KR20070104982A - Control apparatus for valve in electro-hydraulic brake system - Google Patents

Control apparatus for valve in electro-hydraulic brake system Download PDF

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Publication number
KR20070104982A
KR20070104982A KR1020060036665A KR20060036665A KR20070104982A KR 20070104982 A KR20070104982 A KR 20070104982A KR 1020060036665 A KR1020060036665 A KR 1020060036665A KR 20060036665 A KR20060036665 A KR 20060036665A KR 20070104982 A KR20070104982 A KR 20070104982A
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South Korea
Prior art keywords
valve
pressure
control
subtractor
pressure difference
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KR1020060036665A
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Korean (ko)
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KR101105152B1 (en
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박만복
윤팔주
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주식회사 만도
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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
    • 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
    • B60T13/12—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 the fluid being liquid
    • B60T13/14—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 the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/142—Systems with master cylinder
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)

Abstract

A valve control device in an electro-hydraulic brake system is provided to output a final control gain to control the valve by adding a control gain obtained by a first subtractor and a feed forward operator with a control gain obtained by a second subtractor and feedback operator comprised in a valve control unit, thereby allowing precise control of the brake pressure of wheel cylinders. A valve control device in an electro-hydraulic brake system comprises a high pressurized accumulator and a hydraulic circuit connecting each wheel cylinders, a valve(7) installed to the hydraulic circuit and regulating the brake pressure of the wheel cylinders, and a valve controlling unit(30) controlling opening and closing of the valve by taking into account the pressure difference between the accumulator and the wheel cylinders. The valve control unit includes a first subtractor(31) and a feed forward operator(32) for controlling the feed forward, a second subtractor(33) and a feedback operator(34) for controlling the feedback, and an adder(35) outputting the final control gain by adding the control gain obtained by feed forward operator and the control gain obtained by the feedback operator. The first subtractor supplies the pressure difference to the feed forward operator, and the feed forward operator outputs the control gain corresponding to the pressure difference to the adder. The second subtractor provides the pressure difference of the target pressure and the wheel cylinder pressure to the feedback operator, and the feedback operator outputs the error compensated control gain to the adder.

Description

전자식 유압 브레이크 장치의 밸브 제어장치{Control Apparatus For Valve In Electro-Hydraulic Brake System}Control Apparatus For Electro-Hydraulic Brake System

도 1은 전자식 유압 브레이크 장치의 유압 회로도이다.1 is a hydraulic circuit diagram of an electronic hydraulic brake device.

도 2는 모듈레이터 블록에 설치된 입구밸브와 출구밸브의 구성을 보인 단면도이다.Figure 2 is a cross-sectional view showing the configuration of the inlet valve and the outlet valve installed in the modulator block.

도 3은 입구밸브에서 작용하는 힘의 관계를 설명하기 위한 도면이다. 3 is a view for explaining the relationship of the force acting on the inlet valve.

도 4는 본 발명에 따른 입구밸브에 있어 어큐뮬레이터의 압력과 휠 실린더의 압력 및 밸브구동신호의 듀티를 시험한 경우의 그래프이다.4 is a graph illustrating a case where the pressure of the accumulator and the pressure of the wheel cylinder and the duty of the valve driving signal are tested in the inlet valve according to the present invention.

도 5는 도 4에 따른 어큐뮬레이터의 압력과 휠 실린더의 압력차이와 밸브구동신호의 듀티가 1차 함수로 나타나는 것을 보인 그래프이다.FIG. 5 is a graph showing that the pressure of the accumulator according to FIG. 4 and the pressure difference between the wheel cylinder and the duty of the valve driving signal are expressed as a linear function.

도 6은 본 발명에 따른 밸브 제어기의 구성을 나타낸 블록도이다.6 is a block diagram showing the configuration of a valve controller according to the present invention.

* 도면의 주요부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

1 : 브레이크 페달 2 : 마스터실린더1: Brake Pedal 2: Master Cylinder

2a : 레저버 3 : 휠 실린더2a: reservoir 3: wheel cylinder

4, 5 : 컷 오프 밸브 6 : 어큐뮬레이터4, 5: cutoff valve 6: accumulator

7 : 입구밸브 8 : 출구밸브7: inlet valve 8: outlet valve

본 발명은 전자식 유압 브레이크 장치의 밸브 제어장치에 관한 것으로, 더욱 상세하게는 유압 라인에 설치한 밸브의 동작을 제어하여 휠 실린더의 제동 압력을 정밀하게 제어할 수 있도록 한 전자식 유압 브레이크 장치의 밸브 제어장치에 관한 것이다.The present invention relates to a valve control device for an electronic hydraulic brake device, and more particularly, to control the operation of a valve installed in a hydraulic line, and to control the braking pressure of a wheel cylinder precisely. Relates to a device.

운전자의 페달압력을 센서를 통해 감지한 후 유압식 모듈레이터를 이용하여 각 휠의 제동압력을 조절하는 전자식 유압 브레이크 장치(EHB; Electro-Hydraulic Brake System)가 있다.There is an Electro-Hydraulic Brake System (EHB) that senses the driver's pedal pressure through a sensor and uses the hydraulic modulator to control the braking pressure of each wheel.

도 1에 도시된 바와 같이, 전자식 유압 브레이크 장치는 운전자가 원하는 제동압력을 알 수 있도록 페달의 행정거리를 감지하는 센서(18)와 운전자가 일반 유압식 브레이크 장치에서와 같은 페달압력을 느낄 수 있도록 하는 페달 트래블 시뮬레이터(17)(pedal travel simulator)를 구비하고 있다.As shown in FIG. 1, the electronic hydraulic brake device is configured to detect the stroke of the pedal 18 so that the driver knows the desired braking pressure, and to allow the driver to feel the pedal pressure as in the general hydraulic brake device. A pedal travel simulator 17 is provided.

운전자가 브레이크 페달(1)을 밟으면 마스터실린더(2)와 휠 실린더(3)의 유압라인을 분리하기 위하여 마스터실린더(2)와 휠 실린더(3) 사이에 설치한 컷 오프 밸브(4)(5)를 닫는다(close). 이때 센서(18)를 통해 감지된 페달의 행정거리에 기초하여 운전자가 원하는 제동 압력을 산출한다. 이 제동압력에 상응하여 펌프(11)의 작동과 각 휠의 입구밸브(7) 및 출구밸브(8)를 제어함으로써 어큐뮬레이터(6)에 미리 충전되어 있는 압력이 각 휠 실린더(3)에 공급되도록 하여 원하는 목표압력을 얻을 수 있다. 여기서 각 휠 실린더(3)의 압력을 독립적으로 제어할 필요가 있는 경우에는 밸런스밸브(Balance Valve)(9)(10)를 선택적으로 개폐하여 좌/우 바퀴 사이의 압력을 조절하기도 한다.When the driver presses the brake pedal (1), the cut-off valve (4) (5) installed between the master cylinder (2) and the wheel cylinder (3) in order to separate the hydraulic line between the master cylinder (2) and the wheel cylinder (3). Close). At this time, the braking pressure desired by the driver is calculated based on the stroke distance of the pedal detected by the sensor 18. By operating the pump 11 and controlling the inlet valve 7 and the outlet valve 8 of each wheel according to this braking pressure, the pressure pre-charged to the accumulator 6 is supplied to each wheel cylinder 3. To achieve the desired target pressure. In this case, when it is necessary to control the pressure of each wheel cylinder 3 independently, the balance valve (Balance Valve) (9) (10) may be selectively opened and closed to adjust the pressure between the left and right wheels.

이와 같은 종래의 전자식 유압 브레이크 장치에서는 제동 시 휠 실린더의 가해지는 압력이 운전자가 원하는 제동 압력에 도달할 수 있도록 제어부에 의하여 입구밸브와 출구밸브의 개폐 동작을 제어하도록 되어 있다.In the conventional electronic hydraulic brake device, the opening and closing operations of the inlet valve and the outlet valve are controlled by the controller so that the pressure applied to the wheel cylinder during braking reaches a desired braking pressure.

그러나 입구밸브와 출구밸브에 대하여 단순히 개방 또는 폐쇄시키는 동작에 의존하여서는 휠 실린더의 제동 압력을 정밀하게 제어하기 어렵다. 예를 들어 휠 실린더의 압력이 45 bar 이고 운전자가 요구하는 목표 압력이 50 bar 인 경우, 먼저 입구밸브를 개방하여 휠 실린더에 가해지는 제동 압력이 증가시키고 그런 다음 목표 압력에 도달하면 입구밸브를 폐쇄하도록 하고 있다. 그런데 휠 실린더의 압력 증가가 급격하게 발생하는 경우에는 미처 입구밸브를 폐쇄하기 전에 휠 실린더의 압력이 목표 압력을 넘어서게 되고, 이럴 경우 휠 실린더의 압력을 줄이기 위해 출구밸브를 열어야 하기 때문에 휠 실린더의 제동 압력을 제어하는 동작이 번거롭고 제어 장치의 응답성이 저하되는 문제가 있었다.However, it is difficult to precisely control the braking pressure of the wheel cylinder by relying on simply opening or closing the inlet and outlet valves. For example, if the pressure on the wheel cylinder is 45 bar and the target pressure required by the driver is 50 bar, first open the inlet valve to increase the braking pressure on the wheel cylinder and then close the inlet valve when the target pressure is reached. I'm trying to. However, if the pressure increase of the wheel cylinder occurs suddenly, the pressure of the wheel cylinder exceeds the target pressure before closing the inlet valve. In this case, the wheel cylinder is braked because the outlet valve must be opened to reduce the pressure of the wheel cylinder. There is a problem that the operation of controlling the pressure is cumbersome and the responsiveness of the control device is lowered.

본 발명은 상기와 같은 문제를 고려하여 창안한 것으로, 본 발명의 목적은 제동 시 유압 라인의 밸브에 대한 제어 방식을 개선하여 휠 실린더의 제동 압력을 정밀하게 조절할 수 있도록 한 전자식 유압 브레이크 장치의 밸브 제어장치를 제공함에 있다.The present invention was conceived in consideration of the above problems, and an object of the present invention is to improve the control method for the valve of the hydraulic line during braking to precisely control the braking pressure of the wheel cylinder, so that the valve of the electronic hydraulic brake device In providing a control device.

상기 목적을 달성하기 위한 본 발명은, 운전자의 페달압력을 감지한 후 각 휠의 제동압력을 제어하기 위한 전자식 유압 브레이크 제어장치에 있어서, 고압측 어큐뮬레이터와 각 휠 실린더를 연결하는 유압 회로; 상기 유압 회로에 설치되어 상기 휠 실린더의 제동압력을 조절하기 위한 밸브; 및 상기 어큐뮬레이터의 압력과 상기 휠 실린더의 압력차에 따른 상기 밸브의 제어 특성을 고려하여 상기 밸브의 개폐 동작을 제어하는 상기 밸브 제어기를 포함하는 것을 특징으로 한다.In order to achieve the above object, the present invention provides an electronic hydraulic brake control apparatus for controlling a braking pressure of each wheel after sensing a pedal pressure of a driver, comprising: a hydraulic circuit connecting a high pressure side accumulator and each wheel cylinder; A valve installed in the hydraulic circuit to adjust a braking pressure of the wheel cylinder; And the valve controller controlling the opening / closing operation of the valve in consideration of the control characteristic of the valve according to the pressure of the accumulator and the pressure difference of the wheel cylinder.

상기 밸브의 제어 특성은 상기 압력차와 상기 밸브 구동신호의 듀티가 1차 함수의 관계를 가진다.In the control characteristic of the valve, the pressure difference and the duty of the valve driving signal have a linear function relationship.

상기 밸브제어기는 상기 압력차가 클수록 상기 밸브 구동 신호의 듀티를 작게 설정하여 상기 밸브의 동작을 제어한다.The valve controller controls the operation of the valve by setting a smaller duty of the valve driving signal as the pressure difference is larger.

상기 밸브제어기는 피드 포워드 제어를 위한 제1감산기 및 피드 포워드 연산기; 피드백 제어를 위한 제2감산기 및 피드백 연산기; 그리고 피드 포워드 연산기에 의해 연산된 제어 게인과 피드 백 연산기에 의해 연산된 제어 게인를 더하여 최종적으로 밸브 제어에 적용하기 위한 제어 게인을 출력하는 가산기를 포함한다.The valve controller may include a first subtractor and a feed forward calculator for feed forward control; A second subtractor and a feedback calculator for feedback control; And an adder that adds the control gain calculated by the feed forward operator and the control gain calculated by the feedback operator to output the control gain for finally applying to the valve control.

상기 제1감산기는 상기 압력차를 상기 피드포워드 연산기에 제공하고, 상기 피드포워드 연산기는 압력차에 상응하는 제어 게인을 상기 가산기에 출력하며, 상기 제2감산기는 목표 압력과 휠 실린더의 압력의 압력차를 피드백 연산기에 제공하고, 상기 피드백 연산기는 상기 제2감산기로부터 입력받은 압력차를 에러 보정한 보정 제어 게인 상기 가산기에 출력한다.The first subtractor provides the pressure difference to the feedforward calculator, the feedforward operator outputs a control gain corresponding to the pressure difference to the adder, and the second subtractor is a pressure of a target pressure and a pressure of the wheel cylinder. The difference is provided to a feedback calculator, and the feedback calculator outputs the pressure difference received from the second subtracter to the adder, which is an error-corrected correction control gain.

이하, 본 발명에 따른 바람직한 실시 예를 첨부 도면에 따라 상세히 설명한 다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 전자식 유압 브레이크 장치는 도 1의 유압회로를 적용하며, 일반적인 유압회로의 작용에 대한 설명은 잘 알려진 내용이므로 간략하게 하고, 본 발명의 특징적 구성에 중점을 두어 설명하기로 한다.Electronic hydraulic brake device according to the present invention applies the hydraulic circuit of Figure 1, the description of the operation of the general hydraulic circuit is well known because it will be briefly described, focusing on the characteristic configuration of the present invention.

도 2에 도시한 바와 같이, 모듈레이터 블록(20)에 설치한 입구밸브(7)와 출구밸브(8)를 통하여 휠 실린더(3)에 가해지는 제동 압력을 조절하는 구성은 종전과 같다. 여기서 전자식 유압 브레이크 장치에 있어서 입구밸브와 출구밸브로서 일반적으로 적용하는 노말 클로즈 솔레노이드 밸브(Normal Close Solenoid Valve)의 작동 구조를 살펴보기로 한다.As shown in FIG. 2, the configuration for adjusting the braking pressure applied to the wheel cylinder 3 through the inlet valve 7 and the outlet valve 8 provided in the modulator block 20 is the same as before. Here, the operation structure of a normal close solenoid valve generally applied as an inlet valve and an outlet valve in an electronic hydraulic brake device will be described.

도 3에 도시한 바와 같이, 어큐뮬레이터와 휠 실린더 사이에 위치하는 입구밸브(7)에서는 여자코일(7-1)에 의해 발생되어 플런저(7-2)를 진퇴시키기 위한 전자력(Fm; Electromagnetic Force)과, 복귀 스프링(7-3)에 의해 발생되는 힘으로서 플런저(7-2)를 매개로 하여 오리피스(7-5)를 개폐하기 위한 볼(7-4)을 누르는 스프링력(Fs)과, 그리고 어큐뮬레이터측 높은 압력(P1)과 휠실린더측 낮은 압력(P2)의 압력차(P1-P2)에 의한 유압력(Fp)이 존재한다. 또한 휠실린더와 마스터실린더의 레저버(오일탱크) 사이를 연결하는 복귀 라인에 위치하는 출구밸브(8)에 있어서도 전자력(Fm)과, 스프링력(Fs), 그리고 유압력(Fp)이 존재한다. 다만 휠실더측이 고압이 되고 레저버측이 저압이 되는 관계로 압력차에 의해 발생하는 유압력(Fp)이 작용하는 방향이 다르다.As shown in FIG. 3, in the inlet valve 7 located between the accumulator and the wheel cylinder, an electromagnetic force (Fm) generated by the excitation coil 7-1 to advance and retract the plunger 7-2 is shown. And a spring force (Fs) for pressing the ball (7-4) for opening and closing the orifice (7-5) via the plunger (7-2) as a force generated by the return spring (7-3), And hydraulic pressure Fp by the pressure difference P1-P2 of the accumulator side high pressure P1 and the wheel cylinder side low pressure P2 exists. Also in the outlet valve 8 located in the return line connecting the wheel cylinder and the reservoir (oil tank) of the master cylinder, the electromagnetic force (Fm), the spring force (Fs), and the hydraulic force (Fp) are present. . However, since the wheel cylinder side becomes high pressure and the reservoir side becomes low pressure, the direction in which the hydraulic force Fp generated by the pressure difference acts is different.

입구밸브 또는 출구밸브에 작용하는 힘 중에서 휠 실린더의 압력 조절을 위 한 제어 인자는 전자력(Fm)이 실질적인 역할을 한다. 왜냐하면, 여자코일(7-1)에 흐르는 전류를 제어하면 전자력(Fm)의 크기를 변화시킬 수 있어 플런저(7-2)의 이동으로 볼(7-4)과 오리피스(7-5)의 간격을 통해 유출되는 유압의 조절이 용이하기 때문이다.Among the forces acting on the inlet valve or the outlet valve, the control factor for regulating the pressure of the wheel cylinder plays a substantial role in the electromagnetic force (Fm). Because, by controlling the current flowing through the excitation coil 7-1, the magnitude of the electromagnetic force Fm can be changed, and the distance between the ball 7-4 and the orifice 7-5 is caused by the movement of the plunger 7-2. This is because it is easy to adjust the hydraulic pressure flowing through.

본 발명자는 전자력의 크기에 상응하는 밸브 구동신호의 듀티(duty)를 가변하면 밸브를 통해 출입하는 유압이 변화하는 점에 주목하고, 밸브 제어 특성을 파악하기 위한 시험을 하였다. The present inventors pay attention to the fact that when the duty of the valve driving signal corresponding to the magnitude of the electromagnetic force is changed, the oil pressure entering and exiting through the valve changes, and the test for grasping the valve control characteristics was performed.

도 4에서의 시험 조건은 어큐뮬레이터에 소정 압력(Gacc; 일례로 100 bar)를 채운 상태에서 소정 주기(200msec)마다 입구밸브(7)에 인가하는 밸브 구동신호(Gdt)의 듀티를 1%씩 증가시키면서 휠 실린더의 압력(Gw)이 변화하는 것을 확인하였다. 여기서 밸브 구동신호(Gdt)의 듀티 증가에 따라 휠 실린더의 압력(Gw)이 급격하게 증가하기 시작하는 시기(A1)(A2)부터는 정상 상태(steady state)까지 도달하도록 당시의 듀티를 소정 시간(1.4sec) 동안 유지하였다.The test condition in FIG. 4 increases the duty of the valve driving signal Gdt applied to the inlet valve 7 every 1% in a predetermined period (200 msec) while the accumulator is filled with a predetermined pressure Gacc (for example, 100 bar). It was confirmed that the pressure Gw of the wheel cylinder was changed. In this case, the duty at that time is set to reach a steady state from the time periods A1 and A2 when the pressure Gw of the wheel cylinder starts to increase rapidly as the duty of the valve driving signal Gdt increases. 1.4 sec).

이러한 시험을 토대로 얻은 도 5의 그래프에 따르면, 밸브의 오리피스를 열기 위한 최소의 밸브 구동신호의 듀티(Gdt)는 어큐뮬레이터의 압력(Gacc)과 휠 실린더의 압력(Gw)의 압력 차(Gacc-Gw)와 1차 함수의 관계를 가진다는 것을 확인할 수 있었다. 도 5에서는 RMS(Root Mean Square)를 이용하여 *(시험 측정값)을 직선으로 변환(Curve Fitting)한 것으로 압력 차가 클수록 요구되는 밸브 구동신호의 최소 듀티는 작다.According to the graph of FIG. 5 obtained based on this test, the duty Gdt of the minimum valve driving signal for opening the orifice of the valve is the pressure difference Gacc-Gw between the accumulator pressure Gacc and the wheel cylinder pressure Gw. ) And the linear function. In FIG. 5, * (test measurement) is converted to a straight line by using a root mean square (RMS). The larger the pressure difference, the smaller the minimum duty of the valve driving signal required.

이와 같은 밸브 제어 특성을 고려하여, 본 발명은 유압 회로의 입구밸브와 출구밸브의 동작을 제어하기 위하여 도 6에 도시한 바와 같은 밸브 제어기(30)를 도출하였다.In view of such valve control characteristics, the present invention derives the valve controller 30 as shown in FIG. 6 to control the operation of the inlet and outlet valves of the hydraulic circuit.

밸브 제어기(30)는 피드 포워드(feedforward) 제어를 위한 제1감산기(31) 및 피드 포워드 연산기(32)를 구비하며, 피드백(feedback) 제어를 위한 제2감산기(33) 및 피드백 연산기(34)를 구비하고, 그리고 피드 포워드 연산기에 의해 연산된 제어 게인(Gd)과 피드 백 연산기에 의해 연산된 제어 게인(ed)를 더하여 최종적으로 밸브 제어에 적용하기 위한 제어 게인(Vd)를 출력하는 가산기(35)를 포함한다. 피드백 제어는 피드 포워드 제어에 의한 오차를 줄이기 위하여 도입한 것이다.The valve controller 30 includes a first subtractor 31 and a feed forward operator 32 for feedforward control, and a second subtractor 33 and a feedback operator 34 for feedback control. And an adder configured to add the control gain Gd calculated by the feedforward operator and the control gain ed calculated by the feedforward operator, and output the control gain Vd for finally applying to the valve control. 35). Feedback control is introduced to reduce the error caused by the feed forward control.

제1감산기(31)는 어큐뮬레이터의 압력(Gacc)과 현재 밸브(7) 동작 상태에 상응하는 휠 실린더의 압력(Gw)의 압력차(Gaa-Gw)를 피드포워드 연산기(32)에 제공한다. 피드포워드 연산기(32)는 압력차(Gaa-Gw)를 입력받고 도 5의 그래프를 바탕으로 미리 작성해 둔 테이블을 이용하여 압력차에 상응하는 제어 게인(Gd)을 연산하고 이를 가산기(35)에 출력한다. The first subtractor 31 provides the feedforward calculator 32 with a pressure difference Gaa-Gw between the pressure Gacc of the accumulator and the pressure Gw of the wheel cylinder corresponding to the current valve 7 operating state. The feedforward calculator 32 receives the pressure difference Gaa-Gw and calculates a control gain Gd corresponding to the pressure difference by using a table prepared in advance based on the graph of FIG. 5, and adds it to the adder 35. Output

제2감산기(33)는 제동 시 요구되는 제동 압력에 상응하는 목표 압력(WPt)과 휠 실린더의 압력(Gw)의 압력차(e=WPt-Gw)를 피드백 연산기(34)에 제공한다. 피드백 연산기(34)는 입력받은 압력차(e)를 에러 보정을 위한 식(1)에 적용하여 보정 제어 게인(ed)을 연산하고 이를 가산기(35)에 출력한다.The second subtractor 33 provides the feedback calculator 34 with a pressure difference e = WPt-Gw between the target pressure WPt corresponding to the braking pressure required for braking and the pressure Gw of the wheel cylinder. The feedback calculator 34 calculates the correction control gain ed by applying the input pressure difference e to the equation (1) for error correction and outputs it to the adder 35.

ed = (kp*e) + (Kd*e') + (ki*∫e) -- 식(1)ed = (kp * e) + (Kd * e ') + (ki * ∫e)-equation (1)

여기서 kp, Kd, ki는 상수이고, e'는 e의 미분 값이다.Where kp, Kd and ki are constants and e 'is the derivative of e.

가산기(35)는 피드포워드 연산기(32)에 의해 연산된 제어 게인(Gd)과 피드백 연산기(34)에 의해 연산된 제어 게인(ed)을 더하여 밸브 제어 게인(Vd)을 연산하고, 이 밸브 제어 게인(Vd)에 기초하여 밸브 구동신호를 만들어 입구밸브(7)를 동작시킨다.The adder 35 calculates the valve control gain Vd by adding the control gain Gd calculated by the feedforward operator 32 and the control gain ed calculated by the feedback calculator 34, and calculates the valve control gain Vd. The inlet valve 7 is operated by generating a valve driving signal based on the gain Vd.

이상과 같이 본 발명에 따르면, 피드 포워드 연산기를 이용하여 연산한 제어 게인을 이용하여 유압 라인의 밸브의 동작을 제어하므로 제동 시 휠 실린더에서 요구되는 제동 압력을 정밀하게 조절한다.As described above, according to the present invention, since the operation of the valve of the hydraulic line is controlled using the control gain calculated using the feedforward calculator, the braking pressure required by the wheel cylinder is precisely controlled during braking.

본 발명은 피드 포워드 제어와 피드백 제어를 병행함으로서 피드 포워드 제어에 의한 오차를 제거할 수 있어 밸브 제어의 신뢰성을 더욱 향상한다.According to the present invention, the feed forward control and the feedback control can be performed in parallel to eliminate errors caused by the feed forward control, thereby further improving the reliability of the valve control.

Claims (6)

운전자의 페달압력을 감지한 후 각 휠의 제동압력을 제어하기 위한 전자식 유압 브레이크 제어장치에 있어서,In the electronic hydraulic brake control device for controlling the brake pressure of each wheel after detecting the pedal pressure of the driver, 고압측 어큐뮬레이터와 각 휠 실린더를 연결하는 유압 회로;A hydraulic circuit connecting the high pressure side accumulator and each wheel cylinder; 상기 유압 회로에 설치되어 상기 휠 실린더의 제동압력을 조절하기 위한 밸브; 및A valve installed in the hydraulic circuit to adjust a braking pressure of the wheel cylinder; And 상기 어큐뮬레이터의 압력과 상기 휠 실린더의 압력차에 따른 상기 밸브의 제어 특성을 고려하여 상기 밸브의 개폐 동작을 제어하는 상기 밸브 제어기를 포함하는 것을 특징으로 하는 전자식 유압 브레이크 제어장치.And the valve controller controlling the opening / closing operation of the valve in consideration of the control characteristic of the valve according to the pressure of the accumulator and the pressure difference of the wheel cylinder. 제1항에 있어서, 상기 밸브의 제어 특성은 상기 압력차와 상기 밸브 구동신호의 듀티가 1차 함수의 관계를 가지는 것을 특징으로 하는 전자식 유압 브레이크 제어장치.The electronic hydraulic brake control apparatus according to claim 1, wherein the control characteristic of the valve has a relationship between the pressure difference and the duty of the valve driving signal having a linear function. 제2항에 있어서, 상기 밸브제어기는 상기 압력차가 클수록 상기 밸브 구동 신호의 듀티를 작게 설정하여 상기 밸브의 동작을 제어하는 것을 특징으로 하는 전자식 유압 브레이크 제어장치.The electronic hydraulic brake control apparatus according to claim 2, wherein the valve controller controls the operation of the valve by setting a smaller duty of the valve driving signal as the pressure difference is larger. 제1항에 있어서, 상기 밸브제어기는 피드 포워드 제어를 위한 제1감산기 및 피드 포워드 연산기; 피드백 제어를 위한 제2감산기 및 피드백 연산기; 그리고 피드 포워드 연산기에 의해 연산된 제어 게인과 피드 백 연산기에 의해 연산된 제어 게인를 더하여 최종적으로 밸브 제어에 적용하기 위한 제어 게인을 출력하는 가산기를 포함하는 것을 특징으로 하는 전자식 유압 브레이크 제어장치.The valve control apparatus of claim 1, wherein the valve controller comprises: a first subtractor and a feed forward calculator for feed forward control; A second subtractor and a feedback calculator for feedback control; And an adder which adds the control gain calculated by the feed forward operator and the control gain calculated by the feedback operator to output the control gain for finally applying to the valve control. 제4항에 있어서, 상기 제1감산기는 상기 압력차를 상기 피드포워드 연산기에 제공하고, 상기 피드포워드 연산기는 압력차에 상응하는 제어 게인을 상기 가산기에 출력하며,The apparatus of claim 4, wherein the first subtractor provides the pressure difference to the feedforward calculator, and the feedforward calculator outputs a control gain corresponding to the pressure difference to the adder. 상기 제2감산기는 목표 압력과 휠 실린더의 압력의 압력차를 피드백 연산기에 제공하고, 상기 피드백 연산기는 상기 제2감산기로부터 입력받은 압력차를 에러 보정한 보정 제어 게인 상기 가산기에 출력하는 것을 특징으로 하는 전자식 유압 브레이크 제어장치.The second subtractor provides the pressure difference between the target pressure and the pressure of the wheel cylinder to the feedback calculator, and the feedback calculator outputs the pressure difference inputted from the second subtractor to the adder, which is an error-corrected correction control gain. Electronic hydraulic brake control system. 제5항에 있어서, 상기 에러 보정은 다음 식(1)에 의해 수행하는 것을 특징으로 하는 전자식 유압 브레이크 제어장치.The electronic hydraulic brake control apparatus according to claim 5, wherein the error correction is performed by the following equation (1). ed = (kp*e) + (Kd*e') + (ki*∫e) -- 식(1)ed = (kp * e) + (Kd * e ') + (ki * ∫e)-equation (1) 여기서 kp, Kd, ki는 상수이고, e는 상기 제2감산기로부터 입력받은 압력차, e'는 e의 미분 값이며, ed는 에러 보정 게인이다.Where kp, Kd and ki are constants, e is the pressure difference input from the second subtractor, e 'is the derivative of e, and ed is the error correction gain.
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