CN101112869A - Automobile energy source regenerative braking system and the control method thereof - Google Patents
Automobile energy source regenerative braking system and the control method thereof Download PDFInfo
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Abstract
The invention discloses a mixing power energy regeneration brake and control method, which includes the determination of feasible conditions of the whole vehicle energy source recovery, determination of the energy source recovery stage, the calculation of the electric brake force when the energy source is recovered, the distribution of the brake force between the mechanical brake and the electric brake, and the system safety protection control of the energy source recovery of the mixing power vehicle. The invention also discloses an energy source regeneration brake system implementing the mixing power energy source regeneration brake control method; the system includes a 144V high-voltage nickel-hydrogen power battery, a 1.3-litre gas engine, a mixing power whole vehicle control unit, a battery control unit, a motor, a brake system controller and a 5-speed AMT gearbox. The secondary control optimization of the energy source recovery for the whole vehicle system with the energy source recovery control scheme ensures the recovery of the whole vehicle energy source to be more reasonable and efficient.
Description
Technical field
The control policy and the algorithm that the invention belongs to vehicle complete vehicle system energy source regenerative braking system control policy field are realized, can be applicable to the control field of cleaning vehicles such as electronlmobil, hybrid vehicle.Content among the present invention is that the brake torque that carries out the energy recovery controlling schemes on the motor vehicle braking system basis distributes, control algorithm is realized, application among the present invention is the vehicle of a hydraulic brake system, the allocated size of the brake system energy recovery controller control brake moment of torsion that the present invention is mentioned when the hydraulic pressure of the hydraulic brake system of the vehicle of the hydraulic brake system of using among the present invention increases or reduces, and the energy recovery actuating unit among control the present invention carries out energy recovery.
Background technology
The power drive system of conventional truck provides drive power source by combustion engine, and the propulsion source of this traditional combustion engine formula has some disadvantageous or negative influences for the fuel economy and the emission performance of car load.Particularly to be design with car load dynamic property, accelerating ability and hill climbing ability for mainly resolving contradiction be target to the internal-combustion engine system of conventional truck, therefore just can not make engine operation in order to solve these contradictions on optimization point when the designed engines in some sense, can not all be optimized in all rotary speed working point of driving engine and all load range in addition.Generally speaking, the driving engine under the conventional truck work does not obtain optimized design and does not in most cases work under optimization work point.And hybrid vehicle solves such problem, and it is to reduce a kind of approach that vehicle pollutes and improve the whole fuel efficiency of vehicle.Vehicular system among the present invention just provides a kind of mixed power plant that has disposed internal-combustion engine system, electric system and high-pressure work system.The energy recovery of the present invention during by car brakeing and during long descending solved the efficiency that driving engine and car load move.
Hybrid power system among the present invention can be operated in that the multipotency source drives, the driving of combustion engine efficient operating point and generating, energy regeneration braking, the electric load of car load is load optimized and various working such as driving engine automatic start-stop under.But the summary of the invention of being stated among the present invention introduces the system configuration and the Optimal Control Strategy of the braking of car load energy regeneration.
In general, the principle of work of conventional vehicles brake system is, the vehicle braked system has been about to begin work when chaufeur is stepped on vehicle brake pedal, be applied to the size of the foot-operated power on the brake pedal according to chaufeur, and the size of the auxiliary force of BAS (Brake Assist System) (vacuum brake work-saving device) will produce corresponding hydraulic coupling in the car brakeing master cylinder, will be transmitted on the wheel by the brake-pressure in the brake activation valve master brake cylinder that in the brake system loop, is disposed at each wheel, this pressure produces mechanical friction power by brake shoe brake cheek or brake clamp and comes abrupt deceleration vehicle on brake strip, the braking force that acts on each wheel of conventional truck produces under a kind of so basic braking execution loop configuration.
The brake system that is different from above-mentioned conventional truck is carried out the configuration in loop, the energy source regenerative braking system that is applied on the cleaning vehicles such as electronlmobil or hybrid vehicle also needs to dispose a cover high-voltage power system under the configuration in conventional truck braking execution loop, this high-voltage power system can be used for generating execution and the control setup of hybrid vehicle when the regenerative brake energy recovery, and this kind power generation assembly can be carried out the loop with the braking of traditional vehicle mechanical friction-type and produce braking force jointly and make the car retardation braking.
Summary of the invention
The invention discloses a kind of control method of hybrid power energy regeneration braking, comprise, energy recovery enables the judgement of condition, energy recovery enables to satisfy four following conditions, be that power-transfer clutch is fully closed, gear is not in neutral gear, battery connects good and driving engine in running state, determine whether to carry out energy recovery by judgement to above-mentioned four conditions; The judgement in energy recovery stage judges according to the state of vehicle accelerator pedal whether the energy recovery F/s enables; Judge according to brake pedal position signal whether the energy recovery subordinate phase is enabled; The calculating of electric braking force during energy recovery, with the speed of a motor vehicle is the moment of torsion of described F/s of independent variable calculation of parameter and subordinate phase, the generator torque of F/s is less than the discharge moment of torsion of the electrical generator of subordinate phase, and the power generation torque that F/s calculates on the discharge moment of torsion of subordinate phase will add up; And, the distribution of braking force between mechanical braking and electric braking defines a dead band, is not need to produce the mechanical friction braking force in this interval range, only stepped on enough when dark, just begun action mechanical friction-type braking force at brake pedal.Described dead band be pedal position about 50% before the zone.
When detecting not stepping on accelerator pedal, perhaps acceleration pedal unclamps, pedal position is less than 5%, when perhaps the brake system controller is accepted oil-break signal from EMS, judges that the energy recovery F/s enables; After brake pedal position signal represents that brake pedal is operated, judge that the energy recovery subordinate phase is enabled.
Under the situation that Das Gaspedal is operated, the energy recovery subordinate phase is must be forbidden; If the numerical value of accelerator pedal position sensor signal indication is demarcated variable greater than one, the energy recovery F/s is unallowed.
Electric braking moment of torsion during energy recovery is subjected to the restriction of generator-temperature detection, energy recovery system controller temperature and high-tension battery temperature.
When needs carry out Eng ine Idling Control according to the adjusting of the electric braking moment of torsion of difference when carrying out energy recovery of engine speed and request idling speed.
Temperature, historic state and the current state-of-charge of described high-tension battery according to configuration determined the maximum charge power that high-tension battery can bear, the limiting condition of the electric braking moment of torsion as to energy recovery the time.
The invention also discloses the energy source regenerative braking system of implementing hybrid power energy regeneration brake control method, this system comprises 144V high pressure Ni-MH power cell, 1.3 liters of engine petroies, hybrid power car load control unit, battery control unit, motor, brake system controller and 5 fast AMT change speed gear boxs.
Description of drawings
Fig. 1: a kind of energy recovery Full Vehicle System layout circle of hybrid vehicle;
Fig. 2: a kind of hybrid electric vehicle complete vehicle control system data structure diagram;
Fig. 3: a kind of whole car controller of hybrid electric car control system figure;
Fig. 4: vehicle accelerator pedal position status signal figure;
Fig. 5: vehicle brake pedal location state diagram;
Fig. 6: the vehicle energy recovery stage enables control;
Fig. 7: brake pedal does not have control area;
Fig. 8: the electric braking moment of torsion scheme drawing under the different speed of a motor vehicle;
Fig. 9: the synthetic scheme drawing of the power generation torque under the energy recovery different phase;
Figure 10: idle controller request idling speed under the idle-speed control;
Figure 11: with the engine speed is the adjusting moment of torsion function scheme drawing of independent variable factor;
Figure 12: the high pressure Ni-MH battery is for the torque limited scheme drawing of electric braking under the energy recovery;
Figure 13: the scheme drawing of energy recovery electric braking moment of torsion under temperature limitation;
Figure 14: the control chart of mechanical friction type braking and energy recovery electric braking moment of torsion in the motor vehicle braking system.
The specific embodiment
Fig. 1 shows a kind of energy regeneration braking Full Vehicle System layout circle of hybrid vehicle, this system configuration 1,1.3 liters of engine petroies 2 of 144V high pressure Ni-MH power cell, hybrid power car load control unit 3, battery control unit 4, motor 5, brake system controller 6 and 5 fast AMT change speed gear boxs 7.Wherein the high pressure Ni-MH power cell of 144V is the energy storage and the output unit of this hybrid vehicle, and it can store the car load energy of recovery.Driving engine is the gasoline internal combustion engine of the two VVT of 1.3L CBR, and as first output unit of this hybrid vehicle power-driven system, it is a kind of energy resource system device of mechanical energy with burning hydrocarbon oil feedstock conversion chemical power.Another big power take-off implement in this hybrid power car load device is exactly that to transform electric energy be the motor/generator device of mechanical energy.It and internal-combustion engine system are assembled together coaxially, belong to the second takeoff output transfer device of propulsion source parallel connection.Its on the one hand can be when combustion engine needs quick operated start provides stable startup under the low-speed big as electrical motor, can need power when speed-raising that the chemical power in the energy storage units is converted to mechanical energy with the form output of electric energy in Full Vehicle System again and send the drive system of car load to, and again can be when Full Vehicle System is slowed down make the mechanical energy of car load be converted into electric energy to be stored in the energy storage units high pressure Ni-MH battery with a kind of form of chemical power as electrical generator by power drive.
Fig. 2 shows hybrid electric vehicle complete vehicle control system data structure.The hybrid power system controller is the control system of the superiors in this hybrid vehicle, and it is to coordinate unify the superiors' central controller of car load bodywork system of car load body control system, car load brake system control unit, control unit of engine, car load low voltage electric power system, high-tension battery control unit, motor/generator control unit and car load Power Train.Be connected the realization of carrying out in communication and the control with summary communication of car load CAN net or hardware circuit between other control unit of it and car load, machinery and the electric system.
Fig. 3 shows the controllable function partition structure figure of this hybrid power multipotency source control system.Mainly be divided into five big systems: multipotency source controller system, motor body system, energy storage body and control system, car load brake system, driving engine and car load electric apparatus system.For the multipotency source control system, its functional module has hybrid controller HCU (Hybrid Control Unit), electric machine controller MCU (Machine Control Unit), controller temperature treatment unit and high-low pressure TCU transfer control unit.Electric system comprises motor body, temperature sensor, position transduser and motor temperature control system.Energy storage system comprises high-tension battery battery pack, high-tension battery control system BMS (BatteryManagement System), the automatic tripping protection control unit of high-tension battery and battery temperature control unit.The fourth-largest part is exactly a hybrid power car load brake system, and it comprises car load brake-pressure generation device, wheel braking force size adjustment executive device, brake-power control unit etc.Last part is exactly the electric and mechanical system of driving engine and finished vehicle electronic.
Based on the configuration of above hybrid power energy source regenerative braking system and the configuration of energy control system, adopt car load energy regeneration brake control method as described below among the application, carried out the secondary Control and Optimization of energy recovery for having Full Vehicle System under this energy source configuration scheme, made the recovery of the car load energy more reasonable, more efficient.
The realization of hybrid vehicle energy regeneration brake control method of the present invention comprises calculating, the distribution of braking force between mechanical braking and electric braking and the security of system protection control of hybrid vehicle energy recovery of electric braking force size when the car load energy recovery enables the judgement of condition, the judgement in energy recovery stage, energy recovery.
Below each control part is carried out concrete description.
1, energy recovery enables the judgement of condition
Energy recovery need be based on the following control that enables condition.If by power-transfer clutch top switch signal determining gained power-transfer clutch is open circuited, the energy recovery electric braking need be under an embargo so; If meshed again by power-transfer clutch top switch signal determining gained power-transfer clutch, the energy recovery electric braking needs again to enable again more so.If judge that by change speed gear box control unit output signal the gained power-transfer clutch is open circuited, the energy recovery electric braking need be under an embargo so; If judge that by change speed gear box control unit output signal the gained power-transfer clutch has meshed again, the energy recovery electric braking needs again to enable again more so.And when the energy recovery electric braking was in progress, it was engagement that the change speed gear box control unit must keep power-transfer clutch definitely always.If by transmission neutral switch signal determining change speed gear box is when being in Neutral Position, the energy recovery electric braking need be under an embargo so; If by transmission neutral switch signal determining change speed gear box is when being in P PARK Position P, the energy recovery electric braking needs again to be enabled so.If can not determine change speed gear box from the change speed gear box control unit is when the P PARK Position P, the energy recovery electric braking need be under an embargo; If can determine change speed gear box again from the change speed gear box control unit is when a certain P PARK Position P, the energy recovery electric braking need be enabled again.If in the time of need acting on the ABS (Anti-lock Braking System) adjusting when the brake system control unit is represented car brakeing, the energy recovery electric braking just need be under an embargo.If electric braking does not have only when brake pedal is not depressed again and could be enabled again when forbidding electric braking when needing the brake activation anti-lock to regulate when the energy recovery electric braking because by the judgement of motor vehicle braking system control unit; If when the energy recovery electric braking since by the motor vehicle braking system control unit judge have only when forbidding electric braking when needing the brake activation anti-lock to regulate when motor vehicle braking system judge ABS (Anti-lock Braking System) regulate do not needed and this action continued a period of time after electric braking could be enabled again.
By above description as can be known, energy recovery enables to satisfy four following conditions, promptly 1) power-transfer clutch is closed fully; 2) gear is not in neutral gear; 3) battery connects good; 4) driving engine is in running state.When system detects when satisfying above four conditions, can carry out regenerative brake to carry out the recovery of the energy.
2, the judgement in energy recovery stage
Judge according to the state of vehicle accelerator pedal whether the energy recovery F/s enables, calculate the size of the electric braking force of the required realization of power generation assembly ISG (Integrated StarterGenerator) that the hybrid power car load is equipped with according to car speed.Can whether be that vehicle quickens or deceleration according to accelerator pedal position data volume calculated signals chaufeur driving intention, vehicle accelerator pedal position status signal as shown in Figure 4, stepped on by chaufeur exactly greater than Das Gaspedal after the P0 at the accelerator pedal sensor signal, if pedal signal numerical value just thinks that less than P0 Das Gaspedal do not stepped on by chaufeur so.When detecting not stepping on accelerator pedal, perhaps acceleration pedal unclamps, pedal position is less than 5% o'clock, when perhaps HCU accepts oil-break signal from EMS, enters the regenerative brake F/s.
On the basis of regenerative brake F/s, after brake pedal position signal represented that brake pedal is operated, the energy recovery subordinate phase just had been enabled, and further the energy recovery electric braking force just need be realized out by the ISG device.For brake pedal position signal shown in figure five.Stepped on by chaufeur at moment t0 brake pedal, the energy regeneration subordinate phase is enabled.
Fig. 6 has provided the state status in a special representative type energy recovery stage.Under the situation that Das Gaspedal is operated, the energy recovery subordinate phase is must be forbidden.If the numerical value of accelerator pedal position sensor signal indication is greater than a certain demarcation variable, the energy recovery F/s also is unallowed.
3, under control based on the above energy recovery stage, the calculating of electric braking force size during energy recovery:
Electric braking moment of torsion during energy recovery is the result who is subjected to a lot of parameter influences.Energy recovery two stages are that the torque arithmetic under F/s and the subordinate phase is the independent variable parameter with the speed of a motor vehicle.As shown in Figure 8, the electric braking moment of torsion is not subjected to the influence of deflection angle.Electric braking moment of torsion under energy recovery F/s and the subordinate phase equally also is the function of engine speed.The electricity that can make electrical generator send out more when engine speed is higher reclaims the more energy, and on the contrary, the generating for fear of electrical generator when engine speed is low causes dead the stopping working of suppressing of driving engine make electrical generator send out less.And between energy recovery F/s and subordinate phase, the generator torque under the F/s is less than the discharge moment of torsion of the electrical generator under the subordinate phase.And at the discharge moment of torsion under the energy recovery subordinate phase power generation torque that calculates under the F/s on will adding up.Shown in figure nine, the power generation torque under the energy recovery F/s is calculated as 15Nm, and the power generation torque that calculates according to the speed of a motor vehicle, generator speed under the subordinate phase is 40Nm, and the power generation torque under the so whole energy recovery subordinate phase is exactly 55Nm.
4, the distribution of the braking force of braking of the mechanical friction type under the energy recovery and electric braking
As shown in Figure 7, electric braking during for energy recovery and the distribution between the mechanical braking define a dead band, are not need to produce the mechanical friction braking force in this interval range, only, just begin action mechanical friction-type braking force being stepped on when brake pedal enough when dark.
5, safety control under the energy recovery and system protection
The control of the electric braking moment of torsion during for energy recovery also comprises the protection and the safe limit of system.Wherein when engine electronic control unit judge need carry out idle-speed control the time and battery to allow Power Limitation etc. be most important two big electric braking limiting factors, the control of electric braking moment of torsion cause driving engine to suppress dead phenomenon or the potential phenomenon that causes the driving engine drawing generator to generate electricity in order to avoid when idle-speed control, carry out electric braking, so must limit when the electrical generator idle-speed control.The Eng ine Idling Control device just begins to take over the idle-speed control that begins to carry out driving engine when engine speed is higher, begins to ask certain engine idle rotating speed.No longer step on the throttle pedal or engine speed during less than the idling speed of idle controller request when chaufeur, and idle controller just begins to control driving engine and enters idle state, carries out stable idling by oil spout control again.
Figure 10 has illustrated engine speed and the idling request speed that the idle controller under the idle-speed control time history is potential.When carrying out Eng ine Idling Control, needs utilize adjusting according to poor (actual engine speed-idling request rotating speed) electric braking moment of torsion when carrying out energy recovery of engine speed and request idling speed.The strategy of the adjusting of this electric braking moment of torsion is finally as a kind of effect of the restriction to the electric braking moment of torsion, that is to say if the power generation torque that the electric braking moment of torsion of ask just directly should be realized as electrical generator at last less than the electric braking moment of torsion of regulating the electronics dynamic torque request that strategy calculated; Otherwise regulating the tactful electric braking moment of torsion that is calculated just should be the power generation torque that last electrical generator should be realized.Regulating the tactful electric braking moment of torsion that is calculated is the function of the idling speed of engine speed and request.Figure 11 has illustrated that regulating moment of torsion is the function of engine speed.
Temperature, historic state and the current state-of-charge etc. of the high pressure Ni-MH battery that disposes in according to the present invention can be determined the maximum charge power that high-tension battery can bear, and this maximum charge power is exactly the limiting condition of the electric braking moment of torsion during for energy recovery.High-tension battery was for the restriction of electric braking moment of torsion when Figure 12 had illustrated the long descending energy recovery of vehicle.When in long descending energy recovery electric braking process, if battery temperature raises the receptible charge power of back battery institute in other words charging current will slowly be restricted; Equally, high-tension battery receptible charge power of institute or charging current will slowly be restricted when the high-tension battery state-of-charge is more and more higher; Equally, the use high-tension battery along with high-tension battery also can be restricted at following charge power that can receive of other same state parameter and charging current.
Electric braking moment of torsion during energy recovery is subjected to the restriction of generator-temperature detection, energy recovery system controller temperature and high-tension battery temperature equally.As schematically shown in Figure 13.Can be restricted along with the rising of generator-temperature detection, energy recovery system controller temperature, high-tension battery temperature or than low these electric braking moments of torsion that lose the energy recovery that can allow, three restrictions that lose for electric braking are different, but depend on that finally the minimum in the middle of them allows the electric braking moment of torsion.
Claims (8)
1. hybrid power energy regeneration brake control method comprises:
Energy recovery enables the judgement of condition, energy recovery enables to satisfy four following conditions, be that power-transfer clutch is fully closed, gear is not in neutral gear, battery connects good and driving engine in running state, determine whether to carry out energy recovery by judgement to above-mentioned four conditions;
The judgement in energy recovery stage judges according to the state of vehicle accelerator pedal whether the energy recovery F/s enables; Judge according to brake pedal position signal whether the energy recovery subordinate phase is enabled;
The calculating of electric braking force during energy recovery, with the speed of a motor vehicle is the moment of torsion of described F/s of independent variable calculation of parameter and subordinate phase, the generator torque of F/s is less than the discharge moment of torsion of the electrical generator of subordinate phase, and the power generation torque that F/s calculates on the discharge moment of torsion of subordinate phase will add up; And,
The distribution of braking force between mechanical braking and electric braking defines a dead band, is not need to produce the mechanical friction braking force in this interval range, only stepped on enough when dark at brake pedal, just begins action mechanical friction-type braking force.
2. hybrid power energy regeneration brake control method according to claim 1, it is characterized in that, when detecting not stepping on accelerator pedal, perhaps acceleration pedal unclamps, pedal position is less than 5%, when perhaps the brake system controller is accepted oil-break signal from EMS, judge that the energy recovery F/s enables; After brake pedal position signal represents that brake pedal is operated, judge that the energy recovery subordinate phase is enabled.
3. hybrid power energy regeneration brake control method according to claim 2 is characterized in that: under the situation that Das Gaspedal is operated, the energy recovery subordinate phase is must be forbidden; If the numerical value of accelerator pedal position sensor signal indication is demarcated variable greater than one, the energy recovery F/s is unallowed.
4. according to each described hybrid power energy regeneration brake control method of claim 1-3, it is characterized in that: the electric braking moment of torsion during energy recovery is subjected to the restriction of generator-temperature detection, energy recovery system controller temperature and high-tension battery temperature.
5. hybrid power energy regeneration brake control method according to claim 4 is characterized in that: when needs carry out Eng ine Idling Control according to the adjusting of the electric braking moment of torsion of difference when carrying out energy recovery of engine speed and request idling speed.
6. hybrid power energy regeneration brake control method according to claim 4, it is characterized in that: temperature, historic state and the current state-of-charge of described high-tension battery according to configuration determined the maximum charge power that high-tension battery can bear, the limiting condition of the electric braking moment of torsion as to energy recovery the time.
7. hybrid power energy regeneration brake control method according to claim 1 is characterized in that: described dead band be pedal position about 50% before the zone.
8. implement energy source regenerative braking system as claim 1-7 hybrid power energy regeneration brake control method as described in each, it is characterized in that: this system comprises, 144V high pressure Ni-MH power cell (1), 1.3 liters of engine petroies (2), hybrid power car load control unit (3), battery control unit (4), motor (5), brake system controller (6) and 5 fast AMT change speed gear boxs (7).
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