CN110654242B - Control method and device for brake motor and vehicle - Google Patents
Control method and device for brake motor and vehicle Download PDFInfo
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- CN110654242B CN110654242B CN201810691734.7A CN201810691734A CN110654242B CN 110654242 B CN110654242 B CN 110654242B CN 201810691734 A CN201810691734 A CN 201810691734A CN 110654242 B CN110654242 B CN 110654242B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The disclosure provides a control method and device of a brake motor, and a vehicle, so as to solve the problem that the control of the brake motor in the related art is not accurate enough. The method comprises the following steps: acquiring required clamping force for braking a target wheel and brake information of the target wheel, wherein the brake information comprises temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel; and controlling the target brake motor to work according to the required clamping force, the brake information and a motor feedback signal of a target brake motor for executing the brake operation on the target wheel so as to drive the brake pad to apply the clamping force to the brake disc.
Description
Technical Field
The disclosure relates to the field of vehicle engineering, in particular to a control method and device of a brake motor and a vehicle.
Background
With the development of new energy vehicle technology, more and more vehicles select an electronic braking system to perform braking control on the vehicle, and the electronic braking system controls a braking motor to drive a braking pad to apply clamping force to a braking disc of a wheel so as to realize braking on the vehicle.
In the related art, an electronic braking system takes an error between an actual slip rate of a wheel and an optimal expected slip rate set by the system, and a change rate of the error as a dual input of a fuzzy controller. Further, the fuzzy controller obtains the current change of the braking motor according to a preset fuzzy control rule table, and the current of the braking motor is controlled based on the yaw angle error or the slip ratio error of the vehicle, so that the braking operation of the braking force of the vehicle is controlled.
However, a strategy for controlling the brake motor based on a yaw angle error or a slip rate error requires the acquisition of a plurality of driving data of the vehicle, which requires a high accuracy of the relevant sensors. If the sensor fails, the problems of error feedback or no feedback of the actual slip rate and the like can occur, so that the vehicle brake fails and the driving safety accident occurs.
Disclosure of Invention
The disclosure provides a control method and device of a brake motor, and a vehicle, so as to solve the problem that the control of the brake motor in the related art is not accurate enough.
In order to achieve the above object, an embodiment of the present disclosure provides a control method of a brake motor, including:
acquiring required clamping force for braking a target wheel and brake information of the target wheel, wherein the brake information comprises temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel;
and controlling the target brake motor to work according to the required clamping force, the brake information and a motor feedback signal of a target brake motor for executing the brake operation on the target wheel so as to drive the brake pad to apply the clamping force to the brake disc.
Optionally, controlling the target brake motor to work according to the required clamping force, the brake information, and the motor feedback signal, including:
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor;
determining to correct the target corner determined based on the first preset corresponding relation according to the brake information to obtain a required corner;
and according to the deviation between the required rotation angle and the actual rotation angle in the motor feedback signal, the target brake motor is controlled to work in a closed loop mode, so that the actual rotation angle of the target brake motor approaches to the required rotation angle.
Optionally, a first brake motor and a second brake motor are arranged corresponding to the target wheel, and the target brake motor is any one of the first brake motor and the second brake motor; the first preset corresponding relation comprises a corresponding relation between a required clamping force and a motor rotation angle of the target brake motor in a dual-motor working mode, and a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a single-motor working mode;
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor, wherein the determining comprises the following steps:
selecting a target corresponding relation from the first preset corresponding relation according to the current motor working mode;
and determining a target rotation angle of the target brake motor according to the required clamping force and the target corresponding relation.
Optionally, controlling the target brake motor to work according to the required clamping force, the brake information, and the motor feedback signal, including:
determining the clamping force currently applied to the brake disc according to the motor rotation angle information in the motor feedback signal and a second preset corresponding relation between the motor rotation angle and the clamping force;
correcting the clamping force determined based on the second preset corresponding relation according to the brake information to obtain an actual clamping force;
and according to the deviation of the required clamping force and the actual clamping force, the target brake motor is controlled to work in a closed loop mode, so that the actual clamping force applied to a brake disc by the target brake motor to drive a brake pad approaches the required clamping force.
Optionally, a first brake motor and a second brake motor are arranged corresponding to the target wheel, and the target brake motor is any one of the first brake motor and the second brake motor; the second preset corresponding relation comprises a corresponding relation between a motor rotation angle of the target brake motor and clamping force in a double-motor working mode, and a corresponding relation between the motor rotation angle of the target brake motor and clamping force in a single-motor working mode;
the determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the second preset corresponding relation between the motor rotation angle and the clamping force includes:
selecting a target corresponding relation from the second preset corresponding relation according to the current motor working mode;
and determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the target corresponding relation.
Optionally, the method further includes:
and selecting a double-motor working mode or a single-motor working mode according to the required clamping force and the current working states of the first brake motor and the second brake motor.
Optionally, the obtaining the required clamping force for braking the target wheel includes:
determining the required clamping force to be corrected according to the current opening information of the brake pedal of the vehicle and the preset corresponding relation between the opening of the pedal and the clamping force;
and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
The disclosed embodiment provides a control device for a brake motor, the device includes:
the device comprises an acquisition module, a control module and a processing module, wherein the acquisition module is used for acquiring required clamping force for braking a target wheel and brake information of the target wheel, and the brake information comprises temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel;
and the control module is used for controlling the target brake motor to work according to the required clamping force, the brake information and a motor feedback signal of a target brake motor for executing the brake operation on the target wheel so as to drive the brake pad to apply the clamping force to the brake disc.
Optionally, the control module is configured to:
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor;
determining to correct the target corner determined based on the first preset corresponding relation according to the brake information to obtain a required corner;
and according to the deviation between the required rotation angle and the actual rotation angle in the motor feedback signal, the target brake motor is controlled to work in a closed loop mode, so that the actual rotation angle of the target brake motor approaches to the required rotation angle.
Optionally, the vehicle is provided with a first brake motor and a second brake motor corresponding to the target wheel, and the target brake motor is any one of the first brake motor and the second brake motor; the first preset corresponding relation comprises a corresponding relation between a required clamping force and a motor rotation angle of the target brake motor in a dual-motor working mode, and a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a single-motor working mode;
the control module is configured to: selecting a target corresponding relation from the first preset corresponding relation according to the current motor working mode;
and determining a target rotation angle of the target brake motor according to the required clamping force and the target corresponding relation.
Optionally, the control module is configured to:
determining the clamping force currently applied to the brake disc according to the motor rotation angle information in the motor feedback signal and a second preset corresponding relation between the motor rotation angle and the clamping force;
correcting the clamping force determined based on the second preset corresponding relation according to the brake information to obtain an actual clamping force;
and according to the deviation of the required clamping force and the actual clamping force, the target brake motor is controlled to work in a closed loop mode, so that the actual clamping force applied to a brake disc by the target brake motor to drive a brake pad approaches the required clamping force.
Optionally, the vehicle is provided with a first brake motor and a second brake motor corresponding to the target wheel, and the target brake motor is any one of the first brake motor and the second brake motor; the second preset corresponding relation comprises a corresponding relation between a motor rotation angle of the target brake motor and clamping force in a double-motor working mode, and a corresponding relation between the motor rotation angle of the target brake motor and clamping force in a single-motor working mode;
the control module is configured to: selecting a target corresponding relation from the second preset corresponding relation according to the current motor working mode;
and determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the target corresponding relation.
Optionally, the apparatus further comprises:
and the selection module is used for selecting a double-motor working mode or a single-motor working mode according to the required clamping force and the current working states of the first brake motor and the second brake motor.
Optionally, the obtaining module is configured to:
determining the required clamping force to be corrected according to the current opening information of the brake pedal of the vehicle and the preset corresponding relation between the opening of the pedal and the clamping force;
and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
The embodiment of the disclosure provides a vehicle, which comprises any one of the control devices of the brake motor.
According to the technical scheme, when the vehicle is braked by obtaining, the brake motor of the target wheel needs to drive the brake disc to apply required clamping force to the brake disc as the target amount of the brake motor, the motor feedback signal is used as the feedback amount, the control amount is corrected through the brake information comprising the brake disc temperature information and/or the thickness information of the brake disc, the work of the target brake motor is controlled, and the control of the brake motor can be more accurate.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of controlling a brake motor according to an exemplary embodiment.
FIG. 2 is a flow chart illustrating a method of controlling a brake motor according to an exemplary embodiment.
FIG. 3 is a schematic diagram illustrating a method of controlling a brake motor according to an exemplary embodiment.
FIG. 4 is a flow chart illustrating a method of controlling a brake motor according to an exemplary embodiment.
FIG. 5 is a schematic diagram illustrating a control method for braking a motor, according to an exemplary embodiment.
Fig. 6 is a block diagram illustrating a control apparatus for a brake motor according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating a control method of a brake motor according to an exemplary embodiment, as shown in fig. 1, the method including:
s11, obtaining the required clamping force for braking the target wheel and the brake information of the target wheel, wherein the brake information comprises the temperature information of the brake disc of the target wheel and/or the thickness information of the brake pad of the target wheel.
Wherein the obtaining of the required clamping force for braking the target wheel comprises: determining the required clamping force to be corrected according to the current opening information of the brake pedal of the vehicle and the preset corresponding relation between the opening of the pedal and the clamping force; and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
That is, the required clamping force to be corrected in response to the driver's braking demand is generated by the brake pedal opening degree information; and then obtaining the corrected required clamping force according to vehicle information such as the speed and the speed of the vehicle and road surface information such as adhesion coefficient and the like.
And S12, controlling the target brake motor to work according to the required clamping force, the brake information and a motor feedback signal of a target brake motor performing the braking operation on the target wheel so as to drive the brake pad to apply the clamping force to the brake disc.
According to the technical scheme, when the vehicle is braked by obtaining, the brake motor of the target wheel needs to drive the brake disc to apply required clamping force to the brake disc as the target amount of the brake motor, the motor feedback signal is used as the feedback amount, the control amount is corrected through the brake information comprising the brake disc temperature information and/or the thickness information of the brake disc, the work of the target brake motor is controlled, and the control of the brake motor can be more accurate.
The above method is explained below with a specific flow diagram.
FIG. 2 is a flow chart illustrating a method of controlling a brake motor according to an exemplary embodiment.
The control method may be applied to control of a brake motor of a target wheel provided with a first brake motor and a second brake motor, and the target brake motor described below is either one of the first brake motor and the second brake motor. In addition, the vehicle is further provided with a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a dual-motor operating mode, and a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a single-motor operating mode.
As shown in fig. 2, the method includes:
and S21, acquiring the data information of the vehicle.
For example, please refer to the schematic diagram shown in fig. 3. The data information includes brake information of a target wheel, the brake information including temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel. In addition, the data information includes a brake pedal signal, road surface information, traveling data information, and the like. Wherein the road surface information may include road surface adhesion coefficient information; the vehicle travel data information may include a vehicle speed, and wheel speed information of the target wheel. In addition, control commands of upper layers can be included. For example, ABS braking control commands, vehicle cornering control commands, motor operating mode selection commands, and the like.
S22, it is determined whether the vehicle is in a normal control state.
Specifically, whether the vehicle is in a normal control state or not can be judged through fault codes uploaded by each control module of the vehicle. When the vehicle is in the normal control state, step S24 is executed, otherwise, step S23 is executed.
And S23, sending out prompt information for indicating control failure.
And S24, acquiring the required clamping force for braking the target wheel.
Wherein the obtaining of the required clamping force for braking the target wheel comprises: determining the required clamping force to be corrected according to the current opening information of the brake pedal of the vehicle and the preset corresponding relation between the opening of the pedal and the clamping force; and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
That is, the required clamping force to be corrected in response to the driver's braking demand is generated by the brake pedal opening degree information; and then obtaining the corrected required clamping force according to vehicle information such as the speed and the speed of the vehicle and road surface information such as adhesion coefficient and the like.
S25, determining whether to start the dual-motor operation mode.
Specifically, a dual-motor operating mode or a single-motor operating mode is selected according to the required clamping force and the current operating states of the first brake motor and the second brake motor.
It is worth noting that whether the brake pads are driven to clamp the brake disc using the single motor operation mode or the dual motor operation mode may affect the subsequent estimation of the target rotational angle of the target brake motor. That is, in order to achieve the required clamping force of the brake pad of the target wheel on the brake disc, the target motor rotation angle to be achieved by the target brake motor is different between the single-motor operation mode and the dual-motor operation mode. Wherein, under bi-motor mode, two motors drive simultaneously, and the driving force is stronger, and the rotational speed is influenced the decline degree by the torque and is less, can provide the higher rotational speed of keeping in the time of great moment of torsion, consequently, it is shorter to reach the target corner time, and the time that reaches the demand clamp force is shorter.
If the dual-motor operation mode is selected, executing step S26; if the single motor operation mode is selected, step S29 is executed.
And S26, determining the required rotation angle of the target brake motor in the dual-motor working mode.
Specifically, the target rotation angle of the target brake motor is determined according to the required clamping force and the corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in the dual-motor working mode; and correcting the target rotation angle determined based on the corresponding relation according to the brake information to obtain the required rotation angle of the target brake motor in the double-motor working mode.
As shown in fig. 3, the required clamping force is input into the required rotation angle determining module, and the required rotation angle of the target brake motor can be obtained by compensating the motor rotation angle value obtained by the required clamping force based on the relationship curve of the dual-motor driving clamping force and the motor rotation angle and under the factors of the temperature of the brake disc and the thickness of the brake disc. The higher the temperature of the brake disc is, the more obvious the high-temperature decline of the braking performance is, and more rotation turns of the motor are needed for achieving the required clamping force; the thinner the brake pad is, the smaller the deformation coefficient is, and the fewer the number of turns of the motor required for achieving the required clamping force.
The brake information may include temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel. And the obtained required rotation angle of the brake motor is compensated through the thickness of the brake pad, the temperature of the brake disc and a single-motor/double-motor driving mode (control command), so that a more accurate estimation result is obtained.
And S27, the first brake motor controller and the second brake motor controller respectively execute closed-loop control.
And S28, respectively acquiring feedback signals of the first brake motor and the second brake motor.
Further, the first brake motor may be set as a master motor, and the second brake motor may be set as a slave motor. The slave motor can acquire the rotation angle data of the master motor and execute a following control strategy.
Exemplarily, as shown in fig. 3. In the dual-motor operating mode, there are two target brake motors, i.e., a first brake motor and a second brake motor, corresponding to the first brake motor controller and the second brake motor controller, respectively. The required clamping force is determined through the required clamping force determining module, and then the required corner of the target brake motor is generated according to the required corner determining module based on the required clamping force, the thickness of the brake pad, the temperature of the brake disc and the control command. And respectively generating PWM control signals by the first brake motor controller and the second brake motor controller according to the deviation between the required corner and the actual corner in the motor feedback signal, and driving the three-phase brushless direct current motor to rotate by the driving chip and the driving axle. And controlling the target brake motor to work in a closed loop mode, so that the actual rotation angle of the target brake motor approaches to the required rotation angle.
The closed-loop control strategy can be basic P/PI/PID control, or integral saturation resistant PID control, fuzzy PID control, neural network PID control and the like developed on the basis of the basic P/PI/PID control.
And S29, determining the required rotation angle of the target brake motor in the single-motor working mode.
Specifically, the target rotation angle of the target brake motor is determined according to the required clamping force and the corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in the single-motor working mode; and correcting the target rotation angle determined based on the corresponding relation according to the brake information to obtain the required rotation angle of the target brake motor in the single-motor working mode.
S30, the first brake motor controller performs closed loop control.
And S31, acquiring a feedback signal of the first brake motor.
The control strategy in the single-motor operation mode is similar to that of the dual-motor operation mode, and reference may be made to the description of steps S26-S28, which is not repeated herein.
FIG. 4 is a flow chart illustrating a method of controlling a brake motor according to an exemplary embodiment.
The control method may be applied to control of a brake motor of a target wheel provided with a first brake motor and a second brake motor, and the target brake motor described below is either one of the first brake motor and the second brake motor. In addition, the vehicle is also internally provided with a corresponding relation between the motor rotation angle of the target brake motor and the clamping force in a double-motor working mode, and a corresponding relation between the motor rotation angle of the target brake motor and the clamping force in a single-motor working mode.
As shown in fig. 4, the method includes:
and S41, acquiring data information of the vehicle.
For example, please refer to the schematic diagram shown in fig. 5. The data information includes brake information of a target wheel, the brake information including temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel. In addition, the data information also includes brake pedal signals, road surface information, vehicle information, and the like. The vehicle travel data information may include, among other things, a vehicle speed, and wheel speed information of the target wheel. In addition, control commands of upper layers can be included. For example, ABS braking control commands, vehicle cornering control commands, motor operating mode commands, etc.
S42, it is determined whether the vehicle is in a normal control state.
Specifically, whether the vehicle is in a normal control state or not can be judged through fault codes uploaded by each control module of the vehicle. When the vehicle is in the normal control state, step S44 is executed, otherwise, step S43 is executed.
And S43, sending out prompt information for indicating control failure.
And S44, acquiring the required clamping force for braking the target wheel.
Wherein the obtaining of the required clamping force for braking the target wheel comprises: determining the required clamping force to be corrected according to the current opening information of the brake pedal of the vehicle and the preset corresponding relation between the opening of the pedal and the clamping force; and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
That is, the required clamping force to be corrected in response to the driver's braking demand is generated by the brake pedal opening degree information; and then obtaining the corrected required clamping force according to vehicle information such as the speed and the speed of the vehicle and road surface information such as adhesion coefficient and the like.
S45, determining whether to start the dual-motor operation mode.
Specifically, a dual-motor operating mode or a single-motor operating mode is selected according to the required clamping force and the current operating states of the first brake motor and the second brake motor.
It should be noted that the actual clamping force applied to the brake disc by the brake pad of the target wheel estimated using the single-motor operation mode or the dual-motor operation mode is different according to the rotation angle information in the feedback signal of the target brake motor. Therefore, in estimating the actual clamping force, the clamping force estimator shown in fig. 5 needs to acquire a control command including a motor operation mode selection command.
If the dual-motor operation mode is selected, executing step S46; if the single motor operation mode is selected, step S49 is executed.
And S46, determining the clamping force currently applied to the brake disc in the dual-motor working mode.
Specifically, the clamping force currently applied to the brake disc is determined according to motor rotation angle information in each motor feedback signal in the double-brake motor and the corresponding relation between the motor rotation angle of the target brake motor and the clamping force in the double-motor working mode; and correcting the clamping force determined based on the corresponding relation according to the brake information to obtain the actual clamping force.
As shown in fig. 5, the motor feedback signal (including the motor rotation angle information) is input into the clamping force estimator, so that the actual clamping force can be obtained by compensating the clamping force obtained from the motor rotation angle information based on the relationship curve between the rotation angle of the dual-motor driving motor and the clamping force under the factors of the temperature of the brake disc and the thickness of the brake disc.
The brake information may include temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel. And the estimated clamping force is compensated through the thickness of the brake pad, the temperature of the brake disc and a single-motor/double-motor driving mode (control command), so that a more accurate estimation result is obtained.
And S47, the first brake motor controller and the second brake motor controller respectively execute closed-loop control.
Further, the first brake motor may be set as a master motor, and the second brake motor may be set as a slave motor. The slave motor can acquire the rotation angle data of the master motor and execute a following control strategy.
And S48, respectively acquiring feedback signals of the first brake motor and the second brake motor.
Further, the first brake motor may be set as a master motor, and the second brake motor may be set as a slave motor. The slave motor can acquire the rotation angle data of the master motor and execute a following control strategy.
Exemplarily, as shown in fig. 3. In the dual motor operating mode, there are two target brake motors. The required clamping force is determined through the required clamping force determining module, and then the actual clamping force applied to the brake disc by the brake motor currently driving the brake disc is obtained according to the motor rotation angle information, the brake disc thickness, the brake disc temperature and the control command in the motor feedback signal. And respectively generating PWM control signals by the first brake motor controller and the second brake motor controller according to the deviation of the required clamping force and the actual clamping force, and driving the three-phase brushless direct current motor to rotate by the driving chip and the driving axle. And the target brake motor is controlled to work in a closed loop mode, so that the actual clamping force applied to the brake disc by the target brake motor driving the brake pad approaches the required clamping force.
The closed-loop control strategy can be basic P/PI/PID control, or integral saturation resistant PID control, fuzzy PID control, neural network PID control and the like developed on the basis of the basic P/PI/PID control.
And S49, determining the clamping force currently applied to the brake disc in the single-motor working mode.
S50, the first brake motor controller performs closed loop control.
And S51, acquiring a feedback signal of the first brake motor.
The control strategy in the single-motor working mode is similar to that of the double motors, and the description is omitted here.
According to the technical scheme, the motor feedback signal with better safety and reliability is used as the control target and the feedback signal, so that the problems of feedback failure and the like caused by failure of the wheel speed sensor and the like are solved. In addition, the system braking force can be ensured to change along with the change of the position of the brake pedal, so that the corresponding braking force can be generated when the vehicle is in a static state (no wheel speed). In addition, the direct control object of the present invention is the motor rotation angle, the clamping force actually output can be directly adjusted according to the control amount, and functions such as ABS (anti-lock brake system), ESP (electronic stability program), ASR (drive anti-skid control), EBD (electronic brake force distribution) and the like can be integrated better.
In the embodiment of the disclosure, the braking force/motor rotation angle is controlled, so that frequent starting and stopping of the motor caused by wheel jumping in the vehicle running process is avoided, the motor current is smaller, namely, under a braking force target, only locked-rotor holding current exists, the influence of instantaneous large current during frequent starting and stopping is avoided, the power consumption is reduced, the heating is relatively less, and the performance life of a braking system is favorably maintained. Meanwhile, the scheme in the embodiment of the disclosure is to actively control the position of the motor, namely, the distance between the brake pad and the brake disc can be actively controlled, and the phenomena of dragging brake and even disc burning can be avoided.
The active control brake system (driving a mechanical structure through a brushless motor and pushing calipers to clamp a brake disc to realize braking) supported by the embodiment of the disclosure allows the driving to be realized by strong mechanical coupling of double motors, the load capacity of the double motor driving is stronger, and the power consumption of the motor during locked rotor can be reduced. Meanwhile, when one brake motor in the target wheel fails to rotate due to an electrical or mechanical failure, the other brake motor can be used for braking the vehicle. Eight driving motors corresponding to four wheel calipers can provide more safety backup to prevent a plurality of braking motors from simultaneously failing to lose braking force.
Fig. 6 is a block diagram illustrating a control apparatus for a brake motor according to an exemplary embodiment. The device comprises:
an obtaining module 610, configured to obtain a required clamping force for braking a target wheel, and brake information of the target wheel, where the brake information includes temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel;
and a control module 620, configured to control the target brake motor to operate according to the required clamping force, the brake information, and a motor feedback signal of a target brake motor that performs a braking operation on the target wheel, so as to drive the brake pad to apply a clamping force to the brake disc.
Optionally, the control module 620 is configured to:
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor;
determining to correct the target corner determined based on the first preset corresponding relation according to the brake information to obtain a required corner;
and according to the deviation between the required rotation angle and the actual rotation angle in the motor feedback signal, the target brake motor is controlled to work in a closed loop mode, so that the actual rotation angle of the target brake motor approaches to the required rotation angle.
Optionally, the vehicle is provided with a first brake motor and a second brake motor corresponding to the target wheel, and the target brake motor is any one of the first brake motor and the second brake motor; the first preset corresponding relation comprises a corresponding relation between a required clamping force and a motor rotation angle of the target brake motor in a dual-motor working mode, and a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a single-motor working mode;
the control module 620 is configured to: selecting a target corresponding relation from the first preset corresponding relation according to the current motor working mode;
and determining a target rotation angle of the target brake motor according to the required clamping force and the target corresponding relation.
Optionally, the control module 620 is configured to:
determining the clamping force currently applied to the brake disc according to the motor rotation angle information in the motor feedback signal and a second preset corresponding relation between the motor rotation angle and the clamping force;
correcting the clamping force determined based on the second preset corresponding relation according to the brake information to obtain an actual clamping force;
and according to the deviation of the required clamping force and the actual clamping force, the target brake motor is controlled to work in a closed loop mode, so that the actual clamping force applied to a brake disc by the target brake motor to drive a brake pad approaches the required clamping force.
Optionally, the vehicle is provided with a first brake motor and a second brake motor corresponding to the target wheel, and the target brake motor is any one of the first brake motor and the second brake motor; the second preset corresponding relation comprises a corresponding relation between a motor rotation angle of the target brake motor and clamping force in a double-motor working mode, and a corresponding relation between the motor rotation angle of the target brake motor and clamping force in a single-motor working mode;
the control module 620 is configured to:
selecting a target corresponding relation from the second preset corresponding relation according to the current motor working mode;
and determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the target corresponding relation.
Optionally, the apparatus further comprises:
and the selection module is used for selecting a double-motor working mode or a single-motor working mode according to the required clamping force and the current working states of the first brake motor and the second brake motor.
Optionally, the obtaining module 610 is configured to:
determining the required clamping force to be corrected according to the current opening information of the brake pedal of the vehicle and the preset corresponding relation between the opening of the pedal and the clamping force;
and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
According to the technical scheme, when the vehicle is braked by obtaining, the brake motor of the target wheel needs to drive the brake disc to apply required clamping force to the brake disc as the target amount of the brake motor, the motor feedback signal is used as the feedback amount, the control amount is corrected through the brake information comprising the brake disc temperature information and/or the thickness information of the brake disc, the work of the target brake motor is controlled, and the control of the brake motor can be more accurate.
In addition, a motor feedback signal with better safety and reliability is used as a control target and a feedback signal, so that the problems of feedback failure and the like caused by failure of a wheel speed sensor and the like are solved. In addition, the system braking force can be ensured to change along with the change of the position of the brake pedal, so that the corresponding braking force can be generated when the vehicle is in a static state (no wheel speed). In addition, the direct control object of the present invention is the motor rotation angle, the clamping force actually output can be directly adjusted according to the control amount, and functions such as ABS (anti-lock brake system), ESP (electronic stability program), ASR (drive anti-skid control), EBD (electronic brake force distribution) and the like can be integrated better.
In the embodiment of the disclosure, the braking force/motor rotation angle is controlled, so that frequent starting and stopping of the motor caused by wheel jumping in the vehicle running process is avoided, the motor current is smaller, namely, under a braking force target, only locked-rotor holding current exists, the influence of instantaneous large current during frequent starting and stopping is avoided, the power consumption is reduced, the heating is relatively less, and the performance life of a braking system is favorably maintained. Meanwhile, the scheme in the embodiment of the disclosure is to actively control the position of the motor, namely, the distance between the brake pad and the brake disc can be actively controlled, and the phenomena of dragging brake and even disc burning can be avoided.
The active control brake system (driving a mechanical structure through a brushless motor and pushing calipers to clamp a brake disc to realize braking) supported by the embodiment of the disclosure allows the driving to be realized by strong mechanical coupling of double motors, the load capacity of the double motor driving is stronger, and the power consumption of the motor during locked rotor can be reduced. Meanwhile, when one brake motor in the target wheel fails to rotate due to an electrical or mechanical failure, the other brake motor can be used for braking the vehicle. Eight driving motors corresponding to four wheel calipers can provide more safety backup to prevent a plurality of braking motors from simultaneously failing to lose braking force.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The embodiment of the disclosure provides a vehicle, which comprises any one of the control devices of the brake motor.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (13)
1. A method of controlling a brake motor, the method comprising:
acquiring required clamping force for braking a target wheel and brake information of the target wheel, wherein the brake information comprises temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel;
controlling the target brake motor to work according to the required clamping force, the brake information and a motor feedback signal of a target brake motor for executing brake operation on the target wheel so as to drive the brake pad to apply clamping force to the brake disc;
controlling the target brake motor to work according to the required clamping force, the brake information and the motor feedback signal, and the method comprises the following steps:
determining the clamping force currently applied to the brake disc according to the motor rotation angle information in the motor feedback signal and a second preset corresponding relation between the motor rotation angle and the clamping force;
correcting the clamping force determined based on the second preset corresponding relation according to the brake information to obtain an actual clamping force;
and according to the deviation of the required clamping force and the actual clamping force, the target brake motor is controlled to work in a closed loop mode, so that the actual clamping force applied to a brake disc by the target brake motor to drive a brake pad approaches the required clamping force.
2. The method of claim 1, wherein controlling the target brake motor operation based on the requested clamping force, the brake information, and the motor feedback signal comprises:
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor;
determining to correct the target corner determined based on the first preset corresponding relation according to the brake information to obtain a required corner;
and according to the deviation between the required rotation angle and the actual rotation angle in the motor feedback signal, the target brake motor is controlled to work in a closed loop mode, so that the actual rotation angle of the target brake motor approaches to the required rotation angle.
3. The method of claim 2, wherein a first brake motor and a second brake motor are provided corresponding to the target wheel, the target brake motor being any one of the first brake motor and the second brake motor; the first preset corresponding relation comprises a corresponding relation between a required clamping force and a motor rotation angle of the target brake motor in a dual-motor working mode, and a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a single-motor working mode;
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor, wherein the determining comprises the following steps:
selecting a target corresponding relation from the first preset corresponding relation according to the current motor working mode;
and determining a target rotation angle of the target brake motor according to the required clamping force and the target corresponding relation.
4. The method of claim 1, wherein a first brake motor and a second brake motor are provided corresponding to the target wheel, the target brake motor being any one of the first brake motor and the second brake motor; the second preset corresponding relation comprises a corresponding relation between a motor rotation angle of the target brake motor and clamping force in a double-motor working mode, and a corresponding relation between the motor rotation angle of the target brake motor and clamping force in a single-motor working mode;
the determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the second preset corresponding relation between the motor rotation angle and the clamping force includes:
selecting a target corresponding relation from the second preset corresponding relation according to the current motor working mode;
and determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the target corresponding relation.
5. The method according to claim 3 or 4, characterized in that the method further comprises:
and selecting a double-motor working mode or a single-motor working mode according to the required clamping force and the current working states of the first brake motor and the second brake motor.
6. The method according to any one of claims 1 to 4, wherein the obtaining a required clamping force for braking the target wheel comprises: determining the required clamping force to be corrected according to the current opening information of a brake pedal of a vehicle and a preset corresponding relation between the opening of the pedal and the clamping force;
and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
7. A control device for a brake motor, the device comprising:
the device comprises an acquisition module, a control module and a processing module, wherein the acquisition module is used for acquiring required clamping force for braking a target wheel and brake information of the target wheel, and the brake information comprises temperature information of a brake disc of the target wheel and/or thickness information of a brake pad of the target wheel;
the control module is used for controlling a target brake motor to work according to the required clamping force, the brake information and a motor feedback signal of the target brake motor for executing the brake operation on the target wheel so as to drive the brake pad to apply the clamping force to the brake disc;
the control module is further used for determining the clamping force currently applied to the brake disc according to the motor rotation angle information in the motor feedback signal and a second preset corresponding relation between the motor rotation angle and the clamping force;
correcting the clamping force determined based on the second preset corresponding relation according to the brake information to obtain an actual clamping force;
and according to the deviation of the required clamping force and the actual clamping force, the target brake motor is controlled to work in a closed loop mode, so that the actual clamping force applied to a brake disc by the target brake motor to drive a brake pad approaches the required clamping force.
8. The apparatus of claim 7, wherein the control module is configured to:
determining a target rotation angle of the target brake motor according to the required clamping force and a first preset corresponding relation between the required clamping force and the rotation angle of the brake motor;
determining to correct the target corner determined based on the first preset corresponding relation according to the brake information to obtain a required corner;
and according to the deviation between the required rotation angle and the actual rotation angle in the motor feedback signal, the target brake motor is controlled to work in a closed loop mode, so that the actual rotation angle of the target brake motor approaches to the required rotation angle.
9. The apparatus according to claim 8, wherein a first brake motor and a second brake motor are provided corresponding to the target wheel, the target brake motor being any one of the first brake motor and the second brake motor; the first preset corresponding relation comprises a corresponding relation between a required clamping force and a motor rotation angle of the target brake motor in a dual-motor working mode, and a corresponding relation between the required clamping force and the motor rotation angle of the target brake motor in a single-motor working mode; the control module is configured to: selecting a target corresponding relation from the first preset corresponding relation according to the current motor working mode;
and determining a target rotation angle of the target brake motor according to the required clamping force and the target corresponding relation.
10. The apparatus according to claim 7, wherein a first brake motor and a second brake motor are provided corresponding to the target wheel, the target brake motor being any one of the first brake motor and the second brake motor; the second preset corresponding relation comprises a corresponding relation between a motor rotation angle of the target brake motor and clamping force in a double-motor working mode, and a corresponding relation between the motor rotation angle of the target brake motor and clamping force in a single-motor working mode; the control module is configured to:
selecting a target corresponding relation from the second preset corresponding relation according to the current motor working mode;
and determining the current clamping force applied to the brake disc according to the motor rotation angle information in the motor feedback signal and the target corresponding relation.
11. The apparatus of claim 9 or 10, further comprising:
and the selection module is used for selecting a double-motor working mode or a single-motor working mode according to the required clamping force and the current working states of the first brake motor and the second brake motor.
12. The apparatus of any one of claims 7 to 10, wherein the obtaining module is configured to: determining the required clamping force to be corrected according to the current opening information of a brake pedal of a vehicle and a preset corresponding relation between the opening of the pedal and the clamping force;
and correcting the required clamping force to be corrected according to the current running state information of the vehicle to obtain the required clamping force, wherein the running state information comprises the adhesion coefficient and the rotating speed of the target wheel.
13. A vehicle characterized by comprising the control device of a brake motor according to any one of claims 7 to 12.
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| CN201810691734.7A CN110654242B (en) | 2018-06-28 | 2018-06-28 | Control method and device for brake motor and vehicle |
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| CN201810691734.7A CN110654242B (en) | 2018-06-28 | 2018-06-28 | Control method and device for brake motor and vehicle |
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| CN110654242B true CN110654242B (en) | 2021-05-14 |
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| JP2016094112A (en) * | 2014-11-14 | 2016-05-26 | 株式会社アドヴィックス | Vehicular travel controller |
| CN106458196A (en) * | 2014-07-31 | 2017-02-22 | 威伯科有限公司 | Brake pressure modulator of an electronic braking system of a utility vehicle |
| CN107303820A (en) * | 2016-04-25 | 2017-10-31 | 上海汽车集团股份有限公司 | Anti-lock braking system and its control method, device |
| KR20180007122A (en) * | 2016-07-12 | 2018-01-22 | 현대자동차주식회사 | Vehicle braking apparatus and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6214220B2 (en) * | 2013-06-03 | 2017-10-18 | Ntn株式会社 | Electric brake control system |
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| CN106458196A (en) * | 2014-07-31 | 2017-02-22 | 威伯科有限公司 | Brake pressure modulator of an electronic braking system of a utility vehicle |
| JP2016094112A (en) * | 2014-11-14 | 2016-05-26 | 株式会社アドヴィックス | Vehicular travel controller |
| CN107303820A (en) * | 2016-04-25 | 2017-10-31 | 上海汽车集团股份有限公司 | Anti-lock braking system and its control method, device |
| KR20180007122A (en) * | 2016-07-12 | 2018-01-22 | 현대자동차주식회사 | Vehicle braking apparatus and method |
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