Novel brake simulator

Abstract

The utility model discloses a novel brake simulator, relates to the technical field of automobile brake, and solves the problems of low precision and slow response speed of a traditional brake system. A plurality of chambers are arranged in a simulator shell, a linear displacement sensor is arranged in a first chamber, and an electromagnetic power-assisted unit is arranged in a second chamber; the first push rod is connected with the electromagnetic power assisting unit. A flange plate is arranged on the push rod, a push plate is arranged on the flange plate, and the push plate is connected with a linear displacement sensor; spring structures are arranged in the cavity I and the cavity III; a spring structure in the chamber I is sleeved on the push rod, one end is connected with the flange plate, and the other end is connected with the inner wall of the chamber I; one end of a spring structure in the third cavity is connected with the electromagnetic power-assisted unit, and the other end of the spring structure is connected with the inner wall of the third cavity. The permanent magnet is used as an executing mechanism, and the electromagnetic coil is used as a base, so that a driver has different pedal feelings in the control process. The pedal feeling of a driver is provided by a spring and an electromagnetic power assisting unit of the simulator.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile braking, in particular to a novel braking simulator. Background Art

[0002] As the level of autonomous driving advances towards L4 and above, higher requirements are placed on the vehicle's braking system. The actuators of autonomous vehicles cannot use the driver as redundancy. To ensure the safety performance of unmanned vehicles, while considering the complexity of the system and the layout of the interior space, as well as the low precision and slow response speed of the traditional braking system, it is an inevitable trend to use wire control braking instead of the traditional braking system.

[0003] Braking by wire not only achieves human-machine decoupling, but also has high precision and high response speed. It can more easily achieve dual or even multiple redundancy, replace traditional hydraulic transmission with electrical signals, and the motor is directly integrated on the brake, which has low weight and faster response speed. Utility Model Content

[0004] In order to solve the problems of low precision and slow response speed of the traditional braking system mentioned above, the utility model proposes a new brake simulator. The utility model adopts permanent magnets as actuators and electromagnetic coils as bases to achieve different pedal feelings during the driver's operation. The driver's pedal feeling is provided by the simulator's spring and electromagnetic booster mechanism.

[0005] The utility model proposes a novel braking simulator, which specifically comprises a push rod, a simulator housing, a plurality of springs, an electromagnetic power-assisting unit and a linear displacement sensor. Chamber one, chamber two and chamber three are arranged inside the simulator housing, the linear displacement sensor is arranged in chamber one, and the electromagnetic power-assisting unit is arranged in chamber two; one end of the push rod extends into the simulator housing and is movably connected with the electromagnetic power-assisting unit; a flange is arranged on the push rod, a push plate is arranged on the flange, and the push plate is connected with the linear displacement sensor; a plurality of spring structures are arranged in chamber one and chamber three; the spring structure in chamber one is sleeved on the push rod, one end of which is connected with the flange, and the other end is connected with the inner wall of chamber one; one end of the spring structure arranged in chamber three is connected with the electromagnetic power-assisting unit, and the other end is connected with the inner wall of chamber three.

[0006] Furthermore, the spring structure in the chamber one is a variable stiffness spring, and the variable stiffness spring is a conical structure.

[0007] Furthermore, the spring structure arranged in chamber three includes a gap spring and a preload spring, and the gap spring is coaxially arranged inside the preload spring; one end of the preload spring is connected to the electromagnetic assist unit, and the other end is connected to the inner wall of chamber three; one end of the gap spring is suspended, and the other end is connected to the inner wall of chamber three.

[0008] Furthermore, the linear displacement sensor includes a sensor body, a core rod and a shell, wherein the sensor body is slidably arranged inside the shell; one end of the core rod is connected to the push plate, and the other end is connected to the sensor body.

[0009] Furthermore, the push rod includes push rod one and push rod two, and push rod one, push rod two and the electromagnetic assist unit are connected in sequence; two force sensors are arranged at the connection position between push rod one and push rod two.

[0010] Furthermore, the electromagnetic assist unit comprises an electromagnetic coil and a permanent magnet unit, and the electromagnetic coil and the permanent magnet unit are coaxially arranged; one end of the permanent magnet unit is connected to the push rod, and the other end is connected to the preload spring.

[0011] Furthermore, the permanent magnet unit adopts a linear Halbach array structure.

[0012] Furthermore, the electromagnetic assist unit includes an electromagnetic coil and a permanent magnet unit, the electromagnetic coil is a ring structure, the permanent magnet unit is a disc structure, and the electromagnetic coil and the permanent magnet unit are arranged in parallel; one end of the permanent magnet unit is connected to the push rod, and the other end is connected to the preload spring.

[0013] Furthermore, the permanent magnet unit adopts a ring-shaped Halbach array structure.

[0014] The beneficial effects of the novel brake simulator described in the utility model are:

[0015] (1) The novel brake simulator described in the utility model overcomes the problems of low precision and slow response speed of the traditional brake system. By setting a plurality of spring structures, the simulator can adjust different brake pedal feelings according to the needs of the driver and adjust the input current according to the driver's instructions, so as to achieve different pedal strokes and different decelerations of the vehicle under the same pedal force;

[0016] (2) The novel brake simulator described in the utility model generates different electromagnetic fields by controlling the current input into the electromagnetic coil. The permanent magnet unit in the electromagnetic field is used as a motion mechanism to generate electromagnetic assistance. The mechanism is a permanent magnet structure arranged in a Halbach array, which ultimately forms a unilateral magnetic field with excellent magnetic field distribution and high utilization rate. The electromagnetic assistance is generated by the current of the permanent magnet and the external magnetic field. The magnitude of the external magnetic field current determines the magnitude of the assistance, which in turn affects the stiffness of the simulator, so that the driver can feel different pedals under the same force.

[0017] (3) The utility model describes a novel brake simulator, which can output brake pedal travel signals, brake force signals and brake pedal acceleration signals. The signals are directly sent to the chassis CAN network, and the signal transmission is fast and has low latency. Both the brake controller and the caliper motor nodes can receive CAN signal instructions, and the signal transmission is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and the description thereof are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0019] In the attached picture:

[0020] Figure 1 It is an assembly diagram of implementation mode 1 of a novel brake simulator described in the utility model;

[0021] Figure 2 It is a cross-sectional view of an electromagnetic booster unit of a first embodiment of a novel brake simulator described in the utility model;

[0022] Figure 3 It is a cross-sectional view of a permanent magnet unit of the first embodiment of a novel brake simulator described in the utility model;

[0023] Figure 4 It is a schematic diagram of a linear Halbach array of a permanent magnet unit in the first embodiment of a novel brake simulator described in the utility model;

[0024] Figure 5 It is a structural diagram of a permanent magnet unit of a second embodiment of a novel brake simulator described in the utility model;

[0025] Figure 6 It is an isometric view of a permanent magnet unit of a second embodiment of a novel brake simulator described in the utility model;

[0026] Figure 7 It is an isometric view of an electromagnetic coil of a second embodiment of a novel brake simulator described in the utility model;

[0027] Figure 8 It is an assembly diagram of a second implementation mode of a novel brake simulator described in the utility model;

[0028] Fig. 9 It is a cross-sectional view of an electromagnetic booster unit of a second embodiment of a novel brake simulator described in the utility model;

[0029] Fig.10 It is a structural schematic diagram of a novel linear displacement sensor of a brake simulator described in the utility model;

[0030] Among them: 1-push rod, 2-simulator housing, 3-variable stiffness spring, 4-electromagnetic coil, 5-permanent magnet unit, 6-gap spring, 7-preload spring, 8-end plate, 9-nut, 10-core rod, 11-linear displacement sensor, 12-push plate, 13-force sensor, 14-chamber one, 15-chamber two, 16-chamber three, 17-sensor body, 18-housing, 19-push rod one, 20-push rod two. DETAILED DESCRIPTION

[0031] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings:

[0032] Specific implementation method 1: See Figure 1-Figure 4 as well as Fig.10 The present embodiment is described in detail. A novel brake simulator described in the present embodiment specifically includes a push rod 1, a simulator housing 2, a plurality of springs, an electromagnetic power-assisting unit and a linear displacement sensor 11. The simulator housing 2 is provided with chamber 1 14, chamber 2 15 and chamber 3 16. The chamber 1 14 is provided with a linear displacement sensor 11, and the chamber 2 15 is provided with an electromagnetic power-assisting unit; one end of the push rod 1 extends into the simulator housing 2 and is movably connected with the electromagnetic power-assisting unit; a flange is provided on the push rod 1, and a push plate 12 is provided on the flange, and the push plate 12 is connected to the linear displacement sensor 11; a plurality of spring structures are provided in chamber 1 14 and chamber 3 16; the spring structure in chamber 1 14 is sleeved on the push rod 1, one end of which is connected to the flange, and the other end is connected to the inner wall of chamber 1 14; one end of the spring structure provided in chamber 3 16 is connected to the electromagnetic power-assisting unit, and the other end is connected to the inner wall of chamber 3 16.

[0033] The spring structure in the chamber 14 is a variable stiffness spring 3, which is a conical structure; the tip of the conical structure of the variable stiffness spring 3 is connected to the flange on the push rod 1, and the bottom end of the conical structure is fixedly connected to the partition between chamber 14 and chamber 2 15.

[0034] The spring structure arranged in the chamber three 16 includes a gap spring 6 and a preload spring 7, and the gap spring 6 is coaxially arranged inside the preload spring 7; one end of the preload spring 7 is connected to the electromagnetic assist unit, and the other end is connected to the inner wall of the chamber three 16 (that is, the end plate 8 of the simulator housing 2); one end of the gap spring 6 is suspended, and the other end is connected to the inner wall of the chamber three 16 (that is, the end plate 8 of the simulator housing 2).

[0035] The linear displacement sensor 11 includes a sensor body 17, a core rod 10 and a housing 18. The sensor body 17 is slidably arranged inside the housing 18. One end of the core rod 10 is connected to the push plate 12, and the other end is connected to the sensor body 17. The core rod 10 moves under the pressure of the push plate 12, and generates relative motion with the housing 18 of the linear displacement sensor 11. The linear displacement sensor 11 detects the movement of the core rod 10 by measuring the voltage difference between the two side coils arranged inside it, and converts the voltage difference into a corresponding digital output through a signal processing circuit.

[0036] The push rod 1 includes a push rod 19 and a push rod 20, which are connected to the electromagnetic power unit in sequence; two force sensors 13 are arranged at the connection position between the push rod 19 and the push rod 20, and the output pedal force is detected by the force sensors 13.

[0037] The electromagnetic assist unit includes an electromagnetic coil 4 and a permanent magnet unit 5, and the electromagnetic coil 4 and the permanent magnet unit 5 are coaxially arranged; one end of the permanent magnet unit 5 is movably connected to the push rod 1, and the other end is connected to the preload spring 7; the permanent magnet unit 5 moves by relying on the magnetic field generated by the electromagnetic coil 4. There is a certain gap between the electromagnetic coil 4 and the permanent magnet assembly 5, the electromagnetic coil 4 is fixed to the simulator housing 2, and the permanent magnet unit 5 is a moving part. The permanent magnet unit 5 adopts a linear Halbach array structure. The Halbach array can greatly improve the magnetic field strength of the permanent magnet, improve the magnetic density between the permanent magnet and the electromagnetic coil, and form a unilateral magnetic field with excellent magnetic field distribution and high utilization rate. A cavity is arranged inside the permanent magnet unit 5, one end of the push rod 20 extends into the cavity inside the permanent magnet unit 5, and a nut 9 is arranged at the end of the push rod 20.

[0038] The specific working process of a novel brake simulator described in this embodiment is as follows:

[0039] When the driver presses the brake pedal to brake, the push rod 1 is forced to move toward the simulator. In this process, it overcomes the variable stiffness spring 3 and the initial spring 7 to generate movement, such as Fig.10 The core rod 10 of the linear displacement sensor 11 shown moves under the pressure of the push plate 12, and generates relative movement with the shell 18 of the linear displacement sensor 11. The linear displacement sensor 11 detects the movement of the core rod 10 by measuring the voltage difference in the two side coils arranged inside it, and converts this voltage difference into a corresponding digital output through a signal processing circuit.

[0040] One end of the variable stiffness spring 3 is pressed on the flange of the push rod 1, and the other end is fixed on the simulator housing 2. The variable stiffness spring 3 is determined according to the requirement of the pedal feel during electrical failure. After electrical failure, the push rod 1 overcomes the movement of the variable stiffness spring 3, the permanent magnet unit 5 remains stationary, and the end of the push rod 1 moves in the cavity inside the permanent magnet unit 5. The displacement sensor 11 and the force sensor 13 can still output pedal force and pedal travel signals under the backup power supply. Since there is no need to overcome the preload spring 7 and the gap spring 6, the pedal does not need too much force to be stepped on to the bottom, thereby stopping the vehicle.

[0041] Under normal circumstances, when the brake pedal is depressed, the push rod 1 overcomes the movement of the variable stiffness spring 3, the linear displacement sensor 11 outputs the displacement, and the force sensor 13 outputs the pedal force. The simulator controller inputs different current values ​​into the electromagnetic coil 4 according to the stroke of the push rod 1 and the selected power assist amount. Under the action of the magnetic field of the electromagnetic coil 4, the permanent magnet unit 5 produces a thrust in the same direction as the pedal force to overcome the movement of the preload spring 7. The initial pedal feel is determined by the stiffness of the variable stiffness spring 3 and the preload spring 7. This is a commonly used deceleration area, where a high degree of differentiation is required between the pedal force and the deceleration, and high linearity is required. This is an area where braking comfort is mainly reflected.

[0042] Continue to step on the pedal. With the help of electromagnetic force, the permanent magnet unit 5 moves to L and contacts the gap spring 6. The simulator stiffness is the sum of the variable stiffness spring 3, the preload spring 7, and the gap spring 6. At this time, the electromagnetic assist is adjusted according to the driver's needs. The stiffness of the rear section is increased, and the assist is also increased. The specific feeling is light or heavy, which can be customized by the driver. The default pedal feeling is heavier. In this embodiment, the permanent magnet unit 5 adopts a linear Halbach array structure.

[0043] Specific implementation method 2: See Figure 5-Figure 10 The present embodiment is described in detail. A novel brake simulator described in the present embodiment specifically includes a push rod 1, a simulator housing 2, a plurality of springs, an electromagnetic power-assisting unit and a linear displacement sensor 11. The simulator housing 2 is provided with chamber 1 14, chamber 2 15 and chamber 3 16. The chamber 1 14 is provided with a linear displacement sensor 11, and the chamber 2 15 is provided with an electromagnetic power-assisting unit; one end of the push rod 1 extends into the simulator housing 2 and is movably connected with the electromagnetic power-assisting unit; a flange is provided on the push rod 1, and a push plate 12 is provided on the flange, and the push plate 12 is connected to the linear displacement sensor 11; a plurality of spring structures are provided in chamber 1 14 and chamber 3 16; the spring structure in chamber 1 14 is sleeved on the push rod 1, one end of which is connected to the flange, and the other end is connected to the inner wall of chamber 1 14; one end of the spring structure provided in chamber 3 16 is connected to the electromagnetic power-assisting unit, and the other end is connected to the inner wall of chamber 3 16.

[0044] The spring structure in the chamber 14 is a variable stiffness spring 3, which is a conical structure; the tip of the conical structure of the variable stiffness spring 3 is connected to the flange on the push rod 1, and the bottom end of the conical structure is fixedly connected to the partition between chamber 14 and chamber 2 15.

[0045] The spring structure arranged in the chamber three 16 includes a gap spring 6 and a preload spring 7, and the gap spring 6 is coaxially arranged inside the preload spring 7; one end of the preload spring 7 is connected to the electromagnetic assist unit, and the other end is connected to the inner wall of the chamber three 16 (that is, the end plate 8 of the simulator housing 2); one end of the gap spring 6 is suspended, and the other end is connected to the inner wall of the chamber three 16 (that is, the end plate 8 of the simulator housing 2).

[0046] The linear displacement sensor 11 includes a sensor body 17, a core rod 10 and a housing 18. The sensor body 17 is slidably arranged inside the housing 18. One end of the core rod 10 is connected to the push plate 12, and the other end is connected to the sensor body 17. The core rod 10 moves under the pressure of the push plate 12, and generates relative motion with the housing 18 of the linear displacement sensor 11. The linear displacement sensor 11 detects the movement of the core rod 10 by measuring the voltage difference between the two side coils arranged inside it, and converts the voltage difference into a corresponding digital output through a signal processing circuit.

[0047] The push rod 1 includes a push rod 19 and a push rod 20, which are connected to the electromagnetic power unit in sequence; two force sensors 13 are arranged at the connection position between the push rod 19 and the push rod 20, and the output pedal force is detected by the force sensors 13.

[0048] The electromagnetic assist unit includes an electromagnetic coil 4 and a permanent magnet unit 5. The electromagnetic coil 4 is an annular structure, and the permanent magnet unit 5 is a disc structure. The electromagnetic coil 4 and the permanent magnet unit 5 are arranged in parallel; one end of the permanent magnet unit 5 is movably connected to the push rod 1, and the other end is connected to the preload spring 7; the gap spring 6 and the preload spring 7 pass through the center of the electromagnetic coil 4; the permanent magnet unit 5 moves by relying on the magnetic field generated by the electromagnetic coil 4. The permanent magnet unit 5 adopts an annular Halbach array structure. A cavity is arranged inside the permanent magnet unit 5, one end of the push rod 20 extends into the cavity inside the permanent magnet unit 5, and a nut 9 is arranged at the end of the push rod 20.

[0049] The specific working process of a novel brake simulator described in this embodiment is as follows:

[0050] When the driver presses the brake pedal to brake, the push rod 1 is forced to move toward the simulator. In this process, it overcomes the variable stiffness spring 3 and the initial spring 7 to generate movement, such as Figure 8As shown, the core rod 10 of the linear displacement sensor 11 moves under the pressure of the push plate 12, and generates relative movement with the shell 18 of the linear displacement sensor 11. The linear displacement sensor 11 detects the movement of the core rod 10 by measuring the voltage difference in the two side coils arranged inside it, and converts this voltage difference into a corresponding digital output through a signal processing circuit.

[0051] One end of the variable stiffness spring 3 is pressed on the flange of the push rod 1, and the other end is fixed on the simulator housing 2. The variable stiffness spring 3 is determined according to the requirement of the pedal feel during electrical failure. After electrical failure, the push rod 1 overcomes the movement of the variable stiffness spring 3, and the displacement sensor 11 and the force sensor 13 can still output pedal force and pedal travel signals under the backup power supply. Since there is no need to overcome the preload spring 7 and the clearance spring 6, the pedal does not need too much force to be stepped on to the bottom, thereby stopping the vehicle.

[0052] Under normal circumstances, when the brake pedal is depressed, the push rod 1 overcomes the movement of the variable stiffness spring 3, the linear displacement sensor 11 outputs the displacement, and the force sensor 13 outputs the pedal force. The simulator controller inputs different current values ​​into the electromagnetic coil 4 according to the stroke of the push rod 1 and the selected power assist amount. Under the action of the magnetic field of the electromagnetic coil 4, the permanent magnet unit 5 produces a thrust in the same direction as the pedal force to overcome the movement of the preload spring 7. The initial pedal feel is determined by the stiffness of the variable stiffness spring 3 and the preload spring 7. This is a commonly used deceleration area, where a high degree of differentiation is required between the pedal force and the deceleration, and high linearity is required. This is an area where braking comfort is mainly reflected.

[0053] Continue to step on the pedal. With the help of electromagnetic force, the permanent magnet unit 5 moves backward a certain distance to contact the gap spring 6. The simulator stiffness is the sum of the variable stiffness spring 3, the preload spring 7, and the gap spring 6. At this time, the electromagnetic assist is adjusted according to the driver's needs. The stiffness of the rear section is increased, and the assist is also increased. The specific feeling is light or heavy, which can be customized by the driver. The default pedal feeling is heavier. In this embodiment, the permanent magnet unit 5 adopts a ring-shaped Halbach array structure.

[0054] To summarize the above implementation cases, the novel brake simulator described in the utility model overcomes the problems of low precision and slow response speed of traditional brake systems. By setting up a number of spring structures, the simulator can adjust different brake pedal feelings according to the needs of the driver, and adjust the input current size according to the driver's instructions, so as to achieve different pedal strokes and different decelerations of the vehicle under the same pedal force; the novel brake simulator described in the utility model generates different electromagnetic fields by controlling the current input into the electromagnetic coil 4, and the permanent magnet unit 5 in the electromagnetic field is used as a motion mechanism to generate electromagnetic assistance, and the mechanism is a Halbach array The arranged permanent magnet structure eventually forms a unilateral magnetic field with excellent magnetic field distribution and high utilization rate; the electromagnetic power assistance is generated by the current of the permanent magnet and the external magnetic field, and the size of the external magnetic field current determines the size of the power assistance, which in turn affects the stiffness of the simulator, so that the driver can feel different pedals under the same force; the utility model describes a new type of brake simulator, which can output brake pedal travel signals, braking force signals and acceleration signals of brake pedal depression, and the signals are directly sent to the chassis CAN network, with rapid signal transmission and low delay, and both the brake controller and the caliper motor nodes can receive CAN signal instructions, making signal transmission safer.

[0055] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the utility model in detail. It should be understood that the above description is only a specific embodiment of the utility model and is not intended to limit the utility model. It can also be a reasonable combination of the features recorded in the above implementation methods. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A new type of braking simulator, characterized in that: The invention comprises a push rod (1), a simulator housing (2), a plurality of springs, an electromagnetic assist unit and a linear displacement sensor (11); the simulator housing (2) is provided with a chamber 1 (14), a chamber 2 (15) and a chamber 3 (16); the chamber 1 (14) is provided with a linear displacement sensor (11); the chamber 2 (15) is provided with an electromagnetic assist unit; one end of the push rod (1) extends into the simulator housing (2) and is movably connected to the electromagnetic assist unit; a spring is provided on the push rod (1); A flange is provided on which a push plate (12) is arranged, and the push plate (12) is connected to a linear displacement sensor (11); a plurality of spring structures are arranged in chamber one (14) and chamber three (16); the spring structure in chamber one (14) is sleeved on a push rod (1), one end of which is connected to the flange and the other end of which is connected to the inner wall of chamber one (14); one end of the spring structure arranged in chamber three (16) is connected to an electromagnetic assist unit and the other end of which is connected to the inner wall of chamber three (16).

2. A novel brake simulator according to claim 1, characterized in that: The spring structure in the chamber 1 (14) is a variable stiffness spring (3), and the variable stiffness spring (3) is a conical structure.

3. A novel brake simulator according to claim 1, characterized in that: The spring structure arranged in the chamber three (16) includes a gap spring (6) and a preload spring (7), wherein the gap spring (6) is coaxially arranged inside the preload spring (7); one end of the preload spring (7) is connected to the electromagnetic assist unit, and the other end is connected to the inner wall of the chamber three (16); one end of the gap spring (6) is suspended, and the other end is connected to the inner wall of the chamber three (16).

4. A novel brake simulator according to claim 1, characterized in that: The linear displacement sensor (11) comprises a sensor body (17), a core rod (10) and a shell (18); the sensor body (17) is slidably arranged inside the shell (18); one end of the core rod (10) is connected to the push plate (12), and the other end is connected to the sensor body (17).

5. A novel brake simulator according to claim 1, characterized in that: The push rod (1) comprises a push rod 1 (19) and a push rod 2 (20), and the push rod 1 (19), the push rod 2 (20) and the electromagnetic booster unit are connected in sequence; two force sensors (13) are arranged at the connection position between the push rod 1 (19) and the push rod 2 (20).

6. A novel brake simulator according to claim 3, characterized in that: The electromagnetic assist unit comprises an electromagnetic coil (4) and a permanent magnet unit (5), wherein the electromagnetic coil (4) and the permanent magnet unit (5) are coaxially arranged; one end of the permanent magnet unit (5) is connected to the push rod (1), and the other end is connected to the preload spring (7).

7. A novel brake simulator according to claim 6, characterized in that: The permanent magnet unit (5) adopts a linear Halbach array structure.

8. A novel brake simulator according to claim 3, characterized in that: The electromagnetic assist unit comprises an electromagnetic coil (4) and a permanent magnet unit (5); the electromagnetic coil (4) is a ring-shaped structure, the permanent magnet unit (5) is a disc-shaped structure, and the electromagnetic coil (4) and the permanent magnet unit (5) are arranged in parallel; one end of the permanent magnet unit (5) is connected to the push rod (1), and the other end is connected to the preload spring (7).

9. A novel brake simulator according to claim 8, characterized in that: The permanent magnet unit (5) adopts a ring-shaped Halbach array structure.

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