WO2008148616A1 - Procédé pour déterminer la force agissant dans un système servo-hydraulique assisté de manière électromécanique - Google Patents

Procédé pour déterminer la force agissant dans un système servo-hydraulique assisté de manière électromécanique 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
Authority
WO
WIPO (PCT)
Prior art keywords
servo
force
actuator
hydraulic system
movement
Prior art date
Application number
PCT/EP2008/055517
Other languages
German (de)
English (en)
Inventor
Robert Kornhaas
Jochen Mayer
Willi Nagel
Gerd Baur
Roland Pitteroff
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2008148616A1 publication Critical patent/WO2008148616A1/fr

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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

L'invention concerne un procédé permettant de déterminer la force (FG) agissant sur un système hydraulique assisté de manière électromécanique, selon lequel le mouvement de l'actionneur est détecté, le mouvement de réglage (s) d'un élément hydraulique (3) est calculé à partir du mouvement de l'actionneur, au moyen d'une ligne caractéristique des rapports de vitesses (10) d'une transmission (7), et la force (FG) agissant sur le système servo-hydraulique est calculée à partir du mouvement de réglage hydraulique (s).
PCT/EP2008/055517 2007-06-06 2008-05-06 Procédé pour déterminer la force agissant dans un système servo-hydraulique assisté de manière électromécanique WO2008148616A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710026447 DE102007026447A1 (de) 2007-06-06 2007-06-06 Verfahren zur Ermittlung der in einem elektromechanisch unterstützten Servohydrauliksystem wirkenden Kraft
DE102007026447.1 2007-06-06

Publications (1)

Publication Number Publication Date
WO2008148616A1 true WO2008148616A1 (fr) 2008-12-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/055517 WO2008148616A1 (fr) 2007-06-06 2008-05-06 Procédé pour déterminer la force agissant dans un système servo-hydraulique assisté de manière électromécanique

Country Status (2)

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DE (1) DE102007026447A1 (fr)
WO (1) WO2008148616A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009028010B3 (de) 2009-07-24 2011-01-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Verschieben und Speichern von Bremsflüssigkeit für ein hydraulisches Bremssystem eines Fahrzeugs
DE102010063413A1 (de) * 2010-12-17 2012-06-21 Robert Bosch Gmbh Verfahren zum Einstellen der von einer Feststellbremse ausgeübten Klemmkraft
DE102014219536B4 (de) * 2014-09-26 2022-02-03 Zf Friedrichshafen Ag Verfahren zur Ermittlung einer Betätigungskraft eines Stellaktuators sowie Betätigungseinrichtung mit einem Stellaktuator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19732168C1 (de) * 1997-07-25 1999-01-07 Lucas Ind Plc Hydraulische Fahrzeugbremse mit Feststelleinrichtung und Verfahren zum Betreiben derselben
WO2004022394A1 (fr) * 2002-08-13 2004-03-18 Continental Teves Ag & Co. Ohg Procede d'actionnement d'un dispositif de frein de stationnement electromecanique
DE102005018649A1 (de) * 2005-04-21 2006-10-26 Gerber, Wolfram Bremssystem mit elektromotorisch angetriebenem Kolben-Zylinder-System
DE102005024577A1 (de) * 2005-05-25 2006-11-30 Volkswagen Ag Vorrichtung und Verfahren zur elektromechanischen Bremsunterstützung

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10057557A1 (de) 2000-06-10 2001-12-13 Continental Teves Ag & Co Ohg Elektromechanischer Bremskraftverstärker

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19732168C1 (de) * 1997-07-25 1999-01-07 Lucas Ind Plc Hydraulische Fahrzeugbremse mit Feststelleinrichtung und Verfahren zum Betreiben derselben
WO2004022394A1 (fr) * 2002-08-13 2004-03-18 Continental Teves Ag & Co. Ohg Procede d'actionnement d'un dispositif de frein de stationnement electromecanique
DE102005018649A1 (de) * 2005-04-21 2006-10-26 Gerber, Wolfram Bremssystem mit elektromotorisch angetriebenem Kolben-Zylinder-System
DE102005024577A1 (de) * 2005-05-25 2006-11-30 Volkswagen Ag Vorrichtung und Verfahren zur elektromechanischen Bremsunterstützung

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DE102007026447A1 (de) 2008-12-11

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