KR20070062275A - Pressure control method of automotive solenoid valve - Google Patents
Pressure control method of automotive solenoid valve Download PDFInfo
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- KR20070062275A KR20070062275A KR1020050122086A KR20050122086A KR20070062275A KR 20070062275 A KR20070062275 A KR 20070062275A KR 1020050122086 A KR1020050122086 A KR 1020050122086A KR 20050122086 A KR20050122086 A KR 20050122086A KR 20070062275 A KR20070062275 A KR 20070062275A
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/748—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on electro-magnetic brakes
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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
- B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
- B60T8/36—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 having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
- B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
- B60T8/363—Electromagnetic valves specially adapted for anti-lock brake and traction control systems in hydraulic systems
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- 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
- B60Y2400/306—Pressure sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
도 1은 일반적인 자동차의 유압 제동 장치의 일예를 도시한 블록도이다.1 is a block diagram showing an example of a hydraulic braking device of a typical vehicle.
도 2는 도 1에 따른 솔레노이드 밸브의 압력 제어 방법을 도시한 제어흐름도이다.2 is a control flowchart illustrating a pressure control method of the solenoid valve according to FIG. 1.
도 3은 일반적인 솔레노이드 밸브의 개폐 시 동작압력 및 최소동작전류의 관계를 나타낸 그래프이다.3 is a graph showing a relationship between an operating pressure and a minimum operating current when opening and closing a general solenoid valve.
도 4는 본 발명에 따른 자동차용 솔레노이드 밸브의 압력 제어 방법을 도시한 제어 흐름도이다.4 is a control flowchart illustrating a pressure control method of a solenoid valve for a vehicle according to the present invention.
본 발명은 자동차용 솔레노이드 밸브의 압력 제어 방법에 관한 것으로서, 보다 상세하게는 차량의 솔레노이드 밸브를 제어할 때 보다 정밀하게 제어할 수 있도록 한 자동차용 솔레노이드 밸브의 압력 제어 방법에 관한 것이다.The present invention relates to a pressure control method for a solenoid valve for a vehicle, and more particularly, to a pressure control method for a solenoid valve for a vehicle to enable more precise control when controlling a solenoid valve of a vehicle.
일반적으로, 자동차의 브레이크 유압 제동 장치에는 제동 시 휠의 슬립을 방지하기 위한 ABS(Anti-lock Brake System)와, TCS(Traction Control System)등이 장착되어 자동차의 브레이크 장치 성능을 향상시키게 된다.In general, the brake hydraulic braking device of the vehicle is equipped with an anti-lock brake system (ABS) and a TCS (Traction Control System) to prevent the slip of the wheel during braking to improve the brake device performance of the vehicle.
상기한 ABS, TCS 등의 장치는 마스터실린더의 압력, 노면상태, 차속 등에 따라 휠 실린더의 압력을 조절하면서 슬립 방지, 차량 자세 제어 등을 하게 되는 것이다.The device such as ABS, TCS, etc. is to prevent slip, vehicle attitude control, etc. while adjusting the pressure of the wheel cylinder according to the pressure of the master cylinder, road surface conditions, vehicle speed and the like.
여기서, 상기한 유압 제동 장치는 도 1에 도시된 바와 같이 압력 센서(PS)가 장착됨과 아울러 브레이크 페달(BP)에 연결된 마스터실린더(MS)와, 전후륜에 장착되고 압력 센서(PS)가 설치된 휠 실린더(WS)와, 상기한 휠 실린더(WS)에 공급되는 유압을 제어하도록 설치된 다수의 솔레노이드 밸브(SV)로 구성되는 바, 상기한 다수의 솔레노이드 밸브(SV)는 PID(Proportional plus Integrated plus Derivative; 비례 미분 적분 제어)제어 및 PWM(Pulse Width Modulation) 제어된다.Here, the hydraulic braking device is equipped with a pressure sensor (PS), as shown in Figure 1, the master cylinder (MS) connected to the brake pedal (BP), and mounted on the front and rear wheels and the pressure sensor (PS) is installed Bar cylinder WS and a plurality of solenoid valves (SV) installed to control the hydraulic pressure supplied to the wheel cylinder (WS), the plurality of solenoid valves (SV) is PID (Proportional plus Integrated plus Derivative (proportional derivative integration) control and PWM (Pulse Width Modulation) control.
즉, 비례 미분 적분 제어에 의해 솔레노이드 밸브(SV)의 제어압력을 설정하고 이를 PWM 제어에 의해 듀티(Duty) 제어하게 되는 것이다.That is, the control pressure of the solenoid valve SV is set by proportional differential integration control, and the duty is controlled by PWM control.
상기한 솔레노이드 밸브(SV)의 제어를 보다 자세하게 설명하면 도 2에 도시된 바와 같이 ECU에서 각 차륜의 목표압력(Ptarget)이 설정되면 각 휠 실린더(WS)의 압력 센서(PS)를 통해 휠 실린더(WS)의 압력(Pwheel)을 검출한다.Referring to the control of the solenoid valve SV in detail, as shown in FIG. 2, when the target pressure P target of each wheel is set in the ECU, the wheel is controlled by the pressure sensor PS of each wheel cylinder WS. The pressure P wheel of the cylinder WS is detected.
휠 실린더(WS) 압력이 검출되면 상기한 압력을 각 차륜의 목표압력과 비교하여 제어오차값(Perror)을 계산하게 되고, 상기한 제어오차값에 따라 PID 제어를 통해 제어압력을 결정한 후, 상기한 제어압력값에 따라 솔레노이드 밸브(SV)를 일반적인 PWM 제어에 의해 제어하게 되는 것이다.When the pressure of the wheel cylinder WS is detected, the control error value (P error ) is calculated by comparing the pressure with the target pressure of each wheel, and after determining the control pressure through PID control according to the control error value, The solenoid valve SV is controlled by general PWM control according to the control pressure value.
즉, 상기한 제어압력값에 따라 솔레노이드 밸브(SV)의 코일에 흐르는 전류치(I)를 디지털 제어인 PWM 제어하게 되는 것이다.In other words, PWM control as a digital control is performed on the current value I flowing through the coil of the solenoid valve SV in accordance with the control pressure value described above.
그러나, 상기한 바와 같이 솔레노이드 밸브의 제어값을 결정하기 위해, 목표압력과 휠실린더의 압력값의 제어오차만으로 제어압력을 결정하게 되면, 제어압력에 따른 솔레노이드 밸브의 동작을 현재 솔레노이드 밸브의 상황에 맞춰 제어하지 못하기 때문에, 솔레노이드 밸브의 동작점 위치에 따른 제어압력의 오차에 의해 솔레노이드 밸브의 제어 정밀도가 낮아지는 문제점이 있다.However, in order to determine the control value of the solenoid valve as described above, when the control pressure is determined only by the control error of the target pressure and the pressure value of the wheel cylinder, the operation of the solenoid valve according to the control pressure depends on the current solenoid valve situation. Since it is not possible to control accordingly, there is a problem in that the control accuracy of the solenoid valve is lowered due to an error in the control pressure depending on the position of the solenoid valve.
즉, 솔레노이드 밸브의 작동점에 따른 압력과 전류를 나타낸 도 3에 도시된 바와 같이 목표 압력과 휠실린더의 압력만을 비교하여 동작압력(??P)과 제어전류(ItargetFF)를 설정하고 이에 따라 제어하게 되면, 현재 솔레노이드 밸브의 상태가 동작압력(??P1)이고 이 상태에서 솔레노이드 밸브를 닫거나 열기 위한 최소 전류가 제어전류(Itarget FF1)일 경우에는, 솔레노이드 밸브의 제어량이 정확하지 않게 되고 이로 인해 정밀한 제어가 이루어지지 않게 되는 것이다.That is, as shown in Figure 3 showing the pressure and the current corresponding to the solenoid valve operation that compares only the target pressure and the pressure of the wheel cylinder by setting the operating pressure (P ??) and the control current (I target FF) and thereby When controlling accordingly, if the current solenoid valve state is the operating pressure (?? P1) and the minimum current for closing or opening the solenoid valve is the control current (I target FF1), the control amount of the solenoid valve is not accurate. This prevents precise control.
또한, 솔레노이드 밸브를 PWM 제어할 경우 솔레노이드 밸브의 코일 온도에 따른 코일의 열저항 변화에 따라 같은 듀티값에서도 전류값이 상이하게 됨으로써, 정확한 전류제어값으로 솔레노이드 밸브를 제어하지 못하는 문제점이 있다.In addition, when the PWM control the solenoid valve, the current value is different even at the same duty value according to the change in the thermal resistance of the coil according to the coil temperature of the solenoid valve, there is a problem that can not control the solenoid valve with the correct current control value.
본 발명의 목적은 상기한 문제점을 해결하기 위한 것으로서, 목표압력과 휠실린더의 압력에서 제어압력을 계산할 때 현재 솔레노이드 밸브의 압력값을 보상함 과 아울러 온도 상승에 따른 전류치의 보상값을 설정함으로써, 정밀한 솔레노이드 밸브 제어가 가능한 자동차용 솔레노이드 밸브의 압력 제어 방법를 제공함에 있다.SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems, by compensating the pressure value of the current solenoid valve and setting the compensation value of the current value according to the temperature rise when calculating the control pressure from the target pressure and the pressure of the wheel cylinder, The present invention provides a pressure control method of a solenoid valve for automobiles capable of precise solenoid valve control.
상기한 목적을 실현하기 위하여 본 발명은, 목표압력이 설정되면 각 휠 실린더의 압력 센서를 통해 휠 실린더의 압력을 검출하는 단계와, 상기한 각 휠 실린더의 압력이 검출되면 이를 상기한 목표압력과 비교한 후 그 오차값인 제어압력을 산출하는 단계와, 상기한 목표압력과 마스터실린더의 압력을 비교하여 인렛 솔레노이드 밸브의 동작압력을 산출하는 단계와, 상기한 제어압력과 동작 압력을 산출하게 되면 동작압력에 대한 목표전류값과 제어압력에 대한 피드백제어전류값을 산출하는 단계와,In order to achieve the above object, the present invention provides a method for detecting a pressure of a wheel cylinder through a pressure sensor of each wheel cylinder when a target pressure is set, and detecting the pressure of the wheel cylinder when the target pressure is detected. And after calculating the control pressure which is the error value, comparing the target pressure with the pressure of the master cylinder, calculating the operating pressure of the inlet solenoid valve, and calculating the control pressure and the operating pressure. Calculating a target current value for the operating pressure and a feedback control current value for the control pressure;
상기한 목표전류값과 피드백제어전류값이 산출되면 상기한 두개의 전류값을 더하여 제어전류값을 산출하여 인렛 솔레노이드 밸브를 PID 제어 및 PWM 듀티제어하는 것을 특징으로 한다.When the target current value and the feedback control current value are calculated, the two current values are added to calculate the control current value, thereby controlling PID control and PWM duty control of the inlet solenoid valve.
도 4는 본 발명에 따른 자동차용 솔레노이드 밸브의 압력 제어 방법을 도시한 제어흐름도로서, 목표압력(Ptarget)이 설정되면 각 휠 실린더(WS)의 압력 센서(PS)를 통해 휠 실린더의 압력(Pwheel)을 검출하게 된다.4 is a control flowchart illustrating a pressure control method of a solenoid valve for a vehicle according to the present invention. When the target pressure P target is set, the pressure of the wheel cylinder through the pressure sensor PS of each wheel cylinder WS is determined. P wheel ) will be detected.
각 휠 실린더(WS)의 압력(Pwheel)이 검출되면 이를 상기한 목표압력(Ptarget)과 비교한 후 그 오차값인 제어압력(Perror)를 산출하게 된다.When the pressure P wheel of each wheel cylinder WS is detected, the pressure P wheel is compared with the target pressure P target and the control pressure P error , which is an error value thereof, is calculated.
또한, 목표압력(Ptarget)과 마스터실린더의 압력(Pm/c)을 비교하여 동작압력(??P)을 산출하게 되는 바, 상기한 동작압력(??P)은 현재 솔레노이드 밸브(SV)의 동작점에 따른 솔레노이드 밸브의 개폐 압력이 되는 것이다.In addition, the operating pressure (?? P) is calculated by comparing the target pressure (P target ) with the pressure (P m / c ) of the master cylinder, and the operating pressure (?? P) is the current solenoid valve (SV). It is the opening and closing pressure of the solenoid valve according to the operating point of).
상기한 마스터실린더의 압력과 목표압력(Ptarget)(또는 휠실린더 압력(Pwheel))의 차이값은 결국 현재 솔레노이드 밸브의 작동압력으로 추정할 수 있게 된다.The difference between the pressure of the master cylinder and the target pressure P target (or wheel cylinder pressure P wheel ) can be estimated as the operating pressure of the current solenoid valve.
물론, 상기한 도 4의 제어흐름도는 인렛(Inlet) 솔레노이드 밸브(SV)의 경우를 예로 든 것이고, 아웃렛(Outlet) 솔레노이브 밸브의 경우에는 상기한 현재 솔레노이드 밸브(SV)의 동작 압력을, 마스터실린더의 압력과 대기압의 차이값으로 추정할 수 있게 된다.Of course, the control flow diagram of FIG. 4 is an example of the inlet solenoid valve SV, and in the case of the outlet solenoid valve, the operating pressure of the current solenoid valve SV, The difference between the master cylinder pressure and atmospheric pressure can be estimated.
상기한 바와 같이 제어압력과 동작 압력을 산출하게 되면 동작압력에 대한 목표전류값(Itarget_FF)과 제어압력에 대한 피드백제어 전류값(Itarget_FB)을 도 3의 그래프에 의해 계산하게 된다.When the control pressure and the operating pressure are calculated as described above, the target current value I target_FF for the operating pressure and the feedback control current value I target_FB for the control pressure are calculated using the graph of FIG. 3.
즉, 제어압력과 동작압력에 따른 솔레노이드 밸브의 최소 개폐 전류치는 상기한 도 3의 그래프에 의해 추정 가능한 것으로서, 상기한 그래프에 압력값들을 대입하여 전류값을 산출하게 되는 것이다.That is, the minimum opening / closing current value of the solenoid valve according to the control pressure and the operating pressure can be estimated by the graph of FIG. 3, and the current value is calculated by substituting the pressure values in the graph.
목표전류(Itarget_FF)와 피드백제어 전류값(Itarget_FB)이 계산되면, 상기한 두개의 전류값을 더하여 목표제어전류값(Itarget)을 산출한다. 또한, 상기한 솔레노이드 밸브가 작동하게 되면 솔레노이드 밸브의 코일의 열이 상승하게 되고, 이로 인해 열저항이 증가하여 전류치가 낮아지게 되지만, 상기한 제어전류값에 의해 PWM 제어를 할 때 전류센서(IS)에 의해 PWM 제어값을 피드백시키게 된다.When the target current I target_FF and the feedback control current value I target_FB are calculated, the two current values are added to calculate the target control current value I target . In addition, when the solenoid valve is operated, the heat of the coil of the solenoid valve is increased, thereby increasing the thermal resistance and lowering the current value. However, the current sensor (IS) is controlled when the PWM is controlled by the control current value. By feeding back the PWM control value.
PWM 제어값이 피드백되면 이를 목표제어 전류값(Itarget)과 비교하여 그 전류오차값(Ierror)만큼 전류치를 가감시켜 현재 코일의 온도에 맞춰 정확한 솔레노이드 밸브 제어 전류값(I)을 산정할 수 있게 된다.When the PWM control value is fed back, it is compared with the target control current value (I target ), and the current value is added or subtracted by the current error value (I error ) to calculate the correct solenoid valve control current value (I) according to the current coil temperature. Will be.
상기한 바와 같이 현재 솔레노이드 밸브의 작동점에서, 목표압력과 휠실린더 압력의 오차값에 따른 제어만을 행하고, 솔레노이드 코일의 열저항에 따른 피드백 제어를 하게 되면, 솔레노이드 밸브의 제어가 매우 정밀하게 된다.As described above, the control of the solenoid valve is very precise when the control point according to the error value of the target pressure and the wheel cylinder pressure is performed only at the operating point of the current solenoid valve and the feedback control is performed according to the thermal resistance of the solenoid coil.
본 발명은 솔레노이드 밸브의 현 작동점에서 목표압력과 휠실린더 압력의 오차값에 따른 목표전류값과 피드백전류값을 산출하고, 이를 더해서 제어전류값을 산출하여 PID, PWM 듀티 제어를 함으로써, 솔레노이드 밸브의 제어 정밀도를 향상시킬 수 있는 잇점이 있는 것이다.The present invention calculates the target current value and the feedback current value according to the error value between the target pressure and the wheel cylinder pressure at the current operating point of the solenoid valve, and by adding the control current value to control the PID, PWM duty, solenoid valve This has the advantage of improving control accuracy.
Claims (3)
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| KR1020050122086A KR20070062275A (en) | 2005-12-12 | 2005-12-12 | Pressure control method of automotive solenoid valve |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100872319B1 (en) * | 2007-07-19 | 2008-12-08 | 주식회사 만도 | Oil pressure valve driving circuit of anti look break system using pzt |
| KR101478066B1 (en) * | 2013-04-15 | 2015-01-06 | 주식회사 만도 | Apparatus of controlling solenoid valve and control method of thereof |
| KR20160078579A (en) * | 2014-12-24 | 2016-07-05 | 주식회사 포스코 | Apparatus and method for controlling brush roll for cleaning casting roll in twin roll strip casting |
| CN114194158A (en) * | 2021-12-16 | 2022-03-18 | 吉林大学 | Active brake wheel cylinder pressure control method based on integrated electro-hydraulic brake system |
-
2005
- 2005-12-12 KR KR1020050122086A patent/KR20070062275A/en not_active Application Discontinuation
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100872319B1 (en) * | 2007-07-19 | 2008-12-08 | 주식회사 만도 | Oil pressure valve driving circuit of anti look break system using pzt |
| KR101478066B1 (en) * | 2013-04-15 | 2015-01-06 | 주식회사 만도 | Apparatus of controlling solenoid valve and control method of thereof |
| US8977468B2 (en) | 2013-04-15 | 2015-03-10 | Mando Corporation | Solenoid valve control apparatus and method |
| KR20160078579A (en) * | 2014-12-24 | 2016-07-05 | 주식회사 포스코 | Apparatus and method for controlling brush roll for cleaning casting roll in twin roll strip casting |
| CN114194158A (en) * | 2021-12-16 | 2022-03-18 | 吉林大学 | Active brake wheel cylinder pressure control method based on integrated electro-hydraulic brake system |
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