CN114228677B - Electric brake control method, electric brake control device, computer equipment and storage medium - Google Patents
Electric brake control method, electric brake control device, computer equipment and storage medium Download PDFInfo
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- CN114228677B CN114228677B CN202111624727.3A CN202111624727A CN114228677B CN 114228677 B CN114228677 B CN 114228677B CN 202111624727 A CN202111624727 A CN 202111624727A CN 114228677 B CN114228677 B CN 114228677B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000009466 transformation Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000002699 waste material Substances 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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Classifications
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a method and a device for controlling an electric brake, computer equipment and a storage mediumClamping force F of the caliper during braking force With the required clamping force f deman Making a comparison when F force ≥f deman And (3) controlling the motor to stop, and calculating the clamping force of the caliper by using the following formula: f force ＝T Motor *P‑f Frict * sign (V) wherein T motor As motor torque, T motor I = I x k, I is the motor current, k is the torque constant, P is the mechanical transformation ratio coefficient, V is the moving speed of the caliper, f Frict Is the maximum friction. The invention meets the braking requirement under the control of the motor, and stops the motor in time so as to avoid energy waste, and the working stability of the braking system is high. In addition, the invention can finally acquire the clamping force data only through the motor torque, has simple structure and saves parts.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of automobile parts, and particularly relates to a brake.
[ background of the invention ]
Publication US2015/0066324A1 entitled method for providing clamping force generated by a parking brake, determines the clamping force of the parking brake by measuring motor transient voltage and current. The clamping force with similar precision can be calculated by motor current and voltage and motor constant. For this purpose, the motor load torque is calculated first, and then the clamping force is calculated in conjunction with the gear reduction ratio.
Under the name of US6435625B1, a method for applying a specified operating force when actuating a force F ActF Calculated from the actuator torque and the gear ratio between the actuator and the braking device: f ActF ＝M Act,stat /v。
The prior art can calculate the required clamping force of the parking brake, but cannot stop the motor in time when the braking requirement is met, so that the waste of the braking force is caused.
[ summary of the invention ]
In order to overcome the defects in the prior art, the invention aims to provide a control method of an electric brake, which can stop a motor in time and avoid waste of braking force.
In order to solve the technical problem, the invention adopts the following technical scheme:
the electric brake control method is characterized in that when the brake is braked, the motor drives the calipers to move towards the brake disc, and the brake pads on the calipers are connected with the brake discGenerating relative friction to realize braking, arranging a current sensor on the motor for detecting the current of the motor, and characterized in that in the braking process, the clamping force F of the caliper is adjusted force With the required clamping force f deman For comparison, when F force ≥f deman And (3) controlling the motor to stop, and calculating the clamping force of the caliper by using the following formula:
F force ＝T Motor *P-f Frict *sign(V)
wherein, T motor As motor torque, T motor I = I x k, I is the motor current, k is the torque constant, P is the mechanical transformation ratio coefficient, V is the moving speed of the caliper, f Frict Is the maximum friction.
Preferably, after the motor angle curve crosses the vertex, the motor current value is read, the motor torque is obtained through calculation, and the clamping force of the caliper is calculated according to the motor torque.
In another aspect, an electric brake control device is provided, which controls a braking process of a brake by using the electric brake control method, and includes:
the caliper clamping force calculation module is used for calculating the clamping force of the caliper according to the torque of the motor;
clamping force of caliper and required clamping force comparison module for comparing clamping force F of caliper force With the required clamping force f deman And when F is force ≥f deman When the brake is stopped, a brake stop signal is sent to a brake stop module;
and the brake stop control module sends a stop signal to the motor after receiving the brake stop signal.
Also, a computer apparatus and a computer-readable storage medium are provided.
A computer device comprising at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory such that the at least one processor performs the electric brake control method.
A computer readable storage medium having stored therein computer executable instructions which, when executed by a processor, implement the electric brake control method.
By adopting the technical scheme, the invention has the following beneficial effects:
the invention provides a novel control method of an electric brake. The caliper clamping force is a direct factor influencing the service braking effect, the clamping force is calculated through information on a brake motor, the braking requirement is met through motor control, the motor is stopped in time, so that energy waste is avoided, and the working stability of the brake system is high. In addition, the invention can finally acquire the clamping force data only through the motor torque, has simple structure and saves parts.
These features and advantages of the invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural view of an electric brake according to the present invention;
FIG. 2 is a graph of motor angle, current, torque in accordance with the present invention;
reference numerals are as follows: the brake comprises a motor 20, a transmission unit 30, a clutch 31, a gear assembly 32, a screw nut assembly 33, a caliper 40, a brake disc 41 and a brake pad 42.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all of them. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Referring to fig. 1, an electric brake is provided on a wheel to perform a braking request of an automobile. The electric brake includes a motor 20, a transmission unit 30, a caliper 40, and a brake disc 41. The motor 20 is driven by a power supply to generate rotary motion; a transmission unit 30 for performing rotational coupling, conversion of motion mode, and speed change, generally including a clutch 31 coupled to a motor, a gear assembly 32 for performing speed reduction, a lead screw nut assembly 33 for converting rotational motion into linear motion and performing speed change; transferring the movement to the caliper 40 through the transmission unit, pushing the caliper 40 towards the brake disc 41; the brake disc 41 is fixed to the wheel, and the brake pad 42 of the caliper is engaged with the brake disc 41 to generate relative friction, and after passing through a joint (kisspeint), the caliper clamps the brake disc to realize braking.
Referring to the prior art, an angle sensor and a current sensor are arranged on a motor, the angle and the current of the motor are respectively detected, and the torque of the motor is obtained through calculation according to the current of the motor, which is shown in a graph of the angle, the current and the torque of the motor in fig. 2.
Example one
In the control method of the electric brake of the embodiment, as shown in fig. 2, in the braking process, the motor receives the braking instruction to work, and the brake pad moves toward the brake disc through transmission, when the brake pad and the brake disc enter the engagement stage, the load of the motor rises, the angle of the motor increases, and the process is shown in the curve of the area ii, at this time, the control of the motor is as follows: the current of the motor is increased in coordination with the rise of the load so as to improve the torque of the motor and realize braking, and the torque value of the motor fluctuates as shown in the figure. The motor angle profile does not increase further up to the vertex that is the point of engagement. The motor torque value rises after passing through the apex A1, at which time the value of the current sensor is read to calculate the motor torque, and the clamping force of the caliper is calculated from the motor torque.
The clamping force of the caliper can be calculated using the following formula:
F force ＝T Motor *P-f Frict *sign(V)
wherein, T motor As motor torque, T motor I = I x k, I is motor current, k is torque constant, P is mechanical transformation ratio coefficient, V is caliper moving speed, f Frict Is the maximum friction.
Assuming that the transmission unit is a pair of gears and a set of nut screws, the mechanical ratio-changing system is as follows: (R/R). Times.2 pi. Times.eta/L, wherein R is the radius of the driven gear, R is the radius of the driving gear, eta is the transmission efficiency of the screw rod, and L is the screw pitch. The maximum frictional force is the frictional resistance that the caliper overcomes when moving. The required clamping force is a required brake clamping force calculated based on the brake command and the vehicle operating conditions, and the specific method can refer to the prior art.
Clamping force F of caliper force With the required clamping force f deman Making a comparison when F force ≥f deman And when the motor is stopped, controlling the motor to stop.
After the motor stops, the rotating speed of the motor sharply drops in stages. And (4) eliminating a braking instruction, entering a withdrawing stage, driving the brake pad to leave the brake disc by the motor after the motor receives the current of the reverse rotation, and enabling the clutch to be separated from the motor to be in a curve state in the area III. When the braking command is received again, the above-described process is repeated.
Example two
An electric brake control device that controls a brake by using the electric brake control method according to the first embodiment includes:
the caliper clamping force calculation module is used for calculating the clamping force of the caliper according to the motor torque;
clamping force of caliper and required clamping force comparison module for comparing clamping force F of caliper force With the required clamping force f deman And when F is force ≥f deman When the brake is stopped, a brake stop signal is sent to a brake stop module;
and the brake stop control module sends a stop signal to the motor after receiving the brake stop signal.
EXAMPLE III
A computer device, which can be mounted on a vehicle having a brake, includes at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory such that the at least one processor performs the electric brake control method of embodiment one.
Example four
A computer-readable storage medium may be mounted on the computer device according to the third embodiment, wherein a computer-executable instruction is stored in the computer-readable storage medium, and when the computer-executable instruction is executed by a processor, the electric brake control method according to the first embodiment is implemented.
While the foregoing is directed to embodiments of the present invention, the scope of the invention should not be limited thereby, and it will be apparent to those skilled in the art that the invention includes, but is not limited to, those illustrated in the drawings and described in the foregoing detailed description. Any modification which does not depart from the functional and structural principles of the invention is intended to be included within the scope of the claims.
Claims (4)
1. The electric brake control method is characterized in that when the brake is braked, the motor drives the calipers to move towards the brake disc, brake pads on the calipers are jointed with the brake disc to generate relative friction to realize braking, the motor is provided with a current sensor for detecting the current of the motor, and the electric brake control method is characterized in that the clamping force F of the calipers is used for detecting the current of the motor in the braking process force With the required clamping force f deman Making a comparison when F force ≥f deman And (3) controlling the motor to stop, and calculating the clamping force of the caliper by using the following formula:
wherein, T Motor As motor torque, T Motor I = I x k, I is the motor current, k is the torque constant,
in order to be the mechanical transformation ratio coefficient,
as the speed of the movement of the caliper,
in order to maximize the frictional force,
after the motor angle curve crosses the vertex, the motor current value is read, the motor torque is obtained through calculation, and the clamping force of the caliper is calculated according to the motor torque.
2. An electric brake control device for controlling a braking process of a brake by the electric brake control method according to claim 1, comprising:
the caliper clamping force calculation module is used for calculating the clamping force of the caliper according to the motor torque;
clamping force of caliper and required clamping force comparison module for comparing clamping force F of caliper force With the required clamping force f deman And when F is force ≥f deman When the brake is stopped, a brake stop signal is sent to a brake stop control module;
and the brake stop control module sends a stop signal to the motor after receiving the brake stop signal.
3. A computer device comprising at least one processor and memory; the memory stores computer-executable instructions; the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the electric brake control method of claim 1.
4. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, implement the electric brake control method of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111624727.3A CN114228677B (en) | 2021-12-28 | 2021-12-28 | Electric brake control method, electric brake control device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111624727.3A CN114228677B (en) | 2021-12-28 | 2021-12-28 | Electric brake control method, electric brake control device, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114228677A CN114228677A (en) | 2022-03-25 |
| CN114228677B true CN114228677B (en) | 2023-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111624727.3A Active CN114228677B (en) | 2021-12-28 | 2021-12-28 | Electric brake control method, electric brake control device, computer equipment and storage medium |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4089305B2 (en) * | 2002-06-14 | 2008-05-28 | 株式会社日立製作所 | Vehicle power supply device |
| DE102010063413A1 (en) * | 2010-12-17 | 2012-06-21 | Robert Bosch Gmbh | Method for adjusting the clamping force exerted by a parking brake |
| DE102011078900B4 (en) * | 2011-07-08 | 2024-06-20 | Robert Bosch Gmbh | Method for adjusting a parking brake in a vehicle |
| KR101836628B1 (en) * | 2016-05-03 | 2018-03-08 | 현대자동차주식회사 | Electro-mechanical brake system and control method thereof |
| FR3076331B1 (en) * | 2018-01-02 | 2020-02-14 | Foundation Brakes France | BRAKE ACTUATOR AND METHOD OF CONTROLLING THE SAME |
| US20190257378A1 (en) * | 2018-02-21 | 2019-08-22 | Akebono Brake Industry Co., Ltd | Method of operating and controlling a brake |
| CN112298133B (en) * | 2019-07-30 | 2022-05-13 | 比亚迪股份有限公司 | Brake control method, brake control device, storage medium and vehicle |
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- 2021-12-28 CN CN202111624727.3A patent/CN114228677B/en active Active
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Address after: Room 401, Building 2, No. 7 Wenzhong Road, Taozhu Street, Zhuji City, Shaoxing City, Zhejiang Province, 311816 Patentee after: Hengchuang Zhixing (Zhejiang) Electric Control Brake System Co.,Ltd. Country or region after: China Address before: 201804 unit 5, No. 15, Lane 56, Antuo Road, Jiading District, Shanghai Patentee before: Hengchuang Zhixing (Shanghai) Electric Control Brake System Co.,Ltd. Country or region before: China Address after: 201804 unit 5, No. 15, Lane 56, Antuo Road, Jiading District, Shanghai Patentee after: Hengchuang Zhixing (Shanghai) Electric Control Brake System Co.,Ltd. Country or region after: China Address before: 201804 unit 5, No.15, Lane 56, Antuo Road, Anting Town, Jiading District, Shanghai Patentee before: Hande Wan'an (Shanghai) electric brake system Co.,Ltd. Country or region before: China |
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