Method for controlling a braking system for motor vehicles
A method for controlling a braking system for motor vehicles having a hydraulically actuatable wheel brake which can be actuated by an electronically controllable pressure supply device having a cylinderpiston arrangement with a hydraulic pressure chamber, the piston of which can be displaced by an electromechanical actuator such that a pre-defined desired pressure value can be adjusted, a position of the pressure supply device being detected, and an actual pressure (P v, act ) of the pressure supply device being determined by a measurement device. To allow braking pressure to build dynamically at low or medium desired pressure values, manipulated variables (ω act,soll ,M act,soll ) are formed for the electromechanical actuator ( 1 ) on the basis of the pre-defined desired pressure value and of an actual pressure value (P V,Dach ), determined on the basis of the desired pressure value (P v,soll ) by weighted addition of the actual pressure (P v,act ) and of a model pressure (P v,Mod ) calculated from a current position (X act ) of the pressure supply device.
1. A method for controlling a braking system for motor vehicles, the method comprising the steps of:
providing a hydraulically actuable wheel brake which can be actuated by means of an electronically controllable pressure supply device having a cylinder-piston arrangement with a hydraulic pressure chamber, and a piston which is configured to be displaced by an electromechanical actuator, with the result that a predefined setpoint pressure value (P V,Setp ) in the hydraulic pressure chamber can be adjusted,
detecting a position (X act ) of the pressure supply device,
determining an actual pressure (P V, act ) of the pressure supply device by a measuring device,
forming manipulated variables (ω act,Setp , M act,Setp ) for an electromechanical actuator formed on the basis of the predefined setpoint pressure value (P V,Setp ) and an acquired pressure value (P V, acq ), and
determining the acquired pressure value (P V, acq ) as a function of the setpoint pressure value (P V,Setp ) by weighted addition of the actual pressure (P V, act ) and of a model pressure (P V,Mod ) calculated from a the position (X act ) of the pressure supply device.
2. The method as claimed in claim 1 , further comprising the step of determining or selecting the acquired pressure value (P V, acq ) as a function of the time derivative of the predefined setpoint pressure value (dP V,Setp /dt).
3. The method as claimed in claim 1 further comprising the step of determining a weighting factor (λ) for the weighted addition as a function of the setpoint pressure value (P V,Setp ).
4. The method as claimed in claim 3 , further comprising the step of determining the weighting factor (λ) for the weighted addition as a function of the time derivative of the predefined setpoint pressure value (dP V,Setp /dt).
5. The method as claimed in claim 1 further comprising the step of determining the acquired pressure value (P V, acq ) is equal to the actual pressure (P V,act ) if the setpoint pressure value (P V,Setp ) is above a predefined pressure threshold value (P 2 ).
6. The method as claimed in claim 2 further comprising the step of comparing the time derivative of the predefined setpoint pressure value (dP V,Setp /dt) with a predefined threshold value (S 1 , S 2 ) if the setpoint pressure value (P V,Setp ) is below the predefined pressure threshold value (P 2 ).
7. The method as claimed in claim 6 further comprising the step of determining the acquired pressure value (P V, acq ) is equal to the model pressure (P V,Mod ) if the time derivative of the predefined setpoint pressure value (dP V,Setp /dt) is above the predefined threshold value (S 2 ) and if the setpoint pressure value (P V,Setp ) is below a predefined pressure threshold value (P 1 ).
8. The method as claimed in claim 1 further comprising the step of calculating the model pressure (P V,Mod ) according to a predefined characteristic curve or function (f(X act )) which represents the dependence, characterizing the braking system, of the actual pressure (P V, act ) on the position (X act ) of the pressure supply device.
9. The method as claimed in claim 1 further comprising the step of feeding the setpoint pressure value (P V,Setp ) and the acquired pressure value (P V, acq ) to a pressure controller with a speed controller connected downstream, wherein a speed pilot controller is provided, the output variable (ω add ) of which is determined as a function of the current position (X act ) of the pressure supply device.
10. A control device for a hydraulically actuatable wheel brake, the control device comprising:
an electronically controllable pressure supply device having a cylinder-piston arrangement with a hydraulic pressure changer, the electronically controllable pressure supply device being configured to actuate the hydraulically actuatable wheel brake,
a piston of the cylinder-piston arrangement of which can be displaced by an electromechanical actuator, with the result that a predefined setpoint pressure value (P v, Setp ) in the hydraulic pressure chamber can be adjusted,
a detecting device configured to detect a position (X act ) of the pressure device,
a measuring device configured to determine an actual pressure (P v, act ) of the pressure supply device and feed the actual pressure (P v, act ) to a pressure controller,
the control device forming manipulated variables (ω act,Setp , M act,Setp ) for the electromechanical actuator as a function of an acquired pressure value (P V, acq ) and a predefined setpoint pressure value (P V,Setp ),
the control device comprising the pressure controller and a speed controller which is connected downstream of the pressure controller, and
wherein manipulated variable (ω act,Setp ) which represents a setpoint actuator speed value and an actual actuator speed value (ω act ) are fed as input variables to the speed controller, in that means are provided which determine the acquired pressure value (P V, acq ), and feed it to the pressure controller.
11. The control device as claimed in claim 10 , further comprising:
the pressure controller is configured to output a first setpoint actuator speed value (ω act Setp,DR,Ctrl ),
the pressure controller is configured to determine a second setpoint actuator speed value (ω act,Setp,DR,FFW ) from the setpoint pressure value (P V,Setp ), the time derivative of the setpoint pressure value, and
the pressure controller is configured to determine a third setpoint actuator speed value (ω add ) at least from the position (X act ) of the pressure supply device, and the manipulated variable (ω act,Setp ), which represents the setpoint actuator speed value, for the speed controller is determined on the basis of the first, the second and the third setpoint actuator speed values (ω act,Setp,DR,Ctrl ,ω act,Setp,DR,FFW ,ω add ).
12. A braking system for motor vehicles comprising:
at least one hydraulically actuable wheel brake
an electronically controllable pressure supply device for actuating the wheel brake,
the pressure supply device comprises a cylinder-piston arrangement with a hydraulic pressure chamber, a piston of which can be displaced by an electromechanical actuator,
a measuring device for determining an actual pressure (P V, act ) of the pressure supply device, having means for determining a position (X act ) of the pressure supply device and an electronic open-loop and closed-loop control unit for controlling the electromechanical actuator,
a control device, the control device configured to form manipulated variables (ω act,Setp , M act,Setp ) for the electromechanical actuator as a function of an acquired pressure value (P V, acq ) and a predefined setpoint pressure value (P V,Setp ), and
the control device a pressure controller and a speed controller which is connected downstream of the pressure controller, wherein manipulated variable (ω act,Setp ) which represents a setpoint actuator speed value and an actual actuator speed value (ω act ) are fed as input variables to the speed controller, in that means are provided which determine the acquired pressure value (P V, acq ), and feed it to the pressure controller, falls below a configured low limit.