Electrically-driven and electrically-braked integrated system and control method thereof

Abstract

The invention provides an electric driving and electric braking integrated system and a control method thereof.The integrated system is assembled on the rim of a single wheel and comprises a wheel control assembly, a hub motor assembly, an electronic mechanical braking assembly, an energy consumption braking unit and an energy assembly; the wheel control assembly is used for recognizing the current whole vehicle driving intention based on the obtained whole vehicle information, and then a wheel side driving / braking torque target value is obtained through calculation so as to control the hub motor assembly and / or the electronic mechanical braking assembly to conduct driving / braking control on a single wheel where the hub motor assembly and / or the electronic mechanical braking assembly are located. And the control unit is also used for controlling the energy consumption braking unit to run to consume electric energy generated by regenerative braking of the hub motor assembly when the whole vehicle is in the braking state and the actual charge state monitored by the energy assembly is larger than the charge state threshold value.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an electric drive and electric brake integrated system and a control method thereof. Background Art

[0002] With the rapid development of the automotive industry in the direction of electrification, the technology of wheel hub motors has gradually matured, and vehicles equipped with wheel hub motors have the functions of independent electric drive and electric braking at the wheel end. At present, there are still some shortcomings in the braking process of the whole vehicle. When the battery is in a high-charge state, the wheel hub motor cannot perform feedback braking, and the wheel hub motor cannot generate electric braking torque at the wheel end; when the wheel hub motor is in a high-speed working state, the external characteristics of the motor limit the motor braking torque. If the vehicle needs a larger braking torque at this time, the wheel hub motor cannot meet the requirements; when the power supply system of the whole vehicle is abnormal, the wheel hub motor is also unable to provide electric braking torque. Based on the above problems, vehicles equipped with wheel hub motors are usually equipped with friction braking systems at the wheel end. Such friction braking systems usually use brake fluid or brake gas for torque transmission, and finally complete the braking action of the mechanical caliper at the wheel end.

[0003] Different from the traditional hydraulic or pneumatic brake system, the electronic mechanical brake system has developed rapidly in recent years. The system does not require brake fluid or brake gas, and has the advantages of fast response speed, high control accuracy, and easy maintenance. For example, in the Chinese invention patent application with application publication number CN117621847A, a drive-brake integrated system and its fault handling method for intelligent driving needs are designed. The patent integrates the wheel hub motor and the electronic mechanical brake system on the wheel side, and the vehicle chassis can perform independent drive or brake control at each wheel. In this scheme, when the vehicle is in a braking condition, the system coordinates the use of the wheel hub motor force and the friction braking force of the electronic mechanical brake system according to the battery charge state. However, the electronic mechanical brake system also has some shortcomings, such as the high redundancy backup requirements of the system, which usually requires multiple control modules, power modules and electric drive modules to meet the safety requirements of the vehicle braking function; the system is difficult to achieve high-precision braking force control under long-term strong braking conditions, and the temperature change of the brake disc and the influence of brake pad wear need to be considered when controlling the braking force. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, a first object of the present invention is to provide an electric drive and electric brake integrated system to solve the problem that the hub motor cannot perform feedback braking when in a high charge state.

[0006] The second object of the present invention is to provide a control method for an electric drive and electric brake integrated system.

[0007] To achieve the above-mentioned purpose, the first aspect of the present invention proposes an electric drive and electric brake integrated system, which is installed on the wheel side of a single wheel, and includes a wheel control component, a hub motor component, an electronic mechanical brake component, an energy consumption braking unit and an energy component; the wheel control component is used to identify the current driving intention of the whole vehicle based on the acquired whole vehicle information, and then calculate the wheel side driving / braking torque target value to control the hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel; it is also used to control the energy consumption braking unit to operate to consume the electric energy generated by the feedback braking of the hub motor component when the whole vehicle is in a braking state and the actual charge state monitored by the energy component is greater than the charge state threshold.

[0008] In the electric drive and electric brake integrated system provided in the first aspect of the present invention, the wheel control component, when used to calculate the wheel-side driving / braking torque target value to control the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel, is specifically used to: if the current driving intention of the whole vehicle is driving control, then calculate the wheel-side driving torque target value to control the wheel hub motor component for driving control; if the current driving intention of the whole vehicle is braking control, then calculate the wheel-side braking torque target value; if the wheel-side braking torque target value is less than the motor torque value that the current wheel hub motor can provide, then the wheel control component controls the wheel hub motor component based on the wheel-side braking torque target value to perform feedback braking on the single wheel; if the wheel-side braking torque target value is greater than or equal to the motor torque value that the current wheel hub motor can provide, then the wheel control component controls the wheel hub motor component based on the motor torque value that the current wheel hub motor can provide, and controls the electronic mechanical brake component based on the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide, so as to brake the single wheel.

[0009] In the electric drive and electric brake integrated system provided in the first aspect of the present invention, the energy dissipation braking unit includes an energy dissipation resistor and a resistor control unit. The energy dissipation resistor is connected to the resistor control unit. The resistor control unit is controlled to open to enable the energy dissipation braking unit to operate. When the energy dissipation braking unit is in operation, the energy dissipation resistor is used to consume the electric energy generated by the feedback braking of the hub motor assembly.

[0010] In the electric drive and electric brake integrated system provided in the first aspect of the present invention, the energy-consuming braking unit also includes a cooling water pump and a cooling control module, and the cooling water pump is connected to the cooling control module; when the energy-consuming braking unit is running, the cooling control module is controlled to open to utilize the cooling water pump to cool the energy-consuming resistor.

[0011] In the electric drive and electric brake integrated system provided in the first aspect of the present invention, the electronic mechanical brake component includes an electronic mechanical brake, an electronic mechanical brake position sensor, an electronic mechanical brake power unit, and an electronic mechanical brake control unit. The wheel control component is connected to the electronic mechanical brake via the electronic mechanical brake control unit and the electronic mechanical brake power unit. The electronic mechanical brake control unit controls the power devices in the electronic mechanical brake power unit based on the electronic brake control instructions from the wheel control component, thereby achieving control of the electronic mechanical brake.

[0012] In the electric drive and electric brake integrated system provided in the first aspect of the present invention, the electronic mechanical brake includes a brake motor module, a transmission module, a friction brake module, a mechanical locking module and a brake motor shaft; the brake motor module is used to generate an electromagnetic torque and drive the transmission module to move; the transmission module is used to amplify the electromagnetic force generated by the brake motor module and transmit it to the friction brake module; the friction brake module is used to clamp and brake the shaft of the hub motor in the hub motor assembly; and the mechanical locking module is used to lock the brake motor module shaft.

[0013] In the electric drive and electric brake integrated system provided in the first aspect of the present invention, the integrated system also includes a safety monitoring unit, which is connected to the wheel control assembly. The safety monitoring unit is used to control the hub motor assembly and / or the electronic mechanical brake assembly to stop the vehicle when the wheel side control center in the wheel control assembly is abnormal.

[0014] To achieve the above object, the second aspect of the present invention provides a control method for the electric drive and electric brake integrated system based on the first aspect, comprising:

[0015] The wheel control component obtains vehicle information;

[0016] The wheel control component identifies the current driving intention of the vehicle based on the vehicle information, and then calculates the wheel side driving / braking torque target value;

[0017] The wheel control component controls the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel based on the wheel side driving / braking torque target value;

[0018] When the vehicle is in a braking state and the actual state of charge monitored by the energy component is greater than the state of charge threshold, the wheel control component controls the energy consumption braking unit to operate to consume the electrical energy generated by the feedback braking of the hub motor assembly.

[0019] In the control method of the electric drive and electric brake integrated system provided in the second aspect of the present invention, the wheel control component controls the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel based on the wheel-side drive / braking torque target value, including: when the current driving intention of the whole vehicle is drive control, the wheel hub motor component is controlled to perform drive control based on the wheel-side drive torque target value; when the current driving intention of the whole vehicle is brake control, if the wheel-side braking torque target value is less than the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the wheel-side braking torque target value to perform feedback braking on the single wheel; if the wheel-side braking torque target value is greater than or equal to the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the motor torque value that the current wheel hub motor can provide, and controls the electronic mechanical brake component based on the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide, so as to brake the single wheel.

[0020] The control method of the electric drive and electric brake integrated system provided in the second aspect of the present invention also includes: when the wheel side control center in the wheel control assembly is abnormal, the safety monitoring unit controls the hub motor assembly and / or the electronic mechanical brake assembly to stop the vehicle.

[0021] The present invention provides an electric drive and electric brake integrated system and a control method thereof. The integrated system is installed on the wheel side of a single wheel. The integrated system includes a wheel control component, a hub motor component, an electronic mechanical brake component, an energy consumption brake unit and an energy component. The wheel control component is used to identify the current driving intention of the whole vehicle based on the acquired whole vehicle information, and then calculate the wheel side drive / braking torque target value to control the hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel. It is also used to control the energy consumption brake unit to operate to consume the electric energy generated by the feedback braking of the hub motor component when the whole vehicle is in a braking state and the actual charge state monitored by the energy component is greater than the charge state threshold. In this case, the wheel control component, the hub motor component, the electronic mechanical brake component, the energy dissipation brake unit and the energy component are integrated to realize the integrated integration of the hub motor component and the electronic mechanical brake system. In addition, when the whole vehicle is in a braking state and the actual state of charge monitored by the energy component is greater than the state of charge threshold, the energy dissipation brake unit is controlled to operate to consume the electric energy generated by the regenerative braking of the hub motor component. In this case, when a high charge state occurs, the electric energy generated by the regenerative braking of the hub motor component is consumed by the energy dissipation brake unit to ensure normal braking of the hub motor assembly, thereby solving the problem that the hub motor cannot perform regenerative braking when in a high charge state.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A block diagram of an electric drive and electric brake integrated system provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of an electric drive and electric brake integrated system provided by an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of an electromechanical brake provided by an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of an energy-consuming braking unit provided in an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of a power management unit provided by an embodiment of the present invention;

[0029] Figure 6 This is a flow chart of a control method for an electric drive and electric brake integrated system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the appended claims.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more associated listed items.

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0034] The present invention provides an electric drive and electric brake integrated system and a control method thereof to solve the problem that the wheel hub motor cannot perform feedback braking when in a high charge state.

[0035] In an embodiment of the present invention, Figure 1 A block diagram of an electric drive and electric brake integrated system provided in an embodiment of the present invention. The electric drive and electric brake integrated system in the present invention may be referred to as an integrated system. The integrated system of the present invention is mounted on the wheel rim of a single wheel. It is easy to understand that the wheel rim of each single wheel of the vehicle may be equipped with the integrated system of the present invention.

[0036] like Figure 1 As shown, the electric drive and electric brake integrated system includes a wheel control assembly, a wheel hub motor assembly, an electronic mechanical brake assembly, an energy consumption brake unit and an energy assembly. The wheel control assembly is connected to the wheel hub motor assembly and the electronic mechanical brake assembly respectively, the energy consumption brake unit is connected to the wheel hub motor assembly, and the energy assembly is connected to the wheel hub motor assembly and the electronic mechanical brake assembly respectively.

[0037] In this embodiment, the wheel control component is used to identify the current driving intention of the vehicle based on the acquired vehicle information, and then calculate the wheel-side drive / braking torque target value to control the hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel; it is also used to control the energy consumption braking unit to operate to consume the electrical energy generated by the feedback braking of the hub motor component when the vehicle is in a braking state and the actual charge state monitored by the energy component is greater than the charge state threshold.

[0038] Among them, when the wheel control component is used to calculate the wheel-side driving / braking torque target value to control the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel, it is specifically used for: if the current driving intention of the whole vehicle is driving control, then the wheel-side driving torque target value is calculated to control the wheel hub motor component for driving control; if the current driving intention of the whole vehicle is braking control, then the wheel-side braking torque target value is calculated; if the wheel-side braking torque target value is less than the motor torque value that the current wheel hub motor can provide, then the wheel control component controls the wheel hub motor component based on the wheel-side braking torque target value to perform feedback braking on the single wheel; if the wheel-side braking torque target value is greater than or equal to the motor torque value that the current wheel hub motor can provide, then the wheel control component controls the wheel hub motor component based on the motor torque value that the current wheel hub motor can provide, and controls the electronic mechanical brake component based on the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide, so as to brake the single wheel.

[0039] Specifically, Figure 2 This is a schematic diagram of the structure of the electric drive and electric brake integrated system provided by an embodiment of the present invention. Figure 2 As shown, the wheel control assembly includes a wheel side control center 101, a signal acquisition unit 102, and a communication unit 103. The hub motor assembly includes a hub motor control unit 201, a hub motor power unit 202, a hub motor 401, and a hub motor speed sensor 402. The electromechanical brake assembly includes an electromechanical brake control unit 301, an electromechanical brake power unit 302, an electromechanical brake 501, and an electromechanical brake position sensor 502. The energy assembly includes a capacitor unit 701 and a power management module 901.

[0040] In this embodiment, the wheel control assembly is connected to the wheel hub motor via the wheel hub motor control unit and the wheel hub motor power unit. The wheel control assembly is connected to the electronic mechanical brake via the electronic mechanical brake control unit and the electronic mechanical brake power unit. Figure 2 As shown, the wheel side control center 101 is connected to the wheel hub motor 401 via the wheel hub motor control unit 201 and the wheel hub motor power unit 202. The wheel side control center 101 is connected to the electronic mechanical brake 501 via the electronic mechanical brake control unit 301 and the electronic mechanical brake power unit 302. The dynamic braking unit 801 is connected to the wheel hub motor 401.

[0041] In this embodiment, the wheel side control center 101 is used to receive vehicle information to realize the control of the wheel hub motor assembly and the electronic mechanical brake assembly. The vehicle information includes the vehicle status information, the wheel hub motor and the electronic mechanical brake status signal of the wheel where the wheel side control center is located, and the wheel side control center status information of other single wheel side arrangements. The vehicle status information includes the vehicle power system status information, the cockpit status information, and the vehicle intelligent driving system related commands and the driver control command; the wheel side control center status information of other single wheel side arrangements includes the wheel hub motor status signal of the wheel where the corresponding wheel side control center is located, the electronic mechanical brake status signal and the tire status information. Specifically, the wheel side control center 101 receives the driving control signal and the vehicle target motion command sent by the intelligent driving system and completes the vehicle driving intention analysis, completes the calculation of the vehicle dynamics control wheel side command torque based on the vehicle information according to the control logic inside the vehicle, and distributes and calculates the target torque of the wheel where it is located, and sends the distributed commands to the wheel hub motor control unit 201 and the electronic mechanical brake control unit 301 respectively. In addition, the wheel control center also receives the signal of the wheel hub motor speed sensor of the wheel collected by the signal collection unit 102, and uses the signal as the actual wheel speed of the wheel, which is used in the vehicle dynamics calculation. The wheel control center also sends the status information of the wheel to other wheel control centers, and the sent signal includes information such as wheel speed, driving force, braking force, etc.

[0042] In this embodiment, the signal acquisition unit 102 is connected to the wheel side control center 101. The signal acquisition unit 102 is used to complete the acquisition of the status signals of the wheel hub motor and the electronic mechanical brake. The status signal includes the speed corresponding to the wheel hub motor and the electronic mechanical brake. The signal acquisition unit 102 is also used to collect the vehicle power system status information, cockpit status information, and vehicle intelligent driving system related commands and driver control commands, and send all the collected data to the wheel side control center 101.

[0043] In this embodiment, the communication unit 103 is connected to the wheel-side control center 101. The communication unit 103 is used to realize information transmission between the wheel-side control center and the whole vehicle, and is also used for information transmission between multiple wheel-side control centers of the vehicle. Specifically, the communication unit 103 includes a first communication module, a second communication module, a third communication module and a fourth communication module. The first communication module completes the information exchange between the wheel-side control center and the whole vehicle; the second communication module is redundant to the first communication module, and also exchanges information with the whole vehicle. The third communication module completes the information exchange between the wheel-side controller center where the communication unit is located and other wheel-side control centers; the fourth communication module is redundant to the third communication module, and also exchanges information with other wheel-side control centers.

[0044] In this embodiment, the wheel hub motor 401 is used to generate wheel-end electric driving force and electric braking force (i.e., regenerative braking). The wheel hub motor 401 contains a cooling pipe and a cooling medium, which is connected to the cooling pipe of the dynamic braking unit 801, so that the cooling medium can be transferred between the wheel hub motor and the dynamic braking unit.

[0045] In this embodiment, the wheel hub motor speed sensor 402 is used to collect the wheel hub motor speed. Since the rotating shaft of the wheel hub motor is rigidly connected to the wheel hub, the wheel hub motor speed is equivalent to the vehicle speed. The wheel hub motor speed sensor 402 sends the motor speed and wheel speed to the wheel side control center 101 via the signal acquisition unit 102.

[0046] In this embodiment, the wheel hub motor control unit 201 is connected to the wheel side control center 101. The wheel hub motor control unit 201 is used to receive the first PWM (pulse width modulation) duty cycle control signal for the wheel hub motor vector control sent by the wheel side control center 101, and generate a control signal for the wheel hub motor power unit 202, and is also used to receive and process the wheel hub motor status information, and send the wheel hub motor status information to the wheel side control center.

[0047] In this embodiment, the hub motor power unit 202 is used to complete the current control of the internal coil of the hub motor.

[0048] In this embodiment, the electromechanical brake 501 is used to generate wheel end friction braking force. Figure 3 Schematic diagram of an electromechanical brake provided by an embodiment of the present invention. Figure 3 As shown, the electronic mechanical brake 501 includes a brake motor module 503, a transmission module 504, a friction brake module 505, a mechanical locking module 506 and a brake motor module shaft 507; the brake motor module 503 is used to generate an electromagnetic torque and drive the transmission module 504 to move; the transmission module 504 is used to amplify the electromagnetic force generated by the brake motor module 503 and transmit it to the friction brake module 506; the friction brake module 506 is used to clamp and brake the shaft of the hub motor 401 in the hub motor assembly; the mechanical locking module 506 is used to lock the brake motor module shaft 507.

[0049] In this embodiment, the electronic mechanical brake position sensor 502 is used to collect the rotational position of the brake motor module 503, and send the rotational position signal to the wheel side control center 101 via the signal acquisition unit 102. The wheel side control center 101 completes the vector control of the brake motor module 503 in the electronic mechanical brake according to the rotational position signal.

[0050] In this embodiment, the electronic mechanical brake control unit 301 controls the power devices in the electronic mechanical brake power unit 301 based on the electronic brake control command from the wheel control component, thereby realizing the control of the electronic mechanical brake 501. Specifically, the electronic mechanical brake control unit 301 is used to receive the second PWM duty cycle control signal (i.e., the electronic brake control command) for the electronic mechanical brake motor vector control issued by the wheel side control center 101, and generate a control signal for the electronic mechanical brake power unit 302, and is also used to receive and process the brake motor status information, and send the brake motor status information to the wheel side control center.

[0051] In this embodiment, the electromechanical brake power unit 302 is used to complete the current control of the internal coil of the brake motor.

[0052] In this embodiment, the dynamic braking unit 801 is used to consume the electric energy generated by the regenerative braking and to cool the heat generated by the regenerative braking electric energy. Figure 4 Schematic diagram of the energy-consuming braking unit provided in the embodiment of the present invention. Figure 4 As shown, the energy-consuming braking unit 801 includes an energy-consuming resistor 802 and a resistor control unit 804, and the energy-consuming resistor 802 is connected to the resistor control unit 804. The resistor control unit 804 is controlled to be turned on to enable the energy-consuming braking unit to operate. When the energy-consuming braking unit is in operation, the energy-consuming resistor 802 is used to consume the electric energy generated by the feedback braking of the wheel hub motor assembly. That is, the energy-consuming switch of the energy-consuming braking unit (i.e., the resistor control unit 804) can control whether the braking resistor (i.e., the energy-consuming resistor 802) is connected to the current loop of the wheel hub motor controller.

[0053] like Figure 4 As shown, the dynamic braking unit 801 also includes a cooling water pump 803 and a cooling control module 805, and the cooling water pump 803 is connected to the cooling control module 805; when the dynamic braking unit is running, the cooling control module 805 is controlled to be turned on to use the cooling water pump 803 to cool the energy-consuming resistor 802. The dynamic braking unit 801 also includes a cooling pipe (not shown), and the cooling pipe of the dynamic braking unit 801 is directly connected to the cooling pipe of the hub motor; the cooling water pump is used to control the flow of the cooling medium.

[0054] In this embodiment, the energy component includes a capacitor unit 701 and a power management module 901. The capacitor unit 701 is connected to the power management module 901, the wheel hub motor control unit 201 and the electronic mechanical brake control unit 301 respectively. The capacitor unit 701 is used to filter the vehicle power supply and provide power for the wheel hub motor and the electronic mechanical brake. The power management unit 901 is used to receive the high-voltage power supply of the vehicle, for system voltage monitoring, for converting the high-voltage direct current of the vehicle into low-voltage direct current, for charging management of the capacitor unit, and for providing power for the wheel hub motor control unit and the electronic mechanical brake control unit. Figure 5 Schematic diagram of a power management unit provided by an embodiment of the present invention. Figure 5 As shown, the power management module 901 includes a first power management module 902 and a second power management module 903. The first power management module completes the power-on and power-off management of the system and completes the pre-charging of the capacitor unit. The second power management module completes the high-to-low voltage conversion, converts the external high voltage into low voltage, provides power for all chips in the system, and provides power for the electronic mechanical brake.

[0055] In this embodiment, the integrated system also includes a safety monitoring unit 601, which is connected to the wheel control assembly. Specifically, the safety monitoring unit 601 is respectively connected to the wheel control center 101, the wheel hub motor control unit 201 and the electronic mechanical brake control unit 301. The safety monitoring unit 601 is used for monitoring the state of the wheel control center, and is also used for monitoring the wheel hub motor control unit and the electronic mechanical brake control unit. The safety monitoring unit 601 is also used to control the wheel hub motor assembly and / or the electronic mechanical brake assembly to stop the vehicle when the wheel control center 101 in the wheel control assembly is abnormal.

[0056] Specifically, combined Figure 2 ,The specific control process of the electric drive and electric brake integrated system is as follows:

[0057] The safety monitoring unit 601 monitors the operation status of the wheel-side control center 101 through the verification information sent by the wheel-side control center 101 to determine whether the wheel-side control center 101 is normal;

[0058] If the wheel-side control center 101 is normal, the signal acquisition unit 102 collects the vehicle power system status information, cockpit status information, and vehicle intelligent driving system related commands and driver control commands, and sends the collected information and commands to the wheel-side control center 101. The wheel-side control center 101 parses the intelligent driving system related commands and the driver control commands. When the wheel-side control center 101 parses and obtains that the vehicle needs to be driven, the wheel-side control center 101 completes the calculation of the vehicle dynamics control wheel-side drive command based on the vehicle information and the internal control logic, obtains the wheel-side drive torque target value, and performs motor vector control calculation based on the wheel-side drive torque target value to obtain the corresponding 6-channel PWM drive command signal (the drive command signal at this time is the first PWM duty cycle control signal for drive control). The wheel side control center 101 sends the 6-channel PWM drive command signal to the wheel hub motor control unit 201. The wheel hub motor control unit 201 processes the 6-channel PWM drive signal to obtain the corresponding 6-channel power device drive control signal. The 6-channel power device drive control signal directly controls the power device in the wheel hub motor power unit 202 to open or close, thereby completing the current control inside the wheel hub motor 401 and generating electromagnetic drive torque.

[0059] During the drive control process, the wheel hub motor control unit 201 reads the original electrical signal of the wheel hub motor speed sensor 402 and processes it into the wheel speed. The wheel side control center 101 reads the wheel speed. When its internal control program finds that the wheel has a locking trend, it calculates the wheel side anti-skid electric braking torque command and performs motor vector control calculation to obtain the corresponding 6-channel PWM drive command signal and complete the drive anti-skid control.

[0060] When the vehicle is in a driving state and the wheel-side control center 101 determines that the wheel hub motor 401 fails and cannot accurately generate the corresponding torque according to the wheel-side drive torque target value, the wheel-side control center 101 turns off the wheel hub motor control unit 201. When the wheel-side control center 101 further receives the vehicle braking demand from the signal acquisition unit 102, it will directly control the electronic mechanical brake control unit 301 to use the electronic mechanical brake 501 for braking.

[0061] The signal acquisition unit 102 collects the vehicle power system status information, cockpit status information, and vehicle intelligent driving system related commands and driver control commands, and sends the collected information and commands to the wheel-side control center 101. The wheel-side control center 101 analyzes the intelligent driving system related commands and the driver control commands. When the wheel-side control center 101 analyzes and obtains that the vehicle needs to be braked, the wheel-side control center 101 calculates the vehicle dynamics control wheel-side braking command based on the vehicle information and the internal control logic, and obtains the wheel-side braking torque target value;

[0062] When the wheel side braking torque target value is less than or equal to the motor torque value that the current wheel hub motor can provide, the wheel side control center 101 uses the wheel side braking torque target value as the target value of the wheel hub motor feedback braking torque to perform vector control on the wheel hub motor, thereby achieving feedback braking;

[0063] When the wheel-side braking torque target value is greater than the motor torque value that the current wheel-hub motor can provide, the wheel-side control center 101 uses the motor torque value that the current wheel-hub motor can provide as the command torque of the wheel-hub motor, and performs wheel-hub motor vector control calculation to obtain the corresponding 6-way PWM drive command signal (the drive command signal at this time is the first PWM duty cycle control signal for braking control). The wheel-side control center 101 sends the 6-way PWM drive command signal to the wheel-hub motor control unit 201, and the wheel-hub motor control unit 201 processes the 6-way PWM drive signal to obtain the corresponding 6-way power device drive control signal, which directly controls the power device in the wheel-hub motor power unit 202 to open or close, thereby completing the current control of the motor inside the wheel-hub motor and generating a braking torque. The wheel-side control center 101 calculates the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide. The difference is the electronic mechanical brake torque target value, and performs electronic mechanical brake motor vector control calculation to obtain 6 electronic mechanical brake PWM drive command signals (the drive command signal at this time is the second PWM duty cycle control signal for brake control). The wheel-side control center 101 sends the 6 electronic mechanical brake PWM drive command signals to the electronic mechanical brake control unit 301. The electronic mechanical brake control unit 301 processes the 6 electronic mechanical brake PWM drive signals to obtain 6 electronic mechanical brake power device drive control signals. The 6 electronic mechanical brake power device drive control signals directly control the power devices in the electronic mechanical brake power unit 302 to open or close, thereby completing the current control of the motor inside the electronic mechanical brake 501 and generating an electronic mechanical brake torque, thereby realizing the feedback braking of the wheel hub motor and the electronic braking of the sub-mechanical brake;

[0064] Among them, after the power device in the electronic mechanical brake power unit 302 is controlled to open or close, and the electronic mechanical brake power unit 302 generates current, the brake motor module 503 in the electronic mechanical brake 501 generates an electromagnetic torque, and the electromagnetic torque drives the transmission module 504 to move. The transmission module 504 amplifies the electromagnetic force generated by the brake motor module 503 and transmits it to the friction brake module 506; the friction brake module 506 clamps or releases the rotating shaft of the wheel hub motor; the mechanical locking module 506 can complete the locking of the brake motor module rotating shaft 507;

[0065] A regenerative braking current management threshold value SOClimit (also called the state of charge threshold) is preset. When the vehicle is in a braking state and the actual state of charge SOC monitored by the wheel-side control center 101 is 实际 Meet SOC 实际 >SOClimit, the wheel control center 101 turns on the resistor control unit 804, so that the current of the hub motor feedback braking flows to the energy consumption resistor 802, and the wheel control center 101 turns on the cooling control module 805 at the same time, and the cooling water pump 803 cools the energy consumption resistor under the control of the cooling control module 805. 实际 When ≤SOClimit, the wheel-side control center 101 turns off the resistance control unit 804, and the current generated by the hub motor regenerative braking flows to the vehicle battery through the power management module 901;

[0066] When the vehicle is in a braking state and the wheel-side control center 101 determines that the electronic mechanical brake 501 fails and cannot accurately generate the corresponding braking torque according to the electronic mechanical brake torque target value, the wheel-side control center 101 turns off the electronic mechanical brake control unit 301. At the same time, the wheel-side control center 101 calculates the current hub motor target feedback braking torque and issues a control command to the hub motor control unit 201 to make the hub motor operate in the currently available maximum braking torque state until the hub motor feedback braking torque command is turned off when the vehicle is close to a standstill.

[0067] During the braking control process, the wheel control center 101 calculates the wheel anti-skid electric braking torque command based on the wheel speed and vehicle status information when its internal control program finds that the wheel has a locking trend, and performs motor vector control calculation to obtain the corresponding 6-channel PWM drive command signal and complete the drive anti-skid control;

[0068] If the wheel-side control center 101 is abnormal, the vehicle driving intention can be identified directly based on the vehicle information; if the vehicle is in a driving state, the safety monitoring unit 601 will turn off the wheel hub motor control unit 201, and when the safety monitoring unit 601 further receives the vehicle braking demand from the signal acquisition unit 102, it will directly control the electronic mechanical brake control unit 301 to make the electronic mechanical brake 501 brake, and at the same time send fault information to the vehicle through the communication module until the vehicle stops; if the vehicle is in a braking state or a parking state, the safety monitoring unit 601 will turn off the wheel hub motor control unit 201, and it will directly control the electronic mechanical brake control unit 301 to make the electronic mechanical brake 501 brake, and at the same time send fault information to the vehicle through the communication module until the vehicle stops.

[0069] When the vehicle is in a power-off state, the wheel-side control center 101 will turn off the control signal of the hub motor control unit 201 and turn on the second power management module 902, so that the capacitor unit 701 can provide driving power for the electronic mechanical brake through the second power management module 902 inside the power management module 901, thereby completing several vehicle braking functions.

[0070] The following is an embodiment of the method of the present invention. For details not disclosed in the embodiment of the method of the present invention, please refer to the system embodiment of the present invention. The method embodiment of the present invention proposes a control method for an electric drive and electric brake integrated system. The control method of the electric drive and electric brake integrated system of the present invention can be referred to as a control method.

[0071] Figure 6 This is a flow chart of a control method for an electric drive and electric brake integrated system provided by an embodiment of the present invention.

[0072] like Figure 6 As shown, the control method of the electric drive and electric brake integrated system includes:

[0073] Step S101, the wheel control component obtains vehicle information;

[0074] Step S102, the wheel control component identifies the current vehicle driving intention based on the vehicle information, and then calculates the wheel side driving / braking torque target value;

[0075] Step S103, the wheel control component controls the wheel hub motor component and / or the electromechanical brake component to drive / brake the corresponding single wheel based on the wheel side driving / braking torque target value;

[0076] Step S104, when the vehicle is in a braking state and the actual state of charge monitored by the energy component is greater than the state of charge threshold, the wheel control component controls the energy consumption braking unit to operate to consume the electrical energy generated by the feedback braking of the hub motor component.

[0077] In step S103, the wheel control component controls the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel based on the wheel-side driving / braking torque target value, including: when the current driving intention of the whole vehicle is driving control, the wheel hub motor component is controlled to perform driving control based on the wheel-side driving torque target value; when the current driving intention of the whole vehicle is braking control, if the wheel-side braking torque target value is less than the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the wheel-side braking torque target value to perform feedback braking on the single wheel; if the wheel-side braking torque target value is greater than or equal to the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the motor torque value that the current wheel hub motor can provide, and controls the electronic mechanical brake component based on the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide, so as to brake the single wheel.

[0078] In some embodiments, the control method of the electric drive and electric brake integrated system also includes: when the wheel side control center in the wheel control assembly is abnormal, the safety monitoring unit controls the wheel hub motor assembly and / or the electronic mechanical brake assembly shown to stop the vehicle.

[0079] It should be noted that the above explanation of the electric drive and electric brake integrated system embodiment is also applicable to the control method of the electric drive and electric brake integrated system of this embodiment, which will not be repeated here.

[0080] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0081] In the electric drive and electric brake integrated system and control method thereof in the embodiment of the present invention, the integrated system is installed on the wheel side of a single wheel, and the integrated system includes a wheel control component, a hub motor component, an electronic mechanical brake component, an energy consumption brake unit and an energy component; the wheel control component is used to identify the current driving intention of the whole vehicle based on the acquired whole vehicle information, and then calculate the wheel side drive / braking torque target value to control the hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel; it is also used to control the energy consumption brake unit to operate to consume the electric energy generated by the feedback braking of the hub motor component when the whole vehicle is in a braking state and the actual charge state monitored by the energy component is greater than the charge state threshold. In this case, the wheel control component, the hub motor component, the electronic mechanical brake component, the energy dissipation brake unit and the energy component are integrated to realize the integrated integration of the hub motor component and the electronic mechanical brake system. In addition, when the whole vehicle is in a braking state and the actual state of charge monitored by the energy component is greater than the state of charge threshold, the energy dissipation brake unit is controlled to operate to consume the electric energy generated by the regenerative braking of the hub motor component. In this case, when a high charge state occurs, the electric energy generated by the regenerative braking of the hub motor component is consumed by the energy dissipation brake unit to ensure normal braking of the hub motor assembly, thereby solving the problem that the hub motor cannot perform regenerative braking when in a high charge state.

[0082] The system and method of the present invention are a system and control method with wheel-end electric drive and electric braking functions. The system integrates the wheel hub motor system and the electronic mechanical brake system, with feedback braking as the main function and electronic mechanical braking as the auxiliary function, which can realize the system failure safety redundant control function, realize the miniaturization design of the electronic mechanical brake system and reduce the frequency of friction braking. When the vehicle is in a braking state, the wheel side control center coordinates and controls the wheel hub motor and the electronic mechanical brake to complete the braking function of the whole vehicle. The system is equipped with a safety monitoring unit, which shuts down the driving torque or braking torque when the wheel side control center is in a failed state.

[0083] The accompanying drawings show schematic diagrams of structures according to embodiments disclosed in the present invention. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0084] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and the present invention is not limited here.

[0085] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric drive and electric brake integrated system, characterized in that: The integrated system is installed on the wheel side of a single wheel, and the integrated system includes a wheel control component, a wheel hub motor component, an electronic mechanical brake component, an energy consumption braking unit and an energy component; the wheel control component is used to identify the current driving intention of the whole vehicle based on the acquired whole vehicle information, and then calculate the wheel side driving / braking torque target value to control the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel; it is also used to control the energy consumption braking unit to operate to consume the electric energy generated by the feedback braking of the wheel hub motor component when the whole vehicle is in a braking state and the actual charge state monitored by the energy component is greater than the charge state threshold.

2. The electric drive and electric brake integrated system according to claim 1, characterized in that: The wheel control assembly, when used to calculate the wheel side driving / braking torque target value to control the wheel hub motor assembly and / or the electromechanical brake assembly to drive / braking the single wheel, is specifically used to: If the current vehicle driving intention is drive control, then the wheel side drive torque target value is calculated to control the wheel hub motor assembly to perform drive control; If the current vehicle driving intention is braking control, a wheel-side braking torque target value is calculated; if the wheel-side braking torque target value is less than the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the wheel-side braking torque target value to perform feedback braking on the single wheel; If the wheel-side braking torque target value is greater than or equal to the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the motor torque value that the current wheel hub motor can provide, and controls the electronic mechanical brake component based on the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide, so as to brake the single wheel.

3. The electric drive and electric brake integrated system according to claim 1, characterized in that: The energy-consuming braking unit includes an energy-consuming resistor and a resistor control unit. The energy-consuming resistor is connected to the resistor control unit. The resistor control unit is controlled to be turned on to operate the energy-consuming braking unit. When the energy-consuming braking unit is in operation, the energy-consuming resistor is used to consume the electric energy generated by the feedback braking of the hub motor assembly.

4. The electric drive and electric brake integrated system according to claim 3, characterized in that: The energy-consuming braking unit further comprises a cooling water pump and a cooling control module, wherein the cooling water pump is connected to the cooling control module; when the energy-consuming braking unit is in operation, the cooling control module is controlled to be turned on so as to utilize the cooling water pump to cool the energy-consuming resistor.

5. The electric drive and electric brake integrated system according to claim 1, characterized in that: The electronic mechanical brake component includes an electronic mechanical brake, an electronic mechanical brake position sensor, an electronic mechanical brake power unit, and an electronic mechanical brake control unit. The wheel control component is connected to the electronic mechanical brake via the electronic mechanical brake control unit and the electronic mechanical brake power unit. The electronic mechanical brake control unit controls the power device in the electronic mechanical brake power unit based on the electronic brake control instruction from the wheel control component, thereby realizing control of the electronic mechanical brake.

6. The electric drive and electric brake integrated system according to claim 5, characterized in that: The electronic mechanical brake includes a brake motor module, a transmission module, a friction brake module, a mechanical locking module and a brake motor shaft; the brake motor module is used to generate an electromagnetic torque and drive the transmission module to move; the transmission module is used to amplify the electromagnetic force generated by the brake motor module and transmit it to the friction brake module; the friction brake module is used to clamp and brake the shaft of the hub motor in the hub motor assembly; the mechanical locking module is used to lock the brake motor module shaft.

7. The electric drive and electric brake integrated system according to claim 1, characterized in that: The integrated system also includes a safety monitoring unit, which is connected to the wheel control assembly. The safety monitoring unit is used to control the hub motor assembly and / or the electronic mechanical brake assembly to stop the vehicle when a wheel-side control center in the wheel control assembly is abnormal.

8. A control method for an electric drive and electric brake integrated system according to any one of claims 1 to 7, characterized in that: include: The wheel control component obtains vehicle information; The wheel control component identifies the current driving intention of the vehicle based on the vehicle information, and then calculates the wheel side driving / braking torque target value; The wheel control component controls the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel based on the wheel side driving / braking torque target value; When the vehicle is in a braking state and the actual state of charge monitored by the energy component is greater than the state of charge threshold, the wheel control component controls the energy consumption braking unit to operate to consume the electrical energy generated by the feedback braking of the hub motor assembly.

9. The control method of the electric drive and electric brake integrated system according to claim 8, characterized in that: The wheel control component controls the wheel hub motor component and / or the electronic mechanical brake component to drive / brake the single wheel based on the wheel side driving / braking torque target value, including: When the current vehicle driving intention is drive control, controlling the wheel hub motor assembly to perform drive control based on the wheel side drive torque target value; When the current driving intention of the whole vehicle is braking control, if the wheel-side braking torque target value is less than the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the wheel-side braking torque target value to perform feedback braking on the single wheel; if the wheel-side braking torque target value is greater than or equal to the motor torque value that the current wheel hub motor can provide, the wheel control component controls the wheel hub motor component based on the motor torque value that the current wheel hub motor can provide, and controls the electronic mechanical brake component based on the difference between the wheel-side braking torque target value and the motor torque value that the current wheel hub motor can provide, so as to brake the single wheel.

10. The control method of the electric drive and electric brake integrated system according to claim 9, characterized in that: Also includes: When the wheel side control center in the wheel control assembly is abnormal, the safety monitoring unit controls the wheel hub motor assembly and / or the electromechanical brake assembly to stop the vehicle.

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