Electronic mechanical brake device and its driving circuit, controller, and electric vehicle

Abstract

The present application provides an electronic mechanical braking device and its driving circuit, controller, and electric vehicle, which can improve the reuse rate of the driving circuit in the driving device. The driving device includes a driving circuit, a DC brake motor, and two wheel-side brake motors, the two ends of the DC brake motor are respectively connected to the common ends of multiple windings of the two wheel-side brake motors, and the driving circuit includes two bridge circuits, and the midpoints of multiple bridge arms of each bridge circuit are respectively connected to the other end of multiple windings of a wheel-side brake motor. The driving device operates in an AC driving mode, and the two wheel-side brake motors drive the vehicle braking system to brake the vehicle. The driving device operates in a DC driving mode, the midpoint of the bridge arm of a bridge circuit outputs DC power to the common end of the winding of the corresponding wheel-side brake motor, and the midpoint of the bridge arm of the other bridge circuit receives DC power through the common end of the winding of the corresponding wheel-side brake motor, and the DC brake motor drives the vehicle braking system to brake the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to an electromechanical brake (EMB) device and a drive circuit and a controller thereof, and also to a corresponding electric vehicle. Background Art

[0002] The electronic mechanical brake device usually includes a wheel brake motor and a backup brake motor. The wheel brake motor and the backup brake motor can work independently. When the wheel brake motor cannot drive the brake, the backup brake motor can drive the brake. However, the existing electronic mechanical brake device needs to be configured with a drive circuit for the wheel brake motor and a drive circuit for the backup brake motor, and the two drive circuits are usually independent of each other. Accordingly, the circuit device reuse rate of the drive circuit in the electronic mechanical brake device is low, the circuit layout is complex, and the volume is large, which is not conducive to miniaturization. Summary of the invention

[0003] The present application provides an electronic mechanical brake device and a drive circuit, a controller, and an electric vehicle thereof, which are used to improve the reuse rate of circuit components in the electronic mechanical brake device, simplify the circuit layout, and miniaturize the volume.

[0004] In the first aspect, the electronic mechanical braking device provided by the present application includes a driving circuit, a backup brake motor and two wheel-side brake motors, the two ends of the winding of the backup brake motor are respectively connected to the common ends of the windings of the two wheel-side brake motors, the driving circuit includes two bridge circuits, each bridge circuit includes multiple bridge arms, the two ends of each bridge arm are respectively used to connect the positive and negative poles of a DC power supply, the midpoints of the multiple bridge arms of each bridge circuit are respectively connected to the other ends of the multiple windings of a wheel-side brake motor, and the operation modes of the electronic mechanical braking device include a backup motor braking mode and a wheel-side motor braking mode. Among them, the electronic mechanical braking device operates in the wheel-side motor braking mode, the two bridge circuits in the driving circuit drive the two wheel-side brake motors respectively, and the two wheel-side brake motors drive the vehicle brakes respectively. The electronic mechanical braking device operates in the backup motor braking mode, the two bridge circuits in the driving circuit jointly drive the backup brake motor, and the backup brake motor drives one or more vehicle brakes.

[0005] In an embodiment of the present application, the electronic mechanical brake device can utilize two bridge circuits in the same drive circuit to drive the wheel brake motor and the backup brake motor. The two bridge circuits in the drive circuit can drive the wheel brake motor individually or in combination to drive the backup brake motor. Therefore, the electronic mechanical brake device provided by the present application does not need to additionally set up a drive circuit for the backup brake motor, so that the circuit component reuse rate of the drive circuit in the electronic mechanical brake device is improved, the circuit component layout is simplified, and the volume is miniaturized.

[0006] In one possible design, in response to the electronic mechanical brake device operating in the wheel motor braking mode and the vehicle braking acceleration being less than a preset threshold, the operating mode of the electronic mechanical brake device is switched from the wheel motor braking mode to the backup motor braking mode.

[0007] In this design, the electronic mechanical brake device operates in the wheel-side motor braking mode and the vehicle braking acceleration is less than the preset threshold, indicating that the electronic mechanical brake device has no braking effect. At this time, the operation mode of the electronic mechanical brake device needs to be switched from the wheel-side motor braking mode to the backup motor braking mode, and the vehicle brake is driven by driving the backup brake motor to brake the vehicle to avoid safety accidents.

[0008] In one possible design, in response to a failure of any bridge arm, or in response to a failure of any wheel brake motor, the electromechanical brake device operates in a backup motor braking mode.

[0009] In this design, if any bridge arm in the driving circuit of the electronic mechanical brake device fails, or the wheel brake motor fails, the two wheel brake motors of the electronic mechanical brake device cannot drive the vehicle brakes. The electronic mechanical brake device operates in the backup motor braking mode and drives the vehicle brakes through the backup brake motor to avoid safety accidents.

[0010] In one possible design, at least one of the two bridge circuits is a single-phase bridge circuit, the single-phase bridge circuit includes two bridge arms, at least one of the two wheel-side brake motors is a single-phase motor, the single-phase motor includes two windings, one ends of the two windings are connected to form a common end of the windings, and the midpoints of the two bridge arms of the single-phase bridge circuit are respectively used to connect the other ends of the two windings.

[0011] In one possible design, at least one of the two bridge circuits is a three-phase bridge circuit, at least one of the two wheel-side brake motors is a three-phase motor, the three-phase bridge circuit includes three bridge arms, the three-phase motor includes a three-phase winding, one end of the three-phase winding is connected to form a common end of the winding of the three-phase motor, and the midpoints of the three bridge arms of the three-phase bridge circuit are respectively used to connect the other end of the three-phase winding.

[0012] In a possible design, the backup brake motor is a DC motor, one end of the winding in the DC motor is connected to the common end of the winding of one wheel-side brake motor, and the other end of the winding in the DC motor is connected to the common end of the winding of another wheel-side brake motor.

[0013] In a second aspect, the present application also provides a driving circuit for an electronic mechanical brake device, the electronic mechanical brake device includes a backup brake motor and two wheel-side brake motors, and the two ends of the winding in the backup brake motor are respectively connected to the common ends of the windings of the two wheel-side brake motors. The driving circuit includes two bridge circuits, and each bridge circuit includes multiple bridge arms. The two ends of each bridge arm are respectively used to connect the positive and negative poles of a DC power supply. The multiple bridge arm midpoints of each bridge circuit are respectively used to connect the other end of the multiple windings of a wheel-side brake motor. The operation mode of the driving circuit includes a backup motor driving mode and a wheel-side motor driving mode. Among them, the driving circuit operates in the wheel-side motor driving mode, the two bridge circuits drive the two wheel-side brake motors respectively, and the multiple bridge arm midpoints in each bridge circuit output current to the other end of the multiple windings of a wheel-side brake motor. The driving circuit operates in the backup motor driving mode, and one bridge circuit drives the backup brake motor through the other end of a winding of a corresponding wheel-side brake motor, and the other bridge circuit drives the other end of a winding of another corresponding wheel-side brake motor.

[0014] In the embodiment of the present application, the two bridge circuits in the driving circuit can not only drive the two wheel-side brake motors respectively, but also drive the backup brake motor together through the windings of the two wheel-side brake motors. Such a design does not require a corresponding driving circuit to be separately provided for the backup brake motor, thereby increasing the reuse rate of circuit components of the driving circuit in the electronic mechanical brake device, simplifying the layout of the circuit components, and miniaturizing the volume.

[0015] In one possible design, the first electrode of the upper bridge arm switch tube of each bridge arm is used to connect to the positive electrode of the DC power supply, the second electrode of the lower bridge arm switch tube of each bridge arm is used to connect to the negative electrode of the DC power supply, and the second electrode of the upper bridge arm switch tube of each bridge arm is connected to the first electrode of the lower bridge arm switch tube of each bridge arm to form the midpoint of each bridge arm.

[0016] In one possible design, the drive circuit operates in a wheel-side motor drive mode, the two ends of multiple bridge arms in each bridge circuit transmit direct current, and the midpoints of multiple bridge arms in each bridge circuit respectively output current to the other ends of multiple windings in a wheel-side brake motor corresponding to the bridge circuit.

[0017] In one possible design, the drive circuit operates in a backup motor drive mode, the upper bridge arm switch tube of one of the bridge arms in a bridge circuit is turned on, the lower bridge arm switch tube of one of the bridge arms in another bridge circuit is turned on, and the winding of a wheel-side brake motor connected to the midpoint of the bridge arm of the turned-on upper bridge arm switch tube and the bridge arm where it is located, the winding of the backup brake motor, the winding of another wheel-side brake motor connected to the midpoint of the bridge arm where the turned-on lower bridge arm switch tube is located, and the turned-on lower bridge arm switch tube form a backup motor drive circuit.

[0018] In this design, the drive circuit changes the operation mode of the drive circuit by turning on or off the upper bridge arm switching tubes and lower bridge arm switching tubes of multiple bridge arms in the two bridge circuits, so that the two bridge circuits of the drive circuit can not only drive the two wheel-side brake motors respectively, but also drive the backup brake motor together.

[0019] In one possible design, in response to the drive circuit operating in the wheel-side motor drive mode and the vehicle braking acceleration is less than a preset threshold, the operation mode of the drive circuit is switched from the wheel-side motor drive mode to the backup motor drive mode.

[0020] In one possible design, in response to a failure of any bridge arm or a failure of any wheel-side brake motor, the drive circuit operates in a backup motor drive mode.

[0021] In the above design, the drive circuit operates in the wheel motor drive mode and the vehicle braking acceleration is less than the preset threshold, any bridge arm fails, or any wheel brake motor fails, which indicates that the electronic mechanical brake device has no braking effect. At this time, the drive circuit can operate in the backup motor drive mode, so that the backup brake motor drives the vehicle brake to avoid safety accidents.

[0022] In a third aspect, the present application also provides a controller for an electronic mechanical brake device, which includes a drive circuit, a backup brake motor and two wheel-side brake motors. The two ends of the winding in the backup brake motor are respectively connected to the common ends of the windings of the two wheel-side brake motors. The drive circuit includes two bridge circuits. Each bridge circuit includes a plurality of bridge arms, and the two ends of each bridge arm are respectively used to connect the positive and negative poles of a DC power supply. The midpoints of the multiple bridge arms of each bridge circuit are respectively used to connect the other ends of the multiple windings in a wheel-side brake motor. The controller is used to output control signals to control the multiple bridge arms in the drive circuit. Among them, the controller is used to output a first group of control signals to control the multiple bridge arms in the two bridge circuits, and the midpoints of the multiple bridge arms of each bridge circuit output current respectively. The controller is used to output a second group of control signals to control the upper bridge arm switch tube of one bridge arm in a bridge circuit to be turned on, and to control the lower bridge arm switch tube of one bridge arm in another bridge circuit to be turned on.

[0023] In the embodiment of the present application, the controller outputs two sets of different control signals so that the two bridge circuits of the drive circuit are used not only to drive the two wheel-side brake motors respectively, but also to drive the backup brake motor together. Such a design does not require a separate corresponding drive circuit for the backup brake motor, thereby increasing the circuit component reuse rate of the drive circuit in the electronic mechanical brake device, simplifying the layout of the circuit components, miniaturizing the volume, and simplifying the control logic of the controller.

[0024] In one possible design, in response to the controller outputting the first control signal and the vehicle braking acceleration being less than a preset threshold, the output control signal is switched from the first group of control signals to the second group of control signals.

[0025] In one possible design, in response to a failure of any one of the bridge arms or a failure of any one of the wheel-side brake motors, the controller outputs a first set of control signals.

[0026] In the above design, the controller outputs the first control signal and the vehicle braking acceleration is less than the preset threshold, any bridge arm fails, or any wheel brake motor fails, which indicates that the electronic mechanical brake device has no braking effect. At this time, the controller can output the second set of control signals in time, so that the backup brake motor drives the vehicle brake to avoid safety accidents.

[0027] In a fourth aspect, an embodiment of the present application further provides an electric vehicle, which may include a vehicle braking system and a plurality of wheels, wherein the vehicle braking system is used to brake at least two wheels. The vehicle braking system may include an electronic mechanical braking device as provided in the first aspect and any possible design thereof. Alternatively, the vehicle braking system may include a DC braking motor, two wheel-side braking motors, and a drive circuit as provided in the second aspect and any possible design thereof. Alternatively, the vehicle braking system may include a DC braking motor, two wheel-side braking motors, a drive circuit, and a controller as provided in the third aspect and any possible design thereof.

[0028] For the technical effects that can be achieved by any possible design in the above-mentioned first aspect, please refer to the description of the technical effects that can be achieved by any possible design in the above-mentioned second aspect, third aspect, and fourth aspect. For the technical effects that can be achieved by any possible design in the above-mentioned second aspect, please refer to the description of the technical effects that can be achieved by any possible design in the above-mentioned first aspect. For the technical effects that can be achieved by any possible design in the third aspect, please refer to the description of the technical effects that can be achieved by any possible design in the above-mentioned first and second aspects. For the technical effects that can be achieved by any possible design in the fourth aspect, please refer to the description of the technical effects that can be achieved by any possible design in the above-mentioned first, second, and third aspects, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of an existing electromechanical brake device;

[0030] Figure 2 is a schematic diagram of an existing electromechanical brake device;

[0031] Figure 3 A schematic diagram of an electromechanical braking device provided in an embodiment of the present application;

[0032] Figure 4 Another schematic diagram of an electromechanical braking device provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of a driving circuit in an electromechanical braking device provided in an embodiment of the present application;

[0034] Figure 6 Another schematic diagram of an electromechanical braking device provided in an embodiment of the present application;

[0035] Figure 7 Another schematic diagram of an electromechanical braking device provided in an embodiment of the present application;

[0036] Figure 8 Another schematic diagram of an electromechanical braking device provided in an embodiment of the present application;

[0037] Fig. 9 A schematic diagram of an electric vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The specific operating method in the method embodiment can also be applied to the device embodiment or the system embodiment. It should be noted that in the description of the present application, "at least one" refers to one or more, wherein multiple refers to two or more. In view of this, "multiple" can also be understood as "at least two" in the embodiment of the present application. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the related objects before and after are in an "or" relationship. In addition, it should be understood that in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0039] It should be noted that in the embodiments of the present application, "connection" can be understood as electrical connection, and the connection between two electrical components can be a direct or indirect coupling between the two electrical components. For example, A and B are connected, which can be either A and B directly connected, or A and B are indirectly connected through one or more other electrical components, for example, A and B are connected, or A and C are directly connected, C and B are directly connected, and A and B are connected through C.

[0040] The term "plurality" as used in this application refers to two or more than two. "at least one" refers to one or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of a single item or plural items.

[0041] In addition, it should be understood that, in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0042] It should be noted that the switch tube in the embodiment of the present application may be one or more of various types of switch tubes such as a metal oxide semiconductor field effect transistor (MOSFET), an insulated gate bipolar transistor (IGBT), etc., and the embodiment of the present application will not list them one by one. Each switch tube includes a first electrode, a second electrode and a control electrode. In the embodiment of the present application, the control electrode of the switch tube may also be referred to as a control terminal. Among them, the control electrode of the switch tube is used to control the conduction or disconnection of the switch tube. When the switch tube is turned on, current can be transmitted between the first electrode and the second electrode of the switch tube. When the switch tube is turned off, current cannot be transmitted between the first electrode and the second electrode of the switch tube. Taking MOSFET as an example, the control electrode of MOSFET is the gate. In one embodiment, the first electrode of MOSFET is the source, and the second electrode of MOSFET is the drain. In one embodiment, the first electrode of MOSFET is the drain, and the second electrode of MOSFET is the source. Taking IGBT as an example, the control electrode of IGBT is the base. In one embodiment, the first electrode of IGBT is the emitter, and the second electrode of IGBT is the collector. In one embodiment, the first electrode of IGBT is the collector, and the second electrode of IGBT is the emitter.

[0043] In an embodiment of the present application, the common end of the winding of the wheel-side brake motor is formed by connecting one end of multiple windings of the wheel-side brake motor. In an embodiment of the present application, the center tap of the wheel-side brake motor is connected to the common end of the winding of the wheel-side brake motor. In one embodiment, the center tap can be a connecting wire externally connected to the common end of the winding of the wheel-side brake motor. In one embodiment, the center tap can be equivalent to the common end of the winding of the wheel-side brake motor.

[0044] Figure 1 FIG. 1 is a schematic diagram of an existing electronic mechanical brake device. Figure 1As shown, the electronic mechanical brake device includes a drive circuit 10, a wheel brake motor 11, a wheel brake motor 12 and a backup brake motor 13. The drive circuit 10 is used to drive the wheel brake motor 11, the wheel brake motor 12 and the backup brake motor 13.

[0045] Figure 2 FIG. 1 is a schematic diagram of an existing electronic mechanical brake device. Figure 2 As shown, the drive circuit 10 includes a bridge circuit 10, a bridge circuit 20 and a bridge circuit 30. The bridge circuit 10 is used to drive the wheel brake motor 11, the bridge circuit 20 is used to drive the wheel brake motor 12, and the bridge circuit 30 is used to drive the backup brake motor 13. When the bridge circuit 10 cannot drive the wheel brake motor 11 or the bridge circuit 20 cannot drive the wheel brake motor 12, the bridge circuit 30 can drive the backup brake motor 13, thereby achieving vehicle braking. It can be understood that the drive circuit 10 requires three bridge circuits to drive three brake motors respectively, the reuse rate of circuit components in the drive circuit 10 is low, and the circuit layout is complex and the volume is large.

[0046] In order to achieve the purpose of improving the circuit device reuse rate of the drive circuit in the electronic mechanical brake device, simplifying the circuit layout, and miniaturizing the volume, the embodiment of the present application provides an electronic mechanical brake device and its drive circuit and controller. The embodiment of the present application also provides an electric vehicle, which may include the electronic mechanical brake device and its drive circuit and controller provided by the embodiment of the present application. The technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application.

[0047] Figure 3 Schematic diagram of an electromechanical brake device provided in an embodiment of the present application. Figure 3 As shown, the electronic mechanical brake device 10 includes a drive circuit 100, a backup brake motor 200, and two wheel-side brake motors. The electronic mechanical brake device 10 is used to drive the vehicle brake. The winding of the backup brake motor 200 includes two ends. Each wheel-side brake motor includes multiple windings, and one end of the multiple windings is connected to form a common end. The two ends of the winding of the backup brake motor are respectively connected to the common end of the windings of the two wheel-side brake motors. The drive circuit 100 includes two bridge circuits. Each bridge circuit includes multiple bridge arms. Each bridge arm includes two endpoints and a bridge arm midpoint. The two ends of each bridge arm are respectively used to connect the positive and negative poles of a DC power supply. The multiple bridge arm midpoints of each bridge circuit are respectively used to connect the other ends of the multiple windings of a wheel-side brake motor.

[0048] In the embodiment of the present application, the two wheel brake motors may be AC ​​motors or DC motors. The backup brake motor 200 is a DC motor. Exemplarily, the two wheel brake motors may be permanent-magnet synchronous motors (PMSM).

[0049] Exemplarily, the two wheel-side brake motors are respectively the wheel-side brake motor 310 and the wheel-side brake motor 320. Among them, one end of multiple windings in the wheel-side brake motor 310 is connected to form a winding common end, and one end of multiple windings in the wheel-side brake motor 320 is connected to form a winding common end. One end of the winding in the backup brake motor 200 is connected to the winding common end of the wheel-side brake motor 310, and the other end of the winding in the backup brake motor 200 is connected to the winding common end of the wheel-side brake motor 320.

[0050] In the embodiment of the present application, the operation modes of the electronic mechanical brake device 10 include a backup motor braking mode and a wheel-side motor braking mode. The electronic mechanical brake device 10 operates in the wheel-side motor braking mode, and the two bridge circuits in the drive circuit respectively drive the two wheel-side brake motors, and the two wheel-side brake motors respectively drive the two vehicle brakes. The electronic mechanical brake device 10 operates in the backup motor braking mode, and a bridge circuit in the drive circuit 100 drives the backup brake motor 200 through the other end of a winding of the corresponding wheel-side brake motor and another bridge circuit drives the other end of a winding of the corresponding wheel-side brake motor, and the backup brake motor 200 drives one or more vehicle brakes.

[0051] The electronic mechanical braking device provided in the embodiment of the present application can utilize not only the wheel-side brake motor but also the backup brake motor to drive the brake, and utilizes circuit components of the same drive circuit to drive the wheel-side brake motor and the backup brake motor, which not only improves the reliability of vehicle braking, but also increases the reuse rate of circuit components in the electronic mechanical braking device, simplifies the circuit layout, and achieves miniaturization.

[0052] Exemplarily, the two bridge circuits in the drive circuit 100 are bridge circuit 110 and bridge circuit 120. Bridge circuit 110 includes bridge arms 111, ..., and bridge arms 11N. Bridge circuit 120 includes bridge arms 121, ..., and bridge arms 12N. Bridge arms 111, ..., bridge arms 11N, and both ends of bridge arms 121, ..., and bridge arms 12N are respectively connected to the positive and negative poles of a DC power supply. Bridge circuit 110 includes bridge arm midpoints P1-1, ..., and bridge arm midpoints P1-N. Bridge circuit 120 includes bridge arm midpoints P2-1, ..., and bridge arm midpoints P2-N. Bridge arm midpoints P1-1, ..., and bridge arm midpoints P1-N are respectively used to connect the other ends of multiple windings of the wheel-side brake motor 310. Bridge arm midpoints P2-1, ..., and bridge arm midpoints P2-N are respectively used to connect the other ends of multiple windings of the wheel-side brake motor 320.

[0053] Each bridge arm in the driving circuit 100 includes an upper bridge arm switch tube Q1 and a lower bridge arm switch tube Q2. The first electrode of the upper bridge arm switch tube Q1 of each bridge arm is connected to the positive electrode of the DC power supply, the second electrode of the lower bridge arm switch tube Q2 of each bridge arm is connected to the negative electrode of the DC power supply, and the second electrode of the upper bridge arm switch tube Q1 of each bridge arm is connected to the first electrode of the lower bridge arm switch tube Q2 of each bridge arm. Exemplarily, Figure 3 The upper bridge arm switch tubes Q1 shown include Q1-1, ..., Q1-N, and the lower bridge arm switch tubes Q2 include Q2-1, ..., Q2-N.

[0054] In the embodiment of the present application, the operation mode of the drive circuit 100 includes a wheel-side motor drive mode and a backup motor drive mode. The drive circuit operates in the wheel-side motor drive mode, and the two bridge circuits drive the two wheel-side brake motors respectively, and the multiple bridge arm midpoints in each bridge circuit output current to the other end of the multiple windings of a wheel-side brake motor respectively. The drive circuit operates in the backup motor drive mode, and the two bridge circuits jointly drive the backup brake motor, and one bridge circuit drives the backup brake motor through the other end of a winding of a corresponding wheel-side brake motor, and the other bridge circuit drives the backup brake motor through the other end of a winding of another corresponding wheel-side brake motor. That is, the midpoint of a bridge arm in a bridge circuit is used to output direct current to the other end of a winding of a corresponding wheel-side brake motor, and the midpoint of a bridge arm in another bridge circuit is used to receive direct current transmitted from the other end of a winding of a corresponding wheel-side brake motor.

[0055] Exemplarily, the drive circuit 100 includes a bridge circuit 110 and a bridge circuit 120. The drive circuit 100 operates in a wheel-side motor drive mode, and the bridge circuit 110 and the bridge circuit 120 in the drive circuit 100 drive the wheel-side brake motor 310 and the wheel-side brake motor 320 respectively. The bridge arm midpoints P1-1, ..., and the bridge arm midpoints P1-N in the bridge circuit 110 output current to the other ends of the multiple windings in the wheel-side brake motor 310 respectively. The bridge arm midpoints P2-1, ..., and the bridge arm midpoints P2-N in the bridge circuit 120 output current to the other ends of the multiple windings in the wheel-side brake motor 320 respectively. The drive circuit 100 operates in a backup motor drive mode, and the bridge circuit 110 and the bridge circuit 120 in the drive circuit 100 jointly drive the backup brake motor 200. The bridge arm midpoint P1-1 of the bridge circuit 110 drives the backup brake motor 200 through the other end of the winding connected to the bridge arm midpoint P1-1 in the wheel-side brake motor 310, and the bridge arm midpoint P2-1 of the bridge circuit 120 drives the backup brake motor 200 through the other end of the winding connected to the bridge arm midpoint P2-1 in the wheel-side brake motor 320.

[0056] The driving circuit of the electronic mechanical brake device provided in the embodiment of the present application utilizes circuit components of the same driving circuit to drive the wheel-side brake motor and the backup brake motor, thereby increasing the circuit component reuse rate of the driving circuit in the electronic mechanical brake device, simplifying the circuit layout, and achieving miniaturization.

[0057] Figure 4 Another schematic diagram of an electromechanical brake device provided in an embodiment of the present application. Figure 4 As shown, the electronic mechanical brake device 10 includes a drive circuit 100 , a backup brake motor 200 , a wheel brake motor 310 , a wheel brake motor 320 and a controller 20 . Figure 3 , Figure 4 The functions of the drive circuit 100, backup brake motor 200, wheel-side brake motor 310 and wheel-side brake motor 320 shown in the figure are the same and will not be repeated here. Among them, the controller 20 is used to control multiple bridge arms of the drive circuit 100. Specifically, the controller 20 is used to output control signals to control the upper bridge arm switch tubes and lower bridge arm switch tubes of multiple bridge arms in the two bridge circuits in the drive circuit 100. In an embodiment of the present application, the output end of the controller 20 is used to connect the control electrodes of the upper bridge arm switch tubes and lower bridge arm switch tubes of multiple bridge arms in the drive circuit 100 and output control signals.

[0058] Exemplarily, the controller 20 is used to output a control signal to control the multiple bridge arms of the bridge circuit 110 and the multiple bridge arms of the bridge circuit 120. Figure 4As shown, the controller 20 is used to output a control signal to control the bridge arms 111, ..., bridge arms 11N of the bridge circuit 110 and the bridge arms 121, ..., bridge arms 12N of the bridge circuit 120. The output end of the controller 20 is used to connect the control electrodes of the upper bridge arm switch tubes Q1-1, ..., Q1-N and the lower bridge arm switch tubes Q2-1, ..., Q2-N. The controller 20 can output a control signal to control the conduction and disconnection of the upper bridge arm switch tubes Q1-1, ..., Q1-N and the lower bridge arm switch tubes Q2-1, ..., Q2-N.

[0059] In the embodiment of the present application, the controller 20 is used to control the operation mode of the drive circuit 100. The controller 20 controls the multiple bridge arms of the two bridge circuits in the drive circuit 100 by outputting control signals, thereby controlling the operation mode of the drive circuit 100. Specifically, the controller 20 outputs a first group of control signals and a second group of control signals to respectively control the operation of the drive circuit 100 in the wheel side motor drive mode and the backup motor drive mode.

[0060] The controller 20 is used to output a first set of control signals to control multiple bridge arms in two bridge circuits, and the midpoints of multiple bridge arms of each bridge circuit output current respectively. That is, each bridge circuit outputs current to drive a wheel-side brake motor according to the first set of control signals, so that the drive circuit 100 operates in the wheel-side motor drive mode.

[0061] The controller 20 is used to output a second group of control signals to control the upper bridge arm switch tube of one bridge arm in one bridge circuit to be turned on, and to control the lower bridge arm switch tube of one bridge arm in another bridge circuit to be turned on. That is, the upper bridge arm switch tube of one bridge arm in one bridge circuit is turned on according to the second group of control signals, and the lower bridge arm switch tube of one bridge arm in another bridge circuit is turned on according to the second group of control signals, and the other upper bridge arm switch tubes and lower bridge arm switch tubes in the two bridge circuits remain turned off according to the second group of control signals, so that the drive circuit 100 operates in the backup motor drive mode.

[0062] Exemplarily, the controller 20 outputs a first set of control signals to control the bridge circuit 110 and the bridge circuit 120. The bridge circuit 110 operates according to the first set of control signals and outputs current to drive the wheel brake motor 310, and the bridge circuit 120 operates according to the first set of control signals and outputs current to drive the wheel brake motor 320. Accordingly, the midpoints of the multiple bridge arms of the bridge circuit 110 respectively output current to the other ends of the multiple windings of the wheel brake motor 310, and the midpoints of the multiple bridge arms of the bridge circuit 120 respectively output current to the other ends of the multiple windings of the wheel brake motor 320. Accordingly, the drive circuit 100 operates in the wheel motor drive mode.

[0063] Exemplarily, the controller 20 outputs a second group of control signals to control the bridge circuit 110 and the bridge circuit 120. The upper arm switch tube Q1-1 of the bridge arm 111 in the bridge circuit 110 is turned on according to the second group of control signals, the lower arm switch tube Q2-1 of the bridge arm 121 in the bridge circuit 120 is turned on according to the second group of control signals, and the other switch tubes in the bridge circuit 110 and the bridge circuit 120 are turned off. The bridge arm midpoint P1-1 of the bridge arm 111 drives the backup brake motor 200 through the wheel-side brake motor 310, and the bridge arm midpoint P2-1 of the bridge arm 121 drives the wheel-side motor 320, and the drive circuit 100 operates in the backup motor drive mode.

[0064] The controller of the electronic mechanical braking device provided in the embodiment of the present application can control two bridge circuits in the same drive circuit to not only drive the wheel-side brake motor, but also drive the backup brake motor, thereby improving the circuit component reuse rate of the drive circuit in the electronic mechanical braking device, simplifying the circuit layout, and achieving miniaturization.

[0065] The electronic mechanical braking device and its driving circuit and controller provided in the embodiments of the present application are further described below.

[0066] In an embodiment of the present application, the electronic mechanical brake device 10 is used to respond to a brake signal and drive the brake to brake the vehicle. Among them, the controller 20 is used to receive a brake signal. In one embodiment, the controller 20 responds to the brake signal and outputs a first group of control signals to control the drive circuit 100. Accordingly, the drive circuit 100 operates in a wheel-side motor drive mode, and the electronic mechanical brake device 10 operates in a wheel-side motor braking mode. In one embodiment, the controller 20 responds to the brake signal and outputs a second group of control signals to control the drive circuit 100. Accordingly, the drive circuit 100 operates in a backup motor drive mode, and the electronic mechanical brake device 10 operates in a backup motor braking mode.

[0067] In the embodiment of the present application, the electronic mechanical braking device 10 can choose to operate in the wheel motor braking mode or the backup motor driving mode according to the operating status of at least one of the driving circuit 100, the wheel brake motor 310 or the wheel brake motor 320.

[0068] In one embodiment, the electronic mechanical brake device 10 operates in the wheel-side motor braking mode, but the vehicle braking acceleration is less than a preset threshold. The electronic mechanical brake device 10 cannot drive the brake to brake the vehicle as expected, indicating that any bridge arm in the drive circuit 100 fails, or any wheel-side brake motor fails. Accordingly, the electronic mechanical brake device 10 is used to switch the operating mode of the electronic mechanical brake device 10 from the wheel-side motor braking mode to the backup motor braking mode in response to the electronic mechanical brake device 10 operating in the wheel-side motor braking mode and the vehicle braking acceleration is less than a preset threshold.

[0069] In one embodiment, at least one of the drive circuit 100, the wheel brake motor 310 or the wheel motor 320 fails, and the electronic mechanical brake device 10 needs to operate in the backup motor braking mode. The electronic mechanical brake device 10 is used to operate in the backup motor braking mode in response to a failure of any bridge arm in the drive circuit 100 or a failure of any wheel brake motor.

[0070] In the embodiment of the present application, the drive circuit 100 can choose to operate in the wheel motor drive mode or the backup motor drive mode according to the operating status of at least one of the multiple bridge arms, the wheel brake motor 310 or the wheel brake motor 320.

[0071] In one embodiment, the drive circuit 100 operates in the wheel-side motor drive mode, but the vehicle braking acceleration is less than a preset threshold. The drive circuit 100 cannot drive the wheel-side brake motor to drive the brake to brake the vehicle as expected, indicating that any bridge arm in the drive circuit 100 fails, or any wheel-side brake motor fails. Accordingly, the drive circuit 100 is used to switch the operation mode of the drive circuit 100 from the wheel-side motor drive mode to the backup motor drive mode in response to the drive circuit 100 operating in the wheel-side motor drive mode and the vehicle braking acceleration is less than a preset threshold.

[0072] In one embodiment, at least one of the multiple bridge arms, the wheel brake motor 310 or the wheel brake motor 320 in the drive circuit 100 fails, and the drive circuit 100 needs to operate in the backup motor drive mode. The drive circuit 100 is used to operate in the backup motor drive mode in response to a failure of any bridge arm in the drive circuit 100 or a failure of any wheel brake motor.

[0073] In the embodiment of the present application, the controller 20 can control the drive circuit 100 to operate in the wheel motor drive mode or the backup motor drive mode according to the operating status of at least one of the multiple bridge arms, the wheel brake motor 310 or the wheel brake motor 320 in the drive circuit 100.

[0074] In one embodiment, the controller 20 outputs a first set of control signals so that the drive circuit 100 operates in a wheel-side motor drive mode, but the vehicle braking acceleration is less than a preset threshold. The controller 20 outputs a first set of control signals but the wheel-side brake motor cannot drive the brake to brake the vehicle, indicating that any bridge arm in the drive circuit 100 fails or any wheel-side brake motor fails. The controller 20 is configured to switch the output control signal from the first set of control signals to the second set of control signals in response to the controller 20 outputting a first set of control signals and the vehicle braking acceleration being less than a preset threshold.

[0075] In one embodiment, at least one of the multiple bridge arms, the wheel brake motor 310 or the wheel brake motor 320 in the drive circuit 100 fails, and the drive circuit 100 needs to operate in the backup motor drive mode. The controller 20 is used to output a second set of control signals in response to a failure of any bridge arm in the drive circuit 100 or a failure of any wheel brake motor.

[0076] In the embodiment of the present application, the failure of any bridge arm includes one or more of the following failures: the upper bridge arm switch tube and / or the lower bridge arm switch tube of any bridge arm fails, and the connection between the bridge arm midpoint of any bridge arm and the winding of the wheel-side brake motor is disconnected. Exemplarily, the upper bridge arm switch tube Q1-1 of the bridge arm 111 fails, or the lower bridge arm switch tube Q2-N of the bridge arm 11N fails, or the connection between the bridge arm midpoint P2-1 and the winding of the wheel-side brake motor 320 is disconnected.

[0077] In the embodiment of the present application, the wheel brake motor failure includes one or more of the following failures: any winding failure in the wheel brake motor, any component damage in the wheel brake motor. For example, a winding of the wheel brake motor 320 fails.

[0078] For example, Figure 4 The upper bridge arm switch tube Q1-1 of the bridge arm 111 in the driving circuit 100 shown in the figure fails, and the other upper bridge arm switches and lower bridge arm switches in the driving circuit 100 do not fail. The bridge arm midpoint P1-1 of the bridge arm 111 in the bridge circuit 110 cannot normally output current to the other end of a winding of the wheel-side brake motor 310. Accordingly, the driving circuit 100 needs to operate in the backup motor drive mode. Accordingly, the upper bridge arm switch tube Q1-N of the bridge arm 11N of the bridge circuit 110 is turned on, and the lower bridge arm switch tube Q2-1 of the bridge arm 121 of the bridge circuit 120 is turned on, and the bridge circuit 110 and the bridge circuit 120 jointly drive the backup brake motor 200. Among them, the turned-on upper bridge arm switch tube Q1-N and the winding of the wheel-side brake motor 310 connected to the midpoint of the bridge arm where it is located, the winding of the backup brake motor 200, and the turned-on lower bridge arm switch tube Q2-1 and the winding of the wheel-side brake motor 320 connected to the midpoint of the bridge arm where it is located, together form a DC power transmission circuit.

[0079] It can be understood that the electronic mechanical braking device and its drive circuit and controller provided in the embodiments of the present application can not only use the circuit components of the same drive circuit to drive the wheel-side brake motor and the backup brake motor, but also respond to the failure of the drive circuit or the wheel-side brake motor winding to promptly drive the brake through the backup brake motor, thereby improving the reliability of vehicle braking.

[0080] Figure 5 This is a schematic diagram of a driving circuit in an electronic mechanical brake device provided in this application. Figure 5 As shown, the drive circuit 100 includes a positive bus, a negative bus, a bridge circuit 110, a bridge circuit 120 and at least one capacitor. The positive bus and the negative bus are used to connect the positive and negative electrodes of the DC power supply, respectively. The capacitor is connected between the positive bus and the negative bus to filter the current fluctuations generated between the positive bus and the negative bus of the drive circuit 100.

[0081] like Figure 5 As shown, the driving circuit 100 includes capacitors C1, ..., and capacitors Cn. The bridge circuit 110 includes bridge arms 111, ..., and bridge arms 11N, and the bridge circuit 120 includes bridge arms 121, ..., and bridge arms 12N. Each bridge arm includes an upper bridge arm switch tube Q1 and a lower bridge arm switch tube Q2. The first end of the capacitors C1, ..., and Cn and the first electrode of the upper bridge arm switch tube Q1 are connected to the positive electrode of the DC power supply through the positive bus, the second end of the capacitors C1, ..., and Cn and the second electrode of the lower bridge arm switch tube Q2 are connected to the negative electrode of the DC power supply through the negative bus, and the second electrode of the upper bridge arm switch tube Q1 is connected to the first electrode of the lower bridge arm switch tube Q2. The bridge arm 111 includes an upper bridge arm switch tube Q1-1 and a lower bridge arm switch tube Q2-1, and the bridge arm 11N includes an upper bridge arm switch tube Q1-N and a lower bridge arm switch tube Q2-N. Figure 5 The bridge arm 121 includes an upper bridge arm switch tube Q1-1 and a lower bridge arm switch tube Q2-1, and the bridge arm 12N includes an upper bridge arm switch tube Q1-N and a lower bridge arm switch tube Q2-N.

[0082] In the embodiment of the present application, the two bridge circuits of the drive circuit 100 can be one or more of a three-phase bridge circuit and a single-phase bridge circuit. The two wheel-side brake motors can be one or more of a three-phase motor and a single-phase motor.

[0083] Figure 6 Another schematic diagram of an electromechanical brake device provided in an embodiment of the present application. Figure 6 As shown, the electronic mechanical brake device 10 includes a bridge circuit 110, a bridge circuit 120, a backup brake motor 200, a wheel brake motor 310 and a wheel brake motor 320. The bridge circuit 110 and the bridge circuit 120 are single-phase bridge circuits. The wheel brake motor 310 and the wheel brake motor 320 are single-phase AC motors.

[0084] The bridge circuit 110 includes a bridge arm 111 and a bridge arm 112. The wheel-side brake motor 310 includes two windings. One end of the two windings is connected to form a common end of the winding of the wheel-side brake motor 310. The bridge arm 111 includes an upper bridge arm switch tube Q1-1 and a lower bridge arm switch tube Q2-1, and the bridge arm 112 includes an upper bridge arm switch tube Q1-2 and a lower bridge arm switch tube Q2-2. The other ends of the two windings of the wheel-side brake motor 310 are respectively connected to the bridge arm midpoint P1-1 of the bridge arm 111 and the bridge arm midpoint P1-2 of the bridge arm 112.

[0085] The bridge circuit 120 includes a bridge arm 121 and a bridge arm 122. The wheel-side brake motor 320 includes two windings, one end of which is connected to form a common end of the winding of the wheel-side brake motor 320. The bridge arm 121 in the bridge circuit 120 includes an upper bridge arm switch tube Q1-3 and a lower bridge arm switch tube Q2-3, and the bridge arm 122 includes an upper bridge arm switch tube Q1-4 and a lower bridge arm switch tube Q2-4. The other ends of the two windings of the wheel-side brake motor 320 are respectively connected to the bridge arm midpoint P2-1 of the bridge arm 121 and the bridge arm midpoint P2-2 of the bridge arm 122.

[0086] One end of the winding in the backup brake motor 200 is connected to the common end of the winding of the wheel-side brake motor 310 , and the other end of the winding in the backup brake motor 200 is connected to the common end of the winding of the wheel-side brake motor 320 .

[0087] Figure 7 Another schematic diagram of the electromechanical brake device provided in the embodiment of the present application. Figure 7 As shown, the electronic mechanical brake device 10 includes a bridge circuit 110, a bridge circuit 120, a backup brake motor 200, a wheel brake motor 310 and a wheel brake motor 320. The bridge circuit 110 is a three-phase bridge circuit, and the wheel brake motor 310 is a three-phase AC motor.

[0088] The bridge circuit 110 includes a bridge arm 111, a bridge arm 112 and a bridge arm 113. The wheel-side brake motor 310 includes a three-phase winding. One end of the three-phase winding of the wheel-side brake motor 310 is connected to form a common end of the winding of the wheel-side brake motor 310. The bridge arm 111 of the bridge circuit 110 includes an upper bridge arm switch tube Q1-1 and a lower bridge arm switch tube Q2-1, the bridge arm 112 includes an upper bridge arm switch tube Q1-2 and a lower bridge arm switch tube Q2-2, and the bridge arm 113 includes an upper bridge arm switch tube Q1-3 and a lower bridge arm switch tube Q2-3. The other end of the three-phase winding of the wheel-side brake motor 310 is respectively connected to the bridge arm midpoint P1-1 of the bridge arm 111, the bridge arm midpoint P1-2 of the bridge arm 112, and the bridge arm midpoint P1-3 of the bridge arm 113.

[0089] The bridge circuit 120 includes a bridge arm 121, a bridge arm 122 and a bridge arm 123. The wheel-side brake motor 320 includes a three-phase winding. One end of the three-phase winding of the wheel-side brake motor 320 is connected to form a common end of the winding of the wheel-side brake motor 320. The bridge arm 121 of the bridge circuit 120 includes an upper bridge arm switch tube Q1-4 and a lower bridge arm switch tube Q2-4, the bridge arm 122 includes an upper bridge arm switch tube Q1-5 and a lower bridge arm switch tube Q2-5, and the bridge arm 123 includes an upper bridge arm switch tube Q1-6 and a lower bridge arm switch tube Q2-6. The other end of the three-phase winding of the wheel-side brake motor 320 is respectively connected to the bridge arm midpoint P2-1 of the bridge arm 121, the bridge arm midpoint P2-2 of the bridge arm 122, and the bridge arm midpoint P2-3 of the bridge arm 123.

[0090] One end of the winding in the backup brake motor 200 is connected to the common end of the winding of the wheel-side brake motor 310 , and the other end of the winding in the backup brake motor 200 is connected to the common end of the winding of the wheel-side brake motor 320 .

[0091] Figure 8 Another schematic diagram of an electromechanical brake device provided in an embodiment of the present application. Figure 8 As shown, the electronic mechanical brake device 10 includes a bridge circuit 110, a bridge circuit 120, a backup brake motor 200, a wheel brake motor 310 and a wheel brake motor 320. The bridge circuit 110 is a three-phase bridge circuit, and the wheel brake motor 310 is a three-phase AC motor. The bridge circuit 120 is a single-phase bridge circuit, and the wheel brake motor 320 is a single-phase AC motor.

[0092] The bridge circuit 110 includes a bridge arm 111, a bridge arm 112 and a bridge arm 113. The wheel-side brake motor 310 includes a three-phase winding. One end of the three-phase winding of the wheel-side brake motor 310 is connected to form a common end of the winding of the wheel-side brake motor 310. The bridge arm 111 of the bridge circuit 110 includes an upper bridge arm switch tube Q1-1 and a lower bridge arm switch tube Q2-1, the bridge arm 112 includes an upper bridge arm switch tube Q1-2 and a lower bridge arm switch tube Q2-2, and the bridge arm 113 includes an upper bridge arm switch tube Q1-3 and a lower bridge arm switch tube Q2-3. The other end of the three-phase winding of the wheel-side brake motor 310 is respectively connected to the bridge arm midpoint P1-1 of the bridge arm 111, the bridge arm midpoint P1-2 of the bridge arm 112, and the bridge arm midpoint P1-3 of the bridge arm 113.

[0093] The bridge circuit 120 includes a bridge arm 121 and a bridge arm 122. The wheel-side brake motor 320 includes two windings, and one end of the two windings of the wheel-side brake motor 320 is connected to form a common end of the winding of the wheel-side brake motor 320. The bridge arm 121 of the bridge circuit 120 includes an upper bridge arm switch tube Q1-4 and a lower bridge arm switch tube Q2-4, and the bridge arm 122 includes an upper bridge arm switch tube Q1-5 and a lower bridge arm switch tube Q2-5. The other ends of the two windings of the wheel-side brake motor 320 are respectively connected to the bridge arm midpoint P2-1 of the bridge arm 121 and the bridge arm midpoint P2-2 of the bridge arm 122.

[0094] One end of the winding in the backup brake motor 200 is connected to the common end of the winding of the wheel-side brake motor 310 , and the other end of the winding in the backup brake motor 200 is connected to the common end of the winding of the wheel-side brake motor 320 .

[0095] Based on the electronic mechanical braking device and its driving circuit and controller provided in the above embodiments, an embodiment of the present application provides an electric vehicle.

[0096] Fig. 9 A schematic diagram of an electric vehicle provided in an embodiment of the present application. Fig. 9 As shown, the electric vehicle includes a vehicle braking system 900, wheels 1, 2, 3 and 4. The vehicle braking system 900 is used to brake wheels 3 and 4. The vehicle braking system 900 includes an electronic mechanical braking device 910. The electronic mechanical braking device 910 is the electronic mechanical braking device 10 described in the above embodiment.

[0097] In one embodiment, an electric vehicle includes a vehicle braking system 900, a wheel 1, a wheel 2, a wheel 3, and a wheel 4. The vehicle braking system 900 is used to brake the wheel 3 and the wheel 4. The vehicle braking system 900 includes an electronic mechanical braking device 910, wherein the electronic mechanical braking device 910 includes a drive circuit 100, a wheel-side braking circuit 310, a wheel-side braking motor 320, and a backup braking motor 200. The drive circuit 100 is the drive circuit 100 described in the above embodiment.

[0098] In one embodiment, an electric vehicle includes a vehicle braking system 900, a wheel 1, a wheel 2, a wheel 3, and a wheel 4. The vehicle braking system 900 is used to brake the wheel 3 and the wheel 4. The vehicle braking system 900 includes an electronic mechanical braking device 910. The electronic mechanical braking device 910 includes a controller 20, a drive circuit 100, a wheel-side braking circuit 310, a wheel-side braking motor 320, and a backup braking motor 200. The controller 20 is the controller 20 described in the above embodiment.

[0099] It can be understood that the electric vehicle provided in the embodiment of the present application includes the electronic mechanical braking device and its driving circuit and controller provided in the embodiment of the present application. The driving circuit of the electronic mechanical braking device in the electric vehicle provided in the embodiment of the present application uses circuit components of the same driving circuit to drive the wheel-side brake motor and the backup brake motor, so that the circuit component reuse rate of the electronic mechanical braking device driving circuit is improved, the circuit layout is simplified, and miniaturization is achieved.

[0100] In addition, the electric vehicle provided in the embodiment of the present application can not only use the circuit components of the same drive circuit to drive the wheel brake motor and the backup brake motor, but also use the backup brake motor to drive the brake in response to a failure of the drive circuit or the wheel brake motor winding, thereby improving the reliability of the vehicle's braking system.

[0101] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0102] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0103] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0105] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An electromechanical brake device, characterized in that: The electronic mechanical braking device comprises a driving circuit, a backup brake motor and two wheel-side brake motors, the two ends of the winding of the backup brake motor are respectively connected to the common ends of the windings of the two wheel-side brake motors, the driving circuit comprises two bridge circuits, each of the bridge circuits comprises a plurality of bridge arms, the two ends of each bridge arm are respectively used to connect the positive and negative poles of a DC power supply, the midpoints of the plurality of bridge arms of each bridge circuit are respectively connected to the other end of the plurality of windings of one wheel-side brake motor, the operation modes of the electronic mechanical braking device comprise a backup motor braking mode and a wheel-side motor braking mode, wherein: The electronic mechanical brake device operates in a wheel-side motor braking mode, the two bridge circuits in the drive circuit respectively drive the two wheel-side brake motors, and the two wheel-side brake motors respectively drive two vehicle brakes; The electronic mechanical brake device operates in a backup motor braking mode, the two bridge circuits in the drive circuit jointly drive the backup brake motor, and the backup brake motor drives one or more of the vehicle brakes.

2. The electromechanical brake device according to claim 1, characterized in that: The electromechanical brake device is used for: In response to the electronic mechanical brake device operating in the wheel motor braking mode and the vehicle braking acceleration being less than a preset threshold, the operating mode of the electronic mechanical brake device is switched from the wheel motor braking mode to the backup motor braking mode.

3. The electromechanical brake device according to any one of claims 1 to 2, characterized in that: The electromechanical brake device is used for: In response to a failure of any one of the bridge arms, or in response to a failure of any one of the wheel-side brake motors, the electromechanical brake device operates in a backup motor braking mode.

4. The electromechanical brake device according to any one of claims 1 to 3, characterized in that: At least one of the two bridge circuits is a single-phase bridge circuit, the single-phase bridge circuit includes two bridge arms, at least one of the two wheel-side brake motors is a single-phase motor, the single-phase motor includes two windings, one ends of the two windings are connected to form a common end of the winding of the single-phase motor, and the midpoints of the two bridge arms of the single-phase bridge circuit are respectively used to connect the other ends of the two windings; or, At least one of the two bridge circuits is a three-phase bridge circuit, at least one of the two wheel-side brake motors is a three-phase motor, the three-phase bridge circuit includes three bridge arms, the three-phase motor includes a three-phase winding, one end of the three-phase winding is connected to form a common end of the winding of the three-phase motor, and the midpoints of the three bridge arms of the three-phase bridge circuit are respectively used to connect the other end of the three-phase winding.

5. The electromechanical brake device according to any one of claims 1 to 4, characterized in that: The backup brake motor is a DC motor, one end of the winding in the DC motor is connected to the common end of the winding of one of the wheel-side brake motors, and the other end of the winding in the DC motor is connected to the common end of the winding of another wheel-side brake motor.

6. A driving circuit for an electronic mechanical brake device, the electronic mechanical brake device comprising a backup brake motor and two wheel brake motors, the two ends of the winding in the backup brake motor are respectively connected to the common ends of the windings of the two wheel brake motors, characterized in that: The drive circuit includes two bridge circuits, each of which includes a plurality of bridge arms, and the two ends of each bridge arm are respectively used to connect the positive and negative electrodes of a DC power supply, and the midpoints of the plurality of bridge arms of each bridge circuit are respectively used to connect the other end of the plurality of windings of a wheel-side brake motor. The operation modes of the drive circuit include a backup motor drive mode and a wheel-side motor drive mode, wherein: The driving circuit operates in the wheel-side motor driving mode, and the midpoints of the multiple bridge arms in each of the bridge circuits output current to the other end of the multiple windings of one of the wheel-side brake motors respectively; The driving circuit operates in a backup motor driving mode, and one of the bridge circuits drives the backup brake motor through the other end of a winding of a corresponding wheel-side brake motor, and another of the bridge circuits drives the backup brake motor through the other end of a winding of another corresponding wheel-side brake motor.

7. The driving circuit according to claim 6, characterized in that: The first electrode of the upper bridge arm switch tube of each bridge arm is used to connect the positive electrode of the DC power supply, the second electrode of the lower bridge arm switch tube of each bridge arm is used to connect the negative electrode of the DC power supply, and the second electrode of the upper bridge arm switch tube of each bridge arm is connected to the first electrode of the lower bridge arm switch tube of each bridge arm to form the midpoint of each bridge arm.

8. The driving circuit according to any one of claims 6 to 7, characterized in that: The drive circuit operates in the wheel-side motor drive mode, the two ends of the multiple bridge arms in each of the bridge circuits transmit direct current, and the midpoints of the multiple bridge arms in each of the bridge circuits respectively output current to the other ends of the multiple windings in a wheel-side brake motor corresponding to the bridge circuit; The drive circuit operates in a backup motor drive mode, the upper bridge arm switch tube of one of the bridge arms in one of the bridge circuits is turned on, the lower bridge arm switch tube of one of the bridge arms of the other bridge circuit is turned on, the winding of the wheel-side brake motor connected to the midpoint of the bridge arm of the turned-on upper bridge arm switch tube and the bridge arm where it is located, the winding of the backup brake motor, the winding of the other wheel-side brake motor connected to the midpoint of the bridge arm where the turned-on lower bridge arm switch tube is located, and the turned-on lower bridge arm switch tube form a backup motor drive circuit.

9. The driving circuit according to any one of claims 6 to 8, characterized in that: In response to the drive circuit operating in the wheel-side motor drive mode and the vehicle braking acceleration being less than a preset threshold, the operation mode of the drive circuit is switched from the wheel-side motor drive mode to the backup motor drive mode.

10. The driving circuit according to any one of claims 6 to 9, characterized in that: In response to a failure of any one of the bridge arms, or in response to a failure of any one of the wheel-side brake motors, the drive circuit operates in a backup motor drive mode.

11. A controller for an electronic mechanical brake device, characterized in that: The electronic mechanical braking device comprises a driving circuit, a backup brake motor and two wheel-side brake motors, the two ends of the winding in the backup brake motor are respectively connected to the common ends of the windings of the two wheel-side brake motors, the driving circuit comprises two bridge circuits, each of the bridge circuits comprises a plurality of bridge arms, the two ends of each bridge arm are respectively used to connect the positive and negative poles of a DC power supply, the midpoints of the plurality of bridge arms of each bridge circuit are respectively used to connect the other ends of the plurality of windings in one of the wheel-side brake motors, the controller is used to output a control signal to control the plurality of bridge arms in the driving circuit, and the controller is used to: Outputting a first group of control signals to control a plurality of bridge arms in the two bridge circuits, wherein the midpoints of the plurality of bridge arms of each bridge circuit respectively output current; The second group of control signals is output to control the upper bridge arm switch tube of one bridge arm in one of the bridge circuits to be turned on, and to control the lower bridge arm switch tube of one bridge arm in another of the bridge circuits to be turned on.

12. The controller according to claim 11, characterized in that: The controller is used to: In response to the controller outputting the first group of control signals and the vehicle braking acceleration being less than a preset threshold, the output control signals are switched from the first group of control signals to the second group of control signals.

13. The controller according to any one of claims 11-12, characterized in that: The controller is used to: In response to a failure of any one of the bridge arms or a failure of any one of the wheel-side brake motors, the first group of control signals is output.

14. The controller according to any one of claims 11 to 13, characterized in that: The controller is used to: In response to a brake signal, the first set of control signals is output.

15. An electric vehicle, characterized in that: The invention comprises a vehicle braking system and a plurality of wheels, wherein the vehicle braking system is used to brake at least two wheels, and the vehicle braking system comprises: An electromechanical brake device as claimed in any one of claims 1 to 5; or A backup brake motor, two wheel brake motors and a drive circuit as described in any one of claims 6 to 10; or, A backup brake motor, two wheel brake motors, a drive circuit and a controller as described in any one of claims 11-14.

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