CN102050114B - Braking control method of hybrid electrical vehicle - Google Patents
Braking control method of hybrid electrical vehicle Download PDFInfo
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- CN102050114B CN102050114B CN2010105772931A CN201010577293A CN102050114B CN 102050114 B CN102050114 B CN 102050114B CN 2010105772931 A CN2010105772931 A CN 2010105772931A CN 201010577293 A CN201010577293 A CN 201010577293A CN 102050114 B CN102050114 B CN 102050114B
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Abstract
The invention relates to a braking control method of a hybrid electrical vehicle, which utilizes a brake system and an energy recovery system. The braking control method provided by the invention comprises the following steps: detecting the current speed of the vehicle by utilizing a vehicle speed detecting device; detecting a brake pedal stroke by utilizing a brake pedal stroke detecting device; and not recovering the braking energy when the current speed is lower than a starting value, and otherwise, distributing the braking energy based on brake pedal stroke according to the corresponding stroke braking control requirements and controlling the operation of the brake system and energy recovery system according to the distributed braking moment. The control method provided by the invention distributes the braking moment according to the brake pedal stroke, so that the energy recovery system and the original brake system are organically combined into a whole, thereby avoiding the inconsistent switching between the energy recovery system and the original brake system. Thus, a driver can realize stable braking feeling and braking effect and can drive the vehicle conveniently, safely and reliably.
Description
Technical field
The present invention relates to hybrid electric vehicle, be specifically related to a kind of braking control method of hybrid electrical vehicle.
Background technology
Hybrid electric vehicle is at travelling brake, while slowing down, and its braking energy can change electric energy into, and is stored in (being called braking energy reclaims) in storage battery, to reduce fuel oil consumption.The electric energy that is stored in storage battery is used for vehicle launch and accelerates to reduce engine load, thereby improves fuel economy.Energy yield in order to increase car brakeing, while slowing down, developed braking energy and reclaimed brake system.The control of this brake system is comprised of the hydraulic brake of former driving engine vehicle and the energy-recuperation system of motor (effect of starter/generator when deceleration, braking).But at present, energy-recuperation system and hydraulic brake switching are inharmonious, make the driver realize different braking impressions, although vehicle still possesses whole braking potentiaies simultaneously, but it is that braking system is malfunctioning that the driver also can feel this situation, and need adjust self braking maneuver and change to adapt to braking effect, and operation is difficulty relatively, affect traffic safety, this is also the difficult problem that present hybrid electric vehicle faces.
Summary of the invention
The technical issues that need to address of the present invention are, how a kind of braking control method of hybrid electrical vehicle is provided, and make the driver realize stable braking impression and braking effect on the basis of reclaiming braking energy.
Technical matters of the present invention solves like this: build a kind of braking control method of hybrid electrical vehicle, utilize brake system and energy-recuperation system, comprise the following steps: utilize vehicle speed detector device to detect the automobile present speed; Utilize the brake pedal device for detecting distance of travel to detect the brake pedal stroke; , when described present speed does not reclaim braking energy lower than the startup value, by described brake system, worked alone; , when described present speed is worth higher than startup, according to described brake pedal stroke, press lock torque control brake system and the energy-recuperation system work that the correspondence course braking is controlled needs to distribute and press distribution.
According to control method provided by the invention, except the extra lock torque that produces of energy-recuperation system, the lock torque that also has brake system to produce.
According to control method provided by the invention, also comprise according to the SOC(system on a chip) SOC of battery on hybrid electric vehicle and know battery maximum charge power P, the described lock torque of distributing to energy-recuperation system removes described present speed V less than or equal to described maximum charge power P.
According to control method provided by the invention, the orthodox method also comprise based on drg is controlled in braking, as: driving engine is kept dragging rotating speed, engine idle/shutdown, engine exhaust and brake and utilizes one or more in the automobile brake sheet braking.
According to control method provided by the invention, described hybrid electric vehicle uses one or more electrical motors.
According to control method provided by the invention, can be specifically: (one) play motion district be worth higher than startup when described present speed, according to 0%≤X%≤a%, by the permanent lock torque Tb that slides control and need to distribute to energy-recuperation system, is zero (Tb=0) or for simulated engine drags operating mode, export identical moment
Wherein: X% is described brake pedal stroke, and a% and 0% is respectively play motion district upper and lower limit, 0＜a＜100, and Pe ' is the mechanical horsepower that simulated engine drags consumption, k is the conversion factor that motor braking moment is converted in the brake resistance on wheel; (2) restriction stroke district is worth higher than startup when described present speed, according to a%≤X%≤b% by according to the non-linear quick increase braking force of brake pedal stroke until peaked braking control needs, distribute to the permanent lock torque Tb=f (BP of energy-recuperation system according to described brake pedal stroke BP and described present speed V, V), wherein: X% is described brake pedal stroke, b% and a% are respectively restriction stroke district upper and lower limits, 0＜a＜b＜100, f () is the first given function; (3) hindering by force the stroke district is worth higher than startup when described present speed, control needs, distribute to the change lock torque Tb=f (V) of energy-recuperation system according to described present speed V by the braking that increases braking force according to the brake pedal stroke linear according to b%≤X%≤c%, wherein: X% is described brake pedal stroke, c% and b% hinder by force stroke district upper and lower limit, 0＜b＜c＜100, f () is the second given function; The change lock torque Tb that distributes to energy-recuperation system preferably keeps permanent power P ' output reclaims the moment of braking energy
(4) forbid that the stroke district works as described present speed and is worth higher than startup, do not reclaim braking energy according to c%≤X%≤100%, the described lock torque Tb that distributes to energy-recuperation system is zero (Tb=0), wherein: X% is described brake pedal stroke, 100% and c% forbid stroke district upper and lower limit, 0＜c＜100.
According to control method provided by the invention, in case also comprise ABS (Anti-lock Braking System) ABS system works do not reclaim braking energy, the described lock torque of distributing to energy-recuperation system is zero.
braking control method of hybrid electrical vehicle provided by the invention, do not change the original brake system of automobile, add stroke sensor on brake pedal, control motor braking moment according to the brake collection signal, together with the original brake system of automobile, the braking force sum is applied to tire, by pressing brake pedal stroke unified distribution lock torque, make energy-recuperation system and original brake system organically combine and become an integral body, that has avoided switching between them is inharmonious, make the driver realize stable braking impression and braking effect, convenient driving, traffic safety, reliably.
Description of drawings
Further the present invention is described in detail below in conjunction with the drawings and specific embodiments: Fig. 1 is the single motor hybrid-electric vehicles of specific embodiment of the invention structural representation; Fig. 2 is specific embodiment of the invention double-motor hybrid-electric vehicles structural representation; Fig. 3 is specific embodiment of the invention hybrid-electric vehicles braking control flow schematic diagram; Fig. 4 is specific embodiment of the invention restriction stroke district motor output lock torque schematic diagram.
The specific embodiment
At first, thinking of the present invention is described: because the machine operation district can be divided into Heng Zhuanjuqu and Heng Gongshuaiqu according to its rotating speed, so motor can not provide identical braking torque under all speed of a motor vehicle.In order to meet the demand for control of driver to automobile, fixing brake pedal stroke should corresponding fixing braking force.Consider simultaneously above-mentioned two conditions, then consider to reclaim as much as possible braking energy and cost safety factor etc., the present invention gives chapter and verse brake-pedal travel with permanent torque and increases progressively two kinds of tactful subregions of torque and distributes the method for motor braking moments.And the typical case who increases progressively torque uses example to be permanent power.The present invention does not change the original brake system of automobile, adds stroke sensor on brake pedal, according to the brake collection signal, controls motor braking moment, together with the original brake system of automobile, the braking force sum is applied to tire.
Second, hybrid electric vehicle internal motivation structure of the present invention is described: (one) single electric machine structure as shown in Figure 1, this list motor hybrid-electric vehicles consists of driving engine 11, first clutch, motor 13, second clutch, change speed gear box 15, drive axle 16 and wheel 17, and wherein: power-transfer clutch 12 has two (only have one of them power-transfer clutch 12 also belong to protection domain of the present invention); (2) double-motor structure, as shown in Figure 2, this double-motor hybrid-electric vehicles consists of driving engine 11, first clutch, sun wheel 23, pinion carrier 24, gear ring 25, sun wheel coupling wheel 26, the first motor, gear ring coupling wheel 28, the second motor, change speed gear box 15, drive axle 16 and wheel 17, and wherein: motor 13 has two.
The 3rd, specific embodiment of the invention hybrid-electric vehicles braking control flow is described: as shown in Figure 3, this braking control flow specifically comprises the following steps: 301) identification of driver touches on the brake and sends to the hybrid power control unit, and control unit calls the present invention and brakes control program; 302) according to respective sensor signal input brake pedal stroke BP and current vehicle speed V and receive the maximum charge power P data of battery SOC; 303) judgement current vehicle speed V＞threshold (claiming again the startup value)? be to enter next step, otherwise enter step 309); 304) according to brake pedal stroke BP by the lock torque of following Four types distribute energy recovery system: (one) play motion district: 0≤BP≤a (that is: 0%≤X%≤a%), set lock torque Tb,
Pe ' is the mechanical horsepower that simulated engine drags consumption, and k is the conversion factor that motor braking moment is converted in the brake resistance on wheel; (2) restriction stroke district: a≤BP≤b (that is: a%≤X%≤b%), set lock torque Tb, Tb=f (BP, V), this first given function f () function can be
Pe ' is the mechanical horsepower that simulated engine drags consumption, and k is the conversion factor that motor braking moment is converted in the brake resistance on wheel, and Temax is the motor maximum braking torque; (3) hinder by force stroke district: b≤BP≤c (that is: b%≤X%≤c%), set lock torque Tb, Tb=f (V), this second given function f () function can be
P ' is constant output; (4) forbid stroke district: c≤BP≤100 (that is: c%≤X%≤100%), set lock torque Tb, Tb=0; 305) calculate battery limitation charging torque Tlimit,
307) set motor target braking torque T*, T*=min (Tlimit, Tb); 308) send motor target braking torque T* instruction; 309) whether the judgement braking effective? to return to step 301), the no mis-information that returns.
Above-mentioned control flow comprises following key: one, vehicle speed detector device, brake pedal device for detecting distance of travel and battery SOC (SOC(system on a chip) System on Chip) detecting device is delivered to hybrid power control unit (HCU) with testing result; (lower than certain threshold values) brake when two, automobile speed is extremely low, consider that on the one hand the front and back wheel braking force needs balance to distribute, and the lock torque of motor should not be added to separately one of them again in order to guarantee the safety and steady of braking automobile; On the other hand, this moment, motor speed was extremely low, and generating efficiency is also very low, the situation of power consumption even may occur.Therefore, in speed of a motor vehicle time braking lower than threshold values (experiment calculation obtains), motor does not participate in work, by the original brake system of automobile, is completed when automobile; Three, when automobile speed during higher than threshold values, according to the brake pedal stroke, the brake implementation status is defined as following 4 zones:
Wherein: 0＜a＜b＜c＜100, original brake system and energy-recuperation system skid resistance act on simultaneously according to upper table, and a, b, c include, but are not limited to get (a=10, b=30, c=70).
Finally, be elaborated in conjunction with the application of the specific embodiment of the invention under various strokes: 1. the play motion district is in this trip, and automobile is in sliding state, and the original brake system of automobile is not worked.For single electric machine mixed power car, have two kinds of strategies corresponding with it: strategy one, the common car of driving engine imitation works in to slide and drags operating mode (driving engine is dragged rotation by automobile speed, not oil consumption or low oil consumption), and motor is not worked; Strategy two, engine idle or shutdown, drag the identical lock torque generating of operating mode output by the motor simulation driving engine; For the double-motor hybrid car, also have two kinds of strategies corresponding: strategy one, the second electric power generation, the first motor powered drags engine rotation, the second electric power generation power equals or is slightly larger than the first motor powered power, and battery pack is not charged or with minimum current charges; Strategy two, engine idle or shutdown, the first motor free schema or export 0 torque (need guarantee its rotating speed lower than maximum speed of revolution), the lock torque when the second motor simulation output engine drags, to batteries charging.
2. restriction stroke district is in this trip, and the original brake system of automobile slowly increases braking force according to the brake pedal stroke, and motor increases sharply lock torque until the system maxim.Determine the explicit value of the current output torque of motor by the strategy of limiting motor torque, power.Torque limit value determines by brake pedal stroke and motor maximum braking moment, the braking torque that the corresponding motor of a% brake pedal is exported before this, and the corresponding motor maximum braking moment of b% brake pedal, intermediate value is linear corresponding.The power-limiting value determines jointly by motor maximum generation power and battery pack maximum charge power, and limits value equals the smaller value in above-mentioned two values; For example: as shown in Figure 4, abscissa is present speed V, ordinate is torque T, motor is exported 100Nm (newton meter) lock torque when the a% brake pedal, its maximum braking moment is 900Nm, its characteristic curve is as shown in bold curve in figure, its maximum generation power be 100kW (kilowatt), battery pack maximum charge power is 60kW, if the current stroke of brake pedal is (a+b)/2%, the torque limit value of motor is 500Nm, and the Power Limitation value is 60kW, as shown in thin curve in figure; Equally, in double-motor hybrid power system, also need corresponding driving engine to keep dragging rotating speed or engine idle, two kinds of strategies of shutdown.The strategy of engine idle or shutdown can be with reference to above-mentioned analysis, motor output 0 torque this moment first, the second motor braking generating.But the strategy while by the first motor, dragging turn of engine needs to adjust, this moment, the maximum braking moment of system output was the drive torque reduced value sum that the second motor maximum braking moment and the first motor drag turn of engine, and the maximum brake power of system output is that battery maximum charge power and driving engine drag the consumed power sum.
3. hinder by force the stroke district in this trip, the original brake system of automobile increases braking force gradually according to the brake pedal stroke, and motor keeps the lock torque that increases progressively generating.In special case, keep the lock torque of constant power output pattern, to reclaim as much as possible braking energy; In hybrid power system, keep stroke except the corresponding driving engine of needs keeps dragging rotating speed or engine idle, two kinds of strategies of shutdown, the control policy while also needing to consider engine exhaust and brake.In order to reduce the wearing and tearing of automobile brake sheet, can make engine operation in the energy brake operating mode in this trip, make the larger B.P. of driving engine output, increased the braking potential that hybrid power system can apply automobile.
4. forbid that the stroke district is in this trip, the original brake system of automobile has been faced the maximum frictional force of tire according to the braking force that the brake pedal stroke applies close to ground, in order to guarantee ride safety of automobile, the braking force that applies on the balance front and back wheel, motor should stop exporting braking torque; In whole brake process, in case the situation that the ABS system is started working occurs, motor stops exporting braking torque at once, namely works in torque mode, and the output torque is 0.
The foregoing is only preferred embodiment of the present invention, all equalizations of doing according to the claims in the present invention scope change and modify, and all should belong to the covering scope of the claims in the present invention.
Claims (6)
1. a braking control method of hybrid electrical vehicle, is characterized in that, utilizes brake system and energy-recuperation system, comprises the following steps:
Utilize vehicle speed detector device to detect the automobile present speed;
Utilize the brake pedal device for detecting distance of travel to detect the brake pedal stroke;
Do not reclaim braking energy according to described present speed lower than the startup value, otherwise by described brake pedal stroke, distribute and press the lock torque that distributes and control brake system and energy-recuperation system work:
When described present speed is worth higher than startup, if 0%≤X%＜a%, the permanent lock torque of distributing to energy-recuperation system is zero or for simulated engine drags operating mode, exports identical moment, wherein: X% is described brake pedal stroke, a% and 0% is respectively play motion district upper and lower limit, 0＜a＜100;
When described present speed is worth higher than startup, if a%≤X%＜b%, according to described brake pedal stroke and present speed, distribute to the permanent lock torque of energy-recuperation system, wherein: X% is described brake pedal stroke, and b% and a% are respectively restriction stroke district upper and lower limits, 0＜a＜b＜100;
When described present speed is worth higher than startup, if b%≤X%＜c%, distribute to energy-recuperation system according to described present speed and become lock torque, wherein: X% is described brake pedal stroke, c% and b% hinder by force stroke district upper and lower limit, 0＜b＜c＜100;
When described present speed is worth higher than startup, if c%≤X%≤100%, the lock torque of distributing to energy-recuperation system is zero, and wherein: X% is described brake pedal stroke, 100% and c% forbid stroke district upper and lower limit, 0＜c＜100.
2. brake control method according to claim 1, it is characterized in that, also comprise according to the SOC(system on a chip) of battery on hybrid electric vehicle and know battery maximum charge power, the described lock torque of distributing to energy-recuperation system removes described present speed less than or equal to described maximum charge power.
3. brake control method according to claim 1, is characterized in that, also comprises and utilize brake system to keep dragging rotating speed, engine idle/shutdown, engine exhaust and brake to driving engine and utilize one or more in the automobile brake sheet braking.
4. brake control method according to claim 1, is characterized in that, described hybrid electric vehicle uses one or more electrical motors.
5. brake control method according to claim 1, is characterized in that, distributes to the described change lock torque of energy-recuperation system into keeping constant power output to reclaim the moment of braking energy.
6. brake control method according to claim 1, is characterized in that, in case also comprise anti-skid brake system work do not reclaim braking energy, the lock torque of distributing to energy-recuperation system is zero.
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| CN2010105772931A CN102050114B (en) | 2010-12-07 | 2010-12-07 | Braking control method of hybrid electrical vehicle |
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| CN2010105772931A CN102050114B (en) | 2010-12-07 | 2010-12-07 | Braking control method of hybrid electrical vehicle |
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Families Citing this family (12)
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| CN103223936B (en) * | 2013-05-14 | 2014-12-24 | 清华大学 | Auxiliary electricity and liquid composite braking control method applied for hybrid vehicle to go downhill |
| KR101664580B1 (en) * | 2014-11-12 | 2016-10-11 | 현대자동차주식회사 | Method for determining amount of regenerative braking |
| CN104786851A (en) * | 2015-04-03 | 2015-07-22 | 安徽安凯汽车股份有限公司 | Electric passenger car brake energy efficient recycling control method |
| CN105346539A (en) * | 2015-12-04 | 2016-02-24 | 潍柴动力股份有限公司 | Brake control method of hybrid electric vehicle |
| CN106004461A (en) * | 2016-06-27 | 2016-10-12 | 成都雅骏新能源汽车科技股份有限公司 | Regenerative braking control method for rear drive electric wagon |
| CN108556846B (en) * | 2017-12-27 | 2020-03-06 | 潍柴动力股份有限公司 | Control method and control system for recovering braking and sliding energy of vehicle |
| CN109130887A (en) * | 2018-09-20 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of electric braking compensating control method, control device and automobile |
| CN110126628B (en) * | 2019-04-30 | 2021-11-02 | 奇瑞汽车股份有限公司 | Control method and control device for electric vehicle motor |
| CN112441000B (en) * | 2019-08-16 | 2022-07-19 | 华为技术有限公司 | Vehicle braking control method and device |
| CN111923733A (en) * | 2020-07-14 | 2020-11-13 | 宝能(广州)汽车研究院有限公司 | Sliding energy recovery method and system, electric vehicle and computer readable storage medium |
| CN111775714B (en) * | 2020-07-31 | 2021-12-14 | 厦门金龙联合汽车工业有限公司 | Vehicle energy recovery control method based on braking comfort |
| CN112622868B (en) * | 2020-12-25 | 2022-04-19 | 中国第一汽车股份有限公司 | Dual-motor vehicle control method and device |
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| JP4042738B2 (en) * | 2004-10-27 | 2008-02-06 | トヨタ自動車株式会社 | Brake device |
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| CN1895924A (en) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | Double-parameter controlling method for mixed-kinetic electric motor of automobile during reducing brake process |
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