Brake system of unmanned vehicle and control method
A vehicle and braking system technology, which is applied in the direction of braking safety systems, brakes, braking transmission devices, etc., can solve the problems of weak braking force and poor reliability of the pull-wire braking system, and reduce the risk of braking failure. Effects of risk, precise braking force and deceleration control, fast convergence and robustness
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Embodiment 1
[0020] Embodiment 1, see attached figure 1 , a braking system for an unmanned vehicle, which includes: a brake motor 1 power reversing mechanism 3, a brake actuator 10, a double-cylinder brake master cylinder 4, an oil pressure sensor 5, and a front brake oil circuit 6. Rear brake oil circuit 7, vehicle controller 8 and motor controller 9;
[0021] The vehicle controller 8 establishes a signal connection with the motor controller 9 for outputting a braking control signal to the motor controller 9; the motor controller 9 establishes a signal connection with the brake motor 1 for controlling the output of the brake motor 1; In this example, the brake motor 1 adopts a DC servo brake motor with high precision and fast response; the brake motor 1 is connected to the input end of the power reversing mechanism 3 through the reducer 2, and the output end of the power reversing mechanism The input shaft of the cylinder type brake master cylinder 4 is connected, and the output of the b...
Embodiment 2
[0024] Embodiment 2, see attached figure 2 , on the basis of Embodiment 1, considering that the volume of the unmanned vehicle is small, so the double-cylinder brake master cylinder 4 in this example is selected as a parallel brake master cylinder that is suitable for unmanned vehicles in volume and displacement. ; The unmanned vehicle is provided with 4 wheels, of which 2 rear wheels are driving wheels and 2 front wheels are steering wheels; correspondingly, the number of brake actuators 10 is 4.
[0025]The front brake oil circuit 6 communicates with the left front brake branch 61 and the right front brake branch 62; the left front brake branch 61 and the right front brake branch 62 are arranged in parallel; the left front brake branch 61 and the right front brake branch The road 62 is respectively connected with a brake actuator 10 to brake the left front wheel and the right front wheel; the rear brake oil circuit 7 communicates with the left rear brake branch 71 and the r...
Embodiment 3
[0027] Embodiment 3, on the basis of Embodiment 1 or 2, the power reversing mechanism 3 may specifically adopt a crankshaft linkage mechanism, a worm gear or a screw nut.
[0028] See attached image 3 , the power reversing mechanism 3 in this example adopts the crankshaft connecting rod mechanism, and brakes at a position close to the mechanical dead point, the stiffness is very large and the response is fast; The crankshaft 31, the sliding shaft 33 connected to the input shaft of the dual-cylinder brake master cylinder 4, the connecting rod 32 connecting the crankshaft 31 and the sliding shaft 33.
[0029] Further, the extension line of the central axis of the sliding shaft 33 is designed not to intersect with the extension line of the central axis of the crankshaft 31, so as to avoid a dead point and make the movement of the sliding shaft 33 very close to linear transmission.
[0030] During the counterclockwise rotation of the crankshaft 31 to the limit position, push the...
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