Redundant control system and method for manned and unmanned selectable tracked vehicle brake control

Abstract

The invention discloses an electro-hydraulic drive-by-wire redundancy braking control system for controlling the braking stability of a manned and unmanned selectable tracked vehicle. The system comprises an oil supply system, independent drive-by-wire brake valve sets on the two sides, a drive-by-wire brake change-over switch valve, a mechanical hydraulic brake valve, a shuttle valve, a brake cylinder and a brake pipeline. The independent drive-by-wire brake valve sets on the two sides are connected with a left brake cylinder and a right brake cylinder respectively and used for achieving decoupling line control of left brake force and right brake force, and therefore the requirement for brake stability control is met. Meanwhile, a mechanical hydraulic brake loop is reserved in the system as redundancy, and when the drive-by-wire system breaks down, the mechanical hydraulic brake valve can output brake pressure through the shuttle valve to achieve reliable braking; through the design, the electro-hydraulic drive-by-wire redundant braking system realizes drive-by-wire decoupling of left and right braking force of the tracked vehicle and braking stability control, and ensures the braking reliability under a fault condition, so that the driving safety of the tracked vehicle is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle manipulation and control, and specifically relates to a redundant manipulation system and method for braking control of manned or unmanned tracked vehicles. The device can realize decoupling and independent control of the braking force and pedals on the left and right sides of the tracked vehicle, while retaining a mechanical hydraulic circuit to ensure reliable braking control in the event of a failure of the electronic control system, thereby improving the safety of the tracked vehicle's brake-by-wire system. Background Art

[0002] The existing tracked vehicle braking control system mostly adopts the control form of coupling on both sides, and the driving brake pressure on both sides is controlled by the same brake valve. This method cannot achieve the decoupling and independent control of the braking force on the left and right sides. Braking stability refers to the ability of a vehicle to maintain a straight line or follow a predetermined curve during braking; braking stability control refers to the technology of real-time monitoring and adjustment of the vehicle braking system through sensors, control systems, actuators and other equipment to avoid uncontrolled situations such as deviation and side slip to ensure vehicle stability and safety. Therefore, braking stability control requires independent and precise control of the braking force on the left and right sides of the tracked vehicle.

[0003] However, the decoupled braking operation method on both sides requires the use of independent brake valves to control the braking force on the left and right sides, but a failure in the hydraulic circuit or electronic control system on one side will cause the vehicle to swerve sharply during braking, seriously affecting the vehicle's driving safety. Summary of the invention

[0004] In view of this, the present invention provides a redundant control system for brake control of manned or unmanned optional tracked vehicles, which is implemented by electro-hydraulic wire control and includes: an oil supply system, independent wire-controlled brake valve groups on both sides, a wire-controlled brake switching valve, a mechanical hydraulic brake valve, an electronically controlled mode switching solenoid valve, a brake cylinder and a brake pipeline;

[0005] The independent wire-controlled brake valve groups on both sides are respectively connected to the left brake cylinder and the right brake cylinder to realize the decoupling wire control of the left and right braking forces;

[0006] The brake-by-wire switching valve is used to switch between a pure brake-by-wire mode and a mechanical hydraulic braking mode;

[0007] The mechanical hydraulic brake valve is connected to the brake pedal, does not work in the pure wire control mode, and outputs brake pressure according to the pedal command in the mechanical hydraulic brake mode;

[0008] The electronic control mode switching solenoid valve is used to switch between the unmanned control mode and the manned control mode through the shuttle valve.

[0009] In particular, in unmanned mode or when stability control is required, the shuttle valve switches the brake control path to the brake-by-wire valve group, at which time the electronic control system can accurately control the pressure of the left brake cylinder and the right brake cylinder;

[0010] In manned mode, the shuttle valve switches the brake control path to the mechanical hydraulic brake valve, and the driver directly controls the pressure of the left brake cylinder and the right brake cylinder through the pedal;

[0011] If the wire control system fails, the shuttle valve automatically switches to mechanical hydraulic braking mode, at which time the driver can achieve reliable braking through the pedal.

[0012] Particularly, the filling valve in the brake-by-wire valve group remains in a connected state when the power is off, and the drain valve remains in a disconnected state when the power is off.

[0013] In particular, the oil supply system includes a brake pump, a system constant pressure valve, a one-way valve, an accumulator and an oil supply pressure sensor.

[0014] In particular, the oil supply system further comprises an oil supply pressure controller for controlling the start and stop of the brake pump according to the oil supply pressure data detected by the oil supply pressure sensor (4).

[0015] In particular, in a mechanical hydraulic braking mode caused by a failure of the wire control system, the shuttle valve (8) directly transmits the oil pressure generated by the brake pedal to the left brake cylinder and the right brake cylinder.

[0016] In particular, in unmanned mode or when stability control is required, the wire control system also coordinates the pressure of the left brake cylinder and the right brake cylinder according to the driving state information of the tracked vehicle.

[0017] Particularly, the shuttle valve is connected to the brake pedal and the brake-by-wire valve group via an oil circuit.

[0018] In particular, the system further comprises a left brake pressure sensor and a right brake pressure sensor, which respectively detect the pressure of the left brake cylinder and the right brake cylinder, so that the wire control system can perform feedback control on the brake pressure.

[0019] The present invention also includes a control method for the redundant control system of the manned or unmanned tracked vehicle brake control, the control method is executed by the system controller of the electro-hydraulic wire control, and includes the following steps:

[0020] According to the oil supply pressure data detected by the oil supply pressure sensor, it is judged whether the oil supply pressure meets the system working requirements, and if not, the brake pump of the oil supply system is driven to start working;

[0021] In the unmanned automatic control mode, the charging valves and drain valves of the left and right brake-by-wire valve groups are coordinated and controlled according to the driving status information such as the driving speed and adhesion status of the tracked vehicle, so as to realize independent and precise pressure control of the left and right brake cylinders;

[0022] In manned control mode, according to the brake pressure data fed back by the brake pressure sensor, the pressure of the left and right brake cylinders is adjusted by adjusting the duty ratio of the filling valve and the drain valve of the left and right wire-controlled brake valve groups to ensure good braking stability.

[0023] In case of a fault, the fault information is uploaded to remind the driver to operate in manned mode. The driver can use the mechanical hydraulic braking mode for brake control. At this time, the shuttle valve is connected to the mechanical hydraulic brake valve, and the driver directly controls the left brake and the right brake cylinder through the pedal for reliable braking.

[0024] Beneficial effects:

[0025] 1. Realized the wire-controlled decoupling of the left and right braking forces of tracked vehicles

[0026] By controlling the pressure of the left and right brake cylinders separately through independent wire-controlled brake valve groups on both sides, the left and right braking forces are decoupled, meeting the needs of braking stability control and avoiding the risk of loss of control that may be caused by traditional coupled braking methods.

[0027] 2. Improved braking stability

[0028] In both manned and unmanned selectable modes, the controller can coordinate control based on the pressure of the left and right brake cylinders to improve the straight-line stability of the vehicle during braking.

[0029] 3. Provides redundant backup for the braking system

[0030] The mechanical hydraulic braking circuit is retained. When the wire control system fails, the driver can use the mechanical hydraulic circuit for braking, ensuring the braking reliability of the system and avoiding the risk of loss of control in the event of a failure.

[0031] 4. Realized unmanned automatic control mode

[0032] In unmanned mode or when stability control is required, the controller can automatically and accurately control the pressure of the left and right brake cylinders according to the vehicle's driving status information, realizing unmanned automatic braking control of tracked vehicles.

[0033] 5. Improved system security

[0034] Through multiple safety protection measures such as power-off design, oil supply pressure control, fault monitoring and automatic mode switching, the safety and reliability of the system are comprehensively improved.

[0035] 6. Wide range of applications

[0036] This solution is suitable for both manned and unmanned working modes, and can be widely used in various types of tracked vehicles such as military and engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the principle of the electro-hydraulic control system in the present invention. DETAILED DESCRIPTION

[0038] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0039] The present invention provides a redundant control system for braking control of manned or unmanned tracked vehicles, such as Figure 1 As shown, the system is realized by electro-hydraulic wire control, including: the oil supply system brake oil tank 1 provides oil and return oil volume for the system, independent wire-controlled brake valve groups on both sides, wire-controlled brake switching valve, mechanical hydraulic brake valve 7, shuttle valve 8, brake cylinder and brake pipeline.

[0040] The independent wire-controlled brake valve groups on both sides are connected to the left brake cylinder 15 and the right brake cylinder 16 respectively, so as to realize the decoupled wire control of the left and right braking forces.

[0041] The brake-by-wire switching valve is used to switch between a pure brake-by-wire mode and a mechanical hydraulic braking mode.

[0042] The mechanical hydraulic brake valve 7 is connected to the brake pedal and does not work in the pure wire control mode. In the mechanical hydraulic brake mode, the brake pressure is output according to the pedal command.

[0043] The electronic control mode switching solenoid valve 6 is used to switch between the unmanned control mode and the manned control mode through the shuttle valve 8 .

[0044] In unmanned mode or when stability control is required, the shuttle valve 8

[0045] The brake control path is switched to the wire-controlled brake valve group, at which time the electronic control system can accurately control the pressure of the left brake cylinder 15 and the right brake cylinder 16.

[0046] In manned mode, the shuttle valve 8 switches the brake control path to the mechanical hydraulic brake valve 7 , and the driver directly controls the pressure of the left brake cylinder 15 and the right brake cylinder 16 through the pedal.

[0047] If the wire control system fails, the shuttle valve 8 automatically switches to the mechanical hydraulic braking mode, at which time the driver can achieve reliable braking through the pedal.

[0048] The charging valve in the wire control brake valve group remains in a connected state when the power is off, and the drain valve remains in a disconnected state when the power is off. The drain valve includes a left brake drain valve 9 and a right brake drain valve 13, and the charging valve includes a left brake charging valve 10 and a right brake charging valve 12.

[0049] The oil supply system comprises a brake pump 2, a system constant pressure valve 17, a one-way valve 3, an accumulator 5 and an oil supply pressure sensor 4. The accumulator 5 is used to maintain the oil supply pressure required by the system for a certain period of time after the oil pump stops.

[0050] The brake pump 2 can be driven by a motor or an engine, or a PTO of a transmission system to provide the system with the required oil; the one-way valve 3 is used to maintain the system pressure after the brake pump stops.

[0051] The oil supply system also includes an oil supply pressure controller, which controls the start and stop of the brake pump 2 according to the oil supply pressure data detected by the oil supply pressure sensor 4. The oil supply pressure sensor 4 is used to detect the oil supply pressure of the brake system, and the oil supply pump controller determines the start / stop timing.

[0052] In the mechanical hydraulic braking mode caused by a failure of the wire control system, the shuttle valve 8 directly transmits the momentum of the brake pedal to the left brake cylinder 15 and the right brake cylinder 16 .

[0053] In the unmanned mode, the wire control system also coordinates and controls the pressure of the left brake cylinder 15 and the right brake cylinder 16 according to the driving state information of the tracked vehicle.

[0054] The shuttle valve 8 is connected to the brake pedal and the brake-by-wire valve group through an oil circuit.

[0055] The system also includes a left brake pressure sensor 11 and a right brake pressure sensor 14, which respectively detect the pressure of the left brake cylinder 15 and the right brake cylinder 16, so that the wire control system can perform feedback control on the brake pressure.

[0056] The present invention also discloses a control method for the redundant control system of the manned or unmanned optional tracked vehicle brake control, the control method is executed by the system controller of the electro-hydraulic wire control, and comprises the following steps:

[0057] According to the oil supply pressure data detected by the oil supply pressure sensor 4, it is judged whether the oil supply pressure meets the system working requirements, and if not, the brake pump 2 of the oil supply system is driven to start working;

[0058] In the unmanned automatic control mode, the charging valves and drain valves of the left and right brake-by-wire valve groups are coordinated and controlled according to the driving status information such as the driving speed and adhesion status of the tracked vehicle, so as to realize independent and precise pressure control of the left and right brake cylinders;

[0059] In manned control mode, according to the brake pressure data fed back by the brake pressure sensor, the pressure of the left and right brake cylinders is adjusted by adjusting the duty ratio of the filling valve and the drain valve of the left and right wire-controlled brake valve groups to ensure good braking stability.

[0060] In case of a fault, the fault information is uploaded to remind the driver to operate in manned mode. The driver can use the mechanical hydraulic braking mode for brake control. At this time, the shuttle valve is connected to the mechanical hydraulic brake valve, and the driver directly controls the left brake and the right brake cylinder through the pedal for reliable braking.

[0061] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0062] It is obvious to those skilled in the art that the embodiments of the present invention are not limited to the details of the above exemplary embodiments, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the embodiments of the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules or devices stated in the system, device or terminal claims can also be implemented by the same unit, module or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0063] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A redundant control system for brake control of manned or unmanned tracked vehicles, the system being implemented by electro-hydraulic wire control, comprising: The oil supply system, independent brake-by-wire valve groups on both sides, brake-by-wire switching valves, mechanical hydraulic brake valves (7), electronically controlled mode switching solenoid valves (6), brake cylinders and brake pipelines are characterized by: The independent wire-controlled brake valve groups on both sides are respectively connected to the left brake cylinder (15) and the right brake cylinder (16) to realize decoupling wire control of the left and right braking forces; The brake-by-wire switching valve is used to switch between a pure brake-by-wire mode and a mechanical hydraulic braking mode; The mechanical hydraulic brake valve (7) is connected to the brake pedal, does not work in the pure wire control mode, and outputs brake pressure according to the pedal instruction in the mechanical hydraulic brake mode; The electronically controlled mode switching solenoid valve (6) is used to switch between an unmanned control mode and a manned control mode via the shuttle valve (8).

2. The redundant control system for brake control of manned or unmanned tracked vehicles as claimed in claim 1, characterized in that: In the unmanned mode or when stability control is required, the electronically controlled mode switching solenoid valve (6) is energized and connected, and the brake control path is switched to the wire-controlled brake valve group through the shuttle valve (8). At this time, the electronic control system can achieve pressure regulation of the left brake cylinder (15) and the right brake cylinder (16) by controlling the electronically controlled mode switching solenoid valve (6), the left brake drain valve (9), the right brake drain valve (13), the left brake filling valve (10) and the right brake filling valve (12); In manned mode, the driver directly controls the mechanical hydraulic brake valve (7) through the pedal to generate brake pressure, and controls the pressure of the left brake cylinder (15) and the right brake cylinder (16) through the shuttle valve (8); If the wire control system fails in the human mode, the driver can still generate brake pressure through the mechanical hydraulic brake valve (7) and control the pressure of the left brake cylinder (15) and the right brake cylinder (16) through the shuttle valve (8). At this time, the driver can achieve reliable braking through the pedal.

3. The redundant control system for brake control of manned or unmanned tracked vehicles as claimed in claim 2, characterized in that: The filling valve in the brake-by-wire valve group remains in a connected state when the power is off, and the drain valve remains in a disconnected state when the power is off.

4. The redundant control system for brake control of manned or unmanned tracked vehicles as claimed in claim 3, characterized in that: The oil supply system comprises a brake pump (2), a system constant pressure valve (17), a one-way valve (3), an accumulator (5) and an oil supply pressure sensor (4).

5. The redundant control system for brake control of manned or unmanned tracked vehicles as claimed in claim 4, characterized in that: The oil supply system also includes an oil supply pressure controller for controlling the start and stop of the brake pump (2) according to the oil supply pressure data detected by the oil supply pressure sensor (4).

6. The redundant control system for brake control of manned or unmanned tracked vehicles as claimed in claim 5, characterized in that: In a mechanical hydraulic braking mode caused by a fault in the wire control system, the shuttle valve (8) directly transmits the oil pressure generated by the brake pedal to the left brake cylinder (15) and the right brake cylinder (16).

7. The redundant control system for brake control of manned or unmanned tracked vehicles as claimed in claim 6, characterized in that: In unmanned mode or when stability control is required, the wire control system also coordinates and controls the pressure of the left brake cylinder (15) and the right brake cylinder (16) according to the driving state information of the tracked vehicle.

8. The redundant control system for brake control of manned or unmanned tracked vehicles according to claim 7, characterized in that: The shuttle valve (8) is connected to the brake pedal and the brake-by-wire valve group through an oil circuit.

9. The redundant control system for braking control of manned or unmanned tracked vehicles according to claim 8, characterized in that: It also includes a left brake pressure sensor (11) and a right brake pressure sensor (14), which respectively detect the pressure of the left brake cylinder (15) and the right brake cylinder (16), so that the wire control system can perform feedback control on the brake pressure.

10. A control method for a redundant operating system for braking control of a manned or unmanned tracked vehicle as claimed in any one of claims 1 to 9, characterized in that: The control method is executed by the system controller of the electro-hydraulic wire control, and comprises the following steps: According to the oil supply pressure data detected by the oil supply pressure sensor (4), it is judged whether the oil supply pressure meets the system working requirements, and if not, the brake pump (2) of the oil supply system is driven to start working; In the unmanned automatic control mode, according to the driving state information such as the driving speed and adhesion state of the tracked vehicle, the filling valves and the drain valves of the left and right wire-controlled brake valve groups are coordinated and controlled to realize independent and accurate pressure control of the left brake cylinder (15) and the right brake cylinder (16); In the manned control mode, according to the brake pressure data fed back by the brake pressure sensor, the pressure of the left brake cylinder (15) and the right brake cylinder (16) is adjusted by adjusting the duty ratio of the filling valve and the drain valve of the left and right wire-controlled brake valve groups to ensure good braking stability; In the event of a fault, fault information is uploaded to remind the driver to operate in manned mode. The driver can use the mechanical hydraulic brake mode to control the brake. At this time, the shuttle valve (8) is connected to the mechanical hydraulic brake valve (7), and the driver directly controls the reliable braking of the left brake cylinder (15) and the right brake cylinder (16) through the pedal.

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