US-12617383-B2 - Electromechanical brake system and method of operating the same

Abstract

The present disclosure relates to an electromechanical brake system and a method of operating the same, and the electromechanical brake system includes a motor that operates for braking of a vehicle, a first electronic controller electrically connected to the motor and configured to control driving of the motor, and a second electronic controller electrically connected to the motor and configured to control the driving of the motor, wherein the first electronic controller may calculate a current command value using a pressure command for the braking and outputs a pulse width modulation (PWM) duty using the calculated current command value, and the second electronic controller may output the PWM duty using the current command value calculated by the first electronic controller.

Inventors

• Taeho Jo

Assignees

• HL MANDO CORPORATION

Dates

Publication Date

20260505

Application Date

20230118

Priority Date

20220118

Claims (18)

1. 1 . An electromechanical brake system comprising: a motor configured to operate for braking of a vehicle; a first electronic controller electrically connected to the motor and configured to control driving of the motor; and a second electronic controller electrically connected to the motor and configured to control the driving of the motor, wherein the first electronic controller is configured to calculate a current command value using a pressure command for the braking and output a first pulse width modulation (PWM) duty using the calculated current command value, and the second electronic controller is configured to output a second PWM duty using the current command value calculated by the first electronic controller when both of the first electronic controller and the second electronic controller are in a normal state.
2. 2 . The electromechanical brake system of claim 1 , wherein the first electronic controller is configured to output the first PWM duty using a certain percentage of the calculated current command value, and the second electronic controller is configured to output the second PWM duty using a remaining percentage of the current command value calculated by the first electronic controller.
3. 3 . The electromechanical brake system of claim 1 , wherein the first electronic controller includes: a pressure controller configured to calculate a torque value of the motor for braking using the pressure command; a speed controller configured to calculate a current command value for controlling a speed of the motor; and a first current controller configured to calculate the first PWM duty using a certain percentage of the current command value calculated by the speed controller.
4. 4 . The electromechanical brake system of claim 3 , wherein the second electronic controller includes a second current controller configured to calculate the second PWM duty using the remaining percentage of the current command value calculated by the speed controller.
5. 5 . The electromechanical brake system of claim 3 , wherein the first electronic controller is configured to receive the first PWM duty calculated by the first current controller and output the first PWM duty after converting power to be applied to the motor.
6. 6 . The electromechanical brake system of claim 4 , wherein the first current controller is configured to calculate the first PWM duty using half of the calculated current command value, and the second current controller is configured to calculate the second PWM duty using half of the calculated current command value.
7. 7 . The electromechanical brake system of claim 4 , wherein the first current controller is configured to calculate the first PWM duty using a first current command value and the second current controller is configured to calculate the second PWM duty using the first current command value.
8. 8 . The electromechanical brake system of claim 1 , wherein the first electronic controller is configured to output the first PWM duty using the calculated current command value, and the second electronic controller is configured to receive and output the first PWM duty calculated by the first electronic controller.
9. 9 . The electromechanical brake system of claim 1 , wherein the first electronic controller includes: a pressure controller configured to calculate a torque value of the motor for braking using the pressure command; a speed controller configured to calculate a current command value for controlling a speed of the motor; a first current controller configured to calculate the first PWM duty using the current command value calculated by the speed controller; and a first power converter configured to output the first PWM duty calculated by the first current controller.
10. 10 . The electromechanical brake system of claim 9 , wherein the second electronic controller includes a second power converter configured to receive and output the first PWM duty calculated by the first current controller.
11. 11 . The electromechanical brake system of claim 1 , wherein the motor comprises a three-phase permanent magnet synchronous motor.
12. 12 . A method of operating an electromechanical brake system, comprising: inputting a pressure command to a first electronic controller so that a motor operates for braking of a vehicle; calculating, by the first electronic controller, a torque value of the motor according to the input pressure command; calculating, by the first electronic controller, a current command value for outputting a total torque of the motor; outputting, by the first electronic controller, a first PWM duty using the calculated current command value; and outputting, by a second electronic controller, a second PWM duty using the current command value calculated by the first electronic controller when both of the first electronic controller and the second electronic controller are in a normal state.
13. 13 . The method of claim 12 , wherein the outputting of the first PWM duty by the first electronic controller comprises outputting the first PWM duty after calculated using a certain percentage of the calculated current command value.
14. 14 . The method of claim 13 , further comprising calculating, by the second electronic controller, the second PWM duty using a remaining percentage of the calculated current command value, wherein, the outputting of the second PWM duty by the second electronic controller comprises outputting the second PWM duty calculated by the second electronic controller.
15. 15 . The method of claim 14 , wherein the first PWM duty is calculated by the first electronic controller using a first current command value and the second PWM duty is calculated by the second electronic controller using the first current command value.
16. 16 . The method of claim 14 , wherein the first PWM duty is calculated, by the first electronic controller, using half of the calculated current command value, and the second PWM duty is calculated, by the second electronic controller, using half of the calculated current command value.
17. 17 . The method of claim 11 , further comprises outputting the first PWM duty calculated by the first electronic controller.
18. 18 . The method of claim 17 , further comprising transmitting the first PWM duty calculated by the first electronic controller to the second electronic controller.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application is based on and claims priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2022-0007239, filed on Jan. 18, 2022 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference. BACKGROUND 1. Field Embodiments of the present disclosure relate to an electromechanical brake system and a method of operating the same, and more specifically, to an electromechanical brake system and a method of operating the same, which may efficiently control a brake in a normal state. 2. Description of the Related Art A vehicle necessarily includes a brake system for braking. Recently, such a brake system electronically controls a braking hydraulic pressure transmitted toward a wheel cylinder mounted on a wheel in order to obtain a stronger and more stable braking force. The conventional brake systems use a method of supplying a hydraulic pressure required for braking to a wheel cylinder using a mechanically connected booster when a driver steps on a brake pedal. However, as the demand for effectively implementing a braking function in various environments by minutely responding to the operating environment of a vehicle increases, an electromechanical brake system is used. The electromechanical brake system uses a hydraulic supply device for converting the driver's braking intention into a signal using a pedal displacement sensor for detecting the displacement of a brake pedal when the driver steps on the brake pedal and supplying a hydraulic pressure required for braking to a wheel cylinder according to the signal. Such an electromechanical brake system is controlled by a signal output from an electronic controller, and when a problem occurs in the electronic controller and main components are not operated, a hydraulic pressure required for braking is not stably formed. SUMMARY Therefore, it is an aspect of the present disclosure to provide an electromechanical brake system and a method of operating the same, which may generate a braking pressure according to a driver's intention when both of two electronic controllers are in a normal state in the electromechanical brake system. Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure. In accordance with one aspect of the present disclosure, an electromechanical brake system includes a motor configured to operate for braking of a vehicle, a first electronic controller electrically connected to the motor and configured to control driving of the motor, and a second electronic controller electrically connected to the motor and configured to control the driving of the motor. The first electronic controller may be configured to calculate a current command value using a pressure command for the braking and output a pulse width modulation (PWM) duty using the calculated current command value. The second electronic controller may be configured to output the PWM duty using the current command value calculated by the first electronic controller. The first electronic controller may be configured to output the PWM duty using a certain percentage of the calculated current command value. The second electronic controller may be configured to output the PWM duty using the remaining percentage of the current command value calculated by the first electronic controller. The first electronic controller may include a pressure controller configured to calculate a torque value of the motor for braking using the pressure command, a speed controller configured to calculate a current command value for controlling a speed of the motor, and a first current controller configured to calculate the PWM duty using a certain percentage of the current command value calculated by the speed controller. The second electronic controller may include a second current controller configured to calculate the PWM duty using the remaining percentage of the current command value calculated by the speed controller. The first electronic controller may be configured to receive the PWM duty calculated by the first current controller and output the PWM duty after converting power to be applied to the motor. The first current controller may be configured to calculate the PWM duty using half of the calculated current command value. The second current controller may be configured to calculate the PWM duty using half of the calculated current command value. The first current controller and the second current controller may be configured to calculate the PWM duty using the same current command value. The first electronic controller may be configured to output the PWM duty using the calculated current command value. The second electronic controller may be configured to receive and output the PWM duty calculated by the first electronic controller. The first electronic controller may include