CN101701877B - ABS brake and motor feedback brake cooperative control strategy test stand for electric vehicle - Google Patents
ABS brake and motor feedback brake cooperative control strategy test stand for electric vehicle Download PDFInfo
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- CN101701877B CN101701877B CN2009102289405A CN200910228940A CN101701877B CN 101701877 B CN101701877 B CN 101701877B CN 2009102289405 A CN2009102289405 A CN 2009102289405A CN 200910228940 A CN200910228940 A CN 200910228940A CN 101701877 B CN101701877 B CN 101701877B
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Abstract
The invention discloses an ABS brake and motor feedback brake cooperative control strategy test stand for an electric vehicle, which comprises a wheel bracket, a sliding rail and a control and display storage system, wherein wheels are installed on the wheel bracket and driven by a motor; the motor is powered by a battery pack, brakes are installed on the wheels, and ABS systems are arranged on the brakes; a roller bracket is installed on the sliding rail, a support shaft I which is fixedly connected with a roller is installed on the roller bracket, the support shaft I is connected with an inertia freewheel group, and an oil cylinder the acting force direction of which is parallel to the sliding rail is connected to the roller bracket; the wheels drive the roller by compression friction; and the electric energy generated by the power generation of the motor is transmitted to the battery pack for storing. The invention effectively reduces the development time of a relevant control system, reduces the development cost and improves the utilization ratio of energy.
Description
Technical field
Control testing table, particularly a kind of electric vehicle abs braking and motor regenerative braking coordination control strategy testing table are coordinated in the mechanical braking and the motor regenerative braking that the present invention relates to a kind of electric vehicle.
Background technology
In the hybrid electric vehicle and pure electric vehicle of present stage fast development, its drive motor uses to carry out braking energy feedback as generator when slowing down and brake, negative torque during electric power generation provides a part of braking moment for car brakeing, improve energy efficiency, increase the distance travelled of vehicle, reach the effect that reduces discharging and energy savings.
Under the braking situation of reality, the motor regenerative braking specifically can be reclaimed the braking kinetic energy of much number percent, be subjected to the influence of the state-of-charge, vehicle braked intensity, car brakeing pressure active adjustment mechanism of electric battery, also will be subjected to the constraint of driver and crew's comfortableness simultaneously such as systems such as ABS.The target of motor feedback is exactly to reclaim braking energy as much as possible under the prerequisite that guarantees brake safe and riding comfort.Wherein abs braking is coordinated directly relevant with the brake safe problem with the control of motor regenerative braking, realize that good controlled target need have good control strategy, to reach the purpose that under the prerequisite that guarantees ABS system operate as normal, reclaims braking kinetic energy as much as possible.The control strategy of exploitation this respect need carry out a large amount of tests and fund input, utilization can simulated automotive the testing table of braking come auxiliary development to save cost of development, shorten the development time and reduce the danger of real train test.
Summary of the invention
The present invention provides a kind of testing table that is used for testing electric vehicle abs braking and motor regenerative braking coordination control strategy for solving the technical matters that exists in the known technology.
The technical scheme that the present invention takes for the technical matters that exists in the solution known technology is: a kind of electric vehicle abs braking and motor regenerative braking coordination control strategy testing table, comprise wheel stand, slide rail and control and demonstration stocking system, on the described wheel stand wheel is installed, described wheel is driven by the driven by motor wheel box, described motor is by battery-powered, on the described wheel detent is installed, described detent is connected with the ABS system, the cylinder carriage is installed on the described slide rail, the bolster I affixed with cylinder is installed on the described cylinder carriage, described bolster I connects the inertial flywheel group, is connected with the force direction oil cylinder parallel with described slide rail on the described cylinder carriage; Described wheel is by the described cylinder of pressing friction transmission; The power delivery that described electric power generation produces stores to electric battery; Described oil cylinder promotes described rigid carriers and moves along described slide rail, produces radial compaction power between described cylinder and described wheel; Described radial compaction power F
2=G
1* μ 1/ μ
2, wherein, G
1Be described wheel normal load, μ
1Be ground friction coefficient, μ
2Friction factor for described cylinder and described wheel; By adjusting the big or small drag friction power that changes between described wheel and described cylinder of described radial compaction power between described cylinder and described wheel, the road surface friction force of simulation different coefficients of friction.
Described oil cylinder working-pressure is by the control of high speed servo-valve.
Described electric battery is by charger charging rising state-of-charge SOC, by the described wheel of described driven by motor, described cylinder and the rotation of described inertial flywheel group and brake the state-of-charge SOC that reduces electric battery.
Described motor is provided with the output torque sensor, and described output torque sensor is installed between described motor and the wheel box; The braking moment sensor is installed between described cylinder and described inertial flywheel group.
Described cylinder is provided with the rotating speed photoelectric sensor, and described rotating speed photoelectric sensor is installed in the axle head of the back shaft I of described cylinder; Brake piping input end in described ABS system is equipped with the brake-pipe pressure sensor.
This testing table is provided with the vertical damping force computer simulation system of vehicle complete vehicle.
Described wheel box has at least two speed ratios.
This testing table is equipped with power analyzer.
The brake-pipe pressure of described detent promotes an oil cylinder by the Hydraulic Station output pressure and produces.
The brake-pipe pressure of described detent produces by trampling brake pedal.
Advantage and good effect that the present invention has are: adopt material objects such as abs braking system, motor, electric battery to set up simulator stand, be used for testing abs braking and motor regenerative braking coordination control strategy, and carry out the testing experiment of ABS system braking control strategy separately, thereby reduce the development time of relevant control system effectively, reduce cost of development and increased energy utilization ratio.
Description of drawings
Fig. 1 is a floor plan of the present invention;
Fig. 2 is a control system block diagram of the present invention.
Among Fig. 1: 1, inertial flywheel group, 2, universal joint, 3, slide rail, 4, cylinder, 5, oil cylinder, 6, electric battery, 7, master controller, 8, motor, 9, shaft coupling, 10, wheel box, 11, transmission shaft, 12, wheel stand, 13, detent, 14, wheel, 15, oil cylinder, 16, Hydraulic Station.
Embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1～Fig. 2, the control testing table is coordinated in a kind of electric vehicle abs braking of the present invention and motor regenerative braking, comprise the wheel stand 12, slide rail 3, Hydraulic Station 16 and the control system that are packed on the iron floor, wheel 14 is installed on the wheel stand 12, wheel 14 is driven by motor 8, drive path is: motor 8 is connected with the input end of wheel box 10 by shaft coupling 9, the output terminal of wheel box 10 is connected with wheel 14 by transmission shaft 11, detent 13 is installed on the wheel 14, and detent 13 is provided with ABS system 15; Cylinder carriage 7 is installed on the slide rail 3, by Bearing Installation the bolster I affixed with cylinder 4 is arranged on the cylinder carriage, bolster I is connected with inertial flywheel group 1, is connected with the parallel oil cylinder 5 of force direction and slide rail 3 on the cylinder carriage; Wheel 14 is by pressing friction driving drum 4; Control system is regulated the hydraulic brake pressure of detent 13 and the regenerative braking moment of motor 8 according to control strategy, and control motor 8 and detent 13 are coordinated braking.
For the ease of oil cylinder 5 reinforcings, inertial flywheel group 1 is provided with back shaft II, and back shaft II is connected by universal joint 2 with bolster I, back shaft II and bolster I keeping parallelism when making the moving horizontally of cylinder 4.
The sensor that is used for testing of electric motors regenerative braking moment of torsion is installed between motor 8 and the wheel box 10; The sensor that is used to test wheel 14 rotating speeds is the wheel speed sensors that ABS system 15 carries; The photoelectric sensor that is used to test cylinder 4 rotating speeds is installed in the axle head of cylinder 4 back shaft I; The sensor that is used to test cylinder 4 braking torques is installed between cylinder 4 and the flywheel group 1; The sensor that is used to test brake-pipe pressure is installed in the brake piping input end of ABS system 15; Be used to test abs pressure and regulate the pressure input end that the pressure transducer of situation is installed in the detent wheel cylinder.
The inertia that makes up inertial flywheel group 1 as required comes the quality of simulated automotive, the back shaft II of inertial flywheel group 1 connects by the back shaft I of universal joint 2 with cylinder 4, the back shaft I of cylinder 4 by Bearing Installation on the rigid carriers that moves horizontally, promotion bottom bracket at oil cylinder 5 moves along horizontally disposed slide rail 3, thereby makes wheel 14 and 4 on cylinder produce radial compaction power; The snap-in force size utilizes the notion of equivalent friction to set, promptly calculate frictional ground force according to ground friction factor, wheel normal load, under the situation that the frictional ground force that utilize to calculate then equates with wheel 14 friction force with cylinder 4, calculate the horizontal snap-in force of wheel 14 with the friction factor of 14 of wheels with 4 on cylinder according to cylinder 4; By adjusting the drag friction power that horizontal snap-in force size between wheel 14 and cylinder 4 these two parts changes 4 on wheel 14 and cylinder, thereby simulate road surface drag friction power on the road surface of different coefficients of friction; By using the variation of high speed servo-valve control wheel 14 with the snap-in force size of 4 on cylinder, the chess lattice type road surface of simulating friction factor height alternate.
The electric energy that directly utilizes electric battery 6 to store during on-test, as power-driven mechanism, by wheel box 10, outputting power comes drive wheels 14 and cylinder 4 and inertial flywheel group 1 to reach the speed of setting then by motor 8; After cylinder 4 reached the setting rotating speed, control system control Hydraulic Station output brake pressure began to apply damping force to wheel 14, under the situation that prevents wheel 14 lockings, carries out braking energy feedback control.When carrying out feedback braking, motor 8 is transported to electric battery 6 storages as generator for electricity generation through inverter.
When electric battery 6 electric weight are not enough, use charging set that electric battery 6 is charged, to reach the state-of-charge SOC that needs; When battery electric quantity is higher than testing requirements state-of-charge SOC,, brake the electric energy of consuming cells group 6 then, to reach the state-of-charge that needs by driven by motor wheel 14, cylinder 4 and 1 rotation of inertial flywheel group.
Electric battery 6 comprises accumulator, fuel cell, super capacitor, these multi-form energy devices of battery simulator, and these energy devices are used singly or in combination according to designing requirement.
Above-mentioned testing table is provided with the vertical damping force computer simulation system of vehicle complete vehicle.Testing table combines with computer simulation model and carries out vehicle complete vehicle braking mechanics performance study, when four-wheel electric automobile computer simulation analysis, a wheel service test platform material object, other three wheels model emulation that uses a computer, and the test data of platform wheel in kind is made amendment to the computer model emulation of other three wheels by experiment.
Between motor 8 and wheel 14, the reducing gear that has two speed ratios at least is installed, simulates the ratio of gear on the actual vehicle, perhaps according to the different reducing gear of design needs configuration.
Testing table has been equipped with torque sensor, rotating speed dynamometer, on testing table, connect power analyzer, be used for the control effect analysis that the detail parameters such as voltage, electric current, power, power factor (PF), phasing degree, crest voltage, power frequency, electric voltage frequency and the electric battery quantity of electric charge, efficient of testing of electric motors is used to develop control system.
The brake-pipe pressure of detent 13 promotes an oil cylinder by Hydraulic Station 16 output pressures and produces, and the pressure size is fed back by pressure transducer, is mediated by servo-valve, with the brake pressure that obtains expecting.
The another kind of mode that the brake-pipe pressure of detent 13 produces is to produce brake piping and need pressure by trampling brake pedal, use vacuum booster to carry out power-assisted when adopting the pedal brake pedal, the vacuum tightness of vacuum booster adopts electric air pump to extract the vacuum tightness of simulated engine draft tube corresponding position out.
Basic ideas of the present invention are: be auxiliary development abs braking and motor regenerative braking coordination control strategy, adopt the coordination control situation of simulator stand detection and debugging abs braking and motor regenerative braking, control strategy so that auxiliary development abs braking and motor regenerative braking are coordinated is further used in the research and development of pure electric vehicle or hybrid electric vehicle.
Use first kind of testing program of the present invention: carry out the test adjustment that control is coordinated in ABS and motor regenerative braking, before the test at first will according to result of calculation make up the inertia of inertial flywheel group 1 and configure wheel 14 and cylinder 4 between radial pressure; Utilize electric battery 6 output electric energy to drive the rotation of whole test platform as motor then by motor 8, the output of motor drives wheel 14 rotations by wheel box 10, wheel 14 drives the cylinder rotation again by the friction force between itself and the cylinder 4, and cylinder 4 drives 1 rotation of inertial flywheel groups.After cylinder 4 rotating speeds reach setting value (the simulated automotive speed of a motor vehicle), master controller 7 sends instruction, the output brake pressure of control Hydraulic Station 16 (the brake pressure size adopts FEEDBACK CONTROL), brake pressure acts on and makes it produce braking moment on the detent 13, braking moment makes wheel 14 begin braking, the controller of ABS system 15 judges according to the signal that the speed probe of the speed probe of wheel 14 and cylinder 4 sends whether wheel has the trend of locking, and according to concrete result of determination brake pressure is regulated; Electric machine controller is according to the instruction of master controller 7 simultaneously, regulate the phase current of motor by PWM (width modulation) and regulate motor regenerative braking moment, thereby coordinate braking, the alternating current that electric power generation produces is transported to electric battery 6 by inverter and stores.When this test is used for the braking of simulated automotive cruising, the developer of coordination control strategy is according to the coordination control strategy of its design, the exploitation control program, and by moving said procedure in control system, under the situation that guarantees ABS system operate as normal, allocation proportion between primary controller 7 control hydraulic braking moment and the motor regenerative braking moment is to reach the purpose that reclaims braking kinetic energy as much as possible.
Use second kind of testing program of the present invention: the test adjustment of motor regeneration braking control when simulating vehicle slides combines inertial flywheel group 1 at first as requested, regulates the pressure between wheel 14 and the cylinder 4 during test; Motor drives wheel 14 rotations as motor by wheel box 10 then, and wheel 14 drives cylinder 4 rotations by friction force, and cylinder 4 drives 1 rotation of inertial flywheel group.After the rotating speed of cylinder 4 reached setting value, master controller 7 sent instruction and stops driving to motor 8, and wheel 14 begins to slide under the inertia effect of inertial flywheel group 1, because do not have hydraulic braking this moment, ABS system 15 does not participate in work.Electric machine controller is regulated motor 8 as the certain regenerative braking moment of generator generation according to the instruction of master controller 7 by the phase current that PWM (width modulation) regulates motor, and the power delivery that motor 8 generatings produce stores to electric battery 6.This test is used for the simulated automotive band shelves braking moment that engine produces when sliding, and in general regenerative braking moment is less, and concrete regenerative braking moment size is set according to real train test result or experience.
Use the third testing program of the present invention: carry out the experimental test of ABS system control strategy, combine inertial flywheel group 1 during test at first as requested, regulate the pressure between wheel 14 and the cylinder 4; Motor 8 drives wheel 14 rotations as motor by wheel box 10 then, and wheel 14 drives cylinder 4 rotations by friction, and cylinder 4 drives 1 rotation of inertial flywheel group.After the rotating speed of cylinder 4 reaches setting value, master controller 7 sends and stops the motor-driven instruction, send braking instruction for simultaneously detent 13, the controller of ABS system 15 judges according to the signal that the speed probe of the speed probe of wheel 14 and cylinder 4 sends whether wheel has the trend of locking, and according to concrete result of determination brake pressure is regulated; Motor 8 does not carry out regenerative braking in this case, and this test is used for testing automobile when not having the motor regenerative braking, the situation of ABS system 15 control brake devices.
In above-mentioned testing program, inertial flywheel group 1 adopts geometric ratio and equal difference array mode, and base inertia is 5kg.m
2, maximum inertia reaches 110kg.m
2, differential only is 1kg.m
2, satisfy car brake test needs more accurately; Different mass flywheels mainly connect by bolt when making up.
In above-mentioned testing program, cylinder 4 diameters are 800mm, are installed on two rolling bearings by bolster I, and the end of bolster I connects with flywheel group back shaft II by universal joint 2.The bearing seat of bolster I is fixed on the rigid carriers, carriage is connected with one group of slide rail again, under the promotion of a servocontrol hydraulic amplifier oil cylinder 5, can move horizontally, the snap-in force size is measured by pressure transducer, and the output pressure of employing FEEDBACK CONTROL hydraulic amplifier oil cylinder 5 comes the friction force between index drum and the wheel.
In above-mentioned experimental test scheme, the kinematic train maximum speed of compositions such as inertial flywheel group 1, cylinder 4 is 2000rpm.
In above-mentioned experimental test scheme, Hydraulic Station 16 provides power for the action of detent 13 and hydraulic amplifier oil cylinder, and the maximum pressure that provides is 20MPa, and the pressure size adopts servo-valve control.
In above-mentioned experimental test scheme, motor 8 is the structure of the extensive motor/generator one that adopts on electric automobile and the hybrid-power electric vehicle, adopt non-brush permanent-magnet DC motor, rated power is 30kW, and testing table adopts multi-form motor according to actual needs.
In above-mentioned testing program, electric battery 6 is configured according to actual needs.
In above-mentioned testing program, wheel 14, detent 13, ABS system 15 adopt the selected concrete material object of specific design, perhaps adopt the ABS system and device of oneself developing.
In first kind of above-mentioned testing program, the elementary object of coordinating control is: according to the severity of braking size, under the situation that guarantees ABS system operate as normal, allocation proportion between primary controller 7 control hydraulic braking moment and the motor regenerative braking moment is to reach the purpose that reclaims braking kinetic energy as much as possible.Specifically how to realize that this purpose depends on the design and the program development of concrete working control strategy, the testing table that the present invention relates to is to provide a basic test platform in order to verify with the debugging control strategy, does not comprise the design of concrete control strategy.
The present invention is mainly used in ABS and motor regenerative braking coordination control strategy development experiments, electric battery 6 provides electric energy during test, by motor 8 as motor by drive wheels 14 again after wheel box 10 speed changes, drive cylinder 4 by wheel 14 by friction, cylinder 4 drives inertial flywheel group 1 and rotates together with same rotational speed; Hydraulic Station 16 output pressures driving detent 13 begins action under the speed of setting, and wheel 14 is applied braking; Master controller 7 is regulated the regenerative braking moment of hydraulic brake pressure and motor generation according to control strategy, under the prerequisite that guarantees ABS system operate as normal, reclaims braking kinetic energy as much as possible.
The electric vehicle that the present invention relates to comprises hybrid electric vehicle and pure electric vehicle.
Although in conjunction with the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (10)
1. electric vehicle abs braking and motor regenerative braking coordination control strategy testing table, it is characterized in that, comprise wheel stand (12), slide rail (3) and control and demonstration stocking system (7), wheel (14) is installed on the described wheel stand (12), described wheel (14) drives wheel box (10) by motor (8) and drives, described motor (8) is powered by electric battery (6), detent (13) is installed on the described wheel (14), described detent (13) is connected with ABS system (15), described slide rail is equipped with the cylinder carriage on (3), be equipped with on the described cylinder carriage and the affixed bolster I of cylinder (4), described bolster I connects inertial flywheel group (1), is connected with the force direction oil cylinder (5) parallel with described slide rail (3) on the described cylinder carriage; Described wheel (14) is by the described cylinder of pressing friction transmission (4); The power delivery that described motor (8) generating produces stores to electric battery (6); Described oil cylinder (5) promotes described cylinder carriage and moves along described slide rail (3), produces radial compaction power between described cylinder (4) and described wheel (14); Described radial compaction power F
2=G
1* μ
1/ μ
2, wherein, G
1Be described wheel (14) normal load, μ
1Be ground friction coefficient, μ
2Be the friction factor of described cylinder (4) with described wheel (14); By adjusting the big or small drag friction power that changes between described wheel (14) and described cylinder (4) of described radial compaction power between described cylinder (4) and described wheel (14), the road surface friction force of simulation different coefficients of friction, described control and demonstration stocking system (7) are regulated the hydraulic brake pressure of described detent (13) and the regenerative braking moment of described motor (8) according to control strategy, control described motor (8) and described detent (13) and coordinate braking.
2. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table is characterized in that, described oil cylinder (5) pressure is by the control of high speed servo-valve.
3. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table, it is characterized in that, described electric battery (6) is by charger charging rising state-of-charge SOC, drives described wheel (14), described cylinder (4) and described inertial flywheel group (1) by described motor (8) and rotates and brake the state-of-charge SOC that reduces electric battery (6).
4. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table, it is characterized in that, described motor (8) is provided with the output torque sensor, and described output torque sensor is installed between described motor (8) and the wheel box (10); The braking moment sensor is installed between described cylinder (4) and described inertial flywheel group (1).
5. electric vehicle abs braking according to claim 4 and motor regenerative braking coordination control strategy testing table, it is characterized in that, described cylinder (4) is provided with the rotating speed photoelectric sensor, and described rotating speed photoelectric sensor is installed in the axle head of the back shaft I of described cylinder (4); Brake piping input end in described ABS system (15) is equipped with the brake-pipe pressure sensor.
6. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table is characterized in that this testing table is provided with the vertical damping force computer simulation system of vehicle complete vehicle.
7. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table is characterized in that described wheel box (10) has at least two speed ratios.
8. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table is characterized in that this testing table is equipped with power analyzer.
9. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table is characterized in that, the brake-pipe pressure of described detent (13) promotes an oil cylinder by the Hydraulic Station output pressure and produces.
10. electric vehicle abs braking according to claim 1 and motor regenerative braking coordination control strategy testing table is characterized in that the brake-pipe pressure of described detent (13) produces by trampling brake pedal.
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| CN2009102289405A CN101701877B (en) | 2009-12-02 | 2009-12-02 | ABS brake and motor feedback brake cooperative control strategy test stand for electric vehicle |
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|---|---|---|---|
| CN2009102289405A CN101701877B (en) | 2009-12-02 | 2009-12-02 | ABS brake and motor feedback brake cooperative control strategy test stand for electric vehicle |
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| CN101701877B true CN101701877B (en) | 2011-07-20 |
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