CN103192721A - Braking system and braking method of double-shaft driven electric vehicle - Google Patents

Braking system and braking method of double-shaft driven electric vehicle Download PDF

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Publication number
CN103192721A
CN103192721A CN2013101458436A CN201310145843A CN103192721A CN 103192721 A CN103192721 A CN 103192721A CN 2013101458436 A CN2013101458436 A CN 2013101458436A CN 201310145843 A CN201310145843 A CN 201310145843A CN 103192721 A CN103192721 A CN 103192721A
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braking
control setup
brake
energy
motor
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CN103192721B (en
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贠海涛
刘尊年
赵玉兰
郝魁
孙建强
吕福麟
滕彦飞
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Qingdao University of Technology
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Qingdao University of Technology
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

The invention discloses a braking system and a braking method of a double-shaft driven electric vehicle. The braking system comprises a whole vehicle control device, a mechanical braking control device and a regenerative braking control device, wherein the mechanical braking control device and the regenerative braking control device are connected with the whole vehicle control device, the regenerative braking control device comprises a front drive motor and a rear drive motor, the front drive motor is connected with a front wheel drive shaft of the electric vehicle through a gear, the rear drive motor is connected with a rear wheel drive shaft of the electric vehicle through a gear, the regenerative braking control device also comprises a front energy storage module and a rear energy storage module, the front energy storage module is electrically connected with a controller of the front drive motor, the rear energy storage module is electrically connected with a controller of the rear drive motor, and the front energy storage module and the rear energy storage module are electrically connected through a DC/DC converter. According to the invention, through respectively adding a drive motor on the front and rear wheel axles of the electric vehicle and respectively arranging an energy storage module on each drive motor, the efficient braking energy recovery is facilitated while the dynamic property of the electric vehicle is ensured.

Description

Twin shaft drives brake system and the braking method of electronlmobil
Technical field
The invention belongs to automobile brake control technology field, specifically, relate to the braking control of electronlmobil, more particularly, relate to brake system and braking method that twin shaft drives electronlmobil.
Background technology
Along with the progressively rising of globalization of world economy, city accelerated development and rhythm of life, problem of energy crisis, problem of environmental pollution etc. becomes the serious factor of the modern quality of residents'life of influence day by day.Environmental pollution is little, noise is low because having for electronlmobil, simple in structure, range of use is wide etc., and advantage progressively enters human daily life.Electronlmobil another key factor fast-developing and that be employed is electronlmobil efficient height, and this also is that electric automobile energy utilizes the most significant characteristics in aspect.Specifically, in the city, vehicle travels morely on the road, and often runs into traffic lights, and vehicle must constantly stop and start.For traditional fuel-engined vehicle, this not only means a large amount of energy of consumption, and means more vehicle exhausts discharges.And use electronlmobil when ramp to stop, and can utilize motor performance to realize that braking energy reclaims, thereby improve the service efficiency of the energy greatly, also reduced the pollution of air.
Existing electronlmobil mostly is to adopt a motor or four motors to drive.A motor-driven mode power-handling capability a little less than, though four motor-driven mode power-handling capabilities are strong, drive the control process more complicated, higher to coherence request.Therefore, how to simplify driving control under the prerequisite that guarantees vehicle dynamic quality, be the problem that the present invention will study as far as possible.In addition, how the electronlmobil of studying for the present invention carries out efficient, safe braking control is to be related to stable, the energy-conservation key issue of automobile brake, also is the content that the present invention will study.
Summary of the invention
One of purpose of the present invention provides the brake system that a kind of twin shaft drives electronlmobil, by the forward and backward wheel shaft of electronlmobil is installed additional drive motor separately, each drive motor arranges energy-storage module respectively, when guaranteeing electric powered motor, be convenient to high efficiency braking energy and reclaim.
For achieving the above object, the present invention adopts following technical proposals to be achieved:
A kind of twin shaft drives the brake system of electronlmobil, comprise car load control setup and the mechanical braking control setup and the regenerative brake control setup that are connected with described car load control setup, it is characterized in that, described regenerative brake control setup includes precursor motor and rear-guard motor, described precursor motor is connected with forerunner's wheel shaft of electronlmobil by gear, described rear-guard motor is connected with the rear-guard wheel shaft of electronlmobil by gear, energy-storage module and back energy-storage module before described regenerative brake control setup also includes, energy-storage module is electrically connected with the controller of described precursor motor before described, described back energy-storage module is electrically connected with the controller of described rear-guard motor, and described preceding energy-storage module is electrically connected by the DC/DC conv with described back energy-storage module.
Aforesaid brake system, for further improving energy storage efficiency, before described in energy-storage module and the described back energy-storage module one be capacitance module, another is battery module, controller as the motor of main brake function in described capacitance module and the described regenerative brake control setup is electrically connected, described battery module is electrically connected with the main controller that drives the motor of function of conduct in the described regenerative brake control setup, and described capacitance module is electrically connected by the DC/DC conv with described battery module.
Preferably, described precursor motor be in the described regenerative brake control setup as the motor of main brake function, described before energy-storage module be described capacitance module; Described rear-guard motor is the motor that drives function in the described regenerative brake control setup as the master, and described back energy-storage module is described battery module.
Aforesaid brake system, described capacitance module are preferably a plurality of super capacitors that are connected in series, with acceleration capability and the grade climbing performance in further raising Recovering Waste Energy of Braking in Automobiles and the driving process.
Aforesaid brake system, described mechanical braking control setup is the hydraulic braking control setup, includes the checking cylinder, brake pressure distribution device and the brake-pressure controller that connect successively, described checking cylinder is connected with the brake pedal of electronlmobil.
Two of purpose of the present invention provides the braking method that a kind of twin shaft drives electronlmobil, the energy recovery efficiency when having improved braking on the basis that guarantees braking safety and stability.
A kind of twin shaft drives the braking method of electronlmobil, the brake system that described twin shaft drives electronlmobil comprises car load control setup and the mechanical braking control setup and the regenerative brake control setup that are connected with described car load control setup, described regenerative brake control setup includes precursor motor and rear-guard motor, described precursor motor is connected with forerunner's wheel shaft of electronlmobil by gear, described rear-guard motor is connected with the rear-guard wheel shaft of electronlmobil by gear, energy-storage module and back energy-storage module before described regenerative brake control setup also includes, energy-storage module is electrically connected with the controller of described precursor motor before described, described back energy-storage module is electrically connected with the controller of described rear-guard motor, energy-storage module is electrically connected by the DC/DC conv with described back energy-storage module before described, and described braking method comprises the steps:
The current state of a, the current location that detects the electronlmobil brake pedal and described preceding energy-storage module or described back energy-storage module when testing result satisfies first decision condition, is carried out following step b; Otherwise, enter the conventional brake process, adopt described mechanical braking control setup to brake;
The current vehicle speed of b, detection electronlmobil compares with setting the speed of a motor vehicle, selects to carry out following step c or d according to comparative result;
C, when described current vehicle speed is not more than the described setting speed of a motor vehicle, enter the low speed braking procedure, adopt described mechanical braking control setup and described regenerative brake control setup to brake jointly;
D, in described current vehicle speed during greater than the described setting speed of a motor vehicle, judge according to the corresponding current rate of braking of the current location of described brake pedal and to adopt described mechanical braking control setup and/or described regenerative brake control setup to brake.
Aforesaid braking method, before described in energy-storage module or the described back energy-storage module one of them is battery module, for guaranteeing that storage battery normally works, described first Rule of judgment is: the displacement of described brake pedal greater than 0 and the temperature of described battery module less than the current residual carrying capacity of design temperature and described battery module less than setting carrying capacity.
Aforesaid braking method, for further improving the braking energy organic efficiency, guaranteeing braking safety simultaneously, in the low speed braking procedure of described step c, the wheel shaft that the wheel shaft that drives as the motor of main brake function in the described regenerative brake control setup adopts described regenerative brake control setup to brake, drive as the main motor that drives function adopts described mechanical braking control setup to brake.
Aforesaid braking method after described steps d obtains described current rate of braking, compares with setting intensity, selects execution following respectively step by step according to comparative result:
D1, be not less than first when setting intensity at described current rate of braking, enter the emergency braking process, adopt described mechanical braking control setup to brake;
D2, set intensity less than described first and be not less than second when setting intensity at described current rate of braking, enter the moderate braking procedure, adopt described mechanical braking control setup and described regenerative brake control setup to brake jointly;
D3, when described current rate of braking is set intensity less than described second, enter slight braking procedure, adopt described regenerative brake control setup to brake.
Aforesaid braking method, for further improving the braking energy organic efficiency, in the moderate braking procedure in described steps d 2, before obtaining electronlmobil respectively according to described current rate of braking and electronlmobil brakig force distribution curve, the total braking force that hind axle is required, at the required total braking force of described front wheel spindle during greater than described front wheel spindle maximum regeneration braking force, described regenerative brake control setup provides described front wheel spindle maximum regeneration braking force for described front wheel spindle, all the other required braking forces of described front wheel spindle are provided by described mechanical braking control setup, when the required total braking force of described front wheel spindle was not more than described front wheel spindle maximum regeneration braking force, the required total braking force of described front wheel spindle was all provided by described regenerative brake control setup; At the required total braking force of described hind axle during greater than described hind axle maximum regeneration braking force, described regenerative brake control setup provides described hind axle maximum regeneration braking force for described hind axle, all the other required braking forces of described hind axle are provided by described mechanical braking control setup, when the required total braking force of described hind axle was not more than described hind axle maximum regeneration braking force, the required total braking force of described hind axle was all provided by described regenerative brake control setup.
Compared with prior art, advantage of the present invention and good effect are:
1, electronlmobil of the present invention adopts the work of twin shaft Dual-motors Driving, and each drive motor is respectively arranged with energy-storage module, can improve automobile start on the one hand and the dynamic property when giving it the gun, the energy recovery efficiency in the time of can improving braking on the other hand again.
2, the present invention adopts super capacitor and the coefficient energy-storage module of storage battery, takes full advantage of the high power density of super capacitor and the high-energy-density of storage battery, has improved energy storage efficiency effectively.The unloading phase provide transient high-current to drive drive motor work by super capacitor to starter motor, by the time motor speed rises in the reasonable range of speed, this moment motor rotated and starting load little, at this moment provide less electric current can drive motor to be rotated further by storage battery again.And super capacitor provides transient high-current for drive motor when battery-driven car needs instantaneous acceleration or climbing, guarantees its accelerating ability and climbing property.Therefore use super capacitor both to be conducive to the low speed braking energy and reclaim, also be conducive to electronlmobil and start the climbing process of accelerating.
3, the present invention drives electronlmobil to twin shaft and adopts interim braking energy recovery control policy, the control parameters different according to electronlmobil adopt different braking control processs, safety and stability when both having guaranteed braking, can reclaim braking energy as much as possible again, improved energy recovery efficiency, and then improved the overall performance of electronlmobil, realized actv. energy-saving effect more.
After reading the specific embodiment of the present invention by reference to the accompanying drawings, other characteristics of the present invention and advantage will become clearer.
Description of drawings
Fig. 1 is the structural representation that twin shaft of the present invention drives the unified embodiment of brake system of electronlmobil;
Fig. 2 is the schematic diagram that application drawing 1 brake system is carried out the electronlmobil braking;
Fig. 3 is the main flow chart that twin shaft of the present invention drives an embodiment of braking method of electronlmobil;
Fig. 4 is the branch diagram of circuit of braking according to rate of braking in Fig. 3 main flow chart.
The specific embodiment
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is described in further detail.
Please refer to Fig. 1 and Fig. 2, Figure 1 shows that twin shaft of the present invention drives the structural representation of the unified embodiment of brake system of electronlmobil, the schematic diagram that Fig. 2 brakes for this embodiment.
As shown in Figure 1, illustrate in conjunction with the schematic diagram of Fig. 2 electronlmobil braking simultaneously that the electronlmobil of this embodiment adopts the double-motor twin shaft to drive, its brake system comprises car load control setup, hydraulic braking control setup 2 and regenerative brake control setup 3.Wherein, the car load control setup drives control as car load, the energy-optimised management of car load, the car load network management, the car load regeneration braking control, complete vehicle fault diagnosis management, whole vehicle state detects with demonstration and waits control and the core apparatus of coordinating, and includes entire car controller 11, brake controller 12, brake pedal 13, only marked the car speed sensor of one of them wheel among the car speed sensor 14(figure for detection of each wheel velocity), brake pedal position sensor 15, checking cylinder pressure sensor 16 and accelerator pedal sensor, the energy-storage module detecting sensor, electromechanical transducer etc. (not marking among the figure).Hydraulic braking control setup 2 is as the mechanical braking control setup of car load, includes checking cylinder 21, the brake pressure distribution device 22 that connects successively and be arranged among the brake-pressure controller 23(figure at each wheel place only to have marked one of them).Checking cylinder 21 is connected with brake pedal 13, and pressure sensor 16 is arranged in the checking cylinder 21, for detection of the hydraulic pressure in the checking cylinder 21.Regenerative brake control setup 3 is as the main device of realizing that braking energy reclaims, include precursor motor 31 and rear-guard motor 37, precursor motor 31 is as the motor of main brake function, be connected with forerunner's wheel shaft (meaning not shown in the figures) of electronlmobil by gear 32, and rear-guard motor 37 is connected with the rear-guard wheel shaft (meaning not shown in the figures) of electronlmobil by gear 39 as the main motor that drives function.In addition, regenerative brake control setup 3 also includes super-capacitor module 34 and battery module 36, super-capacitor module 34 is as preceding energy-storage module, be electrically connected with precursor motor controller 33, battery module 36 is as the back energy-storage module, be electrically connected with rear-guard electric machine controller 39, and super-capacitor module 34 is electrically connected by DC/DC conv 35 with battery module 36.Super-capacitor module 34 and battery module 36 are except can carrying out the energy storage, also for corresponding motor provides electric energy, with drive motor work.When motor was in driving condition, it was the motor power supply that corresponding energy-storage module changes into alternating current by electric machine controller with direct current (DC); When being in braking energy recovery state, the alternating current of motor output converts direct current (DC) to by electric machine controller, is stored in the corresponding energy-storage module.
For super-capacitor module 34, preferably adopt a plurality of super capacitor monomers of being connected in series to realize, and the battery module 36 preferred lithium iron phosphate storage batteries that adopt, precursor motor 31 and rear-guard motor 37 are AC asynchronous motor.
In this embodiment, each parts in the car load control setup, hydraulic braking control setup 2 and regenerative brake control setup 3 all are connected with entire car controller 11 in the car load control setup by CAN bus 4, under the control of entire car controller 11, realize the braking of car load.
Specifically, in the electronlmobil operational process, various kinds of sensors such as car speed sensor 14, brake pedal position sensor 15, checking cylinder pressure sensor 16, temperature sensor, electromechanical transducer, energy-storage module sensor transfer to entire car controller 11 with corresponding detection signal by CAN bus 4.Entire car controller 11 as calculated, analyze and judge, when needs brakes, send control command, control hydraulic braking control setup 2 and/or 3 work of regenerative brake control setup, realization is to the braking of electronlmobil.Braking procedure please refer to follow-up description more specifically.
This embodiment drives forward and backward wheel shaft respectively by former and later two motors are set for electronlmobil, for each motor arranges energy-storage module respectively, not only can improve automobile start and the dynamic property when giving it the gun, the energy recovery efficiency in the time of can improving braking again.
In addition, consider electronlmobil when braking headstock press down and when starting headstock lift, thereby with the motor of precursor motor 31 as main brake, assistive drive function, with the motor of rear-guard motor 37 as main driving, auxiliary brake function.And precursor motor 31 is connected with super-capacitor module 34 by its precursor motor controller 33, and rear-guard motor 37 is connected with battery module 36 by its rear-guard electric machine controller 39.Because super capacitor is in charge and discharge process, energy does not almost have loss, and the charge discharge efficiency of super capacitor is up to more than 97%, its specific power can reach between the 2000-3000W/kg, therefore, the super-capacitor module 34 that the precursor motor 31 that uses as the main brake function uses the super capacitor formation can absorb the big electric current of feedback at short notice as energy-storage module, is conducive to the braking energy of electronlmobil in the low speed deboost phase more and reclaims.Especially the unloading phase of electronlmobil, because motor speed is started from scratch, electric motor starting needs big electric current, and the big electric current of moment is for the infringement that has of storage battery.And after the employing super capacitor, the unloading phase provide transient high-current to drive drive motor work by super capacitor to starter motor, by the time motor speed rises in the reasonable range of speed, this moment motor rotated and starting load little, at this moment provide less electric current can drive motor to be rotated further by storage battery again.And super capacitor provides transient high-current for drive motor when battery-driven car needs instantaneous acceleration or climbing, guarantees its accelerating ability and climbing property.Therefore use super capacitor both to be conducive to the low speed braking energy and reclaim, also be conducive to electronlmobil and start the climbing process of accelerating.And be connected with battery module 36 as the main rear-guard motor 37 that drives function, because the storage battery specific energy is big, storage of electrical energy for a long time is for the lasting continuation of the journey mileage of electronlmobil is laid good basis, improve the driving duration performance of battery-driven car, guaranteed normally travelling of electronlmobil.Therefore, by using the combination of super-capacitor module 34 and battery module 36, the high power density of super capacitor and the high-energy-density of on-vehicle battery have been utilized fully, satisfied and discharged and recharged requirement separately, reasonably solved the operating power matching problem of super capacitor and storage battery, not only the braking energy organic efficiency can be improved, and performances such as electronlmobil startup, acceleration, climbing can be improved.
Fig. 3 and Fig. 4 show the diagram of circuit that twin shaft of the present invention drives an embodiment of braking method of electronlmobil, and wherein, Fig. 3 is its main flow chart, and Fig. 4 is the branch diagram of circuit of braking according to rate of braking in Fig. 3 main flow chart.This flow process drives the brake system of electronlmobil based on the twin shaft of structure shown in Figure 1.
As shown in Figure 3, to drive the detailed process that electronlmobil brakes as follows for the twin shaft of this embodiment:
Step 31: begin braking.
When needs were braked, chaufeur first reaction was exactly to step on brake pedal 13.So the brake pedal position sensor 15 that is installed in brake pedal 13 places can detect the pedal position variable signal, and this signal is sent to entire car controller 11 by the CAN bus network.Entire car controller 11 by analyzing this signal, can be judged chaufeur and intention such as whether take the brake snub operation and take which kind of brake mode is braked after obtaining brake pedal position signal.
Step 32: judge whether to satisfy first decision condition that enters regenerative brake.If satisfy execution in step 34; Otherwise, execution in step 33.
Because include battery module 36 in the regenerative brake control setup, storage battery can be stored bigger energy for a long time, can guarantee normally travelling of electronlmobil.But storage battery will guarantee its stability in use and service life, requires comparatively strict to carrying capacity and serviceability temperature.So this embodiment has set first decision condition that enters regenerative brake, only when satisfying decision condition, just allow to adopt regenerative brake control.And, as above analyze, first decision condition that sets is: the displacement of brake pedal 13 greater than 0 and the temperature of battery module 36 less than the current residual carrying capacity of design temperature and battery module 36 less than setting carrying capacity.Also namely only when these three conditions all satisfy, just allow to enter the regenerative brake control process.
The displacement of brake pedal 13 is greater than 0, also namely only when having braking requirement, just might enter regenerative brake.For above-mentioned design temperature and setting carrying capacity, can specifically select according to the performance figure parameter of storage battery, for example, selecting design temperature is 50 ℃, selecting to set carrying capacity is 80% of rating load electric weight.
Step 33: do not satisfy first decision condition if entire car controller 11 is judged the current signal that detects, then carry out conventional brake.
After entering braking procedure, (satisfied the position of brake pedal 13 greater than 0), if detect the Current Temperatures of battery module 36 more than or equal to 50 ℃, perhaps its current carrying capacity is more than or equal to 80% of rating load electric weight, influence the normal operation of battery module 13 for avoiding regenerative brake that battery module 13 is charged, then adopting the conventional brake mode that electronlmobil is braked, also is that front wheel spindle and hind axle all adopt mechanical type hydraulic braking force control system 2 to brake.
The braking control process of mechanical braking control setup is prior art, in simple terms, after chaufeur was stepped on brake pedal 13, the hydraulic pressure in the checking cylinder 21 can change, and the signal of variation will transfer to entire car controller 11 by checking cylinder pressure sensor 16.Entire car controller 11 is calculated the required total braking force of braking according to hydraulic pressure variable signal analysis meter, by brake controller 12 control brake pressure distribution device 22 and brake-pressure controllers 23, realizes the mechanical braking control to automotive wheel.
Step 34: satisfy enter the Rule of judgment of regenerative brake after, judge that more whether current vehicle speed is greater than setting the speed of a motor vehicle.If greater than, execution in step 36; Otherwise, execution in step 35.
For adopting dual-axle motor driving and preceding energy-storage module to adopt super-capacitor module 34, back energy-storage module to adopt the brake system of battery module 36, under lower-speed state, the efficient that battery module 36 absorbs braking energy is extremely low, and may damage accumulator property, and super capacitor can carry out actv. to big electric current in short-term and reclaims.Therefore, the brake mode different according to the different choice of the speed of a motor vehicle.
Setting the speed of a motor vehicle can select according to observed data and theoretical analysis, and for example, selecting to set the speed of a motor vehicle is 10km/s.
Step 35: when current vehicle speed is not more than the setting speed of a motor vehicle, enter the low speed braking procedure, adopt hydraulic braking control setup 2 and regenerative brake control setup 3 to brake jointly.
In the low speed braking procedure, consider super capacitor can be at short notice counter-rotating produces for motor big electric current carry out the actv. feedback and absorb, adopt regenerative brake control setup 3 to carry out regenerative brake control to front wheel spindle, the energy recovery efficiency when utilizing super-capacitor module 34 as far as possible to improve low speed.And hind axle adopts hydraulic braking control setup 2 to carry out mechanical braking, does not participate in regenerating braking energy and reclaims, and can not cause damage to battery module 36.Hind axle adopts the Another reason of mechanical braking to be, the final parking of automobile must adopt mechanical braking to realize, so, utilize the mechanical braking of hind axle can realize the reliable parking of automobile at lower-speed state, guarantee safety and the stability of braking.
Step 36: when setting the speed of a motor vehicle, will select for use mechanical braking control setup and/or regenerative brake control setup to brake according to rate of braking in current vehicle speed.
The rate of braking here refers to and the corresponding current rate of braking of the current location of brake pedal.
The detailed process of braking control according to rate of braking please refer to flow process shown in Figure 4 and following description to Fig. 4.
The flow process that goes out as shown in Figure 4, the step of braking control according to rate of braking is as follows:
Step 361: obtain rate of braking.
By the automobile dynamic quality formula as can be known, the total braking force of electronlmobil is:
(1-1)
In the formula, Be the electronlmobil quality, Be acceleration due to gravity, Be rate of braking.
And total braking force formula:
(1-2)
In the formula, Be checking cylinder pressure, , Be front and rear wheel brake wheel cylinder diameter, , Be the front and rear wheel friction factor, , Be the radius of action of front and rear wheel plate disc brake, , Be the braking effectiveness factor of front and rear wheel plate disc brake, , Be the front and rear wheel theoretical running radius of tire.
Checking cylinder pressure Can obtain by checking cylinder pressure sensor 16, checking cylinder pressure is corresponding one by one with the position of brake pedal 13, therefore, when ignoring air resistance and rolling resistance, can calculate and the corresponding current rate of braking of the current location of brake pedal 13 by above-mentioned two formula
Consider braking safety and stability, take into account the maximum organic efficiency of braking energy simultaneously, this embodiment will brake control stage by stage according to the difference of rate of braking and reclaim braking energy.Specifically, set in advance two rate of braking setting values, be divided into three control stages according to the magnitude relationship of current rate of braking and setting value, each control stage adopts different braking force control systems and different braking forces to realize the braking of automobile.Two rate of braking setting values are respectively first and set intensity and second and set intensity, and first set intensity and set intensity greater than second, and for example, first to set intensity be that 0.7, the second to set intensity be 0.1.If current rate of braking is not less than first and sets intensity, judge that the deboost phase of this moment is the emergency braking stage; Set intensity if current rate of braking is set intensity less than first but is not less than second, judge that the deboost phase of this moment is the moderate deboost phase; If current rate of braking is set intensity less than second, judge that then the deboost phase of this moment is the slight deboost phase.The concrete braking strategy that the different braking stage takes is described below respectively.
Step 362: judge whether to enter the emergency braking stage.If, illustrate that chaufeur needs emergency braking and parking in time, bigger to demand braking force.Therefore, can also in time stop by snap catch for guaranteeing vehicle, adopt simple mechanical braking control setup to brake, namely front wheel spindle and hind axle all adopt the mechanical braking mode to brake.If not carrying out the emergency braking stage, then execution in step 363.
Step 363: judge whether to enter the moderate deboost phase.If not, execution in step 364; If go to step 365.
Step 364: if not entering the moderate deboost phase, then judge it is to enter the slight deboost phase, will carry out slight braking.
In the slight deboost phase, lower to the demand of braking force, for reclaiming braking energy as much as possible, will adopt simple regenerative brake control setup to brake, also be that front wheel spindle and hind axle all adopt regenerative brake control.
Step 365: enter the moderate braking if judge automobile, will adopt mechanical braking control setup and regenerative brake control setup to brake jointly.And for guaranteeing drive safety, being beneficial to the recovery as far as possible of braking energy ground again, will reasonably distribute mechanical braking power and regenerative brake power.At first, calculate the required total braking force of forward and backward wheel shaft according to the ideal brake force distribution curve , Ideal brake force distribution curve and calculating total braking force , Method be prior art, be not specifically addressed at this.
After obtaining forward and backward wheel shaft total braking force, respectively forward and backward wheel shaft is braked processing.
Step 366: judge the required total braking force of front wheel spindle Whether greater than front wheel spindle maximum regeneration braking force If, execution in step 368; If not, execution in step 367.
The method of calculating of front wheel spindle maximum regeneration braking force is prior art, is not specifically addressed at this.
Step 367: if the required total braking force of front wheel spindle Be not more than front wheel spindle maximum regeneration braking force , then front wheel spindle is carried out regenerative brake control, provide front wheel spindle required total braking force by the regenerative brake control setup.And for improving the braking energy organic efficiency, at this moment, the braking force that the regenerative brake control setup provides is its maximum regeneration braking force
Step 368: if the required total braking force of front wheel spindle Greater than front wheel spindle maximum regeneration braking force , then adopt mechanical braking control setup and regenerative brake control setup jointly front wheel spindle to be braked.And at this moment, the regenerative brake power of front wheel spindle is its maximum regeneration braking force , the braking force that the mechanical braking control setup provides is -
Step 369: judge the required total braking force of hind axle Whether greater than hind axle maximum regeneration braking force If, execution in step 3611; If not, execution in step 3610.
The method of calculating of hind axle maximum regeneration braking force is prior art also, is not specifically addressed at this.
Step 3610: if the required total braking force of hind axle Be not more than hind axle maximum regeneration braking force , then hind axle is carried out regenerative brake control, provide hind axle required total braking force by the regenerative brake control setup.And for improving the braking energy organic efficiency, at this moment, the braking force that the regenerative brake control setup provides is its maximum regeneration braking force
Step 3611: if the required total braking force of hind axle Greater than hind axle maximum regeneration braking force , then adopt mechanical braking control setup and regenerative brake control setup jointly hind axle to be braked.And at this moment, the regenerative brake power of hind axle is its maximum regeneration braking force , the braking force that the mechanical braking control setup provides is -
Those skilled in the art should understand that, the step of above-mentioned Fig. 3 and diagram of circuit shown in Figure 4 only is for the braking control policy of this embodiment is described, in the actual braking procedure of electronlmobil, to obtain at any time and analyze the signal that relevant sensor is gathered, and circulation be carried out the judgement of above steps and braked control process according to the sensor testing result.
Above embodiment is only in order to illustrating technical scheme of the present invention, but not limits it; Although with reference to previous embodiment the present invention is had been described in detail, for the person of ordinary skill of the art, still can make amendment to the technical scheme that previous embodiment is put down in writing, perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of the present invention's technical scheme required for protection.

Claims (10)

1. a twin shaft drives the brake system of electronlmobil, comprise car load control setup and the mechanical braking control setup and the regenerative brake control setup that are connected with described car load control setup, it is characterized in that, described regenerative brake control setup includes precursor motor and rear-guard motor, described precursor motor is connected with forerunner's wheel shaft of electronlmobil by gear, described rear-guard motor is connected with the rear-guard wheel shaft of electronlmobil by gear, energy-storage module and back energy-storage module before described regenerative brake control setup also includes, energy-storage module is electrically connected with the controller of described precursor motor before described, described back energy-storage module is electrically connected with the controller of described rear-guard motor, and described preceding energy-storage module is electrically connected by the DC/DC conv with described back energy-storage module.
2. brake system according to claim 1, it is characterized in that, before described in energy-storage module and the described back energy-storage module one be capacitance module, another is battery module, controller as the motor of main brake function in described capacitance module and the described regenerative brake control setup is electrically connected, described battery module is electrically connected with the main controller that drives the motor of function of conduct in the described regenerative brake control setup, and described capacitance module is electrically connected by the DC/DC conv with described battery module.
3. brake system according to claim 2 is characterized in that, described precursor motor be in the described regenerative brake control setup as the motor of main brake function, described before energy-storage module be described capacitance module; Described rear-guard motor is the motor that drives function in the described regenerative brake control setup as the master, and described back energy-storage module is described battery module.
4. brake system according to claim 2 is characterized in that, described capacitance module is a plurality of super capacitors that are connected in series.
5. according to each described brake system in the claim 1 to 4, it is characterized in that, described mechanical braking control setup is the hydraulic braking control setup, include the checking cylinder, brake pressure distribution device and the brake-pressure controller that connect successively, described checking cylinder is connected with the brake pedal of electronlmobil.
6. a twin shaft drives the braking method of electronlmobil, it is characterized in that, the brake system that described twin shaft drives electronlmobil comprises car load control setup and the mechanical braking control setup and the regenerative brake control setup that are connected with described car load control setup, described regenerative brake control setup includes precursor motor and rear-guard motor, described precursor motor is connected with forerunner's wheel shaft of electronlmobil by gear, described rear-guard motor is connected with the rear-guard wheel shaft of electronlmobil by gear, energy-storage module and back energy-storage module before described regenerative brake control setup also includes, energy-storage module is electrically connected with the controller of described precursor motor before described, described back energy-storage module is electrically connected with the controller of described rear-guard motor, energy-storage module is electrically connected by the DC/DC conv with described back energy-storage module before described, and described braking method comprises the steps:
The current state of a, the current location that detects the electronlmobil brake pedal and described preceding energy-storage module or described back energy-storage module when testing result satisfies first decision condition, is carried out following step b; Otherwise, enter the conventional brake process, adopt described mechanical braking control setup to brake;
The current vehicle speed of b, detection electronlmobil compares with setting the speed of a motor vehicle, selects to carry out following step c or d according to comparative result;
C, when described current vehicle speed is not more than the described setting speed of a motor vehicle, enter the low speed braking procedure, adopt described mechanical braking control setup and described regenerative brake control setup to brake jointly;
D, in described current vehicle speed during greater than the described setting speed of a motor vehicle, judge according to the corresponding current rate of braking of the current location of described brake pedal and to adopt described mechanical braking control setup and/or described regenerative brake control setup to brake.
7. braking method according to claim 6, it is characterized in that, before described in energy-storage module or the described back energy-storage module one of them be battery module, and described first Rule of judgment is: the displacement of described brake pedal greater than 0 and the temperature of described battery module less than the current residual carrying capacity of design temperature and described battery module less than the setting carrying capacity.
8. braking method according to claim 6, it is characterized in that, in the low speed braking procedure of described step c, the wheel shaft that the wheel shaft that drives as the motor of main brake function in the described regenerative brake control setup adopts described regenerative brake control setup to brake, drive as the main motor that drives function adopts described mechanical braking control setup to brake.
9. according to each described braking method in the claim 6 to 8, it is characterized in that, after described steps d obtains described current rate of braking, compare with setting intensity, select execution following respectively step by step according to comparative result:
D1, be not less than first when setting intensity at described current rate of braking, enter the emergency braking process, adopt described mechanical braking control setup to brake;
D2, set intensity less than described first and be not less than second when setting intensity at described current rate of braking, enter the moderate braking procedure, adopt described mechanical braking control setup and described regenerative brake control setup to brake jointly;
D3, when described current rate of braking is set intensity less than described second, enter slight braking procedure, adopt described regenerative brake control setup to brake.
10. braking method according to claim 9, it is characterized in that, in the moderate braking procedure in described steps d 2, before obtaining electronlmobil respectively according to described current rate of braking and electronlmobil brakig force distribution curve, the total braking force that hind axle is required, at the required total braking force of described front wheel spindle during greater than described front wheel spindle maximum regeneration braking force, described regenerative brake control setup provides described front wheel spindle maximum regeneration braking force for described front wheel spindle, all the other required braking forces of described front wheel spindle are provided by described mechanical braking control setup, when the required total braking force of described front wheel spindle was not more than described front wheel spindle maximum regeneration braking force, the required total braking force of described front wheel spindle was all provided by described regenerative brake control setup; At the required total braking force of described hind axle during greater than described hind axle maximum regeneration braking force, described regenerative brake control setup provides described hind axle maximum regeneration braking force for described hind axle, all the other required braking forces of described hind axle are provided by described mechanical braking control setup, when the required total braking force of described hind axle was not more than described hind axle maximum regeneration braking force, the required total braking force of described hind axle was all provided by described regenerative brake control setup.
CN201310145843.6A 2013-04-25 2013-04-25 Braking system and braking method of double-shaft driven electric vehicle Expired - Fee Related CN103192721B (en)

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