Brake-by-wire system pedal assembly fused with magnetorheological fluid damper to simulate foot feeling

Abstract

The utility model provides a brake-by-wire system pedal assembly fused with a magnetorheological fluid damper to simulate foot feeling. The brake-by-wire system pedal assembly comprises a pedal and the magnetorheological fluid damper. The pedal is composed of a brake rod, a ball pin base, a pedal supporting frame, a bearing assembly, a rotating shaft and a pedal panel. A pedal panel is fixedly installed at one end of the brake rod, the other end of the brake rod is installed on a rotating shaft, and the rotating shaft is installed on a pedal supporting frame through a bearing assembly. A ball pin base is fixedly installed below the brake rod, a ball pin is installed in the ball pin base, and one end of the ball pin is connected with an upper piston rod of the magnetorheological fluid damper. According to the brake-by-wire system pedal assembly, the foot feeling damping force can be rapidly adjusted according to different position changes and the requirements of a user, and a more accurate and personalized foot feeling feedback function is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile braking, in particular to a brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel. Background Art

[0002] With the advancement of vehicle technology, brake system pedal assemblies with integrated simulators are widely used in vehicles. Many pedal simulators utilize multiple springs of varying stiffness to provide a rebound feel. Some solutions utilize only springs and rubber pads. Technical solutions, such as "CN118061966A," an electro-mechanical pedal system for advanced autonomous driving, still lack active adjustment, making it difficult to meet the braking feel simulation needs of different users.

[0003] The foot feel simulation of the steer-by-wire braking system should meet the needs of different groups of people as the position changes. The foot feel simulation of the wire-controlled braking system should meet the needs of different groups of people for precise adjustment as the pedal position changes. Therefore, the utility model proposes a new technical solution to achieve approximately constant force-displacement characteristics in the initial position and near-limit position, and to ensure that the intermediate displacement section has a force-displacement characteristic that changes with external electrical excitation. By sensing the driver's pedaling force and position changes, the electronic control system generates corresponding electrical excitation and adjusts the damping force of the magnetorheological fluid damper in real time, thereby simulating different foot feel effects. Utility Model Content

[0004] The utility model provides a brake-by-wire system pedal assembly that integrates a magnetorheological fluid damper to simulate foot feel. The brake-by-wire system pedal assembly can quickly adjust the foot feel damping force according to different position changes and user needs, and has a more accurate and personalized foot feel feedback function.

[0005] The utility model is achieved through the following technical solutions:

[0006] A brake-by-wire system pedal assembly that incorporates a magnetorheological fluid damper to simulate foot feel, comprising a pedal and a magnetorheological fluid damper;

[0007] The pedal is composed of a brake rod, a ball stud base, a pedal support frame, a bearing assembly, a rotating shaft and a pedal panel;

[0008] One end of the brake lever is fixedly mounted with a pedal panel, and the other end of the brake lever is mounted on a rotating shaft, and the rotating shaft is mounted on the pedal support frame through a bearing assembly;

[0009] A ball pin base is fixedly installed below the brake rod, a ball pin is installed in the ball pin base, and one end of the ball pin is connected to the upper piston rod of the magnetorheological fluid damper.

[0010] Furthermore, the magnetorheological fluid damper includes an upper piston rod, an upper cylinder, an upper end cover, an upper piston core, a lower piston core, an electromagnetic coil, a lower piston rod, a pressure plate, a lower cylinder, a coil spring, and a rubber buffer pad;

[0011] The upper cylinder and the lower cylinder are threadedly connected, the upper end cover is threadedly connected to the upper portion of the upper cylinder, and the lower end cover is threadedly connected to the lower portion of the lower cylinder;

[0012] An upper piston core and a lower piston core are provided in the upper cylinder, and a coil spring and a rubber buffer pad are provided in the lower cylinder;

[0013] The upper piston core and the lower piston core are threadedly connected, the upper piston rod passes through the upper end cover and is threadedly connected to the upper piston core, and the lower part of the lower piston core is threadedly connected to the upper end of the lower piston rod;

[0014] A pressure plate is coaxially fixedly mounted on the middle portion of the lower piston rod, a coil spring is disposed below the pressure plate, and a rubber buffer pad is mounted below the coil spring;

[0015] An electromagnetic coil is wound around and fixed on the outer wall of the lower piston core. The upper piston core, the lower piston core and the electromagnetic coil together constitute a piston assembly. The space formed by the inner wall of the upper cylinder and the outer wall of the piston assembly is a working chamber. The piston assembly divides the working chamber into a recovery chamber and a compression chamber. Both the recovery chamber and the compression chamber are filled with magnetorheological fluid.

[0016] The outer diameters of the upper piston core and the lower piston core are smaller than the inner diameter of the upper cylinder; the circumferential gap reserved between the upper piston core and the upper cylinder forms a first annular channel; the circumferential gap reserved between the lower piston core and the upper cylinder forms a second annular channel.

[0017] Furthermore, a first rubber ring, a first step seal, and a first bushing are sequentially provided at the contact position between the upper end cover and the upper piston rod from top to bottom; the first rubber ring, the first step seal, and the first bushing cooperate with each other to ensure the sealing effect of the magnetorheological fluid damper and slide in cooperation with the upper piston rod;

[0018] A second bushing, a second rubber ring, and a second stop seal are sequentially provided at the position where the inner wall of the lower cylinder barrel contacts the outer wall of the lower piston rod. The second bushing, the second rubber ring, and the second stop seal are slidably engaged with the lower piston rod to further prevent the magnetorheological fluid in the working chamber from entering the inner cavity of the lower cylinder barrel.

[0019] The position where the upper end cover contacts the upper cylinder is provided with a third rubber ring and a fourth rubber ring in sequence from top to bottom.

[0020] Furthermore, a filling hole is processed on the end surface of the upper end cover, a sealing screw is threadedly connected to the filling hole, and the magnetorheological fluid is added to the interior of the working chamber through the filling hole.

[0021] Furthermore, an anti-slip pad is installed on the pedal panel.

[0022] Furthermore, the rotating shaft is rotatably connected to the pedal support frame through a bearing assembly, and one end of the rotating shaft extending out of the pedal support frame is fixedly connected to the boss pad. Between the two vertical plates of the pedal support frame, an axle tube is provided on the outer periphery of the rotating shaft, and the brake rod is installed on the axle tube. The other end of the rotating shaft extending out of the pedal support frame is installed with an angle sensor, and a bracket pad is installed between the angle sensor and the vertical plate of the pedal support frame.

[0023] Furthermore, it also includes an electronic control system and a power supply; the lower piston rod is a hollow structure, and the magnetorheological fluid damper electric excitation lead passes through the lower piston rod and is connected to the electromagnetic coil; the electronic control system power supply lead is connected to the power supply to provide power for the electronic control system; the electronic control system is connected to the angle sensor lead to assist the electronic control system in obtaining the position and movement of the piston assembly.

[0024] Furthermore, the diameters of the upper piston rod and the lower piston rod are the same, thereby avoiding the problem of liquid compensation of the magnetorheological fluid damper.

[0025] Furthermore, a connecting plate is provided on the outer wall of the upper cylinder, and the connecting plate and the bottom plate of the pedal support frame are fixedly connected by a bolt assembly.

[0026] Furthermore, the upper piston core, the lower piston core and the upper cylinder are all made of magnetic conductive materials.

[0027] Beneficial technical effects of the utility model:

[0028] (1) The utility model establishes a technical solution combining a magnetorheological fluid damper, a coil spring and a rubber buffer pad, so as to realize that the initial position and the near-limit position each have approximately constant force-displacement characteristics, ensure that the intermediate displacement section has a force-displacement characteristic that changes with external electrical excitation, and integrate the advantages of rapid response, adjustability, and adaptability to a wide range of people.

[0029] (2) The electronic control system adjusts the damping force in real time according to the signals collected by the angle sensor and the corresponding control strategy, achieving more accurate and personalized foot feel simulation adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings:

[0031] Figure 1 This is the main structural diagram of the utility model;

[0032] Figure 2 This is a side view of the three-dimensional structure of the overall device of the utility model;

[0033] Figure 3 Schematic diagram of the structure of the upper end cover;

[0034] Figure 4 It is a structural diagram of the shaft part;

[0035] Figure 5 Schematic diagram of the external structure of the magnetorheological fluid damper;

[0036] Figure 6 Schematic diagram of the internal structure of the magnetorheological fluid damper;

[0037] Figure 7 This is an overall cross-sectional view of the magnetorheological fluid damper of the utility model;

[0038] Figure 8 This is a schematic diagram of the magnetic lines of force and fluid paths of the magnetorheological fluid damper of the utility model.

[0039] In the figure, 1-pedal, 101-anti-slip pad, 102-brake lever, 103-ball pin base, 104-pedal support frame, 105-bearing assembly, 106-pedal panel, 107-rotating shaft, 108-boss pad, 109-axle tube, 110-bracket pad.

[0040] 2-magnetorheological fluid damper, 201-ball pin, 202-upper piston rod, 203-first rubber ring, 204-first step seal, 205-sealing screw, 206-upper cylinder, 207-first bushing, 208-upper end cover, 209-upper piston core, 210-connecting plate, 211-lower piston core, 212-electromagnetic coil, 213-magnetorheological fluid, 214-lower piston rod, 215-pressure plate, 216-lower cylinder, 217-coil spring, 218-rubber cushion, 219-lower end cover, 220-second rubber ring, 221-second bushing, 222-second step seal, 223-third rubber ring, 224-fourth rubber ring, 225-first annular channel, 226-second annular channel, 227-filling hole;

[0041] 3-Electronic control system, 4-Power supply, 5-Angle sensor; 6-Working chamber, 7-Piston assembly, 8-Recovery chamber, 9-Compression chamber, 10-Cavity, 11-Magnetorheological fluid damper electric excitation lead, 12-Electronic control system power supply lead, 13-Angle sensor lead. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be described below in conjunction with the accompanying drawings, but this embodiment should not be understood as a limitation of the present invention.

[0043] like Figure 1 、 Figure 2 As shown, a brake-by-wire system pedal assembly that integrates a magnetorheological fluid damper to simulate foot feel is composed of a pedal 1, a magnetorheological fluid damper 2, an electronic control system 3, a power supply 4, and an angle sensor 5.

[0044] In this embodiment, the pedal 1 is composed of a brake rod 102, a ball stud base 103, a pedal support frame 104, a bearing assembly 105, a rotating shaft 107 and a pedal panel 106;

[0045] One end of the brake lever 102 is fixedly mounted with a pedal panel 106, and an anti-slip pad 101 is mounted on the pedal panel 106. The other end of the brake lever 102 is mounted on a rotating shaft 107, and the rotating shaft 107 is mounted on the pedal support frame 104 through a bearing assembly 105;

[0046] A ball pin base 103 is fixedly installed below the brake rod 102 , a ball pin 201 is installed in the ball pin base 103 , and one end of the ball pin 201 is connected to the upper piston rod 202 of the magnetorheological fluid damper 2 .

[0047] See also Figure 4 In this embodiment, the rotating shaft 107 is rotatably connected to the pedal support frame 104 through a bearing assembly 105. One end of the rotating shaft 107 extending out of the pedal support frame 104 is fixedly connected to the boss pad 108. Between the two vertical plates of the pedal support frame 104, an axle tube 109 is provided on the outer periphery of the rotating shaft 107. The brake rod 102 is installed on the axle tube 109. The other end of the rotating shaft 107 extending out of the pedal support frame 104 is installed with an angle sensor 5, and a bracket pad 110 is installed between the angle sensor 5 and the vertical plate of the pedal support frame 104.

[0048] See also Figure 5-7 In this embodiment, the magnetorheological fluid damper 2 includes an upper piston rod 202, an upper cylinder 206, an upper end cover 208, an upper piston core 209, a lower piston core 211, an electromagnetic coil 212, a lower piston rod 214, a pressure plate 215, a lower cylinder 216, a coil spring 217, and a rubber buffer pad 218.

[0049] The upper cylinder 206 and the lower cylinder 216 are threadedly connected. The upper portion of the upper cylinder 206 is threadedly connected to the upper end cap 208, and the lower portion of the lower cylinder 216 is threadedly connected to the lower end cap 219. The upper cylinder 206 is provided with an upper piston core 209 and a lower piston core 211, and the lower cylinder 216 is provided with a coil spring 217 and a rubber cushion 218. The upper piston core 209 and the lower piston core 211 are threadedly connected. The upper piston rod 202 passes through the upper end cap 208 and is threadedly connected to the upper piston core 209. The lower portion of the lower piston core 211 is threadedly connected to the upper end of the lower piston rod 214. This arrangement ensures the concentricity of the magnetorheological fluid damper 2. The upper and lower piston rods 202 and 214 have the same diameter, avoiding liquid compensation issues in the magnetorheological fluid damper 2.

[0050] In this embodiment, a pressure plate 215 is coaxially fixedly mounted in the middle of the lower piston rod 214. In this embodiment, the pressure plate 215 and the lower piston rod 214 are integrally formed. A coil spring 217 is disposed below the pressure plate 215, and a rubber cushion 218 is mounted below the coil spring 217. This design allows for axial positioning of the piston assembly 7 at its initial position.

[0051] An electromagnetic coil 212 is wound around and fixed to the outer wall of the lower piston core 211. The upper piston core 209, lower piston core 211, and electromagnetic coil 212 together form the piston assembly 7. The space formed by the inner wall of the upper cylinder 206 and the outer wall of the piston assembly 7 forms the working chamber 6. The piston assembly 7 divides the working chamber 6 into a recovery chamber 8 and a compression chamber 9. Both the recovery chamber 8 and the compression chamber 9 are filled with magnetorheological fluid 213. The outer diameters of the upper and lower piston cores 209 and 211 are smaller than the inner diameter of the upper cylinder 206. The circumferential gap reserved between the upper piston core 209 and the upper cylinder 206 forms a first annular channel 225; the circumferential gap reserved between the lower piston core 211 and the upper cylinder 206 forms a second annular channel 226.

[0052] In this embodiment, the contact position between the upper end cover 208 and the upper piston rod 202 is provided with a first rubber ring 203, a first step seal 204 and a first bushing 207 in sequence from top to bottom; the first rubber ring 203, the first step seal 204 and the first bushing 207 cooperate with each other to jointly ensure the sealing effect of the magnetorheological fluid damper 2 and slide with the upper piston rod 202.

[0053] The position where the inner wall of the lower cylinder 216 contacts the outer wall of the lower piston rod 214 is provided with a second bushing 221, a second rubber ring 220 and a second step seal 222 in sequence from top to bottom; the second bushing 221, the second rubber ring 220 and the second step seal 222 slide in cooperation with the lower piston rod 214 to further prevent the magnetorheological fluid 213 in the working chamber 6 from flowing into the internal cavity 10 of the lower cylinder 216.

[0054] A third rubber ring 223 and a fourth rubber ring 224 are sequentially provided at the contact position between the upper end cover 208 and the upper cylinder 206 from top to bottom.

[0055] See also Figure 3 A filling hole 227 is processed on the end surface of the upper end cover 208 , and a sealing screw 205 is threadedly connected to the filling hole. The magnetorheological fluid 213 is added to the interior of the working chamber 6 through the filling hole 227 .

[0056] See also Figure 1-2 The brake-by-wire system pedal assembly that integrates a magnetorheological fluid damper to simulate foot feel also includes an electronic control system 3 and a power supply 4; the lower piston rod 214 is a hollow structure, and the magnetorheological fluid damper electric excitation lead 11 passes through the lower piston rod 214 and is connected to the electromagnetic coil 212; the electronic control system power supply lead 12 is connected to the power supply 4 to provide power to the electronic control system 3; the angle sensor lead 13 is connected to the electronic control system 3 to assist the electronic control system in obtaining the position and movement of the piston assembly 7.

[0057] In this embodiment, a connecting plate 210 is provided on the outer wall of the upper cylinder 206 , and the connecting plate 210 and the bottom plate of the pedal support frame 104 are fixedly connected by a bolt assembly.

[0058] The working principle of this utility model:

[0059] like Figure 8 As shown, in this embodiment, the upper piston core 209, the lower piston core 211, and the upper cylinder 206 are all made of magnetic conductive materials, so that the magnetic lines of force shown by the solid arrows form a closed magnetic circuit through the upper piston core 209, the lower piston core 211, and the upper cylinder 206, ensuring that the magnetic lines of force pass vertically through the first annular channel 225 and the second annular channel 226 at both ends.

[0060] When the driver depresses the pedal 1, the piston assembly 7 of the magnetorheological fluid damper 2 is in the compression stroke. The flow path of the magnetorheological fluid 213 is indicated by the double-dashed arrow, i.e., the magnetorheological fluid 213 flows from the compression chamber 9 to the recovery chamber 8 via the second annular channel 226. As the magnetorheological fluid 213 passes through the first annular channel 225 and the second annular channel 226, its viscosity is adjusted by the magnetic field of the electromagnetic coil 212, thereby achieving damping force adjustment. The controllable damping force of the magnetorheological fluid damper 2 works together with the compressed coil spring 217 and rubber buffer pad 218 to ensure the force-displacement characteristics of the piston assembly 7 during the downward phase.

[0061] When the driver lifts the pedal 1, the piston assembly 7 of the rheological fluid damper 2 is in the recovery stroke, and the flow path of the magnetorheological fluid 213 is shown by the single dotted arrow, that is, the magnetorheological fluid 213 flows from the recovery chamber 8 to the compression chamber 9 via the first annular channel 225. When the magnetorheological fluid 213 passes through the first annular channel 225 and the second annular channel 226, the viscosity of the magnetorheological fluid 213 is adjusted by the magnetic field of the electromagnetic coil 212 to achieve damping force adjustment; the controllable damping force of the magnetorheological fluid damper 2 works together with the coil spring 217 and rubber buffer pad 218 in recovery to ensure the force-displacement characteristics of the piston assembly 7 in the upward stage.

[0062] Regardless of the compression and recovery stages, the electronic control system 3 receives the signal from the angle sensor 5, determines the displacement of the pedal 1, decides the magnitude of the electrical excitation of the electromagnetic coil 212 in the magnetorheological fluid damper 2, and adjusts the magnetic field strength vertically passing through the first annular channel 225 and the second annular channel 226 in real time, and then adjusts the viscosity of the magnetorheological fluid 213 in the first annular channel 225 and the second annular channel 226, and further combines the synergistic effect of the coil spring 217 and the rubber buffer pad 218 to generate different force-displacement characteristic curves as the electrical excitation and displacement change.

[0063] Parts not described in detail in this specification are well-known technologies in the art.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A brake-by-wire system pedal assembly incorporating a magnetorheological fluid damper to simulate foot feel, characterized by: It includes a pedal (1) and a magnetorheological fluid damper (2); The pedal (1) is composed of a brake rod (102), a ball pin base (103), a pedal support frame (104), a bearing assembly (105), a rotating shaft (107) and a pedal panel (106); A pedal panel (106) is fixedly mounted on one end of the brake rod (102), and the other end of the brake rod (102) is mounted on a rotating shaft (107), and the rotating shaft (107) is mounted on a pedal support frame (104) via a bearing assembly (105); A ball pin base (103) is fixedly mounted below the brake rod (102), a ball pin (201) is mounted in the ball pin base (103), and one end of the ball pin (201) is connected to the upper piston rod (202) of the magnetorheological fluid damper (2).

2. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 1, characterized in that: The magnetorheological fluid damper (2) comprises an upper piston rod (202), an upper cylinder (206), an upper end cover (208), an upper piston core (209), a lower piston core (211), an electromagnetic coil (212), a lower piston rod (214), a pressure plate (215), a lower cylinder (216), a coil spring (217), and a rubber buffer pad (218); The upper cylinder (206) and the lower cylinder (216) are threadedly connected, the upper portion of the upper cylinder (206) is threadedly connected to an upper end cover (208), and the lower portion of the lower cylinder (216) is threadedly connected to a lower end cover (219); An upper piston core (209) and a lower piston core (211) are provided in the upper cylinder (206), and a coil spring (217) and a rubber buffer pad (218) are provided in the lower cylinder (216); The upper piston core (209) and the lower piston core (211) are threadedly connected, the upper piston rod (202) passes through the upper end cover (208) and is threadedly connected to the upper piston core (209), and the lower part of the lower piston core (211) is threadedly connected to the upper end of the lower piston rod (214); A pressure plate (215) is coaxially fixedly mounted on the middle portion of the lower piston rod (214), a coil spring (217) is provided below the pressure plate (215), and a rubber buffer pad (218) is installed below the coil spring (217); An electromagnetic coil (212) is wound around and fixed to the outer wall of the lower piston core (211); the upper piston core (209), the lower piston core (211) and the electromagnetic coil (212) together constitute a piston assembly (7); the space formed by the inner wall of the upper cylinder (206) and the outer wall of the piston assembly (7) is a working chamber (6); the piston assembly (7) divides the working chamber (6) into a recovery chamber (8) and a compression chamber (9); the recovery chamber (8) and the compression chamber (9) are both filled with magnetorheological fluid (213); The outer diameters of the upper piston core (209) and the lower piston core (211) are smaller than the inner diameter of the upper cylinder barrel (206); a circumferential gap reserved between the upper piston core (209) and the upper cylinder barrel (206) forms a first annular channel (225); and a circumferential gap reserved between the lower piston core (211) and the upper cylinder barrel (206) forms a second annular channel (226).

3. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 2, characterized in that: The contact position between the upper end cover (208) and the upper piston rod (202) is provided with a first rubber ring (203), a first step seal (204) and a first bushing (207) in order from top to bottom; the first rubber ring (203), the first step seal (204) and the first bushing (207) cooperate with each other to jointly ensure the sealing effect of the magnetorheological fluid damper (2) and slide with the upper piston rod (202); A second bushing (221), a second rubber ring (220) and a second step seal (222) are sequentially provided from top to bottom at the position where the inner wall of the lower cylinder (216) contacts the outer wall of the lower piston rod (214); the second bushing (221), the second rubber ring (220) and the second step seal (222) are slidably matched with the lower piston rod (214) to further prevent the magnetorheological fluid (213) in the working chamber (6) from flowing into the internal cavity (10) of the lower cylinder (216); A third rubber ring (223) and a fourth rubber ring (224) are provided in sequence from top to bottom at the contact position between the upper end cover (208) and the upper cylinder (206).

4. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 2, characterized in that: A filling hole (227) is machined on the end surface of the upper end cover (208), a sealing screw (205) is threadedly connected to the filling hole, and the magnetorheological fluid (213) is added to the interior of the working chamber (6) through the filling hole (227).

5. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 1, characterized in that: An anti-slip pad (101) is installed on the pedal panel (106).

6. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 1, characterized in that: The rotating shaft (107) is rotatably connected to the pedal support frame (104) through a bearing assembly (105); one end of the rotating shaft (107) extending out of the pedal support frame (104) is fixedly connected to a boss pad (108); an axle tube (109) is provided on the outer periphery of the rotating shaft (107) between two vertical plates of the pedal support frame (104); the brake rod (102) is mounted on the axle tube (109); an angle sensor (5) is mounted on the other end of the rotating shaft (107) extending out of the pedal support frame (104); and a bracket pad (110) is mounted between the angle sensor (5) and the vertical plate of the pedal support frame (104).

7. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper and simulating foot feel according to claim 2, characterized in that: It also includes an electric control system (3) and a power supply (4); The lower piston rod (214) is a hollow structure, and the magnetorheological fluid damper electric excitation lead (11) passes through the lower piston rod (214) and is connected to the electromagnetic coil (212); the electric control system power supply lead (12) is connected to the power supply (4) to provide power to the electric control system (3); the electric control system (3) is connected to the angle sensor lead (13) to assist the electric control system (3) in obtaining the position and movement of the piston assembly (7).

8. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 2, characterized in that: The upper piston rod (202) and the lower piston rod (214) have the same diameter, thereby avoiding the problem of liquid compensation of the magnetorheological fluid damper (2).

9. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 2, characterized in that: A connecting plate (210) is provided on the outer wall of the upper cylinder (206), and the connecting plate (210) and the bottom plate of the pedal support frame (104) are fixedly connected via a bolt assembly.

10. The brake-by-wire system pedal assembly integrating a magnetorheological fluid damper to simulate foot feel according to claim 2, characterized in that: The upper piston core (209), the lower piston core (211), and the upper cylinder barrel (206) are all made of magnetic conductive material.

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