CN117719463A - Variable frequency control method for electromagnetic valve of vehicle body stability control system - Google Patents
Variable frequency control method for electromagnetic valve of vehicle body stability control system Download PDFInfo
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- CN117719463A CN117719463A CN202311704420.3A CN202311704420A CN117719463A CN 117719463 A CN117719463 A CN 117719463A CN 202311704420 A CN202311704420 A CN 202311704420A CN 117719463 A CN117719463 A CN 117719463A
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Abstract
The invention discloses a variable frequency control method of an electromagnetic valve of a vehicle body stability control system, which comprises the following steps: defining control frequencies of different ladder intervals according to the driving frequency of a solenoid valve driving coil in a vehicle body stability control system, and calculating a corresponding controllable duty ratio interval according to a target current; according to different automobile electric control unit hardware circuits, selecting a step frequency conversion mode or a continuous frequency conversion mode, traversing one by one from a high-frequency interval, and judging a control duty ratio corresponding interval; and obtaining the corresponding duty ratio and the corresponding driving frequency, and realizing driving through a corresponding hardware circuit. The invention can adapt to the frequency conversion requirements of a conventional fixed-type integrated circuit and a small-batch self-lapping circuit by switching the two frequency conversion working modes, selects a larger driving frequency as much as possible in a target duty ratio interval of any control period, effectively reduces the noise influence when the electromagnetic valve works at a low frequency, and improves the riding feeling of personnel in a vehicle.
Description
Technical Field
The invention relates to the technical field of control of automobile chassis braking systems, in particular to a variable frequency control method for an electromagnetic valve of a vehicle body stability control system.
Background
The vehicle body stability control system is an advanced automobile safety technology and aims at improving the stability and the control performance of a vehicle, monitors the running state of the vehicle through a sensor and a control unit, and automatically adjusts the braking force distribution and the engine power output of the vehicle when needed so as to keep the stability of the vehicle under various driving conditions. In a vehicle body stabilization control system, a solenoid valve driving coil is generally mounted on a valve body of a brake system and connected to a control unit of a vehicle. They adjust the distribution of the brake fluid pressure by receiving the signal sent by the control unit, so as to realize the adjustment of the vehicle stability: when the system detects that the vehicle is at risk of sideslip or runaway, it can judge which wheel needs to apply braking force according to the data provided by the sensor so as to restore stability. The solenoid valve driving coil can open or close the corresponding braking valve according to the instruction of the control unit, so that the distribution of hydraulic pressure is controlled, and the proper braking of the specific wheel is achieved.
The target duty cycle calculated at different control frequencies is the same for the same target current, but the operating effect of the solenoid coil will be different due to the difference in dead zone size at different control frequencies. If variable frequency control is not performed, then the relationship between noise and controllable target current range needs to be weighed when selecting the control frequency: the low-frequency controllable target current range is larger, but frequency conversion cannot be carried out, and the common design value of the driving frequency of the electromagnetic valve coil in the current automobile body stable control system is 2000-4000 Hz according to the dead zone calculation of the duty ratio. Because the noise is in the hearing perception range of the human ear, and under some working conditions needing long-time work, such as automatic parking, abrupt slope descent and the like, the solenoid valve coil can continuously work for more than ten seconds and even for a plurality of minutes, so that noise pollution can be continuously generated during the period, and further the riding experience of personnel in the vehicle is reduced. If high-frequency control is selected, although the noise is small, the controllable current range is limited, and if the controllable current is used in a strong mode, the problem of unsmooth target tracking can occur in the current control exceeding the dead zone range, and the hydraulic pressure control effect is affected.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a variable frequency control method for an electromagnetic valve of a vehicle body stability control system.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a variable frequency control method for an electromagnetic valve of a vehicle body stability control system comprises the following steps:
s1, defining control frequencies of different ladder intervals according to driving frequencies of solenoid valve driving coils in a vehicle body stability control system, and calculating a corresponding controllable duty ratio interval according to a target current;
s2, selecting a step frequency conversion mode or a continuous frequency conversion mode according to hardware circuits of different automobile electric control units, traversing one by one from a high-frequency interval, and judging a control duty ratio corresponding interval;
s3, obtaining a corresponding duty ratio and a corresponding driving frequency, and driving through a corresponding hardware circuit.
As a further description of the above technical solution, the vehicle body stability control system includes solenoid valves, a motor, a plunger pump, and a brake pedal, each set of solenoid valves is configured with a coil, and the coil drives a valve core of the solenoid valve to act through a driving circuit.
As a further description of the above technical solution, the driving circuit includes a power source, a PWM switch, a flywheel diode, a current sensor, and an electromagnetic coil, and the driving coil switches and controls the flow of the electromagnetic valve through a field effect transistor.
As a further description of the above technical solution, the operating parameters of the electromagnetic valve include:
coil current
Theoretical control duty cycle
Wherein U is coil high side driving voltage, R is coil resistance.
As a further description of the above technical solution, the solenoid valve has a minimum controllable duty cycle
Maximum controllable duty cycle
Wherein t is on And t off For the inherent delay time of the switching on and off of the field effect transistor, duty e [ Duty ] min ，Duty max ]。
As a further description of the above technical solution, when defining the control frequencies of different ladder intervals, the control frequencies will be controlled
[f 0 ，f 1 ，…f i ，…f n ]
Descending arrangement from large to small, where f 0 For the inaudible frequency interval of human ears, f n To set a minimum value, each gradient was decremented to 2000hz;
calculating corresponding controllable Duty ratio interval [ (Duty) according to different control frequency interval ranges min_0 ，Duty max_0 )，(Duty min_1 ，Duty max_1 )，…，(Duty min_n ，Duty max_n )]。
As a further description of the above technical solution, the step frequency conversion mode specifically includes the following operation steps:
S2-A, traversing from the high frequency interval one by one:
if Duty e [ Duty ] min_i ，Duty max_i ]When the driving frequency is set to f i ；
If it isIf i=i+1, the loop determination is continued.
As a further description of the above technical solution, the continuous variable frequency mode specifically includes the following operation steps:
S2-B, driving the upper frequency limit f according to hardware design 0 Calculate [ Duty ] min_0 ，Duty max_0 ]：
If Duty e [ Duty ] min_0 ，Duty max_0 ]When the driving frequency is set to f 0 ；
If it isWhen passing-> The drive frequency f is obtained by back-stepping.
As a further description of the above technical solution, the step-variable frequency mode is used for a fixed-model integrated circuit stepwise variable frequency operation, and the continuous variable frequency mode is used for a small-scale test self-lapping circuit continuous variable frequency operation.
As a further description of the above technical solution, f 0 ≥16000hz，2000hz≤f n ≤4000hz。
The invention has the following beneficial effects:
1. according to the invention, by switching the two frequency conversion working modes, the frequency conversion requirements of a conventional fixed-type integrated circuit and a small-batch self-lapping circuit can be adapted, and a larger driving frequency is selected as much as possible in a target duty ratio interval of any control period, so that the noise influence of the electromagnetic valve when working at a low frequency is effectively reduced, and the riding feeling of personnel in a vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a typical architecture of a vehicle body stability control system according to the present invention;
fig. 2 is a diagram of a coil driving circuit in the present invention;
FIG. 3 is a flow chart of a solenoid valve frequency conversion control method in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a classical design scheme of a vehicle body stability control system in a brake system is composed of 12 electromagnetic valves, a motor, a plunger pump, a brake pedal and other components. Wherein, each group of solenoid valves is provided with an independent coil for driving the valve core to act.
With continued reference to fig. 2, a typical coil driving circuit diagram is shown, and the hardware circuit portion includes a power source (voltage Ub), a PWM switch, a freewheeling diode, a current sensor (sampling value I), and an electromagnetic coil (including a resistor R and an inductor L). The solenoid valve coil is driven by switching on and off a switching action generating circuit through a field effect transistor at a specific frequency and duty ratio, different equivalent voltages are generated at two ends of the coil, corresponding current changes are generated, and then the solenoid valve is switched on or controlled in flow.
The working parameters of the electromagnetic valve specifically comprise:
coil current
Theoretical control duty cycle
Wherein U is coil high side driving voltage, R is coil resistance.
Due to its hardware nature, the field effect transistor turns on and off its inherent delay time t on And t off The coil driving period is defined as T cycle The following expression is given:
minimum controllable duty cycle
Maximum controllable duty cycle
Let the driving Duty be Duty, then there is Duty e [ Duty ] min ，Duty max ]。
In the hardware of the determined field effect transistor, t on And t off The range of values of the controllable duty cycle is determined by the drive period, the shorter the drive period (i.e., the higher the frequency), the smaller the interval of the controllable duty cycle.
Referring to fig. 1-3, according to an embodiment of the present invention, a variable frequency control method for an electromagnetic valve of a vehicle body stability control system includes:
s1, defining control frequencies of different ladder intervals according to driving frequencies of solenoid valve driving coils in a vehicle body stability control system, and calculating a corresponding controllable duty ratio interval according to a target current:
when defining the control frequency of different ladder intervals, the control frequency is controlled
[f 0 ，f 1 ，…f i ，…f n ]
The arrangement is descending from large to small, wherein,
f 0 for the frequency interval inaudible to the human ear, f 0 ≥16000hz；
f n To set the minimum value, 2000hz is less than or equal to f n ≤4000hz；
Each gradient was decreasing in 2000hz;
calculating corresponding controllable Duty ratio interval [ (Duty) according to different control frequency interval ranges min_0 ，Duty max_0 )，(Duty min_1 ，Duty max_1 )，…，(Duty min_n ，Duty max_n )]。
S2, selecting a step frequency conversion mode or a continuous frequency conversion mode according to hardware circuits of different automobile electric control units, traversing one by one from a high-frequency interval, and judging a control duty ratio corresponding interval:
the step frequency conversion mode is used for the step frequency conversion operation of the fixed type integrated circuit, and specifically comprises the following operation steps:
S2-A, traversing from the high frequency interval one by one:
if Duty e [ Duty ] min_i ，Duty max_i ]When the driving frequency is set to f i ；
If it isIf i=i+1, the loop determination is continued.
The continuous frequency conversion mode is used for continuous frequency conversion operation of the small-scale test self-lapping circuit, and specifically comprises the following operation steps:
S2-B, driving the upper frequency limit f according to hardware design 0 Calculate [ Duty ] min_0 ，Duty max_0 ]：
If Duty e [ Duty ] min_0 ，Duty max_0 ]When the driving frequency is set to f 0 ；
If it isWhen passing-> The driving frequency f is obtained through back-pushing;
and S3, finally obtaining corresponding driving frequency f and Duty ratio Duty through the calculation, and realizing driving through corresponding hardware circuits.
When the continuous frequency conversion mode is adopted, a driving frequency can be selected as large as possible in a controllable interval, so that when the target duty ratio of any one control period is controlled, the control is preferentially judged to beWhether or not in [ Duty ] min_0 ，Duty max_0 ]If the interval is not in the interval, the frequency can be set to any value lower than the maximum frequency due to the characteristic of continuous frequency conversion, namely, a new control frequency is directly calculated reversely according to the target duty ratio.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. The variable frequency control method for the electromagnetic valve of the vehicle body stability control system is characterized by comprising the following steps of:
s1, defining control frequencies of different ladder intervals according to driving frequencies of solenoid valve driving coils in a vehicle body stability control system, and calculating a corresponding controllable duty ratio interval according to a target current;
s2, selecting a step frequency conversion mode or a continuous frequency conversion mode according to hardware circuits of different automobile electric control units, traversing one by one from a high-frequency interval, and judging a control duty ratio corresponding interval;
s3, obtaining a corresponding duty ratio and a corresponding driving frequency, and driving through a corresponding hardware circuit.
2. The variable frequency control method for the electromagnetic valve of the vehicle body stability control system according to claim 1, wherein the vehicle body stability control system comprises an electromagnetic valve, a motor, a plunger pump and a brake pedal, each group of electromagnetic valves is provided with a coil, and the coil drives a valve core of the electromagnetic valve to act through a driving circuit.
3. The variable frequency control method for the electromagnetic valve of the vehicle body stability control system according to claim 2, wherein the driving circuit comprises a power supply, a PWM switch, a freewheel diode, a current sensor and an electromagnetic coil, and the driving coil performs switching and flow control on the electromagnetic valve through a field effect transistor.
4. A variable frequency control method for a solenoid valve of a vehicle body stability control system according to claim 3, wherein the solenoid valve operating parameters include:
coil current
Theoretical control duty cycle
Wherein U is coil high side driving voltage, R is coil resistance.
5. A variable frequency control method of a solenoid valve for a vehicle body stabilization control system according to claim 3, wherein the solenoid valve has a minimum controllable duty cycle
Maximum controllable duty cycle
Wherein t is on And t off For the inherent delay time of the switching on and off of the field effect transistor, duty e [ Duty ] min ，Duty max ]。
6. The variable frequency control method for a solenoid valve of a vehicle body stabilization control system according to claim 1, wherein the control frequencies are defined in different step intervals
[f 0 ，f 1 ，…f i ，…f n ]
Descending arrangement from large to small, where f 0 For the inaudible frequency interval of human ears, f n To set a minimum value, each gradient was decremented to 2000hz;
calculating corresponding controllable Duty ratio interval [ (Duty) according to different control frequency interval ranges min_0 ，Duty max_0 )，(Duty min_1 ，Duty max_1 )，…，(Duty min_n ，Duty max_n )]。
7. The variable frequency control method for the electromagnetic valve of the vehicle body stability control system according to claim 1, wherein the step variable frequency mode comprises the following operation steps:
S2-A, traversing from the high frequency interval one by one:
if Duty e [ Duty ] min_i ，Duty max_i ]When the driving frequency is set to f i ；
If it isIf i=i+1, the loop determination is continued.
8. The variable frequency control method for the electromagnetic valve of the vehicle body stability control system according to claim 1, wherein the continuous variable frequency mode specifically comprises the following operation steps:
S2-B, driving the upper frequency limit f according to hardware design 0 Calculate [ Duty ] min_0 ，Duty max_0 ]：
If Duty e [ Duty ] min_0 ，Dut ymax_0 ]When the driving frequency is set to f 0 ；
If it isWhen passing-> The drive frequency f is obtained by back-stepping.
9. The variable frequency control method for the electromagnetic valve of the vehicle body stability control system according to claim 1, wherein the step frequency conversion mode is used for the fixed-model integrated circuit stepwise frequency conversion operation, and the continuous frequency conversion mode is used for the small-scale test self-lapping circuit continuous frequency conversion operation.
10. The variable frequency control method for a solenoid valve of a vehicle body stability control system according to claim 6, wherein f 0 ≥16000hz，2000hz≤f n ≤4000hz。
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311704420.3A CN117719463A (en) | 2023-12-12 | 2023-12-12 | Variable frequency control method for electromagnetic valve of vehicle body stability control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311704420.3A CN117719463A (en) | 2023-12-12 | 2023-12-12 | Variable frequency control method for electromagnetic valve of vehicle body stability control system |
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| CN117719463A true CN117719463A (en) | 2024-03-19 |
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| CN202311704420.3A Pending CN117719463A (en) | 2023-12-12 | 2023-12-12 | Variable frequency control method for electromagnetic valve of vehicle body stability control system |
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