CN102166963A - Brake energy feedback control method of pure electric automobile - Google Patents
Brake energy feedback control method of pure electric automobile Download PDFInfo
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- CN102166963A CN102166963A CN 201110076696 CN201110076696A CN102166963A CN 102166963 A CN102166963 A CN 102166963A CN 201110076696 CN201110076696 CN 201110076696 CN 201110076696 A CN201110076696 A CN 201110076696A CN 102166963 A CN102166963 A CN 102166963A
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Abstract
The invention discloses a brake energy feedback control method of a pure electric automobile. The method comprises the following steps of: judging whether a brake signal exists, if so, judging whether an ABS (antilock braking system) works, and if the ABS works, enabling a brake force Fm of a motor to be 0, enabling the front axle brake force Ff and the rear axle brake force Fb to be controlled by the ABS; if the ABS dose not work, adjusting based on the fact whether the maximum brake force Fmax provided by the motor currently meets the brake threshold value F, the sliding rate threshold value S of the front axle wheels and other factors required by a driver; if no brake signal exits, judging whether the automobile is in a sliding state, if so, judging whether a current speed V is greater than the sliding speed threshold value V0, if V is greater than V0, controlling the motor to provide the brake force Fh needed by over-speed sliding of the automobile, and if V is less than or equal to V0, requiring no braking for the automobile; and repeating the steps till the driver steps on an acceleration pedal or the automobile stops moving, ending the brake. By the method in the invention, the use efficiency of the entire automobile energy can be increased.
Description
Technical field
The invention belongs to the pure electric automobile technical field, relate to a kind of braking energy feeding control method of pure electric automobile, particularly a kind of front axle electricity drives, the braking energy feeding control method of the pure electric automobile of electric and mechanical composite brakig.
Background technology
The drive motor of pure electric automobile can not stop the rotation after cutting off the electricity supply immediately fully, and always rotation just stopped after a period of time under itself and the load-carrying effect of inertia of institute.Thereby, in today of power supply anxiety, utilize the residual energy in the drive motor braking procedure to be derived from a focus that has so just become research and development.
The method of motor braking can be divided into mechanical braking and electric braking two big classes.Can be divided into reversing braking, resistance braking and three kinds of forms of feedback dynamic brake in the electric braking again.The brake mode of pure electric automobile should be considered the combination of two types of mechanical braking and electric brakings, as much as possiblely replaces the mechanical type braking with the feedback generation mode.When pure electric automobile brake and downhill running, by control system the state of motor is changed into generating state, and the power storage that motor is sent is among storage battery, so both can reduce the loss of mechanical brake system, can improve the service efficiency of car load energy again, reach the purpose of energy savings and raising pure electric automobile continual mileage, the effect that can obtain achieving many things at one stroke.
In the existing pure electric automobile braking energy feeding control method, at first need the current coefficient of road adhesion of accurate identification, this is difficult to obtain satisfied effect in actual applications; Next is that braking energy feedback stops passively after ABS work, can not initiatively avoid the generation of wheel lockup before ABS work; Be at last when car brakeing or when sliding, can not initiatively avoid the generation of vehicle shake.
The present invention neither needs accurate identification coefficient of road adhesion, can initiatively avoid the generation of wheel lockup again, and can guarantee the flatness that the stationarity of vehicle operating and car brakeing are slowed down, and avoid the generation of vehicle shake, realized that the actv. of braking energy reclaims simultaneously again.
Summary of the invention
The purpose of this invention is to provide and a kind ofly be used for that front axle drives, the braking energy feeding control method of the pure electric automobile of electric and mechanical composite brakig, can satisfy the brake request of vehicle under various operating modes, can guarantee the stationarity of vehicle operating and the flatness that car brakeing is slowed down again, not influence traditional driving and experience; Can make simultaneously braking energy obtain actv. again and reclaim, improve the service efficiency of car load energy.
The vehicle braked mode adopts the combination of two types of electric braking and mechanical brakings among the present invention.Electric braking is realized at generating state by the control machine operation, mechanical braking available electron brake system realizes, compare the conventional hydraulic brake system, electric brake system has saved hydraulic wheel cylinder, holding brake device, master brake cylinder, vacuum booster, parts such as hydraulic braking force monoplunger pump, has response rapidly, characteristics such as simple in structure, realized the simplification of brake system, saved interior space, for the pure electric automobile of space resources anxiety, this point is extremely important, and electric brake system can reduce stopping distance, therefore adopts the mechanical braking part of electric brake system as pure electric automobile here.In the braking procedure of automobile, should as much as possiblely replace the mechanical type braking with the feedback generation mode.
For realizing the feedback of pure electric automobile braking energy, the present invention adopts following technical scheme:
A kind of pure electric automobile braking energy feedback method, described pure electric automobile adopts electric braking and mechanical braking dual mode, and wherein, electric braking realizes at generating state that by the control machine operation mechanical braking adopts electric brake system to realize; It is characterized in that, said method comprising the steps of:
(1) gathers throttle signal, brake signal, vehicle wheel rotational speed and vehicle acceleration signal;
(2) judge whether to collect brake signal;
If, judge that then whether ABS is in work 2.1 collect brake signal;
If 2.1.1 ABS then makes motor braking power in work
=0, the front axle electronic braking force
With the rear axle electronic braking force
Deliver by ABS and regulate;
2.1.2 if ABS does not work, then judge the current maximum braking force that can provide of motor
Whether greater than the threshold value F of the brake request that satisfies chaufeur;
If 2.1.2.1 maximum braking force
Greater than described threshold value F, then control motor and provide the maximum braking force that satisfies the chaufeur brake request
And calculating front axle wheel slip
If 2.1.2.1.1 front axle wheel slip
Less than slip rate threshold value S, then motor braking power
Constantly identical with last one;
If 2.1.2.1.2 front axle wheel slip
More than or equal to slip rate threshold value S, then reduce motor braking power
, increase the rear axle electronic braking force
, make the front axle wheel slip
Reduce;
If 2.1.2.2 maximum braking force
Be less than or equal to described threshold value F, then control motor and provide maximum braking force
, and provide suitable front axle electronic braking force
With the rear axle electronic braking force
And calculating front axle wheel slip
If 2.1.2.2.1 front axle wheel slip
Less than slip rate threshold value S, then regulate the front axle electronic braking force
With the rear axle electronic braking force
, make the operation point (
+
,
) with the I curve, be that the distance of desirable forward and backward brakig force distribution curve is the shortest;
If 2.1.2.2.2 front axle wheel slip
More than or equal to slip rate threshold value S, then reduce the front axle electronic braking force
, increase the rear axle electronic braking force
, make the front axle wheel slip
Reduce;
If, judge then whether vehicle is in sliding state 2.2 do not collect brake signal;
2.2.1 if vehicle is in sliding state, then judge current vehicle speed
Whether greater than the coasting speed threshold value
If 2.2.1.1 current vehicle speed
Greater than the coasting speed threshold value
, then control motor and provide vehicle and overrun and slide required motor braking power
If 2.2.1.2
Be less than or equal to the coasting speed threshold value
, then need not vehicle is braked;
2.2.2 if vehicle is not in sliding state, then return step (1) execution in step 1-2;
(3) repeated execution of steps (1)-(2) stop walking, end of braking up to chaufeur bend the throttle or vehicle.
This method can satisfy the brake request of vehicle under various operating modes, can guarantee the flatness that the stationarity of vehicle operating and car brakeing are slowed down again, can make braking energy obtain actv. simultaneously again and reclaim, and improves the service efficiency of car load energy.
Description of drawings
Below, describe enforcement of the present invention in conjunction with the accompanying drawings in detail, wherein:
Fig. 1 is a braking energy feedback regenerative brake schematic diagram;
Fig. 2 is the brief configuration figure of braking energy feedback control system among the present invention;
Fig. 3 is shaft drying pure electric automobile braking energy feedback control implementing procedure figure before being used for;
Fig. 4 is the front axle wheel slip
The variation characteristic scheme drawing;
Fig. 5 is energy feeding braking and vehicle coasting speed
Concern scheme drawing.
The specific embodiment
Also in conjunction with the accompanying drawings the utility model is described in further detail below by specific embodiment.
Braking energy feedback regenerative brake schematic diagram as shown in Figure 1.Generally speaking, braking energy feedback power generating system generating voltage always is lower than battery tension, therefore for the electric energy that the braking energy feedback power generating system is sent charges into storage battery, must adopt special control system, makes electrical motor work in the regenerative brake pattern.Braking energy feedback regenerative brake principle as shown in Figure 1.Among the figure
Be resistance,
Be the braking current-limiting resistance,
Be the voltage of storage battery,
Be the induced potential of motor, L is the inductance of armature.During work, the motor armature drive current is disconnected, a switch circuit is inserted at the armature two ends.Because electrical motor belongs to perceptual device, induced potential
With inducing current over time rate following relation is arranged:
When switch closure, the inducing current that the motor-induced electromotive force causes forms the loop through K switch, and inducing current is a braking current, and its size is
When K switch disconnects, absolute value increase rapidly, cause induced potential
Rise rapidly, up to the time, realize energy back.The equivalent resistance of supposing the current feedback circuit is
, then the feedback electric current is that braking current is
So the electric energy of motor regenerative brake process just charges into battery stores.
Fig. 2 is the brief configuration figure of expression as the pure electric automobile braking energy feedback control system of one embodiment of the present invention.As shown in Figure 2, the pure electric automobile energy feedback control system among the embodiment comprises: battery pack 1; Filter capacitor 2; Surging absorbs electric capacity 3; Das Gaspedal 4; Brake pedal 5; Throttle, brake signal Acquisition Circuit 6; Car load control unit 7; Electric brake system 8; Abs controller 9; Motor controller controls circuit 10; Optical coupling isolation circuit 11; Electric machine controller driving circuit 12; Inverter 13; Voltage sensor 14; Current sensor 15; Motor 16; Magslip 17.
Wherein, battery pack 1 adopts the high-power battery group, and voltage range is 200V～400V, is the topmost closed-center system of car load, and its effect is that the operation for Full Vehicle System provides energy, and the electrical power storage of car load glancing impact motor feedback is got up; Filter capacitor 2 adopts the alminium electrolytic condenser or the metallic membrane electric capacity of Da Rong value, and its positive and negative two ends are connected with the negative pole bus with the positive electrode bus of battery pack 1 respectively, and its effect is the low-frequency ripple on the filtering dc bus, the smooth dc voltage waveform; Surging absorbs electric capacity 3 and adopts noninductive electric capacity, and its two ends also are connected with the negative pole bus with the positive electrode bus of battery pack 1 respectively, and its effect is the high-frequency percussion voltage that absorbs on the dc bus; Das Gaspedal 4 is fixed on the position identical with orthodox car with brake pedal 5, and its effect is an analog signal of transmitting the throttle degree of depth, the brake degree of depth to throttle, brake signal Acquisition Circuit 6; The effect of throttle, brake signal Acquisition Circuit 6 is the analog signals of gathering throttle, brake, and changes it into digital signal, sends car load control unit 7 to; Car load control unit 7 is key control units of braking energy feedback control system, its effect is the braking force required according to the required moment of the throttle degree of depth, calculated signals motors such as the brake degree of depth, current vehicle speed and vehicle acceleration etc. 16 and electric brake system 8, and to motor controller controls circuit 10 and electric brake system 8 transmitting control commands, at the car load glancing impact, car load control unit 7 needs the status signal of monitoring abs controller 9 in real time, when abs controller 9 work, car load control unit 7 control motor controller controls circuit 10 quit work; Electric brake system 8 is responsible for the mechanical type braking of car load, and its effect is to assist electric system to finish the brake request of car load; The effect of abs controller 9 is to prevent that the locking situation from appearring in car load; The effect of motor controller controls circuit 10 is to calculate pwm signal according to the torque signals that car load control unit 7 sends, and sends into inverter 13 by electric machine controller driving circuit 12; The effect of optical coupling isolation circuit 11 is the isolation that realize between weak control circuit and the forceful electric power driving circuit; The effect of electric machine controller driving circuit 12 is control inverter 13 work; Inverter 13 adopts the IGBT module, also can adopt IPM, transistor equipower device, and its effect is 16 work of control motor; The effect of voltage sensor 14 is to detect DC bus-bar voltage, and will detect the gained signal and send the motor controller controls circuit to; The effect of current sensor 15 is to detect three-phase alternating current, and will detect the gained signal and send the motor controller controls circuit to; Motor 16 adopts permagnetic synchronous motor, and its effect is for the car load operation provides power, and works in generating state when car brakeing, realizes the recovery of braking energy; The effect of magslip 17 is the rotary angle position that detect motor 16 rotors, and sends motor controller controls circuit 10 to.
The braking energy feeding control method implementing procedure of shaft drying pure electric automobile may further comprise the steps as shown in Figure 3 before being used for:
1 gathers signals such as throttle signal, brake signal, vehicle wheel rotational speed and vehicle acceleration in real time;
2 judge whether to collect brake signal;
If, judge that then whether ABS is in work 2.1 collect brake signal;
If 2.1.1 ABS then makes motor braking power in work (wheel lockup promptly takes place)
=0, the front axle electronic braking force
With the rear axle electronic braking force
Deliver by ABS and regulate;
2.1.2 if ABS does not work,, calculate the demand braking force of chaufeur then according to signals such as brake pedal stroke, motor torque, vehicle wheel rotational speed and vehicle accelerations
, and determine the current maximum braking force that can provide of motor according to parameters such as current vehicle speed, battery SOC, powers of motor
, the current maximum braking force that can provide of motor is provided
(this threshold value can be set to: maximum braking force whether to satisfy the threshold value F of the brake request of chaufeur
Near the demand braking force
Promptly think the brake request that satisfies chaufeur, in this implementing procedure, setting threshold F is the demand braking force
90%, think that just it satisfies the requirement of chaufeur);
If 2.1.2.1
Greater than 0.9
, promptly motor braking power can satisfy the brake request of chaufeur, then according to signals such as brake pedal stroke, motor torque, vehicle wheel rotational speed and vehicle accelerations, calculates the motor braking power that satisfies the chaufeur brake request
, and the control motor provides braking force
According to signals such as current vehicle speed, vehicle wheel rotational speeds, calculate the front axle wheel slip then
If 2.1.2.1.1 front axle wheel slip
Less than slip rate threshold value S (span of general slip rate threshold value S is 0.15～0.2), then motor braking power
Constantly identical with last one;
If 2.1.2.1.2 front axle wheel slip
More than or equal to slip rate threshold value S, then reduce motor braking power
, and the control electric brake system increases the rear axle electronic braking force
, make the front axle wheel slip
Reduce;
If 2.1.2.2
Be less than or equal to 0.9
, promptly motor braking power can not satisfy the brake request of chaufeur, then controls motor and provides braking force
, and the control electric brake system provides suitable front axle electronic braking force
With the rear axle electronic braking force
, to satisfy the brake request of chaufeur; According to signals such as current vehicle speed, vehicle wheel rotational speeds, calculate the front axle wheel slip then
If 2.1.2.2.1 front axle wheel slip
Less than slip rate threshold value S, then regulate the front axle electronic braking force
With the rear axle electronic braking force
, make the operation point (
+
,
) the shortest with the distance of I curve (being desirable forward and backward brakig force distribution curve);
If 2.1.2.2.2 front axle wheel slip
More than or equal to slip rate threshold value S, then reduce the front axle electronic braking force
, increase the rear axle electronic braking force
, make the front axle wheel slip
Reduce;
If, judge then whether vehicle is in sliding state (i.e. travel condition of vehicle when Das Gaspedal is unclamped certain value in this implementing procedure, is set sliding state and be the travel condition of vehicle of the throttle degree of depth in 8% time) 2.2 do not collect brake signal;
2.2.1 if vehicle is in sliding state, then judge current vehicle speed
Whether greater than the coasting speed threshold value
(general coasting speed threshold value
Span be 13～16km/h);
If 2.2.1.1 current vehicle speed
Greater than the coasting speed threshold value
, then according to signals such as vehicle wheel rotational speed, vehicle acceleration, motor torques, the calculating vehicle is overrun and is slided required motor braking power
(motor braking power
Need satisfy flatness that the stationarity, car brakeing of vehicle operating slow down and less than the current maximum braking force that can provide of motor
, and make braking energy obtain actv. to reclaim), and the control motor provides braking force
If 2.2.1.2 current vehicle speed
Be less than or equal to the coasting speed threshold value
, promptly vehicle satisfies the speed limit when sliding, and then need not vehicle is braked;
2.2.2 if vehicle is not in sliding state, then returns step 1 and continue execution in step 1-2;
3 repeated execution of steps 1-2 stop walking, end of braking up to chaufeur bend the throttle or vehicle.
The value of slip rate threshold value S in the above-mentioned implementing procedure can be set at higher limit
And lower limit
,, therefore can establish higher limit because the span of slip rate threshold value S is generally 0.15～0.2
=0.2, lower limit
=0.15.Fig. 4 is the front axle wheel slip
The variation characteristic scheme drawing.As shown in Figure 4, at the front axle wheel slip
Increase to
Before=0.2, the control system of vehicle can not regulated each braking force and be made
Reduce, have only and work as
Increase to
=0.2 o'clock, control system just can be by regulating front axle braking force
, the back axle braking force
And motor braking power
Make
Reduce; Regulating each braking force in control system makes
In the process that reduces, have only and work as
Be reduced to
=0.15 o'clock, control system just can stop control
Reduce.So just can guarantee the stationarity of vehicle operating in the braking procedure, and make the braking deceleration process have more flatness.
Coasting speed threshold value in the above-mentioned implementing procedure
If be particular value (as
=15km/h), then when vehicle is in the downhill running state, if current vehicle speed
Greater than
, the effect of energy feeding braking will make current vehicle speed
Drop to gradually
, to the speed of a motor vehicle
Less than
The time, no longer carrying out energy feeding braking, vehicle can quicken again to surpass under the self gravitation effect
, but the effect of energy feeding braking will make the speed of a motor vehicle again when surpassing this
Once more less than
, so motor speed will fluctuate, and produces shake when causing the vehicle downhill running.For addressing this problem, can be the coasting speed threshold value
Value be set at higher limit
And lower limit
, because the coasting speed threshold value
Span be generally 13～16km/h, therefore can establish higher limit
=16km/h, lower limit
=13km/h.Fig. 5 is energy feeding braking and vehicle coasting speed
Concern scheme drawing.As shown in Figure 5, at the vehicle coasting speed
Increase to
Before=the 16km/h, the energy feeding braking system can not work, and has only and works as
Increase to
During=16km/h, the energy feeding braking system just can work and make coasting speed
Reduce; Effect at energy feeding braking makes coasting speed
In the process that reduces gradually, have only and work as
Be reduced to
During=13km/h, the energy feeding braking system just can quit work.Can not produce shake when so just having guaranteed the vehicle downhill running.
In the above-mentioned implementing procedure, if feedback energy again when the speed of a motor vehicle is very little, the energy of feedback seldom, the energy feeding braking of this moment is nonsensical, if and car speed is the state that zero moment motor also is in energy feeding braking, the rotating speed of rotor can fluctuate about zero, causes the motor shake.Therefore need to set the least energy feedback speed
, this example is established
=4km/h works as the speed of a motor vehicle
Less than
The time, the energy feeding braking system quits work.
Claims (1)
1. pure electric automobile braking energy feedback method, described pure electric automobile adopts electric braking and mechanical braking dual mode, wherein, electric braking realizes at generating state that by the control machine operation mechanical braking adopts electric brake system to realize; It is characterized in that, said method comprising the steps of:
(1) gathers throttle signal, brake signal, vehicle wheel rotational speed and vehicle acceleration signal;
(2) judge whether to collect brake signal;
If, judge that then whether ABS is in work 2.1 collect brake signal;
If 2.1.1 ABS then makes motor braking power in work
=0, the front axle electronic braking force
With the rear axle electronic braking force
Deliver by ABS and regulate;
2.1.2 if ABS does not work, then judge the current maximum braking force that can provide of motor
Whether greater than the threshold value F of the brake request that satisfies chaufeur;
If 2.1.2.1 maximum braking force
Greater than described threshold value F, then control motor and provide the maximum braking force that satisfies the chaufeur brake request
And calculating front axle wheel slip
If 2.1.2.1.1 front axle wheel slip
Less than slip rate threshold value S, then motor braking power
Constantly identical with last one;
If 2.1.2.1.2 front axle wheel slip
More than or equal to slip rate threshold value S, then reduce motor braking power
, increase the rear axle electronic braking force
, make the front axle wheel slip
Reduce;
If 2.1.2.2 maximum braking force
Be less than or equal to described threshold value F, then control motor and provide maximum braking force
, and provide suitable front axle electronic braking force
With the rear axle electronic braking force
And calculating front axle wheel slip
If 2.1.2.2.1 front axle wheel slip
Less than slip rate threshold value S, then regulate the front axle electronic braking force
With the rear axle electronic braking force
, make the operation point (
+
,
) with the I curve, be that the distance of desirable forward and backward brakig force distribution curve is the shortest;
If 2.1.2.2.2 front axle wheel slip
More than or equal to slip rate threshold value S, then reduce the front axle electronic braking force
, increase the rear axle electronic braking force
, make the front axle wheel slip
Reduce;
If, judge then whether vehicle is in sliding state 2.2 do not collect brake signal;
2.2.1 if vehicle is in sliding state, then judge current vehicle speed
Whether greater than the coasting speed threshold value
If 2.2.1.1 current vehicle speed
Greater than the coasting speed threshold value
, then control motor and provide vehicle and overrun and slide required motor braking power
If 2.2.1.2
Be less than or equal to the coasting speed threshold value
, then need not vehicle is braked;
2.2.2 if vehicle is not in sliding state, then return step (1) execution in step 1-2;
(3) repeated execution of steps (1)-(2) stop walking, end of braking up to chaufeur bend the throttle or vehicle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110076696 CN102166963A (en) | 2011-03-29 | 2011-03-29 | Brake energy feedback control method of pure electric automobile |
| PCT/CN2011/079235 WO2012129891A2 (en) | 2011-03-29 | 2011-09-01 | Method and system for feedback control of braking energy in pure electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110076696 CN102166963A (en) | 2011-03-29 | 2011-03-29 | Brake energy feedback control method of pure electric automobile |
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Family
ID=44488350
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|---|---|---|---|
| CN 201110076696 Pending CN102166963A (en) | 2011-03-29 | 2011-03-29 | Brake energy feedback control method of pure electric automobile |
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| WO2012129891A2 (en) * | 2011-03-29 | 2012-10-04 | 重庆长安汽车股份有限公司 | Method and system for feedback control of braking energy in pure electric vehicle |
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Application publication date: 20110831 |