The invention discloses a motor wriggling control method for parking control of an electronic mechanical braking system, and relates to the technical field of parking control. The problem that it cannot be guaranteed that a locked position is located at a tooth groove during parking is solved. The method specifically comprises the following steps that a motor angle delta theta corresponding to one tooth of a gear is determined based on the tooth number and the transmission ratio of the parking mechanism; motor position angle closed-loop PI control is carried out, the target value is delta theta, and a motor rotating speed instruction NRef is output after PI control; motor speed closed-loop PI control is carried out, the target value is NRef, and a motor torque instruction TqRef is output after PI control; and driving torque monitoring is carried out according to the motor torque instruction TqRef. The locking mechanism can be accurately locked at the tooth groove of the gear, so that the problem that the parking performance is reduced or even fails due to the fact that the locking mechanism is possibly locked on teeth during EMB parking is solved, and potential safety hazards can be effectively avoided.

    本发明公开了一种用于电子机械制动系统驻车控制的电机蠕动控制方法,涉及驻车控制技术领域;为了解决驻车时不能保证被锁位置在齿槽处的问题;具体包括如下步骤:基于驻车机构的齿数和传动比确定齿轮一个齿对应的电机角度Δθ;电机位置角度闭环PI控制,目标值为Δθ,经PI控制后输出电机转速指令N_Ref;电机速度闭环PI控制,目标值为N_Ref,经PI控制后输出电机扭矩指令Tq_Ref;根据电机扭矩指令Tq_Ref进行驱动扭矩监控。本发明能够使得锁止机构准确锁在齿轮的齿槽处,从而解决了EMB驻车时锁止机构可能锁在齿上所带来的驻车性能降低甚至失效的问题,可有效避免出现安全隐患。


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    Title :

    Motor creeping control method for parking control of electronic mechanical braking system


    Additional title:

    一种用于电子机械制动系统驻车控制的电机蠕动控制方法


    Contributors:
    XIA HONGTAO (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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