CN114537344B - Hydraulic braking power control system and method - Google Patents
Hydraulic braking power control system and method Download PDFInfo
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- CN114537344B CN114537344B CN202210209730.7A CN202210209730A CN114537344B CN 114537344 B CN114537344 B CN 114537344B CN 202210209730 A CN202210209730 A CN 202210209730A CN 114537344 B CN114537344 B CN 114537344B
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
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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
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H11/00—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types
- B61H11/06—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types of hydrostatic, hydrodynamic, or aerodynamic brakes
Abstract
The invention discloses a hydraulic power control method, which comprises the following steps: the invention discloses a hydraulic braking force control system corresponding to the method, which achieves the aim of accurately and stably controlling the braking pressure, ensures that a vehicle runs stably, has small impulse and is high in passenger comfort.
Description
Technical Field
The invention relates to the technical field of braking of rail transit vehicles, in particular to a hydraulic power control system and method.
Background
The low-floor tramcar is a new urban rail transit product in China, has the characteristics of energy conservation, environmental protection, high efficiency and the like, has the advantages of low floor height, convenience for passengers to get on and off the train, short stop time, large lighting area and the like, is superior to a bus in passenger capacity, running stability and comfort, is an ideal urban public transport system, and has important significance in the domestic development of the low-floor tramcar. However, in the speed regulation process of the low-floor tramcar, particularly in the electro-hydraulic conversion process of a low-speed section, due to the problems of the delay and the response speed of the hydraulic braking force, the pressure control of the brake cylinder is accurate and stable in the stopping process of the train, and the vehicle impulse and the comfort of passengers are directly influenced.
In a brake system employing a hydraulic brake system, the transmission path of the braking force is: the hydraulic pump provides high-pressure oil, various hydraulic control valves regulate the hydraulic oil according to control instructions of an EBCU (EBCU is an abbreviation of an electronic brake control unit), and the regulated high-pressure oil enters a basic brake unit to generate braking force.
In the prior art, a microcomputer-controlled electromechanical braking system (international publication number: WO/2019/047049) directly converts electric energy into mechanical action to generate friction braking force, has the advantages of high precision, quick response and the like, but replaces a hydraulic driving mode commonly adopted by the conventional rail vehicle braking system with an electric driving mode, and has no advantages of hydraulic transmission, such as incapability of controlling pressure accurately and stably.
Therefore, how to realize accurate and stable control of the pressure of the brake cylinder is to ensure that the vehicle runs stably, the impulse is small, and the comfort of passengers is high, which is a problem to be faced in the prior art at present.
Disclosure of Invention
The invention aims to realize accurate and stable control of the pressure of the brake cylinder, so that the vehicle runs stably, the impulse is small, and the comfort of passengers is high.
Based on the above purpose, the invention provides a hydraulic braking power control system, which comprises an EBCU, a proportional solenoid valve, a current closed-loop control subsystem and a pressure closed-loop control subsystem, wherein the EBCU calculates a hydraulic braking force target value according to a braking working condition and performs impact limitation processing on the hydraulic braking force target value to obtain an impact limitation target value, the EBCU adjusts the actual braking pressure through the current closed-loop control subsystem and the pressure closed-loop control subsystem in sequence,
the current closed-loop control subsystem is used for controlling and outputting the current output of the proportional solenoid valve, the current output of the proportional solenoid valve is obtained by comparing the current difference between target current and running current to carry out PID (proportion integration differentiation) regulation, and brake pressure is output to the pressure closed-loop control subsystem, and the brake pressure is obtained according to the linear relation between the current I of the proportional solenoid valve and the brake pressure P;
the pressure closed-loop control subsystem compares the difference between the brake pressure and the target pressure: when the absolute value of the difference value between the braking pressure and the target pressure is larger than delta P, carrying out pressure closed-loop PID regulation; when the absolute value of the difference value between the braking pressure and the target pressure is smaller than delta P, outputting the braking pressure; and the delta P is a preset pressure deviation value.
The current closed loop in the system is inner layer control, the pressure closed loop is outer layer control, the parameter transmitted by the two layers of closed loop control is PWM duty ratio, the current of a proportional solenoid valve in a hydraulic braking system is controlled firstly, the pressure is output by using the control mode of the current closed loop, then the PWM duty ratio output by the proportional solenoid valve is finely adjusted according to the difference value of the target pressure and the actual pressure of a brake cylinder, the approach of the actual pressure and the target pressure is realized by using the double-layer control method of the current closed loop of the inner layer and the pressure closed loop of the outer layer, the purpose of accurately and stably controlling the pressure of the brake cylinder is achieved, the vehicle runs stably, the impulse is small, and the comfort level of passengers is high.
Corresponding to the hydraulic braking force control system, the hydraulic braking force control method comprises a current closed-loop control method and a pressure closed-loop control method, and the hydraulic braking force control method specifically comprises the following steps:
s1, an EBCU calculates a hydraulic braking force target value according to a braking working condition, and performs impact limiting processing on the hydraulic braking force target value to obtain an impact limiting target value;
s2, adjusting the current output of the proportional solenoid valve according to the impact limit target value, wherein the adjustment of the current output of the proportional solenoid valve is realized by outputting a corresponding PWM duty ratio through a current closed loop circuit to act on the proportional solenoid valve;
s3: comparing the difference between the output current and the target current: when the absolute value of the difference value between the output current and the target current is larger than delta I, the step S2 is entered, and the PWM duty ratio is continuously adjusted; when the absolute value of the difference value between the output current and the target current is smaller than delta I, the step S4 is executed; the output current is the proportional solenoid valve current output in S2, the target current is a current corresponding to the EBCU output target pressure, and the delta I is a preset current deviation value;
s4, obtaining the brake pressure corresponding to the output current in the S3 according to the linear relation between the current I and the pressure P and the PWM duty ratio;
s5, comparing the difference value of the braking pressure and the target pressure: when the absolute value of the difference value between the braking pressure and the target pressure is larger than delta P, the braking pressure is adjusted, and the adjustment of the braking pressure is PID adjustment of a pressure closed loop; when the absolute value of the difference value between the braking pressure and the target pressure is smaller than delta P, outputting the braking pressure; the delta P is a preset pressure deviation value;
s6, judging whether the hydraulic braking force target value is equal to the impact limit target value or not, and if not, entering the step S1; if yes, entering step S7;
s7: and completing the hydraulic braking force double closed-loop control.
The method comprises the steps that a current closed loop is an inner layer control, a pressure closed loop is an outer layer control, a parameter transmitted by the two layers of closed loop controls is a PWM duty ratio, the current of a proportional solenoid valve in a hydraulic braking system is controlled, the pressure is output by using the current closed loop control mode, then the PWM duty ratio output by the proportional solenoid valve is finely adjusted according to the difference value of the target pressure and the actual pressure of a brake cylinder, the approach of the actual pressure and the target pressure is realized by using the inner layer current closed loop and outer layer pressure closed loop double-layer control method, the purpose of accurately and stably controlling the pressure of the brake cylinder is achieved, the vehicle runs stably, the impulse is small, and the comfort level of passengers is high.
The invention has the following beneficial effects:
the invention provides a hydraulic braking power control system and a hydraulic braking power control method, aiming at the phenomena of hydraulic braking force retardation, slow response speed and the like, an Electronic Braking Control Unit (EBCU) of a hydraulic braking system utilizes double closed-loop control (inner layer current closed-loop control and outer layer pressure closed-loop control) to realize the adjustment of actual pressure and target pressure according to a system hydraulic braking control target value, thereby achieving the purpose of accurate and stable control of brake cylinder pressure, and ensuring that a vehicle runs stably, the impulse is small and the comfort level of passengers is high.
Drawings
Fig. 1 is a schematic diagram of the principle of the embodiment of the present invention.
Detailed Description
The invention discloses a hydraulic braking force control method, which is applied to a hydraulic braking force control system and comprises an EBCU, a proportional solenoid valve, a current closed-loop control subsystem and a pressure closed-loop control subsystem, wherein the EBCU calculates a hydraulic braking force target value according to a braking working condition and carries out impact limitation processing on the hydraulic braking force target value to obtain an impact limitation target value, the EBCU adjusts actual braking pressure through the current closed-loop control subsystem and the pressure closed-loop control subsystem in sequence,
the current closed-loop control subsystem is used for controlling and outputting the current output of the proportional solenoid valve, the current output of the proportional solenoid valve is obtained by comparing the current difference between target current and running current to carry out PID (proportion integration differentiation) regulation, and brake pressure is output to the pressure closed-loop control subsystem, and the brake pressure is obtained according to the linear relation between the current I of the proportional solenoid valve and the brake pressure P;
the pressure closed-loop control subsystem compares the difference between the brake pressure and the target pressure: when the absolute value of the difference value between the braking pressure and the target pressure is larger than delta P, carrying out PID (proportion integration differentiation) regulation of a pressure closed loop; when the absolute value of the difference value between the braking pressure and the target pressure is smaller than delta P, outputting the braking pressure; and the delta P is a preset pressure deviation value.
To further explain the hydraulic braking force control method, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments, as shown in fig. 1:
(1) Firstly, the EBCU calculates a hydraulic braking force target value according to a braking working condition;
(2) The EBCU performs impact limiting treatment on the hydraulic braking target value according to the braking working conditions, obtains the hydraulic braking target value of each operation period according to impact limiting curves under different working conditions,
wherein the hydraulic braking target value of each operation cycle is a large value of the impact limit curve and the hydraulic braking force target value: the hydraulic braking target value per operation cycle is equal to the hydraulic braking target value if the hydraulic braking target value is greater than or equal to the value of the impact limit curve; the hydraulic braking target value per operating cycle is equal to the value of the impact limit curve, which is expressed by Brk _ press _ implimit, and the hydraulic braking force target value is expressed by Brk _ press _ target, if the hydraulic braking force target value is smaller than the value of the impact limit curve. However, in order to eliminate the system error, the hydraulic braking target value of each running period is a large value of Brk _ press _ interrupt + b1 and Brk _ press _ target, and the b1 value is a preset set value for eliminating the system error;
(3) According to the linear relation between the pressure P and the current I of the proportional solenoid valve, the EBCU outputs a target current corresponding to the hydraulic brake of each operation period, then the current closed-loop circuit is controlled to output a corresponding duty ratio initial value to act on the proportional solenoid valve, meanwhile, the current closed-loop circuit collects the output current of the proportional solenoid valve, meanwhile, the difference value between the output current and the target current is compared, the PID adjustment of the current closed-loop is carried out on the duty ratio until the absolute value of the difference value between the output current and the target current is smaller than delta I, the current closed-loop output of the proportional solenoid valve is locked at the moment,
wherein the pressure P and the current I of the proportional solenoid valve are in a linear relationship, specifically according to
P = K × I + b2, wherein K, b are all constants, all of which are predetermined values;
(4) Outputting corresponding brake cylinder pressure according to the current closed-loop duty ratio, comparing the difference between the brake cylinder pressure and the target pressure, performing pressure closed-loop PID (proportion integration differentiation) adjustment on the duty ratio until the absolute value of the difference between the brake cylinder pressure and the target pressure is smaller than delta P, and outputting the final proportional solenoid valve duty ratio;
(5) After the operation period is finished, comparing whether the target value of the output pressure of the impact limitation is equal to the target value of the hydraulic braking force, if not, continuously finishing the change of the target value of the impact limitation, and continuously executing the processes (2), (3) and (4); and if the target value of the hydraulic braking force is equal to the target value of the hydraulic braking force, the control of the target value of the hydraulic braking force is finished, and the working condition judgment program is returned.
Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the scope of the invention, and that those skilled in the art will be able to modify the invention in its various equivalent forms without departing from the scope of the invention as defined in the appended claims.
Claims (2)
1. The hydraulic braking power control system is characterized by comprising an EBCU, a proportional solenoid valve, a current closed-loop control subsystem and a pressure closed-loop control subsystem, wherein the EBCU calculates a hydraulic braking force target value according to a braking working condition and performs impact limitation processing on the hydraulic braking force target value to obtain an impact limitation target value, and the EBCU adjusts actual braking pressure through the current closed-loop control subsystem and the pressure closed-loop control subsystem in sequence;
the current closed-loop control subsystem is used for controlling and outputting the current output of the proportional solenoid valve, the current output of the proportional solenoid valve is obtained by comparing the current difference between target current and running current to carry out PID (proportion integration differentiation) regulation, and brake pressure is output to the pressure closed-loop control subsystem, and the brake pressure is obtained according to the linear relation between the current I of the proportional solenoid valve and the brake pressure P;
the pressure closed-loop control subsystem compares the difference between the brake pressure and the target pressure: when the absolute value of the difference value between the braking pressure and the target pressure is larger than delta P, carrying out PID (proportion integration differentiation) regulation of a pressure closed loop; when the absolute value of the difference value between the braking pressure and the target pressure is smaller than delta P, outputting the braking pressure; and the delta P is a preset pressure deviation value.
2. A hydraulic braking force control method is characterized in that the hydraulic braking force control method is applied to the system of claim 1, comprises a current closed-loop control method and a pressure closed-loop control method, and comprises the following specific steps:
s1: the EBCU calculates a hydraulic braking force target value according to the braking working condition, and carries out impact limiting processing on the hydraulic braking force target value to obtain an impact limiting target value;
s2: adjusting the current output of a proportional solenoid valve according to the impact limit target value, wherein the adjustment of the current output of the proportional solenoid valve is realized by outputting a corresponding PWM duty ratio through a current closed loop circuit to act on the proportional solenoid valve;
s3: comparing the difference between the output current and the target current: when the absolute value of the difference value between the output current and the target current is larger than delta I, the step S2 is entered, and the PWM duty ratio is continuously adjusted; when the absolute value of the difference value between the output current and the target current is smaller than delta I, the step S4 is executed; the output current is the proportional solenoid valve current output in S2, the target current is a current corresponding to the EBCU output target pressure, and the delta I is a preset current deviation value;
s4: obtaining the brake pressure corresponding to the output current in the S3 according to the linear relation between the proportional solenoid valve current I and the brake pressure P and the PWM duty ratio;
s5: comparing the difference between the brake pressure and the target pressure: when the absolute value of the difference value between the braking pressure and the target pressure is larger than delta P, the braking pressure is adjusted, and the adjustment of the braking pressure is PID adjustment of a pressure closed loop; when the absolute value of the difference value between the braking pressure and the target pressure is smaller than delta P, outputting the braking pressure; the delta P is a preset pressure deviation value;
s6: judging whether the hydraulic braking force target value is equal to the impact limit target value or not, and if not, entering a step S1; if the two are equal, the step S7 is carried out;
s7: and completing the hydraulic braking force double closed-loop control.
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