A device and control method for automatically distributing braking force of a trailer-type caravan

Abstract

The invention provides a trailer motor home braking force automatic distribution device and a control method thereof. The device comprises a detection mechanism, an execution mechanism, and a controlunit. The detection mechanism detects vehicle speed signals, steering wheel angle signals, brake pedal signals, and rotating speed signals of an angle measuring device, and sends the signals to the control unit. The control unit determines a value of a theoretical articulated angle [theta]1 of a motor tractor and a motor home under the conditions of vehicle speed and a steering wheel angle when the motor home does not brake according to the steering wheel angle signals and the vehicle speed signals, and calculates a value of an actual articulated angle [theta] according to rotating speed measured by the angle measuring device, and determines a braking force of the motor tractor and the motor home according to the brake pedal signals. The control unit adjusts braking forces on the left andright of an electromagnetic brake through a PWM controller, so that the motor home has a yawing moment, and the actual articulated angle [theta] is equal to the theoretical articulated angle [theta]1,preventing an additional folding angle which is generated by brake of the motor tractor and the motor home when the trailer motor home turns a corner or goes straight, and stationarity of brake is improved.

Description

technical field [0001] The invention relates to the technical field of braking of a trailer type caravan, and specifically describes a device for distributing left and right braking forces of a trailer type caravan and a control method thereof. Background technique [0002] In recent years, with the development of the economy, people's requirements for the quality of life have been continuously improved. As a tool suitable for people to go out and camp, the RV has developed rapidly. As one of the most important parts of a car, the braking performance of a car is related to the safety of the car and the driver, and must be strictly guaranteed. The trailer-type caravan is different from the traditional car. The ball stud pin is used to flexibly connect the tractor and the caravan. When braking, the tractor and the caravan may have an additional folding angle. If the folding angle is not controlled, the tractor and the caravan will The extra fold angle between the RV will redu...

AI Technical Summary

Problems solved by technology

Some existing angle measurement devices, as described in patent application number 201410054273.4, use stators, rotors, rotating shafts, code discs, pendulum mass bodies, etc. to measure angles. The structure is complex, the cost is high, and it is inconvenient to install on the trailer-type RV ball. head pin hinge

As described in the patent application number 201710681877.5, the angular displacement measurement mechanism and the encoder are used, and the measurement accuracy is high, but the structure is complex and cannot cope with the interference of the measurement device when the pitch angle of the towed caravan tractor and the caravan is generated.

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