CN115320563B - Control method of electric power-assisted braking system, electric power-assisted braking system and automobile - Google Patents
Control method of electric power-assisted braking system, electric power-assisted braking system and automobile Download PDFInfo
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- CN115320563B CN115320563B CN202210960362.XA CN202210960362A CN115320563B CN 115320563 B CN115320563 B CN 115320563B CN 202210960362 A CN202210960362 A CN 202210960362A CN 115320563 B CN115320563 B CN 115320563B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005070 sampling Methods 0.000 claims abstract description 64
- 238000003745 diagnosis Methods 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 3
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- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 101000610620 Homo sapiens Putative serine protease 29 Proteins 0.000 description 1
- 101150045440 ISP1 gene Proteins 0.000 description 1
- 101100353471 Mus musculus Prss28 gene Proteins 0.000 description 1
- 102100040345 Putative serine protease 29 Human genes 0.000 description 1
- 101100509103 Schizosaccharomyces pombe (strain 972 / ATCC 24843) ish1 gene Proteins 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000000087 stabilizing effect 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
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a control method of an electric power-assisted braking system, which is used for the electric power-assisted braking system, and comprises the following steps: acquiring a first phase current and a second phase current acquired from a booster motor; during at least one phase current amplitude window, calculating a phase current amplitude ratio between the first phase current and the second phase current and judging whether the phase current amplitude ratio is within a preset amplitude ratio threshold range; if the phase current amplitude ratio exceeds the amplitude ratio threshold range, generating a fault signal; and controlling the power-assisted motor to stop working according to the fault signal. According to the invention, through calculating and judging the amplitude ratio of two phase currents in the power-assisted motor collected in the sampling circuit of the electric power-assisted braking system, when the sampling resistor is subjected to resistance value deviation, faults can be timely identified and reported, and then the braking controller is informed to cut off the power assistance of the motor, so that the disorder power assistance of the braking controller is prevented.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to an electric power-assisted braking system control method, an electric power-assisted braking system and an automobile.
Background
In the electric booster brake control system, a booster motor is an actuating mechanism of the system, a booster moment expected value output by a brake control system module is directly influenced, the booster moment expected value is converted into an expected current value of the motor according to the booster moment expected value, and a motor control module performs current closed-loop control according to the expected current and feedback current acquired by a sampling resistor. In the motor current closed-loop control algorithm, the feedback current in the motor phase line is the most critical parameter, as shown in fig. 1, the control performance of the booster motor is directly influenced, and the electric booster braking performance is further influenced, so that the diagnosis and monitoring of the sampling resistor are very important. When the sampling resistor in the electric power-assisted braking system is deviated in resistance, if the failure can not be recognized and reported in time, the power of the motor can not be cut off in time, and the disorder power of the braking controller can be caused, so that the braking accident is caused.
In the electric power-assisted braking system in the prior art, the used processing chip has certain diagnosis functions, such as pre-drive overcurrent, overvoltage, undervoltage and the like, but the diagnosis strategy of the chip can not diagnose the failure condition when the resistance values of the two sampling resistors are inconsistent. Accordingly, there is a need to provide an improved solution to overcome the above technical problems in the prior art.
Disclosure of Invention
In view of the above problems, the invention provides a control method of an electric power-assisted brake system, which is used for the electric power-assisted brake system, and can diagnose the failure condition when the resistance values of two sampling resistors in a sampling circuit of the electric power-assisted brake system are inconsistent, so as to further alleviate the problem that the sampling resistors in the sampling circuit of the electric power-assisted brake cannot be identified in time and reported so as to cause brake failure.
The technical scheme for solving the problems of the invention comprises a control method of an electric power-assisted braking system, which is used for the electric power-assisted braking system, and comprises the following steps:
Acquiring a first phase current and a second phase current acquired from a booster motor;
during at least one phase current amplitude window, calculating a phase current amplitude ratio between the first phase current and the second phase current and judging whether the phase current amplitude ratio is within a preset amplitude ratio threshold range;
generating a fault signal if the phase current amplitude ratio exceeds the amplitude ratio threshold range;
And controlling the power-assisted motor to stop working according to the fault signal.
Further, before calculating the phase current amplitude ratio between the first phase current and the second phase current and determining whether the phase current amplitude ratio is within the preset amplitude ratio threshold range, the method further includes: judging whether the operation working condition of the power-assisted motor meets a preset diagnosis condition or not;
If the judgment result is yes, calculating the phase current amplitude ratio between the first phase current and the second phase current and judging whether the phase current amplitude ratio is in a preset amplitude ratio threshold range or not;
If the judgment result is negative, continuing to judge whether the running condition of the motor meets the preset diagnosis condition.
Further, the diagnostic conditions include: during a preset diagnostic window, the running condition of the motor needs to simultaneously meet that the motor speed is within 30-100% of the rated speed, the motor expected torque is within 30-100% of the rated torque, and the motor feedback current is also within 20-60% of the rated current
Further, the method further comprises: and when the operation working condition of the power-assisted motor meets the diagnosis condition, judging the phase current amplitude ratio of the first phase current and the second phase current in sequence during different phase current amplitude windows.
Further, the amplitude ratio threshold range is 0.7 to 1.3.
Further, the generating a fault signal if the phase current magnitude ratio is outside the magnitude ratio threshold range comprises: during each phase current amplitude window, if the phase current amplitude ratio is judged to be beyond the amplitude ratio threshold range, adding 1 to a fault count value; and generating the fault signal when the fault count value increases to exceed a preset fault count value threshold.
In addition, in order to achieve the above purpose, the invention also provides an electric power-assisted braking system, which comprises a power-assisted motor, a sampling circuit electrically connected with the power-assisted motor, and a controller connected with the power-assisted motor and the sampling circuit; the power-assisted motor is used for generating corresponding power assistance or damping according to a control signal sent by the controller, the sampling circuit is used for collecting first phase current and second phase current of the power-assisted motor, the controller is used for calculating phase current amplitude ratio between the first phase current and the second phase current and judging whether the phase current amplitude ratio is in a preset amplitude ratio threshold range or not during at least one phase current amplitude window, if the phase current amplitude ratio exceeds the amplitude ratio threshold range, a fault signal is generated, and the power-assisted motor is controlled to stop working according to the fault signal.
Further, the controller is further used for reporting the fault signal to a main program after generating the fault signal, and controlling the power-assisted motor to stop according to the reporting result through the main program.
Further, the sampling circuit comprises a first sampling resistor and a second sampling resistor which are respectively used for collecting a first phase current and a second phase current of the booster motor.
The invention also provides an automobile comprising the electric power-assisted braking system.
In the embodiment of the invention, the first phase current and the second phase current of the booster motor are acquired through the two sampling resistors in the sampling circuit of the electric booster brake system, whether the resistance values of the two sampling resistors are inconsistent or not is diagnosed according to the calculated amplitude ratio of the two phase currents, and when the resistance value of the sampling resistor in the electric booster brake control circuit is deviated, the fault can be timely identified and reported by using the control method of the electric booster brake system, and the main program can timely cut off the booster of the motor according to the fault signal, so that the disorder booster of the brake controller is avoided, and the brake accident is caused.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates a prior art electric brake motor assist block diagram;
FIG. 2 is a block diagram of a portion of an electric brake system according to one embodiment of the present invention;
FIG. 3 is a schematic workflow diagram of an embodiment of a control method of an electric brake system according to the present invention;
FIG. 4 shows a block diagram of an electric power brake system of the present invention;
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The foregoing and other features, aspects, and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments, which proceeds with reference to the accompanying drawings. While the invention may be susceptible to further details of technical means and effects for achieving the desired purpose, there is shown in the drawings a form a further part hereof, and in which is shown by way of illustration and not by way of limitation, certain well-known elements of the invention. Like elements are denoted by like reference numerals throughout the various figures. For clarity, the various features of the drawings are not drawn to scale.
Fig. 2 is a block diagram of a part of a circuit of an electric power assisted brake system according to an embodiment of the present invention, in which a circuit structure includes a control circuit 210 and a sampling circuit 220.
It should be noted that, the sampling circuit 220 in this embodiment is connected to the booster motor through gate driving circuits of 6N-MOSFETs of the external three-phase inverter bridge, and the detailed description of the specific circuit in this embodiment is omitted. Next, the circuit shown in the figure further includes capacitors C11, C12, C13, C14, C21, C22, C23, C24 for filtering and configuration resistors R11, R12, R13, R14, R15, R21, R22, R23, R24, R25 for stabilizing the circuit, and the filtering capacitors and the configuration resistors are not described in detail in this embodiment.
The sampling circuit 220 in this embodiment includes a first sampling circuit and a second sampling circuit, where the first sampling circuit and the second sampling circuit obtain a first phase current and a second phase current in the booster motor through two bridge arms of an external three-phase inverter bridge, respectively.
The control circuit 210 includes a pre-drive chip 212 and a main micro control unit (Microcontroller Unit, MCU) 211.
The main MCU 211 in this embodiment may be a TC26x chip, and the internal AD conversion unit thereof provides 4 conversion cores, so that 4 paths of single-end analog signals can be sampled simultaneously, thereby meeting the requirement of a user for sampling multiple phase currents of the motor simultaneously.
The pre-driving chip 212 in this embodiment is a TLE9183QK chip, which is a three-phase inverter bridge gate driving chip with functional safety features, and is used for gate driving of 6N-MOSFETs of an external three-phase inverter bridge. As shown in the circuit in fig. 2, two pins ISP1+ and ISN 1-of the pre-driving chip 212 are respectively connected to two ends of the first sampling circuit, two pins ISP2+ and ISN 2-are respectively connected to two ends of the second sampling circuit, voltage drops of a first sampling resistor Rb in the first sampling circuit and a second sampling resistor Rc in the second sampling circuit caused by phase currents of the booster motor are amplified by two accurate current sensing amplifiers built in the chip, and then AD sampling is performed by the main MCU 211 through two pins VO1 and VO2 of the pre-driving chip 212, so as to calculate a first phase current and a second phase current flowing through the two sampling resistors.
It should be noted that, the chips of the control circuit in this embodiment all have corresponding functions of self-checking and real-time parameter monitoring during operation, and once internal faults occur, the fault information will be fed back to the main MCU 211; second, the main MCU 211 feeds dogs to the watchdog unit of the pre-driver chip 212 at regular operation time with special program codes or monitors key registers and program segments in a questionnaire manner through the SPI. In addition, the pre-driver chip 212 can also monitor each N-MOSFET of the external circuit, and once a short circuit occurs, the main MCU 211 can know the short circuit fault fed back by the pre-driver chip 212 through the SPI bus. In addition, the main MCU can also compare the 3-phase voltage digital signals fed back by the pre-driving chip 212 with the 6-path PWM signals sent out to check whether the three-phase inverter bridge works in a normal state. From the angle of considering only single point of failure, any part of the core device and the external circuit can generate failure and report to the main program in time, so that the main program can send a turn-off signal to the external circuit in time and cut off the booster motor in time, thereby realizing the switching of the electric booster brake control system to a safe state due to failure.
FIG. 3 is a schematic workflow diagram of an embodiment of a control method of an electric brake system according to the present invention; the method comprises the following steps:
Step S01: powering on an electric power-assisted braking system;
Step S02: judging whether the operation working condition of the power-assisted motor meets a preset diagnosis condition or not; if yes, executing step S03; if not, executing step S02;
It should be noted that, in this embodiment, only when the operation condition of the booster motor meets the preset diagnostic condition, the following steps can be continued, and the preset diagnostic condition that needs to be met simultaneously is: during a preset diagnostic window, the motor speed is in the range of 30% -100% of the rated speed, while the motor desired torque is in the range of 30% -100% of the rated torque and the motor feedback current should also be in the range of 20% -60% of the rated current.
Step S03: calculating a phase current amplitude ratio between the first phase current and the second phase current in the amplitude window;
In this embodiment, when the operation condition of the booster motor meets a preset diagnosis condition, the phase current amplitude ratio between the first phase current and the second phase current in the amplitude window is calculated in sequence in different phase current amplitude windows each time.
Step S04: determining whether the phase current magnitude ratio is outside (0.7,1.3); if yes, executing step S05; if not, executing step S03;
it should be noted that, in the present embodiment, under the normal working condition, the resistances of the first sampling resistor and the second sampling resistor are equal, so the amplitude ratio of the phase current should be equal to 1 under the normal condition, but considering the quality of the actual signal, the diagnostic threshold margin needs to be relaxed, so the diagnostic threshold range may be preset to (0.7,1.3), but this threshold range is merely exemplary, and the present invention is not limited to this threshold range.
Step S05: fault count +1;
Step S06: judging whether the fault count value is greater than 3; if yes, go to step S07; if not, executing step S03;
In this embodiment, the fault count value threshold is preset to be 3, but this value is merely exemplary, and may be set to other values according to circumstances in other embodiments.
Step S07: generating a fault signal;
Step S08: controlling the power-assisted motor to stop working;
It should be noted that, in this embodiment, when the fault count value is greater than the preset fault count threshold, it is determined that the resistance value of the sampling resistor used for collecting the phase current of the power-assisted motor in the sampling circuit in the electric power-assisted braking system is deviated, and the feedback current obtained by the control circuit is inaccurate at this time, and the power-assisted motor will make the braking controller generate disorder power according to the feedback current obtained at this time, so that the fault signal needs to be timely generated and then reported to the main program, so that the main program timely sends the turn-off signal to the external circuit and timely cuts off the power-assisted motor, thereby switching the electric power-assisted braking control system to a safe state.
Fig. 4 is a block diagram of an electric power assisted braking system according to the present invention, and as shown in the drawing, the electric power assisted braking system provided in this embodiment includes a controller 310, an assist motor 320, and a sampling circuit 330.
The booster motor 320 is electrically connected with the sampling circuit 330, and is used for generating corresponding booster or damping according to a control signal sent by the controller; the sampling circuit 330 is connected with the controller 310 and is used for collecting a first phase current and a second phase current of the booster motor 320; the controller 330 is configured to calculate a phase current amplitude ratio between the first phase current and the second phase current acquired by the sampling circuit 330 during a phase current amplitude window, determine whether the phase current amplitude ratio is within a preset amplitude ratio threshold range, generate a fault signal if the phase current amplitude ratio is not within the preset amplitude ratio threshold range, and report a main program by the controller according to the fault signal, where the main program controls the power-assisted motor to stop working.
In summary, the control method of the electric power-assisted braking system provided by the invention can diagnose and monitor two sampling resistors used for collecting the phase current of the power-assisted motor in the sampling circuit in the electric power-assisted braking system, thereby ensuring that the feedback current in the phase line of the motor calculated in the electric power-assisted braking system is accurate, and when the resistance value of the sampling resistor in the sampling circuit deviates, the sampling resistor can be timely identified and report faults to the main program, so that the main program timely controls the braking controller to cut off the power assistance of the motor, and the braking system is in a safe state.
It should be understood that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should be understood that the foregoing is merely a preferred embodiment of the present invention, and that all details thereof are not explicitly described or claimed. Any modification, equivalent replacement or improvement made by those skilled in the art can be made by using the above disclosed technology without departing from the scope of the present invention, and the present invention is intended to be included in the scope of the present invention.
Claims (9)
1. An electric power-assisted braking system control method is used for an electric power-assisted braking system, the electric power-assisted braking system comprises a power-assisted motor and a sampling circuit electrically connected with the power-assisted motor, wherein the sampling circuit comprises a first sampling resistor and a second sampling resistor, and the method is characterized by comprising the following steps:
the first phase current and the second phase current of the booster motor are respectively acquired through a first sampling resistor and a second sampling resistor of the sampling circuit;
during at least one phase current amplitude window, calculating a phase current amplitude ratio between the first phase current and the second phase current during each phase current amplitude window and judging whether the phase current amplitude ratio is within a preset amplitude ratio threshold range;
generating a fault signal if the phase current amplitude ratio exceeds the amplitude ratio threshold range;
And controlling the power-assisted motor to stop working according to the fault signal.
2. The method according to claim 1, wherein before calculating a phase current amplitude ratio between the first phase current and the second phase current and determining whether the phase current amplitude ratio is within a preset amplitude ratio threshold value, further comprising:
judging whether the operation working condition of the power-assisted motor meets a preset diagnosis condition or not;
If the judgment result is yes, calculating the phase current amplitude ratio between the first phase current and the second phase current and judging whether the phase current amplitude ratio is in a preset amplitude ratio threshold range or not;
If the judgment result is negative, continuing to judge whether the running condition of the motor meets the preset diagnosis condition.
3. The electric power brake system control method according to claim 2, wherein the diagnostic conditions include:
during a preset diagnostic window, the running condition of the motor needs to simultaneously meet that the motor speed is within 30% -100% of the rated speed, the motor expected torque is within 30% -100% of the rated torque, and the motor feedback current is also within 20% -60% of the rated current.
4. The electric brake system control method according to claim 2, further comprising determining phase current magnitude ratios of the first phase current and the second phase current during each phase current magnitude window in turn during different phase current magnitude windows when an operating condition of the assist motor satisfies the diagnostic condition.
5. The method of controlling an electric brake system according to claim 2, wherein the amplitude ratio threshold value ranges from 0.7 to 1.3.
6. The electric brake system control method according to claim 1, wherein generating a fault signal if the phase current magnitude ratio is outside the magnitude ratio threshold range comprises:
During each phase current amplitude window, if the phase current amplitude ratio is judged to be beyond the amplitude ratio threshold range, adding 1 to a fault count value; and generating the fault signal when the fault count value increases to exceed a preset fault count value threshold.
7. An electric booster braking system is characterized by comprising a booster motor, a sampling circuit electrically connected with the booster motor, and a controller connected with the booster motor and the sampling circuit; the power-assisted motor is used for generating corresponding power assistance or damping according to a control signal sent by the controller, the sampling circuit comprises a first sampling resistor and a second sampling resistor, the sampling circuit is used for respectively collecting a first phase current and a second phase current of the power-assisted motor through the first sampling resistor and the second sampling resistor, the controller is used for calculating a phase current amplitude ratio between the first phase current and the second phase current in each phase current amplitude window and judging whether the phase current amplitude ratio is in a preset amplitude ratio threshold range or not during at least one phase current amplitude window, and if the phase current amplitude ratio exceeds the amplitude ratio threshold range, a fault signal is generated, and the power-assisted motor is controlled to stop working according to the fault signal.
8. The electric power assisted brake system of claim 7 wherein said controller is further configured to report a fault signal to a main program after generating said fault signal, and to control said power assisted motor to stop according to a result of said report by said main program.
9. An automobile comprising an electric power brake system as claimed in any one of claims 7 to 8.
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| CN202210960362.XA CN115320563B (en) | 2022-08-11 | 2022-08-11 | Control method of electric power-assisted braking system, electric power-assisted braking system and automobile |
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| CN202210960362.XA CN115320563B (en) | 2022-08-11 | 2022-08-11 | Control method of electric power-assisted braking system, electric power-assisted braking system and automobile |
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| CN105144570A (en) * | 2013-03-07 | 2015-12-09 | Trw有限公司 | Motor control for electric power assisted steering systems |
| CN105432016A (en) * | 2013-06-07 | 2016-03-23 | Trw有限公司 | Motor control circuit |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1095330A (en) * | 1996-09-20 | 1998-04-14 | Tokico Ltd | Brake hydraulic pressure control device |
| KR20090123182A (en) * | 2008-05-27 | 2009-12-02 | 현대자동차주식회사 | Regeneration braking control method for hybrid electric vehicle with double clutch transmission |
| DE102011078841A1 (en) * | 2011-07-08 | 2013-01-10 | Robert Bosch Gmbh | Method for controlling a multi-phase machine |
| US9944267B2 (en) * | 2016-04-14 | 2018-04-17 | GM Global Technology Operations LLC | Systems and methods for fault isolation for an electric motor assisted brake system |
| CN114337453B (en) * | 2021-12-29 | 2023-11-21 | 深圳市汇川技术股份有限公司 | Automatic identification method and device for driver model and driver |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105144570A (en) * | 2013-03-07 | 2015-12-09 | Trw有限公司 | Motor control for electric power assisted steering systems |
| CN105432016A (en) * | 2013-06-07 | 2016-03-23 | Trw有限公司 | Motor control circuit |
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