Control method, control device and system of electronic mechanical braking system and vehicle

Abstract

The embodiment of the invention discloses a control method, a control device and a system of an electronic mechanical braking system and a vehicle. The method comprises the steps of obtaining fault state information of the electromagnetic brake; according to the fault state information of the electromagnetic brake, the working state of the electromagnetic brake is controlled, and the working mode of a brake motor is controlled; according to the parking instruction or the release instruction, the working state of a motor shaft of the brake motor is controlled; and according to the working state of the motor shaft, the brake module is controlled to clamp and park or release. According to the control method of the electronic mechanical braking system, parking locking and parking releasing are achieved through power-on and power-off of the coil of the electromagnetic brake by adopting one executing mechanism, and the control process is simple.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control method, control device, system, and vehicle for an electromechanical braking system. Background Technology

[0002] With the development of new energy vehicle technology, people have increasingly higher requirements for vehicle service braking and parking brake clamping. Traditional mechanical braking achieves braking by manually pulling the mechanical brake lever, which forces the brake disc to clamp via a cable. However, traditional mechanical braking can affect the fatigue durability of brake discs and brake pads. With the development of large-scale integrated circuits, existing vehicles require two sets of braking actuators for service braking and parking braking, making the control process more complex. Summary of the Invention

[0003] This invention provides a control method, control device, system, and vehicle for an electromechanical braking system, to solve the problem that existing vehicles require two sets of braking actuators for service brakes and parking brakes, resulting in a complex control process.

[0004] To address the aforementioned technical problems, the present invention adopts the following technical solution:

[0005] This invention provides a control method for an electromechanical braking system, comprising:

[0006] Obtain fault status information of the electromagnetic brake;

[0007] Based on the fault status information of the electromagnetic brake, control the working state of the electromagnetic brake and control the working mode of the brake motor.

[0008] The working state of the motor shaft of the brake motor is controlled according to the parking command or release command;

[0009] The braking module is controlled to clamp or release depending on the operating state of the motor shaft.

[0010] Optionally, controlling the operating state of the electromagnetic brake and the operating mode of the brake motor based on the fault status information of the electromagnetic brake includes:

[0011] When the electromagnetic brake is working normally, it controls the working mode of the brake motor to clamping force control mode and controls the working state of the electromagnetic brake; the electromagnetic brake is used to release the motor shaft when energized and to lock the motor shaft when de-energized.

[0012] When the electromagnetic brake fails, the operating mode of the brake motor is switched to motor speed control mode, and the operating status of the brake motor is controlled.

[0013] Optionally, controlling the operating state of the brake motor shaft according to a parking command or a release command includes:

[0014] According to the parking command, the motor shaft of the brake motor is controlled to rotate in a first direction; or,

[0015] According to the release command, the motor shaft of the brake motor is controlled to rotate in a second direction; the first direction and the second direction are opposite.

[0016] Optionally, controlling the motor shaft of the brake motor to rotate in a first direction according to the parking command includes:

[0017] According to the parking command, when the electromagnetic brake is working normally, the electromagnetic brake is energized, the motor shaft of the brake motor is controlled to output a first torque, and the motor shaft is controlled to rotate in a first direction.

[0018] According to the parking command, when the electromagnetic brake fails, the brake motor is controlled to output a second torque, and the motor shaft is controlled to rotate in a first direction; the second torque is greater than the locking torque of the electromagnetic brake; the first torque is less than the second torque.

[0019] Optionally, controlling the motor shaft of the brake motor to rotate in the second direction according to the release command includes:

[0020] According to the release command, when the electromagnetic brake is working normally, the clamping force of the braking module is obtained, and according to the difference between the clamping force of the braking module and the preset clamping force, the electromagnetic brake is energized, the brake motor is controlled to output a third torque, and the motor shaft is controlled to rotate in the second direction.

[0021] According to the release command, when the electromagnetic brake fails, the brake motor is controlled to output a fourth torque, and the motor shaft is controlled to rotate in a second direction; the fourth torque is greater than the locking torque of the electromagnetic brake, and the third torque is less than the fourth torque.

[0022] Optionally, controlling the braking module to clamp or release based on the operating state of the motor shaft includes:

[0023] When the motor shaft of the brake motor rotates in a first direction, the brake module is controlled to clamp and park.

[0024] When the motor shaft of the brake motor rotates in the second direction, the brake module is controlled to release.

[0025] Optionally, after controlling the brake module to clamp and park the vehicle when the motor shaft of the brake motor rotates in the first direction, the method further includes:

[0026] When the electromagnetic brake is working normally, the clamping force of the braking module is obtained;

[0027] When the difference between the clamping force of the braking module and the preset target clamping force is less than a preset difference value, the electromagnetic brake is de-energized.

[0028] A zero-torque command is sent to the brake motor, and the motor shaft outputs zero torque according to the zero-torque command, thus entering a successful parking state.

[0029] According to another aspect of the present invention, this embodiment provides a control device for an electromechanical braking system, comprising:

[0030] The acquisition module is used to acquire fault status information of the electromagnetic brake.

[0031] The mode control module is used to control the working state of the electromagnetic brake and the working mode of the brake motor based on the fault status information of the electromagnetic brake.

[0032] The status control module is used to control the working state of the motor shaft of the brake motor according to the parking command or release command;

[0033] The braking control module is used to control the braking module to clamp or release the vehicle based on the working state of the motor shaft.

[0034] According to another aspect of the present invention, this embodiment provides an electromechanical braking system, comprising: a control device for the electromechanical braking system as described in any of the second aspects, as well as a brake motor, an electromagnetic brake, and a braking module;

[0035] The electromagnetic brake is provided on the motor shaft of the brake motor. The electromagnetic brake is used to release the motor shaft when energized and to lock the motor shaft when de-energized.

[0036] The control device of the electromechanical braking system is connected to the brake motor and the electromagnetic brake; the braking module is connected to the motor shaft of the brake motor.

[0037] The braking module is used to perform parking when the motor shaft rotates in a first direction and to perform release when the motor shaft rotates in a second direction.

[0038] According to another aspect of the present invention, this embodiment provides a vehicle, including: a control device for an electromechanical braking system as proposed in the second aspect, or an electromechanical braking system as proposed in the third aspect.

[0039] The control method for the electromechanical braking system provided in this embodiment of the invention uses an electromagnetic brake. Based on the health status of the electromagnetic brake, when it is functioning normally, the coil of the electromagnetic brake is energized, causing it to release the motor shaft. This allows the motor shaft to rotate in a first direction according to a parking command, thereby braking the braking module and achieving parking. When the motor shaft receives a release command, the electromagnetic brake is energized, causing the motor shaft to rotate in a second direction opposite to the first direction, thus releasing the braking module and achieving parking release. Furthermore, in the event of an electromagnetic brake failure, the control method of this embodiment can still adjust the operating mode of the brake motor to motor speed control mode. This allows for applying a larger output torque to the brake motor, enabling emergency parking according to a parking command and emergency release according to a release command when the electromagnetic brake fails. This configuration, using a single control system, achieves both parking and release, as well as emergency parking and release in the event of an electromagnetic brake failure, ensuring reliable parking and release of the electromechanical braking system while reducing its size. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention 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 the content of the embodiments of the present invention and these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a control method for an electromechanical braking system provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of an electromechanical braking system provided in an embodiment of the present invention;

[0043] Figure 3 This is a flowchart of a parking control process for an electromechanical braking system provided in an embodiment of the present invention;

[0044] Figure 4 This is a flowchart of a method for releasing control of an electromechanical braking system provided in an embodiment of the present invention;

[0045] Figure 5 This is a flowchart of a parking control method for an electromechanical braking system in the event of an electromagnetic brake failure, provided by an embodiment of the present invention.

[0046] Figure 6This is a flowchart of a method for releasing control when the electromagnetic brake of an electromechanical braking system fails, provided by an embodiment of the present invention.

[0047] Figure 7 This is a schematic diagram of a control device for an electromechanical braking system provided in an embodiment of the present invention. Detailed Implementation

[0048] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0049] Based on the above-mentioned technical problems, this embodiment proposes the following solutions:

[0050] Figure 1 This is a flowchart of a control method for an electromechanical braking system provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of an electromechanical braking system provided in an embodiment of the present invention. (Combined with...) Figure 1 and Figure 2 The control method for the electromechanical braking system provided in this embodiment of the invention includes:

[0051] S101. Obtain the fault status information of electromagnetic brake 1.

[0052] Specifically, the electromagnetic brake 1 is a connector that transmits torque from the active side to the passive side, and can be freely engaged, disengaged, or braked as needed. It has advantages such as compact structure, simple operation, sensitive response, long service life, reliable use, and ease of remote control. In mechanical transmission systems, the electromagnetic brake 1 mainly functions to transmit power and control motion.

[0053] The fault status information includes whether the health status of electromagnetic brake 1 is normal or whether the health status of electromagnetic brake 1 is faulty.

[0054] S102. Based on the fault status information of the electromagnetic brake 1, control the working state of the electromagnetic brake 1 and control the working mode of the brake motor 2.

[0055] Specifically, when the electromagnetic brake 1 is in normal working condition, the operating mode of the brake motor 2 can be adjusted to the clamping force control mode. The operating state of the brake motor 2 can be controlled by controlling the operating state of the electromagnetic brake 1. When the electromagnetic brake 1 is working normally, if the coil of the electromagnetic brake 1 is de-energized, the electromagnetic brake 1 will lock the motor shaft 3, preventing it from rotating. If the coil of the electromagnetic brake 1 is energized, the electromagnetic brake 1 can release the motor shaft 3, allowing it to rotate in either the first or second direction.

[0056] When the electromagnetic brake 1 is faulty, the operating mode of the brake motor 2 can be adjusted to motor speed control mode. Due to the fault in the electromagnetic brake 1, the electromagnetic brake 1 will lock the motor. The output torque of the brake motor 2 can be controlled to control the rotation of the motor shaft 3 in either a first direction or a second direction.

[0057] S103. Control the working state of the motor shaft 3 of the brake motor 2 according to the parking command or release command.

[0058] Specifically, the working states of motor shaft 3 include forward and reverse rotation. For example, the forward rotation of motor shaft 3 can be set to correspond to rotation in a first direction, and the reverse rotation to correspond to rotation in a second direction. When the electromagnetic brake 1 is in normal working condition, according to the parking command, the electromagnetic brake 1 is energized, and the motor control mode is clamping force control mode. Motor shaft 3 is controlled to rotate along the first direction. When the electromagnetic brake 1 is faulty, the motor control mode is motor speed control mode, and according to the parking command, motor shaft 3 is controlled to rotate along the first direction. The first direction can correspond to the clamping direction of brake module 4, and the second direction can correspond to the opposite clamping direction of brake module 4.

[0059] When the electromagnetic brake 1 is in normal working condition, it is energized according to the release command, and the motor is controlled in clamping force control mode, controlling the motor shaft 3 to rotate in the second direction. When the electromagnetic brake 1 is in faulty working condition, the motor is controlled in motor speed control mode, and the motor shaft 3 is controlled to rotate in the second direction according to the release command.

[0060] S104. Based on the working state of the motor shaft 3, control the braking module 4 to clamp or release.

[0061] Specifically, when the motor shaft 3 rotates in the first direction, the motor shaft 3 drives the braking module 4 to brake, thereby clamping and parking the vehicle. When the motor shaft 3 rotates in the second direction and reaches the target release position, the braking module 4 can release, thereby releasing the vehicle from parking.

[0062] The control method of the electromechanical braking system provided in this embodiment uses an electromagnetic brake 1. Based on the health status of the electromagnetic brake 1, when it is functioning normally, the coil of the electromagnetic brake 1 is energized, causing it to release the motor shaft 3. This allows the motor shaft 3 to rotate in a first direction according to a parking command, thereby braking the brake module 4 and achieving parking. When the motor shaft 3 receives a release command, it can energize the electromagnetic brake 1, causing it to rotate in a second direction opposite to the first direction, thus releasing the brake module 4 and achieving parking release. Furthermore, in the event of a malfunction of the electromagnetic brake 1, the control method of the electromechanical braking system provided in this embodiment can still adjust the operating mode of the brake motor 2 to motor speed control mode. This allows for the application of a larger output torque to the brake motor 2, enabling emergency parking according to a parking command when the electromagnetic brake 1 malfunctions, and emergency release according to a release command. This configuration, using a single control system, enables both parking and release, and also allows for emergency parking and release in case of electromagnetic brake 1 failure. This achieves reliable parking and release of the electromechanical braking system while reducing its size.

[0063] Optional, see below Figure 2 Based on the above embodiments, Figure 1 S102, the step of controlling the working state of the electromagnetic brake 1 and the working mode of the brake motor 2 based on the fault status information of the electromagnetic brake 1, includes: when the electromagnetic brake 1 is working normally, controlling the working mode of the brake motor 2 to the clamping force control mode and controlling the working state of the electromagnetic brake 1; the electromagnetic brake 1 is used to release the motor shaft 3 when energized and to lock the motor shaft 3 when de-energized; when the electromagnetic brake 1 fails, controlling the working mode of the brake motor 2 to switch to the motor speed control mode and controlling the working state of the brake motor 2.

[0064] Specifically, the electromagnetic brake 1 is mounted on the motor shaft 3 of the brake motor 2. When the electromagnetic brake 1 is de-energized, it locks the motor shaft 3. The locking force of the electromagnetic brake 1 on the motor shaft 3 is greater than the output torque of the motor shaft 3 operating in clamping force control mode, preventing the motor shaft 3 from braking and thus preventing the brake module 4 from parking or releasing. When the electromagnetic brake 1 is energized, it releases the motor shaft 3. Under the control of parking or release commands, the motor shaft 3 can rotate forward or reverse, thereby driving the brake module 4 to achieve the corresponding parking or release.

[0065] When electromagnetic brake 1 malfunctions, it is de-energized and will lock the motor shaft 3. By switching the operating mode of brake motor 2 to motor speed control mode, the torque output by brake motor 2 can be greater than the locking force of the malfunctioning electromagnetic brake 1, thereby enabling emergency parking and emergency release.

[0066] Optional, see below Figure 2 Based on the above embodiments, Figure 1 S103, the step of controlling the working state of the motor shaft 3 of the brake motor 2 according to the parking command or the release command, includes: controlling the motor shaft 3 of the brake motor 2 to rotate in a first direction according to the parking command; or, controlling the motor shaft 3 of the brake motor 2 to rotate in a second direction according to the release command; the first direction and the second direction are opposite.

[0067] Specifically, when parking conditions are met, the motor shaft 3 can be controlled to rotate in a first direction according to the parking command. Parking conditions may include the electromagnetic brake 1 being in normal working condition and the brake motor 2 operating in clamping force control mode. Alternatively, parking conditions may include the electromagnetic brake 1 being in a faulty state and the brake motor 2 operating in motor speed control mode.

[0068] When the release conditions are met, the motor shaft 3 can be controlled to rotate in the second direction according to the release command. The release conditions may include the electromagnetic brake 1 being in normal working condition and the brake motor 2 operating in clamping force control mode. Alternatively, the release conditions may include the electromagnetic brake 1 being in a faulty state and the brake motor 2 operating in motor speed control mode.

[0069] Optional, see below Figure 2 Based on the above embodiments, the step of controlling the motor shaft 3 of the brake motor 2 to rotate in the first direction according to the parking command may include: according to the parking command, when the electromagnetic brake 1 is working normally, controlling the electromagnetic brake 1 to be energized, controlling the motor shaft 3 of the brake motor 2 to output a first torque, and controlling the motor shaft 3 to rotate in the first direction. According to the parking command, when the electromagnetic brake 1 malfunctions, controlling the brake motor 2 to output a second torque, and controlling the motor shaft 3 to rotate in the first direction; the second torque is greater than the locking torque of the electromagnetic brake 1; the first torque is less than the second torque.

[0070] Specifically, by setting the first torque to be less than the second torque, when the electromagnetic brake 1 is operating normally, the brake motor 2 can output a relatively small first torque to drive the brake module 4 to achieve braking and complete parking by energizing the electromagnetic brake 1. When the electromagnetic brake 1 fails, the electromagnetic brake 1 will lock the motor shaft 3 of the brake motor 2. By controlling the brake motor 2 to output a relatively large second torque, the brake module 4 can perform an emergency braking for parking.

[0071] Optionally, continue to refer to Figure 2 , based on the above embodiments, the controlling the motor shaft 3 of the brake motor 2 to rotate in the second direction according to the release instruction may include: according to the release instruction, when the electromagnetic brake 1 is operating normally, obtaining the clamping force of the brake module 4, and controlling the energization of the electromagnetic brake 1, controlling the brake motor 2 to output a third torque, and controlling the motor shaft 3 to rotate in the second direction according to the difference between the clamping force of the brake module 4 and a preset clamping force; according to the release instruction, when the electromagnetic brake 1 fails, controlling the brake motor 2 to output a fourth torque, and controlling the motor shaft 3 to rotate in the second direction; the fourth torque is greater than the locking torque of the electromagnetic brake 1, and the third torque is less than the fourth torque.

[0072] Specifically, when the electromagnetic brake 1 is operating normally, obtain the clamping force of the brake module 4. When the clamping force of the brake module 4 is less than the preset clamping force F0, energize the electromagnetic brake 1. When the clamping force of the brake module 4 is greater than or equal to the preset clamping force F0, perform pre-clamping by controlling the target motor torque corresponding to the previous parking clamping force. When |pre-clamping target torque - actual torque| < Fx, also send an energization instruction for the electromagnetic brake 1 coil. The pre-clamping target torque is the target motor torque corresponding to the previous parking clamping force. The actual torque is the actual torque of the brake motor 2 corresponding to the current release control, and Fx is a preset torque difference. Since it is in the parking state before the release state is completed. This setting can prevent the brake pads 43 in the brake module 4 from suddenly bouncing back due to the sudden release of the brake module 4, protect the brake disc 44 from being damaged, and thus improve the service life of the brake module 4.

[0073] By setting the third torque to be less than the fourth torque, when the electromagnetic brake 1 is operating normally, the brake motor 2 can output a relatively small third torque to drive the brake module 4 to achieve reverse release and complete the parking release by energizing the electromagnetic brake 1. When the electromagnetic brake 1 fails, the electromagnetic brake 1 will lock the motor shaft 3 of the brake motor 2. By controlling the brake motor 2 to output a relatively large fourth torque, the brake module 4 can be released emergently.

[0074] Optionally, continue to refer to Figure 2Based on the above embodiments, Figure 1 S104, the step of controlling the brake module 4 to clamp or release according to the working state of the motor shaft 3, includes: controlling the brake module 4 to clamp and park when the motor shaft 3 of the brake motor 2 rotates in a first direction; and controlling the brake module 4 to release when the motor shaft 3 of the brake motor 2 rotates in a second direction.

[0075] Specifically, the braking module 4 includes a ball screw mechanism 41, a caliper 42, brake pads 43, and a brake disc 44. The rotation of the brake motor 2 drives the ball screw mechanism 41 to move, thereby pushing the caliper 42 to move. The movement of the caliper 42 clamps the brake pads 43 onto the brake disc 44. By controlling the de-energization of the electromagnetic brake 1, the electromagnetic brake 1 locks onto the motor shaft 3. When the motor shaft 3 of the brake motor 2 rotates in a first direction, the caliper 42 drives the brake pads 43 to clamp the brake disc 44. When the motor shaft 3 of the brake motor 2 rotates in a second direction, the caliper 42 drives the brake pads 43 to release the brake disc 44.

[0076] Optional, see below Figure 2 Based on the above embodiments, after controlling the brake module 4 to clamp and park the vehicle when the motor shaft 3 of the brake motor 2 rotates in the first direction, the method may further include: when the electromagnetic brake 1 is working normally, acquiring the clamping force of the brake module 4; when the difference between the clamping force Fact of the brake module 4 and the preset target clamping force Ftar is less than a preset difference value Fcal, controlling the electromagnetic brake 1 to de-energize; sending a zero torque command to the brake motor 2, and the motor shaft 3 outputs zero torque according to the zero torque command, entering the parking success state.

[0077] Specifically, this configuration allows the electromagnetic brake 1 to lock onto the motor shaft 3 after parking is completed by de-energizing it. By controlling the motor shaft 3 to output zero torque, the current loss of the brake motor 2 can be reduced, achieving energy saving.

[0078] An alternative implementation method, Figure 3 This is a flowchart illustrating a parking control process for an electromechanical braking system according to an embodiment of the present invention. (Combined with...) Figure 2 and Figure 3 The parking control method of the electromechanical braking system provided in this embodiment includes:

[0079] S301, Begin.

[0080] S302, Obtain relevant signals.

[0081] S303. Determine whether parking can be executed. If yes, execute S304; if no, execute S302.

[0082] S304. Send a power-on command for the electromagnetic brake 1 coil.

[0083] S305. Judge the power-off judgment of the electromagnetic brake 1 and the control timeout judgment of the electromagnetic brake 1. If the electromagnetic brake 1 is powered off, execute S304; if the electromagnetic brake 1 is not powered off, execute S307; if the control of the electromagnetic brake 1 times out, execute S306.

[0084] S306. The power-on control of the electromagnetic brake 1 coil times out, and execute S316, outputting the fault code NTC1.

[0085] S307. Send a parking brake clamping force command.

[0086] S308. Judge Abs(Ftar - Fact) < Fcal and the clamping force control timeout. If Abs(Ftar - Fact) < Fcal, execute S310; if not, execute S307; if the clamping force control times out, execute S309. Here, Ftar is the preset target clamping force, Fact is the clamping force of the brake module 4, Fcal is the preset difference value, and Abs(Ftar - Fact) is the absolute value of the difference between the preset target clamping force and the clamping force of the brake module 4.

[0087] S309. The clamping force control times out, and execute S316, outputting the fault code NTC2.

[0088] S310. Send a power-off command for the electromagnetic brake 1 coil.

[0089] S311. Judge the power-off of the electromagnetic brake 1 and the power-off control timeout of the electromagnetic brake 1. If the electromagnetic brake 1 is powered off, execute S313; if not, execute S310; if the power-off control of the electromagnetic brake 1 times out, execute S312.

[0090] S312. The power-off control of the electromagnetic brake 1 coil times out, and execute S316, outputting the fault code NTC3.

[0091] S313. Send a zero torque command.

[0092] S314. Judge that the torque of the brake motor 2 is zero and the control timeout of the brake motor 2. If the torque of the brake motor 2 is zero, execute S317; if the torque of the brake motor 2 is not zero, execute S313; if the control of the brake motor 2 times out, execute S315.

[0093] S315. The control of the brake motor 2 times out, and execute S316, outputting the fault code NTC4.

[0094] S316. Output fault codes NTC1, NTC2, NTC3, and / or NTC4.

[0095] S317. Parking success status.

[0096] S318. End.

[0097] In the parking control process method provided in this embodiment, during the parking control process, timeout diagnosis is performed on the control of the electromagnetic brake 1, the clamping force control, and the control of the brake motor 2. When a certain process diagnosis fails, it enters the corresponding control timeout fault and reports the corresponding NTC fault code. The parking timeout cause can be indexed through the fault code, which is convenient for designing a redundant response mechanism.

[0098] Another alternative implementation Figure 4 is a flowchart of a method for the release control process of an electromechanical brake system provided in an embodiment of the present invention. Combining Figure 2 and Figure 4 , the method for the release control process of the electromechanical brake system provided in this embodiment includes:

[0099] S401. Start.

[0100] S402. Obtain relevant signals.

[0101] S403. Determine whether release can be executed. If yes, execute S404; if no, execute S402.

[0102] [[ID=3,2]]S404. Determine whether the clamping force is less than F0. If yes, execute S407; if no, execute S405.

[0103] S405. Pre-clamping motor target torque.

[0104] S406. Determine whether |pre-clamping motor target torque - actual torque| < Fx and torque control timeout. If |pre-clamping motor target torque - actual torque| < Fx, execute S407; if |pre-clamping motor target torque - actual torque| < Fx is no, execute S405; if torque control timeout, execute S408.

[0105] S407. Send an instruction to energize the electromagnetic brake 1 coil.

[0106] S408. Torque control timeout fault.

[0107] S409. Determine whether the electromagnetic brake 1 coil is energized and whether the electromagnetic brake 1 energization timeout occurs. If the electromagnetic brake 1 coil is energized, execute S411; if the electromagnetic brake 1 coil is not energized, execute S407; if the electromagnetic brake 1 energization timeout occurs, execute S410.

[0108] S410, Brake motor 2 control timeout fault.

[0109] S411, Release successful status.

[0110] S412, End.

[0111] The method for the release control process of the electromechanical braking system provided in this embodiment performs timeout diagnosis on torque control and electromagnetic brake 1 control during the release control process. When a process diagnosis fails, the corresponding NTC fault code is reported, which facilitates the execution of a response processing mechanism.

[0112] Another alternative implementation method, Figure 5 This is a flowchart illustrating a parking control method for an electromechanical braking system in case of electromagnetic brake failure, provided by an embodiment of the present invention. (Combined with...) Figure 2 and Figure 5 The parking control method for an electromechanical braking system in case of electromagnetic brake failure provided in this embodiment includes:

[0113] S501, Begin.

[0114] S502. Determine if the parking conditions are met. If so, execute S503.

[0115] S503, Electromagnetic brake 1 malfunction.

[0116] S504. Determine if there is an emergency parking requirement. If yes, proceed to S505; otherwise, proceed to S502.

[0117] S505, switch from clamping force control to motor speed control.

[0118] S506, control the motor torque to be greater than the locking torque of the electromagnetic brake 1, and control the motor shaft 3 to move in the clamping direction.

[0119] S507, Reach the target parking position.

[0120] S508, End.

[0121] The parking control method provided in this embodiment when the electromagnetic brake 1 locks up and malfunctions, if there is an emergency parking requirement, immediately switch the clamping force control to motor speed control. The motor starts to output a torque greater than the locking torque of the electromagnetic brake 1 in the clamping direction and moves. When the parking position is detected, the emergency parking purpose is achieved.

[0122] Another alternative implementation method, Figure 6 This is a flowchart illustrating a method for releasing the electromagnetic brake in an electromechanical braking system when it malfunctions, according to an embodiment of the present invention. (Combined with...) Figure 2 and Figure 6 The method for releasing control when the electromagnetic brake of the electromechanical braking system fails, provided in this embodiment, includes:

[0123] S601, Begin.

[0124] S602. Determine if the release condition is met. If so, execute S603.

[0125] S603, Electromagnetic brake 1 malfunction.

[0126] S604. Determine if there is an urgent need for release. If yes, execute S605; otherwise, execute S602.

[0127] S605, switch from clamping force control to motor speed control.

[0128] S606, control the motor torque to be greater than the locking torque of the electromagnetic brake 1, and control the motor shaft 3 to move in the opposite direction of clamping.

[0129] S607, Target release position reached.

[0130] S608, End.

[0131] The method for releasing electromagnetic brake 1 in case of failure provided in this embodiment is as follows: when electromagnetic brake 1 locks up and fails, if there is an emergency release requirement, the clamping force control is immediately switched to motor speed control. The motor starts to output a torque greater than that of electromagnetic brake 1 in the opposite direction of clamping and moves. When the release position is detected, the emergency release purpose is achieved.

[0132] Figure 7 This is a schematic diagram of a control device for an electromechanical braking system provided in an embodiment of the present invention. Based on the above embodiments, and in conjunction with… Figure 2 and Figure 7 The control device for the electromechanical braking system provided in this embodiment includes:

[0133] The acquisition module 71 is used to acquire fault status information of the electromagnetic brake 1;

[0134] The mode control module 72 is used to control the working state of the electromagnetic brake 1 and the working mode of the brake motor 2 according to the fault status information of the electromagnetic brake 1.

[0135] The status control module 73 is used to control the working state of the motor shaft 3 of the brake motor 2 according to the parking command or release command.

[0136] The brake control module 74 is used to control the brake module 4 to clamp or release the vehicle according to the working state of the motor shaft 3.

[0137] The control device of the electromechanical braking system provided in this embodiment acquires the fault status information of the electromagnetic brake 1 through an acquisition module. The fault status information corresponds to the health status of the electromagnetic brake 1. Based on the fault status information of the electromagnetic brake 1, the mode control module controls the coil of the electromagnetic brake 1 to be energized when the electromagnetic brake 1 is functioning normally, causing the electromagnetic brake 1 to release the motor shaft 3. The status control module controls the motor shaft 3 to rotate along a first direction according to a parking command. Then, the brake control module, based on the operating state of the motor shaft 3, drives the brake module 4 to brake, thereby achieving parking. When the status control module receives a release command, it controls the electromagnetic brake 1 to be energized, causing the motor shaft 3 to rotate along a second direction opposite to the first direction. The brake control module, based on the operating state of the motor shaft 3, controls the brake module 4 to release, achieving parking release.

[0138] Furthermore, the control device of the electromechanical braking system provided in this embodiment can still adjust the working mode of the brake motor 2 to motor speed control mode through the mode control module when the electromagnetic brake 1 fails. This allows the state control module to apply a larger output torque to the brake motor 2, enabling the brake control module to perform emergency parking according to the parking command when the electromagnetic brake 1 fails, and emergency release according to the release command. This configuration, using a single control system, can achieve both parking and release, as well as emergency parking and emergency release in the event of an electromagnetic brake 1 failure, achieving reliable parking and release of the electromechanical braking system while reducing its size.

[0139] This embodiment provides an electromechanical braking system. Based on the above embodiments, see below. Figure 2 The electromechanical braking system provided in this embodiment includes: a control device for the electromechanical braking system proposed in any of the above embodiments, a brake motor 2, an electromagnetic brake 1, and a braking module 4; the electromagnetic brake 1 is provided on the motor shaft 3 of the brake motor 2, and the electromagnetic brake 1 is used to release the motor shaft 3 when energized and to lock the motor shaft 3 when de-energized; the control device of the electromechanical braking system is connected to the brake motor 2 and the electromagnetic brake 1; the braking module 4 is connected to the motor shaft 3 of the brake motor 2; the braking module 4 is used to perform parking when the motor shaft 3 rotates in a first direction and to perform release when the motor shaft 3 rotates in a second direction.

[0140] Specifically, the braking module 4 includes a ball screw mechanism 41, a caliper 42, a brake pad 43, and a brake disc 44. The connection relationships and working processes of the components of the braking module 4 are the same as those in the above-described embodiment, and will not be repeated here.

[0141] This embodiment provides a vehicle. The vehicle provided in this embodiment includes the control device of the electromechanical braking system proposed in any of the above embodiments, and has the beneficial effects of the control device of the electromechanical braking system proposed in any of the above embodiments; or, it includes the electromechanical braking system proposed in any of the above embodiments, and has the beneficial effects of the electromechanical braking system proposed in any of the above embodiments, which will not be described again here.

[0142] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for an electromechanical braking system, characterized in that, include: Obtain fault status information of the electromagnetic brake; Based on the fault status information of the electromagnetic brake, control the working state of the electromagnetic brake and control the working mode of the brake motor. The working state of the motor shaft of the brake motor is controlled according to the parking command or release command; The braking module is controlled to clamp or release depending on the operating state of the motor shaft.

2. The method according to claim 1, characterized in that, The step of controlling the operating state of the electromagnetic brake and the operating mode of the brake motor based on the fault status information of the electromagnetic brake includes: When the electromagnetic brake is working normally, it controls the working mode of the brake motor to clamping force control mode and controls the working state of the electromagnetic brake; the electromagnetic brake is used to release the motor shaft when energized and to lock the motor shaft when de-energized. When the electromagnetic brake fails, the operating mode of the brake motor is switched to motor speed control mode, and the operating status of the brake motor is controlled.

3. The method according to claim 2, characterized in that, The step of controlling the working state of the motor shaft of the brake motor according to the parking command or release command includes: According to the parking command, the motor shaft of the brake motor is controlled to rotate in a first direction; or, According to the release command, the motor shaft of the brake motor is controlled to rotate in a second direction; the first direction and the second direction are opposite.

4. The method according to claim 3, characterized in that, The step of controlling the motor shaft of the brake motor to rotate in a first direction according to the parking command includes: According to the parking command, when the electromagnetic brake is working normally, the electromagnetic brake is energized, the motor shaft of the brake motor is controlled to output a first torque, and the motor shaft is controlled to rotate in a first direction. According to the parking command, when the electromagnetic brake fails, the brake motor is controlled to output a second torque, and the motor shaft is controlled to rotate in a first direction; the second torque is greater than the locking torque of the electromagnetic brake; the first torque is less than the second torque.

5. The method according to claim 4, characterized in that, The step of controlling the motor shaft of the brake motor to rotate in the second direction according to the release command includes: According to the release command, when the electromagnetic brake is working normally, the clamping force of the braking module is obtained, and according to the difference between the clamping force of the braking module and the preset clamping force, the electromagnetic brake is energized, the brake motor is controlled to output a third torque, and the motor shaft is controlled to rotate in the second direction. According to the release command, when the electromagnetic brake fails, the brake motor is controlled to output a fourth torque, and the motor shaft is controlled to rotate in a second direction; the fourth torque is greater than the locking torque of the electromagnetic brake, and the third torque is less than the fourth torque.

6. The method according to claim 5, characterized in that, The step of controlling the braking module to clamp or release based on the operating state of the motor shaft includes: When the motor shaft of the brake motor rotates in a first direction, the brake module is controlled to clamp and park. When the motor shaft of the brake motor rotates in the second direction, the brake module is controlled to release.

7. The method according to claim 6, characterized in that, After the brake module is clamped and parked when the motor shaft of the brake motor rotates in the first direction, the method further includes: When the electromagnetic brake is working normally, the clamping force of the braking module is obtained; When the difference between the clamping force of the braking module and the preset target clamping force is less than a preset difference value, the electromagnetic brake is de-energized. A zero-torque command is sent to the brake motor, and the motor shaft outputs zero torque according to the zero-torque command, thus entering a successful parking state.

8. A control device for an electromechanical braking system, characterized in that, include: The acquisition module is used to acquire fault status information of the electromagnetic brake. The mode control module is used to control the working state of the electromagnetic brake and the working mode of the brake motor based on the fault status information of the electromagnetic brake. The status control module is used to control the working state of the motor shaft of the brake motor according to the parking command or release command; The braking control module is used to control the braking module to clamp or release the vehicle based on the working state of the motor shaft.

9. An electromechanical braking system, characterized in that, include: The control device for the electromechanical braking system according to claim 8, as well as the brake motor, electromagnetic brake and braking module; The electromagnetic brake is provided on the motor shaft of the brake motor. The electromagnetic brake is used to release the motor shaft when energized and to lock the motor shaft when de-energized. The control device of the electromechanical braking system is connected to the brake motor and the electromagnetic brake; the braking module is connected to the motor shaft of the brake motor. The braking module is used to perform parking when the motor shaft rotates in a first direction and to perform release when the motor shaft rotates in a second direction.

10. A vehicle, characterized in that, include: The control device for the electromechanical braking system according to claim 8, or the electromechanical braking system according to claim 9.

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