JP2000118388A - Pump device and brake device including the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the failure of a pump device according to the cumulative number of revolutions of an electric motor driving a pump. SOLUTION: The number of revolutions of an electric motor is detected by a cumulative revolution number detecting device (S29). The cumulative discharge discharged from a pump is computed according to the cumulative number of revolutions (S30) and wheel cylinder hydraulic pressure is estimated according to the cumulative discharge (S31). The wheel cylinder hydraulic pressure estimated and the wheel cylinder hydraulic pressure detected by the wheel cylinder hydraulic pressure detecting device are compared with each other (S32). If the absolute value of the difference therebetween is within a set range, a pump device is determined to be normal (S33), whereas if the absolute value is out of the set range, the pump device is determined to be not normal (S34).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pump device including a pump and an electric motor for driving the pump.

[0002]

2. Description of the Related Art An example of the above-mentioned pump device is disclosed in Japanese Unexamined Patent Publication No.
No. 202230. The pump device described in this publication, in addition to the pump and the electric motor,
An accumulator for storing the hydraulic fluid discharged from the pump under pressure; a rotational speed detecting device for detecting the rotational speed of the electric motor; and a hydraulic fluid stored in the accumulator based on the rotational speed detected by the rotational speed detecting device. And an accumulator pressure estimating means for estimating the hydraulic pressure. If the electric energy supplied per hour to the electric motor is constant, a fixed relationship is established between the rotation speed of the electric motor and the discharge pressure of the pump. The pressure, ie the accumulator pressure, can be estimated.

[0003]

Problems to be Solved by the Invention, Means of Solution, Functions and
An object of the present invention is to provide a pump other than the above pump device.
It is to provide a device. Specifically, electric motors
Pump whose pump discharge pressure is estimated based on rotation speed
The pump is not based on the device but on the basis of the cumulative number of rotations of the electric motor.
Pump that can estimate the cumulative discharge amount of hydraulic fluid discharged from the pump
To provide a locking device. This problem is solved by the following aspects
Solved by Each of the aspects is subdivided into claims, as in the claims.
And number each section, and number other sections as needed.
Write in quoted format. This is the technique described herein.
To illustrate the technical features and their combinations
The technical features described in this specification and their combinations
Should not be construed as limited to:
No. (1) a pump and an electric motor for driving the pump;
Cumulative rotation count to detect the cumulative rotation count of the electric motor
And a detection device.
1). Cumulative rotation speed for detecting the cumulative number of rotations of the electric motor
The number detection device is, for example, a rotor slider in an electric motor.
Optical or electromagnetic measurement of the number of rotations for the data
Device for detecting the cumulative number of rotations of the rotor, such as an encoder
And the flow through the coil of the electric motor.
Accumulation corresponding to current waveform detected based on the number of oscillations of the number current
Including a rotation frequency detection device.
You. In the pump device described in this section, the electric motor
The cumulative number of rotations is detected by the cumulative number of rotations detection device.
You. As described above, an object of the present invention is to provide an accumulative circuit for an electric motor.
Cumulative discharge of hydraulic fluid discharged from the pump based on the number of rotations
The purpose of the present invention is to provide a pump device capable of estimating the output.
As described in item (2) of the above, based on the cumulative number of rotations,
Cumulative estimate of the cumulative discharge amount of hydraulic fluid discharged from the pump
The pump device according to the present invention includes a product discharge amount estimating means.
This is a typical example. However, the cumulative number of rotations and the cumulative discharge amount
Since a certain relationship is established between
It is not essential to provide a means for estimating the cumulative discharge amount,
The cumulative number of rotations can be used instead of the cumulative discharge amount
Noh. For example, if an accumulator is connected to the pump
The electric motor based on the cumulative number of rotations of the electric motor.
The cumulative discharge amount of the pump, and based on the cumulative discharge amount
Instead of estimating the accumulator pressure,
Estimate the accumulator pressure directly from the number of product rotations
Both are possible. This means that the cumulative number of revolutions
Accumulation from the formula for calculating the product discharge amount and the cumulative discharge amount
From the equation that calculates the pressure
Calculate the accumulator pressure directly from the accumulated number of rotations
It is clear from the equation that is obtained. (3)
In the section, although not described one by one, for the same reason
It is possible to use the cumulative number of rotations instead of the cumulative discharge amount.
Wear. In a conventional pump device, a pump is driven.
Based on the relationship between the rotation speed of the electric motor and the discharge pressure of the pump
And the accumulator pressure is estimated,
And the rotational resistance of the electric motor is their mechanical frictional resistance
If the accumulator pressure increases due to an increase in
It will be estimated. Also, if the pump
It cannot detect that a leak has occurred. So
On the other hand, according to the present invention, a machine for a pump or an electric motor is used.
Accumulator pressure without being affected by typical frictional resistance
Can be estimated and the pump leaks more than
The occurrence can be detected. Others
Pump device has no accumulator and pump brakes
Used for brake equipment directly connected to the cylinder
In this case, prevent leakage of pumps, brake cylinders, hydraulic circuits, etc.
It is also possible to detect. The pump is a gear pump
Completely prevent hydraulic fluid leakage inside the pump
If this cannot be prevented, the electric motor
When estimating the cumulative discharge amount from the number of rotations, consider the leakage
Is desirable. This leak occurs before and after the pump
The greater the difference in hydraulic pressure and the higher the temperature of the hydraulic fluid, the greater
It is common for electric motors to
An accurate proportional relationship between the number of product revolutions and the cumulative output of the pump
The engagement does not hold. Also, pumps are often used
If the fluid pressure on the discharge port side (downstream side)
It can be operated at a pressure higher than the hydraulic pressure, but
May be operated with a lower hydraulic pressure. B
To reduce the rake cylinder fluid pressure, the pump
One example is the case of being rotated. In this case,
The hydraulic pressure of the hydraulic fluid acts in the direction to drive the pump,
The motor will control the rotation of the pump due to its hydraulic pressure.
You. Even in such a case, the cumulative discharge of hydraulic fluid from the pump
Output is controlled by the pump and thus the hydraulic fluid
Hydraulic pressure of hydraulic fluid outflow controlled device or hydraulic pressure controlled device
Is estimated based on the cumulative number of rotations of the electric motor.
And the present invention can be applied. The following explanation is
Mainly when the hydraulic pressure at the discharge port side is higher than the hydraulic pressure at the suction port side
To operate when the pump is operated in
The pressure detector shall be provided on the discharge port side of the pump
However, if the fluid pressure on the discharge port side is lower,
Is provided on the suction port side, and the detected hydraulic pressure and electric motor
Of the suction port estimated based on the
Consistency with the constant fluid pressure will be a problem. (2) Further, it is detected by the above-mentioned cumulative rotation number detecting device.
Discharged from the pump based on the cumulative number of rotations performed.
Means for estimating the cumulative discharge amount of the working fluid.
Including the pump device according to the above mode (1). (3) The pump device is operated by the cumulative discharge amount estimating means.
And the accumulated discharge amount estimated from the
Based on the actual actual accumulated discharge amount of the working fluid
Pump abnormality detection device based on cumulative discharge amount for detecting pump abnormality
The pump device according to the above mode (2). For example, pump spitting
If an accumulator is connected to the outlet,
It is possible to detect the actual cumulative discharge amount based on the pressure increase amount.
Wear. Also, connect the reservoir to the discharge port side of the pump,
If the increase in hydraulic fluid stored in the reservoir is detected, the actual accumulation
The discharge amount can be detected. And these actual accumulation
Discharge amount and cumulative discharge estimated by the cumulative discharge amount estimation means
By comparing with the output, it is possible to detect a pump abnormality.
Wear. However, it is not possible to detect the increase in accumulator pressure.
Accumulator pressure increase detection device and reservoir hydraulic fluid increase
It is assumed that there is no abnormality in the detection device. Pump of this section
The abnormality detection device is also called a pump capacity reduction detection device.
it can. (4) The apparatus for detecting the cumulative number of rotations is capable of discharging the pump.
Cumulative rotation of the electric motor from a state where the pressure is substantially zero
Any of paragraphs (1) to (3), including means for detecting the number of times
A pump device according to any one of the preceding claims (claim 2). In this section
According to the pump device, the discharge pressure of the pump is substantially zero.
The accumulated discharge amount from the state (at the start of operation) is estimated. Pong
That the discharge pressure of the pump is substantially zero,
Hydraulic fluid supply target device to which the hydraulic fluid discharged from the pump is supplied
This means that the hydraulic pressure at the
Hydraulic fluid supply from the state and hydraulic pressure of the hydraulic fluid supply target device
Relationship is often determined. Also, as mentioned above
The cumulative number of rotations of the electric motor and the cumulative discharge amount of the pump
There is a certain relationship between
The cumulative number of rotations of the electric motor from a substantially zero state;
From the relationship with the hydraulic pressure of the hydraulic fluid supply target device, the pump device,
Detects abnormalities of hydraulic fluid supply target device, hydraulic pressure detection device, etc.
be able to. For example, the operation discharged from the pump device
Air mixes with fluid or hydraulic fluid in the target device
If the operating fluid supply target device is
Since the hydraulic pressure does not increase, air mixing based on that fact
Can be detected. However, pump device, hydraulic fluid
It is assumed that the supply target device, fluid pressure detection device, etc. are normal
It is. In the pump device described in this section, the discharge pressure of the pump is
It can include a discharge pressure acquisition device to acquire
You. The discharge pressure acquisition device is, for example, an electric motor that drives a pump.
Rotation speed to obtain discharge pressure based on motor rotation speed
Including a corresponding discharge pressure estimation device, or
Discharge pressure detection device that actually detects the discharge pressure of the hydraulic fluid
Or include a location. Above rotation speed
The corresponding discharge pressure estimation device sends the rotation speed to the electric motor.
Even if the estimation is based on the current value
It detects the actual rotational speed of the stator.
You may. Brake cylinder without accumulator
In a type of brake device in which is connected directly to the pump
Is a brake cylinder that detects the hydraulic pressure of the brake cylinder.
The hydraulic pressure detector is a device that detects the discharge pressure of the pump.
It can also be used. In any case, the electric motor
When the rotation speed of the
Since the load torque of the motor is small, the discharge pressure
It can be estimated that it is small. Note that the above discharge pressure acquisition
The device does not need to be able to acquire the magnitude of the discharge pressure.
Not necessarily, for example, the discharge pressure is substantially 0
Any device that can detect the discharge pressure
The acquisition device may be referred to as a pump no-load condition detection device.
it can. Hydraulic fluid is collected under atmospheric pressure at the pump outlet.
If a reservoir is connected to the
Assume that the discharge pressure of the discharged working fluid is substantially 0
In this case, the discharge pressure acquisition device or
The pump no-load state detecting device can be omitted. Further
In the pump device described in this section, the discharge of the pump
Cumulative number of rotations of the electric motor from the state where the pressure is substantially 0
Is detected.
It can be considered to include the starting means. (5) The apparatus for detecting the cumulative number of rotations is configured to discharge the pump.
Cumulative number of rotations of the electric motor from the state where the pressure is known
Any one of paragraphs (1) to (4), including means for detecting
The pump device according to any one of the above. The pump device described in (4)
Measurement of the cumulative number of rotations of the electric motor
Pump pressure (discharge pressure at the start of measurement) is 0
It is not always necessary to know this, as long as it is known. For example,
Pump equipment with an accumulator connected to the pump outlet
The accumulator pressure at the start of measurement is
(Even if the pressure is measured, the operation in the accumulator
Even if it is the initial pressure in the design where the liquid volume is 0, etc.
Good), the discharge pressure at the start of measurement of the pump is also the pressure Pas
It can be assumed that And the electric motor is cumulative
Discharged from the pump during the number of rotations N
The accumulated discharge amount Q is defined as q discharged per rotation of the electric motor.
If it is an amount, it is represented by (N · q). Therefore, Aki
The amount of hydraulic fluid in the accumulator is the cumulative discharge amount Q (= N · q)
And the accumulator pressure increases accordingly.
Be added. Unit fluid flows into the accumulator
The amount of increase in accumulator pressure ΔP in the event of
The accumulator pressure increases from the accumulated discharge amount Q
The amount ΔP can be calculated,
Accumulation at present is obtained by adding the increase amount ΔP to the pressure Ta
It can be estimated that the pressure is the generator pressure. (6) The cumulative discharge amount estimating means performs a predetermined setting.
Based on the cumulative number of rotations of the electric motor during time
A system for estimating the cumulative discharge amount of hydraulic fluid discharged from the pump
Items (1) to (5) including means for estimating the cumulative discharge amount within a fixed time
The pump device according to any one of the above. Pon described in this section
According to the pump device, the cumulative discharge amount discharged during the set time
Is estimated. Therefore, for example, the discharge flow rate of the pump
(Discharge rate per unit time)
You. (7) The pump device is operated by the pump discharged from the pump.
Accumulator for storing hydraulic fluid under pressure and its accumulator
To detect the actual hydraulic pressure of the hydraulic fluid stored in the
The accumulator pressure detection device and the accumulator fluid pressure
The signal output state changes when a predetermined set pressure is reached.
Pressure switch, and the cumulative number of rotations detection device.
Accumulate based on the cumulative number of rotations detected
Accumulator pressure estimating means for estimating the fluid pressure of
The change in the signal output state of the pressure switch and the accumulation
Accumulator pressure detected by the
Accumulator pressure estimated by accumulator pressure estimation means
Based on at least three of said pressure switches,
At least one of the accumulator pressure detecting device and the pump
Detects that an error has occurred in one of the
Abnormality detection means for identifying whether an abnormality has occurred
Pump device according to any one of paragraphs (1) to (6)
(Claim 3). Discharged from the pump to the accumulator
Hydraulic fluid is stored under pressure and transferred to the accumulator
The relationship between hydraulic fluid inflow and accumulator pressure increment is designed
Is determined based on the cumulative discharge from the pump
Thus, the accumulator pressure can be estimated. Note in this section
The pump device described above has a pressure switch and an accumulator
A pressure detecting device and an accumulator pressure estimating means are provided.
And the accumulator pressure is increased by these three devices.
Each can be obtained. Therefore, each of the three devices
By comparing the three values obtained by
To detect that an abnormality has occurred in at least one of
In addition, it is possible to identify the device in which the abnormality has occurred. An example
For example, when the amount of hydraulic fluid in the accumulator is
Is activated and the signal output state of the pressure switch changes.
Of the accumulator pressure detector at the moment
Accumulator pressure and accumulator pressure estimation means
Compare the three values of the murator pressure and the set pressure of the pressure switch.
Two values are about the same size and one value is larger than two values
If they differ, the device associated with that one value is different.
It can be detected that the normal has occurred. This related equipment
The device that output the value and the device that affected the value
(For example, a pump). For example, Accu
Pump is used for the accumulator pressure detected by the
Influences. Also, the signal output status of the pressure switch
Based on the cumulative number of rotations of the electric motor from the moment of change
Estimated accumulator pressure, detected accumulator pressure, and pressure
Abnormality is found by three comparisons with the switch signal output status.
It is also possible to specify the device that generated the error. In these cases
As described in the next section, two of the three values
Identifying the device where the abnormality occurred by comparing
Not essential but convenient. In addition, the device that is abnormal
Can identify devices that are normal.
Therefore, as described later,
It is possible to control the electric motor using only the
It becomes possible. Unknown device is unknown (that is, normal
Is unknown, the electric motor (ie
Emergency action such as stopping the pump device)
However, in the pump device described in this section,
The electric motor is controlled based on only the normal
This has the advantage that the operation of the device can be continued.
In this case, the pump device is controlled by the normal device.
It can be considered as including control means. Note that the pressure
Switch with accumulator pressure detector instead of switch
Pump device, that is, two accumulator pressure detecting devices
In the same way, detect abnormalities in the pump device
Can be. However, the pressure switch and accumulator pressure
The pump device is cheaper if it is combined with the pumping device.
Can be The features described in this section are
It can be adopted separately from any of the features of paragraph (6). example
If the accumulator pressure estimating means is
The accumulator pressure should be estimated based on the degree
It is. (8) The abnormality detection device outputs a signal from the pressure switch.
Output state and detection by the accumulator pressure detection device
To the accumulator pressure and the accumulator pressure estimating means.
2 of 3 things with estimated accumulator pressure
Two in each of two different sets of
Judge whether or not the two substantially match, and
If the judgments do not match,
The devices associated with both of these two sets are abnormal.
Means for identifying an abnormal device at the time of both denials;
The decision on one or the other pair does not match
Yes, and the judgment on the other pair matches.
Belong to one set and not to the other set
Anomalous equipment at the time of one-sided denial that the equipment related to the thing is abnormal
Abnormal device specifying means including at least one of the device specifying means
The pump device according to item (7), including: For example, (Signal output
State and detected pressure), (signal output state and estimated pressure)
In each case, it is determined whether each two things substantially match.
As a result of the judgment, no match was found in any of the groups.
The pressure switch is abnormal.
Wear. In the set of (signal output state and detection pressure),
Match, and in the set of (signal output state and estimated pressure)
If it is determined that does not match,
Device, that is, the pump is abnormal
it can. (9) The accumulator pressure is determined by the abnormality detecting means.
If the detection device is detected to be abnormal, the accu-
Accumulated estimated by the murator pressure estimating means
Accumulator detected by accumulator pressure detector
Estimated accumulator pressure substitute to be used instead of the accumulator pressure
Pump device according to paragraph (7) or (8), provided with means
(Claim 4). Accumulator pressure detector is abnormal
The accumulator pressure detection device
By accumulator pressure estimating means instead of accumulator pressure
The estimated accumulator pressure is used. An error was detected
However, control of the pump device and hydraulic fluid supply device was stopped
It is not possible to make it effective
it can. In a pump device including an accumulator,
Usually, the electric motor that drives the pump is an accumulator
Control to keep the pressure within a predetermined set range.
At least one of the lower limit and the upper limit of this setting range.
Is detected by the pressure switch (pressure switch signal
Output state often changes). The lower limit of the setting range
Both the upper limit and the upper limit are detected by the pressure switch, and the
When the start / stop control of the electric motor is performed according to the output,
Accumulator pressure detected by accumulator pressure detector
Is used, for example, for hydraulic pressure control of a device to be supplied with hydraulic fluid.
You. Also, the lower and upper limits of the setting range by the pressure switch
Start or stop of the electric motor by detecting either
Stop and the other is the accumulator pressure
When the operation is performed by the accumulator pressure detected by the detection device
In this case, the detected accumulator pressure
It will be used to control the device. In either case,
If an abnormality occurs in the accumulator pressure detector, the hydraulic fluid
The control of the supply target device and the pump device must be stopped.
However, the estimated accumulator pressure is detected
If control can be used instead of
You can do it. Also, use a pressure switch.
For example, the accuracy of accumulator pressure estimation can be improved.
Wear. When the signal output state of the pressure switch changes,
Utilizes that accumulator pressure should be set pressure
So that the estimated accumulator pressure is initialized
That is, the signal output state of the pressure switch changes.
Accumulator pressure is set to the set value at the moment
In this way, the accumulator pressure estimation means
This makes it possible to remove the accumulation of the estimation errors.
While the accumulator pressure estimation is repeated,
Accumulator pressure estimation accuracy decreases due to accumulation of errors
It is inevitable that the pressure switch signal
The moment the force condition changes, the estimated accumulator pressure is
If it is set to the set pressure of the force switch,
Can eliminate accumulated errors in estimator pressure estimation.
It is. (10) The pump device is operated by the pressure switch.
It is detected that the accumulator pressure has dropped to the lower limit set pressure.
When the electric motor is switched to an operating state,
The operating state is determined by the accumulator pressure detecting device.
Upper limit set pressure where the detected accumulator pressure is higher than the set pressure
Normal electric motor control means to maintain until reaching,
The accumulator pressure detecting device is provided by the abnormality detecting means.
When the pressure switch is detected to be abnormal, the pressure switch
The accumulator pressure has dropped to the set pressure
Is detected, the electric motor is turned on.
And maintain its operating state for a predetermined set time.
(7) No provision for electric motor control means in case of abnormality
The pump device according to any one of (9). Pressure switch
Switch reduces the accumulator pressure to the lower limit set pressure.
Is detected, the electric motor is turned off for the set time.
If the accumulator pressure is maintained at the operating state,
Can be raised up. Control of this electric motor
The estimated accumulator, for example, as in (9).
Adding pressure improves the reliability of electric motor control
be able to. For example, the elapse of the set time
Either the accumulator pressure reaches the upper limit set pressure
Thus, the electric motor is stopped. (11) The pump device controls the electric motor to
Normal electric motor control hand that controls while the motor is normal
Stage and the pump is abnormal by the abnormality detecting means.
The normal-time electric motor control means.
Abnormal control stop means for stopping control by the
The pump device according to any one of paragraphs (7) to (10).
Place. If an abnormality is detected in the pump,
The control by the data control means is stopped. For example,
The operation of the dynamic motor is stopped. (12) The pump device is the cumulative rotation number detection device.
Estimated based on the cumulative number of rotations detected by
Includes means for using estimated discharge pressure using pump discharge pressure (1)
The pump device according to any one of the above items (11). Of this section
The pump is operated based on the cumulative number of rotations.
Cumulative discharge amount estimating means for estimating the output amount and the cumulative discharge amount
Based on the cumulative ejection amount estimated by the estimation means.
Discharge pressure estimating means for estimating the discharge pressure.
be able to. In addition, the estimated discharge pressure using means is configured to perform the
Pressure to control the electric motor,
To control the supply target device.
it can. Estimated accumulator pressure substitute according to the above (9)
The means is an example of the means for using the estimated discharge pressure in this section.
However, it is not limited to this. For example, accumulator
Pressure detector is omitted, accumulator pressure is estimated from the beginning
The estimated accumulator pressure by means is used for control.
It is also possible. (13) Brake cylinder and its brake cylinder
Connected to any one of paragraphs (1) to (12)
A brake device including a plurality of pump devices,
Brake cylinder fluid that detects brake cylinder fluid pressure
A pressure detection device and one of the plurality of pump devices
One by one and activate the remaining pump units.
A first operation state to be an operation state;
One of the devices in sequence
The second operating state in which the pump device is operated
In either case, the electric motor of the pump
Data detected by the cumulative rotation number detection device.
Based on the number of product rotations, the hydraulic pressure of the brake cylinder is
Means for estimating the brake cylinder fluid pressure during partial operation to be estimated,
Estimation by the brake cylinder hydraulic pressure estimation means during partial operation
Constant brake cylinder pressure and brake cylinder pressure
Based on the brake cylinder pressure detected by the discharge device,
Each of a plurality of pump devices and the brake cylinder hydraulic pressure
Detects that an abnormality has occurred in at least one of the detectors.
Issue and identify where the abnormality occurred
A brake device including abnormality detection means (claim 5). example
For example, two pump units A and B are connected to the brake cylinder.
Pump device A is in the operating state
And the remaining pump device B is inactive
Comparison between the estimated hydraulic pressure during A operation and the actual hydraulic pressure,
The pump device B is in operation and the remaining pump device A is
Estimated hydraulic pressure and actual fluid during B operation in non-operating state
Pressure and make sure that the comparison results are appropriate.
Then, the brake cylinder hydraulic pressure detection device, the pump device A,
B is all normal, the comparison result is reasonable,
If the comparison result is not appropriate, the pump device B
It can be detected that the normal has occurred. Where the comparison result
Is valid if the difference between the two values is within the set range.
I say. The same applies when there are three or more pump devices.
You. Also, for example, three of A, B, and C
Pump units are connected
Pump device A is inactive and the remaining pump devices B and C
Estimated hydraulic pressure and actual
Comparison with hydraulic pressure, similarly, estimated hydraulic pressure when B is not operating and actual hydraulic pressure
Comparison with the estimated hydraulic pressure when C is not operating and the actual hydraulic pressure.
The comparison result is invalid and the comparison result is not valid.
If so, it is determined that the pump device C is abnormal.
Can be. If there are two pump units, four or more
The same is true in some cases. Thus, the present invention
Brake with multiple pump units connected to key cylinder
It can be applied to multiple pump devices and
Which abnormality occurred with the cylinder pressure detector
Can be specified. (14) Further, all of the plurality of pump devices operate.
When in the state, by the cumulative rotation number detection device
Based on the detected cumulative number of rotations of the pump device,
To estimate the hydraulic pressure of the brake cylinder
Rake cylinder hydraulic pressure estimation means
Brake cylinder pressure estimated by cylinder pressure estimation means
And the deviation detected by the brake cylinder pressure detecting device.
The difference from the hydraulic cylinder pressure is within a predetermined set range.
In some cases, the plurality of pump devices and the shaker
When all operations assume that the brake cylinder pressure detector is normal
Normality detection means, wherein the abnormality detection means
If it is not within the setting range, the brake
Brake fluid pressure estimated by the
The brake cylinder pressure detected by the brake cylinder
This is to compare with the cylinder hydraulic pressure.
Rake equipment. For brake cylinder hydraulic pressure estimating means during all operations
Estimated brake cylinder fluid pressure and brake cylinder fluid
The difference from the brake cylinder fluid pressure detected by the pressure
If it is within the specified setting range,
Pump device and brake cylinder pressure detector are normal
It can be assumed that In this way, the pump
All of multiple devices and brake cylinder fluid pressure detector
Can be shortened in the time required for abnormality detection when is normal. (15) The brake cylinder is detected by the abnormality detecting means.
If the hydraulic pressure detector is determined to be abnormal,
Brake cylinder estimated by brake cylinder fluid pressure estimation means
Abnormality estimation using hydraulic pressure as brake cylinder hydraulic pressure
Item (13) or (14) including means for using brake cylinder pressure
The brake device according to item 1. Abnormality estimation break described in this section
The cylinder pressure using means is, for example, an estimated brake cylinder.
Pressure is used to control the electric motor,
To be used for fluid pressure control of
Can be. In the former case, the brake
The means for using the pressure of the compressor includes the means for controlling the electric motor when abnormal
And the hydraulic pressure of the brake cylinder is used to control the pump device.
Particularly effective when applied to more controlled braking systems
It is. For example, abnormality in the brake cylinder fluid pressure detector
Control of the brake cylinder fluid pressure
It is possible. (16) The plurality of pumps by the abnormality detecting means
If at least one of the devices is abnormal
In addition, the electric device included in the pump
Includes means for stopping the motor in the event of an abnormal
The brake equipment described in any one of paragraphs 3) to (15)
Place. If any of the multiple pump units are normal,
Brake cylinder by its normal operation of the pump device
Can be activated. (17) The policy described in any one of paragraphs (1) to (12)
Pump device and its pump device are connected in parallel by a branch passage.
A plurality of continuous brake cylinders and a portion corresponding to the branch passage
Of the individual passage, which is the part closer to the wheel cylinder than the fork position
Each of the brake cylinders
Communication with the pump device and shut off from the pump device.
Multiple solenoid control valves that can switch between
Multiple detection of the hydraulic pressure of each brake cylinder
A plurality of brake cylinder pressure detecting devices and the plurality of electromagnetic
One of the control valves is sequentially connected to each of the remaining control valves.
A first communication state in which the magnetic control valve is shut off;
One of the solenoid control valves remains in the shut-off state one by one.
In the communication state with the second communication state
The pump detected by the cumulative rotation number detecting device
Communication state based on the cumulative number of rotations of the electric motor of the
Hydraulic pressure of the brake cylinder corresponding to the electromagnetic control valve
Means for estimating the brake cylinder fluid pressure during partial communication,
Estimation by the brake cylinder hydraulic pressure estimating means during partial communication
Constant brake cylinder pressure and brake cylinder pressure
Brake cylinder fluid pressure detected by the
Based on the pump device and multiple brake syringes
Brake cylinder circumference including hydraulic pressure detection device and individual passage
An abnormality has occurred in at least one of the sides.
An error that detects and identifies which abnormality has occurred
A brake device comprising: a normal detection unit. An example
For example, in the first communication state, a plurality of brake cylinders
As a result of comparing the estimated pressure and the detected pressure for each,
If the results of the comparisons in all pairs are
Is correct for both the pump unit and the surroundings of the brake cylinder.
Normal and not valid in all sets.
In such a case, it is assumed that an abnormality has occurred in the pump device.
can do. Also, in at least one set
If the results of
Is a normal and invalid set of detected pressures.
The rake cylinder detector and the corresponding individual passage
It is possible to make it happen. Individual passage
For example, air that has entered the individual passage
And liquid leaks in individual passages
I do. The features described in this section are based on any one of paragraphs (1) to (16).
It can be implemented separately from these features. For example, bray
The hydraulic pressure of the cylinder is based on the rotation speed of the electric motor, etc.
It may be estimated. (18) The brake device is provided with each of the electromagnetic control valves.
Is controlled based on the hydraulic pressure of each of the brake cylinders.
The electromagnetic control valve control means and the abnormality detection means.
The brake cylinder hydraulic pressure detecting device and the individual passage
If it is determined that at least one of the abnormalities has occurred,
The electromagnetic control valve of the electromagnetic control valve provided in the individual passage
Abnormal wheel control suspending means for suspending control by the control means;
(17) The brake device according to the above (17). Brake cylinder
A brake that has been identified as having an abnormality in the hydraulic pressure detector or individual passage
The control of the hydraulic pressure of the key cylinder is stopped. example
If an error has occurred in the brake cylinder fluid pressure detector
Generated due to air mixing in individual passages
The brake cylinder, replace it with another brake cylinder.
Control (or other brake cylinder fluid)
Control to the same size as the pressure), master cylinder or pump
Or it can be directly connected to the pump device. Against it
Abnormalities occur due to liquid leakage in individual passages.
If so, replace the brake cylinder with a pump device or other
From the brake cylinder, master cylinder, etc.
Is desirable. Also, the brakes when abnormalities are detected
If the cylinder fluid pressure is small, there is only one abnormal wheel
Even if control of the abnormal wheel is stopped, yaw moment
The impact on the running condition of the vehicle is small,
Is large, a large yaw moment occurs, which
This may impair braking stability. Times it
If the hydraulic pressure is high, a large yaw
Control of wheels that are paired with abnormal wheels so that no
Should be stopped in the same way as the abnormal wheel.
No. In each of the above cases, the abnormal wheel control
Includes metal control means, master communication means, abnormal wheel cutoff means, etc.
Can be considered. (19) A pump device according to any one of paragraphs (1) to (12)
Device and one or more brakes connected to the pump device
The hydraulic pressure of the cylinder is controlled by controlling the electric motor.
Brake pressure control means for controlling the
Rake hydraulic control. The brake fluid pressure control device described in this section
The brake series is controlled by an electric motor.
The compressor hydraulic pressure is controlled. The pump device according to the present invention
Suitable for brake control devices such as

(20) A pump device including a plurality of pumps and at least one electric motor for driving the pumps, a discharge pressure detecting device for detecting a hydraulic pressure of hydraulic fluid discharged from the pump device, Discharge pressure estimating means for estimating a discharge pressure of the hydraulic fluid discharged from each of the plurality of pumps based on a rotation state of the electric motor; an actual discharge pressure detected by the discharge pressure detecting device; Based on the discharge pressure of each of the plurality of pumps estimated by the means, it is detected that an abnormality has occurred in at least one of each of the plurality of pumps and the discharge pressure detection device, and any abnormality has occurred. A pump device including an abnormality detecting means for specifying whether or not the abnormality has occurred. In the pump device described in this section, it is assumed that the discharge port side of the pump is closed by something. For example, an electromagnetic on-off valve is provided in the liquid passage on the discharge port side of the pump, and when the electromagnetic on-off valve is in a closed state, or when a hydraulic fluid supply target device such as an accumulator or a hydraulic actuator is provided at the discharge port of the pump. This is the case where the hydraulic fluid is connected and the hydraulic fluid is pressurized inside these. In the former case, the hydraulic fluid discharged from the pump is
The hydraulic fluid is accommodated in the fluid passage by compression and expansion of the fluid passage, and the operation of the pump is allowed. The operation of the pump is limited while the discharged hydraulic fluid can be stored in the liquid passage. In the latter case, the accumulator pressure, the brake cylinder pressure and the like have the same magnitude as the discharge pressure, and therefore these are also broadly included in the discharge pressure. The electric motor may be provided for each pump, but a plurality of pumps may be driven by one electric motor. The rotation state of the electric motor corresponds to activation / deactivation, rotation speed, cumulative number of rotations, and the like. The rotation speed is obtained, for example, by dividing the number of rotations of the rotor relative to the stator optically or electromagnetically detected during the set time by the set time, or based on an average value of an alternating current flowing through the electric motor. You can ask. (21) a pump, an electric motor for driving the pump, a discharge pressure detecting device for detecting an actual discharge pressure of the working fluid discharged from the pump, and the discharge pressure based on a rotation state of the electric motor. Discharge pressure estimating means for estimating, and the detected discharge pressure detected by the discharge pressure detecting device within a set time after the electric motor is switched from the non-operating state to the operating state, the estimated discharge pressure by the discharge pressure estimating means. An air entrapment detecting means for judging that there is a possibility that air has been entrained in the hydraulic fluid in the pump itself or in a hydraulic fluid supply target device connected to the pump itself if the condition is smaller than a set condition. By comparing the estimated discharge pressure at the beginning of the operation with the detected discharge pressure, it is possible to detect whether there is a possibility that air is mixed in the hydraulic fluid. In addition, the air mixing detection unit mixes air when the difference obtained by subtracting the detected discharge pressure from the estimated discharge pressure is equal to or greater than the set difference, or when the ratio of the detected discharge pressure to the estimated discharge pressure is smaller than the set ratio. It can be determined that there is a possibility. (22) a pump, an electric motor for driving the pump, discharge pressure estimating means for estimating a discharge pressure of hydraulic fluid discharged from the pump based on a rotation state of the electric motor, and supply to the electric motor. An electric motor pattern control means for controlling a current to be applied in accordance with a predetermined pattern; an estimated discharge pressure by the discharge pressure estimation means when the electric motor is controlled by the electric motor pattern control means; And a current pattern control abnormality detecting means for detecting an abnormality of the pump based on a reference discharge pressure which is a discharge pressure obtained in advance when controlled according to the motor pattern control means. The estimated discharge pressure and the reference discharge pressure should be almost the same, but if they differ greatly,
It can be assumed that an abnormality has occurred in the pump device or the hydraulic fluid supply target device connected thereto. The reference discharge pressure may be a theoretical discharge pressure that is theoretically determined by the structure of the pump device or the like, or may be an experimental value obtained by an experiment using a pump device in which it is clear that there is no abnormality. The estimated discharge pressure and the reference discharge pressure may be values obtained at one time while the electric motor is controlled according to the pattern, or may be values obtained at a plurality of times. (23) The pattern control abnormality detecting means includes a reference discharge pressure at a plurality of times during which the electric motor is controlled by the electric motor control means, and an estimated discharge pressure at the plurality of times by the discharge pressure estimating means. Includes history information dependent abnormality detection means for detecting abnormality based on (22)
The pump device according to the paragraph. Abnormality can be accurately detected based on the reference discharge pressure and the estimated discharge pressure at a plurality of time points. It is also possible to acquire the cause of the abnormality. For example, when detecting whether or not an abnormality is present by comparing the magnitudes, it is possible to more accurately detect whether or not the abnormality is detected based on the comparison at a plurality of time points. Further, based on the reference discharge pressure, the estimated discharge pressure, and the like at a plurality of times, it is possible to obtain the change amount and change gradient of the discharge pressure. It can be determined whether the abnormality is caused by a decrease in performance or an abnormality is caused by leakage of the hydraulic fluid. For example, if the estimated discharge pressure change gradient at the beginning of the operation is smaller than the reference discharge pressure change gradient, and the estimated discharge pressure change gradient after the elapse of the set time from the start of the operation is substantially the same as the reference discharge pressure change gradient, The delay is
It can be determined that the performance of the pump is at a normal level due to the mixing of air. The change gradient is an example of the history information, but the history information also includes time-dependent change information of the magnitude of the discharge pressure. (24) The pump, the electric motor driving the pump, and the current supplied to the electric motor are supplied such that the discharge pressure of the working fluid discharged from the pump changes according to a predetermined discharge pressure pattern. Electric motor control means corresponding to the discharge pressure pattern, an actual supply current value supplied to the current motor by the electric motor control means corresponding to the discharge pressure pattern, and a control current previously obtained in a case where control is performed according to the discharge pressure pattern. And a discharge current pattern control abnormality detecting means for detecting abnormality of the pump based on a reference current value as a value. An abnormality in the pump can be detected based on the actual supply current value and the reference current value. For example, when the actual supply current value is larger than the reference current value, it is possible to determine that there is a high possibility that the performance of the pump is reduced or air is mixed in the working fluid. In this case, similarly, even if an abnormality is detected based on the actual supply current value and the reference current value at one time point, or based on these current values at a plurality of time points, that is, based on the history information, Good.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A brake device including a pump device according to one embodiment of the present invention will be described in detail with reference to the drawings. This brake device is also a brake device according to an embodiment of the present invention. In FIG. 1, reference numeral 10 denotes a brake pedal as a brake operating member, and 12 denotes a master cylinder. The master cylinder 12 has two pressurizing chambers. One pressurizing chamber is connected to the wheel cylinder 18 of the left front wheel 16 via the liquid passage 14, and the other pressurizing chamber has a liquid passage 20. The wheel cylinder 24 of the right front wheel 22 is connected via the. In the present embodiment, one wheel cylinder is connected to one pressurizing chamber. In the middle of the liquid passages 14 and 20,
Master shutoff valves 26 and 28 are provided, respectively. The master shut-off valves 26 and 28 are in a shut-off state in which the wheel cylinder is shut off from the master cylinder 12,
The communication state can be switched to a communication state in which the communication is performed with the communication path 2. It is a normally open valve that is kept shut off by supplying current during hydraulic pressure control, but is kept open by not supplying current during non-hydraulic pressure control. When the control of the pump device 30 is stopped (the operation of the pumps 32 and 34 is stopped due to the abnormalities of the pumps 32 and 34, which will be described later), the communication state is restored.

The pump device 30 includes a master reservoir 3
1 is a device for pressurizing the hydraulic fluid, and includes check valves 35 and 36 in addition to the two pumps 32 and 34 described above. As shown in the drawing, the two pumps 32 and 34 are arranged in parallel with each other, and one of the pumps 32 is a high-pressure small-capacity gear pump having a large maximum discharge pressure and a small maximum discharge amount per unit time. (Hereinafter, referred to as a high-pressure pump 32), and the other pump 34 is a low-pressure, large-capacity gear pump (hereinafter, referred to as a low-pressure pump 34) having a small maximum discharge pressure and a large maximum discharge amount. The high-pressure pump 32 is operated by driving a high-pressure motor 38 as an electric motor, and the low-pressure pump 34 is operated by driving a low-pressure motor 40 as an electric motor. The check valve 35 is for preventing the discharge pressure of the high-pressure pump 32 from acting on the low-pressure pump 34.
The check valve 36 is for preventing the discharge pressure of the low-pressure pump 34 from acting on the high-pressure pump 32. By controlling the current supplied to the low-pressure motor 40 and the high-pressure motor 38, it is possible to control the discharge amount, discharge pressure, and the like of the hydraulic fluid output from the pump device 30. Although not shown, the low-pressure pump 34 and the high-pressure pump 3
2 are provided in parallel with each other.

The pump device 30 is connected with the wheel cylinders 18 and 24 of the left and right front wheels 16 and 22 and the wheel cylinders 4 of the left and right rear wheels 42 and 44.
6, 48 are connected. The pump device 30 includes four wheel cylinders 18, 24,
46, 48 are connected in parallel, and the individual passage 52 on the wheel cylinder side from the branch position of the branch passage 50
The pressure-increasing linear valves 54a to 54d are respectively provided in a to d. The pressure-increasing linear valves 54a to 54d are normally closed valves that are kept shut off when no current is supplied. The wheel cylinders 18, 2 of the front wheels 16, 22
A pressure reducing linear valve 58 is provided in the middle of the liquid passage 56 connecting the master wheel 4 and the master reservoir 31, and the rear wheels 42, 44
In the middle of the liquid passage 60 connecting the wheel cylinders 46 and 48 and the master reservoir 31,
2 are provided. Pressure reducing linear valve 5 provided corresponding to wheel cylinders 18, 24 of front wheels 16, 22
Reference numeral 8 denotes a normally-closed valve that is kept in a shut-off state when no current is supplied.
The pressure reducing linear valve 62 provided corresponding to 48 is a normally open valve that is kept in communication when no current is supplied.

When an abnormality occurs in the electric system, as described above, the master shutoff valves 26 and 28 are returned to the communicating state, and the pressure-increasing linear valves 54a to 54d and the pressure-reducing linear valve 58 are turned off. The pressure reducing linear valve 62 is returned to the communication state. The wheel cylinders 18 and 24 are disconnected from the pump device 30 and communicate with the master cylinder 12. Since the pressure reducing linear valve 58 is shut off, the master cylinder 12 is connected to the wheel cylinders 18 and 24.
When the hydraulic fluid is supplied, the brake is operated. At the end of braking, the wheel cylinders 18,
The hydraulic fluid 24 is returned to the master reservoir 31 via the master shutoff valves 26 and 28, and the hydraulic fluid for the wheel cylinders 46 and 48 is returned via the pressure reducing linear valve 62. For this reason, the occurrence of dragging is well avoided.

A front-wheel-side linear valve device 66 is provided by pressure-increasing linear valves 54a, b and pressure-reducing linear valve 58 provided corresponding to the front-wheel wheel cylinders 18,24.
The rear-wheel-side linear valve device 68 is constituted by the pressure-increasing linear valves 54c and 54d and the pressure-reducing linear valve 62 provided corresponding to the wheel cylinders 46 and 48 on the rear wheel side.
Is configured. These will be described later.

In the middle of the liquid passage 20, a stroke simulator 70 is provided.
4, 46, 48 are disconnected from the master cylinder 12 and connected to the pump device 30, the brake pedal 10
Extremely small strokes are avoided. Further, a stroke sensor 71 for detecting the stroke of the brake pedal 10, a master pressure sensor 72 for detecting the hydraulic pressure of the master cylinder 12, a pump pressure sensor 74 for detecting the output hydraulic pressure of the pump device 30, and the wheel cylinders 18, 2
Wheel cylinder pressure sensors 75 to 78 for detecting hydraulic pressures of 4, 46 and 48 are provided respectively. Although described later, it is not essential to provide both the stroke sensor 71 and the master pressure sensor 72, and only one of them may be provided.

FIG. 2 is a system diagram schematically showing the configuration of the front wheel side linear valve device 66, and FIG. 3 is a system diagram schematically showing the configuration of the rear wheel side linear valve device 68. In the front-wheel-side linear valve device 66 shown in FIG. 2, the pressure-increasing linear valves 54a and 54b (since the pressure-increasing linear valves 54a to 54d have the same structure, the pressure-increasing valve 54a will be described, The description of the linear valves 54b to 54d is omitted) includes a seating valve 82 and an electromagnetic driving force generator 84. The seating valve 82 includes a valve 90, a valve seat 92, an electromagnetic biased member 94 that moves integrally with the valve 90, and an electromagnetic biased member 94 in a direction in which the valve 90 is seated on the valve seat 92. , And a spring 96 as an elastic member as an urging device. The electromagnetic driving force generating device 84 includes a fixed member 98 and a solenoid 100. Solenoid 100
Is excited, a magnetic field is formed, and the electromagnetically energized member 94 is
An electromagnetic driving force in a direction to approach the fixing member 98 is generated. By changing the supply current to the solenoid 100, the electromagnetic driving force (the electromagnetic driving force is
Of the valve seat 90 is opposite to the urging force of the valve seat 92.
It is the force in the direction to move away from. ) Can be changed in size. The pressure-reducing linear valve 58 is basically the same as the pressure-increasing linear valve 54a.

The pressure increasing linear valve 54a receives an urging force Fk of the spring 96, a differential pressure acting force Fp corresponding to a hydraulic pressure difference before and after the urging force Fk, and an electromagnetic driving force Fs. The hydraulic pressure difference before and after the pressure increasing linear valve 54a can be detected as a differential pressure between the output hydraulic pressure of the pump device 30 and the hydraulic pressure of the wheel cylinder. When the sum of the differential pressure acting force Fp and the electromagnetic driving force Fs becomes larger than the urging force Fk of the spring 96, (F
p + Fs> Fk), the valve 90 is separated from the valve seat 92. When the electromagnetic driving force Fs is 0, the differential pressure acting force Fp
When the pressure becomes larger than the urging force Fk of the spring 96, the pressure is increased. Is not switched to the open state by the hydraulic fluid supplied from the pump device 30 when no current is supplied to the pump device 30.

Similarly, for the pressure reducing linear valve 58,
The urging force Fk of the spring 96, the differential pressure acting force Fp according to the hydraulic pressure difference before and after the spring 96, and the electromagnetic driving force Fs act. The hydraulic pressure difference before and after the pressure-reducing linear valve 58 is detected as a differential pressure between the hydraulic pressure of the wheel cylinder and the hydraulic pressure of the master reservoir 31, but the hydraulic pressure of the master reservoir 31 may be considered to be the same as the atmospheric pressure. Wheel cylinder 1
It becomes the same size as the hydraulic pressure of 8,24. Further, in the present embodiment, since the valve opening pressure of the pressure reducing linear valve 58 is substantially the same as the valve opening pressure of the pressure increasing linear valve 54, the hydraulic pressure of the wheel cylinders 18 and 24 becomes excessive. However, the hydraulic fluid of the wheel cylinders 18 and 24 is not returned to the master reservoir 31 via the pressure reducing linear valve 58 in a state where the electromagnetic driving force is 0 in a state where the valve opening pressure of the pressure reducing linear valve 58 is not substantially exceeded. Absent.

In the rear wheel side linear valve device 68 shown in FIG.
8, the seating valve 130 and the electromagnetic driving force generator 132 are included. Seating valve 130
Includes a valve seat 134, a valve 136 provided on the valve seat 134 so as to be separable and separable, and a spring 138 as an elastic member as an urging device for biasing the valve 136 to separate from the valve seat 134. , Driving member 1 for driving valve element 136
The electromagnetic driving force generator 132 includes a solenoid 144 and a fixing member 146. When the solenoid 144 is excited, a magnetic field is formed, and an electromagnetic driving force is generated in a direction that causes the electromagnetic biased member 142 to approach the fixing member 146. Driving member 140, valve 136, and electromagnetic biased body 1
Since the movable member 42 is integrally movable, the valve element 136 is moved closer to the valve seat 134 when the electromagnetically driven body 142 is moved closer to the fixed member 146 by the electromagnetic driving force. When the electromagnetic driving force is 0, the valve 136 is separated from the valve seat 134 by the urging force of the spring 138,
It is kept open.

The pressure-reducing linear valve 62 also receives the urging force Fk of the spring 138, the differential pressure acting force Fp corresponding to the hydraulic pressure difference before and after it, and the electromagnetic driving force Fs.
The direction of the urging force Fk of the spring 138 and the electromagnetic driving force Fs
Is opposite to the pressure reducing linear valve 58 described above. When the electromagnetic driving force Fs is smaller than the sum of the urging force Fk and the differential pressure acting force Fp (Fs <Fk + Fp), the electromagnetic driving force Fs is kept open.
(Fs> Fk + Fp), the state is switched to the closed state. The spring 138 can be ignored since the biasing force Fk is very small. This is because even when the urging force is small, the differential pressure acting force Fp acts in a direction to separate the valve element 136 from the valve seat 134.

The hydraulic brake device has PU152, R
AM 153, ROM 154, input unit 155, output unit 15
6 is provided with a brake fluid pressure control device 160 mainly composed of a computer. Brake fluid pressure control device 16
0 input section 155, the stroke sensor 7
1. In addition to the master pressure sensor 72, the pump pressure sensor 74, the wheel cylinder pressure sensors 75 to 78, wheel speed sensors 162 to 165 for detecting the rotation speed of each wheel, and a brake switch for detecting that the brake pedal 10 is depressed. 166, a cumulative rotation number detection device 16 for detecting the cumulative rotation number of each of the high-voltage motor 38 and the low-voltage motor 40.
8, 170 are connected to the output unit 156, and the solenoids of the respective electromagnetic control valves are connected via a drive circuit (not shown) to the output unit 156.
8 is connected via a drive circuit. The ROM 154 includes a brake device abnormality detection program shown in the flowchart of FIG. 4, an electric motor control program shown in the flowchart of FIG. 5, a linear valve control program shown in the flowchart of FIG. 6, and illustration of the flowchart is omitted. However, various programs such as a normal brake fluid pressure control program and an antilock control program, maps, and the like are stored.

The depression force of the brake pedal 10 is obtained based on the detection results of the stroke sensor 71 and the master pressure sensor 72. Due to the influence of the first fill, the master cylinder 1
The hydraulic pressure increase delay of No. 2 occurs. Therefore, in the low pressure region, the pedaling force is obtained based on the detection result of the stroke sensor 71, and in the high pressure region, the master pressure sensor 7
2 is obtained based on the detection result. Further, the braking slip state of each wheel 16, 22, 42, 44 is obtained based on the wheel speed detected by the wheel speed sensors 162 to 165, the estimated vehicle speed obtained based on the wheel speed, and the like. The anti-lock control is performed based on the braking slip state.

The accumulative rotation number detecting devices 168 and 170
In the present embodiment, the number of oscillations of the alternating current flowing through the high-voltage motor 38 and the low-voltage motor 40 is detected. In the electric motor, an alternating current flows as the rotor rotates with respect to the stator. Therefore, if the number of vibrations at which the alternating current exceeds the threshold is detected, the cumulative number of rotations of the electric motor can be detected based on the number of vibrations. High-voltage / low-voltage motor 3 in this embodiment
In 8, 40, since the rotor includes 12 coils, the cumulative number of rotations in units of 1/12 can be detected based on the number of vibrations. Note that the cumulative rotation number detection device 1
As described above, the reference numerals 68 and 170 are not limited to those for detecting the cumulative number of rotations based on the vibration of the current, but detect the relative number of rotations by optically or electromagnetically detecting the relative phase of the rotor to the stator. It may include an encoder or the like that performs the operation.

The low-pressure pump 34 and the high-pressure pump 32
It is driven by the rotation of the low-pressure motor 40 and the high-pressure motor 38, and the hydraulic fluid is discharged in accordance with the drive. Assuming that the amount of hydraulic fluid discharged by one rotation of the motor is q, the cumulative discharge amount Q discharged from the pump when the cumulative number of rotations of the electric motor is N becomes Q = qN. Further, taking into account the pump efficiency η, the size is expressed as Q = qNη. In this embodiment, the amount of hydraulic fluid discharged from the low-pressure pump 34 by one rotation of the low-pressure motor 40 is qL, and the amount of hydraulic fluid discharged from the high-pressure pump 32 by one rotation of the high-pressure motor 38 is qH. And

The operation of the brake device configured as described above will be described. When the brake pedal 10 is depressed, brake fluid pressure control during normal braking is performed.
The normal brake-time brake fluid pressure control program is executed, the target wheel cylinder fluid pressure is determined to have a magnitude corresponding to the depression force of the brake pedal 10, and the target discharge pressure is decided to be the same magnitude as the target wheel cylinder fluid pressure. You. Then, in a state where the master shut-off valves 26 and 28 are kept in the shut-off state so that the detected wheel cylinder hydraulic pressure detected by each of the wheel cylinder pressure sensors 75 to 78 approaches the target wheel cylinder hydraulic pressure, each linear valve When the devices 66 and 68 are controlled, the discharge pressure of the working fluid discharged from the pump device 30 detected by the pump pressure sensor 74 (hereinafter, referred to as detected discharge pressure) approaches the target discharge pressure. , Pump device 30 (high and low pressure motors 38, 4)
0) is controlled. The linear valve devices 66 and 68 are controlled according to the execution of the linear valve control program, and the pump device 30 is controlled according to the execution of the motor control program.

When the braking slip state becomes excessive with respect to the road surface friction coefficient, antilock control is performed. By executing the antilock control program, each wheel 16, 22,
The target wheel cylinder hydraulic pressure of each of the wheel cylinders 18, 24, 46, 48 is determined so that the braking slip state of 42, 44 is maintained in an appropriate state. The maximum value is determined. Based on the target wheel cylinder hydraulic pressure and the target discharge pressure, the linear valve devices 66 and 68 and the pump device 30
Is controlled.

The low voltage motor 40 and the high voltage motor 38
The control is performed in accordance with the execution of the motor control program shown in the flowchart of FIG. In step 1 (hereinafter, abbreviated as S1; the same applies to other steps), it is determined whether or not there is an abnormality in the pump device 30. If there is no abnormality, the determination is NO, and in S2,
Normal control is performed. If an abnormality is detected, the determination is YES, and control according to the detected abnormality is performed after S3. Under normal conditions, the discharge pressure detected by the pump pressure sensor 74 becomes the target discharge pressure,
In addition, at least one of the low-pressure motor 40 and the high-pressure motor 38 is controlled according to a predetermined map (not shown) so that the discharge flow rate becomes the required flow rate.

If the detected abnormality is at least one of the low-pressure pump 34 and the high-pressure pump 32, S
The determination at 3 is YES, and at S4, it is determined whether or not the abnormality is the low pressure and high pressure pumps 34 and 32. If both the pumps 34 and 32 are abnormal, the determination is YES, and the control of both the low-pressure and high-pressure electric motors 40 and 38 is stopped in S5 (the operation of the electric motors is stopped). )But,
If the abnormality is not in both pumps 34 and 32, S
In 6, it is further determined whether or not the pump in which the abnormality has occurred is the high-pressure pump 32. If it is the high-pressure pump 32, the determination is YES, and in S7, the control of the high-pressure motor 38 is not performed, and the low-pressure motor 40 is not controlled.
Control. If the abnormality has occurred in the low-pressure pump 34, the determination is NO, and in S8, the high-pressure motor 38 is controlled without controlling the low-pressure motor 40. In these cases, since the pump pressure sensor 74 is normal, one of the normal high-pressure motor 38 and the low-pressure motor 40 is controlled so that the discharge pressure detected by the pump pressure sensor 74 approaches the target discharge pressure. It is done. If the abnormality occurs not in the pump but in the pump pressure sensor 74, in S9, the low-pressure motor 4
0, the discharge pressure of the hydraulic fluid discharged from the pump device 30 estimated based on the cumulative number of rotations of the high-pressure motor 38,
The low-pressure motor 40 and the high-pressure motor 38 are controlled on the basis of the detected discharge pressure. As described above, in the present embodiment, even when an abnormality occurs, control is continued using a normal device, so that the pump device 30 can be used effectively, and control can be continued. it can.
That is, since it is possible to specify which device has an abnormality, it is possible to perform control using a device that is not abnormal (normal device).

The linear valve devices 66 and 68 are controlled in accordance with the execution of the linear valve device control program shown in the flowchart of FIG. In S21, the wheel cylinder hydraulic pressure sensors 75 to 78 and the individual passages 52a to
It is determined whether or not an abnormality has been detected in the periphery of the wheel cylinder including d and the wheel cylinders 18, 24, 46, 48. If no abnormality is detected in any of the wheel cylinder peripheral portions, the determination is NO, and S22
In, normal control is performed. As described above, the voltage applied to each of the solenoids 100 and 144 is determined based on feedback control, feedforward control, and the like so that the detected wheel cylinder fluid pressure approaches the target wheel cylinder fluid pressure. On the other hand, if an abnormality is detected in at least one peripheral portion of the wheel cylinder, the determination is YES, and the pressure-increasing linear valves 54a to 54d corresponding to the peripheral portion of the wheel cylinder in which the abnormality is detected are switched to the closed state. Then, the hydraulic control for the hydraulic pressure of the wheel cylinder is stopped. This is because it is desirable that the wheel cylinder be isolated from the pump device 30, the master cylinder 12, and other normal wheel cylinders because there is a possibility that liquid leakage may occur in the individual passage.

As described above, for the abnormal wheel,
Pump cylinder 30, master cylinder 1
2. It is not indispensable to cut off from other normal wheel cylinders. It is possible to control the wheel cylinder fluid pressure of abnormal wheels in the same way as the wheel cylinder fluid pressure of other normal wheels (pressure increase linear valve and pressure decrease linear valve). Or when the abnormal wheel is the front wheel, by switching the pressure-increasing linear valves 54a, b to the closed state and switching the master shut-off valves 26, 28 to the open state, It can also communicate with the cylinder 12. Also, when the braking force is small, only the control of the wheel cylinder fluid pressure of the abnormal wheel is stopped,
When the braking force is large, the wheel cylinder hydraulic pressure of the abnormal wheel may be controlled in the same manner as the wheel cylinder hydraulic pressure of the normal wheel paired with the abnormal wheel. When a hydraulic pressure difference is generated between the wheel cylinder hydraulic pressure of the abnormal wheel and the wheel cylinder hydraulic pressure of the pair, a yaw moment is generated. This is because there is a risk of affecting the To avoid this, the yaw moment is reduced by making the hydraulic pressure control the same for the abnormal wheel and the normal wheel at the diagonal position, or the same for the normal wheel located on the left and right opposite sides. be able to.

An abnormality is detected according to the execution of the abnormality detection program. If an abnormality is detected and the device in which the abnormality has occurred is specified, an abnormality flag is set for the device. Whether an abnormality is detected in each of the pumps 32 and 34, the pump pressure sensor 74, the periphery of each wheel cylinder, and the like is determined by an abnormality flag (a high-pressure pump abnormality flag, a low-pressure pump abnormality flag,
This is obtained based on the state of the pump pressure sensor abnormality flag and the WC (n) peripheral part abnormality flag.

In this embodiment, the brake device abnormality detection program is executed while the ignition switch is turned on, the vehicle is stopped, and the brake pedal 10 is not depressed. During the execution of the brake device abnormality detection program, it is displayed that the initial check is being performed, and the driver is notified of the fact. The abnormality is that the hydraulic pressure of the wheel cylinder and the discharge pressure of the hydraulic fluid discharged from the pump device 30 are estimated based on the cumulative number of rotations of the high-pressure motor 38 and the low-pressure motor 40, while the actual wheel cylinder hydraulic pressure and The discharge pressure is detected by the wheel cylinder hydraulic pressure sensors 75 to 78 and the pump pressure sensor 74, and is detected by comparing the estimated value and the detected value. In the present embodiment, the hydraulic fluid discharged from the pump device 30 is supplied to the wheel cylinder, and the wheel cylinder is a hydraulic fluid supply target device.

As described above, the brake device abnormality detection program is executed when the brake pedal 10 is not depressed in a state where the ignition switch is turned on and the vehicle is stopped, that is, the hydraulic pressure of the wheel cylinder. Is performed at the atmospheric pressure and the influence on the traveling of the vehicle is small. The state in which the hydraulic pressure of the wheel cylinder is at atmospheric pressure, that is, the low pressure pump 3
4. From the state in which the discharge pressure of the working fluid discharged from the high-pressure pump 32 is substantially 0, counting of the cumulative number of rotations of one of the low-pressure motor 40 and the high-pressure motor 38 is started, and the setting is started. It is continued until the time t0 has elapsed. The cumulative discharge amount of the hydraulic fluid discharged from the pump device 30 is estimated based on the cumulative number of rotations until the set time t0 elapses, and the wheel cylinder hydraulic pressure is estimated based on the cumulative discharge amount. The estimated wheel cylinder hydraulic pressure is compared with the detected wheel cylinder hydraulic pressure detected by the wheel cylinder pressure sensors 75 to 78, and an abnormality is detected based on these results. If no abnormality is detected, the discharge pressure detected by the pump pressure sensor 74 and the wheel cylinder hydraulic pressure detected by the wheel cylinder hydraulic pressure sensors 75 to 78 are compared to determine whether an abnormality has occurred in the pump pressure sensor 74. Is detected.

In the present embodiment, the four wheel cylinders 18, 24, 46, 48 are sequentially communicated one by one with the pump device 30. The pump device 30 is also operated one by one in the order of the low-pressure motor 40 and the high-pressure motor 38. More specifically, when an abnormality is detected, the pump devices 30 and 1
The pressure-intensifying linear valves corresponding to one wheel cylinder are switched to the open state, and the pressure-increasing linear valves corresponding to the other wheel cylinders are kept closed. When an abnormality is detected in the wheel cylinder on the front wheel side, the master shutoff valve 2
6 and 28 are also switched to the closed state. This is to prevent the hydraulic fluid discharged from the pump device 30 from flowing out to the master cylinder 12. The pressure reducing linear valves 58 and 62 corresponding to one wheel cylinder are also closed. When the abnormality detection is completed, the hydraulic fluid supplied to the wheel cylinder on the rear wheel side is returned to the master reservoir 31 by returning the pressure reducing linear valve 62 to the open state, as in the case of the end of the braking. The hydraulic fluid supplied to the wheel cylinder on the side is returned to the master reservoir 31 by returning the master shutoff valves 26 and 28 to the open state. The pressure-increasing linear valves 54a to 54d are returned to the closed state. In the present embodiment, since the pump device 30 is operated from the state where the hydraulic pressure of the wheel cylinder is atmospheric pressure, the wheel cylinder hydraulic pressure after the lapse of the set time t0 is changed by the amount of change within the set time t0. Alternatively, it can be considered as a change gradient.

At S28 in the flowchart of FIG. 4, the pressure-increasing linear valve 54a corresponding to the wheel cylinder 18 {WC (1)} is opened, and the master shutoff valve 26 is opened.
Is switched to the closed state. Other wheel cylinder 2
Pressure-increasing linear valves 54b-d corresponding to 4, 46, 48
Remains closed. Since the pressure reducing linear valve 58 is a normally closed valve, the state is maintained as it is. And S2
In step 9, the low-voltage motor 40 (motor (1)) is operated while the high-voltage motor 38 is kept in the non-operating state, and the number of rotations N until the set time t0 elapses is measured. S
At 30, the cumulative discharge amount Q of the hydraulic fluid discharged from the low-pressure pump 34 is estimated as Q = qLNη. The wheel cylinder hydraulic pressure is estimated based on the accumulated discharge amount Q from the low-pressure pump 34.
This estimated hydraulic pressure is referred to as an estimated hydraulic pressure Pwc '. As described above, the estimated hydraulic pressure Pwc 'can be considered as an estimated hydraulic pressure gradient.

In S32, the detected hydraulic pressure Pwc by the wheel cylinder pressure sensor 75 is set as a detected hydraulic pressure gradient, and it is determined whether or not the difference between the estimated hydraulic pressure gradient and the detected hydraulic pressure gradient is within a predetermined range. Is done. If these are within the range that can be considered to substantially match, the determination is NO and S33
, The low pressure pump 34 and the wheel cylinder 1
If the peripheral portion of No. 8 is normal and is not within the range, the determination is YES, and in S34, it is detected that an abnormality has occurred in any of them. In this case, there is a possibility that an abnormality has occurred in both the low-pressure pump 34 and the peripheral portion of the wheel cylinder 18, so that information indicating that both are abnormal is stored. If it is determined that both the pump device 30 and the periphery of the wheel cylinder are normal, S3
5, the discharge pressure detected by the pump pressure sensor 74;
With the hydraulic pressure detected by the wheel cylinder hydraulic pressure sensor 75,
It is determined whether it is within a range that can be considered substantially equal, and if it is within a range that can be considered equal, the pump pressure sensor 74 is determined to be normal in S36. The pump pressure sensor abnormality flag is reset. If not, the pump pressure sensor 74 is determined to be abnormal in S37, and a pump pressure sensor abnormality flag is set. Regardless of the determination result, the master shutoff valve 26
Is returned to the open state, and the pressure-increasing linear valve 54a is returned to the closed state. Next, in S38, it is determined whether or not abnormality detection has been completed for all wheel cylinders. If not completed, the determination is NO, and the next wheel cylinder is instructed in S39. The count value n of the counter is increased by 1, and in the present embodiment, the right front wheel 2 following the left front wheel 16
The second wheel cylinder 24 {WC (2)} is designated.

In S28, the pressure-increasing linear valve 54b corresponding to the wheel cylinder 24 of the right front wheel 22 is opened, and the master cutoff valve 28 is switched to the closed state.
The same execution is performed by the operation of the low-voltage motor 40,
An abnormality is detected. When abnormality detection has been completed for all wheel cylinders, the determination in S38 is YES, and in S40, it is determined whether or not all wheel cylinder peripheral portions are determined to be abnormal.
If all are abnormal, the determination is YES and S4
In 2, it is detected that an abnormality has occurred in the low-pressure pump 40, a low-pressure pump abnormality flag is set, and each WC peripheral abnormality flag is reset. If all are not abnormal, the determination is NO, and in S41, it is determined whether or not all the peripheral parts of the wheel cylinder are normal. If all are normal, the determination is YES, and in S43, it is determined that both the low-pressure pump 34 and all the peripheral parts of the wheel cylinders are normal. In this case, both the low-pressure pump abnormality flag and the WC peripheral portion abnormality flag are reset. In other cases, it is determined that the abnormality has occurred not on the low-pressure pump 34 but on the wheel cylinder peripheral portion side, and in S44, an abnormality flag for the corresponding wheel cylinder peripheral portion is set, and other WC peripheral portion abnormality flags and The low-pressure pump abnormality flag is reset. As described above, even if the low-pressure pump 34 is connected to any one of the wheel cylinders, if it is detected that the low-pressure pump 34 is abnormal, it is detected that the low-pressure pump 34 has an abnormality. If no abnormality occurs when the communication is established, the low-pressure pump 34 is determined to be normal.

Thereafter, in S45, it is determined whether or not abnormality detection has been completed for all motors. If not, the next motor is instructed in S46. Next to the low-voltage motor 40, the high-voltage motor 3
8 (motor (2)) is instructed, the low voltage motor 40 is stopped, and the high voltage motor 38 is driven. Further, the count value n is returned to 1, and the wheel cylinder 18 is instructed. Hereinafter, abnormality is similarly detected for the high-voltage motor 38.

The abnormality flag for the peripheral portion of the wheel cylinder is set when the low-pressure motor 40 is operated, and is reset when the high-pressure motor 38 is operated. This may be caused by air mixing in the individual passages 52a to 52d. It is considered that the air flow was released due to the flow of the hydraulic fluid and the air flow was normal, and it was not erroneously detected. If abnormality detection is completed, S
At 47, the count values m and n of the counter are returned to 1, and the display indicating that the initial check is being performed is turned off. The high-voltage motor 38 is returned to the stop state.

As described above, in this embodiment, the cumulative number of rotations of the low-voltage and high-voltage motors 40 and 38 is detected. Then, the low-pressure pump 3
4. The cumulative discharge amount from the high-pressure pump 32 is obtained, and the wheel cylinder hydraulic pressure is estimated based on the cumulative discharge amount. The wheel cylinder hydraulic pressure is not estimated based on the rotation speeds of the low-pressure and high-pressure motors 40 and 38. The pump device 30 has four wheel cylinders 18 and 2.
When the wheels 4, 46 and 48 are connected in parallel, each wheel cylinder is connected one by one to detect an abnormality. Therefore, the abnormality is detected in either the wheel cylinder peripheral portion or the pump. It is possible to identify what has occurred. Furthermore, since the normal device can be specified by specifying the device in which the abnormality has occurred, the control can be continuously performed using the normal device, and the pump device 30 can be effectively used. it can.

In the above embodiment, the counting of the number of rotations of the motor is started from a state where the wheel cylinder hydraulic pressure is at the atmospheric pressure. However, the counting may be started from a state where the wheel cylinder hydraulic pressure is not at the atmospheric pressure. . It suffices that the wheel cylinder hydraulic pressure at the time when the counting of the cumulative number of rotations is started is known. For example, when the wheel cylinder fluid pressure is Pn, the counting of the number of cumulative rotations of the motor is started, and the counting is continued for a predetermined time. The change amount ΔP of the wheel cylinder hydraulic pressure is estimated based on the accumulated discharge amount during this time, and the estimated wheel cylinder hydraulic pressure is obtained, while the actual hydraulic cylinder pressure change amount is detected by the wheel cylinder hydraulic pressure sensor. . The estimated hydraulic pressure is: P 'is (Pn + ΔP)
However, if it is determined whether or not the absolute value of the difference between this and the detected hydraulic pressure is smaller than a set value, it is possible to detect an abnormality in the periphery of the pump and the wheel cylinder. The hydraulic pressure change amount ΔP can be estimated based on the cumulative discharge amount Q. Further, the accumulated number of rotations of the motor is set to a set time t0.
It is not indispensable to count during the period, and the counting may be performed until the set number of times is reached. It is desirable that the set time and the number of times be set so that the change in the hydraulic pressure of the wheel cylinder does not become too small.

As described above, in the above embodiment,
The cumulative rotation number detecting device 168, 170 and the portion of the brake fluid pressure control device 160 that executes S29 constitute a cumulative rotation number detecting device, and the portion of the brake fluid pressure control device 160 that performs S30 performs cumulative discharge. An amount estimating means is configured.

The high-voltage motor 38 and the low-voltage motor 4
The volumetric efficiency of the pump is obtained based on the cumulative number of rotations of 0,
It is also possible to detect an abnormality of the pump based on the volumetric efficiency of the pump. For example, based on the cumulative number of rotations NL of the low-pressure motor 40, the estimated cumulative discharge amount Q ^* = qL · NL of the hydraulic fluid discharged from the low-pressure pump 34 is determined.
The actual accumulated discharge amount Q discharged from the actual low-pressure pump 34 is obtained based on the amount of change in the hydraulic pressure of the wheel cylinder. In this case, the volumetric efficiency η becomes (η = Q / Q ^* ). If the volumetric efficiency η is smaller than a predetermined set value, the capacity of the low-pressure pump 34 is low and it is determined that the low-pressure pump 34 is abnormal. can do. An abnormality can be similarly detected for the high-pressure pump 34.

Further, the abnormality of the brake device can be detected in accordance with the execution of the brake device abnormality detection program shown in the flowchart of FIG. In this case, 1
With one booster linear valve 54a kept open and the other booster linear valves 54b, c, d kept closed,
The pressure is discharged from each of the low-pressure pump 34 and the high-pressure pump 32 estimated based on the wheel cylinder hydraulic pressure detected by the wheel cylinder hydraulic pressure sensor 75 and the cumulative number of rotations of the low-pressure motor 40 and the high-pressure motor 38. Abnormality is detected by comparing the estimated wheel cylinder hydraulic pressure estimated based on the cumulative discharge amount of the hydraulic fluid. The wheel cylinder pressure detected by the wheel cylinder pressure sensor 75 when both motors 40 and 38 are in operation, and the estimated wheel when both low pressure motor 40 and high pressure motor 38 are in operation. Comparing with the cylinder fluid pressure, if these substantially match, it is considered normal, and if they do not match,
By sequentially operating the low-pressure motor 40 and the high-pressure motor 38 one by one, an abnormality of any one of the low-pressure pump 34, the high-pressure pump 32, and the wheel cylinder pressure sensor 75 is detected.

The low-voltage motor 40 and the high-voltage motor 3
When the operation state of the wheel cylinder 18 is switched,
The working fluid may or may not be returned to the reservoir 31. However, when the working fluid is returned, the counting of the number of cumulative rotations in each operating state is started from a state in which the discharge pressure of the pump is substantially zero. Will be. If not,
The wheel cylinder hydraulic pressure is estimated based on the actual wheel cylinder hydraulic pressure at that time and the cumulative number of rotations.

In S61, one pressure-increasing linear valve 54a is opened, and both the low-pressure motor 40 and the high-pressure motor 38 are activated. In S62, the cumulative number of rotations NL of each of the motors 40, 38 during the set time t0, NL,
NH is detected, and in S62, the accumulated discharge amounts QL and QH from the low-pressure and high-pressure pumps 34 and 32 are obtained by calculation, respectively. Then, the total cumulative discharge amount Q from the pump device 30 is obtained as (QL + QH). S
At 64, an estimated wheel cylinder hydraulic pressure Pwc ′ is obtained based on the total accumulated discharge amount Q, and the detected wheel cylinder hydraulic pressure Pwc is detected by the wheel cylinder hydraulic pressure sensor 75. In S65, the detected wheel cylinder pressure Pwc is compared with the estimated wheel cylinder pressure Pwc '. It is determined whether or not these differences are within a predetermined set range. If the difference is within the set range, at S66, the high-pressure and low-pressure pumps 32, 3 are determined.
4 and the wheel cylinder fluid pressure sensor 75 are also normal, and the high pressure pump abnormality flag, the low pressure pump abnormality flag, and the wheel cylinder fluid pressure sensor abnormality flag are reset.

On the other hand, if the difference between the detected wheel cylinder fluid pressure and the estimated wheel cylinder fluid pressure is not within the set range, the low pressure motor 40 is operated and the high pressure motor 38 is not operated in S67. State. S6
At 8, the accumulated number of rotations NL of the low-pressure motor 40 is detected, and similarly, the accumulated discharge amount QL and the estimated wheel cylinder pressure PLwc 'are obtained, and the detected wheel cylinder pressure PLwc is detected. Similarly, in S69 and S70,
While the high-pressure motor 38 is operated and the low-pressure motor 40 is kept in the non-operating state, the cumulative number of rotations NH of the high-pressure motor 38 is detected, and the accumulated discharge amount QH and the estimated wheel cylinder fluid pressure PHwc 'are obtained. Then, the detected wheel cylinder hydraulic pressure PHwc is detected. In S71, the detected wheel cylinder fluid pressure PLwc when the low-pressure motor 40 is activated is compared with the estimated wheel cylinder fluid pressure PLwc ', and it is determined whether or not they are substantially the same.
In steps 2 and 73, a comparison between the detected wheel cylinder pressure PHwc and the estimated wheel cylinder pressure PHwc 'when the high-pressure motor 38 is activated is made in the same manner, and it is determined whether or not the pressures are substantially the same. You.

When the low-voltage motor 40 is in the operating state, the absolute value of these differences is small, and the high-voltage motor 38
If the absolute values of these differences are large in the operating state, the determination in S71 is NO, the determination in S72 is YES, and in S74, the high-pressure pump 34 is determined to be abnormal, and the high-pressure pump is abnormal. The flag is set, and the other abnormal flags are reset. If the absolute value of these differences is large when the low-voltage motor 40 is in the operating state, and the absolute value of these differences is small when the high-voltage motor 38 is in the operating state, S7
The determination in 1 is YES, the determination in S73 is NO, and in S75, the low-pressure pump 32 is determined to be abnormal. The low-pressure pump abnormality flag is set, and the other abnormality flags are reset. In any case, if the absolute value of the difference is large, the determination in S71, 73 is YE
In S, the wheel cylinder hydraulic pressure sensor 75 is determined to be abnormal in S76. The wheel cylinder pressure sensor abnormality flag is set, and the other abnormality flags are reset. After the abnormality detection is completed, the operations of the low-voltage and high-voltage motors 38 and 40 are stopped, and the pressure-increasing linear valve 54a is returned to the closed state.

As described above, in this embodiment, it is possible to detect that at least one of the low-pressure pump 34, the high-pressure pump 32, and the wheel cylinder hydraulic pressure sensor 75 has failed, and to determine whether the failure has occurred. The resulting device can be identified. Also, when the absolute value of the difference between the estimated wheel cylinder hydraulic pressure and the detected wheel cylinder hydraulic pressure is small when both pumps 34 and 32 are operating, the pump device 30 is determined to be normal, Pump 34,3
It is no longer necessary to activate the two units one by one, and it is possible to quickly detect that they are normal. If it is determined in S66 that both the pump device 30 and the wheel cylinder fluid pressure sensor 75 are normal, the discharge pressure detected by the pump pressure sensor 74 and the wheel cylinder fluid pressure detected by the wheel cylinder fluid pressure sensor 75 are determined. And compare
It is also possible to detect whether or not an abnormality has occurred in the pump pressure sensor 74.

The brake fluid pressure estimating means for partially operating the brake fluid pressure is constituted by a portion for executing S68 and S70 of the brake fluid pressure control device 160 according to the present embodiment.
An abnormality detecting means is constituted by a portion executing step 76 and the like.

Although the above embodiment has been described with reference to the case where the pressure-increasing linear valve 54a is opened, even when any one of the pressure-increasing linear valves 54b to 54d is kept open, An abnormality can be similarly detected even in a state where all of them are kept open. Further, a pump pressure sensor 74 may be used instead of the wheel cylinder pressure sensors 75 to 78. This is because the wheel cylinder hydraulic pressure and the discharge pressure should be the same.
Further, an abnormality can be similarly detected in a state where all the pressure increasing linear valves 54a to 54d are kept closed.
In this case, the working fluid is discharged from the pump within a range permitted by the compression of the working fluid and the expansion of the fluid passage. In this case, an abnormality of the pump pressure sensor 74 is detected, and FIG. 8 is a flowchart showing the pump device abnormality detection program.

In S61 in the flowchart of FIG. 7, the pressure-increasing linear valve 54 of the wheel cylinder 18
a is maintained in the open state, but in S91 in the flowchart of FIG.
4a to 4d are kept closed. In S94, the discharge pressure Ps' is estimated based on the total cumulative discharge amount, while the pump pressure sensor 74 detects the actual discharge pressure Ps. Then, in S95, the detected discharge pressure P
s is compared with the estimated discharge pressure Ps', and if they substantially match, it is determined that the pump device 30 and the pump pressure sensor 74 are normal. On the other hand, if they do not substantially match, the low-pressure pump 34 and the high-pressure pump 32 are sequentially operated one by one, and the estimated discharge pressure PLs' estimated based on the respective cumulative discharge amounts. , PHs' and the detected discharge pressure Ps are compared, and an abnormality is detected in the same manner as described above. Further, in the present embodiment, since an abnormality is detected in a state where the pump device is disconnected from the wheel cylinder, the pump device abnormality detection program may be executed when the vehicle is running or stopped, other than during braking. it can. There is an advantage that the execution time is not limited to the initial check. In the above-described embodiment, it is desirable that the cumulative number-of-rotations detectors 168 and 170 can detect the relative phase of the rotor with respect to the stator. All booster linear valves 54a-d
Is in the closed state, the discharge pressure is limited.

The abnormality detection of the pump device can be applied to a brake device having another structure. For example, as shown in FIG.
And one pump 204 may be included. In the pump device 200, the operation state of a pump motor 206 as an electric motor for driving the pump 204 is controlled such that the hydraulic pressure of the working fluid stored in the accumulator 202 falls within a set range.
The pressure switch 208 detects that the hydraulic pressure of the accumulator 202 has become lower than the lower limit, and switches from the OFF state to the ON state when the hydraulic pressure becomes lower than the lower limit. The pressure sensor 210 detects the actual hydraulic pressure of the accumulator 202. The pump motor 20
The cumulative number of rotations of No. 6 is detected by the cumulative number of rotations detection device 212.

The pump motor 206 is controlled in accordance with the execution of a motor control program shown in the flowchart of FIG. In S111, it is determined whether an abnormality has been detected in the pump device 200. If no abnormality has been detected, normal control is performed in S112. The pump motor 206 is activated when the pressure switch 208 detects that the accumulator pressure has decreased to the lower limit, and is returned to the non-operating state when the pressure sensor 210 detects that the accumulator pressure has reached the upper limit. It is.
In this way, the accumulator pressure is kept within the set range.

If it is detected that there is an abnormality, S11
1 is YES, and the abnormality is
4 is determined. If it is the pump 204, the determination in S113 is YES, and S114
In step S11, the control of the pump motor 206 is stopped, but if an abnormality is detected in the pressure switch 208,
3 is NO, S115 is YES
In S115, control based on the accumulator pressure detected by the pressure sensor 210 is performed. When the accumulator pressure detected by the pressure sensor 210 falls below the lower limit value, the pump motor 206 is operated, and when it goes above the upper limit value, the pump motor 206 is stopped. If an abnormality is detected in the pressure sensor 210, S113, 1
If both the determinations at 15 are NO, and the pressure switch 208 detects that the accumulator pressure has become equal to or lower than the lower limit value at S117, the pump motor 206 is operated, and the estimation is performed based on the cumulative number of rotations of the pump motor 204. The operation is stopped when the estimated accumulator pressure reaches the upper limit. in this way,
In the present embodiment, even if there is an abnormal device, the control of the pump motor 204 is continued by effectively using the normal device, and the accumulator pressure is maintained within a set range. In step S117, the pump motor 206 may be kept in the operating state for a predetermined set time after the pressure switch 208 is turned on. It is also possible to separately provide a pressure switch for detecting that the accumulator pressure has become equal to or higher than the upper limit value.

In the brake device according to the present embodiment, both the master cylinder 12 and the pump device 200 are connected to all the wheel cylinders. The electromagnetic on / off valves 220 and 222 provided in the middle of the liquid passage connecting the pump device 200 and the wheel cylinder are normally closed valves, whereas the electromagnetic on / off valves provided between the master cylinder and the wheel cylinder are provided. Since the valves 224 and 226 are normally open valves, all the wheel cylinders are shut off from the pump device 200 and the master cylinder 1
2 will be communicated. In addition, since a mechanical pressure-intensifying valve 228 is provided between the wheel cylinder on the rear wheel side and the master cylinder 12, the hydraulic pressure of the master cylinder 12 is increased on the wheel cylinder on the rear wheel side. Will be supplied. In addition, electromagnetic open / close valves 230 and 232 are provided between the two wheel cylinders on each of the front wheel side and the rear wheel side. Solenoid on-off valve 23
With the control of 0,232, the two wheel cylinders can be communicated with each other or shut off. When controlling the hydraulic pressure of two wheel cylinders independently,
It shuts off and communicates when controlling in common,
In the case of performing common control, one of the linear valve devices may be controlled.

In this brake device, the pump device 2
The abnormality of 00 is detected according to the execution of the pump device abnormality detection program shown in the flowchart of FIG.
This program is executed at the time of the initial check when the ignition switch is switched to 0N, as in the case of the above embodiment. This is executed when the ignition switch is switched to 0N and the accumulator pressure is smaller than the lower limit. Pump 20
Then, the pump motor 206 for driving the motor No. 4 is activated, and the counting of the number of cumulative rotations N is started. The counting continues until the pressure switch 208 detects that the accumulator pressure has reached the lower limit. And in this case,
The amount of working fluid stored in the accumulator 202 is
The accumulator pressure is estimated based on the accumulated discharge amount discharged from the accumulator 04, and the actual accumulator pressure is detected by the pressure sensor 210 based on the accumulated discharge amount. In this case, the pressure switch 20
8. If all of the pressure sensor 210 and the pump 204 are normal, the accumulator pressure Pa detected by the pressure sensor 210 and the estimated accumulator pressure Pa ′ estimated based on the accumulated discharge amount (cumulative working fluid amount) are both changed by the pressure switch 208.
Should be substantially the same as the lower limit value Pss detected by

In step S131, the pump motor 206 is set in the operating state, and counting of the number of cumulative rotations is started. S
At 132, it is waited that the pressure switch 208 detects that the accumulator pressure has reached the lower limit value Pss. The operation of the pump motor 206 is continuously performed until the pressure switch 308 is changed from the ON state to the OFF state, and the cumulative number of rotations is continuously counted. When it is detected that the lower limit value Pss has been reached, the cumulative number of rotations N of the pump motor 206 is detected in S133, and the detected accumulator pressure P is detected by the pressure sensor 210.
a is detected. In S134, the cumulative discharge amount Q of the hydraulic fluid discharged from the pump 204 is obtained by calculation based on the cumulative number of rotations N, and the accumulator pressure Pa 'is estimated based on the calculation. In S135 to S137, the lower limit Pss, the detected accumulator pressure Pa, and the estimated accumulator pressure Pa 'are compared.

If the detected accumulator pressure Pa and the lower limit value Pss are substantially the same and the detected accumulator pressure Pa and the estimated accumulator pressure Pa 'are substantially the same, it is determined in S138 that the pump device 200 is normal. The pressure switch 208, the pressure sensor 210, and the pump 204 are normal. On the other hand, when the detected accumulator pressure Pa and the lower limit value Pss are substantially the same and the absolute value of the difference between the detected accumulator pressure Pa and the estimated accumulator pressure Pa 'is large, it is determined in S139 that the pump 204 is abnormal. The pump abnormality flag is set, and the other abnormality flags are reset. Detected accumulator pressure Pa
If the absolute value of the difference between the pressure and the lower limit Pss is large and the detected accumulator pressure Pa and the estimated accumulator pressure Pa 'are substantially the same, it is determined in S140 that the pressure switch 208 is abnormal and the pressure switch abnormality flag is set. ,
Other abnormality flags are reset. If the absolute value of the difference between the detected accumulator pressure Pa and the lower limit value Pss and the absolute value of the difference between the detected accumulator pressure Pa and the estimated accumulator pressure Pa 'are large, the pressure sensor 21 is determined in S141.
0 is considered abnormal. The pressure sensor abnormality flag is set, and the other abnormality flags are reset. After the abnormality detection, the motor 304 may be returned to a stopped state, or may be controlled in accordance with the execution of the motor control program.

As described above, according to the present embodiment, it is possible to detect that an abnormality has occurred in at least one of the pressure switch 208, the pressure sensor 210, and the pump 204.
In addition, it is possible to specify the device in which the abnormality has occurred. Therefore, it is possible to continue the operation of the pump device 200 using a normal one. In the present embodiment, an accumulator pressure estimating unit is configured by a portion that executes S134 of the brake fluid pressure control device 160, and the like.
An abnormality detecting means is constituted by a portion that executes 135 to 141 and the like. In addition, an electric motor control unit in the event of an abnormality is configured by a portion that executes S116 and S117, and the like.
And the like constitute an estimated accumulator pressure substitute means.

In the above embodiment, the abnormality is detected based on the comparison between the lower limit and the detected accumulator pressure and the comparison between the detected accumulator pressure and the estimated accumulator pressure. And comparing the detected accumulator pressure with the estimated accumulator pressure, or comparing the lower limit with the estimated accumulator pressure and comparing the lower limit with the detected accumulator pressure to detect an abnormality. .
Further, another pressure sensor is provided in place of the pressure switch 208, and the comparison can be performed based on the set pressure detected by the pressure sensor. In this case, when the accumulator pressure is smaller than the lower limit value, it is not necessary to start counting the number of times of the cumulative rotation, and the counting may be started from a state where the accumulator pressure is determined. Further, the present invention can be applied to a case where an abnormality of a pump device including two or more pumps is detected.

Further, in each of the above embodiments, the abnormality is detected based on the cumulative number of rotations of the electric motor. However, the abnormality may be detected based on the rotation speed of the electric motor. In this case, the cumulative rotation number detecting device 16
The rotational speed of the electric motor can be obtained by using 8, 170 and 212. The rotation speed can be detected by dividing the counted number of times of rotation by the time required. In addition, high-voltage motors, low-voltage motors 38, 4
0, the rotation speed can also be detected based on the average value of the current flowing through the pump motor 206. In this case, the brake device abnormality detection program represented by the flowchart of FIG.
In the case where both are activated, if the absolute value of the difference between the estimated wheel cylinder fluid pressure and the detected wheel cylinder fluid pressure is large, the low pressure motor 40 and the high pressure motor 38 are operated one by one. Was to be
There is no need to operate one by one. A flowchart in this case is shown in FIG.

In step S151, one pressure-increasing linear valve 54a is opened, and both the low-pressure motor 40 and the high-pressure motor 38 are activated. In S152, the rotational speeds ωL, ω of the low-voltage motor 40 and the high-voltage motor 38
H, the wheel cylinder hydraulic pressures PLwc 'and PHwc' are estimated based on the discharge pressures of the hydraulic fluid discharged from the low-pressure pump 34 and the high-pressure pump 32. It is detected by the pressure sensor 75. In S153 to S155, the estimated wheel cylinder pressure PLwc 'estimated based on the detected wheel cylinder hydraulic pressure and the rotation speed of the low-pressure motor 40.
And the detected wheel cylinder hydraulic pressure P
wc is compared with an estimated wheel cylinder pressure PHwc 'estimated based on the rotation speed of the high-pressure motor 38. When the absolute value of any difference is small, in S156,
The high and low pressure pumps 32, 34 are considered to be normal,
If the absolute value of the difference between the detected wheel cylinder fluid pressure Pwc and the estimated wheel cylinder fluid pressure PLwc 'is small and the absolute value of the difference between the detected wheel cylinder fluid pressure Pwc and the estimated wheel cylinder fluid pressure PHwc' is large, S157 is executed. , The high-pressure pump 32 is determined to be abnormal, the absolute value of the difference between the detected wheel cylinder hydraulic pressure Pwc and the estimated wheel cylinder hydraulic pressure PLwc 'is large, and the detected wheel cylinder hydraulic pressure Pwc and the estimated wheel cylinder hydraulic pressure PHwc' If the absolute value of the difference is small, it is determined in S158 that the low-pressure pump 34 is abnormal. If the absolute value of both differences is large, the pump pressure sensor 74 is abnormal in S159. Is done. Since the wheel cylinder hydraulic pressure detected by the wheel cylinder hydraulic pressure sensor 75 and the discharge pressure detected by the pump pressure sensor 74 are the same, abnormality can be similarly determined by comparing the estimated discharge pressure with the detected discharge pressure. Can be detected.

The high-voltage motor 38 and the low-voltage motor 4
0, pump motor 206 (hereinafter abbreviated as motor, etc.)
It is also possible to control the supply current to the motor according to a predetermined pattern, and detect an abnormality based on the change history of the wheel cylinder fluid pressure in that case. When the supply current to the motor or the like is controlled in accordance with the pattern shown in FIG. 13A, it is known in advance that the wheel cylinder fluid pressure changes as shown in FIG. This value can be theoretically obtained based on the structure of the brake device or the like, but can also be obtained by experiment. In this case, when the detected wheel cylinder fluid pressure changes according to the solid line in FIG. 14A, the initial delay is large, but the subsequent change gradient is almost the same as the reference value. Although caused by the contamination, it can be determined that the pump is normal. When the gradient of the detected value is smaller than the gradient of the reference value as a whole, it can be determined that the performance of the pump device is reduced.

When one detected value is compared with one reference value, it may be erroneously determined that the pump is abnormal. If an abnormality is detected, it can be accurately determined whether or not the abnormality has occurred. Further, it is also possible to acquire the cause of the difference between the detected value and the reference value. Conversely, supplying a current to a motor or the like so that the wheel cylinder fluid pressure changes according to the pattern shown in FIG. 13B, and comparing the actual supplied current value with a reference value (reference current value). Can detect an abnormality. Fig. 14
When the change is made according to the solid line shown in (b), the evaluation can be made in the same manner as in the case described above. At the initial stage, a large amount of current is supplied to reduce the pressure increase delay caused by the mixing of air. Thereafter, the current is supplied at a substantially equal gradient, albeit larger.

The structure of the brake device is not limited to the above-described embodiment, and at least one of the pressure-increasing linear valve and the pressure-reducing linear valve can be a simple electromagnetic on-off valve. Further, the electromagnetic hydraulic pressure control valve and the electromagnetic on-off valve are not indispensable, and it is also possible to apply the hydraulic pressure of each wheel cylinder to a brake device that cannot independently control. In addition, it is not essential to perform control according to an abnormal state in the event of an abnormality of the pump device or the like. The communication with the master cylinder 12 can also be made. Further, it is also possible to perform the abnormal-time control in another mode, and it is only necessary to inform the driver that the abnormality has been detected. further,
It is also possible to notify the driver and perform the abnormal-time control.

Although not specifically exemplified, the present invention can be implemented in various modified and improved embodiments.

[Brief description of the drawings]

FIG. 1 is a circuit diagram of a brake device according to an embodiment of the present invention.

FIG. 2 is a diagram conceptually showing a structure of a front-wheel-side linear valve device 66 included in the brake device.

FIG. 3 is a view conceptually showing a structure of a rear wheel side linear valve device 68 included in the brake device.

FIG. 4 is a view showing a flowchart of a brake device abnormality detection program stored in a ROM of a brake fluid pressure control device included in the brake device.

FIG. 5 is a view showing a flowchart of an electric motor control program stored in a ROM of the brake fluid pressure control device.

FIG. 6 is a view showing a flowchart of a linear valve device control program stored in a ROM of the brake fluid pressure control device.

FIG. 7 is a diagram showing a flowchart of a brake device abnormality detection program stored in a ROM of a brake fluid pressure control device of a brake device according to another embodiment of the present invention.

FIG. 8 is a flowchart showing a pump device abnormality detection program stored in a ROM of a brake fluid pressure control device of a brake device according to still another embodiment of the present invention.

FIG. 9 is an overall circuit diagram of a brake device according to still another embodiment of the present invention.

FIG. 10 is a flowchart showing a pump device abnormality detection program stored in a ROM of the brake fluid pressure control device of the brake device.

FIG. 11 is a flowchart showing an electric motor control program stored in a ROM of the brake fluid pressure control device.

FIG. 12 is a flowchart showing a pump device abnormality detection program stored in a ROM of a brake fluid pressure control device included in a brake device according to still another embodiment of the present invention.

FIG. 13A is a diagram illustrating an example of a change in a supply current value in a brake device according to still another embodiment of the present invention. FIG. 3B is a diagram illustrating an example of a change in wheel cylinder hydraulic pressure in the brake device.

FIG. 14A is a diagram showing an actual wheel cylinder hydraulic pressure change and a reference wheel cylinder hydraulic pressure change in the brake device. (B) It is a figure which shows the actual supply current value change and reference | standard supply current value change in the said brake apparatus.

[Explanation of symbols]

 Reference Signs List 30 pump device 32 high-pressure pump 34 low-pressure pump 38 high-pressure motor 40 low-pressure motor 74 pump pressure sensor 75 to 76 wheel cylinder pressure sensor 168, 170 cumulative rotation number detection device 160 brake fluid pressure control device 200 pump device 202 accumulator 204 Pump 206 Pump motor 208 Pressure switch 210 Pressure sensor 212 Accumulated rotation number detection device

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Claims (5)

[Claims] 1. A pump device comprising: a pump; an electric motor for driving the pump; and a cumulative rotation number detecting device for detecting a cumulative rotation number of the electric motor. 2. The apparatus according to claim 1, wherein said cumulative rotation number detecting device includes means for detecting the cumulative rotation number of said electric motor from a state where the discharge pressure of said pump is substantially zero. Pumping equipment. 3. An accumulator for storing the hydraulic fluid discharged from the pump under pressure, an accumulator pressure detecting device for detecting an actual hydraulic pressure of the hydraulic fluid stored in the accumulator, and the accumulator. A pressure switch that changes the output state of the signal when the hydraulic pressure of the accumulator reaches a predetermined set pressure, and an accumulator that estimates the hydraulic pressure of the accumulator based on the cumulative number of rotations detected by the cumulative number of rotations detection device. Pressure estimating means, based on at least three of a change in a signal output state of the pressure switch, an accumulator pressure detected by the accumulator pressure detecting device, and an accumulator pressure estimated by the accumulator pressure estimating means,
3. An accumulator pressure detecting device and an abnormality detecting means for detecting that an abnormality has occurred in at least one of the pumps and identifying which abnormality has occurred in the pump. Pumping equipment. 4. When the abnormality detecting means detects that the accumulator pressure detecting device is abnormal, the estimated accumulator pressure estimated by the accumulator pressure estimating means is replaced with the accumulator pressure detected by the accumulator pressure detecting device. The pump device according to claim 3, further comprising an estimated accumulator pressure substitute means to be used. 5. A brake device comprising: a brake cylinder; and a plurality of the pump devices according to claim 1 connected to the brake cylinder, wherein the hydraulic pressure of the brake cylinder is A first operating state in which one of the plurality of pump devices is sequentially operated and the other pump devices are in an inactive state; and The cumulative rotation of the electric motor of the pump device in an operating state in one of a second operating state in which one of the pump devices is sequentially inactivated and the remaining pump devices are in an activated state. A partially operating brake cylinder hydraulic pressure estimating means for estimating the hydraulic pressure of the brake cylinder based on the cumulative number of rotations detected by the number of rotations detecting device; Based on the estimated brake cylinder hydraulic pressure by the brake cylinder hydraulic pressure estimation means and the brake cylinder hydraulic pressure detected by the brake cylinder hydraulic pressure detection device,
A plurality of pump devices, and abnormality detecting means for detecting that an abnormality has occurred in at least one of the brake cylinder fluid pressure detecting devices and identifying which of the abnormality has occurred. And brake equipment.