KR20030032667A - a brake torque control system of vehicles - Google Patents

a brake torque control system of vehicles Download PDF

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Publication number
KR20030032667A
KR20030032667A KR1020010064631A KR20010064631A KR20030032667A KR 20030032667 A KR20030032667 A KR 20030032667A KR 1020010064631 A KR1020010064631 A KR 1020010064631A KR 20010064631 A KR20010064631 A KR 20010064631A KR 20030032667 A KR20030032667 A KR 20030032667A
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South Korea
Prior art keywords
braking
torque
braking torque
control unit
wheel
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KR1020010064631A
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Korean (ko)
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곽상도
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현대자동차주식회사
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Priority to KR1020010064631A priority Critical patent/KR20030032667A/en
Publication of KR20030032667A publication Critical patent/KR20030032667A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/52—Torque sensing, i.e. wherein the braking action is controlled by forces producing or tending to produce a twisting or rotating motion on a braked rotating member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/307—Torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: An adjusting apparatus of brake torque for a vehicle is provided to prevent reduction of braking force and braking feeling by maintaining brake torque near ideal brake torque regardless of the change of friction condition of friction material. CONSTITUTION: An adjusting apparatus of brake torque for a vehicle has a torque sensor(8). The torque sensor is installed to a wheel. The torque sensor is connected to a control unit(7). Therein, measured torque of the torque sensor is transferred to the control unit. The torque sensor applies real brake torque to the control unit. The control unit controls a modulator(5) when real brake torque does not correspond to ideal brake torque. Thereby, brake torque is adjusted by adjusting braking pressure with the modulator. Therein, reduction of braking force and braking feeling are prevented.

Description

자동차의 제동토크 조절장치{a brake torque control system of vehicles}Brake torque control system of vehicles

본 발명은 자동차의 제동토크 조절장치에 관한 것으로, 특히 마찰재의 마찰조건 변화에 따른 제동력 및 제동감 저하현상을 방지할 수 있도록 된 자동차의 제동토크 조절장치에 관한 것이다.The present invention relates to a braking torque control device for a vehicle, and more particularly, to a braking torque control device for a vehicle that can prevent the braking force and the feeling of braking deterioration caused by the change of friction conditions of the friction material.

일반적으로 자동차의 제동장치는 도 1에 도시된 바와 같이, 브레이크페달(1)을 밟으면 부스터(2) 및 마스터실린더(3)에서 배력된 유압이 발생하고, 이 유압이 각 차륜의 휠실린더(4)에 전달되어 브레이크디스크와 패드 또는 브레이크슈우와 드럼을 밀착시킴으로써 이때 발생되는 마찰력에 의하여 제동이 이루어지는 구조로 이루어져 있다.In general, as shown in FIG. 1, when the brake pedal 1 is stepped on, the brake of the automobile generates hydraulic pressure boosted by the booster 2 and the master cylinder 3, and the hydraulic pressure is the wheel cylinder 4 of each wheel. ) Is delivered to the brake disc and the pad or brake shoe and the drum in close contact and the brake is made by the friction force generated at this time.

또한, 상기 휠실린더(4)로 전달되는 유압을 조절하는 모듈레이터(5)와, 바퀴의 회전상태를 검출하여 바퀴의 잠김(locking)여부를 알 수 있게 하는 휠스피드센서(6)와, 이 휠스피드센서(6)로부터 바퀴의 회전상태에 대한 정보를 인가받아 상기 모듈레이터(5)를 제어하는 제어유니트(7)로 구성되는 ABS(Anti-lock Brake System)를 적용하여, 급제동시나 미끄러지기 쉬운 노면에서 제동할 때 바퀴가 잠기는 것을 방지함으로써 차량의 조종성을 확보하고 정지거리를 단축시키고 있다.In addition, the modulator 5 for adjusting the hydraulic pressure transmitted to the wheel cylinder 4, the wheel speed sensor 6 to detect whether the wheel is locked by detecting the rotation state of the wheel, and the wheel By applying the information about the rotation state of the wheel from the speed sensor 6 to apply the anti-lock brake system (ABS) composed of a control unit (7) for controlling the modulator (5), the road surface during easy braking or slippery This prevents the wheels from locking when braking in the vehicle, thereby ensuring the maneuverability of the vehicle and reducing the stopping distance.

한편, 자동차의 제동력은 전술한 바와 같이 브레이크디스크나 패드 또는 브레이크슈우의 라이닝과 드럼간의 마찰에 의해 발생되는데, 이 마찰재들은 비, 대기의 온도 및 습도와 같은 외부조건과 차속 및 마찰재 자신의 온도와 같은 내부조건이 변화하면서 즉, 마찰조건이 변화하면서 이때 발생하는 제동토크의 변화를 초래한다.On the other hand, the braking force of the vehicle is generated by friction between the lining of the brake disc, pad or brake shoe and the drum as described above, and these friction materials are influenced by external conditions such as rain, atmospheric temperature and humidity, temperature of the vehicle speed and the friction material itself. As the same internal condition changes, that is, the friction condition changes, it causes a change in braking torque that occurs.

따라서, 제동시 도 2의 (a)와 같이, 상기 휠실린더(4)를 통해 일정한 제동압력이 가해져도 (b)에 도시된 바와 같이, 실차제동토크가 이상제동토크(ideal braketorque)에 못 미치는(d;마찰조건 변화에 의해 제동토크가 변화됨으로써 발생되는 이상제동토크와 실차제동토크와의 차) 결과가 발생하여 차량의 제동력이 감소함으로써 제동거리가 길어짐은 물론, 차량의 제동상태가 안정적이지 못하여 운전자가 제동중 차체가 밀린다거나 페달을 밟는 느낌이 너무 무르다거나 하는 등의 제동감 저하현상을 느끼게 하는 문제점이 있었다.Therefore, as shown in FIG. 2 (a), even when a constant braking pressure is applied through the wheel cylinder 4, as shown in (b), the actual vehicle braking torque does not reach the ideal brake torque. (d; Difference between abnormal braking torque and actual vehicle braking torque caused by the change of braking torque due to the change of friction condition) As a result, the braking force of the vehicle is reduced and the braking distance of the vehicle is not stable. There is a problem that the driver feels the braking feeling deterioration, such as the vehicle body is pushed or the pedal is too soft during braking.

이에 본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로, 마찰재의 마찰조건 변화와는 상관없이 제동중 제동토크를 이상제동토크에 근접하는 수준으로 일정하게 유지해줄 수 있게 됨으로써 제동력이 감소되지 않고, 또한 제동감이 저하되지 않도록 된 자동차의 제동토크 조절장치를 제공함에 그 목적이 있다.Accordingly, the present invention has been made to solve the above problems, regardless of the frictional conditions of the friction material can be maintained at a level close to the abnormal braking torque during braking, so that the braking force is not reduced In addition, the object of the present invention is to provide a braking torque control device for a vehicle such that the braking feeling is not deteriorated.

도 1은 ABS가 적용된 자동차의 제동시스템 구성도,1 is a configuration diagram of a braking system of a vehicle to which ABS is applied,

도 2의 (a)는 종래 제동시스템의 제동압력선도,Figure 2 (a) is a braking pressure diagram of a conventional braking system,

도 2의 (b)는 종래 제동시스템의 제동토크선도,2 (b) is a braking torque diagram of a conventional braking system;

도 3은 본 발명에 따른 제동토크 조절장치가 적용된 제동시스템 구성도,3 is a configuration of a braking system to which a braking torque adjusting device is applied according to the present invention;

도 4는 본 발명의 작동순서도,4 is a flow chart of the present invention,

도 5의 (a)는 본 발명에 따른 제동시스템의 제동압력선도,Figure 5 (a) is a braking pressure diagram of the braking system according to the present invention,

도 5의 (b)는 본 발명에 따른 제동시스템의 제동토크선도이다.5B is a braking torque diagram of the braking system according to the present invention.

*도면의 주요부분에 대한 부호의 설명** Description of the symbols for the main parts of the drawings *

1 : 브레이크페달,2 : 부스터,1: brake pedal, 2: booster,

3 : 마스터실린더,4 : 휠실린더,3: master cylinder, 4: wheel cylinder,

5 : 모듈레이터,6 : 휠스피드센서,5: modulator, 6: wheel speed sensor,

7 : 제어유니트,8 : 토크측정센서.7: Control unit, 8: Torque measuring sensor.

상기와 같은 목적을 달성하기 위한 본 발명은, 브레이크페달과, 부스터와, 마스터실린더와, 휠실린더를 갖추어 이루어진 기본 제동라인에 휠스피드센서로부터 바퀴의 회전상태에 관한 정보를 인가받아 제어유니트가 모듈레이터를 제어하여 제동압력을 조절함으로써 바퀴가 잠기는 것을 방지하는 ABS가 적용된 자동차의 제동장치에 있어서, 제동토크를 측정하는 토크측정센서가 구비되어, 상기 제어유니트는 이 토크측정센서로부터 실차제동토크값을 인가받아 실차제동토크와 이상제동토크가 일치하지 않을 경우 상기 모듈레이터를 제어하여 제동압력을 조절함으로써 실차제동토크가 이상제동토크에 근접하도록 제동토크를 조절하도록 된 것을 특징으로 한다.In order to achieve the above object, the present invention provides a brake unit, a booster, a master cylinder, and a wheel cylinder to which a control unit is modulated by receiving information on a rotation state of a wheel from a wheel speed sensor. In a braking apparatus of a vehicle to which the wheel is prevented from locking by adjusting the braking pressure by controlling the torque control, a torque measuring sensor for measuring the braking torque is provided, and the control unit measures the actual vehicle braking torque value from the torque measuring sensor. When the actual vehicle braking torque and the abnormal braking torque do not coincide with each other, the braking torque is adjusted so that the actual vehicle braking torque approaches the abnormal braking torque by controlling the modulator to adjust the braking pressure.

따라서, 제동력이 감소되지 않고, 제동거리가 줄어들며, 안정적이고 정상적인 제동감을 느낄 수 있게 된다.Therefore, the braking force is not reduced, the braking distance is reduced, and a stable and normal braking feeling can be felt.

이하, 본 발명을 첨부된 예시도면을 참조하여 상세히 설명한다.Hereinafter, with reference to the accompanying drawings, the present invention will be described in detail.

도 3은 본 발명에 따른 제동토크 조절장치가 적용된 차량의 제동장치 구성도로서, 본 발명은 브레이크페달(1), 부스터(2), 마스터실린더(3), 휠실린더(4)로 이루어진 제동라인에 제동시 바퀴의 잠김현상을 방지하기 위하여 휠스피드센서(6), 모듈레이터(5), 이를 제어하는 제어유니트(7)로 이루어진 ABS가 적용된 자동차의 제동장치에 있어서, 각 바퀴의 제동토크를 측정하는 토크측정센서(8)가 설치되고, 이 토크측정센서(8)들은 상기 제어유니트(7)에 연결되어 측정토크값을 제어유니트(7)로 전달하는 구조로 이루어진다.3 is a configuration diagram of a braking device for a vehicle to which a braking torque adjusting device is applied according to the present invention. The present invention provides a brake line including a brake pedal 1, a booster 2, a master cylinder 3, and a wheel cylinder 4. In the braking device of an automobile to which an ABS is applied, comprising a wheel speed sensor 6, a modulator 5, and a control unit 7 for controlling the wheels to prevent the locking of the wheels during braking, the braking torque of each wheel is measured. Torque measuring sensor 8 is provided, the torque measuring sensor 8 is connected to the control unit 7 is made of a structure for transmitting the measured torque value to the control unit (7).

상기 제어유니트(7)에는 기본적으로 ABS제어를 위한 프로그램과 데이터가 입력되어 있으며, 여기에 본 발명의 작용을 수행하기 위한 프로그램과 데이터가 추가된다.The control unit 7 is basically a program and data for the ABS control is input, the program and data for performing the operation of the present invention is added thereto.

즉, 상기 제어유니트(7)는 토크측정센서(8)로부터 측정된 실차제동토크값이 이상제동토크에 비하여 작을 경우에는 상기 모듈레이터(5)를 제어하여 제동압력을 증가시키고 실차제동토크값이 이상제동토크에 비해 클 경우에는 제동압력을 감소시키도록 프로그램된다.That is, the control unit 7 controls the modulator 5 to increase the braking pressure when the actual vehicle braking torque value measured from the torque measuring sensor 8 is smaller than the abnormal braking torque, and the actual vehicle braking torque value is abnormal. If larger than the braking torque, it is programmed to reduce the braking pressure.

이와 같은 작용은 다음과 같이 수행된다.This action is performed as follows.

일반적으로 상기 모듈레이터(5)는 상기 제어유니트(7)에서 보내는 신호에 의해 플런저를 움직여 마스터실린더(3)와 리저브 및 휠실린더(4) 사이의 통로를 개폐하는 역할을 하는 솔레노이드밸브와, 라인내 유압을 증가시키는 펌프(모터에 의해 작동)를 갖추고 있다.In general, the modulator (5) is a solenoid valve that serves to open and close a passage between the master cylinder (3) and the reservoir and the wheel cylinder (4) by moving the plunger in response to a signal from the control unit (7), Equipped with a pump (actuated by motor) to increase hydraulic pressure.

따라서, 솔레노이드밸브의 작동을 제어하여 휠실린더(4)로 공급되는 유압을 감압시킬 수 있고, 상기 펌프를 작동시킴으로써 휠실린더(4)에 가해지는 유압을 증압할 수 있다.Therefore, the operation of the solenoid valve can be controlled to reduce the hydraulic pressure supplied to the wheel cylinder 4, and the hydraulic pressure applied to the wheel cylinder 4 can be increased by operating the pump.

즉, 상기 제어유니트(7)는 측정된 실차제동토크가 이상제동토크보다 작을때는 상기 펌프를 작동시켜 휠실린더(4)로 유압을 공급함으로써 제동압력이 증압되도록 하고, 실차제동토크가 이상제동토크보다 클때는 상기 솔레노이드밸브를 조작하여 휠실린더(4)의 유압을 리저브측으로 회수함으로써 제동압력을 감압시키게 된다.(도 4참조)That is, the control unit 7 operates the pump to supply hydraulic pressure to the wheel cylinder 4 when the measured actual vehicle braking torque is less than the abnormal braking torque so that the braking pressure is increased, and the actual vehicle braking torque is the abnormal braking torque. When it is larger, the braking pressure is reduced by operating the solenoid valve to recover the hydraulic pressure of the wheel cylinder 4 to the reservoir side (see FIG. 4).

이와 같이, 제동압력을 조절할 수 있게 됨으로써 마찰재의 마찰에 의해 발생되는 제동토크의 크기도 조절할 수 있게 되는데, 도 4의 (a)와 (b)에 나타난 바와 같이, 브레이크페달을 밟아 마찰재가 완전 밀착되어 소정크기 이상의 제동토크가 발생하기 시작한뒤 마찰조건에 따라 실차제동토크가 이상제동토크보다 작아지기 시작하면 제어유니트(7)는 모듈레이터(5)의 펌프를 작동시켜 제동압력을 증가시킴으로써 실차제동토크의 증가를 유도하고, 이에 의해 실차제동토크가 이상제동토크 이상으로 증가되면 제어유니트(7)는 상기 솔레노이드밸브를 제어하여 제동압력을 감압함으로써 실차제동토크의 감소를 유도한다.As such, by adjusting the braking pressure, the size of the braking torque generated by the friction of the friction material can also be adjusted. As shown in FIGS. 4A and 4B, the friction material is completely in contact with the brake pedal. When the brake torque of more than the predetermined size starts to occur, and the actual brake torque starts to become smaller than the abnormal brake torque according to the friction condition, the control unit 7 operates the pump of the modulator 5 to increase the brake pressure so as to increase the brake pressure. When the actual vehicle braking torque is increased above the abnormal braking torque, the control unit 7 controls the solenoid valve to reduce the braking pressure to induce a reduction in the actual vehicle braking torque.

이러한 과정이 제동중 지속적으로 반복됨으로써 실차제동토크는 증가와 감소를 반복하면서 이상제동토크에 근접한 수준의 값을 유지하게 된다.As this process is continuously repeated during braking, the actual vehicle braking torque is increased and decreased while maintaining a value close to the abnormal braking torque.

따라서, 제동력이 이상제동토크에 따른 설계제동력과 거의 같은 수준으로 발생되므로 마찰재의 마찰조건 변화로 인한 제동력 감소현상이 발생되지 않으며, 이에 따라 제동거리의 증가현상도 방지된다.Therefore, since the braking force is generated at about the same level as the design braking force due to the abnormal braking torque, the braking force decrease due to the change of the friction condition of the friction material does not occur, and thus the increase of the braking distance is also prevented.

또한, 제동중 제동토크의 변화량이 크게 발생하지 않게 되므로 밀리는 느낌, 무른 느낌 등의 제동감 저하현상을 해소할 수 있게 된다.In addition, since the amount of change in the braking torque during braking is not largely generated, it is possible to solve the phenomenon of deterioration of braking feeling such as pushing feeling or soft feeling.

이상 설명한 바와 같이 본 발명에 따르면, 제동시 마찰재의 마찰조건 변화에 따른 제동토크변화로 제동력과 제동감이 저하되는 현상을 해소할 수 있게 되는 효과가 있다.As described above, according to the present invention, the braking force and the feeling of braking are reduced by changing the braking torque according to the change of the friction condition of the friction material during braking.

또한, 본 발명에 따르면 제동토크가 마찰재의 마찰계수에 크게 영향을 받지 않게 되므로 브레이크 개발시 마찰재의 마찰계수에 크게 구애받지 않고 보다 용이하게 개발할 수 있게 되는 장점도 있다.In addition, according to the present invention, since the braking torque is not significantly affected by the friction coefficient of the friction material, there is an advantage that the brake torque can be more easily developed without being significantly affected by the friction coefficient of the friction material.

Claims (2)

브레이크페달(1)과, 부스터(2)와, 마스터실린더(3)와, 휠실린더(4)를 갖추어 이루어진 기본 제동라인에 휠스피드센서(6)로부터 바퀴의 회전상태에 관한 정보를 인가받아 제어유니트(7)가 모듈레이터(5)를 제어하여 제동압력을 조절함으로써 바퀴가 잠기는 것을 방지하는 ABS가 적용된 자동차의 제동장치에 있어서,The brake pedal 1, the booster 2, the master cylinder 3, and the wheel cylinder 4 are provided with the information about the rotational state of the wheel from the wheel speed sensor 6 to the basic braking line. In the braking device of an automobile to which the unit 7 controls the modulator 5 to adjust the braking pressure to prevent the wheels from locking, 상기 바퀴의 제동토크를 측정하는 토크측정센서(8)가 구비되어, 제어유니트(7)는 이 토크측정센서(8)로부터 실차제동토크값을 인가받아 실차제동토크와 이상제동토크가 일치하지 않을 경우 모듈레이터(5)를 제어하여 제동압력을 조절함으로써 실차제동토크가 이상제동토크에 근접하도록 제동토크를 조절하도록 된 것을 특징으로 하는 자동차의 제동토크 조절장치.A torque measuring sensor 8 for measuring the braking torque of the wheel is provided, and the control unit 7 receives the actual vehicle braking torque value from the torque measuring sensor 8 so that the actual vehicle braking torque and the abnormal braking torque do not coincide. And adjusting the braking pressure by controlling the modulator 5 to adjust the braking torque so that the actual vehicle braking torque approaches the abnormal braking torque. 제 1항에 있어서, 상기 제어유니트(7)는 실차제동토크가 이상제동토크보다 작을때는 상기 모듈레이터(5)의 펌프를 작동시켜 휠실린더(4)로 유압을 공급함으로써 제동압력이 증압되도록 하고, 실차제동토크가 이상제동토크보다 클때는 상기 모듀레이터(5)의 솔레노이드밸브를 조작하여 휠실린더(4)의 유압을 리저브측으로 회수함으로써 제동압력을 감압시키도록 된 것을 특징으로 하는 자동차의 제동토크 조절장치.2. The control unit (7) according to claim 1, wherein the control unit (7) operates the pump of the modulator (5) to supply hydraulic pressure to the wheel cylinder (4) when the actual vehicle braking torque is less than the abnormal braking torque, thereby increasing the braking pressure. When the actual vehicle braking torque is greater than the abnormal braking torque, the braking torque of the vehicle is reduced by operating the solenoid valve of the modulator 5 to recover the hydraulic pressure of the wheel cylinder 4 to the reservoir side. Device.
KR1020010064631A 2001-10-19 2001-10-19 a brake torque control system of vehicles KR20030032667A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130045084A (en) * 2011-10-25 2013-05-03 현대모비스 주식회사 Apparatus for controlling pressure of smart booster brake system and method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04121265A (en) * 1990-09-10 1992-04-22 Akebono Brake Res & Dev Center Ltd Brake fading warning device
JPH09240460A (en) * 1996-03-12 1997-09-16 Nissan Motor Co Ltd Brake control device for vehicle
KR19990074226A (en) * 1998-03-09 1999-10-05 김효근 Automotive non-locking braking system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04121265A (en) * 1990-09-10 1992-04-22 Akebono Brake Res & Dev Center Ltd Brake fading warning device
JPH09240460A (en) * 1996-03-12 1997-09-16 Nissan Motor Co Ltd Brake control device for vehicle
KR19990074226A (en) * 1998-03-09 1999-10-05 김효근 Automotive non-locking braking system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130045084A (en) * 2011-10-25 2013-05-03 현대모비스 주식회사 Apparatus for controlling pressure of smart booster brake system and method thereof

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