CN113650595A - Control method of double-loop electronic hydraulic brake system comprising two channels - Google Patents
Control method of double-loop electronic hydraulic brake system comprising two channels Download PDFInfo
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- CN113650595A CN113650595A CN202111004285.2A CN202111004285A CN113650595A CN 113650595 A CN113650595 A CN 113650595A CN 202111004285 A CN202111004285 A CN 202111004285A CN 113650595 A CN113650595 A CN 113650595A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—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 acting on a hydraulic system, e.g. a master cylinder
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The invention discloses a control method of a double-loop electronic hydraulic brake system comprising two channels, belonging to the field of electronic hydraulic brake control. The whole vehicle braking system is characterized in that the electronic hydraulic braking systems of two channels respectively control the oil pressure of the wheel cylinder brakes of the wheel brakes of the two wheels on the left side and the two wheels on the right side of the vehicle, so that the braking torque of the wheels is controlled, and two sets of independent braking systems are formed. The electro-hydraulic brake system of each channel controls a master cylinder in the form of a double circuit, constituting a double circuit of fluid circuits for the front and rear wheels on the same side of the vehicle. The set of control system can also simulate an ABS system during emergency braking, so that the vehicle can always keep good direction stability and operability during emergency braking, sideslip and deviation are prevented, and the safety performance of the vehicle during braking is improved.
Description
Technical Field
The invention relates to the field of automobile electronic hydraulic brake control, in particular to a control method of a double-circuit electronic hydraulic brake system comprising two channels.
Background
The rapid development of new and quartic vehicles can promote the development of vehicles to intelligent electromotion and networking, and particularly, the rapid development of new energy vehicles and intelligent vehicles can be applied to a large number of fields of various network technologies, sensor technologies and computer technologies, and becomes an important research field for the development of the vehicle industry in the future. When a traditional fuel vehicle is braked, a driver steps on a brake pedal, the pedal pushes a vacuum booster pump located at the working end of a master cylinder of the brake, negative pressure is generated inside the vacuum booster pump, the generated negative pressure is utilized to generate extra drive for the master cylinder of the brake through a diaphragm and a transmission rod, hydraulic pressure is generated in a master cylinder of the brake, and then a brake caliper is controlled to brake.
With the push of energy crisis and various policies, new energy vehicles and automatic driving technologies are continuously developed vigorously, and in the face of more complex and more intelligent driving conditions, the vacuum boosting type brake system in the traditional mode obviously cannot meet the requirements of vehicle brake operation. In this case, a brake-by-wire system (i.e., an electronically controlled brake system) is produced. The first and second generations of iboorster are successively introduced by bosch, and in the iboorster system, a vacuum booster pump in a vacuum boosting type brake system in a traditional mode is abandoned, and various integrated sensors and controllers are replaced, so that the whole volume of the brake system becomes smaller. During actual braking, the sensor collects travel signals when a driver treads a brake, then transmits the travel signals to the control unit of the iBooster in an electric signal mode, the control unit calculates the torque required to be output by the iBooster output motor according to the signals, the torque can act on a set of gear mechanism, the torque is converted into braking force generated in a brake master cylinder through the gear mechanism, the braking hydraulic pressure is changed through the braking force, and finally the brake caliper is controlled through a hydraulic pipeline to brake.
However, unmanned vehicles have become a future development trend, and high braking effect cannot be achieved only by various designed by-wire hydraulic braking assistance systems. Firstly, various wire control boosting systems proposed at present do not have a completely reliable redundancy design, and when a certain part of the systems fails, the whole braking system is in a failure state; secondly, the source of the power source of the various brake-by-wire devices proposed at present is single, and the braking smoothness cannot meet the requirements of the driver during the recovery of braking energy. Finally, the design of the braking system should be able to better serve vehicle drive, braking and steering control, enabling independent control of the braking of the wheels on both sides. In conclusion, the multi-loop brake system which is reliable in structure, sufficient in power source, capable of meeting redundancy design, meeting human-machine engineering and realizing independent control of wheels on two sides is designed, and the system can play a great role in promoting future automobile intellectualization and unmanned driving fields.
Disclosure of Invention
In order to solve the existing technical problems, the invention provides a double-circuit electronic hydraulic brake system comprising two channels. The two sets of electronic hydraulic braking systems are used for respectively controlling the oil pressure of the brake wheel cylinders of the two wheels on the left side and the two wheels on the right side of the vehicle, so that the braking torque of the wheels is controlled, two independent braking systems are formed, and the main braking cylinder controlled by each set of electronic hydraulic braking system is double-loop, so that the double-loop of the hydraulic paths of the front wheel and the rear wheel on the same side of the vehicle can be realized, and the braking safety of the whole vehicle is further improved.
The technical scheme of the invention is realized as follows:
a method of controlling a two-circuit electro-hydraulic brake system including two channels, comprising the steps of:
s1, the whole vehicle braking system controls the oil pressure of the wheel-side brake wheel cylinders of the left two wheels and the right two wheels of the vehicle respectively by two sets of electronic hydraulic braking systems, and further controls the braking torque of the wheels to form two-channel independent electronic hydraulic braking systems, each channel electronic hydraulic braking system controls a double-loop type brake master cylinder (1), and a liquid-path double-loop electronic hydraulic braking system of the front wheel and the rear wheel on the same side of the vehicle can be formed;
s2, dynamically adjusting the output torque of the brake motor (5) on the brake master cylinder ejector rod (28) to realize the vehicle stability control based on the brake force adjustment; the two-stage transmission form of the worm gear and the ball screw is adopted, so that the rotary motion of the brake motor (5) can be converted into linear motion during working, the resistance during brake operation is reduced, and larger thrust is obtained;
s3, assisting steering of the vehicle, and realizing yaw moment control of the vehicle, assisting to realize driving stability control of the vehicle, and improving driving safety of the vehicle;
s4, hydraulic regulation can be achieved through control over the output torque of the brake motor, the anti-lock braking ABS function is simulated during emergency braking, the good directional stability and operability of the vehicle are guaranteed to be always kept during emergency braking, sideslip and deviation are prevented, and the safety performance of the vehicle during braking is improved.
Further, in step S1, two sets of electro-hydraulic brake systems are mounted on the same base by mechanical connection; the electronic hydraulic braking systems of the two channels share a whole vehicle control unit VCU in electric connection and an oil pot in mechanical connection.
Furthermore, the set of electronic hydraulic brake system comprises a brake master cylinder A (1), a brake motor A (5), an electric push rod A (3), an upper bracket (27), a lower bracket (24), an ejector rod (28), a brake pull wire (26) and a brake push rod (25);
the upper bracket (27) and the lower bracket (24) are fixed through nuts and bolts; the inner space formed by the upper bracket (27) and the lower bracket (24): the electric push rod A (3) is fixed on the wall of the support through a bolt and a nut, when the brake motor A (5) works, the electric push rod A (3) pushes the ejector rod (28) to move, the ejector rod (28) is connected with the brake push rod (25) through a fulcrum, the brake push rod (25) can rotate around the fulcrum, and the brake pull wire (26) is fixed at the bottom of the brake push rod (25) through a nut;
the brake master cylinder A (1) comprises a first piston (29) and a second piston (31), the first piston and the second piston are connected through a spring (30), brake fluid is filled in the master cylinder, the brake fluid enters a corresponding brake loop through a pipeline under the hydraulic pressure generated by the reciprocating motion of the pistons and is transmitted to a corresponding hydraulic wheel cylinder, the pistons reset under the action of the restoring force of the spring, and the pressure of a hydraulic oil path in the master cylinder is balanced;
the other set of electronic hydraulic brake system has the same structure.
The brake main cylinder of each set of electronic hydraulic brake system is designed into a double-loop form, so that the brake oil paths of the front wheel and the rear wheel at the same side are not influenced by each other; when one loop fails, the other loop can still brake normally, so that the stability and the safety of the brake operation of the automobile are ensured.
Further, the specific process of S2 is:
a vehicle control unit VCU facing practical application is designed, a brake fluid pressure sensor is added into an electronic hydraulic brake system of each channel, the pressure sensor constantly detects the internal brake fluid pressure of a brake loop, judges whether pressure is applied or not, and timely and effectively provides a feedback signal for a controller; the VCU adjusts the brake pressure through closed-loop control, so that the output torque of the brake motor (5) can be dynamically adjusted; in the actual braking process, the brake does not increase the braking, the brake failure condition can be prevented, the automatic braking is mainly used in the application process, the manual control can be carried out under the extreme condition, and the electric control electric drive automatic braking failure is prevented; when automatic braking is carried out, the whole vehicle control unit is responsible for calculating to obtain expected control torque, a brake motor adopts a direct-current brushless motor form, a rotating shaft rotates when the motor works, the rotating shaft of the motor is mechanically connected with a two-stage transmission device consisting of a worm wheel and a worm screw and a ball screw, mechanical energy generated when the motor rotates is transmitted to an electric push rod (3) by the two-stage transmission device, the electric push rod (3) directly acts on a push rod (28) to apply thrust to the push rod, the push rod (28) pushes a first piston (29) and a second piston (31) in a brake master cylinder (1) to generate brake hydraulic pressure, the brake hydraulic in the master cylinder is transmitted to a brake wheel cylinder of a wheel brake through a hydraulic pipeline, and vehicle braking force is controlled to carry out braking operation; when the brake is manually controlled, a driver steps on a brake pedal, the brake pull wire (26) and the pull wire pull rod control the movement of the ejector rod (28), and then the brake is carried out through the flow of hydraulic oil in the hydraulic pipeline.
The form of adopting worm wheel and worm + ball screw changes rotary motion into linear motion, because roll through a lot of steel balls between screw shaft and the screw nut when ball screw pair is worked, in addition because the quality control system during ball screw production, ball screw's precision and axial rigidity are very high, because utilize ball motion, ball screw pair's starting torque is minimum, creep phenomenon such as sliding motion can not appear, accurate little when can guaranteeing to realize braking operation gives, make the advancing of ejector pin change the control more.
Further, the specific process of S3 is:
the braking force of the left side and the right side of the vehicle is controlled through the hub motor arranged on each wheel, the vehicle is assisted to steer, and when the vehicle runs at low speed, the tangential force is controlled by the hub motor to assist the steering of the vehicle; when the vehicle runs at a high speed, the yaw moment of the vehicle is controlled by changing the braking force, the running stability of the vehicle is controlled, and the running safety is ensured.
Further, the specific process of S4 is:
the simulation ABS system ensures the safety of the vehicle during emergency braking, and under the limit working condition, the dual-channel dual-loop electronic hydraulic braking system has the ABS function to realize the emergency braking of the vehicle; obtain wheel position and rotational speed signal through the inside hall sensor of in-wheel motor, when detecting that the vehicle has braking operation, the system will take measures, the slip rate of wheel and ground is controlled through constantly increasing or reducing the brake pressure who acts on the wheel, under the emergency braking condition, guarantee the maneuverability of wheel, guarantee the direction of travel that the driver can control the vehicle promptly on the one hand, on the other hand, the repeated increase and decrease brake pressure is compared and can be obtained bigger braking force in the direct locking of wheel, help the driver to control the vehicle and reach safe speed of traveling, security performance when improving the braking.
The invention discloses a double-loop electronic hydraulic braking system comprising two channels, which comprises two sets of independent electronic hydraulic braking systems in the system, wherein the two sets of systems share one oil pot and are respectively connected with braking wheel cylinders of wheel-side disc brakes of two wheels on the left side and two wheels on the right side through respective hydraulic pipelines, and braking torques output by the disc brakes of the four wheels are respectively and independently controlled. Due to the design of the redundancy device, when the first set of brake system breaks down, the second set of hydraulic brake system can still work normally, and the braking force on the wheels is controlled through the hydraulic oil circuit; and when one brake circuit has a fault, the other brake circuit can still ensure that the hydraulic oil circuit normally flows. During braking operation, a driver steps on a brake pedal, a brake pedal generates a pedal stroke, a brake pull wire and a pull wire pull rod are changed to push an ejector rod to move towards a brake master cylinder, in the process, a brake signal is transmitted to a VCU (vehicle control unit) through a CAN (controller area network) bus in a vehicle, the VCU calculates and obtains required brake force according to a built-in control algorithm and transmits the required brake force to a motor, the motor outputs an electric signal to an electric push rod to push an ejector rod, under the combined action of manpower and the electric push rod, the ejector rod pushes a piston in the master cylinder to move along the direction of the brake master cylinder to jointly generate brake hydraulic pressure, and hydraulic oil in a brake loop is respectively transmitted to brake cylinders of two wheel-side disc brakes through hydraulic oil passages on two sides, so that two hydraulic oil passages are formed. Under the combined action of the two sets of hydraulic braking systems, the vehicle obtains required braking force to complete braking or steering operation.
The beneficial results of the invention are as follows:
the invention relates to the field of automatic driving brake control, and designs a double-loop electronic hydraulic brake system comprising two channels, wherein the electronic hydraulic brake systems of the two channels respectively control the oil pressure of brake wheel cylinders of wheel brakes acting on two wheels on the left side and two wheels on the right side of a vehicle, so that the brake torque of the wheels is controlled, and two independent brake systems are formed. The electro-hydraulic brake system of each channel controls a master cylinder in the form of a double circuit, which constitutes a double circuit of the fluid paths of the front and rear wheels on the same side of the vehicle. During braking, the output torque of the motor acting on the ejector rod of the brake master cylinder can be dynamically adjusted, and the stability control of the vehicle based on the adjustment of the braking force is easy to realize. The hydraulic braking system designed by the invention adopts a two-stage transmission form of a direct-current brushless motor, a worm wheel and a worm screw and a ball screw, the rotary motion of the motor is converted into linear motion during working, the axial movement of the piston of the brake master cylinder is pushed by the ejector rod, so that the resistance during braking operation is reduced, and larger thrust is obtained, so that a driver can perform a series of operations during braking more easily. Meanwhile, the whole set of control method can be used for assisting steering, and controlling the braking force of the left side and the right side of the vehicle through the hub motor arranged on each wheel. In order to realize the manual auxiliary braking and parking braking, a brake pull wire and a lever mechanism are further designed in the system, the pull wire is pulled manually, and the push rod is pushed by the lever mechanism to realize the axial movement of the piston of the brake main cylinder. The set of control system can also simulate an ABS system during emergency braking, so that the vehicle can always keep good direction stability and operability during emergency braking, sideslip and deviation are prevented, and the safety performance of the vehicle during braking is improved.
Drawings
FIG. 1 is a schematic block diagram of the present invention as applied to a differential steering control system for a vehicle;
FIG. 2 is a pictorial view of a dual circuit electro-hydraulic brake system including two channels;
fig. 3 is a diagram of a left side electro-hydraulic brake system.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
The invention discloses a control method of a double-circuit electronic hydraulic brake system comprising two channels, which comprises the following steps:
s1, the whole vehicle braking system controls the oil pressure of the wheel-side brake wheel cylinders of the left two wheels and the right two wheels of the vehicle respectively by two sets of electronic hydraulic braking systems, and further controls the braking torque of the wheels to form two-channel independent electronic hydraulic braking systems, each channel electronic hydraulic braking system controls a double-loop type brake master cylinder (1), and a liquid-path double-loop electronic hydraulic braking system of the front wheel and the rear wheel on the same side of the vehicle can be formed;
s2, dynamically adjusting the output torque of the brake motor (5) on the brake master cylinder ejector rod (28) to realize the vehicle stability control based on the brake force adjustment; the two-stage transmission form of the worm gear and the ball screw is adopted, so that the rotary motion of the brake motor (5) can be converted into linear motion during working, the resistance during brake operation is reduced, and larger thrust is obtained;
s3, assisting steering of the vehicle, and realizing yaw moment control of the vehicle, assisting to realize driving stability control of the vehicle, and improving driving safety of the vehicle;
s4, hydraulic regulation can be achieved through control over the output torque of the brake motor, the anti-lock braking ABS function is simulated during emergency braking, the good directional stability and operability of the vehicle are guaranteed to be always kept during emergency braking, sideslip and deviation are prevented, and the safety performance of the vehicle during braking is improved.
Referring to fig. 1, a schematic block diagram of the present invention applied to a differential steering control system is shown, in which a master cylinder is connected to a wheel cylinder through a hydraulic line, and the wheel cylinder controls a brake and further controls wheels.
The invention relates to a double-loop electronic hydraulic brake system comprising two channels, which is respectively connected with brake cylinders of wheel-side disc brakes of two wheels on the left side and two wheels on the right side through hydraulic pipelines, wherein two sets of Electronic Hydraulic Brake Systems (EHBS) can form double-loop hydraulic pipeline independent control to realize independent control and adjustment of braking force of the wheels on the two sides, and the double-loop electronic hydraulic brake system comprises a brake master cylinder A (1), a brake master cylinder B (2), a push rod A (3), a push rod B (4), an electronic hydraulic brake motor A (5), an electronic hydraulic brake motor B (6), a front left brake (7), a front right brake (9), a rear left brake (19), a rear right brake (21), a front left brake cylinder (8), a front right brake cylinder (10), a rear left brake cylinder (18) and a rear right brake cylinder (20). The whole control system schematic diagram further comprises: the electric four-wheel hub motor driven automobile comprises an electric accelerator pedal (13) for outputting a speed signal, an electric brake pedal (14) for outputting a speed signal, an electronic steering wheel (15) for outputting a steering signal, an instrument panel (16) for displaying the speed, the driving mileage, battery related information and the like, wherein the electric automobile is provided with a control device, a driving device, a power device and a braking device, the control device comprises four hub motor driving controllers (12), EHBS controllers in two electronic hydraulic control systems and a complete automobile control unit VCU (17), and the four hub motor driving controllers acquire signals transmitted by the VCU so as to control the driving of four wheels of the automobile; the power device comprises a battery management system BMS (22) and a power battery (23), provides power required by automobile running for the in-wheel motor driving controller and the in-wheel motor, and monitors and manages the battery; the driving device and the braking device are respectively in communication connection with the control device through the CAN bus. The driving device comprises four hub motors (11) which are respectively arranged on the wheels with 4.
During braking operation, the driver presses down the brake pedal, and the input mandril moves towards the brake master cylinder correspondingly through the brake pull wire and the pull wire lever. Meanwhile, after the brake pedal sensor senses the brake force of the brake pedal, the brake signal is transmitted to the VCU through the CAN bus, the whole vehicle control unit obtains the expected brake torque of the brake according to a control algorithm, and then the electric push rod applies thrust to the ejector rod. The ejector rod pushes a piston in a brake master cylinder under the combined action of the acting force of the electric push rod and the acting force of the manpower converted to the acting force on the push rod, and the combined action generates brake hydraulic pressure which is transmitted to a brake wheel cylinder of the wheel-side brake. The thrust of the electric push rod can be adjusted by a PWM (pulse width modulation) technology. During steering control, the two independent EHBs can respectively control the electric push rods in real time, and the road braking force of the wheels on the left side and the right side of the automobile is adjusted, so that the automobile obtains a steering yaw moment, and steering is realized. The two sets of electronic hydraulic braking systems respectively control the oil pressure of the brake wheel cylinders of the two wheels on the left side and the two wheels on the right side of the vehicle, so as to control the braking torque of the wheels, form two independent braking systems, and the braking main cylinder controlled by each set of electronic hydraulic braking system is double-loop, so that the hydraulic double-loop of the front wheel and the rear wheel on the same side of the vehicle can be realized, and the braking safety of the whole vehicle is further improved.
Fig. 2 is a pictorial view of a dual circuit electro-hydraulic brake system including two channels.
Fig. 3 is a schematic structural diagram of a dual-circuit electronic hydraulic brake system including two channels, which includes, in addition to the brake motor a (5), the electric push rod a (3) and the master cylinder a (1) already labeled in fig. 1, an upper bracket (27), a lower bracket (24), a push rod (28), a brake cable (26), and a brake push rod (25) in fig. 3, wherein the master cylinder a (1) further includes a first piston (29) and a second piston (31), which are connected by a spring (30) to push brake fluid into a brake pipeline. The whole braking system is fixed by an upper bracket (27) and a lower bracket (24) through nuts and bolts; in the interior of a braking system, an electric push rod A (3) is fixed on a support wall through a bolt and a nut, when a braking motor A (5) works, the electric push rod A (3) pushes a push rod (28) to move, the push rod (28) is connected with the braking push rod A (3) through a fulcrum, the braking push rod (25) can rotate around the fulcrum, a braking pull wire (26) is fixed at the bottom of the braking push rod (25) through the nut, a first piston (29) and a second piston (31) in a braking main cylinder A (1) are connected through a spring, braking fluid is filled in the main cylinder, the braking fluid enters a corresponding braking loop through a pipeline under the hydraulic pressure generated by the reciprocating motion of the pistons and is transmitted to a corresponding hydraulic wheel cylinder, the pistons reset under the action of the restoring force of the spring, and the pressure of a hydraulic oil circuit in the main cylinder is balanced.
In conclusion, the invention discloses a double-loop electronic hydraulic brake system comprising two channels, belongs to the field of electronic hydraulic brake control, and is particularly suitable for brake links of wheel hub motor-driven automobiles, new energy automobiles and the like. The actuating mechanism of each loop system of the invention is a brake control module composed of a brake, a mandril, a motor and the like. During braking operation, a driver steps on a brake pedal, a brake pedal generates a pedal stroke, a brake pull wire and a pull wire pull rod are changed to push an ejector rod to move towards a brake master cylinder, in the process, a brake signal is transmitted to a VCU (vehicle control unit) through a CAN (controller area network) bus in a vehicle, the VCU calculates and obtains required brake force according to a built-in control algorithm and transmits the required brake force to a motor, the motor outputs an electric signal to an electric push rod to push an ejector rod, under the combined action of manpower and the electric push rod, the ejector rod pushes a piston in the master cylinder to move along the direction of the brake master cylinder to jointly generate brake hydraulic pressure, and hydraulic oil in a brake loop is respectively transmitted to brake cylinders of two wheel-side disc brakes through hydraulic oil passages on two sides, so that two hydraulic oil passages are formed. Under the combined action of the two sets of hydraulic braking systems, the vehicle obtains required braking force to complete braking or steering operation. The two sets of electronic hydraulic braking systems respectively control the braking torque of the brakes acting on the two wheels on the left side and the two wheels on the right side of the vehicle to form two independent braking systems, and the braking main cylinder controlled by each set of electronic hydraulic braking system is double-loop, so that double-loop of the liquid paths of the front wheels and the rear wheels on the same side of the vehicle can be realized, and the braking safety of the whole vehicle is further improved. The whole set of control method can be used for assisting steering, can assist steering of a vehicle, controls braking forces on the left side and the right side of the vehicle through the hub motors arranged on each wheel, controls driving stability of the vehicle, and ensures driving safety. In order to realize the manual auxiliary braking and parking braking, a brake pull wire and a lever mechanism are further designed in the system, the pull wire is pulled manually, and the push rod is pushed by the lever mechanism to realize the axial movement of the piston of the brake main cylinder. The system can also simulate an ABS system, so that the safety of the vehicle is ensured during emergency braking, and the driving safety is improved.
The invention discloses a double-circuit electronic hydraulic brake system, designs a double-circuit electronic hydraulic brake system comprising two channels, belongs to the field of electronic hydraulic brake control, is particularly suitable for brake links of wheel hub motor driven automobiles, new energy automobiles and the like, and mainly solves the redundancy problem of the brake system and the problems of electronic hydraulic brake, stable brake force control during braking, integral automobile drive-brake composite control and the like in the field of automatic driving.
The above description of the present invention is intended to be illustrative. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (6)
1. A method of controlling a dual circuit electro-hydraulic brake system including two channels, comprising the steps of:
s1, the whole vehicle braking system controls the oil pressure of the wheel-side brake wheel cylinders of the left two wheels and the right two wheels of the vehicle respectively by two sets of electronic hydraulic braking systems, and further controls the braking torque of the wheels to form two-channel independent electronic hydraulic braking systems, each channel electronic hydraulic braking system controls a double-loop type brake master cylinder (1), and a liquid-path double-loop electronic hydraulic braking system of the front wheel and the rear wheel on the same side of the vehicle can be formed;
s2, dynamically adjusting the output torque of the brake motor (5) on the brake master cylinder ejector rod (28) to realize the vehicle stability control based on the brake force adjustment; the two-stage transmission form of the worm gear and the ball screw is adopted, so that the rotary motion of the brake motor (5) can be converted into linear motion during working, the resistance during brake operation is reduced, and larger thrust is obtained;
s3, assisting steering of the vehicle, and realizing yaw moment control of the vehicle, assisting to realize driving stability control of the vehicle, and improving driving safety of the vehicle;
s4, hydraulic regulation can be realized by controlling the output torque of the brake motor (5), the ABS function of braking is simulated during emergency braking, the good directional stability and operability of the vehicle are ensured to be always kept during emergency braking, sideslip and deviation are prevented, and the safety performance of the vehicle during braking is improved.
2. The control method of a two-circuit electro-hydraulic brake system including two channels according to claim 1, wherein in step S1, two sets of electro-hydraulic brake systems are installed on the same base by mechanical connection; the electronic hydraulic braking systems of the two channels share a whole vehicle control unit VCU in electric connection and an oil pot in mechanical connection.
3. The control method of a two-circuit electro-hydraulic brake system comprising two channels according to claim 1, wherein one set of the electro-hydraulic brake system comprises a master cylinder A (1), a brake motor A (5), an electric push rod A (3), an upper bracket (27), a lower bracket (24), a push rod (28), a brake cable (26) and a brake push rod (25);
the upper bracket (27) and the lower bracket (24) are fixed through nuts and bolts; the inner space formed by the upper bracket (27) and the lower bracket (24): the electric push rod A (3) is fixed on the wall of the support through a bolt and a nut, when the brake motor A (5) works, the electric push rod A (3) pushes the ejector rod (28) to move, the ejector rod (28) is connected with the brake push rod (25) through a fulcrum, the brake push rod (25) can rotate around the fulcrum, and the brake pull wire (26) is fixed at the bottom of the brake push rod (25) through a nut;
the brake master cylinder A (1) comprises a first piston (29) and a second piston (31), the first piston and the second piston are connected through a spring (30), brake fluid is filled in the master cylinder, the brake fluid enters a corresponding brake loop through a pipeline under the hydraulic pressure generated by the reciprocating motion of the pistons and is transmitted to a corresponding hydraulic wheel cylinder, the pistons reset under the action of the restoring force of the spring, and the pressure of a hydraulic oil path in the master cylinder is balanced;
the other set of electronic hydraulic brake system has the same structure.
4. The control method of a two-circuit electro-hydraulic brake system including two channels according to claim 1, wherein the specific process of S2 is:
a vehicle control unit VCU facing practical application is designed, a brake fluid pressure sensor is added into an electronic hydraulic brake system of each channel, the pressure sensor constantly detects the internal brake fluid pressure of a brake loop, judges whether pressure is applied or not, and timely and effectively provides a feedback signal for a controller; the VCU adjusts the brake pressure through closed-loop control, so that the output torque of the brake motor (5) can be dynamically adjusted; in the actual braking process, the brake does not increase the braking, the brake failure condition can be prevented, the automatic braking is mainly used in the application process, the manual control can be carried out under the extreme condition, and the electric control electric drive automatic braking failure is prevented; when automatic braking is carried out, the whole vehicle control unit is responsible for calculating to obtain expected control torque, a direct-current brushless motor is adopted as a brake motor, a rotating shaft rotates when the motor works, the rotating shaft of the motor is mechanically connected with a two-stage transmission device consisting of a worm wheel and a worm screw and a ball screw, mechanical energy generated when the motor rotates is transmitted to an electric push rod (3) by the two-stage transmission device, the electric push rod (3) directly acts on a push rod (28) to apply thrust to the push rod, the push rod (28) pushes a first piston (29) and a second piston (31) in a brake master cylinder (1) to generate brake hydraulic pressure, and the brake hydraulic in the master cylinder is transmitted to a brake wheel cylinder of a wheel brake through a hydraulic pipeline to control vehicle braking force to carry out braking operation; when the brake is manually controlled, a driver steps on a brake pedal, the brake pull wire (26) and the pull wire pull rod control the movement of the ejector rod (28), and then the brake is carried out through the flow of hydraulic oil in the hydraulic pipeline.
5. The control method of a two-circuit electro-hydraulic brake system including two channels according to claim 1, wherein the specific process of S3 is:
the braking force of the left side and the right side of the vehicle is controlled through the hub motor arranged on each wheel, the vehicle is assisted to steer, and when the vehicle runs at low speed, the tangential force is controlled by the hub motor to assist the steering of the vehicle; when the vehicle runs at a high speed, the yaw moment of the vehicle is controlled by changing the braking force, the running stability of the vehicle is controlled, and the running safety is ensured.
6. The control method of a two-circuit electro-hydraulic brake system including two channels according to claim 1, wherein the specific process of S4 is:
the simulation ABS system ensures the safety of the vehicle during emergency braking, and under the limit working condition, the dual-channel dual-loop electronic hydraulic braking system has the ABS function to realize the emergency braking of the vehicle; obtain wheel position and rotational speed signal through the inside hall sensor of in-wheel motor, when detecting that the vehicle has braking operation, the system will take measures, the slip rate of wheel and ground is controlled through constantly increasing or reducing the brake pressure who acts on the wheel, under the emergency braking condition, guarantee the maneuverability of wheel, guarantee the direction of travel that the driver can control the vehicle promptly on the one hand, on the other hand, the repeated increase and decrease brake pressure is compared and can be obtained bigger braking force in the direct locking of wheel, help the driver to control the vehicle and reach safe speed of traveling, security performance when improving the braking.
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