CN211765471U - Line control brake pedal simulator based on magnetorheological fluid - Google Patents
Line control brake pedal simulator based on magnetorheological fluid Download PDFInfo
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- CN211765471U CN211765471U CN202020080753.9U CN202020080753U CN211765471U CN 211765471 U CN211765471 U CN 211765471U CN 202020080753 U CN202020080753 U CN 202020080753U CN 211765471 U CN211765471 U CN 211765471U
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- 239000012530 fluid Substances 0.000 title claims abstract description 47
- 238000004088 simulation Methods 0.000 claims abstract description 12
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims description 16
- 239000010985 leather Substances 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000005284 excitation Effects 0.000 claims description 10
- 238000002955 isolation Methods 0.000 claims description 10
- 230000005389 magnetism Effects 0.000 claims description 7
- 238000007885 magnetic separation Methods 0.000 claims description 3
- 239000000725 suspension Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a drive-by-wire brake pedal simulator based on magnetorheological suspensions, brake pedal feel simulator includes: the brake system comprises a mechanical transmission module, a brake pedal feeling simulation module and a control module. The brake pedal feel simulation module replaces a hydraulic or elastic element with magnetorheological fluid, so that the structural complexity is greatly simplified; the magnetic field intensity is adjusted through the magnet exciting coil, and the characteristics of the magnetorheological fluid are changed, so that the braking feedback is adjusted.
Description
Technical Field
The utility model belongs to the technical field of car braking system, specifically indicate a drive-by-wire brake pedal simulator based on magnetorheological suspensions.
Background
The brake-by-wire system replaces the original mechanical connection and hydraulic pipeline with an electronic circuit, and has the characteristics of high response speed, good brake performance and flexible arrangement. However, the brake-by-wire system cancels the hydraulic or mechanical connection between the brake pedal and the brake, so that the driver cannot directly sense the braking force fed back to the brake pedal during braking, and the braking feedback of the traditional brake system is lost. Drivers have long been accustomed to the pedal force and pedal travel fed back from the brake pedal during long-term braking operations. The pedal simulator is used for simulating the brake pedal feeling in a traditional brake system by certain elements or a control method in the pedal simulator during the running process of the vehicle. The main pedal simulators today simulate the pedal force by hydraulic, pneumatic or elastic elements. For example, the Chinese utility model has the patent application number of CN201821895438.0, and the name of the pedal simulator of the linear control actuating system adopts the cylinder valve and a plurality of air guide channels to simulate the real feeling of the traditional brake pedal, and the foot feeling is comfortable and accurate in the treading process; the Chinese utility model has the patent application number of CN201520098595.9, adopts the variable cylinder body internal diameter in the title "a double spring footboard sensation simulator", and the form of two sections springs of double piston simulates the brake pedal sensation. The brake-by-wire pedal simulators proposed by the above two patents are difficult to accurately simulate by using springs due to the nonlinearity of the pedal characteristics. In addition, the use of both pneumatic and hydraulic pressure requires a number of auxiliary structures, increasing the complexity of the system.
The magnetorheological fluid is a novel intelligent material, can be reversibly transformed between fluid and solid when an applied external magnetic field changes, and has the advantages of good controllability, no pollution, low energy consumption and the like. The magnetorheological fluid can generate strong damping force in a short time, and can also complete the transmission of torque between mechanical parts, so that the magnetorheological fluid is widely applied to automobile suspension systems and brake systems. At present, magnetorheological fluid is adopted in a linear control steering system to simulate steering road feel. However, in the field of braking systems, no example is provided for applying magnetorheological fluid to control the simulated pedal feel.
Therefore, the magnetorheological fluid is applied to the brake-by-wire system, the characteristics of the brake pedal are accurately and smoothly simulated by utilizing the advantages of quick control, high response speed, continuous and sustainable change of damping, light weight and the like of the magnetorheological fluid, the development and design of the brake-by-wire system of the automobile are facilitated, and certain market value and economic benefit are achieved.
Disclosure of Invention
In view of the above deficiencies of the prior art, an object of the present invention is to provide a brake-by-wire pedal simulator based on magnetorheological fluid, so as to overcome the problems existing in the prior art. The utility model can change the mechanical property of magnetorheological fluid by adjusting the magnetic field intensity through the magnet exciting coil so as to adjust the pedal force of feedback, and simultaneously reduce the energy loss of the system and obtain good smooth braking feedback; the utility model discloses still very big simplification the system complexity, have very strong interference killing feature.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model discloses a drive-by-wire brake pedal simulator based on magnetorheological suspensions, include: the brake pedal feeling simulation module comprises a mechanical transmission module, a brake pedal feeling simulation module and a control module;
the mechanical transmission module comprises: the brake pedal, the pedal rotating shaft, the connecting rod and the push rod are arranged on the brake pedal;
the input end of the pedal rotating shaft is fixedly connected with the output end of the brake pedal, and the output end of the pedal rotating shaft is fixedly connected with the input end of the connecting rod; the output end of the connecting rod is hinged with the input end of the push rod;
the brake pedal feel simulation module includes: the device comprises a pedal simulator shell, a return spring, a spring base, a piston, an idle stroke guarantee sleeve, a main leather cup, an auxiliary leather cup, a magnetorheological fluid damper shell, an excitation coil, a magnetism isolating gasket, a magnetism isolating sheet, a power supply loop, a flow guide pipe and a liquid storage device;
one end of the idle stroke guarantee sleeve is fixedly connected to the inner wall of one end of the pedal simulator shell, and the length of the idle stroke guarantee sleeve is just equal to the distance between the initial position of the input end of the piston and the inner wall of one end of the pedal simulator shell; the piston is positioned in the shell of the pedal simulator, and a gap is reserved between the input end of the piston and the input end of the push rod; the main leather cup and the auxiliary leather cup are respectively nested at the output end and the input end of the piston; two ends of the return spring are respectively and fixedly connected to the piston and the spring base, and the spring base is fixedly connected to the inner wall of one end of the pedal simulator shell; the flow guide pipe is divided into a horizontal part and a vertical part, the port of the horizontal part of the flow guide pipe is fixedly connected with the shell of the pedal simulator, the port of the vertical part of the flow guide pipe is fixedly connected with the liquid storage device, and the magnetorheological fluid flows among the shell of the pedal simulator, the flow guide pipe and the inner cavity of the liquid storage device; the upper end of the liquid storage device is provided with a vent hole;
the magnet exciting coil surrounds the outer side of the horizontal part of the flow guide pipe, and the magnetorheological fluid damper shell is nested outside the magnet exciting coil and is fixedly connected with the pedal simulator shell; the magnetic separation sheet is tightly attached to the inner side of the magnetorheological fluid damper shell; the magnetic isolation gasket is a hollow circular ring and is embedded on the horizontal part of the flow guide pipe, and the two ends of the shell of the magnetorheological fluid damper are both provided with the magnetic isolation gasket; the magnetorheological fluid damper shell is provided with an opening, the position corresponding to the magnetic shielding sheet is provided with a through hole, the excitation coil is connected with the power supply loop through a lead, and the power supply loop is electrically connected with the control module;
the control module comprises: a sensor group and an electronic control unit;
the sensor group comprises a brake pedal displacement sensor and a brake pedal force sensor; the brake pedal displacement sensor is arranged on a pedal simulator shell connected with the end of the push rod and used for receiving a brake pedal displacement signal input by a driver; the brake pedal force sensor is arranged in the brake pedal and receives a force signal input by a driver; the electronic control unit is electrically connected with the sensor group.
Furthermore, one end of the wire is connected with the excitation coil, and the other end of the wire is connected with the power supply loop through the opening.
The utility model has the advantages that:
compared with the existing hydraulic and pneumatic devices, the utility model does not need to install a hydraulic pump, a motor and various valve bodies, has simple structure and lightens the system mass; compared with an elastic element device, the magnetorheological fluid material has continuous and reversible viscosity change, can feed back the brake pedal force more accurately and smoothly, has quick response and has good comfort and universality.
Drawings
Fig. 1 is a structural block diagram of a brake-by-wire pedal simulator based on magnetorheological fluid;
FIG. 2 is a cross-sectional view of the magnetorheological fluid damper of the present invention;
FIG. 3 is a schematic diagram of the simulator of the present invention;
in the figure, 1-a brake pedal force sensor, 2-a brake pedal, 3-a pedal rotating shaft, 4-a brake pedal displacement sensor, 5-an idle stroke guarantee sleeve, 6-an auxiliary leather cup, 7-a piston, 8-a main leather cup, 9-an air vent, 10-a liquid reservoir, 11-a pedal simulator shell, 12-a magnetic isolation gasket, 13-a magnetorheological fluid damper shell, 14-a flow guide pipe, 15-a connecting rod, 16-a push rod, 17-a spring base, 18-a bolt, 19-a return spring, 20-an electronic control unit, 21-a rheological fluid, 22-a magnetic isolation sheet, 23-a through hole, 24-an excitation coil, 25-an electric supply loop and 26-an opening.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 and fig. 2, the utility model discloses a drive-by-wire brake pedal simulator based on magnetorheological suspensions, include: the brake pedal feeling simulation module comprises a mechanical transmission module, a brake pedal feeling simulation module and a control module;
the mechanical transmission module comprises: a brake pedal 2, a pedal rotating shaft 3, a connecting rod 15 and a push rod 16;
the input end of the pedal rotating shaft 3 is fixedly connected with the output end of the brake pedal 2, and the output end of the pedal rotating shaft is fixedly connected with the input end of the connecting rod 15; the output end of the connecting rod 15 is hinged with the input end of the push rod 16;
the brake pedal feel simulation module includes: the device comprises a pedal simulator shell 11, a return spring 19, a spring base 17, a bolt 18, a piston 7, an idle stroke guarantee sleeve 5, a main leather cup 8, an auxiliary leather cup 6, a magnetorheological fluid damper shell 13, an excitation coil 24, a magnetism isolating liner 12, a magnetism isolating sheet 22, a power supply loop 25, a flow guide pipe 14 and a liquid storage device 10;
one end of the idle stroke guarantee sleeve 5 is fixedly connected to the inner wall of one end of the pedal simulator shell 11, and the length of the idle stroke guarantee sleeve is equal to the distance between the initial position of the input end of the piston 7 and the inner wall of one end of the pedal simulator shell 11; the piston 7 is positioned in the pedal simulator shell 11, and a gap is reserved between the input end of the piston and the input end of the push rod 16; the main leather cup 8 and the auxiliary leather cup 6 are respectively nested at the output end and the input end of the piston 7; two ends of a return spring 19 are respectively and fixedly connected to the piston 7 and a spring base 17, and the spring base 17 is fixedly connected to the inner wall of one end of the pedal simulator shell 11 through a bolt 18; the flow guide pipe 14 is divided into a horizontal part and a vertical part, the port of the horizontal part of the flow guide pipe 14 is fixedly connected with the pedal simulator shell 11, the port of the vertical part is fixedly connected with the liquid storage device 10, the magnetorheological fluid 21 flows among the pedal simulator shell 11, the flow guide pipe 14 and the inner cavity of the liquid storage device 10, the upper end of the liquid storage device 10 is provided with a vent hole 9, the internal and external pressures of the liquid storage device are kept the same, and the additional resistance is reduced;
the magnet exciting coil 24 surrounds the outer side of the horizontal part of the draft tube 14, and the magnetorheological fluid damper shell 13 is nested outside the magnet exciting coil 24 and is fixedly connected with the pedal simulator shell 11; the magnetic separation sheet 22 is tightly attached to the inner side of the magnetorheological fluid damper shell 13; the magnetic isolation liner 12 is a hollow circular ring and is embedded on the horizontal part of the flow guide pipe 14, the magnetic isolation liner 12 is arranged at each of the two ends of the magnetorheological fluid damper shell 11, and the magnetic isolation liner 12 and the magnetic isolation sheet 22 are used together for isolating the influence of a magnetic field on the surrounding magnetorheological fluid; the magnetorheological fluid damper shell 13 is provided with an opening 26, the position corresponding to the magnetism isolating sheet 22 is provided with a through hole 23, one end of a wire joint is connected with the excitation coil 24, the other end of the wire joint is connected with the power supply loop 25 through the opening 26, and the power supply loop 25 is also electrically connected with the control module;
the control module comprises: a sensor group and Electronic Control Unit (ECU) 20;
the sensor group includes: a brake pedal displacement sensor 4 and a brake pedal force sensor 1; the displacement sensor 4 is arranged on a pedal simulator shell 11 connected with the end of a push rod 16 and used for receiving a brake pedal displacement signal input by a driver; the brake pedal force sensor 1 is arranged in the brake pedal 2 and receives a force signal input by a driver; the electronic control unit 20 is electrically connected to the sensor group, receives the signals from the sensors, calculates the signals, and outputs a control signal for controlling the current in the power supply circuit.
Referring to fig. 3, the working principle of the brake-by-wire pedal simulator based on magnetorheological fluid of the present invention is as follows:
1) the brake pedal inputs brake operation, force is transmitted to the connecting rod through the pedal rotating shaft, the connecting rod drives the push rod to overcome the idle stroke reserved gap, and the force is transmitted to the brake pedal feeling simulation module.
2) The brake pedal displacement sensor and the brake pedal force sensor respectively collect a pedal displacement signal and a brake force signal input by a driver and send the pedal displacement signal and the brake force signal to the electronic control unit.
3) The electronic control unit sets a pedal force preset value for a displacement signal of the pedal according to a pedal characteristic curve obtained by a traditional braking mode, and the damping force of the electronic control unit is equal to the pedal force preset value by changing the property of the magnetorheological fluid;
the method for changing the property of the magnetorheological fluid material by the electronic control unit comprises the following steps: the control signal generated by the electronic control unit adjusts the current of the power supply loop and outputs the exciting current to act on the exciting coil; when the variable exciting current passes through the exciting coil, magnetic lines of force pass through the center of the coil and a control magnetic field is generated; the viscosity and the yield strength of the magnetorheological fluid material in the horizontal part of the flow guide pipe are changed, and the force required by the magnetorheological fluid flowing through the horizontal part of the flow guide pipe is changed.
4) Calculating the deviation between the pedal force and a preset value of the pedal force in the current state, and changing the current of the excitation coil according to a fuzzy PID control method to change the magnetic field intensity, so that the viscosity of the magnetorheological fluid is adjusted, the pedal force is stabilized within a range of +/-5% of the preset value, and a driver obtains better brake feedback;
5) the brake pedal is released, and returns to the initial position under the action of the return spring; the current in the magnet exciting coil becomes zero, and the magnetorheological fluid is liquid and returns to the inner cavity of the pedal simulator through the liquid storage device under the action of gravity to be used for next braking.
The utility model discloses the concrete application way is many, and the above-mentioned only is the preferred embodiment of the utility model, should point out, to ordinary skilled person in this technical field, under the prerequisite that does not deviate from the utility model discloses the principle, can also make a plurality of improvements, and these improvements also should be regarded as the utility model discloses a scope of protection.
Claims (2)
1. A brake-by-wire pedal simulator based on magnetorheological fluid is characterized by comprising: the brake pedal feeling simulation module comprises a mechanical transmission module, a brake pedal feeling simulation module and a control module;
the mechanical transmission module comprises: the brake pedal, the pedal rotating shaft, the connecting rod and the push rod are arranged on the brake pedal;
the input end of the pedal rotating shaft is fixedly connected with the output end of the brake pedal, and the output end of the pedal rotating shaft is fixedly connected with the input end of the connecting rod; the output end of the connecting rod is hinged with the input end of the push rod;
the brake pedal feel simulation module includes: the device comprises a pedal simulator shell, a return spring, a spring base, a piston, an idle stroke guarantee sleeve, a main leather cup, an auxiliary leather cup, a magnetorheological fluid damper shell, an excitation coil, a magnetism isolating gasket, a magnetism isolating sheet, a power supply loop, a flow guide pipe and a liquid storage device;
one end of the idle stroke guarantee sleeve is fixedly connected to the inner wall of one end of the pedal simulator shell, and the length of the idle stroke guarantee sleeve is just equal to the distance between the initial position of the input end of the piston and the inner wall of one end of the pedal simulator shell; the piston is positioned in the shell of the pedal simulator, and a gap is reserved between the input end of the piston and the input end of the push rod; the main leather cup and the auxiliary leather cup are respectively nested at the output end and the input end of the piston; two ends of the return spring are respectively and fixedly connected to the piston and the spring base, and the spring base is fixedly connected to the inner wall of one end of the pedal simulator shell; the flow guide pipe is divided into a horizontal part and a vertical part, the port of the horizontal part of the flow guide pipe is fixedly connected with the shell of the pedal simulator, the port of the vertical part of the flow guide pipe is fixedly connected with the liquid storage device, and the magnetorheological fluid flows among the shell of the pedal simulator, the flow guide pipe and the inner cavity of the liquid storage device; the upper end of the liquid storage device is provided with a vent hole;
the magnet exciting coil surrounds the outer side of the horizontal part of the flow guide pipe, and the magnetorheological fluid damper shell is nested outside the magnet exciting coil and is fixedly connected with the pedal simulator shell; the magnetic separation sheet is tightly attached to the inner side of the magnetorheological fluid damper shell; the magnetic isolation gasket is a hollow circular ring and is embedded on the horizontal part of the flow guide pipe, and the two ends of the shell of the magnetorheological fluid damper are both provided with the magnetic isolation gasket; the magnetorheological fluid damper shell is provided with an opening, the position corresponding to the magnetic shielding sheet is provided with a through hole, the excitation coil is connected with the power supply loop through a lead, and the power supply loop is electrically connected with the control module;
the control module includes: a sensor group and an electronic control unit;
the sensor group includes: a brake pedal displacement sensor and a brake pedal force sensor; the brake pedal displacement sensor is arranged on a pedal simulator shell connected with the end of the push rod; the brake pedal force sensor is arranged in the brake pedal; the electronic control unit is electrically connected with the sensor group.
2. The magnetorheological fluid-based brake-by-wire pedal simulator according to claim 1, wherein one end of the wire is connected with the excitation coil, and the other end of the wire is connected with the power supply loop through the opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020080753.9U CN211765471U (en) | 2020-01-14 | 2020-01-14 | Line control brake pedal simulator based on magnetorheological fluid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020080753.9U CN211765471U (en) | 2020-01-14 | 2020-01-14 | Line control brake pedal simulator based on magnetorheological fluid |
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| CN211765471U true CN211765471U (en) | 2020-10-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027425A (en) * | 2022-07-12 | 2022-09-09 | 南京工业职业技术大学 | Pedal mechanism with stroke sensing and force sensing feedback functions |
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- 2020-01-14 CN CN202020080753.9U patent/CN211765471U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027425A (en) * | 2022-07-12 | 2022-09-09 | 南京工业职业技术大学 | Pedal mechanism with stroke sensing and force sensing feedback functions |
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