CN2813387Y - Vehicle antilocking system electronic controller - Google Patents
Vehicle antilocking system electronic controller Download PDFInfo
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- CN2813387Y CN2813387Y CN 200520034724 CN200520034724U CN2813387Y CN 2813387 Y CN2813387 Y CN 2813387Y CN 200520034724 CN200520034724 CN 200520034724 CN 200520034724 U CN200520034724 U CN 200520034724U CN 2813387 Y CN2813387 Y CN 2813387Y
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Abstract
The utility model discloses a vehicle anti-locking system electronic controller, which comprises a wheel speed detection circuit, a wheel speed conditioning circuit, a main control SCM, an auxiliary control SCM, a motor drive circuit and an electromagnetic valve drive circuit. Due to the fact that the SCM and the drive circuit made by using a large scale integrated circuit, the function is powerful, the integrated level of the system is high, the peripheral circuit design is simple and the stability obtains the guarantee. The utility model uses the fuzzy control theory to enhances the redundant capability of the system and simplify the design process without the mathematical model of the system, which causes the utility model to be easy to realize and the response speed is high. A CAN bus is applied, which causes the value of the vehicle speed to be used by the modules of other automobiles and simplifies the design of other parts of the automobile.
Description
[technical field]
The utility model relates to a kind of electronic controller that is used for anti-locking system for car.
[background technology]
At present practical anti-locking system for car mainly contains the electronic type hydraulic pressure anti-lock braking system mechanical type hydraulic antiblock device of unifying.The electronic type antiblock device mainly adopts the classical logic control method, i.e. the thresholding control method.By calculating the acceleration/accel and the slip rate of wheel speed, constantly relatively judge the brake-pressure that needs adjusting with the threshold value that pre-sets, control method generally is methods such as the optimal control, robust control of modern control theory, these methods depend on the math modeling of system strongly, but in fact be difficult to obtain the automobile precise math model, thereby make this method be difficult to popularize.Mechanical type antiblock device characteristics are to have increased a distensible oil sac in brake piping, the brake-pressure during telescopic adjustment tire locking by oil sac, thus reach the purpose of anti-lock.Mechanical type antiblock device defective is and can only carries out adjusting in the limited range at single road surface, and is not ideal for the complex road condition braking effect.
[summary of the invention]
The purpose of this utility model is exactly in order to overcome the above problems, and a kind of reliability height, the excellent anti-locking system for car electronic controller of controller performance are provided.
For achieving the above object, the utility model proposes a kind of anti-locking system for car electronic controller, comprise wheel speed testing circuit, wheel speed modulate circuit, main control singlechip, aux. controls micro controller system, motor-drive circuit, driving circuit for electromagnetic valve, described wheel speed testing circuit mouth is connected with described wheel speed modulate circuit, aux. controls micro controller system respectively, described wheel speed modulate circuit mouth is connected with described main control singlechip, and described driving circuit for electromagnetic valve, motor-drive circuit input end are connected with described main control singlechip, aux. controls micro controller system mouth respectively.
Above-mentioned controller is also set up the communication interface circuit, is connected with described main control singlechip.Set up failure indicating circuit, be connected with described aux. controls micro controller system.The preferred CAN communication interface of described communication interface circuit circuit.Described wheel speed testing circuit comprises electromagnetic senser, and its signal output part is connected respectively with described aux. controls micro controller system, wheel speed modulate circuit.Described wheel speed modulate circuit comprises zero-crossing comparator, and its signal input part is connected with the mouth of described wheel speed testing circuit, and signal output part is connected with described main control singlechip.Described driving circuit for electromagnetic valve comprises intelligent low-end switch, and its control end is connected respectively with described main control singlechip, aux. controls micro controller system, and its mouth is used to connect the control end of electromagnetic valve.
Owing to adopted above scheme, brought following beneficial effect:
Because the micro controller system and the driving circuit that adopt large-scale integration circuit to make are powerful, the level of integrated system height, periphery circuit design is simple, and stability is greatly guaranteed.The utility model is used fuzzy control theory, does not need system mathematic model, has strengthened the redundant ability of system, has simplified design process, make the utility model be easy to realize, and speed of response is fast, and the robustness of control is good.Use the CAN bus, make that the numerical value of the speed of a motor vehicle can be used for other motor vehicle module, auto meter for example, engine management system, automatic speed-changing systems etc. have been simplified the design of other parts of automobile; Make the ECU etc. of controller and automobile carry out timely communication, exchange, share data.
[description of drawings]
Also the present invention is described in further detail in conjunction with the accompanying drawings below by specific embodiment.
Fig. 1 is the utility model circuit structure block diagram, and Fig. 2 is the utility model control flow chart.
[specific embodiment]
As shown in Figure 1, anti-locking system for car electronic controller of the present utility model comprises 16 main control singlechip, 8 aux. controls micro controller system, wheel speed testing circuit, wheel speed modulate circuit, driving circuit for electromagnetic valve, CAN bus communication circuit, motor-drive circuit.The utility model adopts classical parameter (acceleration/accel, slip rate) controls in conjunction with fuzzy control theory, can guarantee that wheel can locking at the automobile emergency glancing impact, and vehicle is at various complex road surfaces (ice and snow road for example, gravel road surface, road surface etc. is split, docked to high and low adhesion value) stationarity of braking, and guarantee in emergency circumstances steering capability.Main control singlechip is mainly used to slip rate is controlled at about 15%, the aux. controls micro controller system is mainly used to monitor the correctness of each module by signal, if make a mistake, will report to the police and stop the anti-lock effect, and when main control singlechip lost efficacy, cut off the power supply of electromagnetic valve and motor, keep former car braking effect.CAN communication interface circuit can carry out communication with the baud rate of maximum 1M/s, makes the ECU etc. of controller and automobile carry out timely communication, exchange, shares data.
Controller of the present utility model constantly calculates the deceleration/decel and the slip rate of wheel after detecting speed-slackening signal generation (brake pedal is stepped on), start-up system when arriving the thresholding that starts.Deceleration/decel and slip rate are sent into main control singlechip and are carried out Fuzzy Processing after process processing and obfuscation, and the output that obtains is exported through giving driving circuit behind the ambiguity solution, and constitutes closed loop with the wheel speed detection, with the assurance system robustness.
The utility model has increased different ground-surface brake efficiency adjusting modules under the prerequisite that guarantees braking anti-lock, makes it to brake under the road surface of complexity still can obtain good braking effect.At ice and snow road, gravel road surface, high and low adhesion value are split, are docked bad working environments such as road surface and optimize separately.Its principle is: for different operating modes, on the basis that keeps target slip rate 15%, by tire is increased, subtracts, the accumulative total of the time t of pressurize and tire acceleration/accel a, slip rate s relatively, because tire is for exporting and acceleration/accel with a kind of ground-surface, slip rate all within the specific limits, represent that then coefficient of road adhesion changes if go beyond the scope, so can adjust accordingly.Mode still adopts fuzzy control, and parameter is a slip rate, acceleration/accel and electromagnetic valve output offset at zero point, and output data is electromagnetic valve zero point alignment skew (T1).The computing power of considering micro controller system is limited, and the language value after the input parameter obfuscation is divided into honest (PL), just little (PS), zero (ZO), negative little (NS), negative big (NL).Fuzzy input is through obtaining fuzzy output behind the fuzzy reasoning, the rule of reasoning is by examination of ongoing road and stand test, technical personnel is constantly summed up and analysis draws 25 empirical rules, the rule searching table draws the fuzzy value of corresponding fuzzy field, and solves actual output time value by gravity model appoach.
Native system has perfect fault self-diagnosis function.Each module of system all has observation circuit, the state of aux. controls micro controller system continuous each module of monitoring system after system powers on, every kind of fault all has corresponding failure code, in case certain module et out of order, the aux. controls micro controller system can pass through the failure indicating circuit indication fault, and the output of the system of cut-out is not touched work to guarantee electromagnetic valve, guarantees security of system, reliable.
For realizing function of the present utility model, the actuating unit of anti-locking system for car comprises the general-duty vacuum booster, master brake cylinder, mk20 series electromagnetic valve, brake pipe, brake cylinder and disc brake pad etc.Micro controller system is selected the mc9s12 family chip of Motorola Inc. for use.Driving circuit for electromagnetic valve adopts intelligent low-end switch, the integrated level height, and can carry out fault detection by the SPI interface; 8 switches are arranged in the electromagnetic valve unit, the feed liquor of corresponding each passage, discharge opeing, and form supercharging, decompression, pressurize, rank increase, and rank such as subtract at different conditions, and response time is 5ms, and promptness is good, and system response time is faster.
Control flow chart as shown in Figure 2, the speed sensor of wheel speed testing circuit adopts electromagnetic senser, obtains the sine wave signal in cycle by the gear ring cutting magnetic line.Because sinusoidal waveform can not directly be that single chip computer measurement speed is used, so the square-wave signal in cycle such as at first it will be transformed into, wheel speed signal becomes impulse singla through after the conversion process, carry out the software LPF by main control singlechip then, and calculate the angular deceleration and the slip rate of each wheel.The wheel speed modulate circuit can be realized with zero-crossing comparator.When detecting that brake pedal is stepped on and the speed of a motor vehicle constantly judges whether wheel is tending towards locking when being higher than 8km/h.When satisfying condition, start antiblock device.At first judge the road surface situation after the start-up system, carry out corresponding fuzzy control program according to different road surface situations.With after calculating the slip rate of gained and acceleration/accel and carrying out Fuzzy processing, deliver to the rule judgment module, obtain fuzzy output after, by the gravity model appoach ambiguity solution, should be thereby obtain to the time value of solenoid control.The processing stage of returning wheel speed immediately after this stage is finished, thereby form closed loop system, make the tyre skidding rate be stabilized in about expectation value (15%-20%).Meanwhile also constantly carry out the road surface and judge, change control policy at any time, thereby realize the intellectuality of control and the promptness of response according to the variation of condition of road surface.
System is each module status of the continuous monitoring system of aux. controls micro controller system and wheel speed state after powering on, and comprises that wheel speed signal is unusual, the wheel speed modulate circuit unusual, driving circuit abnormality etc.When abnormal condition took place, the aux. controls micro controller system was made processing such as warning, termination system respectively according to fault level, simultaneously storage failure code and open fault-indicating lamp.
Application example: wide to the open circuit surface proving road at 3.6m, the left side is low u road surface, adhesion value is 0.20, the right is high u road surface, and adhesion value is 0.80, and automobile brakes with the speed per hour of 50km/h, the excessive situation of slip rate all appears at 0.3s moment the near front wheel and left rear wheel, it is low excessively to be judged as left side coefficient of road adhesion, halt system supercharging this moment, and determine that this is electromagnetic valve work zero point constantly.The near front wheel and left rear wheel are carried out conventional fuzzy control, its slip rate is controlled at about 15%; Off front wheel and off hind wheel are increased, extenuate fuzzy control strategy delay near work zero point, constantly carry out the road surface judgement in the braking procedure again, up to end of braking.Through this adjustment, can gradual braking on to open circuit surface, and non-migration 3.6m proving road, the requirement that is up to state standards.
Claims (7)
1, a kind of anti-locking system for car electronic controller, it is characterized in that: comprise wheel speed testing circuit, wheel speed modulate circuit, main control singlechip, aux. controls micro controller system, motor-drive circuit, driving circuit for electromagnetic valve, described wheel speed testing circuit mouth is connected with described wheel speed modulate circuit, aux. controls micro controller system respectively, described wheel speed modulate circuit mouth is connected with described main control singlechip, and described driving circuit for electromagnetic valve, motor-drive circuit input end are connected with described main control singlechip, aux. controls micro controller system mouth respectively.
2, controller as claimed in claim 1 is characterized in that: also comprise the communication interface circuit, be connected with described main control singlechip.
3, controller as claimed in claim 1 is characterized in that: also comprise failure indicating circuit, be connected with described aux. controls micro controller system.
4, controller as claimed in claim 2 is characterized in that: described communication interface circuit is a CAN communication interface circuit.
5, as each described controller among the claim 1-4, it is characterized in that: described wheel speed testing circuit comprises electromagnetic senser, and its signal output part is connected respectively with described aux. controls micro controller system, wheel speed modulate circuit.
6, as each described controller among the claim 1-4, it is characterized in that: described wheel speed modulate circuit comprises zero-crossing comparator, and its signal input part is connected with the mouth of described wheel speed testing circuit, and signal output part is connected with described main control singlechip.
7, as each described controller among the claim 1-4, it is characterized in that: described driving circuit for electromagnetic valve comprises intelligent low-end switch, its control end is connected respectively with described main control singlechip, aux. controls micro controller system, and its mouth is used to connect the control end of electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520034724 CN2813387Y (en) | 2005-06-30 | 2005-06-30 | Vehicle antilocking system electronic controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520034724 CN2813387Y (en) | 2005-06-30 | 2005-06-30 | Vehicle antilocking system electronic controller |
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| Publication Number | Publication Date |
|---|---|
| CN2813387Y true CN2813387Y (en) | 2006-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200520034724 Expired - Lifetime CN2813387Y (en) | 2005-06-30 | 2005-06-30 | Vehicle antilocking system electronic controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101544227A (en) * | 2009-04-01 | 2009-09-30 | 北京理工大学 | ABS double-mode control method for automobile |
| CN102029985A (en) * | 2009-09-25 | 2011-04-27 | 株式会社万都 | Electronic parking brake system and control method thereof |
| CN102452386A (en) * | 2010-10-16 | 2012-05-16 | 比亚迪股份有限公司 | Anti-locked braking system (ABS) for automobile and fault diagnosis and treatment method thereof |
| CN102862559A (en) * | 2012-10-16 | 2013-01-09 | 奇瑞汽车股份有限公司 | Line control anti-lock brake (ABS) system based on controller area network (CAN) bus and control method thereof |
| CN103496357A (en) * | 2013-10-15 | 2014-01-08 | 江苏理工学院 | Emergency brake device of vehicle brake-by-wire system |
| CN105829177A (en) * | 2013-12-21 | 2016-08-03 | 奥迪股份公司 | Motor vehicle |
| WO2018006729A1 (en) * | 2016-07-05 | 2018-01-11 | 舍弗勒技术股份两合公司 | Wheel rotational speed detection apparatus and detection method |
-
2005
- 2005-06-30 CN CN 200520034724 patent/CN2813387Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101544227A (en) * | 2009-04-01 | 2009-09-30 | 北京理工大学 | ABS double-mode control method for automobile |
| CN102029985A (en) * | 2009-09-25 | 2011-04-27 | 株式会社万都 | Electronic parking brake system and control method thereof |
| CN102029985B (en) * | 2009-09-25 | 2013-06-19 | 株式会社万都 | Electronic parking brake system and control method thereof |
| CN102452386A (en) * | 2010-10-16 | 2012-05-16 | 比亚迪股份有限公司 | Anti-locked braking system (ABS) for automobile and fault diagnosis and treatment method thereof |
| CN102452386B (en) * | 2010-10-16 | 2014-04-30 | 比亚迪股份有限公司 | Anti-locked braking system (ABS) for automobile and fault diagnosis and treatment method thereof |
| CN102862559A (en) * | 2012-10-16 | 2013-01-09 | 奇瑞汽车股份有限公司 | Line control anti-lock brake (ABS) system based on controller area network (CAN) bus and control method thereof |
| CN102862559B (en) * | 2012-10-16 | 2015-04-08 | 奇瑞汽车股份有限公司 | Line control anti-lock brake (ABS) system based on controller area network (CAN) bus and control method thereof |
| CN103496357A (en) * | 2013-10-15 | 2014-01-08 | 江苏理工学院 | Emergency brake device of vehicle brake-by-wire system |
| CN103496357B (en) * | 2013-10-15 | 2015-12-16 | 江苏理工学院 | Emergency brake device of vehicle brake-by-wire system |
| CN105829177A (en) * | 2013-12-21 | 2016-08-03 | 奥迪股份公司 | Motor vehicle |
| CN105829177B (en) * | 2013-12-21 | 2018-10-02 | 奥迪股份公司 | Motor vehicle |
| WO2018006729A1 (en) * | 2016-07-05 | 2018-01-11 | 舍弗勒技术股份两合公司 | Wheel rotational speed detection apparatus and detection method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20150630 Granted publication date: 20060906 |
|
| EXPY | Termination of patent right or utility model |