CN108422987B - A kind of trailer type RV braking force automatic distribution control device and control method thereof - Google Patents

Abstract

The invention provides a brake force automatic distribution control device of a trailer-type RV and a control method thereof. The device includes a detection mechanism, an electronic control unit ECU and an actuator; the detection mechanism will detect the braking signal of the brake pedal and the resistance change signal of the angle measuring device, and send it to the ECU. The angle measuring device is installed in the connection between the tractor and the RV The actuator includes a PWM controller and a brake; the ECU judges the braking force of the tractor and the RV according to the braking signal; the ECU calculates the hinge angle at the hinge between the tractor and the RV according to the resistance change signal of the angle measuring device; the control unit and the actuator Connect, adjust the left and right braking force of the RV brake through the PWM controller, and generate the yaw moment, so that the trailer RV can brake smoothly. The device is simple in structure and easy to install, and can effectively improve the braking stability of the trailer-type RV.

Description

A kind of trailer type RV braking force automatic distribution control device and control method thereof

technical field

The invention belongs to the technical field of RV braking for trailer-type RVs, and in particular relates to a trailer-type RV brake force automatic distribution control device and a control method thereof.

Background technique

With the progress of the times, people's requirements for the quality of life are constantly improving. Many people will choose to drive and drag their RVs to go out to play. Trailer RVs came into being and continued to develop. The braking performance of the car is one of the main performances of the car, and it is an important guarantee for the safe driving of the car.

When the trailer-type RV is braking in a straight line, if there is an angle between the tractor and the RV, the RV will have a yaw angle, which will affect its braking stability. At present, most of the existing angle measuring devices use precise electronic angle measuring devices, which are expensive to manufacture and have complex structures and are easily damaged. Once a problem occurs, maintenance is difficult. Existing angle measuring devices, such as patent application No. 201080018253.1, have a drive gear connected to the shaft in a torque-transmitting manner and at least one measuring gear directly driven by the drive gear, wherein the one or more measuring gears The angular position can know the angular position of the shaft, the accuracy is relatively high but the structure is complex, the wear between the measuring gear and the driving gear is large, and the service life is not long. Another example is the patent application number 201510208789.4, which uses the gradual increase in the thickness of the metal block to change the distance from the coil on the circuit board, resulting in a mutual inductance effect of different strengths to measure the size of the angle. The mechanical structure is simple but many sensors are used, and the cost is relatively expensive. And the performance of the sensor will be degraded during long-term use, making the measurement result erroneous. The device is simple in structure, easy to install, low in cost and very convenient for maintenance, facilitates the measurement of the yaw angle between the tractor and the trailer when the RV is braking, and improves the stability of the RV during braking.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a brake force automatic distribution control device for a trailer-type RV and a control method thereof in view of the above problems. It is expected that when the RV is braking, if there is a yaw motion, there will be a hinge angle at the connection between the tractor and the RV. The angle measuring device can measure the hinge angle, and the braking system can adjust the left and right wheels according to the hinge angle signal. The yaw moment generated by the difference between the two sides of the braking force is used to prevent the uncontrollable side-slip phenomenon, so that the trailer can be braked smoothly.

The technical scheme of the present invention is: an automatic distribution control device for the braking force of a trailer-type RV, comprising a detection mechanism, an electronic control unit ECU and an execution mechanism;

The detection mechanism is used to detect the braking signal of the brake pedal and the resistance change signal of the angle measuring device, and the angle measuring device is installed at the connection between the tractor and the RV;

The actuator includes a RV PWM controller and a brake; the PWM controller is used to control the braking force of the RV brake;

The detection mechanism sends the detected signal to the electronic control unit ECU, and the electronic control unit ECU judges the braking force of the tractor and the RV according to the braking signal of the brake pedal; the electronic control unit ECU calculates the traction according to the resistance change signal of the angle measuring device. The hinge angle at the hinge between the car and the RV; the control unit is connected with the actuator, and the braking force of the brake is adjusted by the PWM controller.

In the above solution, the detection mechanism includes a brake pedal stroke sensor and an angle measurement device;

The brake pedal stroke sensor is used to measure the braking signal of the brake pedal;

The angle measuring device is used for measuring the hinge angle between the tractor and the RV by detecting the change of resistance.

In the above solution, the angle measuring device includes a steel rod, a sleeve, a rolling bearing, a brush, a half-ring resistor, a half-ring insulator and a ball stud hook;

One end of the ball stud hook is connected to the sleeve rotating pair, and the other end is connected to the tractor; one end of the steel rod is hinged to the sleeve,

The inside of the rolling bearing is connected with the ball stud hook, and the outside of the rolling bearing is connected with the steel rod;

The brush and the half-ring resistor are installed in the half-ring insulator, and the half-ring insulator is installed on the ball pin hook; one end of the brush is connected with the other end of the steel rod, and the other end of the brush is connected with the half-ring resistor , the brush can move on the semi-ring resistance.

In the above scheme, when there is no hinge angle between the tractor and the RV, the brush is in contact with the center position of the semi-ring resistance;

When the tractor and the RV have a hinged angle, the sleeve rotates to drive the steel rod to rotate, and the rotation of the steel rod 301 drives the brush to move on the semi-ring resistance, thereby changing the resistance of the semi-ring resistance to change the voltage. The larger the hinge angle, the larger the resistance connected to the semi-ring resistor, and the larger the corresponding voltage.

In the above solution, the steel rod and the sleeve are connected by a hinge.

In the above solution, one end of the brush is connected to the steel rod through an elastic member.

In the above solution, the brake of the actuator is an electromagnetic brake; the PWM controller is connected to the electromagnetic brake through an electromagnetic relay; the electromagnetic relay is also connected to the electronic control unit ECU.

In the above solution, the half-ring resistor and the half-ring insulator are fixed on the ball stud hook by bolts.

In the above solution, the electronic control unit ECU includes an input module, a calculation module and an output module;

The input module is used to receive the braking signal detected by the detection mechanism and the voltage signal obtained by the resistance change of the angle measuring device; the calculation module is used to process the voltage signal of the input module, and calculate the tractor and the house according to the received voltage signal. The hinge angle of the workshop; the output module sends the angle signal of the hinge angle to the PWM controller.

A control method according to the rearview mirror adjustment system of the trailer-type RV, comprising the following steps:

When the RV is braking, the electronic control unit ECU receives the braking signal and the voltage signal of the detection mechanism; the electronic control unit ECU controls the combination of the brake and the wheel according to the braking signal; the electronic control unit ECU measures the angle according to the angle The voltage signal of the device is used to calculate the hinge angle when the tractor and the RV are braking;

If the hinge angle of the tractor and the RV is 0 when braking, the ECU controls the PWM controller to make the duty cycle the same, and the braking force of the left and right wheels is the same;

If the hinge angle between the tractor and the RV is not 0 when braking, the electronic control unit ECU determines whether the RV swings clockwise relative to the tractor when braking;

If it is detected that the motorhome swings clockwise relative to the tractor, the electronic control unit ECU controls the left wheel PWM controller to increase the duty cycle and the voltage, thereby controlling the left wheel brake to increase the braking force, and the left and right wheel braking force The difference produces a counterclockwise yaw moment, which enables the trailer to brake smoothly;

If it is detected that the motorhome swings counterclockwise relative to the tractor, the electronic control unit ECU controls the PWM controller of the right wheel to increase the duty ratio and the voltage, thereby controlling the right brake to increase the braking force, and the braking force of the left and right wheels The difference produces a clockwise yaw moment, allowing the trailer to brake smoothly.

Compared with the prior art, the beneficial effects of the present invention are:

1. In the present invention, when the trailer-type RV is braking in a straight line, if there is a hinge angle between the tractor and the trailer, the RV will have a yaw motion, and the present invention can measure the hinge between the tractor and the RV through the angle measuring device. Angle, and actively control the electromagnetic brakes on the left and right sides according to the angle signal to form the difference between the braking force and generate the yaw moment to prevent the uncontrollable side slip phenomenon, so that the trailer can be braked smoothly. In addition, the angle measuring device does not need a sensor, has low cost, is easy to install, and can accurately measure the hinge angle.

2. The angle measuring device described in the present invention is installed at the junction of the tractor and the RV, and is equipped with a steel rod, a rolling bearing, a half-ring resistance and a half-ring at the connection between the ball stud hook and the sleeve between the tractor and the RV. Insulators and other mechanisms, the steel rod is connected by a hinge and a sleeve, the roller bearing is welded on the ball stud hook and connected with the steel rod, and the half-ring resistor and the half-ring insulator are fixed on the ball stud hook by bolts. When the RV is not braking, the brush is in contact with the center of the semi-ring resistance. When the brake of the RV is detected, if there is a hinge angle between the tractor and the trailer, the sleeve drives the steel rod, thereby driving the brush to move on the semi-ring resistance, thereby changing the voltage. The electronic control unit detects the braking signal and the voltage signal, calculates the angle signal, and controls the PWM controller to adjust the left and right braking force of the RV electromagnetic brake through the angle signal, so as to generate a yaw moment so that the trailer RV can brake smoothly. The device has a simple structure and is easy to install, and can effectively improve the stability of the trailer-type RV during braking.

Description of drawings

FIG. 1 is a schematic diagram of the structural framework of the present invention.

FIG. 2 is a schematic structural diagram of an angle measuring device according to an embodiment of the present invention.

FIG. 3 is a partial cross-sectional view of the angle measuring device in view B-B of an embodiment of the present invention.

FIG. 4 is a schematic diagram of an electronic control unit according to an embodiment of the present invention.

FIG. 5 is a flowchart of an embodiment of the present invention.

In the figure, 1. Steel rod; 2. Hinge; 3. Ball stud; 4. Sleeve; 5. Rolling bearing; 6. Spring; 7. Brush; 8. Half-ring resistor; 9. Bolt; 10. Half-ring Insulator; 11. Power supply; 12. Ball stud hook.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in FIG. 1 , the automatic distribution control device for the braking force of a trailer-type RV according to the present invention includes a detection mechanism, an electronic control unit ECU and an execution mechanism.

The detection mechanism includes a brake pedal stroke sensor and an angle measurement device. The brake pedal stroke sensor is used to detect the braking signal. The angle measurement device is installed at the connection between the tractor and the RV to obtain the voltage by detecting the change of the resistance. The signal thus measures the articulation angle between the tractor and the motorhome. The detection mechanism sends the detected signal to the electronic control unit ECU, and the electronic control unit ECU judges the braking force of the tractor and the RV according to the braking signal of the brake pedal; the electronic control unit ECU calculates the traction according to the resistance change signal of the angle measuring device. The hinge angle at the hinge between the car and the RV; the control unit is connected with the actuator, and the braking force of the brake is adjusted by the PWM controller.

As shown in FIGS. 2 and 3 , the angle measuring device includes a steel rod 1 , a sleeve 4 , a rolling bearing 5 , a brush 7 , a half-ring resistor 8 , a half-ring insulator 10 and a ball stud hook 12 .

The ball stud 3 is welded on one end of the ball stud hook 12, the other end of the ball stud hook 12 is connected to the tractor, the ball stud 3 is placed in the sleeve 4, and the ball stud 3 can be inserted into the sleeve. 4 turns inside. One end of the steel rod 1 and the sleeve 4 are connected by the hinge 2. When the RV brakes, the hinge connection can avoid the influence of the pitch angle between the tractor and the RV; the roller bearing 5 is internally welded on the ball stud hook 12, and the ball The outside of the bearing 5 is welded with the steel rod 1, which can restrict the steel rod 1 from sliding up and down in the direction of the ball stud 3, but can make the steel rod 1 rotate with the rotation of the sleeve 4; one end of the brush 7 is connected to the other side of the steel rod 1. One end is connected by an elastic member. Preferably, the elastic member is a spring 6. The spring 6 can ensure that the brush 7 is in constant contact with the semi-ring resistor 8 during braking, and the other end of the brush 7 is connected to the semi-ring resistor 8. When not braking, the brush 7 is in contact with the center of the semi-ring resistance 8. When the RV is braking, if the tractor and the RV have an angle, the sleeve 4 will rotate, thereby driving the steel rod 1 to rotate, and the steel rod 1 will rotate to drive the electric motor. The brush 7 moves on the half-ring resistor 8, thereby changing the resistance of the half-ring resistor 8 to change the voltage; the half-ring resistor 8 and the half-ring insulator 10 are fixed on the ball stud hook 12 by the bolt 9. The motorhome power supply 11 supplies power to the angle measuring device. When the RV brakes, a hinge angle will be generated between the tractor and the RV. If the RV yaw clockwise relative to the tractor, the steel rod 1 drives the brush to rotate clockwise around the semi-ring resistance 8, and the larger the hinge angle, The resistance connected to the semi-ring resistor 8 becomes larger, and the corresponding voltage becomes larger; if the trailer yaw counterclockwise relative to the tractor, the steel rod 1 drives the brush to rotate counterclockwise around the semi-ring resistor 8, and the larger the hinge angle is, the more semi-ring The resistance connected to the resistor 8 becomes smaller, and the corresponding voltage becomes smaller. The detection mechanism sends the detected braking signal and angle signal to the electronic control unit ECU.

As shown in Figure 4, the electronic control unit ECU includes three modules: an input module, a calculation module and an output module. The input module is used to receive the braking signal and the voltage signal detected by the detection mechanism, and the calculation module is used to process the voltage signal of the input module, and calculate the hinge angle of the tractor and the workshop according to the received voltage signal. The output module sends the angle signal to the PWM controller.

The actuator includes a PWM controller, an electromagnetic relay and an electromagnetic brake. One end of the PWM controller is connected to the output module of the electronic control unit to receive the angle signal of the hinge angle. The electronic control unit ECU controls the PWM controller to adjust the duty cycle according to the angle information, and the other end is electrically connected to the electromagnetic relay. The electronic control unit ECU The connection and disconnection of the electromagnetic relays are controlled according to the received braking signals, and the electromagnetic relays are respectively electrically connected with the left and right electromagnetic brakes. The left and right electromagnetic brakes adjust the braking force of the left and right wheels respectively, and use the yaw moment generated by the difference between the two sides of the braking force to prevent the uncontrollable side slip phenomenon, so that the trailer can be braked smoothly. When the RV brakes, the electronic control unit ECU receives the braking signal, the electromagnetic relay is combined, and the electromagnetic brake works. At the same time, if the RV yaw clockwise relative to the tractor, the electronic control unit ECU controls the left wheel PWM controller to increase its duty cycle and voltage, thereby controlling the left wheel electromagnetic brake to increase the braking force, and the left and right wheels The difference in braking force produces a counterclockwise yaw moment, which enables the trailer RV to brake smoothly; if the RV yaw counterclockwise relative to the tractor, the electronic control unit ECU controls the right wheel PWM controller to make its duty cycle higher , the voltage increases, thereby controlling the right electromagnetic brake to increase the braking force, and the difference between the braking forces of the left and right wheels generates a clockwise yaw moment, so that the trailer can be braked smoothly.

As shown in Figure 5, the control method of the rearview mirror adjustment system of the trailer-type RV includes the following steps:

When the RV is braking, the input module of the electronic control unit ECU receives the braking signal from the brake pedal stroke sensor, the controllable switch is closed, the electronic control unit ECU controls the combination of the electromagnetic relay, and the input module receives the voltage signal of the angle measuring device, And send it to the calculation module, the calculation module calculates the hinge angle when the tractor and the RV are braking, if the hinge angle is 0 when the tractor and the RV brake, and half of the semi-ring resistance 8 is connected to the circuit at this time, the electronic control unit The ECU controls the left and right PWM controllers to make the duty cycle the same, the braking force of the left and right wheels is the same, and the input module continues to receive signals; if the hinge angle of the tractor and the RV is not 0 when braking, that is, the resistance connected to the semi-ring resistance 8 If it is not half, it means that clockwise or counterclockwise deflection has occurred, and the electronic control unit ECU determines whether the RV swings clockwise relative to the tractor when braking;

If it is detected that the motorhome swings clockwise relative to the tractor, and the access resistance is less than 1/2 resistance, the electronic control unit ECU controls the left wheel PWM controller to make the duty cycle higher and the voltage increase, thereby controlling the left wheel electromagnetic brake to make it The braking force increases, and the difference between the braking forces of the left and right wheels generates a counterclockwise yaw moment, which enables the trailer RV to brake smoothly;

If it is detected that the RV swings counterclockwise relative to the tractor, and the access resistance is greater than 1/2 resistance, the electronic control unit ECU controls the right wheel PWM controller to increase the duty cycle and the voltage, thereby controlling the right electromagnetic brake to make it The braking force increases, and the difference between the braking forces of the left and right wheels generates a clockwise yaw moment, which enables the trailer RV to brake smoothly.

When the RV does not brake, the electronic control unit ECU controls the electromagnetic relay to disconnect, and the angle measuring device does not work.

The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Changes should all be included within the protection scope of the present invention.

Claims (9)

1. a kind of caravan trailer brake force distributes control device automatically, which is characterized in that single including testing agency, electronic control First ECU and executing agency；

The testing agency is used to detect the brake signal of brake pedal and the resistance variations signal of angle measurement unit, the angle Degree measuring device is mounted on the junction of tractor and caravan；

The angle measurement unit includes steel pole (1), sleeve (4), rolling bearing (5), brush (7), semi-circular resistance (8), half Annular insulator (10) and ball stud hook (12)；

One end of the ball stud hook (12) is connect with sleeve (4) revolute pair, and the other end is connected on tractor；The steel pole (1) one end and sleeve (4) hingedly,

The rolling bearing (5) is internal to be connect with ball stud hook (12), is connect outside rolling bearing (5) with steel pole (1)；

The brush (7) and semi-circular resistance (8) are mounted in semi-circular insulator (10), and semi-circular insulator (10) is mounted on Ball stud is linked up on (12)；One end of the brush (7) is connect with the other end of steel pole (1), the other end and semi-ring of brush (7) Shape resistance (8) connection, brush (7) can move on semi-circular resistance (8)；

The executing agency includes caravan PWM controller and brake；The PWM controller is used for caravan brake braking force It is controlled；

The signal that the testing agency will test is sent to electronic control unit ECU, and electronic control unit ECU is according to brake pedal Brake signal judge the brake force of tractor and caravan；Electronic control unit ECU is according to the resistance variations of angle measurement unit The splice angle of signal calculating tractor and caravan hinged place；Electronic control unit ECU is connect with executing agency, passes through the PWM Controller regulating brake brake force.

2. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that the detection Mechanism includes brake-pedal-travel sensor and angle measurement unit；

The brake-pedal-travel sensor is used to measure the brake signal of brake pedal；

The angle measurement unit is used to measure the splice angle between tractor and caravan by detection resistance variation.

3. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that work as tractor When not generating hinge angle with caravan, brush (7) is contacted with semi-circular resistance (8) center；

When tractor and caravan generate hinge angle, sleeve (4) rotation drives steel pole (1) rotation, steel pole (1) rotation Brush (7) are driven to move on semi-circular resistance (8), to change the resistance sizes of semi-circular resistance (8) access to change electricity Size is pressed, splice angle is bigger, and the resistance of semi-circular resistance (8) access becomes larger, and corresponding voltage becomes larger.

4. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that the steel pole (1) it is connected by a hinge with sleeve (4).

5. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that the brush (7) one end is connect with steel pole (1) by elastomeric element.

6. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that the execution The brake of mechanism is electromagnetic brake；The PWM controller is connect by electromagnetic relay with electromagnetic brake；Electromagnetism relay Device is also connect with electronic control unit ECU.

7. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that the semi-ring Shape resistance (8) and semi-circular insulator (10) are fixed on ball stud hook (12) by bolt (9).

8. caravan trailer brake force according to claim 1 distributes control device automatically, which is characterized in that the electronics Control unit ECU includes input module, computing module and output module；

The electricity that the input module is used to receive the brake signal of testing agency's detection and angle measurement unit resistance variations obtain Press signal；The computing module is used to handle the voltage signal of input module, calculates traction according to the voltage signal received Splice angle between vehicle and caravan；The angle signal of splice angle is sent to PWM controller by the output module.

9. one kind distributes control for caravan trailer brake force described in -8 any one claims according to claim 1 automatically The control method of device, which comprises the following steps:

When caravan is braked, the electronic control unit ECU receives the brake signal and voltage signal of the testing agency；It is described Electronic control unit ECU is according to brake signal control brake in conjunction with wheel；The electronic control unit ECU is surveyed according to angle The voltage signal of device is measured, splice angle when calculating tractor and caravan braking；

If splice angle is 0 when tractor and caravan are braked, electronic control unit ECU control PWM controller makes its duty ratio phase Together, left and right wheels brake force is identical；

If splice angle is not 0 when tractor and caravan are braked, whether electronic control unit ECU judge when braking caravan relative to leading Draw vehicle clockwise oscillation；

If it is detected that caravan, with respect to tractor clockwise oscillation, electronic control unit ECU control left wheel PWM controller makes it Duty ratio is got higher, and voltage becomes larger, and increases its brake force to control left wheel brake, the difference of left and right wheels brake force generates Yaw moment counterclockwise, enables caravan trailer gradual braking；

If it is detected that caravan is with respect to tractor counter-clockwise swing, electronic control unit ECU, which controls right wheel PWM controller, makes it Duty ratio is got higher, and voltage becomes larger, and thus controlling right wheel drag increases its brake force, and the difference of left and right wheels brake force generates Clockwise yaw moment, enables caravan trailer gradual braking.