CN1261591A - Optimum ABS braking control method and its ABS braking system - Google Patents
Optimum ABS braking control method and its ABS braking system Download PDFInfo
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- CN1261591A CN1261591A CN 00111701 CN00111701A CN1261591A CN 1261591 A CN1261591 A CN 1261591A CN 00111701 CN00111701 CN 00111701 CN 00111701 A CN00111701 A CN 00111701A CN 1261591 A CN1261591 A CN 1261591A
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Abstract
The optimal ABS control method is that while braking, the inertia difference between the directly controlled wheels is first eliminated and a braking moment in preset waveform is applied to corresponding wheel according to real-time vertical load and motion state. The anti-lock braking system consists of a speed monitor, a vertical load monitor, an command switch, a controller, a controller, a drive moment clutch and a braking moment regulator. Compared with available adaptive circular regulating method and system for anti-lock braking, the present invention is ever timely and accurate and has obviously short brake distance.
Description
The present invention relates to a kind of ABS (Anti-lock Braking System) method for optimally controlling and adopt the anti-skid brake system of this method, is to be used for that aircraft landing is slided and anxious method for optimally controlling and the anti-skid brake system thereof of making ABS (Anti-lock Braking System) in a flash of vehicles such as automobile, motor bike, bicycle, train specifically.
Control method and anti-skid brake system thereof about ABS (Anti-lock Braking System), anti-lock brake control method and anti-skid brake system thereof that known prior art has a kind of self adaptation circulation to regulate, real-time regulated acted on the lock torque value on the wheel when their wheels in braking were tending towards locking, the cyclic process that makes this value experience increase repeatedly, reduce; When doing ABS (Anti-lock Braking System) control, they determine to regulate the opportunity and the value of lock torque usually according to the variation of the adding of wheel/deceleration/decel (or adding/subtract cireular frequency) and sliding ratio (or being referred to as slippage), so that the lock torque that acts on the wheel adapts with the real-time obtainable maximum adhesion power of wheel.
The Decree of Patent Office of China number 1098993 application for a patent for invention prospectus have been introduced this deceleration/decel and slippage according to wheel and have been carried out the anti-skid brake system that (lock torque) regulated in the self adaptation circulation, and this system is made of vehicle-wheel speed sensor, hydraulic regulating device, controller anti-lick brake and brake pressure control apparatus.
Known, the purpose that aircraft landing is slided and vehicle urgency such as (being referred to as vehicle hereinafter) is made ABS (Anti-lock Braking System) in a flash is in order to improve directional balance and handling maneuver ability in the braking procedure, to shorten the eccentric wear that stops distance and reduce tire of stopping and decrease, this purpose is by the lock torque of regulating action on wheel, make it with wheel in real time obtainable maximum adhesion power adapt and realize; If blindly regulating lock torque makes dither and can not make it to adapt with the obtainable maximum adhesion power of wheel, improve the directional balance of glancing impact and the eccentric wear of handling maneuver ability and minimizing tire decreases (when freely rolling because of wheel is approaching more though also can avoid wheel lockup generation slippage, directional balance and handling maneuver ability are good more, the eccentric wear of tire decreases also few more), but can not shorten to stop and stop distance because of not making full use of adhesive ability between wheel and road surface, this has run counter to the first sorrow of braking.In braking procedure, wheel obtainable adhesive ability is in real time influenced and moments ten thousand change by many enchancement factors, if will make full use of the adhesive ability between wheel and road surface, just require ABS (Anti-lock Braking System) when regulating lock torque, must enough timeliness and the accuracys of tool could obtain desirable effect.Anti-lock brake control method that the circulation of prior art self adaptation is regulated and anti-skid brake system thereof are owing to lack enough timeliness and accuracy when regulating lock torque, thereby can not make full use of adhesive ability between wheel and road surface, this is embodied in them and all can not obviously shortens vehicle and stop and stop distance, its reason is as follows: 1, the anti-lock brake control method of self adaptation circulation adjusting is limited by passive the reacting of situation ability that wheel is tending towards locking, the time lag of Calculating Torque during Rotary and implementation has expended the opportunity of reacting, and has limited to the timeliness of ABS (Anti-lock Braking System); 2, the lock torque accuracy of regulating come to wheel in real time the accurate judgement of obtainable adhesive ability, and this adhesive ability depends on real-time vertical load and adhesion value between tire and road surface; Anti-lock brake control method that above-mentioned self adaptation circulation is regulated and anti-skid brake system thereof be adding/these two kinds all relevant with adhesion value parameters of deceleration/decel (or adding/subtract cireular frequency) and sliding ratio (or slippage) according to wheel only, but ignored direct concern, so be not enough to accurately judge this adhesive ability to real-time vertical load.In addition, they when trying to achieve the sliding ratio of wheel (or slippage) because of eliminate not drive and non-drive wheels between the inertia gap, so can only be according to detected wheel velocity, determine the reference longitudinal velocity of wheel center according to certain logic, calculate the sliding ratio (or slippage) of wheel more in view of the above; Because its wheel center of determining is a kind of approximate of the actual longitudinal velocity of wheel center with reference to longitudinal velocity, therefore, wheel sliding ratio (or slippage) of Ji Suaning and physical presence difference in view of the above; According to slippage (or slippage) parameter of physical presence difference, even the adhesion value between tire and road surface can not accuracy of judgement; Wheel that vertical load between tire and road surface and adhesion value are depended in more impossible accurate judgement is the obtainable adhesive ability of institute in real time.
Task of the present invention provides the ABS (Anti-lock Braking System) method for optimally controlling and the anti-skid brake system thereof of enough timelinesses of a kind of tool and accuracy.
Technical scheme of the present invention is as follows: a kind of ABS (Anti-lock Braking System) method for optimally controlling, it is characterized in that: measure and store the optimal brake torque fluctuation Wave data of wheel in various specified conditions braking procedures in advance, when making ABS (Anti-lock Braking System), at first eliminate the inertia gap between direct controlled wheel, then according to corresponding vertical load and moving situation parameter in real time, by recruit corresponding waveform and determine point of penetration on this waveform of chart, cut this waveform with this as the first pulsation period, light by predetermined Wave data by incision corresponding direct controlled wheel is bestowed lock torque to implement optimal control; If in this control process, corresponding real-time vertical load and the change of moving situation parameter exceed limit value, then, switch to the waveform of newly recruiting, light by predetermined Wave data by the new incision of determining and control, finish until ABS (Anti-lock Braking System) by above-mentioned rule recruit again waveform and definite point of penetration.Described point of penetration is certain one-period on the waveform, is the representative in this cycle with the lock torque start time value in this cycle.A kind of anti-skid brake system that adopts the ABS (Anti-lock Braking System) method for optimally controlling, this system comprises: the speed monitoring device is used to provide the real-time speed parameter; This monitor is at least 1 when this system is single channel (passage is meant and can independently carries out the brake piping that the ABS (Anti-lock Braking System) control presssure is regulated) system, is used to provide vehicle real-time speed parameter; This monitor is at least n when this system is n (n is more than 2 or 2) channel system, is used to provide the wheel real-time speed parameter of respective channel; The vertical load monitor is used to provide real-time vertical load parameter; This monitor is at least 1 when this system is single channel system, is used to provide the real-time vertical load parameter of the real-time vertical load maximum of vehicle; This monitor is at least n when this system is the n channel system, is used to provide the real-time vertical load parameter of the real-time vertical load maximum of respective channel wheel; Command switch, the instruction that is used to provide this system start-up or the instruction of closing and ABS (Anti-lock Braking System) control beginning is provided after this system start-up or finishes; The drive torque arrangement of clutch is used for after ABS (Anti-lock Braking System) control beginning vehicle drive train being placed sky gear state; This device can default when being non-drive wheels or being drive wheels except that this system's direct controlled wheel, all this device need be set; The lock torque control apparatus is used to regulate the lock torque of this systemic effect on direct controlled wheel; Controller anti-lick brake, this controller store wheel in various specified conditions braking procedures optimal brake torque fluctuation waveform and the data of chart, the information that provided according to corresponding speed monitoring device, vertical load monitor and command switch is provided, by chart, through computing, send the control corresponding instruction, controlling and driving moment separation and reunion device and corresponding lock torque control apparatus operation; This system implements optimal control by preset mode to the lock torque that acts on its direct controlled wheel when making ABS (Anti-lock Braking System); Described optimal brake torque fluctuation waveform is a continuous pulsation periodically, and its each cycle comprises the maintenance section after maintenance section after a lock torque increases section, increase, reduce section and reduction; Described chart comprise be used for according to real-time vertical load parameter and in real time the deceleration/decel parameter recruit the respective waveforms data the selection waveform table and be used for determining that according to the real-time speed parameter point of penetration of the point of penetration on waveform determines chart, described point of penetration is certain one-period in the waveform, is the representative in this cycle with the lock torque start time value in this cycle; Described preset mode is: when this system has started and has triggered ABS (Anti-lock Braking System) control sign on and car speed parameter and surpass limit value, and ABS (Anti-lock Braking System) control beginning; After the ABS (Anti-lock Braking System) control beginning, at first controlling and driving moment separation and reunion device places sky gear state with vehicle drive train, simultaneously, the control brake moment regulating device interrupts the lock torque that the former brake system of vehicle in its direct control brake piping leads to wheel, use corresponding vertical load parameter in real time and real-time deceleration/decel parameter then, by selecting the waveform table corresponding waveform of recruiting out, determine that by point of penetration chart determines the point of penetration on this waveform with corresponding real-time speed parameter again, cut as the first cycle with this, light by the cycle of this wave setting and the start order of section by incision, time value and moment values are controlled the start of corresponding lock torque control apparatus, corresponding direct controlled wheel is bestowed lock torque, allowing lock torque be lighted along this waveform by incision pulses down, if the amplitude of fluctuation of corresponding vertical load parameter in real time or real-time deceleration/decel parameter exceeds limit value in pulsation, then by above-mentioned rule recruit again waveform and definite point of penetration, switching to the waveform of newly recruiting is lighted by the new incision of determining and allows lock torque pulse down, when this anti-skid brake system is closed or has triggered ABS (Anti-lock Braking System) control END instruction or vehicle real-time speed and is zero, ABS (Anti-lock Braking System) control finishes, the lock torque control apparatus is replied initial preceding state, does not interfere the work of the original brake system of vehicle.The another kind of anti-skid brake system that adopts the ABS (Anti-lock Braking System) method for optimally controlling, this system comprises: the speed monitoring device is used to provide the real-time speed parameter; This monitor is at least 1 when this system is single channel (passage is meant and can independently carries out the brake piping that the ABS (Anti-lock Braking System) control presssure is regulated) system, is used to provide vehicle real-time speed parameter; This monitor is at least n when this system is n (n is more than 2 or 2) channel system, is used to provide the real-time speed parameter of the real-time vertical load maximum of respective channel wheel; The vertical load monitor is used to provide real-time vertical load parameter; This monitor is at least 1 when this system is single channel system, is used to provide the real-time vertical load parameter of the real-time vertical load maximum of vehicle; This monitor is at least n when this system is the n channel system, is used to provide the real-time vertical load parameter of wheel of respective channel; Command switch, the instruction that is used to provide this system start-up or the instruction of closing and ABS (Anti-lock Braking System) control beginning is provided after this system start-up or finishes; The drive torque arrangement of clutch is used for after ABS (Anti-lock Braking System) control beginning the original drive-system of vehicle being placed sky gear state; This device can default when being non-drive wheels or being drive wheels except that this system's direct controlled wheel, all this device need be set; The lock torque control apparatus is used to regulate the lock torque of this systemic effect on direct controlled wheel; Controller anti-lick brake, this controller store wheel in various specified conditions braking procedures optimal brake torque fluctuation waveform and the data of chart, the information that provided according to corresponding speed monitoring device, vertical load monitor and command switch is provided, by chart, through computing, send the control corresponding instruction, controlling and driving moment separation and reunion device and corresponding lock torque control apparatus operation; This system implements optimal control by preset mode to the lock torque that acts on its direct controlled wheel when making ABS (Anti-lock Braking System); The feature that its regulates lock torque be the start order of the cycle that sets by corresponding predetermined waveform and section and in the cycle start time ratio control brake moment regulating device of each section operate; Described optimal brake torque fluctuation waveform is a continuous pulsation periodically, and its each cycle comprises the maintenance section after maintenance section after a lock torque increases section, increase, reduce section and reduction; Identical, the lock torque peak of the summation of each cycle lock torque absolute value is in value and minimum and the start time value interaction of each section in this cycle in the same waveform; Described chart comprise be used for according to real-time vertical load parameter and in real time the deceleration/decel parameter recruit the respective waveforms data the selection waveform table and be used for determining that according to the real-time speed parameter point of penetration of the point of penetration on waveform determines chart, described point of penetration is certain one-period in the waveform, is the representative in this cycle with the lock torque start time value in this cycle; Described preset mode is: when this system has started and has triggered ABS (Anti-lock Braking System) control sign on and car speed parameter and surpass limit value, and ABS (Anti-lock Braking System) control beginning; After the ABS (Anti-lock Braking System) control beginning, at first controlling and driving moment separation and reunion device places sky gear state with vehicle drive train, simultaneously, the control brake moment regulating device interrupts the lock torque that the former brake system of vehicle in its direct control brake piping leads to wheel, use corresponding vertical load parameter in real time and real-time deceleration/decel parameter then, by selecting the waveform table corresponding waveform of recruiting out, determine that by point of penetration chart determines the point of penetration on this waveform with corresponding real-time speed parameter again, cut as the first cycle with this, by incision light by the start order of cycle of this wave setting and section and in the cycle start time ratio of each section control the start of corresponding lock torque control apparatus, corresponding direct controlled wheel is bestowed lock torque, allowing lock torque be lighted along this waveform by incision pulses down, if the amplitude of fluctuation of corresponding vertical load parameter in real time or real-time deceleration/decel parameter exceeds limit value in pulsation, then by above-mentioned rule recruit again waveform and definite point of penetration, switching to the waveform of newly recruiting is lighted by the new incision of determining and allows lock torque pulse down, when this anti-skid brake system is closed or has triggered ABS (Anti-lock Braking System) control END instruction or vehicle real-time speed and is zero, ABS (Anti-lock Braking System) control finishes, the lock torque control apparatus is replied initial preceding state, does not interfere the work of the original brake system of vehicle.
The present invention compares with the self adaptation circulation adjustment control method and the anti-skid brake system thereof of prior art ABS (Anti-lock Braking System), owing to adopted the method for optimal control, its reaction needn't be limited by the situation that wheel is tending towards locking, and the opportunity of pretending out reaction is calm relatively; And the present invention presses predetermined waveform adjustment moment, the influence of the square that do not stress calculating and implementation time lag, thereby fundamentally improved the timeliness of carrying out ABS (Anti-lock Braking System); Again because the present invention at first eliminates the inertia gap between direct controlled wheel before making control, introduce more all sidedly then directly reflect wheel the accurate parameter of obtainable adhesive ability, and act on lock torque on the wheel by corresponding predetermined waveform active adjustment, thereby this lock torque more can be adapted, with the real-time obtainable actual adhesive ability of wheel so can obviously improve the accuracy of ABS (Anti-lock Braking System); Since method of the present invention and system thereof possess good timeliness and accuracy when carrying out ABS (Anti-lock Braking System), therefore in braking procedure, can make full use of the adhesive ability between wheel and road surface, thereby when keeping glancing impact direction of traffic stability and handling maneuver ability, can obviously shorten vehicle and stop and stop distance.
The present invention is further detailed explanation below in conjunction with accompanying drawing and preferred embodiment:
Fig. 1 is one of the present invention and selects waveform table; Fig. 2 is that a point of penetration of the present invention is determined chart; Fig. 3 is that anti-skid brake system of the present invention constitutes block diagram.
In Fig. 1, listed in the corresponding waveform code name hurdle is wheel at the free rolling condition wheel of the various works optimal brake torque fluctuation waveform in the braking procedure under given conditions; Described specified conditions comprise: the technical index of the vertical load situation of vehicle, road surface slip adhesion value, wheel movement speed, tire construction, surface of tyre decorative pattern, pressure of tire, lock torque control apparatus etc.; Described optimum: be meant by this waveform and under corresponding specified conditions, wheel bestowed lock torque, the adhesive ability between direct controlled wheel and road surface can be controlled in the optimum range; Described respective waveforms, deceleration/decel parameter threshold value and vertical load parameter threshold value are according to various masters, objective factor comprehensive Design and through measuring repeatedly.The deceleration threshold value of this table is that vertical adhesion value aviation value and the deceleration/decel constant K between various road surfaces and tire is long-pending, and in this table, this threshold value is its limit value with 0.05, and promptly adjacent two grades of numerical value differ 0.05; Vertical load parameter threshold value is its limit value with the difference of adjacent two grades of threshold values.This table is used for comparing the corresponding threshold value corresponding Wave data of recruiting according in real time vertical load and deceleration/decel parameter, select principle by hanging down when comparing this table: for example, when real-time vertical load parameter less than W, greater than X, when in real time the deceleration/decel parameter was 0.8K, the code name of then recruiting was the waveform of AX; If in real time the vertical load parameter is W, when the deceleration/decel parameter is less than 0.8K, greater than 0.75K in real time, the code name of then recruiting is the waveform of BW; Or: the vertical load parameter is less than W, greater than X in real time, and when the deceleration/decel parameter was less than 0.75K, greater than 0.7K in real time, the code name of then recruiting was the waveform of CX.
In Fig. 2, the x coordinate is a real-time speed numerical value, and the y coordinate is the cycle start time value of lock torque pulsating waveform, and curve is a certain waveform (the figure shows example is that code name is the waveform of AX) start time value curve in each cycle in making the ABS (Anti-lock Braking System) process; This chart is in order to determine the point of penetration on this waveform according to the real-time speed parameter, described point of penetration is the some cycles on this waveform, is its representative with the start time value in this cycle.Use and the figure shows example and be:, be that point of penetration on the AX waveform is J ' at code name when real-time speed parameter during as J; When the real-time speed parameter is U, be that point of penetration on the AX waveform is U ' at code name; When the real-time speed parameter is L, be that point of penetration on the AX waveform is L ' at code name; The rest may be inferred.
Fig. 3 is that a kind of anti-skid brake system of ABS (Anti-lock Braking System) method for optimally controlling that adopts of the present invention constitutes block diagram; In Fig. 3, the 1st, speed monitoring device, the 2nd, vertical load monitor, the 3rd, instruction switch, the 4th, controller anti-lick brake, the 5th, drive torque arrangement of clutch, the 6th, lock torque control apparatus; 1,2,3 provide information to 4,4 according to these information Control 5,6 operations.
Implement in the preferred embodiments of the present invention at one, anti-skid brake system is a single channel system that is attached on the motorcycle front-wheel hydraulic brake system, this system comprises: a speed monitoring device that utilizes the original speed gauge of vehicle to obtain the vehicle real-time speed is used for providing the real-time speed parameter to controller; The artificial configuration switch of loading condition of dividing into class such as normal load, heavy duty and extra heavy duty is determined the real-time vertical load parameter of wheel as the vertical load monitor in order to information to be provided in conjunction with the real-time speed parameter of vehicle, according to certain logic for controller anti-lick brake (being called controller hereinafter); A command switch, it adopt a position transduser be attached to vehicle original before wheel brake switch place, be used for providing this system start-up or the instruction of closing and ABS (Anti-lock Braking System) control beginning and the instruction that finishes after this system start-up to controller; A solenoid electric valve is as the lock torque control apparatus, and it is installed in the front-wheel hydraulic braking pipeline, is used to regulate the lock torque of bestowing front-wheel; A controller that adopts ECU electronic control unit, it stores the data of various predetermined waveforms and chart, the information that provided according to speed monitoring device, vertical load monitor and command switch is provided,, presses the operation of preset mode control brake moment regulating device by computing.
According to regulation of the present invention, this system is because its direct controlled wheel is non-drive wheels, so the drive torque arrangement of clutch that defaulted.
The predetermined waveform of this system comprises the free rolling condition wheel of the various works optimal brake torque fluctuation waveform in the braking procedure under given conditions, this waveform is the periodicity continuous pulsation, its each cycle comprises: a lock torque increases section, maintenance section after increase, a maintenance section that reduces after section and the reduction, the summation of each the cycle lock torque absolute value in the same waveform is identical, the lock torque peak is in value and minimum and the start time value interaction of each section in this cycle, thereby just the lock torque of all start time points of cycle can be adjusted to set value by the start time ratio of each section in the regulating cycle.
The chart of this system comprises selects waveform table and point of penetration to determine chart, and described point of penetration is certain one-period in the waveform, is the representative in this cycle with the lock torque start time value in this cycle.
The preset mode of this system is: when this system works starts and triggered ABS (Anti-lock Braking System) control sign on and vehicle real-time speed parameter and surpass limit value, ABS (Anti-lock Braking System) control beginning: controller at first control brake moment regulating device interrupts leading to the hydraulic circuit of preceding wheel brake slave pump, select threshold value on the waveform table corresponding waveform of recruiting out with the comparison of real-time vertical load and deceleration/decel parameter then, determine that by point of penetration chart determines the point of penetration on this waveform with the real-time speed parameter again, cut as the first cycle with this, by the start order of cycle of this wave setting and section and the start time ratio control brake moment regulating device operation of each section in the cycle, allow the lock torque of bestowing front-wheel light by incision and pulse along this waveform; In pulsation, if the amplitude of fluctuation of vertical load and deceleration/decel parameter exceeds limit value in real time, then by above-mentioned rule recruit again waveform and definite point of penetration, switching to the waveform of newly recruiting lights pulsation by the new incision of determining and goes down, when this system is closed or has triggered ABS (Anti-lock Braking System) control END instruction or vehicle real-time speed and is zero (vehicle has been stopped and stopped), ABS (Anti-lock Braking System) finishes, the lock torque control apparatus is replied initial preceding state, vehicle front-wheel hydraulic braking pipeline is connected, this system deactivates, and does not interfere the work of the original hydraulic brake system of vehicle.
In implementing another preferred embodiment of the present invention, anti-skid brake system is a dual channel system that is attached on the automobile, this system comprises: two speed monitoring devices that adopt wheel speed sensor, they are installed in respectively on the original diagonal line brake piping of vehicle, are used to provide the real-time speed parameter of corresponding wheel; Two vertical load monitors that adopt weight sensor, they are installed in respectively on the vehicle front-wheel, and (vertical load of vehicle front is more much bigger than trailing wheel during because of brake, so according to regulation of the present invention, the vertical load monitor should be installed on the front-wheel, real-time vertical load parameter with front-wheel is as the criterion), be used to provide the real-time vertical load parameter of corresponding wheel; The command switch of pair of series, one of them command switch is installed on the Vehicular instrument panel, is used for for artificially selecting to start or close this system easily; Another adopts the command switch of position transduser to be installed in the appropriate location of vehicle brake pedal, is used to the instruction that triggers ABS (Anti-lock Braking System) control beginning and finish; One cover drive torque arrangement of clutch, it is installed on the original gearshift of vehicle, is used for after ABS (Anti-lock Braking System) control beginning vehicle drive train being placed sky gear state; The lock torque control apparatus of two employing solenoid electric valves, they are installed in respectively on the original diagonal line brake piping of vehicle, are used to regulate the lock torque on the corresponding brake piping; A controller (EBCM) that adopts ECU electronic control unit, it store wheel in various specified conditions braking procedures optimal brake torque fluctuation waveform and the data of chart, the information that provided according to speed monitoring device, vertical load monitor and command switch is provided, by computing, controlling and driving moment separation and reunion device and the operation of lock torque control apparatus.This system implements optimal control by preset mode to the lock torque that acts on its direct controlled wheel when making ABS (Anti-lock Braking System).
The predetermined waveform of this system is a continuous pulsation periodically, and its each cycle comprises: lock torque increases the maintenance section after maintenance section after section, the increase, reduce section and reduction.
The chart of this system comprises selects waveform table and point of penetration to determine chart, and described point of penetration is certain one-period in the waveform, is the representative in this cycle with the lock torque start time value in this cycle.
The preset mode of this system is: when the real-time speed mean parameter that has started and triggered ABS (Anti-lock Braking System) control sign on and two speed monitoring devices and provided when this system surpasses limit value, and ABS (Anti-lock Braking System) control beginning; Controller at first controlling and driving moment separation and reunion device places sky gear state with vehicle drive train, simultaneously, the control brake moment regulating device interrupts the lock torque that the former brake system of vehicle in its direct control brake piping leads to wheel, select threshold value on the waveform table (with reference to the explanation of figure 1) the corresponding waveform of recruiting out with corresponding vertical load in real time and the comparison of deceleration/decel parameter then, determine that by point of penetration chart (with reference to the explanation of figure 2) determines the point of penetration on this waveform with the real-time speed parameter again, cut as the first cycle with this, by the cycle of this wave setting and the start order of section, start time value and lock torque value are controlled corresponding lock torque control apparatus operation, corresponding direct controlled wheel is bestowed lock torque, allow lock torque light pulsation by incision and go down along this waveform; In pulsation, if the amplitude of fluctuation of corresponding vertical load in real time and deceleration/decel parameter exceeds limit value, then by above-mentioned rule recruit again waveform and definite point of penetration, switching to the waveform of newly recruiting lights pulsation by the new incision of determining and goes down, until this system closing or triggered ABS (Anti-lock Braking System) control END instruction or wheel has been stopped when stopping (being that the vehicle real-time speed is zero), ABS (Anti-lock Braking System) finishes, and the lock torque control apparatus is replied initial preceding state, does not interfere the work of the original brake system of vehicle.
Although with reference to above specific preferred embodiment the present invention is explained; but; those of ordinary skill in the art will recognize; in the essence of the present invention and protection domain that does not break away from claims and limited, can make various variations to the structure and the details part of technical solution of the present invention.
Claims (10)
1, a kind of ABS (Anti-lock Braking System) method for optimally controlling, it is characterized in that: measure and store the optimal brake torque fluctuation Wave data of wheel in various specified conditions braking procedures in advance, when making ABS (Anti-lock Braking System), at first eliminate the inertia gap between direct controlled wheel, then according to corresponding vertical load and moving situation parameter in real time, by recruit corresponding waveform and determine point of penetration on this waveform of chart, cut this waveform with this as the first pulsation period, light by predetermined Wave data by incision corresponding direct controlled wheel is bestowed lock torque to implement optimal control; If in this control process, corresponding real-time vertical load and the change of moving situation parameter exceed limit value, then, switch to the waveform of newly recruiting, light by predetermined Wave data by the new incision of determining and control, finish until ABS (Anti-lock Braking System) by above-mentioned rule recruit again waveform and definite point of penetration.
2, method according to claim 1 is characterized in that: described point of penetration is certain one-period on the waveform, is the representative in this cycle with the lock torque start time value in this cycle.
3, a kind of anti-skid brake system that adopts the ABS (Anti-lock Braking System) method for optimally controlling, this system comprises: the speed monitoring device is used to provide the real-time speed parameter; This monitor is at least 1 when this system is single channel system, is used to provide vehicle real-time speed parameter; This monitor is at least n when this system is the n channel system, is used to provide the wheel real-time speed parameter of respective channel; The vertical load monitor is used to provide real-time vertical load parameter; This monitor is at least 1 when this system is single channel system, is used to provide the real-time vertical load parameter of the real-time vertical load maximum of vehicle; This monitor is at least n when this system is the n channel system, is used to provide the real-time vertical load parameter of the real-time vertical load maximum of respective channel wheel; Command switch, the instruction that is used to provide this system start-up or the instruction of closing and ABS (Anti-lock Braking System) control beginning is provided after this system start-up or finishes; The drive torque arrangement of clutch is used for after ABS (Anti-lock Braking System) control beginning vehicle drive train being placed sky gear state; This device can default when being non-drive wheels or being drive wheels except that this system's direct controlled wheel, all this device need be set; The lock torque control apparatus is used to regulate the lock torque of this systemic effect on direct controlled wheel; Controller anti-lick brake, this controller store wheel in various specified conditions braking procedures optimal brake torque fluctuation waveform and the data of chart, the information that provided according to corresponding speed monitoring device, vertical load monitor and command switch is provided, by chart, through computing, send the control corresponding instruction, controlling and driving moment separation and reunion device and corresponding lock torque control apparatus operation;
This system implements optimal control by preset mode to the lock torque that acts on its direct controlled wheel when making ABS (Anti-lock Braking System).
4, system according to claim 3, it is characterized in that: described optimal brake torque fluctuation waveform is a continuous pulsation periodically, and its each cycle comprises the maintenance section after maintenance section after a lock torque increases section, increase, reduce section and reduction.
5, system according to claim 3, it is characterized in that: described chart comprise be used for according to real-time vertical load parameter and in real time the deceleration/decel parameter recruit the respective waveforms data the selection waveform table and be used for determining that according to the real-time speed parameter point of penetration of the point of penetration on waveform determines chart, described point of penetration is certain one-period in the waveform, is the representative in this cycle with the lock torque start time value in this cycle.
6, system according to claim 3 is characterized in that: described preset mode is: when this system has started and has triggered ABS (Anti-lock Braking System) control sign on and car speed parameter and surpass limit value, and ABS (Anti-lock Braking System) control beginning; After the ABS (Anti-lock Braking System) control beginning, at first controlling and driving moment separation and reunion device places sky gear state with vehicle drive train, simultaneously, the control brake moment regulating device interrupts the lock torque that the former brake system of vehicle in its direct control brake piping leads to wheel, use corresponding vertical load parameter in real time and real-time deceleration/decel parameter then, by selecting the waveform table corresponding waveform of recruiting out, determine that by point of penetration chart determines the point of penetration on this waveform with corresponding real-time speed parameter again, cut as the first cycle with this, light by the cycle of this wave setting and the start order of section by incision, time value and moment values are controlled the start of corresponding lock torque control apparatus, corresponding direct controlled wheel is bestowed lock torque, allowing lock torque be lighted along this waveform by incision pulses down, if the amplitude of fluctuation of corresponding vertical load parameter in real time or real-time deceleration/decel parameter exceeds limit value in pulsation, then by above-mentioned rule recruit again waveform and definite point of penetration, switching to the waveform of newly recruiting is lighted by the new incision of determining and allows lock torque pulse down, when this anti-skid brake system is closed or has triggered ABS (Anti-lock Braking System) control END instruction or vehicle real-time speed and is zero, ABS (Anti-lock Braking System) control finishes, the lock torque control apparatus is replied initial preceding state, does not interfere the work of the original brake system of vehicle.
7, a kind of anti-skid brake system that adopts the ABS (Anti-lock Braking System) method for optimally controlling, this system comprises: the speed monitoring device is used to provide the real-time speed parameter; This monitor is at least 1 when this system is single channel system, is used to provide vehicle real-time speed parameter; This monitor is at least n when this system is the n channel system, is used to provide the real-time speed parameter of the real-time vertical load maximum of respective channel wheel; The vertical load monitor is used to provide real-time vertical load parameter; This monitor is at least 1 when this system is single channel system, is used to provide the real-time vertical load parameter of the real-time vertical load maximum of vehicle; This monitor is at least n when this system is the n channel system, is used to provide the real-time vertical load parameter of wheel of respective channel; Command switch, the instruction that is used to provide this system start-up or the instruction of closing and ABS (Anti-lock Braking System) control beginning is provided after this system start-up or finishes; The drive torque arrangement of clutch is used for after ABS (Anti-lock Braking System) control beginning the original drive-system of vehicle being placed sky gear state; This device can default when being non-drive wheels or being drive wheels except that this system's direct controlled wheel, all this device need be set; The lock torque control apparatus is used to regulate the lock torque of this systemic effect on direct controlled wheel; Controller anti-lick brake, this controller store wheel in various specified conditions braking procedures optimal brake torque fluctuation waveform and the data of chart, the information that provided according to corresponding speed monitoring device, vertical load monitor and command switch is provided, by chart, through computing, send the control corresponding instruction, controlling and driving moment separation and reunion device and corresponding lock torque control apparatus operation;
This system implements optimal control by preset mode to the lock torque that acts on its direct controlled wheel when making ABS (Anti-lock Braking System); The feature that its regulates lock torque be the start order of the cycle that sets by corresponding predetermined waveform and section and in the cycle start time ratio control brake moment regulating device of each section operate.
8, system according to claim 7, it is characterized in that: described optimal brake torque fluctuation waveform is a continuous pulsation periodically, and its each cycle comprises the maintenance section after maintenance section after a lock torque increases section, increase, reduce section and reduction; Identical, the lock torque peak of the summation of each cycle lock torque absolute value is in value and minimum and the start time value interaction of each section in this cycle in the same waveform.
9, system according to claim 7, it is characterized in that: described chart comprise be used for according to real-time vertical load parameter and in real time the deceleration/decel parameter recruit the respective waveforms data the selection waveform table and be used for determining that according to the real-time speed parameter point of penetration of the point of penetration on waveform determines chart, described point of penetration is certain one-period in the waveform, is the representative in this cycle with the lock torque start time value in this cycle.
10, system according to claim 7 is characterized in that: described preset mode is: when this system has started and has triggered ABS (Anti-lock Braking System) control sign on and car speed parameter and surpass limit value, and ABS (Anti-lock Braking System) control beginning; After the ABS (Anti-lock Braking System) control beginning, at first controlling and driving moment separation and reunion device places sky gear state with vehicle drive train, simultaneously, the control brake moment regulating device interrupts the lock torque that the former brake system of vehicle in its direct control brake piping leads to wheel, use corresponding vertical load parameter in real time and real-time deceleration/decel parameter then, by selecting the waveform table corresponding waveform of recruiting out, determine that by point of penetration chart determines the point of penetration on this waveform with corresponding real-time speed parameter again, cut as the first cycle with this, by incision light by the start order of cycle of this wave setting and section and in the cycle start time ratio of each section control the start of corresponding lock torque control apparatus, corresponding direct controlled wheel is bestowed lock torque, allowing lock torque be lighted along this waveform by incision pulses down, if the amplitude of fluctuation of corresponding vertical load parameter in real time or real-time deceleration/decel parameter exceeds limit value in pulsation, then by above-mentioned rule recruit again waveform and definite point of penetration, switching to the waveform of newly recruiting is lighted by the new incision of determining and allows lock torque pulse down, when this anti-skid brake system is closed or has triggered ABS (Anti-lock Braking System) control END instruction or vehicle real-time speed and is zero, ABS (Anti-lock Braking System) control finishes, the lock torque control apparatus is replied initial preceding state, does not interfere the work of the original brake system of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00111701 CN1261591A (en) | 2000-02-18 | 2000-02-18 | Optimum ABS braking control method and its ABS braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00111701 CN1261591A (en) | 2000-02-18 | 2000-02-18 | Optimum ABS braking control method and its ABS braking system |
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| Publication Number | Publication Date |
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| CN1261591A true CN1261591A (en) | 2000-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 00111701 Pending CN1261591A (en) | 2000-02-18 | 2000-02-18 | Optimum ABS braking control method and its ABS braking system |
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| CN (1) | CN1261591A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490706A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electromechanical brake control system and automobile |
| CN102490707A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Brake control method |
-
2000
- 2000-02-18 CN CN 00111701 patent/CN1261591A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490706A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electromechanical brake control system and automobile |
| CN102490707A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Brake control method |
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