CN102529729A - Regenerative braking control method for hybrid vehicle - Google Patents
Regenerative braking control method for hybrid vehicle Download PDFInfo
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- CN102529729A CN102529729A CN2010106204112A CN201010620411A CN102529729A CN 102529729 A CN102529729 A CN 102529729A CN 2010106204112 A CN2010106204112 A CN 2010106204112A CN 201010620411 A CN201010620411 A CN 201010620411A CN 102529729 A CN102529729 A CN 102529729A
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Abstract
The invention provides a regenerative braking control method for a hybrid vehicle, which belongs to the technical field of hybrid vehicles. The charging torque changes from an initial value to a target value after preset regenerative braking conditions are satisfied. The changing process of the charging torque from the initial value to the target value sequentially includes a first process of increase from the initial value to a first intermediate value, a second process of decrease from the first intermediate value to a second intermediate value and a third process of decrease from the second intermediate value to the target value. The first process, the second process and the third process are provided with a first filtering time constant, a second filtering time constant and a third filtering time constant for filtering control of the charging torque, so that the charging torque can change smoothly in an arc manner. Using the method can improve driving performance and optimize driving comfortableness when charging requirements of the vehicle are met.
Description
Technical field
The invention belongs to the hybrid vehicle technical field, relate to the regenerating brake control method of hybrid vehicle.
Background technology
Along with the attention of the world to energy security and environmental protection problem constantly promotes, various countries require more and more stricter to automotive emissions.Minimizing realizes energy-saving and emission-reduction to the dependence of the energy, has become the problem that the world economy sustainable development presses for solution.Hybrid vehicle, pure electric automobile have become current auto-domain Development Trend.The oil electric mixed dynamic automobile combines motor and driving engine; Realized rational energy saving and emission reduction effects to each operating mode; Idle stop, electric motor starting, intelligent charge, regenerative brake, motor power-assisted, electronic creep etc. are mixed moving function; Having relatively advantages of higher of the oil consumption of reduction, increase continual mileage, technology maturity, is the first-selected trend of present each big car company development.
Driving engine and motor are two propulsions source in the hybrid vehicle; Mixing moving power controller (HCU) is the core that car load is controlled; Main being responsible for coordinated the control between engine management system (EMS) and the electric machine controller (MCU), and the high and low pressure fulgurite of responsible total system reason and power system trouble diagnosing.
Wherein, the regenerative brake technology also is one of gordian technique in field of hybrid electric vehicles, and it is also making constant progress; In the hybrid vehicle; Utilize the electricity generate function of motor can realize the regenerative brake function, its principle is at glancing impact the inertia energy of running car to be passed to motor through driving system, and motor is with generation mode work; Realize the regeneration of braking energy for power battery charging; Meanwhile, the motor braking moment of generation can produce braking force through driving system to the drive wheel brake activation again.Because regenerative brake has utilized the energy that is consumed in friction braking originally, can reduce the energy consumption of electronlmobil, improves the economic performance of automobile.
One Chinese patent application number is called the patent of " method that is used for controlling the regenerative brake of belt-driven hybrid vehicle " for " 200510124915.4 ", name, main purpose be for improve, regenerative brake efficient, the charging current generating efficiency that improves; One Chinese patent application number is called in the patent of " method of control vehicle regenerative brake " for " 200810184246.3 ", name; In the disclosed regenerative brake method; Comprise the operation of monitoring power drive system, confirm total brake torque that the driver expects, confirm the regenerative brake ability according to the operation of power drive system; Measure definite regenerative brake demand over time according to the regenerative brake ability, and confirm to send to the motor torque commands of moment of torsion machine according to the regenerative brake demand.In the control method of the regenerative brake of prior art, do not pay close attention to the problem of the driving sensation in the regenerative brake process.
Yet rationally whether the charging torque control in the regenerative brake process can directly influence the driving performance of vehicle, and particularly when the moment of torsion that charges fell variation suddenly with straight line, the change in torque of driving engine can cause the vehicle operating irregularity too soon.Therefore, be necessary to propose a kind of new regenerating brake control method.
Summary of the invention
The technical matters that the present invention will solve is in the regenerative brake process, to improve its driving performance, improve the traveling comfort of driving.
For solving above technical matters, the present invention provides a kind of regenerating brake control method of hybrid vehicle, and in this method, after predetermined regenerative brake condition satisfied, the charging moment of torsion was changed to expected value by initial value;
The process that said charging moment of torsion is changed to expected value by initial value comprise successively by initial value increase to first process of first intermediate value, second process of second intermediate value that is decreased to by first intermediate value and the 3rd process that is decreased to said expected value by second intermediate value;
Wherein, set first time constant filter, second time constant filter, the 3rd time constant filter in said first process, second process and the 3rd process respectively the charging moment of torsion is carried out filtering control, so that the charging moment of torsion is with camber line form smooth change.
Embodiment according to regenerating brake control method provided by the invention; Set said second time constant filter, the 3rd time constant filter, so that the charging moment of torsion mean change speed in said second process is less than the charging moment of torsion mean change speed in said the 3rd process
Wherein, said charging moment of torsion is 0.1 second to 1 second by initial value to the time range of expected value change procedure basically.
Preferably, said second time constant filter is greater than said the 3rd time constant filter.
Preferably, the said charging moment of torsion of stating arrives second intermediate value at driving engine oil-break time point place.
Preferably, the time of said second process is longer than the time of said the 3rd process, and the time of said the 3rd process is longer than the time of said first process.
Preferably, said first intermediate value is than the big 3-20 ox of said initial value rice.
Preferably, the difference of said first intermediate value and said second intermediate value is less than the difference of said second intermediate value and said expected value.
Preferably, in said first process, the rate of change of said charging moment of torsion is with elder generation's fast variation in slow back.
Preferably, in said second process, the rate of change of said charging moment of torsion is with elder generation's fast variation in slow back.
Preferably, in said the 3rd process, the rate of change of said charging moment of torsion is with first quick and back slow variation.
Particularly, can be parabola or approximate parabolic in said second process, the pairing said camber line form of the 3rd process.
Particularly, the base region of said initial value is a 0--10 ox rice, and the base region of said expected value is-10 to-30 Ns of rice.
Preferably, said regenerative brake condition comprises: (1) throttle is returned back to 0, and (2) speed of operation is greater than predetermined value.
Preferably, said time constant filter is set according to engine speed and automobile gear level.
Technique effect of the present invention is, the charging moment of torsion is divided into three processes by initial value in the process that expected value changes, the moment of torsion that at first will charge increase to offset since the generator torque variation remove the influence that causes too soon; And in process subsequently; Through setting that time constant filter carries out filtering control to the charging moment of torsion so that the charging moment of torsion with camber line form smooth change; The vehicle shake that the sudden change of charging moment of torsion causes prevented in the regenerative brake process owing to can overcome the pine tar jiggly phenomenon of vehicle operating behind the door.Therefore, when satisfying the charging requirement of vehicle, can improve driving performance, optimize the traveling comfort of driving.
Description of drawings
Fig. 1 is the regenerative brake method control process scheme drawing that provides according to the embodiment of the invention;
Fig. 2 is the curve synoptic diagram of the change in torque of regenerative brake method control process shown in Figure 1.
The specific embodiment
What introduce below is some among a plurality of possibility embodiment of the present invention, aims to provide basic understanding of the present invention.Be not intended to confirm key of the present invention or conclusive key element or limit claimed scope.Understand easily, according to technical scheme of the present invention, do not changing under the connotation of the present invention, but one of ordinary skill in the art can propose other implementation of mutual alternative.Therefore, the following specific embodiment and accompanying drawing only are the exemplary illustrations to technical scheme of the present invention, and should not be regarded as qualification or the restriction to technical scheme of the present invention that all perhaps be regarded as of the present invention.
In following examples, describe with the regenerative brake method of hybrid vehicle, the basic structure of hybrid vehicle is known knowledge by those skilled in the art, gives unnecessary details no longer one by one at this.The regenerative brake method of hybrid vehicle can mainly be controlled completion by the HCU on the hybrid vehicle.
Regenerative brake method control process scheme drawing for providing according to the embodiment of the invention shown in Figure 1, shown in Figure 2 is the curve synoptic diagram of the change in torque of regenerative brake method control process shown in Figure 1.In conjunction with illustrated in figures 1 and 2 this embodiment regenerating brake control method is described.
See also Fig. 1 and Fig. 2, in the regenerating brake control method of this embodiment, the charging moment of torsion divides three different phase processes, and different time constant filters are set respectively carry out filtering control.In this embodiment, motor charging moment of torsion carries out example description with the hybrid powder motor of hybrid vehicle, mix moving motor in the regenerative brake process mainly as generating, the variation of the charging moment of torsion through mixing moving motor is at the concrete control process of realizing regenerative brake.But, need to prove that the particular type of the employed motor of hybrid vehicle is not limited by the embodiment of the invention.Before will regenerative brake taking place, the manipulator of hybrid vehicle generally unclamps Das Gaspedal, to prepare braking deceleration.As shown in Figure 2, the release process of curve 20 expression Das Gaspedals is at t
0Constantly, begin to unclamp Das Gaspedal, arrive t
10In the time of constantly, Das Gaspedal is replied basically fully, so throttle is returned back to 0 basically.Driving engine is corresponding to the control of throttle, and its rotating speed also begins to descend, the rotation speed change process of curve 30 expression driving engines, and engine speed begins to descend after unclamping throttle.Need to prove, be the change in rotational speed trend that roughly reflects driving engine about the curve 30 of the rotating speed of driving engine.Its rotating speed decline speed and place gear, the factors such as speed of unclamping before the throttle are relevant.Normally, as shown in Figure 1, mix moving intelligent charge moment of torsion when the regenerative brake condition satisfies, HCU begins to carry out the regenerative brake control process, also promptly begins its charging moment of torsion is carried out filtering.Usually the regenerative brake condition comprises: (1) throttle is returned back to 0, and (2) speed of operation is greater than predetermined value.Those skilled in the art's predetermined value in (2) that can impose a condition.Among Fig. 2, at t
10Constantly, throttle returns back to 0 fully, and speed of operation also reaches predetermined value, and beginning regenerative brake process also promptly begins its charging moment of torsion is carried out filtering.Wherein curve 300 is represented the change curve of the charging moment of torsion of these embodiment.But need to prove that the actual conditions of regenerative brake is not limited by the embodiment of the invention, for example, can also comprise signal feedback such as brake.
In this invention, time constant filter is reflected in interior mean change speed to the charging moment of torsion in the filtering of charging moment of torsion of a period of time, for example, and t
13To t
20The time constant filter τ that time period sets
33Can reflect by t
13To t
20The average attenuation fall off rate of the charging moment of torsion in the time period; And filtering mainly is the variation smoothing with moment of torsion.
At t
10To t
11Time period, the charging moment of torsion increases to intermediate value M by initial value
31, the charging change in torque curve of 310 these time periods of expression of curve; Intermediate value M
31Be a certain value greater than initial value, particularly, it can big approximately 3-20 ox rice, for example M than initial value
31Be 5 Ns of rice.In this time period, set time constant filter τ
31Charging filtering is controlled, so that the charging moment of torsion is with mea velocity increase faster.Through at first increasing the charging moment of torsion, can offset at t
10To t
11In time period since engine torque change remove the influence that causes too soon, help improving driver comfort.Normally, t
10To t
11Time period is shorter, for example about 0.15 second.Curve 310 can be parabola or approximate parabolic, but this is not restrictive, and for example curve 310 can also be normal distribution curve or similar normal state distribution curve form.Preferably, at t
10To t
11Time period, in curve 310, the rate of change of charging moment of torsion is accelerated to rise in time gradually, arrives intermediate value M at last
31Particularly, the absolute value that the dN/dt of curve 310 can be set increases gradually, (N representative charging moment of torsion, t represents the time).
Need to prove, in this invention, intermediate value M
31Do not limit the numerical value that refers between initial value and the expected value, and be meant a certain charging torque rating in the regenerative brake control process.
At t
11To t
13Time period, the charging moment of torsion is by intermediate value M
31Decay drops to intermediate value M
32, the charging change in torque curve of 320 these time periods of expression of curve; M
32Be M
31And a certain value between the expected value, preferably, M
31With M
32Difference less than M
32With the difference of expected value, for example, M
31Be 5 Ns of rice, M
32For-5 Ns of rice, expected value are-20 Ns of rice; In this time period, set time constant filter τ
32Charging filtering is controlled.The oil-break zone bit of curve 40 reflection driving engines is at t
13Driving engine oil-break time point (expression does not have fuel delivery fully), so t constantly
10To t
13Time period also is that throttle returned back to for 0 stage to the complete oil-break of driving engine.At t
11To t
13In time period, with relatively low mean change speed decay decline charging moment of torsion.And, preferably, at t
11To t
13In time period, in the curve 320, the rate of change of charging moment of torsion also is the growth of t in time and accelerating, and also is that the absolute value of dN/dt increases gradually (N representative charging moment of torsion, t represents the time).
At t
13To t
20Time period, the charging moment of torsion is by intermediate value M
32Decay drops to expected value (for example 20 Ns of rice), the charging change in torque curve of 330 these time periods of expression of curve; In this time period, set time constant filter τ
33Charging filtering is controlled, thereby made this stage with relatively large mea velocity decay decline charging moment of torsion.In this embodiment, τ
33Less than τ
32Thereby,, can make the charging moment of torsion with camber line form smooth change the time, at t
13To t
20Time period descends with bigger mean change speed decay, more helps improving driving performance, improves driver comfort.Preferably, at t
13To t
20Time period, in the curve 330, the rate of change of its charging moment of torsion is with first quick and back slow variation.Particularly, the absolute value that the dN/dt of curve 330 can be set reduces (N representative charging moment of torsion, t represents the time) gradually.Like this, at t
20Time point, the variation of charging moment of torsion is less and level and smooth.
Preferably, t
13To t
20Time period is longer than t
10To t
11Time period, t
11To t
13Time period is longer than t
13To t2
0Time period, for example t
10To t
11Be about 0.15 second, t
11To t
13Be about 0.35 second, t
13To t
20Be about 0.2 second.
More than (t in three processes
10To t
11, t
11To t
13, t
13To t
20), through setting time constant filter τ respectively
31, τ
32, τ
33The charging moment of torsion is carried out filtering control; The variation of charging moment of torsion can more gently change with arc shape; And the phenomenon that irregularity can not occur has avoided instantaneous variation because of the charging moment of torsion to the shake that vehicle produces, and helps improving driving performance, optimizes the traveling comfort of driving.
Need to prove that when the charging moment of torsion is carried out filtering, make the variation of charging moment of torsion along with curve shown in Figure 2 310,320,330, those skilled in the art can set up math modeling according to time constant filter and draw concrete curve.But; The concrete form of curve 310,320,330 is not limited by the embodiment of the invention; For example it can be various parabolas or approximate parabolical camber line form, and curve 320,330 can also be the camber line form of normal distribution curve or similar normal state distribution curve.
In this embodiment, time constant filter τ
31, τ
32, τ
33Set according to the rotating speed of driving engine and automobile gear level, but this not restrictive that its setting can also comprise that other factors sets.Time constant filter τ is big more, and the mean change speed of charging moment of torsion is more little.In this embodiment, preferably, curve 320 is elder generation's fast camber line version in back slowly, and in the starting stage that filtering descends, the charging change in torque is slower, more helps reducing the traveling comfort that improves driving performance, raising driving.At t
20Constantly, reach the expected value (for example-20 N rice) of the moment of torsion of regenerative brake; At t
20Constantly, the charging moment of torsion is constant basically.In this embodiment, t
20The base region of expected value constantly is-10 to-30 Ns of rice, can be according to torque ratings that decides specific aims such as the maximum permission of the speed of a motor vehicle, vehicle total quality, tire ground adhesion value and battery charge powers.
In this embodiment, preferably, with driving engine oil-break time point t
13Change time constant filter as a reference, make driving engine oil-break time point t
13The variable quantity of charging moment of torsion afterwards is bigger, and like this in same charging duration, rechargeable energy is bigger and help reducing oil consumption.
Above example has mainly been explained the regenerating brake control method of hybrid vehicle of the present invention.Although only some of them embodiment of the present invention is described, those of ordinary skills should understand, and the present invention can be in not departing from its purport and scope implements with many other forms.Therefore, example of being showed and embodiment are regarded as schematic and nonrestrictive, are not breaking away under the situation of liking defined spirit of the present invention of each claim and scope enclosed, and the present invention possibly contained various modifications and replacement.
Claims (15)
1. the regenerating brake control method of a hybrid vehicle is characterized in that, after predetermined regenerative brake condition satisfied, the charging moment of torsion was changed to expected value by initial value;
The process that said charging moment of torsion is changed to expected value by initial value comprise successively by initial value increase to first process of first intermediate value, second process of second intermediate value that is decreased to by first intermediate value and the 3rd process that is decreased to said expected value by second intermediate value;
Wherein, set first time constant filter, second time constant filter, the 3rd time constant filter in said first process, second process and the 3rd process respectively the charging moment of torsion is carried out filtering control, so that the charging moment of torsion is with camber line form smooth change.
2. regenerating brake control method as claimed in claim 1; It is characterized in that; Set said second time constant filter, the 3rd time constant filter, so that the charging moment of torsion mean change speed in said second process is less than the charging moment of torsion mean change speed in said the 3rd process
3. according to claim 1 or claim 2 regenerating brake control method is characterized in that said charging moment of torsion is 0.1 second to 1 second by initial value to the time range of expected value change procedure basically.
4. regenerating brake control method as claimed in claim 2 is characterized in that, said second time constant filter is greater than said the 3rd time constant filter.
5. according to claim 1 or claim 2 regenerating brake control method is characterized in that, the said charging moment of torsion of stating arrives second intermediate value at driving engine oil-break time point place.
6. according to claim 1 or claim 2 regenerating brake control method is characterized in that the time of said second process is longer than the time of said the 3rd process, and the time of said the 3rd process is longer than the time of said first process.
7. according to claim 1 or claim 2 regenerating brake control method is characterized in that said first intermediate value is than the big 3-20 ox of said initial value rice.
8. according to claim 1 or claim 2 regenerating brake control method is characterized in that the difference of said first intermediate value and said second intermediate value is less than the difference of said second intermediate value and said expected value.
9. according to claim 1 or claim 2 regenerating brake control method is characterized in that, in said first process, the rate of change of said charging moment of torsion is with the fast variation in slow back earlier.
10. according to claim 1 or claim 2 regenerating brake control method is characterized in that, in said second process, the rate of change of said charging moment of torsion is with the fast variation in slow back earlier.
11. regenerating brake control method according to claim 1 or claim 2 is characterized in that, in said the 3rd process, the rate of change of said charging moment of torsion is with first quick and back slow variation.
12. regenerating brake control method according to claim 1 or claim 2 is characterized in that, is parabola or approximate parabolic in said second process and the pairing said camber line form of said the 3rd process.
13. regenerating brake control method according to claim 1 or claim 2 is characterized in that, the base region of said initial value is a 0--10 ox rice, and the base region of said expected value is-10 to-30 Ns of rice.
14., it is characterized in that said regenerative brake condition comprises like claim 1 or 3 described regenerating brake control methods: (1) throttle is returned back to 0, and (2) speed of operation is greater than predetermined value.
15. regenerating brake control method according to claim 1 or claim 2 is characterized in that, said time constant filter is set according to engine speed and automobile gear level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010620411.2A CN102529729B (en) | 2010-12-29 | 2010-12-29 | A kind of regenerating brake control method of hybrid vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010620411.2A CN102529729B (en) | 2010-12-29 | 2010-12-29 | A kind of regenerating brake control method of hybrid vehicle |
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| CN102529729A true CN102529729A (en) | 2012-07-04 |
| CN102529729B CN102529729B (en) | 2015-09-16 |
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| CN201010620411.2A Active CN102529729B (en) | 2010-12-29 | 2010-12-29 | A kind of regenerating brake control method of hybrid vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102963252A (en) * | 2012-11-26 | 2013-03-13 | 北京智行鸿远汽车技术有限公司 | Fast accelerator release torque filtering control method for pure electric automobile |
| CN105473376A (en) * | 2013-08-08 | 2016-04-06 | 三菱电机株式会社 | Station building auxiliary power supply device |
| CN105697762A (en) * | 2014-11-28 | 2016-06-22 | 上海汽车集团股份有限公司 | Impact prevention method and device in parking gear switching process |
| CN111469672A (en) * | 2020-04-30 | 2020-07-31 | 江铃汽车股份有限公司 | Kinetic energy recovery control method and device and readable storage medium |
| CN112406846A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN112758095A (en) * | 2021-01-11 | 2021-05-07 | 安徽华菱汽车有限公司 | Energy control method, braking energy feedback system and computer readable storage medium |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102963252A (en) * | 2012-11-26 | 2013-03-13 | 北京智行鸿远汽车技术有限公司 | Fast accelerator release torque filtering control method for pure electric automobile |
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| CN105473376A (en) * | 2013-08-08 | 2016-04-06 | 三菱电机株式会社 | Station building auxiliary power supply device |
| CN105697762A (en) * | 2014-11-28 | 2016-06-22 | 上海汽车集团股份有限公司 | Impact prevention method and device in parking gear switching process |
| CN105697762B (en) * | 2014-11-28 | 2018-03-06 | 上海汽车集团股份有限公司 | The method and device of protecting against shock in parking stall handoff procedure |
| CN112406846A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN112406846B (en) * | 2019-08-23 | 2022-08-09 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN111469672A (en) * | 2020-04-30 | 2020-07-31 | 江铃汽车股份有限公司 | Kinetic energy recovery control method and device and readable storage medium |
| CN112758095A (en) * | 2021-01-11 | 2021-05-07 | 安徽华菱汽车有限公司 | Energy control method, braking energy feedback system and computer readable storage medium |
| CN112758095B (en) * | 2021-01-11 | 2022-07-01 | 安徽华菱汽车有限公司 | Energy control method, braking energy feedback system and computer readable storage medium |
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