CN102529946A - Regenerative braking control method for hybrid electric vehicle - Google Patents
Regenerative braking control method for hybrid electric vehicle Download PDFInfo
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- CN102529946A CN102529946A CN2010106203961A CN201010620396A CN102529946A CN 102529946 A CN102529946 A CN 102529946A CN 2010106203961 A CN2010106203961 A CN 2010106203961A CN 201010620396 A CN201010620396 A CN 201010620396A CN 102529946 A CN102529946 A CN 102529946A
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Abstract
The invention provides a regenerative braking control method for a hybrid electric vehicle, which belongs to the technical field of hybrid electric vehicles. In the regenerative braking control method for the hybrid electric vehicle, an initial value of charging torque is changed to a target value after a preset regenerative braking condition is met; and processes for changing the initial value of the charging torque into the target value sequentially include a first process of increasing the initial value to a first intermediate value, a second process of keeping the first intermediate value unchanged, a third process of decreasing the first intermediate value to a second intermediate value and a fourth process of decreasing the second intermediate value into the target value, wherein a first filtering time constant, a third filtering time constant and a fourth filtering time constant are set in the first process, the third process and the fourth process respectively and are used for filtering control of the charging torque, so that the charging torque is smoothly changed in an arc form. Therefore, when a charging requirement of the vehicle is met, driveability can be improved, and driving comfortableness is optimized.
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 the 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 intermediate value first process, keep basic unmodified second process of first intermediate value, the 3rd process of second intermediate value that is decreased to by first intermediate value and the 4th process that is decreased to said expected value by second intermediate value;
Wherein, set first time constant filter, the 3rd time constant filter, the 4th time constant filter in said first process, the 3rd process and the 4th 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.
According to regenerating brake control method provided by the invention; Wherein, Set said the 3rd time constant filter, the 4th time constant filter, so that the charging moment of torsion mean change speed in said the 3rd process is less than the charging moment of torsion mean change speed in said the 4th process
Particularly, 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 the 3rd time constant filter is greater than said the 4th 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 the 3rd process is longer than the time of said the 4th process, and the time of said the 4th process is longer than the time of said first process.
Preferably, the time of said first process equals the time of second process basically.
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 the 3rd 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 4th process, the rate of change of said charging moment of torsion is with first quick and back slow variation.
Preferably, the pairing said camber line form of said the 3rd process and said the 4th process is parabola or approximate parabolic.
Particularly, the base region of said initial value is a 0--10 ox rice, and the scope of said expected value is-10 to-30 Ns of rice basically.
Preferably, said regenerative brake condition comprises: (1) throttle returned back to 0 and (2) speed of operation 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 four processes by initial value in the process that expected value changes, at first, with the charging moment of torsion increase to offset since generator torque change remove the influence that causes too soon; Keep the electrode moment of torsion then in a certain moment of torsion place's a period of time greater than initial value, to offset since generator torque change remove the influence that causes too soon; And in process subsequently; Through will set time constant filter to the charging moment of torsion carry out filtering control, with further counteracting because generator torque changes removes to such an extent that the influence that causes too soon makes 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 four 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 400 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
43Can 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
41, the charging change in torque curve of 410 these time periods of expression of curve; Intermediate value M
41Be a certain value greater than initial value, particularly, it is than initial value 3-20 ox rice, for example M greatly
41Be 5 Ns of rice.In this time period, set time constant filter τ
41Charging 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 further improving driver comfort.Normally, t
10To t
11Time period is shorter relatively, for example about 0.1 second.Curve 310 can be parabola or approximate parabolic, but this is not restrictive.Preferably, at t
10To t
11Time period, in curve 410, the rising rate of change of charging moment of torsion is accelerated in time gradually, arrives intermediate value M at last
41Particularly, the absolute value that the dN/dt of curve 410 can be set increases (N representative charging moment of torsion, t represents the time) gradually.
At t
11To t
12Time period, the charging moment of torsion is kept intermediate value M basically
41Constant, curve 420 represented should the time period charging change in torque curve; Usually, t
11To t
12Time period is shorter, for example 0.1 second.Through keeping a period of time, can further eliminate since engine torque change remove the influence that causes too soon, help further improving driver comfort.
At t
12To t
13Time period, the charging moment of torsion is by intermediate value M
41Decay drops to intermediate value M
42, the charging change in torque curve of 430 these time periods of expression of curve; M
42Be M
41And a certain value between the expected value, preferably, M
41With M
42Difference less than M
42With the difference of expected value, for example, M
41Be 5 Ns of rice, M
42For-5 Ns of rice, expected value are-20 Ns of rice; In this time period, set time constant filter τ
42Charging 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 the throttle answer was 0 stage to the complete oil-break of driving engine.At t
11To t
13Time period is because t
11To t
12Time period charging moment of torsion is constant basically, so it is with relatively low mean change speed decay decline charging moment of torsion.And, preferably, at t
12To t
13In time period, in the curve 430, 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
42Decay drops to expected value (for example 20 Ns of rice), the charging change in torque curve of 440 these time periods of expression of curve; In this time period, set time constant filter τ
43Charging filtering is controlled, thereby made this stage with relatively large mea velocity decay decline charging moment of torsion.In this embodiment, preferably, τ
42Greater than τ
43Thereby,, 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 440, 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 440 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
12To t
13Time period is longer than t
13To t
20Time period, for example t
10To t
11Be 0.1 second, t11 to t
12Be 0.1 second, t
12To t1
3Be 0.3 second, t
13To t
20It is 0.2 second.
More than (t in three processes
10To t
11, t
12To t
13, t
13To t
20), through setting time constant filter τ respectively
41, τ
42, τ
43The 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 2 410,420,430,440, 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 410,430,440 is not limited by the embodiment of the invention; For example it can be various parabolas or approximate parabolical camber line form, and curve 430,440 can also be the camber line form of normal distribution curve or similar normal state distribution curve.
In this embodiment, time constant filter τ
41, τ
42, τ
43Set 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 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 (16)
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 intermediate value first process, keep basic unmodified second process of first intermediate value, the 3rd process of second intermediate value that is decreased to by first intermediate value and the 4th process that is decreased to said expected value by second intermediate value;
Wherein, set first time constant filter, the 3rd time constant filter, the 4th time constant filter in said first process, the 3rd process and the 4th 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 the 3rd time constant filter, the 4th time constant filter, so that the charging moment of torsion mean change speed in said the 3rd process is less than the charging moment of torsion mean change speed in said the 4th 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 the 3rd time constant filter is greater than said the 4th 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 the 3rd process is longer than the time of said the 4th process, and the time of said the 4th 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 the time of said first process equals the time of second process basically.
8. 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.
9. 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.
10. 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.
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 elder generation's fast variation in slow back.
12. regenerating brake control method according to claim 1 or claim 2 is characterized in that, in said the 4th process, the rate of change of said charging moment of torsion is with first quick and back slow variation.
13. regenerating brake control method according to claim 1 or claim 2 is characterized in that, the pairing said camber line form of said the 3rd process and said the 4th process is parabola or approximate parabolic.
14. 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 scope of said expected value is-10 to-30 Ns of rice basically.
15. regenerating brake control method according to claim 1 or claim 2 is characterized in that, said regenerative brake condition comprises: (1) throttle returned back to 0 and (2) speed of operation greater than predetermined value.
16. 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.
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| CN201010620396.1A CN102529946B (en) | 2010-12-29 | 2010-12-29 | Regenerative braking control method for hybrid electric vehicle |
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|---|---|---|---|
| CN201010620396.1A CN102529946B (en) | 2010-12-29 | 2010-12-29 | Regenerative braking control method for hybrid electric vehicle |
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| CN102529946B CN102529946B (en) | 2015-06-17 |
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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 |
| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN114112441A (en) * | 2021-12-24 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Jitter debugging method for idle charging condition of hybrid vehicle |
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| CN102529946B (en) | 2015-06-17 |
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