Controlling method for an actuator, actuator, and electromechanical brake system
This present disclosure provides a controlling method for an actuator ( 104 ), an actuator ( 104 ), and an electromechanical brake system of brake technology. The controlling method comprises: receiving a brake demand; controlling an electric motor ( 108 ) based on the brake demand; if the brake demand satisfies a preset stationary condition within a preset period, controlling a brake force holding device ( 108 ) to lock a shaft. In this way, frequent variations of the brake demand caused by interference from ambient disturbance or the driver's unsteady brake instructions may be prevented so that the actuator can be locked timely, thereby maintaining a continuous brake torque output with low power consumption or zero power consumption to provide a continuous brake force to the vehicle.
1 . A controlling method for an actuator upon braking during driving, the actuator comprising an electric motor with a shaft and a brake force holding device capable of locking the shaft, the controlling method comprising:
receiving a brake demand;
controlling the electric motor based on the brake demand;
if the brake demand satisfies a preset stationary condition within a preset period, controlling the brake force holding device to lock the shaft during driving;
wherein a desired electric motor rotated position of the electric motor is generated dependent on the brake demand;
wherein the preset stationary condition includes that: the desired electric motor rotated position within the preset period is always located within a preset stationary zone;
wherein driving comprises all operation states of a vehicle in which the vehicle is in motion; and
wherein dynamic adjustment is performed to the preset stationary condition dependent on factors including a vehicle load, a vehicle speed, a slip ratio, a brake disc temperature, and a brake pad wear.
2 . The controlling method for an actuator according to claim 1 , wherein the controlling method further comprises:
filtering the desired electric motor rotated position; and
the preset stationary condition further includes that: a filtered desired electric motor rotated position is located within the preset stationary zone.
3 . The controlling method for an actuator according to claim 1 , wherein the controlling method further comprises:
smoothing the desired electric motor rotated position.
4 . The controlling method for an actuator according to claim 2 , wherein the controlling method further comprises:
smoothing the desired electric motor rotated position.
5 . The controlling method for an actuator according to claim 1 , wherein the controlling method further comprises:
receiving or calculating a measured electric motor rotated position; and
the preset stationary condition further includes obtaining a difference between the measured electric motor rotated position and the desired electric motor rotated position, the difference being smaller than a preset position threshold.
6 . The controlling method for an actuator according to claim 1 , wherein the controlling method further comprises:
receiving a measured electric motor rotation speed; and
the preset stationary condition further includes that the measured electric motor rotation speed is lower than a preset rotation speed threshold.
7 . The controlling method for an actuator according to claim 1 , wherein:
the actuator further comprises a counter configured for recording a valid brake demand.
8 . The controlling method for an actuator according to claim 7 , wherein:
the counter is caused to count brake demands which satisfy the preset stationary condition; and
if there exists a brake demand which does not satisfy the preset stationary condition, a clearing operation on the counter is performed.
9 . The controlling method for an actuator according to claim 1 , wherein;
the controlling method further comprises controlling the brake force holding device to release the shaft and controlling, before the releasing, the electric motor to output a torque in a same direction as before the locking.
10 . The controlling method for an actuator according to claim 1 , wherein:
when the brake demand is generated by a non-human operation, the brake force holding device performs an instantaneous response to the brake demand.
11 . The controlling method for an actuator according to claim 1 , wherein:
the brake force holding device comprises one or more among an electromagnetic brake, a solenoid, and a ratchet mechanism.
12 . The controlling method for an actuator according to claim 1 , wherein:
after the brake force holding device locks the shaft, if the brake demand satisfies a preset non-stationary condition, the brake force holding device is controlled to release the shaft, wherein the preset non-stationary condition is different from the preset stationary condition.
13 . An actuator comprising an electric motor with a shaft and a brake force holding device capable of locking the shaft, wherein the actuator further comprises:
a demand receiving unit configured for receiving a brake demand;
an electric motor controlling unit configured for controlling the electric motor based on the brake demand; and
a brake force holding device controlling unit configured for: if the brake demand satisfies the preset stationary condition within the preset period, controlling the brake force holding device to lock the shaft wherein the brake force holding device controlling unit executes the method of claim 1 ; and wherein:
dynamic adjustment is performed to the preset stationary condition dependent on factors including a vehicle load, a vehicle speed, a slip ratio, a brake disc temperature, and a brake pad wear.
14 . The actuator according to claim 13 , wherein:
the electric motor controlling unit generates a desired electric motor rotated position dependent on the brake demand.
15 . The actuator according to claim 14 , wherein:
the actuator further comprises a filtering module, wherein the preset stationary condition includes that: a desired electric motor rotated position filtered by the filtering module is located within the preset stationary zone.
16 . The actuator according to claim 14 , wherein:
the actuator further comprises a smoothing module configured for smoothing the desired electric motor rotated position.
17 . The actuator according to claim 15 , wherein:
the actuator further comprises a smoothing module configured for smoothing the desired electric motor rotated position.
18 . An actuator comprising an electric motor with a shaft and a brake force holding device capable of locking the shaft, wherein the actuator further comprises:
a demand receiving unit configured for receiving a brake demand;
an electric motor controlling unit configured for controlling the electric motor based on the brake demand;
a brake force holding device controlling unit configured for: if the brake demand satisfies the preset stationary condition within the preset period, controlling the brake force holding device to lock the shaft wherein the brake force holding device controlling unit executes the method of claim 1 ;
wherein the electric motor controlling unit generates a desired electric motor rotated position dependent on the brake demand; and
wherein the preset stationary condition includes that: the desired electric motor rotated position is always located within a preset stationary zone during the preset period.
19 . The actuator according to claim 14 , wherein:
the actuator further comprises an electric motor rotated position sensor or an electric motor rotated position calculating unit configured for obtaining a measured electric motor rotated position; and
the preset stationary condition further includes: obtaining a difference between the measured electric motor rotated position and the desired electric motor rotated position, the difference being smaller than a preset position threshold.
20 . The actuator according to claim 13 , wherein:
the actuator further comprises an electric motor rotation speed obtaining module configured for obtaining a measured electric motor rotation speed; and
the preset stationary condition further includes that the measured electric motor rotation speed is lower than a preset rotation speed threshold.
21 . The actuator according to claim 13 , wherein:
the actuator further comprises a counter configured for recording a valid brake demand.
22 . The actuator according to claim 21 , wherein:
the counter is caused to count brake demands which satisfy the preset stationary condition; and
if there exists a brake demand which does not satisfy the preset stationary condition, a clearing operation on the counter is performed.
23 . The actuator according to claim 13 , wherein:
the brake force holding device controlling unit is further configured for controlling the brake force holding device to release the shaft, and the electric motor controlling unit is further configured for controlling, before the releasing, the electric motor to output a torque in a same direction as before the locking.
24 . The actuator according to claim 13 , wherein:
the brake force holding device controlling unit is further configured for controlling, when the brake demand is generated by a non-human operation, the brake force holding device to perform an instantaneous response to the brake demand.
25 . The actuator according to claim 13 , wherein:
the brake force holding device comprises one or more among an electromagnetic brake, a solenoid, and a ratchet mechanism.
26 . The actuator according to claim 13 , wherein;
the brake force holding device controlling unit is configured for: after the brake force holding device locks the shaft, if the brake demand satisfies the preset non-stationary condition, controlling the brake force holding device to release the shaft, wherein the preset non-stationary condition is different from the preset stationary condition.
27 . An electromechanical brake system, comprising the actuator according to claim 16 .
28 . The controlling method for an actuator according to claim 1 , wherein:
the brake demand comprises a driver's brake demand that is inputted via a brake pedal.