CN112590742A - Active hydraulic braking system and method for trailer based on ZigBee - Google Patents
Active hydraulic braking system and method for trailer based on ZigBee Download PDFInfo
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- CN112590742A CN112590742A CN202011489169.XA CN202011489169A CN112590742A CN 112590742 A CN112590742 A CN 112590742A CN 202011489169 A CN202011489169 A CN 202011489169A CN 112590742 A CN112590742 A CN 112590742A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/665—Electrical control in fluid-pressure brake systems the systems being specially adapted for transferring two or more command signals, e.g. railway systems
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Abstract
本发明公开了一种基于ZigBee的挂车主动液压制动系统及方法，该系统包括牵引车的检测单元、ZigBee通信发送单元和挂车的ZigBee通信接收单元、车间挂钩力检测单元、电控单元及电机液压制动单元；首先通过检测单元获取牵引车辆的加速度、速度以及车辆方向盘转角角度，其次将检测到的牵引车辆状态信息通过ZigBee无线传输方式发送给挂车的接收单元，然后挂车的电控单元根据牵引车的运动状态信息和车间挂钩力进行内部判断，最后对电机液压制动单元输出相应的控制信号使挂车进行制动。本发明将ZigBee通讯和汽车制动控制相结合，能够及时获取牵引车的车辆状态信息，有效对挂车制动控制，使挂车制动变得更加安全可靠，降低汽车列车间的碰撞冲突。
The invention discloses a ZigBee-based active hydraulic braking system and method for a trailer. The system includes a detection unit of a tractor, a ZigBee communication sending unit, a ZigBee communication receiving unit of the trailer, a workshop hook force detection unit, an electronic control unit and a motor Hydraulic braking unit; firstly, the acceleration, speed and steering wheel angle of the towing vehicle are obtained through the detection unit, and then the detected state information of the towing vehicle is sent to the receiving unit of the trailer through ZigBee wireless transmission, and then the electronic control unit of the trailer is based on The motion state information of the tractor and the hook force of the workshop are internally judged, and finally the corresponding control signal is output to the hydraulic braking unit of the motor to make the trailer brake. The invention combines ZigBee communication and vehicle braking control, can obtain vehicle status information of the tractor in time, effectively controls the trailer braking, makes the trailer braking safer and more reliable, and reduces the collision and conflict between the vehicle and the train.
Description
Technical Field
The invention belongs to the technical field of automobile chassis braking, and particularly relates to a trailer active hydraulic braking system and method based on ZigBee.
Background
With the rapid development of the construction of the traffic infrastructure in China and the urgent demand of national economy for the modernized logistics, the road transportation is developed towards intensification, and the automobile train becomes a main transportation tool in the road transportation due to the characteristics of high efficiency, low cost and the like. The road traffic safety problem is gradually revealed while the automobile train transportation mode is developed at a high speed, according to the relevant statistics of the traffic administration, more than 90% of the occurrence reasons of traffic accidents are caused by the collision of front and rear automobiles caused by brake braking, and therefore more and more researchers gradually pay attention to the research of trailer brake systems.
Originally, in order to cooperate with tractors with different types of brake systems, the brake systems of domestic and foreign trailers generally adopt inertia brake systems. However, when the mechanical inertia brake system is adopted, the mechanical inertia brake system has low brake efficiency and certain hysteresis, is easy to sideslip, has poor brake coordination, is easy to generate brake impact and other unfavorable results; when a hydraulic inertia braking system is adopted, the hydraulic inertia braking system is insensitive to braking, so that the phenomenon that the trailer jacks up the tractor is easily caused in the turning braking process, and the braking characteristic cannot be adjusted. For this reason, an active hydraulic brake system has been proposed, which generates a brake signal based on a sensor and a brake signal of a host vehicle to actively control braking of the trailer, such as an active trailer brake system (application No. 201810430889.5) in the chinese patent invention, and performs braking control of the trailer based on the brake signal of the tractor and a relative position signal between vehicles detected by the sensor. Compared with a traditional inertia hydraulic braking system, the system is more reliable, but is high in installation requirement and not sensitive enough, and the trailer can only acquire the braking signal of the tractor through a wire harness socket, can not acquire other motion state information of the tractor, and can not accurately cope with the braking condition under complex working conditions.
Disclosure of Invention
The invention aims to provide a ZigBee-based trailer active hydraulic braking system and a ZigBee-based trailer active hydraulic braking method. The system introduces the concept of the Internet of things, effectively utilizes information resources through information interaction of front and rear vehicles, and improves the braking condition of the automobile and the train.
The technical solution for realizing the purpose of the invention is as follows: a trailer active hydraulic braking system based on ZigBee comprises a detection unit, a ZigBee sending unit, a ZigBee receiving unit, a workshop hook force detection unit, an electric control unit and a motor hydraulic braking unit;
the detection unit packs and conveys the detected speed, deceleration and steering wheel corner information of the towing vehicle to the ZigBee transmission unit, the information is transmitted to the ZigBee receiving unit of the trailer in a ZigBee communication mode, the hook force detection unit on the trailer detects hook acting force between the towing vehicle and the trailer, the electric control unit calculates according to the information transmitted by the ZigBee receiving unit and the hook force detection unit of the trailer through an internal algorithm, judges whether the trailer is braked or not, and transmits a control signal which is calculated and output to the motor hydraulic braking unit.
Further, the detecting means includes speed detecting means, deceleration detecting means, and steering wheel angle detecting means;
the speed detection unit and the deceleration detection unit respectively complete the tasks of detecting the speed and the deceleration of the tractor through a speed sensor and an acceleration sensor, and the steering wheel angle detection unit detects the steering wheel angle of the tractor through an angle sensor on the steering wheel.
Furthermore, the motor hydraulic brake unit comprises a motor, a worm wheel, a pinion, a rack, a liquid storage tank, a first piston cavity, a second piston cavity, a brake wheel cylinder left side and a brake wheel cylinder right side;
the control end of the motor is connected with the output end of the electric control unit, the motor, the worm wheel, the pinion and the rack are sequentially connected in series, and the liquid storage tank is connected with the first piston cavity and the second piston cavity of the brake master cylinder, the left brake wheel cylinder and the right brake wheel cylinder through liquid pipelines;
the electric control unit receives the motion state information and workshop hooking force information of the tractor, outputs a motor control signal after calculation, the motor starts to rotate, and pushes the piston in the brake master cylinder through a speed reducing mechanism consisting of a worm and a worm wheel and a motion conversion mechanism consisting of a pinion and a rack to enable the first piston cavity and the second piston cavity to generate pressure, so that the left brake wheel cylinder and the right brake wheel cylinder are pressurized, and the trailer is braked.
A control method by using the control system comprises the following steps:
s1) when the tractor brakes, the electric control unit of the trailer receives the movement state information of the tractor and the workshop hooking force information through the ZigBee receiving unit and the workshop hooking force detection unit, a control signal is output to the motor through an internal algorithm to generate torque, the torque is converted into linear acting force through the speed reducing mechanism and the movement conversion mechanism and acts on a piston push rod of a brake master cylinder connected with the torque, so that the first piston cavity and the second piston cavity generate pressure, the left brake wheel cylinder and the right brake wheel cylinder are pressurized, and the trailer is forced to brake, which is a pressurizing process;
s2), when the tractor releases the brake, the electric control unit of the trailer receives the tractor brake release signal, judges whether the trailer needs to be braked according to the hook acting force between vehicles, if the hook acting force between vehicles exceeds a certain critical value, the trailer needs to be braked, the current position of the motor rotor is maintained, and a certain brake pressure is maintained, which is a pressure maintaining process; if the acting force of the hook between the vehicles does not reach a certain critical value, the trailer does not need to be braked, the electric control unit drives the motor to rotate reversely, the piston in the brake master cylinder is pulled back through the speed reducing mechanism and the motion conversion mechanism, and the pressure of the left brake wheel cylinder and the right brake wheel cylinder is relieved, which is a pressure reduction process;
s3), after the electric control unit of the trailer receives the reversing signal of the tractor, the state information of the tractor and the trailer is not considered, the trailer is judged to be not required to be braked and controlled, and the motor does not work until the reversing task is completed, so that the process is a non-pressure process.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the invention introduces the concept of the internet of things on the basis of a hydraulic braking system of the trailer, adopts a ZigBee communication system, has the characteristics of low power consumption, low cost, self-configuration, high safety and the like, so that the trailer can quickly and accurately receive the speed, deceleration and steering wheel corner information of the tractor, and an electric control unit of the trailer can accurately and timely control the trailer according to the information, thereby realizing active braking of the trailer, ensuring that the braking of the trailer is more real-time and reliable, greatly reducing the collision probability of a train workshop of the automobile, and avoiding the collision between the automobile train and other vehicles in the road in the braking process.
(2) The motor hydraulic braking system adopted in the invention enables the motor to rotate to generate torque by receiving the control signal of the electric control unit, and the torque is converted into linear thrust through the speed reducing mechanism and the motion conversion mechanism to push the piston in the brake master cylinder so as to generate hydraulic pressure to the brake wheel cylinder, so that the trailer is braked, and the requirement of larger hydraulic pressure can be met. This motor hydraulic braking system combines zigBee communication system for the initiative braking of trailer becomes more high-efficient, is favorable to facing various complicated operating modes, and installs zigBee communication unit, makes to arrange more portably, and the troubleshooting is more convenient.
Drawings
Fig. 1 is a schematic diagram of the active hydraulic brake system of a trailer based on ZigBee in the invention.
FIG. 2 is a diagram of a model of a motor vehicle train according to the present invention.
Fig. 3 is a schematic diagram of the operation of the trailer electro-hydraulic brake system of the present invention.
FIG. 4 is a flowchart of the steps of a ZigBee-based trailer active hydraulic braking control method.
Description of reference numerals:
100-detection unit, 101-ZigBee transmitting unit, 102-ZigBee receiving unit, 103-workshop hook force detection unit, 104-electronic control unit, 105-motor hydraulic braking unit, 100 a-speed detection unit, 100 b-deceleration detection unit, 100 c-steering wheel angle detection unit, 110-motor, 111-worm, 112-worm gear, 113-pinion, 114-rack, 115-liquid storage tank, 116-first piston cavity, 117-second piston cavity, 118-left brake wheel cylinder and 119-right brake wheel cylinder.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1, the active hydraulic braking system of a trailer based on ZigBee implemented in the present invention is directed to an automobile train model as shown in fig. 2, wherein the system includes a detection unit 100 for detecting information of a tractor, a ZigBee transmission unit 101 of the tractor, a ZigBee reception unit 102 of the trailer, a workshop hooking force detection unit 103, an electronic control unit 104 for processing relevant information, and a motor hydraulic braking unit 105 for performing braking of the trailer.
The detecting unit 100 includes a speed detecting unit 100a, a deceleration detecting unit 100b, and a steering wheel angle detecting unit 100c, the speed detecting unit 100a is used for measuring the speed of the tractor, the deceleration detecting unit 100b is used for detecting the acceleration of the tractor, and the steering wheel angle detecting unit 100c is used for detecting the steering wheel rotation angle of the tractor. The sensor of the speed detection unit 100a may be mounted on a transmission of the tractor to detect the rotational speed of the output axle, or may be mounted on a wheel of the tractor to detect the angular speed on the wheel; a sensor of the deceleration detection unit 100b is mounted on a brake pedal of the tractor to sense the displacement of the brake pedal of the driver; the steering wheel angle detection unit 100c is mounted on the tractor steering wheel, and detects the degree of steering wheel angle of the tractor.
The workshop hooking force detection unit 103 is installed at the connecting device of the tractor and the trailer, can detect the hooking force condition between vehicles in time, and transmits information to the electronic control unit 104 of the trailer.
The ZigBee communication unit is based on a low-speed wireless personal area network technical specification adopted on a physical layer and a media access control layer defined by IEEE 802.15.4. In the ZigBee network, there are 3 kinds of network nodes, which are a coordinator node, a router node, and a terminal device node, respectively. The coordinator node initializes the ZigBee network, and closes the node after finishing the ZigBee network initialization, so that the initialized network is not influenced; the router node keeps an open state all the time in the network working process, and information among all nodes in the network is forwarded; the terminal equipment node receives information when working, does not have a forwarding function, and enters a sleep mode when not working to reduce power consumption. Through the ZigBee network, the motion state information of the read sensor is packaged to the ZigBee transmitting unit 101 to be transmitted to the outside, meanwhile, the data packet received by the ZigBee receiving unit 102 is analyzed into effective information (speed, deceleration and steering wheel angle) to be transmitted to the electric control unit 104, and calculation and estimation are carried out based on the acquired vehicle state information to realize brake control, so that the transportation risk is reduced.
As shown in fig. 3, the electro-hydraulic brake unit 105 of the trailer includes a motor 110, a worm 111, a worm wheel 112, a pinion 113, a rack 114, a reservoir 115, a first piston chamber 116, a second piston chamber 117, a wheel cylinder left 118, and a wheel cylinder right 119.
The motor 110, the worm 111 and the worm wheel 112 of the speed reducing mechanism, the pinion 113 and the rack 114 of the motion converting mechanism are connected in series in sequence, and the liquid storage tank 115 is connected with the first piston cavity 116 and the second piston cavity 117 of the master cylinder, the left 118 of the brake wheel cylinder and the right 119 of the brake wheel cylinder through liquid pipelines.
The working principle of the motor hydraulic brake system of the trailer is that the electric control unit 104 receives the movement state information of the tractor and the workshop hooking force information, and outputs a control signal to the motor 110 through calculation, the motor 110 starts to rotate to generate torque, the torque is converted into linear thrust through a speed reducing mechanism consisting of the worm 111 and the worm wheel 112, a motion conversion mechanism consisting of the pinion 113 and the rack 114, a piston in the brake master cylinder is pushed, the first piston cavity 116 and the second piston cavity 117 generate pressure, and therefore the left 118 and the right 119 brake wheel cylinders are pressurized, and the trailer is braked.
As shown in fig. 4, the active hydraulic braking control method of the trailer based on ZigBee controls the braking system of the trailer through the detection unit 100 of the tractor, the ZigBee transmission unit 101, the ZigBee reception unit 102, the workshop hooking force detection unit 103, the electronic control unit 104, and the motor hydraulic braking unit 105, and the specific control method includes the following steps:
s1), when the tractor brakes, the electronic control unit 104 of the trailer receives the tractor motion state information and the workshop hooking force information through the ZigBee receiving unit 102 and the workshop hooking force detecting unit 103, outputs a control signal to the motor 110 through an internal algorithm to generate a torque, the torque is converted into a linear acting force through the speed reducing mechanism and the motion converting mechanism, and acts on the piston push rod of the master cylinder connected with the torque, so that the first piston cavity 116 and the second piston cavity 117 generate pressure, and the left 118 and the right 119 brake wheel cylinders are pressurized, thereby forcing the trailer to brake, which is a pressurizing process.
S2), when the tractor releases the brake, the electric control unit 104 of the trailer receives the tractor brake release signal, and judges whether the trailer needs to be brake-controlled according to the inter-vehicle hook acting force, if the inter-vehicle hook acting force exceeds a certain critical value, the trailer needs to be braked, the current position of the rotor of the motor 110 is maintained, and a certain brake pressure is maintained, which is a pressure maintaining process; if the inter-vehicle hook acting force does not reach a certain critical value and braking on the trailer is not needed, the electronic control unit 104 drives the motor 110 to rotate reversely, and the piston in the brake master cylinder is pulled back through the speed reducing mechanism and the motion conversion mechanism to release pressure on the left wheel cylinder 118 and the right wheel cylinder 119, which is a pressure reduction process.
S3), after the electronic control unit 104 of the trailer receives the signal of backing the car from the tractor, it does not consider the status information of the tractor and the trailer, and determines that the trailer does not need to be braked, and the motor 110 does not work until the backing task is completed, which is a non-pressure process.
The invention is simply explained above, and the braking system of the trailer adopts the ZigBee communication mode, so that the trailer can more intelligently and timely make response, effectively and smoothly brake, and avoid collision between train workshops. The scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention will be covered by the scope of the present invention.
Claims (4)
1. The active hydraulic braking system of the trailer based on the ZigBee is characterized by comprising a detection unit (100), a ZigBee transmitting unit (101), a ZigBee receiving unit (102), a workshop hooking force detection unit (103), an electric control unit (104) and a motor hydraulic braking unit (105);
the detection unit (100) packages and transmits detected speed, deceleration and steering wheel angle information of a towing vehicle to the ZigBee transmission unit (101), the information is transmitted to the ZigBee receiving unit (102) of the trailer in a ZigBee communication mode, the hook force detection unit (103) on the trailer detects hook acting force between the towing vehicle and the trailer, and the electronic control unit (104) calculates through an internal algorithm according to the information transmitted by the ZigBee receiving unit (102) and the hook force detection unit (103) of the trailer, judges whether the trailer is braked or not, and transmits a control signal which is calculated and output to the motor hydraulic braking unit (105).
2. The system according to claim 1, characterized in that the detection unit (100) comprises a speed detection unit (100a), a deceleration detection unit (100b), and a steering wheel angle detection unit (100 c);
the speed detection unit (100a) and the deceleration detection unit (100b) respectively complete the tasks of detecting the speed and the deceleration of the tractor through a speed sensor and an acceleration sensor, and the steering wheel angle detection unit (100c) detects the steering wheel angle of the tractor through an angle sensor on the steering wheel.
3. The system according to claim 2, characterized in that the electro-hydraulic brake unit (105) comprises an electric motor (110), a worm (111), a worm gear (112), a pinion (113), a rack (114), a reservoir (115), a first piston chamber (116), a second piston chamber (117), a wheel cylinder left (118) and a wheel cylinder right (119);
the control end of the motor (110) is connected with the output end of the electric control unit (104), the motor (110), the worm (111), the worm wheel (112), the pinion (113) and the rack (114) are sequentially connected in series, and the liquid storage tank (115) is connected with a first piston cavity (116) and a second piston cavity (117) of the brake master cylinder, a left brake wheel cylinder (118) and a right brake wheel cylinder (119) through liquid pipelines;
the electric control unit (104) receives the motion state information and workshop hooking force information of the tractor, outputs a control signal to the motor (110) through calculation, the motor (110) starts to rotate, and pushes the piston in the brake master cylinder through a speed reducing mechanism consisting of a worm (111) and a worm wheel (112), a motion conversion mechanism consisting of a pinion (113) and a rack (114), so that the first piston cavity (116) and the second piston cavity (117) generate pressure, and the left brake wheel cylinder (118) and the right brake wheel cylinder (119) are pressurized, and the trailer is braked.
4. A method of controlling using the control system of claim 3, comprising the steps of:
s1) when the tractor brakes, the electric control unit (104) of the trailer receives the movement state information of the tractor and the workshop hook force information through the ZigBee receiving unit (102) and the workshop hook force detection unit (103), a control signal is output to the motor (110) through an internal algorithm to generate torque, the torque is converted into linear acting force through the speed reduction mechanism and the movement conversion mechanism and acts on a brake master cylinder piston push rod connected with the torque, so that the first piston cavity (116) and the second piston cavity (117) generate pressure, the left (118) and the right (119) of the brake wheel cylinder are pressurized, and the trailer is forced to brake, and the pressurizing process is carried out;
s2), when the tractor releases the brake, the electric control unit (104) of the trailer receives a tractor brake release signal, judges whether the trailer needs to be braked or not according to the hook acting force between vehicles, if the hook acting force between the vehicles exceeds a certain critical value, the trailer needs to be braked, the current position of the rotor of the motor (110) is maintained, and a certain brake pressure is maintained, which is a pressure maintaining process; if the acting force of the hooks between the vehicles does not reach a certain critical value, the trailer does not need to be braked, the electric control unit (104) drives the motor (110) to rotate reversely, the piston in the brake master cylinder is pulled back through the speed reducing mechanism and the motion conversion mechanism, and the pressure of the left (118) and the right (119) of the brake wheel cylinder is relieved, namely the pressure reduction process;
s3), after the electric control unit (104) of the trailer receives the reversing signal of the tractor, the state information of the tractor and the trailer is not considered, the internal judgment of the trailer does not need to be braked and controlled, and the motor (110) does not work until the reversing task is completed, which is a non-pressure process.
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| CN202011489169.XA CN112590742B (en) | 2020-12-16 | 2020-12-16 | A ZigBee-based Active Hydraulic Braking System and Method for Trailer |
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| CN202011489169.XA CN112590742B (en) | 2020-12-16 | 2020-12-16 | A ZigBee-based Active Hydraulic Braking System and Method for Trailer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118372785A (en) * | 2024-06-24 | 2024-07-23 | 所托(杭州)汽车智能设备有限公司 | Active braking control method for trailer |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6042196A (en) * | 1997-02-25 | 2000-03-28 | Toyota Jidosha Kabushiki Kaisha | Trailer brake control device of tractor-trailer combination vehicle for suppression of side sway of trailer |
| CN110406519A (en) * | 2019-08-01 | 2019-11-05 | 南京理工大学 | Trailer active intelligent braking system based on V2V |
| US20200324763A1 (en) * | 2019-04-15 | 2020-10-15 | Peloton Technology, Inc. | Systems and methods for managing tractor-trailers |
-
2020
- 2020-12-16 CN CN202011489169.XA patent/CN112590742B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6042196A (en) * | 1997-02-25 | 2000-03-28 | Toyota Jidosha Kabushiki Kaisha | Trailer brake control device of tractor-trailer combination vehicle for suppression of side sway of trailer |
| US20200324763A1 (en) * | 2019-04-15 | 2020-10-15 | Peloton Technology, Inc. | Systems and methods for managing tractor-trailers |
| CN110406519A (en) * | 2019-08-01 | 2019-11-05 | 南京理工大学 | Trailer active intelligent braking system based on V2V |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118372785A (en) * | 2024-06-24 | 2024-07-23 | 所托(杭州)汽车智能设备有限公司 | Active braking control method for trailer |
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