CN115923740A - ABS control method based on motor - Google Patents
ABS control method based on motor Download PDFInfo
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- CN115923740A CN115923740A CN202310078539.8A CN202310078539A CN115923740A CN 115923740 A CN115923740 A CN 115923740A CN 202310078539 A CN202310078539 A CN 202310078539A CN 115923740 A CN115923740 A CN 115923740A
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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
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- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses an ABS control method based on a motor, which is suitable for an electronic mechanical brake which generates driving force by the motor, wherein the electronic mechanical brake comprises a brake caliper body, a driving mechanism consisting of the motor and a speed reducing mechanism, and a transmission mechanism which converts rotary motion into linear motion; the brake caliper body is provided with friction plates positioned on two sides of the brake disc, and the friction plates comprise inner friction plates and outer friction plates; the transmission mechanism is used for converting positive and negative rotation motion of the motor output shaft into axial telescopic motion, so that pressing force of the friction plate is provided and a braking return function is realized; the motor is in communication connection with the upper computer; according to the method, an upper computer controls the rotation angle or the output torque of an output shaft of a motor according to the real-time braking torque required by a vehicle, so that the clamping force generated between a friction plate and a brake disc is changed periodically, and the ABS function is further realized.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to an ABS control method based on a motor.
Background
Disc brake calipers have long been used in both passenger and commercial vehicles. The force transmission medium of the traditional disc brake caliper is hydraulic pressure or air pressure at present. A traditional fuel vehicle drives a hydraulic pump or an air compressor to work through an engine, power energy is converted into pressure energy, and then the pressure energy is transmitted to a wheel-side brake caliper for braking. The traditional pneumatic braking system of the commercial vehicle transmits the pressure of the compressor to the wheel edge, the whole vehicle needs to be provided with a relatively complex air pipeline, an air storage cylinder and various control valves, meanwhile, the establishment and the cancellation of the air pressure in the pipeline have certain lag time, and meanwhile, the problem of large noise exists. Hydraulic braking has a shorter response time than pneumatic braking, but requires a higher sealing of the circuit. Compared with air braking, hydraulic braking has the advantages of light operation, easy adoption of various optimized adjusting devices and the like, but has a complex structure and more precise parts in a system, so that the hydraulic braking mode is not widely applied to commercial vehicles and is mainly applied to passenger vehicles at present.
With the development of new energy automobiles, internal combustion engines are replaced by electric motors. At present, both hydraulic braking and air pressure braking of the new energy automobile need to be provided with an electric hydraulic pump or an electric air compressor on the automobile to convert electric energy into pressure energy, and then the pressure energy is transmitted to the wheel edge. Meanwhile, along with the improvement of automobile electronic technology, people have higher and higher requirements on the braking performance of the automobile, and accurate braking control is the target of continuous improvement of automobile braking technology. With the advance of the technology, people have started to research on Brake-By-Wire (Brake-By-Wire), which is a series of intelligent control systems integrated to realize advanced functions, such as anti-lock Brake system (ABS), traction Control System (TCS), electronic stability control system (ESP), active collision Avoidance (ACC), etc., and the final goal of Brake-By-Wire is to replace the traditional pneumatic or hydraulic Brake system and further to replace it By more advanced electronic technology. As a product for transition from a conventional pneumatic or hydraulic brake system to a brake-by-wire system, a hydraulic brake-by-wire system (EHB) is available, and in short, the EHB changes the conventional hydraulic control system into an electronic control system, but the brake actuating system is still in a hydraulic form, i.e., the mode of "hydraulic control liquid" is changed into the mode of "electric control liquid", and of course, the pneumatic brake system may also have a corresponding form. EHBs are only an early study of brake-by-wire technology, and their ultimate goal is to implement an electromechanical brake system, namely EMB. The hydraulic or pneumatic system is not needed any more, and the brake system is a pure mechanical brake system which controls the motor through an electric signal.
EMB has distinct advantages, specifically its performance characteristics are as follows:
1. because the air pipeline is cancelled, the braking response time is greatly reduced, the braking distance is effectively shortened, and the safety of driving is ensured
Powerful guarantee is provided;
2. components such as an air compressor, an air storage cylinder and the like are eliminated, so that the whole vehicle is more flexible in arrangement;
3. the brake pedal is adjustable, has no rebound vibration, and has better comfort and safety;
4. all additional functions, such as ABS, TCS, ESP, ACC, etc., can be implemented by the control system;
5. in the future, the system can be networked with a national traffic management system through a vehicle networking system;
there is a greater advantage in terms of both braking efficiency and response time, as well as in terms of braking system cost.
The brake Antilock Braking System (ABS) is abbreviated as ABS. The function is that when the automobile brakes, the braking force of the brake is automatically controlled, so that the wheels are not locked and are in a state of rolling and sliding (the sliding rate is about 20 percent) to ensure that the adhesive force between the wheels and the ground is at the maximum.
The development of ABS systems dates back to the beginning of the 20 th century. In the late 20 th century and 70 s, digital electronic technology and large scale integrated circuit (LSI) have been rapidly developed, which lays the technical foundation for practical development of ABS systems, and various ABS systems have been developed successively by many companies. Since the middle of the 80's of the 20 th century, ABS systems have been developed in a cost effective manner. Some companies carry out structural simplification and system optimization on the ABS, and an economical ABS device is provided; some companies have introduced rear wheel ABS or four wheel ABS systems suitable for pickup trucks and passenger and cargo vehicles. These efforts have created a condition for the rapid spread of ABS. ABS systems are considered to be the most important technical achievement in terms of safety since the use of safety belts in automobiles.
The working process comprises the following steps: in ABS, a rotational speed sensor is mounted on each wheel, and signals relating to the rotational speed of the respective wheel are input to an electronic control unit. The electronic control device monitors and judges the motion state of each wheel according to the signals input by each wheel rotation sensor and forms a corresponding control command. The hydraulic electromagnetic valves are not electrified and are in a closed state, the electric pump is not electrified to operate, the brake pipelines from the brake master cylinder to the brake wheel cylinders are in a communication state, the brake pipelines from the brake wheel cylinders to the liquid reservoir are in a closed state, the brake pressure of the brake wheel cylinders changes along with the output pressure of the brake master cylinder, and the brake process is completely the same as that of a conventional brake system.
In the braking process, when the electronic control device judges that wheels tend to be locked according to wheel rotating speed signals input by the wheel rotating speed sensor, the ABS enters an anti-lock braking pressure adjusting process. For example, when the electronic control device determines that the right front wheel tends to be locked, the electronic control device energizes the liquid inlet solenoid valve for controlling the braking pressure of the right front wheel, so that the right front liquid inlet solenoid valve is switched to a closed state, the brake fluid output by the brake master cylinder does not enter the right front brake wheel cylinder any more, the electronic control device de-energizes both the right front liquid inlet solenoid valve and the liquid outlet solenoid valve, so that the liquid inlet solenoid valve is switched to an open state, so that the liquid outlet solenoid valve is switched to a closed state, and simultaneously energizes the electric pump to operate, so as to deliver the brake fluid to the brake wheel cylinder, so that the brake fluid output by the brake master cylinder and the brake fluid pumped by the electric pump both enter the right front brake wheel cylinder through the right front liquid inlet solenoid valve in the open state, so that the braking pressure of the right front brake wheel cylinder is rapidly increased, and the right front wheel starts to decelerate.
The ABS controls the slip rate of the wheel tending to lock within a range near the peak adhesion coefficient slip rate by cyclically repeating the hold-decrease-increase process of the brake pressure of the wheel tending to lock, in which a pair of liquid inlet and outlet solenoid valves are provided for each wheel cylinder, respectively, and are separately controlled by an electronic control device, so that the brake pressure of each wheel cylinder can be independently adjusted, thereby preventing the occurrence of the brake lock phenomenon in all four wheels.
Although the structural form and the working process of various ABS are not completely the same, the controlled wheel is prevented from brake locking by performing adaptive cycle adjustment on the brake pressure tending to lock the wheel, and the various ABS are the same in the following aspects.
(1) The ABS can only regulate the anti-lock brake pressure of wheels which tend to lock during braking after the speed of the automobile exceeds a certain value (such as 5km/h or 8 km/h). When the speed of the automobile is reduced to a certain value by braking, the ABS can automatically stop the pressure regulation of the anti-lock brake, and then the braking process of the automobile equipped with the ABS is the same as that of a conventional braking system, and wheels are braked and locked to lock the automobile. This is because at low vehicle speeds, the braking of the wheels has little effect on the braking performance of the vehicle, and in order to brake the vehicle as quickly as possible, the wheels must be braked.
(2) In the braking process, the ABS can perform anti-lock adjustment on the braking pressure tending to lock the wheels only when the controlled wheels tend to lock; when the controlled wheel does not tend to be locked, the braking process is completely the same as that of the conventional braking system.
(3) The ABS has a self-diagnosis function, can monitor the working condition of the system, automatically turns off the ABS once a fault influencing the normal work of the system is found, lights an ABS warning lamp and sends a warning signal to a driver, and the brake system of the automobile can still brake like a conventional brake system.
The method is specifically specified in the latest national standard GB7258-2017 of technical conditions for safety of motor vehicle operation: "7.2.12 all cars (except three cars, five and more than five special operating cars) and trailers with a total mass of more than 3500kg should be equipped with anti-lock brake devices meeting the regulations. "
The driving force of the EMB electromechanical braking system is no longer provided by a hydraulic source or an air pressure source, and cannot be realized by the conventional ABS principle, so that an ABS anti-lock system suitable for motor driving needs to be newly developed.
Disclosure of Invention
The invention aims to provide an ABS control method based on a motor, which aims to realize an ABS function by utilizing an electromechanical braking system.
In order to solve the technical problem, the invention provides a technical scheme that: an ABS control method based on a motor is suitable for an electronic mechanical brake which generates driving force by the motor, and the electronic mechanical brake comprises a brake caliper body, a driving mechanism consisting of the motor and a speed reducing mechanism, and a transmission mechanism which converts rotary motion into linear motion; the brake caliper body is provided with friction plates positioned on two sides of the brake disc, and the friction plates comprise inner friction plates and outer friction plates; the transmission mechanism is used for converting positive and negative rotation motion of the motor output shaft into axial telescopic motion, so that pressing force of the friction plate is provided and a braking return function is realized; the motor is in communication connection with the upper computer;
in the method, an upper computer controls the rotation angle or the output torque of an output shaft of a motor according to the real-time braking torque required by a vehicle, so that the clamping force generated by a braking mechanism is periodically changed, and the ABS function is further realized; the rotation angle or the output torque of the motor is obtained by an upper computer or an electronic control unit of a vehicle controller through processing wheel speed signals acquired by a vehicle-mounted sensing system in real time, parameters including slip rate are obtained through calculation, and then a corresponding control strategy is used.
According to the scheme, the motor operates in a torque control mode, the output torque of the motor is switched according to the torque point and frequency required by the upper computer, the switching is converted into the 'holding-reducing-increasing' switching of the clamping force, and the slip rate of the wheel tending to lock is controlled within a certain range of the peak adhesion coefficient slip rate.
According to the scheme, the motor operates in a position control mode, the rotation angle of the motor is switched according to the position point and frequency required by the upper computer, the switching is converted into the switching of keeping, reducing and increasing of the clamping force, and the slip rate of the wheel tending to lock is controlled within a certain range of the peak adhesion coefficient slip rate.
According to the scheme, the switching frequency of the motor at two torque values or position points can reach more than 50 times per second.
According to the scheme, the transmission mechanism comprises a lead screw shaft connected with the output shaft of the motor, a lead screw nut is arranged on the lead screw shaft, a pushing block is fixed on the lead screw nut, and the pushing block is connected with the inner friction plate; the output shaft of the motor rotates to drive the screw shaft to rotate, so that the screw nut and the push block perform linear motion, and further the distance between the inner friction plate and the outer friction plate is changed, or the friction force between the friction plate and the brake disc is changed.
A motor controller of an electromechanical brake is used for realizing the motor-based ABS control method when controlling a driving mechanism.
A new energy automobile adopts the motor controller of the electromechanical brake.
A computer-readable storage medium characterized by: the motor-based ABS control method comprises a computer program stored in the motor controller, wherein the computer program is called by the motor controller to realize the motor-based ABS control method according to any one of claims 1 to 5.
The invention has the beneficial effects that:
1. the invention provides a novel method for realizing ABS function, which converts the torque force of a motor into the clamping force of a brake mechanism through a transmission mechanism, and realizes the ABS function by controlling the torque force or the position point of the motor to change rapidly and periodically.
2. Under a torque control or position control mode, when the ABS is triggered, the high-frequency switching execution of the electromechanical braking system is controlled according to a locked-rotor torque point given by an upper computer or a position point of a motor output shaft, so that the slippage of each wheel is stabilized on the optimal braking slippage rate, and the adaptability of the ABS function is improved.
Drawings
Fig. 1 is a schematic structural diagram of an electromechanical brake according to an embodiment of the present invention.
In the figure: in the figure: the brake caliper comprises a caliper body 1, a push block 2, a lead screw nut 3, a lead screw shaft 4, a thrust bearing 5, a shaft sleeve 6, a driving mechanism 7, a caliper support 8, a brake disc 9, an outer friction plate 10 and an inner friction plate 11.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
An ABS control method based on a motor, which is applicable to an electromechanical brake that generates a driving force with a motor, referring to fig. 1, a caliper body, a driving mechanism 7 composed of a motor and a speed reducing mechanism, a transmission mechanism that converts a rotational motion into a linear motion; the brake caliper body is provided with friction plates positioned on two sides of a brake disc, and the friction plates comprise an inner friction plate 11 and an outer friction plate 10; the transmission mechanism is used for converting positive and negative rotation motion of the motor output shaft into axial telescopic motion, so that pressing force of the friction plate is provided and a braking return function is realized; the motor is in communication connection with the upper computer;
in the method, an upper computer controls the rotation angle or the output torque of an output shaft of a motor according to the real-time braking torque required by a vehicle, so that the clamping force generated between a friction plate and a brake disc is periodically changed, and the ABS function is further realized; the rotation angle or the output torque of the motor is obtained by an upper computer or an electronic control unit of a vehicle controller through processing wheel speed signals acquired by a vehicle-mounted sensing system in real time, parameters including slip rate are obtained through calculation, and then a corresponding control strategy is used.
Further, the motor is a direct current servo motor; the motor of the present invention is not limited to the dc servo motor in this embodiment, and other control motors can be implemented.
Further, the speed reducing mechanism is a planetary speed reducing mechanism; the speed reducing mechanism of the present invention is not limited to the planetary speed reducing mechanism in the present embodiment, and may be a gear box, a worm gear, or other speed reducing mechanism.
Further, the motor operates in a torque control mode, the output torque of the motor is switched according to the torque point and frequency required by the upper computer, the switching is converted into the 'holding-reducing-increasing' switching of the clamping force, and the slip rate of the wheel tending to lock is controlled within a certain range of the peak adhesion coefficient slip rate.
Further, the motor operates in a position control mode, the rotation angle of the motor is switched according to position points and frequency required by an upper computer, the switching is converted into the 'keeping-reducing-increasing' switching of the clamping force, and the slip rate of the wheel tending to lock is controlled within a certain range of the peak adhesion coefficient slip rate.
Further, the switching frequency of the motor at two torque values or position points can reach more than 50 times per second, so that the ABS inching frequency realized based on the motor can reach the inching frequency of a conventional disc brake.
Furthermore, the transmission mechanism is a ball screw structure connected with an output shaft of the motor, and the braking mechanism comprises an inner friction plate 11 driven by the motor and an outer friction plate 10 fixedly arranged; wherein the lead screw shaft 4 is connected with the motor output shaft through a key, the lead screw nut 3 on the lead screw shaft 4 is fixed with the push block 2, and a rotation stopping mechanism is arranged between the push block 2 and the inner sheet 11 of the friction sheet or between the push block 2 and the caliper body 1, thereby ensuring that the push block 2 only moves along the axial direction. The transmission mechanism of the present invention is not limited to the ball screw assembly in this embodiment, and may be various conversion mechanical structures such as other threaded screws, wedges, crank-links, worm and worm gears, racks and pinions, eccentric wheels/cams, half-tooth springs, and the like.
A motor controller of an electromechanical brake is used for realizing the motor-based ABS control method when controlling a driving mechanism.
A new energy automobile adopts the motor controller of the electromechanical brake.
A computer readable storage medium having stored thereon a computer program for implementing the motor based ABS control method as described above when invoked by a motor controller.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (8)
1. An ABS control method based on a motor is characterized in that: the method is applicable to an electronic mechanical brake which generates driving force by a motor, wherein the electronic mechanical brake comprises a brake caliper body, a driving mechanism consisting of the motor and a speed reducing mechanism, and a transmission mechanism which converts rotary motion into linear motion; the brake caliper body is provided with friction plates positioned on two sides of a brake disc, and the friction plates comprise an inner friction plate and an outer friction plate; the transmission mechanism is used for converting positive and negative rotation motion of the motor output shaft into axial telescopic motion, so that pressing force of the friction plate is provided and a braking return function is realized; the motor is in communication connection with the upper computer;
in the method, an upper computer controls the rotation angle or the output torque of an output shaft of a motor according to the real-time braking torque required by a vehicle, so that the clamping force generated between a friction plate and a brake disc is periodically changed, and the ABS function is further realized; the rotation angle or the output torque of the motor is obtained by an upper computer or an electronic control unit of a vehicle controller through processing wheel speed signals acquired by a vehicle-mounted sensing system in real time, parameters including slip rate are obtained through calculation, and then a corresponding control strategy is used.
2. The motor-based ABS control method of claim 1 wherein: the motor operates in a torque control mode, the output torque of the motor is switched according to the torque point and frequency required by the upper computer, the switching is converted into the 'keeping-reducing-increasing' switching of the clamping force, and the slip rate of the wheel tending to lock is controlled within a certain range of the peak adhesion coefficient slip rate.
3. The motor-based ABS control method of claim 1 wherein: the motor operates in a position control mode, the rotation angle of the motor is switched according to the position point and frequency required by the upper computer, the switching is converted into the 'keeping-reducing-increasing' switching of the clamping force, and the slip rate of the wheel tending to lock is controlled within a certain range of the slip rate of the peak adhesion coefficient.
4. The motor-based ABS control method according to claim 2 or 3, wherein: the frequency of switching the motor at two torque values or position points can be up to more than 50 times per second.
5. The motor-based ABS control method of claim 1 wherein: the transmission mechanism comprises a lead screw shaft connected with the output shaft of the motor, a lead screw nut is arranged on the lead screw shaft, a push block is fixed on the lead screw nut, and the push block is connected with the inner friction plate; the output shaft of the motor rotates to drive the screw shaft to rotate, so that the screw nut and the push block perform linear motion, and further the distance between the inner friction plate and the outer friction plate is changed, or the friction force between the friction plate and the brake disc is changed.
6. A motor controller of an electromechanical brake, characterized in that: for implementing a motor based ABS control method according to any of the claims 1-5 when controlling the drive mechanism.
7. The utility model provides a new energy automobile which characterized in that: a motor controller employing the electromechanical brake of claim 6.
8. A computer-readable storage medium characterized by: the motor-based ABS control method comprises a computer program stored in the motor controller, wherein the computer program is called by the motor controller to realize the motor-based ABS control method according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310078539.8A CN115923740A (en) | 2023-01-16 | 2023-01-16 | ABS control method based on motor |
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| CN202310078539.8A CN115923740A (en) | 2023-01-16 | 2023-01-16 | ABS control method based on motor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1817704A (en) * | 2000-09-28 | 2006-08-16 | 丰田自动车株式会社 | Apparatus and method for vehicular brake control |
| CN102506106A (en) * | 2011-10-27 | 2012-06-20 | 奇瑞汽车股份有限公司 | Electronic mechanical brake and automobile |
| CN104340197A (en) * | 2013-07-25 | 2015-02-11 | 株式会社万都 | Electronic brake system and control method thereof |
| US20170267220A1 (en) * | 2016-03-03 | 2017-09-21 | Itt Italia S.R.L. | Antilock braking systems, devices, and methods using sensorized brake pads |
| CN112550256A (en) * | 2020-12-17 | 2021-03-26 | 江苏大学 | High-stability EMB (electromagnetic brake) line control brake system suitable for ABS (anti-lock brake system) and control method thereof |
-
2023
- 2023-01-16 CN CN202310078539.8A patent/CN115923740A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1817704A (en) * | 2000-09-28 | 2006-08-16 | 丰田自动车株式会社 | Apparatus and method for vehicular brake control |
| CN102506106A (en) * | 2011-10-27 | 2012-06-20 | 奇瑞汽车股份有限公司 | Electronic mechanical brake and automobile |
| CN104340197A (en) * | 2013-07-25 | 2015-02-11 | 株式会社万都 | Electronic brake system and control method thereof |
| US20170267220A1 (en) * | 2016-03-03 | 2017-09-21 | Itt Italia S.R.L. | Antilock braking systems, devices, and methods using sensorized brake pads |
| CN112550256A (en) * | 2020-12-17 | 2021-03-26 | 江苏大学 | High-stability EMB (electromagnetic brake) line control brake system suitable for ABS (anti-lock brake system) and control method thereof |
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