CN102556034A - Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator - Google Patents
Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator Download PDFInfo
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- CN102556034A CN102556034A CN2012100150137A CN201210015013A CN102556034A CN 102556034 A CN102556034 A CN 102556034A CN 2012100150137 A CN2012100150137 A CN 2012100150137A CN 201210015013 A CN201210015013 A CN 201210015013A CN 102556034 A CN102556034 A CN 102556034A
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Abstract
The invention discloses a braking energy recovery system based on a hydraulic ABS pressure regulator. The braking energy recovery system comprises a pressure regulator with hydraulic ABS function, a main braking cylinder, a main cylinder vacuum booster, a drive motor, a braking controller, a vehicle control unit and a motor controller. The braking energy recovery system is characterized in that a pressure sensor is arranged on an oil outlet pipe of the main braking cylinder; a pressure sensor is arranged on the front wheel cylinder in the ABS pressure regulator; the signals of the two sensors are fed back to the braking controller; the drive motor is controlled by the motor controller; the braking controller keeps CAN (controller area network) communication with the vehicle control unit; the vehicle control unit keeps CAN communication with the motor controller; and the pressure regulator is used for controlling two braking oil circuits from a left front wheel to a right rear wheel and from a right front wheel to a left rear wheel. According to the invention, the braking energy can be recovered by using the motor to feed back the braking force, and the pressure of the wheel cylinder can be boosted, maintained and reduced by using the ABS pressure regulator, thereby realizing integrated control of braking energy recovery and ABS.
Description
Technical field
The present invention relates to the hydraulic brake system of vehicle, particularly about a kind of be applicable to mixed power electric car or pure electric automobile reclaim the brake system of function based on the realization braking energy of hydraulic ABS pressure regulator.
Background technology
Along with the aggravation of energy problem and problem of environmental pollution, the research of electronlmobil is significant with application.One of key issue that in the electronlmobil research process, is faced is exactly that the specific energy of electrokinetic cell is lower, has big inferior position thereby cause the continual mileage of electronlmobil to compare the traditional combustion engine vehicle.Address this problem; Except the technical seeking breakthrough of this bottleneck of battery, how to optimize electronlmobil general design, set up the EMS of highly effective and safe, rationally use and energy savings becomes the important topic that the designer faces in electronlmobil development and development process.
The braking energy recovery technology is the pioneering technology that at present domestic and international electronlmobil maker extensively adopts; In braking procedure,, make it be operated in generating state with the driving motor electric voltage reverse-connection; Utilize the regenerative braking power of motor that vehicle is braked; The energy of its feedback will be with the stores of electric energy in battery, thereby reclaims the part kinetic energy of vehicle in braking procedure, has greatly improved the capacity usage ratio of electronlmobil.The at present external advanced brake system that braking energy reclaims function that has that proposes comprises: sharp this brake system of Toyota-Pu, continent-composite braking system, thus these two kinds of brake system are carried out bigger transformation to original brake system and have been realized the feedback braking function.These two kinds of systems can not only realize the braking energy feedback function, and can guarantee ABS function under the limiting condition, can be through Control Software is improved and expanded function.Sharp this brake system of Toyota-Pu, continent-composite braking system are being represented the forward position of feedback braking function development, and still, these systems design to realize the braking energy feedback function brake system again.
Summary of the invention
To the problems referred to above; The objective of the invention is to utilize hydraulic ABS pressure regulator and the drive motor of pure electric automobile or hybrid vehicle in the conventional truck; Propose a kind of brake energy recovering system, can realize simultaneously that braking energy reclaims and the braking anti-lock function based on hydraulic ABS pressure regulator.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of brake energy recovering system based on hydraulic ABS pressure regulator; It comprises pressure regulator, master brake cylinder, fluid reservoir, electric vacuum pump, brake pedal, vacuum booster, drive motor, brake controller, entire car controller and the electric machine controller with ABS function; It is characterized in that: a master cylinder pressure sensor is set on the fuel-displaced pipeline of said master brake cylinder, and a front-wheel wheel cylinder place in said abs pressure regulating control is provided with a front-wheel pressure of wheel braking cylinder sensor, and each sensor all is connected with brake controller; Carry out signal feedback; Said drive motor is by motor controller controls, and brake controller and entire car controller carry out the CAN communication, and entire car controller and electric machine controller carry out the CAN communication.
Said pressure regulator control the near front wheel-off hind wheel, off front wheel-left rear wheel two-way brake circuit, every road brake circuit include a dump pump, ABS oil return motor, low pressure accumulator, front-wheel oil-feed electromagnetic valve, front-wheel and go out solenoid, a trailing wheel oil-feed electromagnetic valve, a trailing wheel and go out solenoid, a front-wheel wheel cylinder, a trailing wheel wheel cylinder.
The shared ABS oil return motor of the dump pump of said two-way brake circuit.
Said vacuum booster is connected between the push rod and brake pedal of master brake cylinder, by said electric vacuum pump power-assisted is provided.To pure electric vehicle, said electric vacuum pump need be worked in the vehicle operating process all the time; To hybrid vehicle, if driving engine is in running order, then the Motorized vacuum air pump inoperative is not worked as if driving engine, then Motorized vacuum pump startup work.
The present invention is owing to take above technical scheme; It has the following advantages: 1, application of the present invention is that the braking energy of hydraulic brake system reclaims, and motor vehicle driven by mixed power or pure electric vehicle hydraulic brake system is carried out less transformation can realize the braking energy feedback function.Particularly, the present invention utilizes traditional hydraulic ABS pressure regulator, at the master brake cylinder place one pressure sensor is set, and the place is provided with a pressure sensor at arbitrary front-wheel wheel cylinder.Each sensor all is connected with brake controller; Carry out signal feedback, brake controller and entire car controller communication, entire car controller and electric machine controller communication; With loading opportunity of motor feedback moment in the control vehicle braking procedure and size etc., thereby realize that braking energy reclaims function.2, most manned vehicles of selling have in the market all been equipped the hydraulic ABS system; The hydraulic brake system that the present invention only needs to have vehicle now is simply transformed, and utilizes the drive motor in conventional hydraulic abs pressure regulating control and motor vehicle driven by mixed power or the elec. vehicle, to the integrated control that Control Software is carried out rationally, reliable design can realize braking energy feedback and ABS; Improved brake system does not influence the driving habit of chaufeur; Deceleration and stopping performance meets laws and regulations requirement, has improved VE Vehicle Economy, has reduced the cost of development of motor vehicle driven by mixed power, pure electric vehicle system; Therefore, can be widely used in electricity drives in the manned vehicle.
Description of drawings
Fig. 1 is a systematic schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
The present invention is abs pressure regulating control and the drive motor in motor vehicle driven by mixed power or the elec. vehicle that utilizes in the conventional truck hydraulic brake system, to Control Software carry out rationally, reliable design, proposition have a novel brake system that braking energy reclaims function.
As shown in Figure 1, traditional abs pressure regulating control comprises the two-way brake circuit: the near front wheel-off hind wheel brake circuit and off front wheel-left rear wheel brake circuit.All comprise two wheel wheel cylinders, four electromagnetic valves, a dump pump, an oil return motor, a low pressure accumulator on each brake circuit.Under the control of this oil circuit, that is done disposes: master brake cylinder 1, fluid reservoir 2, electric vacuum pump 3, brake pedal 4, vacuum booster 5, master cylinder pressure sensor S1, front-wheel pressure of wheel braking cylinder sensor S2, dump pump P1 and P2 (splitting at two-way), ABS oil return motor M (work of oil return driven by motor dump pump), low pressure accumulator A1 and A2 (splitting at two-way), the near front wheel oil-feed electromagnetic valve LF-EV, the near front wheel go out solenoid LF-AV, off front wheel oil-feed electromagnetic valve RF-EV, off front wheel and go out solenoid RF-AV, left rear wheel oil-feed electromagnetic valve LR-EV, left rear wheel and go out solenoid LR-AV, off hind wheel oil-feed electromagnetic valve RR-EV, off hind wheel and go out solenoid RR-AV, left front wheel cylinder LF, right front wheel cylinder RF, left back wheel cylinder LR, right back wheel cylinder RR.
Particularly, the near front wheel-off hind wheel brake circuit comprises: dump pump P2, ABS oil return motor M, low pressure accumulator A2, the near front wheel oil-feed electromagnetic valve LF-EV, off hind wheel oil-feed electromagnetic valve RR-EV, the near front wheel go out solenoid LF-AV, off hind wheel goes out solenoid RR-AV, left front wheel cylinder LF, right back wheel cylinder RR.
Off front wheel-left rear wheel brake circuit comprises: dump pump P1, ABS oil return motor M, low pressure accumulator A1, off front wheel oil-feed electromagnetic valve RF-EV, left rear wheel oil-feed electromagnetic valve LR-EV, off front wheel go out solenoid RF-AV, left rear wheel goes out solenoid LR-AV, right front wheel cylinder RF, left back wheel cylinder LR.
The turnover solenoid modular design of oil pump, oil return motor, low pressure accumulator, wheel cylinder promptly constitutes hydraulic ABS pressure regulator.
Here, two shared oil return motor M of brake circuit.Master brake cylinder 1, fluid reservoir 2, electric vacuum pump 3, brake pedal 4,5 pairs of two-way brake circuits of vacuum booster all work, and vacuum booster 5 is connected between the push rod and brake pedal 4 of master brake cylinder 1, by electric vacuum pump 3 power-assisted is provided.Electric vacuum pump 3 is connected with vacuum booster 5, and for the pure electric automobile hydraulic brake system, electric vacuum pump will be worked all the time; To the hybrid vehicle hydraulic brake system, if driving engine in running order (comprising idling mode), then electric vacuum pump does not need work, otherwise needs.Set up a pressure sensor S1 (as shown in Figure 1, as to be arranged on master brake cylinder and the near front wheel-off hind wheel oil circuit bonded assembly exit) in master brake cylinder 1 exit, so that gather master brake cylinder pressure; A pressure sensor S2 (as shown in Figure 1, as to be arranged on left front wheel cylinder place) is set, to gather the front-wheel pressure of wheel braking cylinder at arbitrary front-wheel wheel cylinder place.
Drive motor D is controlled by electric machine controller MCU; Each electromagnetic valve is controlled by brake controller BCU; Brake controller BCU and entire car controller VCU carry out the CAN communication, and entire car controller VCU and electric machine controller MCU carry out the CAN communication, realize the feedback braking function jointly.
The present invention is on the basis of conventional hydraulic abs pressure regulating control; Owing in hydraulic brake system, increased the sensor (master cylinder pressure sensor S1, front-wheel pressure of wheel braking cylinder sensor S2); And associated solenoid valve is controlled by brake controller BCU in the pressure regulator; Drive motor D can realize that by electric machine controller MCU control braking energy reclaims function and ABS function.Special feature of the present invention is that the hydraulic brake system transformation is less, not only can realize separately that braking energy reclaims, the ABS function, and can realize that braking energy reclaims and the integrated control of ABS.
As shown in Figure 1, be the example explanation control method when specifically realizing each function based on the brake energy recovering system of hydraulic ABS pressure regulator with f-w-d type car below:
1, feedback braking function implementation process
When vehicle carries out glancing impact, entire car controller VCU takes all factors into consideration car load running state (comprising relevant informations such as electrokinetic cell state, drive motor state, the speed of a motor vehicle), calculates the current maximum feedback moment values M that can provide of drive motor
0, and with M
0Send to brake controller BCU through the CAN bus.Master cylinder pressure sensor S1 brake monitoring master cylinder pressure P
1, front-wheel pressure of wheel braking cylinder sensor S2 monitoring front-wheel pressure of wheel braking cylinder P
2, pressure acquisition value P
1, P
2Feed back to brake controller BCU in real time.Brake controller BCU is according to master cylinder pressure P
1Calculate master cylinder pressure rate of change dP
1/ dt, and take all factors into consideration the current maximum feedback moment values M that can provide of motor
0, master cylinder pressure P
1, master cylinder pressure rate of change dP
1/ dt, and front-wheel pressure of wheel braking cylinder P
2, calculate the current motor regenerative braking torque command value M that should be applied to front-wheel
1, with M
1Send to entire car controller VCU through the CAN bus, VCU is with M
1Send to electric machine controller MCU through the CAN bus, drive motor receives the control command of MCU and carries out.Electric machine controller MCU is with the current actual feedback moment values M of motor
2Send to entire car controller VCU through the CAN bus, VCU is with M
2Send to brake controller BCU through the CAN bus.Brake controller BCU is to M
1And M
2Compare.If M
3=M
1-M
2, work as M
3When equalling zero, brake controller BCU sends front-wheel pressurize instruction to pressure regulator.With reference to Fig. 1, electromagnetic valve RF-EV, LF-EV energising can realize that two front-wheel pressure of wheel braking cylinder keep; Work as M
3Greater than zero the time, BCU sends front-wheel supercharging instruction to pressure regulator.With reference to Fig. 1, each electromagnetic valve is in reset mode can realize that two front-wheel pressure of wheel braking cylinder increase; Work as M
3Less than zero the time, brake controller BCU sends front-wheel decompression instruction to pressure regulator, and electromagnetic valve RF-EV, LF-EV, RF-AV, LF-AV energising can realize that two front-wheel pressure of wheel braking cylinder reduce.Work as M
2When equalling zero, drive motor feedback moment is zero, does not carry out braking energy feedback; Work as M
2Greater than zero the time, drive motor feedback moment is non-vanishing, carries out braking energy feedback.
When the speed of a motor vehicle is reduced to a certain value; The drive motor rotating speed drops to a certain than low value thereupon; The feedback moment that motor can provide diminishes rapidly (this is by the decision of motor self character), and entire car controller VCU informs that at once BCU and MCU withdraw from the regenerative braking pattern after detecting this situation, and MCU controlling and driving motor feedback moment is reduced to zero rapidly; BCU reset all electromagnetic valves and ABS oil return motor recover hydraulic braking.
2, ABS function implementation process
When vehicle was implemented emergency braking, locking phenomenon can appear in wheel, and the ABS function can prevent wheel lockup.When BCU has monitored wheel lockup trend, suppose that this wheel is the near front wheel, electromagnetic valve LF-EV and electromagnetic valve LF-AV switch on simultaneously, the energising of oil return motor M, the near front wheel braking liquid is withdrawn into low pressure accumulator A2 and working connection, realizes the near front wheel decompression control; When BCU monitored the disappearance of the near front wheel locking trend, electromagnetic valve LF-EV and electromagnetic valve LF-AV resetted simultaneously, because the working connection brake-pressure is higher, the near front wheel wheel cylinder brake-pressure is less, and braking liquid can instantaneously enter into left front wheel cylinder the inside, realizes boost control; In the ABS control process, need carry out holding pressure control sometimes, the energising of oil-feed electromagnetic valve can be realized holding pressure control.
3, the integrated control of feedback braking and ABS
The brake energy feedback system that proposes among the present invention can realize that braking energy reclaims and the integrated control of ABS, and control method can adopt: 1, when the ABS control of access, regenerative braking is withdrawed from immediately; 2, when the ABS control of access, ABS control is participated in regenerative braking.For control method 1: when brake controller BCU monitors need carry out ABS control the time; Brake controller BCU carries out communication through CAN and entire car controller VCU; Inform that entire car controller VCU gets into the ABS control pattern, entire car controller VCU informs that electric machine controller MCU is kept to zero with the regenerative braking moment of drive motor D immediately, when ABS control withdraws from; Brake controller BCU informs that entire car controller VCU recovers the regenerative braking pattern; And send the feedback torque demand, and entire car controller VCU informs electric machine controller MCU, electric machine controller MCU controlling and driving motor D loads the feedback torque; Brake controller BCU, entire car controller VCU, electric machine controller MCU collaborative work realize that jointly braking energy reclaims function.For control method 2: when brake controller BCU monitors need carry out ABS control the time; Brake controller BCU carries out communication through CAN and entire car controller VCU; Brake controller BCU informs that entire car controller VCU gets into ABS control immediately; Entire car controller VCU informs that electric machine controller MCU gets into ABS control immediately, and brake controller BCU regulates hydraulic braking force according to corresponding control policy and realizes ABS, and electric machine controller MCU regulates drive motor regenerative braking power according to corresponding control policy and realizes ABS; When ABS control withdraws from; Brake controller BCU informs that entire car controller VCU recovers regenerative braking, and entire car controller VCU informs that electric machine controller MCU recovers regenerative braking, and brake controller BCU, entire car controller VCU and electric machine controller MCU realize regenerative braking jointly.
The foregoing description only is used to explain the present invention, and wherein the structure of each parts, connection mode etc. all can change to some extent, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.
Claims (5)
1. brake energy recovering system based on hydraulic ABS pressure regulator; It comprises pressure regulator, master brake cylinder, fluid reservoir, electric vacuum pump, brake pedal, vacuum booster, drive motor, brake controller, entire car controller and the electric machine controller with ABS function; It is characterized in that: a master cylinder pressure sensor is set on the fuel-displaced pipeline of said master brake cylinder; A front-wheel wheel cylinder place in said abs pressure regulating control is provided with a front-wheel pressure of wheel braking cylinder sensor; Each sensor all is connected with brake controller, carries out signal feedback, and said drive motor is by motor controller controls; Brake controller and entire car controller carry out the CAN communication, and entire car controller and electric machine controller carry out the CAN communication.
2. the brake energy recovering system based on hydraulic ABS pressure regulator as claimed in claim 1; It is characterized in that: said pressure regulator control the near front wheel-off hind wheel, off front wheel-left rear wheel two-way brake circuit, every road brake circuit include a dump pump, ABS oil return motor, low pressure accumulator, front-wheel oil-feed electromagnetic valve, front-wheel and go out solenoid, a trailing wheel oil-feed electromagnetic valve, a trailing wheel and go out solenoid, a front-wheel wheel cylinder, a trailing wheel wheel cylinder.
3. the brake energy recovering system based on hydraulic ABS pressure regulator as claimed in claim 2 is characterized in that: the shared ABS oil return motor of the dump pump of said two-way brake circuit.
4. like claim 1 or 2 or 3 described brake energy recovering systems based on hydraulic ABS pressure regulator, it is characterized in that: said vacuum booster is connected between the push rod and brake pedal of master brake cylinder, by said electric vacuum pump power-assisted is provided.
5. the brake energy recovering system based on hydraulic ABS pressure regulator as claimed in claim 4 is characterized in that: to pure electric vehicle, said electric vacuum pump need be worked in the vehicle operating process all the time; To hybrid vehicle, if driving engine is in running order, then the Motorized vacuum air pump inoperative is not worked as if driving engine, then Motorized vacuum pump startup work.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210015013.7A CN102556034B (en) | 2012-01-17 | 2012-01-17 | Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210015013.7A CN102556034B (en) | 2012-01-17 | 2012-01-17 | Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator |
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| CN102556034A true CN102556034A (en) | 2012-07-11 |
| CN102556034B CN102556034B (en) | 2014-11-26 |
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| CN103204157A (en) * | 2013-04-16 | 2013-07-17 | 同济大学 | Electronic antilock brake integrated controller with vehicle control function |
| CN103693034A (en) * | 2013-07-15 | 2014-04-02 | 南京工程学院 | Electro-hydraulic proportional valve control pump/motor hydraulic power assisted system of electric automobile |
| CN104044570A (en) * | 2013-03-14 | 2014-09-17 | 福特全球技术公司 | Vehicle BRAKE SYSTEM |
| CN106379178A (en) * | 2016-08-31 | 2017-02-08 | 吉林大学 | Coordination control method simulating automobile braking |
| CN107933541A (en) * | 2017-11-22 | 2018-04-20 | 江苏理工学院 | A kind of electric automobile decouples distributed intelligence electormagnetic braking sytem |
| CN108177641A (en) * | 2018-02-11 | 2018-06-19 | 江苏卡威汽车工业集团股份有限公司 | A kind of picking-up vehicle double brake system |
| CN108674483A (en) * | 2018-04-28 | 2018-10-19 | 东风商用车有限公司 | A kind of electric hydraulic power-assisted steering braking system and its control method |
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Cited By (11)
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| CN104044570A (en) * | 2013-03-14 | 2014-09-17 | 福特全球技术公司 | Vehicle BRAKE SYSTEM |
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| CN108177641A (en) * | 2018-02-11 | 2018-06-19 | 江苏卡威汽车工业集团股份有限公司 | A kind of picking-up vehicle double brake system |
| CN108674483A (en) * | 2018-04-28 | 2018-10-19 | 东风商用车有限公司 | A kind of electric hydraulic power-assisted steering braking system and its control method |
| CN108674483B (en) * | 2018-04-28 | 2023-05-12 | 东风商用车有限公司 | Control method of electro-hydraulic power-assisted steering braking system |
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