Method and device for controlling distance between friction plate and brake disc, vehicle and storage medium

Abstract

The embodiment of the invention discloses a method and device for controlling the distance between a friction plate and a brake disc, a vehicle and a storage medium. The control method for the distance between the friction plate and the brake disc comprises the steps that according to a received clamping force control instruction, an initial speed instruction of a push rod is output; determining a target speed instruction according to the initial speed instruction and a preset speed so as to limit the speed of the push rod; and outputting a target torque instruction to the motor according to the target speed instruction, so that the motor controls the distance between the friction plate and the brake disc according to the target torque instruction. According to the technical scheme, the control method for setting the distance between the friction plate and the brake disc controls the speed of the push rod by limiting the speed of the push rod, so that the speed of the friction plate is controlled, and the problem of high-speed collision between the friction plate and the brake disc during quick braking is solved.

Description

Technical Field

[0001] This invention relates to the field of braking technology, and in particular to a method, device, vehicle, and storage medium for controlling the distance between friction pads and brake discs. Background Technology

[0002] In non-braking conditions, braking systems need to maintain a relatively safe clearance between the friction pads and the brake disc to prevent undesirable contact between the friction pads and the brake disc when the wheel is rotating at high speed. Similarly, in online braking systems, electromechanical braking (EMB) systems also require a safe clearance between the friction pads and the brake disc when braking is not required.

[0003] However, in EMB, the movement of the friction pads relies on the motor and transmission mechanism to convert rotational motion into linear motion. When the motor is under no-load torque, its speed will rise rapidly. This means that in the initial stage of establishing braking force, the EMB motor is essentially running under no-load. As a result, the moving speed of the linear motion mechanism connected to the motor will rise rapidly, causing a severe impact at the moment of contact between the friction pads and the brake disc, thus affecting the product's lifespan. Summary of the Invention

[0004] This invention provides a method, device, vehicle, and storage medium for controlling the distance between friction pads and brake discs, in order to improve the problem of high-speed impact between friction pads and brake discs during rapid braking and extend the service life of friction pads and brake discs.

[0005] According to one aspect of the present invention, a method for controlling the distance between a friction pad and a brake disc is provided, the method being used in an electromechanical braking device; the electromechanical braking device includes a motor, a push rod, and a friction pad, the motor being used to drive the push rod, the push rod being mechanically connected to the friction pad;

[0006] Methods for controlling the distance between friction pads and brake discs include:

[0007] Based on the received clamping force control command, the initial speed command of the push rod is output;

[0008] The target speed command is determined based on the initial speed command and the preset speed to limit the speed of the push rod;

[0009] Based on the target speed command, a target torque command is output to the motor so that the motor controls the distance between the friction pads and the brake disc according to the target torque command.

[0010] Optionally, based on the received clamping force control command, an initial speed command for the push rod is output, including:

[0011] Based on the actual clamping force of the friction plate and the clamping force control command, the initial speed command of the push rod is output.

[0012] Optionally, based on the actual clamping force of the friction plate and the clamping force control command, the initial speed command of the push rod is output, including:

[0013] Based on the difference between the actual clamping force of the friction plate and the clamping force control command, the initial speed command of the push rod is output according to the proportional-integral algorithm.

[0014] Alternatively, based on a preset range to which the difference between the actual clamping force of the friction plate and the clamping force control command falls, an initial speed command for the push rod is output, wherein the preset range includes at least two.

[0015] Optionally, a target speed command is determined based on the initial speed command and the preset speed to limit the speed of the push rod, including:

[0016] If the initial speed command is greater than or equal to the preset speed, the target speed command is determined based on the preset speed to limit the speed of the push rod;

[0017] If the initial speed command is less than the preset speed, the target speed command is determined based on the initial speed command.

[0018] Optionally, based on the target speed command, a target torque command is output to the motor, so that the motor controls the distance between the friction pads and the brake disc according to the target torque command, including:

[0019] Based on the target speed command and the current actual speed of the push rod, a target torque command is output to the motor so that the motor controls the distance between the friction plate and the brake disc according to the target torque command.

[0020] Optionally, based on the target speed command and the current actual speed of the push rod, a target torque command is output to the motor, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, including:

[0021] Based on the difference between the target speed command and the current actual speed of the push rod, the target torque command is output to the motor according to the proportional-integral algorithm, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command.

[0022] Alternatively, based on a preset range of the difference between the target speed command and the current actual speed of the push rod, a target torque command is output to the motor, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, wherein the preset range includes at least two.

[0023] Optionally, the electromechanical braking device also includes a transmission mechanism and a planetary screw; the transmission mechanism is used to change the speed of the motor; the planetary screw is used to convert the rotational motion generated by the motor into the linear motion of the push rod and to provide the clamping force of the friction plate; the friction plate is disposed on both sides of the brake disc;

[0024] Based on the target speed command, a target torque command is output to the motor, so that the motor controls the distance between the friction pads and the brake disc according to the target torque command, including:

[0025] Based on the target speed command, the target torque command is output to the motor;

[0026] The motor changes its speed through a transmission mechanism and drives the push rod to move through a planetary screw, thereby controlling the distance between the friction pads and the brake disc.

[0027] According to another aspect of the present invention, a control device for the distance between a friction pad and a brake disc is provided, the control device comprising:

[0028] The initial speed command output module is used to output the initial speed command of the push rod according to the received clamping force control command;

[0029] The limiting module is used to determine the target speed command based on the initial speed command and the preset speed, so as to limit the speed of the push rod;

[0030] The spacing control module is used to output a target torque command to the motor based on the target speed command and the current actual speed of the friction pads, so that the motor controls the spacing between the friction pads and the brake disc according to the target torque command.

[0031] According to another aspect of the invention, a vehicle is provided that employs the aforementioned control device for the distance between the friction pads and the brake disc.

[0032] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the method for controlling the distance between the friction pad and the brake disc according to any embodiment of the present invention.

[0033] The technical solution of this invention provides a method for controlling the distance between a friction pad and a brake disc. Based on a received clamping force control command, an initial speed command for a push rod is output. A target speed command is determined based on the initial speed command and a preset speed. When the initial speed command exceeds the preset speed, it is modified to be less than or equal to the preset speed and then output as the target speed command to limit the speed of the push rod, preventing excessive speed when the friction pad and brake disc contact. Based on the limited target speed command, a target torque command is output to the motor, enabling the motor to control the distance between the friction pad and the brake disc according to the target torque command. This improves the problem of high-speed impact between the friction pad and the brake disc during rapid braking and extends the service life of both the friction pad and the brake disc.

[0034] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a flowchart of a method for controlling the distance between a friction pad and a brake disc according to an embodiment of the present invention;

[0037] Figure 2 This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0038] Figure 3 This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0039] Figure 4 This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0040] Figure 5 This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0041] Figure 6 This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0042] Figure 7This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0043] Figure 8 This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention;

[0044] Figure 9 This is a schematic diagram of a control device for the distance between a friction pad and a brake disc according to an embodiment of the present invention;

[0045] Figure 10 This is a schematic diagram of the structure of an electronic device that implements the method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] Figure 1 This is a flowchart illustrating a method for controlling the distance between a friction pad and a brake disc according to an embodiment of the present invention. This embodiment is applicable to controlling the distance between a friction pad and a brake disc. The method for controlling the distance between the friction pad and the brake disc can be executed by a device for controlling the distance between the friction pad and the brake disc, which can be implemented in hardware and / or software. This method for controlling the distance between the friction pad and the brake disc is used in an electromechanical braking device; the electromechanical braking device includes a motor, a push rod, and a friction pad, wherein the motor drives the push rod, and the push rod is mechanically connected to the friction pad.

[0049] In this embodiment of the invention, the electromechanical braking device includes an electromechanical braking system. The brake-by-wire system includes an electro-hydraulic braking system, an electromechanical braking system, and a hybrid brake-by-wire system. The method for controlling the distance between the friction pads and the brake disc in this embodiment of the invention is applicable to electromechanical braking systems. The electromechanical braking system generates braking force by a motor-driven brake. The electromechanical braking system mainly consists of a wheel braking module, a central electronic control unit, a brake pedal module, a communication network, and a power supply. The electromechanical braking device in this embodiment of the invention includes a motor, a push rod, and friction pads. The motor reduces its speed through a gear transmission mechanism and converts the rotational motion into linear motion through a planetary screw mechanism, driving the push rod to move linearly. The push rod ultimately moves the friction pads, thus controlling the distance between the friction pads and the brake disc.

[0050] like Figure 1 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0051] S110. Based on the received clamping force control command, output the initial speed command of the push rod.

[0052] For example, when a car is driving under different operating conditions, and there is a need to decelerate, the driver will press the brake pedal. The brake pedal sensor on the electronic brake pedal detects braking signals such as the acceleration, displacement, and force of the brake pedal. The central electronic control unit receives the braking command signal through the vehicle network, combines it with other sensor signals of the current vehicle driving status, and uses a corresponding intention recognition algorithm to identify the driver's braking intention, calculating the optimal braking force required for each wheel in real time. The four independent braking modules of the wheels receive the output signal from the central electronic control unit to control the motor speed to achieve torque response, and then control the brake actuator to generate the corresponding braking force to achieve braking.

[0053] In this embodiment of the invention, the clamping force control command is a command sent by the central electronic control unit in the vehicle to the electromechanical braking system to control the friction pads on both sides of the brake disc to perform a clamping action. The initial speed command is a speed command for the motor to control the movement of the friction pads. For example, when the electromechanical braking system receives the clamping force control command sent by the central electronic control unit, it outputs the initial speed command of the push rod through the clamping force closed-loop controller.

[0054] S120. Determine the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod.

[0055] Specifically, the preset speed is the maximum speed at which the control push rod can move, set in advance. The target speed command is the speed command output after limiting the speed of the push rod. To solve the problem of impact between the friction pads and the brake disc during rapid braking, it is necessary to control the movement speed of the push rod, thereby controlling the distance between the friction pads and the brake disc. The target speed command is determined by comparing the initial speed command of the push rod with the preset speed.

[0056] For example, by comparing the initial speed command of the push rod with the preset speed, if the initial speed command of the push rod exceeds the preset maximum speed of the push rod movement, the initial speed command of the push rod is modified so that the maximum speed that the push rod is allowed to output is the preset speed. The modified speed value of the push rod is then output as the target speed command to achieve the purpose of limiting the speed of the push rod.

[0057] S130. According to the target speed command, output the target torque command to the motor so that the motor controls the distance between the friction pad and the brake disc according to the target torque command.

[0058] Specifically, the target torque command is the command that causes the motor to generate rotational torque to drive the friction plate. For example, based on the target speed command output after limiting and the actual speed of the push rod, closed-loop control is applied to output the target torque command to the motor. The motor rotation is controlled by a preset motor control algorithm to drive the push rod to move laterally, thereby controlling the distance between the friction plate and the brake disc.

[0059] In this embodiment of the invention, closed-loop control is a control relationship in which the speed of the controlled push rod returns to the control input in a certain way, and exerts a control effect on the input. The method for controlling the motor rotation also includes proportional-integral-differential (PID) control and pulse width modulation.

[0060] The technical solution of this invention provides a method for controlling the distance between a friction pad and a brake disc. Based on a received clamping force control command, an initial speed command for a push rod is output. A target speed command is determined based on the initial speed command and a preset speed. When the initial speed command exceeds the preset speed, it is modified to be less than or equal to the preset speed and then output as the target speed command to limit the speed of the push rod, preventing excessive speed when the friction pad and brake disc contact. Based on the limited target speed command, a target torque command is output to the motor, enabling the motor to control the distance between the friction pad and the brake disc according to the target torque command. This improves the problem of high-speed impact between the friction pad and the brake disc during rapid braking and extends the service life of both the friction pad and the brake disc.

[0061] Figure 2This is a flowchart of another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Figure 2 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0062] S210. Based on the actual clamping force of the friction plate and the clamping force control command, output the initial speed command of the push rod.

[0063] Specifically, the initial speed command of the push rod can be output through closed-loop control. For example, the actual clamping force of the friction plate in the electromechanical control system is acquired, and based on the clamping force control command sent by the central electronic control unit to the electromechanical braking system, the initial speed command of the push rod is output through closed-loop clamping force control. The clamping force closed-loop control can be implemented using PID control algorithms, PI control algorithms, or pulse width modulation.

[0064] S220: Determine the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod.

[0065] S230. According to the target speed command, output the target torque command to the motor so that the motor controls the distance between the friction pad and the brake disc according to the target torque command.

[0066] Figure 3 This is a flowchart illustrating another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Figure 3 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0067] S310. Based on the difference between the actual clamping force of the friction plate and the clamping force control command, output the initial speed command of the push rod according to the proportional-integral algorithm; or, based on the preset range to which the difference between the actual clamping force of the friction plate and the clamping force control command belongs, output the initial speed command of the push rod, wherein the preset range includes at least two.

[0068] Specifically, in this embodiment of the invention, based on the actual clamping force of the collected friction plate and the clamping force control command received by the electromechanical system, the initial speed command of the push rod is output through a preset proportional-integral algorithm.

[0069] In an optional embodiment of the present invention, the preset range is a range within which the difference between the actual clamping force of the friction plate and the clamping force control command is preset. The preset range includes at least two values. For example, the preset range includes 0-5N and 6N-10N. When the difference between the actual clamping force of the friction plate and the clamping force control command is small, for example, when the difference is within 0-5N, the average value of the actual clamping force of the friction plate and the clamping force control command can be calculated, and the calculated average value can be used as the initial speed command output for the push rod.

[0070] S320: Determine the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod.

[0071] S330: Based on the target speed command, output the target torque command to the motor so that the motor controls the distance between the friction pads and the brake disc according to the target torque command.

[0072] Figure 4 This is a flowchart illustrating another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Figure 4 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0073] S410: Based on the received clamping force control command, output the initial speed command of the push rod.

[0074] S420. If the initial speed command is greater than or equal to the preset speed, determine the target speed command based on the preset speed to limit the speed of the push rod.

[0075] Specifically, if the initial speed command of the output push rod is greater than or equal to the preset speed, the initial speed command of the push rod is modified to the preset speed, and the preset speed is used as the target speed command to limit the speed of the push rod and prevent the friction pads and brake disc from colliding at high speed during rapid braking.

[0076] S430. If the initial speed command is less than the preset speed, determine the target speed command based on the initial speed command.

[0077] Specifically, if the initial speed command of the output push rod is less than the preset speed, there is no need to limit the speed of the push rod, and the initial speed command can be directly output as the target speed command.

[0078] S440: Based on the target speed command, output the target torque command to the motor so that the motor controls the distance between the friction pads and the brake disc according to the target torque command.

[0079] Figure 5 This is a flowchart illustrating another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Figure 5 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0080] S510: Based on the received clamping force control command, output the initial speed command of the push rod.

[0081] S520: Determine the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod.

[0082] S530: Based on the target speed command and the current actual speed of the friction pads, output the target torque command to the motor so that the motor controls the distance between the friction pads and the brake disc according to the target torque command.

[0083] Specifically, the target torque command can be output through closed-loop control. For example, based on the calculated current actual speed of the push rod and the received target speed command, the target torque command is output to the motor through push rod speed closed-loop control. Push rod speed closed-loop control can be implemented using PID control algorithms, PI control algorithms, or pulse width modulation.

[0084] Figure 6 This is a flowchart illustrating another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Figure 6 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0085] S610: Based on the received clamping force control command, output the initial speed command of the push rod.

[0086] S620: Determine the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod.

[0087] S630. Based on the difference between the target speed command and the current actual speed of the push rod, output a target torque command to the motor according to the proportional-integral algorithm, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command; or, based on a preset range to which the difference between the target speed command and the current actual speed of the push rod belongs, output a target torque command to the motor, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, wherein the preset range includes at least two.

[0088] Specifically, in this embodiment of the invention, based on the target speed command and the calculated current actual speed of the push rod, a target torque command is output to the motor through a proportional-integral algorithm, so that the motor rotates to drive the push rod to move, thereby controlling the distance between the friction plate and the brake disc.

[0089] In an optional embodiment of the present invention, the preset range of the difference between the target speed command and the current actual speed of the push rod includes 0-3 cm / s and 4 cm / s-8 cm / s. When the difference between the target speed command and the current actual speed of the push rod is small, for example, when the difference between the target speed command and the current actual speed of the push rod is within 0-3 cm / s, the average value of the target speed command and the current actual speed of the push rod can be calculated, and the obtained average value can be output to the motor as the target torque command.

[0090] Figure 7This is a flowchart illustrating another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. The electromechanical braking device further includes a transmission mechanism and a planetary screw; the transmission mechanism is used to change the speed of the motor; the planetary screw is used to convert the rotational motion generated by the motor into the linear motion of the push rod and to provide clamping force for the friction pad; the friction pad is disposed on both sides of the brake disc. Figure 7 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0091] S710: Based on the received clamping force control command, output the initial speed command of the push rod.

[0092] S720: Determine the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod.

[0093] S730: Outputs target torque command to the motor according to the target speed command.

[0094] S740: The motor changes its speed through a transmission mechanism and drives the push rod to move through a planetary screw, thereby controlling the distance between the friction plate and the brake disc.

[0095] In this embodiment of the invention, the electromechanical braking device includes an electromechanical braking system. Besides a motor and friction pads, the electromechanical braking system also includes a transmission mechanism, a planetary screw, and a push rod. The friction pads are mechanically connected to the push rod, and the movement of the push rod drives the friction pads. The motor's speed is reduced through the transmission mechanism, and the planetary screw converts the forward and reverse rotation of the motor's output shaft into axial extension and retraction motion, i.e., the linear motion of the push rod, thereby providing clamping force for the friction pads and achieving the brake return function. The transmission mechanism includes, but is not limited to, conversion mechanical structures such as crank-connecting rods, worm gears, or racks and pinions. The friction pads may include inner and outer friction pads, which are respectively disposed on both sides of the brake disc.

[0096] In this embodiment of the invention, after receiving the target torque command, the motor in the electromechanical braking system converts the rotational motion into axial telescopic motion through the transmission mechanism, driving the push rod to move in a straight line. The push rod is mechanically connected to the friction plate, and the linear motion of the push rod drives the friction plate to move, thereby controlling the distance between the friction plate and the brake disc.

[0097] Figure 8 This is a flowchart illustrating another method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. Figure 8 As shown, the method for controlling the distance between the friction pad and the brake disc includes:

[0098] S810: The central electronic control unit sends a clamping force control command to the electromechanical braking system; S820: The actual clamping force of the friction plate is collected; S830: The clamping force closed-loop control is executed, and the initial speed command of the push rod is output; S840: It is determined whether the initial speed command is greater than or equal to the preset speed; if not, S870 is executed to calculate the current actual speed of the push rod and S860 is executed to determine the target speed command, and the push rod speed closed-loop control is executed; if yes, S850 is executed first to modify the initial speed command to the preset speed; then S870 is executed to calculate the current actual speed of the push rod and S860 is executed to determine the target speed command, and the push rod speed closed-loop control is executed; S880: The target torque command is output to the motor; S890: The motor control algorithm controls the motor to rotate and drive the push rod to move laterally; S870 and S820 are executed after S890 to form a closed-loop control.

[0099] Figure 9 This is a schematic diagram of a control device for the distance between a friction pad and a brake disc according to an embodiment of the present invention. Figure 9 As shown, the control device for the distance between the friction pad and the brake disc includes:

[0100] The initial speed command output module 100 is used to output the initial speed command of the push rod according to the received clamping force control command.

[0101] Specifically, the initial speed command output module 100 is used to output the movement speed command of the push rod through the clamping force closed-loop controller when the electromechanical braking system receives the clamping force control command sent by the central electronic control unit.

[0102] The limiting module 200 is used to determine the target speed command based on the initial speed command and the preset speed, so as to limit the speed of the push rod.

[0103] For example, the limiting module 200 is used to compare the initial speed command of the push rod with a preset speed. If the initial speed command of the push rod exceeds the preset maximum speed of the push rod, the initial speed command of the push rod is modified so that the maximum speed that the push rod is allowed to output is the preset speed. The modified speed value of the push rod is output as the target speed command to achieve the purpose of limiting the speed of the push rod.

[0104] The spacing control module 300 is used to output a target torque command to the motor according to the target speed command and the current actual speed of the friction pad, so that the motor controls the spacing between the friction pad and the brake disc according to the target torque command.

[0105] For example, the spacing control module 300 is used to output a target torque command to the motor based on the target speed command output after the amplitude limit and the actual speed of the push rod, and to control the motor rotation through the motor control algorithm so as to drive the push rod to move laterally, thereby achieving the purpose of controlling the spacing between the friction plate and the brake disc.

[0106] The technical solution of this invention provides a control device for the distance between a friction pad and a brake disc. An initial speed command output module outputs an initial speed command for a push rod based on a received clamping force control command. A limiting module determines a target speed command based on the initial speed command and a preset speed. When the initial speed command exceeds the preset speed, it is modified to be less than or equal to the preset speed before being output as the target speed command, thus limiting the speed of the push rod and preventing excessive speed when the friction pad and brake disc contact. The distance control module outputs a target torque command to the motor based on the limited target speed command, enabling the motor to control the distance between the friction pad and the brake disc according to the target torque command. This improves the problem of high-speed impact between the friction pad and the brake disc during rapid braking and extends the service life of both the friction pad and the brake disc.

[0107] The control device for the distance between the friction pad and the brake disc provided in the embodiments of the present invention can execute the control method for the distance between the friction pad and the brake disc provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0108] This invention also provides a vehicle in which the control device for the distance between the friction pads and brake discs according to this invention is applied. It has the same beneficial effects as the control device for the distance between the friction pads and brake discs, and will not be described again here.

[0109] Figure 10 This is a schematic diagram of an electronic device that implements the method for controlling the distance between the friction pad and the brake disc according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0110] like Figure 10As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for controlling the distance between friction pads and brake discs.

[0113] In some embodiments, the method for controlling the distance between the friction pads and the brake disc can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for controlling the distance between the friction pads and the brake disc described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for controlling the distance between the friction pads and the brake disc by any other suitable means (e.g., by means of firmware).

[0114] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0115] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0116] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0117] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0118] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0119] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0120] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0121] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the distance between friction pads and brake discs, characterized in that, For use in an electromechanical braking device; the electromechanical braking device includes a motor, a push rod, and a friction plate, wherein the motor drives the push rod, and the push rod is mechanically connected to the friction plate; The method for controlling the distance between the friction pads and the brake disc includes: Based on the received clamping force control command, the initial speed command of the push rod is output; The target speed command is determined based on the initial speed command and the preset speed to limit the speed of the push rod; According to the target speed command, a target torque command is output to the motor so that the motor controls the distance between the friction pad and the brake disc according to the target torque command.

2. The method for controlling the distance between the friction pad and the brake disc according to claim 1, characterized in that, The step of outputting the initial speed command of the push rod according to the received clamping force control command includes: Based on the actual clamping force of the friction plate and the clamping force control command, the initial speed command of the push rod is output.

3. The method for controlling the distance between the friction pad and the brake disc according to claim 2, characterized in that, The step of outputting the initial speed command of the push rod based on the actual clamping force of the friction plate and the clamping force control command includes: Based on the difference between the actual clamping force of the friction plate and the clamping force control command, the initial speed command of the push rod is output according to the proportional-integral algorithm. Alternatively, based on a preset range to which the difference between the actual clamping force of the friction plate and the clamping force control command belongs, the initial speed command of the push rod is output, wherein the preset range includes at least two.

4. The method for controlling the distance between the friction pad and the brake disc according to claim 1, characterized in that, The step of determining the target speed command based on the initial speed command and the preset speed to limit the speed of the push rod includes: If the initial speed command is greater than or equal to the preset speed, a target speed command is determined based on the preset speed to limit the speed of the push rod; If the initial speed command is less than the preset speed, the target speed command is determined based on the initial speed command.

5. The method for controlling the distance between the friction pad and the brake disc according to claim 1, characterized in that, The step of outputting a target torque command to the motor according to the target speed command, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, includes: Based on the target speed command and the current actual speed of the push rod, a target torque command is output to the motor so that the motor controls the distance between the friction plate and the brake disc according to the target torque command.

6. The method for controlling the distance between the friction pad and the brake disc according to claim 5, characterized in that, The step of outputting a target torque command to the motor based on the target speed command and the current actual speed of the push rod, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, includes: Based on the difference between the target speed command and the current actual speed of the push rod, a target torque command is output to the motor according to the proportional-integral algorithm, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command; Alternatively, based on a preset range to which the difference between the target speed command and the current actual speed of the push rod belongs, a target torque command is output to the motor, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, wherein the preset range includes at least two.

7. The method for controlling the distance between the friction pad and the brake disc according to claim 1, characterized in that, The electromechanical braking device further includes a transmission mechanism and a planetary screw; the transmission mechanism is used to change the speed of the motor; the planetary screw is used to convert the rotational motion generated by the motor into the linear motion of the push rod, and to provide the clamping force of the friction plate; the friction plate is disposed on both sides of the brake disc; The step of outputting a target torque command to the motor according to the target speed command, so that the motor controls the distance between the friction pad and the brake disc according to the target torque command, includes: According to the target speed command, a target torque command is output to the motor; The motor changes its speed through the transmission mechanism and drives the push rod to move through the planetary screw, thereby controlling the distance between the friction plate and the brake disc.

8. A device for controlling the distance between friction pads and brake discs, characterized in that, include: The initial speed command output module is used to output the initial speed command of the push rod according to the received clamping force control command; A limiting module is used to determine a target speed command based on the initial speed command and the preset speed, so as to limit the speed of the push rod; The spacing control module is used to output a target torque command to the motor according to the target speed command and the current actual speed of the friction pad, so that the motor controls the spacing between the friction pad and the brake disc according to the target torque command.

9. A vehicle, characterized in that, The control device for the distance between the friction pad and the brake disc as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for controlling the distance between the friction pads and the brake disc as described in any one of claims 1-7.

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