CN119022009A - A wheel hub motor angle module with integrated wire-controlled brake and a wheel slip rate control method - Google Patents
A wheel hub motor angle module with integrated wire-controlled brake and a wheel slip rate control method Download PDFInfo
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- CN119022009A CN119022009A CN202411197503.2A CN202411197503A CN119022009A CN 119022009 A CN119022009 A CN 119022009A CN 202411197503 A CN202411197503 A CN 202411197503A CN 119022009 A CN119022009 A CN 119022009A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000007667 floating Methods 0.000 claims abstract description 19
- 230000002441 reversible effect Effects 0.000 claims abstract description 5
- 230000001172 regenerating effect Effects 0.000 claims description 25
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 239000000428 dust Substances 0.000 claims description 8
- 230000017525 heat dissipation Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 5
- 230000008901 benefit Effects 0.000 claims description 4
- 230000008929 regeneration Effects 0.000 claims description 2
- 238000011069 regeneration method Methods 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000000052 comparative effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/02—Braking members; Mounting thereof
- F16D65/04—Bands, shoes or pads; Pivots or supporting members therefor
- F16D65/092—Bands, shoes or pads; Pivots or supporting members therefor for axially-engaging brakes, e.g. disc brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/02—Braking members; Mounting thereof
- F16D65/12—Discs; Drums for disc brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/14—Mechanical
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a hub motor angle module of an integrated brake-by-wire and a wheel slip rate control method, comprising a hub motor and a floating caliper disc type brake-by-wire mechanism; the floating caliper disc type linear control mechanism is provided with a circular brake disc, and the brake disc is connected with a rotor of the hub motor through a bridge code; the brake disc controls braking through an electromechanical brake; the electronic mechanical brake is provided with a caliper body with an opening direction outwards from the inner direction of the annular brake disc, so that the opening direction of the caliper body deviates from the center of the brake disc and takes a reverse grabbing posture; a guide pin connected with the brake bracket is arranged on the caliper body; the brake driving motor of the electromechanical brake is used for decelerating and increasing the torque through the decelerating mechanism, acting force is acted on the brake piston through the rotary-linear motion converting mechanism, and the brake piston pushes the friction plate to clamp the brake disc to realize braking. The invention optimizes the structure of the braking mechanism, improves the integration degree of the hub motor unit, and realizes the brake-by-wire and redundant braking.
Description
Technical Field
The invention relates to the technical field of in-wheel motor driving technology and wire control and braking technology, in particular to an in-wheel motor angle module integrated with a wire control brake and a wheel slip rate control method.
Background
With the rise of electric automobiles, in-wheel motors are receiving attention as a new power transmission technology. The wheel hub motor can realize independent driving of wheels, and overall performance and energy efficiency of the vehicle are improved. The biggest characteristic is that the power, the transmission and the braking device can be integrated into the hub to form an angle module, so that the whole vehicle is modularized.
With the advent of automatic driving wave, the integrated chassis of drive-by-wire has been the trend, and the drive-by-wire technique is an important part in the chassis drive-by-wire. For braking of the hub motor, the method is mainly divided into two modes of feedback braking and friction braking. First, there is a regenerative braking, also called regenerative braking. When the vehicle is decelerating or braked, the in-wheel motor is automatically switched to a generator mode, the kinetic energy of the vehicle is converted into electric energy, and the electric energy is stored in a battery. Therefore, not only can the waste of energy be reduced, but also the endurance mileage of the battery can be prolonged. The feedback braking realizes the accurate control of the torque and energy feedback of the motor through the intelligent control system, thereby realizing stable braking effect. The other is friction braking, i.e. braking is achieved by an Electronic Control Unit (ECU) controlling the frictional force exerted by the brake on the wheels. In the case of a sudden stop, the friction brake can provide a stronger braking force, so that the vehicle can be stopped rapidly. The friction braking and the feedback braking can be flexibly switched according to the actual running condition so as to realize the optimal braking effect and energy recovery. In addition, after the integration level of the hub motor angle module is improved, functional integration can be realized, the number of unnecessary parts is reduced, the weight of the vehicle is reduced, the unsprung mass of the vehicle is reduced, and the running smoothness of the vehicle is improved.
Therefore, in order to improve the integration degree of the vehicle chassis related to the in-wheel motor driving technology, it is necessary to design an angle module integrated with the brake-by-wire technology.
Disclosure of Invention
The invention aims to provide a hub motor angle module of an integrated line control brake and a wheel slip rate control method, which enable a brake mechanism to be more suitable for an appearance structure of a hub motor, improve the integration degree of a hub motor unit, realize line control braking and redundant braking, and realize braking force adjustment by combining the mechanical braking of an electronic mechanical brake and the motor regenerative braking of the hub motor.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the first aspect of the application provides a hub motor angle module of an integrated brake-by-wire, which comprises a hub motor and a floating caliper disc type brake-by-wire mechanism; the floating caliper disc type linear control mechanism is provided with a circular brake disc, and the brake disc is connected with a rotor of the hub motor through a bridge code;
The brake disc is controlled to brake through an electromechanical brake, a linear control actuator assembly of the electromechanical brake is fixed on a vehicle body through a brake bracket, and the linear control actuator assembly comprises a brake driving motor, a speed reducing mechanism and a rotary-linear motion conversion mechanism, and the rotary-linear motion conversion mechanism is connected with a brake piston; the electronic mechanical brake is provided with a floating caliper with an opening direction outwards from the inner direction of the circular brake disc, and the opening direction of a caliper body of the floating caliper deviates from the center of the brake disc and takes a reverse grabbing posture; the caliper body is provided with a guide pin connected with the brake bracket, and can move relative to the brake bracket along the axis direction of the guide pin;
The brake driving motor of the electromechanical brake is used for decelerating and increasing the torque through the decelerating mechanism, acting force is acted on the brake piston through the rotary-linear motion converting mechanism, and the brake piston pushes the friction plate to clamp the brake disc to realize braking.
Further, the guide pin is externally covered with a dust cover, and the dust cover is a rubber ring with a wavy longitudinal section.
In one disclosed scheme of the invention, a guide lug is arranged at a position of the caliper body corresponding to the guide pin, a guide hole is arranged in the guide lug, and one end of the guide pin penetrates through the guide hole and is fixed; guide pins fixedly mounted on the caliper body are inserted into holes formed in two ends of the brake support.
Further, the brake bracket is provided with a groove, the friction plate is embedded into the groove, and the friction plate is moved out of the groove during braking and is contacted with the brake disc for braking.
Further, the bridge code is provided with a heat dissipation through hole; the brake disc is uniformly provided with heat dissipation small holes.
Further, the speed reducing mechanism acts on the brake piston through a rotation-linear motion converting mechanism, and the rotation-linear motion converting mechanism adopts a screw nut transmission mechanism.
In one disclosed scheme of the invention, the bridge code is a broken bridge code divided into an upper part and a lower part.
The second aspect of the application provides a wheel slip rate control method for an in-wheel motor angle module of an integrated brake-by-wire, which takes in-wheel motor braking adjustment as a main and electromechanical braking adjustment as an auxiliary; the braking strength advantage of the mechanical braking of the electromechanical brake is combined, and the braking response of the motor braking of the hub motor and the adjustable motor torque advantage are comprehensively braked.
In one disclosed aspect of the invention, the following braking strategy is employed:
When the wheels are braked on a lower attachment road surface and the required braking strength is smaller, only the motor regeneration braking of the hub motor is used;
when the wheels are braked on a higher attachment road surface, the hub motor is used for motor regenerative braking, and when the required braking strength reaches a high braking strength condition, the mechanical braking of the electromechanical brake is used as a reference braking force, and the motor regenerative braking of the hub motor is used as a compensation braking force for combined braking.
When the braking strength reaches the high braking strength requirement condition, the strategy of the combined braking of the mechanical braking of the electromechanical brake and the motor regenerative braking of the hub motor is specifically as follows:
When the wheels are braked on the higher attached road surface, the braking force is distributed according to the optimal braking scheme of the vehicle on the higher attached road surface, and the optimal braking scheme is obtained by the following steps: firstly, giving a fixed mechanical braking moment to wheels according to road conditions, wherein the mechanical braking moment is the minimum braking moment required in the wheel slip rate adjusting process; and then, motor braking of the hub motor is superposed on the basis of the mechanical braking moment with the fixed size, so that the wheel slip rate adjustment under the requirement of high braking strength is realized.
Compared with the prior art, the invention has the beneficial effects that:
When the invention works, the motor rotates to drive the speed reducing mechanism to rotate, and the high rotating speed of the braking motor is converted into a low rotating speed and high torque signal at the output end of the speed reducing mechanism through the speed reduction and torque increase of the speed reducing mechanism. The force transmitted by the speed reducing mechanism drives the screw rod to rotate, the screw rod rotates to drive the pressure nut to axially move and act on the brake piston to push the friction plate to clamp the brake disc, so that the caliper body of the caliper realizes braking; because the brake disc is fixed on the outer rotor of the hub motor through the bridge code, the space between the outer side of the brake disc and the outer rotor of the hub motor is occupied by the connecting bridge code, but the inner side of the brake disc is free enough space to install the electromechanical brake assembly and enable the caliper body to reversely grip the brake disc, the appearance structural characteristics of the outer rotor hub motor are fully utilized, and the integration level of the hub motor angle module is improved.
When the floating caliper disc type brake-by-wire mechanism with the hub motor disconnected from the bridge code performs combined braking on a vehicle, the mechanical braking force of the brake-by-wire mechanism is used as a reference braking force, and the motor braking force of the hub motor is used as a compensation braking force, so that the brake-by-wire is controlled, and the brake redundancy is realized.
The invention provides a wheel slip rate control method, when the wheel slip rate is adjusted, an electronic mechanical brake provides a constant braking moment, and when the adjustable motor braking moment is overlapped, the wheel slip rate control which mainly adopts motor adjustment and is adjusted to be auxiliary by the electronic mechanical brake can be realized.
The brake disc is connected with the rotor of the hub motor through the bridge code, so that the heat of the brake disc during braking can be reduced to a great extent and transferred to the outer rotor of the hub motor; the braking mechanism is divided into an upper part and a lower part by using a disconnected bridge code, so that the manufacturing and the installation are convenient, and the heat dissipation capacity during braking is improved; and the bridge code connection is used, so that the capability of draining water and removing sand and stones of the braking part is enhanced under severe working conditions such as wading and mud-related conditions.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the brake-by-wire structure of the present invention.
Fig. 3 is a schematic view of an included brake bracket structure of the present invention.
Fig. 4 is a schematic view of a detail of a brake disc included in the present invention.
Fig. 5 is a schematic diagram of a disconnected bridge code included in the present invention.
FIG. 6 is a plot of brake torque distribution for wheel slip rate adjustment for different braking demands.
In the figure: the brake device comprises a 1-hub motor, a 2-bridge, a 3-brake disc, a 4-guide pin, a 5-brake driving motor, a 6-speed reducing mechanism, a 7-electromechanical brake interface, an 8-rotation-linear motion conversion mechanism, a 9-connecting bolt, a 10-brake bracket, a 11-caliper body, a 12-friction plate, a 13-guide hole and a 14-groove.
Detailed Description
The above-described matters of the present invention will be further described in detail by way of examples, but it should not be construed that the scope of the above-described subject matter of the present invention is limited to the following examples, and all techniques realized based on the above-described matters of the present invention are within the scope of the present invention.
In describing the present invention, it should also be noted that:
The orientation or positional relationship therein is based on the relationship shown in the drawings for convenience of description and simplification of the description only, and is not indicative or implying that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the invention, technical terms such as lower adhesion road surface braking and higher adhesion road surface braking are a pair of comparative phrases, conditions of smaller braking strength and high braking strength are a pair of comparative phrases, and the descriptions are comparative, so that specific condition ranges are not limited, and a person skilled in the art can set specific judging conditions according to actual conditions.
Likewise, the technical terms, such as conditions of high braking strength requirement, in the present invention can also be set by those skilled in the art according to the operation situation requirements to determine conditions suitable for implementation of the scheme; the technical terms in the invention, such as the minimum braking torque required in the process of adjusting the wheel slip rate, can be selected and set according to actual conditions by a person skilled in the art.
The invention provides a hub motor angle module of an integrated brake-by-wire, which comprises a hub motor 1 and a floating caliper disc type brake-by-wire mechanism; the floating caliper disc type wire control mechanism is provided with an annular brake disc 3, and the brake disc 3 is connected with a rotor of the hub motor 1 through a bridge code 2.
The brake disc 3 is braked by an electromechanical brake, a linear control actuator assembly of the electromechanical brake is fixed on a vehicle body by a brake bracket 10, and the linear control actuator assembly comprises a brake driving motor 5, a speed reducing mechanism 6 and a rotary-linear motion conversion mechanism 8, and the rotary-linear motion conversion mechanism 8 is connected with a brake piston; the electromechanical brake is provided with a caliper body 11 with an opening direction outwards from the inner direction of the annular brake disc 3, so that the opening direction of the caliper body 11 deviates from the center of the brake disc 3 and takes a reverse grabbing posture; the caliper body 11 is provided with a guide pin 4 connected with the brake bracket 10, and the caliper body 11 can move relative to the brake bracket 10 along the axial direction of the guide pin 4.
The brake driving motor 5 of the electromechanical brake is used for decelerating and increasing the torque through the decelerating mechanism 6, and the acting force is applied to the brake piston through the rotary-linear motion converting mechanism 8, and the brake piston pushes the friction plate 12 to clamp the brake disc to realize braking. Wherein, the brake piston is connected with the tail end of the rotary-linear motion conversion mechanism 8; when the brake is released, the rotary-linear motion converting mechanism 8 pulls back the brake piston.
In operation, the motor of the electromechanical brake generates a clamping force to the brake disc 3by pushing the friction plate 12 to move through the rotation-linear motion converting mechanism 8, thereby generating a braking torque.
In the embodiment, the brake driving motor 5 is powered by the electromechanical brake interface 7 and the adjustment of the magnitude of the mechanical braking force is achieved by adjusting the power supply.
As shown in fig. 1, the module unit includes a wheel hub motor 1 and a floating caliper disc type brake-by-wire mechanism for disconnecting a bridge 2 for the wheel hub motor 1, and the brake mechanism includes an electromechanical brake, a brake disc 3 and a connecting bridge 2. The guide pin 4 is fixed to the caliper body 11.
In one disclosed embodiment of the invention, the brake disc 3 is annular, the assembly of the electromechanical brake is fixed through the brake bracket 10, the brake bracket 10 and the guide pin 4 are connected to corresponding parts of the calipers through bolts, the electromechanical brake is provided with a floating caliper, and the opening direction of the caliper body 11 of the floating caliper is outwards from the annular inner direction of the brake disc 3 and takes a reverse grabbing state, namely, the opening direction of the caliper body 11 is far away from the center of the brake disc 3.
The linear control actuator assembly is arranged on the upper side of the caliper body parallel to the axis of the brake disc and mainly comprises a brake driving motor 5, a speed reducing mechanism 6 and a rotation-linear motion conversion mechanism 8, wherein a screw nut transmission mechanism is adopted in the specific implementation of the rotation-linear motion conversion mechanism 8; when the vehicle needs to be braked, the electric control unit sends an instruction to the brake-by-wire actuator assembly, the brake driving motor 5 starts to rotate and drives the speed reducing mechanism to rotate, and the high rotating speed of the brake driving motor 5 is converted into a low rotating speed high torque signal at the output end of the speed reducing mechanism through the speed reduction and torque increase of the speed reducing mechanism; the force transmitted by the speed reducing mechanism drives the screw rod to rotate, the screw rod rotates to drive the pressure nut (screw rod nut) to axially move and act on the brake piston to push the friction plate to clamp the brake disc, so that the caliper body realizes braking.
In the scheme of the disclosed embodiment of the invention, the guide pin 4 is fixed on the caliper body 11, the guide pin 4 is connected with the caliper body 11 through the bolt 9, the outer surface of the shaft of the guide pin 4 is coated with the rubber ring dust cover, the longitudinal section of the dust cover is wavy, and the service life of the dust cover when the dust cover is extruded and stretched is prolonged; two positions of the caliper body 11, corresponding to the installation of the guide pins 4, are respectively provided with guide lugs, guide holes 13 are formed in the guide lugs, the end, located at the guide lugs, of the guide pins 4 is made into a bolt head 9, and the guide lugs and the bolt head 9 clamp the guide lugs by screwing nuts on the inner sides of the guide lugs, so that the guide pins 4 are fixed with the caliper body 11.
The two guide pins 4 fixed to the caliper body 11 are inserted into the holes 13 at both ends of the brake bracket 10, there is no constraint between the caliper body 11 and the brake bracket 10 in the axial direction of the guide pins 4, and the two are completely separated, and since the brake bracket 10 is fixed so as not to move, the caliper body 11 can move relative to the brake bracket 10 along the axial direction of the guide pins 4.
Since the caliper body 11 can be moved up and down without removing the brake bracket 10, the position of the caliper body 11 can be changed according to the thickness change of the friction plate 12 according to this feature, thereby adjusting the distance between the friction plate 12 and the brake disc 3.
In one disclosed embodiment of the present invention, as shown in fig. 2 and 3, two pairs of grooves 14 are formed in corresponding positions inside the brake support 10, and the friction plate 12 can be connected to the brake support 10 through the embedded grooves 14, so that during braking, the friction plate 12 moves under the pushing of the brake piston and the caliper body 11 to contact with the brake disc 3 to realize braking.
In one particular embodiment, the friction plates 12 are a pair, an inner friction plate and an outer friction plate, respectively, with a return spring mounted therebetween; the brake piston is assembled on the inner side of the caliper body 11, the brake piston is contacted with the inner side friction plate by pushing of the rotary-linear motion conversion mechanism 8 under the action of the brake driving motor 5, the inner side friction plate is pushed to press the inner side friction plate to the rotary brake disc 3, under the working principle of the floating caliper, the inner side friction plate and the brake disc are extruded and then pull back along with the caliper body 11 of the floating caliper, so that the caliper body 11 slightly moves, and the outer side friction plate is also clung to the brake disc 3 under the action of the caliper body 11; braking is achieved by forming resistance to rotation of the wheel by friction between the friction plate 12 and the brake disc 3; when the braking is released, the braking piston returns to the initial position, and the return spring piece between the friction plates 12 pushes back the inner friction plate and the outer friction plate, and the friction plates 12 return to the clearance position between the friction plates and the brake disc 3, so that the friction plates are not contacted with the brake disc 3 any more.
In a disclosed embodiment of the invention, the hub motor 1 is an outer rotor permanent magnet synchronous motor, and the brake disc 3 is connected with the rotor of the hub motor 1 through the bridge 2, so that the heat of the brake disc 3 during braking can be greatly reduced and transferred to the outer rotor of the hub motor 1.
In one disclosed embodiment of the present invention, as shown in fig. 5, the braking mechanism uses a break-off bridge 2, which is divided into an upper part and a lower part, and the bridge 2 has a heat dissipation through hole, so that the bridge 2 is broken to facilitate its manufacture and installation, and simultaneously, the heat dissipation during braking is increased, and as shown in fig. 4, the evenly distributed small holes on the brake disc 3 are also used to dissipate the heat generated by friction. Meanwhile, under severe working conditions such as wading and mud-related conditions, the bridge codes 2 are used for connection, so that the capability of draining water and sand and stones of the braking part is enhanced.
As shown in fig. 6, the angle module of the hub motor 1 integrated with the brake-by-wire of the present invention provides a method for controlling the slip rate of a wheel, wherein the accurate adjustment of the slip rate of the wheel can be realized by the mechanical braking of the electromechanical brake and the regenerative braking of the motor of the hub motor 1, and the method comprises the following steps:
The braking force generated by the electromechanical brake is characterized in that the braking force is strong enough, but because the transmission mechanism is complex, the rotation of the brake driving motor 5 needs to be converted into the translation of the piston, errors exist between the conversion of the motion, and the temperature and the friction factor of the brake disc 3 change in real time in the braking process, so that the clamping force of the friction plate 12 and the braking moment generated by the clamping cannot be easily and accurately adjusted linearly.
The motor regenerative braking torque of the hub motor 1 is the motor torque, so that the motor braking force can be regulated by controlling the motor torque through controlling the current, and the motor braking force can be regulated very quickly because the motor torque control response is very quick.
Therefore, when the wheel slip rate is adjusted, a constant braking torque is provided by the electromechanical brake, and the wheel slip rate control mainly adjusted by the motor and secondarily adjusted by the electromechanical brake can be realized by superposing the adjustable motor braking torque.
The wheel slip rate control method mainly based on the regenerative braking adjustment of the wheel hub motor and assisted by the electric mechanical braking adjustment combines the characteristics of the mechanical braking of the electric mechanical brake and the regenerative braking of the motor of the wheel hub motor 1, namely, the braking strength of the mechanical braking is high, but the accurate adjustment is not easy, the braking response of the wheel hub motor is rapid, the torque of the wheel hub motor can be accurately adjusted, and based on the characteristics, a specific wheel slip rate implementation mode is provided:
when the wheels are braked on a low-adhesion road surface, the longitudinal force given by the ground to the wheels is small, and the braking force given by the wheels is not too large to prevent the wheels from locking, at the moment, the braking requirement can be met by only using the motor regenerative braking of the hub motor 1 without the intervention of an electromechanical brake, and the wheel braking moment can be quickly adjusted to regulate the wheel slip rate and prevent the wheels from locking.
When the wheel is in normal high adhesion road surface braking, the hub motor 1 is preferentially used for motor braking when the braking strength requirement is low, at the moment, the motor regenerative braking meets the braking requirement and the braking response is rapid, and the service lives of the brake disc 3 and the friction plate 12 are also protected because the mechanical braking is not used.
When the braking strength requirement is higher and the pure regenerative braking of the hub motor cannot meet the braking requirement, the mechanical braking of the electromechanical brake and the regenerative braking of the motor of the hub motor 1 are required to be combined for braking; the specific implementation method is that braking force is distributed according to the optimal braking strength of the vehicle on the high-adhesion road surface, firstly, a fixed mechanical braking torque is given to the wheels according to the road surface condition, the braking torque is the minimum braking torque required in the wheel slip rate adjusting process, meanwhile, the mechanical braking torque compensates the problem that the regenerative braking strength of a motor is limited, and then the regenerative braking of the motor of the hub motor 1 is superposed on the fixed mechanical braking torque, so that the adjustment of the wheel slip rate under the high braking strength requirement can be realized.
When the floating caliper disc type brake-by-wire mechanism with the bridge code 2 disconnected for the hub motor 1 participates in the operation of a brake anti-lock braking system, the motor regenerative braking force of the hub motor 1 participates in the braking force adjustment, and under the condition of constant mechanical braking force, the total braking force is increased by the intervention of the motor regenerative braking force, so that the braking force adjustment is realized.
The invention provides a scheme of how to provide braking force to the maximum extent when in emergency braking on a road surface, and can rapidly adjust braking force by utilizing the characteristics of regenerative braking and easy adjustment of a motor, thereby controlling the whole anti-lock braking process better.
In a specific control flow embodiment, as shown in fig. 6, before time T 1, the motor regenerative braking meets the braking requirement, the mechanical braking is not interposed, the braking torque can be adjusted at will, but the motor braking torque cannot exceed the peak value T emax, the condition of mechanical braking intervention is shown at time T 1, at this time, the electromechanical brake provides a stable mechanical braking torque, and meanwhile, the motor regenerative braking provided by the hub motor 1 is overlapped, and the motor regenerative braking can meet the adjustment of the braking torque under the higher braking requirement through overlapping, so that the adjustment of the wheel slip rate is realized.
The above embodiments are merely preferred embodiments of the present invention, and the present invention is not limited in any way, and any simple modification, equivalent replacement, improvement, etc. made by any person skilled in the art without departing from the technical scope of the present invention, according to the technical spirit of the present invention, still fall within the scope of the technical solutions of the present invention.
Claims (10)
1. An integrated brake-by-wire's in-wheel motor angle module which characterized in that: comprises a hub motor and a floating caliper disc type wire control braking mechanism; the floating caliper disc type linear control mechanism is provided with a circular brake disc, and the brake disc is connected with a rotor of the hub motor through a bridge code;
The brake disc is controlled to brake through an electromechanical brake, a linear control actuator assembly of the electromechanical brake is fixed on a vehicle body through a brake bracket, and the linear control actuator assembly comprises a brake driving motor, a speed reducing mechanism and a rotary-linear motion conversion mechanism, and the rotary-linear motion conversion mechanism is connected with a brake piston; the electronic mechanical brake is provided with a floating caliper with an opening direction outwards from the inner direction of the circular brake disc, and the opening direction of a caliper body of the floating caliper deviates from the center of the brake disc and takes a reverse grabbing posture; the caliper body is provided with a guide pin connected with the brake bracket, and can move relative to the brake bracket along the axis direction of the guide pin;
The brake driving motor of the electromechanical brake is used for decelerating and increasing the torque through the decelerating mechanism, acting force is acted on the brake piston through the rotary-linear motion converting mechanism, and the brake piston pushes the friction plate to clamp the brake disc to realize braking.
2. The integrated brake-by-wire in-wheel motor corner module of claim 1, wherein: the guide pin is externally covered with a dust cover, and the dust cover is a rubber ring with a wavy longitudinal section.
3. The integrated brake-by-wire in-wheel motor corner module of claim 1, wherein: the caliper body is provided with a guide lug at a position corresponding to the guide pin, a guide hole is formed in the guide lug, and one end of the guide pin penetrates through the guide hole and is fixed;
Guide pins fixedly mounted on the caliper body are inserted into holes formed in two ends of the brake support.
4. The integrated brake-by-wire in-wheel motor corner module of claim 1, wherein: the brake bracket is provided with a groove, the friction plate is embedded into the groove, and the friction plate moves out of the groove during braking and contacts with the brake disc to brake.
5. The integrated brake-by-wire in-wheel motor corner module of claim, wherein: the bridge code is provided with a heat dissipation through hole; the brake disc is uniformly provided with heat dissipation small holes.
6. The integrated brake-by-wire in-wheel motor corner module of claim 1, wherein: the bridge code is a broken bridge code which is divided into an upper part and a lower part.
7. The integrated brake-by-wire in-wheel motor corner module of claim 1, wherein: the speed reducing mechanism acts on the brake piston through a rotation-linear motion conversion mechanism, and the rotation-linear motion conversion mechanism adopts a screw nut transmission mechanism.
8. A wheel slip rate control method using the in-wheel motor angle module of the integrated brake-by-wire of any one of claims 1 to 7, characterized by: the braking adjustment of the hub motor is mainly and the braking adjustment of the electronic machinery is auxiliary; the braking strength advantage of the mechanical braking of the electromechanical brake is combined, and the braking response of the motor braking of the hub motor and the adjustable motor torque advantage are comprehensively braked.
9. The wheel slip ratio control method according to claim 8, characterized in that the following braking strategy is adopted:
When the wheels are braked on a lower attachment road surface and the required braking strength is smaller, only the motor regeneration braking of the hub motor is used;
When the wheels are braked on a higher attachment road surface, the hub motor is preferentially used for motor regenerative braking, and when the required braking strength reaches a high braking strength condition, the mechanical braking of the electromechanical brake is used as a reference braking force, and the motor regenerative braking of the hub motor is used as a compensation braking force for combined braking.
10. The wheel slip ratio control method according to claim 9, characterized in that: when the braking strength reaches the high braking strength requirement condition, the strategy of the combined braking of the mechanical braking of the electromechanical brake and the motor regenerative braking of the hub motor is specifically as follows:
When the wheels are braked on the higher attached road surface, the braking force is distributed according to the optimal braking scheme of the vehicle on the higher attached road surface, and the optimal braking scheme is obtained by the following steps: firstly, giving a fixed mechanical braking moment to wheels according to road conditions, wherein the mechanical braking moment is the minimum braking moment required in the wheel slip rate adjusting process; and then, motor braking of the hub motor is superposed on the basis of the mechanical braking moment with the fixed size, so that the wheel slip rate adjustment under the requirement of high braking strength is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411197503.2A CN119022009A (en) | 2024-08-29 | 2024-08-29 | A wheel hub motor angle module with integrated wire-controlled brake and a wheel slip rate control method |
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| CN202411197503.2A CN119022009A (en) | 2024-08-29 | 2024-08-29 | A wheel hub motor angle module with integrated wire-controlled brake and a wheel slip rate control method |
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| CN202411197503.2A Pending CN119022009A (en) | 2024-08-29 | 2024-08-29 | A wheel hub motor angle module with integrated wire-controlled brake and a wheel slip rate control method |
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