电子机械制动系统关键技术研究进展

赵立金; 杨世春; 曲婧瑶

doi:10.13700/j.bh.1001-5965.2023.0210

电子机械制动系统关键技术研究进展

doi: 10.13700/j.bh.1001-5965.2023.0210

赵立金^{1, 2},
杨世春^1, ,,
曲婧瑶²

1.
北京航空航天大学交通科学与工程学院，北京 100191
2.
中国汽车工程学会，北京 102607

基金项目: 国家重点研发计划(2022YFB2503105,2021YFB2501700)

详细信息

通讯作者:
E-mail：yangshichun@buaa.edu.cn

中图分类号: U463.5
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- 被引次数: 0
出版历程
- 收稿日期: 2023-04-25
- 录用日期: 2023-05-19
- 网络出版日期: 2023-07-05
- 整期出版日期: 2025-04-30

Research progress of EMB systems key technology

ZHAO Lijin^{1, 2},
YANG Shichun^{1
, ,},
QU Jingyao²

1.
School of Transportation Science and Engineering，Beihang University，Beijing 100191，China
2.
China Society of Automotive Engineers，Beijing 102607，China

Funds: National Key Research and Development Program of China (2022YFB2503105,2021YFB2501700)

More Information

Corresponding author: E-mail：yangshichun@buaa.edu.cn

摘要

摘要:
电子机械制动系统(electro-mechanical brake, EMB)是真正意义上的纯线控制动，完全摒弃液压/气压装置，实现人车解耦、更高的响应速度、更精准的制动力控制，是高级别自动驾驶技术的理想制动执行机构，然而由于系统可靠性、功能安全及成本等原因仍未规模量产应用。分析EMB的技术发展现状及典型系统结构，比较线性自增力式和非线性增力式两大技术路线，介绍基于楔形自增力结构的电子楔式制动器(electronic wedge brake，EWB)及混合EMB系统，并探讨其在自动驾驶环境下的适用性。针对EMB系统关键技术，重点研究了系统架构、电控单元、通信架构、失效模式等冗余设计方案，以及无传感器夹紧力估算方法的夹紧力控制技术，并对其后续产业化应用所面临的挑战进行了分析和后续研究展望。
- 电子机械制动 /
- 系统构型 /
- 冗余设计 /
- 夹紧力控制 /
- 功能降级
Abstract:
The electro-mechanical brake (EMB) is a true brake-by-wire system that completely eliminates hydraulic/pneumatic components, enabling decoupling between driver and vehicle, achieving higher response speed, and providing more precise braking force control. As an ideal braking actuator for high-level autonomous driving technology, EMB has not yet to be widely mass-produced due to challenges related to system reliability, functional safety, and cost.This paper analyzes the current technological development and typical system structures of EMB, comparing the two major technological approaches: linear self-amplifying and nonlinear force-amplifying methods. It introduces the electronic wedge brake (EWB) , as well as hybrid EMB systems, and discusses their applicability in autonomous driving environments. Second, this study focuses on the redundancy design solutions for system architecture, electronic control units (ECU), communication architecture, and failure modes. Additionally, it explores clamping force control technology based on a sensorless clamping force estimation method. Finally, the paper analyzes the challenges faced by EMB for future industrial applications and presents prospects for further research.
- electro-mechanical brake /
- system configuration /
- redundant design /
- clamping force control /
- function degradation

HTML全文

图 1 德国博世EMB结构^[12]

Figure 1. Structure of Bosch EMB^[12]

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图 2 德国大陆EMB结构^[13]

Figure 2. Structure of Continental EMB^[13]

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图 3 西门子楔形自增力EWB系统

Figure 3. Siemens wedge self EWB system

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图 4 单浮动楔形传动增力构型^[10]

1. 转子；2. 定子；3. 一级太阳轮；4. 一级齿圈；5. 一级行星架；6. 二级行星架；7. 转子制动轴；8. 电磁阀芯及复位弹簧；9. 电磁线圈；10. 转子制动摩擦片；11. 丝杠轴承；12. 丝杠；13、14、15. 滑动滚针排；16. 活塞复位弹簧；17. 弹性密封环。

Figure 4. Single floating wedge-shaped force augmentation^[10]

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图 5 单电机EWB系统^[15]

Figure 5. Single motor EWB system^[15]

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图 6 EWB和EMB系统实物图

Figure 6. Pictures of EWB and EMB system

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图 7 整车制动性能测试结果

Figure 7. Vehicle brake performance test results

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图 8 博世双电机冗余构型^[26]

Figure 8. Bosch dual motor redundant structure^[26]

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图 9 万都双电机冗余构型^[27]

Figure 9. Wando dual motor redundant structure^[27]

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图 10 曙光制动EMB冗余构型^[28]

Figure 10. Akebono brake EMB redundant structure^[28]

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图 11 重庆长安双电机双减速机构冗余构型^[21]

1. 制动钳壳体；2. 制动盘；3. 制动片；4. 电机；5. 带传动机构；6. 传动轴；7. 减速机构；8. 行星滚柱丝杠；9. 活塞；10. 减速箱壳体；12. 驻车机构；13. 制动控制器；41. 电机轴；51. 传动带；52. 第1带轮；53. 第2带轮。

Figure 11. Chongqing Changan dual motor dual gearbox redundant structure^[21]

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图 12 电源系统冗余拓扑方案^[23]

Figure 12. Power system redundancy topology solutions^[23]

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图 13 日立智能制动系统架构^[6]

Figure 13. Hitachi EMB control architecture^[6]

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图 14 瀚德万安 EMB系统控制架构^[35]

Figure 14. Haldex EMB system control architecture^[35]

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图 15 星形总线拓扑^[37]

Figure 15. Star bus topology^[37]

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图 16 环形总线拓扑^[37]

Figure 16. Ring bus topology^[37]

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图 17 重庆长安EMB控制系统方案^[38]

Figure 17. Chongqing changan EMB control system solution^[38]

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