| CN111301378A (en) * | 2020-03-05 | 2020-06-19 | 吉林大学 | Controllable drive-by-wire braking system of simulation footboard sensation |
| CN113002509A (en) * | 2021-04-07 | 2021-06-22 | 南京经纬达汽车科技有限公司 | Multifunctional dual-motor redundant braking system and control method |
-
2021
- 2021-08-13 CN CN202110932161.4A patent/CN113460008A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203558059U (en) * | 2013-11-18 | 2014-04-23 | 扬州泰博汽车电子智能科技有限公司 | Dual-motor line control braking system with multiple work modes and multiple pressure adjustment modes |
| US20160167632A1 (en) * | 2014-12-10 | 2016-06-16 | Yangzhou Taibo Automotive Electronics Intelligent Technology Company, Ltd | Brake-by-wire system based on dual-motor configuration and operation methods thereof |
| CN104760586A (en) * | 2015-03-31 | 2015-07-08 | 同济大学 | Double-motor driving type electronic hydraulic brake system capable of actively simulating pedal feeling |
| CN111301378A (en) * | 2020-03-05 | 2020-06-19 | 吉林大学 | Controllable drive-by-wire braking system of simulation footboard sensation |
| CN113002509A (en) * | 2021-04-07 | 2021-06-22 | 南京经纬达汽车科技有限公司 | Multifunctional dual-motor redundant braking system and control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194165A (en) * | 2021-11-22 | 2022-03-18 | 浙江天尚元科技有限公司 | Brake-by-wire system based on six-phase motor and control method |
| CN113954803A (en) * | 2021-11-29 | 2022-01-21 | 万向钱潮股份有限公司 | Electronic braking boosting system for large vehicle |
| CN114312713A (en) * | 2022-02-14 | 2022-04-12 | 吉林农业大学 | Digital twin-based line control brake system and dynamic optimization control method thereof |
| CN115158266A (en) * | 2022-09-07 | 2022-10-11 | 万向钱潮股份公司 | Brake system |
| CN115158266B (en) * | 2022-09-07 | 2024-02-13 | 万向钱潮股份公司 | Braking System |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115320560A (en) | 2022-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113460008A (en) | Dual-redundancy fully-decoupled brake-by-wire system | |
| JP7477699B2 (en) | Apparatus for hydraulic actuation system | |
| CN106891878B (en) | Motor-driven electronic hydraulic brake system with improved master cylinder | |
| US9061673B2 (en) | Brake system for a vehicle and method for operating a brake system for a vehicle | |
| JP5055336B2 (en) | Brake control device | |
| US11142178B2 (en) | Vehicle brake system with secondary brake module | |
| CN206406908U (en) | A kind of motor driving EHB for improving master cylinder | |
| CN102248937B (en) | Brake equipment | |
| JP5050015B2 (en) | Brake control system | |
| US11904819B2 (en) | Vehicle brake system | |
| CN103754208B (en) | A kind of EHB of Dual-motors Driving | |
| CN103950443A (en) | Pedal feeding active control type electronic hydraulic braking system | |
| JP2001106056A (en) | Brake device | |
| CN109177945A (en) | A kind of full decoupled electronic hydraulic brake system | |
| CN104724097A (en) | Dual-motor drive-by-wire pressure sequence adjusting brake system | |
| CN108501921A (en) | A kind of hydraulic pressure line control brake system and its brake control method with double pressure sources | |
| CN103754206A (en) | Mechanical, electronic and hydraulic brake system | |
| CN105946837A (en) | Electronic hydraulic braking system with multiple working modes | |
| JP6787248B2 (en) | Vehicle braking system | |
| CN109927692A (en) | A kind of vehicle integration electric servo brake system | |
| EP4101710B1 (en) | Brake system, brake method and vehicle | |
| CN115320560B (en) | Dual redundancy fully decoupled brake-by-wire system | |
| US20230103320A1 (en) | Hydraulic brake system | |
| CN110576842A (en) | brake booster unit, braking system and vehicle | |
| JP6117074B2 (en) | Braking force generator for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20211001 |