CN114673745A - Friction plate management method, system, vehicle and medium based on digital twinning - Google Patents
Friction plate management method, system, vehicle and medium based on digital twinning Download PDFInfo
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- CN114673745A CN114673745A CN202210331799.7A CN202210331799A CN114673745A CN 114673745 A CN114673745 A CN 114673745A CN 202210331799 A CN202210331799 A CN 202210331799A CN 114673745 A CN114673745 A CN 114673745A
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- 238000007726 management method Methods 0.000 title claims abstract description 69
- 238000005299 abrasion Methods 0.000 claims abstract description 75
- 230000015654 memory Effects 0.000 claims abstract description 33
- 238000013507 mapping Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 43
- 238000012545 processing Methods 0.000 claims description 16
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- 230000002035 prolonged effect Effects 0.000 description 4
- 230000006403 short-term memory Effects 0.000 description 3
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D66/02—Apparatus for indicating wear
- F16D66/021—Apparatus for indicating wear using electrical detection or indication means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D2066/001—Temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D2066/005—Force, torque, stress or strain
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Abstract
The invention discloses a friction plate management method, a friction plate management system, a friction plate management vehicle and a friction plate management medium based on digital twins, wherein the friction plate management method comprises the steps of obtaining initial physical state data of a plurality of friction plates; establishing a digital twinning model comprising a plurality of digital twins; acquiring current working environment information, vibration information and accumulated service time of a plurality of friction plates; according to the working environment information and the vibration information, based on each digital twin body and the long-time and short-time memory network, obtaining the current abrasion speed of each digital twin body; updating the thickness and the total abrasion amount of the digital twins in real time according to the abrasion speed and the accumulated service time to obtain a real-time updated digital twins model; and carrying out braking management on the friction plate according to the real-time updated digital twin model. The invention establishes the mapping of the friction plate real object and the digital twin body by utilizing the long-time memory network, can simulate the abrasion condition of the friction plate in real time, carries out braking management on the friction plate according to the abrasion condition and improves the braking effect and the driving safety.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a friction plate management method and system based on digital twins, a vehicle and a medium.
Background
For the management of friction plates in a vehicle braking system, an alarm mode is mostly adopted in the prior art, a sensor is arranged on the friction plates, and when the friction plates are worn to a certain degree, an alarm is triggered; the first mode is a simpler mechanical alarm, namely, when the friction plate is worn to expose the alarm, the friction plate generates harsh sound through the friction of the alarm so as to play a role in alarming; the other type is a sensor type, the sensor is normally opened under a normal working state, the sensor is always in a passage, at the moment, alarm display cannot occur on a vehicle instrument panel, but when a wire of the sensor is worn out, the sensor is broken, at the moment, alarm display begins to occur on the instrument panel, and an abnormal condition is prompted to occur in braking of a vehicle owner, so that the braking system can be maintained in real time.
For how to prolong the service life of the friction plate of the braking system, the prior art is more inclined to improve the endurance of the friction plate from the aspect of the processing technology or the manufacturing raw material of the friction plate, and rarely manages the abrasion from the perspective of the use process of the friction plate, and cannot estimate the abrasion loss of the friction plate in real time; in addition, the wear of the friction plate not only means the reduction of the service life of the friction plate, but also influences the braking effect of the vehicle in the use process of the friction plate; for example, in the case of a hydraulic system, a slight displacement of the wheel cylinder also affects the value of the brake pressure, and the conventional brake system usually does not consider the wear of the friction plates when performing brake control, resulting in increasingly poor brake effect.
Therefore, a friction plate management method, a friction plate management system, a vehicle and a medium based on digital twins are needed, the abrasion condition of the friction plate can be simulated in real time, the braking management is carried out on the braking system based on the abrasion condition of the friction plate, and the braking effect and the driving safety are improved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a friction plate management method, a friction plate management system, a vehicle and a medium based on digital twins, which can simulate the wear condition of a friction plate in real time, carry out braking management on a braking system based on the wear condition of the friction plate and improve the braking effect and the driving safety. The technical scheme is as follows:
in one aspect, the invention provides a friction plate management method based on digital twinning, which comprises the following steps:
acquiring initial physical state data of a plurality of friction plates;
establishing an initial digital twin model according to the initial object state data; wherein the digital twinning model comprises a plurality of digital twins of the friction plates;
acquiring current working environment information, vibration information and accumulated service time of the friction plates;
according to the current working environment information and the vibration information, based on the digital twin body corresponding to each friction plate and a long-time and short-time memory network, obtaining the current wear speed of the digital twin body corresponding to each friction plate;
obtaining the abrasion degree of the current digital twin body according to the abrasion speed and the accumulated using time;
updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after real-time updating;
and according to the digital twin model which is updated in real time, carrying out braking management on the friction plate corresponding to each digital twin.
Further, the wear rate is expressed in a wear rate class, which is divided into ten classes of 1-10, and the range of ten wear rate classes corresponds to 0-100% of the maximum allowable wear rate of the friction plate.
Further, before obtaining a current wear rate of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-term and short-term memory network according to the current working environment information and the vibration information, the method further includes:
and setting different working environments and different wear working conditions, and obtaining vibration information and accumulated use information of the friction plate through simulation so as to obtain a training set of the long-time memory network.
Further, the performing braking management on the friction plate corresponding to each digital twin according to the real-time updated digital twin model includes:
redistributing the braking force applied to the friction sheet corresponding to each digital twin according to the abrasion degree of the digital twin;
according to the abrasion degree of the digital twin body, brake control compensation is carried out on the braking force applied to the friction sheet corresponding to each digital twin body;
and carrying out corresponding replacement reminding on the friction plate according to the abrasion degree of the digital twin body.
Further, the redistributing the braking force applied to the friction plate corresponding to each digital twin according to the degree of wear of the digital twin includes:
converting the wear degree into a wear degree grade representation according to ten wear degree grades of 1-10 corresponding to the wear degree; wherein the range of the wear degree level corresponds to 10-100% of the maximum allowable wear amount of the friction plate;
judging whether the maximum difference value between the wear degree levels of any two digital twins is larger than a preset difference value or not;
if the maximum difference value is larger than the preset difference value, calculating the braking force weighting coefficient of each friction plate according to all the wear degree grades;
calculating the required braking force of each friction plate according to the total required braking force and each braking force weighting coefficient;
distributing the required braking force to the corresponding friction plates;
and if the maximum difference value is not larger than the preset difference value, the total required braking force is uniformly distributed on each friction sheet.
Further, the brake control compensation of the braking force applied to the friction plate corresponding to each digital twin according to the degree of wear of the digital twin includes:
fuzzification processing is carried out on the required braking force and the actual abrasion of the friction plate; wherein the actual wear is calculated from a maximum allowable wear amount of the friction plate and the wear degree level of the corresponding digital twin body;
acquiring brake force compensation after fuzzification processing through a fuzzy rule table of brake force compensation according to the required brake force and the actual abrasion after fuzzification processing;
defuzzification is carried out on the braking force compensation after fuzzification processing, and the braking force compensation is obtained;
and adding the required braking force and the braking force compensation to obtain the corrected braking force, and applying the braking force to the corresponding friction plate.
Further, the reminding of replacement of the corresponding friction plate according to the wear degree of the digital twin body comprises:
judging whether the wear degree level corresponding to each friction plate reaches a first preset level or not;
if at least one wear degree level reaches the first preset level, carrying out first replacement reminding;
judging whether the wear degree level reaches a second preset level or not;
if the wear degree level reaches the second preset level, carrying out replacement reminding once every preset time;
if the wear degree level reaches the first preset level and does not reach the second preset level, performing replacement reminding once when the wear degree level is increased by one level;
if the wear degree grades of all the friction plates do not reach the first preset grade, replacement reminding is not carried out.
In another aspect, the present invention provides a friction plate management system based on digital twinning, including:
the data acquisition module is used for acquiring initial physical state data of the friction plates;
the model establishing module is used for establishing an initial digital twin model according to the initial physical state data; wherein the digital twinning model comprises a plurality of digital twins of the friction plates;
the current information acquisition module is used for acquiring current working environment information, vibration information and accumulated service time of the friction plates;
the wear speed mapping module is used for obtaining the current wear speed of the digital twin body corresponding to each friction plate based on the digital twin body corresponding to each friction plate and the long-time and short-time memory network according to the current working environment information and the vibration information;
the wear degree mapping module is used for obtaining the wear degree of the current digital twin body according to the wear speed and the accumulated using time;
the model updating module is used for updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after real-time updating;
and the braking management module is used for carrying out braking management on the friction plate corresponding to each digital twin according to the digital twin model updated in real time.
In another aspect, the invention also provides a vehicle comprising the above-described digital twin-based friction plate management system.
In another aspect, the present invention further provides a medium, where at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the above digital twin-based friction plate management method.
The implementation of the invention has the following beneficial effects:
1. the long-time and short-time memory network is used for establishing the mapping between the friction plate real object and the digital twin object, so that the abrasion condition of the friction plate can be simulated in real time, the digital twin model can be updated in real time, and the real-time performance and the reliability are high; in addition, the invention can carry out various brake management on the friction plate and the brake system according to the abrasion conditions such as the abrasion speed output by the model, and can improve the brake effect and the driving safety.
2. According to the invention, the braking force redistribution and the braking control compensation are carried out on the friction plates according to the real-time updated digital twin model, so that on one hand, the abrasion of a plurality of friction plates is more uniform, and the service life of the friction plates is prolonged; on the other hand, the accuracy and the effectiveness of the braking force applied to the friction plate can be improved, the braking effect is ensured, and the braking safety is improved.
3. The invention reminds the friction plate to be replaced according to the real-time updated digital twin model, replaces the friction plate in time, avoids the situation of poor braking effect under the condition of excessive abrasion of the friction plate, and is also beneficial to improving the safety of vehicle driving.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can also be derived from them without inventive effort.
FIG. 1 is a logic structure diagram of a friction plate management method based on digital twinning according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a long-and-short memory network training set according to an embodiment of the present invention;
fig. 3 is a logical block diagram of a brake management method according to an embodiment of the present invention;
FIG. 4 is a logic diagram of a braking force redistribution method in one possible embodiment of the invention;
FIG. 5 is a logical block diagram of a braking control compensation method in one possible embodiment of the present invention;
FIG. 6 is a schematic diagram of a feed forward control with brake control compensation in one possible embodiment of the present invention;
FIG. 7 is a block diagram of the simulation logic for the fuzzy control method in one possible embodiment of the present invention;
FIG. 8 is a logic structure diagram of a method for reminding a friction plate replacement in a possible embodiment of the present invention;
FIG. 9 is a block diagram of a digital twin based friction plate management system in one possible embodiment of the present invention;
figure 10 is an architectural diagram of a digital twinning based friction plate management system in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments, and therefore, the present invention should not be construed as being limited thereto. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention can be practiced otherwise than as specifically illustrated or described below. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment provides a friction plate management method based on digital twin, aiming at the current situation that the wear loss of the friction plate can not be estimated in real time and the friction plate is not managed from the perspective of the using process in the prior art, the friction plate management method based on digital twin can also be applied to a friction plate management system based on digital twin according to the embodiment of the invention, the system is configured in a controller of a vehicle, a digital twin body corresponding to the friction plate is established by acquiring real state data of a plurality of friction plates, then current working environment information, vibration information and accumulated using time of the friction plate are acquired, the current wear speed of the digital twin body corresponding to each friction plate is acquired according to the working environment information and the vibration information and based on a digital twin body and long-short time memory network, the thickness and the total wear of each digital twin body in a digital twin model are updated in real time according to the wear speed and the accumulated using time, and the friction plate corresponding to each digital twin body is subjected to braking management according to the real-time updated digital twin model, so that the real-time performance is good, the reliability is high, on one hand, the comprehensive service life of the friction plate can be prolonged through the braking management, on the other hand, the braking control effect can be remarkably improved, the friction plate can be conveniently maintained in time, and the driving safety is improved.
The following describes the technical solution of the embodiment of the present invention in detail, taking the friction plates corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle as an example, referring to the attached drawing 1 of the specification, the method includes:
s101, acquiring initial real object state data of the friction plates.
S103, establishing an initial digital twin model according to the initial physical state data; wherein the digital twinning model comprises a digital twinning of a plurality of the friction plates.
The physical state data of the friction plate comprises geometric dimension information, material information and physical attribute information, and particularly comprises the relationship among the friction coefficient, the temperature, the humidity and the pressure of the corresponding friction plate; the acquisition of the real object state data can be obtained through a vehicle-mounted sensor or through scanning of a camera, and can also be directly obtained through factory calibration data of a friction plate.
The digital twin model is referred to as a general name and represents the whole model containing four friction plate digital twin bodies.
And S105, acquiring current working environment information, vibration information and accumulated service time of the friction plates.
The working environment information comprises the environmental conditions of the current environment of the four friction plates, such as temperature, humidity and the like, and also comprises the load state information of the four friction plates, namely the magnitude of braking force applied to the friction plates; the vibration information is closely related to the wear deformation of the friction plate, the shape change and the wear of the friction plate can be reflected to a great extent, the vibration information refers to a characteristic vector of the vibration information of the friction plate, the characteristic vector comprises comprehensive information of transverse vibration and longitudinal vibration, and the characteristic vector of the vibration information is represented by a frequency domain signal obtained by second-generation wavelet transformation.
In this embodiment, the working environment information and the vibration information can be obtained by real-time monitoring of the sensing element, for example, the ambient temperature can be obtained by a temperature sensor, and the monitored ambient temperature is transmitted to the controller for subsequent use; meanwhile, the accumulated use information can be obtained through the timing element, and the method is convenient and fast.
The obtained working environment information, the vibration information and the accumulated using time are jointly used as the input of the digital twin model, so that the model can be updated in real time in the subsequent step S107, the information reliability is high, and the model updating instantaneity is favorably improved.
And S107, obtaining the current wear speed of the digital twin body corresponding to each friction plate based on the digital twin body corresponding to each friction plate and a long-short term memory network according to the current working environment information and the vibration information.
In order to realize the establishment of the mapping between the friction plate real object and the digital twin object, a Long Short-Term Memory network (LSTM) is introduced, wherein the Long-Term Memory network is a time cycle neural network and is specially designed for solving the Long-Term dependence problem of a general RNN (cycle neural network); and updating each digital twin body in real time through a trained long-time memory network according to the current working environment information and vibration information and based on the state of each digital twin body in the current model to obtain the current wear speed of each digital twin body, and taking the four wear speeds as the output of the digital twin model to achieve the purpose of mapping the real object and the digital twin model.
And S109, obtaining the current abrasion degree of the digital twin body according to the abrasion speed and the accumulated using time.
And S111, updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after real-time updating.
After the real-time updated digital twin model is obtained in this step, the states of the corresponding four digital twin bodies are also updated in real time, and then the step returns to S107, where the updated information of the digital twin body can be used as one of the inputs of the long-and-short memory network when the information of the digital twin body is updated at the next moment, so as to further realize the update and the cyclic iteration of the digital twin model at the next moment, and improve the real-time performance and the reliability of the model update.
In addition, in one possible embodiment of the present specification, the wear rate and the wear degree according to which the digital twin model is updated may be a matrix to realize the three-dimensional wear state update of the digital twin; in the subsequent braking management process, the requirement on the three-dimensional real-time wear state of the friction plate is low, the output wear speed can be only a numerical value, the difficulty of logic control is reduced, the reaction speed of the controller is increased, the braking management efficiency is improved, and the braking safety is further improved.
And S113, according to the digital twin model updated in real time, performing braking management on the friction plate corresponding to each digital twin.
Because the digital twin model is obtained by real-time updating, the real-time performance is high, the brake management performed according to the method also fully considers the abrasion state of the current friction plate, the four friction plates can be respectively subjected to brake management in a targeted manner, so that the service life of the friction plates is prolonged, and meanwhile, the brake strategy can be adjusted in real time along with the abrasion state of the friction plates, so that the brake effect is improved, and the effectiveness and the safety of the brake process are ensured.
Specifically, as shown in fig. 2 of the specification, before the obtaining of the current wear rate of the digital twin corresponding to each friction plate based on the digital twin and the long-and-short memory network corresponding to each friction plate according to the current working environment information and the vibration information, that is, before the step S107, the method further includes:
s202, setting different working environments and different abrasion working conditions, and obtaining vibration information and accumulated use information of the friction plate through simulation so as to obtain a training set of the long-time memory network.
The long-time and short-time memory network is trained, the accuracy of the untrained long-time and short-time memory network is possibly insufficient, and the output of the network is possibly greatly different from a real object based on the same input; the long-short-time memory network is trained, and can be continuously corrected according to the output and the real object state of the network, so that the final output of the long-short-time memory network is infinitely close to the real object state, the simulation effect is good, and the accuracy is high.
In this embodiment, the training set of the long-term memory network may be obtained by simulating a hardware-in-loop simulation platform, and the vibration information and the accumulated use information of the friction plate are obtained by setting different environmental information and different wear conditions during training, that is, the corresponding relationship between the input and the output of the long-term memory network is obtained, so that the long-term memory network is applied to the subsequent step S107 to obtain a more accurate and real-time wear rate.
Specifically, in one possible embodiment of the present specification, the wear rate as an output in step S107 is expressed by a wear rate level, that is, the output of the model is a wear rate level, the wear rate level is divided into ten levels of 1 to 10, which respectively correspond to 0 to 100% of the maximum allowable wear rate, and the maximum allowable wear rate can be obtained by factory calibration data of the corresponding friction plate.
The corresponding relationship between each wear speed level and the percentage of the highest allowable wear speed can be set according to actual conditions, which is not specifically limited by the present invention; a wear rate rating may correspond to a particular percentage value, for example, a wear rate rating of 10 corresponds to 100% of the maximum allowable wear rate, i.e., when the wear rate reaches 100%, the wear rate rating is considered to reach the highest wear rate rating of 10; one wear rate level may also correspond to a percentage range, but the interval lengths of the percentage ranges corresponding to different wear rate levels may be the same or different; for example, as shown in the following table 1, the percentage ranges in the table are all ranges including the right side boundary value and not including the left side boundary value, and the wear velocity class 1 corresponds to 0 to 10% of the maximum allowable wear velocity (the range includes the right side and not the left side), that is, when the wear velocity is in the range of 0 to 10% of the maximum allowable wear velocity (the boundary of 0% is not included), the wear velocity class is regarded as the wear velocity class 1.
TABLE 1 correspondence of wear rate level to percentage of maximum allowable wear rate in one possible embodiment
Specifically, as shown in fig. 3 of the specification, the step S113 of performing braking management on the friction plates corresponding to each digital twin according to the digital twin model updated in real time includes:
and S301, redistributing the braking force applied to the friction sheet corresponding to each digital twin according to the abrasion degree of the digital twin.
In the daily use process, the wear of friction plates at different wheels is often uneven, and the situation that one friction plate is more seriously worn than other friction plates is easy to occur, so that the wooden barrel effect is caused; and the step S301 is to map the abrasion degree of the real object of the friction plate according to the abrasion degree of each digital twin body, redistribute the braking force applied on each friction plate according to the abrasion degree of different friction plates, distribute smaller braking force to the friction plate with heavier abrasion degree, and distribute larger braking force to the friction plate with lighter abrasion degree, so that the four friction plates are abraded more uniformly, and can be replaced once when the four friction plates are abraded to the degree required to be replaced, thereby avoiding the inconvenience in maintenance caused by frequent replacement of the friction plates.
And S303, according to the abrasion degree of the digital twin body, performing brake control compensation on the braking force applied to the friction sheet corresponding to each digital twin body.
Different friction plates have different real-time wear degrees, and the wear can cause the distance between the friction plate and a brake disc to be enlarged, so that certain factory calibration data of the friction plate is invalid to a certain degree, and the actual braking effect is influenced; and this step can carry out pressure compensation to the error that the wearing and tearing caused to make the braking force of applying to the friction disc can play better, more accurate braking effect, guarantee braking safety.
And S305, carrying out corresponding replacement reminding of the friction plate according to the abrasion degree of the digital twin body.
In the step, different replacement reminding modes can be set according to different abrasion degrees; the replacement reminding mode may be a warning lamp, a warning information display, a buzzer, or other reminding modes that are easy to attract attention, and the invention is not limited to this.
Specifically, in one possible embodiment of the present specification, as shown in fig. 4 of the specification, the redistributing the braking force applied to the friction plate corresponding to each digital twin according to the degree of wear of the digital twin, that is, the step S301 includes:
s402, converting the wear degrees into the wear degree grade representation according to ten wear degree grades of 1-10 corresponding to the wear degrees; wherein the wear level is in a range corresponding to 10 to 100% of a maximum allowable wear amount of the friction plate.
It should be noted that the wear level may also be used in the specific execution steps of the subsequent steps S303 and S305.
Similar to the WEAR rate rating described above, the maximum allowable WEAR amount WEARmaxOr can be directly obtained through factory calibration data of the corresponding friction plate.
The corresponding relationship between each wear degree level and the percentage of the maximum allowable wear amount can also be set according to the actual situation, which is not specifically limited by the invention; a wear level may correspond to a particular percentage value, for example, a wear level of 1 may represent a corresponding friction plate having a wear level of 10% of the maximum allowable wear; one wear level may also correspond to a percentage range, but the interval lengths of the percentage ranges corresponding to different wear levels may be the same or different; for example, as shown in table 2 below, the percentage ranges in the table are all ranges including the left boundary value and not including the right boundary value, the wear level 1 represents that the wear level of the friction plate is within a range of 10 to 20% of the maximum allowable wear amount (the range includes left and right), and the wear level 10 is more specific, and represents that the wear level of the friction plate reaches 100% of the maximum allowable wear amount.
TABLE 2 correspondence of wear level to maximum allowable percent wear in one possible embodiment
In addition, in this embodiment, the braking force redistribution management method is directed at a light-weight braking task, when the braking task is heavy, it does not have a practical significance to perform management by using the method, and at this time, the braking force redistribution module is not activated to perform braking force redistribution, before the step S402, the method further includes:
and judging whether the speed of the vehicle is less than 20km/h during braking.
If yes, starting a braking force redistribution module for the light-weight braking task, and executing the step S402 and the subsequent steps to redistribute the braking forces which should be applied to the four friction plates.
If not, the braking force redistribution module is not started, and the vehicle applies braking force to the four friction plates according to the original control logic to brake.
S404, judging whether the maximum difference value between the wear degree levels of any two digital twin bodies is larger than a preset difference value.
The maximum difference is set to Δ ImaxThe wear level is IWfl、IWfr、IWrlAnd IWrrRespectively representing the abrasion degree level of the left front digital twin, the abrasion degree level of the right front digital twin, the abrasion degree level of the left rear digital twin and the abrasion degree level of the right rear digital twin, wherein the four abrasion degree levels are from digital twin models, and then
ΔImax＝max(‖IWfr-IWfl‖,‖IWfr-IWrl‖,‖IWfr-IWrr‖,
‖IWfl-IWrl‖,‖IWfl-IWrr‖,‖IWrr-IWrl‖)
Comparing all the wear degree levels, and determining that the judgment result is yes as long as the difference between the two wear degree levels is greater than a preset difference; otherwise, if each difference is not greater than the preset difference, judging that the judgment result is negative; in one possible embodiment of the present specification, the preset difference may be selected to be 3, and the preset difference can clearly and effectively reflect that the wear difference between different friction plates is already large, which is likely to cause the barrel effect.
And S406, if the maximum difference value is larger than the preset difference value according to the judgment result, calculating the braking force weighting coefficient of each friction plate according to all the wear degree grades.
The braking force weighting coefficient is k, the braking force weighting coefficient is obtained by calculating the abrasion degree levels of the four digital twins, and the braking force weighting coefficient of the front left digital twins is k
The braking force weighting coefficient of the right front digital twin is
The braking force weighting coefficient of the left rear digital twin is
The braking force weighting coefficient of the right rear digital twin is
And obtaining the braking force weighting coefficient corresponding to each friction plate.
And S408, calculating the required braking force of each friction plate according to the total required braking force and each braking force weighting coefficient.
Wherein the total required braking force is a force corresponding to the driver stepping on the brake pedal, and is set as FtotalThen four required braking forces are calculated according to the braking force weighting coefficients, and the left front required braking force is
Ffl＝kfl×Ftotal
The right front required braking force is
Ffr＝kfr×Ftotal
Left rear required braking force of
Frl＝krl×Ftotal
The right rear required braking force is
Frr＝krr×Ftotal
So as to subsequently redistribute the respective required braking forces.
And S410, distributing the required braking force to the corresponding friction plates.
As can be known from the formula in step S406, the friction plates with higher wear degree levels have smaller calculated brake force weighting coefficients, and the correspondingly calculated required brake force in step S408 is smaller; on the contrary, the friction plate with the lower wear degree level has a larger braking force weighting coefficient, and the required braking force obtained by corresponding calculation in the step S408 is larger; that is, the formula of the braking force weighting coefficients in step S406 can ensure that the coefficient of the friction plate with the minimum wear is the largest, the coefficient of the friction plate with the maximum wear is the smallest, and the sum of all the braking force weighting coefficients is 1; then, through the steps of S406 to S410, the larger required braking force is distributed to the friction plates with the smaller wear degree, and the smaller required braking force is distributed to the friction plates with the larger wear degree, so as to implement redistribution of the braking force, so that the wear degrees of the four friction plates are as uniform as possible, and the occurrence of the barrel effect is avoided.
And S412, if the maximum difference value is not greater than the preset difference value, the total required braking force is uniformly distributed to each friction plate.
This situation shows that the wear degrees of the friction plates are not very different, and it is not necessary to waste the calculation power of the controller to distinguish the required braking forces with different magnitudes, but the total required braking force can be selected to be divided into four parts and applied to the four friction plates respectively, i.e. Ffl＝Ffr＝Frl＝Frr＝Ftotal/4。
Specifically, in this embodiment, if the distance between the brake disc and the friction plate is increased due to wear, an error still exists between the calibrated required braking force and the actually required applied braking force, and in this case, the braking force may be compensated by using the braking control compensation module to fit the actually required braking force; fig. 6 shows a schematic diagram of a feedforward control for brake control compensation according to one possible embodiment of the present invention.
Wherein, taking the right front wheel as an example, the compression Table is the pressure compensation Table to be calibrated, pfr_compIs the pressure compensation of the right front wheel, pfr_corIs the corrected right front wheel brake pressure, pfr_reqAnd in the feedforward control process, the abrasion degree grade is obtained through the abrasion speed grade output from the digital twin model, the actual abrasion of the friction plate is obtained according to the abrasion degree grade and the maximum allowable abrasion amount, the pressure compensation corresponding to the actual abrasion is found in a pressure compensation table to be calibrated, and finally the pressure compensation is combined with the required pressure to obtain the corrected brake pressure, so that the compensation of the brake force is realized, the brake force is more accurate, and the brake is more effective.
The pressure compensation table to be calibrated can be obtained by using but not limited to a Fuzzy Control method, Fuzzy Control (Fuzzy Control) is short for Fuzzy Logic Control (Fuzzy Logic Control), and during Control, the input quantity of a Fuzzy controller is selected and converted into a Fuzzy quantity which can be recognized by a system; then establishing a fuzzy rule base according to experience, wherein the fuzzy rule base comprises a plurality of control rules which are the basis for realizing a fuzzy control method and are key steps for transiting from actual control experience to a fuzzy controller; implementing inference decision based on fuzzy rule base; finally, defuzzification is carried out on the control quantity obtained by inference, and the control quantity is converted into control output, so that complete fuzzy control is realized.
In a possible embodiment of the present specification, taking a fuzzy control method as an example, as shown in fig. 5 of the specification, the step S303 of performing braking control compensation on the braking force applied to the friction plate corresponding to each digital twin according to the wear degree of the digital twin includes:
s501, fuzzification processing is carried out on the required braking force and the actual abrasion of the friction plate; wherein the actual wear is calculated from a maximum allowable wear amount of the friction plate and the wear level of the corresponding digital twin body.
In this step, the effective sections of the requested pressure (i.e., the required braking force) are blurred and indicated by NB, NM, NS, ZO, PS, PM, and PB, respectively.
And the actual WEAR is calculated by IW × WEARmaxAnd/10, blurring the effective wear section of the actual wear obtained by calculation, and respectively representing the effective wear section by NB, NM, NS, ZO, PS, PM and PB.
And S503, obtaining the brake force compensation after the fuzzification processing through a fuzzy rule table of the brake force compensation according to the required brake force and the actual abrasion after the fuzzification processing.
Before this step S503, the output of the fuzzy rule table, i.e., the pressure compensation, is also subjected to the fuzzification processing, and is also denoted by NB, NM, NS, ZO, PS, PM, and PB, respectively.
A fuzzy rule table may be prepared according to the fuzzified required braking force, actual wear and pressure compensation, as shown in table 3 below, wherein E, EC and U are collectively referred to as fuzzy variables, E represents an output error, EC represents an output error change rate, and U represents a control variable as an input of the next state.
TABLE 3 fuzzy rule Table
In the actual brake compensation process, the fuzzified brake force compensation can be obtained by looking up a table by inputting the fuzzified required brake force and actual abrasion; in a possible embodiment of the present specification, the steps S501 to S503 may be represented as a simulation Logic block diagram as shown in fig. 7, where the Fuzzy Logic Controller with Ruleviewer refers to a Fuzzy Logic Controller with a rule viewer, "ln 1" represents the input required braking force, and "ln 2" represents the input actual wear, and then the two inputs are fuzzified and input into the Fuzzy Logic Controller, so as to obtain a fuzzified braking force compensation "Out _ U" quickly, and then the steps S505 and S507 are continuously executed to complete the whole braking control compensation process.
And S505, defuzzifying the braking force compensation after the fuzzification processing to obtain the braking force compensation.
And S507, adding the required braking force and the braking force compensation to obtain the corrected braking force, and applying the braking force to the corresponding friction plate.
Through the braking force compensation process, the error between the actually applied braking force and factory calibration data of the friction plate can be effectively reduced, the braking effect of the friction plate in different abrasion states is ensured, and the braking safety is improved.
Specifically, in one possible embodiment of the present specification, as shown in fig. 8 of the specification, the step S305 of performing the replacement prompt of the corresponding friction plate according to the wear degree of the digital twin body includes:
s802, judging whether the wear degree level corresponding to each friction plate reaches a first preset level.
S804, if at least one of the wear degree levels reaches the first preset level, carrying out first replacement reminding.
And S806, judging whether the wear degree level reaches a second preset level.
And S808, if the wear degree level reaches the second preset level, carrying out replacement reminding once every preset time.
S810, if the wear degree level reaches the first preset level and does not reach the second preset level, carrying out replacement reminding once when the wear degree level is improved by one level.
And S812, if the wear degree grades of all the friction plates do not reach the first preset grade, not performing replacement reminding.
S305, reminding a vehicle owner to replace a friction plate with larger abrasion loss so as to avoid the situations that braking errors occur, even braking failure occurs and the safety of drivers and passengers is damaged due to the abrasion of the friction plate in the braking process; in the reminding process, whether the wear degree level reaches a first preset level is judged, at this time, the friction plate is in a state of high wear degree but can be used continuously, for example, the first preset level can be selected to be 7; the wear degree level of the friction plate is continuously monitored later, when the wear degree level is improved by one level, replacement reminding is sent once, the wear degree level reaches a second preset level of a higher level, for example, the second preset level can be selected to be 10, the wear degree reaches the maximum at the moment, the friction plate needs to be replaced, the replacement reminding level is further improved, replacement reminding is sent once every other preset time, wherein the preset time can be set according to the actual situation, for example, the friction plate is reminded once every other hour, or the friction plate is reminded once every other half hour, and the like, so that a vehicle owner can timely notice the condition of the friction plate, timely maintenance is carried out, and the overall driving safety of the vehicle is high.
According to the embodiment, the friction plate management method based on the digital twin has the following beneficial effects:
1. the long-time and short-time memory network is used for establishing the mapping between the friction plate real object and the digital twin object, so that the abrasion condition of the friction plate can be simulated in real time, the digital twin model can be updated in real time, and the real-time performance and the reliability are high; in addition, the invention can carry out various brake management on the friction plate and the brake system according to the abrasion conditions such as the abrasion speed output by the model, and can improve the brake effect and the driving safety.
2. According to the invention, the braking force redistribution and the braking control compensation are carried out on the friction plates according to the digital twin model updated in real time, so that on one hand, the abrasion of a plurality of friction plates can be more uniform, and the service life of the friction plates can be prolonged; on the other hand, the accuracy and the effectiveness of the braking force applied to the friction plate can be improved, the braking effect is ensured, and the braking safety is improved.
3. The invention reminds the friction plate to be replaced according to the real-time updated digital twin model, replaces the friction plate in time, avoids the situation of poor braking effect under the condition of excessive abrasion of the friction plate, and is also beneficial to improving the safety of vehicle driving.
The embodiment of the friction plate management method based on the digital twin also applies to the friction plate management system based on the digital twin provided by the embodiment, and the detailed description is omitted in the embodiment.
The friction plate management system based on the digital twin provided by the embodiment of the invention can realize the friction plate management method based on the digital twin in the above method embodiment, as shown in the attached figure 9 of the specification, the system may include:
the data acquisition module 910 is configured to acquire initial physical state data of a plurality of friction plates;
a model establishing module 920, configured to establish an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises digital twins of the plurality of friction plates;
a current information obtaining module 930, configured to obtain current working environment information, vibration information, and accumulated service time of the friction plates;
a wear rate mapping module 940, configured to obtain, according to the current working environment information and the current vibration information, a current wear rate of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and the long-term and short-term memory network;
a wear degree mapping module 950, configured to obtain a wear degree of the current digital twin according to the wear speed and the accumulated usage time;
a model updating module 960, configured to update the thickness and the total amount of wear of the digital twin in the digital twin model in real time according to the degree of wear of the digital twin, so as to obtain the real-time updated digital twin model;
and the braking management module 970 is configured to perform braking management on the friction plate corresponding to each digital twin according to the real-time updated digital twin model.
It should be noted that, in the system provided in the foregoing embodiment, when the functions of the system are implemented, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
Taking a specific embodiment as an example, as shown in fig. 10 in the specification, if a vehicle has four wheels in four directions, namely a front left wheel, a front right wheel, a rear left wheel and a rear right wheel, the number of digital twins is set to four, and a front left digital twinning body, a front right digital twinning body, a rear left digital twinning body and a rear right digital twinning body are correspondingly established in the digital twinning module based on the long-short time memory network according to the front left real object, the front right real object, the rear left real object and the rear right real object, respectively; the digital twin module can be regarded as an integrated module, has all functions of the data acquisition module 910, the model establishment module 920, the current information acquisition module 930, the wear rate mapping module 940, the wear degree mapping module 950 and the model updating module 960, can realize real-time simulation updating of the digital twin, and has good real-time performance and high reliability; in addition, the wear speed levels of the four digital twin bodies are used as the output of the model and output to the brake management module 970 for brake management, and in this embodiment, the brake management module 970 may further include a brake force redistribution module, a brake control compensation module and a friction plate replacement reminding module to realize different brake management of the friction plates, so that the brake control precision is high, the sensitivity is good, the brake effect can be remarkably improved, and the brake safety is improved.
An embodiment of the present invention further provides a vehicle, including the above digital twin-based friction plate management system, integrated in a controller of the vehicle, where the controller may include a processor and a memory, where the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the above digital twin-based friction plate management method.
The processor (or CPU) is a core component of the friction plate management system based on the digital twin, and its function is mainly to interpret memory instructions and process data fed back by each module; the processor is generally divided into an arithmetic logic unit and a register unit, wherein the arithmetic logic unit mainly performs related logic calculations (such as shift operations, logic operations, fixed-point or floating-point arithmetic operations, address operations, etc.), and the register unit is used for temporarily storing instructions, data, and addresses.
The memory is a memory device and can be used for storing software programs and modules, and the processor executes various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the device, and the like; accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The embodiment of the invention also provides a medium, wherein at least one instruction or at least one program is stored in the medium, and the at least one instruction or the at least one program is loaded and executed by a processor to realize the above friction plate management method based on the digital twin; alternatively, the medium may reside on at least one of a plurality of network servers of a computer network; in addition, the medium may include, but is not limited to, various storage media that may store program codes, such as a Random Access Memory (RAM), a Read-Only Memory (ROM), a usb disk, a removable hard disk, a magnetic disk storage device, a flash Memory device, other volatile solid-state storage devices, and the like.
It should be noted that the order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
While the invention has been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes and modifications may be made, and equivalents may be substituted for elements thereof without departing from the scope of the invention as defined by the claims.
Claims (10)
1. A friction plate management method based on digital twinning is characterized by comprising the following steps:
acquiring initial physical state data of a plurality of friction plates;
establishing an initial digital twin model according to the initial object state data; wherein the digital twin model comprises digital twins of the plurality of friction plates;
acquiring current working environment information, vibration information and accumulated service time of the friction plates;
according to the current working environment information and the vibration information, based on the digital twin body corresponding to each friction plate and a long-time and short-time memory network, obtaining the current wear speed of the digital twin body corresponding to each friction plate;
obtaining the abrasion degree of the current digital twin body according to the abrasion speed and the accumulated using time;
updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after real-time updating;
and according to the digital twin model which is updated in real time, carrying out braking management on the friction plate corresponding to each digital twin.
2. A digital twinning-based friction plate management method as claimed in claim 1, wherein said wear rate is expressed in a wear rate class divided into ten classes of 1-10, said ten classes corresponding to 0-100% of the maximum allowable wear rate of said friction plate.
3. A friction plate management method based on digital twinning as claimed in claim 1, wherein before obtaining the current wear rate of the digital twinning object corresponding to each friction plate based on the digital twinning object and the long-and-short memory network corresponding to each friction plate according to the current working environment information and the vibration information, the method further comprises:
and setting different working environments and different wear working conditions, and obtaining vibration information and accumulated use information of the friction plate through simulation so as to obtain a training set of the long-time memory network.
4. The method as claimed in claim 1, wherein the performing braking management on the friction plate corresponding to each digital twin according to the real-time updated digital twin model includes:
redistributing the braking force applied to the friction sheet corresponding to each digital twin according to the abrasion degree of the digital twin;
according to the abrasion degree of the digital twin body, brake control compensation is carried out on the braking force applied to the friction sheet corresponding to each digital twin body;
and carrying out corresponding replacement reminding on the friction plate according to the abrasion degree of the digital twin body.
5. The method as claimed in claim 4, wherein said redistributing the braking force applied to the friction plate corresponding to each digital twin according to the degree of wear of the digital twin comprises:
converting the wear degree into a wear degree grade representation according to ten wear degree grades of 1-10 corresponding to the wear degree; wherein the range of the wear degree level corresponds to 10-100% of the maximum allowable wear amount of the friction plate;
judging whether the maximum difference value between the wear degree levels of any two digital twins is larger than a preset difference value or not;
if the maximum difference value is larger than the preset difference value, calculating the braking force weighting coefficient of each friction plate according to all the wear degree grades;
calculating the required braking force of each friction plate according to the total required braking force and each braking force weighting coefficient;
distributing the required braking force to the corresponding friction plates;
and if the maximum difference value is not larger than the preset difference value, the total required braking force is uniformly distributed on each friction sheet.
6. The method according to claim 5, wherein the brake control compensation of the braking force applied to the friction plate corresponding to each digital twin according to the wear degree of the digital twin comprises:
fuzzification processing is carried out on the required braking force and the actual abrasion of the friction plate; wherein the actual wear is calculated from a maximum allowable wear amount of the friction plate and the wear degree level of the corresponding digital twin body;
acquiring brake force compensation after fuzzification processing through a fuzzy rule table of brake force compensation according to the required brake force and the actual abrasion after fuzzification processing;
defuzzification is carried out on the braking force compensation after fuzzification processing, and the braking force compensation is obtained;
and adding the required braking force and the braking force compensation to obtain the corrected braking force, and applying the braking force to the corresponding friction plate.
7. The method for managing a friction plate based on a digital twin according to claim 5, wherein the reminding of replacement of the corresponding friction plate according to the degree of wear of the digital twin comprises:
judging whether the wear degree level corresponding to each friction plate reaches a first preset level or not;
if at least one wear degree level reaches the first preset level, carrying out first replacement reminding;
judging whether the wear degree level reaches a second preset level or not;
if the wear degree level reaches the second preset level, carrying out replacement reminding once every preset time;
if the wear degree level reaches the first preset level and does not reach the second preset level, carrying out replacement reminding once when the wear degree level is increased by one level;
if the wear degree grades of all the friction plates do not reach the first preset grade, replacement reminding is not carried out.
8. A friction plate management system based on digital twinning is characterized by comprising:
the data acquisition module is used for acquiring initial physical state data of the friction plates;
the model establishing module is used for establishing an initial digital twin model according to the initial physical state data; wherein the digital twinning model comprises a plurality of digital twins of the friction plates;
the current information acquisition module is used for acquiring current working environment information, vibration information and accumulated service time of the friction plates;
the wear speed mapping module is used for obtaining the current wear speed of the digital twin body corresponding to each friction plate based on the digital twin body corresponding to each friction plate and the long-time and short-time memory network according to the current working environment information and the vibration information;
the wear degree mapping module is used for obtaining the wear degree of the current digital twin body according to the wear speed and the accumulated using time;
the model updating module is used for updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after real-time updating;
and the braking management module is used for carrying out braking management on the friction plate corresponding to each digital twin according to the digital twin model updated in real time.
9. A vehicle comprising the digital twin based friction plate management system of claim 8.
10. A medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the digital twinning based friction plate management method of any one of claims 1-7.
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