CN102555816B - A kind of regenerating brake control method of hybrid vehicle - Google Patents
A kind of regenerating brake control method of hybrid vehicle Download PDFInfo
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- CN102555816B CN102555816B CN201010620375.XA CN201010620375A CN102555816B CN 102555816 B CN102555816 B CN 102555816B CN 201010620375 A CN201010620375 A CN 201010620375A CN 102555816 B CN102555816 B CN 102555816B
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Abstract
The invention provides a kind of regenerating brake control method of hybrid vehicle, belong to Development of HEV Technology field.In the regenerating brake control method of the hybrid vehicle that this invention provides, after predetermined regenerative brake condition meets, when the moment of torsion that charges is changed to expected value by initial value, by setting time constant filter, filtering control is carried out, to make charging moment of torsion with form of arcs smooth change to charging moment of torsion.Therefore, when meeting the charging requirement of vehicle, can driving performance be improved, optimizing the traveling comfort driven.
Description
Technical field
The invention belongs to Development of HEV Technology field, relate to the regenerating brake control method of hybrid vehicle.
Background technology
Along with constantly promoting the attention of energy security and environmental protection problem in the world, various countries require more and more stricter to automotive emissions.Reduce the dependence to the energy, realize energy-saving and emission-reduction, become the problem that world economy sustainable development is in the urgent need to address.Hybrid vehicle, pure electric automobile have become the trend of current auto-domain development.Motor and driving engine combine by oil-electric vehicle; rational energy saving and emission reduction effects is achieved for each operating mode; idle stop, electric motor starting, intelligent charge, regenerative brake, motor power-assisted, the electronic mixed dynamic function such as to creep; there is reduction oil consumption, increase continual mileage, technology maturity compares advantages of higher, is the first-selected trend of current Ge great car company development.
In hybrid vehicle, driving engine and motor are two propulsions source, mixed dynamic power controller (HCU) is the core of full-vehicle control, primary responsibility coordinates the control between engine management system (EMS) and electric machine controller (MCU), and the high and low pressure fulgurite of responsible whole system is managed and power system trouble diagnosing.
Wherein, Regenerative Braking Technology is also one of gordian technique in field of hybrid electric vehicles, it is also making constant progress, in hybrid vehicle, the electricity generate function of motor is utilized to realize regenerative braking capability, its principle is, when braking, the inertia energy of running car is passed to motor by driving system, motor is with generation mode work, for power battery charging realizes the regeneration of braking energy, meanwhile, the motor braking moment produced applies braking by driving system to drive wheel again, produces braking force.Because regenerative brake make use of the energy being originally consumed in friction braking, the energy consumption of electronlmobil can be reduced, improve the economic performance of automobile.
Chinese Patent Application No. is " 200510124915.4 ", name is called in the patent of " for controlling the method for the regenerative brake of belt-driven hybrid vehicle ", main purpose be in order to improve, regenerative braking efficiency, raising charging current generating efficiency; Chinese Patent Application No. is " 200810184246.3 ", name is called in the patent of " method controlling vehicle regenerative braking ", in disclosed regenerative braking method, comprise the operation of monitoring power drive system, determine total brake torque that driver expects, regeneration braking capacity is determined in operation according to power drive system, measure over time according to regeneration braking capacity and determine regenerative brake demand, and determine according to regenerative brake demand the motor torque commands sending torque machine to.In the control method of the regenerative brake of prior art, do not pay close attention to the problem of the driving sensation in process of regenerative braking.
But it is whether reasonable that the charging moment of torsion in process of regenerative braking controls, directly can affect the driving performance of vehicle, particularly when the moment of torsion that charges falls variation suddenly with straight line, the change in torque of driving engine can cause vehicle operating irregularity too soon.Therefore, be necessary to propose a kind of new regenerating brake control method.
Summary of the invention
The technical problem to be solved in the present invention is, in process of regenerative braking, improves its driving performance, improves the traveling comfort driven.
For solving above technical matters, the invention provides a kind of regenerating brake control method of hybrid vehicle, wherein, after predetermined regenerative brake condition meets, when the moment of torsion that charges is changed to expected value by initial value, by setting time constant filter, filtering control is carried out, to make charging moment of torsion with form of arcs smooth change to charging moment of torsion.
Preferably, when charging moment of torsion is with described form of arcs smooth change, the rate of change of described charging moment of torsion is with first slow rear fast variation.
According to an embodiment of regenerating brake control method provided by the invention, wherein, described charging moment of torsion to be comprised successively to the process that expected value changes by initial value and is decreased to the process of the first intermediate value by initial value and is decreased to the process of described expected value by the first intermediate value; Wherein, set in the process changed to the first intermediate value by initial value to charging moment of torsion, the first time constant filter carries out that filtering controls, set the second time constant filter in the process that changed to described expected value by the first intermediate value charging filtering is controlled, be less than the charging moment of torsion mean change speed in the process changed to described expected value by the first intermediate value to make the charging moment of torsion mean change speed in the process changed to the first intermediate value by initial value.
Preferably, described first time constant filter is greater than described second time constant filter.
Preferably, described charging moment of torsion arrives the first intermediate value at driving engine oil-break time point place.
Preferably, the difference of described initial value and described first intermediate value is less than the difference of described first intermediate value and described expected value.
Preferably, described charging moment of torsion is longer than described charging moment of torsion by the time of the first intermediate value to expected value change procedure by initial value to the time of the first intermediate value change procedure.
Preferably, in the process that charging moment of torsion is changed to the first intermediate value by described initial value, the rate of change of described charging moment of torsion is with first slow rear fast variation.
Preferably, in the process that charging moment of torsion is changed to described expected value by described first intermediate value, the rate of change of described charging moment of torsion is with variation first quick and back slow.
According to regenerating brake control method provided by the invention, wherein, described form of arcs can be parabola or near parabolic form.Described form of arcs also can be normal distribution curve or approximate normal distribution curve.
Preferably, described charging moment of torsion is 0.1 second to 1 second by initial value to the time range of expected value change procedure substantially.
Preferably, the base region of described initial value is 0--10 ox rice, and the base region of described expected value is for being-10 to-30 Ns of rice.
Preferably, described regenerative brake condition comprises: (1) throttle is responded to 0, and (2) speed of operation is greater than predetermined value.
Preferably, described time constant filter is according to engine speed and automobile gear level setting.
Technique effect of the present invention is, by setting time constant filter, filtering control is carried out, to make charging moment of torsion with form of arcs smooth change to charging moment of torsion, the vehicle caused due to the sudden change of the moment of torsion that charges in process of regenerative braking is prevented to shake, accelerator releasing rear vehicle can be overcome and run jiggly phenomenon, therefore, when meeting the charging requirement of vehicle, can driving performance be improved, optimizing the traveling comfort driven.
Accompanying drawing explanation
Fig. 1 is the regenerative braking method control process schematic diagram provided according to first embodiment of the invention;
Fig. 2 is the curve synoptic diagram of the change in torque of the control process of regenerative braking method shown in Fig. 1;
Fig. 3 is the regenerative braking method control process schematic diagram provided according to second embodiment of the invention;
Fig. 4 is the curve synoptic diagram of the change in torque of the control process of regenerative braking method shown in Fig. 3.
Detailed description of the invention
Introduce below be of the present invention multiple may some in embodiment, aim 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.Easy understand, according to technical scheme of the present invention, do not changing under connotation of the present invention, one of ordinary skill in the art can propose other implementation that can mutually replace.Therefore, following detailed description of the invention and accompanying drawing are only the exemplary illustrations to technical scheme of the present invention, and should not be considered as of the present invention all or the restriction be considered as technical solution of the present invention or restriction.
In following examples, be described with the regenerative braking method of hybrid vehicle, the basic structure of hybrid vehicle is known by those skilled in the art know, and this is no longer going to repeat them.The regenerative braking method of hybrid vehicle can control primarily of the HCU on hybrid vehicle.
The regenerative braking method control process schematic diagram provided according to first embodiment of the invention is provided, Figure 2 shows that the curve synoptic diagram of the change in torque of the control process of regenerative braking method shown in Fig. 1.Shown in composition graphs 1 and Fig. 2, this embodiment regenerating brake control method is described.
Refer to Fig. 1 and Fig. 2, in this embodiment, motor charging moment of torsion carries out example explanation with the hybrid powder motor of hybrid vehicle, and mixed dynamic motor is mainly used as generating at process of regenerative braking, is realizing the concrete control process of regenerative brake by the change of the charging moment of torsion of mixed dynamic motor.But it should be noted that, the particular type of the motor used of hybrid vehicle does not limit by the embodiment of the present invention.Before will there is regenerative brake, the manipulator of hybrid vehicle will generally unclamp Das Gaspedal, to prepare braking deceleration.As shown in Figure 2, curve 20 represents the release process of Das Gaspedal, at t
0in the moment, start to unclamp Das Gaspedal, arrive t
10during the moment, Das Gaspedal is replied substantially completely, and therefore throttle is responded substantially to 0.Driving engine is corresponding to the control of throttle, and its rotating speed also starts to decline, and curve 30 represents the rotation speed change process of driving engine, and engine speed starts to decline after unclamping throttle.It should be noted that, the curve 30 about the rotating speed of driving engine is the variation tendencies of the rotating speed roughly reflecting driving engine.Its rotating speed decline speed and place gear, to unclamp the factors such as the speed before throttle relevant.Normally, as shown in Figure 1, mixed dynamic intelligent charge moment of torsion is when regenerative brake condition meets, and HCU starts to perform regenerative brake control process, also namely starts to carry out filtering to its charging moment of torsion.Usual regenerative brake condition comprises: (1) throttle is responded to 0, and (2) speed of operation is greater than predetermined value.Those skilled in the art can impose a condition the predetermined value in (2).In Fig. 2, at t
10in the moment, throttle returns back to 0 completely, and speed of operation also reaches predetermined value, starts process of regenerative braking.But it should be noted that, the actual conditions of regenerative brake does not limit by the embodiment of the present invention, such as, the signal feedback such as brake can also be comprised.
Continue as depicted in figs. 1 and 2, curve 100 is the charging change in torque curve of this embodiment.(t before beginning regenerative brake
10before moment), charging moment of torsion keeps initial value substantially, and in this embodiment, the initial value base region of charging moment of torsion can be 0--10 ox rice, and such as, initial value is 0 N of rice.At t
10after moment, curve 110 is wherein one section of curve 100, and it is the filter change stage curve of charging moment of torsion.By setting time constant filter τ, filtering control is carried out to charging moment of torsion, thus at t
10change in torque of charging after moment stage curve 110 changes smoothly with form of arcs, and charging moment of torsion attenuation change is to expected value (such as ,-20 Ns of rice).In the invention, time constant filter is reflected in the mean change speed to the charging moment of torsion in the filtering of charging moment of torsion in a period of time, such as, and t
10to t
20time constant filter τ set by time period can reflect by t
10to t
20the average attenuation fall off rate of the charging moment of torsion in the time period; And filtering is mainly by the change smoothing of moment of torsion.By setting time constant filter τ, filtering control is carried out to charging moment of torsion, the change of charging moment of torsion can more gently change with arc shape, and there will not be the phenomenon of irregularity, avoid shake vehicle produced because of the instantaneous variation of the moment of torsion that charges, be conducive to improving driving performance, optimize the traveling comfort driven.
In the embodiment depicted in figure 2, time constant filter τ is according to the rotating speed of driving engine and automobile gear level setting, but this is not restrictive, and its setting can also comprise other factors to set.Time constant filter τ is larger, and the mean change speed of charging moment of torsion is less.In this embodiment, preferably, in curve 110, the rate of change of its charging moment of torsion is with first rear fast variation slowly, and like this in the filtering starting stage, charging change in torque is comparatively slow, is more conducive to reducing the traveling comfort improving driving performance, raising driving.At t
20in the moment, reach the expected value (such as-20 Ns of rice) of the moment of torsion of regenerative brake.At t
20after moment, charging moment of torsion is substantially constant.In this embodiment, t
20the base region of the expected value in moment is-10 to-30 Ns of rice, can according to torque ratings that decides specific aims such as the speed of a motor vehicle, entire vehicle quality, tire ground adhesion value and the maximum permission charge powers of battery.
It should be noted that, when carrying out filtering to charging moment of torsion, make charging moment of torsion along with the change of the curve 110 shown in Fig. 2, those skilled in the art can draw concrete curve according to time constant filter founding mathematical models.But, the concrete form of curve 110 does not limit by the embodiment of the present invention, such as, in other embodiments, it can be the form of arcs of parabola or near parabolic, also can be the form of arcs of normal distribution curve or approximate normal distribution curve, the rate of change of its charging moment of torsion be also the growth of t in time and accelerates, and also namely the absolute value of dN/dt increases gradually, (N representative charging moment of torsion, t represents the time).
In this embodiment, according to the initial value of charging moment of torsion of setting and expected value and set time constant filter τ, t
10to t
20time range can be 0.1 second to 1 second, such as it can be 0.5 second.
The regenerative braking method control process schematic diagram provided according to second embodiment of the invention is provided, Figure 4 shows that the curve synoptic diagram of the change in torque of the control process of regenerative braking method shown in Fig. 3.Shown in composition graphs 3 and Fig. 4, this embodiment regenerating brake control method is described.
Refer to Fig. 3 and Fig. 4, compared to the difference of the regenerating brake control method of example shown in Fig. 1 and Fig. 2, the regenerating brake control method of this embodiment is that charging moment of torsion is divided into two different phases and arranges different time constant filter respectively and carries out filtering.Similarly, control, at t for the intelligent charge moment of torsion of mixed dynamic motor
10in the moment, throttle returns back to 0 substantially completely, and mixed dynamic intelligent charge moment of torsion meets in regenerative brake condition, and HCU starts to perform regenerative brake control process, also namely starts to carry out filtering to its charging moment of torsion.Wherein curve 200 represents the change curve of the charging moment of torsion of this embodiment.
At t
10to t
13time period, the decay of charging moment of torsion drops to intermediate value M
21, curve 210 represents the charging change in torque curve of this time period; M
21for a certain value between expected value and initial value, preferably, initial value and intermediate value M
21difference be less than intermediate value M
21such as, with the difference of expected value, M
21for-7 Ns of rice; Within this time period, setting time constant filter τ
21charging filtering is controlled.Curve 40 reflects the oil-break zone bit of driving engine, at t
13moment driving engine oil-break time point (representing do not have fuel delivery completely), therefore t
10to t
13time period is also the stage that throttle returns back to that 0 arrives the complete oil-break of driving engine, and this stage charging moment of torsion declines with lower mean change rate attenuation and (is less than t
13to t
20the mean change speed of time period).Preferably, at t
10to t
13time period, in curve 210, the rate of change of its charging moment of torsion is with first slow rear fast variation.Particularly, the absolute value that can arrange the dN/dt of curve 210 increases gradually (N representative charging moment of torsion, t represents the time).
At t
13to t
20time period, charging moment of torsion is by intermediate value M
21decay drops to expected value (such as-20 Ns of rice), and curve 220 represents the charging change in torque curve of this time period; Within this time period, setting time constant filter τ
22charging filtering is controlled, thus makes this stage with larger mea velocity decay decline charging moment of torsion.In this embodiment, τ
21be greater than τ
22, thus, can make charging moment of torsion when with form of arcs smooth change, at t
13to t
20time period declines with very fast mean change rate attenuation, is more conducive to improving driving performance, improving driver comfort.Preferably, at t
13to t
20time period, in curve 220, the rate of change of its charging moment of torsion is with variation first quick and back slow.Particularly, the absolute value that can arrange the dN/dt of curve 220 reduces gradually (N representative charging moment of torsion, t represents the time).Like this, at t
20time point, the change of charging moment of torsion is less and level and smooth.
Preferably, t
10to t
13time period is longer than t
13to t
20time period, such as t
10to t
13be 0.5 second, t
13to t
20it is 0.2 second.
It should be noted that, when carrying out filtering to charging moment of torsion, make charging moment of torsion along with the change of the curve 210,220 shown in Fig. 4, those skilled in the art can draw concrete curve according to time constant filter founding mathematical models.But the concrete form of curve 210,220 does not limit by the embodiment of the present invention, such as, it can be the form of arcs of parabola or near parabolic, and it can also be the form of normal distribution curve or approximate normal distribution curve.
Similarly, Fig. 3, embodiment illustrated in fig. 4 in, time constant filter τ
21, τ
22according to rotating speed and the automobile gear level setting of driving engine, but this is not restrictive, and its setting can also comprise other factors to set.Time constant filter τ is larger, and the mean change speed of charging moment of torsion is less.In this embodiment, preferably, curve 210 is first rear fast camber line version slowly, and like this in the filtering starting stage, charging change in torque is comparatively slow, is more conducive to reducing the traveling comfort improving driving performance, raising driving.At t
20in the moment, reach the target torque value of regenerative brake.(such as-20 Ns of rice), at t
20after moment, charging moment of torsion is substantially constant.
The control method of above second embodiment is all with driving engine oil-break time point t
13as a reference pointly change time constant filter, make driving engine oil-break time point t
13the variable quantity of charging moment of torsion is afterwards larger, and like this in same charging duration, rechargeable energy is larger and be conducive to reducing oil consumption.
Above example mainly describes the regenerating brake control method of hybrid vehicle of the present invention.Although be only described some of them embodiments of the present invention, those of ordinary skill in the art should understand, and the present invention can implement with other forms many not departing from its purport and scope.Therefore, the example shown and embodiment are regarded as illustrative and not restrictive, when do not depart from as appended each claim define the present invention spirit and scope, the present invention may contain various amendments and replacement.
Claims (12)
1. the regenerating brake control method of a hybrid vehicle, it is characterized in that, after predetermined regenerative brake condition meets, in the process that engine speed declines, when the moment of torsion that charges is changed to expected value by initial value, by setting time constant filter, filtering control is carried out, to make charging moment of torsion with form of arcs smooth change to charging moment of torsion;
Wherein, described charging moment of torsion to be comprised successively to the process that expected value changes by initial value and is decreased to the process of the first intermediate value by initial value and is decreased to the process of described expected value by the first intermediate value; Described charging moment of torsion arrives the first intermediate value at driving engine oil-break time point place;
Wherein, set in the process changed to the first intermediate value by initial value to charging moment of torsion, the first time constant filter carries out that filtering controls, set the second time constant filter in the process that changed to described expected value by the first intermediate value charging filtering is controlled, be less than charging moment of torsion mean change speed in the process changed to described expected value by the first intermediate value to make the charging moment of torsion mean change speed in the process changed to the first intermediate value by initial value;
Wherein, described regenerative brake condition comprises: (1) throttle is responded to 0, and (2) speed of operation is greater than predetermined value.
2. regenerating brake control method as claimed in claim 1, is characterized in that, when charging moment of torsion is with described form of arcs smooth change, the rate of change of described charging moment of torsion is with first slow rear fast variation.
3. regenerating brake control method as claimed in claim 1, it is characterized in that, described first time constant filter is greater than described second time constant filter.
4. regenerating brake control method as claimed in claim 1, it is characterized in that, the difference of described initial value and described first intermediate value is less than the difference of described first intermediate value and described expected value.
5. regenerating brake control method as claimed in claim 1, it is characterized in that, described charging moment of torsion is longer than described charging moment of torsion by the time of the first intermediate value to expected value change procedure by initial value to the time of the first intermediate value change procedure.
6. regenerating brake control method as claimed in claim 1, is characterized in that, in the process that charging moment of torsion is changed to the first intermediate value by described initial value, the rate of change of described charging moment of torsion is with first slow rear fast variation.
7. regenerating brake control method as claimed in claim 1, is characterized in that, in the process that charging moment of torsion is changed to described expected value by described first intermediate value, the rate of change of described charging moment of torsion is with variation first quick and back slow.
8. regenerating brake control method as claimed in claim 1, it is characterized in that, described form of arcs is parabola or near parabolic form.
9. regenerating brake control method as claimed in claim 1, it is characterized in that, described form of arcs is normal distribution curve or approximate normal distribution curve.
10. regenerating brake control method as claimed in claim 1, is characterized in that, described charging moment of torsion is 0.1 second to 1 second by initial value to the time range of expected value change procedure substantially.
11. regenerating brake control methods as claimed in claim 1, is characterized in that, the base region of described initial value is 0--10 ox rice, and the base region of described expected value is between-10 to-30 Ns of rice.
12. regenerating brake control methods as claimed in claim 1, is characterized in that, described time constant filter is according to engine speed and automobile gear level setting.
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| CN201010620375.XA CN102555816B (en) | 2010-12-29 | 2010-12-29 | A kind of regenerating brake control method of hybrid vehicle |
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| CN102887080A (en) * | 2012-09-29 | 2013-01-23 | 北京智行鸿远汽车技术有限公司 | Control method for filtering sudden acceleration torque of pure electric automobile |
| CN103342126B (en) * | 2013-07-12 | 2016-04-20 | 东风汽车公司 | The compensation method of hybrid electric vehicle engine torque ripple |
| CN104590270B (en) * | 2014-12-25 | 2017-01-25 | 芜湖市汽车产业技术研究院有限公司 | Electric braking effect evaluation method and device |
| CN108688474B (en) * | 2018-03-22 | 2021-04-09 | 刘清河 | Braking energy recovery control algorithm for electric automobile |
| CN113352900B (en) * | 2020-03-04 | 2024-04-02 | 北京车和家信息技术有限公司 | Brake control method and device, electronic equipment and vehicle |
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| CN1736755A (en) * | 2004-08-19 | 2006-02-22 | 上海瑞华(集团)有限公司 | Control device for inhibiting flat nullspeed electric brake used in regenerated feedback type electrical braking electric car |
| CN1895926A (en) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | Transient control from driving to brake reducing for mixed-kinetic automobile |
| EP2055606A2 (en) * | 2007-10-29 | 2009-05-06 | GM Global Technology Operations, Inc. | Method for determining a power constraint for controlling a powertrain system |
| WO2010010283A2 (en) * | 2008-07-22 | 2010-01-28 | Renault S.A.S. | Motor vehicle regenerative braking method |
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| US8066339B2 (en) * | 2004-03-09 | 2011-11-29 | Ford Global Technologies, Llc | Vehicle and method for controlling regenerative braking |
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| CN1736755A (en) * | 2004-08-19 | 2006-02-22 | 上海瑞华(集团)有限公司 | Control device for inhibiting flat nullspeed electric brake used in regenerated feedback type electrical braking electric car |
| CN1895926A (en) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | Transient control from driving to brake reducing for mixed-kinetic automobile |
| EP2055606A2 (en) * | 2007-10-29 | 2009-05-06 | GM Global Technology Operations, Inc. | Method for determining a power constraint for controlling a powertrain system |
| WO2010010283A2 (en) * | 2008-07-22 | 2010-01-28 | Renault S.A.S. | Motor vehicle regenerative braking method |
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