CN113104014B - Full-decoupling electro-hydraulic servo braking device for vehicle and braking method thereof - Google Patents
Full-decoupling electro-hydraulic servo braking device for vehicle and braking method thereof Download PDFInfo
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- CN113104014B CN113104014B CN202110588468.7A CN202110588468A CN113104014B CN 113104014 B CN113104014 B CN 113104014B CN 202110588468 A CN202110588468 A CN 202110588468A CN 113104014 B CN113104014 B CN 113104014B
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- 238000004088 simulation Methods 0.000 claims abstract description 39
- 239000012530 fluid Substances 0.000 claims abstract description 38
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 239000007788 liquid Substances 0.000 claims description 58
- 230000005540 biological transmission Effects 0.000 claims description 9
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 claims description 3
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- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
- B60T13/141—Systems with distributor valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T8/32—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
- B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a full decoupling electrohydraulic servo brake device for a vehicle, which comprises: the electric servo cylinder assembly is used for conveying brake fluid to the hydraulic control unit of the vehicle according to the running instruction to establish required brake pressure and the pedal simulation unit, detecting the displacement of the brake pedal to simulate the brake pedal feel, conveying the brake fluid and the controller to the hydraulic control unit of the vehicle according to the running instruction sent by the controller, and sending the running instruction to the electric servo cylinder assembly and the pedal simulation unit. The controller receives signals of sensors such as a pressure sensor, a pedal stroke sensor and the like, controls the operation of the electric servo cylinder assembly, can adjust and control braking force provided by the electric servo cylinder assembly, is not in a fixed linear relation with manpower applied to the manpower cylinder, and can determine the working mode of the vehicle by adopting a control algorithm preset on the vehicle through signals fed back by the sensors.
Description
Technical Field
The invention belongs to the technical field of vehicle braking, and particularly relates to a full-decoupling electro-hydraulic servo braking device for a vehicle and a braking method thereof.
Background
With the rapid development of science and technology and the continuous improvement of living standard of people, the safety, energy conservation and environmental protection performance of automobiles are more and more concerned, and automobile braking is one of main research directions of active safety of automobiles. For the traditional hydraulic braking system adopted by passenger cars and other light vehicles accounting for about 80 percent of the total weight of the car, the structure of the hydraulic braking system severely limits the application of the technology of electronization and intellectualization of the car and the braking energy recovery of new energy cars.
The conventional hydraulic brake system has the following disadvantages:
1. Under the condition that a driver does not step on a brake pedal, the brake can not be conveniently applied to all or part of wheels, and the self-service brake requirements of a chassis active control system such as self-adaptive cruise control and electronic stability programs are difficult to meet;
2. When a driver presses a brake pedal, a friction brake of the vehicle starts to work and consumes energy, so that the recovery of the braking energy of new energy automobiles such as an electric automobile, a hybrid electric automobile and the like is seriously hindered;
3. the traditional hydraulic braking system adopts vacuum assistance, and the new energy automobile has no vacuum source, and the functional requirement of the braking system can be met only by additionally arranging the vacuum source, so that the hydraulic braking system has a complex structure and high manufacturing cost.
In addition, as the braking performance requirements of people on vehicles are continuously improved, a plurality of new requirements are put forward on the braking system, and additional functions on the braking system are more and more, so that the structure of the braking system is more and more complex, the production cost is increased, and the reliability of the braking system is reduced.
Therefore, in order to solve the above technical problems, it is necessary to develop a brake system that is compact in structure, reliable in operation, and low in production cost.
Disclosure of Invention
The invention aims to provide the full-decoupling electrohydraulic servo brake device for the vehicle, which has the advantages of simple structure, capability of working in various working modes, low production cost and high operation reliability.
The invention further aims to provide a braking method adopting the vehicle full-decoupling electro-hydraulic servo braking device.
The technical scheme of the invention is as follows:
A fully decoupled electro-hydraulic service brake device for a vehicle, comprising: the device comprises an electric servo cylinder assembly, a pedal simulation unit and a controller;
The electric servo cylinder assembly is used for conveying brake fluid to a hydraulic control unit of a vehicle according to an operation instruction to establish required brake pressure, and comprises a liquid storage tank, a servo motor, a transmission device and an electric cylinder, wherein an output shaft of the servo motor is connected with the electric cylinder through the transmission device, a current sensor is arranged on the servo motor and used for measuring current of the servo motor, a motor position sensor is arranged on the servo motor and used for measuring the rotor position of the servo motor, the liquid storage tank is divided into a first liquid storage cavity, a second liquid storage cavity and a third liquid storage cavity, the electric cylinder comprises an electric cylinder body, an electric cylinder first piston and an electric cylinder second piston which are arranged in the electric cylinder body, the electric cylinder body is divided into a first cavity and a second cavity through the electric cylinder first piston and the electric cylinder second piston, the first liquid storage cavity is connected with the first cavity through a first brake pipeline, the first liquid storage cavity is connected with the second cavity through a second brake pipeline, a one-way valve is arranged on a second liquid storage pipeline between the first liquid storage cavity and the second cavity, the first liquid storage cavity and the second liquid storage cavity can only flow into the first brake cavity and the second brake cavity through a brake pedal in series connection with the first brake pipeline, and the second liquid storage cavity can only flow into the first brake cavity and the second brake cavity through the brake pedal in the first brake pipeline;
The pedal simulation unit comprises a brake pedal, a manpower cylinder and a pedal simulation cylinder, and is used for detecting the displacement of the brake pedal, simulating the brake pedal feel and transmitting brake fluid to a hydraulic control unit of the vehicle according to an operation command sent by the controller, wherein the manpower cylinder comprises a manpower cylinder body, a manpower cylinder front piston and a manpower cylinder rear piston which are arranged in the manpower cylinder body, the manpower cylinder front piston and the manpower cylinder rear piston are used for dividing the manpower cylinder body into a manpower cylinder front cavity and a manpower cylinder rear cavity, the brake pedal is connected with the manpower cylinder rear piston through a pedal push rod, a pedal stroke sensor is arranged on the pedal push rod and is used for detecting the stroke of the brake pedal, the input end of the manpower cylinder front cavity is connected with a second liquid storage cavity through a third brake pipeline, the output end of the manpower cylinder front cavity is connected with the hydraulic control unit through a fourth brake pipeline, a first two-position three-way electromagnetic valve is arranged on the fourth brake pipeline, the output end of the first three-way electromagnetic valve is connected with the hydraulic control unit through a fourth brake pipeline, the brake fluid of the manpower cylinder front cavity is transmitted into the hydraulic control unit, the pedal stroke sensor is arranged on the pedal push rod, the output end of the electric three-way electromagnetic valve is connected with the hydraulic control unit through a seventh brake pipeline, the output end of the electric three-way electromagnetic valve is arranged on the third brake pipeline, the output end of the third three-way electromagnetic valve is connected with the output end of the hydraulic control unit through a fifth three-way valve, and the output end of the third three-way electromagnetic valve is connected with the output end of the brake cylinder through the third three-way electromagnetic valve, the hydraulic control unit is used for conveying brake fluid of a rear cavity of the human cylinder to the hydraulic control unit, the rear cavity of the human cylinder is connected with the pedal simulation cylinder through a ninth brake pipeline, a two-position two-way electromagnetic valve is arranged on the ninth brake pipeline, a one-way valve is arranged on the ninth brake pipeline, so that the brake fluid in the rear cavity of the human cylinder only flows into the pedal simulation cylinder in one direction, the pedal simulation cylinder is connected with a third liquid storage cavity through a tenth brake pipeline, and a second pressure sensor is arranged on a seventh brake pipeline between the rear cavity of the human cylinder and the second two-position three-way electromagnetic valve and is used for measuring the output pressure of the human cylinder;
the controller is electrically connected with the electric servo cylinder assembly and the pedal simulation unit and is used for sending running instructions to the electric servo cylinder assembly and the pedal simulation unit.
In the above technical scheme, the controller is electrically connected with the first pressure sensor, the motor position sensor and the current sensor, and is used for receiving the output pressure of the electric cylinder collected by the first pressure sensor, the rotor position of the servo motor measured by the motor position sensor and the current signal collected by the current sensor, and implementing feedback control on the servo motor according to the received signals.
In the above technical scheme, the controller is electrically connected with the second pressure sensor, the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve, the two-position two-way electromagnetic valve and the pedal stroke sensor, and is used for receiving the output pressure of the manual cylinder collected by the second pressure sensor and the pedal stroke collected by the pedal stroke sensor, controlling the opening and closing of the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve and the two-position two-way electromagnetic valve, controlling the brake fluid in the manual cylinder to flow into the pedal simulation cylinder or the hydraulic control unit, and switching different braking modes.
In the technical scheme, the transmission device comprises a screw and a screw nut sleeved on the screw, the screw is connected with an output shaft of the servo motor, the screw nut is connected with the first piston of the electric cylinder, and the servo motor drives the screw to rotate so as to drive the first piston of the electric cylinder to run in the cylinder body of the electric cylinder.
In the technical scheme, the front return spring of the manpower cylinder is arranged between the cylinder body of the manpower cylinder and the front piston of the manpower cylinder, and the rear return spring of the manpower cylinder is arranged between the front piston of the manpower cylinder and the rear piston of the manpower cylinder.
In the technical scheme, the front ends of the first piston and the second piston of the electric cylinder are provided with the first spring of the electric cylinder, and the second spring of the electric cylinder is arranged between the rear end of the second piston of the electric cylinder and the cylinder body of the electric cylinder.
In the technical scheme, the filter screens are arranged at the input end and the output end of the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve and the two-position two-way electromagnetic valve.
In the technical scheme, the liquid level alarm is arranged on the liquid storage tank and used for giving an alarm when the brake liquid in the liquid storage tank reaches a preset alarm liquid level.
The braking method adopting the vehicle full-decoupling electro-hydraulic servo braking device comprises the following braking control steps:
(1) Line control actuation mode:
The controller receives a brake pedal stroke acquired by a pedal stroke sensor and sends an operation command to the servo motor to enable the servo motor to output corresponding torque, the torque drives a first piston of an electric cylinder to move through the cooperation of a screw rod and a screw nut to enable the electric cylinder to operate, meanwhile, the controller controls a first two-position three-way electromagnetic valve and a second two-position three-way electromagnetic valve to be electrified and opened, brake fluid in the electric cylinder enters the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve through a fifth brake pipeline and an eighth brake pipeline, and then the brake fluid passes through the brake pipeline at the output end of the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve to be connected to a hydraulic control unit, so that braking is implemented on four brake cylinders in the hydraulic control unit, and the controller simultaneously controls the two-position two-way electromagnetic valve to be electrified and opened, so that the brake fluid in the manual cylinder enters the pedal simulation cylinder to generate pressure through a ninth brake pipeline under the action of a driver stepping on the brake pedal, and a brake pedal feel is obtained;
(2) Autonomous braking mode:
The controller controls the servo motor to output corresponding torque according to target braking force requested by an ADAS system of the vehicle, the torque drives a first piston of the electric cylinder to move through the cooperation of the screw rod and the screw rod nut, so that the electric cylinder operates, at the moment, the controller controls the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve to be electrified and opened, brake fluid in the electric cylinder enters the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve through a fifth brake pipeline and an eighth brake pipeline, and then the brake fluid passes through the brake pipelines at the output ends of the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve and reaches the hydraulic control unit, so that braking is implemented on four brake cylinders in the hydraulic control unit;
(3) Manpower backup braking mode
When the electric servo cylinder assembly cannot perform real-time servo braking due to faults, a driver acts on the human cylinder by stepping on the brake pedal, and the brake pedal drives the rear piston and the front piston of the human cylinder in the human cylinder to enable brake fluid in the human cylinder to enter a brake cylinder of the hydraulic control unit through the fourth brake pipeline and the seventh brake pipeline, so that human backup braking is realized.
The invention has the advantages and positive effects that:
1. The controller receives signals of sensors such as a pressure sensor, a pedal stroke sensor and the like, controls the operation of the electric servo cylinder assembly, can adjust and control braking force provided by the electric servo cylinder assembly, is not in a fixed linear relation with manpower applied to the manpower cylinder, and can determine the working mode of the vehicle by adopting a preset control algorithm through signals fed back by the sensors.
2. The structure of the invention enables the whole braking system of the vehicle to be capable of randomly configuring the assistance, and simultaneously keeps the excellent brake pedal feeling.
3. The invention directly acts on the manpower cylinder by the brake pedal, so that the operation reliability of the brake device is high.
Drawings
Fig. 1 is a schematic structural view of a fully decoupled electro-hydraulic servo brake device for a vehicle of the present invention.
In the figure:
1. Brake pedal 2, pedal travel sensor 3, and rear piston of human cylinder
4. Human cylinder rear return spring 5, human cylinder front piston 6, human cylinder front return spring
7. Manual cylinder body 8, second pressure sensor 9 and pedal simulation cylinder
901. Pedal simulation cylinder block 902, cup 903, pedal simulation cylinder first piston
904. First cushion rubber 905, pedal simulation cylinder first spring 906, pedal simulation cylinder second piston
907. Second buffer rubber 908, pedal simulation cylinder second spring 909, pedal simulation cylinder rear end cover
10. Two-position two-way electromagnetic valve 11, first two-position three-way electromagnetic valve 12, second two-position three-way electromagnetic valve
13. Controller 14, reservoir 1401, first reservoir
1402. Second liquid storage cavity 1403, third liquid storage cavity 1404 and liquid level alarm
15. Current sensor 16, servomotor 17, screw nut
18. Screw 19, electric cylinder first piston 20, electric cylinder first spring
21. Electric cylinder second piston 22, electric cylinder second spring 23, electric cylinder block
24. First pressure sensor 25, first brake pipe 26, second brake pipe
27. Third brake pipe 28, fourth brake pipe 29, fifth brake pipe
30. Sixth brake pipe 31, seventh brake pipe 32, eighth brake pipe
33. Ninth brake pipe 34, tenth brake pipe
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1, a vehicle full-decoupling electro-hydraulic servo brake device of the present invention includes: an electric servo cylinder assembly, a pedal simulation unit and a controller (ECU);
The electric servo cylinder assembly is used for conveying brake fluid to a Hydraulic Control Unit (HCU) of a vehicle according to an operation instruction to build required brake pressure, and comprises a liquid storage tank 14, a servo motor 16, a transmission device and an electric cylinder, wherein an output shaft of the servo motor 16 is connected with the electric cylinder through the transmission device, a current sensor 15 is arranged on the servo motor 16 and used for measuring the current of the servo motor 16, a motor position sensor is arranged on the servo motor 16 and used for measuring the rotor position of the servo motor 16, the liquid storage tank 14 is divided into a first liquid storage cavity 1401, a second liquid storage cavity 1402 and a third liquid storage cavity 1403, the electric cylinder comprises an electric cylinder body 23, an electric cylinder first piston 19 and an electric cylinder second piston 21 which are arranged in the electric cylinder body 23, the electric cylinder body 23 is divided into a first cavity and a second cavity 1401 through the electric cylinder first piston 19 and the electric cylinder second piston 24, the first liquid storage cavity 1401 is connected with the first cavity through a first brake pipeline 25, the first liquid storage cavity is connected with the second cavity through a second brake pipeline 26, the first liquid storage cavity 1402 and the second liquid storage cavity 1402 can flow into the first brake cavity and the second brake cavity 1401 through the first brake cavity and the second brake cavity which are connected with the second brake cavity in series, and the first brake cavity and the second brake cavity can flow into the first brake cavity and the second brake cavity is connected with the second brake cavity in the brake cavity through the first brake cavity and the second brake cavity;
the pedal simulation unit comprises a brake pedal 1, a human cylinder and a pedal simulation cylinder 9, and is used for detecting the displacement of the brake pedal 1 to simulate the brake pedal feel and delivering brake fluid to a Hydraulic Control Unit (HCU) of a vehicle according to an operation instruction sent by the controller 13, the human cylinder comprises a human cylinder body 7, a human cylinder front piston 5 and a human cylinder rear piston 3 which are arranged in the human cylinder body 7, the human cylinder front piston 5 and the human cylinder rear piston 3 divide the human cylinder body 7 into a human cylinder front cavity and a human cylinder rear cavity, the brake pedal 1 is connected with the human cylinder rear piston 3 through a pedal push rod, the pedal stroke sensor 2 is arranged on the pedal push rod, For detecting the stroke of the brake pedal 1, the input end of the front cavity of the human cylinder is connected with the second liquid storage cavity 1402 through the third brake pipe 27, the output end of the front cavity of the human cylinder is connected with the hydraulic control unit through the fourth brake pipe 28, a first two-position three-way electromagnetic valve 11 is arranged on the fourth brake pipe 28 (one input end of the first two-position three-way electromagnetic valve 11 is connected with the second cavity of the electric cylinder through the fifth brake pipe 29, the other input end of the first two-position three-way electromagnetic valve 11 is connected with the output end of the front cavity of the human cylinder, the first two-position three-way electromagnetic valve 11 is normally open, and when not electrified, the fifth brake pipe 29 from the human cylinder to the hydraulic control unit is conducted), The output end of the first two-position three-way electromagnetic valve 11 is connected with a hydraulic control unit through a fourth brake pipeline 28 for conveying brake fluid of a front cavity of the manpower cylinder into the hydraulic control unit, a first pressure sensor 24 is arranged on a fifth brake pipeline 29 between a second cavity of the electric cylinder and the first two-position three-way electromagnetic valve 11 and used for measuring the output pressure of the electric cylinder, the input end of a rear cavity of the manpower cylinder is connected with a third liquid storage cavity 1403 through a sixth brake pipeline 30, the output end of the rear cavity of the manpower cylinder is connected with the hydraulic control unit of the vehicle through a seventh brake pipeline 31, a second two-position three-way electromagnetic valve 12 is arranged on the seventh brake pipeline 31 (one input end of the second two-position three-way valve 12 is connected with the first cavity of the electric cylinder through an eighth brake pipeline 32, The other input end of the second two-position three-way electromagnetic valve 12 is connected with the output end of the rear cavity of the human cylinder, the second two-position three-way valve 12 is normally open, when not electrified, the eighth brake pipeline 32 from the human cylinder to the hydraulic control unit is conducted, the output end of the second two-position three-way electromagnetic valve 12 is connected with the hydraulic control unit through a seventh brake pipeline 31 and is used for conveying brake fluid of the rear cavity of the human cylinder into the hydraulic control unit, the rear cavity of the human cylinder is connected with the pedal simulation cylinder 9 through a ninth brake pipeline 33, the two-position two-way electromagnetic valve 10 (normally closed type) is arranged on the ninth brake pipeline 33, a one-way valve is arranged on the ninth brake pipeline 33, The brake fluid in the rear cavity of the human-powered cylinder only flows into the pedal simulation cylinder 9 in one way, the pedal simulation cylinder 9 is connected with the third liquid storage cavity 1403 through a tenth brake pipeline 34, and a second pressure sensor 8 is arranged on a seventh brake pipeline 31 between the rear cavity of the human-powered cylinder and the second two-position three-way electromagnetic valve 12 and is used for measuring the output pressure of the human-powered cylinder;
the controller 13 is electrically connected with the electric servo cylinder assembly and the pedal simulation unit and is used for sending running instructions to the electric servo cylinder assembly and the pedal simulation unit.
Further, the controller is electrically connected with the first pressure sensor 24, the motor position sensor and the current sensor 15, and is configured to receive the output pressure of the electric cylinder collected by the first pressure sensor, the rotor position of the servo motor measured by the motor position sensor, and the current signal collected by the current sensor, and perform feedback control on the servo motor according to the received signals.
Further, the controller is electrically connected with the second pressure sensor 8, the first two-position three-way electromagnetic valve 11, the second two-position three-way electromagnetic valve 12, the two-position two-way electromagnetic valve 10 and the pedal stroke sensor 2, and is used for receiving the output pressure of the manual cylinder collected by the second pressure sensor and the pedal stroke collected by the pedal stroke sensor 2, controlling the opening and closing of the first two-position three-way electromagnetic valve 11, the second two-position three-way electromagnetic valve 12 and the two-position two-way electromagnetic valve 10, controlling the brake fluid in the manual cylinder to flow into the pedal simulation cylinder or the hydraulic control unit, and switching different brake modes.
Further, the transmission device comprises a screw rod 18 and a screw rod nut 17 sleeved on the screw rod 18, the screw rod 18 is connected with an output shaft of the servo motor 16, the screw rod nut 17 is connected with the first piston 19 of the electric cylinder, and the servo motor 16 drives the screw rod to rotate so as to drive the first piston 19 of the electric cylinder to operate in the cylinder body 23 of the electric cylinder.
Further, a front return spring 6 is installed between the front cylinder block 7 and the front cylinder piston 5, and a rear return spring 4 is installed between the front cylinder piston 5 and the rear cylinder piston 3.
Further, the front ends of the electric cylinder first piston 1 and the electric cylinder second piston 21 are provided with an electric cylinder first spring 20, and an electric cylinder second spring 22 is arranged between the rear end of the electric cylinder second piston 21 and an electric cylinder body 23.
Example 2
On the basis of the embodiment 1, filter screens are installed at the input end and the output end of the first two-position three-way electromagnetic valve 11, the second two-position three-way electromagnetic valve 12 and the two-position two-way electromagnetic valve 10.
Further, a liquid level alarm 1404 is mounted on the liquid storage tank for alarming when the brake liquid in the liquid storage tank 14 reaches a preset alarm liquid level.
Example 3
On the basis of embodiment 1, the braking method of the vehicle full-decoupling electro-hydraulic servo braking device comprises the following braking control:
(1) Line control actuation mode: vehicle without brake-by-wire system and self-service brake
The controller (ECU) collects a stroke of the brake pedal through a pedal stroke sensor, and when it is detected that the brake pedal is depressed, the controller selects a line control braking mode. In the on-line control braking mode, the controller receives the brake pedal stroke acquired by the pedal stroke sensor and sends an operation command to the servo motor 16 to enable the servo motor to output corresponding torque, the torque drives the first piston 19 of the electric cylinder to move through the cooperation of the screw rod and the screw rod nut to enable the electric cylinder to operate, meanwhile, the controller controls the first two-position three-way electromagnetic valve 11 and the second two-position three-way electromagnetic valve 12 to be electrified and opened, brake fluid in the electric cylinder enters the first two-position three-way electromagnetic valve 11 and the second two-position three-way electromagnetic valve 12 through the fifth brake pipeline 29 and the eighth brake pipeline 32, and then the brake fluid enters the hydraulic control unit through the brake pipelines at the output ends of the first two-position three-way electromagnetic valve 11 and the second two-position three-way electromagnetic valve 12, so that braking is implemented on four brake cylinders in the hydraulic control unit, and the controller simultaneously controls the two-position two-way electromagnetic valve 10 to be electrified and opened, so that the brake fluid in the human cylinder enters the pedal simulation cylinder to generate pressure through the ninth brake pipeline 33 under the action of stepping the brake pedal by the driver, and thus the brake pedal feel is obtained.
(2) Autonomous braking mode: for an automobile equipped with an autonomous braking system, the controller selects the autonomous braking mode after detecting that the vehicle has an autonomous braking requirement (for example, when the controller detects that the vehicle is too close to an obstacle through an on-board control sensor and a collision occurs when the vehicle runs at the current speed, the controller selects the autonomous braking mode, and the driver does not depress the brake pedal 1).
The controller controls the servo motor 16 to output corresponding torque according to the target braking force requested by the ADAS system of the vehicle, the torque drives the first piston 19 of the electric cylinder to move through the cooperation of the screw rod and the screw rod nut, so that the electric cylinder operates, at the moment, the controller controls the first two-position three-way electromagnetic valve 11 and the second two-position three-way electromagnetic valve 12 to be electrified and opened, so that brake fluid in the electric cylinder enters the first two-position three-way electromagnetic valve 11 and the second two-position three-way electromagnetic valve 12 through the fifth brake pipeline 29 and the eighth brake pipeline 32, and then the brake fluid passes through the brake pipelines at the output ends of the first two-position three-way electromagnetic valve 11 and the second two-position three-way electromagnetic valve 12 to the hydraulic control unit, so that the brake is implemented on four brake wheel cylinders in the hydraulic control unit.
(3) Manpower backup braking mode
When the electric servo cylinder assembly cannot perform real-time servo braking due to faults, a driver acts on the human cylinder by stepping on the brake pedal 1, and the brake pedal 1 drives the human cylinder rear piston 3 and the human cylinder front piston 5 in the human cylinder to enable brake fluid in the human cylinder to enter a brake cylinder of the hydraulic control unit through the fourth brake pipeline 28 and the seventh brake pipeline 31, so that human backup braking is realized.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (9)
1. A fully decoupled electro-hydraulic service brake device for a vehicle, comprising: the device comprises an electric servo cylinder assembly, a pedal simulation unit and a controller;
The electric servo cylinder assembly is used for conveying brake fluid to a hydraulic control unit of a vehicle according to an operation instruction to establish required brake pressure, and comprises a liquid storage tank, a servo motor, a transmission device and an electric cylinder, wherein an output shaft of the servo motor is connected with the electric cylinder through the transmission device, a current sensor is arranged on the servo motor and used for measuring current of the servo motor, a motor position sensor is arranged on the servo motor and used for measuring the rotor position of the servo motor, the liquid storage tank is divided into a first liquid storage cavity, a second liquid storage cavity and a third liquid storage cavity, the electric cylinder comprises an electric cylinder body, an electric cylinder first piston and an electric cylinder second piston which are arranged in the electric cylinder body, the electric cylinder body is divided into a first cavity and a second cavity through the electric cylinder first piston and the electric cylinder second piston, the first liquid storage cavity is connected with the first cavity through a first brake pipeline, the first liquid storage cavity is connected with the second cavity through a second brake pipeline, a one-way valve is arranged on a second liquid storage pipeline between the first liquid storage cavity and the second cavity, the first liquid storage cavity and the second liquid storage cavity can only flow into the first brake cavity and the second brake cavity through a brake pedal in series connection with the first brake pipeline, and the second liquid storage cavity can only flow into the first brake cavity and the second brake cavity through the brake pedal in the first brake pipeline;
The pedal simulation unit comprises a brake pedal, a manpower cylinder and a pedal simulation cylinder, and is used for detecting the displacement of the brake pedal, simulating the brake pedal feel and transmitting brake fluid to a hydraulic control unit of the vehicle according to an operation command sent by the controller, wherein the manpower cylinder comprises a manpower cylinder body, a manpower cylinder front piston and a manpower cylinder rear piston which are arranged in the manpower cylinder body, the manpower cylinder front piston and the manpower cylinder rear piston are used for dividing the manpower cylinder body into a manpower cylinder front cavity and a manpower cylinder rear cavity, the brake pedal is connected with the manpower cylinder rear piston through a pedal push rod, a pedal stroke sensor is arranged on the pedal push rod and is used for detecting the stroke of the brake pedal, the input end of the manpower cylinder front cavity is connected with a second liquid storage cavity through a third brake pipeline, the output end of the manpower cylinder front cavity is connected with the hydraulic control unit through a fourth brake pipeline, a first two-position three-way electromagnetic valve is arranged on the fourth brake pipeline, the output end of the first three-way electromagnetic valve is connected with the hydraulic control unit through a fourth brake pipeline, the brake fluid of the manpower cylinder front cavity is transmitted into the hydraulic control unit, the pedal stroke sensor is arranged on the pedal push rod, the output end of the electric three-way electromagnetic valve is connected with the hydraulic control unit through a seventh brake pipeline, the output end of the electric three-way electromagnetic valve is arranged on the third brake pipeline, the output end of the third three-way electromagnetic valve is connected with the output end of the hydraulic control unit through a fifth three-way valve, and the output end of the third three-way electromagnetic valve is connected with the output end of the brake cylinder through the third three-way electromagnetic valve, the hydraulic control unit is used for conveying brake fluid of a rear cavity of the human cylinder to the hydraulic control unit, the rear cavity of the human cylinder is connected with the pedal simulation cylinder through a ninth brake pipeline, a two-position two-way electromagnetic valve is arranged on the ninth brake pipeline, a one-way valve is arranged on the ninth brake pipeline, so that the brake fluid in the rear cavity of the human cylinder only flows into the pedal simulation cylinder in one direction, the pedal simulation cylinder is connected with a third liquid storage cavity through a tenth brake pipeline, and a second pressure sensor is arranged on a seventh brake pipeline between the rear cavity of the human cylinder and the second two-position three-way electromagnetic valve and is used for measuring the output pressure of the human cylinder;
one input end of the first two-position three-way electromagnetic valve is connected with the second cavity of the electric cylinder through a fifth brake pipeline, the other input end of the first two-position three-way electromagnetic valve is connected with the output end of the front cavity of the manual cylinder, and the first two-position three-way electromagnetic valve is normally open;
one input end of the second two-position three-way electromagnetic valve is connected with the first cavity of the electric cylinder through an eighth brake pipeline, the other input end of the second two-position three-way electromagnetic valve is connected with the output end of the rear cavity of the manual cylinder, and the second two-position three-way electromagnetic valve is normally open;
the controller is electrically connected with the electric servo cylinder assembly and the pedal simulation unit and is used for sending running instructions to the electric servo cylinder assembly and the pedal simulation unit.
2. The vehicle full-decoupling electro-hydraulic service brake device of claim 1, wherein: the controller is electrically connected with the first pressure sensor, the motor position sensor and the current sensor and is used for receiving output pressure of the electric cylinder, the rotor position of the servo motor, which are measured by the motor position sensor, and current signals, which are acquired by the current sensor, acquired by the first pressure sensor, and implementing feedback control on the servo motor according to the received signals.
3. The vehicle full-decoupling electro-hydraulic service brake device of claim 2, wherein: the controller is electrically connected with the second pressure sensor, the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve, the two-position two-way electromagnetic valve and the pedal stroke sensor, and is used for receiving the output pressure of the manual cylinder collected by the second pressure sensor and the pedal stroke collected by the pedal stroke sensor, controlling the opening and closing of the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve and the two-position two-way electromagnetic valve, controlling brake fluid in the manual cylinder to flow into the pedal simulation cylinder or the hydraulic control unit, and switching different braking modes.
4. A fully decoupled electro-hydraulic service brake device for a vehicle as claimed in claim 3, wherein: the transmission device comprises a screw and a screw nut sleeved on the screw, the screw is connected with an output shaft of the servo motor, the screw nut is connected with the first piston of the electric cylinder, and the servo motor drives the screw to rotate so as to drive the first piston of the electric cylinder to run in the cylinder body of the electric cylinder.
5. The vehicle full-decoupling electro-hydraulic service brake device of claim 4, wherein: a front return spring of the manpower cylinder is arranged between the front piston of the manpower cylinder and the front piston of the manpower cylinder, and a rear return spring of the manpower cylinder is arranged between the front piston of the manpower cylinder and the rear piston of the manpower cylinder.
6. The vehicle full-decoupling electro-hydraulic service brake device of claim 5, wherein: the front ends of the first piston and the second piston of the electric cylinder are provided with first springs of the electric cylinder, and the second springs of the electric cylinder are arranged between the rear end of the second piston of the electric cylinder and the cylinder body of the electric cylinder.
7. The vehicle full-decoupling electro-hydraulic service brake device of claim 6, wherein: and filter screens are arranged at the input end and the output end of the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve and the two-position two-way electromagnetic valve.
8. The vehicle full-decoupling electro-hydraulic service brake device of claim 7, wherein: and a liquid level alarm is arranged on the liquid storage tank and used for giving an alarm when the brake liquid in the liquid storage tank reaches a preset alarm liquid level.
9. A braking method using the vehicle full-decoupling electro-hydraulic servo brake apparatus as claimed in claim 8, comprising the following braking control:
(1) Line control actuation mode:
The controller receives a brake pedal stroke acquired by a pedal stroke sensor and sends an operation command to the servo motor to enable the servo motor to output corresponding torque, the torque drives a first piston of an electric cylinder to move through the cooperation of a screw rod and a screw nut to enable the electric cylinder to operate, meanwhile, the controller controls a first two-position three-way electromagnetic valve and a second two-position three-way electromagnetic valve to be electrified and opened, brake fluid in the electric cylinder enters the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve through a fifth brake pipeline and an eighth brake pipeline, and then the brake fluid passes through the brake pipeline at the output end of the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve to be connected to a hydraulic control unit, so that braking is implemented on four brake cylinders in the hydraulic control unit, and the controller simultaneously controls the two-position two-way electromagnetic valve to be electrified and opened, so that the brake fluid in the manual cylinder enters the pedal simulation cylinder to generate pressure through a ninth brake pipeline under the action of a driver stepping on the brake pedal, and a brake pedal feel is obtained;
(2) Autonomous braking mode:
The controller controls the servo motor to output corresponding torque according to target braking force requested by an ADAS system of the vehicle, the torque drives a first piston of the electric cylinder to move through the cooperation of the screw rod and the screw rod nut, so that the electric cylinder operates, at the moment, the controller controls the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve to be electrified and opened, brake fluid in the electric cylinder enters the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve through a fifth brake pipeline and an eighth brake pipeline, and then the brake fluid passes through the brake pipelines at the output ends of the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve and reaches the hydraulic control unit, so that braking is implemented on four brake cylinders in the hydraulic control unit;
(3) Manpower backup braking mode
When the electric servo cylinder assembly cannot perform real-time servo braking due to faults, a driver acts on the human cylinder by stepping on the brake pedal, and the brake pedal drives the rear piston and the front piston of the human cylinder in the human cylinder to enable brake fluid in the human cylinder to enter a brake cylinder of the hydraulic control unit through the fourth brake pipeline and the seventh brake pipeline, so that human backup braking is realized.
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| CN202110588468.7A CN113104014B (en) | 2021-05-28 | 2021-05-28 | Full-decoupling electro-hydraulic servo braking device for vehicle and braking method thereof |
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| CN113682284A (en) * | 2021-09-29 | 2021-11-23 | 岚图汽车科技有限公司 | Integrated braking system |
| CN115027436A (en) * | 2022-04-21 | 2022-09-09 | 湘潭大学 | An automobile brake-by-wire system and its braking method |
| CN115465244B (en) * | 2022-10-14 | 2024-11-19 | 南京经纬达汽车科技有限公司 | Electrohydraulic braking system and detection method thereof |
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| CN214728753U (en) * | 2021-05-28 | 2021-11-16 | 南京经纬达汽车科技有限公司 | Vehicle full-decoupling electro-hydraulic servo brake device |
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| CN106218619B (en) * | 2016-08-30 | 2018-11-02 | 邓伟文 | A kind of electro-hydraulic servo braking system with multiple-working mode |
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