CN101941430A - Hydraulic braking system of four-wheel driven electric vehicle - Google Patents
Hydraulic braking system of four-wheel driven electric vehicle Download PDFInfo
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- CN101941430A CN101941430A CN 201010225740 CN201010225740A CN101941430A CN 101941430 A CN101941430 A CN 101941430A CN 201010225740 CN201010225740 CN 201010225740 CN 201010225740 A CN201010225740 A CN 201010225740A CN 101941430 A CN101941430 A CN 101941430A
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Abstract
The invention discloses a hydraulic braking system of a four-wheel driven electric vehicle. Based on the conventional hydraulic braking system, the system has the following characteristics that: 1, a selector valve and a master cylinder brake pressure sensor are arranged in front of a high-pressure damper on a brake pipeline led out of a master brake pump, a pipeline is connected from an outlet of the selector valve, and a medium pressure energy accumulator is arranged; another selector valve is arranged in front of the high-pressure damper on another brake pipeline, a pipeline is connected from the outlet of the selector valve, and a medium pressure energy accumulator is arranged; 2, two pipelines are led out of a liquid storage chamber and communicated with two one-way valves, and a switching electromagnetic valve is arranged on the pipeline; and 3, a wheel cylinder brake pressure sensor is connected at a left front wheel cylinder and a right rear wheel cylinder respectively. The system can ensure the same feeling of brake pedal as that of the conventional hydraulic braking system; the braking energy recovery efficiency reaches the maximum; and an ABS function can also be realized; and the driving safety is ensured and the driving range of an electrically-propelled vehicle is widened.
Description
Technical field
The present invention relates to the hydraulic brake system of vehicle, specifically, be meant a kind of hydraulic brake system of four-wheel driven hybrid power vehicle, pure electric vehicle with braking energy recovery function.
Background technology
By the dynamical element of control electronlmobil, the kinetic energy that glancing impact is dissipated reclaims, and is an important technology that improves the electric automobile energy degree of utilization.In this course, electrical motor uses as electrical generator, and the energy of recovery is stored in the battery with the form of electric energy.One of key issue that is faced in the electronlmobil research process is exactly that the specific energy of the battery that provides on the current market is lower, therefore causes the continual mileage of electronlmobil to compare with gasoline car.Address this problem, except will be technical the haveing breakthrough of this bottleneck of battery, also should optimize the general design and the energy management system of setting up highly effective and safe of electronlmobil, therefore electronlmobil is in development and development process, and how rationally use and energy savings just become the important topic that the designer faces.The braking energy feedback technology is the pioneering technology that at present domestic and international electronlmobil maker extensively adopts, and generally, by the auxiliary braking of motor, can greatly improve capacity usage ratio with braking procedure middle part separating vehicles recover kinetic energy to storage battery.The external at present advanced braking control system with regenerative braking function that proposes comprises: sharp this braking control system of Toyota-Pu, Honda-EV plus braking control system, these two kinds of brake system all are in order to add the feedback braking function original brake system to be carried out bigger transformation to form, these two kinds of brake system can not only realize the braking energy feedback function, and can guarantee ABS under the limiting condition, VSC, TCS function, can expand this function by Control Software is improved.Sharp this braking control system of Toyota-Pu and Honda-EV plus braking control system is being represented the forward position of feedback braking function development, and still, the research of reclaiming hydraulic brake system at the four-wheel driving electric vehicle braking energy is less relatively.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide the hydraulic brake system that braking energy reclaims function that has of a kind of four-wheeled electric vehicle.
For achieving the above object, the present invention takes following technical scheme: the hydraulic brake system of a kind of four-wheeled electric vehicle, comprise a brake pedal (1), one vacuum booster (2), one fluid reservoir (3), one master brake cylinder (4), one ABS motor (19), two high-tension dampers (5), (6), two low pressure accumulators (11), (12), four check valves (7), (8), (9), (10), six switch electromagnetic valves (13), (14), (15), (16), (17), (18), wherein, fluid reservoir (3) is master brake cylinder (a 4) fuel feeding, draw two braking pipelines from two outlets of master brake cylinder (4) and control front-wheel and trailing wheel respectively, each described high-tension damper, check valve, low pressure accumulator, switch electromagnetic valve on average is configured on the two braking pipelines, two braking pipelines shared one described ABS motor (19), between the master brake cylinder (4) and ABS motor (19) on the two described brake pipings, be connected in series one group of high-tension damper (5) respectively, check valve (7) and high-tension damper (6), check valve (8), be connected in series a check valve (9) between described ABS motor (19) and the low pressure accumulator (11), be connected in series a check valve (10) between described ABS motor (19) and the low pressure accumulator (12), per two is one group in six described switch electromagnetic valves, control the near front wheel respectively, off front wheel and two trailing wheels of common control, it is characterized in that: on a described brake piping, between master brake cylinder (4) and the high-tension damper (5) selector valve (22) is set, and between master brake cylinder (4) and selector valve (22), be connected in series a master cylinder brake-pressure sensor (28), connect a pipeline from an output port of selector valve (22), an intermediate-pressure accumulator (24) is set on described pipeline; On another described brake piping, between master brake cylinder (4) and the high-tension damper (6) another selector valve (23) is set, connect a pipeline from the output port of another selector valve (23), an intermediate-pressure accumulator (25) is set on described pipeline; Between fluid reservoir (3) and check valve (9), be communicated with a brake piping, and a switch electromagnetic valve (20) is set on this pipeline, between fluid reservoir (3) and check valve (10), be communicated with a brake piping, and a switch electromagnetic valve (21) is set on this pipeline; In the brake piping between electromagnetic valve (14) and the left front wheel cylinder (29), be connected in series a front-wheel wheel cylinder brake-pressure sensor (26), in the brake piping between electromagnetic valve (18) and the right back wheel cylinder (32), be connected in series a trailing wheel wheel cylinder brake-pressure sensor (27); Master cylinder pressure sensor (28) signal and pressure of wheel braking cylinder sensor (26), (27) signal send brake controller (33) to, described each electromagnetic valve and ABS motor are controlled by brake controller (33), drive motor (35) is by entire car controller (34) control, and brake controller (33) is also realized the feedback braking function jointly with entire car controller (34) communication.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention transforms to realize that braking energy reclaims function four-wheeled electric vehicle conventional hydraulic brake system, it is drawn two oil circuits and is concatenated into respectively on two oil pumps in the fluid reservoir chamber in the conventional hydraulic brake system, and two switch electromagnetic valves are set on oil circuit; On two oil circuits that former master brake cylinder is drawn, add two selector valves, two intermediate-pressure accumulators; A front-wheel wheel cylinder brake-pressure sensor is set in addition again, a trailing wheel wheel cylinder brake-pressure sensor, a master cylinder brake-pressure sensor, and relevant brake piping, formed a kind of hydraulic brake system that can realize that braking energy reclaims, this hydraulic brake system can realize that the braking energy peak efficiency reclaims, the antero posterior axis braking force distributes arbitrarily, identical with conventional hydraulic brake system brake pedal feel.2, not only can realize that through the improved hydraulic brake system of the present invention braking energy reclaims function, but also have the ABS function, deceleration and stopping performance meets laws and regulations requirement, has improved Vehicle Economy.
Description of drawings
Fig. 1 is a conventional hydraulic brake system schematic diagram
Fig. 2 is a hydraulic brake system schematic diagram of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
The present invention is to provide a kind of solution that braking energy of electric automobiles is reclaimed, it is transformed the conventional hydraulic brake system, and in conjunction with the drive motor in the vehicle, to Control Software carry out rationally, reliable design, to realize the braking energy recovery.
Shown in Figure 1 is conventional hydraulic brake system schematic diagram, the conventional hydraulic brake system comprises brake pedal 1, vacuum booster 2, fluid reservoir 3, master brake cylinder 4, high- tension damper 5,6, check valve 7,8,9,10, low pressure accumulator 11,12, switch electromagnetic valve 13,14,15,16,17,18, ABS motor 19.Wherein, fluid reservoir 3 is master brake cylinder 4 fuel feeding, draw two braking pipelines from two outlets of master brake cylinder 4 and control front-wheel and trailing wheel respectively, each described high-tension damper, check valve, low pressure accumulator, switch electromagnetic valve on average is configured on the two braking pipelines, two braking pipelines shared one described ABS motor 19, between the master brake cylinder 4 and ABS motor 19 on the two described brake pipings, be connected in series one group of high-tension damper 5 respectively, check valve 7 and high-tension damper 6, check valve 8, be connected in series a check valve 9 between described ABS motor 19 and the low pressure accumulator 11, be connected in series a check valve 10 between described ABS motor 19 and the low pressure accumulator 12, in six described switch electromagnetic valves, switch electromagnetic valve 13,14 is one group of control the near front wheel, switch electromagnetic valve 15,16 is one group of control off front wheel, switch electromagnetic valve 17,18 is one group of common control two trailing wheel.
Shown in Figure 2 is hydraulic brake system schematic diagram of the present invention, it is to add switch electromagnetic valve 20,21 in the conventional hydraulic brake system, selector valve 22,23, intermediate- pressure accumulator 24,25, front-wheel wheel cylinder brake-pressure sensor 26, trailing wheel wheel cylinder brake-pressure sensor 27, master cylinder brake-pressure sensor 28, and relevant brake piping, formed a kind of hydraulic brake system that four-wheeled electric vehicle can realize that braking energy reclaims that is used for.
Concretely: on the brake piping between master brake cylinder 4 and the high-tension damper 5, selector valve 22 is set, and between master brake cylinder 4 and selector valve 22, is connected in series into master cylinder brake-pressure sensor 28; Between master brake cylinder 4 and high-tension damper 6, selector valve 23 is set; 22 1 output port places are provided with intermediate-pressure accumulator 24 at selector valve, and connect intermediate-pressure accumulator 24 and selector valve 22 with brake piping; 23 1 output port places are provided with intermediate-pressure accumulator 25 at selector valve, and connect intermediate-pressure accumulator 25 and selector valve 23 with brake piping; Between fluid reservoir 3 and check valve 9, be communicated with a brake piping, and a switch electromagnetic valve 20 is set on this pipeline; Between fluid reservoir 3 and check valve 10, be communicated with a brake piping, and a switch electromagnetic valve 21 is set on this pipeline; In the brake piping between electromagnetic valve 14 and the left front wheel cylinder 29, be connected in series front-wheel wheel cylinder brake-pressure sensor 26; In the brake piping between electromagnetic valve 18 and the right back wheel cylinder 32, be connected in series trailing wheel wheel cylinder brake-pressure sensor 27.
Master cylinder pressure sensor 28 signals and pressure of wheel braking cylinder sensor 26,27 signals send brake controller 33 (BCU) to; All electromagnetic valves and ABS motor 19 are by brake controller 33 controls; Drive motor 35 (D) is controlled by entire car controller 34 (VCU); Brake controller 33 and entire car controller 34 communications and the common feedback braking function that realizes.
Special feature of the present invention is that forward and backward axle regenerative braking power and hydraulic braking force ratio can regulate arbitrarily, also can realize ABS anti-lock function when realizing the recovery of braking energy peak efficiency.Introduce the principle of work of hydraulic brake system under different operating modes below:
1 conventional brake
1.1 hydraulic pressure conventional brake function
The hydraulic pressure conventional brake is meant to have only hydraulic braking force to participate in braking procedure.
Electro-hydraulic element shown in Figure 2 keeps normality (no power state), and chaufeur is stepped on brake pedal 1, and braking liquid flow through selector valve 22, electromagnetic valve 14 enter left front wheel cylinder, realize the conventional supercharging of the near front wheel; Braking liquid flow through selector valve 22, electromagnetic valve 16 enter right front wheel cylinder, realize the conventional supercharging of off front wheel; Braking liquid flow through selector valve 23, electromagnetic valve 18 enter left back and right back wheel cylinder, realize the conventional supercharging of left rear wheel and off hind wheel.Decompression process is identical with conventional hydraulic brake system decompression process, no longer repeats herein.
Feel identical with conventional hydraulic brake system brake pedal feel trampling of this brake pedal 1, this is because brake oil flow and conventional hydraulic brake system are identical.
1.2 regenerative braking conventional brake function
The regenerative braking conventional brake is meant to have only regenerative braking power to participate in braking procedure.
Do not illustrate under the whether energising situation of electro-hydraulic element that electro-hydraulic element shown in Figure 2 all keeps normality (no power state).At pedal position one brake switch is arranged, when stepping on brake pedal, the signal that the brake switch signal begins as brake operating also is the energizing signal that selector valve 22 and 23 begins to switch on.When brake controller monitors the brake switch signal, selector valve 22 and 23 energisings, brake controller can be determined the braking requirement of chaufeur according to the signal value of pressure sensor 28, the making and settlement kinetic moment is T, brake controller sends feedback torque command value T to entire car controller, entire car controller makes drive motor produce regenerative braking moment, and (the hypothesis driven motor can provide regenerative braking moment T to size herein for T.This moment, four wheel hydraulic braking force were zero, and vehicle relies on regenerative braking power to satisfy the chaufeur braking requirement merely.
Brake pedal feel is simulated by intermediate-pressure accumulator, therefore good pedal sense is just arranged, this be because: the braking liquid that master brake cylinder 4 comes out directly enters intermediate- pressure accumulator 24,25, therefore when implementing regenerative braking, the pressure that supercharging and decompression cause changes can not influence the pressure of master brake cylinder, and then can not influence brake pedal feel.
1.3 regenerative braking and hydraulic braking mixing conventional brake function
Regenerative braking is meant that with hydraulic braking mixing conventional brake function in whole braking procedure, regenerative braking power and hydraulic braking force concur.
The brake switch signal also is the energizing signal that selector valve 22 and 23 begins to switch on as the brake operating commencing signal.Hypothesis has only two front-wheels to participate in regenerative braking herein.When monitoring the brake switch signal, the braking liquid selector valve 22 of flowing through enters intermediate-pressure accumulator 24 (reason that is called intermediate-pressure accumulator is that the working pressure range of this energy storage is 0～5MPa in selector valve 22 energising, the master brake cylinder 4, spring stiffness relatively low pressure energy storage is bigger), can know the braking requirement (being made as T) of chaufeur by the signal of pressure sensor 28, if feedback this moment moment is T
h, then the required hydraulic braking moment of two front-wheels is T
y=T-T
h, can know two front-wheel hydraulic braking moment values by the signal of pressure sensor 26, electromagnetic valve 20 energising, 29 energisings of ABS motor, flow through electromagnetic valve 20, high-tension damper 5 of braking liquid enters two front-wheel wheel cylinders in the fluid reservoir, when the front-wheel hydraulic braking moment equals T
yThe time, electromagnetic valve 20, ABS motor 19 return to normal.
The braking requirement of supposing chaufeur this moment is constant, needs to increase feedback moment, reduce two front-wheel hydraulic braking moment.Increasing feedback moment can realize by sending instructions to drive motor controller. Electromagnetic valve 13,14,15,16 energisings, two front wheel brake liquid enter low pressure accumulator 11, if electromagnetic valve 20 energisings, braking liquid flows back to fluid reservoir, reaches the purpose that reduces two front-wheel hydraulic braking moment; If failing to be convened for lack of a quorum, electromagnetic valve 20 no powers, braking liquid are stored in 11 li of low pressure accumulators.
Brake pedal feel is simulated by intermediate-pressure accumulator.
1.4 feedback and hydraulic pressure composite brakig are to the transition of pure hydraulic braking
When the current charge condition of battery (SOC) during greater than rated value, can not utilize regenerative braking power to brake, suppose that current state is feedback and hydraulic pressure composite brakig, NextState need become pure hydraulic braking, and current state two trailing wheels are pure hydraulic brakings.Composite brakig increases hydraulic braking force during to pure hydraulic braking transition when need reduce regenerative braking power, guarantee that total braking force is constant.Electromagnetic valve 20, selector valve 22,19 energisings of ABS motor, the fluid reservoir braking liquid flow through electromagnetic valve 20, high-tension damper 5, electromagnetic valve 14,16 enter two before wheel cylinders, brake controller and entire car controller communication simultaneously reduces corresponding feedback moment values, it is 0 that this process continues to regenerative braking power, has so far finished the transition of composite brakig to pure hydraulic braking.
Brake pedal feel is simulated by intermediate-pressure accumulator.
1.5 feedback and hydraulic pressure composite brakig are to the transition of pure regenerative braking
In some cases, in order to improve the braking energy organic efficiency, utilize two front-wheels (f-w-d vehicle) regenerative braking power to bear whole braking requirement.Suppose that current state is a composite brakig, i.e. two trailing wheel hydraulic brakings, two front-wheel composite brakigs, NextState need be to pure regenerative braking transition.Increase regenerative braking power in the transient process, reduce hydraulic braking force.Increasing regenerative braking power realizes by brake controller and entire car controller communication. Electromagnetic valve 20,21,13,14,15,16,17,18 energising, flow through electromagnetic valve 13, low pressure accumulator 11, check valve 9, electromagnetic valve 20 of braking liquid enters fluid reservoir in the near front wheel wheel cylinder; Flow through electromagnetic valve 15, low pressure accumulator 11, check valve 9, electromagnetic valve 20 of braking liquid enters fluid reservoir in the off front wheel wheel cylinder; Flow through electromagnetic valve 17, low pressure accumulator 19, check valve 10, electromagnetic valve 21 of braking liquid enters fluid reservoir in left back, the off hind wheel wheel cylinder, so far realized reducing of four wheel hydraulic braking force, final four wheel hydraulic braking force are zero, and the car load braking requirement has regenerative braking power to bear.
Brake pedal feel is simulated by intermediate-pressure accumulator.
2 emergency brakings
Emergency braking is meant the braking model that occurs certain wheel lockup phenomenon in the braking procedure.
2.1 pure hydraulic braking is to the ABS transient process during emergency braking
Do not explain the situation down, electro-hydraulic element shown in Figure 2 all keeps normality (no power state).When monitoring certain wheel when locking trend occurring, be assumed to be the near front wheel herein, electromagnetic valve 13,14 energisings, 19 energisings of ABS motor, flow through electromagnetic valve 13, low pressure accumulator 11, check valve 9, ABS motor 19 of left front wheel cylinder braking liquid enters master brake cylinder and right front wheel cylinder (if electromagnetic valve 16 keeps normalities), and the result is that the near front wheel braking force reduces, the off front wheel braking force increases, brake pedal has the slight pulsations sensation.The near front wheel pressure charging valve and reducing valve are switched on simultaneously, can realize holding pressure control.
2.2 composite brakig is to the ABS transient process during emergency braking
Majority is in the composite brakig state in the vehicle ' process, and composite brakig is during to the ABS transition, and all electro-hydraulic elements reset (maintenance normality), and whether regenerative braking power decides on control policy if participating in ABS, and the simplest handling is directly to withdraw from feedback braking.It is identical with last joint working process to utilize hydraulic braking force to participate in the ABS control method, no longer repeats herein.
Above-mentioned each process only is used to illustrate the present invention, and wherein the specific implementation of each function can be carried out equivalents and improvement on the basis of technical solution of the present invention, all should not get rid of outside protection scope of the present invention.
Claims (1)
1. the hydraulic brake system of a four-wheeled electric vehicle, comprise a brake pedal (1), one vacuum booster (2), one fluid reservoir (3), one master brake cylinder (4), one ABS motor (19), two high-tension dampers (5), (6), two low pressure accumulators (11), (12), four check valves (7), (8), (9), (10), six switch electromagnetic valves (13), (14), (15), (16), (17), (18), wherein, fluid reservoir (3) is master brake cylinder (a 4) fuel feeding, draw two braking pipelines from two outlets of master brake cylinder (4) and control front-wheel and trailing wheel respectively, each described high-tension damper, check valve, low pressure accumulator, switch electromagnetic valve on average is configured on the two braking pipelines, two braking pipelines shared one described ABS motor (19), between the master brake cylinder (4) and ABS motor (19) on the two described brake pipings, be connected in series one group of high-tension damper (5) respectively, check valve (7) and high-tension damper (6), check valve (8), be connected in series a check valve (9) between described ABS motor (19) and the low pressure accumulator (11), be connected in series a check valve (10) between described ABS motor (19) and the low pressure accumulator (12), switch electromagnetic valve (13), (14) be one group of control the near front wheel, switch electromagnetic valve (15), (16) be one group of control off front wheel, switch electromagnetic valve (17), (18) be one group of common control two trailing wheel.
Per two are one group and control a wheel respectively in the electromagnetic valve, it is characterized in that:
On a described brake piping, between master brake cylinder (4) and the high-tension damper (5) selector valve (22) is set, and between master brake cylinder (4) and selector valve (22), be connected in series a master cylinder brake-pressure sensor (28), connect a pipeline from an output port of selector valve (22), an intermediate-pressure accumulator (24) is set on described pipeline;
On another described brake piping, between master brake cylinder (4) and the high-tension damper (6) another selector valve (23) is set, connect a pipeline from the output port of another selector valve (23), an intermediate-pressure accumulator (25) is set on described pipeline;
Between fluid reservoir (3) and check valve (9), be communicated with a brake piping, and a switch electromagnetic valve (20) is set on this pipeline, between fluid reservoir (3) and check valve (10), be communicated with a brake piping, and a switch electromagnetic valve (21) is set on this pipeline;
In the brake piping between electromagnetic valve (14) and the left front wheel cylinder (29), be connected in series a front-wheel wheel cylinder brake-pressure sensor (26), in the brake piping between electromagnetic valve (18) and the right back wheel cylinder (32), be connected in series a trailing wheel wheel cylinder brake-pressure sensor (27);
Master cylinder pressure sensor (28) signal and pressure of wheel braking cylinder sensor (26), (27) signal send brake controller (33) to, described each electromagnetic valve and ABS motor are controlled by brake controller (33), drive motor (35) is by entire car controller (34) control, and brake controller (33) is also realized the feedback braking function jointly with entire car controller (34) communication.
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| CN102133891B (en) * | 2011-03-07 | 2013-05-22 | 清华大学 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
| CN102133891A (en) * | 2011-03-07 | 2011-07-27 | 清华大学 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
| CN102310850A (en) * | 2011-06-15 | 2012-01-11 | 浙江亚太机电股份有限公司 | Electric vehicle braking system capable of reclaiming braking energy |
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| CN103303273B (en) * | 2012-03-08 | 2016-02-10 | 株式会社万都 | For the electrically controlled brake system of vehicle |
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| CN102765378A (en) * | 2012-07-12 | 2012-11-07 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| CN102765378B (en) * | 2012-07-12 | 2014-07-30 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| WO2014082466A1 (en) * | 2012-11-27 | 2014-06-05 | 奇瑞汽车股份有限公司 | Automobile brake boosting and controlling device |
| CN104802785A (en) * | 2015-04-09 | 2015-07-29 | 奇瑞汽车股份有限公司 | Control system for automobile brake energy recovery |
| CN104960426A (en) * | 2015-07-16 | 2015-10-07 | 芜湖市汽车产业技术研究院有限公司 | Electric vehicle braking power requirement judging circuit |
| CN105606369A (en) * | 2015-09-08 | 2016-05-25 | 宁波拓普智能刹车系统有限公司 | Automobile electric and mechanical booster performance test bench |
| CN105606369B (en) * | 2015-09-08 | 2018-05-11 | 宁波拓普智能刹车系统有限公司 | A kind of motorcar electric machinery booster is performance test bed |
| CN109305155A (en) * | 2018-10-17 | 2019-02-05 | 芜湖伯特利电子控制系统有限公司 | The oil circuit of electric controlled brake system pressure reduction pulse can be reduced |
| CN111605528A (en) * | 2019-02-26 | 2020-09-01 | 北京新能源汽车股份有限公司 | Control method and device of electric power-assisted brake system and controller |
| CN111605528B (en) * | 2019-02-26 | 2021-07-30 | 北京新能源汽车股份有限公司 | Control method and device of electric power-assisted brake system and controller |
| WO2021253367A1 (en) * | 2020-06-19 | 2021-12-23 | 舍弗勒技术股份两合公司 | Braking system and vehicle |
| CN112977379A (en) * | 2021-04-14 | 2021-06-18 | 一汽解放汽车有限公司 | Braking system and vehicle |
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| CN101941430B (en) | 2013-01-02 |
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