CN-122009128-A - Control method, control device, system and vehicle of electromechanical brake system

CN122009128ACN 122009128 ACN122009128 ACN 122009128ACN-122009128-A

Abstract

The embodiment of the invention discloses a control method, a control device and a control system of an electromechanical brake system and a vehicle. The method comprises the steps of obtaining fault state information of an electromagnetic brake, controlling the working state of the electromagnetic brake and the working mode of a brake motor according to the fault state information of the electromagnetic brake, controlling the working state of a motor shaft of the brake motor according to a parking instruction or a release instruction, and controlling a brake module to clamp and park or release according to the working state of the motor shaft. According to the control method of the electromechanical brake system, a set of executing mechanism is adopted to realize parking locking and parking releasing through the electrification and the outage of the coil of the electromagnetic brake, and the control process is simple.

Inventors

ZUO MENGNAN
WU XIANZHI
QIANG JUGUANG

Assignees

耐世特汽车系统（苏州）有限公司

Dates

Publication Date: 20260512
Application Date: 20241111

Claims (10)

1. A control method of an electromechanical brake system, characterized by comprising: acquiring fault state information of an electromagnetic brake; according to the fault state information of the electromagnetic brake, controlling the working state of the electromagnetic brake and controlling the working mode of a brake motor; controlling the working state of a motor shaft of the brake motor according to a parking instruction or a release instruction; and controlling the brake module to clamp and park or release according to the working state of the motor shaft.
2. The method of claim 1, wherein controlling the operating state of the electromagnetic brake and controlling the operating mode of the brake motor according to the fault state information of the electromagnetic brake comprises: when the electromagnetic brake works normally, the working mode of the brake motor is controlled to be a clamping force control mode, and the working state of the electromagnetic brake is controlled; When the electromagnetic brake fails, the working mode of the brake motor is controlled to be switched into a motor speed control mode, and the working state of the brake motor is controlled.
3. The method according to claim 2, wherein controlling the operation state of the motor shaft of the brake motor according to a parking instruction or a release instruction includes: According to the parking instruction, controlling the motor shaft of the brake motor to rotate along a first direction, or And controlling the motor shaft of the brake motor to rotate along a second direction according to the release instruction, wherein the first direction is opposite to the second direction.
4. A method according to claim 3, wherein said controlling the motor shaft of the brake motor to rotate in a first direction in accordance with the parking command comprises: According to the parking instruction, when the electromagnetic brake works normally, the electromagnetic brake is controlled to be electrified, a motor shaft of the brake motor is controlled to output first torque, and the motor shaft is controlled to rotate along a first direction; according to the parking instruction, when the electromagnetic brake fails, the brake motor is controlled to output second torque, the motor shaft is controlled to rotate along a first direction, the second torque is larger than locking torque of the electromagnetic brake, and the first torque is smaller than the second torque.
5. The method of claim 4, wherein said controlling the rotation of the motor shaft of the brake motor in the second direction in accordance with the release command comprises: According to the release instruction, when the electromagnetic brake works normally, the clamping force of the brake module is obtained, the electromagnetic brake is controlled to be electrified according to the difference between the clamping force of the brake module and the preset clamping force, the brake motor is controlled to output a third torque, and the motor shaft is controlled to rotate along the second direction; And when the electromagnetic brake fails, controlling the brake motor to output a fourth torque and controlling the motor shaft to rotate along a second direction according to the release instruction, wherein the fourth torque is larger than the locking torque of the electromagnetic brake, and the third torque is smaller than the fourth torque.
6. The method of claim 5, wherein controlling the brake module to clamp parking or release according to an operation state of the motor shaft, comprises: Controlling the brake module to clamp parking under the condition that the motor shaft of the brake motor rotates in a first direction; The brake module is controlled to release in the event that the motor shaft of the brake motor rotates in the second direction.
7. The method of claim 6, wherein after controlling the brake module to clamp parking with the motor shaft of the brake motor rotated in a first direction, further comprising: when the electromagnetic brake works normally, the clamping force of the brake module is obtained; When the difference between the clamping force of the braking module and the preset target clamping force is smaller than a preset difference value, controlling the electromagnetic brake to be powered off; and sending a zero torque command to the brake motor, and outputting zero torque by the motor shaft according to the zero torque command to enter a parking success state.
8. A control device of an electromechanical brake system, characterized by comprising: the acquisition module is used for acquiring fault state information of the electromagnetic brake; The mode control module is used for controlling the working state of the electromagnetic brake and controlling the working mode of the brake motor according to the fault state information of the electromagnetic brake; The state control module is used for controlling the working state of the motor shaft of the brake motor according to the parking instruction or the release instruction; And the brake control module is used for controlling the brake module to clamp and park or release according to the working state of the motor shaft.
9. An electromechanical brake system comprising the electromechanical brake system control device of claim 8, and a brake motor, an electromagnetic brake, and a brake module; The motor shaft of the braking motor is provided with the electromagnetic brake, and the electromagnetic brake is used for releasing the motor shaft when the motor shaft is electrified; the control device of the electromechanical brake system is connected with the brake motor and the electromagnetic brake, and the brake module is connected with the motor shaft of the brake motor; the brake module is used for executing parking when the motor shaft rotates in a first direction, and executing release when the motor shaft rotates in a second direction.
10. A vehicle comprising the control device of the electro-mechanical brake system according to claim 8, or the electro-mechanical brake system according to claim 9.

Description

Control method, control device, system and vehicle of electromechanical brake system Technical Field The embodiment of the invention relates to the technical field of vehicles, in particular to a control method, a control device and a control system of an electronic mechanical braking system and a vehicle. Background With the development of new energy automobile technology, the requirements of people on service braking and parking clamping of vehicles are increasing. The traditional mechanical brake achieves the purpose of braking by manually pulling up a mechanical brake rod and forcedly pressing a brake disc through a guy cable. However, conventional mechanical braking has an impact on the fatigue durability of the brake disc and brake pads. With the development of large-scale integrated circuits, the existing vehicle needs two sets of brake actuating mechanisms, namely service brake and parking brake, and the control process is complex. Disclosure of Invention The embodiment of the invention provides a control method, a control device and a control system of an electronic mechanical brake system and a vehicle, which are used for solving the problem that the existing vehicle needs two sets of brake actuating mechanisms of service brake and parking brake, and the control process is complex. In order to realize the technical problems, the invention adopts the following technical scheme: the embodiment of the invention provides a control method of an electromechanical braking system, which comprises the following steps: acquiring fault state information of an electromagnetic brake; according to the fault state information of the electromagnetic brake, controlling the working state of the electromagnetic brake and controlling the working mode of a brake motor; controlling the working state of a motor shaft of the brake motor according to a parking instruction or a release instruction; and controlling the brake module to clamp and park or release according to the working state of the motor shaft. Optionally, the controlling the working state of the electromagnetic brake and the working mode of the brake motor according to the fault state information of the electromagnetic brake includes: when the electromagnetic brake works normally, the working mode of the brake motor is controlled to be a clamping force control mode, and the working state of the electromagnetic brake is controlled; When the electromagnetic brake fails, the working mode of the brake motor is controlled to be switched into a motor speed control mode, and the working state of the brake motor is controlled. Optionally, the controlling the working state of the motor shaft of the brake motor according to the parking instruction or the release instruction includes: According to the parking instruction, controlling the motor shaft of the brake motor to rotate along a first direction, or And controlling the motor shaft of the brake motor to rotate along a second direction according to the release instruction, wherein the first direction is opposite to the second direction. Optionally, the controlling the motor shaft of the brake motor to rotate in the first direction according to the parking instruction includes: According to the parking instruction, when the electromagnetic brake works normally, the electromagnetic brake is controlled to be electrified, a motor shaft of the brake motor is controlled to output first torque, and the motor shaft is controlled to rotate along a first direction; according to the parking instruction, when the electromagnetic brake fails, the brake motor is controlled to output second torque, the motor shaft is controlled to rotate along a first direction, the second torque is larger than locking torque of the electromagnetic brake, and the first torque is smaller than the second torque. Optionally, the controlling the motor shaft of the brake motor to rotate in the second direction according to the release command includes: According to the release instruction, when the electromagnetic brake works normally, the clamping force of the brake module is obtained, the electromagnetic brake is controlled to be electrified according to the difference between the clamping force of the brake module and the preset clamping force, the brake motor is controlled to output a third torque, and the motor shaft is controlled to rotate along the second direction; And when the electromagnetic brake fails, controlling the brake motor to output a fourth torque and controlling the motor shaft to rotate along a second direction according to the release instruction, wherein the fourth torque is larger than the locking torque of the electromagnetic brake, and the third torque is smaller than the fourth torque. Optionally, the controlling the brake module to clamp and park or release according to the working state of the motor shaft includes: Controlling the brake module to clamp parking under the condition that the motor shaft of the brake motor r