+

WO2009013037A1 - Method for calibrating a hydraulic pump - Google Patents

Method for calibrating a hydraulic pump Download PDF

Info

Publication number
WO2009013037A1
WO2009013037A1 PCT/EP2008/055944 EP2008055944W WO2009013037A1 WO 2009013037 A1 WO2009013037 A1 WO 2009013037A1 EP 2008055944 W EP2008055944 W EP 2008055944W WO 2009013037 A1 WO2009013037 A1 WO 2009013037A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
pump
motor
speed
control
Prior art date
Application number
PCT/EP2008/055944
Other languages
German (de)
French (fr)
Inventor
Michael Hitzel
Thomas Bartsch
Tobias Scheller
Original Assignee
Continental Teves Ag & Co. Ohg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2009013037A1 publication Critical patent/WO2009013037A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B60T8/4059—Control of the pump unit involving the rate of delivery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/90—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using a simulated speed signal to test speed responsive control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B51/00—Testing machines, pumps, or pumping installations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0209—Rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/05—Pressure after the pump outlet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/13—Pressure pulsations after the pump

Definitions

  • the invention relates to a method for calibrating a hydraulic pump according to the preamble of claim 1 and an electronic motor vehicle brake control system according to claim 10, in which this method is used.
  • Today customary electronically controlled motor vehicle brake systems for vehicle dynamics or anti-lock regulations comprise at least one hydraulic pump for returning brake fluid into a brake fluid reservoir, which can also be used for the purpose of active pressure build-up.
  • An active pressure build-up is necessary in the event of independent braking intervention, for example within the control functions "Vehicle dynamics control” (ESP) or “automatic distance control” (ACC) as well as “traction control” (TCS).
  • ESP Vehicle dynamics control
  • ACC automatic distance control
  • TCS traction control
  • a DC electric motor with a commutator is usually used, which is clocked, e.g. is controlled by a pulse width modulated current control.
  • the basic structure of a corresponding brake system can be seen from the block diagram in FIG.
  • a corresponding brake system is known in which a method is used in which the delivery rate of the hydraulic pump is electronically controlled.
  • the pump is controlled by a PWM controller.
  • the generator voltage of the motor (motor emf) is measured during the pulse pause times.
  • Sollradbremstik sufficiently accurate during an active pressure build-up, among other things, the most accurate possible adjustment of the pump delivery rate is necessary.
  • the pump motor is exactly the same as the other, so that the control with the aid of the motor EMF does not yet meet the requirements Accuracy achieved.
  • the prior German patent application DE 10 2006 040 127 (P 11502) describes a method for calibrating the relationship between pump power setting and rotational speed by means of the motor EMF.
  • the motor is also controlled by the motor controller with a pulse width modulated signal with a fixed period. This allows the signal to be divided into two phases: in time t A N, a voltage is applied to the terminals of the motor; There is no voltage on the motor in the time t A us and this rotates due to the moment of inertia of its rotating components.
  • the engine EMF is measured by the electronics of the brake system.
  • the signal motor EMF forms the actual size of the motor control circuit and is regulated by the controller during the brake control operation, as is known, in accordance with the predetermined setpoint voltage.
  • DE 10 2006 040 127 proposes, after installation of the brake control unit, ie "in the field", that an automatic, software-controlled test cycle be carried out.
  • the pump motor is operated in a closed loop for a certain time.
  • a target value for the controller is in contrast to the control in the normal Operation specified a constant voltage and the duty cycle of the control, so observed the ratio of pulse duration to the period of the PWM signal and determined in dependence thereon, together with empirical results from previously performed suitable laboratory series investigations a relationship between speed and motor EMF.
  • the advantage of this method is that not every single unit of a series has to be measured.
  • the properties of the pump motor can be independently and automatically determined by the electronic control of the unit in a ready-to-use brake system.
  • the object of the present invention is now to provide an alternative method for adjusting or determining the pump speed, which has a higher accuracy and can also be performed without the use of additional speed sensor.
  • the motor is preferably a DC electric motor with a commutator whose speed depends on the electrical drive power of the motor.
  • the motor does not include any means for direct measurement of the speed, so for example, no speed sensor.
  • the determination of the rotational speed is carried out on the basis of pressure pulsations of the delivery fluid, in particular in the region of the pump output side hydraulic system. These pressure pulsations are preferably measured at a pressure sensor of the pressure control unit.
  • the method offers not only an increase in accuracy, but also the advantage that one ne additional laboratory series investigation, as described in DE 10 2006 040 127, can now be omitted.
  • the pump motor is integrated in a control loop, which regulates the flow rate or the speed of the pump.
  • the generator voltage of the pump motor is measured and used together with the determined via the pressure pulsations speed for determining one or more calibration values.
  • the or the calibration values are used to establish a functional or tabular relationship between "generator voltage” and "pump speed". This relationship is, in particular, that the numerical ratio between the generator voltage and the speed is formed as the calibration value.
  • the pump motor is preferably controlled by an electronic control, which in particular generates a pulse width modulated signal (PWM), which determines the speed of the motor.
  • PWM pulse width modulated signal
  • a PWM signal is a periodic square wave signal with a constant period within which the duration of a square pulse is varied.
  • the ratio of pulse to pause is called a duty-cycle.
  • the speed is usually determined by setting the duty cycle, which can take values between zero and one.
  • a measurement of the generator voltage of the motor (motor EMF) is preferably made, which is used as the actual size of the control.
  • the pressure pulsations determined at the pressure sensor or the pressure actually measured there are preferably measured repeatedly by the electronic control of the pressure control device automatically over a predetermined period of time to determine a pressure curve in a temporal sequence. After that, in particular, an analysis of the pressure curve by the brake control device takes place, in which case the number of engine revolutions is determined from the identifiable periods or an integral multiple thereof.
  • the pressure regulating unit preferably comprises a pre-pressure circuit and a plurality of wheel pressure circuits, wherein the pre-pressure circuit can be separated from the wheel pressure circuits by means of at least one separating valve.
  • the pressure sensor for measuring the pressure pulsations is expediently arranged in the area of the pre ⁇ circle.
  • the or the separating valve (s) is / are preferably at least partially opened during the pressure measurement. The method of calibration can thus be carried out particularly advantageously without additional pressure sensors, since the pressure sensor signal of a pressure sensor can be evaluated, which is contained in a predominant proportion of ABS control systems. already exists.
  • the pressure curve has a clearer signal when, as is preferred, the intake valve (s) associated with the wheel pressure circuits, particularly the circuit equipped with a pressure sensor, is / are closed during the acquisition of pressure measurement points. Most preferably, it is provided that only one inlet valve per brake circuit is closed in order to maintain a braking function, albeit limited, during the measurement.
  • the above-described pump test carried out for calibration is repeated once or several times after a suitably selected predetermined time or running time of the vehicle in order to take account of inlet or wear effects of the motor pump unit.
  • the invention further relates to an electronic vehicle brake control system having at least one regulated pump for an active brake pressure buildup according to claim 10.
  • Fig. 1 is a block diagram of an electronically controlled braking system in which the exemplary method is carried out and Fig. 2 is a Messric, which is the built-in
  • Pressure sensor represents measured signal in time Verion.
  • the brake system 1 shown in Fig. 1 consists of a hydraulic valve block 2 (HCU) and a fixedly connected electronic controller housing 3 (ECU).
  • the brake system comprises two brake circuits I. and II. In the following, only circuit I will be explained in more detail.
  • brake fluid can be introduced via hydraulic line 5 in block 2 in accordance with the brake pedal operation.
  • inlet valve 6 and outlet valve 7 the pressure in the wheel brake cylinders 8 can be adjusted.
  • a measurement of the existing by the driver form is possible by means of input pressure sensor 16.
  • the brake system shown is otherwise equipped with no other pressure sensors.
  • Hydraulic pump 10 is connected on the output side with inlet valve 6 and separating valve 14. Pump 10 is operated by a DC electric motor electrically connected to controller 3.
  • Pressure line 5 leads via a hydraulic line to the admission pressure side of electrical switching valve 11 and isolation valve 14.
  • the second output of changeover valve 11 is connected to the inlet of pump 10 and outlet valve 7.
  • the second side of isolation valve 14 is connected to the pump nauslass and inlet valve 6.
  • Controller 3 within electronic control unit 3 is a microprocessor system ⁇ P, in which a variety of control, rule and test programs are executed. Controller 3, in addition to internal print requests, may also accept print requests from external controllers, such as those shown in FIG. an automatic distance controller 15 (ACC) process. In accordance with the existing pressure requirement valves 6, 7, 14 and pump 10 are driven so that the requested pressure in the wheel brake cylinders 18 is set as accurately as possible.
  • ACC automatic distance controller 15
  • Curve 9 in the measurement record in FIG. 2 represents the time course of the pressure measured at admission pressure sensor 16 when pump 10 is switched on during the test cycle for pump calibration. Separation valve 14 is open in this case. The intake valves to the wheel brake cylinders are closed. As a result, the elastic volume of the wheel brake cylinder from the hydraulic train in which the pressure measurement takes place, decoupled. For comparison, a further pressure curve 17 is shown below curve 9, which indicates the actual pressure curve at the outlet of the pump. As FIG. 2 shows, the pressure measuring points recorded at the admission pressure sensor are sufficient to carry out a determination of the pumping period A. From the pump period results in the number of pump strokes per time. The speed of the pump can be determined in this way in a particularly simple manner with the existing sensors.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a method for determining the rotational speed of an electric motor which is a constituent part of a motor/pump assembly (10) in a pressure regulating device, wherein the rotational speed of the motor and therefore the delivery capacity of the pump is in relation to the electrical activation power of the motor, and the rotational speed of the pump is adjusted by means of a controller by varying the activation power, wherein in addition, the motor does not comprise any means for determining the rotational speed, and wherein a determination of the rotational speed takes place on the basis of pressure pulsations (9) of the delivery fluid, and the pressure pulsations (9) are measured in particular at a pressure sensor (16) of the pressure regulating unit (2). Also described is an electronic motor vehicle brake regulating system having at least one regulated pump (10) for an active build-up of pressure, which electronic motor vehicle brake regulating system utilizes the above method.

Description

Verfahren zur Kalibrierung einer HydraulikpumpeMethod for calibrating a hydraulic pump
Die Erfindung betrifft ein Verfahren zur Kalibrierung einer Hydraulikpumpe gemäß Oberbegriff von Anspruch 1 sowie einelektronisches Kraftfahrzeugbremsenregelungssystem gemäß Anspruch 10, in dem dieses Verfahren eingesetzt wird.The invention relates to a method for calibrating a hydraulic pump according to the preamble of claim 1 and an electronic motor vehicle brake control system according to claim 10, in which this method is used.
Heute übliche elektronisch geregelte Kraftfahrzeugbremssysteme für Fahrdynamik oder Blockierschutzregelungen, wie beispielsweise in der DE 10 2005 041 556 (P 11192) beschrieben, umfassen meißt zumindest eine Hydraulikpumpe zur Rückförderung von Bremsflüssigkeit in einen Bremsflüssigkeitsbehälter, welche außerdem zum Zwecke des aktiven Druckaufbaus eingesetzt werden kann. Ein aktiver Druckaufbau ist bei einem selbständigen Bremseneingriff zum Beispiel innerhalb der Regelfunktionen "Fahrdynamikregelung" (ESP) oder "automatische Abstandsregelung" (ACC) sowie "Antriebsschlupfregelung" (TCS) notwendig. Für den Antrieb der Pumpe wird in der Regel ein Gleichstromelektromotor mit einem Kommutator eingesetzt, welcher getaktet, z.B. durch eine pulsweitenmodulierte Stromregelung angesteuert wird. Der prinzipielle Aufbau eines entsprechenden Bremssystems ist aus dem Blockschaltbild in Fig. 1 ersichtlich.Today customary electronically controlled motor vehicle brake systems for vehicle dynamics or anti-lock regulations, as described for example in DE 10 2005 041 556 (P 11192), comprise at least one hydraulic pump for returning brake fluid into a brake fluid reservoir, which can also be used for the purpose of active pressure build-up. An active pressure build-up is necessary in the event of independent braking intervention, for example within the control functions "Vehicle dynamics control" (ESP) or "automatic distance control" (ACC) as well as "traction control" (TCS). For driving the pump, a DC electric motor with a commutator is usually used, which is clocked, e.g. is controlled by a pulse width modulated current control. The basic structure of a corresponding brake system can be seen from the block diagram in FIG.
Aus der EP 0 662 051 Bl (P 7386) ist ein entsprechendes Bremssystem bekannt, in dem ein Verfahren eingesetzt wird, bei dem die Förderleistung der Hydraulikpumpe elektronisch geregelt wird. Die Ansteuerung der Pumpe erfolgt durch einen PWM-Regler. Zur Abschätzung der Förderleistung wird die Generatorspannung des Motors (Motor-EMK) während der Pulspausenzeiten gemessen. Um während eines aktiven Druckaufbaus den Sollradbremsdruck hinreichend genau zu dosieren, ist unter anderem eine möglichst genaue Einstellung der Pumpenförderleistung notwendig. Herstellungsbedingt gleicht leider nicht jeder Pumpenmotor genau dem anderen, so dass auch die Regelung mit Hilfe der Motor-EMK noch nicht die geforderte Genauigkeit erzielt. Zur Lösung dieses Problems wäre es prinzipiell möglich, für jedes hergestellte Bremsenregelungsaggregat eine individuelle Motorkalibrierung durchzuführen, um über die elektrische Leistungsansteuerung des Motors in Verbindung mit der gemessenen Motor-EMK dessen Drehzahl mit der erforderlichen Genauigkeit über den Sollwert der Motorregelung einzustellen. Eine solche Werkkalibrierung wäre jedoch sehr aufwändig.From EP 0 662 051 B1 (P 7386) a corresponding brake system is known in which a method is used in which the delivery rate of the hydraulic pump is electronically controlled. The pump is controlled by a PWM controller. To estimate the delivery rate, the generator voltage of the motor (motor emf) is measured during the pulse pause times. To meter the Sollradbremsdruck sufficiently accurate during an active pressure build-up, among other things, the most accurate possible adjustment of the pump delivery rate is necessary. Unfortunately, not every pump motor is exactly the same as the other, so that the control with the aid of the motor EMF does not yet meet the requirements Accuracy achieved. To solve this problem, it would be possible in principle to carry out an individual engine calibration for each brake control unit produced, in order to set its speed with the required accuracy over the setpoint value of the engine control via the electrical power control of the motor in conjunction with the measured motor EMF. However, such a factory calibration would be very expensive.
In der älteren Deutschen Patentanmeldung DE 10 2006 040 127 (P 11502) ist ein Verfahren zur Kalibrierung des Zusammenhangs zwischen Pumpenleistungseinstellung und Drehzahl mit Hilfe der Motor-EMK beschrieben. Der Motor wird auch hier mit einem pulsweitenmodulierten Signal mit fester Periode vom Motorregler angesteuert. Damit lässt sich das Signal in zwei Phasen einteilen: In der Zeit tAN wird eine Spannung an die Klemmen des Motors angelegt; in der Zeit tAus liegt keine Spannung am Motor an und dieser dreht sich auf Grund des Trägheitsmomentes seiner drehenden Teilkomponenten. In der Zeit tAus wird die Motor-EMK mittels der Elektronik des Bremssystems gemessen. Das Signal Motor-EMK bildet die Istgröße des Motorregelkreises und wird vom Regler während des Bremsenregelungsbetriebs bekanntlich nach Maßgabe der vorgegebenen Sollspannung eingeregelt. Auf diese Weise lässt sich der Motor mit einer konstanten Drehzahl betreiben, da diese in linearem Zusammenhang mit der generierten Spannung steht. Um die bauartbedingten Abweichungen des Verhältnisses Drehzahl zu Motor-EMK zu eliminieren, schlägt die DE 10 2006 040 127 vor, nach dem Einbau des Bremsenregelungsaggregats, also "im Feld", dieses einen automatischen, softwaregesteuerten Testzyklus durchführen zu lassen. Bei diesem Testzyklus wird der Pumpenmotor für eine bestimmte Zeit in einem geschlossenen Regelkreis betrieben. Als Sollgröße für den Regler wird dabei im Gegensatz zur Ansteuerung im normalen Betrieb eine konstante Spannung vorgegeben und der duty- cycle der Regelung, also das Verhältnis von Pulsdauer zur Periode des PWM-Signals beobachtet und in Abhängigkeit davon gemeinsam mit empirischen Ergebnissen aus zuvor durchgeführten geeigneten Laborreihenuntersuchungen ein Zusammenhang zwischen Drehzahl und Motor-EMK bestimmt. Der Vorteil dieses Verfahrens liegt darin, dass nicht jedes einzelne Aggregat einer Serie ausgemessen werden muss. Die Eigenschaften des Pumpenmotors können in einer betriebsfertig aufgebauten Bremsanlage selbstständig und automatisch durch die elektronische Steuerung des Aggregats bestimmt werden.The prior German patent application DE 10 2006 040 127 (P 11502) describes a method for calibrating the relationship between pump power setting and rotational speed by means of the motor EMF. The motor is also controlled by the motor controller with a pulse width modulated signal with a fixed period. This allows the signal to be divided into two phases: in time t A N, a voltage is applied to the terminals of the motor; There is no voltage on the motor in the time t A us and this rotates due to the moment of inertia of its rotating components. In the time t A us the engine EMF is measured by the electronics of the brake system. The signal motor EMF forms the actual size of the motor control circuit and is regulated by the controller during the brake control operation, as is known, in accordance with the predetermined setpoint voltage. In this way, the motor can be operated at a constant speed because it is linearly related to the generated voltage. In order to eliminate the design-related deviations of the ratio of engine speed to engine EMF, DE 10 2006 040 127 proposes, after installation of the brake control unit, ie "in the field", that an automatic, software-controlled test cycle be carried out. In this test cycle, the pump motor is operated in a closed loop for a certain time. As a target value for the controller is in contrast to the control in the normal Operation specified a constant voltage and the duty cycle of the control, so observed the ratio of pulse duration to the period of the PWM signal and determined in dependence thereon, together with empirical results from previously performed suitable laboratory series investigations a relationship between speed and motor EMF. The advantage of this method is that not every single unit of a series has to be measured. The properties of the pump motor can be independently and automatically determined by the electronic control of the unit in a ready-to-use brake system.
Die Aufgabe der vorliegenden Erfindung besteht nun darin, ein alternatives Verfahren zum Einregeln oder Bestimmen der Pumpendrehzal anzugeben, welches eine höhere Genauigkeit besitzt und ebenfalls ohne die Verwendung zusätzlicher Dreh- zahlsensorik durchgeführt werden kann.The object of the present invention is now to provide an alternative method for adjusting or determining the pump speed, which has a higher accuracy and can also be performed without the use of additional speed sensor.
Diese Aufgabe wird durch das Verfahren gemäß Anspruch 1 gelöst.This object is achieved by the method according to claim 1.
Nach dem Verfahren der Erfindung erfolgt eine Ermittlung der Drehzahl des zum Antreiben der Pumpe verwendeten elektrischen Motors. Bei dem Motor handelt es sich bevorzugt um einen Gleichstromelektromotor mit einem Kommutator, dessen Drehzahl von der elektrischen Ansteuerleistung des Motors abhängt. Der Motor umfasst keine Mittel zur direkten Messung der Drehzahl, also zum Beispiel auch keinen Drehzahlsensor. Erfindungsgemäß wird die Ermittlung der Drehzahl an Hand von Druckpulsationen des Förderfluids, insbesondere im Bereich der pumpenausgangsseitigen Hydraulik, vorgenommen. Diese Druckpulsationen werden bevorzugt an einem Drucksensor des Druckregelaggregats gemessen. Das Verfahren bietet neben einer Genauigkeitserhöhung unter anderem den Vorteil, dass ei- ne zusätzliche Laborreihenuntersuchung, wie in der DE 10 2006 040 127 beschrieben, nun entfallen kann.According to the method of the invention, a determination is made of the rotational speed of the electric motor used to drive the pump. The motor is preferably a DC electric motor with a commutator whose speed depends on the electrical drive power of the motor. The motor does not include any means for direct measurement of the speed, so for example, no speed sensor. According to the invention, the determination of the rotational speed is carried out on the basis of pressure pulsations of the delivery fluid, in particular in the region of the pump output side hydraulic system. These pressure pulsations are preferably measured at a pressure sensor of the pressure control unit. The method offers not only an increase in accuracy, but also the advantage that one ne additional laboratory series investigation, as described in DE 10 2006 040 127, can now be omitted.
Zweckmäßigerweise ist der Pumpenmotor in einen Regelkreis eingebunden, welcher die Förderleistung oder die Drehzahl der Pumpe regelt.Conveniently, the pump motor is integrated in a control loop, which regulates the flow rate or the speed of the pump.
Bevorzugt wird die Generatorspannung des Pumpenmotors gemessen und diese gemeinsam mit der über die Druckpulsationen ermittelten Drehzahl zum Ermitteln eines oder mehrerer Kalibrierwerte herangezogen. Dabei wird der oder es werden die Kalibrierwerte dazu herangezogen, einen funktionalen oder tabellarischen Zusammenhang zwischen "Generatorspannung" und "Pumpendrehzahl" herzustellen. Dieser Zusammenhang besteht insbesondere darin, dass als Kalibrierwert das Zahlenverhältnis zwischen Generatorspannung und Drehzahl gebildet wird. Preferably, the generator voltage of the pump motor is measured and used together with the determined via the pressure pulsations speed for determining one or more calibration values. Here, the or the calibration values are used to establish a functional or tabular relationship between "generator voltage" and "pump speed". This relationship is, in particular, that the numerical ratio between the generator voltage and the speed is formed as the calibration value.
Der Pumpenmotor wird vorzugsweise von einer elektronischen Regelung angesteuert, welche insbesondere ein pulsweitenmo- duliertes Signal (PWM) erzeugt, welches die Drehzahl des Motors bestimmt. Ein PWM-Signal ist ein periodisches Rechtecksignal mit konstanter Periode innerhalb derer die Dauer eines Rechteckpulses variiert wird. Das Verhältnis von Puls zu Pause wird als duty-cycle bezeichnet. Die Drehzahlbestimmung erfolgt üblicherweise durch Einstellung des duty-cycle, welcher Werte zwischen Null und Eins einnehmen kann. In den Pulspausen wird bevorzugt eine Messung der Generatorspannung des Motors (Motor-EMK) vorgenommen, welche als Istgröße der Regelung herangezogen wird.The pump motor is preferably controlled by an electronic control, which in particular generates a pulse width modulated signal (PWM), which determines the speed of the motor. A PWM signal is a periodic square wave signal with a constant period within which the duration of a square pulse is varied. The ratio of pulse to pause is called a duty-cycle. The speed is usually determined by setting the duty cycle, which can take values between zero and one. In the pulse pauses, a measurement of the generator voltage of the motor (motor EMF) is preferably made, which is used as the actual size of the control.
Die am Drucksensor ermittelten Druckpulsationen bzw. der dort aktuell gemessene Druck wird bevorzugt von der elektronischen Steuerung der Druckregelvorrichtung automatisch über einen vorgegebenen Zeitraum zum Ermitteln einer Druckkurve in einer zeitlichen Folge mehrfach gemessen. Danach erfolgt insbesondere eine Analyse der Druckkurve durch das Bremsensteuergerät, bei der aus den erkennbaren Perioden oder einem ganzahligen Vielfachen davon die Anzahl der Motorumdrehungen ermittelt wird.The pressure pulsations determined at the pressure sensor or the pressure actually measured there are preferably measured repeatedly by the electronic control of the pressure control device automatically over a predetermined period of time to determine a pressure curve in a temporal sequence. After that, in particular, an analysis of the pressure curve by the brake control device takes place, in which case the number of engine revolutions is determined from the identifiable periods or an integral multiple thereof.
Bevorzugt umfasst das Druckregelaggregat einen Vordruckkreis und mehrere Raddruckkreise, wobei der Vordruckkreis mittels mindestens eine Trennventil von den Radruckkreisen abtrennbar ist. Der Drucksensor zur Messung der Druckpulsationen ist zweckmäßigerweise im Bereich des Vordruckkreises ange¬ ordnet. Das oder die Trennventil (e) ist/sind vorzugsweise während der Druckmessung zumindest teilweise geöffnet. Das Verfahren zur Kalibrierung ist somit besonders vorteilhaft ohne zusätzliche Drucksensorik ausführbar, denn es kann das Drucksensorsignal eines Drucksensors ausgewertet werden, welcher in einem überwiegenden Anteil von ABS-Regelungs- aggregaten bereits vorhanden ist.The pressure regulating unit preferably comprises a pre-pressure circuit and a plurality of wheel pressure circuits, wherein the pre-pressure circuit can be separated from the wheel pressure circuits by means of at least one separating valve. The pressure sensor for measuring the pressure pulsations is expediently arranged in the area of the pre ¬ circle. The or the separating valve (s) is / are preferably at least partially opened during the pressure measurement. The method of calibration can thus be carried out particularly advantageously without additional pressure sensors, since the pressure sensor signal of a pressure sensor can be evaluated, which is contained in a predominant proportion of ABS control systems. already exists.
Es hat sich gezeigt, dass die Druckkurve ein deutlicheres Signal aufweist, wenn, wie es bevorzugt wird, das/die den Raddruckkreisen, insbesondere dem mit einem Drucksensor ausgestatteten Kreis, zugeordnete/n Einlassventil/e während der Aufnahme von Druckmesspunkten geschlossen ist/sind. Ganz besonders bevorzugt ist dabei vorgesehen, dass nur jeweils ein Einlassventil pro Bremskreis geschlossen wird, um eine Bremsfunktion, wenn auch eingeschränkt, während der Messung noch aufrechtzuerhalten.It has been found that the pressure curve has a clearer signal when, as is preferred, the intake valve (s) associated with the wheel pressure circuits, particularly the circuit equipped with a pressure sensor, is / are closed during the acquisition of pressure measurement points. Most preferably, it is provided that only one inlet valve per brake circuit is closed in order to maintain a braking function, albeit limited, during the measurement.
Gemäß einer weiteren bevorzugten Ausführungsform der Erfindung wird der oben beschriebene, zur Kalibrierung durchgeführte Pumpentest nach einer geeignet gewählten vorgegebenen Zeit oder Laufdauer des Fahrzeugs einmal oder mehrmals wiederholt, um Einlauf oder Verschleißeffekte des Motorpumpenaggregats zu berücksichtigen.According to a further preferred embodiment of the invention, the above-described pump test carried out for calibration is repeated once or several times after a suitably selected predetermined time or running time of the vehicle in order to take account of inlet or wear effects of the motor pump unit.
Die Erfindung betrifft weiterhin ein elektronisches Kraftfahrzeugbremsenregelungssystem mit mindestens einer geregelten Pumpe für einen aktiven Bremsdruckaufbau gemäß Anspruch 10.The invention further relates to an electronic vehicle brake control system having at least one regulated pump for an active brake pressure buildup according to claim 10.
Weitere bevorzugte Ausführungsformen ergeben sich aus den Unteransprüchen und der nachfolgenden Beschreibung eines Ausführungsbeispiels an Hand der Figuren.Further preferred embodiments will become apparent from the subclaims and the following description of an embodiment with reference to the figures.
Es zeigenShow it
Fig. 1 ein Blockschaltbild eines elektronisch geregelten Bremssystems, in dem das beispielgemäße Verfahren ausgeführt wird und Fig. 2 einen Messschrieb, welcher das am eingebautenFig. 1 is a block diagram of an electronically controlled braking system in which the exemplary method is carried out and Fig. 2 is a Messschrieb, which is the built-in
Drucksensor gemessene Signal im zeitlichen Velauf darstellt.Pressure sensor represents measured signal in time Velauf.
Das in Fig. 1 dargestellte Bremssystem 1 besteht aus einem hydraulischen Ventilblock 2 (HCU) und einem fest damit verbundenen elektronischen Reglergehäuse 3 (ECU) . Das Bremssystem umfasst zwei Bremskreise I. und II. Nachfolgend wird lediglich Kreis I. näher erläutert. Mit Tandemhauptzylinder 4 kann nach Maßgabe der Bremspedalbetätigung Bremsflüssigkeit über Hydraulikleitung 5 in Block 2 eingeleitet werden. Über Einlassventil 6 und Auslassventil 7 kann der Druck in den Radbremszylindern 8 eingestellt werden. Eine Messung des vom Fahrer eingetretenden Vordrucks ist mittels Eingangsdrucksensor 16 möglich. Das dargestellte Bremssystem ist sonst mit keinen weiteren Drucksensoren ausgestattet. Hydraulikpumpe 10 ist Ausgangsseitig mit Einlassventil 6 und Trennventil 14 verbunden. Pumpe 10 wird von einem Gleichstromelektromotor betrieben, der elektrisch mit Steuergerät 3 verbunden ist. Druckleitung 5 führt über eine Hydraulikleitung zur Vordruckseite von elektrischem Umschaltventil 11 und Trennventil 14. Der zweite Ausgang von Umschaltventil 11 ist mit dem Einlass von Pumpe 10 und Auslassventil 7 verbunden. Die zweite Seite von Trennventil 14 ist mit dem Pumpe- nauslass sowie Einlassventil 6 verbunden.The brake system 1 shown in Fig. 1 consists of a hydraulic valve block 2 (HCU) and a fixedly connected electronic controller housing 3 (ECU). The brake system comprises two brake circuits I. and II. In the following, only circuit I will be explained in more detail. With tandem master cylinder 4 brake fluid can be introduced via hydraulic line 5 in block 2 in accordance with the brake pedal operation. Via inlet valve 6 and outlet valve 7, the pressure in the wheel brake cylinders 8 can be adjusted. A measurement of the existing by the driver form is possible by means of input pressure sensor 16. The brake system shown is otherwise equipped with no other pressure sensors. Hydraulic pump 10 is connected on the output side with inlet valve 6 and separating valve 14. Pump 10 is operated by a DC electric motor electrically connected to controller 3. Pressure line 5 leads via a hydraulic line to the admission pressure side of electrical switching valve 11 and isolation valve 14. The second output of changeover valve 11 is connected to the inlet of pump 10 and outlet valve 7. The second side of isolation valve 14 is connected to the pump nauslass and inlet valve 6.
Im Modus "aktiver Druckaufbau" wird durch Einschalten des Elektromotors Hydraulikpumpe 10 betrieben, wodurch Hydrau¬ likflüssigkeit vor Einlassventil 6 gefördert wird. Umschaltventil 11 ist in diesem Modus geöffnet, so dass Bremsflüssigkeit aus Speicherbehälter 12 zur Ansaugseite 13 der Pumpe 10 fließen kann. Trennventil 14 ist im wesentlichen geschlossen, kann aber auch zur weiteren Dosierung des Bremsdrucks geringfügig geöffnet werden. Der Elektromotor der Pumpe wird durch Steuergerät 3 mit einem rechteckförmigen Spannungssignal mit variabler Pulsweite (PWM-Signal) elektrisch angesteuert.In the mode "active pressure build-up" is operated by turning on of the electric motor hydraulic pump 10, thereby Hydrau ¬ likflüssigkeit is conveyed in front of the inlet valve. 6 Change-over valve 11 is opened in this mode so that brake fluid can flow from storage tank 12 to suction side 13 of pump 10. Isolation valve 14 is substantially closed, but can also be opened slightly for further dosage of the brake pressure. The electric motor of Pump is electrically controlled by controller 3 with a rectangular voltage signal with variable pulse width (PWM signal).
Innerhalb von elektronischem Steuergerät 3 befindet sich ein Mikroprozessorsystem μP, in dem verschiedenste Steuer-, Regel und Prüfprogramme ausgeführt werden. Steuergerät 3 kann neben internen Druckanforderungen auch Druckanforderungen von externen Steuergeräten, wie z.B. einem automatischen Abstandsregler 15 (ACC), verarbeiten. Nach Maßgabe der vorhandenen Druckanforderung werden Ventile 6, 7, 14 und Pumpe 10 so angesteuert, dass der angeforderte Druck in den Radbremszylindern 18 möglichst genau eingestellt wird.Within electronic control unit 3 is a microprocessor system μP, in which a variety of control, rule and test programs are executed. Controller 3, in addition to internal print requests, may also accept print requests from external controllers, such as those shown in FIG. an automatic distance controller 15 (ACC) process. In accordance with the existing pressure requirement valves 6, 7, 14 and pump 10 are driven so that the requested pressure in the wheel brake cylinders 18 is set as accurately as possible.
Um während einer entsprechenden, nicht durch Hauptzylinder 4 initiierten, Druckanforderung den Sollradbremsdruck hinreichend genau zu dosieren, ist unter anderem eine genaue Einstellung der Pumpenförderleistung notwendig. Herstellungsbedingt gleicht leider nicht jeder Pumpenmotor genau dem anderen, so dass zumindest eine individuelle Motorkalibrierung erforderlich ist, um über die elektrische Ansteuerung des Motors dessen Drehzahl mit der erforderlichen Genauigkeit über den Sollwert der Motorregelung einzustellen.To meter the Sollradbremsdruck sufficiently accurate during a corresponding, not initiated by master cylinder 4, pressure request, among other things, an accurate adjustment of the pump delivery rate is necessary. Unfortunately, due to the manufacturing process, not every pump motor is exactly the same as the other, so that at least one individual engine calibration is required in order to set its speed with the required accuracy over the setpoint value of the engine control via the electrical control of the engine.
Kurve 9 im Messschrieb in Fig. 2 stellt den zeitlichen Verlauf des an Vordrucksensor 16 gemessenen Druck bei eingeschalteter Pumpe 10 während des Testzyklusses zur Pumpenkalibrierung dar. Trennventil 14 ist dabei geöffnet. Die Einlassventile zu den Radbremszylindern sind geschlossen. Hierdurch wird das elastische Volumen der Radbremszylinder vom hydraulischen Strang, in dem die Druckmessung erfolgt, abgekoppelt. Zum Vergleich ist unterhalb von Kurve 9 eine weitere Druckkurve 17 dargestellt, welche den tatsächlichen Druckverlauf am Ausgang der Pumpe angibt. Wie Fig. 2 zeigt, sind die am Vordrucksensor aufgenommenen Druckmesspunkte ausreichend, um eine Bestimmung der Pumpenperiode A durchzuführen. Aus der Pumpenperiode ergibt sich die Anzahl der Pumpenhübe pro Zeit. Die Drehzahl der Pumpe lässt sich auf diese Weise auf besonders einfache Weise mit der vorhandenen Sensorik ermitteln. Curve 9 in the measurement record in FIG. 2 represents the time course of the pressure measured at admission pressure sensor 16 when pump 10 is switched on during the test cycle for pump calibration. Separation valve 14 is open in this case. The intake valves to the wheel brake cylinders are closed. As a result, the elastic volume of the wheel brake cylinder from the hydraulic train in which the pressure measurement takes place, decoupled. For comparison, a further pressure curve 17 is shown below curve 9, which indicates the actual pressure curve at the outlet of the pump. As FIG. 2 shows, the pressure measuring points recorded at the admission pressure sensor are sufficient to carry out a determination of the pumping period A. From the pump period results in the number of pump strokes per time. The speed of the pump can be determined in this way in a particularly simple manner with the existing sensors.

Claims

Patentansprüche claims
1. Verfahren zum Ermitteln der Drehzahl eines elektrischen Motors, der Bestandteil eines Motorpumpenaggregats (10) in einer Druckregelvorrichtung ist, wobei die Drehzahl des Motors und damit die Förderleistung der Pumpe mit der elektrischen Ansteuerleistung des Motors im Zusammenhang steht und die Drehzahl der Pumpe mittels einer Steuerung durch Änderung der Ansteuerleistung eingestellt wird, wobei weiterhin der Motor keine Mittel zur Bestimmung der Drehzahl umfasst, dadurch gekennzeichnet, dass eine Ermittlung der Drehzahl an Hand von Druckpulsationen des Förderfluids erfolgt und die Druckpulsationen insbesondere an einem Drucksensor (16) des Druckregelaggregats gemessen werden.1. A method for determining the rotational speed of an electric motor, which is part of a motor pump unit (10) in a pressure control device, wherein the rotational speed of the motor and thus the delivery rate of the pump with the electrical drive power of the motor is related and the speed of the pump by means of a Control is adjusted by changing the drive power, wherein further the motor comprises no means for determining the speed, characterized in that a determination of the rotational speed takes place on the basis of pressure pulsations of the conveying fluid and the pressure pulsations are measured in particular at a pressure sensor (16) of the pressure control unit.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Generatorspannung des Pumpenmotors gemessen wird und diese gemeinsam mit der über die Druckpulsationen ermittelten Drehzahl zum Ermitteln eines oder mehrerer Kalibrierwerte herangezogen wird, wobei der oder die Kalibrierwert (e) einen funktionalen oder tabellarischen Zusammenhang zwischen "Generatorspannung" und "Pumpendrehzahl" herstellen, wobei insbesondere als Kalibrierwert das Zahlenverhältnis zwischen Generatorspannung und Drehzahl gebildet wird.2. The method according to claim 1, characterized in that the generator voltage of the pump motor is measured and this is used together with the determined via the pressure pulsations speed for determining one or more calibration values, wherein the calibration or the (e) a functional or tabular relationship between Produce "generator voltage" and "pump speed", in particular as a calibration value, the numerical ratio between generator voltage and speed is formed.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Pumpenmotor von einer elektronischen Regelung angesteuert wird.3. The method according to claim 1 or 2, characterized in that the pump motor is driven by an electronic control.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass die elektronische Regelung zur Ansteuerung des Pumpenmotors ein pulsweitenmoduliertes Signal erzeugt. 4. The method according to claim 3, characterized in that the electronic control generates a pulse width modulated signal for driving the pump motor.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die Generatorspannung in den Pulspausen als Istgröße der Regelung herangezogen wird.5. The method according to claim 4, characterized in that the generator voltage is used in the pauses between pulses as actual size of the control.
6. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der am Drucksensor gemessene Druck von der elektronischen Steuerung der Druckregelvorrichtung automatisch über einen vorgegebenen Zeitraum zum Ermitteln einer Druckkurve in einer zeitlichen Folge mehrfach gemessen wird.6. The method according to at least one of the preceding claims, characterized in that the pressure measured at the pressure sensor by the electronic control of the pressure control device is automatically measured repeatedly over a predetermined period of time to determine a pressure curve in a time sequence.
7. Verfahren nach Anspruch 6, dadurch gekennzeichnet, dass die Anzahl der Motorumdrehungen aus der Anzahl der aus der Druckkurve ausgewerteten Perioden oder einem ganzah- ligen Vielfachen davon ermittelt wird.7. The method according to claim 6, characterized in that the number of engine revolutions is determined from the number of evaluated from the pressure curve periods or an integer multiple thereof.
8. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Druckregelaggregat einen Vordruckkreis (5) und mehrere Raddruckkreise umfasst, dass der Vordruckkreis mittels mindestens einem Trennventil (14) von den Radruckkreisen abtrennbar ist, dass der Drucksensor im Bereich des Vordruckkreises angeordnet ist und dass das oder die Trennventil (e) während der Druckmessung zumindest teilweise geöffnet ist/sind.8. The method according to at least one of the preceding claims, characterized in that the pressure control unit comprises a pre-pressure circuit (5) and several Raddruckkreise that the pre-pressure circuit by means of at least one separating valve (14) is separable from the Radruckkreisen that the pressure sensor arranged in the region of the pre-pressure circuit is and that the or the separating valve (s) during the pressure measurement is at least partially open / are.
9. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass zumindest ein oder alle den Raddruckkreisen zugeordnete-s/n Einlassventil/e (6) geschlossen ist/sind.9. The method according to at least one of the preceding claims, characterized in that at least one or all of the Raddruckkreisen associated s / n inlet valve / e (6) is closed / are.
10. Elektronisches Kraftfahrzeugbremsenregelungssystem mit mindestens einer geregelten Pumpe (10) für einen aktiven Bremsdruckaufbau, dadurch gekennzeichnet, dass die Pumpenregelung mit dem Verfahren gemäß mindestens einem der Ansprüche 1 bis 9 kalibriert wird. 10. Electronic motor vehicle brake control system with at least one regulated pump (10) for an active Brake pressure build-up, characterized in that the pump control is calibrated with the method according to at least one of claims 1 to 9.
PCT/EP2008/055944 2007-07-21 2008-05-15 Method for calibrating a hydraulic pump WO2009013037A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007034113.1A DE102007034113B4 (en) 2007-07-21 2007-07-21 Method for calibrating a hydraulic pump
DE102007034113.1 2007-07-21

Publications (1)

Publication Number Publication Date
WO2009013037A1 true WO2009013037A1 (en) 2009-01-29

Family

ID=39608194

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/055944 WO2009013037A1 (en) 2007-07-21 2008-05-15 Method for calibrating a hydraulic pump

Country Status (2)

Country Link
DE (1) DE102007034113B4 (en)
WO (1) WO2009013037A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011098668A2 (en) 2010-02-12 2011-08-18 Maricap Oy Method and apparatus for handling material in a pneumatic materials handling system
CN103410719A (en) * 2013-03-12 2013-11-27 北京理工大学 Capacity electricity loaded hydraulic pump testing device
CN112041560A (en) * 2018-04-27 2020-12-04 卡特彼勒Sarl Calibration system for variable displacement hydraulic pump

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019110569A1 (en) * 2019-04-24 2020-10-29 Man Truck & Bus Se Method and device for determining the speed of a pump

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0662057B1 (en) * 1992-09-25 1996-06-12 ITT Automotive Europe GmbH Process and circuit arrangement for regulating the flow rate of an hydraulic pump
WO1997023373A1 (en) * 1995-12-22 1997-07-03 Robert Bosch Gmbh Process and device for controlling a pump in an electro-hydraulic brake system
WO2000002753A2 (en) * 1998-07-09 2000-01-20 Continental Teves Ag & Co. Ohg Method and device for adjusting brake pressure and for opening an inlet valve
WO2000059762A1 (en) * 1999-03-30 2000-10-12 Robert Bosch Gmbh Breaking system and method for controlling and/or monitoring a pump of a breaking system
DE10244203A1 (en) * 2002-09-23 2004-04-01 Robert Bosch Gmbh Hydraulic pump angular velocity determination method in which a transport pressure of the pump is measured and the frequency of pressure peaks within the pressure signal related to pump angular velocity

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3828933A1 (en) 1988-08-26 1990-03-01 Teves Gmbh Alfred Method for monitoring a hydraulic system
DE4243075B4 (en) 1992-12-18 2005-11-10 Bosch Rexroth Ag Electrically controlled variable pump
FR2707930B1 (en) 1993-07-22 1995-09-22 Farnier & Penin Sunroof device for motor vehicle.
DE102005041556A1 (en) 2005-09-01 2007-03-08 Continental Teves Ag & Co. Ohg Method for determining an admission pressure in a motor vehicle brake system
DE102006040127A1 (en) 2006-08-26 2008-03-06 Continental Teves Ag & Co. Ohg Electronic motor vehicle brake control system`s hydraulic pump calibrating method, involves predetermining generator voltage, and determining correction values, while reaction of engine is evaluated based on controlled electrical signal

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0662057B1 (en) * 1992-09-25 1996-06-12 ITT Automotive Europe GmbH Process and circuit arrangement for regulating the flow rate of an hydraulic pump
WO1997023373A1 (en) * 1995-12-22 1997-07-03 Robert Bosch Gmbh Process and device for controlling a pump in an electro-hydraulic brake system
WO2000002753A2 (en) * 1998-07-09 2000-01-20 Continental Teves Ag & Co. Ohg Method and device for adjusting brake pressure and for opening an inlet valve
WO2000059762A1 (en) * 1999-03-30 2000-10-12 Robert Bosch Gmbh Breaking system and method for controlling and/or monitoring a pump of a breaking system
DE10244203A1 (en) * 2002-09-23 2004-04-01 Robert Bosch Gmbh Hydraulic pump angular velocity determination method in which a transport pressure of the pump is measured and the frequency of pressure peaks within the pressure signal related to pump angular velocity

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011098668A2 (en) 2010-02-12 2011-08-18 Maricap Oy Method and apparatus for handling material in a pneumatic materials handling system
WO2011098667A2 (en) 2010-02-12 2011-08-18 Maricap Oy Method and apparatus for handling material in a pneumatic materials handling system
WO2011098669A2 (en) 2010-02-12 2011-08-18 Maricap Oy Method and apparatus for handling material in a pneumatic materials handling system
CN102811927A (en) * 2010-02-12 2012-12-05 马里凯普有限公司 Method and apparatus for moving material in a pneumatic pipeline conveying system
CN103410719A (en) * 2013-03-12 2013-11-27 北京理工大学 Capacity electricity loaded hydraulic pump testing device
CN112041560A (en) * 2018-04-27 2020-12-04 卡特彼勒Sarl Calibration system for variable displacement hydraulic pump
CN112041560B (en) * 2018-04-27 2022-05-27 卡特彼勒Sarl Calibration system for variable displacement hydraulic pump

Also Published As

Publication number Publication date
DE102007034113A1 (en) 2009-01-22
DE102007034113B4 (en) 2018-07-19

Similar Documents

Publication Publication Date Title
EP1919749B1 (en) Method for determining initial pressure in a motor vehicle braking system
EP1890921B1 (en) Pressure-controlled hydraulic brake system for a land craft
EP1062137B1 (en) Method for compensating the temperature dependence of an inductive resistance of a valve coil
EP1796945B1 (en) Method for calibrating the flow/opening characteristics of an electrically controllable, analogue regulating hydraulic valve
DE112008002061B4 (en) Pump controller and brake control system
DE102013203599A1 (en) Method for calibrating analog controlled hydraulic valves
DE19632311B4 (en) Method for controlling the hydraulic pump of a controlled brake system
DE4442326B4 (en) Method and device for determining a pressure variable
EP2238001B1 (en) Method for conditioning a control valve
WO2000002753A2 (en) Method and device for adjusting brake pressure and for opening an inlet valve
EP1646541A1 (en) Electronic control method for a slip-controlled motor vehicle brake system
DE19624492C2 (en) Anti-lock hydraulic vehicle brake system
EP0731762B1 (en) Brake device with an antilock system for a road vehicle, in particular a passenger car
EP1937529B1 (en) Method for determining the wheel pressure in an electronically actuable motor vehicle brake control system
DE19615449A1 (en) Method and device for controlling the brake system of a vehicle
DE3512716C2 (en)
DE3330483A1 (en) BRAKE SLIP-CONTROLLED BRAKE SYSTEM FOR MOTOR VEHICLES
DE102007034113B4 (en) Method for calibrating a hydraulic pump
EP2739513A2 (en) Method for optimizing the pressure setting accuracy
DE102006040127A1 (en) Electronic motor vehicle brake control system`s hydraulic pump calibrating method, involves predetermining generator voltage, and determining correction values, while reaction of engine is evaluated based on controlled electrical signal
WO2010122132A1 (en) Method for calibrating a pump motor in a pressure control system
DE102004046195B4 (en) Pump drive motor control device
DE10355239A1 (en) Slip-controlled braking system for road vehicle estimates pressure in brake circuits and has PWM control of electric motor driving hydraulic pump pressurizing brake circuits
WO2009010319A2 (en) Method for measuring out the admission pressure in an infinitely variable, electromagnetically actuated hydraulic valve
DE102009034333B4 (en) Method for influencing the rotational behavior of a fluid pump in a motor vehicle brake system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08750296

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 08750296

Country of ref document: EP

Kind code of ref document: A1

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载