CN101624018B - Regenerative braking system of electric vehicle and control method thereof - Google Patents
Regenerative braking system of electric vehicle and control method thereof Download PDFInfo
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Abstract
The invention relates to a regenerative braking system of an electric vehicle and a control method thereof. The system is provided with a speed sensor, a brake pedal top switch, an electronic accelerator pedal and a shift detector, wherein the speed sensor is used for detecting the current speed of the vehicle; the brake pedal top switch is used for detecting whether current state is in a forced braking state; the electronic accelerator petal is used for detecting the driving intention of a driver, when the driver looses the petal, the driver has no acceleration request, and the vehicle can enter a natural baking state; and the shift detector is used for detecting the current shift of the driver, the detector can detect a drive shift D, a reverse shift R, a neutral shift N and signals of all sensors. The realization of regenerative braking function is completed by a vehicle controller.
Description
Technical field
The invention belongs to the Control of Electric Vehicles field, be specifically related to a kind of regenerative braking system of electric vehicle and control method thereof.
Background technology
Energy shock and ecological deterioration have become restriction global evolution key factor, and the automobile of research energy-saving and environmental protection is one of effective means of alleviating energy pressure, reduction environmental pollution.Compare with traditional combustion engine car or hybrid vehicle, battery-driven car adopts pure driven by power, can reach emission abatement, the purpose that cuts down the consumption of energy.
Compare with traditional vehicle, pure electric vehicle (EV) typical case difference is having:
1. electrical motor is the driving propulsion source of vehicle, can realize advancing and falling back of vehicle;
2. electrical motor can participate in car brakeing, reclaims braking energy;
3. the main energy of battery-driven car comes from energy storage units (generally being high-tension battery);
4. the energy of battery-driven car is mainly from external charge.
Because the energy content of battery of pure electric vehicle is limited, so the continual mileage of pure electric vehicle has been subjected to bigger restriction.In order to solve the continual mileage problem of pure electric vehicle, popular way is to install a generator set onboard additional at present, and when battery electric quantity was not enough, starter-generator was the high-tension battery charging, Here it is so-called plug-in type electromagnetic motor-car (PHEV).
In order to make notion clearer, " battery-driven car " mentioned in this article general reference " pure electric vehicle " and " plug-in type electromagnetic motor-car ", EV and PHEV refer in particular to pure electric vehicle and plug-in type electromagnetic motor-car respectively.
Because running distance of eletric vehicles is its crucial performance figure, and the regenerative brake function reclaims the energy in the braking procedure, the energy of goading recovery in the driving process into action discharges, and reaches the purpose that prolongs continual mileage.
In sum, have following technical matters in the prior art: can the continual mileage that prolong elec. vehicle as much as possible become the key in the battery-driven car exploitation, and how to realize that cost is low, be easy to realize, regeneration brake system and control method thereof that reliability is high, become the urgent problem that solves in the battery-driven car exploitation.
Summary of the invention
The object of the present invention is to provide a kind of regenerative braking system of electric vehicle and control method thereof, solve the problem of energy recovery in the battery-driven car braking procedure, improve the continual mileage of battery-driven car, significantly improve the performance of battery-driven car.
Entire car controller detects brake pedal request, acceleration pedal request and the gear request of chaufeur, judges whether to carry out regenerative brake, can obtain the torque of regenerative brake when carrying out the regenerative brake torque arithmetic according to the speed of a motor vehicle and rotating speed of motor.
The present invention proposes a kind of battery-driven car regenerating brake control method, is particularly suitable for pure electric vehicle and plug-in type electromagnetic motor-car.Simultaneously, the present invention also is applicable to the hybrid vehicle that contains high-tension battery and high drive motor.
In order to realize that system architecture proposed by the invention is to battery-driven car regenerative brake function: a car speed sensor is set, is used to detect the present speed of vehicle; One brake pedal top switch is set, is used to detect the current forced brake state that whether is in; This car adopts electronic accelerator pedal, is used to detect the driving intention of chaufeur, and when chaufeur unclamped pedal, the expression chaufeur did not have acceleration request, and can enter the unintended braking state this moment; One gear detector is set, is used to detect the current gear of chaufeur, this detector can detect D Drive D, retreats grade R and neutral gear N.The signal detection of above-mentioned each sensor, and the realization of regenerative brake function is finished by entire car controller.
Regenerative brake function involved in the present invention:
(1) unintended braking function: when chaufeur in driving procedure, unclamp and drive pedal and gear detector and detect currently during for D Drive, then enter the unintended braking state.At this moment, drive motor enters motoring condition, to vehicle brake activation moment of torsion, the speed of a motor vehicle that the brake torque of motor mainly detects according to the vehicle speed sensor unintended braking first brake torque coefficient of tabling look-up out, according to the rotating speed of motor unintended braking second brake torque coefficient of tabling look-up out, in the first and second brake torque coefficients, select less value to calculate current brake torque then then.What applied under this state turns round according to can not be excessive, otherwise can cause the human discomfort of chaufeur.
(2) forced brake function: when chaufeur in the process of moving, when directly stepping on brake pedal, the expression chaufeur has stronger braking intention, then enters the forced brake state.At this moment, drive motor enters motoring condition vehicle is applied bigger brake torque, the speed of a motor vehicle that the brake torque of motor mainly detects according to the speed sensor of vehicle moving first brake factor of pressure of tabling look-up out, according to the rotating speed of motor moving secondary brakes number of pressure of tabling look-up out, in the first and second forced brake coefficients, select less value to calculate current brake torque then.What applied under this state turns round according to bigger than unintended braking moment of torsion, but the excessive same human discomfort that can cause chaufeur of moment of torsion.
(3) above-mentioned two kinds of brake mode, all necessary assurance brake torque that motor applied is within the brake torque scope that motor allows, and the charge power that motor produced must be controlled within the charging scope of battery permission.
(4) the regenerative brake control mentioned of above-mentioned (1) and (2) must guarantee the safety of vehicle, and when abs controller worked, the battery-driven car entire car controller must stop the regenerative brake function, thereby avoided the influence of regenerative brake function to ABS.
Concrete technical scheme is as follows:
A kind of regenerative braking system of electric vehicle, comprise car speed sensor, the brake pedal top switch, electronic accelerator pedal, gear detector and entire car controller, wherein, car speed sensor is used for detecting in real time car speed, the brake pedal top switch is used for detecting in real time vehicle and whether is in the forced brake state, electronic accelerator pedal is used to detect whether car load is required to quicken and whether interpretation enters the unintended braking state, the gear detector is used to detect current gear, and entire car controller is used to detect above-mentioned four-sensor signal; Car speed sensor, the brake pedal top switch, electronic accelerator pedal is connected with the entire car controller communication respectively with the gear detector.
Also comprise a motor position sensor, it is used for detecting in real time rotating speed of motor, and this motor position sensor is connected with the entire car controller communication.
Also comprise drive motor and electric machine controller thereof, high-tension battery and battery controller thereof, described entire car controller sends to this electric machine controller and drives or electronic request command, and motor controller controls one inverter and drive motor are realized the torque request of entire car controller; This high-tension battery output electric energy to this inverter provides electric energy for drive motor, described battery controller detects the state of high-tension battery and is connected with the entire car controller real-time communication, and receptible maximum power of current high-tension battery or current signal are sent to entire car controller.
Also comprise drive motor and electric machine controller thereof, high-tension battery and battery controller thereof, generator set controller, described entire car controller send to this electric machine controller and drive or electronic request command, and motor controller controls one inverter and drive motor are realized the torque request of entire car controller; This high-tension battery output electric energy to this inverter provides electric energy for drive motor, described battery controller detects the state of high-tension battery and is connected with the entire car controller real-time communication, described generator set controller is subjected to vehicle control unit controls, when being lower than default calibration value, high-tension battery state-of-charge SOC carries out Generation Control, be that generator set controller control driving engine and electrical generator produce electric energy, and export on the high voltage bus by a rectifier, the power supply drive system is used.
A kind of control method of above-mentioned regenerative braking system of electric vehicle is characterized in that, adopts following steps:
(1) entire car controller detects brake pedal request, the acceleration pedal request of electronic accelerator pedal and the gear request of gear detector of brake pedal top switch;
(2) entire car controller judges whether to carry out regenerative brake.
Also further comprise the steps:
(3) entire car controller detects the motor speed signal of motor position sensor;
(4) speed of a motor vehicle that obtains according to detection and the rotating speed of motor torque that draws regenerative brake.
Adopt following algorithm: car load is in motoring condition, and electronic accelerator pedal is in and unclamps, and the gear detector detects the current D Drive that is, then enter the unintended braking state, under this unintended braking state, drive motor enters motoring condition, to vehicle brake activation moment of torsion.
Definite employing following steps of the brake torque of described motor:
(4-1) speed of a motor vehicle that detects according to the vehicle speed sensor unintended braking first brake torque coefficient of tabling look-up out;
(4-2) according to the rotating speed of motor unintended braking second brake torque coefficient of tabling look-up out;
(4-3) in the first and second brake torque coefficients, select smaller value to calculate current brake torque.
Adopt following algorithm: car load is in motoring condition, and the brake pedal top switch detects brake pedal and directly steps on, and then enters the forced brake state, and drive motor enters motoring condition vehicle is applied big brake torque under this forced brake state.
Definite employing following steps of the brake torque of described motor:
(4-1) speed of a motor vehicle that detects according to the speed sensor of vehicle moving first brake factor of pressure of tabling look-up out;
(4-2) according to the rotating speed of motor moving secondary brakes number of pressure of tabling look-up out;
(4-3) in the first and second forced brake coefficients, select less value to calculate current brake torque.
Under above-mentioned two kinds of braking modes, the brake torque that motor applied is within the brake torque scope that motor allows, and the charge power that motor produced is controlled within the charging scope of battery permission.
Under above-mentioned two kinds of braking modes, when abs controller works, the battery-driven car entire car controller stops the regenerative brake function.
The algorithm of regenerative brake is:
Entire car controller at first detects the gear request of chaufeur, does not then carry out regenerative brake as if current for the neutral gear request;
If current is not the neutral gear request, then enters and judge that whether current ABS is for state of activation;
If current ABS is not in state of activation, then enters and judge whether high-tension battery connects;
If high-tension battery is in coupled situation, then enters and judge whether acceleration pedal unclamps;
If acceleration pedal unclamps and then enters the judgement brake pedal status;
If brake pedal is operated and then enters the forced brake state;
If brake pedal is not operated and then enters the unintended braking state.
Compare with present prior art, only need install some simple sensors additional just can realize the regenerative brake function basically in the present invention, and it is simple and reliable to have system, the efficient advantage of higher.
Description of drawings
Fig. 1 is the pure electric vehicle constructional drawing
Fig. 2 is a plug-in type electromagnetic motor-car constructional drawing
Fig. 3 is the regenerative brake control flow chart
Fig. 4 is the unintended braking control flow chart
Fig. 5 is the forced brake control flow chart
Among the figure:
B: change-speed box
The C:CAN bus
W: wheel
28：PRN
The specific embodiment
Describe the present invention with reference to the accompanying drawings below, it is a kind of preferred embodiment in the numerous embodiments of the present invention.
Fig. 1 is the pure electric vehicle system construction drawing.Entire car controller 4 detects the acceleration pedal 1 of chaufeur and the demand of brake pedal 2, explains the driving request and the braking request of chaufeur, and wherein whether the brake activation pedal detects by pedal switch 12 chaufeur.The gear request of chaufeur detects by gear detector 28.Entire car controller 4 sends to motor drive controller 8 and drives or electronic request command, and motor drive controller 8 control inverters 7 and drive motor 10 are realized the torque request of entire car controller.High-tension battery 5 is unique energy source of pure electric vehicle, provides electric energy thereby its electric energy outputs to inverter 7 for drive motor.The electric energy of high-tension battery comes from external charge 3, battery controller 6 detects the state of high-tension battery and reflects in real time to entire car controller, battery controller need calculate receptible maximum power of current high-tension battery or electric current, and this signal is sent to entire car controller 4.Simultaneously, this car can draw the current rotating speed of motor by motor position sensor 9, and speed sensor 11 can detect car speed.Abs controller 30 is responsible for the vehicle slip rate is detected best deceleration and stopping performance and the brake safe that guarantees vehicle, can send its state to entire car controller when it is in state of activation, thereby makes entire car controller stop regenerative brake.Entire car controller 4, battery controller and electric machine controller 6, electric machine controller 8 and abs controller 30 connect by CAN communication.
Fig. 2 is a plug-in type electromagnetic motor-car system construction drawing.Entire car controller 4 detects the acceleration pedal 1 of chaufeur and the demand of brake pedal 2, explains the driving or the braking request of chaufeur, and wherein whether the brake activation pedal detects by pedal switch 12 chaufeur.The gear request of chaufeur detects by gear detector 28.Entire car controller 4 sends to motor drive controller 8 and drives or electronic request command, and final power is realized being realized by motor drive controller 8 control inverters 7 and drive motor 10.Thereby the electric energy of high-tension battery 5 outputs to inverter 7 and provides electric energy for drive motor, generated energy when high-tension battery 5 also can be accepted from the regenerative brake of inverter 7, the electric energy that can also accept from generator set inverter 7 at vehicle operating process mesohigh battery 5.The electricity of high-tension battery can obtain by external charge 3, and battery controller 6 detects the state of high-tension battery and reflects in real time to entire car controller.Receive the state-of-charge SOC of high-tension battery 5 of the feedback of battery controller 6 when entire car controller 4, and when finding that state-of-charge SOC is lower than certain value, entire car controller 4 will send startup command to generator set controller 19, ask its generating then.Generator set controller 19 will control driving engine 23 and electrical generator 22 produces electric energy, and outputs on the high voltage bus by rectifier 21, and the power supply drive system is used.Simultaneously, this car can draw the current rotating speed of motor by motor position sensor 9, and speed sensor 11 can detect car speed.Abs controller 30 is responsible for the vehicle slip rate is detected best deceleration and stopping performance and the brake safe that guarantees vehicle, can send its state to entire car controller when it is in state of activation, thereby makes entire car controller stop regenerative brake.Entire car controller 4, battery controller 6, generator set controller 8, electric machine controller 8 and abs controller 30 connect by CAN communication.
Shown in regenerative brake control flow Fig. 3.Entire car controller at first detects the gear request 32 of chaufeur, then do not carry out regenerative brake as if current for the neutral gear request, if current is not that the neutral gear request then enters 33 and judges that whether current ABS is for state of activation, if current ABS is not in state of activation and then enters 34 and judge whether high-tension battery connects, if high-tension battery is in coupled situation and then enters 35 and judge whether chaufeur has unclamped acceleration pedal, if fruit chaufeur release the gas pedal then enters 37 and judges brake pedal status, step on brake pedal as chaufeur and then enter forced brake state 38, if chaufeur is not stepped on brake pedal and then entered unintended braking state 39.Detailed control process about 39 and 38 is seen Fig. 4 and Fig. 5.Control if in 32,33,34,35,36, be judged as otherwise stop regenerative brake.
The unintended braking control process is seen shown in Figure 4.Entire car controller is at first looked into 40 tables according to rotating speed of motor and is tried to achieve the unintended braking first coefficient rb1_z1; look into 41 tables according to current vehicle speed then and try to achieve the unintended braking second coefficient rb1_z2; entire car controller 42 with less among rb1_z1 and a rb1_z2 value as unintended braking coefficient rb1_z; 43 this coefficient be multiply by the maximum power generation torque T_mot_per that allows of motor then; obtain T_rb1=rb1_z*T_mot_per; in order to protect battery, the maximum charge moment of torsion that entire car controller allows regenerative brake torque T _ rb1 of trying to achieve and current battery in 44 is got the final regenerative brake torque T _ rb1_lim of a wherein less seat unintended braking.
The forced brake control process is seen shown in Figure 5.Entire car controller is at first looked into 45 tables according to rotating speed of motor and is tried to achieve the forced brake first coefficient rb2_z1; look into 46 tables according to current vehicle speed then and try to achieve the forced brake second coefficient rb2_z2; entire car controller 47 with less among rb2_z1 and a rb2_z2 value as forced brake coefficient rb2_z; 48 this coefficient be multiply by the maximum power generation torque T_mot_per that allows of motor then; obtain T_rb2=rb2_z*T_mot_per; in order to protect battery, the maximum charge moment of torsion that entire car controller allows regenerative brake torque T _ rb1 of trying to achieve and current battery in 49 is got the final regenerative brake torque T _ rb1_lim of a wherein less seat unintended braking.
In conjunction with the accompanying drawings the present invention has been carried out exemplary description above; obviously specific implementation of the present invention is not subjected to the restriction of aforesaid way; as long as the various improvement of having adopted method design of the present invention and technical scheme to carry out; or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (10)
1. a regenerative braking system of electric vehicle is characterized in that, comprises car speed sensor, the brake pedal top switch, electronic accelerator pedal, gear detector, entire car controller, motor position sensor, drive motor and electric machine controller thereof, high-tension battery and battery controller thereof, wherein
Car speed sensor is used for detecting in real time car speed, the brake pedal top switch is used for detecting in real time vehicle and whether is in the forced brake state, electronic accelerator pedal is used to detect whether car load is required to quicken and whether interpretation enters the unintended braking state, the gear detector is used to detect current gear, and entire car controller is used to detect above-mentioned four-sensor signal; Car speed sensor, the brake pedal top switch, electronic accelerator pedal is connected with the entire car controller communication respectively with the gear detector;
Motor position sensor is used for detecting in real time rotating speed of motor, and this motor position sensor is connected with the entire car controller communication;
Drive motor and electric machine controller thereof, high-tension battery and battery controller thereof, described entire car controller send to this electric machine controller and drive or electronic request command, and motor controller controls one inverter and drive motor are realized the torque request of entire car controller; This high-tension battery output electric energy to this inverter provides electric energy for drive motor, described battery controller detects the state of high-tension battery and is connected with the entire car controller real-time communication, and receptible maximum power of current high-tension battery or current signal are sent to entire car controller.
2. the control method of regenerative braking system of electric vehicle according to claim 1 is characterized in that, adopts following steps:
(1) entire car controller detects brake pedal request, the acceleration pedal request of electronic accelerator pedal and the gear request of gear detector of brake pedal top switch;
(2) entire car controller judges whether to carry out regenerative brake.
3. as the control method of regenerative braking system of electric vehicle as described in the claim 2, it is characterized in that, also further comprise the steps:
(1) entire car controller detects the motor speed signal of motor position sensor;
(2) speed of a motor vehicle that obtains according to detection and the rotating speed of motor torque that draws regenerative brake.
4. as the control method of regenerative braking system of electric vehicle as described in the claim 3, it is characterized in that, adopt following algorithm: car load is in motoring condition, electronic accelerator pedal is in and unclamps, and the gear detector detects the current D Drive that is, then enters the unintended braking state, under this unintended braking state, drive motor enters motoring condition, to vehicle brake activation moment of torsion.
5. as the control method of regenerative braking system of electric vehicle as described in the claim 4, it is characterized in that definite employing following steps of the brake torque of described motor:
(4-1) speed of a motor vehicle that detects according to the vehicle speed sensor unintended braking first brake torque coefficient of tabling look-up out;
(4-2) according to the rotating speed of motor unintended braking second brake torque coefficient of tabling look-up out;
(4-3) in the first and second brake torque coefficients, select smaller value to calculate current brake torque.
6. as the control method of regenerative braking system of electric vehicle as described in the claim 3, it is characterized in that, adopt following algorithm: car load is in motoring condition, the brake pedal top switch detects brake pedal and directly steps on, then enter the forced brake state, drive motor enters motoring condition vehicle is applied big brake torque under this forced brake state.
7. as the control method of regenerative braking system of electric vehicle as described in the claim 6, it is characterized in that definite employing following steps of the brake torque of described motor:
(4-1) speed of a motor vehicle that detects according to the speed sensor of vehicle moving first brake factor of pressure of tabling look-up out;
(4-2) according to the rotating speed of motor moving secondary brakes number of pressure of tabling look-up out;
(4-3) in the first and second forced brake coefficients, select less value to calculate current brake torque.
8. as the control method of regenerative braking system of electric vehicle as described in claim 4 or 6, it is characterized in that, under this braking mode, the brake torque that motor applied is within the brake torque scope that motor allows, and the charge power that motor produced is controlled within the charging scope of battery permission.
9. as the control method of regenerative braking system of electric vehicle as described in claim 4 or 6, it is characterized in that under this braking mode, when abs controller works, the battery-driven car entire car controller stops the regenerative brake function.
10. as the control method of regenerative braking system of electric vehicle as described in each among the claim 3-7, it is characterized in that the algorithm of regenerative brake is:
Entire car controller at first detects the gear request of chaufeur, does not then carry out regenerative brake as if current for the neutral gear request;
If current is not the neutral gear request, then enters and judge that whether current ABS is for state of activation;
If current ABS is not in state of activation, then enters and judge whether high-tension battery connects;
If high-tension battery is in coupled situation, then enters and judge whether acceleration pedal unclamps;
If acceleration pedal unclamps and then enters the judgement brake pedal status;
If brake pedal is operated and then enters the forced brake state;
If brake pedal is not operated and then enters the unintended braking state.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102010027348A1 (en) * | 2010-02-16 | 2011-08-18 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Method and control / regulation for decelerating a vehicle and vehicle |
| CN101830184B (en) * | 2010-04-20 | 2013-11-20 | 爱德利科技股份有限公司 | Electric locomotive with mutual transmission control between electric motor and wheels |
| CN102050029B (en) * | 2010-12-20 | 2013-01-02 | 奇瑞汽车股份有限公司 | Method and device for recycling energy of pure electric automobile |
| CN102381178B (en) * | 2011-08-24 | 2014-07-02 | 奇瑞汽车股份有限公司 | Plug-in hybrid electric vehicle power system and regenerative brake control method for same |
| CN102765332B (en) * | 2012-07-02 | 2016-03-16 | 奇瑞汽车股份有限公司 | A kind of control system of pure electric coach and control method thereof |
| CN103204157B (en) * | 2013-04-16 | 2015-10-28 | 同济大学 | A kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function |
| CN103754117B (en) * | 2014-01-16 | 2016-08-17 | 北京智行鸿远汽车技术有限公司 | A kind of pure electric automobile Pneumatic braking system converter DCAC control method |
| CN104859459A (en) * | 2014-07-30 | 2015-08-26 | 北汽福田汽车股份有限公司 | Method for determining regenerative braking torque |
| KR101755467B1 (en) * | 2015-09-10 | 2017-07-07 | 현대자동차 주식회사 | Apparatus and method of controlling motor of electric vehicle for reducing vibration |
| CN106218417A (en) * | 2016-08-18 | 2016-12-14 | 郑州宇通客车股份有限公司 | A kind of retarder brake control system and control method |
| CN106541834A (en) * | 2016-12-07 | 2017-03-29 | 江苏大学 | A kind of method that regulation and control extended-range forerunner mixes electrical automobile braking torque |
| CN107972494A (en) * | 2017-12-05 | 2018-05-01 | 东风柳州汽车有限公司 | Electric vehicle energy recycling and control method |
| CN109435692A (en) * | 2018-11-23 | 2019-03-08 | 北斗航天汽车（北京）有限公司 | A kind of pure electric vehicle controller and control method of finished |
| CN110228373A (en) * | 2019-04-11 | 2019-09-13 | 汉腾汽车有限公司 | A kind of new energy mixes motor-car type energy regenerating and Generation Control algorithm |
| CN110422056A (en) * | 2019-09-02 | 2019-11-08 | 海汇新能源汽车有限公司 | Electric cleaning car travel controlling system and its control strategy |
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