CN116198465A - Brake anti-lock control method and device, electronic equipment and readable storage medium - Google Patents

Brake anti-lock control method and device, electronic equipment and readable storage medium Download PDF

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Publication number
CN116198465A
CN116198465A CN202310145264.5A CN202310145264A CN116198465A CN 116198465 A CN116198465 A CN 116198465A CN 202310145264 A CN202310145264 A CN 202310145264A CN 116198465 A CN116198465 A CN 116198465A
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Prior art keywords
current
motor
speed
loop
brake
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Chinese (zh)
Inventor
陈毅东
曹传洋
郭中义
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Shenzhen Zhaowei Machinery and Electronics Co Ltd
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Shenzhen Zhaowei Machinery and Electronics Co Ltd
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Priority to CN202310145264.5A priority Critical patent/CN116198465A/en
Publication of CN116198465A publication Critical patent/CN116198465A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The embodiment of the application provides an anti-lock control method and device for a brake, electronic equipment and a readable storage medium, and relates to the field of vehicle control by collecting current, hall signals and magnetic encoder values of a motor of the brake; calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal; controlling the current and the speed of the motor through the current loop and the speed loop respectively; the method comprises the steps of reading the current speed, comparing the current speed with a first preset threshold value and a second preset threshold value, controlling the motor of the brake to rotate forwards and backwards according to a comparison result, controlling the brake through the motor, saving kneading force of a rider, executing anti-lock operation through the motor, guaranteeing that a vehicle body does not skid, reducing the use and cost of a sensor, and improving the reliability and user experience of a product.

Description

Brake anti-lock control method and device, electronic equipment and readable storage medium
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a method and apparatus for controlling anti-lock braking of a brake, an electronic device, and a readable storage medium.
Background
The traditional motorcycle braking mode is to use a brake pad to hold the force by a rider, so as to control the friction of a brake disc to achieve the purpose of braking. In the traditional braking mode, when a driver runs at a high speed, the driver can directly lock the brake pad to cause a slip accident.
Therefore, in the prior art, an all-pneumatic control mode is generally adopted to avoid locking of the brake pad. However, this method has a problem of high control cost because a large number of sensors are used although the braking stability is ensured.
Disclosure of Invention
In order to solve the technical problems, embodiments of the present application provide an anti-lock brake control method, an anti-lock brake control device, an electronic device and a readable storage medium.
In a first aspect, an embodiment of the present application provides a brake anti-lock control method, including:
collecting the current, hall signal and magnetic encoder value of a brake motor;
calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal;
controlling the current and the speed of the motor through the current loop and the speed loop respectively;
and reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to a comparison result.
According to one embodiment disclosed in the present application, the step of collecting the current of the motor includes:
acquiring an acquisition signal generated by a motor timer;
and collecting current of the motor according to the collection signal.
According to one embodiment disclosed in the present application, the step of calculating a current loop of the motor according to the current of the motor includes:
the PID controller adopts a current loop formula
Figure BDA0004088995970000021
Calculating a current loop of the motor, wherein Kp refers to PID controlProportional parameters in the controller, ki refers to integral parameters in the PID controller, kd refers to derivative parameters in the PID controller, e (t) refers to the difference between the current actual value and the set target value, and ∈>
Figure BDA0004088995970000022
Refers to the difference between the current difference and the last difference.
According to one specific embodiment disclosed in the application, the step of calculating a speed loop of the motor according to the hall signal includes:
acquiring the number of Hall signals when the motor rotates;
calculating the speed of the motor through the interval time between two adjacent Hall signals;
and generating a speed loop through a PID controller according to the speed of the motor.
According to one embodiment disclosed herein, the step of controlling the current and the speed of the motor through the current loop and the speed loop, respectively, includes:
taking the current loop as an inner loop and the speed loop as an outer loop;
and taking the output value of the speed loop as the input value of the current loop.
According to a specific embodiment disclosed in the present application, the step of reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to the comparison result includes:
and when the current vehicle speed is smaller than the first preset threshold value, the motor is rotated to a first preset angle of the output shaft at a constant speed.
According to a specific embodiment disclosed in the present application, the step of reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to the comparison result includes:
when the current vehicle speed is larger than the first preset threshold value and smaller than or equal to the second preset threshold value, controlling the motor to rotate positively and negatively within a first preset angle and a second preset angle;
when the current vehicle speed is greater than the second preset threshold value, the motor is controlled to rotate positively and negatively within a third preset angle and a fourth preset angle.
In a second aspect, an embodiment of the present application provides an anti-lock brake control apparatus, including:
the acquisition module is used for acquiring the current, hall signals and magnetic encoder values of the brake motor;
the calculating module is used for calculating a current loop of the motor according to the current of the motor and calculating a speed loop of the motor according to the Hall signal;
the control module is used for controlling the current and the speed of the motor through the current loop and the speed loop respectively;
the execution module is used for reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to a comparison result.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the computer program executes the anti-lock brake control method provided in the first aspect when the processor runs.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when run on a processor, performs the brake antilock control method provided in the first aspect.
According to the anti-lock control method for the brake, provided by the application, the current, the Hall signal and the magnetic encoder value of the motor of the brake are collected; calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal; controlling the current and the speed of the motor through the current loop and the speed loop respectively; the method comprises the steps of reading the current speed, comparing the current speed with a first preset threshold value and a second preset threshold value, controlling the motor of the brake to rotate forwards and backwards according to a comparison result, controlling the brake through the motor, saving kneading force of a rider, executing anti-lock operation through the motor, guaranteeing that a vehicle body does not skid, reducing the use and cost of a sensor, and improving the reliability and user experience of a product.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of protection of the present application. Like elements are numbered alike in the various figures.
FIG. 1 is a schematic flow chart of a method for controlling anti-lock braking of a brake according to an embodiment of the present application;
fig. 2 is a schematic structural view of an anti-lock brake control device according to an embodiment of the present application;
fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.
The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In the following, the terms "comprises", "comprising", "having" and their cognate terms may be used in various embodiments of the present application are intended only to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of this application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is identical to the meaning of the context in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments.
Example 1
The embodiment of the disclosure provides an anti-lock control method for a brake.
Specifically, referring to fig. 1, the brake anti-lock control method includes:
step S101, collecting the current, hall signal and magnetic encoder value of the brake motor.
Specifically, the brake is a device having a function of decelerating, stopping, or holding a stopped state of a moving member, and is a mechanical component for stopping or decelerating a moving member in a machine. The brake can be controlled by the motor rotating in the forward and reverse directions, and current can be generated when the motor rotates, and the current of the motor can be collected through a sampling current circuit on the motor PCB. Three Hall sensors are respectively arranged on the motor in a 120-degree uniform distribution mode, and at the moment, 6 high-low level Hall signals are generated by rotating the motor for one point period. The magnetic encoder value refers to the actual position of the current motor output shaft relative to the structure at the brake disc input point.
The step of collecting the current of the motor comprises the following steps:
acquiring an acquisition signal generated by a motor timer;
and collecting current of the motor according to the collection signal.
In a specific embodiment, the sampling current circuit adopts single-resistor sampling, a pulse width modulation module in the motor controller is configured into a center alignment mode, a timer generates a collection signal after each time reaches the maximum value of counting, and an ADC module in the motor controller is configured to receive the collection signal, namely sampling. Therefore, the point of each sampling is a high-level middle point, namely the upper bridge and the lower bridge are conducted, and the high-level middle point of the pulse width modulation module can acquire the current value of the motor.
Step S102, calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal.
Specifically, the current loop refers to a current feedback system, and the output current is connected to a link by adopting a positive feedback or negative feedback mode, so that the anti-lock performance during braking is improved by improving the stability of the current.
The step of calculating a current loop of the motor according to the current of the motor comprises the following steps:
the PID controller adopts a current loop formula
Figure BDA0004088995970000061
Calculating a current loop of the motor, wherein Kp refers to a proportional parameter in a PID controller, ki refers to an integral parameter in the PID controller, kd refers to a differential parameter in the PID controller, e (t) refers to a difference between a current actual value and a set target value, and->
Figure BDA0004088995970000071
Refers to the difference between the current difference and the last difference.
The step of calculating a speed loop of the motor according to the Hall signal comprises the following steps:
acquiring the number of Hall signals when the motor rotates;
calculating the speed of the motor through the interval time between two adjacent Hall signals;
and generating a speed loop through a PID controller according to the speed of the motor.
Specifically, one turn of the motor generates a hall signal with 6-pole pairs, and a speed loop is generated through the interval time between two adjacent hall signals, so that the stability in controlling the speed of the motor is improved.
And step S103, controlling the current and the speed of the motor through the current loop and the speed loop respectively.
Preferably, a motion servo control motor is used, and a three-ring control system is generally used for motion servo, wherein a current ring, a speed ring and a position ring are sequentially arranged from inside to outside. The input of the speed loop is the output after position adjustment and the input value of position setting, and the difference value after the comparison of the input value of the speed loop and the output value of the speed loop is output to the current loop after PID adjustment is carried out on the speed loop.
The step of controlling the current and the speed of the motor through the current loop and the speed loop respectively comprises the following steps:
taking the current loop as an inner loop and the speed loop as an outer loop;
and taking the output value of the speed loop as the input value of the current loop.
Specifically, the current loop can limit and ensure that the current of the motor does not exceed a preset maximum current value in motor control, and can stably output maximum torque under the condition that the current is stabilized at the preset maximum current value in the motor operation process. The speed ring can enable the motor to run at a preset speed in motor control, and the output shaft is ensured to reach a preset position in a preset time. For example, for a preset speed V, the PID controller takes an input (V-0), generates a current command value to send to the current loop, which controls the generation of a corresponding current, the motor receives said corresponding current, generates a corresponding torque, and rotates according to said torque. At this time, entering the next period, the speed ring obtains a new speed V1 generated by the motor at this time, the PID controller obtains the input (V-V1) of the new speed, and generates a corresponding new current according to the new speed, and the motor generates a new moment under the new current, and accelerates or decelerates the original new speed under the action of the new moment.
Step S104, the current vehicle speed is read, the current vehicle speed is compared with a first preset threshold value and a second preset threshold value, and the forward and reverse rotation of the brake motor is controlled according to the comparison result.
Preferably, the first preset threshold comprises 60km/h and the second preset threshold comprises 90km/h.
The step of reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to the comparison result comprises the following steps:
and when the current vehicle speed is smaller than the first preset threshold value, the motor is rotated to a first preset angle of the output shaft at a constant speed.
Specifically, when the speed of the motorcycle is less than 60km/h, the brake needs to be operated to a braking point within 3s, the motor keeps a braking state after the motor is operated to 120 degrees of the output shaft at a constant speed, and at the moment, the motor has a certain reaction force to resist the reaction force of the brake pad.
The step of reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to the comparison result comprises the following steps:
when the current vehicle speed is larger than the first preset threshold value and smaller than or equal to the second preset threshold value, controlling the motor to rotate positively and negatively within a first preset angle and a second preset angle;
when the current vehicle speed is greater than the second preset threshold value, the motor is controlled to rotate positively and negatively within a third preset angle and a fourth preset angle.
Specifically, when the current speed is greater than 60km/h and less than or equal to 90km/h, the motorcycle is fast running, and when a rider steps on the brake, the condition that the brake pad locks a brake ring due to too strong force can occur. At this time, the motor is controlled to rotate forward and backward within a first preset angle and a second preset angle, so that the brake ring can be effectively prevented from locking, and meanwhile, the current ring gives consideration to large current generated by the motor. The first preset angle comprises 55 degrees and the second preset angle comprises 70 degrees.
Preferably, when the current speed is greater than 90km/h, the motor is controlled to rotate forward and backward within a third preset angle and a fourth preset angle, and simultaneously the forward and backward rotation frequency of the motor is higher within a shorter time, so that the friction force of a braking part runs in a curve mode with the same angle, and the anti-lock of a braking ring is ensured.
According to the anti-lock control method of the brake, the current, the Hall signal and the magnetic encoder value of the motor of the brake are collected; calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal; controlling the current and the speed of the motor through the current loop and the speed loop respectively; the method comprises the steps of reading the current speed, comparing the current speed with a first preset threshold value and a second preset threshold value, controlling the motor of the brake to rotate forwards and backwards according to a comparison result, controlling the brake through the motor, saving kneading force of a rider, executing anti-lock operation through the motor, guaranteeing that a vehicle body does not skid, reducing the use and cost of a sensor, and improving the reliability and user experience of a product.
Example 2
Further, referring to fig. 2, an embodiment of the present disclosure provides an anti-lock brake control apparatus 200, including:
the acquisition module 201 is used for acquiring the current, hall signal and magnetic encoder value of the brake motor;
a calculating module 202, configured to calculate a current loop of the motor according to the current of the motor, and calculate a speed loop of the motor according to the hall signal;
a control module 203 for controlling the current and speed of the motor through the current loop and the speed loop, respectively;
and the execution module 204 is used for reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to the comparison result.
The anti-lock brake control device 200 according to the present embodiment can execute the anti-lock brake control method of embodiment 1, and is not described herein again to avoid repetition.
The anti-lock control device of the brake provided by the embodiment acquires the current, the Hall signal and the magnetic encoder value of the motor of the brake; calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal; controlling the current and the speed of the motor through the current loop and the speed loop respectively; the method comprises the steps of reading the current speed, comparing the current speed with a first preset threshold value and a second preset threshold value, controlling the motor of the brake to rotate forwards and backwards according to a comparison result, controlling the brake through the motor, saving kneading force of a rider, executing anti-lock operation through the motor, guaranteeing that a vehicle body does not skid, reducing the use and cost of a sensor, and improving the reliability and user experience of a product.
Example 3
Further, the embodiment of the present disclosure provides an electronic device 300, including a memory and a processor, where the memory stores a computer program that, when executed on the processor, performs the brake anti-lock control method provided in embodiment 1 above.
Specifically, referring to fig. 3, the electronic device 300 includes: a transceiver 301, a bus interface and a processor 302.
In an embodiment of the present invention, the electronic device 300 further includes: a memory 303. In fig. 3, a bus architecture may comprise any number of interconnected buses and bridges, with one or more processors, represented in particular by processor 302, and various circuits of memory, represented in memory 303, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 301 may be a number of elements, i.e. comprising a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 302 is responsible for managing the bus architecture and general processing, and the memory 303 may store data used by the processor 302 in performing operations.
The electronic device 300 provided in the embodiment of the present invention may execute the anti-lock brake control method shown in embodiment 1, and in order to avoid repetition, a description thereof will be omitted.
Example 4
In the present embodiment, the computer readable storage medium may be a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, an optical disk, or the like.
The computer readable storage medium provided in embodiment 4 may execute the brake anti-lock control method shown in embodiment 1, and in order to avoid repetition, a detailed description is omitted here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal comprising the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), including several instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims (10)

1. A method of antilock brake control, the method comprising:
collecting the current, hall signal and magnetic encoder value of a brake motor;
calculating a current loop of the motor according to the current of the motor, and calculating a speed loop of the motor according to the Hall signal;
controlling the current and the speed of the motor through the current loop and the speed loop respectively;
and reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to a comparison result.
2. The method of claim 1, wherein the step of collecting the current of the motor comprises:
acquiring an acquisition signal generated by a motor timer;
and collecting current of the motor according to the collection signal.
3. The method of claim 1, wherein the step of calculating a current loop of the motor from the current of the motor comprises:
the PID controller adopts a current loop formula
Figure FDA0004088995960000011
Calculating a current loop of the motor, wherein Kp refers to a proportional parameter in the PID controller,ki denotes an integral parameter in the PID controller, kd denotes a differential parameter in the PID controller, e (t) denotes a difference between a current actual value and a set target value, +.>
Figure FDA0004088995960000012
Refers to the difference between the current difference and the last difference.
4. The method of claim 1, wherein the step of calculating a speed loop of the motor from the hall signal comprises:
acquiring the number of Hall signals when the motor rotates;
calculating the speed of the motor through the interval time between two adjacent Hall signals;
and generating a speed loop through a PID controller according to the speed of the motor.
5. The method of claim 1, wherein the step of controlling the current and speed of the motor through the current loop and speed loop, respectively, comprises:
taking the current loop as an inner loop and the speed loop as an outer loop;
and taking the output value of the speed loop as the input value of the current loop.
6. The method of claim 1, wherein the step of reading a current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling forward and reverse rotation of the brake motor according to a comparison result comprises:
and when the current vehicle speed is smaller than the first preset threshold value, the motor is rotated to a first preset angle of the output shaft at a constant speed.
7. The method of claim 6, wherein the steps of reading a current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling forward and reverse rotation of the brake motor according to the comparison result, comprise:
when the current vehicle speed is larger than the first preset threshold value and smaller than or equal to the second preset threshold value, controlling the motor to rotate positively and negatively within a first preset angle and a second preset angle;
when the current vehicle speed is greater than the second preset threshold value, the motor is controlled to rotate positively and negatively within a third preset angle and a fourth preset angle.
8. An antilock brake control device, comprising:
the acquisition module is used for acquiring the current, hall signals and magnetic encoder values of the brake motor;
the calculating module is used for calculating a current loop of the motor according to the current of the motor and calculating a speed loop of the motor according to the Hall signal;
the control module is used for controlling the current and the speed of the motor through the current loop and the speed loop respectively;
the execution module is used for reading the current vehicle speed, comparing the current vehicle speed with a first preset threshold value and a second preset threshold value, and controlling the forward and reverse rotation of the brake motor according to a comparison result.
9. An electronic device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, performs the brake antilock control method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the brake antilock control method as claimed in any one of claims 1 to 7.
CN202310145264.5A 2023-02-07 2023-02-07 Brake anti-lock control method and device, electronic equipment and readable storage medium Pending CN116198465A (en)

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Application Number Priority Date Filing Date Title
CN202310145264.5A CN116198465A (en) 2023-02-07 2023-02-07 Brake anti-lock control method and device, electronic equipment and readable storage medium

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