CN113173076A - Electromechanical hybrid braking system and control method for overload vehicle - Google Patents
Electromechanical hybrid braking system and control method for overload vehicle Download PDFInfo
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- CN113173076A CN113173076A CN202110627109.8A CN202110627109A CN113173076A CN 113173076 A CN113173076 A CN 113173076A CN 202110627109 A CN202110627109 A CN 202110627109A CN 113173076 A CN113173076 A CN 113173076A
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- 239000002131 composite material Substances 0.000 claims abstract description 43
- 230000002441 reversible effect Effects 0.000 claims abstract description 14
- 238000004146 energy storage Methods 0.000 claims description 44
- 238000004590 computer program Methods 0.000 claims description 14
- 238000010248 power generation Methods 0.000 claims description 12
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- 230000008569 process Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- 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
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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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
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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
- B60T13/24—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 gaseous
- B60T13/26—Compressed-air systems
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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
- B60T13/58—Combined or convertible systems
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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
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present application relates to an electromechanical hybrid braking system for an extra heavy vehicle, a control method, a computer device and a storage medium. The method comprises the following steps: applying a driving resistance moment to the wheel by the motor anti-dragging braking subsystem, and performing motor anti-dragging braking on the vehicle when the vehicle speed is greater than a preset threshold value; and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the stroke of the brake pedal is in the composite braking stroke. The frequency and the time length of the mechanical brake participating in the work are reduced, the heat productivity of the mechanical brake is reduced, and the safety of the service brake is improved; meanwhile, the motor realizes flexible distribution of braking torque by reverse drag braking, thereby avoiding potential safety hazards caused by unbalanced distribution of braking torque of the multi-axle vehicle and improving the running stability of the vehicle in the braking process.
Description
Technical Field
The present application relates to the field of vehicle brake technology, and in particular, to an electromechanical hybrid braking system for an extra heavy load vehicle, a control method, a computer device, and a storage medium.
Background
The existing heavy-load special vehicle braking system generally adopts drum braking and disc braking, and the basic principle of the existing heavy-load special vehicle braking system is friction braking. For an overload vehicle, the friction brake has certain potential safety hazard, and the following problems mainly exist: firstly, friction braking generates heat to generate potential safety hazards. The heavy-duty vehicle is heavy, the required braking friction force is relatively large, the generated heat is more, and the brake pad and the wheel hub are heated seriously when the vehicle is braked and driven for a long time or a long distance, so that the braking effect is reduced, and even the tire is blown out; especially, when the vehicle runs on a large slope or on a plateau, the potential safety hazard is more prominent; secondly, uneven distribution of braking force is easy to generate brake instability. The overload vehicle is generally a multi-axle vehicle, and friction braking force among a plurality of wheels is difficult to distribute and balance due to differences of braking transmission links, friction plate gaps and the like, so that vehicle instability in the braking process can be caused.
Therefore, the prior art has the problem of poor safety.
Disclosure of Invention
In view of the above, it is necessary to provide an electromechanical hybrid braking system for an overload vehicle, a control method, a computer device and a storage medium, which can improve the braking safety of the overload vehicle.
An extra-heavy vehicle electromechanical hybrid brake system, the system comprising: the braking system comprises a brake pedal, a motor anti-dragging braking subsystem and a mechanical friction service braking subsystem;
the stroke of the brake pedal is divided into a free stroke, a motor reverse-dragging brake stroke and a composite brake stroke; the free stroke is smaller than the reverse dragging braking stroke of the motor; the reverse dragging braking stroke of the motor is smaller than the composite braking stroke;
the motor anti-drag braking subsystem is used for applying driving resistance moment to the wheel by controlling the driving motor to be in a power generation mode and performing motor anti-drag braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a motor anti-drag braking stroke or a composite braking stroke;
the mechanical friction service braking subsystem is used for performing mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performing composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the travel of the brake pedal is in the composite braking travel.
In one embodiment, the system further comprises: the system comprises a brake pedal, a chassis controller, a motor controller, a power distribution controller, an energy storage unit, an anti-dragging power consumption unit and a driving motor;
when the energy storage unit has residual energy storage space, the motor anti-drag braking subsystem starts an energy feedback mode when working, so that the motor anti-drag braking subsystem charges the energy storage unit;
when the energy storage unit has no residual energy storage space, the motor reverse-dragging braking subsystem starts an engine reverse-dragging power consumption mode when working, and the reverse-dragging braking energy is consumed through the reverse-dragging power consumption unit.
In one embodiment, the system further comprises: the brake system comprises an air supply device, a brake pedal, a brake valve group, an anti-lock brake device, a disc brake and corresponding pipelines;
the mechanical friction braking subsystem adopts double-loop air pressure braking, is provided with a disc brake and an anti-lock braking device and acts on all wheels; the two circuits are completely separated by the brake valve group.
In one embodiment, the system further comprises: the motor anti-drag braking subsystem and the mechanical friction service braking subsystem form a parallel system.
In one embodiment, the system further comprises: a gas-off spring parking braking subsystem; the air-break type spring parking braking subsystem comprises a hand braking valve, a differential relay valve, a quick release valve, a spring braking air chamber and a braking pipeline.
An electro-mechanical hybrid brake control method for an extra-heavy load vehicle, the method comprising:
the motor anti-drag braking subsystem is used for controlling a driving motor to be in a power generation mode, applying running resistance moment to a wheel, and performing motor anti-drag braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a preset motor anti-drag braking stroke or a preset composite braking stroke;
and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the stroke of the brake pedal is in the composite braking stroke.
In one embodiment, the method further comprises the following steps: when the energy storage unit has residual energy storage space, the motor anti-drag braking subsystem starts an energy feedback mode when working, so that the motor anti-drag braking subsystem charges the energy storage unit;
when the energy storage unit has no residual energy storage space, the motor reverse-dragging braking subsystem starts an engine reverse-dragging power consumption mode when in work, and the reverse-dragging braking energy is consumed through the reverse-dragging power consumption unit.
In one embodiment, the method further comprises the following steps: and if the wheels are locked, the motor anti-drag brake control is released.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
the motor anti-drag braking subsystem is used for controlling a driving motor to be in a power generation mode, applying running resistance moment to a wheel, and performing motor anti-drag braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a preset motor anti-drag braking stroke or a preset composite braking stroke;
and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the stroke of the brake pedal is in the composite braking stroke.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
the motor anti-drag braking subsystem is used for controlling a driving motor to be in a power generation mode, applying running resistance moment to a wheel, and performing motor anti-drag braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a preset motor anti-drag braking stroke or a preset composite braking stroke;
and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the stroke of the brake pedal is in the composite braking stroke.
According to the electromechanical hybrid braking system, the control method, the computer equipment and the storage medium for the overload vehicle, the motor reverse-dragging braking subsystem is used for controlling the driving motor to be in a power generation mode, applying a driving resistance moment to a wheel, and performing motor reverse-dragging braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a motor reverse-dragging braking stroke or a composite braking stroke; and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the stroke of the brake pedal is in the composite braking stroke. The frequency and the time length of the mechanical brake participating in the work are reduced, so that the heat productivity of the mechanical brake is reduced, and the safety of the service brake is improved; meanwhile, the flexible distribution of the braking torque is realized by the reverse drag braking of the motor, the potential safety hazard caused by unbalanced distribution of the braking torque of the multi-axle vehicle is avoided, and the running stability of the vehicle in the braking process is improved.
Drawings
FIG. 1 is a block diagram of an electromechanical hybrid braking system for an ultra-heavy vehicle according to one embodiment;
FIG. 2 is a schematic diagram of an embodiment of an energy feedback mode of an electric machine anti-drag braking subsystem;
FIG. 3 is a schematic diagram illustrating an anti-motoring power consumption mode of the anti-motoring braking subsystem of the motor in one embodiment;
FIG. 4 is a schematic flow chart of an electromechanical hybrid braking control method for an ultra-heavy duty vehicle according to one embodiment;
FIG. 5 is a schematic diagram of a control strategy model in one embodiment;
FIG. 6 is a schematic flow chart of an electromechanical hybrid braking control method for an extra heavy duty vehicle according to another embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
An electromechanical hybrid brake control system for an extra heavy load vehicle, the system comprising: the braking system comprises a brake pedal, a motor anti-dragging braking subsystem and a mechanical friction service braking subsystem;
the stroke of the brake pedal is divided into a free stroke, a motor reverse-dragging brake stroke and a composite brake stroke; the free stroke is smaller than the reverse dragging braking stroke of the motor; the reverse dragging braking stroke of the motor is smaller than the composite braking stroke;
the motor anti-drag braking subsystem is used for applying driving resistance moment to the wheel by controlling the driving motor to be in a power generation mode and performing motor anti-drag braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a motor anti-drag braking stroke or a composite braking stroke;
the mechanical friction service braking subsystem is used for performing mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performing composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the travel of the brake pedal is in the composite braking travel.
The overload vehicle is characterized by heavy load, large inertia in the running process, difficult braking and long braking distance; in addition, because the overload vehicle is generally a multi-axle vehicle, the braking transmission link, the friction plate clearance and the like are different, the friction braking force among a plurality of wheels is difficult to distribute and balance, and the vehicle instability in the braking process can be caused by adopting the conventional friction braking.
The electromechanical hybrid brake system for the overload vehicle adopts a hybrid working mode of mechanical friction brake and motor reverse-dragging brake, and divides the stroke of a brake pedal into a free stroke, a motor reverse-dragging brake stroke and a mechanical friction brake stroke. The brake is not carried out in the free stroke, the motor reverse-dragging brake is only carried out in the motor reverse-dragging stroke, and the composite brake combining the motor reverse-dragging brake and the mechanical friction brake is carried out in the composite brake stroke. The braking travel is divided into a plurality of stages, different braking schemes are matched in each stage, and the motor is cooperatively utilized for reverse-dragging braking and mechanical friction braking.
In one embodiment, as shown in FIG. 1, an electromechanical hybrid braking system for an extra heavy duty vehicle is provided, comprising a mechanical friction service brake, a motor reverse drag brake, and a gas-cut spring parking brake. The mechanical friction service braking subsystem comprises an air supply device 1, a brake pedal 2, a brake valve group 3, an anti-lock brake device 4, a brake 5 and corresponding pipelines; the mechanical friction service braking subsystem of the multi-axle overload vehicle is generally divided into two loops, and a brake valve group is adopted to completely separate the two loops; taking a six-axle vehicle as an example, one, two and four bridges can be used as a first loop, and three, five and six bridges can be used as a second loop, and when one of the loops fails, the other loop can still work reliably. The motor anti-dragging braking subsystem comprises a brake pedal 2, a chassis controller 6, a motor controller 7, a power distribution controller 8, an energy storage unit 9, an anti-dragging power consumption unit 10 and the like; the motor anti-drag brake is used for controlling the driving motor to be in a power generation mode and applying driving resistance moment to wheels. The air-break type spring parking braking subsystem comprises a hand brake 11, a hand brake valve 12, a main brake valve 3, a quick release valve 13, a spring brake air chamber 14, a brake pipeline and the like.
The hand brake valve is connected between the air reservoir and the differential relay valve and is used for controlling parking brake and emergency brake of the vehicle. The differential relay valve can prevent the superposition of the thrust of the diaphragm spring brake air chamber when the service brake and the parking brake are simultaneously operated, thereby avoiding the damage of mechanical transmission elements of the brake air chamber due to overload. The parking brake device has an emergency brake function, and when the service brake function fails, the parking brake device can be operated to stop the vehicle within a certain distance, so that the service safety is ensured.
In one embodiment, as shown in fig. 2, the system further includes: the system comprises a brake pedal 2, a chassis controller 6, a motor controller 7, a power distribution controller 8, an energy storage unit 9, an anti-dragging power consumption unit 10 and a driving motor 15; when the energy storage unit has a charging condition, an energy feedback mode is started, and when the brake pedal 2 is stepped on, the chassis controller 6 acquires corresponding information of the brake pedal 2, immediately sends an instruction to the motor controller 7 to control the driving motor 15 to work in a power generation state, and the wheels drag the driving motor 15 reversely to generate electric energy which is stored in the energy storage unit 9 through the power distribution controller 8, so that the recovery of brake energy is realized.
In one embodiment, as shown in fig. 3, the system further includes: the system comprises a brake pedal 2, a chassis controller 6, a motor controller 7, a power distribution controller 8, an energy storage unit 9, an anti-dragging power consumption unit 10 and a driving motor 15; the chassis controller 6 calculates the chargeable power and the braking energy recovery power of the energy storage unit 9 in real time, when the energy storage unit 9 is full of electricity, the chassis controller 6 controls the engine to be started in an inverse power consumption mode, the electricity generated by the driving motor 15 is output to the inverse power consumption unit 10 through the power distribution controller 8 to perform inverse power consumption, and the redundant electricity is converted into heat to be dissipated through the radiator.
In one embodiment, the system further comprises: the brake system comprises an air supply device, a brake pedal, a brake valve group, an anti-lock brake device, a disc brake and corresponding pipelines; the mechanical friction braking subsystem adopts double-loop air pressure braking, is provided with a disc brake and an anti-lock braking device and acts on all wheels; the two circuits are completely separated by the brake valve group.
In one embodiment, the system further comprises: the motor anti-drag braking subsystem and the mechanical friction service braking subsystem form a parallel system.
The motor anti-drag braking subsystem and the mechanical friction service braking subsystem adopt a parallel scheme, linkage of the stroke of a brake pedal and the motor anti-drag braking torque is realized, factors such as motor anti-drag braking, ABS, battery SOC, driver intention and the like are comprehensively considered, and motor anti-drag braking and air pressure type mechanical friction braking are dynamically coordinated.
In one embodiment, the system further comprises: a gas-off spring parking braking subsystem; the air-break type spring parking braking subsystem comprises a hand braking valve, a differential relay valve, a quick release valve, a spring braking air chamber and a braking pipeline.
The air-break type spring parking brake adopts two modes of manual operation and air-break type energy storage spring action, acts on part of axles and also acts as emergency brake. The hand brake valve is connected between the air reservoir and the differential relay valve and is used for controlling parking brake and emergency brake of the vehicle. The differential relay valve can prevent the superposition of the thrust of the diaphragm spring brake air chamber when the service brake and the parking brake are simultaneously operated, thereby avoiding the damage of mechanical transmission elements of the brake air chamber due to overload. The parking brake device has an emergency brake function, and when the service brake function fails, the parking brake device can be operated to stop the vehicle within a certain distance, so that the service safety is ensured.
In one embodiment, as shown in FIG. 4, there is provided an electromechanical hybrid brake control method for an extra heavy load vehicle, comprising the steps of:
and step 402, the motor anti-dragging braking subsystem applies driving resistance moment to the wheel by controlling the driving motor to be in a power generation mode, and performs motor anti-dragging braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of the brake pedal is in a preset motor anti-dragging braking stroke or a preset composite braking stroke.
When the vehicle speed is high, but only slightly slows down, the motors are reversely dragged to provide braking torque, and the motors can provide balanced flexible braking force, so that the braking torque distribution of each wheel is balanced, potential safety hazards caused by unbalanced braking torque distribution of a multi-axle vehicle are avoided, and the running stability of the vehicle in the braking process is improved.
And step 404, the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the travel of the brake pedal is in the composite braking travel.
When the vehicle speed is slow, the braking can be finished in a short time due to the slow vehicle speed, and dangerous situations such as tire burst and the like caused by serious heating of a brake pad and a hub are not easy to occur, so that the braking torque is provided only through friction braking; when the speed is high but only slightly reduced, the braking requirement can be met only by reversely dragging the motor; when the vehicle is fast and emergently braked and the vehicle speed needs to be greatly reduced and even the vehicle is stopped, the composite braking of motor reverse-dragging braking and mechanical friction braking is carried out on the vehicle, and the frequency and the duration of the mechanical braking participating in the work can be reduced when the heavy-duty vehicle is braked for a long distance. A staged braking strategy is formulated according to the vehicle speed and the pedal travel, a differentiated braking scheme can be implemented by combining braking requirements, and the safety is better and the efficiency is higher.
In the electromechanical hybrid brake control method for the overload vehicle, a motor reverse-dragging brake subsystem applies driving resistance moment to wheels by controlling a driving motor to be in a power generation mode, and motor reverse-dragging braking is performed on the vehicle when the vehicle speed is greater than a preset threshold value and the brake pedal stroke is in a motor reverse-dragging brake stroke or a composite brake stroke; and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than a preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the stroke of the brake pedal is in the composite braking stroke. The frequency and the time length of the mechanical brake participating in the work are reduced, so that the heat productivity of the mechanical brake is reduced, and the safety of the service brake is improved; meanwhile, the flexible distribution of the braking torque is realized by the reverse drag braking of the motor, the potential safety hazard caused by unbalanced distribution of the braking torque of the multi-axle vehicle is avoided, and the running stability of the vehicle in the braking process is improved.
In one embodiment, the method further comprises the following steps: when the energy storage unit has residual energy storage space, the motor anti-drag braking subsystem starts an energy feedback mode when working, so that the motor anti-drag braking subsystem charges the energy storage unit; when the energy storage unit has no residual energy storage space, the motor reverse-dragging braking subsystem starts an engine reverse-dragging power consumption mode when in work, and the reverse-dragging braking energy is consumed through the reverse-dragging power consumption unit.
The motor reverse-dragging braking of the invention has two working modes: the first is that the braking energy is used in the energy feedback mode of the energy storage unit, and the second is that the braking energy is used in the engine power consumption mode. When the motor is braked in a reverse dragging mode, the chassis controller calculates the chargeable power and the braking energy recovery power of the energy storage unit in real time and switches between a battery charging mode and an engine reverse dragging power consumption mode. When the energy storage unit has a charging condition, an energy feedback mode is started, and the motor is braked reversely to charge the energy storage unit; when the energy storage unit does not have the charging condition, the engine reverse-dragging power consumption mode is started for consuming reverse-dragging braking energy, and redundant electric quantity is converted into heat and dissipated through the radiator. The braking energy generated when the overload vehicle is braked for a long distance is stored in the energy storage unit through the working modes of energy feedback and power consumption of towing, so that the energy waste is reduced, when the storage space of the energy storage unit is full, the redundant energy is consumed through the power consumption of towing, the redundant electric quantity is converted into heat and is dissipated through the radiator, the potential safety hazard caused by overheating of parts can be avoided, a braking resistor and an auxiliary heat dissipation system are not required to be added, and the system is simple, reliable and safe; the damage to the brake pad is small.
In one embodiment, the method further comprises the following steps: and if the wheels are locked, the motor anti-drag brake control is released.
When the wheels are locked (especially on a low-adhesion road surface) due to overlarge braking force, the motor back-dragging braking control is released, the braking force is reduced, and the vehicle can be prevented from losing the steering capacity.
In one embodiment, an electromechanical hybrid brake control method for an overload vehicle is provided, which comprises the following steps: the free stroke of the traditional brake pedal is increased, the increased free stroke is distributed to the motor reverse-dragging brake, and the composite brake of the mechanical air brake and the motor reverse-dragging brake is realized in the braking process. The specific control strategy model is shown in fig. 5: (1) when the pedal stroke S is less than or equal to S1, the pedal stroke is a braking idle stroke, and the braking torque is 0; (2) when the vehicle speed V is less than or equal to the vehicle speed threshold V1: the braking torque is provided by mechanical friction braking, and M is K (S-S1); (3) when the vehicle speed V is greater than the vehicle speed threshold V1: when the pedal stroke S1 is more than S and less than or equal to S2, the braking torque M is equal to K (S-S1) and is provided by the reverse dragging of the motor; when the pedal stroke S2 is more than S and less than or equal to S3, the braking torque M is M1+ K (S-S2), wherein M1 is provided by the reverse traction of the motor, and the rest torque is provided by mechanical friction braking.
Specifically, as shown in fig. 6, first, the brake pedal stroke is determined, and if the brake pedal stroke S is less than or equal to the idle stroke S1, no braking is performed; if the brake pedal stroke S is larger than the idle stroke S1, judging whether the vehicle speed is larger than a speed threshold V1, and if the vehicle speed V is smaller than or equal to a vehicle speed threshold V1, implementing mechanical friction braking; and if the vehicle speed V is greater than the vehicle speed threshold V1, judging whether the stroke of the brake pedal is greater than the stroke S2, if the stroke S of the brake pedal is less than or equal to the stroke S2, implementing motor reverse-dragging braking, and if the stroke S of the brake pedal is greater than the stroke S2, implementing composite braking combining motor reverse-dragging braking and mechanical friction braking. And judging the working state of the motor reverse-dragging braking subsystem, starting an energy feedback mode when the energy storage unit has a charging condition, and controlling to start an engine reverse-dragging power consumption mode by the chassis controller when the energy storage unit is fully charged. And monitoring the working state of an anti-lock braking system (ABS) system in real time, and if wheels are locked, releasing the anti-drag braking control of a motor and only implementing mechanical friction braking.
It should be understood that, although the steps in the flowchart of fig. 4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling an electromechanical hybrid brake for an extra heavy load vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An electromechanical hybrid braking system for an extra heavy load vehicle, said system comprising: the braking system comprises a brake pedal, a motor anti-dragging braking subsystem and a mechanical friction service braking subsystem;
the stroke of the brake pedal is divided into a free stroke, a motor reverse-dragging brake stroke and a composite brake stroke; the free stroke is smaller than the reverse dragging braking stroke of the motor; the reverse dragging braking stroke of the motor is smaller than the composite braking stroke;
the motor anti-dragging braking subsystem is used for applying driving resistance moment to wheels by controlling a driving motor to be in a power generation mode and performing motor anti-dragging braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a motor anti-dragging braking stroke or a composite braking stroke;
the mechanical friction service braking subsystem is used for performing mechanical friction braking on the vehicle when the vehicle speed is smaller than the preset threshold value, or performing composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is larger than the preset threshold value and the travel of the brake pedal is in the composite braking travel.
2. The system of claim 1, wherein the electric machine anti-drag braking subsystem further comprises: the system comprises a brake pedal, a chassis controller, a motor controller, a power distribution controller, an energy storage unit, an anti-dragging power consumption unit and a driving motor;
when the energy storage unit has residual energy storage space, the motor anti-drag braking subsystem starts an energy feedback mode when working, so that the motor anti-drag braking subsystem charges the energy storage unit;
when the energy storage unit has no residual energy storage space, the motor reverse-dragging braking subsystem starts an engine reverse-dragging power consumption mode when working, and the reverse-dragging braking energy is consumed through the reverse-dragging power consumption unit.
3. The system of claim 2, wherein the mechanical friction service braking subsystem further comprises: the brake system comprises an air supply device, a brake pedal, a brake valve group, an anti-lock brake device, a disc brake and corresponding pipelines;
the mechanical friction braking subsystem adopts double-loop air pressure braking, is provided with the disc brake and the anti-lock braking device and acts on all wheels; the two circuits are completely separated by the brake valve group.
4. The system of claim 3, wherein the electric machine anti-drag braking subsystem and the mechanical friction service braking subsystem comprise a parallel system.
5. The system of claim 4, further comprising: a gas-off spring parking braking subsystem; the air-break type spring parking braking subsystem comprises a hand braking valve, a differential relay valve, a quick release valve, a spring braking air chamber and a braking pipeline.
6. An electromechanical hybrid brake control method for an extra heavy load vehicle, the method comprising:
the motor anti-drag braking subsystem is used for controlling a driving motor to be in a power generation mode, applying running resistance moment to a wheel, and performing motor anti-drag braking on the vehicle when the vehicle speed is greater than a preset threshold value and the stroke of a brake pedal is in a preset motor anti-drag braking stroke or a preset composite braking stroke;
and the mechanical friction service braking subsystem performs mechanical friction braking on the vehicle when the vehicle speed is less than the preset threshold value, or performs composite braking of motor anti-drag braking and mechanical friction braking on the vehicle by combining the motor anti-drag braking subsystem when the vehicle speed is greater than the preset threshold value and the travel of the brake pedal is in the composite braking travel.
7. The method of claim 6, wherein the motoring anti-drag braking subsystem applies a driving drag torque to the wheel by controlling the driving motor to be in a generating mode, and motoring anti-drag braking the vehicle when the vehicle speed is greater than a predetermined threshold and the brake pedal travel is at a predetermined motoring anti-drag braking travel or a predetermined compound braking travel, further comprising:
when the energy storage unit has residual energy storage space, the motor anti-drag braking subsystem starts an energy feedback mode when working, so that the motor anti-drag braking subsystem charges the energy storage unit;
when the energy storage unit has no residual energy storage space, the motor reverse-dragging braking subsystem starts an engine reverse-dragging power consumption mode when in work, and the reverse-dragging braking energy is consumed through the reverse-dragging power consumption unit.
8. The method of claim 7, wherein the motoring anti-drag braking subsystem applies a driving drag torque to the wheel by controlling the driving motor to be in a generating mode, and motoring anti-drag braking the vehicle when the vehicle speed is greater than a predetermined threshold and the brake pedal travel is at a predetermined motoring anti-drag braking travel or a predetermined combined braking travel, further comprising:
and if the wheels are locked, the motor anti-drag brake control is released.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN202110627109.8A CN113173076A (en) | 2021-06-04 | 2021-06-04 | Electromechanical hybrid braking system and control method for overload vehicle |
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| CN202110627109.8A CN113173076A (en) | 2021-06-04 | 2021-06-04 | Electromechanical hybrid braking system and control method for overload vehicle |
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| CN202110627109.8A Pending CN113173076A (en) | 2021-06-04 | 2021-06-04 | Electromechanical hybrid braking system and control method for overload vehicle |
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| CN114084112A (en) * | 2021-12-16 | 2022-02-25 | 北奔重型汽车集团有限公司 | Five-axis all-wheel drive chassis braking system |
| CN115432583A (en) * | 2022-08-16 | 2022-12-06 | 浙江三一装备有限公司 | Hook falling control method and device, hoisting equipment and crane |
| CN116101262A (en) * | 2022-12-12 | 2023-05-12 | 中国人民解放军63936部队 | Braking method and system for a hybrid all-terrain vehicle |
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