CN-121993512-A - Method and device for controlling distance between friction plate and brake disc, vehicle and storage medium

CN121993512ACN 121993512 ACN121993512 ACN 121993512ACN-121993512-A

Abstract

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

Inventors

TONG BING
ZHANG XUE
LI GUANGYA

Assignees

耐世特汽车系统（苏州）有限公司

Dates

Publication Date: 20260508
Application Date: 20241107

Claims (10)

1. The method for controlling the distance between the friction plate and the brake disc is characterized by being used for an electromechanical braking device, wherein the electromechanical braking device comprises a motor, a push rod and the friction plate, the motor is used for driving the push rod, and the push rod is mechanically connected with the friction plate; the control method of the distance between the friction plate and the brake disc comprises the following steps: outputting an initial speed instruction of the push rod according to the received clamping force control instruction; Determining a target speed command according to the initial speed command and a preset speed, so as to limit the speed of the push rod; and outputting a target torque command to the motor according to the target speed command, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command.
2. The method of claim 1, wherein outputting the initial velocity command of the push rod according to the received clamping force control command comprises: and outputting an initial speed instruction of the push rod according to the actual clamping force of the friction plate and the clamping force control instruction.
3. The method of claim 2, wherein outputting the initial velocity command of the push rod according to the actual clamping force of the friction plate and the clamping force control command comprises: Outputting an initial speed instruction of the push rod according to a proportional-integral algorithm according to the difference value between the actual clamping force of the friction plate and the clamping force control instruction; Or outputting an initial speed instruction of the push rod according to a preset range of a difference value of the actual clamping force of the friction plate and the clamping force control instruction, wherein the preset range comprises at least two.
4. The method of claim 1, wherein determining a target speed command based on the initial speed command and a preset speed to limit the speed of the pushrod comprises: if the initial speed command is greater than or equal to the preset speed, determining a target speed command according to the preset speed so as to limit the speed of the push rod; And if the initial speed command is smaller than the preset speed, determining a target speed command according to the initial speed command.
5. The method according to claim 1, wherein the outputting a target torque command to the motor according to the target speed command to cause the motor to control the spacing of the friction plate from the brake disc according to the target torque command, comprises: and outputting a target torque command to the motor according to the target speed command and the current actual speed of the push rod, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command.
6. The method according to claim 5, wherein the outputting a target torque command to the motor according to the target speed command and a current actual speed of a push rod so that the motor controls the distance between the friction plate and the brake disc according to the target torque command, comprises: outputting a target torque command to the motor according to a proportional-integral algorithm according to a difference value between the target speed command and the current actual speed of the push rod, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command; Or outputting a target torque command to the motor according to a preset range of the difference value between the target speed command and the current actual speed of the push rod, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command, wherein the preset range comprises at least two.
7. The method according to claim 1, wherein the electromechanical brake apparatus further comprises a transmission mechanism for changing a rotational speed of the motor, and a planetary screw for converting a rotational motion generated by the motor into a linear motion of the push rod and providing a clamping force of the friction plate, the friction plate being provided at both sides of the brake disc; and outputting a target torque command to the motor according to the target speed command, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command, and the method comprises the following steps: Outputting a target torque command to the motor according to the target speed command; The motor changes the rotating speed through the transmission mechanism, and drives the push rod to move through the planetary screw rod so as to control the distance between the friction plate and the brake disc.
8. A friction plate and brake disc spacing control device, comprising: The initial speed command output module is used for outputting an initial speed command of the push rod according to the received clamping force control command; The limiting module is used for determining a target speed instruction according to the initial speed instruction and a preset speed so as to limit the speed of the push rod; And the interval control module is used for outputting a target torque instruction to a motor according to the target speed instruction and the current actual speed of the friction plate so as to enable the motor to control the interval between the friction plate and the brake disc according to the target torque instruction.
9. A vehicle, characterized in that the friction plate and brake disc spacing control device according to claim 8 is applied.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of controlling the disc and rotor spacing of any one of claims 1-7.

Description

Method and device for controlling distance between friction plate and brake disc, vehicle and storage medium Technical Field The present invention relates to the field of braking technologies, and in particular, to a method and apparatus for controlling a distance between a friction plate and a brake disc, a vehicle, and a storage medium. Background In non-braking conditions, the brake system needs to maintain a relatively safe gap between the friction plate and the brake disc to prevent undesired contact between the friction plate and the brake disc during high speed rotation of the wheel. In an on-line brake system, the electromechanical brake system (Electromechanical Brake, EMB) also requires a safety gap between the friction plate and the brake disk when there is no braking demand. However, in the EMB, since the movement of the friction plate converts the rotational movement into the linear movement by the motor and the transmission mechanism, and the rotational speed of the motor is rapidly increased when the motor is in idle torque, which results in that the EMB motor is equivalent to the idle operation in the initial stage of braking force establishment, the movement speed of the linear movement mechanism connected with the motor is rapidly increased, which results in serious impact at the moment of contact between the friction plate and the brake disc, thereby affecting the service life of the product. Disclosure of Invention The invention provides a method and a device for controlling the distance between a friction plate and a brake disc, a vehicle and a storage medium, so as to solve the problem of high-speed collision between the friction plate and the brake disc during rapid braking and prolong the service life of the friction plate and the brake disc. According to one aspect of the invention, a method for controlling the spacing between a friction plate and a brake disc is provided, and the method is used for an electromechanical braking device, wherein the electromechanical braking device comprises a motor, a push rod and the friction plate, the motor is used for driving the push rod, and the push rod is mechanically connected with the friction plate; The control method of the distance between the friction plate and the brake disc comprises the following steps: Outputting an initial speed instruction of the push rod according to the received clamping force control instruction; Determining a target speed command according to the initial speed command and a preset speed to limit the speed of the push rod; and outputting a target torque command to the motor according to the target speed command, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command. Optionally, outputting an initial velocity command of the push rod according to the received clamping force control command, including: And outputting an initial speed command of the push rod according to the actual clamping force and the clamping force control command of the friction plate. Optionally, outputting an initial speed command of the push rod according to the actual clamping force and the clamping force control command of the friction plate, including: outputting an initial speed command of the push rod according to a proportional integral algorithm according to the difference value between the actual clamping force of the friction plate and the clamping force control command; Or outputting an initial speed instruction of the push rod according to a preset range of the difference value of the actual clamping force of the friction plate and the clamping force control instruction, wherein the preset range comprises at least two. Optionally, determining the target speed command according to the initial speed command and the preset speed to limit the speed of the push rod, including: If the initial speed command is greater than or equal to the preset speed, determining a target speed command according to the preset speed, and limiting the speed of the push rod; If the initial speed command is smaller than the preset speed, determining a target speed command according to the initial speed command. Optionally, outputting a target torque command to the motor according to the target speed command, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command, including: And outputting a target torque command to the motor according to the target speed command and the current actual speed of the push rod, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command. Optionally, outputting a target torque command to the motor according to the target speed command and the current actual speed of the push rod, so that the motor controls the distance between the friction plate and the brake disc according to the target torque command, including: Outputting