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CN104903167A - 用于运行制动系统的方法和设备 - Google Patents

用于运行制动系统的方法和设备 Download PDF

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Publication number
CN104903167A
CN104903167A CN201380070547.2A CN201380070547A CN104903167A CN 104903167 A CN104903167 A CN 104903167A CN 201380070547 A CN201380070547 A CN 201380070547A CN 104903167 A CN104903167 A CN 104903167A
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CN
China
Prior art keywords
brake
valve
braking
driver
generator
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201380070547.2A
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English (en)
Inventor
D.德罗特莱夫
T.施珀里
B.托基克
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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 CN104903167A publication Critical patent/CN104903167A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • 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
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/326—Hydraulic systems
    • B60T8/3265—Hydraulic systems with control of the booster
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • 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
    • B60T13/16—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 pumps directly, i.e. without interposition of accumulators or reservoirs
    • B60T13/161—Systems with master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—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
    • B60T13/16—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 pumps directly, i.e. without interposition of accumulators or reservoirs
    • B60T13/161—Systems with master cylinder
    • B60T13/165—Master cylinder integrated or hydraulically coupled with booster
    • B60T13/166—Part of the system directly actuated by booster pressure
    • 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
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • 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
    • 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
    • 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
    • B60T8/4086—Systems with stroke simulating devices for driver input the stroke simulating device being connected to, or integrated in the driver input device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
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    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2710/00—Output or target parameters relating to a particular sub-units
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    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)

Abstract

提供一种用于运行具有至少一个前轴和一个后轴的机动车的制动系统的方法以及一种使用该方法的制动系统，其中，制动系统包括:具有由机动车的司机操作的制动输入元件的制动力放大器，该制动输入元件与用于相应于司机制动愿望提供信号的操作行程传感器耦联;与制动力放大器耦联的主制动缸，该主制动缸又与制动介质容器耦联;流体管道，它们一方面与主制动缸和制动介质容器流体联通，和另一方面通过阀的配置与在轴的车轮处的制动装置流体联通，其中，对于制动装置附加地，车轮也分别与产生制动力矩的发电机耦联;其中，该方法包括以下步骤:借助于阀的配置和借助于与阀耦联的控制单元对阀的相应的控制产生液压的空行程，其中，通过司机在操作制动输入元件期间产生空行程防止用于使相应的车轮的车轮速度减速的液压压力建立;和在相应的车轮上产生发电机式的制动力矩以使相应的车轮的车轮速度减速，并且是基于司机制动愿望。

Description

用于运行制动系统的方法和设备
本发明涉及一种用于运行制动系统的方法和设备，尤其是用于在混合动力机动车和/或电动机动车中使用。
现有技术
常规的制动系统以及用于运行这种制动系统的方法例如在文献DE102008004201A1中公开，其中描述了一种液压的布局，即后轴可以与一个所谓的隔离阀脱耦，而在文献DE102010042995A1中描述一种用于遮掩的方法。该文献的教导应该由此通过引用包括在本申请中。
原则上从一种制动系统出发，如其在图1中示出的那样和基本上对应于在上述文献中公开的制动系统。
关于图1应该仅仅简短地讨论制动系统的主要部件。
用附图标记10制动输入元件表示，它对应于机动车的制动踏板。在制动输入元件10上安置操作行程传感器12，当司机操作制动输入元件10进行制动，即减速时，该传感器探测司机制动愿望。
附图标记13表示制动力放大器，它例如此外可以设计成真空制动力放大器，电动液压的或电动机械的制动力放大器，如也由现有技术已知的那样，其中，制动力放大器13与主制动缸14耦联。用于提供制动介质或流体的制动介质容器16与主制动缸14耦联，该制动介质容器可以通过注入接管18加注。
主制动缸14包括两个容积室(在此处不能够看见)，其中，该容积室分别与输入或流体管道28或30流体地连接。输入管道28，30是用于制动介质或流体的输入管道，并且是用于第一制动回路24的管道30(在图1的附图中在左侧，即当将主制动缸14的位置看作是附图的假想的中心时，即在主制动缸14“左边”的循环回路是第一制动回路24)，和用于第二制动回路20的管道28。在此，第一制动回路24在通过司机操作制动输入元件10时作用于(在此处没有示出的)前轴的前轮26a，26b上，它们分别以已知的方式与制动装置68a，68b耦联。例如这可以是可液压地操作的盘式制动装置。
与此类似地，第二制动回路20在通过司机操作制动输入元件10时作用于(在此处没有示出的)后轴的后轮22a，22b上或与其耦联的(可液压地操作的)制动装置38a，38b上，只要在下面还要解释的隔离阀66不是关闭的话。
当然也可以设想其它的制动回路用于其它的轮轴。
在用附图标记11表示的和用点划线示出的矩形框中设置(通过一个在此处没有额外示出的控制单元，例如在机动车上设置的ESP单元，可控制的)阀的配置15，这些阀与管道28，30流体地连接，并且负责对制动装置38a，38b，68a，68b的液压的激活或去激活。
为了简短起见在此处不详细讨论阀配置（阀装置）15的常规的工作方式，因为其已经在上述文献中描述。
一般地，位于矩形框11中的阀配置15称为"调制"(段)，位于其上方的部件称为"致动"(段)，和在矩形框11下方布置的部件称为"基础"(段)。
但是，举例而言，应该简短地描述第一制动回路24的部件或阀。
附图标记90表示所谓的PCR-阀(pressure control valve（压力控制阀），可调节的泄压阀)，它在流体的通流量上是可调节的并且在非控制状态下是关闭的。
附图标记66表示隔离阀，在非控制状态下是打开的("无电流打开（常开）")。
在无电流下是打开的阀72a和72b分别是用于在车轮26a，26b处的制动装置68a和68b的、用于流体的入口阀，而阀86a，86b是相应的制动装置68a，68b的出口阀，并且在非控制状态下是关闭的，其中，流体的通流量可以通过节流阀以已知的方式调节。类似地，上述内容也适用于第二循环回路20。
此外在第一循环回路24中设置有压力产生装置76(在此处示出三个泵单元，其中，其可以是至少一个或当然也可以多个)，其在第二循环回路20中用44表示。压力产生装置76或44的泵单元通过具有示出的向右和向左延伸的、但是由于视图的原因在制图上中断的驱动轴的马达96驱动。压力产生装置76或44的泵单元可以借助于马达96输送制动介质或流体。
由于示出的制动系统在混合动力或电动机动车中使用，因此一个(驱动)电动马达(当然也可以是多个电动马达)可以在作为发电机使用情况下被用于回收制动能和因此回收电能。即借助于发电机也可以"以发电机方式"或"再生式地"进行制动，并且是除了液压的制动以外附加地制动，其中，液压的制动通过发电机式的制动替代和相反地进行被称为"遮掩"。
为了清楚起见，(至少一个)电动马达在图1中没有示出。
为了通过这种系统实现尽可能高的再生效率，已经证明有利的是引入一个液压的"空行程"。通常该空行程在主制动缸14中，制动力放大器13上或制动输入元件10上实施。直到一个确定的操作行程为止，该空行程实现防止所谓的耦联的轴(在图1中具有车轮22a，22b的轴)上的液压压力建立。但是，尽管如此，通过踏板行程，即借助于操作行程传感器12，计算司机制动愿望，其然后可以仅仅并且由此以非常高的效率只通过发电机实施。如果当前的发电机功率不能够单独地实现希望的减速，那么在通过隔离阀66脱耦的制动回路上建立一个附加的制动力矩，以便满足司机的减速愿望。
如果发电机的再生的力矩不再足够用于希望的减速，那么缺少的制动力矩在脱耦的轴上相应于司机制动愿望被液压地施加。通过这种系统可以实现非常高的再生的效率。但是空行程的结构上的实施始终涉及到费用。通常要制造相应于关于希望的空行程的(模型)匹配的“致动”部件。该匹配的“致动”此时一般地不再能够与标准的系统结合地使用。
本发明的公开
本发明按照权利要求1建议一种用于运行具有至少一个前轴和后轴的机动车的制动系统的方法，其中，制动系统包括:具有由机动车的司机操作的制动输入元件的制动力放大器，制动输入元件与用于提供相应于司机制动愿望的信号的操作行程传感器耦联;与制动力放大器耦联的主制动缸，其又与制动介质容器耦联;流体管道，它们一方面与主制动缸和制动介质容器流体联通，和另一方面通过阀的配置与在轴的车轮处的制动装置流体联通，其中，车轮也分别，除了制动装置以外附加地，与至少一个产生制动力矩的发电机耦联;其中，方法包括以下步骤:
借助于阀的配置和借助于与阀耦联的控制单元对阀的相应的控制产生液压的空行程，其中，通过在通过司机操作制动输入元件期间产生空行程防止用于减速相应的车轮的车轮速度的液压压力建立;和产生在相应的车轮处用于减速相应的车轮的车轮速度的发电机式的制动力矩，并且是基于司机制动愿望。
本发明的优点
建议的方法的优点允许通过相应地控制或切换在阀配置中的阀实现空行程，而不必对"致动"段中的部件进行结构改动。由此可以以简单的和成本有利的方式在"致动"段中使用标准部件。
附加地可以几乎在整个减速范围中在两个轴上同时地实施遮掩并且由此也在较高的减速度下实现100%的再生的效率。通过在主制动缸(HZ)层面上(前轴压力=后轴压力)的液压压力建立，与只可以在一个轴上遮掩的制动系统，可以在制动期间提高机动车稳定性，因为制动力的分布(前轴/后轴)可以接近理想的或安排的制动力的分布地实现。
在通过司机操作制动输入元件期间产生液压的空行程的步骤最好包括移动制动介质到制动介质容器中，并且是基于通过控制单元打开的阀，它们布置在制动介质容器和压力产生装置之间。
此外优选的是，阀的配置中的至少一个阀是隔离阀和至少一个阀是PCR-阀，其中，在通过司机操作制动输入元件期间隔离阀和PCR-阀被打开，由此制动介质经由隔离阀和PCR-阀被移动到制动介质容器中。
作为另外的优点，在超过最大可供使用的发电机式的制动力矩的司机制动愿望下PCR-阀又关闭，由此直到这个时间点被移动的制动介质供制动装置进行液压制动使用并且通过由泵构成的压力产生装置输送到制动装置。
有利地，机动车通过液压的制动被一直带到停车状态，其中，再生的制动力矩持续地下降到零和其中，在主制动缸中存在液压压力，其否则在没有产生液压的空行程下存在，和其中，在至少两个轴是制动装置上存在相同的压力。
优选，方法还包括步骤控制压力/体积量输送装置(泵)，用于将制动介质从制动液容器在打开的隔离阀和关闭的PCR-阀下输回到主制动缸中。
此外优选，至少一个发电机为了产生制动力矩作用在至少一个前轴和/或至少一个后轴上。
最好制动装置的入口阀保持打开，由此车轮在全部行驶状况下除了发电机式的减速以外还可以附加地液压地减速。
最后优选，制动系统具有至少两个制动回路，它们分布分配给至少一个前轴和至少一个后轴，其中，方法还包括关闭隔离阀的步骤，由此分配于前轴的制动回路可以与分配于主制动缸的至少一个后轴的制动回路脱耦，以便为前和后轴分别实现不同的制动特性。换言之，后轴在这种情况下通过关闭隔离阀脱耦。
附图简述
以下借助于实施方式结合在附图解释本发明，其中，:
图1显示了一个示意的液压线路图，借此解释按照本发明的一个实施方式的方法;
图2A-2D显示了用于解释按照本发明的一个实施方式的方法的曲线图;和
图3A-3C'显示了制动过程的不同的状况，举例地示出制动力放大器(图3A'-3C')的示意横剖视图和所属的曲线图(图3A-3C)，以便更好地理解。
本发明的实施方式
在图1中示意示出本发明基于的液压线路图并且就其部件而言已经在上面做了足够的解释，因此在此处省去对图1的重复描述，因为本发明由对阀等等的控制的方式和方法上得出而不是由部件本身的特性得出。
参见图2A至2D，和借助于图1的线路图，现在解释按照本发明的方法。
在图2A至2D中示出的曲线图分别在时间上的(或经历的行程)的关系上(x-轴)显示了当司机操作制动输入元件10时制动力矩的变化(图2A)，阀的状态(图2B，关于PCR-阀90和隔离阀66)，(图2C，关于入口阀)和压力产生装置76，44的泵单元的状态(图2D)。
在此，曲线图分别划分成在时间上(或在行程上相关地)持续的阶段1至4，或时间点5。
在图2A中的曲线图中，附图标记210表示司机制动愿望，220发电机制动力矩，230前轴的液压制动力矩，240后轴的液压制动力矩和260最大可由发电机可施加的发电机电势。
阶段1显示空行程说明。在此，例如在所谓的“跳入区”（"Jump-In-Bereich"）区域内，参见图3A中的曲线图(即当由司机操作的制动输入元件10接触所谓的“反应盘”（"Reaction Disc"）100[图3A'-3C']时;在此情况下也参见上述文献的详细描述)，在打开的隔离阀66情况下PCR-阀90被打开(图2B)。
由此司机在操作制动输入元件10时将（介质）体积量从第二室主缸14(HZ2)经由隔离阀66和PCR-阀90移动到容器76中(参见图1)。通过约束住主缸14中的活塞，使得在主缸14的第一室(HZ1)没有压力被建立。后轴的制动装置38a，38b上的制动钳也在打开的入口阀72a，72b下不施加制动力矩，因为制动钳的所谓的起动力矩高于容器76中的“容器压力”。制动力矩100%地被作为再生的力矩施加，例如通过在前轴上的发电机。由于这个原因，在阶段A中的制动力矩(图2A)持续地增大。
在阶段2中司机制动愿望(通过图1中的操作行程传感器12探测)超过最大可供使用的发电机力矩(在阶段1中在图2A中用水平的虚线表示)，由此为了维持司机制动愿望必须施加附加的液压的制动力矩。为此PCR-阀90又被关闭，由此由司机自这个点起移动的由于建立制动压力的体积量进入到制动装置68a，68b，38a，38b中。
由于液压的制动设备在低压区中经由很小的液压的刚性(体积/压力)，因此必须附加地通过回流液压装置或压力产生装置76将体积量带入到制动系统中。制动压力建立在此情况下在两个制动回路24，20(图1)上同时地进行。为此有利地，全部的入口阀72a，72b(类似于第二循环回路20的入口阀)保持打开(参见图2C)，由此通过约束住主制动缸14中的活塞，在两个轴上产生相同的压力。这称为“在系统层面上的遮掩”或主缸(HZ)遮掩。
在阶段3中，不仅司机制动愿望而且供使用的再生的制动力矩保持恒定(参见图2A)，由此也不需要控制制动系统。
在阶段4期间发电机电势变为零，因为机动车进入停车状态。删去的再生的制动力矩因此必须通过液压的制动力矩替代，该制动力矩又通过HZ遮掩实现，直到在两个轴上又作用有液压压力，该压力也可能在没有先前的空行程说明的情况下存在。
这如在阶段2中通过控制回流液压装置或压力产生装置76(参见图1)在打开的隔离阀66和关闭的PCR-阀90情况下实施(参见图2B)。
在接着点(5)之后可以有利地再次关闭隔离阀66(图2B)，以便利用已知的控制策略借助于所谓的“线控”模式(参见引用的现有技术)。
当然上述方法也可以应用于经由在后轴上的发电机的机动车，或者其中发电机作用于全部四个车轮上的机动车。尤其是在后轴上的发电机的情况下，也可以应用常规方法，即“后轴的制动力过大”，起有助于提高效率。在此处也可以通过方法以节省成本的方式取消在致动段中的部件中的附加的空行程。
为了更好的理解，最后还应该简短地讨论在图3A-3C'中的视图或所属的曲线图，尽管这可以从现有技术中获取。
在图3A'-3C'中示意地示出制动力放大器的放大器本体110的横截面视图，包含制动输入元件10。在放大器本体120内设置弹性反应盘（反作用盘）100，以及以已知的方式弹簧元件130，140。输出元件120与主缸14耦联，主缸以力FHz反作用于司机施加的力FFahrer。
在状态1和2下，司机操作制动输入元件10，并且如上所述，体积量或介质被移动。在此情况下不是液压地制动，而是以发电机方式制动(也参见图2A中的阶段1)。这也在曲线图3A中显示，其中(在所谓的“跳入区”中)没有(液压的力)产生，仅仅以发电机方式进行制动(参见图3B或图3C)。
在状态3下(图3C)制动输入元件10才接触弹性的反应盘100，并且如上所述其被液压地制动。
该方法建立在利用制动放大器13的特性上。在此处尤其是利用“跳入”特性，参见图3。
因此按照本发明的方法有利地利用跳入区，以便为司机“遮掩”压力操控，因为司机在这个区域中觉察不到基于液压压力的力反向耦合。
在跳入区由司机施加的踏板力几乎是恒定的，即司机调整输出压力和由此纯粹地经由踏板行程调整减速度，在司机力和输出压力之间的力传动比在此处在理论上是无限的。但是反过来，这也表示，输出压力的变化不作为在司机脚上的踏板力变化可以被感觉到。由此可以在这个区域中在很大程度上对司机无觉察地实施(车轮)压力的改变。在当今的机动车中跳入区通常在直到约0.15或0.2g。
备选地，该方法也可以与主动的制动力放大器一起使用，通过回收放大力可以补偿由于缺少的液压的反压力造成的减小的踏板力。

Claims (10)

1.用于运行具有至少一个前轴和一个后轴的机动车的制动系统的方法，其中，制动系统包括:
－制动力放大器(13)，其具有由机动车的司机操作的制动输入元件(10)，制动输入元件与用于提供相应于司机制动愿望的信号的操作行程传感器(12)耦联;
－与制动力放大器(13)耦联的主制动缸(14)，其又与制动介质容器(16)耦联;
－流体管道(28，30，31)，其一方面与主制动缸(14)和制动介质容器(16)流体联通，和另一方面通过阀(66，90)的配置与在轴的车轮(26a，26b，22a，22b)处的制动装置(68a，68b，38a，38b)流体联通，其中，车轮(26a，26b，22a，22b)，除了制动装置以外，附加地也分别与产生制动力矩的发电机耦联;
其中，所述方法包括以下步骤:
－借助于所述阀的配置和借助于与阀(66，90)耦联的控制单元对阀(66，90)的相应的控制产生液压的空行程，其中，通过在通过司机操作制动输入元件(10)期间产生空行程防止建立用于使相应的车轮(26a，26b，22a，22b)的车轮速度减速的液压压力;和
－产生在相应的车轮(26a，26b，22a，22b)处用于使相应的车轮(26a，26b，22a，22b)的车轮速度减速的发电机式的制动力矩，并且是基于司机制动愿望。
2.根据权利要求1所述的方法，其中，在通过司机操作制动输入元件(10)期间产生液压的空行程的步骤包括将制动介质移动到压力产生装置(76)中，并且是基于通过控制单元打开的阀(90)，这些阀布置在制动介质容器(16)和压力产生装置(76)之间。
3.根据权利要求1或2所述的方法，其中，所述阀的配置中的至少一个阀是隔离阀(66)和至少一个阀是可调节的泄压阀（90）(PCR-阀)，其中，在通过司机操作制动输入元件(10)期间隔离阀(66)和PCR-阀(90)被打开，由此制动介质经由隔离阀(66)和PCR-阀(90)被移动到压力产生装置(76)中。
4.根据权利要求3所述的方法，其中，在司机制动愿望超过最大可供使用的发电机式的制动力矩时PCR-阀(90)被再次关闭，由此直到这个时间点被移动的制动介质供通过制动装置(68a，68b，38a，38b)进行液压的制动使用并且经由构造成泵的压力产生装置(76)被输送到制动装置(68a，68b，38a，38b)。
5.根据权利要求4所述的方法，其中，机动车通过液压的制动直到被带到停车状态，其中，再生的制动力矩持续地下降到零和其中，在主制动缸(14)中存在一液压压力，该液压压力否则在没有产生液压的空行程下存在，和其中，在至少两个轴的制动装置(68a，68b，38a，38b)上存在相同的压力。
6.根据权利要求5所述的方法，还包括控制压力产生装置(76)的步骤，用以将制动介质在打开的隔离阀(66)和关闭的PCR-阀(90)下输回到主制动缸(14)中。
7.根据前述权利要求中任一项所述的方法，其中，至少一个发电机为了产生制动力矩作用于至少一个前轴和/或至少一个后轴上。
8.根据前述权利要求中任一项所述的方法，其中，制动装置(68a，68b)的入口阀(72a，72b)保持打开，由此至少车轮(26a，26b)在全部行驶状况下除了发电机式的减速附加地也能够被液压地减速。
9.根据前述权利要求中任一项所述的方法，其中，制动系统具有至少两个制动回路(24，20)，它们分别分配给至少一个前轴和至少一个后轴，其中，该方法还包括关闭隔离阀(66)的步骤，由此分配给前轴的制动回路(24)可以与主制动缸的分配给至少一个后轴的制动回路(20)脱耦，以便为前轴和后轴分别实现不同的制动特性，即通过关闭隔离阀(66)使后轴脱耦。
10.根据权利要求1至9所述的方法的制动系统，其中，该制动系统可以在混合动力机动车和/或电动机动车中使用。
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