WO2023012013A1 - Method for determining a stiffness of a hydraulic braking system, and hydraulic braking system of a two-wheeled vehicle - Google Patents

Method for determining a stiffness of a hydraulic braking system, and hydraulic braking system of a two-wheeled vehicle Download PDF

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Publication number
WO2023012013A1
WO2023012013A1 PCT/EP2022/071113 EP2022071113W WO2023012013A1 WO 2023012013 A1 WO2023012013 A1 WO 2023012013A1 EP 2022071113 W EP2022071113 W EP 2022071113W WO 2023012013 A1 WO2023012013 A1 WO 2023012013A1
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WO
WIPO (PCT)
Prior art keywords
brake
piston
pressure
change
brake system
Prior art date
Application number
PCT/EP2022/071113
Other languages
German (de)
French (fr)
Inventor
Silas Klug
Alessandro Moia
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 WO2023012013A1 publication Critical patent/WO2023012013A1/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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/085—Brake-action initiating means for personal initiation hand actuated by electrical means, e.g. travel, 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • 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
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • 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
    • B60T8/321—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 deceleration
    • B60T8/3225—Systems specially adapted for single-track vehicles, e.g. motorcycles
    • 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
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems

Definitions

  • the present invention relates to a method for determining a rigidity of a hydraulic brake system, a method for operating a hydraulic brake system of a two-wheeler, a hydraulic brake system of a two-wheeler, and a two-wheeler.
  • Hydraulic brake systems are known with an anti-lock unit, which is intended to prevent or reduce locking of the wheels of the vehicle by pressure modulation of a hydraulic brake pressure in the system.
  • such an anti-lock unit has a storage chamber into which brake fluid can flow in and out during anti-lock operation for pressure modulation.
  • Pressure modulation adapted to the basic brake parameters of the hydraulic brake system is required to enable optimal performance during anti-lock braking operation.
  • a particularly relevant basic brake parameter is the rigidity of the hydraulic brake system.
  • the stiffness can differ significantly for different braking systems.
  • the rigidity can change during operation of the brake system, for example due to changing environmental conditions such as temperatures.
  • a stiffness of a hydraulic brake system can be determined particularly precisely and in particular at any time during operation of the hydraulic brake system. This can For example, a desired performance of the hydraulic brake system with regard to a braking effect can be reliably checked and/or adjusted.
  • a method for determining a rigidity of a hydraulic brake system preferably for an electric bicycle, the hydraulic brake system having an anti-lock unit with a piston that can be actuated in a controllable manner. Active pressure modulation of a brake pressure in the hydraulic brake system can be achieved by the controlled actuation of the piston.
  • the method includes the steps that are carried out during the actuation of the piston:
  • the change in volume is determined based on a change in position of the piston during the actuation of the piston.
  • the method thus makes it possible to easily determine the stiffness parameter relevant to the braking performance.
  • the rigidity determined in this way can be used in a variety of ways.
  • the controlled actuation of the piston can be specifically adjusted in order to obtain an optimal pressure modulation, e.g. by adjusting pressure change gradients and/or maximum pressures and/or minimum pressures.
  • the determined rigidity can also be used in order to structurally optimize the design of the hydraulic brake system, preferably also in order to achieve an actuation behavior that is adapted to the driver's request, such as a desired bite.
  • the parameters that are particularly relevant to the function of the hydraulic brake system can be determined simply and directly, without the need for complex calculations, for example.
  • the rigidity can be determined directly in the assembled and operational state of the hydraulic brake system.
  • a large number of influencing factors can affect the stiffness of a hydraulic brake system effect, knowledge of which is not required in this case.
  • such influencing factors are: an elasticity or resilience of components such as a brake line, a brake cylinder, a brake caliper, brake pads, the anti-lock braking unit, and in particular properties such as compressibility of the brake fluid.
  • Environmental influences, such as temperature changes, can also affect the stiffness.
  • the hydraulic brake system preferably has a brake cylinder, a brake caliper, a brake line and a main valve.
  • the brake line connects the brake cylinder and the brake caliper.
  • the main valve is integrated into the brake line.
  • the method is carried out, in particular exclusively, while the main valve interrupts a fluid connection between the brake cylinder and brake caliper, that is to say when the main valve is closed.
  • the rigidity is thus only determined for a sub-area of the hydraulic brake system, namely the sub-area between the main valve and the brake caliper, in which the anti-lock braking unit is preferably integrated.
  • This sub-area represents the part of the hydraulic brake system that is relevant for the anti-lock operation, so that an optimal function in the anti-lock operation can be provided hereby in a particularly simple and reliable manner.
  • the change in position of the piston is particularly preferably determined as a longitudinal displacement of the piston within a chamber of the anti-lock braking unit and along an axis.
  • a fluid volume within the chamber can be changed in a controlled manner by the longitudinal displacement of the piston within the chamber, in order to thereby achieve the pressure modulation in the hydraulic brake system.
  • the change in volume of the brake fluid is determined based on the longitudinal displacement of the piston along the axis and based on a piston area of the piston.
  • a surface of the piston over which pressure can be exerted on the brake fluid is regarded as the piston surface.
  • the change in volume of the brake fluid which is caused by the displacement of the piston, can be determined in a particularly simple manner.
  • the longitudinal displacement is preferably determined by means of a magnetic sensor.
  • the change in volume can be determined in a particularly simple and cost-effective manner.
  • the method preferably also includes the step of carrying out a noise reduction with the measured values determined for the change in volume and the change in pressure.
  • the noise reduction is carried out with the corresponding signals, on the basis of which the measured values for the volume change and the pressure change are generated, in order to obtain optimized data that can be processed better from imprecise or fluctuating signals.
  • the noise reduction is particularly preferably carried out by means of a low-pass filter, as a result of which a particularly simple signal optimization is possible.
  • the noise reduction is carried out by means of a recursive least squares algorithm (RLS algorithm for short).
  • RLS algorithm recursive least squares algorithm
  • Parameters of the recursive least squares algorithm are preferably adjusted as a function of the determined change in pressure.
  • the parameters are particularly preferably adapted in such a way that low pressure change gradients are weighted more heavily than high pressure change gradients. As a result, more accurate results can be obtained in a simple manner, since the lower pressure change gradients are, for example, less noisy than the high pressure change gradients.
  • the method preferably also includes the step of determining an instantaneous brake pressure in the hydraulic brake system.
  • the method is carried out exclusively when the determined brake pressure is at least equal to a predetermined minimum brake pressure, preferably 50 bar. That is, the rigidity is determined only if the hydraulic Braking system is biased as in braking at least with the predefined minimum brake pressure. As a result, the rigidity for the relevant cases of braking with high braking pressure can be determined particularly precisely.
  • the method is particularly preferably only carried out while a brake lever of the hydraulic brake system is being pulled by a driver.
  • the method for calibrating the hydraulic brake system in a two-wheeler, preferably in an electric bicycle is particularly preferably used.
  • the method is carried out, in particular exclusively, while the two-wheeler, preferably the electric bicycle, is stationary.
  • the method can be carried out in such a way that the driver of the two-wheeler pulls the brake lever, and while the brake lever is pulled, the piston is actuated in a controlled manner in order to simultaneously detect the change in volume and pressure and to determine the stiffness based thereon.
  • a particularly simple and convenient calibration of the hydraulic brake system can thus be carried out.
  • the invention leads to a method for operating a hydraulic brake system, preferably for an electric bicycle.
  • the procedure for operating the hydraulic braking system includes the steps:
  • an amplitude and/or a frequency of an actuation, in particular of the longitudinal displacement, of the piston is preferably adapted during an active pressure modulation of the brake pressure. That is, during the antilock operation of the antilock unit, the controlled actuation of the piston in such a way as to obtain a braking function that is optimally adapted to the existing determined stiffness.
  • the invention leads to a hydraulic brake system of a two-wheeler, preferably a bicycle, particularly preferably an electric bicycle, comprising an anti-lock unit, a brake cylinder, a brake caliper, a brake line, a main valve, and a control device.
  • the anti-lock braking unit has a chamber for holding brake fluid, a piston that delimits a fluid volume within the chamber and that can be displaced along an axis, and an actuator that is set up to controllably displace the piston along the axis.
  • the brake line has a first line section which is in fluid communication with the chamber and which is connected to the brake caliper, and a second line section which is connected to the brake cylinder.
  • the main valve is integrated into the brake line and set up to block or release a fluid connection between the brake caliper and the brake cylinder.
  • the control device is set up to carry out the method described for determining the stiffness of the hydraulic brake system, or the method described for operating the hydraulic brake system.
  • the hydraulic brake system thus has a particularly simple and cost-effective construction, which enables the basic brake parameters to be determined precisely.
  • the hydraulic brake system preferably also includes a pressure sensor which is set up to detect a brake pressure at the brake caliper. Measured values from the pressure sensor preferably serve as the basis for the pressure change in the method for determining the stiffness of the hydraulic brake system. As a result, the relevant pressure change at the brake caliper can be determined particularly precisely.
  • the invention leads to a two-wheeler, in particular a bicycle, preferably an electric bicycle, which includes the hydraulic brake system described.
  • a bicycle preferably an electric bicycle
  • numerous adjustment options can be provided for individually adapting the actuation behavior of the hydraulic brake system to a driver's request.
  • Figure 1 is a simplified schematic view of an electric bicycle according to a preferred embodiment of the invention
  • Figure 2 is a simplified schematic view of a hydraulic braking system of the electric bicycle of Figure 1
  • FIG. 3 shows a simplified schematic view of a pressure curve in the hydraulic brake system of FIG. 2 during a brake actuation.
  • FIG. 1 shows a simplified schematic view of an electric bicycle 100 according to a preferred embodiment of the invention.
  • the electric bicycle 100 includes a drive unit 105, which is set up to support a pedaling force of a driver by means of motor power.
  • the drive unit 105 is supplied with electrical energy by an electrical energy store 106 .
  • the electrical energy store 106 can be arranged, for example, inside a down tube 109 of the electric bicycle 100 .
  • the electric bicycle 100 includes a hydraulic brake system 10 by means of which brakes 101 , 102 can be actuated on a front wheel 107 or a rear wheel 108 of the electric bicycle 100 .
  • the hydraulic brake system 10 comprises a brake lever 19, a brake cylinder 15, a brake caliper 13, a line 11 for each brake 101, 102 Hydraulically connects the brake cylinder 15 and brake caliper 13 to one another, and an anti-lock braking unit 1 which is integrated into the line 11 .
  • the anti-lock braking unit 1 can also be arranged inside the down tube 109 of the electric bicycle 100 and is in particular supplied with electrical energy by the electrical energy store 106 .
  • the hydraulic brake system 10 with the anti-lock braking unit 1 is described in detail below with reference to FIG. For reasons of simplicity, the description is only given with reference to a single brake 101, in particular the front wheel 107.
  • the brake caliper 13 is connected to a first line section 11a of the line 11 .
  • the brake cylinder 15 is connected to a second line section 11b of the line 11 .
  • the first line section 11a and the second line section 11b can be separated from one another hydraulically by a main valve 16 .
  • the main valve 16 is preferably designed as a normally open valve.
  • the anti-lock braking unit 1 comprises a chamber 2 in which brake fluid can be accommodated.
  • the chamber 2 is connected to the line 11 between the main valve 16 and the brake caliper 13 .
  • a fluid volume is delimited by a piston 4 .
  • the piston 4 can be displaced along an axis 50 by actuation by means of an actuator 5, so that the fluid volume within the chamber 2 is variable.
  • the actuator 5 is designed in particular as an electric motor and can be actuated by a control device 61 .
  • the anti-lock braking unit 1 includes a restoring element 6 in the form of a helical spring, which is arranged on a side of the piston 4 opposite the chamber 2 and exerts a restoring force 60 on the piston 4 .
  • the restoring force 60 is aligned exactly opposite to a fluid inlet 70 into the chamber 2 .
  • the anti-lock braking unit 1 also has a pressure sensor 35 which is set up to detect a braking pressure at an inlet opening of the chamber 2 .
  • the actuating element 51 is not actuated by the actuator 5, so that the restoring element 6 pushes the piston 4 into a rest position.
  • Chamber 2 and piston 4 are preferably designed in such a way that the fluid volume is zero or approximately zero when piston 4 is in the rest position. That is, in the rest position, the piston 4 prevents brake fluid from being able to be inside the chamber 2 .
  • a locked state of the wheel 107 can also be determined by means of an anti-lock sensor system (not shown).
  • a need for an anti-lock function of the anti-lock unit 1 is determined as a function of the locking state. If an anti-lock function is necessary, for example if the wheel 107 is locked or is imminent, an anti-lock operation of the anti-lock unit 1 is started.
  • the main valve 16 is closed and the actuator 5 actuates the piston 4 in order to actively modulate the brake pressure in the brake line 11 at the brake caliper 13.
  • the piston 4 is pulled back against the restoring force 60 in order to allow brake fluid to flow into the chamber 2 so that the brake pressure at the brake caliper 13 is reduced. Then the piston 4 is pushed in the opposite direction to increase the brake pressure again.
  • a rigidity 33 of the hydraulic brake system 10 can be determined by means of the anti-lock braking unit 1 .
  • the rigidity 33 is decisive for a brake lever feel for the driver and is also relevant for an optimal implementation of the anti-lock braking operation.
  • a high rigidity 33 can also be regarded as a strong bite of the brake. This means that a small increase in Brake lever travel results in a sharp increase in brake pressure. In contrast, a low rigidity 33 means that a large brake lever travel leads to a small increase in the brake pressure.
  • the rigidity 33 is dependent on elasticity in the hydraulic brake system 10, such as an elasticity of the brake line 11 and a compressibility of the brake fluid.
  • FIG. 3 shows a pressure curve 24 of the brake pressure when the brake lever 19 is actuated.
  • FIG. 3 shows a diagram 20 in which a volume 22 of brake fluid in the hydraulic brake system 10 is shown over a pressure 21 of the brake fluid.
  • the area 25 shows a brake lever actuation before the brake pads are in contact with the brake disk. This means that brake fluid is displaced, but there is still no significant increase in pressure. The brake pads are then in contact in area 26 and further actuation of the brake lever 19 leads to a significant increase in the brake pressure.
  • the rigidity 33 corresponds to a tangent of the pressure curve 24 in the area 26.
  • the rigidity 33 corresponds to a ratio of a pressure change 31 to a volume change 32.
  • the stiffness 33 is determined in that the volume change 32 and the pressure change 31 are detected by means of the anti-lock braking unit 1 when at least one predefined minimum brake pressure is generated in the hydraulic brake system via the brake lever 19 . If this predefined minimum brake pressure is exceeded, the main valve 16 is closed and the piston 4 is actuated while the main valve 16 is closed. During the actuation of the piston 4, the corresponding change in pressure 31 is detected directly by means of a pressure sensor 35. In addition, the change in volume 32 is determined at the same time.
  • the change in volume 32 is determined based on a change in position of the piston 4. This change in position is detected by means of a magnetic sensor 8 (cf. Figure 2), which detects a longitudinal displacement of the piston 4 can detect along the axis 50 is determined.
  • the change in volume 32 can be easily calculated on the basis of this longitudinal displacement and a piston surface 40 of the piston 4, via which the piston 4 can exert pressure on the brake fluid.
  • the rigidity 33 can thus be determined on the basis of the determined values for the pressure change 31 and the volume change 32 .
  • noise can preferably be suppressed from one or both measured values, for example by means of a low-pass filter and/or by means of an RLS algorithm.
  • the stiffness 33 determined can then be used to adjust the controlled actuation of the piston 4 .
  • a frequency and/or an amplitude and/or an actuation speed of the actuation of the piston 4 can be adjusted in order to be able to achieve an optimal, desired braking effect.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

One aspect of the invention relates to a method for determining a stiffness (33) of a hydraulic braking system (10), in particular for an electric bicycle (100), wherein the hydraulic braking system (10) has an anti-blocking unit (1) with a controllably actuated piston (4) for active pressure modulation of a braking pressure, and wherein the method comprises the following steps that are performed during the actuation of the piston (4): determining a change in volume (32) of a brake fluid caused by the actuation of the piston (4); determining a change in pressure (31) of the braking pressure, and determining the stiffness (33) of the hydraulic braking system (10) as a ratio of the change in pressure (31) to the change in volume (32), wherein the change in volume (32) is determined on the basis of a change in the position of the piston (4). Another aspect of the invention relates to a hydraulic braking system of a two-wheeled vehicle.

Description

Beschreibung Description
Titel title
VERFAHREN ZUM ERMITTELN EINER STEIFIGKEIT EINES HYDRAULISCHEN BREMSSYSTEMS UND HYDRAULISCHES BREMSSYSTEMS EINES ZWEIRADS METHOD OF DETERMINING A STIFFNESS OF A HYDRAULIC BRAKE SYSTEM AND HYDRAULIC BRAKE SYSTEM OF A BICYCLE
Stand der Technik State of the art
Die vorliegende Erfindung betrifft ein Verfahren zum Ermitteln einer Steifigkeit eines hydraulischen Bremssystems, ein Verfahren zum Betreiben eines hydraulischen Bremssystems eines Zweirads, ein hydraulisches Bremssystem eines Zweirads, sowie ein Zweirad. The present invention relates to a method for determining a rigidity of a hydraulic brake system, a method for operating a hydraulic brake system of a two-wheeler, a hydraulic brake system of a two-wheeler, and a two-wheeler.
Bekannt sind hydraulische Bremssysteme mit einer Antiblockiereinheit, welche durch eine Druckmodulation eines hydraulischen Bremsdrucks im System ein Blockieren von Rädern des Fahrzeugs verhindern oder verringern soll. Hydraulic brake systems are known with an anti-lock unit, which is intended to prevent or reduce locking of the wheels of the vehicle by pressure modulation of a hydraulic brake pressure in the system.
Beispielsweise weist eine solche Antiblockiereinheit eine Speicherkammer auf, in die Bremsflüssigkeit während eines Antiblockierbetriebs ein- und ausströmen kann, zur Druckmodulation. Um eine optimale Performance während des Antiblockier-Betriebs zu ermöglichen, ist eine an Basis-Bremsenparameter des hydraulischen Bremssystems angepasste Druckmodulation erforderlich. Ein besonders relevanter Basis-Bremsenparameter ist dabei die Steifigkeit des hydraulischen Bremssystems. Die Steifigkeit kann jedoch für unterschiedliche Bremssysteme deutlich voneinander abweichen. Zudem kann sich im Betrieb des Bremssystems die Steifigkeit ändern, beispielsweise aufgrund von wechselnden Umgebungsbedingungen, wie Temperaturen. For example, such an anti-lock unit has a storage chamber into which brake fluid can flow in and out during anti-lock operation for pressure modulation. Pressure modulation adapted to the basic brake parameters of the hydraulic brake system is required to enable optimal performance during anti-lock braking operation. A particularly relevant basic brake parameter is the rigidity of the hydraulic brake system. However, the stiffness can differ significantly for different braking systems. In addition, the rigidity can change during operation of the brake system, for example due to changing environmental conditions such as temperatures.
Offenbarung der Erfindung Disclosure of Invention
Das erfindungsgemäße Verfahren mit den Merkmalen des Anspruchs 1 zeichnet sich demgegenüber dadurch aus, dass eine Steifigkeit eines hydraulischen Bremssystems besonders präzise und insbesondere jederzeit während eines Betriebs des hydraulischen Bremssystems ermittelt werden kann. Dadurch kann beispielsweise zuverlässig eine gewünschte Performance des hydraulischen Bremssystems bezüglich einer Bremswirkung überprüft und/oder angepasst werden. Dies wird erreicht durch ein Verfahren zum Ermitteln einer Steifigkeit eines hydraulischen Bremssystems, vorzugsweise für ein Elektrofahrrad, wobei das hydraulische Bremssystem eine Antiblockiereinheit mit einem steuerbar betätigbaren Kolben aufweist. Durch die gesteuerte Betätigung des Kolbens kann eine aktive Druckmodulation eines Bremsdrucks im hydraulischen Bremssystems erzielt werden. Das Verfahren umfasst dabei die Schritte, welche während der Betätigung des Kolbens durchgeführt werden: The method according to the invention with the features of claim 1 is characterized in that a stiffness of a hydraulic brake system can be determined particularly precisely and in particular at any time during operation of the hydraulic brake system. This can For example, a desired performance of the hydraulic brake system with regard to a braking effect can be reliably checked and/or adjusted. This is achieved by a method for determining a rigidity of a hydraulic brake system, preferably for an electric bicycle, the hydraulic brake system having an anti-lock unit with a piston that can be actuated in a controllable manner. Active pressure modulation of a brake pressure in the hydraulic brake system can be achieved by the controlled actuation of the piston. The method includes the steps that are carried out during the actuation of the piston:
- Ermitteln einer Volumenänderung einer Bremsflüssigkeit, welche durch die Betätigung des Kolbens verursacht wird, - Determination of a change in volume of a brake fluid, which is caused by the actuation of the piston,
- Ermitteln einer Druckänderung des Bremsdrucks, und - Determining a pressure change in the brake pressure, and
- Ermitteln der Steifigkeit des hydraulischen Bremssystems als ein Verhältnis der Druckänderung zur Volumenänderung. - Determining the stiffness of the hydraulic braking system as a ratio of pressure change to volume change.
Die Volumenänderung wird dabei basierend auf einer Positionsänderung des Kolbens während der Betätigung des Kolbens ermittelt. The change in volume is determined based on a change in position of the piston during the actuation of the piston.
Das Verfahren ermöglicht es somit, den für die Bremsleistung relevanten Parameter der Steifigkeit auf einfache Weise zu bestimmen. Insbesondere kann die so ermittelte Steifigkeit auf vielfältige Weise verwendet werden. The method thus makes it possible to easily determine the stiffness parameter relevant to the braking performance. In particular, the rigidity determined in this way can be used in a variety of ways.
Beispielsweise kann beim Betrieb der Antiblockiereinheit in einem Antiblockier- Betrieb die gesteuerte Betätigung des Kolbens gezielt angepasst werden, um eine optimale Druckmodulation, z.B. durch Anpassung von Druckänderungsgradienten und/oder Maximaldrücken und/oder Minimaldrücken, zu erhalten. Beispielsweise kann die ermittelte Steifigkeit auch verwendet werden, um konstruktiv die Auslegung des hydraulischen Bremssystems zu optimieren, vorzugsweise auch um ein an den Fahrerwunsch angepasstes Betätigungsverhalten, wie eine gewünschte Bissigkeit, zu erlangen. For example, when operating the antilock unit in an antilock mode, the controlled actuation of the piston can be specifically adjusted in order to obtain an optimal pressure modulation, e.g. by adjusting pressure change gradients and/or maximum pressures and/or minimum pressures. For example, the determined rigidity can also be used in order to structurally optimize the design of the hydraulic brake system, preferably also in order to achieve an actuation behavior that is adapted to the driver's request, such as a desired bite.
Dadurch, dass die Volumenänderung und der Bremsdruck ermittelt werden, können einfach und direkt die für die Funktion des hydraulischen Bremssystems besonders relevanten Parameter ermittelt werden, ohne dass beispielsweise aufwendige Berechnungen erforderlich sind. Insbesondere kann dadurch direkt im zusammengebauten und betriebsbereiten Zustand des hydraulischen Bremssystems die Steifigkeit ermittelt werden. Bei einem hydraulischen Bremssystem können sich eine Vielzahl an Einflussfaktoren auf die Steifigkeit auswirken, dessen genaue Kenntnis in diesem Fall nicht erforderlich ist. Beispielsweise sind solche Einflussfaktoren: eine Elastizität oder Nachgiebigkeit von Komponenten wie einer Bremsleitung, einem Bremszylinder, einem Bremssattel, Bremsbelägen, der Antiblockiereinheit, sowie insbesondere auch Eigenschaften, wie eine Kompressibilität, der Bremsflüssigkeit. Auch Umwelteinflüsse, wie Temperaturänderungen können Einfluss auf die Steifigkeit haben. Because the change in volume and the brake pressure are determined, the parameters that are particularly relevant to the function of the hydraulic brake system can be determined simply and directly, without the need for complex calculations, for example. In particular, the rigidity can be determined directly in the assembled and operational state of the hydraulic brake system. A large number of influencing factors can affect the stiffness of a hydraulic brake system effect, knowledge of which is not required in this case. For example, such influencing factors are: an elasticity or resilience of components such as a brake line, a brake cylinder, a brake caliper, brake pads, the anti-lock braking unit, and in particular properties such as compressibility of the brake fluid. Environmental influences, such as temperature changes, can also affect the stiffness.
Die Unteransprüche haben bevorzugte Weiterbildungen der Erfindung zum Inhalt. The dependent claims relate to preferred developments of the invention.
Bevorzugt weist das hydraulische Bremssystem einen Bremszylinder, einen Bremssattel, eine Bremsleitung, und ein Hauptventil auf. Die Bremsleitung verbindet den Bremszylinder und den Bremssattel miteinander. Das Hauptventil ist in die Bremsleitung integriert. Das Verfahren wird dabei, insbesondere ausschließlich, durchgeführt während das Hauptventil eine Fluidverbindung zwischen Bremszylinder und Bremssattel unterbricht, das heißt, wenn das Hauptventil geschlossen ist. Insbesondere wird die Steifigkeit somit nur für einen Teilbereich des hydraulischen Bremssystems, nämlich dem zwischen Hauptventil und Bremssattel liegenden Teilbereich, in welchen vorzugsweise die Antiblockiereinheit integriert ist, ermittelt. Dieser Teilbereich stellt den für den Antiblockier-Betrieb relevanten Teil des hydraulischen Bremssystems dar, sodass hiermit besonders einfach und zuverlässig eine optimale Funktion im Antiblockier-Betrieb bereitgestellt werden kann. The hydraulic brake system preferably has a brake cylinder, a brake caliper, a brake line and a main valve. The brake line connects the brake cylinder and the brake caliper. The main valve is integrated into the brake line. In this case, the method is carried out, in particular exclusively, while the main valve interrupts a fluid connection between the brake cylinder and brake caliper, that is to say when the main valve is closed. In particular, the rigidity is thus only determined for a sub-area of the hydraulic brake system, namely the sub-area between the main valve and the brake caliper, in which the anti-lock braking unit is preferably integrated. This sub-area represents the part of the hydraulic brake system that is relevant for the anti-lock operation, so that an optimal function in the anti-lock operation can be provided hereby in a particularly simple and reliable manner.
Besonders bevorzugt wird die Positionsänderung des Kolbens als Längsverschiebung des Kolbens innerhalb einer Kammer der Antiblockiereinheit und entlang einer Achse ermittelt. Insbesondere kann durch die Längsverschiebung des Kolbens innerhalb der Kammer ein Fluidvolumen innerhalb der Kammer gesteuert verändert werden, um hierdurch die Druckmodulation in dem hydraulischen Bremssystem zu erreichen. Dabei wird die Volumenänderung der Bremsflüssigkeit basierend auf der Längsverschiebung des Kolbens entlang der Achse und basierend auf einer Kolbenfläche des Kolbens ermittelt. Als Kolbenfläche wird dabei eine Fläche des Kolbens, über welche Druck auf die Bremsflüssigkeit ausgeübt werden kann, angesehen. Insbesondere durch einen geometrischen Zusammenhang kann somit besonders einfach die Volumenänderung der Bremsflüssigkeit, welche durch die Verschiebung des Kolbens bewirkt wird, ermittelt werden. The change in position of the piston is particularly preferably determined as a longitudinal displacement of the piston within a chamber of the anti-lock braking unit and along an axis. In particular, a fluid volume within the chamber can be changed in a controlled manner by the longitudinal displacement of the piston within the chamber, in order to thereby achieve the pressure modulation in the hydraulic brake system. The change in volume of the brake fluid is determined based on the longitudinal displacement of the piston along the axis and based on a piston area of the piston. A surface of the piston over which pressure can be exerted on the brake fluid is regarded as the piston surface. In particular, through a geometric relationship thus the change in volume of the brake fluid, which is caused by the displacement of the piston, can be determined in a particularly simple manner.
Vorzugsweise wird die Längsverschiebung mittels eines Magnetsensors ermittelt. Dadurch kann die Volumenänderung besonders einfach und kostengünstig ermittelt werden. The longitudinal displacement is preferably determined by means of a magnetic sensor. As a result, the change in volume can be determined in a particularly simple and cost-effective manner.
Bevorzugt umfasst das Verfahren ferner den Schritt: Durchführen einer Rauschreduzierung mit den ermittelten Messwerten für die Volumenänderung und die Druckänderung. Insbesondere wird dabei mit den entsprechenden Signalen, basierend auf welchen die Messwerte für die Volumenänderung und die Druckänderung erzeugt werden, die Rauschreduzierung durchgeführt, um aus ungenauen oder schwankenden Signalen optimierte und besser zu verarbeitende Daten zu erhalten. The method preferably also includes the step of carrying out a noise reduction with the measured values determined for the change in volume and the change in pressure. In particular, the noise reduction is carried out with the corresponding signals, on the basis of which the measured values for the volume change and the pressure change are generated, in order to obtain optimized data that can be processed better from imprecise or fluctuating signals.
Besonders bevorzugt wird die Rauschreduzierung mittels eines Tiefpassfilters durchgeführt, wodurch eine besonders einfache Signaloptimierung möglich ist. The noise reduction is particularly preferably carried out by means of a low-pass filter, as a result of which a particularly simple signal optimization is possible.
Weiter bevorzugt wird die Rauschreduzierung mittels eines Recursive-Least- Square-Algorithmus (kurz RLS-Algorithmus) durchgeführt. Dadurch können besonders genaue Daten gewonnen werden. More preferably, the noise reduction is carried out by means of a recursive least squares algorithm (RLS algorithm for short). As a result, particularly precise data can be obtained.
Vorzugsweise werden Parameter des Recursive-Least-Square-Algorithmus in Abhängigkeit der ermittelten Druckänderung angepasst. Besonders bevorzugt werden die Parameter derart angepasst, dass niedrige Druckänderungsgradienten stärker gewichtet werden als hohe Druckänderungsgradienten. Dadurch können auf einfache Weise genauere Ergebnisse erzielt werden, da die niedrigeren Druckänderungsgradienten beispielsweise weniger verrauscht sind als die hohen Druckänderungsgradienten. Parameters of the recursive least squares algorithm are preferably adjusted as a function of the determined change in pressure. The parameters are particularly preferably adapted in such a way that low pressure change gradients are weighted more heavily than high pressure change gradients. As a result, more accurate results can be obtained in a simple manner, since the lower pressure change gradients are, for example, less noisy than the high pressure change gradients.
Bevorzugt umfasst das Verfahren ferner den Schritt: Ermitteln eines momentanen Bremsdrucks in dem hydraulischen Bremssystem. Das Verfahren wird dabei ausschließlich durchgeführt, wenn der ermittelte Bremsdruck mindestens gleich einem vorbestimmten Mindest-Bremsdruck, von vorzugsweise 50 bar, ist. Das heißt, die Steifigkeit wird nur ermittelt, wenn das hydraulische Bremssystem wie bei einer Bremsung mindestens mit dem vordefinierten Mindest-Bremsdruck vorgespannt ist. Dadurch kann besonders genau die Steifigkeit für die relevanten Fälle einer Bremsung mit hohem Bremsdruck ermittelt werden. Besonders bevorzugt wird das Verfahren dabei nur ausgeführt, während ein Bremshebel des hydraulischen Bremssystems von einem Fahrer angezogen wird. The method preferably also includes the step of determining an instantaneous brake pressure in the hydraulic brake system. The method is carried out exclusively when the determined brake pressure is at least equal to a predetermined minimum brake pressure, preferably 50 bar. That is, the rigidity is determined only if the hydraulic Braking system is biased as in braking at least with the predefined minimum brake pressure. As a result, the rigidity for the relevant cases of braking with high braking pressure can be determined particularly precisely. The method is particularly preferably only carried out while a brake lever of the hydraulic brake system is being pulled by a driver.
Besonders bevorzugt wird das Verfahren zur Kalibrierung des hydraulischen Bremssystems in einem Zweirad, vorzugsweise in einem Elektrofahrrad, verwendet. Das Verfahren wird dabei, insbesondere ausschließlich, während eines Stillstands des Zweirads, vorzugsweise des Elektrofahrrads, durchgeführt. Beispielsweise kann das Verfahren dabei so durchgeführt werden, dass der Fahrer des Zweirads den Bremshebel anzieht, und während der Bremshebel angezogen ist wird der Kolben gesteuert betätigt, um gleichzeitig die Volumenänderung und Druckänderung zu erfassen und basierend darauf die Steifigkeit zu ermitteln. Somit kann eine besonders einfache und komfortable Kalibrierung des hydraulischen Bremssystems durchgeführt werden. The method for calibrating the hydraulic brake system in a two-wheeler, preferably in an electric bicycle, is particularly preferably used. The method is carried out, in particular exclusively, while the two-wheeler, preferably the electric bicycle, is stationary. For example, the method can be carried out in such a way that the driver of the two-wheeler pulls the brake lever, and while the brake lever is pulled, the piston is actuated in a controlled manner in order to simultaneously detect the change in volume and pressure and to determine the stiffness based thereon. A particularly simple and convenient calibration of the hydraulic brake system can thus be carried out.
Weiterhin führt die Erfindung zu einem Verfahren zum Betreiben eines hydraulischen Bremssystems, vorzugsweise für ein Elektrofahrrad. Das Verfahren zum Betreiben des hydraulischen Bremssystems umfasst die Schritte:Furthermore, the invention leads to a method for operating a hydraulic brake system, preferably for an electric bicycle. The procedure for operating the hydraulic braking system includes the steps:
- Ermitteln einer Steifigkeit des hydraulischen Bremssystems mittels des beschriebenen Verfahrens zum Ermitteln der Steifigkeit, und - Determining a stiffness of the hydraulic brake system using the method described for determining the stiffness, and
- Betätigen des Kolbens des hydraulischen Bremssystems während eines Antiblockier-Betriebs der Antiblockiereinheit des hydraulischen Bremssystems, wobei das Betätigen des Kolbens in Abhängigkeit der ermittelten Steifigkeit erfolgt. - Actuation of the piston of the hydraulic brake system during anti-lock operation of the anti-lock unit of the hydraulic brake system, the actuation of the piston taking place as a function of the stiffness determined.
Dadurch kann besonders präzise und gezielt eine gewünschte optimale Bremswirkung des hydraulischen Bremssystems erzielt werden. As a result, a desired optimum braking effect of the hydraulic braking system can be achieved in a particularly precise and targeted manner.
Bevorzugt wird basierend auf der ermittelten Steifigkeit eine Amplitude und/oder eine Frequenz einer Betätigung, insbesondere der Längsverschiebung, des Kolbens während einer aktiven Druckmodulation des Bremsdrucks angepasst. Das heißt, während das Antiblockier-Betriebs der Antiblockiereinheit wird die gesteuerte Betätigung des Kolbens so angepasst, um eine optimal an die vorliegende ermittelte Steifigkeit angepasste Bremsfunktion zu erhalten. Based on the determined rigidity, an amplitude and/or a frequency of an actuation, in particular of the longitudinal displacement, of the piston is preferably adapted during an active pressure modulation of the brake pressure. That is, during the antilock operation of the antilock unit, the controlled actuation of the piston in such a way as to obtain a braking function that is optimally adapted to the existing determined stiffness.
Weiterhin führt die Erfindung zu einem hydraulischen Bremssystem eines Zweirads, vorzugsweise eines Fahrrads, besonders bevorzugt eines Elektrofahrrads, umfassend eine Antiblockiereinheit, einen Bremszylinder, einen Bremssattel, eine Bremsleitung, ein Hauptventil, und eine Steuervorrichtung. Die Antiblockiereinheit weist dabei eine Kammer zur Aufnahme einer Bremsflüssigkeit, einen Kolben, der ein Fluidvolumen innerhalb der Kammer begrenzt und der entlang einer Achse verschiebbar ist, und einen Aktuator, der eingerichtet ist, den Kolben entlang der Achse steuerbar zu verschieben, auf. Die Bremsleitung weist dabei einen ersten Leitungsabschnitt, der in Fluidverbindung mit der Kammer steht und der mit dem Bremssattel verbunden ist, und einen zweiten Leitungsabschnitt, der mit dem Bremszylinder verbunden ist, auf. Das Hauptventil ist dabei in die Bremsleitung integriert, und eingerichtet, eine Fluidverbindung zwischen Bremssattel und Bremszylinder zu blockieren oder freizugeben. Die Steuervorrichtung ist dabei eingerichtet, das beschriebene Verfahren zum Ermitteln der Steifigkeit des hydraulischen Bremssystems, oder das beschriebene Verfahren zum Betreiben des hydraulischen Bremssystems durchzuführen. Das hydraulische Bremssystem weist somit eine besonders einfache und kostengünstige Konstruktion auf, welche eine genaue Ermittlung der Basis-Bremsenparameter ermöglicht. Furthermore, the invention leads to a hydraulic brake system of a two-wheeler, preferably a bicycle, particularly preferably an electric bicycle, comprising an anti-lock unit, a brake cylinder, a brake caliper, a brake line, a main valve, and a control device. The anti-lock braking unit has a chamber for holding brake fluid, a piston that delimits a fluid volume within the chamber and that can be displaced along an axis, and an actuator that is set up to controllably displace the piston along the axis. In this case, the brake line has a first line section which is in fluid communication with the chamber and which is connected to the brake caliper, and a second line section which is connected to the brake cylinder. The main valve is integrated into the brake line and set up to block or release a fluid connection between the brake caliper and the brake cylinder. The control device is set up to carry out the method described for determining the stiffness of the hydraulic brake system, or the method described for operating the hydraulic brake system. The hydraulic brake system thus has a particularly simple and cost-effective construction, which enables the basic brake parameters to be determined precisely.
Bevorzugt umfasst das hydraulische Bremssystem ferner einen Drucksensor, welcher eingerichtet ist, einen Bremsdruck am Bremssattel zu erfassen. Vorzugsweise dienen Messwerte des Drucksensors als Basis für die Druckänderung bei dem Verfahren zur Ermittlung der Steifigkeit des hydraulischen Bremssystems. Dadurch kann besonders genau die relevante Druckänderung am Bremssattel ermittelt werden. The hydraulic brake system preferably also includes a pressure sensor which is set up to detect a brake pressure at the brake caliper. Measured values from the pressure sensor preferably serve as the basis for the pressure change in the method for determining the stiffness of the hydraulic brake system. As a result, the relevant pressure change at the brake caliper can be determined particularly precisely.
Weiterhin führt die Erfindung zu einem Zweirad, insbesondere einem Fahrrad, vorzugsweise einem Elektrofahrrad, welches das beschriebene hydraulische Bremssystem umfasst. Insbesondere bei einem Fahrrad, vorzugsweise Elektrofahrrad, können zahlreiche Verstellmöglichkeiten zur individuellen Anpassung des Betätigungsverhaltens des hydraulischen Bremssystems an einen Fahrerwunsch bereitgestellt werden. Durch die Ermittlung der Steifigkeit des hydraulischen Bremssystems kann dabei insbesondere bei einem Antiblockier-Betrieb dennoch in jeder Konfiguration und Fahrsituation eine zuverlässige und optimale Bremsfunktion sichergestellt werden. Furthermore, the invention leads to a two-wheeler, in particular a bicycle, preferably an electric bicycle, which includes the hydraulic brake system described. Particularly in the case of a bicycle, preferably an electric bicycle, numerous adjustment options can be provided for individually adapting the actuation behavior of the hydraulic brake system to a driver's request. By determining the stiffness of the hydraulic braking system, a reliable and optimal braking function can still be ensured in every configuration and driving situation, especially in anti-lock operation.
Kurze Beschreibung der Zeichnungen Brief description of the drawings
Im Folgenden wird die Erfindung anhand von Ausführungsbeispielen in Verbindung mit den Figuren beschrieben. In den Figuren sind funktional gleiche Bauteile jeweils mit gleichen Bezugszeichen gekennzeichnet. Dabei zeigt: The invention is described below using exemplary embodiments in conjunction with the figures. In the figures, components that are functionally the same are each identified by the same reference symbols. It shows:
Figur 1 eine vereinfachte schematische Ansicht eines Elektrofahrrads gemäß einem bevorzugten Ausführungsbeispiel der Erfindung, Figure 1 is a simplified schematic view of an electric bicycle according to a preferred embodiment of the invention,
Figur 2 eine vereinfachte schematische Ansicht eines hydraulischen Bremssystems des Elektrofahrrads der Figur 1 , und Figure 2 is a simplified schematic view of a hydraulic braking system of the electric bicycle of Figure 1, and
Figur 3 eine vereinfachte schematische Ansicht eines Druckverlaufs in dem hydraulischen Bremssystem der Figur 2 während einer Bremsbetätigung. FIG. 3 shows a simplified schematic view of a pressure curve in the hydraulic brake system of FIG. 2 during a brake actuation.
Bevorzugte Ausführungsformen der Erfindung Preferred Embodiments of the Invention
Figur 1 zeigt eine vereinfachte schematische Ansicht eines Elektrofahrrads 100 gemäß einem bevorzugten Ausführungsbeispiel der Erfindung. Das Elektrofahrrad 100 umfasst eine Antriebseinheit 105, welche eingerichtet ist, eine Tretkraft eines Fahrers mittels Motorkraft zu unterstützen. Die Antriebseinheit 105 wird von einem elektrischen Energiespeicher 106 mit elektrischer Energie versorgt. Der elektrische Energiespeicher 106 kann beispielsweise innerhalb eines Unterrohrs 109 des Elektrofahrrads 100 angeordnet sein. Figure 1 shows a simplified schematic view of an electric bicycle 100 according to a preferred embodiment of the invention. The electric bicycle 100 includes a drive unit 105, which is set up to support a pedaling force of a driver by means of motor power. The drive unit 105 is supplied with electrical energy by an electrical energy store 106 . The electrical energy store 106 can be arranged, for example, inside a down tube 109 of the electric bicycle 100 .
Das Elektrofahrrad 100 umfasst ein hydraulisches Bremssystem 10 mittels welchem Bremsen 101 , 102 jeweils an einem Vorderrad 107 bzw. einem Hinterrad 108 des Elektrofahrrads 100 betätigt werden können. Das hydraulische Bremssystem 10 umfasst pro Bremse 101, 102 jeweils einen Bremshebel 19, einen Bremszylinder 15, einen Bremssattel 13, eine Leitung 11 , welche Bremszylinder 15 und Bremssattel 13 hydraulisch miteinander verbindet, und eine Antiblockiereinheit 1 , welche in die Leitung 11 integriert ist. The electric bicycle 100 includes a hydraulic brake system 10 by means of which brakes 101 , 102 can be actuated on a front wheel 107 or a rear wheel 108 of the electric bicycle 100 . The hydraulic brake system 10 comprises a brake lever 19, a brake cylinder 15, a brake caliper 13, a line 11 for each brake 101, 102 Hydraulically connects the brake cylinder 15 and brake caliper 13 to one another, and an anti-lock braking unit 1 which is integrated into the line 11 .
Die Antiblockiereinheit 1 kann ebenfalls innerhalb des Unterrohrs 109 des Elektrofahrrads 100 angeordnet sein und wird insbesondere von dem elektrischen Energiespeicher 106 mit elektrischer Energie versorgt. The anti-lock braking unit 1 can also be arranged inside the down tube 109 of the electric bicycle 100 and is in particular supplied with electrical energy by the electrical energy store 106 .
Das hydraulische Bremssystem 10 mit der Antiblockiereinheit 1 wird nachfolgend in Bezug auf die Figur 2 im Detail beschrieben. Die Beschreibung erfolgt dabei aus Gründen der Einfachheit nur in Bezug auf eine einzelne Bremse 101, insbesondere des Vorderrads 107. The hydraulic brake system 10 with the anti-lock braking unit 1 is described in detail below with reference to FIG. For reasons of simplicity, the description is only given with reference to a single brake 101, in particular the front wheel 107.
Der Bremssattel 13 ist mit einem ersten Leitungsabschnitt 11a der Leitung 11 verbunden. Der Bremszylinder 15 ist mit einem zweiten Leitungsabschnitt 11b der Leitung 11 verbunden. Der erste Leitungsabschnitt 11a und der zweite Leitungsabschnitt 11b sind durch ein Hauptventil 16 hydraulisch voneinander trennbar. Das Hauptventil 16 ist vorzugsweise als stromlos offenes Ventil ausgebildet. The brake caliper 13 is connected to a first line section 11a of the line 11 . The brake cylinder 15 is connected to a second line section 11b of the line 11 . The first line section 11a and the second line section 11b can be separated from one another hydraulically by a main valve 16 . The main valve 16 is preferably designed as a normally open valve.
Weiterhin umfasst die Antiblockiereinheit 1 eine Kammer 2, in welcher Bremsflüssigkeit aufgenommen werden kann. Die Kammer 2 ist dabei zwischen Hauptventil 16 und Bremssattel 13 mit der Leitung 11 verbunden. Furthermore, the anti-lock braking unit 1 comprises a chamber 2 in which brake fluid can be accommodated. The chamber 2 is connected to the line 11 between the main valve 16 and the brake caliper 13 .
Innerhalb der Kammer 2 wird ein Fluidvolumen durch einen Kolben 4 begrenzt. Der Kolben 4 ist dabei entlang einer Achse 50 durch Betätigung mittels eines Aktuators 5 verschiebbar, sodass das Fluidvolumen innerhalb der Kammer 2 variabel ist. Within the chamber 2 a fluid volume is delimited by a piston 4 . In this case, the piston 4 can be displaced along an axis 50 by actuation by means of an actuator 5, so that the fluid volume within the chamber 2 is variable.
Der Aktuator 5 ist insbesondere als Elektromotor ausgebildet, und kann von einer Steuervorrichtung 61 betätigt werden. The actuator 5 is designed in particular as an electric motor and can be actuated by a control device 61 .
Weiterhin umfasst die Antiblockiereinheit 1 ein Rückstellelement 6 in Form einer Schraubenfeder, welches auf einer der Kammer 2 gegenüberliegenden Seite des Kolbens 4 angeordnet ist und eine Rückstellkraft 60 auf den Kolben 4 ausübt. Die Rückstellkraft 60 ist dabei zu einem Fluideintritt 70 in die Kammer 2 genau entgegengesetzt ausgerichtet. Der Antiblockiereinheit 1 weist ferner einen Drucksensor 35 auf, welcher eingerichtet ist, einen Bremsdruck an einer Eintrittsöffnung der Kammer 2 zu erfassen. Furthermore, the anti-lock braking unit 1 includes a restoring element 6 in the form of a helical spring, which is arranged on a side of the piston 4 opposite the chamber 2 and exerts a restoring force 60 on the piston 4 . The restoring force 60 is aligned exactly opposite to a fluid inlet 70 into the chamber 2 . The anti-lock braking unit 1 also has a pressure sensor 35 which is set up to detect a braking pressure at an inlet opening of the chamber 2 .
In einem Normalbetrieb des hydraulischen Bremssystems 10 ist das Betätigungselement 51 unbetätigt vom Aktuator 5, sodass das Rückstellelement 6 den Kolben 4 in eine Ruheposition drückt. In normal operation of the hydraulic brake system 10, the actuating element 51 is not actuated by the actuator 5, so that the restoring element 6 pushes the piston 4 into a rest position.
Kammer 2 und Kolben 4 sind dabei vorzugsweise so ausgelegt, dass das Fluidvolumen Null oder näherungsweise Null ist, wenn sich der Kolben 4 in der Ruheposition befindet. Das heißt, in der Ruheposition verhindert der Kolben 4, dass sich Bremsflüssigkeit innerhalb der Kammer 2 befinden kann. Chamber 2 and piston 4 are preferably designed in such a way that the fluid volume is zero or approximately zero when piston 4 is in the rest position. That is, in the rest position, the piston 4 prevents brake fluid from being able to be inside the chamber 2 .
Mittels einer (nicht dargestellten) Antiblockier-Sensorik kann weiterhin ein Blockierzustand des Rades 107 ermittelt werden. In Abhängigkeit des Blockierzustands wird eine Notwendigkeit einer Antiblockier-Funktion der Antiblockiereinheit 1 ermittelt. Sofern eine Antiblockier-Funktion notwendig ist, beispielsweise wenn ein Blockieren des Rades 107 vorliegt oder nahe bevorsteht, wird ein Antiblockier-Betrieb der Antiblockiereinheit 1 gestartet. A locked state of the wheel 107 can also be determined by means of an anti-lock sensor system (not shown). A need for an anti-lock function of the anti-lock unit 1 is determined as a function of the locking state. If an anti-lock function is necessary, for example if the wheel 107 is locked or is imminent, an anti-lock operation of the anti-lock unit 1 is started.
Beim Antiblockier-Betrieb wird das Hauptventil 16 geschlossen und der Aktuator 5 betätigt den Kolben 4, um aktiv den Bremsdruck in der Bremsleitung 11 am Bremssattel 13 zu modulieren. Im Detail wird hierbei der Kolben 4 entgegen der Rückstellkraft 60 zurückgezogen, um Bremsflüssigkeit in die Kammer 2 einströmen zu lassen, sodass der Bremsdruck am Bremssattel 13 verringert wird. Anschließend wird der Kolben 4 in die entgegengesetzte Richtung verschoben, um den Bremsdruck wieder zu erhöhen. During anti-lock operation, the main valve 16 is closed and the actuator 5 actuates the piston 4 in order to actively modulate the brake pressure in the brake line 11 at the brake caliper 13. In detail, the piston 4 is pulled back against the restoring force 60 in order to allow brake fluid to flow into the chamber 2 so that the brake pressure at the brake caliper 13 is reduced. Then the piston 4 is pushed in the opposite direction to increase the brake pressure again.
Mittels der Antiblockiereinheit 1 kann eine Steifigkeit 33 des hydraulischen Bremssystems 10 ermittelt werden. Die Steifigkeit 33 ist maßgebend für ein Bremshebelgefühl für den Fahrer und zudem relevant für eine optimale Durchführung des Antiblockier-Betriebs. A rigidity 33 of the hydraulic brake system 10 can be determined by means of the anti-lock braking unit 1 . The rigidity 33 is decisive for a brake lever feel for the driver and is also relevant for an optimal implementation of the anti-lock braking operation.
Dabei kann eine hohe Steifigkeit 33 auch als starke Bissigkeit der Bremse angesehen werden. Das bedeutet, dass eine geringe Erhöhung des Bremshebelwegs eine starke Erhöhung des Bremsdrucks zur Folge hat. Demgegenüber führt eine niedrige Steifigkeit 33 dazu, dass ein großer Bremshebelweg zu einer geringen Erhöhung des Bremsdrucks führt. Insbesondere ist die Steifigkeit 33 abhängig von Elastizitäten im hydraulischen Bremssystem 10, wie beispielsweise einer Elastizität der Bremsleitung 11 und einer Komprimierbarkeit der Bremsflüssigkeit. A high rigidity 33 can also be regarded as a strong bite of the brake. This means that a small increase in Brake lever travel results in a sharp increase in brake pressure. In contrast, a low rigidity 33 means that a large brake lever travel leads to a small increase in the brake pressure. In particular, the rigidity 33 is dependent on elasticity in the hydraulic brake system 10, such as an elasticity of the brake line 11 and a compressibility of the brake fluid.
Zur weiteren Verdeutlichung wird Bezug genommen auf die Figur 3, welche einen Druckverlauf 24 des Bremsdrucks bei einer Betätigung des Bremshebels 19 zeigt. Figur 3 zeigt dabei ein Diagramm 20, in welchem ein Volumen 22 an Bremsflüssigkeit im hydraulischen Bremssystem 10 über einem Druck 21 der Bremsflüssigkeit dargestellt ist. For further clarification, reference is made to FIG. 3, which shows a pressure curve 24 of the brake pressure when the brake lever 19 is actuated. FIG. 3 shows a diagram 20 in which a volume 22 of brake fluid in the hydraulic brake system 10 is shown over a pressure 21 of the brake fluid.
Der Bereich 25 zeigt dabei eine Bremshebelbetätigung, bevor Bremsbeläge an der Bremsscheibe anliegen. Das heißt, Bremsflüssigkeit wird verdrängt, aber es findet noch keine wesentliche Druckerhöhung statt. Im Bereich 26 liegen dann die Bremsbeläge an und eine weitere Betätigung des Bremshebels 19 führt zu einer deutlichen Erhöhung des Bremsdrucks. The area 25 shows a brake lever actuation before the brake pads are in contact with the brake disk. This means that brake fluid is displaced, but there is still no significant increase in pressure. The brake pads are then in contact in area 26 and further actuation of the brake lever 19 leads to a significant increase in the brake pressure.
Die Steifigkeit 33 entspricht dabei einer Tangente des Druckverlaufs 24 im Bereich 26. Im Detail entspricht die Steifigkeit 33 einem Verhältnis einer Druckänderung 31 zu einer Volumenänderung 32. The rigidity 33 corresponds to a tangent of the pressure curve 24 in the area 26. In detail, the rigidity 33 corresponds to a ratio of a pressure change 31 to a volume change 32.
Das Ermitteln der Steifigkeit 33 erfolgt dabei dadurch, dass mittels der Antiblockiereinheit 1 die Volumenänderung 32 und die Druckänderung 31 erfasst werden, wenn über den Bremshebel 19 mindestens ein vordefinierter Mindest- Bremsdruck im hydraulischen Bremssystems erzeugt wird. Bei Überschreiten dieses vordefinierten Mindest-Bremsdrucks wird das Hauptventil 16 geschlossen und während des geschlossenen Hauptventils 16 der Kolben 4 betätigt. Während der Betätigung des Kolbens 4 wird die entsprechende Druckänderung 31 direkt mittels eines Drucksensors 35 erfasst. Zudem wird gleichzeitig die Volumenänderung 32 ermittelt. The stiffness 33 is determined in that the volume change 32 and the pressure change 31 are detected by means of the anti-lock braking unit 1 when at least one predefined minimum brake pressure is generated in the hydraulic brake system via the brake lever 19 . If this predefined minimum brake pressure is exceeded, the main valve 16 is closed and the piston 4 is actuated while the main valve 16 is closed. During the actuation of the piston 4, the corresponding change in pressure 31 is detected directly by means of a pressure sensor 35. In addition, the change in volume 32 is determined at the same time.
Das Ermitteln der Volumenänderung 32 erfolgt dabei basierend auf einer Positionsänderung des Kolben 4. Diese Positionsänderung wird mittels eines Magnetsensors 8 (vgl. Figur 2), der eine Längsverschiebung des Kolbens 4 entlang der Achse 50 erfassen kann, ermittelt. Anhand dieser Längsverschiebung und einer Kolbenfläche 40 des Kolbens 4, über welche der Kolben 4 Druck auf die Bremsflüssigkeit ausüben kann, kann die Volumenänderung 32 einfach berechnet werden. The change in volume 32 is determined based on a change in position of the piston 4. This change in position is detected by means of a magnetic sensor 8 (cf. Figure 2), which detects a longitudinal displacement of the piston 4 can detect along the axis 50 is determined. The change in volume 32 can be easily calculated on the basis of this longitudinal displacement and a piston surface 40 of the piston 4, via which the piston 4 can exert pressure on the brake fluid.
Anhand der ermittelten Werte für die Druckänderung 31 und die Volumenänderung 32 kam somit die Steifigkeit 33 ermittelt werden. Um besonders genaue Ergebnisse zu erhalten, kann vorzugsweise eine Rauschunterdrückung von einem oder beiden Messwerten erfolgen, beispielsweise mittels eines Tiefpassfilters und/oder mittels eines RLS- Algorithmus. The rigidity 33 can thus be determined on the basis of the determined values for the pressure change 31 and the volume change 32 . In order to obtain particularly accurate results, noise can preferably be suppressed from one or both measured values, for example by means of a low-pass filter and/or by means of an RLS algorithm.
Die ermittelte Steifigkeit 33 kann anschließend verwendet werden, um die gesteuerte Betätigung des Kolbens 4 anzupassen. Beispielsweise kann eine Frequenz und/oder eine Amplitude und/oder eine Betätigungsgeschwindigkeit der Betätigung des Kolbens 4 angepasst werden, um eine optimale gewünschte Bremswirkung erzielen zu können. The stiffness 33 determined can then be used to adjust the controlled actuation of the piston 4 . For example, a frequency and/or an amplitude and/or an actuation speed of the actuation of the piston 4 can be adjusted in order to be able to achieve an optimal, desired braking effect.

Claims

Ansprüche Expectations
1. Verfahren zum Ermitteln einer Steifigkeit (33) eines hydraulischen Bremssystems (10), insbesondere für ein Elektrofahrrad (100), 1. Method for determining a stiffness (33) of a hydraulic brake system (10), in particular for an electric bicycle (100),
- wobei das hydraulische Bremssystem (10) eine Antiblockiereinheit (1) mit einem steuerbar betätigbaren Kolben (4) aufweist, zur aktiven Druckmodulation eines Bremsdrucks, und - wherein the hydraulic brake system (10) has an anti-lock braking unit (1) with a controllably actuable piston (4) for active pressure modulation of a brake pressure, and
- wobei das Verfahren die Schritte umfasst, welche während der Betätigung des Kolbens (4) durchgeführt werden: - the method comprising the steps performed during actuation of the piston (4):
- Ermitteln einer Volumenänderung (32) einer Bremsflüssigkeit durch die Betätigung des Kolbens (4), - Determining a change in volume (32) of a brake fluid by actuating the piston (4),
- Ermitteln einer Druckänderung (31) des Bremsdrucks, und - Determining a pressure change (31) of the brake pressure, and
- Ermitteln der Steifigkeit (33) des hydraulischen Bremssystems (10) als ein Verhältnis der Druckänderung (31) zur Volumenänderung (32), - Determining the stiffness (33) of the hydraulic brake system (10) as a ratio of the pressure change (31) to the volume change (32),
- wobei die Volumenänderung (32) basierend auf einer Positionsänderung des Kolbens (4) ermittelt wird. - Wherein the change in volume (32) is determined based on a change in position of the piston (4).
2. Verfahren nach Anspruch 1, wobei das hydraulische Bremssystem (10) einen Bremszylinder (15), einen Bremssattel (13), eine Bremsleitung (11), die Bremszylinder (15) und Bremssattel (13) miteinander verbindet, und ein Hauptventil (16), das in die Bremsleitung (11) integriert ist, aufweist, und wobei das Verfahren durchgeführt wird während das Hauptventil (16) eine Fluidverbindung zwischen Bremszylinder (15) und Bremssattel (13) unterbricht. 2. The method according to claim 1, wherein the hydraulic brake system (10) has a brake cylinder (15), a brake caliper (13), a brake line (11) connecting the brake cylinder (15) and brake caliper (13) to one another, and a main valve (16 ), which is integrated into the brake line (11), and wherein the method is carried out while the main valve (16) interrupts a fluid connection between the brake cylinder (15) and the brake caliper (13).
3. Verfahren nach einem der vorhergehenden Ansprüche, 3. The method according to any one of the preceding claims,
- wobei die Positionsänderung des Kolbens (4) als Längsverschiebung des Kolbens (4) innerhalb einer Kammer (2) der Antiblockiereinheit (1) und entlang einer Achse (50) ermittelt wird, und - wherein the change in position of the piston (4) is determined as a longitudinal displacement of the piston (4) within a chamber (2) of the anti-lock braking unit (1) and along an axis (50), and
- wobei die Volumenänderung basierend auf der Längsverschiebung des Kolbens (4) und basierend auf einer Kolbenfläche (40) des Kolbens (4) ermittelt wird. Verfahren nach Anspruch 3, wobei die Längsverschiebung mittels eines Magnetsensors (8) ermittelt wird. Verfahren nach einem der vorhergehenden Ansprüche, ferner umfassend den Schritt: - Wherein the change in volume is determined based on the longitudinal displacement of the piston (4) and based on a piston area (40) of the piston (4). Method according to Claim 3, in which the longitudinal displacement is determined by means of a magnetic sensor (8). A method according to any one of the preceding claims, further comprising the step of:
- Durchführen einer Rauschreduzierung mit ermittelten Messwerten für die Volumenänderung und die Druckänderung. Verfahren nach Anspruch 5, wobei die Rauschreduzierung mittels eines Tiefpassfilters durchgeführt wird. Verfahren nach Anspruch 5 oder 6, wobei die Rauschreduzierung mittels eines Recursive-Least-Square-Algorithmus durchgeführt wird. Verfahren nach Anspruch 7, wobei Parameter des Recursive-Least-Square- Algorithmus in Abhängigkeit der ermittelten Druckänderung (31) angepasst werden. Verfahren nach einem der vorhergehenden Ansprüche, ferner umfassend den Schritt: - Carrying out a noise reduction with determined measured values for the volume change and the pressure change. Method according to Claim 5, in which the noise reduction is carried out using a low-pass filter. Method according to Claim 5 or 6, in which the noise reduction is carried out using a recursive least squares algorithm. Method according to Claim 7, in which parameters of the recursive least square algorithm are adapted as a function of the determined change in pressure (31). A method according to any one of the preceding claims, further comprising the step of:
- Ermitteln eines Bremsdrucks in dem hydraulischen Bremssystem (10), wobei das Verfahren nur durchgeführt wird, wenn der ermittelte Bremsdruck mindestens gleich einem vorbestimmten Mindest-Bremsdruck ist. Verfahren nach einem der vorhergehenden Ansprüche, - Determining a brake pressure in the hydraulic brake system (10), the method being carried out only if the determined brake pressure is at least equal to a predetermined minimum brake pressure. Method according to one of the preceding claims,
- wobei das Verfahren zur Kalibrierung des hydraulischen Bremssystems (10) in einem Zweirad, insbesondere einem Elektrofahrrad (100), verwendet wird, und- wherein the method for calibrating the hydraulic brake system (10) in a two-wheeler, in particular an electric bicycle (100), is used, and
- wobei das Verfahren während eines Stillstands des Zweirads, insbesondere des Elektrofahrrads (100), durchgeführt wird. Verfahren zum Betreiben eines hydraulischen Bremssystems (10), insbesondere eines Elektrofahrrads (100), umfassend die Schritte: - The method being carried out while the two-wheeler, in particular the electric bicycle (100), is stationary. Method for operating a hydraulic brake system (10), in particular an electric bicycle (100), comprising the steps:
- Ermitteln einer Steifigkeit (33) des hydraulischen Bremssystems (10) mittels eines Verfahrens nach einem der vorhergehenden Ansprüche, und - 14 - - Determining a stiffness (33) of the hydraulic brake system (10) by means of a method according to any one of the preceding claims, and - 14 -
- Betätigen des Kolbens (4) des hydraulischen Bremssystems (10) während eines Antiblockier-Betriebs der Antiblockiereinheit (1) des hydraulischen Bremssystems (10) in Abhängigkeit der ermittelten Steifigkeit (33). Verfahren nach Anspruch 11 , wobei basierend auf der ermittelten Steifigkeit (33) eine Amplitude und/oder eine Frequenz einer Längsverschiebung des Kolbens (4) während einer aktiven Druckmodulation des Bremsdrucks angepasst wird. Hydraulisches Bremssystem eines Zweirads, insbesondere eines Fahrrads, vorzugsweise eines Elektrofahrrads (100), umfassend: - Actuate the piston (4) of the hydraulic brake system (10) during anti-lock operation of the anti-lock unit (1) of the hydraulic brake system (10) as a function of the stiffness (33) determined. Method according to claim 11, wherein based on the determined stiffness (33) an amplitude and / or a frequency of a longitudinal displacement of the piston (4) is adjusted during an active pressure modulation of the brake pressure. Hydraulic braking system of a two-wheeler, in particular a bicycle, preferably an electric bicycle (100), comprising:
- eine Antiblockiereinheit (1) mit: - an anti-lock braking unit (1) with:
- einer Kammer (2) zur Aufnahme einer Bremsflüssigkeit, - a chamber (2) for holding a brake fluid,
- einem Kolben (4), der ein Fluidvolumen innerhalb der Kammer (2) begrenzt und entlang einer Achse (50) verschiebbar ist, - a piston (4) which delimits a fluid volume within the chamber (2) and is displaceable along an axis (50),
- einem Aktuator (5), der eingerichtet ist, den Kolben (4) entlang der Achse (50) steuerbar zu verschieben, - an actuator (5) which is set up to displace the piston (4) in a controllable manner along the axis (50),
- einen Bremszylinder (15), - a brake cylinder (15),
- einen Bremssattel (13), - a caliper (13),
- eine Bremsleitung (11) mit einem ersten Leitungsabschnitt (11a), der in Fluidverbindung mit der Kammer (2) steht und der mit dem Bremssattel (13) verbunden ist, und mit einem zweiten Leitungsabschnitt (11b), der mit dem Bremszylinder (15) verbunden ist, - a brake line (11) having a first line portion (11a) which is in fluid communication with the chamber (2) and which is connected to the brake caliper (13), and a second line portion (11b) which is connected to the brake cylinder (15th ) connected is,
- Hauptventil (16), das in die Bremsleitung (11) integriert ist, und - main valve (16) integrated in the brake pipe (11), and
- eine Steuervorrichtung (61), welche eingerichtet ist, ein Verfahren zum Ermitteln einer Steifigkeit (33) des hydraulischen Bremssystems (10) nach einem der Ansprüche 1 bis 10, oder ein Verfahren zum Betreiben des hydraulischen Bremssystems (10) nach einem der Ansprüche 11 oder 12 durchzuführen. Hydraulisches Bremssystem nach Anspruch 13, ferner umfassend einen Drucksensor (35), welcher eingerichtet ist, einen Bremsdruck am Bremssattel (13) zu erfassen. Zweirad, insbesondere Fahrrad, vorzugsweise Elektrofahrrad (100), umfassend ein hydraulisches Bremssystem (10) nach Anspruch 13 oder 14. - a control device (61) which is set up, a method for determining a stiffness (33) of the hydraulic brake system (10) according to one of claims 1 to 10, or a method for operating the hydraulic brake system (10) according to one of claims 11 or 12 to perform. Hydraulic brake system according to Claim 13, further comprising a pressure sensor (35) which is set up to detect a brake pressure at the brake caliper (13). Two-wheeler, in particular a bicycle, preferably an electric bicycle (100), comprising a hydraulic brake system (10) according to claim 13 or 14.
PCT/EP2022/071113 2021-08-05 2022-07-27 Method for determining a stiffness of a hydraulic braking system, and hydraulic braking system of a two-wheeled vehicle WO2023012013A1 (en)

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