CN102975702B - A kind of Tandem regenerative brake control method - Google Patents

A kind of Tandem regenerative brake control method Download PDF

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Publication number
CN102975702B
CN102975702B CN201210535260.XA CN201210535260A CN102975702B CN 102975702 B CN102975702 B CN 102975702B CN 201210535260 A CN201210535260 A CN 201210535260A CN 102975702 B CN102975702 B CN 102975702B
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China
Prior art keywords
braking torque
entire car
car controller
regenerative
brake
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CN201210535260.XA
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Chinese (zh)
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CN102975702A (en
Inventor
王换换
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奇瑞汽车股份有限公司
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Publication of CN102975702A publication Critical patent/CN102975702A/en
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Abstract

A kind of Tandem regenerative brake control method, including step once:Whether the intention of entire car controller VMS monitoring drivers and the condition adjudgement of vehicle enter regenerative braking control model;When judgement allows access into regenerative braking, entire car controller VMS considers battery and motor status, calculates the maximum regeneration braking torque currently allowed, and maximum regeneration braking torque is sent into brak control unit BCU;Brak control unit BCU monitors the braking requirement of driver, in the range of entire car controller VMS permissions, coordinate regenerative braking torque and conventional hydraulic braking torque, on the premise of operator brake demand is met, preferential feedback regenerative braking torque, realizes the maximization of Brake energy recovery.It can be widely applied to regenerative braking control field.

Description

A kind of Tandem regenerative brake control method
Technical field
The present invention relates to a kind of electric car regenerating brake control method, more particularly to a kind of tandem regenerative braking controlling party Method.
Background technology
With being further exacerbated by for energy crisis and environmental degradation, the research and development of the new-energy automobile of energy-saving and environmental protection are by more For extensive concern.Compared with traditional fuel combustion vehicle, new-energy automobile is partly or entirely using clean energy resource as power, pole The earth reduces pollution and energy consumption.Electric car researches and develops vehicle as the new energy of current main flow, how to improve energy utilization rate, carries High continual mileage turns into one of bottleneck for restricting its development.Current solution method mainly has breakthrough and the Brake Energy of battery technology The research and development of recovery system are measured, but for current electronics, information technology share fast development, high-performance battery conduct One global problem progress is very slow, therefore the research and development to brake energy recovering system are just seeming particularly heavy at this stage Will.
The brake energy recovering system of main flow is divided into two kinds at present:One kind is parallel, i.e., the conventional brake side to former car Formula is not adjusted, and a part of electric regenerative braking power is directly superimposed on former car brake force, to realize the braking energy of part Recovery.Its control method is simple, but organic efficiency is not high;Another kind is tandem, that is, coordinates former car conventional brake power and electricity is made Power, it is allowed to the braking requirement for meeting driver.Such a mode compares parallel type system, and control method is complicated, but reclaims effect Rate is higher.
The content of the invention
It is an object of the invention to provide a kind of Tandem regenerative brake control method, solves existing regenerating brake control method It is complicated, the problem of transformation efficiency is low.
The technical solution adopted for the present invention to solve the technical problems is:A kind of Tandem regenerative brake control method, bag Include step:
Whether the intention of entire car controller VMS monitoring drivers and the condition adjudgement of vehicle enter regenerative braking control mould Formula;
When judgement allows access into regenerative braking, entire car controller VMS considers battery and motor status, calculates current fair Perhaps maximum regeneration braking torque, and maximum regeneration braking torque is sent to brak control unit BCU;
Brak control unit BCU monitors the braking requirement of driver, in the range of entire car controller VMS permissions, coordinates Regenerative braking torque and conventional hydraulic braking torque, on the premise of operator brake demand is met, preferential feedback regenerative braking Moment of torsion, realize the maximization of Brake energy recovery.
Described Brake Energy recovery is divided into two stages:
First stage:For release the gas pedal, but the spontaneous braking process in non-brake pedal stage,
Second stage:For the forced brake process of brake pedal.
When entire car controller VMS detects that accelerator pedal unclamps, when brake pedal is not stepped on, entire car controller VMS is integrated Whole vehicle information judges whether to enter the first stage;If conditions permit, entire car controller VMS calculates regeneration system according to speed information Dynamic torque, requested torque is sent to electric machine controller MCU;If condition does not allow, entire car controller VMS request braking torques are 0, vehicle enters nature sliding state.
When entire car controller VMS detects that accelerator pedal unclamps, when brake pedal is stepped on, entire car controller VMS synthesis is whole Car information calculates the maximum regeneration braking torque that vehicle allows, and sends it to brak control unit BCU, brak control unit BCU is according to brake pedal switch signal, gear signal, the regenerative braking torque restriction signal of entire car controller VMS permissions, speed The signals such as signal, the advancing the speed of master cylinder pressure, the slip rate of wheel judge whether vehicle allows access into second stage;
If allowing, brak control unit BCU, according to braking requirement, coordinates to divide in the range of maximum regeneration braking torque Equipped hydraulic braking torque and regenerative braking torque;Otherwise vehicle enters conventional hydraulic on-position.
Described whole vehicle information includes gear information, GES, battery connection status, battery SOC, motor status, ABS Whether activate, complete vehicle fault status information.
Described second stage rate-determining steps are as follows:
A. brak control unit BCU calculates the braking torque of operator demand according to the Wheel cylinder pressure sensors of driving wheel;
B. the braking torque of demand is made comparisons with maximum regeneration braking torque limit value;Be less than when the braking torque of demand or During equal to maximum regeneration braking torque limit value, the regenerative braking torque of brak control unit BCU requests is equal to the braking torsion of demand Square, hydraulic braking moment of torsion are 0;When the braking torque of demand is more than maximum regeneration braking torque limit value, brake monitor BCU please The regenerative braking torque asked is equal to maximum regeneration braking torque, and the braking torque that hydraulic braking moment of torsion is equal to demand subtracts maximum again Raw braking torque.
C. the regenerative braking torque calculated is sent to entire car controller VMS by brake monitor BCU, and controls hydraulic pressure to adjust Save module;The regenerative braking torque that entire car controller VMS is asked brak control unit BCU carries out fault detect and smooth place Reason, and the value after processing is sent to electric machine controller MCU and performed;Electric machine controller MCU controlled motors perform the regenerative braking Moment of torsion, and the actual feedback moment of torsion of motor is fed back into brak control unit BCU by entire car controller VMS.
D. brak control unit BCU compares the braking torque of demand and the size of the actual feedback moment of torsion of motor in real time, preferentially Auxiliary hydraulic pressure is braked in the case of selecting regenerative braking.
Beneficial effects of the present invention:The present invention is matched somebody with somebody simultaneously by detections and collection of the entire car controller VMS to vehicle signal Brake monitor BCU is closed to be controlled vehicle braking, on the premise of brake pedal feel is taken into account, prioritizing selection regenerative braking Moment of torsion, farthest using regenerative braking force, improve the organic efficiency of braking energy.
With reference to the accompanying drawings and examples, the present invention is described in further detail.
Brief description of the drawings
Fig. 1 is each controller connection diagram of the present invention.
Fig. 2 is tandem regeneration brake system control flow chart.
Fig. 3 is second stage regenerative braking implementation process.
Embodiment
Embodiment:As shown in figure 1, BMS is battery management system in figure, MCU is electric machine controller, and VMS is full-vehicle control Device, BCU are brake monitor.BMS monitors the current state of electrokinetic cell in real time, calculates the maximum charge and discharge electric current of its permission, Ensure vehicle driving safety;The operating of MCU controlled motors, performs the moment of torsion of VMS requests, and feeds back the state of motor;VMS exists Served as a connection between BMS, MCU and BCU, it passes through CAN(CAN_H、CAN_L)Communicated with three controllers, realize letter Breath interaction.VMS judges that vehicle is currently in order at driving shape by gathering acceleration pedal position signal and brake pedal switch signal State or on-position.When vehicle is in driving condition, control instruction, control vehicle operation are sent by VMS.Once braking is stepped on Plate acts, and vehicle enters forced brake state, then instruction all transfers to BCU controls, and VMS is according to BMS and MCU state meter The maximum regeneration braking torque that current system allows is calculated, guarantee is provided for brake safe.BCU detects brake pressure and wheel speed letter Number, in the range of VMS permissions, coordinated allocation motor braking and hydraulic braking, control corresponding magnetic valve in hydraulic regulation module Action, while the torque signal of request is issued by VMS by CAN, please to MCU after VMS carries out fault detect and processing to it Seek corresponding moment of torsion.
In vehicle traveling process, whole-control system VMS monitors the driving intention and vehicle spare parts logistics of driver, Judge whether current vehicle condition allows access into regenerative braking control model.When allowing access into regenerative braking, VMS considers Battery and motor status, the maximum regeneration braking torque Tq_regen_limit currently allowed is calculated, and sent by CAN communication Give brak control unit BCU, BCU to monitor the braking requirement of driver, in the range of VMS permissions, coordinate regenerative braking torque With conventional hydraulic braking torque, on the premise of operator brake demand is met, preferential feedback regenerative braking torque, braking is realized The maximization of energy regenerating.
Patent of the present invention does not change former car brake-pedal travel, does not change braking force distribution curve after former Chinese herbaceous peony.Will braking The process of energy regenerating is divided into two stages:First stage is release the gas pedal, but the nature in non-brake pedal stage Braking procedure, this stage, VMS played a leading role, and applied regenerative braking torque, simulation tradition under conditions of whole vehicle state permission Driver unclamps the moment of resistance of gas pedal rear engine on car;Second stage is the forced brake process of brake pedal, This stage, BCU was played a leading role, and second stage regenerative braking torque is distributed to obtain by BCU according to pedal travel.
As shown in Fig. 2 during driven, VMS asks driving torque according to acceleration pedal position signal to MCU. After accelerator pedal aperture is less than some threshold value, VMS judges that accelerator pedal has unclamped.After accelerator pedal unclamps, VMS is according to system Dynamic pedal switch signal, judge driver whether brake pedal.When the signal is False, brake pedal is not stepped on, Whether VMS activates according to gear information, GES, battery connection status, battery SOC, motor status, ABS, complete vehicle fault shape The information such as state judge whether vehicle condition allows access into the first stage.If conditions permit, VMS calculates according to speed information to be regenerated Braking torque, and after carrying out security restriction to the moment of torsion according to motor and battery status, requested torque is sent to MCU;If condition Do not allow, then it is 0 that VMS, which asks braking torque, and vehicle enters nature sliding state.When brake pedal switch signal is True, Into driver's forced brake stage, BCU plays control leading role.VMS connects shape according to gear information, GES, battery The information such as whether state, battery SOC, motor status, ABS activate, complete vehicle fault state judge whether vehicle condition allows VMS to send Regenerative braking torque limit value.
If conditions permit, VMS is according to current motor maximum admissible torque, battery SOC state, maximum charging voltage, most The information such as big charging current calculate the maximum regeneration braking torque limit value Tq_regen_limit that vehicle allows, and send it to BCU.If condition does not allow, the torque limit that VMS is sent to BCU is 0.BCU believes according to brake pedal switch signal, gear Number, VMS the regenerative braking torque restriction signal, GES, the advancing the speed of master cylinder pressure, the letter such as the slip rate of wheel that allow Number judge whether vehicle allows access into second stage.If allowing, BCU is in maximum regeneration braking torque limit value Tq_regen_ In the range of limit, according to braking requirement, coordinated allocation hydraulic braking moment of torsion and regenerative braking torque;Otherwise vehicle enters conventional On-position.
As shown in figure 3, BCU calculates the braking torque of operator demand according to the Wheel cylinder pressure sensors of driving wheel first Tq_total, made comparisons with the permission maximum regeneration braking torque limit value Tq_regen_limit that VMS is calculated.Work as Tq_total During less than or equal to Tq_regen_limit, the regenerative braking torque that vehicle allows can meet the braking requirement of driver, this When BCU request regenerative braking torque Tq_regen=Tq_total, hydraulic braking torque T q_hyd=0;When Tq_total is more than During Tq_regen_limit, show that regenerative braking can not meet the braking requirement of driver, it is necessary to hydraulic regulation module replenisher Compacting is dynamic, and regenerative braking torque Tq_regen=Tq_regen_limit of now BCU requests, hydraulic braking torque T q_hyd= Tq_total-Tq_regen_limit.The Tq_regen calculated is sent to VMS by BCU, and controls hydraulic regulation module, will Hydraulic braking moment of torsion control is in Tq_hyd.The Tq_regen that VMS is asked BCU carries out fault detect and smoothing processing, and will place Value Tq_regen_req after reason is sent to MCU execution.MCU controlled motors perform the regenerative braking torque, and motor is actual Feedback torque T q_motor feeds back to BCU by VMS, BCU compare in real time Tq_total and(Tq_motor+Tq_hyd)It is big It is small.When Tq_total is more than (Tq_motor+Tq_hyd), illustrate that system applies brake force deficiency, BCU control hydraulic regulations Module continues to be pressurized hydraulic system, makes hydraulic braking torque T q_hyd increases(Tq_total-Tq_motor-Tq_ hyd);When Tq_total is equal to(Tq_motor+Tq_hyd)When, system applies brake force and is just met for braking requirement, BCU controls Hydraulic regulation module carries out pressurize to hydraulic system;When Tq_total is less than(Tq_motor+Tq_hyd)When, illustrate that system applies Brake force is excessive, and BCU controls hydraulic regulation module depressurizes to hydraulic system, reduces hydraulic braking torque T q_hyd(Tq_ motor+Tq_hyd-Tq_total).By above control process, BCU and VMS coordinate hydraulic braking and regenerative braking jointly, While ensureing brake safe and take into account pedal sense, braking energy has been reclaimed to greatest extent, there is good driving comfort Property and economy.

Claims (4)

1. a kind of Tandem regenerative brake control method, comprises the following steps:
Whether the intention of entire car controller VMS monitoring drivers and the condition adjudgement of vehicle enter regenerative braking control model;
When judgement allows access into regenerative braking, entire car controller VMS considers battery and motor status, calculates what is currently allowed Maximum regeneration braking torque, and maximum regeneration braking torque is sent to brak control unit BCU;
Brak control unit BCU monitors the braking requirement of driver, in the range of entire car controller VMS permissions, coordinates regeneration Braking torque and conventional hydraulic braking torque, on the premise of operator brake demand is met, preferential feedback regenerative braking torque, Realize the maximization of Brake energy recovery;
Described Brake energy recovery is divided into two stages:
First stage:For release the gas pedal, but the spontaneous braking process in non-brake pedal stage;
Second stage:For the forced brake process of brake pedal;
When entire car controller VMS detects that accelerator pedal unclamps, when brake pedal is stepped on, entire car controller VMS integrates vehicle Information calculates the maximum regeneration braking torque that vehicle allows, and sends it to brak control unit BCU, brak control unit Regenerative braking torque restriction signal, the car that BCU allows according to brake pedal switch signal, gear signal, entire car controller VMS Fast signal, the advancing the speed of master cylinder pressure, the slip ratio signal of wheel judges whether vehicle allows access into second stage;
If allowing, brak control unit BCU is in the range of maximum regeneration braking torque, according to braking requirement, coordinated allocation liquid Suppress dynamic torque and regenerative braking torque;Otherwise vehicle enters conventional hydraulic on-position.
2. Tandem regenerative brake control method as claimed in claim 1, it is characterised in that:When entire car controller VMS is examined Accelerator pedal release is measured, when brake pedal is not stepped on, entire car controller VMS synthesis whole vehicle informations judge whether to enter first Stage;If conditions permit, entire car controller VMS calculates regenerative braking torque according to speed information, to electric machine controller MCU Send requested torque;If condition does not allow, entire car controller VMS request braking torques are 0, and vehicle slides shape into nature State.
3. Tandem regenerative brake control method as claimed in claim 1 or 2, it is characterised in that:Described whole vehicle information bag Include whether gear information, GES, battery connection status, battery SOC, motor status, ABS activate, complete vehicle fault state is believed Breath.
4. Tandem regenerative brake control method as claimed in claim 1 or 2, it is characterised in that:Described second stage control Step processed is as follows:
A. brak control unit BCU calculates the braking torque of operator demand according to the Wheel cylinder pressure sensors of driving wheel;
B. the braking torque of demand is made comparisons with maximum regeneration braking torque limit value;When the braking torque of demand is less than or equal to During maximum regeneration braking torque limit value, the regenerative braking torque of brak control unit BCU requests is equal to the braking torque of demand, Hydraulic braking moment of torsion is 0;When the braking torque of demand is more than maximum regeneration braking torque limit value, brak control unit BCU please The regenerative braking torque asked is equal to maximum regeneration braking torque, and the braking torque that hydraulic braking moment of torsion is equal to demand subtracts maximum again Raw braking torque;
C. the regenerative braking torque calculated is sent to entire car controller VMS by brak control unit BCU, and controls hydraulic pressure to adjust Save module;The regenerative braking torque that entire car controller VMS is asked brak control unit BCU carries out fault detect and smooth place Reason, and the value after processing is sent to electric machine controller MCU and performed;Electric machine controller MCU controlled motors perform the regeneration system Dynamic torque, and the actual feedback moment of torsion of motor is fed back into brak control unit BCU by entire car controller VMS;
D. brak control unit BCU compares the braking torque of demand and the size of the actual feedback moment of torsion of motor, prioritizing selection in real time Auxiliary hydraulic pressure is braked in the case of regenerative braking.
CN201210535260.XA 2012-12-12 2012-12-12 A kind of Tandem regenerative brake control method CN102975702B (en)

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