EP1646541A1 - Procede de regulation electronique pour un systeme de freinage de vehicule automobile a regulation du glissement - Google Patents

Procede de regulation electronique pour un systeme de freinage de vehicule automobile a regulation du glissement

Info

Publication number
EP1646541A1
EP1646541A1 EP04766161A EP04766161A EP1646541A1 EP 1646541 A1 EP1646541 A1 EP 1646541A1 EP 04766161 A EP04766161 A EP 04766161A EP 04766161 A EP04766161 A EP 04766161A EP 1646541 A1 EP1646541 A1 EP 1646541A1
Authority
EP
European Patent Office
Prior art keywords
motor
pressure
control method
generator voltage
switch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04766161A
Other languages
German (de)
English (en)
Inventor
Guntjof Magel
Rüdiger MAHLO
Frank Sikorski
Faouzi Attallah
Lukas Kroh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE10355239A external-priority patent/DE10355239A1/de
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP1646541A1 publication Critical patent/EP1646541A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/42—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition having expanding chambers for controlling pressure, i.e. closed systems
    • B60T8/4275—Pump-back systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
    • B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
    • B60T8/3655—Continuously controlled electromagnetic valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B60T8/4059—Control of the pump unit involving the rate of delivery

Definitions

  • the invention relates to an electronic control method for a slip-controlled motor vehicle brake system, comprising a distribution device with an electronic unit (ECU) and with a hydraulic unit (HCU) comprising a receiving body for hydraulic components such as in particular electrohydraulic inlet and outlet valves for wheel brakes, which are organized in brake circuits, and with a Motor-pump unit with an electric motor, in particular for returning hydraulic fluid from wheel brakes in the direction of a pressure transducer, with an anti-lock control system using pressure build-up, pressure maintenance and pressure reduction switch positions of the electrohydraulic inlet and pressure switch positions evaluated by a vehicle driver using the pressure transducer in the brake system Exhaust valves is enabled.
  • ECU electronic unit
  • HCU hydraulic unit
  • the coil current of the wheel inlet valve is set as a function of the differential pressure on the valve body in such a way that an opening gap on the valve body initially allows a metered throttling effect, and only then reaches an open position.
  • the throttling effect described avoids high and consequently noise-intensive pressure build-up gradients.
  • the noise level is reduced. High differential pressures on the valve body require a relatively high residual current in the valve coil in order to pass through the pressure gradient on the valve body to limit the throttle effect to an adequate level.
  • An ABS brake system for carrying out the described method requires at least four pressure sensors in the area of the wheel brakes and at least one pressure sensor to record the pressure applied by the driver, as well as a correspondingly complex data processing.
  • the invention is based on the object of specifying a method which allows a sufficiently precise estimate of the pressure difference at the valve body without complex pressure measurement.
  • it is an object of the present invention to enable noise-optimized operation of the brake system and in particular to reduce the number of pressure sensors required in the brake system.
  • the object is achieved in accordance with the invention by the electronics unit supplying the motor with modulated electrical switch-on and / or switch-off phases for the purpose of speed control, wherein during a switch-off phase a generator voltage generated by the motor is tapped which is supplied to the electronic unit on the basis of the determined values
  • Generator voltage estimates the upstream pressure in the brake system to enable noise-optimized control of the electrohydraulic intake and exhaust valves.
  • a modulated motor control is addressed in the present application, this should in principle be understood to mean a PWM control.
  • the invention is based on the basic idea of using a change in speed (speed reduction) which the motor-pump unit experiences during a switch-off phase of the motor as a yardstick for the system form, and to use the information and knowledge obtained in this way for noise-optimized control of the electromagnetic valves.
  • the change in speed is simply recorded using the generator voltage output.
  • neither an engine speed sensor nor a pressure sensor in the area of a master brake cylinder is required.
  • the tapped generator voltage is viewed and evaluated in a defined time interval in order to assess the stopping behavior of the motor-pump unit. It has been shown that the measurement of the generator voltage within the predetermined time interval is sufficient to enable a noise-optimized special control of the electro-hydraulic valves.
  • the stopping behavior of the motor-pump unit is assessed solely by evaluating the amount of the generator voltage gradient within the defined time interval. This limits the influence of measurement errors, outliers or other short-term disturbances in the voltage curve, and still enables a meaningful, quantified statement.
  • Fig. 5 is a graph showing the relationship between system voltage U, terminal voltage O oa U___ generator voltage and rotational speed of a motor-pump unit n,
  • Fig. 6 is a diagram to illustrate terminal voltage
  • Fig. 7 is a graph to illustrate the relationship between voltage U and pressure increase ⁇ p.
  • the brake system 1 shows an example of a brake circuit of a slip-controlled motor vehicle brake system 1, only one wheel brake circuit being shown.
  • the brake system 1 comprises a brake device with a hydraulic pressure transmitter 3 in the form of a master brake cylinder, which comprises a hydraulic unit 6 and an electronic unit 7 with a hydraulic unit 4 and a distribution device 5 Wheel brake 8 is connected.
  • the hydraulic unit 6 has a receiving body for hydraulic and electrohydraulic components such as electromagnetically actuated inlet and outlet valves 9, 10 for each wheel brake 8. In the connection - before an inlet valve for the said wheel brake, which is open when de-energized - there is a branch 11 to a second one Wheel brake circuit.
  • a return connection 12 leads via the exhaust valve 10, which is closed when de-energized, to a low-pressure accumulator 13, which can hold a volume drained from the wheel brake 8 as a result of ABS control cycles.
  • the low-pressure accumulator 13 feeds a suction side of a motor-driven pump 14.
  • This is preferably of the radial piston pump type and has a suction valve on the suction side and a pressure valve on one pressure side.
  • the brake system can have additional functionalities, such as traction control (ASR) or driving stability control (ESP), which requires a solenoid valve that is upstream of the inlet valve 9 and can be opened electromagnetically and de-energized.
  • ASR traction control
  • ESP driving stability control
  • the following description is based on the example of a noise-optimized control of A / D inlet valves 9, although other possible uses are also conceivable without departing from the invention.
  • EBV electronic brake force distribution
  • the return pump can thus - depending on the storage level - enable the empty delivery of the low pressure accumulator.
  • the electric motor 15 of the pump 14 is basically based on an externally excited direct current machine - in particular a permanent magnet excited commutator machine - the speed of which is controlled via pulse width modulation (PWM) of a constant terminal voltage U ⁇ ⁇ .
  • PWM pulse width modulation
  • the duration of the switch-on and switch-off phases according to the speed specification ( Requested_Pump_Speed) modulated in steps.
  • the speed control of the motor 15 in ABS operation takes place as a function of the calculated volume throughput or the degree of filling of the low-pressure accumulator 13 (NDS model).
  • the pulse-width-modulated terminal voltage (U ⁇ _) is generated as an regulator signal by means of an analog-digital converter. In the PWM switch-on phase, this signal corresponds approximately to the maximum available vehicle voltage. However, during a PWM switch-off phase, the motor 15 acts as a generator and, for example, a generator voltage U can be tapped from carbon brushes, the magnitude of which can provide information about the speed level.
  • Load state of the pump Depending on the delivery state of the pump 14 (delivery in 2 brake circuits, delivery in one brake circuit or empty delivery, different motor loads occur, which leads to correspondingly changed speed and voltage constellations. Because of the differences between them However, load levels are striking, they can be recognized - for example via the amount of values recorded - and taken into account in the evaluation.
  • Temperature The decreasing kinematic viscosity of the brake fluid as the temperature rises means that the fluid becomes increasingly thin as the temperature rises and thus a lower load moment is generated on the pump than due to the tough brake fluid present in the cold. The lower load torque leads to higher speeds and thus lower voltage drops. The influence of temperature can also be recognized and taken into account.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé visant à obtenir une estimation de la pression d'admission en limitant les dépenses quant aux moyens de détection. A cet effet, a) l'unité électronique (7) alimente le moteur (15) avec des phases de mise en circuit et/ou hors circuit électriques modulées (modulation de durée des impulsions) en vue de la commande du régime ; b) une tension de générateur générée par le moteur (15) est prélevée pendant une phase de mise hors circuit ; c) la tension de générateur (15) est amenée à l'unité électronique (7) qui estime la pression d'admission existant dans le système de freinage sur la base de la tension de générateur calculée d) afin de permettre une commande à optimisation des bruits des soupapes électrohydrauliques (9).
EP04766161A 2003-07-11 2004-07-08 Procede de regulation electronique pour un systeme de freinage de vehicule automobile a regulation du glissement Withdrawn EP1646541A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10331781 2003-07-11
DE10334355 2003-07-25
DE10355239A DE10355239A1 (de) 2003-07-25 2003-11-26 Elektronisches Regelverfahren für eine schlupfgeregelte Kraftfahrzeugbremsanlage
PCT/EP2004/051414 WO2005007475A1 (fr) 2003-07-11 2004-07-08 Procede de regulation electronique pour un systeme de freinage de vehicule automobile a regulation du glissement

Publications (1)

Publication Number Publication Date
EP1646541A1 true EP1646541A1 (fr) 2006-04-19

Family

ID=34084091

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04766161A Withdrawn EP1646541A1 (fr) 2003-07-11 2004-07-08 Procede de regulation electronique pour un systeme de freinage de vehicule automobile a regulation du glissement

Country Status (3)

Country Link
US (1) US20060202552A1 (fr)
EP (1) EP1646541A1 (fr)
WO (1) WO2005007475A1 (fr)

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JP4457618B2 (ja) * 2003-09-25 2010-04-28 株式会社アドヴィックス ポンプ駆動用モータの制御装置
DE102006004745A1 (de) * 2005-04-02 2006-11-30 Continental Teves Ag & Co. Ohg Hydraulische Bremsanlage mit Blockierschutzregelung
DE102005013143A1 (de) * 2005-03-22 2006-09-28 Robert Bosch Gmbh Optimierte Erfassung der Nachlaufspannung bei DC-Motoren
DE102005041556A1 (de) * 2005-09-01 2007-03-08 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung eines Vordrucks in einer Kraftfahrzeug-Bremsanlage
DE102005049300A1 (de) * 2005-10-12 2007-04-26 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung des Raddrucks in einem elektronisch ansteuerbaren Kraftfahrzeugbremsenregelungssystem
DE102005055780A1 (de) * 2005-11-21 2007-05-24 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung eines Vordrucks bei einer Kraftfahrzeug-Bremsanlage
CN101489844B (zh) * 2006-07-11 2012-12-12 大陆-特韦斯贸易合伙股份公司及两合公司 带有低压蓄压器的机动车制动系统及其运行方法
DE102007010514A1 (de) * 2007-03-05 2008-09-11 Continental Teves & Co. Ohg Verfahren zur Kalibrierung von analogisierten Ventilen in einer Druckregelvorrichtung
DE102007050662A1 (de) * 2007-10-24 2009-04-30 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Kalibrierung oder Diagnose einer Kraftfahrzeugbremsanlage mit einer getaktet betriebenen Pumpe
DE102008018818A1 (de) * 2008-04-15 2009-10-22 Continental Teves Ag & Co. Ohg Elektrisches Motoransteuerungsverfahren mit Lastmomentanpassung
DE102010002324A1 (de) * 2010-02-25 2011-08-25 Robert Bosch GmbH, 70469 Verfahren zum Betreiben eines Brennsystems eines Fahrzeugs sowie Bremssystem
DE102010028909A1 (de) * 2010-05-12 2011-11-17 Continental Teves Ag & Co. Ohg Verfahren zur Lüftspieleinstellung einer hydraulischen Bremsanlage, insbesondere für ein Kraftfahrzeug
DE102010039818A1 (de) * 2010-08-26 2012-03-01 Continental Teves Ag & Co. Ohg Verfahren zur drucksensorlosen Druckmessung in einem Druckregelaggregat einer Kraftfahrzeugbremsanlage
DE102010039822A1 (de) * 2010-08-26 2012-03-01 Continental Teves Ag & Co. Ohg Verfahren zur Messung eines Parameters eines mit Pulsweitenmodulation angesteuerten Motors in einer Kraftfahrzeugbremsanlage
JP2012101676A (ja) * 2010-11-10 2012-05-31 Hitachi Automotive Systems Ltd ブレーキ制御装置
DE102011084069A1 (de) 2011-10-06 2013-04-11 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung eines Modell-Vordrucks mittels eines mathematischen Modells in einem elektronisch geregelten Kraftfahrzeugbremssystem
DE102011086737B4 (de) 2011-11-21 2025-03-20 Continental Automotive Technologies GmbH Verfahren zur Verbesserung einer Vordruckschätzung in einem Hydraulikstrang einer schlupfgeregelten Kraftfahrzeugbremsanlage und Hydraulikstrang einer schlupfgeregelten Kraftfahrzeugbremsanlage
DE102012224030B4 (de) 2012-12-20 2025-01-30 Continental Automotive Technologies GmbH Verfahren zur beschleunigten Ermittlung eines Korrekturwerts für eine drucksensorlose Bestimmung eines hydraulischen Drucks in einem hydraulischen Bremssystem sowie hydraulisches Bremssystem und Verwendung des Bremssystems
DE102021105619A1 (de) 2021-03-09 2022-09-15 Audi Aktiengesellschaft Verfahren zum Betrieb eines Kraftfahrzeugs, Kraftfahrzeug und Computerprogrammprodukt

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Also Published As

Publication number Publication date
US20060202552A1 (en) 2006-09-14
WO2005007475A1 (fr) 2005-01-27

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