WO2008148616A1 - Method for determining the force acting in an electromechanically supported servo-hydraulic system - Google Patents

Method for determining the force acting in an electromechanically supported servo-hydraulic system Download PDF

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Publication number
WO2008148616A1
WO2008148616A1 PCT/EP2008/055517 EP2008055517W WO2008148616A1 WO 2008148616 A1 WO2008148616 A1 WO 2008148616A1 EP 2008055517 W EP2008055517 W EP 2008055517W WO 2008148616 A1 WO2008148616 A1 WO 2008148616A1
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WO
WIPO (PCT)
Prior art keywords
servo
force
actuator
hydraulic system
movement
Prior art date
Application number
PCT/EP2008/055517
Other languages
German (de)
French (fr)
Inventor
Robert Kornhaas
Jochen Mayer
Willi Nagel
Gerd Baur
Roland Pitteroff
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Robert Bosch Gmbh
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Publication of WO2008148616A1 publication Critical patent/WO2008148616A1/en

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Classifications

    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • 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
    • B60T8/40—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 comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • 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
    • B60T8/44—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 co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems
    • B60T8/441—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 co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters

Definitions

  • the invention relates to a method for determining the force acting in an electromechanically assisted servo hydraulic system.
  • an electromechanical brake booster which comprises a hydraulic brake pressure generator and an electric motor, wherein the electric motor has a desired electromechanical
  • Gain force generated as a function of the brake pedal operation which is measured via a displacement sensor and a force sensor. This makes it possible to electromechanically strengthen the foot force applied to the brake pedal.
  • the electric motor is designed as a linear stepping motor whose armature with a
  • Push rod is coupled, which is displaced by the driver upon actuation of the brake pedal, wherein when energized the linear stepping motor, the armature performs a translational adjusting movement, which is fed as a supporting movement in the hydraulic brake pressure generator.
  • the coupling between the piston to be actuated by the driver and the armature of the linear stepping motor is designed as a simple mechanical connection.
  • Essential for the functioning of the electromechanical brake booster are the signals of the displacement and force sensors with which the distance traveled by the piston rod or the force exerted by the driver is measured.
  • the sensors are evaluated in a control electronics, are generated in the signals over which the energization of the linear stepping motor is controlled.
  • two sensors are provided for safety reasons.
  • two force sensors can be used instead of a force sensor and a displacement sensor.
  • the invention has the object, with simple measures and without loss of security to provide the information about the force acting in an electromechanically assisted servo hydraulic system force.
  • the inventive method is suitable for use in an electromechanically assisted servo hydraulic system having a hydraulic actuator for generating a working movement, such as a hydraulic cylinder, an electrically actuated actuator to support the working or adjusting movement and a transmission for coupling the actuating movement of the actuator with the actuating movement of the Hydraulic actuator comprises. Furthermore, a position sensor is provided, via which the movement of the actuator is measured.
  • the movement of the actuator is sensed in a first method step, then the travel of the hydraulic actuator is determined from the transmission characteristic of the transmission as a function of the measured actuator movement, and finally the force acting in the hydraulic system becomes the force-displacement characteristic of the hydraulic actuator detected in dependence of the determined travel.
  • the actuator movement basically only one position sensor for measuring the
  • electromechanically actuated hydraulic servo systems which are normally equipped with two force sensors for safety reasons, can be equipped according to the invention without any loss of security either without a force sensor or only with a force sensor. On the one hand this achieves a cost saving, on the other hand it is possible to use only stationary sensors.
  • the force acting in the servo hydraulic system force which is determined from the measurement of the electric actuator movement, it is in particular the total force in the system, which is composed additively of the servo force of the hydraulic actuator and an externally applied actuating force, which is preferably the Actuating force of an operator acts.
  • the actuation force is identical to the driver braking force generated by the driver and applied via the brake pedal.
  • the current consumption of the electrically actuated actuator is additionally measured, whereupon from the motor characteristic of the electric actuator, the engine torque is determined as a function of the measured current and then in knowledge of this engine torque acting in the servo hydraulic system force from the torque-power curve of the Gear is determined.
  • This force is in particular the servo force of the hydraulic control element, so that in conjunction with the - A -
  • the determined total force which is derived from the actuator movement, the applied by the driver or the operator operating force can be determined as a difference of total force and servo force. This contains all the information in the servo hydraulic system that is required for a
  • an electric motor which has a rotating armature in a stator, wherein the armature rotation is coupled via the transmission with the hydraulic actuator.
  • the angular position of the armature is determined via the position sensor, which is used as an actuator movement in the calculation of the total force acting in the system.
  • an electric motor with a rotating armature it is also possible to use a linear stepping motor whose armature exercises a linear or translatory actuating movement.
  • electromagnetic actuators which can be actuated electrically and have an adjustable armature whose adjusting movement is dependent on the current consumption.
  • the coupling with the hydraulic control element takes place in each case via the transmission, which converts the actuator movement in the adjusting movement of the hydraulic control element.
  • an electric motor is used as an electrically actuated actuator
  • this can be configured, for example, as an electronically commutated motor, which is equipped with a position sensor, which in particular in the
  • Electric motor is integrated. It is a brushless motor, which is usually equipped with such a sensor, which can be advantageously used for the inventive method.
  • the temperature of the hydraulic system may be included in at least one of the characteristics, preferably in the characteristic of the hydraulic control element.
  • the temperature can either be determined during operation, which has the advantage that a continuous adjustment of the characteristic to the currently prevailing temperature is possible.
  • the temperature can also be estimated by an algorithm and based on the selection of at least one characteristic curve.
  • the further characteristic curves of the transmission or the electrically actuatable actuator can also be designed to be temperature-dependent.
  • the temperature dependence is realized by way of example in that different characteristic curves are stored, which are respectively assigned to different temperature ranges. But it is possible a functional temperature dependence.
  • a control or control device which is equipped in or for a servo-hydraulic system with a hydraulic control element, an electrically actuated actuator and a transmission between the actuator and the hydraulic control element.
  • the characteristic curves of the various components are expediently stored on the one hand, and on the other hand control signals are generated in the control or regulating device as a function of measured input variables for the various, actively adjustable components in the system.
  • the servo hydraulic system 1 shown in the figure comprises various blocks connected to and interacting with each other.
  • the servo-hydraulic system 1 will be described as a brake system, even if basically alternative applications of the servo-hydraulic system come into consideration.
  • a block 2 an interface between the servo-hydraulic system 1 and an operator, in particular a driver, is symbolized, block 2 being a so-called human-machine interface HMI.
  • the driver exerts on the brake pedal an actuating force F B , also a pressure or piston rod, which is related to the brake pedal, adjusted by the travel s.
  • actuating force F B also a pressure or piston rod, which is related to the brake pedal, adjusted by the travel s.
  • These input variables are included in the next block 3, which contains the hydraulic actuator designed as a hydraulic cylinder.
  • a hydraulic pressure p or a hydraulic volume flow V are generated in the hydraulic cylinder 3, which act on the brake unit.
  • Actuator provided which is designed as an electric motor 5 and the rotor is coupled via a gear 7 to the hydraulic cylinder 3.
  • a supporting servo force F servo is generated, which is supplied as an input to the hydraulic cylinder 3, in which the
  • Servo force F servo additive with the applied by the driver via the brake pedal operating force F B to a total force F G composed.
  • the rotor or armature exerts a rotational movement with the rotational angle ⁇ , with the rotational movement is accompanied by an engine torque M, wherein the rotational movement with the
  • the electric motor 5 As sensors, the electric motor 5, a current sensor 4 for measuring the current consumption I and a motor position sensor 6 for
  • a symbolically registered regulating or control device 8 which communicates with the various components of the servo-hydraulic system and in which from the sensor signals of the sensors 4 and 6 and in dependence on stored characteristics actuating signals are generated, which are used to set the various active serve acted components in the system.
  • control unit 8 among others, the
  • Actuating force F B can be determined without requiring a force sensor in the servo hydraulic system is required.
  • a force sensor in the servo hydraulic system is required.
  • the current I of the electric motor 5 measured in the current sensor 4 is supplied to the motor characteristic 9 in the control or control unit 8, the motor torque M being determined from the motor characteristic curve 9.
  • the sensed in the motor position sensor 6 rotational angle position ⁇ is the
  • the block 10 also contains a second characteristic associated with the transmission 7, which is the momentary force Characteristic of the transmission is.
  • the torque-force characteristic indicates the relationship between the engine torque M and the assisting force F Servo ; Since the engine torque M has already been determined from the engine characteristic curve 9, the servo force F Servo can be determined from the torque / force characteristic curve.
  • the travel s then flows into the force-displacement curve of the hydraulic cylinder 3, which denotes the relationship between the total force F G in the hydraulic system and the travel s. Since the travel s has been determined in advance, now the total force F G is fixed. Thus, it is also possible to calculate the operating force F B from the difference between the total force F G and the assisting servo force F Servo , with which the driver applies the brake pedal.
  • the characteristic 11 of the hydraulic cylinder 3 can be adjusted depending on the temperature. Depending on the temperature in the servo-hydraulic system, different characteristic curves for the hydraulic cylinder are selected or determined.
  • the temperature can either be determined in advance, ie before the start of the process or, according to another preferred embodiment, during operation, in which case expediently a continuous updating takes place.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

In a method for determining the force (FG) acting in an electromechanically supported hydraulic system, the movement of an actuator is sensed, from the actuator movement the actuating movement (s) of a hydraulic actuating element (3) is calculated by means of the characteristic speed ratio line (10) of a transmission (7), and from the hydraulic actuating movement (s) the force (FG) acting in the servo-hydraulic system is calculated.

Description

Verfahren zur Ermittlung der in einem elektromechanisch unterstützten Servohydrauliksystem wirkenden KraftMethod for determining the force acting in an electromechanically assisted servo-hydraulic system
Die Erfindung bezieht sich auf ein Verfahren zur Ermittlung der in einem elektromechanisch unterstützten Servohydrauliksystem wirkenden Kraft.The invention relates to a method for determining the force acting in an electromechanically assisted servo hydraulic system.
Stand der TechnikState of the art
In der DE 100 57 557 Al wird ein elektromechanischer Bremskraftverstärker beschrieben, der einen hydraulischen Bremsdruckgeber und einen Elektromotor umfasst, wobei der Elektromotor eine gewünschte elektromechanischeIn DE 100 57 557 Al an electromechanical brake booster is described which comprises a hydraulic brake pressure generator and an electric motor, wherein the electric motor has a desired electromechanical
Verstärkungskraft als Funktion der Bremspedalbetätigung erzeugt, welche über einen Wegsensor und einen Kraftsensor gemessen wird. Dadurch ist es möglich, die am Bremspedal aufgebrachte Fußkraft elektromechanisch zu verstärken. Der Elektromotor ist als Linearschrittmotor ausgeführt, dessen Anker mit einerGain force generated as a function of the brake pedal operation, which is measured via a displacement sensor and a force sensor. This makes it possible to electromechanically strengthen the foot force applied to the brake pedal. The electric motor is designed as a linear stepping motor whose armature with a
Druckstange gekoppelt ist, welche vom Fahrer bei der Betätigung des Bremspedals verschoben wird, wobei bei einer Bestromung des Linearschrittmotors der Anker eine translatorische Stellbewegung ausführt, die als unterstützende Bewegung in den hydraulischen Bremsdruckgeber eingespeist wird. Die Kopplung zwischen der vom Fahrer zu betätigenden Kolbenstange und dem Anker des Linearschrittmotors ist als einfache mechanische Verbindung ausgeführt .Push rod is coupled, which is displaced by the driver upon actuation of the brake pedal, wherein when energized the linear stepping motor, the armature performs a translational adjusting movement, which is fed as a supporting movement in the hydraulic brake pressure generator. The coupling between the piston to be actuated by the driver and the armature of the linear stepping motor is designed as a simple mechanical connection.
Wesentlich für das Funktionieren des elektromechanischen Bremskraftverstärkers sind die Signale der Weg- und Kraftsensoren, mit denen der zurückgelegte Weg der Kolbenstange bzw. die vom Fahrer ausgeübte Kraft gemessen wird. Die Sensoren werden in einer Steuerelektronik ausgewertet, in der Signale erzeugt werden, über die die Bestromung des Linearschrittmotors gesteuert wird.Essential for the functioning of the electromechanical brake booster are the signals of the displacement and force sensors with which the distance traveled by the piston rod or the force exerted by the driver is measured. The sensors are evaluated in a control electronics, are generated in the signals over which the energization of the linear stepping motor is controlled.
Üblicherweise sind aus Sicherheitsgründen zwei Sensoren vorgesehen. Hierbei können anstelle eines Kraftsensors und eines Wegsensors auch zwei Kraftsensoren eingesetzt werden.Usually, two sensors are provided for safety reasons. Here, two force sensors can be used instead of a force sensor and a displacement sensor.
Offenbarung der ErfindungDisclosure of the invention
Von diesem Stand der Technik ausgehend liegt der Erfindung die Aufgabe zugrunde, mit einfachen Maßnahmen und ohne Sicherheitseinbußen die Information über die in einem elektromechanisch unterstützte Servohydrauliksystem wirkende Kraft bereitzustellen.Based on this prior art, the invention has the object, with simple measures and without loss of security to provide the information about the force acting in an electromechanically assisted servo hydraulic system force.
Diese Aufgabe wird erfindungsgemäß mit den Merkmalen des Anspruches 1 gelöst. Die Unteransprüche geben zweckmäßige Weiterbildungen an.This object is achieved with the features of claim 1. The dependent claims indicate expedient developments.
Das erfindungsgemäße Verfahren eignet sich zur Anwendung in einem elektromechanisch unterstützten Servohydrauliksystem, das ein Hydraulikstellelement zur Erzeugung einer Arbeitsbewegung, beispielsweise einen Hydraulikzylinder, einen elektrisch betätigbaren Aktuator zur Unterstützung der Arbeits- bzw. Stellbewegung und ein Getriebe zur Kopplung der Stellbewegung des Aktuators mit der Stellbewegung des Hydraulikstellelements umfasst. Des Weiteren ist ein Lagesensor vorgesehen, über den die Bewegung des Aktuators gemessen wird.The inventive method is suitable for use in an electromechanically assisted servo hydraulic system having a hydraulic actuator for generating a working movement, such as a hydraulic cylinder, an electrically actuated actuator to support the working or adjusting movement and a transmission for coupling the actuating movement of the actuator with the actuating movement of the Hydraulic actuator comprises. Furthermore, a position sensor is provided, via which the movement of the actuator is measured.
Zur Durchführung des Verfahrens wird in einem ersten Verfahrensschritt die Bewegung des Aktuators sensiert, anschließend wird der Stellweg des Hydraulikstellelements aus der Übersetzungskennlinie des Getriebes als Funktion der gemessenen Aktuatorbewegung ermittelt und schließlich wird die im Hydrauliksystem wirkende Kraft aus der Kraft-Weg-Kennlinie des Hydraulikstellelements in Abhängigkeit des ermittelten Stellwegs festgestellt. Auf diese Weise ist es möglich, Kenntnis von der im Servohydrauliksystem wirkenden Kraft allein durch die Messung der Aktuatorbewegung zu erlangen. Hierfür ist grundsätzlich nur ein Lagesensor zur Messung derIn order to carry out the method, the movement of the actuator is sensed in a first method step, then the travel of the hydraulic actuator is determined from the transmission characteristic of the transmission as a function of the measured actuator movement, and finally the force acting in the hydraulic system becomes the force-displacement characteristic of the hydraulic actuator detected in dependence of the determined travel. In this way it is possible to gain knowledge of the force acting in the servo-hydraulic system solely by measuring the actuator movement. For this purpose, basically only one position sensor for measuring the
Aktuatorstellbewegung des elektrisch betätigten Aktuators erforderlich, Kraftsensoren werden dagegen nicht zwingend vorausgesetzt. Dadurch können elektromechanische betätigte, hydraulische Servosysteme, welche normalerweise aus Sicherheitsgründen redundant mit zwei Kraftsensoren ausgestattet sind, erfindungsgemäß ohne Sicherheitseinbußen entweder ohne Kraftsensor oder nur mit einem Kraftsensor ausgerüstet werden. Man erzielt hierdurch zum einen eine Kosteneinsparung, zum andern besteht die Möglichkeit, ausschließlich ortsfeste Sensoren einsetzen zu können.Actuator actuator movement of the electrically actuated actuator required, force sensors, however, are not necessarily required. As a result, electromechanically actuated hydraulic servo systems, which are normally equipped with two force sensors for safety reasons, can be equipped according to the invention without any loss of security either without a force sensor or only with a force sensor. On the one hand this achieves a cost saving, on the other hand it is possible to use only stationary sensors.
Bei der im Servohydrauliksystem wirkenden Kraft, die aus der Messung der elektrischen Aktuatorbewegung ermittelt wird, handelt es sich insbesondere um die Gesamtkraft im System, die sich additiv aus der Servokraft des Hydraulikstellelements und einer von außen aufgebrachten Betätigungskraft zusammensetzt, bei der es sich vorzugsweise um die Betätigungskraft einer Bedienperson handelt. Bei einem bevorzugten Einsatz des erfindungsgemäßen Verfahrens in einem Servohydraulik-Bremssystem eines Fahrzeugs ist die Betätigungskraft identisch mit der vom Fahrer erzeugten und über das Bremspedal aufgebrachten Fahrerbremskraft .In the force acting in the servo hydraulic system force, which is determined from the measurement of the electric actuator movement, it is in particular the total force in the system, which is composed additively of the servo force of the hydraulic actuator and an externally applied actuating force, which is preferably the Actuating force of an operator acts. In a preferred use of the method according to the invention in a servo-hydraulic brake system of a vehicle, the actuation force is identical to the driver braking force generated by the driver and applied via the brake pedal.
Gemäß einer weiteren vorteilhaften Ausführung wird zusätzlich die Stromaufnahme des elektrisch betätigbaren Aktuators gemessen, woraufhin aus der Motorkennlinie des elektrischen Aktuators das Motormoment als Funktion des gemessenen Stromes ermittelt wird und anschließend in Kenntnis dieses Motormomentes die im Servohydrauliksystem wirkende Kraft aus der Moment-Kraft- Kennlinie des Getriebes bestimmt wird. Bei dieser Kraft handelt es sich insbesondere um die Servokraft des Hydraulikstellelements, so dass in Zusammenschau mit der - A -According to a further advantageous embodiment, the current consumption of the electrically actuated actuator is additionally measured, whereupon from the motor characteristic of the electric actuator, the engine torque is determined as a function of the measured current and then in knowledge of this engine torque acting in the servo hydraulic system force from the torque-power curve of the Gear is determined. This force is in particular the servo force of the hydraulic control element, so that in conjunction with the - A -
ermittelten Gesamtkraft, welche aus der Aktuatorbewegung abgeleitet wird, die von dem Fahrer bzw. der Bedienperson aufgebrachte Betätigungskraft als Differenz von Gesamtkraft und Servokraft ermittelt werden kann. Damit liegen alle Informationen im Servohydrauliksystem vor, die für einedetermined total force, which is derived from the actuator movement, the applied by the driver or the operator operating force can be determined as a difference of total force and servo force. This contains all the information in the servo hydraulic system that is required for a
Steuerung bzw. Regelung der elektromechanischen Komponente und/oder der hydraulischen Komponente oder auch sonstiger Komponenten in einem Fahrzeug erforderlich sind.Control or regulation of the electromechanical component and / or the hydraulic component or other components in a vehicle are required.
Als elektrisch betätigbarer Aktuator wird beispielsweise ein Elektromotor verwendet, der einen rotierenden Anker in einem Stator aufweist, wobei die Ankerdrehbewegung über das Getriebe mit dem Hydraulikstellelement gekoppelt ist. Über den Lagesensor wird in diesem Fall die Winkellage des Ankers ermittelt, die als Aktuatorbewegung in die Berechnung der im System wirkenden Gesamtkraft einfließt. Alternativ zu einem Elektromotor mit rotierendem Anker kann auch ein Linearschrittmotor eingesetzt werden, dessen Anker eine lineare bzw. translatorische Stellbewegung ausübt. Grundsätzlich sind allgemein elektromagnetische Aktuatoren einsetzbar, die elektrisch betätigbar sind und einen verstellbaren Anker aufweisen, dessen Stellbewegung von der Stromaufnahme abhängig ist. Die Kopplung mit dem Hydraulikstellelement erfolgt in jedem Fall über das Getriebe, das die Aktuatorbewegung in die Stellbewegung des Hydraulikstellelements umsetzt.As an electrically operable actuator, for example, an electric motor is used which has a rotating armature in a stator, wherein the armature rotation is coupled via the transmission with the hydraulic actuator. In this case, the angular position of the armature is determined via the position sensor, which is used as an actuator movement in the calculation of the total force acting in the system. As an alternative to an electric motor with a rotating armature, it is also possible to use a linear stepping motor whose armature exercises a linear or translatory actuating movement. In principle, it is generally possible to use electromagnetic actuators which can be actuated electrically and have an adjustable armature whose adjusting movement is dependent on the current consumption. The coupling with the hydraulic control element takes place in each case via the transmission, which converts the actuator movement in the adjusting movement of the hydraulic control element.
Für den Fall, dass ein Elektromotor als elektrisch betätigbarer Aktuator eingesetzt wird, kann dieser beispielhaft als elektronisch kommutierter Motor ausgebildet sein, der mit einem Lagesensor ausgestattet ist, welcher insbesondere in denIn the event that an electric motor is used as an electrically actuated actuator, this can be configured, for example, as an electronically commutated motor, which is equipped with a position sensor, which in particular in the
Elektromotor integriert ist. Es handelt sich hierbei um einen bürstenlosen Motor, der meistens mit einem derartigen Sensor ausgestattet ist, welcher vorteilhaft für das erfindungsgemäße Verfahren verwendet werden kann.Electric motor is integrated. It is a brushless motor, which is usually equipped with such a sensor, which can be advantageously used for the inventive method.
Des Weiteren kann es zweckmäßig sein, insbesondere zur Verbesserung der Güte im Hinblick auf die Ermittlung der im Servohydrauliksystem wirkenden Kraft, auch die Temperatur des Hydrauliksystems zu berücksichtigen und insbesondere in mindestens eine der Kennlinien einfließen zu lassen, vorzugsweise in die Kennlinie des Hydraulikstellelements. Die Temperatur kann hierbei entweder im laufenden Betrieb ermittelt werden, was den Vorteil hat, dass eine laufende Anpassung der Kennlinie an die aktuell herrschende Temperatur möglich ist. Darüber hinaus ist es aber auch denkbar, die Temperatur lediglich einmal vorab, also vor dem Beginn des erfindungsgemäßen Verfahrens, zu ermitteln und der Auswahl mindestens einer Kennlinie zugrunde zu legen. Des Weiteren kann die Temperatur durch einen Algorithmus auch geschätzt und der Auswahl mindestens einer Kennlinie zugrunde gelegt werden. Zusätzlich oder alternativ zu den Kennlinien des Hydraulikstellelements können auch die weiteren Kennlinien des Getriebes oder des elektrisch betätigbaren Aktuators temperaturabhängig ausgestaltet sein. Die Temperaturabhängigkeit wird beispielhaft dadurch realisiert, dass verschiedene Kennlinien abgespeichert sind, die jeweils unterschiedlichen Temperaturbereichen zugeordnet sind. Möglich ist aber eine funktionale Temperaturabhängigkeit .Furthermore, it may be expedient, in particular for improving the quality with regard to the determination of the Servohydrauliksystem acting force to take into account the temperature of the hydraulic system and in particular to be included in at least one of the characteristics, preferably in the characteristic of the hydraulic control element. The temperature can either be determined during operation, which has the advantage that a continuous adjustment of the characteristic to the currently prevailing temperature is possible. In addition, however, it is also conceivable to determine the temperature only once in advance, ie before the start of the method according to the invention, and to base the selection on at least one characteristic curve. Furthermore, the temperature can also be estimated by an algorithm and based on the selection of at least one characteristic curve. In addition or as an alternative to the characteristic curves of the hydraulic control element, the further characteristic curves of the transmission or the electrically actuatable actuator can also be designed to be temperature-dependent. The temperature dependence is realized by way of example in that different characteristic curves are stored, which are respectively assigned to different temperature ranges. But it is possible a functional temperature dependence.
Zur Durchführung des Verfahrens ist ein Regel- bzw. Steuergerät vorgesehen, welches in bzw. für ein Servohydrauliksystem mit einem Hydraulikstellelement, einem elektrisch betätigbaren Aktuator und einem Getriebe zwischen Aktuator und Hydraulikstellelement ausgestattet ist. In dem Regel- bzw. Steuergerät sind zweckmäßigerweise zum einen die Kennlinien der verschiedenen Komponenten abgespeichert, zum andern werden in dem Regel- bzw. Steuergerät Stellsignale in Abhängigkeit gemessener Eingangsgrößen für die verschiedenen, aktiv einstellbaren Komponenten im System erzeugt.To carry out the method, a control or control device is provided which is equipped in or for a servo-hydraulic system with a hydraulic control element, an electrically actuated actuator and a transmission between the actuator and the hydraulic control element. In the control or control device, the characteristic curves of the various components are expediently stored on the one hand, and on the other hand control signals are generated in the control or regulating device as a function of measured input variables for the various, actively adjustable components in the system.
Weitere Vorteile und zweckmäßige Ausführungen sind den weiteren Ansprüchen, der Figurenbeschreibung und der Zeichnung zu entnehmen, in der ein Blockschaltbild mit einem Servohydrauliksystem dargestellt ist, das insbesondere in Bremssystemen von Kraftfahrzeugen eingesetzt wird.Further advantages and expedient embodiments can be found in the further claims, the description of the figures and the drawing, in which a block diagram with a Servohydrauliksystem is shown, which is used in particular in brake systems of motor vehicles.
Das in der Figur dargestellte Servohydrauliksystem 1 umfasst verschiedene Blöcke bzw. Baueinheiten, die mit einander verbunden sind und wechselwirken. Im Folgenden wird das Servohydrauliksystem 1 als Bremssystem beschrieben, auch wenn grundsätzlich alternative Anwendungen des Servohydrauliksystems in Betracht kommen.The servo hydraulic system 1 shown in the figure comprises various blocks connected to and interacting with each other. In the following, the servo-hydraulic system 1 will be described as a brake system, even if basically alternative applications of the servo-hydraulic system come into consideration.
In einem Block 2 ist eine Schnittstelle zwischen dem Servohydrauliksystem 1 und einer Bedienperson, insbesondere einem Fahrer symbolisiert, es handelt sich bei dem Block 2 um ein so genannten Human-Machine-Interface HMI . In dem Interface 2 übt der Fahrer auf das Bremspedal eine Betätigungskraft FB aus, außerdem wird eine Druck- bzw. Kolbenstange, die mit dem Bremspedal zusammenhängt, um den Stellweg s verstellt. Diese Eingangsgrößen gehen in den nächsten Block 3 ein, der das als Hydraulikzylinder ausgebildete Hydraulikstellelement enthält. In Abhängigkeit der Höhe der Betätigungskraft FB und des Stellwegs s werden im Hydraulikzylinder 3 ein Hydraulikdruck p bzw. ein Hydraulikvolumenstrom V erzeugt, die auf die Bremseinheit einwirken .In a block 2, an interface between the servo-hydraulic system 1 and an operator, in particular a driver, is symbolized, block 2 being a so-called human-machine interface HMI. In the interface 2, the driver exerts on the brake pedal an actuating force F B , also a pressure or piston rod, which is related to the brake pedal, adjusted by the travel s. These input variables are included in the next block 3, which contains the hydraulic actuator designed as a hydraulic cylinder. Depending on the height of the actuating force F B and the travel s, a hydraulic pressure p or a hydraulic volume flow V are generated in the hydraulic cylinder 3, which act on the brake unit.
Als Bremskraftunterstützung ist ein elektrisch betätigbarerAs a brake assist is an electrically operated
Aktuator vorgesehen, der als Elektromotor 5 ausgebildet ist und dessen Rotor über ein Getriebe 7 mit dem Hydraulikzylinder 3 gekoppelt ist. Bei Betätigung des Elektromotors 5 wird eine unterstützende Servokraft FServo erzeugt, die als Eingangsgröße dem Hydraulikzylinder 3 zugeführt wird, in dem sich dieActuator provided which is designed as an electric motor 5 and the rotor is coupled via a gear 7 to the hydraulic cylinder 3. Upon actuation of the electric motor 5, a supporting servo force F servo is generated, which is supplied as an input to the hydraulic cylinder 3, in which the
Servokraft FServo additiv mit der vom Fahrer über das Bremspedal aufgebrachten Betätigungskraft FB zu einer Gesamtkraft FG zusammensetzt. Im Elektromotor 5 übt der Rotor bzw. Anker eine Drehbewegung mit dem Drehwinkel α aus, mit der Drehbewegung geht ein Motormoment M einher, wobei die Drehbewegung mit demServo force F servo additive with the applied by the driver via the brake pedal operating force F B to a total force F G composed. In the electric motor 5, the rotor or armature exerts a rotational movement with the rotational angle α, with the rotational movement is accompanied by an engine torque M, wherein the rotational movement with the
Drehwinkel α über das Getriebe 7 in eine axiale Stellbewegung mit dem Stellweg s übertragen wird, die auf den Hydraulikzylinder 3 unterstützend wirkt.Angle of rotation α via the gear 7 in an axial adjusting movement is transmitted with the travel s, which acts on the hydraulic cylinder 3 supportive.
Als Sensoren sind dem Elektromotor 5 ein Stromsensor 4 zur Messung der Stromaufnahme I sowie ein Motorlagesensor 6 zurAs sensors, the electric motor 5, a current sensor 4 for measuring the current consumption I and a motor position sensor 6 for
Messung der aktuellen Drehwinkellage α zugeordnet. Des Weiteren ist ein symbolisch eingetragenes Regel- bzw. Steuergerät 8 vorgesehen, welches mit den verschiedenen Komponenten des Servohydrauliksystems kommuniziert und in dem aus den Sensorsignalen der Sensoren 4 und 6 sowie in Abhängigkeit von hinterlegten Kennlinien Stellsignale erzeugt werden, die zur Einstellung der verschiedenen, aktiv beaufschlagbaren Komponenten im System dienen.Measurement of the current angular position α assigned. Furthermore, a symbolically registered regulating or control device 8 is provided, which communicates with the various components of the servo-hydraulic system and in which from the sensor signals of the sensors 4 and 6 and in dependence on stored characteristics actuating signals are generated, which are used to set the various active serve acted components in the system.
In dem Regel- bzw. Steuergerät 8 kann unter anderem dieIn the control unit 8, among others, the
Betätigungskraft FB ermittelt werden, ohne dass hierfür ein Kraftsensor im Servohydrauliksystem erforderlich ist. Hierzu werden in einem ersten Schritt zunächst über die Sensoren 4 und 6 der aufgenommene Strom I des Elektromotors 5 sowie die daraus resultierende Änderung der Drehwinkellage α des Rotors desActuating force F B can be determined without requiring a force sensor in the servo hydraulic system is required. For this purpose, in a first step, initially via the sensors 4 and 6, the absorbed current I of the electric motor 5 and the resulting change in the rotational angle position α of the rotor of
Elektromotors gemessen. Die sensierten Daten werden dem Regelbzw. Steuergerät 8 zugeführt und dort mithilfe hinterlegter Kennlinien verarbeitet. Es sind insgesamt mehrere Kennlinien 9, 10, 11 vorgesehen, die dem Elektromotor 5, dem Getriebe 7 und dem Hydraulikzylinder 3 zugeordnet sind.Electric motor measured. The sensed data are the Regelbzw. Control unit 8 fed and processed there using deposited characteristics. There are a total of several characteristic curves 9, 10, 11 are provided which are associated with the electric motor 5, the transmission 7 and the hydraulic cylinder 3.
Der im Stromsensor 4 gemessene Strom I des Elektromotors 5 wird der Motorkennlinie 9 im Regel- bzw. Steuergerät 8 zugeführt, wobei aus der Motorkennlinie 9 das Motormoment M ermittelt wird. Die im Motorlagesensor 6 sensierte Drehwinkellage α wird derThe current I of the electric motor 5 measured in the current sensor 4 is supplied to the motor characteristic 9 in the control or control unit 8, the motor torque M being determined from the motor characteristic curve 9. The sensed in the motor position sensor 6 rotational angle position α is the
Übertragungskennlinie 10 des Getriebes 7 zugeführt, in der die Stellbewegung s, welche am Ausgang des Getriebes 7 anliegt und die die lineare Umsetzung der Rotorbewegung des Elektromotors darstellt, in Abhängigkeit von der Rotorbewegung α, also der Aktuatorbewegung ermittelt wird. Neben dieser Getriebekennlinie enthält der Block 10 noch eine zweite, dem Getriebe 7 zugeordnete Kennlinie, bei der es sich um die Moment-Kraft- Kennlinie des Getriebes handelt. Die Moment-Kraft-Kennlinie bezeichnet den Zusammenhang zwischen dem Motormoment M und der Unterstützungskraft FServo; da das Motormoment M bereits aus der Motorkennlinie 9 ermittelt worden ist, kann aus der Moment- Kraft-Kennlinie die Servokraft FServo bestimmt werden.Transfer characteristic 10 of the transmission 7, in which the adjusting movement s, which is applied to the output of the transmission 7 and which represents the linear implementation of the rotor movement of the electric motor, in dependence on the rotor movement α, ie the actuator movement is determined. In addition to this transmission characteristic, the block 10 also contains a second characteristic associated with the transmission 7, which is the momentary force Characteristic of the transmission is. The torque-force characteristic indicates the relationship between the engine torque M and the assisting force F Servo ; Since the engine torque M has already been determined from the engine characteristic curve 9, the servo force F Servo can be determined from the torque / force characteristic curve.
Der Stellweg s fließt anschließend in die Kraft-Weg-Kennlinie des Hydraulikzylinders 3 ein, das den Zusammenhang zwischen der Gesamtkraft FG im Hydrauliksystem und dem Stellweg s bezeichnet. Da der Stellweg s vorab ermittelt worden ist, liegt nunmehr auch die Gesamtkraft FG fest. Damit ist es auch möglich, aus der Differenz von Gesamtkraft FG und unterstützender Servokraft FServo die Betätigungskraft FB rechnerisch zu ermitteln, mit der der Fahrer das Bremspedal beaufschlagt.The travel s then flows into the force-displacement curve of the hydraulic cylinder 3, which denotes the relationship between the total force F G in the hydraulic system and the travel s. Since the travel s has been determined in advance, now the total force F G is fixed. Thus, it is also possible to calculate the operating force F B from the difference between the total force F G and the assisting servo force F Servo , with which the driver applies the brake pedal.
Die Kennlinie 11 des Hydraulikzylinders 3 kann temperaturabhängig eingestellt werden. Je nach Temperatur im Servohydrauliksystem werden verschiedene Kennlinienverläufe für den Hydraulikzylinder ausgewählt bzw. bestimmt. Die Temperatur kann entweder vorab, also vor Beginn des Verfahrens bestimmt werden oder, gemäß einer weiteren bevorzugten Ausführung, im laufenden Betrieb, wobei in diesem Fall zweckmäßig eine fortlaufende Aktualisierung stattfindet. The characteristic 11 of the hydraulic cylinder 3 can be adjusted depending on the temperature. Depending on the temperature in the servo-hydraulic system, different characteristic curves for the hydraulic cylinder are selected or determined. The temperature can either be determined in advance, ie before the start of the process or, according to another preferred embodiment, during operation, in which case expediently a continuous updating takes place.

Claims

Ansprüche claims
1. Verfahren zur Ermittlung der in einem elektromechanisch unterstützten Servohydrauliksystem wirkenden Kraft (FG) , wobei das Servohydrauliksystem (1) ein Hydraulikstellelement (3) zur Erzeugung einer Stellbewegung (s), einen elektrisch betätigbaren Aktuator (5) zur Unterstützung der Stellbewegung (s) und ein1. A method for determining the force acting in an electromechanically assisted servo-hydraulic system (F G ), wherein the servo-hydraulic system (1) a hydraulic control element (3) for generating an actuating movement (s), an electrically actuated actuator (5) to assist the actuating movement (s ) and a
Getriebe (7) zur Kopplung der Bewegung (α) des Aktuators (5) mit der Stellbewegung (s) des Hydraulikstellelements (3) sowie einen Lagesensor (6) zur Sensierung der Aktuatorbewegung (α) aufweist, mit den folgenden Verfahrensschritten: - Sensierung der Aktuatorbewegung (α) ,Transmission (7) for coupling the movement (α) of the actuator (5) with the adjusting movement (s) of the hydraulic actuator (3) and a position sensor (6) for sensing the actuator movement (α), comprising the following steps: - Sensing the Actuator movement (α),
Ermittlung der Stellbewegung (s) aus derDetermining the setting movement (s) from the
Übersetzungskennlinie (10) des Getriebes (7) als Funktion der Aktuatorbewegung (α) ,Compound characteristic (10) of the transmission (7) as a function of the actuator movement (α),
Ermittlung der im Servohydrauliksystem (1) wirkenden Kraft (FG) aus der Kraft-Weg-Kennlinie (11) desDetermining the force (F G ) acting in the servo-hydraulic system (1) from the force-displacement characteristic curve (11) of the
Hydraulikstellelements (3) als Funktion der Stellbewegung (S) .Hydraulic control element (3) as a function of the adjusting movement (S).
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass im Servohydrauliksystem (1) wirkende Kraft die Gesamtkraft (FG) ist, die sich additiv aus der Servokraft (FServo) und einer in das Servohydrauliksystem von außen aufgebrachten Betätigungskraft (FB) zusammensetzt.2. The method according to claim 1, characterized in that in the servo-hydraulic system (1) acting force is the total force (F G ), which is composed of the servo power (F servo ) and an externally applied in the servo-hydraulic system actuating force (F B ) ,
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass über einen Stromsensor (4) die Stromaufnahme (I) des elektrisch betätigbaren Aktuators (5) gemessen wird, das Motormoment (M) aus der Motorkennlinie (9) des Aktuators (5) als Funktion des gemessenen Stroms (I) ermittelt wird, aus dem Motormoment (M) die im Servohydrauliksystem (1) wirkende Kraft (FServo) aus der Moment-Kraft-Kennlinie (10) des Getriebes (7) bestimmt wird.3. The method according to claim 1 or 2, characterized in that via a current sensor (4) the current consumption (I) of the electrically actuable actuator (5) is measured, the engine torque (M) from the engine characteristic curve (9) of the actuator (5). is determined as a function of the measured current (I), from the engine torque (M) in the servo hydraulic system (1) acting force (F servo ) from the torque-power curve (10) of the transmission (7) is determined.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass die im Servohydrauliksystem (1) wirkende Kraft die Servokraft (FServo) des Aktuators (5) ist.4. The method according to claim 3, characterized in that in the servo hydraulic system (1) acting force is the servo force (F servo ) of the actuator (5).
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass als elektrisch betätigbarer5. The method according to any one of claims 1 to 4, characterized in that as electrically actuated
Aktuator ein Elektromotor (5) verwendet wird, wobei über den Lagesensor (6) die Winkellage (α) des Ankers des Elektromotors (5) ermittelt wird.Actuator an electric motor (5) is used, wherein the angular position (α) of the armature of the electric motor (5) is determined by the position sensor (6).
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass als Elektromotor (5) ein elektronisch kommutierter Motor verwendet wird, der mit einem Lagesensor (6) ausgestattet ist.6. The method according to claim 5, characterized in that an electronically commutated motor is used as the electric motor (5), which is equipped with a position sensor (6).
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Temperatur des Servohydrauliksystems (1) ermittelt und mindestens eine Kennlinie (11) als Funktion der Temperatur eingestellt bzw. ausgewählt wird.7. The method according to any one of claims 1 to 6, characterized in that the temperature of the servo-hydraulic system (1) determined and at least one characteristic (11) is set or selected as a function of temperature.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass die Kraft-Weg-Kennlinie (11) des8. The method according to claim 7, characterized in that the force-displacement characteristic (11) of the
Hydraulikstellelements (3) temperaturabhängig eingestellt wird.Hydraulic control element (3) is temperature-dependent.
9. Verfahren nach Anspruch 7 oder 8, dadurch gekennzeichnet, dass die Temperatur im laufenden Betrieb ermittelt wird.9. The method according to claim 7 or 8, characterized in that the temperature is determined during operation.
10. Verfahren nach Anspruch 7 oder 8, dadurch gekennzeichnet, dass die Temperatur vorab ermittelt wird. 10. The method according to claim 7 or 8, characterized in that the temperature is determined in advance.
11. Servohydrauliksystem zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 10.11. Servohydrauliksystem for carrying out the method according to one of claims 1 to 10.
12. Regel- bzw. Steuergerät für ein Servohydrauliksystem nach Anspruch 11, wobei in dem Regel- bzw. Steuergerät (8) die Übersetzungskennlinie (10) des Getriebes und die Kraft-Weg- Kennlinie (11) des Hydraulikstellelements (3) abgelegt ist.12. control unit for a servo-hydraulic system according to claim 11, wherein in the control or control device (8) the translation curve (10) of the transmission and the force-displacement curve (11) of the hydraulic control element (3) is stored.
13. Regel- bzw. Steuergerät nach Anspruch 12, dadurch gekennzeichnet, dass in dem Regel- bzw. Steuergerät (8) die Motorkennlinie (9) des elektrisch betätigbaren Aktuators (3) und die Moment-Kraft-Kennlinie (10) des Getriebes (7) abgelegt ist. 13. control unit according to claim 12, characterized in that in the control or control unit (8) the motor characteristic (9) of the electrically actuable actuator (3) and the torque-power characteristic (10) of the transmission ( 7) is stored.
PCT/EP2008/055517 2007-06-06 2008-05-06 Method for determining the force acting in an electromechanically supported servo-hydraulic system WO2008148616A1 (en)

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DE102009028010B3 (en) * 2009-07-24 2011-01-13 Robert Bosch Gmbh Method and device for shifting and storing brake fluid for a hydraulic brake system of a vehicle
DE102010063413A1 (en) * 2010-12-17 2012-06-21 Robert Bosch Gmbh Method for adjusting the clamping force exerted by a parking brake
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