CN1202968C - Safe stable control system for blowout of automobile tyre - Google Patents
Safe stable control system for blowout of automobile tyre Download PDFInfo
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- CN1202968C CN1202968C CN 01128885 CN01128885A CN1202968C CN 1202968 C CN1202968 C CN 1202968C CN 01128885 CN01128885 CN 01128885 CN 01128885 A CN01128885 A CN 01128885A CN 1202968 C CN1202968 C CN 1202968C
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Abstract
The present invention relates to a safe stable control system for the blowout of an automobile tyre, which adopts a closed loop stable control method or an automatic stability control method for a man car path. The present invention adopts a compatibility mode of turning relevant braking, pedal braking force allocation and regulation and the parallel operation of two braking devices. Parameters, such as blowout signals, steering wheel angles, etc., are used for controlling turning relevant brake regulators to output unbalance braking force and a force moment to part of wheels, and after blowout, a yawing moment for recovering the stability of an entire automobile is generated. A pedal brake distribution regulator is used for distributing braking force output by the pedal braking devices to wheels newly, so that the entire automobile obtains balanced braking force and the force moment, or a lift force hanger bracket is started so as to recover the balance of the automobile body partly and wholly. The attachment coefficients of the wheels are used furthest after blowout, and the present invention realizes safe and stable control after blowout.
Description
Invention field
The present invention is a kind of safe stable control system for blowout of automobile tyre.
Background of invention
At present, in field of automobile safety, the technical scheme that solves automobile flat tire mainly contains:
Improve the tire anti-explosion performance, accessory whorl is set, solutions such as carrier ring is set on the wheel rim blows out and safety problem, but these technical schemes increase tire manufacturing process difficulty, quality under the increase spring, and can not effectively solve the problem of blowing out.
Detect tire pressure by being arranged at the swivel wheel pressure sensor, be arranged at the reception or the sensing part of fixed positions such as vehicle frame, through space electromagnetism, magnetic, optically-coupled, received signal, the realization signal transmits, sensor output signal is handled through ECU (Electrical Control Unit), output is blown out and conditioning signal, control lift suspension lift and pedal brake power are regulated, the realization tyre explosion safety is stable, (Chinese invention patent automotive tyre explosion safety tyre pressure indicating adjustable suspension system, patent No. ZL 97107850.5, December 30 1997 applying date).
The automobile brake controller is set, detect by tire pressure, or wheel speed is poor, transverse acceleration (lateral acceleration), relation between lateral deviation rate (yaw rate) and the rudder angle (steering-angle) is measured or is judged improper, low tire pressure, by ECU (Electrical Control Unit) control brake device, to the relative wheel braking of low tire pressure wheel, thereby improve tyre explosion safety, [US Patent (unitedstates patent), braking force control system, patent No. US5934768,1999-08-10].The wheel braking control system.[US Patent (united states patent), patent No. US5711585,1998-01-27].But these technical schemes that are used for automotive tyre explosion safety exist bigger deficiency, be difficult to carry out in actual applications, because in braking, turn to, driving waits under each operating mode, wheel speed is poor, transverse acceleration, relation between lateral deviation rate and the rudder angle has big uncertain, be subjected to various factors simultaneously: the speed of a motor vehicle, car weight, the influence of ground attaching coefficient, to blowing out and low tire pressure mistake may occur and judges, simultaneously, braking force there is not dynamic adjustments, be not provided with and regulate parameter and regulated quantity, unresolved pedal balancing brake and part wheel stability control overbalance braking parallel work-flow compatibility, and each wheel is difficult to realize the stable control of tyre explosion safety to ground-surface attachment state and braking adaptability problem under various operating modes.
Summary of the invention
The objective of the invention is to provide a kind of safe stable control system for blowout of automobile tyre, a kind of mainly by tire pressure, the wheel speed sensors, turn to relevant brake regulator, pedal brake power distribution regulator, the braking compatible apparatus, ECU (Electrical Control Unit) or the system that constitutes with the lift suspension, be arranged at the tire pressure detecting sensor output signal of tire, handle through ECU (Electrical Control Unit), the output signal of tyre burst, the control brake regulating control, wheel distributes (preceding according to blowing out, after, a left side, right), determine to implement the overbalance brake wheel, give birth to car load unbalanced system power by the unbalanced system movable property, moment, recover the stable yaw moment of car load, realize the stable control of tyre explosion safety; The object of the present invention is achieved like this: adopt people's bus or train route closed-loop stabilization control system, tyre pressure sensor (51), wheel speed sensors (66) output signal are handled through ECU (Electrical Control Unit) (49) (67), measure tire pressure, judgement is blown out, the output signal of tyre burst, control turns to relevant brake regulator (58), (70), and system being entered blow out stable state of a control, energy storage (56) (69) is to part wheel (47) (65) the output one given elementary gate restricted power that is defined as the braking of stable control overbalance; Pilot control steering handwheel (48) (11) is by deflector (50) (12), the control wheel steering, one tunnel power transmission is established in deflector (50) simultaneously (12) in addition, rotational angle theta, increment Delta θ, steering rate, displacement parameter transmission and transmission system, control turns to Manual machine-liquid, machine-vapour servo braking system (45) (19) or the power in the relevant brake regulator (58) (24), vacuum servo-actuated brake equipment, the braking force that output is regulated via the braking in a turn coefficient of correlation; System or the steering wheel angle sensor is set, parameter signals such as output deflection angle θ, increment Delta θ, steering rate, handle through ECU (Electrical Control Unit) (67) (105), output is stablized control signal g and is controlled the electrohydraulic servo system that turns in the relevant brake regulator (70) (115), or change mechanical shift into by motor drive mechanism, control power, vacuum servo servo-actuated brake equipment, turn to relevant braking force to the part wheel wheel output of determining, produce by unbalanced system power and lock torque and recover the stable yaw moment of car load; The pedal brake device promptly with the braking force of master cylinder, power or the output of vacuum servo servo-actuated brake equipment, enters each brake wheel cylinder after pedal brake power distribution regulator (30) (75) reconfigures; Because of blow out, body inclination, wheel alignment parameter change, cause each wheel load redistribution, the pedal brake device becomes car load unbalanced system power to each car load balanced system power of taking turns output because of blowing out, so must adopt the pedal brake draught control mechanism that the braking force of each brake wheel cylinder is redistributed and regulated, the pedal brake power through regulating can produce the braking force and the lock torque of car load balance; System adopts the braking compatible apparatus, make it to realize turning to relevant braking, balancing brake individual event of pedal car load or parallel work-flow, do not interfere mutually, the compatible part wheel that adopts of braking implements to turn to relevant braking separately, the part wheel is implemented the configuration mode of pedal brake separately, and single-wheel is provided with two brake pipings and brake wheel cylinder, computing of machine liquid or automatically controlled compatibility mode; Turn to relevant braking and pedal brake to assist bar mutually, effectively use the condition of adhering to of each wheel of back of blowing out, two kinds of braking forces are through compatible processing, directly or through anti-locking system (ABS) actr, brake circuit enter brake wheel cylinder, make car load obtain stable control unbalanced system kinetic moment and yaw moment, and balanced system power, the lock torque of car load deceleration, realize the stable control of tyre explosion safety.
Turn to relevant brake regulator (24) (58), adopt Manual machine-vapour, machine-liquid servo-actuated braking regulative mode, steering handwheel (11) (48) is by another road driving device of deflector (12) (50), the reverse spacing set composite of clutch (18) (53), outputting power and turn to coefficient of correlation control setting pressure regulating valves (19) such as displacement, the manpower of band brake master cylinder, vacuum, power assist, supercharging servo braking system (58), or band is two, the servo-actuated brake equipment (24) of single chamber air brake valve; When blowing out, signal of tyre burst W controls clutch, and reverse, spacing set composite closure, system enter and turn to relevant braking adjustment state, and brake regulator (24) (58) output is by the braking force of wheel direction, displacement and speed parameter control.
Turn to relevant braking to regulate and adopt the electronic control simulation regulative mode, steering handwheel (62) rotary angle transmitter (71) output signal is handled by ECU (Electrical Control Unit) (67), ECU (Electrical Control Unit) (67) output analog regulation signal g control mainly by servovalve (79), voltage regulation cylinder (74), turn to common pump or/and the electrohydraulic servo system (70) that energy storage (68) constitutes, conditioning signal is changed into the displacement of valve rod by the linear solenoid valve in the Fu, the relative position of regulating valve stem (72) and valve seat (73), thus the braking force that voltage regulation cylinder (74) is exported regulated; Conditioning signal g or change the displacement of control stalk train into by electrical motor, electromagnetic valve, the vacuum of control band brake master cylinder or power assist, the output of supercharging servo-actuated brake equipment are by the braking force of correlation parameters such as steering wheel angle control.
Turn to relevant braking to regulate and adopt automatically controlled digital regulative mode, steering wheel angle sensor (92) output signal, handle through ECU (Electrical Control Unit) (81), output digital regulating signal g, control is mainly by regulating electromagnetic valve (83), pump, the numeral braking Fu (80) that energy storage (84) constitutes, conditioning signal is with the adjusting electromagnetic valve (83) in the pulse width modulation mode continuous control brake circuit, thereby adjusting pump (84) or energy storage enter the pressure in the voltage regulation cylinder (85), another mouth of electromagnetic valve (83) with hold fluid cylinder (86) and be communicated with, as pressure release, voltage regulation cylinder (85) output turns to relevant braking force.
Pedal brake power distributes adjusting to adopt mechanical type: mainly be made of commutation, control cock (30) (75), the vacuum of pedal brake device or band master cylinder, the braking force of power servo-actuated brake equipment output, change-over valve (31) (76) via signal of tyre burst control enters control cock (32) (77), enters wheel (47) (65) wheel cylinder after redistributing braking force by control cock; Brake-power balance coefficient or ratio, each wheel load of back distributes, adheres to condition, blows out and the non-wheel radius ratio of blowing out by blowing out, the change value of positional parameter after blowing out, and turn to relevant brake regulator that the factors such as braking force of part wheel wheel cylinder output are determined, with pedal brake to the unequal braking force of each wheel cylinder, make car load obtain the braking force and the moment of balance, and the condition of adhering to of each wheel is used adequately reasonably.
The compatible part wheel that adopts of braking implements to turn to relevant braking, the part wheel is implemented the configuration of pedal car load balancing brake, electromagnetic valve or hydraulic directional control valve (107) are set in the brake piping, under the nominal situation, the normal open road of braking force in change-over valve of pedal brake device output directly enters each wheel (102) wheel cylinder, when blowing out, signal of tyre burst W controls change-over valve (107), cut off the path of pedal brake device (108) to wheel (102) wheel cylinder, be communicated with the path of abs braking actr (115) to epicycle (102) wheel cylinder, other wheel disposes as pedal balancing brake wheel as (106).
The compatible brake equipment that adopts single-wheel that two brake pipings and two brake wheel cylinders are set of braking, the braking force of pedal brake device (master cylinder) (78) (90) output enters all wheels (60) (61) (89) (91) wheel cylinder of each pipeline under the nominal situation, when blowing out, signal of tyre burst control change-over valve (76) (88), make set dual circuit of part wheel and wheel cylinder constitute two brake systems independent of each other, be communicated with turning to the output of relevant brake equipment (70) (80) and pedal brake device (78) (90) respectively, be provided with in the change-over valve in the handoff procedure to the path that holds the fluid cylinder pressure release.
Brake compatible employing machine liquid computing compatible apparatus, this device is mainly by change-over valve (31), polyphone hydraulic pressure computing piston cylinder (33) (37) constitutes, the pressure of pedal brake device (57) output links through change-over valve (31) and computing piston cylinder (33), turn to the pressure of relevant brake regulator (58) output to be communicated with another computing piston cylinder (37), pressure in the back level piston cylinder (37) is through piston (36), piston rod (35) acts on prime piston (34) piston cylinder (33), and the pressure of prime piston cylinder (33) output is the pressure sum of input two piston cylinders; Under the nominal situation, the normal open road of braking force in change-over valve (31) of pedal brake device (57) output enters each wheel (47) wheel cylinder, when blowing out, signal of tyre burst W control change-over valve (31) switches, and the pressure of two brake equipments (57) (58) output enters each computing cylinder (33) (37) of compatible apparatus respectively.
The objective of the invention is to provide a kind of safe stable control system for blowout of automobile tyre, a kind of and anti-blocking brake system of automobile (ABS), shared wheel speed sensors, ECU (Electrical Control Unit), brake regulator, realize the system that device resource is shared, wheel speed sensors output speed is given birth to the ripple signal in the system, the ECU (Electrical Control Unit) tire pressure detects the variation that microprocessor calculates wheel speed and resonance frequency, determine the tire flexibility constant, relative theory according to tire pressure and wheel elastic constant, draw tire pressure at last, extreme value is a signal of tyre burst; When blowing out, ECU (Electrical Control Unit) is blown out according to tire pressure, judgement, output signal of tyre burst, the control ABS and the shared brake regulator of control of blowing out, give birth to car load unbalanced system power, moment and recover the stable yaw moment of car load by the unbalanced system movable property, realize the stable control of tyre explosion safety; The object of the present invention is achieved like this: system is provided with steering wheel angle sensor (104), the wheel speed sensors, ECU (Electrical Control Unit) is provided with ABS microprocessor and control module in (105), setting is measured tire pressure by wheel speed, turn to relevant braking, pedal brake power is distributed adjusting microprocessor and control module, when blowing out, ECU (Electrical Control Unit) is blown out according to the tire pressure signal determining of being measured by wheel speed, angular signal θ according to steering wheel angle sensor (104) output, Δ θ is through turning to relevant braking microprocessor processes, output turns to relevant braking and pedal brake to redistribute conditioning signal g, adjusting electromagnetic valve (112) (113) in the continuous control abs braking actr brake circuit, in variable perhaps periodical duty mode, increase, subtract, keep entering the relevant braking force that turns in each wheel cylinder, or/and the pedal brake power that reconfigures makes car load obtain the unbalanced system kinetic moment of recovering stable, yaw moment and the stable pedal balanced system power that slows down; Prevent embracing critical conditions when wheel enters, the anti-armful signal of ECU (Electrical Control Unit) central microprocessor output replaces the conditioning signal of above-mentioned two braking forces, the abs braking actr is entered prevent embracing mode of operation.
ECU (Electrical Control Unit) (105) is according to the wheel speed sensors output signal, measure tire pressure, when blowing out, judgement is blown out, and output signal of tyre burst W, change-over valve (107) in the control abs braking actr (115) cuts off pedal brake device (108) to the path that is defined as turning to relevant brake portion wheel (102) wheel cylinder; Energy storage or motor-drive pump are exported the braking force of a given threshold value to the abs braking regulating control, ECU (Electrical Control Unit) (105) turns to relevant braking microprocessor simultaneously, with parameters such as steering wheel angle sensor (104) output corners is incoming signal, treated, output regulation signal g, continuous control need turn in the part wheel braking loop of relevant braking, abs braking regulating control electromagnetic valve (112) (113), with variable perhaps cycle mode, increase, subtract, keep entering in the brake circuit pressure in wheel (102) wheel cylinder, by braking, produce unbalanced system power to the part wheel, moment, with the stable yaw moment of recovery car load; System adopts the part wheel to implement to turn to relevant braking, the part wheel is implemented the compatibility mode of pedal balancing brake configuration, during compatibility parallel work-flow pedal brake, pedal brake device (108) is gone up set pressure sensor output signal, pedal brake power distributes the adjusting microprocessor to make pedal brake power allocation process in ECU (Electrical Control Unit) (105), and according to respectively taking turns gravity distribution theory value after blowing out and adhering to condition, calculate the pedal brake partition ratio, output regulation signal B, control is as the adjusting electromagnetic valve (not marking among the figure) in the part wheel abs braking loop of pedal balancing brake configuration, redistribute the braking force of pedal brake device, produce the lock torque of car load balance each wheel cylinder output; When wheel entered anti-lock critical state, anti-armful of signal replacement of ECU (Electrical Control Unit) central microprocessor output turned to relevant braking and pedal brake conditioning signal g, B, and control abs braking actr enters prevents an armful mode of operation.
The objective of the invention is to provide a kind of tyre explosion safety stabilizing control system, sensor, ECU (Electrical Control Unit) (ECU), brake regulators such as a kind of and vehicle steadily control system (VSC), shared wheel speed, realize the system that device resource is shared, by the braking of stable control overbalance, lift compound suspension frame lift is regulated, and realizes stable control of tyre explosion safety and autostable control simultaneously; The object of the present invention is achieved like this: ECU (Electrical Control Unit) (138) is provided with microprocessor and the control module (127) of being measured tire pressure by wheel speed, when blowing out, blow out according to each sensor input signal judgement, the central little processing of ECU (Electrical Control Unit) (138) (137) device is to yaw velocity, steering wheel angle, pedal brake device (master cylinder) pressure, wheel speed, sensors such as acceleration/accel (122) (121) (124) (120) (123) output signal is handled, calculate automobile sport existing condition parameter: the teeter rate, acceleration/accels etc. are also compared with the theory state parameter, draw trajector deviation, output is braked to the part wheel stable controlling valu and signal A; ECU (Electrical Control Unit) (138) is provided with pedal brake power and distributes adjusting microprocessor (128), by respectively taking turns weight distribution after blowing out, adhere to condition, the adhesion value theoretical value, calculate each wheels pedal brakig force distribution regulated value (or ratio), output regulation signal B, regulated value signal A and B handle through the braking compatible microprocessors, calculate and respectively take turns the brake-power regulation value, output regulation signal g, adjusting in the control brake actr (139), reversing solenoid valve (131) (132) (133) (134) (135), with circulation or variable capacity mode, increase. subtract. keep respectively taking turns the braking force in the brake circuit input wheel cylinder, this braking force contains generation unbalanced system kinetic moment, the pedal brake force component of the stable control brake force component of yaw moment and generation balancing brake moment is realized stable control of car load and balancing brake; System or lift suspension (136) is set, ECU (Electrical Control Unit) (138) output signal of tyre burst W, suspension lift conditioning signal h realizes that the suspension lift regulates.(referring to my Chinese invention patent, " automotive tyre explosion safety tyre pressure indicating adjustable suspension system " patent No. 97107850.5 is authorized).
The objective of the invention is to provide the method for the stable control of a kind of automotive tyre explosion safety, a kind of by the braking of part wheel stability control overbalance, produce the unbalanced system kinetic moment and recover the stable yaw moment of car load, the method of regulating and combining by lift compound suspension frame lift, realize the stable control of automotive tyre explosion safety, the object of the present invention is achieved like this: adopt control of people's bus or train route closed-loop stabilization and the method that turns to relevant braking, steering wheel angle θ by reflection chaufeur direction control intention and path trace operation, increment Delta θ, steering rate is as turning to relevant brake regulator dynamic adjustments parameter and regulated quantity calculating parameter, by turning to relevant brake regulator direct control to be defined as the braking of stable control overbalance brake wheel, realize the control of people's bus or train route closed-loop stabilization, promptly be arranged at the tire pressure of rotating-wheel, sensor (51) output signal of blowing out is handled or is handled through ECU (Electrical Control Unit) (67) by wheel speed sensors (66) output signal through ECU (Electrical Control Unit) (49), measure tire pressure according to wheel speed, ECU (Electrical Control Unit) (49), (67) judgement is blown out, determine to implement stable control overbalance brake wheel, control energy storage (56), (69) be defined as stable control overbalance brake wheel to part and export a given elementary gate restricted power, turn to relevant brake regulator (58), (24) transmit by another road signal of deflector, the deflection angle θ of force transmission mechanism output, parameters such as Δ θ and power are regulated; Or turn to relevant braking regulated value (amount) by the calculation of parameter such as deflection angle θ, increment Delta θ of steering wheel angle sensor output by ECU (Electrical Control Unit) (67), (105), control turns to Fu in relevant brake regulator (70), (115), to being defined as overbalance brake wheel wheel cylinder input unbalanced system power, produce unbalanced system kinetic moment and the stable yaw moment of car load; The present invention or the employing autostable control method of blowing out, ECU (Electrical Control Unit) (138) is to yaw velocity, steering wheel angle, pedal brake device (master cylinder) pressure, sensor (122) (121) (124) (120) (123) output signals such as wheel speed, acceleration/accel are handled, measure tire pressure by wheel speed, judgement is blown out, calculate automobile actual motion state parameter: teeter rate, acceleration/accel etc. are also compared with the theory state parameter, draw trajector deviation, and output is braked to the part wheel stable controlling valu and signal A; ECU (Electrical Control Unit) (138) by respectively take turns weight distribution after blowing out, adhere to condition, the adhesion value theoretical value, calculate each wheels pedal brakig force distribution regulated value (or ratio), output regulation signal B, regulated value signal A and B handle through the braking compatible microprocessors, calculate and respectively take turns the brake-power regulation value, output regulation signal g, control brake actr (139), produce the stable control brake power of unbalanced system kinetic moment, yaw moment and the pedal brake power of generation balancing brake moment to each wheel cylinder input, realize stable control of car load and balancing brake; System or lift suspension (136) is set, ECU (Electrical Control Unit) (138) output signal of tyre burst W, suspension lift conditioning signal h, control blow out wheel suspension lift, reduce body inclination or recover the vehicle body balance, improve and respectively take turns weight distribution, positional parameter adheres to condition.
Compared with prior art, the present invention has following advantage: system has adopted a kind of new tyre explosion safety stable control method, the control of people's bus or train route closed-loop stabilization, steering wheel angle θ by reflection chaufeur direction control intention and path trace operation, Δ θ, the steering rate direct control turns to relevant brake regulator, realization turns to relevant braking, blow out autostable control of system or employing, after blowing out, comparison by automobile actual motion state and theory state, ECU (Electrical Control Unit) is calculated braking and lift suspension lift regulated value according to comparing deviate, output regulation signal control brake regulating control, brake being defined as stable control overbalance brake wheel, pedal balanced system power is redistributed, and pedal balancing brake and stable control overbalance braking parallel work-flow compatibility, cooperate the lift suspension frame lifting wheel vehicle frame of blowing out, fundamentally solved the tyre explosion safety problem, native system can independently constitute, or embrace with automobile is anti-, stabilizing control system (ABS, VSC) etc. realize resource sharing, expanded ABS, the function of VSC, system architecture is simple, technology maturation, stable performance, cost is low, do not change original structure, can with all kinds of automobile accessories, have vast market prospect and economic results in society.
Description of drawings
Fig. 1, Manual machine-cyclostrophic is to the relevant tyre explosion safety system of braking
Fig. 2, Manual machine-liquid turn to the relevant tyre explosion safety system of braking
Fig. 3, electronic control simulation turn to the relevant tyre explosion safety system of braking
Fig. 4, automatically controlled numeral turns to the relevant tyre explosion safety system of braking
Fig. 5, automatically controlled numeral, ABS combination control tyre explosion safety system.
Fig. 6, automatic stabilization control system VSC tyre explosion safety system brake actuator.
Fig. 7, automatic stabilization control system VSC tyre explosion safety system and program flow process.
The specific embodiment
Below, describe concrete structure of the present invention and principle of work in conjunction with the accompanying drawings and embodiments in detail.
Embodiment 1, referring to Fig. 1
Present embodiment turns to relevant braking employing, and Manual machine---compressed air brake Fu, single-wheel are provided with the braking compatibility mode of dual circuit, two-wheel cylinder.Chaufeur is by steering handwheel 11, and deflector 12, driving device control wheel 13 turn to; Under the nominal situation, the pedal brake device 14 normal open roads of output braking force in pedal brake distribution regulator 15 change-over valves 16 enter dual circuit and two brake wheel cylinder 21 of each wheel, 22, tyre pressure sensor 17 output signals that are arranged at wheel when blowing out are handled through ECU (Electrical Control Unit) 23, output signal of tyre burst W, the control clutch, oppositely, spacing set composite 8 closures, power and displacement series dual chamber air brake valve 19 in driving device control brake regulating control 24 by deflector 12 outputs, act on the tip-lever support 1 by push rod 10, through balance spring 2, promoting piston 3 moves down, exhaust valve 4 cuts out, inlet valve 9 is opened, pump. the pressurized air in the energy storage enters the A chamber from the P11 mouth, directly or through gas-liquid conversion cylinder 20 exported by the P21 mouth, the part air-flow arrives the B chamber through the D hole again, promotes piston 6 and moves down, exhaust valve 8 cuts out, inlet valve 7 is opened pump. and pressurized air enters the C chamber from the P12 mouth in the energy storage, directly or through gas-liquid conversion cylinder 20 is exported by the P22 mouth again; When push rod 10 remains on a certain position, along with output pressure rises, when the antagonistic force that acts on piston 3,6 belows surpasses balance spring and B chamber atmospheric pressure, piston is up a little, till inlet and exhaust valve was closed, at this moment, output pressure was in certain state of equilibrium; Push rod 10 is reverse when mobile, and piston 3,6 resets, two chamber valve closure, and exhaust valve opens, P21, P22 mouth pressurized air partly or entirely enter atmosphere from exhausr port P3 by A, C chamber, and wherein 5 is valve body; The functional relation of the pressure of brake regulator 24 outputs and deflector 12 input displacement X is F=f (x).Change-over valve 16 transpositions in the signal of tyre burst W control brake compatible apparatus, dual circuit and wheel cylinder in each single wheel, constitute two independent brake system, braking force P22, the P21 of brake regulator 19 outputs enters a brake system 21 in two wheels that need turn to relevant braking respectively, the braking force of pedal brake device output, the commutation in pedal brake distribution regulator 15, apportioning valve, after redistributing as braking force, enter another brake system 22 in each wheel.
Embodiment 2, referring to diagram 2.
Present embodiment turns to relevant braking to adopt Manual machine---the servo adjusting of liquid, machine liquid computing compatibility, pedal brake power distribution regulator, and chaufeur passes through steering handwheel 48, deflector 50, and driving device 52 control wheels 47 turn to.Under the nominal situation, with the braking force of vacuum-assisted pedal brake device 57 outputs, the normal open road enters wheel 47 wheel cylinders in pedal brake distribution regulator 30 change-over valves 31.When blowing out, tyre pressure sensor 51 output signals that are arranged at wheel detect microprocessor processes through ECU (Electrical Control Unit) 49 tire pressures, output signal of tyre burst W, electromagnetic valve 55 on the control energy storage 56, change-over valve 31 in the energy storage 56 output hydraulic coupling control pedal braking distribution regulator 30, close the normal open road of pedal brake device 57 to wheel 47 wheel cylinders, open the path of pedal brake device 57 to braking compatible apparatus hydraulic actuating cylinder 33, energy storage 56 output hydraulic couplings, medium pore 42 on regulating control 41I cylinder 43 pistons 44 enters pressure regulation I cylinder 43, pressure regulation I cylinder 43 output hydraulic couplings enter cylinder 37 behind the braking compatible apparatus hydraulic pressure, through after cylinder piston 36 piston rods 35, preceding cylinder piston 34, preceding hydraulic actuating cylinder 33 outputs one given basic thresholding hydraulic braking force enters part wheel 47 wheel cylinders that need turn to relevant braking; Signal of tyre burst W, turn to relevant clutch, reverse, the spacing set composite of braking in regulating 53 with time control, deflector 50 outputting powers and turn to correlation parameter through driving device 54, the power of control band brake master cylinder 46 or vacuum servo, supercharging Fu 45, the output hydraulic coupling enters regulating control 41 pressure regulation II cylinders 38, promote II cylinder piston 39, transmission stick harness 40 leans sealing I cylinder piston medium pore 42 and promotes I cylinder piston 44, and I cylinder 43 output hydraulic couplings enter hydraulic actuating cylinder 37 behind the braking compatible apparatus; During the parallel work-flow pedal brake, pedal brake device 57 output braking forces hydraulic actuating cylinder 33 before pedal brake distribution regulator 30 enters the braking compatible apparatus, the braking force of cylinder 33 outputs is forward and backward hydraulic actuating cylinder input pressure sum before the braking compatible apparatus, wheel 47 wheel cylinders obtain to turn to relevant braking force and pedal brake distribution regulator output braking force sum; When blowing out, when wheel 47 was not stablized the control wheel as blowing out, the apportioning valve 32 of braking force in pedal brake distribution regulator 30 of pedal brake device output entered wheel 47 wheel cylinders.By turning to relevant brake regulator 58 and the pedal brake distribution regulator 30 common braking forces that enter each braking force cylinder of regulating, the maximum constraints utilization is the condition of adhering to and adhesion value of wheel respectively, and stable control realizes blowing out.
Embodiment 3, referring to Fig. 3, and Fig. 4.
Present embodiment turns to relevant braking to adopt electronic control simulation or digital regulated mode, single-wheel that the compatible configuration of braking of the two brake wheel cylinders 60,61,91,89 of dual circuit is set.Chaufeur is by steering handwheel 62,93, and deflector 63,94 and transmission device 64,95 control wheels 65,96 turn to.Each wheel is provided with wheel speed sensors 66,82, the output speed signal detects microprocessor processes through ECU (Electrical Control Unit) 67,81 tire pressures, determine tire pressure, export signal of tyre burst W when blowing out, unlatching turns to the change-over valve 69 on common pump 84 or the energy storage 68, and output hydraulic pressure or liquid stream can enter electro-hydraulic brake Fu 70,80; Signals such as steering wheel angle sensor 71,92 output corners, handle through ECU (Electrical Control Unit) 67,81,1, output turns to relevant braking analog signal g, electromagnetic servo valve 79 regulating spools, valve seat 72,73 relative displacemenies, position in the control servo braking system 70, control energy storage 68 enter hydraulic pressure or the liquid stream in the voltage regulation cylinder 74; 2, ECU (Electrical Control Unit) 81 or output digital signal g, with the adjusting electromagnetic valve 83 in the pulse width modulation mode continuous control digital servo brake system 80, enter the liquid stream of voltage regulation cylinder 85 with transposition (connect or close) the modulated pressure pump 84 of valve core of the electromagnetic valve, thereby regulate the delivery pressure of voltage regulation cylinder 74,85; Turn to the braking force of relevant brake servo system 70,80 voltage regulation cylinders, 74,85 outputs, change-over valve 76,88 in brakig force distribution regulating control 75,87, enter the brake wheel cylinder 60,89 that need turn to relevant brake wheel, change-over valve 76,88 is controlled by signal of tyre burst W; Parallel work-flow pedal brake device 78,90 o'clock, the braking force of output, change-over valve 76,88, apportioning valve 77,89 and pipeline in pedal brake distribution regulator 75,87, enter another brake wheel cylinder 61,91 of each wheel, under the nominal situation, the braking force of pedal brake device 78,90 outputs enters the two brake wheel cylinders 60,61 or 89,91 of each wheel through the normal open road of pedal brake distribution regulator 75,87 change-over valves 76,88.
Embodiment 4, referring to Fig. 5.
Present embodiment turns to relevant braking, and automatically controlled digital regulated mode is adopted in pedal brake, turns to relevant braking with anti-locking system (ABS) formation unitized construction and the configuration of part wheel, part wheel configuration pedal brake compatibility mode; Steering handwheel 100 turns to by deflector 101 control wheels 102; Wheel speed, steering wheel angle sensor 103,104 output signals enter automatically controlled list 105, are measured the tire pressure microprocessor and are turned to relevant braking microprocessor processes by wheel speed; When wheel 102 turns to relevant brake arrangement with these passage abs braking actr 115 conducts, ABS actr 115 becomes and turns to relevant brake regulator, the signal of tyre burst W of ECU (Electrical Control Unit) 105 outputs, change-over valve 107 in the control abs braking actr 115, cut off pedal brake device 108 and to the abs braking actr, be close to the path that leads in cylinder 109 and the voltage regulation cylinder 110, logical cylinder 109 and voltage regulation cylinder 110 are close in definite value hydraulic pressure input in the Hydraulic Pump 111, ECU (Electrical Control Unit) 105 output turn to relevant braking conditioning signal g, with pulse width modulation mode continuous control main solenoid valve 112, secondary electromagnetic valve 113, break-make transposition by electromagnetic valve, regulate the variation of voltage regulation cylinder 110 volumes in the variable capacity mode, thereby regulate the increase and decrease that enters pressure in brake wheel 102 wheel cylinders, realize turning to relevant braking to regulate; When this abs braking actr and wheel 102 dispose as pedal car load balancing brake, change-over valve 107 in the signal of tyre burst W control abs braking actr 115, the braking force of pedal brake device output is through apportioning valve 114, abs braking actr, enter brake wheel 102 wheel cylinders, wheel 106 or be set to be the configuration of pedal balancing brake wheel; When wheel 102 enters anti-skidding locking critical state, ECU (Electrical Control Unit) 105 output ABS control signals, control abs braking actr turning to the moving signal g of relevant control to withdraw from automatically, and 102 of wheels enter that ABS is anti-to embrace control.
Embodiment 5, referring to Fig. 6, and Fig. 7.
Tyre-bursting security control method of the present invention is applied to vehicle steadily control system (VSC), system is provided with wheel speed, steering wheel angle, yaw velocity, acceleration/accel, pedal brake force gauge 120,121,122,123,124 output signals enter ECU (Electrical Control Unit) input interface 125,126 and carry out waveform processing, and analogue to digital conversion, ECU (Electrical Control Unit) is set up by wheel speed and is measured tire pressure microprocessor and module 127, measures the tire pressure judgement and blows out; VSC ECU (Electrical Control Unit) central microprocessor 137 is according to each sensor output signal, calculate automobile actual motion state parameter: the teeter rate, acceleration/accel etc., and path of motion, and with its theoretical value relatively, draw deviate, calculate stable control brake value thus, output signal A the part wheel braking; Set up pedal brake power and distribute microprocessor and module 128,, adhere to condition, the theoretical value of adhesion value ratio, blow out and the non-wheel radius of blowing out, calculate each wheels pedal braking force value of redistributing or ratio, output regulation signal B by respectively taking turns load distribution after blowing out; Conditioning signal A, B, handle through braking compatible microprocessors 129, calculate and respectively take turns the brake-power regulation value, output braking conditioning signal g, executory adjusting of control brake and reversing solenoid valve 131,132,133,134,135 are by the transposition of electromagnetic valve break-make, to increase, subtract, to keep pressure mode in each passage brake circuit, to regulate and respectively take turns braking force, this braking force contains pedal balancing brake and stable control unbalanced system power component.
ECU (Electrical Control Unit) or lift suspension lift control microprocessor and module are set, output lift control signal h, the control wheel suspension of blowing out rises, and reduces body inclination, improves and respectively take turns weight distribution and adhere to condition.
In the various embodiments described above, by relevant brake regulator of motor turning or autostable controlled adjuster, part wheel output braking force is produced the yaw moment of unbalanced system kinetic moment and recovery monolithic stability, produce car load balancing brake moment by the pedal brake device through the pedal brake power of pedal brake distribution regulator output, make the stable deceleration of car load; Blown out by signal of tyre burst and suspension lift signal enabling in case of necessity and take turns the lift suspension, the vehicle body after balance is blown out utilizes respectively condition of adhering to of wheel to greatest extent, and the realization car load is stablized.
Claims (12)
1, a kind of safe stable control system for blowout of automobile tyre, mainly by tire pressure, the wheel speed sensors, turn to relevant brake regulator, pedal brake power distribution regulator, the braking compatible apparatus, ECU (Electrical Control Unit) or the system that constitutes with the lift suspension, be arranged at the tire pressure detecting sensor output signal of tire, handle through ECU (Electrical Control Unit), the output signal of tyre burst, the control brake regulating control, wheel distributes (preceding according to blowing out, after, a left side, right) determine to implement the overbalance brake wheel, give birth to car load unbalanced system power by the unbalanced system movable property, moment, recover the stable yaw moment of car load, realize the stable control of tyre explosion safety; It is characterized in that: adopt people's bus or train route closed-loop stabilization control system, tyre pressure sensor (51), wheel speed sensors (66) output signal are handled through ECU (Electrical Control Unit) (49) (67), measure tire pressure, judgement is blown out, the output signal of tyre burst, control turns to relevant brake regulator (58), (70), and system is entered blow out stable state of a control, and energy storage (56) (69) is to part wheel (47) (65) the output one given elementary gate restricted power that is defined as the braking of stable control overbalance; Pilot control steering handwheel (48) (11) is by deflector (50) (12), the control wheel steering, one tunnel power transmission is established in deflector (50) simultaneously (12) in addition, rotational angle theta, increment Delta θ, steering rate, displacement parameter transmission and transmission system, control turns to Manual machine-liquid, machine-vapour servo braking system (45) (19) or the power in the relevant brake regulator (58) (24), vacuum servo-actuated brake equipment, the braking force that output is regulated via the braking in a turn coefficient of correlation; System or the steering wheel angle sensor is set, parameter signals such as output deflection angle θ, increment Delta θ, steering rate, handle through ECU (Electrical Control Unit) (67) (105), output is stablized control signal g and is controlled the electrohydraulic servo system that turns in the relevant brake regulator (70) (115), or change mechanical shift into by motor drive mechanism, control power, vacuum servo servo-actuated brake equipment, turn to relevant braking force to the part wheel wheel output of determining, produce by unbalanced system power and lock torque and recover the stable yaw moment of car load; The pedal brake device promptly with the braking force of master cylinder, power or the output of vacuum servo servo-actuated brake equipment, enters each brake wheel cylinder after pedal brake power distribution regulator (30) (75) reconfigures; Because of blow out, body inclination, wheel alignment parameter change, cause each wheel load redistribution, the pedal brake device becomes car load unbalanced system power to each car load balanced system power of taking turns output because of blowing out, so must adopt the pedal brake draught control mechanism that the braking force of each brake wheel cylinder is redistributed and regulated, the pedal brake power through regulating can produce the braking force and the lock torque of car load balance; System adopts the braking compatible apparatus, make it to realize turning to relevant braking, balancing brake individual event of pedal car load or parallel work-flow, do not interfere mutually, the compatible part wheel that adopts of braking implements to turn to relevant braking separately, the part wheel is implemented the configuration mode of pedal brake separately, and single-wheel is provided with two brake pipings and brake wheel cylinder, computing of machine liquid or automatically controlled compatibility mode; Turn to relevant braking and pedal brake to assist bar mutually, effectively use the condition of adhering to of each wheel of back of blowing out, two kinds of braking forces are through compatible processing, directly or through anti-locking system (ABS) actr, brake circuit enter brake wheel cylinder, make car load obtain stable control unbalanced system kinetic moment and yaw moment, and balanced system power, the lock torque of car load deceleration, realize the stable control of tyre explosion safety.
2, according to the described system of claim 1, it is characterized in that: turn to relevant brake regulator (24) (58), adopt Manual machine-vapour, machine-liquid servo-actuated braking regulative mode, steering handwheel (11) (48) is by another road driving device of deflector (12) (50), the reverse spacing set composite of clutch (18) (53), outputting power and turn to coefficient of correlation control setting pressure regulating valves (19) such as displacement, the manpower of band brake master cylinder, vacuum, power assist, supercharging servo braking system (58), or band is two, the servo-actuated brake equipment (24) of single chamber air brake valve; When blowing out, signal of tyre burst W controls clutch, and reverse, spacing set composite closure, system enter and turn to relevant braking adjustment state, and brake regulator (24) (58) output is by the braking force of wheel direction, displacement and speed parameter control.
3, according to the described system of claim 1, it is characterized in that: turn to relevant braking to regulate and adopt the electronic control simulation regulative mode, steering handwheel (62) rotary angle transmitter (71) output signal is handled by ECU (Electrical Control Unit) (67), ECU (Electrical Control Unit) (67) output analog regulation signal g control is mainly by servovalve (79), voltage regulation cylinder (74), turn to common pump or/and the electrohydraulic servo system (70) that energy storage (68) constitutes, conditioning signal is changed into the displacement of valve rod by the linear solenoid valve in the Fu, the relative position of regulating valve stem (72) and valve seat (73), thus the braking force that voltage regulation cylinder (74) is exported regulated; Conditioning signal g or change the displacement of control stalk train into by electrical motor, electromagnetic valve, the vacuum of control band brake master cylinder or power assist, the output of supercharging servo-actuated brake equipment are by the braking force of correlation parameters such as steering wheel angle control.
4, according to the described system of claim 1, it is characterized in that: turn to relevant braking to regulate and adopt automatically controlled digital regulative mode, steering wheel angle sensor (92) output signal, handle through ECU (Electrical Control Unit) (81), output digital regulating signal g, control is mainly by regulating electromagnetic valve (83), pump, the numeral braking Fu (80) that energy storage (84) constitutes, conditioning signal is with the adjusting electromagnetic valve (83) in the pulse width modulation mode continuous control brake circuit, thereby adjusting pump (84) or energy storage enter the pressure in the voltage regulation cylinder (85), another mouth of electromagnetic valve (83) with hold fluid cylinder (86) and be communicated with, as pressure release, voltage regulation cylinder (85) output turns to relevant braking force.
5, according to the described system of claim 1, it is characterized in that: pedal brake power distributes adjusting to adopt mechanical type: mainly be made of commutation, control cock (30) (75), the vacuum of pedal brake device or band master cylinder, the braking force of power servo-actuated brake equipment output, change-over valve (31) (76) via signal of tyre burst control enters control cock (32) (77), enters wheel (47) (65) wheel cylinder after redistributing braking force by control cock; Brake-power balance coefficient or ratio, each wheel load of back distributes, adheres to condition, blows out and the non-wheel radius ratio of blowing out by blowing out, the change value of positional parameter after blowing out, and turn to relevant brake regulator that the factors such as braking force of part wheel wheel cylinder output are determined, with pedal brake to the unequal braking force of each wheel cylinder, make car load obtain the braking force and the moment of balance, and the condition of adhering to of each wheel is used adequately reasonably.
6, according to the described system of claim 1, it is characterized in that: the compatible part wheel that adopts of braking implements to turn to relevant braking, the part wheel is implemented the configuration of pedal car load balancing brake, electromagnetic valve or hydraulic directional control valve (107) are set in the brake piping, under the nominal situation, the normal open road of braking force in change-over valve of pedal brake device output directly enters each wheel (102) wheel cylinder, when blowing out, signal of tyre burst W controls change-over valve (107), cut off the path of pedal brake device (108) to wheel (102) wheel cylinder, be communicated with the path of abs braking actr (115) to epicycle (102) wheel cylinder, other wheel disposes as pedal balancing brake wheel as (106).
7, according to the described system of claim 1, it is characterized in that: the compatible brake equipment that adopts single-wheel that two brake pipings and two brake wheel cylinders are set of braking, the braking force of pedal brake device (master cylinder) (78) (90) output enters all wheels (60) (61) (89) (91) wheel cylinder of each pipeline under the nominal situation, when blowing out, signal of tyre burst control change-over valve (76) (88), make set dual circuit of part wheel and wheel cylinder constitute two brake systems independent of each other, be communicated with turning to the output of relevant brake equipment (70) (80) and pedal brake device (78) (90) respectively, be provided with in the change-over valve in the handoff procedure to the path that holds the fluid cylinder pressure release.
8, according to the described system of claim 1, it is characterized in that: brake compatible employing machine liquid computing compatible apparatus, this device is mainly by change-over valve (31), polyphone hydraulic pressure computing piston cylinder (33) (37) constitutes, the pressure of pedal brake device (57) output links through change-over valve (31) and computing piston cylinder (33), turn to the pressure of relevant brake regulator (58) output to be communicated with another computing piston cylinder (37), pressure in the back level piston cylinder (37) is through piston (36), piston rod (35) acts on prime piston (34) piston cylinder (33), and the pressure of prime piston cylinder (33) output is the pressure sum of input two piston cylinders; Under the nominal situation, the normal open road of braking force in change-over valve (31) of pedal brake device (57) output enters each wheel (47) wheel cylinder, when blowing out, signal of tyre burst W control change-over valve (31) switches, and the pressure of two brake equipments (57) (58) output enters each computing cylinder (33) (37) of compatible apparatus respectively.
9, a kind of safe stable control system for blowout of automobile tyre, a kind of and anti-blocking brake system of automobile (ABS), shared wheel speed sensors, ECU (Electrical Control Unit), brake regulator, realize the system that device resource is shared, wheel speed sensors output speed is given birth to the ripple signal in the system, the ECU (Electrical Control Unit) tire pressure detects the variation that microprocessor calculates wheel speed and resonance frequency, determine the tire flexibility constant, relative theory according to tire pressure and wheel elastic constant draws tire pressure at last, and extreme value is a signal of tyre burst; When blowing out, ECU (Electrical Control Unit) is blown out according to tire pressure, judgement, output signal of tyre burst, the control ABS and the shared brake regulator of control of blowing out, give birth to car load unbalanced system power, moment and recover the stable yaw moment of car load by the unbalanced system movable property, realize the stable control of tyre explosion safety; It is characterized in that: system is provided with steering wheel angle sensor (104), the wheel speed sensors, ECU (Electrical Control Unit) is provided with ABS microprocessor and control module in (105), setting is measured tire pressure by wheel speed, turn to relevant braking, pedal brake power is distributed adjusting microprocessor and control module, when blowing out, ECU (Electrical Control Unit) is blown out according to the tire pressure signal determining of being measured by wheel speed, angular signal θ according to steering wheel angle sensor (104) output, Δ θ is through turning to relevant braking microprocessor processes, output turns to relevant braking and pedal brake to redistribute conditioning signal g, adjusting electromagnetic valve (112) (113) in the continuous control abs braking actr brake circuit, in variable perhaps periodical duty mode, increase, subtract, keep entering the relevant braking force that turns in each wheel cylinder, or/and the pedal brake power that reconfigures makes car load obtain the unbalanced system kinetic moment of recovering stable, yaw moment and the stable pedal balanced system power that slows down; Prevent embracing critical conditions when wheel enters, the anti-armful signal of ECU (Electrical Control Unit) central microprocessor output replaces the conditioning signal of above-mentioned two braking forces, the abs braking actr is entered prevent embracing mode of operation.
10, according to the described system of claim 9, it is characterized in that: ECU (Electrical Control Unit) (105) is according to the wheel speed sensors output signal, measure tire pressure, when blowing out, judgement is blown out, and output signal of tyre burst W, change-over valve (107) in the control abs braking actr (115) cuts off pedal brake device (108) to the path that is defined as turning to relevant brake portion wheel (102) wheel cylinder; Energy storage or motor-drive pump are exported the braking force of a given threshold value to the abs braking regulating control, ECU (Electrical Control Unit) (105) turns to relevant braking microprocessor simultaneously, with parameters such as steering wheel angle sensor (104) output corners is incoming signal, treated, output regulation signal g, continuous control need turn in the part wheel braking loop of relevant braking, abs braking regulating control electromagnetic valve (112) (113), with variable perhaps cycle mode, increase, subtract, keep entering in the brake circuit pressure in wheel (102) wheel cylinder, by braking, produce unbalanced system power to the part wheel, moment, with the stable yaw moment of recovery car load; System adopts the part wheel to implement to turn to relevant braking, the part wheel is implemented the compatibility mode of pedal balancing brake configuration, during compatibility parallel work-flow pedal brake, pedal brake device (108) is gone up set pressure sensor output signal, pedal brake power distributes the adjusting microprocessor to make pedal brake power allocation process in ECU (Electrical Control Unit) (105), and according to respectively taking turns gravity distribution theory value after blowing out and adhering to condition, calculate the pedal brake partition ratio, output regulation signal B, control is as the adjusting electromagnetic valve (not marking among the figure) in the part wheel abs braking loop of pedal balancing brake configuration, redistribute the braking force of pedal brake device, produce the lock torque of car load balance each wheel cylinder output; When wheel entered anti-lock critical state, anti-armful of signal replacement of ECU (Electrical Control Unit) central microprocessor output turned to relevant braking and pedal brake conditioning signal g, B, and control abs braking actr enters prevents an armful mode of operation.
11, a kind of safe stable control system for blowout of automobile tyre, sensor, ECU (Electrical Control Unit) (ECU), brake regulators such as a kind of and vehicle steadily control system (VSC), shared wheel speed, realize the system that device resource is shared, by the braking of stable control overbalance, lift compound suspension frame lift is regulated, and realizes stable control of tyre explosion safety and autostable control simultaneously; It is characterized in that: ECU (Electrical Control Unit) (138) is provided with microprocessor and the control module (127) of being measured tire pressure by wheel speed, when blowing out, blow out according to each sensor input signal judgement, the central little processing of ECU (Electrical Control Unit) (138) (137) device is to yaw velocity, steering wheel angle, pedal brake device (master cylinder) pressure, wheel speed, sensors such as acceleration/accel (122) (121) (124) (120) (123) output signal is handled, calculate automobile sport existing condition parameter: the teeter rate, acceleration/accels etc. are also compared with the theory state parameter, draw trajector deviation, output is braked to the part wheel stable controlling valu and signal A; ECU (Electrical Control Unit) (138) is provided with pedal brake power and distributes adjusting microprocessor (128), by respectively taking turns weight distribution after blowing out, adhere to condition, the adhesion value theoretical value, calculate each wheels pedal brakig force distribution regulated value (or ratio), output regulation signal B, regulated value signal A and B handle through the braking compatible microprocessors, calculate and respectively take turns the brake-power regulation value, output regulation signal g, adjusting in the control brake actr (139), reversing solenoid valve (131) (132) (133) (134) (135), with circulation or variable capacity mode, increase. subtract. keep respectively taking turns the braking force in the brake circuit input wheel cylinder, this braking force contains generation unbalanced system kinetic moment, the pedal brake force component of the stable control brake force component of yaw moment and generation balancing brake moment is realized stable control of car load and balancing brake; System or lift suspension (136) is set, ECU (Electrical Control Unit) (138) output signal of tyre burst W, suspension lift conditioning signal h realizes that the suspension lift regulates.
12, the method of the stable control of a kind of automotive tyre explosion safety, a kind of by the braking of part wheel stability control overbalance, produce the unbalanced system kinetic moment and recover the stable yaw moment of car load, the method of regulating and combining by lift compound suspension frame lift, realize the method for the stable control of automotive tyre explosion safety, it is characterized in that: adopt control of people's bus or train route closed-loop stabilization and the method that turns to relevant braking, steering wheel angle θ by reflection chaufeur direction control intention and path trace operation, increment Delta θ, steering rate is as turning to relevant brake regulator dynamic adjustments parameter and regulated quantity calculating parameter, by turning to relevant brake regulator direct control to be defined as the braking of stable control overbalance brake wheel, realize the control of people's bus or train route closed-loop stabilization, promptly be arranged at the tire pressure of rotating-wheel, sensor (51) output signal of blowing out is handled or is handled through ECU (Electrical Control Unit) (67) by wheel speed sensors (66) output signal through ECU (Electrical Control Unit) (49), measure tire pressure according to wheel speed, ECU (Electrical Control Unit) (49), (67) judgement is blown out, determine to implement stable control overbalance brake wheel, control energy storage (56), (69) be defined as stable control overbalance brake wheel to part and export a given elementary gate restricted power, turn to relevant brake regulator (58), (24) transmit by another road signal of deflector, the deflection angle θ of force transmission mechanism output, parameters such as Δ θ and power are regulated; Or turn to relevant braking regulated value (amount) by the calculation of parameter such as deflection angle θ, increment Delta θ of steering wheel angle sensor output by ECU (Electrical Control Unit) (67), (105), control turns to Fu in relevant brake regulator (70), (115), to being defined as overbalance brake wheel wheel cylinder input unbalanced system power, produce unbalanced system kinetic moment and the stable yaw moment of car load; The present invention or the employing autostable control method of blowing out, ECU (Electrical Control Unit) (138) is to yaw velocity, steering wheel angle, pedal brake device (master cylinder) pressure, sensor (122) (121) (124) (120) (123) output signals such as wheel speed, acceleration/accel are handled, measure tire pressure by wheel speed, judgement is blown out, calculate automobile actual motion state parameter: teeter rate, acceleration/accel etc. are also compared with the theory state parameter, draw trajector deviation, and output is braked to the part wheel stable controlling valu and signal A; ECU (Electrical Control Unit) (138) by respectively take turns weight distribution after blowing out, adhere to condition, the adhesion value theoretical value, calculate each wheels pedal brakig force distribution regulated value (or ratio), output regulation signal B, regulated value signal A and B handle through the braking compatible microprocessors, calculate and respectively take turns the brake-power regulation value, output regulation signal g, control brake actr (139), produce the stable control brake power of unbalanced system kinetic moment, yaw moment and the pedal brake power of generation balancing brake moment to each wheel cylinder input, realize stable control of car load and balancing brake; System or lift suspension (136) is set, ECU (Electrical Control Unit) (138) output signal of tyre burst W, suspension lift conditioning signal h, control blow out wheel suspension lift, reduce body inclination or recover the vehicle body balance, improve and respectively take turns weight distribution, positional parameter adheres to condition.
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| CN 01128885 CN1202968C (en) | 2001-09-24 | 2001-09-24 | Safe stable control system for blowout of automobile tyre |
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| CN 01128885 CN1202968C (en) | 2001-09-24 | 2001-09-24 | Safe stable control system for blowout of automobile tyre |
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| CN1202968C true CN1202968C (en) | 2005-05-25 |
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| CN 01128885 Expired - Fee Related CN1202968C (en) | 2001-09-24 | 2001-09-24 | Safe stable control system for blowout of automobile tyre |
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| CN101643006B (en) * | 2008-08-06 | 2013-01-16 | 浙江吉利汽车研究院有限公司 | Anti-lock system-based tyre burst braking system |
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