Clamping force estimation method of electronic mechanical braking system and related equipment

Abstract

The invention provides a clamping force estimation method of an electronic mechanical braking system and related equipment, and relates to the technical field of braking system control, and the clamping force estimation method comprises the following steps: obtaining position information of a rotor of a driving motor and motor rotating speed information in real time; the corresponding relation between the historical clamping force of the electronic mechanical braking system and the position information of the rotor is obtained, and a first estimated value of the current clamping force of the electronic mechanical braking system is determined by combining the current position information of the rotor and the corresponding relation; determining the current output torque of the driving motor according to the motor rotating speed information; the conversion ratio from the output torque of the driving motor to the clamping force is obtained, and a second estimated value of the clamping force is obtained by combining the conversion ratio and the current output torque; and determining a target estimated value of the clamping force by combining a discrete Kalman algorithm, the first estimated value of the clamping force and the second estimated value of the clamping force. The problems that in the prior art, a clamping force sensor is used for obtaining clamping force, the manufacturing cost is high, and installation is inconvenient are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of brake system control, and in particular to a clamping force estimation method of an electronic mechanical brake system and related equipment. Background Art

[0002] With the continuous development of the automotive industry, braking technology is facing new demands and challenges. Traditional braking systems are gradually unable to meet the pursuit of modern automobiles for efficiency, intelligence, environmental protection and safety. Electromechanical Brake (EMB) has emerged as an emerging technology. It has many advantages, such as fast response speed, high control accuracy, easy integration into advanced driver assistance systems (ADAS) and autonomous driving technology, and can achieve energy recovery, which helps to improve the range of electric vehicles. It has a relatively simple structure, reduces hydraulic pipelines and other components, and is clean and environmentally friendly.

[0003] The key significance and challenges of clamping force control in EMB system: In the process of automobile braking technology evolving towards electrification and intelligence, EMB system has become a key development direction. Clamping force control is the core prerequisite for EMB system to realize many important functions (such as basic braking, active braking, drive anti-skid and anti-lock braking, etc.). Accurate identification of clamping force is crucial to ensure the effective realization of these functions. However, at present, there are many difficulties in achieving accurate clamping force control.

[0004] For existing technologies, on the one hand, clamping force sensors are expensive, which forces car companies to weigh cost factors when considering applying them to mass-produced models, resulting in restrictions on their widespread application. On the other hand, it is difficult to choose the location of the clamping force sensor. When it is close to the friction lining, the high operating temperature will significantly shorten the sensor life and affect the measurement accuracy. If it is placed deep in the EMB system, it will cause hysteresis problems, thus affecting the measurement accuracy. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a clamping force estimation method and related equipment for an electronic mechanical brake system, which solves the problem in the prior art that obtaining the clamping force using a clamping force sensor is expensive and inconvenient to install.

[0006] At least one embodiment of the present invention provides a method for estimating a clamping force of an electronic mechanical brake system, comprising:

[0007] Acquire the position information of the rotor of the drive motor and the motor speed information in real time;

[0008] Acquire a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and determine a first estimate of a current clamping force of the electronic mechanical brake system in combination with the current position information of the rotor and the correspondence;

[0009] Determining the current output torque of the drive motor according to the motor speed information;

[0010] Acquire a conversion ratio of the output torque of the drive motor to the clamping force, and obtain a second estimate of the clamping force by combining the conversion ratio and the current output torque;

[0011] The discrete Kalman algorithm, the first estimate of the clamping force, and the second estimate of the clamping force are combined to determine a target estimate of the clamping force.

[0012] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0013] Through the above method, the present invention only needs to obtain the position information of the rotor of the driving motor and the motor speed information in real time, and can obtain a first estimate of the clamping force according to the corresponding relationship. Since the estimate will have a certain error with durability, temperature, and friction plate wear, the present invention also obtains a second estimate of the clamping force based on the conversion ratio of the output torque of the driving motor to the clamping force, combined with the conversion ratio and the current output torque. Since the second estimate also has an estimation deviation of the empirical formula, in order to make the final estimated clamping force reliable and effective, the present invention also uses a discrete Kalman algorithm to fuse the first estimate of the clamping force and the second estimate of the clamping force, and then determines the target estimate of the clamping force. The target estimate has high accuracy, and the estimation process does not require the use of a clamping force sensor, reducing the corresponding high cost and inconvenient installation technical problems.

[0014] In a method for estimating a clamping force of an electronic mechanical brake system provided by one embodiment of the present invention, obtaining a conversion ratio of the output torque of the drive motor to the clamping force, and combining the conversion ratio and the current output torque to obtain a second estimate of the clamping force includes:

[0015] The target transmission ratio of the transmission mechanism, the transmission efficiency of the transmission mechanism and the stiffness efficiency of the friction plate are obtained, and the second estimated value of the clamping force is calculated by combining the current output torque and the transmission ratio, transmission efficiency and stiffness efficiency.

[0016] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0017] By calculating the second estimate of the clamping force in combination with the current output torque and the transmission ratio, the transmission efficiency and the stiffness efficiency, it is possible to ensure that the second estimate of the clamping force is as accurate as possible.

[0018] In a method for estimating the clamping force of an electronic mechanical brake system provided in one embodiment of the present invention, the steps for obtaining the target transmission ratio of the transmission mechanism are as follows:

[0019] The target transmission ratio of the transmission mechanism is calculated according to the gear transmission ratio of the transmission mechanism and the lead of the ball screw of the transmission mechanism.

[0020] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0021] By acquiring the gear transmission ratio of the transmission mechanism and the lead of the ball screw of the transmission mechanism, the target transmission ratio of the transmission mechanism can be quickly and conveniently calculated.

[0022] In a method for estimating the clamping force of an electronic mechanical brake system provided in one embodiment of the present invention, the steps of obtaining the transmission efficiency of the transmission mechanism are as follows:

[0023] The temperature information and the wear degree information of the transmission mechanism are acquired, and the current transmission efficiency of the transmission mechanism is determined according to the temperature information and the wear degree information of the transmission mechanism.

[0024] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0025] By combining the temperature information and the wear degree information of the transmission mechanism, the accuracy of the transmission efficiency obtained can be improved.

[0026] In a method for estimating the clamping force of an electronic mechanical brake system provided in one embodiment of the present invention, the steps for obtaining the stiffness efficiency of the friction plate are as follows:

[0027] The temperature information and the wear degree information of the friction plate are obtained, and the current stiffness efficiency of the friction plate is determined according to the temperature information and the wear degree information of the friction plate.

[0028] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0029] By combining the temperature information and the wear degree information of the friction plate, the accuracy of the stiffness efficiency of the friction plate can be improved.

[0030] In a clamping force estimation method for an electronic mechanical brake system provided in one embodiment of the present invention, real-time acquisition of rotor position information and motor speed information of a driving motor includes:

[0031] The position information of the rotor of the driving motor is acquired in real time, and the current motor speed information of the driving motor is calculated based on the real-time position information of the rotor.

[0032] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0033] By acquiring the position information of the rotor of the driving motor and calculating the current motor speed information of the driving motor, the use of sensors for acquiring the motor speed information can be reduced, thereby reducing the cost investment.

[0034] In a clamping force estimation method for an electronic mechanical brake system provided in one embodiment of the present invention, determining the current output torque of the drive motor according to the motor speed information includes:

[0035] The current output torque of the drive motor is calculated and determined by combining the current motor speed information, the current power supply current of the drive motor, the electromagnetic parameters and the rotational inertia information of the drive motor.

[0036] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0037] By using the motor speed information, the current power supply current of the drive motor, the electromagnetic parameters and the rotational inertia information of the drive motor, the current output torque of the drive motor can be accurately and quickly obtained.

[0038] At least one embodiment of the present invention provides a clamping force estimation system for an electromechanical brake system, comprising:

[0039] The rotor monitoring module obtains the position information of the rotor of the drive motor and the motor speed information in real time;

[0040] A table lookup module, which obtains a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and determines a first estimate of the clamping force of the current electronic mechanical brake system in combination with the current position information of the rotor and the correspondence;

[0041] A torque calculation module, which determines the current output torque of the drive motor according to the motor speed information;

[0042] An estimation processing module, which obtains a conversion ratio from the output torque of the drive motor to the clamping force, and obtains a second estimation of the clamping force by combining the conversion ratio and the current output torque;

[0043] The clamping force estimation module determines a target estimate of the clamping force by combining a discrete Kalman algorithm, a first estimate of the clamping force, and a second estimate of the clamping force.

[0044] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the clamping force estimation method for an electronic mechanical brake system as described above.

[0045] The present invention also provides an electronic device, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor implements the clamping force estimation method of an electronic mechanical brake system as described above when executing the program. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic flow chart of a method for estimating the clamping force of an electronic mechanical brake system;

[0047] Figure 2 A logic diagram of a clamping force estimation method for an electromechanical brake system;

[0048] Figure 3 A schematic diagram of a clamping force estimation system for an electronic mechanical brake system;

[0049] Figure 4 This is a schematic structural diagram of an electronic device provided by the present invention.

[0050] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0051] 10. Electronic device, 11. Processor, 12. Read-only memory (ROM), 13. Random access memory (RAM), 14. Bus, 15. Input / output (I / O) interface, 16. Input unit, 17. Output unit, 18. Storage unit, 19. Communication unit. DETAILED DESCRIPTION

[0052] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0053] The present invention provides a method for estimating the clamping force of an electronic mechanical brake system, which can be referred to herein Figure 1 As shown, including:

[0054] Acquire the position information of the rotor of the drive motor and the motor speed information in real time;

[0055] Acquire a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and determine a first estimate of a current clamping force of the electronic mechanical brake system in combination with the current position information of the rotor and the correspondence;

[0056] Determining the current output torque of the drive motor according to the motor speed information;

[0057] Acquire a conversion ratio of the output torque of the drive motor to the clamping force, and obtain a second estimate of the clamping force by combining the conversion ratio and the current output torque;

[0058] The discrete Kalman algorithm, the first estimate of the clamping force, and the second estimate of the clamping force are combined to determine a target estimate of the clamping force.

[0059] Through the above method, the present invention only needs to obtain the position information of the rotor of the driving motor and the motor speed information in real time, and can obtain a first estimate of the clamping force according to the corresponding relationship. Since the estimate will have a certain error with durability, temperature, and friction plate wear, the present invention also obtains a second estimate of the clamping force based on the conversion ratio of the output torque of the driving motor to the clamping force, combined with the conversion ratio and the current output torque. Since the second estimate also has an estimation deviation of the empirical formula, in order to make the final estimated clamping force reliable and effective, the present invention also uses a discrete Kalman algorithm to fuse the first estimate of the clamping force and the second estimate of the clamping force, and then determines the target estimate of the clamping force. The target estimate has high accuracy, and the estimation process does not require the use of a clamping force sensor, reducing the corresponding high cost and inconvenient installation technical problems.

[0060] In the specific implementation process, please refer to Figure 2 As shown:

[0061] The real-time acquisition of the position information of the rotor of the driving motor and the motor speed information includes:

[0062] The real-time position information of the rotor of the drive motor in the electronic mechanical brake system, as well as the real-time three-phase power supply current and temperature are obtained in real time, and the current motor speed information of the drive motor is calculated based on the real-time position information of the rotor to reduce the use of sensors for obtaining the motor speed information and reduce cost investment.

[0063] After obtaining the rotor position information and motor speed information of the drive motor, perform the following two steps respectively:

[0064] First, obtaining a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and combining the current position information of the rotor with the correspondence to determine a first estimated value of the clamping force of the current electronic mechanical brake system by looking up a table;

[0065] Second, according to the motor speed information, determining the current output torque of the drive motor, specifically including:

[0066] The current output torque of the drive motor is calculated and determined by combining the current motor speed information, the current power supply current of the drive motor, the electromagnetic parameters and the rotational inertia information of the drive motor.

[0067] Then, based on the motor speed information, it is determined whether the direction of the motor speed is forward, that is, whether the output torque of the drive motor is to drive the friction plate to clamp the friction disk. If so, the subsequent steps are performed. If the direction of the motor speed is reverse, that is, the output torque of the drive motor is to drive the friction plate to loosen the friction disk, the clamping force is not estimated.

[0068] If the direction of the motor speed is forward, the conversion ratio of the output torque of the drive motor to the clamping force is obtained, and a second estimate of the clamping force is obtained by combining the conversion ratio and the current output torque, specifically including:

[0069] The target transmission ratio of the transmission mechanism, the transmission efficiency of the transmission mechanism and the stiffness efficiency of the friction plate are obtained in sequence, and the second estimated value of the clamping force is calculated in combination with the current output torque and the transmission ratio, transmission efficiency and stiffness efficiency.

[0070] The steps for obtaining the target transmission ratio of the transmission mechanism are as follows:

[0071] A target transmission ratio of the transmission mechanism is calculated according to the gear transmission ratio of the transmission mechanism and the lead of the ball screw of the transmission mechanism. After the target transmission ratio is obtained, a current output torque of the drive motor is multiplied by the target transmission ratio to obtain a first undetermined value of a second estimated value of the electronic mechanical brake system.

[0072] The steps for obtaining the transmission efficiency of the transmission mechanism are as follows:

[0073] Acquiring temperature information and wear degree information of the transmission mechanism, determining the current transmission efficiency of the transmission mechanism according to the temperature information and wear degree information of the transmission mechanism, and after obtaining the transmission efficiency of the transmission mechanism, multiplying the first undetermined value of the second estimated value by the transmission efficiency of the transmission mechanism to obtain a second undetermined value of the second estimated value;

[0074] The steps for obtaining the stiffness efficiency of the friction plate are as follows:

[0075] Obtain temperature information and wear information of the friction plate, determine the current stiffness efficiency of the friction plate based on the temperature information and wear information of the friction plate, and after obtaining the stiffness efficiency of the friction plate, multiply the second unknown value of the second estimate by the stiffness efficiency to obtain a second estimate of the clamping force.

[0076] Finally, the discrete Kalman algorithm, the first estimate of the clamping force and the second estimate of the clamping force are combined to determine a target estimate of the clamping force.

[0077] Through the above method steps, since the first estimated value of the clamping force is obtained by looking up the historical data table, it will deviate with the durability, temperature, and friction plate wear, and there is a certain variance A compared with the true value item; the second estimated value of the clamping force is derived according to the empirical formula, and there will be an estimated deviation of the empirical formula in the calculation, and there is a certain variance B compared with the true value; the discrete Kalman algorithm will fuse the two sets of data, and the variance of the fused data is smaller than the variance A or variance B compared with the true value, and it is more accurate, and the target estimate of the clamping force obtained is more reliable.

[0078] The present invention provides a clamping force estimation system for an electronic mechanical brake system, which is referred to herein Figure 3 As shown, including:

[0079] The rotor monitoring module obtains the position information of the rotor of the drive motor and the motor speed information in real time;

[0080] A table lookup module, which obtains a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and determines a first estimate of the clamping force of the current electronic mechanical brake system in combination with the current position information of the rotor and the correspondence;

[0081] A torque calculation module, which determines the current output torque of the drive motor according to the motor speed information;

[0082] An estimation processing module, which obtains a conversion ratio from the output torque of the drive motor to the clamping force, and obtains a second estimation of the clamping force by combining the conversion ratio and the current output torque;

[0083] The clamping force estimation module determines a target estimate of the clamping force by combining a discrete Kalman algorithm, a first estimate of the clamping force, and a second estimate of the clamping force.

[0084] Furthermore, the valuation processing module includes:

[0085] The target transmission ratio of the transmission mechanism, the transmission efficiency of the transmission mechanism and the stiffness efficiency of the friction plate are obtained, and the second estimated value of the clamping force is calculated by combining the current output torque and the transmission ratio, transmission efficiency and stiffness efficiency.

[0086] Further, the estimation processing module includes a transmission ratio calculation unit, and the transmission ratio calculation unit includes:

[0087] The target transmission ratio of the transmission mechanism is calculated according to the gear transmission ratio of the transmission mechanism and the lead of the ball screw of the transmission mechanism.

[0088] Furthermore, the estimation processing module includes a transmission efficiency calculation unit, and the transmission efficiency calculation unit includes:

[0089] The temperature information and the wear degree information of the transmission mechanism are acquired, and the current transmission efficiency of the transmission mechanism is determined according to the temperature information and the wear degree information of the transmission mechanism.

[0090] Further, the estimation processing module includes a stiffness efficiency calculation unit, and the stiffness efficiency calculation unit includes:

[0091] The temperature information and the wear degree information of the friction plate are obtained, and the current stiffness efficiency of the friction plate is determined according to the temperature information and the wear degree information of the friction plate.

[0092] Furthermore, the rotor monitoring module includes:

[0093] The position information of the rotor of the driving motor is acquired in real time, and the current motor speed information of the driving motor is calculated based on the real-time position information of the rotor.

[0094] Furthermore, the torque calculation module includes:

[0095] The current output torque of the drive motor is calculated and determined by combining the current motor speed information, the current power supply current of the drive motor, the electromagnetic parameters and the rotational inertia information of the drive motor.

[0096] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the clamping force estimation method for an electronic mechanical brake system as described above.

[0097] The present invention also provides an electronic device, please refer to Figure 4 As shown, it includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, a clamping force estimation method for an electronic mechanical brake system as described above is implemented.

[0098] Specifically, Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. An electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. An electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0099] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a clamping force estimation method for an electronic mechanical brake system.

[0102] In some embodiments, a method for estimating the clamping force of an electronic mechanical brake system may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for estimating the clamping force of an electronic mechanical brake system described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a method for estimating the clamping force of an electronic mechanical brake system in any other appropriate manner (e.g., by means of firmware).

[0103] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0105] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or an LCD (liquid crystal display); and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user may provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0107] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0108] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0109] Furthermore, those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0110] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for estimating the clamping force of an electronic mechanical brake system, characterized in that: include: Acquire the position information of the rotor of the drive motor and the motor speed information in real time; Acquire a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and determine a first estimate of a current clamping force of the electronic mechanical brake system in combination with the current position information of the rotor and the correspondence; Determining the current output torque of the drive motor according to the motor speed information; Acquire a conversion ratio of the output torque of the drive motor to the clamping force, and obtain a second estimate of the clamping force by combining the conversion ratio and the current output torque; The discrete Kalman algorithm, the first estimate of the clamping force, and the second estimate of the clamping force are combined to determine a target estimate of the clamping force.

2. The method for estimating the clamping force of an electronic mechanical brake system according to claim 1, characterized in that: The step of obtaining a conversion ratio of the output torque of the drive motor to the clamping force and obtaining a second estimate of the clamping force by combining the conversion ratio and the current output torque includes: The target transmission ratio of the transmission mechanism, the transmission efficiency of the transmission mechanism and the stiffness efficiency of the friction plate are obtained, and the second estimated value of the clamping force is calculated by combining the current output torque and the transmission ratio, transmission efficiency and stiffness efficiency.

3. The method for estimating the clamping force of an electronic mechanical brake system according to claim 2, characterized in that: The steps for obtaining the target transmission ratio of the transmission mechanism are as follows: According to the gear transmission ratio of the transmission mechanism and the lead of the ball screw of the transmission mechanism, the target transmission ratio of the transmission mechanism is calculated.

4. The method for estimating the clamping force of an electronic mechanical brake system according to claim 2, characterized in that: The steps for obtaining the transmission efficiency of the transmission mechanism are as follows: The temperature information and the wear degree information of the transmission mechanism are acquired, and the current transmission efficiency of the transmission mechanism is determined according to the temperature information and the wear degree information of the transmission mechanism.

5. The method for estimating the clamping force of an electronic mechanical brake system according to claim 2, characterized in that: The steps for obtaining the stiffness efficiency of the friction plate are as follows: The temperature information and the wear degree information of the friction plate are obtained, and the stiffness efficiency of the friction plate is determined according to the temperature information and the wear degree information of the friction plate.

6. The method for estimating the clamping force of an electronic mechanical brake system according to claim 1, characterized in that: Real-time acquisition of the rotor position information and motor speed information of the drive motor, including: The position information of the rotor of the driving motor is acquired in real time, and the current motor speed information of the driving motor is calculated based on the real-time position information of the rotor.

7. The method for estimating the clamping force of an electronic mechanical brake system according to claim 1, characterized in that: Determining the current output torque of the drive motor according to the motor speed information includes: The current output torque of the drive motor is calculated and determined by combining the current motor speed information, the current power supply current of the drive motor, the electromagnetic parameters and the rotational inertia information of the drive motor.

8. A clamping force estimation system for an electromechanical brake system, characterized in that: include: The rotor monitoring module obtains the position information of the rotor of the drive motor and the motor speed information in real time; A table lookup module, which obtains a correspondence between a historical clamping force of the electronic mechanical brake system and position information of the rotor, and determines a first estimate of the clamping force of the current electronic mechanical brake system in combination with the current position information of the rotor and the correspondence; A torque calculation module, which determines the current output torque of the drive motor according to the motor speed information; An estimation processing module, which obtains a conversion ratio from the output torque of the drive motor to the clamping force, and obtains a second estimation of the clamping force by combining the conversion ratio and the current output torque; The clamping force estimation module determines a target estimate of the clamping force by combining a discrete Kalman algorithm, a first estimate of the clamping force, and a second estimate of the clamping force.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes a clamping force estimation method for an electronic mechanical brake system as claimed in any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the clamping force estimation method of an electronic mechanical brake system according to any one of claims 1 to 7 is implemented.

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