JPH05105050A - Control method of antilock braking modulator - Google Patents

Abstract

PURPOSE:To shorten a span of time required till antilock braking is actually started since an antilock braking start signal has been outputted by simple control, as short as possible. CONSTITUTION:When a holding motion of a brake lever 64 is detected by a sensor 78 and a brake signal is inputted into a control unit 72, a crankpin 34 is rotated up to a crank angle thetaP by the time antilock braking is actually started. At that time, this crank angle thetaP is being set to a smaller angle than a crank angle thetaC of the crankpin 34 for making a cut valve 48 be seated. Therefore, when displacement of this crankpin 34 is started, the antilock braking comes to be started at once in consequence.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling an antilock braking modulator for moving a cut valve to a position immediately before closing the valve before antilock braking for effective antilock braking.

[0002]

2. Description of the Related Art In automobiles and motorcycles, a brake control device having an anti-lock braking modulator is used to control the brake.

For example, as shown in FIG. 7, an anti-lock braking modulator 1 incorporated in a motorcycle converts a main body 2 and a brake operation command generated by a driver's lever operation or pedal operation into hydraulic pressure. An input hydraulic chamber 3 that communicates with the master cylinder, an output hydraulic chamber 4 that communicates with a caliper cylinder that generates a braking force on a brake disc of a wheel, and a cut valve that communicates with and cuts off the input hydraulic chamber 3 and the output hydraulic chamber 4. 5, an expander piston 6 disposed on the side of the output hydraulic chamber 4 for closing the cut valve 5 during antilock braking, and increasing the volume of the output hydraulic chamber 4 to reduce the hydraulic pressure, and this expander piston 6. A crank member 8 provided with an eccentric portion 7 that comes into contact with the piston 6 and the expansive member by rotating the crank member 8. And a DC motor 9 for displacing the Dapisuton 6.

[0004]

In this case, in the modulator 1 described above, the cut valve 5 is provided in order to smoothly supply the pressure oil from the input hydraulic chamber 3 to the output hydraulic chamber 4 during the normal braking.
Needs to be separated from its seated position by a considerable distance. Therefore, in order to move the cut valve 5 from the separated position to the seated position, the crank member 8 must be rotated by a relatively large angle. Therefore, it has been pointed out that it takes a considerable time from the output of the anti-lock braking start signal to the actual start of the anti-lock braking, and the responsiveness deteriorates.

The present invention solves this kind of problem, and shortens the time from the output of the antilock braking start signal to the actual start of the antilock braking by simple control as much as possible. It is an object of the present invention to provide a control method of an antilock braking modulator that can be realized.

[0006]

In order to achieve the above object, the present invention provides an output hydraulic chamber for applying a braking force to wheels during normal braking by rotating a crank member to advance and retract a cut valve. The control method of the anti-lock braking modulator for closing the cut valve during anti-lock braking to increase the volume of the output hydraulic chamber to reduce the braking force during anti-lock braking. Is detected in advance and before the antilock braking is started, the crank member is opened at a predetermined angle with respect to the angle at which the output hydraulic chamber is closed by the cut valve. And the crank member is arranged at the predetermined angle, the crank member is further rotated to start anti-lock braking. Characterized in that it comprises a step.

[0007]

In the method of controlling the modulator for anti-lock braking according to the present invention, the crank member is rotated and the cut valve is arranged near the closed position of the output hydraulic chamber before the start of anti-lock braking. Therefore, when anti-lock braking is started in this state, the cut valve reaches the closed position only by rotating the crank member by a slight angle. Therefore, immediately after the antilock braking start signal is output, the antilock braking is actually started, and the responsiveness is improved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control method of an anti-lock braking modulator according to the present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 2, reference numeral 10 indicates a motorcycle, and the motorcycle 10 includes a main body portion 12, a handle portion 14, a front wheel portion 16 and a rear wheel portion 18.

A brake control device 20 for carrying out the control method according to the present embodiment is arranged on the motorcycle 10, and as shown in FIG.
The anti-lock braking modulator 22 is provided, and the DC motor 24 that constitutes the modulator 22 includes a pinion 2
6 is pivotally mounted, and a gear 28 meshes with the pinion 26. The gear 28 is axially supported by a crank shaft 30, and one end of a crank pin 34 is eccentrically connected to the crank shaft 30 via a crank arm 32. A potentiometer 38 for detecting the position of an expander piston (described later) is attached to the other end of the crank pin 34 via a crank arm 36.

A cam bearing 4 is attached to the crank pin 34.
0 is rotatably mounted, and the lower end side of the cam bearing 40 is constantly pressed toward the upper limit position under the action of the return spring 44 accommodated in the spring accommodating portion 42. An expander piston 46 abuts on the upper end side of the cam bearing 40, and the expander piston 46 is vertically displaced as the cam bearing 40 moves up and down to open and close the cut valve 48.

Above the expander piston 46,
A cut valve housing 50 having a built-in cut valve 48 is provided, and the cut valve housing 50 has an input port 5
A master cylinder 56 is connected to 2 via a passage 54, while a wheel braking caliper cylinder 62 is connected to an output port 58 of the cut valve housing 50 via a passage 60. The master cylinder 56 and the caliper cylinder 62 are provided with a passage 54, a modulator 22 and a passage 60.
Are connected to each other via and the hydraulic oil is filled in this path. The master cylinder 56 adjusts hydraulic pressure under the action of the brake lever 64, drives the caliper cylinder 62 via the cut valve 48, and operates the front wheel unit 1.
6 and the disc plate 66 disposed on the rear wheel portion 18
Apply braking force to.

Potentiometer 38 and DC motor 2
4, a motor controller 70 is connected, and the motor controller 70 is connected to the control unit 72. The control unit 72 includes a front wheel portion 16
Further, wheel speed sensors 74, 76 for detecting the wheel speed of the rear wheel portion 18 and a sensor 78 for outputting a brake signal when the brake lever 64 is operated are connected.

Next, the operation of the brake control device 20 thus constructed will be described in relation to the modulator control method according to this embodiment.

During normal braking, the return spring 44
The crank pin 34 is held at a preset upper limit position by the elastic force of the above, and the cam bearing 40 mounted on the crank pin 34 is maintained in a state in which the expander piston 46 is pushed up. As a result, the cut valve 48 is pushed up by the expander piston 46, and the input port 52 and the output port 58 are in communication.

The master cylinder 56 is urged by gripping the brake lever 64, and the brake hydraulic pressure generated by the master cylinder 56 is supplied to the passage 5
4, the force is transmitted to the caliper cylinder 62 via the input port 52, the output port 58, and the passage 60, and the braking force is applied to the disc plate 66.

When the gripping operation of the brake lever 64 is detected by the sensor 78, a brake signal is input to the control unit 72 (see FIG. 3).
In step S1 and FIG. 4, the crank pin 34 is rotated to the crank angle θP before the actual antilock braking (ABS operation) is started (step S2).
No, step S3). That is, a drive signal is supplied from the control unit 72 to the motor controller 70 to drive and control the DC motor 24, and the pinion 26 axially mounted on a rotating shaft (not shown) is rotated to mesh with the gear 28 and the crank. Arm 32
Rotates, and the crank pin 34 is further displaced from the upper limit position toward the lower limit position by the crank angle θP (see FIG. 5).
Due to the deviation of the crank pin 34, the cam bearing 40
Descends and expander piston 46 and cut valve 4
And 8 descend together. At that time, as shown in FIG.
The crank angle θP of the crank pin 34 depends on the cut valve 4
8 is set to an angle smaller than a crank angle θC for seating and blocking between the input port 52 and the output port 58.

Next, when antilock braking is performed, the rotation direction and rotation amount of the DC motor 24 are controlled, and the crank pin 34 is further displaced from the position of the crank angle θP toward the lower limit position. Therefore, the crank pin 34 reaches the position of the crank angle θC and the cut valve 48 is reached.
Is seated, and the connection between the input port 52 and the output port 58 is cut off. Then, the expander piston 46 is further lowered by itself, the volume on the output port 58 side is increased, and the hydraulic pressure applied to the caliper cylinder 62 is reduced, for example, the braking force of the front wheel portion 16 is reduced. As a result, antilock braking is performed.

In this case, in this embodiment, immediately before the anti-lock braking is started, the crank pin 34 is displaced from the upper limit position toward the lower limit position by the crank angle θP and the cut valve 48 is arranged near the seating position. ing. Therefore, as shown in FIG. 6, the time point T when the antilock braking is started
_{From 1} until the anti-lock braking is actually performed after the cut valve 48 is seated, the time is shortened by Δt time as compared with the conventional anti-lock braking. Therefore, the time from the output of the anti-lock braking start signal to the actual start of the anti-lock braking can be shortened, the responsiveness is improved at once, and the optimum anti-lock braking becomes possible. The effect is obtained.

In this embodiment, the brake signal output from the sensor 78 when the brake lever 64 is operated is used as the anti-lock braking start signal.
For example, a change in the slip ratio according to the road surface, the vehicle body speed, or the like (see FIG. 6) can be used.

[0021]

As described above, in the method of controlling the modulator for antilock braking according to the present invention, the cut valve is arranged in the vicinity of the valve closing position of the output hydraulic chamber before the start of antilock braking. Immediately after the braking start signal is output, antilock braking is started. Therefore,
The response of anti-lock braking is improved and it becomes possible to secure the optimum maneuverability.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a brake control device for carrying out a method for controlling an antilock braking modulator according to the present invention.

FIG. 2 is a side view of a motorcycle equipped with the brake control device.

FIG. 3 is a flowchart of the control method.

FIG. 4 is an operation explanatory view of antilock braking by the control method and a conventional method.

FIG. 5 is an operation explanatory diagram of the control method.

FIG. 6 is a timing chart of the control method.

FIG. 7 is a vertical cross-sectional view of a general modulator.

[Explanation of symbols]

 20 ... Brake control device 22 ... Modulator 24 ... DC motor 34 ... Crank pin 38 ... Potentiometer 46 ... Expander piston 48 ... Cut valve 70 ... Motor controller 72 ... Control unit 78 ... Sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ken Sakurai 1-4-1 Chuo, Wako-shi, Saitama Stock Research Institute, Honda R & D Co., Ltd.

Claims (1)

[Claims] 1. A crank member is rotated to move a cut valve forward and backward to open an output hydraulic chamber for applying a braking force to a wheel during normal braking, while closing the cut valve during antilock braking. A method of controlling an anti-lock braking modulator for increasing the volume of the output hydraulic chamber to reduce the braking force, the step of detecting in advance that the anti-lock braking is started; Before the start of braking, the crank member is rotated to a predetermined angle on the valve opening side with respect to the angle at which the output hydraulic chamber is closed by the cut valve, and the crank member is arranged at the predetermined angle. And then further rotating the crank member to start antilock braking. Control method of Jureta.