CN110962825B - Disk type linear control braking system based on magnetostrictive material and control method thereof - Google Patents
Disk type linear control braking system based on magnetostrictive material and control method thereof Download PDFInfo
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- CN110962825B CN110962825B CN201911130905.XA CN201911130905A CN110962825B CN 110962825 B CN110962825 B CN 110962825B CN 201911130905 A CN201911130905 A CN 201911130905A CN 110962825 B CN110962825 B CN 110962825B
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- 239000000463 material Substances 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims description 44
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000001276 controlling effect Effects 0.000 claims description 14
- 230000005389 magnetism Effects 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 5
- 230000035699 permeability Effects 0.000 claims description 3
- 230000001953 sensory effect Effects 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- 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
- B60T13/74—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 electrical assistance or drive
- B60T13/748—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 electrical assistance or drive acting on electro-magnetic brakes
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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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
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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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/10—Disposition of hand control
- B60T7/101—Disposition of hand control by means of a pull rod
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention discloses a disk type linear control and braking system based on magnetostrictive materials and a control method thereof, comprising the following steps: the device comprises a brake pedal module, a left front brake, a right front brake, a left rear brake, a right rear brake, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, a control module, a power supply, a current regulation module and a parking brake module; the system uses the characteristics of magnetostrictive material as a driving source and controls the braking system by controlling the current in the exciting coil. Because the traditional hydraulic drive is replaced by the magnetostrictive drive, the defects of the electric control hydraulic braking system are eliminated. Compared with a mechanical linear control braking system, the invention has the advantages of simple structure, light weight, small volume, low energy consumption and easy control.
Description
Technical Field
The invention belongs to the technical field of automobile brake-by-wire systems, and particularly relates to a disk brake-by-wire system based on a magnetostrictive material and a control method thereof.
Background
The magnetostrictive material is a novel intelligent material, can stretch or shorten in the magnetization direction when magnetized in a magnetic field, and can be deformed by regulating and controlling current in a coil to a controller. The material has the characteristics of quick response of magnetization deformation, large deformation output energy and the like, and can be used for micro-displacement driving.
The brake-by-wire system, i.e., the electronic control brake system, is divided into a hydraulic brake-by-wire system and a mechanical brake-by-wire system.
Hydraulic brake-by-wire Systems (EHBs) have evolved from conventional hydraulic brake systems, but unlike conventional braking, EHBs replace some of the original mechanical components with electronic components, and are an advanced electromechanical system that combines electronic and hydraulic systems. The EHB is mainly composed of an electronic pedal, an Electronic Control Unit (ECU), and a hydraulic actuator. The electronic pedal is composed of a brake pedal and a pedal sensor (pedal displacement sensor). The pedal sensor is used for detecting pedal travel, then converting displacement signals into electric signals and transmitting the electric signals to the electronic control unit, and the pedal travel and braking force are regulated and controlled proportionally.
The mechanical brake-by-wire system (EMB) is distinct from conventional hydraulic brake systems in that the EMB uses electrical energy as an energy source, drives the brake pads by a motor, transfers energy by wires, and transfers signals by data wires, an EMB being one of the brake-by-wire systems. The whole system is not connected with a brake pipeline, has a simple structure and a small volume, signals are transmitted through electricity, the response is sensitive, the brake distance is reduced, the working is stable, the maintenance is simple, the hydraulic oil pipeline is not provided, the problem of hydraulic oil leakage is solved, and the hydraulic oil is directly controlled by the ECU to easily realize various functions of the traditional brake system.
Both of these brake systems have their own drawbacks. The EHB uses hydraulic pressure as a braking energy source, but the hydraulic pressure generation and electric control are relatively difficult, the integration with other electric control systems is not easy to achieve, and the weight of the hydraulic system is not beneficial to light weight. EMBs can be divided into two categories, the first category being motor driven actuators which then act on the brake disc; the second type is to add a self-energizing mechanism on the basis of the former. For the first category, although the structure and control are simpler and the braking process is stable, the motor provides the whole braking thrust, so that the output power of the motor is required to be large, and the motor is large in size, mass and energy consumption. For the second type, the difficulty of braking control becomes greater and the braking stability becomes worse due to the addition of the self-energizing mechanism.
In combination, the brake systems on the market now have the following drawbacks: 1. the hydraulic system is difficult to electrically control, is not easy to integrate with other electric control systems and is not beneficial to light weight; 2. the motor of the mechanical system without the self-boosting mechanism has large volume, mass and energy consumption; 3. the mechanical system with the self-boosting mechanism has the defects of high braking control difficulty and poor braking stability. Therefore, there is an urgent need for a brake system that can eliminate the above drawbacks.
Disclosure of Invention
In view of the above-described drawbacks of the related art, an object of the present invention is to provide a disk type brake-by-wire system based on a magnetostrictive material and a control method thereof, which uses the characteristics of the magnetostrictive material as a driving source and controls a brake system by controlling a current in an exciting coil. Because the traditional hydraulic drive is replaced by the magnetostrictive drive, the defects of the electric control hydraulic braking system are eliminated. Meanwhile, the invention has the advantages of simple structure, light weight, small volume, low energy consumption and easy control, can eliminate the defects of a mechanical linear control braking system, and can meet the market demand while improving the performance of the braking system. .
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention discloses a disk type linear control brake system based on magnetostrictive materials, which comprises the following components: the device comprises a brake pedal module, a left front brake, a right front brake, a left rear brake, a right rear brake, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, a control module, a power supply, a current regulation module and a parking brake module;
the brake pedal module includes: a brake pedal, a pedal bracket, a pedal rotating shaft, a connecting rod, a push rod and a pedal feel simulator;
the input end of the pedal rotating shaft is fixedly connected with the output end of the brake pedal, and the output end of the pedal rotating shaft is fixedly connected with the input end of the connecting rod;
the input end of the push rod is hinged with the output end of the connecting rod;
the lower extreme of footboard sensory simulator is fixed on the footboard support, and it includes: the device comprises a push rod, a simulator shell, an outer ring spring, an inner ring spring, an upper end cover, a lower end cover, an adjusting gasket and a base;
the upper end cover and the lower end cover are respectively screwed at the upper end and the lower end of the pedal feel simulator;
the outer ring spring and the inner ring spring are positioned in the simulator shell and are respectively sleeved on the base for generating simulated pedal force;
the adjusting gasket is positioned between the pedal feel simulator and the pedal bracket and is used for adjusting the pretightening force of the pedal feel simulator;
each brake comprises: a brake assembly, a brake actuator, and a force and displacement transfer module;
the brake assembly includes: the brake caliper comprises a brake caliper body, a guide pin, a left brake block assembly, a left piston, a right brake block assembly and a brake disc;
the brake caliper body is respectively fixed on a steering knuckle of a front axle and a rear axle of the automobile;
the brake disc is fixed on a hub of an automobile wheel and extends between the left brake block assembly and the right brake block assembly;
the left brake block assembly and the right brake block assembly are respectively connected with the left piston and the right piston, are hung on the guide pin and can move along the guide pin;
the brake driver is respectively arranged at the front end and the rear end of the brake caliper body, and is powered by the power supply, and comprises: the magnetic shielding device comprises a driver shell, a giant magnetostrictive rod, an exciting coil, a demagnetizing coil, a magnetic shielding gasket and a magnetic shielding top cover;
the input end of the giant magnetostrictive rod is fixed at the bottom end inside the driver shell;
the exciting coil and the demagnetizing coil are wound on the giant magnetostrictive rod, the displacement of the giant magnetostrictive rod is controlled by controlling the current in the exciting coil, and hysteresis is eliminated by controlling the current in the demagnetizing coil;
the magnetism isolating pad is clung to the inner side of the driver shell; the magnetism isolating top cover is arranged at the top ends of the left brake driver and the right brake driver in a rotating mode, and the magnetism isolating top cover and the magnetism isolating liner isolate the influence of a magnetic field on the outside;
the force and displacement transmission module is used for transmitting force and displacement output by a brake driver and comprises the following components: the device comprises a giant magnetostrictive rod, a transmission rod, a piston push rod and a supporting pin;
the supporting pins are fixed at two sides of the braking clamp body;
the middle part of the transmission rod is hinged on the supporting pin, the lower end of the transmission rod is hinged with the input end of the piston push rod, and the upper end of the transmission rod is hinged with the output end of the giant magnetostrictive rod;
the output end of the piston push rod is fixedly connected with the left piston and the right piston respectively;
the control module includes: the electronic control unit, pedal displacement sensor, speed sensor, wheel speed sensor and brake force sensor; the pedal displacement sensor is arranged on the push rod and is electrically connected with the electronic control unit, and is used for obtaining a displacement signal of the brake pedal and transmitting the signal to the electronic control unit;
the speed sensor is arranged in an axle housing or a gearbox housing of a drive axle of the automobile, is used for obtaining a speed signal of the automobile and is transmitted to the electronic control unit;
the wheel speed sensor is arranged on a wheel hub of the wheel and used for obtaining a wheel speed signal of the wheel and transmitting the signal to the electronic control unit;
the brake force sensor is arranged in the left brake block assembly and the right brake block assembly and is used for obtaining the braking force signals of all brake drivers and transmitting the signals to the electronic control unit;
the electronic control unit is electrically connected with the sensors and is used for receiving signals acquired by the sensors, calculating braking force required by a brake according to the received sensor signals, further calculating target braking force of each brake driver and current amount required by the exciting coil, comparing the target braking force with braking force signals and outputting corresponding control current signals; the current regulating module is used for receiving a control current signal output by the electronic control unit, regulating and controlling the current, inputting the regulated and controlled current into the brake driver, and feeding back the current value in each exciting coil to the electronic control unit;
the parking brake module includes: the parking brake device comprises a hand pull rod, a pull rod base, a parking brake cable, a return spring, a parking transmission rod, a parking brake rod and a parking brake friction block;
the input end of the parking brake cable is connected with the hand pulling rod, and the output end of the parking brake cable is connected with the parking transmission rod;
the pull rod base is fixed on a vehicle body behind a gear shifting lever of the vehicle;
the return springs are respectively positioned on the parking brake inhaul cable, the hand pull rod and the parking brake rod and used for returning the parking brake module;
the parking brake rod is hinged to the front end face of the brake caliper body, the input end of the parking brake rod is hinged to the output end of the parking transmission rod, and the output end of the parking brake rod is fixedly connected with the parking brake friction block.
Preferably, the front left, front right, rear left and rear right brakes are identical in construction, and the two brake actuators in each brake are also identical in construction.
Preferably, the parking transmission rod is U-shaped.
Preferably, the parking brake lever is V-shaped.
Preferably, in the disc brake system, the outer ring spring is in a natural state when the adjusting washer is not installed.
The invention also provides a control method of the disk type linear control brake system based on the magnetostrictive material, which comprises the following steps:
(1) During normal braking, when a driver presses a brake pedal, a pedal displacement sensor, a vehicle speed sensor, a wheel speed sensor and a brake force sensor respectively acquire pedal displacement signals, vehicle speed signals, wheel speed signals and brake force signals of all wheels and transmit the signals to an electronic control unit;
(2) The pedal feel simulator generates certain feedback force through the deformation of the outer ring spring and the inner ring spring, and the simulated pedal force is fed back to a driver through the push rod, the connecting rod and the brake pedal;
(3) The electronic control unit receives the pedal displacement signal, the vehicle speed signal, the wheel speed signal and the braking force signal, calculates the current required target braking force according to the current signals, distributes the braking force of each wheel according to the current required braking force, calculates the required displacement of the giant magnetostrictive rod in each wheel braking driver, further calculates the required target current signal, and transmits the signal to the current regulating module;
(4) After receiving the current control signal, the current adjusting module adjusts and controls the current, and then inputs the current to the brake driver of each brake to control the magnetic field intensity attached to the giant magnetostrictive rod, and feeds back the current value in each exciting coil to the electronic control unit;
(5) The current is input to a brake driver, the magnetic field intensity in an excitation coil is changed, a giant magnetostrictive rod is deformed, and a brake block assembly is pressed against a brake disc through a transmission rod, a piston push rod and a piston, so that braking is completed;
(6) When a driver releases a brake pedal, the electronic control unit adjusts the current in the exciting coil according to real-time pedal displacement, and simultaneously controls the current adjusting module to supply current with the direction opposite to that in the exciting coil to the demagnetizing coil, so that the hysteresis phenomenon is eliminated, the response of the system is improved, and the brake is released until the driver completely releases the brake pedal;
(7) After the automobile is stopped, a driver pulls a hand pull rod, and a parking brake friction block is pulled to lean against a brake disc through a parking brake cable, a parking transmission rod and a parking brake rod to finish parking braking;
(8) When the driver returns the hand lever to its original position, the return springs return the mechanisms of the parking brake module to their original positions.
Preferably, the formula for calculating the required output braking force of each of the brake actuators in the step (3) is:
the formula for calculating the displacement of each giant magnetostrictive rod in the brake is as follows:
the formula for calculating the exciting coil current in the brake is:
wherein F is ci The required output braking force for each of the brakes, where i=1, 2,3,4 represents front left, front right, rear left, and rear right brakes, respectively; f (F) zi Braking forces required for the wheels, wherein i=1, 2,3,4 represent front left, front right, rear left, and rear right wheels, respectively; epsilon i The deformation of each giant magnetostrictive rod in the required brake is calculated, wherein i=1, 2,3 and 4 respectively represent the front left, front right, rear left and rear right brakes; e is the elastic modulus of the giant magnetostrictive rod; r is the radius of the giant magnetostrictive rod; pi is a circumference ratio constant; i i The magnitude of the current in the excitation coil in the required brake, wherein i=1, 2,3,4 represent the front left, front right, rear left, and rear right brakes, respectively; l is the length of the coil part of the giant magnetostrictive rod; a is a characteristic constant (dependent on material properties); mu (mu) 0 Is vacuum magnetic permeability; n is the number of turns of the coil.
Preferably, the braking force F output by the brake actuator in the step (5) ci The control of the system is controlled by adopting a PID closed-loop current control method, and the specific steps are as follows:
(51) The electronic control unit calculates a target braking force F of the current brake actuator according to formula (1) ci_need ：
(52) The electronic control unit receives an actual braking force signal transmitted by the braking force sensor and transmits an actual braking force F ci_real With a target braking force F ci_need Comparing, and calculating the actual braking force F according to the formula (4) ci_real With a target braking force F ci_need Is the difference of (2)
(53) The error value obtained in the above formula (4) is input into a controller as current closed-loop control, and the output model of the controller is represented by formula (5):
wherein u is i (t) is a control amount output from the electronic control unit; k (K) pi Is a proportionality coefficient, T i Is an integral constant, T di Is a differential constant, u 0 To control constant I i Can be calculated by the formula (2-3).
The invention has the beneficial effects that:
the invention uses the characteristics of the magnetostriction material as a driving source, and controls the braking system by controlling the current in the exciting coil, thereby being easy to electrically control, integrate with other electric control systems and being beneficial to light weight.
The invention has the advantages of simple structure, light weight, small volume, low energy consumption, no need of self-boosting mechanism, low control difficulty and high braking stability.
The invention has novel structure and great market competitiveness due to different brake-by-wire systems which are available on the market.
Drawings
FIG. 1 is a block diagram of a magnetostrictive material based disc brake system of the present invention;
FIG. 2 is a schematic view of a brake according to the present invention;
FIG. 3 is a schematic illustration of a parking brake module according to the present invention;
FIG. 4 is a schematic view of a pedal feel simulator of the present invention;
FIG. 5 is a control flow diagram of the present invention;
FIG. 6 is a schematic diagram of PID control according to the invention;
in the figure, a 1-left front wheel, a 2-left front brake, a 3-brake pedal, a 4-wheel speed sensor A, a 5-pedal spindle, a 6-link, a 7-push rod, an 8-pedal displacement sensor, a 9-pedal feel simulator, a 10-pedal bracket, an 11-wheel speed sensor B, a 12-left rear wheel, a 13-left rear brake, a 14-vehicle speed sensor, a 15-power supply, a 16-current adjusting module, a 17-right rear wheel, a 18-right rear brake, a 19-wheel speed sensor C, a 20-parking brake friction block, a 21-parking brake lever, a 22-parking transmission lever, a 23-electronic control unit, a 24-parking brake cable, a 25-pull lever base, a 26-return spring, 27-hand lever, 28-wheel speed sensor D, 29-right front wheel, 30-right front brake, 31-brake caliper body, 32-guide pin, 33-magnetism isolating pad, 34-magnetism isolating roof, 35-driver housing, 36-drive lever, 37-piston push rod, 38-left side piston, 39-left brake block assembly, 40-brake disc, 41-giant magnetostrictive rod, 42-right brake block assembly, 43-support pin, 44-right side piston, 45-brake pressure sensor, 46-demagnetizing coil, 47-exciting coil, 48-brake driver, 49-upper end cap, 50-outer ring spring, 51-inner ring spring, 52-adjusting pad, 53-lower end cap, 54-base, 55-fastening screw, 56-simulator housing, 57-braking force signal, 58-pedal displacement signal, 59-vehicle speed signal, 60-wheel speed signal.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention.
Referring to fig. 1 to 4, a magnetostrictive material-based disc brake-by-wire system of the present invention comprises: a brake pedal module, a front left brake 2, a front right brake 30, a rear left brake 13, a rear right brake 18, a front left wheel 1, a front right wheel 29, a rear left wheel 12, a rear right wheel 17, a control module, a Power source (Power) 15, a Current Regulation Module (CRM) 16, and a parking brake module;
the brake pedal module includes: a brake pedal 3, a pedal bracket 10, a pedal rotating shaft 5, a connecting rod 6, a push rod 7, a fastening screw 54 and a pedal feel simulator 9;
the input end of the pedal rotating shaft 5 is fixedly connected with the output end of the brake pedal 3, and the output end is fixedly connected with the input end of the connecting rod 6;
the input end of the push rod 7 is hinged with the output end of the connecting rod 6;
the lower end of the pedal feel simulator 9 is fixed 55 to the pedal bracket 10 by a tightening screw (other fixing means may be adopted in other examples), which includes: the push rod 7, the simulator housing 56, the outer ring spring 50, the inner ring spring 51, the upper end cover 49, the lower end cover 53, the adjusting gasket 52 and the base 54;
the upper and lower end caps 49 and 53 are respectively screwed to the upper and lower ends of the pedal feel simulator 9;
the outer ring spring 50 and the inner ring spring 51 are located inside the simulator housing 56 and are respectively sleeved on the base 54, so as to generate simulated pedal force;
the adjusting gasket 52 is positioned between the pedal feel simulator 9 and the pedal bracket 10 and is used for adjusting the pretightening force of the pedal feel simulator 9;
the brakes 2, 13, 18 and 30 each include: a brake assembly, a brake actuator 48, and a force and displacement transfer module;
the brake assembly includes: the brake caliper body 31, the guide pin 32, the left brake pad assembly 39, the left piston 38, the right piston 44, the right brake pad assembly 42 and the brake disc 40;
the brake caliper body 31 is respectively fixed on a steering knuckle of an automobile front axle and a rear axle;
the brake disc fixing 40 is fixed on hubs of the left front wheel 1, the right front wheel 29, the left rear wheel 12 and the right rear wheel 17 of the automobile and extends between the left brake block assembly 39 and the right brake block assembly 42;
the left brake block assembly 39 and the right brake block assembly 42 are respectively connected with the left piston 38 and the right piston 44, are suspended on the guide pin 32, and can move along the guide pin 32;
the brake actuator 48 is mounted on each of the front and rear ends of the caliper body 31, and is powered by the power source 15, and includes: a driver housing 35, a giant magnetostrictive rod 41, an exciting coil 47, a demagnetizing coil 46, a magnetism isolating pad 33 and a magnetism isolating top cover 34;
the input end of the giant magnetostrictive rod 41 is fixed at the bottom end inside the driver shell 35;
the exciting coil 47 and the demagnetizing coil 46 are wound on the giant magnetostrictive rod 41, the displacement of the giant magnetostrictive rod 41 is controlled by controlling the current in the exciting coil 47, and hysteresis is eliminated by controlling the current in the demagnetizing coil 46;
the magnetism isolating pad 33 is tightly attached to the inner side of the driver housing 35; the magnetism isolating top cover 34 is screwed on the top end of the brake driver 48 and isolates the influence of the magnetic field to the outside together with the magnetism isolating pad 33;
the force and displacement transmission module is used for transmitting the force and displacement output by the brake actuator 48, and comprises: giant magnetostrictive rod 41, drive rod 36, piston push rod 37 and support pin 43;
the support pins 43 are fixed to both sides of the caliper body 31;
the middle part of the transmission rod 36 is hinged on the supporting pin 43, the lower end of the transmission rod 36 is hinged with the input end of the piston push rod 37, and the upper end of the transmission rod 36 is hinged with the output end of the giant magnetostrictive rod 41;
the output end of the piston push rod 37 is fixedly connected with the left piston 38 and the right piston 44 respectively;
the control module includes: an Electronic Control Unit (ECU) 23, a pedal displacement sensor 8, a vehicle speed sensor 14 and a wheel speed sensor A4, a wheel speed sensor B11, a wheel speed sensor C19, a wheel speed sensor D28 and a brake force sensor 45;
the pedal displacement sensor 8 is mounted on the push rod 7 and is electrically connected with the electronic control unit 23, and is used for obtaining a displacement signal of a brake pedal and transmitting the signal to the electronic control unit 23;
the speed sensor 14 is installed in an axle housing or a gearbox housing of a drive axle of an automobile, and is used for obtaining a speed signal of the automobile and transmitting the speed signal to the electronic control unit 23;
the wheel speed sensors 4, 11, 19 and 28 are respectively arranged on hubs of the left front wheel 1, the right front wheel 29, the left rear wheel 12 and the right rear wheel 17 and are used for obtaining wheel speed signals of the wheels and transmitting the signals to the electronic control unit 23;
the brake force sensor 45 is installed in the brake pad assemblies 39 and 42, and is used for obtaining the braking force signal of each brake actuator and transmitting the signal to the electronic control unit;
the electronic control unit 23 is electrically connected with the sensors, and is configured to receive signals collected by the sensors, calculate braking forces required by the brakes according to the received sensor signals, further calculate target braking forces of the brake drivers and current amounts required by the exciting coils 47, compare the target braking forces with braking force signals, and output corresponding control current signals; the current adjusting module 16 is configured to receive a control current signal output by the electronic control unit 23, regulate and control a current, input the regulated and controlled current to the brake driver 48, and feed back a current value in each exciting coil 47 to the electronic control unit 23;
the parking brake module includes: the parking brake device comprises a hand pull rod 27, a pull rod base 25, a parking brake cable 24, a return spring 26, a parking transmission rod 22, a parking brake rod 21 and a parking brake friction block 20;
the input end of the parking brake cable 24 is connected with a hand pull rod 27, and the output end is connected with the parking transmission rod 22;
the pull rod base 25 is fixed on a vehicle body behind a gear shift lever of the vehicle;
the return springs 26 are respectively positioned on the parking brake cable 24, the hand pull rod 27 and the parking brake rod 21 and are used for returning the parking brake module;
the parking brake lever 21 is hinged to the front end face of the brake caliper body 31, the input end of the parking brake lever is hinged to the output end of the parking transmission lever 22, and the output end of the parking brake lever is fixedly connected with the parking brake friction block 20.
Wherein the front left, front right, rear left and rear right brakes 2, 30, 13 and 18 are identical in construction and the two brake actuators 48 in each brake are also identical in construction.
Wherein, the parking transmission rod 22 is U-shaped.
Wherein the parking brake lever 21 is V-shaped.
In the disc brake system, the outer ring spring 50 is in a natural state when the adjustment washer 52 is not mounted.
Referring to fig. 5, the present embodiment further provides a control method of a disc brake-by-wire system based on magnetostrictive material, comprising the steps of:
(1) During normal braking, when a driver presses a brake pedal, a pedal displacement sensor, a vehicle speed sensor, a wheel speed sensor and a brake force sensor respectively collect a pedal displacement signal 58, a vehicle speed signal 59, wheel speed signals 60 and a brake force signal 57 of each wheel and transmit the signals to an electronic control unit;
(2) The pedal feel simulator generates certain feedback force through the deformation of the outer ring spring and the inner ring spring, and the simulated pedal force is fed back to a driver through the push rod, the connecting rod and the brake pedal;
(3) The electronic control unit receives a pedal displacement signal 58, a vehicle speed signal 59, wheel speed signals 60 and braking force signals 57, calculates the current required target braking force according to the current signals, distributes the braking force of each wheel according to the current required braking force, calculates the required displacement of the giant magnetostrictive rod in each wheel brake driver, further calculates the required target current signal, and transmits the signal to the current regulation module;
(4) After receiving the current control signal, the current adjusting module adjusts and controls the current, and then inputs the current to the brake driver of each brake to control the magnetic field intensity attached to the giant magnetostrictive rod, and feeds back the current value in each exciting coil to the electronic control unit;
(5) The current is input to a brake driver, the magnetic field intensity in an excitation coil is changed, a giant magnetostrictive rod is deformed, and a brake block assembly is pressed against a brake disc through a transmission rod, a piston push rod and a piston, so that braking is completed;
(6) When a driver releases a brake pedal, the electronic control unit adjusts the current in the exciting coil according to real-time pedal displacement, and simultaneously controls the current adjusting module to supply current with the direction opposite to that in the exciting coil to the demagnetizing coil, so that the hysteresis phenomenon is eliminated, the response of the system is improved, and the brake is released until the driver completely releases the brake pedal;
(7) After the automobile is stopped, a driver pulls a hand pull rod, and a parking brake friction block is pulled to lean against a brake disc through a parking brake cable, a parking transmission rod and a parking brake rod to finish parking braking;
(8) When the driver returns the hand lever to its original position, the return springs return the mechanisms of the parking brake module to their original positions.
Wherein, the formula for calculating the required output braking force of each brake actuator in the brake in the step (3) is as follows:
the formula for calculating the displacement of each giant magnetostrictive rod in the brake is as follows:
the formula for calculating the exciting coil current in the brake is:
wherein F is ci The required output braking force for each of the brakes, where i=1, 2,3,4 represents front left, front right, rear left, and rear right brakes, respectively; f (F) zi Braking forces required for the wheels, wherein i=1, 2,3,4 represent front left, front right, rear left, and rear right wheels, respectively; epsilon i The deformation of each giant magnetostrictive rod in the required brake is calculated, wherein i=1, 2,3 and 4 respectively represent the front left, front right, rear left and rear right brakes; e is the elastic modulus of the giant magnetostrictive rod; r is the radius of the giant magnetostrictive rod; pi is a circumference ratio constant; i i The magnitude of the current in the excitation coil in the required brake, wherein i=1, 2,3,4 represent the front left, front right, rear left, and rear right brakes, respectively; l is the length of the coil part of the giant magnetostrictive rod; a is a characteristic constant (dependent on material properties); mu (mu) 0 Is vacuum magnetic permeability; n is the number of turns of the coil.
Referring to fig. 6, the braking force F output by the brake actuator in step (5) ci The control of the system is controlled by adopting a PID closed-loop current control method, and the specific steps are as follows:
(51) The electronic control unit calculates a target braking force F of the current brake actuator according to formula (1) ci_need ：
Wherein F is ci_need Is a target braking force;
(52) The electronic control unit receives an actual braking force signal transmitted by the braking force sensor and transmits an actual braking force F ci_real With a target braking force F ci_need Comparing, and calculating the actual braking force F according to the formula (4) ci_real With a target braking force F ci_need Is the difference of (2)
(53) The error value obtained in the above formula (4) is input into a controller as current closed-loop control, and the output model of the controller is represented by formula (5):
wherein u is i (t) is a control amount output from the electronic control unit; k (K) pi Is a proportionality coefficient, T i Is an integral constant, T di Is a differential constant, u 0 To control constant I i Can be calculated by the formula (2-3).
The present invention has been described in terms of the preferred embodiments thereof, and it should be understood by those skilled in the art that various modifications can be made without departing from the principles of the invention, and such modifications should also be considered as being within the scope of the invention.
Claims (6)
1. A method of controlling a magnetostrictive material based disc brake by wire system, the magnetostrictive material based disc brake by wire system comprising: the device comprises a brake pedal module, a left front brake, a right front brake, a left rear brake, a right rear brake, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, a control module, a power supply, a current regulation module and a parking brake module;
the brake pedal module includes: a brake pedal, a pedal bracket, a pedal rotating shaft, a connecting rod, a push rod and a pedal feel simulator;
the input end of the pedal rotating shaft is fixedly connected with the output end of the brake pedal, and the output end of the pedal rotating shaft is fixedly connected with the input end of the connecting rod;
the input end of the push rod is hinged with the output end of the connecting rod;
the lower extreme of footboard sensory simulator is fixed on the footboard support, and it includes: the device comprises a push rod, a simulator shell, an outer ring spring, an inner ring spring, an upper end cover, a lower end cover, an adjusting gasket and a base;
the upper end cover and the lower end cover are respectively screwed at the upper end and the lower end of the pedal feel simulator;
the outer ring spring and the inner ring spring are positioned in the simulator shell and are respectively sleeved on the base for generating simulated pedal force;
the adjusting gasket is positioned between the pedal feel simulator and the pedal bracket and is used for adjusting the pretightening force of the pedal feel simulator;
each brake includes: a brake assembly, a brake actuator, and a force and displacement transfer module;
the brake assembly includes: the brake caliper comprises a brake caliper body, a guide pin, a left brake block assembly, a left piston, a right brake block assembly and a brake disc;
the brake caliper body is respectively fixed on a steering knuckle of a front axle and a rear axle of the automobile;
the brake disc is fixed on a hub of an automobile wheel and extends between the left brake block assembly and the right brake block assembly;
the left brake block assembly and the right brake block assembly are respectively connected with the left piston and the right piston, are hung on the guide pin and can move along the guide pin;
the brake driver is respectively arranged at the front end and the rear end of the brake caliper body, and is powered by the power supply, and comprises: the magnetic shielding device comprises a driver shell, a giant magnetostrictive rod, an exciting coil, a demagnetizing coil, a magnetic shielding gasket and a magnetic shielding top cover;
the input end of the giant magnetostrictive rod is fixed at the bottom end inside the driver shell;
the exciting coil and the demagnetizing coil are wound on the giant magnetostrictive rod, the displacement of the giant magnetostrictive rod is controlled by controlling the current in the exciting coil, and hysteresis is eliminated by controlling the current in the demagnetizing coil;
the magnetism isolating pad is clung to the inner side of the driver shell; the magnetism isolating top cover is arranged at the top ends of the left brake driver and the right brake driver in a rotating mode, and the magnetism isolating top cover and the magnetism isolating liner isolate the influence of a magnetic field on the outside;
the force and displacement transmission module is used for transmitting force and displacement output by a brake driver and comprises the following components: the device comprises a giant magnetostrictive rod, a transmission rod, a piston push rod and a supporting pin;
the supporting pins are fixed at two sides of the braking clamp body;
the middle part of the transmission rod is hinged on the supporting pin, the lower end of the transmission rod is hinged with the input end of the piston push rod, and the upper end of the transmission rod is hinged with the output end of the giant magnetostrictive rod;
the output end of the piston push rod is fixedly connected with the left piston and the right piston respectively;
the control module includes: the electronic control unit, pedal displacement sensor, vehicle speed sensor and, wheel speed sensor and brake force sensor;
the pedal displacement sensor is arranged on the push rod and is electrically connected with the electronic control unit, and is used for obtaining a displacement signal of the brake pedal and transmitting the signal to the electronic control unit;
the speed sensor is arranged in an axle housing or a gearbox housing of a drive axle of the automobile, is used for obtaining a speed signal of the automobile and is transmitted to the electronic control unit;
the wheel speed sensor is arranged on a wheel hub of the wheel and used for obtaining a wheel speed signal of the wheel and transmitting the signal to the electronic control unit;
the brake force sensor is arranged in the left brake block assembly and the right brake block assembly and is used for obtaining the braking force signals of all brake drivers and transmitting the signals to the electronic control unit;
the electronic control unit is electrically connected with the sensors and is used for receiving signals acquired by the sensors, calculating braking force required by a brake according to the received sensor signals, further calculating target braking force of each brake driver and current amount required by the exciting coil, comparing the target braking force with braking force signals and outputting corresponding control current signals;
the current regulating module is used for receiving a control current signal output by the electronic control unit, regulating and controlling the current, inputting the regulated and controlled current into the brake driver, and feeding back the current value in each exciting coil to the electronic control unit;
the parking brake module includes: the parking brake device comprises a hand pull rod, a pull rod base, a parking brake cable, a return spring, a parking transmission rod, a parking brake rod and a parking brake friction block;
the input end of the parking brake cable is connected with the hand pulling rod, and the output end of the parking brake cable is connected with the parking transmission rod;
the pull rod base is fixed on a vehicle body behind a gear shifting lever of the vehicle;
the return springs are respectively positioned on the parking brake inhaul cable, the hand pull rod and the parking brake rod and used for returning the parking brake module;
the parking brake rod is hinged to the front end face of the brake caliper body, the input end of the parking brake rod is hinged to the output end of the parking transmission rod, and the output end of the parking brake rod is fixedly connected with the parking brake friction block;
the method is characterized by comprising the following steps of:
(1) During normal braking, when a driver presses a brake pedal, a pedal displacement sensor, a vehicle speed sensor, a wheel speed sensor and a brake force sensor respectively acquire pedal displacement signals, vehicle speed signals, wheel speed signals and brake force signals of all wheels and transmit the signals to an electronic control unit;
(2) The pedal feel simulator generates certain feedback force through the deformation of the outer ring spring and the inner ring spring, and the simulated pedal force is fed back to a driver through the push rod, the connecting rod and the brake pedal;
(3) The electronic control unit receives the pedal displacement signal, the vehicle speed signal, the wheel speed signal and the braking force signal, calculates the current required target braking force according to the current signals, distributes the braking force of each wheel according to the current required braking force, calculates the required displacement of the giant magnetostrictive rod in each wheel braking driver, further calculates the required target current signal, and transmits the signal to the current regulating module;
(4) After receiving the current control signal, the current adjusting module adjusts and controls the current, and then inputs the current to the brake driver of each brake to control the magnetic field intensity attached to the giant magnetostrictive rod, and feeds back the current value in each exciting coil to the electronic control unit;
(5) The current is input to a brake driver, the magnetic field intensity in an excitation coil is changed, a giant magnetostrictive rod is deformed, and a brake block assembly is pressed against a brake disc through a transmission rod, a piston push rod and a piston, so that braking is completed;
(6) When a driver releases a brake pedal, the electronic control unit adjusts the current in the exciting coil according to real-time pedal displacement, and simultaneously controls the current adjusting module to supply current with the direction opposite to that in the exciting coil to the demagnetizing coil, so that the hysteresis phenomenon is eliminated, the response of the system is improved, and the brake is released until the driver completely releases the brake pedal;
(7) After the automobile is stopped, a driver pulls a hand pull rod, and a parking brake friction block is pulled to lean against a brake disc through a parking brake cable, a parking transmission rod and a parking brake rod to finish parking braking;
(8) When the driver returns the hand pull rod to the original position, the return springs return all the mechanisms of the parking brake module to the original position;
the formula for calculating the required output braking force of each brake actuator in the brake in the step (3) is as follows:
the formula for calculating the displacement of each giant magnetostrictive rod in the brake is as follows:
the formula for calculating the exciting coil current in the brake is:
wherein F is ci The required output braking force for each of the brakes, where i=1, 2,3,4 represents front left, front right, rear left, and rear right brakes, respectively; f (F) zi Braking forces required for the wheels, wherein i=1, 2,3,4 represent front left, front right, rear left, and rear right wheels, respectively; epsilon i The deformation of each giant magnetostrictive rod in the required brake is calculated, wherein i=1, 2,3 and 4 respectively represent the front left, front right, rear left and rear right brakes; e is the elastic modulus of the giant magnetostrictive rod; r is the radius of the giant magnetostrictive rod; pi is a circumference ratio constant; i i The magnitude of the current in the excitation coil in the required brake, wherein i=1, 2,3,4 represent the front left, front right, rear left, and rear right brakes, respectively; l is the length of the coil part of the giant magnetostrictive rod; a is a characteristic constant; mu (mu) 0 Is vacuum magnetic permeability; n is the number of turns of the coil.
2. A method of controlling a magnetostrictive material based disc brake-by-wire system according to claim 1, wherein the front left, front right, rear left and rear right brakes are identical in structure and the two brake actuators in each brake are also identical in structure.
3. The method of claim 1, wherein the parking transmission rod is U-shaped.
4. A method of controlling a magnetostrictive material based disc brake by wire system according to claim 1, wherein the parking brake lever is V-shaped.
5. The method of claim 1, wherein the outer ring spring is in a natural state when the adjusting shim is not installed.
6. The method of claim 1, wherein the braking force F is output from the brake actuator in step (5) ci The control of the system is controlled by adopting a PID closed-loop current control method, and the specific steps are as follows:
(51) The electronic control unit calculates a target braking force F of the current brake actuator according to formula (1) ci_need ：
(52) The electronic control unit receives an actual braking force signal transmitted by the braking force sensor and transmits an actual braking force F ci_real With a target braking force F ci_need Comparing, and calculating the actual braking force F according to the formula (4) ci_real With a target braking force F ci_need Is the difference of (2)
(53) The error value obtained in the above formula (4) is input into a controller as current closed-loop control, and the output model of the controller is represented by formula (5):
wherein u is i (t) is a control amount output from the electronic control unit; k (K) pi Is a proportionality coefficient, T i Is an integral constant, T di Is a differential constant, u 0 To control constant I i 。
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| CN114954387A (en) * | 2022-04-25 | 2022-08-30 | 南昌工程学院 | Intelligent automobile chassis control system based on unmanned technology |
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