WO2022202243A1 - 電動ブレーキの制御装置、電動ブレーキ装置および電動ブレーキの制御方法 - Google Patents
電動ブレーキの制御装置、電動ブレーキ装置および電動ブレーキの制御方法 Download PDFInfo
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- WO2022202243A1 WO2022202243A1 PCT/JP2022/009647 JP2022009647W WO2022202243A1 WO 2022202243 A1 WO2022202243 A1 WO 2022202243A1 JP 2022009647 W JP2022009647 W JP 2022009647W WO 2022202243 A1 WO2022202243 A1 WO 2022202243A1
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- stroke
- release
- apply
- motor
- brake
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Classifications
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T13/741—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 an ultimate actuator
-
- 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
- B60T13/58—Combined or convertible systems
- B60T13/588—Combined or convertible systems both fluid and mechanical assistance or drive
-
- 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
- B60T13/746—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 and mechanical transmission of the braking action
-
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
- F16D55/224—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members
- F16D55/225—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads
- F16D55/226—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads in which the common actuating member is moved axially, e.g. floating caliper disc brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
- F16D65/183—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes with force-transmitting members arranged side by side acting on a spot type force-applying member
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
-
- 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
- B60T13/145—Master cylinder integrated or hydraulically coupled with booster
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
- F16D2125/40—Screw-and-nut
Definitions
- FIG. 1 is a conceptual diagram of a vehicle equipped with an electric brake control device and an electric brake device according to an embodiment
- FIG. FIG. 2 is an enlarged longitudinal sectional view showing an electric brake (hydraulic disc brake with an electric parking brake function) provided on the rear wheel side in FIG. 1
- FIG. 2 is a block diagram (circuit configuration diagram) showing the control device in FIG. 1 together with a rear-wheel-side disc brake and the like
- FIG. 2 is a block diagram (control block diagram) showing a control device in FIG. 1
- FIG. 5 is a block diagram showing a left processing section of the control device in FIG. 4
- FIG. 6 is a block diagram showing a motor state calculator in FIG. 5;
- the caliper 6B propels the brake pad 6C with the piston 6D by supplying (applying) hydraulic pressure (brake hydraulic pressure) to the cylinder 6B4 based on the operation of the brake pedal 9 or the like.
- the brake pad 6C is pressed against both surfaces of the disc rotor 4 by the claw portion 6B2 of the caliper 6B and the piston 6D.
- a braking force is applied to the rear wheel 3 rotating together with the disk rotor 4 .
- the ESC 16 is a hydraulic pressure control device that controls the hydraulic pressure of the hydraulic brakes (the front wheel side disc brake 5 and the rear wheel side disc brake 6).
- the ESC 16 includes a plurality of control valves (not shown), a hydraulic pump (not shown) that pressurizes the brake hydraulic pressure, an electric motor 16A (FIG. 3) that drives the hydraulic pump, It also includes a fluid pressure control reservoir (not shown) that temporarily stores surplus brake fluid.
- Each control valve of the ESC 16 and the electric motor 16A are connected to a braking control device 17, and the ESC 16 is configured including the braking control device 17.
- the braking control device 17 is an ESC control unit (ESC ECU) that controls the ESC 16 .
- the braking control device 17 includes a microcomputer and electrically drives and controls the ESC 16 (solenoids of control valves of the ESC 16 and the electric motor 16A).
- the braking control device 17 includes, for example, an arithmetic circuit 24 that controls the hydraulic pressure supply to the ESC 16 and detects failure of the ESC 16, an ESC drive circuit 27 that drives the electric motor 16A and each control valve, and the like. It is
- the braking control device 17 operates the left and right electric motors 7A based on an actuation request (apply request, release request) by the operation of the parking brake switch 23 by the driver, an actuation request by determination of auto-apply/auto-release of the parking brake, and the like. , 7A to apply (hold) or release (release) the left and right disc brakes 6, 6. At this time, in the rear-wheel disc brake 6, the piston 6D and the brake pad 6C are held or released by the rotation/linear motion conversion mechanism 8 based on the driving of each electric motor 7A. In this way, the braking control device 17 responds to the operation request signal for the holding operation (apply) or release operation (release) of the piston 6D (and thus the brake pad 6C). The electric motor 7A is driven and controlled to propel the pad 6C).
- the arithmetic circuit 24 of the braking control device 17 includes a parking brake switch 23, a vehicle data bus 20, voltage sensors 26, 30, 30, an ESC drive, in addition to a memory 25 as a storage unit.
- a circuit 27, motor drive circuits 28, 28, current sensor units 29, 29, etc. are connected. From the vehicle data bus 20, various vehicle state quantities necessary for controlling the ESC 16 and controlling (activating) the parking brake, that is, various vehicle information can be acquired.
- the braking control device 17 can also output information and instructions to various ECUs via the vehicle data bus 20 .
- the vehicle information acquired from the vehicle data bus 20 may be acquired by directly connecting a sensor that detects the information to (the arithmetic circuit 24 of) the braking control device 17 . Further, the arithmetic circuit 24 of the braking control device 17 may be configured to receive an operation request based on determination of auto apply/auto release from another control device (ECU) connected to the vehicle data bus 20. . In this case, the control for determination of auto-apply/auto-release may be performed by another control device instead of the control device 17 for braking.
- ECU control device
- the braking control device 17 is provided with a memory 25 as a storage unit composed of, for example, flash memory, ROM, RAM, EEPROM, and the like.
- the memory 25 stores a processing program used for controlling the ESC 16 and a processing program used for controlling the parking brake.
- the memory 25 stores, for example, processing programs for executing processing flows shown in FIGS.
- the memory 25 is provided with an EEPROM as a non-volatile memory.
- the non-volatile memory stores various information and signals at the time of application and release.
- a flash memory may be used as a nonvolatile memory for storing various information and various signals.
- the braking control device 17 (arithmetic circuit 24) is based on the current values (monitor current values) of the electric motors 7A, 7A detected by the current sensor units 29, 29 when applying or releasing the parking brake. , determination of stop of driving of the electric motors 7A, 7A (determination of completion of application, determination of completion of release), etc. can be performed.
- both the "power supply voltage sensor unit 26 for detecting the voltage of the power supply line 19" and the "left and right voltage sensor units 30, 30 for detecting the voltage between the terminals of the left and right electric motors 7A, 7A" are provided, but either one may be omitted.
- Fig. 24 shows an example of the basic operation outline of the electric parking brake, that is, the time change of the electric current at the time of application and release.
- the braking control device 17 (arithmetic circuit 24) performs apply, release, and motor braking by turning on/off/short-circuiting the electric motor 7A in the motor drive circuits 28, 28 according to the driver's operation.
- both the apply and release current waveforms in FIG. 24 show the case where hydraulic pressure is not applied (the brake pedal is not depressed). Also, basically, the current and the generated thrust are proportional.
- the short-circuit operation works as follows.
- the motor drive circuit 28 short-circuits the motor terminals (motor brake state), and a reverse current is generated by the induced voltage, so that the torque (motor brake) to stop the electric motor 7A is generated. Occur.
- the completion of applying and the completion of releasing are determined using the current or the stroke amount estimated from the current and voltage, but they may be determined using a thrust sensor or a stroke sensor. However, from the viewpoint of cost reduction, it is preferable to use current and voltage.
- Patent Document 1 calculates the stroke from the point where the parking brake mechanism abuts the piston and the load starts to increase (load detection point) until the current reaches the threshold. application is complete. Furthermore, when releasing, the release is completed when a stroke obtained by adding the above-mentioned stroke and a predetermined clearance is returned.
- the clearance corresponds to the clearance between the parking brake mechanism and the piston.
- the stroke including overshoot from the load detection point to the apply operation completion point "the stroke corresponding to the amount of movement or deformation of the pad due to hydraulic pressure”, and the “target clearance” are added.
- the amount obtained is the target release stroke amount.
- the braking control device 17 of the embodiment more specifically, a portion of the braking control device 17 that performs processing related to control of the electric brake (electric motor 7A) (hereinafter, this portion will be referred to as a parking brake control device 31). ) will be described with reference to FIGS. 4 to 23.
- FIG. 1 a portion of the braking control device 17 that performs processing related to control of the electric brake (electric motor 7A) (hereinafter, this portion will be referred to as a parking brake control device 31).
- the parking brake control device 31 as an electric brake control device forms part of the braking control device 17 .
- the parking brake control device 31 includes a left control unit 31A that performs processing related to the electric motor 7A located on the left side of the vehicle body 1, and a right control unit 31A that performs processing related to the electric motor 7A located on the right side of the vehicle body 1. and a portion 31B. Since the left control unit 31A and the right control unit 31B have the same configuration except that the left and right sides are different, the left control unit 31A will be mainly described below, and the right control unit 31B has the same configuration as the left control unit 31A. The same reference numerals are given to the elements, and the description thereof is omitted.
- the control configuration is roughly composed of five control blocks (motor state calculation unit 35, apply control unit 36, release control unit 37, EEPROM unit 38, motor drive determination unit 39), and the same control is performed on the left and right.
- the left and right electric motors 7A, 7A are driven at the same time, the electrical load increases, so it is preferable to drive the electric motors 7A, 7A with different timings on the left and right sides.
- it is preferable to shift the timings of starting the driving of the electric motors 7A, 7A on the left and right for example, by about several tens of milliseconds) in order to suppress the voltage drop due to the overlapping of the rush currents on the left and right.
- this control configuration is intended for apply and release while the vehicle is stopped (that is, static apply and static release), for example, apply and release while the vehicle is running (that is , dynamic apply and dynamic release), any function that can estimate the stroke amount at the time of application can be applied. Also, for example, even if it is a function that is activated by a request from the vehicle system side, such as a function to keep the vehicle stopped on a slope, etc., instead of operating the parking brake switch 23, if it is a function that can estimate the stroke amount at the time of application, equally applicable.
- an electric brake a hydraulic disc brake with an electric parking brake function will be described as an example, but the electric brake is not limited to this. or an electric drum brake may be used.
- the parking brake control device 31 (left control section 31A and right control section 31B) includes filter processing sections 32, 33, and 34, a motor state calculation section 35, and an apply control section 36. , a release control unit 37, an EEPROM unit 38, a motor drive determination unit 39, and 1/z units 40 and 41.
- Each block of this control configuration executes processing at a predetermined control cycle, for example, a 10 ms cycle.
- processing is executed in order from left to right. Therefore, when the output signal of the right block is input to the left block, the block "1/z" is used to express that the value calculated in the previous task (control cycle) is used as it is in the current task. , that is, 1/z parts 40 and 41 are described.
- the filtered monitor current and monitor voltage are input to the motor state calculator 35 as control current and control voltage, respectively.
- the motor state calculator 35 calculates the motor rotation speed based on the control current (current value) and the control voltage (voltage value), and determines whether or not the motor is stopped.
- the motor state calculation unit 35 outputs the motor stop determination (ON, OFF), which is the determination result of whether or not the motor is stopped, to the apply control unit 36 and the motor drive determination unit 39 .
- the motor state calculation unit 35 also outputs the calculated motor rotation speed to the apply control unit 36 and the release control unit 37 .
- the apply control unit 36 outputs to the release control unit 37 an apply stroke calculation completion flag (ON, OFF) corresponding to whether or not the calculation of the apply stroke is completed.
- the apply control unit 36 outputs the corrected application stroke obtained by adding the correction value and the apply stroke to the release control unit 37 and the EEPROM unit 38 .
- An apply stroke calculation completion flag, a corrected application stroke, a motor rotation speed, a motor drive state (previous value), and a corrected apply stroke (stored value) are input to the release control unit 37 .
- the release control unit 37 outputs a release completion determination (ON, OFF), which is a determination result as to whether or not the release is completed, to the motor drive determination unit 39 and the 1/z unit 40 .
- the motor drive determination unit 39 receives an electric brake (electric parking brake) operation request (PKB operation request) based on a signal from the parking brake switch 23, a signal determined by auto apply/auto release, etc., an application completion determination, Motor stop determination is input.
- the motor drive determination unit 39 generates a command (motor drive command) to turn on/off/short-circuit the motor drive circuit 28 based on a PKB operation request by a driver operation, application completion, release completion, and motor stop determination results.
- the motor drive determination unit 39 creates a motor drive state.
- the motor drive determination unit 39 outputs the created motor drive command to the motor drive circuit 28 .
- the motor drive determination unit 39 outputs the created motor drive state to the 1/z unit 41 .
- Release completion determination is input to the 1/z unit 40 .
- the 1/z unit 40 outputs to the apply control unit 36 a “release completion determination (previous value)” that is a release completion determination of the previous value.
- a motor drive state is input to the 1/z unit 41 .
- the 1/z unit 41 outputs the “motor drive state (previous value)”, which is the previous value of the motor drive state, to the motor state calculation unit 35 , the apply control unit 36 , the release control unit 37 and the EEPROM unit 38 .
- the motor state calculation unit 35 generates signals (motor rotation speed, motor stop determination) that are referred to by the apply control unit 36, the release control unit 37, etc., which will be described later.
- the motor state calculation unit 35 includes two blocks, namely, a motor rotation speed calculation unit 35A and a motor stop determination unit 35B.
- a control current and a control voltage are input to the motor rotation speed calculator 35A.
- a "motor drive state (previous value)” is also input to the motor rotation speed calculator 35A.
- the motor rotation speed calculator 35A calculates the motor rotation speed used for stroke calculation and motor stop determination during apply/release based on the current (control current) and voltage (control voltage). Specifically, the motor rotation speed ⁇ [rad/s] is calculated by the following Equations 1 and 2.
- Equations 1 and 2 “V” is the voltage between the motor terminals [V], “R” is the circuit resistance [ ⁇ ], “I” is the motor current [A], and “L” is the inductance [H], “ ⁇ I” is the amount of current change (current value - previous value) [A], “ ⁇ t” is the control period, and “ke” is the induced voltage constant [V/(rad/ s)].
- the circuit resistance R [ ⁇ ] is the total resistance of the circuit including the electric motor 7A from the monitor position of the voltage between the motor terminals. Note that the calculation of the motor rotation speed ⁇ [rad/s] may be, for example, the calculation of the motor rotation amount using a hall sensor or the like. Also, the torque constant and the inter-terminal resistance may be estimated from the current and voltage immediately after the motor is started.
- FIG. 7 shows the motor stop determination process performed by the motor stop determination unit 35B.
- the processing shown in FIG. 7 is repeatedly executed at a predetermined control period (for example, 10 ms).
- a predetermined control period for example, 10 ms.
- S1 it is determined whether or not the state in which the motor rotation speed is equal to or lower than the speed threshold has continued for a certain period of time.
- the speed threshold value can be set as a determination value of the rotation speed with which it can be accurately determined whether or not the electric motor 7A is stopped. If "NO" in S1, that is, if it is determined that the motor rotation speed is equal to or higher than the speed threshold, or the motor rotation speed is equal to or lower than the speed threshold but has not continued for a certain period of time, the process proceeds to S2.
- the motor stop determination is set to "OFF". "OFF” corresponds to "electric motor 7A not stopped (driven)". If the motor stop determination is set to "OFF” in S2, the process proceeds to the end. If “YES” in S1, that is, if it is determined that the motor rotation speed has been equal to or lower than the speed threshold for a certain period of time, the process proceeds to S3. In S3, the motor stop determination is set to "ON”. “ON” corresponds to "stop the electric motor 7A”. If the motor stop determination is set to "ON” in S2, the process proceeds to the end. Although the motor stop determination unit 35B uses the rotation speed to determine the motor stop, for example, it may be determined whether the motor is stopped based on the voltage and current applied to the electric motor 7A.
- the control fluid pressure, release completion determination (previous value), motor drive state (previous value), and load detection signal are input to the correction value calculation unit 36B. Based on these inputs, the correction value calculation unit 36B calculates, as a stroke correction value, the stroke amount (fluctuation amount of the apply stroke) due to the movement of the load detection point due to the hydraulic pressure pushing the piston 6D. That is, the correction value calculator 36B calculates the stroke (correction value) corresponding to the movement of the load detection point due to the hydraulic pressure pushing the piston 6D. The correction value calculator 36B outputs the calculated correction value (apply stroke correction value) to the post-correction apply stroke calculator 36D.
- a load detection signal, a motor drive state (previous value), a motor stop determination, and a motor rotation speed are input to the apply stroke calculation unit 36C.
- the apply stroke calculation unit 36C calculates an apply stroke that is a stroke from the load detection point to which overshoot is also taken into account. That is, the apply stroke calculator 36C calculates the apply stroke from the load detection point to the complete stop of the electric motor 7A after the application is completed, taking into consideration the overshoot.
- the apply stroke calculator 36C outputs the calculated apply stroke to the post-correction apply stroke calculator 36D and the apply completion determination unit 36E. Also, the apply stroke calculation unit 36C outputs an apply stroke calculation completion flag (ON, OFF) corresponding to whether or not the calculation of the apply stroke is completed to the release control unit 37 .
- a correction value and an apply stroke are input to the corrected apply stroke calculation unit 36D.
- the post-correction apply stroke calculation unit 36D adds the correction value and the apply stroke to calculate the post-correction apply stroke corresponding to the stroke to be returned at the time of release. That is, the post-correction apply stroke calculation unit 36D adds the correction value and the apply stroke to calculate the post-correction apply stroke for calculating the stroke to be returned at the time of release.
- the corrected apply stroke calculator 36 ⁇ /b>D outputs the calculated corrected apply stroke to the release controller 37 and the EEPROM 38 .
- the apply stroke, the motor drive state (previous value), and the control current are input to the apply completion determination unit 36E.
- the apply completion determination unit 36E determines whether or not the specified thrust force is generated from the current and the apply stroke, that is, whether or not the application is completed.
- the apply completion determination unit 36E outputs the determination result as to whether or not the application is completed to the motor drive determination unit 39 as an apply completion determination.
- the load detection signal calculator 36A calculates the timing at which the rotation/linear motion conversion mechanism 8 (linear motion member 8A2) comes into contact with the piston 6D and the piston 6D starts moving during application as load detection.
- FIG. 9 shows load detection signal calculation processing performed by the load detection signal calculation unit 36A. The processing shown in FIG. 9 is repeatedly executed at a predetermined control period (for example, 10 ms).
- S11 it is determined whether or not the motor drive state (previous value) is being applied.
- the motor drive state (previous value) is input from the motor drive determination section 39 through the 1/z section 41 to the load detection signal calculation section 36A. If "NO" in S11, that is, if it is determined that the motor driving state (previous value) is not being applied, the process proceeds to S12. In S12, it is determined whether or not the motor drive state (previous value) is in motor braking after application.
- the load detection signal is turned off.
- the load detection signal is a signal corresponding to a state value indicating whether or not a load due to the rotation/linear motion conversion mechanism 8 (linear motion member 8A2) contacting the piston 6D and the piston 6D starting to move has been detected (ON: load is detected, OFF: load is not detected). If the load detection signal is turned off in S13, the process proceeds to the end.
- the process proceeds to S17.
- S17 the slope of the control current is calculated.
- the control current is input from the current sensor section 29 through the filter processing section 33 to the load detection signal calculation section 36A.
- S18 it is determined whether or not the slope of the control current has continued to be equal to or greater than the current slope threshold for a certain period of time.
- the current inclination threshold value and the fixed time are values (threshold value , judgment value).
- S19 it is determined whether or not the control current has reached the maximum no-load current at least once after detecting the rush current peak.
- the maximum no-load current corresponds to the maximum value of current generated under a constant load after the inrush current at the start of the electric motor 7A and before the rotary-to-linear motion converting mechanism 8 (linear motion member 8A2) comes into contact with the piston 6D. If “NO” in S19, that is, if it is determined that the control current has not reached the maximum no-load current after detecting the inrush current peak, the process proceeds to S13 via "A". If "YES” in S19, that is, if it is determined that the current for control has reached the maximum no-load current after the inrush current peak was detected, the process proceeds to S20.
- S20 it is determined whether or not the state in which the control current is greater than the maximum no-load current has continued for a certain period of time. If “NO” in S20, that is, if it is determined that the control current is greater than the maximum no-load current for a certain period of time, the process proceeds to S13 via "A”. If “YES” in S20, that is, if it is determined that the control current is greater than the maximum no-load current for a certain period of time, the process proceeds to S14. In this case, the load detection signal is turned ON.
- the applied state continues for a certain period of time before load detection, and the slope of the control current is equal to or greater than the threshold value or the control current is larger than the maximum no-load current continues for a certain period of time.
- the load detection signal is turned ON.
- the load detection signal calculator 36A performs mask processing for the purpose of preventing erroneous load detection due to rush current. That is, the load detection process based on the current gradient is masked until the rush current peak is detected during application. Further, after the peak is detected, load detection processing based on the current threshold (maximum no-load current) is masked until the control current falls below the maximum no-load current.
- the load detection process may be simply masked for a certain period of time from the start of apply driving.
- the load detection signal calculator 36A remains ON until the motor drive state (previous value) is "motor braking after application”.
- the load detection signal is turned OFF when there is a transition from "during rear motor braking”.
- correction value calculator 36B will be described with reference to FIG.
- the correction value calculation unit 36B calculates the pad movement amount and the pad deformation amount due to the hydraulic pressure at the time of load detection using the correction value calculation table shown in FIG.
- the correction value is a balance between the thrust generated by the hydraulic pressure and the force that tries to return the piston 6D (the total reaction force such as the friction force between the piston seal 6E and the piston 6D and the reaction force between the brake pad 6C and the shim).
- the value is the sum of the amount of piston movement up to the position where the brake pad 6 ⁇ /b>C is moved and the amount of piston movement due to rigid deformation of the brake pad 6 ⁇ /b>C.
- the stroke amount in the load detection point determination time may be calculated from the motor rotation speed when rotating with a constant load after the inrush current, and added to the correction value.
- the piston moves toward the disc rotor, so the pad also moves toward the disc rotor while deforming. Therefore, if the brake fluid pressure is applied while the brake fluid pressure is generated, the stroke to the load detection point becomes longer than when the brake fluid pressure is not generated. Therefore, the correction value to be added to the apply stroke when calculating the corrected apply stroke is set to increase as the hydraulic pressure at the load detection point increases.
- the correction value increases as the fluid pressure increases.
- the friction member moves to the side opposite to the member to be rubbed, i.e., to the parking brake mechanism side, when brake fluid pressure is generated, brake fluid pressure is generated.
- the stroke to the load detection point is shorter than when it is not installed. Therefore, the correction value to be added to the apply stroke when calculating the corrected apply stroke is set to decrease as the hydraulic pressure at the load detection point increases.
- the characteristics of the correction value calculation table may be changed.
- the maximum value in the correction value calculation table (FIG. 11), which corresponds to the maximum amount of piston movement due to hydraulic pressure, can be set as a fixed value.
- the WC pressure is estimated based on the relationship between the stroke amount from the start of application to the load detection point and the ⁇ C pressure, and the estimated WC pressure is input to calculate the correction value using a correction value calculation table. good too.
- control hydraulic pressure After obtaining the control hydraulic pressure in S30, it is determined in S31 whether or not the control hydraulic pressure was successfully obtained, that is, whether or not the control hydraulic pressure is an Invalid value. If "YES” in S31, that is, if it is determined that the control hydraulic pressure is an invalid value, the process advances to S32 to set the "correction value” to a fixed value, and to S28 to turn on the "correction value calculated". .
- the correction value calculation unit 36B calculates the correction value from the correction value calculation table as shown in FIG.
- the correction value calculation table As shown in FIG.
- the correction value is set to a fixed value, and correction value calculation completed is cleared (OFF).
- the apply stroke calculation unit 36C calculates a stroke amount (apply stroke) from when the rotation/linear motion conversion mechanism 8 comes into contact with the piston 6D until the electric motor 7A stops.
- FIG. 12 shows the apply stroke calculation process performed by the apply stroke calculation unit 36C. The processing shown in FIG. 12 is repeatedly executed at a predetermined control cycle (for example, 10 ms).
- S41 it is determined whether or not the motor drive state (previous value) is during application or motor braking after application.
- the motor drive state (previous value) is input from the motor drive determination section 39 to the apply stroke calculation section 36C via the 1/z section 41 . If it is determined “NO” in S41, that is, if it is determined that the motor driving state (previous value) is not applying and the motor is not being braked after applying, the process proceeds to S42.
- S42 it is determined whether or not the release completion determination (previous value) is ON.
- the release completion determination (previous value) is input from the release control section 37 to the apply stroke calculation section 36C via the 1/z section 40 . If "NO" in S42, that is, if it is determined that the release completion determination (previous value) is not ON, the process proceeds to S43 and S44.
- the apply stroke calculation unit 36C when the motor driving state (previous value) is "applying" or “motor braking after applying” and the load detection signal is ON and the motor stop determination is not ON, the motor rotation speed , and the result of converting the rotational speed into a stroke is used as the apply stroke.
- the motor stop determination when the motor stop determination is ON, the apply stroke is set to the previous value, and the apply stroke calculation completion flag is turned ON. Further, the apply stroke is set to 0 because the rotation/linear motion conversion mechanism 8 (linear motion member 8A2) is not in contact with the piston 6D until the load detection signal is turned ON.
- the apply stroke and the apply stroke calculation completion flag hold the previous values until the release is completed. When the release is completed, the apply stroke is cleared to 0 and the apply stroke calculation completion flag is turned off.
- the control current is input from the current sensor unit 29 through the filter processing unit 33 to the application completion determination unit 36E.
- the current threshold can be set as a current value (determination value, threshold) at which it can be determined that the braking force required to stop the vehicle has been generated when the current threshold is exceeded.
- S74 it is determined whether or not the applied stroke is greater than or equal to the stroke threshold.
- the apply stroke is input from the apply stroke calculator 36C to the apply completion determination unit 36E.
- the stroke threshold value can be set as a stroke value (determination value, threshold value) at which it can be determined that the braking force required to stop the vehicle has been generated when the stroke threshold value is exceeded. If "NO” in S74, that is, if it is determined that the applied stroke is not equal to or greater than the stroke threshold, the process proceeds to S71.
- the apply completion determination unit 36E when the motor drive state (previous value) continues to be "applying" for a certain period of time and the control current is equal to or greater than the threshold or the apply stroke is equal to or greater than the threshold, the apply is It is determined that the application has been completed, and the application completion determination is turned ON. If the apply state has not continued for a certain period of time and both the control current and the apply stroke are less than the threshold values, the apply completion determination unit 36E turns off the apply completion determination. Then, when the motor drive state (previous value) transitions from "applying", the apply completion determination is turned off.
- the release control section 37 includes three blocks, namely, a target release stroke calculation section 37A, a release stroke calculation section 37B, and a release completion determination section 37C, in order to ensure a stable clearance. Further, the release control section 37 has a 1/z section 37D.
- a motor driving state (previous value), a post-correction apply stroke, a post-correction apply stroke (stored value), and an apply stroke calculation completion flag are input to the target release stroke calculation unit 37A. Based on these inputs, the target release stroke calculation unit 37A determines which of the "corrected apply stroke stored in the nonvolatile memory" and the "corrected apply stroke calculated in the same cycle" should be used. Calculate the target release stroke with the clearance added.
- the same cycle is defined as the period from the activation of the ECU (braking control device 17) by turning the ignition switch ON or the like until the power supply to the ECU is interrupted by the turning OFF of the ignition SW or the like and the reliability of the RAM information is lost. means. For this reason, for example, if the ignition switch is turned off before it is released after the application is completed, the reliability of the RAM information is lost, so the "corrected apply stroke stored in the non-volatile memory" is used. In other words, the "corrected apply stroke calculated in the same cycle” is used when the RAM information does not lose its reliability until it is released after the application is completed.
- the target release stroke calculation section 37A outputs the calculated target release stroke to the release completion determination section 37C.
- the motor drive state (previous value), motor rotation speed, and release completion determination (previous value) are input to the release stroke calculation unit 37B.
- the release stroke calculator 37B calculates the stroke from the start of release based on these inputs. That is, the release stroke calculator 37B calculates the stroke amount from the start of release until the required clearance is secured.
- the release stroke calculation unit 37B outputs the calculated stroke to the release completion determination unit 37C as a release stroke.
- the motor drive state (previous value), target release stroke, and release stroke are input to the release completion determination unit 37C. Based on these inputs, the release completion determination unit 37C determines that the desired clearance is ensured when the release stroke reaches the target release stroke. The release completion determination unit 37C outputs the release completion determination, which is the determination result, to the motor drive determination unit 39 and the 1/z unit 37D. Release completion determination is input to the 1/z unit 37D. The 1/z unit 37D outputs the “release completion determination (previous value)”, which is the release completion determination of the previous value, to the release stroke calculation unit 37B.
- the release stroke calculation unit 37B calculates the stroke amount (release stroke) from the start of release until the required clearance is secured.
- FIG. 16 shows the release stroke calculation process performed by the release stroke calculator 37B. The processing shown in FIG. 16 is repeatedly executed at a predetermined control period (for example, 10 ms).
- S81 it is determined whether or not the motor drive state (previous value) is in release. If it is determined “NO” in S81, that is, if it is determined that the motor driving state (previous value) is not released, the process proceeds to S82. At S82, the release stroke is set to 0, and the process proceeds to the end. On the other hand, if it is determined "YES” in S81, that is, if it is determined that the motor drive state (previous value) is being released, the process proceeds to S83. In S83, it is determined whether or not the release completion determination (previous value) is ON.
- the target release stroke calculation unit 37A calculates the target release stroke required to secure the clearance at the time of leasing.
- FIG. 17 shows the release stroke calculation process performed by the target release stroke calculation section 37A. The processing shown in FIG. 17 is repeatedly executed at a predetermined control period (for example, 10 ms).
- the process proceeds to S93.
- the target release stroke is calculated by adding the corrected apply stroke (stored value) and the target clearance.
- the corrected apply stroke (stored value) corresponds to the corrected apply stroke calculated by the apply control unit 36 (corrected apply stroke calculation unit 36D) and written in the memory 25 (EEPROM).
- the target clearance is, for example, from a position (no load position) where the rotation/linear motion conversion mechanism 8 (linear motion member 8A2) separates (separates from) the piston 6D, and the rotation/linear motion conversion mechanism 8 (linear motion member 8A2) and the piston It corresponds to the stroke amount for the clearance required between 6D.
- the target release stroke calculation unit 37A sets the target release stroke to 0 because there is no need to determine release completion except during release. Further, in the target release stroke calculation section 37A, since it is necessary to calculate the target release stroke even in a state where the start signal is turned OFF after completion of applying and the RAM value is reset, the apply stroke calculation completion signal which turns ON when the apply stroke calculation is completed is turned ON. A flag determines whether the stored value in the non-volatile memory should be used. When the apply stroke calculation completion flag is ON, the corrected apply stroke and the target clearance are added, and when the apply stroke calculation completion flag is OFF, the corrected apply stroke (stored value) and the target clearance are added, Calculate the target release stroke.
- the release completion determination unit 37C determines that the release has been completed with the desired clearance secured.
- FIG. 18 shows the release completion determination process performed by the release completion determination unit 37C. The processing shown in FIG. 18 is repeatedly executed at a predetermined control period (for example, 10 ms).
- S81 it is determined whether or not the motor drive state (previous value) is in release, as in Figs. 16 and 17 . If it is determined "NO” in S81, that is, if it is determined that the motor drive state (previous value) is not in release, the process proceeds to S101. In S101, the release completion determination is turned off, and the process proceeds to the end. On the other hand, if it is determined "YES” in S81, that is, if the motor driving state (previous value) is determined to be releasing, the process proceeds to S102. In S102, it is determined whether or not the release stroke is greater than or equal to the target release stroke.
- the release stroke is input from the release stroke calculation section 37B to the release completion determination section 37C.
- the target release stroke is input from the target release stroke calculation section 37A to the release completion determination section 37C. If “NO” in S102, that is, if it is determined that the release stroke is not equal to or greater than the target release stroke, the process proceeds to S101. On the other hand, if it is determined “YES” in S102, that is, if the release stroke is equal to or greater than the target release stroke, the process proceeds to S103. In S103, the release completion determination is turned ON, and the process proceeds to the end.
- the rotation/linear motion conversion mechanism 8 (linear motion member 8A2) is released using the stroke until it separates (separates from) the piston 6D (position where there is no load). After that, by driving the electric motor 7A for a predetermined time, it may be determined that the clearance is ensured. That is, it may be determined that the release is completed when it is determined that the clearance has been secured using time from the no-load position.
- the corrected apply stroke to be written to the non-volatile memory is set in order to perform release control that can secure the intended clearance.
- FIG. 19 shows EEPROM write processing performed in the EEPROM section 38 . The processing shown in FIG. 19 is repeatedly executed at a predetermined control period (for example, 10 ms).
- S111 it is determined whether or not the motor driving state (previous value) is stopped. If it is determined “NO” in S111, that is, if it is determined that the motor drive state (previous value) is not stopped, the process proceeds to S112 and S113. That is, in S112, the EEPROM write request is turned OFF, and in S113, the corrected apply stroke (written value) is set to the previous value, and the process proceeds to the end. On the other hand, if it is determined “YES” in S111, that is, if it is determined that the motor driving state (previous value) is stopped, the process proceeds to S114. In S114, it is determined whether or not the motor driving state (value of 2 times before) is during motor braking after completion of applying.
- the EEPROM write request is turned ON, and the post-correction apply stroke is set as the post-correction apply stroke (written value).
- the corrected apply stroke necessary for release control does not change, so the EEPROM write request is turned off and the corrected apply stroke (written value) is latched (held).
- the EEPROM write request is turned OFF when the motor drive state (previous value) is not stopped.
- the apply stroke (write value) is latched (held).
- the motor drive determination unit 39 creates a state for determining whether or not various processes need to be executed by the apply control unit 36 and the release control unit 37, and energizes the motor drive circuit 28 ON (apply/release)/power OFF (stop). / Create a command value that requests a short circuit.
- the motor drive determination unit 39 has two control blocks, namely, a motor drive state generation unit 39A and a motor drive command generation unit 39B.
- a PKB operation request, an apply completion determination, a release completion determination, and a motor stop determination are input to the motor drive state creation unit 39A.
- the motor drive state generator 39A determines the drive state of the electric motor 7A from the PKB operation request, apply completion determination, release completion determination, and motor stop determination.
- the motor drive state creation unit 39A outputs the motor drive state, which is the determination result, to the motor drive command creation unit 39B and the 1/z unit 41 .
- a motor drive state is input to the motor drive command generation unit 39B.
- the motor drive command generation unit 39B generates a command to the motor drive circuit 28 from the motor drive state, which is the drive state of the motor 7A.
- the motor drive command creating unit 39B outputs the created command to the motor drive circuit 28 as a motor drive command.
- the motor drive state creation unit 39A determines the drive state of the electric motor 7A from the PKB operation request, apply completion determination, release completion determination, and motor stop determination. That is, the motor driving state creation unit 39A uses the PKB operation request, the apply completion determination, the release completion determination, and the motor stop determination to determine “stopping", “applying”, “releasing”, and “motor braking after applying”. ”, and “during motor braking after release”.
- the determination result (creation result) that is, the driving state of the electric motor 7A is any one of "stopping", “applying”, “releasing”, “motor braking after apply”, and “motor braking after release”. Whether or not is used for determining whether various calculations should be performed by the apply control unit 36 and the release control unit 37 and for calculating command values for the motor drive circuit 28 .
- the motor drive state creation unit 39A sets the motor drive state to "applying", and the PKB is operated.
- the motor driving state is set to "releasing”.
- the motor driving state is set to "motor braking after applying”.
- the motor drive state is set to "motor braking after release”.
- the motor drive command creation unit 39B creates a command value (control command) for ON (apply, release)/OFF/short-circuiting the energization of the electric motor 7A in the motor drive circuit 28. That is, the motor drive command generation unit 39B generates a command value for switching power supply ON (apply/release), power supply OFF (stop), and motor braking in the motor drive circuit 28 according to the motor drive state.
- FIG. 22 shows the motor drive command generation process performed by the motor drive command generation unit 39B. The processing shown in FIG. 22 is repeatedly executed at a predetermined control cycle (for example, 10 ms).
- S127 it is determined whether or not the motor drive state is during motor braking after release. If S127 determines "YES”, that is, if it is determined that the motor drive state is during motor braking after release, the process proceeds to S126. On the other hand, if it is determined "NO” in S127, that is, if it is determined that the motor driving state is not in motor braking after release, the process proceeds to S128. At S128, the motor drive command (control command) is stopped, and the process proceeds to END.
- FIG. 23 shows the relationship between the motor drive command (control command) output from the motor drive command generator 39B to the motor drive circuit 28 and the operation of the motor drive circuit 28 to which the motor drive command is input.
- the target release stroke is obtained by adding a predetermined target clearance. Therefore, the clearance required for the target release stroke (target clearance) can be added. As a result, the release can be finished at the position where the thrust is stroked to the position where there is no load and the position where the target clearance is also stroked.
- the clearance may be stroked by rotating the electric motor for a predetermined time from the position where the thrust is no load. In either case, clearance can be secured.
- the applied load stroke (corrected apply stroke (stored value)) stored in EEPROM (non-volatile memory) can be used as needed.
- a stored applied load stroke (corrected applied stroke (stored value)) can be used. That is, when the applied load stroke (corrected apply stroke) obtained in the same cycle can be acquired, the applied load stroke (corrected apply stroke) obtained in the same cycle can be used, and the applied load stroke obtained in the same cycle can be obtained.
- the applied load stroke (corrected applied stroke) cannot be acquired
- the previous value of the applied load stroke (corrected applied stroke (stored value)) stored in the EEPROM (non-volatile memory) can be used.
- an appropriate applied load stroke can always be used.
- the rear wheel disc brake 6 is a hydraulic disc brake with an electric parking brake function
- the front wheel disc brake 5 is a hydraulic disc brake without an electric parking brake function. mentioned and explained.
- the invention is not limited to this.
- the rear wheel disc brake 6 may be a hydraulic disc brake without an electric parking brake function
- the front wheel disc brake 5 may be a hydraulic disc brake with an electric parking brake function. good.
- both the front wheel disc brake 5 and the rear wheel disc brake 6 may be hydraulic disc brakes with an electric parking brake function. In short, at least a pair of left and right wheels among the wheels of the vehicle can be braked by an electric parking brake.
- the hydraulic disc brake 6 with an electric parking brake has been described as an example of the electric brake (electric brake mechanism).
- the brake mechanism is not limited to the disc brake type, and may be configured as a drum brake type brake mechanism.
- various configurations of the electric parking brake can be adopted, such as a drum-in-disc brake in which a drum-type electric parking brake is attached to the disc brake, or a configuration in which the parking brake is held by pulling a cable with an electric motor. can.
- an electric disc brake having an electric caliper that applies a service brake by an electric motor may be used. In this case, since there is no application of braking force based on hydraulic pressure, processing for "a stroke corresponding to the amount of pad movement, deformation, etc. due to hydraulic pressure", that is, movement of the load detection point due to brake hydraulic pressure The processing of "correction values" based on quantities can be omitted.
- control device for the electric brake As the control device for the electric brake, the electric brake device, and the control method for the electric brake based on the embodiment described above, for example, the aspects described below are conceivable.
- a first aspect of the present invention is an electric brake control device that applies a braking force to a vehicle and includes a control unit that controls an electric motor that drives a parking brake mechanism that maintains the braking force.
- the apply which is the holding operation of the parking brake mechanism
- the load detection point which is the point at which the thrust detected due to the current flowing in the electric motor is generated
- a physical quantity relating to the apply load stroke including the amount of overshoot based on the rotation of the motor is obtained
- a physical quantity relating to the target release stroke in release which is the release operation of the parking brake mechanism, is obtained according to the physical quantity relating to the apply load stroke.
- the physical quantity for the target release stroke for release is determined according to the physical quantity for the load stroke for apply including the amount of overshoot from the load detection point for apply. Therefore, the physical quantity relating to the target release stroke at the time of release can be obtained by taking into account the amount of overshoot (rotation of the electric motor caused by inertia after stopping driving of the electric motor). Thereby, the accuracy of clearance control can be improved.
- the rotation of the electric motor caused by inertia after stopping driving of the electric motor changes due to the voltage applied to the electric motor before the completion of the apply.
- the timing at which the parking brake mechanism comes into contact with the piston can be used as the load detection point.
- the parking brake mechanism corresponds to a rotation-to-linear motion conversion mechanism that converts rotary motion of an electric motor into linear motion, a speed reduction mechanism, and the like.
- the parking brake mechanism is configured by such a rotation/linear motion conversion mechanism, for example, the timing at which the linear motion member of the rotation/linear motion conversion mechanism contacts the piston can be used as the load detection point.
- the amount of movement of the load detection point caused by the brake fluid pressure can be added as a correction value to the physical quantity relating to the applied load stroke (and thus the physical quantity relating to the target release stroke). That is, when brake fluid pressure is generated by operating the brake pedal or the like, the brake fluid pressure pushes the piston toward the rotor side (friction pad side). As a result, the load detection point may be detected in a state where the parking brake mechanism has stroked beyond the original load detection point. Therefore, the amount of movement of the load detection point caused by such brake fluid pressure (that is, the amount of stroke that varies depending on the brake fluid pressure) is converted into a physical quantity related to the applied load stroke (and furthermore a physical quantity related to the target release stroke). It can be added as a correction value. As a result, the accuracy of clearance control can be improved also from this aspect.
- a tenth aspect is an electric brake control method for applying a braking force to a vehicle and controlling an electric motor for driving a parking brake mechanism that maintains the braking force, wherein the holding operation of the parking brake mechanism is performed.
- the load detection point which is the thrust generation point detected due to the current flowing in the electric motor
- the overshoot amount based on the rotation of the electric motor due to the inertia after the electric motor stops driving
- a physical quantity relating to the load stroke during applying is obtained
- a physical quantity relating to the target release stroke in releasing which is the release operation of the parking brake mechanism, is obtained according to the physical quantity relating to the load stroke during applying, and based on the physical quantity relating to the target release stroke , to output a control command for performing the release.
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Abstract
Description
Claims (10)
- 電動ブレーキの制御装置であって、
車両に制動力を付与し、前記制動力を保持するパーキングブレーキ機構を駆動する電動モータを制御するコントロール部を備え、
前記コントロール部は、
前記パーキングブレーキ機構の保持作動であるアプライにおいて、前記電動モータに流れる電流に起因して検知される推力の発生点である負荷検知点から、前記電動モータの駆動停止後の慣性に起因する電動モータの回転に基づくオーバーシュート量までを含むアプライ時負荷ストロークに関する物理量を求め、
前記アプライ時負荷ストロークに関する物理量に応じて、前記パーキングブレーキ機構の解除作動であるリリースにおける、目標リリースストロークに関する物理量を求め、
前記目標リリースストロークに関する物理量に基づいて、前記リリースを行う制御指令を出力する、
電動ブレーキの制御装置。 - 請求項1に記載の電動ブレーキの制御装置であって、
前記電動モータの駆動停止後の慣性に起因する電動モータの回転は、前記アプライの完了手前の前記電動モータにかかる電圧に起因して変化する、
電動ブレーキの制御装置。 - 請求項1に記載の電動ブレーキの制御装置であって、
前記負荷検知点は、車両に制動力を付与する摩擦制動装置の摩擦部材を押圧するピストンに、前記パーキングブレーキ機構が当接するタイミングである、
電動ブレーキの制御装置。 - 請求項3に記載の電動ブレーキの制御装置であって、
前記コントロール部は、
ブレーキ液圧に起因して前記ピストンが移動することで生じる前記負荷検知点の移動量に基づいて補正値を求め、
前記補正値に基づいて、前記アプライ時負荷ストロークに関する物理量を求める、
電動ブレーキの制御装置。 - 請求項1に記載の電動ブレーキの制御装置であって、
前記コントロール部は、
所定の目標クリアランスに基づいて、前記目標リリースストロークに関する物理量を求める、
電動ブレーキの制御装置。 - 請求項1に記載の電動ブレーキの制御装置であって、
前記コントロール部は、
前記目標リリースストロークに関する物理量を、前記アプライ時負荷ストロークに関する物理量とし、
前記目標リリースストロークに関する物理量に基づいて、前記リリースを行った後に、所定の時間だけ前記電動モータを回転させる制御を加えて、前記制御指令を求める、
電動ブレーキの制御装置。 - 請求項1に記載の電動ブレーキの制御装置であって、
前記コントロール部は、
前記アプライ時負荷ストロークに関する物理量を不揮発性メモリに記憶する、
電動ブレーキの制御装置。 - 請求項7に記載の電動ブレーキの制御装置であって、
前記コントロール部は、
同一サイクルで求められた前記アプライ時負荷ストロークに関する物理量を取得できない場合は、前記不揮発性メモリに記憶された前記アプライ時負荷ストロークに関する物理量の前回値を用いて、前記目標リリースストロークに関する物理量を求める、
電動ブレーキの制御装置。 - 電動ブレーキ装置であって、
車両に制動力を付与し、前記制動力を保持するパーキングブレーキ機構と、
前記パーキングブレーキ機構を駆動する電動モータと、
前記電動モータを制御する制御装置であって、
前記パーキングブレーキ機構の保持作動であるアプライにおいて、前記電動モータに流れる電流に起因して検知される推力の発生点である負荷検知点から、前記電動モータの駆動停止後の慣性に起因する電動モータの回転に基づくオーバーシュート量までを含むアプライ時負荷ストロークに関する物理量を求め、
前記アプライ時負荷ストロークに関する物理量に応じて、前記パーキングブレーキ機構の解除作動であるリリースにおける、目標リリースストロークに関する物理量を求め、
前記目標リリースストロークに関する物理量に基づいて、前記リリースを行う制御指令を出力する、
制御装置と、
を備える電動ブレーキ装置。 - 車両に制動力を付与し、前記制動力を保持するパーキングブレーキ機構を駆動する電動モータを制御する電動ブレーキの制御方法であって、
前記パーキングブレーキ機構の保持作動であるアプライにおいて、前記電動モータに流れる電流に起因して検知される推力の発生点である負荷検知点から、前記電動モータの駆動停止後の慣性に起因する電動モータの回転に基づくオーバーシュート量までを含むアプライ時負荷ストロークに関する物理量を求め、
前記アプライ時負荷ストロークに関する物理量に応じて、前記パーキングブレーキ機構の解除作動であるリリースにおける、目標リリースストロークに関する物理量を求め、
前記目標リリースストロークに関する物理量に基づいて、前記リリースを行う制御指令を出力する、
電動ブレーキの制御方法。
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US18/282,611 US20240166177A1 (en) | 2021-03-23 | 2022-03-07 | Control apparatus for electric brake, electric brake apparatus, and method for controlling electric brake |
CN202280018994.2A CN116917177A (zh) | 2021-03-23 | 2022-03-07 | 电动制动器的控制装置、电动制动装置以及电动制动器的控制方法 |
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JP2001289273A (ja) * | 2000-04-06 | 2001-10-19 | Asmo Co Ltd | 車両用電動ブレーキ装置の制御方法及び車両用電動ブレーキ装置 |
JP2004142518A (ja) * | 2002-10-22 | 2004-05-20 | Honda Motor Co Ltd | 電動駐車ブレーキ装置 |
JP2004169731A (ja) * | 2002-11-18 | 2004-06-17 | Nsk Ltd | アクチュエータ |
JP2007263270A (ja) | 2006-03-29 | 2007-10-11 | Hi-Lex Corporation | 電動式パーキングブレーキ制御機構および該制御機構を用いたパーキングブレーキ制御方法 |
JP2021048906A (ja) | 2019-09-20 | 2021-04-01 | 株式会社三洋物産 | 遊技機 |
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JP2001289273A (ja) * | 2000-04-06 | 2001-10-19 | Asmo Co Ltd | 車両用電動ブレーキ装置の制御方法及び車両用電動ブレーキ装置 |
JP2004142518A (ja) * | 2002-10-22 | 2004-05-20 | Honda Motor Co Ltd | 電動駐車ブレーキ装置 |
JP2004169731A (ja) * | 2002-11-18 | 2004-06-17 | Nsk Ltd | アクチュエータ |
JP2007263270A (ja) | 2006-03-29 | 2007-10-11 | Hi-Lex Corporation | 電動式パーキングブレーキ制御機構および該制御機構を用いたパーキングブレーキ制御方法 |
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