CN104175891A - Pure electric vehicle energy recovery and regeneration brake control method - Google Patents
Pure electric vehicle energy recovery and regeneration brake control method Download PDFInfo
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- CN104175891A CN104175891A CN201410384563.5A CN201410384563A CN104175891A CN 104175891 A CN104175891 A CN 104175891A CN 201410384563 A CN201410384563 A CN 201410384563A CN 104175891 A CN104175891 A CN 104175891A
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Abstract
The invention discloses a pure electric vehicle energy recovery and regeneration brake control method, belongs to the field of automobile control, and aims to develop a pure electric vehicle energy recovery and regeneration brake control method based on drive shaft torque information mainly aiming at pure electric vehicle brake process design. According to the method, drive signals, brake signals, motor rotating speed, battery SOC state, battery voltage, vehicle speed and drive shaft torque information, sent out by a driver model, are taken as inputs, and modeling is conducted by controlling output mechanical brake signals and level of requirements on the torque of the motor, that is the method is divided into a working condition judging link and a brake control link. The effect of energy recovery is improved, only calibration of maximal regeneration braking torque map is needed, and the development cost is relatively low.
Description
Technical field
The invention belongs to field of automobile control.
Background technology
Pure electric automobile is because the advantage of high energy efficiency anti-emission carburetor becomes the new focus of current development of automobile industry, but the short bottleneck that becomes its development of restriction of course continuation mileage.The introducing of braking energy recovery technology, greatly improves electronlmobil efficiency, and has increased course continuation mileage.Regenerative brake mainly contains following problem in controlling:
1. accurately judge current working, whether can carry out regenerative brake, if can carry out regenerative brake, so just have the distribution of carrying out electric braking moment and regenerative braking moment.If can not, carry out mechanical braking by brake gear.
2. in regenerative brake operating mode, should meet chaufeur braking requirement, many recuperated energies of trying one's best again; Brake gear and electric braking need to be coordinated to control.
3. for guaranteeing the rideability of vehicle, must carry out reasonable distribution to the front and back wheel braking force of vehicle.
In the process of regenerative braking existing at present, only have the mechanical energy on drive wheel and axle drive shaft to reclaim, but traditional tandem regenerative braking method is not considered axle drive shaft moment information, braking effect and energy recovery efficiency can be affected.In addition, this ECU internal arithmetic process is simple, only need to carry out the demarcation of a number table, and development process is relatively simple.
Summary of the invention
Object of the present invention is mainly aimed at the braking procedure of pure electric automobile and has designed and developed the pure electric automobile energy reclaiming brake control method based on axle drive shaft moment information.
The present invention is that to take driving signal, speed-slackening signal and motor speed, battery SOC state, cell pressure, the speed of a motor vehicle and the axle drive shaft moment information that pilot model sends be input, to control output mechanical braking signal and the size of the torque demand of motor is carried out to modeling, be divided into operating mode judgement link and braking controlling unit;
Operating mode judgement link:
Vehicle sensors detects driver intention and gathers whole vehicle state information, judges whether to enter regenerative brake master mode; While allowing to carry out regenerative brake, according to brake pedal signal acquisition, go out total braking force square; Judge whether to need the coordination of regenerative braking moment and mechanical braking moment to control; Draw the expectation value of mechanical braking moment and the expectation value of regenerative braking moment; Wherein to obtain be that moment information and motor maximum regeneration lock torque in conjunction with axle drive shaft obtains to the expectation value of regenerative braking moment;
During Acceleration Signal Accsing>0,
(1)
(2)
the torque demand of chaufeur,
the maximum torque that motor can provide,
the moment of starting actual output,
by motor maximum torque map figure, got;
the mechanical braking moment of actual output;
Acceleration Signal is 0 o'clock, needs so in conjunction with speed-slackening signal, battery SOC state, vehicle speed signal, further judges that vehicle is in regenerative brake state or non-renewable braking mode;
Speed-slackening signal is greater than 0.95, can think that vehicle is current in sudden stop state; For guaranteeing deceleration and stopping performance, by traditional brake gear, promptly complete whole braking requirement;
Speed-slackening signal is not more than 0.95, and the SOC state in conjunction with battery carries out second step judgement: the judgement based on battery SOC state, and the SOC state of battery is between [0,80];
Battery SOC state, when [0,80] scope is interior, carries out the 3rd step judgement: the judgement based on the speed of a motor vehicle, and the braking when speed of a motor vehicle is less than 1m/s is all completed by mechanical braking; The speed of a motor vehicle is not less than 1m/s, enters so regenerative brake operating mode, and ECU enters second link: braking controlling unit;
Braking controlling unit:
The shape battery pack terminal voltage of ECU collection vehicle, motor speed, axle drive shaft moment, the speed of a motor vehicle; Obtain regenerative braking moment and two control signals of traditional machine made power, and control signal is dealt into respectively to traditional brake gear and motor;
The expectation value of chaufeur to lock torque
:
(4)
Wherein
speed-slackening signal,
it is the available maximum machine lock torque of brake gear;
Obtain the moment information when drive axle
:
(5)
Wherein
axle drive shaft moment after braking,
it is the lock torque of expectation;
Obtain mechanical braking moment
:
(6)
Wherein
mechanical braking moment,
the lock torque of chaufeur expectation,
it is maximum renewable lock torque;
Axle drive shaft moment after braking
:
(7)
Wherein
axle drive shaft moment after braking,
mechanical braking moment;
Obtain regeneration torque expectation value
:
(8)
(9)
,
it is respectively proportion integral modulus;
Acquisition obtains the expectation value of regenerative braking moment
expectation with traditional mechanical braking
two control signals, ECU issues these two signals respectively the controller of electric machine controller and brake gear.
The present invention is based on the judgement of battery SOC state: for preventing that momentary charge electric current from impacting the excessive service life to battery and motor, when the SOC of battery state carries out regenerative brake and energy within the scope of this in [0,80], reclaim; Exceed this scope, do not carry out regenerative brake, by traditional brake gear, promptly complete whole braking requirement.
The invention has the beneficial effects as follows:
1. traditional control method majority is not consider axle drive shaft moment information, but in actual reproduction braking procedure, only has the mechanical energy on drive wheel and axle drive shaft to reclaim.In control policy, combine the moment information of axle drive shaft, the moment of axle drive shaft moment information and automobile longitudinal dynam and regeneration is all closely related.ECU based on axle drive shaft moment information designs this and has improved on the one hand the effect that energy reclaims, and improves on the other hand braking effect.
2. the development process of orthodox car ECU (Electrical Control Unit) needs a large amount of experience and rating test.In control method of the present invention, only need to carry out the demarcation of maximum regeneration lock torque map, cost of development is lower.
Accompanying drawing explanation
Fig. 1 is the overview flow chart of implementing regenerative brake control process of the present invention;
Fig. 2 implements the braking mode judgement flow process that regenerating brake control method of the present invention adopts;
Fig. 3 is the control principle block diagram in regenerating brake control method of the present invention;
Fig. 4 is the flow process of implementing regenerative brake controller of the present invention;
Fig. 5 is that the maximum regeneration lock torque map that adopts regenerative brake of the present invention to control in embodiment counts table;
Fig. 6 is chaufeur speed-slackening signal and mechanical braking signal contrast in embodiment 1 of the present invention; wherein solid line represents the speed-slackening signal that chaufeur sends, and dotted line represents the speed-slackening signal that vehicle mechanical brake equipment receives, and both units are 1; abscissa is the time, the s of unit;
Fig. 7 is the axle drive shaft moment variations curve in embodiment 1 of the present invention, the Nm of unit, and abscissa is the time, the s of unit;
Fig. 8 is actual value and the expectation value contrast of embodiment 1 motor output torque of the present invention, and wherein solid line represents actual value, and dotted line represents expectation value, and unit is Nm, and abscissa is the time, the s of unit;
Fig. 9 is the contrast of actual vehicle speed and desired speed in embodiment 1 of the present invention, and wherein solid line represents actual vehicle speed, and dotted line represents desired speed, and unit is m/s, and abscissa is the time, the s of unit;
Figure 10 is that embodiment 1 battery pack SOC of the present invention changes change curve, and unit is %, and abscissa is the time, the s of unit;
Figure 11 is chaufeur speed-slackening signal and mechanical braking signal contrast in embodiment 2 of the present invention; wherein solid line represents the speed-slackening signal that chaufeur sends, and dotted line represents the speed-slackening signal that vehicle mechanical brake equipment receives, and both units are 1; abscissa is the time, the s of unit;
Figure 12 is the axle drive shaft moment variations curve in embodiment 2 of the present invention, the Nm of unit, and abscissa is the time, the s of unit;
Figure 13 is actual value and the expectation value contrast of embodiment 2 motor output torques of the present invention, and wherein solid line represents actual value, and dotted line represents expectation value, and unit is Nm, and abscissa is the time, the s of unit;
Figure 14 is the contrast of actual vehicle speed and desired speed in embodiment 2 of the present invention, and wherein solid line represents actual vehicle speed, and dotted line represents desired speed, and unit is m/s, and abscissa is the time, the s of unit;
Figure 15 is that embodiment 2 battery pack SOC of the present invention change change curve, and unit is %, and abscissa is the time, the s of unit.
The specific embodiment
The present invention is that to take driving signal, speed-slackening signal and motor speed, battery SOC state, cell pressure, the speed of a motor vehicle and the axle drive shaft moment information that pilot model sends be input, to control output mechanical braking signal and the size of the torque demand of motor is carried out to modeling, be divided into operating mode judgement link and braking controlling unit;
Operating mode judgement link:
Vehicle sensors detects driver intention and gathers whole vehicle state information, judges whether to enter regenerative brake master mode; While allowing to carry out regenerative brake, according to brake pedal signal, draw total braking force square; Judge whether to need the coordination of regenerative braking moment and mechanical braking moment to control; Obtain the expectation value of mechanical braking moment and the expectation value of regenerative braking moment; Wherein to obtain be that moment information and motor maximum regeneration lock torque in conjunction with axle drive shaft obtains to the expectation value of regenerative braking moment;
During Acceleration Signal Accsing>0,
(1)
(2)
the torque demand of chaufeur,
the maximum torque that motor can provide,
the moment of starting actual output,
by motor maximum torque map figure, got;
the mechanical braking moment of actual output;
Acceleration Signal is 0 o'clock, needs so in conjunction with speed-slackening signal, battery SOC state, vehicle speed signal, further judges that vehicle is in regenerative brake state or non-renewable braking mode;
Speed-slackening signal is greater than 0.95, can think that vehicle is current in sudden stop state; For guaranteeing deceleration and stopping performance, by traditional brake gear, promptly complete whole braking requirement;
Speed-slackening signal is not more than 0.95, and the SOC state in conjunction with battery carries out second step judgement: the judgement based on battery SOC state, and the SOC state of battery is between [0,80];
Battery SOC state, when [0,80] scope is interior, carries out the 3rd step judgement: the judgement based on the speed of a motor vehicle, and the braking when speed of a motor vehicle is less than 1m/s is all completed by mechanical braking; The speed of a motor vehicle is not less than 1m/s, enters so regenerative brake operating mode, and ECU enters second link: braking controlling unit;
Braking controlling unit:
The shape battery pack terminal voltage of ECU collection vehicle, motor speed, axle drive shaft moment, the speed of a motor vehicle; Obtain regenerative braking moment and two control signals of traditional machine made power, and control signal is dealt into respectively to traditional brake gear and motor;
The expectation value of chaufeur to lock torque
:
(4)
Wherein
speed-slackening signal,
it is the available maximum machine lock torque of brake gear;
Obtain the moment information when drive axle
:
(5)
Wherein
axle drive shaft moment after braking,
it is the lock torque of expectation;
Obtain mechanical braking moment
:
(6)
Wherein
mechanical braking moment,
the lock torque of chaufeur expectation,
it is maximum renewable lock torque;
Axle drive shaft moment after braking
:
(7)
Wherein
axle drive shaft moment after braking,
mechanical braking moment;
Obtain regeneration torque expectation value
:
(8)
(9)
,
it is respectively proportion integral modulus;
Acquisition obtains the expectation value of regenerative braking moment
expectation with traditional mechanical braking
two control signals, ECU issues these two signals respectively the controller of electric machine controller and brake gear.
The present invention is based on the judgement of battery SOC state: for preventing that momentary charge electric current from impacting the excessive service life to battery and motor, when the SOC of battery state carries out regenerative brake and energy within the scope of this in [0,80], reclaim; Exceed this scope, do not carry out regenerative brake, by traditional brake gear, promptly complete whole braking requirement.
Below in conjunction with accompanying drawing, the present invention is done to further detailed description:
One aspect of the present invention has been to provide a kind of regenerating brake control method of the pure electric automobile based on axle drive shaft moment information, solves existing regenerating brake control method braking effect and energy recovery efficiency and cannot guarantee this problem.
Research technique of the present invention is that the regenerative brake that energy reclaims is controlled, and comprises the following steps:
Vehicle sensors detects driver intention and gathers whole vehicle state information, judges whether to enter regenerative brake master mode;
While allowing to carry out regenerative brake, according to brake pedal signal acquisition, go out total braking force square; Judge whether to need the coordination of regenerative braking moment and mechanical braking moment to control; Obtain the expectation value of mechanical braking moment and the expectation value of regenerative braking moment.It is moment information and the acquisition of motor maximum regeneration lock torque in conjunction with axle drive shaft that the expectation value of described regenerative braking moment obtains.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize:
Regenerating brake control method of the present invention is to realize by the associative simulation of software system.Software system are comprised of Matlab/Simulink and AMESim compiler.Wherein AMESim software is a commercial modeling and simulating of complex system platform, its Main Function is in the present invention to provide concentrated electric motor type pure electric automobile model and the pilot model of high-fidelity, and in emulation experiment, this model replaces real vehicles to be used as the objective for implementation of control method; MATLAB/Simulink software is to build for the realistic model of controller, by Simulink, has programmed the computing of ECU in this control method.
From function, say that the present invention can comprise following a few part: controller simulation module and centralized pure electric automobile model.Describe the effect of each several part below in detail:
The Main Function of chaufeur module is, according to the current speed of a motor vehicle and chaufeur, the expectation of the following speed of a motor vehicle is provided to Acceleration Signal and speed-slackening signal, the operation behavior of chaufeur that is to say this module simulation.
The Main Function of controller module is that the various status informations of electronlmobil model are gathered as the speed of a motor vehicle, battery SOC, chaufeur speed-slackening signal etc., then table look-up and computing, production control signal---the moment expectation of motor and mechanical braking signal and this signal is sent to the actuating unit of electronlmobil---motor and traditional mechanical braking mechanism;
Electronlmobil model comprises three parts such as power drive system model, change speed gear box model, vehicle dynamic model.Its effect is that the control signal providing according to ECU produces corresponding driving or lock torque, changes the dynamic of vehicle---motor output torque, mechanical braking moment, the speed of a motor vehicle, SOC state etc.
As shown in Figure 1, in figure, ECU is vehicle regenerative brake controller to the overall flow figure that a kind of regenerating brake control method of the present invention is implemented.Regenerating brake control method is divided into two links: operating mode judgement link and braking controlling unit.
The first link is the judgement to vehicle movement operating mode, and for pure electric automobile, energy reclaims and can only under braking procedure, carry out, and not all braking procedure can carry out the recovery of energy, therefore need to judge vehicle operating mode of living in.If judge vehicle in the first link in driving or non-renewable damped condition, regenerative brake controller does not play a role so, and the second link is not worked, and braking procedure is completed by traditional brake gear completely.If vehicle in renewable damped condition, enters second link so, in second link, regenerative brake controller plays a role.
Second link is the internal arithmetic of ECU under regenerative brake master mode.ECU collection vehicle status signal carries out computing and gathers the braking expectation of chaufeur, judges respectively the expectation value of regenerative braking moment and mechanical braking moment, and these two control signals are sent to motor and brake gear.Brake gear directly produces machine made power and is applied in front and back wheel, and motor is generation regenerative braking moment under the dragging of axle drive shaft.Braking mode coordinative role, changes the speed of a motor vehicle jointly, produces braking effect; Regenerative braking moment drive motor acting simultaneously, produces charging current to the charging of on-vehicle battery group, enables to be recycled.
The invention provides a set of device based on above operation logic and operational process.The i.e. braking of the regenerated offline based on PC Control experiment platform platform.Build and operational process as follows:
1, software is selected
The controlled object of this control system and the realistic model of controller are built by software Matlab/Simulink and AMESim respectively, and software version is respectively Matlab R2010a and AMESim R10, and solver is selected to be respectively.Simulation step length is variable step.
2, associative simulation setting
Realize both associative simulations, first need in AMESim interface, add output interface module; Then the model information in AMESim is retained in Simulink through the form with S-function after System build.When operation Simulink realistic model, AMESim model also carries out at the same time.In simulation process, constantly carry out the exchange of data between the two.If the model structure in AMESim or parameter setting are revised, need to recompilate.
3, the realistic model of electronlmobil and chaufeur is built
1) whole electronlmobil realistic model comprises three parts: power drive system part, driving system part and longitudinal direction of car dynam part.
Power drive system comprises battery part and motor part, the battery pack of pure electric automobile is to consist of a plurality of power brick connection in series-parallel, power brick is in series by battery cell, the power of whole like this battery pack loss be single battery loss power and, and battery pack externally the terminal voltage of output be single battery output voltage and, battery system A terminal voltage is the voltage that battery pack offers motor; What in the present invention, adopt is the motor that can be operated under electrical motor and two kinds of patterns of electrical generator, and under generator mode, motor changes mechanical energy into electric energy, is stored in battery, and power of motor is for negative; Under electric motor mode, electrical consumption electric energy, power of motor, for just, produces power, and power is sent to wheel via driving system.
Driving system comprises change-speed box, three parts of diff and axle drive shaft.Thereby the power of motor output produces the different speed ratios increment that slows down via change-speed box by different tooth radius, it is dynamic that the present invention has ignored the side direction of vehicle, the output speed of diff both sides is identical so, be that diff is inoperative, diff output speed is the input speed of axle drive shaft, and the output speed of axle drive shaft equates with vehicle wheel rotational speed, the moment of transmitting on axle obtains by axle drive shaft two ends speed discrepancy.
Longitudinal direction of car dynam part, has introduced vehicle and has been activated in the process of moving power, the effect of braking force and resistance to motion, and wherein resistance to motion comprises air resistance, rolling resistance and friction drag.Based on Newton's second law, can draw the speed of a motor vehicle model of Vehicle Driving Cycle.
2) pilot model
Pilot model, for drive simulating person's behavior, provides braking or throttle signal according to current vehicle speed and self to the expectation of the speed of a motor vehicle.In this process, chaufeur is first from input element (eye, ear, hand etc.) environment of accepting, information of road surface and be passed to brain, brain think deeply and judge after produce control signal, and carried out by organ (hand, pin etc.), complete this control process.In this process, consider the delay when delay of chaufeur observation signal and health sense organ are carried out brain instruction, therefore adoption rate-integral controller draws the operation behavior that chaufeur is made according to the deviation of actual vehicle speed and desired speed.Because chaufeur is known self to be expected for the speed in current time and the next moment, the deviation chaufeur for these two expectations also has certain operation behavior so again.By these two operation behaviors, can draw braking or the throttle signal that expectation provides.
4, the realistic model of regenerative brake controller is built
In this patent, refresh controller is driving signal, the speed-slackening signal sending with pilot model, and motor speed, battery SOC state, cell pressure, the speed of a motor vehicle and axle drive shaft moment information are input, to control output mechanical braking signal and the size of the torque demand of motor carried out to modeling, comprised operating mode judgement link, braking controlling unit.
1) operating mode judgement link
Operating mode judgement link is speed-slackening signal and the Acceleration Signal of sending according to chaufeur, battery SOC state, and four physical quantitys such as the speed of a motor vehicle are determined.In this judgement link, first ECU will accept accelerator pedal signal and the brake pedal signal that chaufeur sends; If at the current time pedal of stepping on the throttle, there is Acceleration Signal in chaufeur; Acceleration Signal while making pedal displacement maximum is 1, and all the other signals are constantly that actual pedal displacement is divided by maximum pedal displacement.In like manner, speed-slackening signal is also determined according to brake pedal change in displacement.The variation range of Acceleration Signal and speed-slackening signal is [0,1], and unit is 1.The SOC status signal of vehicle obtains from battery management system, and its variation range is [0,100], and unit is 1.Vehicle speed signal is gathered by car speed sensor, and unit is that the unit of the various moments described in m/s. this patent is Nm.
As shown in Figure 2, be that the first link of the present invention is the diagram of circuit of operating mode judgement link.According to diagram of circuit, can list following equation, when Acceleration Signal Accsing>0,
(1)
(2)
(3)
the torque demand of chaufeur,
the maximum torque that motor can provide,
the moment of starting actual output,
by motor maximum torque map figure, got.
the mechanical braking moment of actual output.
If Acceleration Signal is 0, need so in conjunction with speed-slackening signal, battery SOC state, vehicle speed signal, further judge that vehicle is in regenerative brake state or non-renewable braking mode.According to speed-slackening signal, further judge, if speed-slackening signal is greater than 0.95, can think that vehicle is current in sudden stop state; For guaranteeing deceleration and stopping performance, by traditional brake gear, promptly complete whole braking requirement.As speed-slackening signal is not more than 0.95, the SOC state in conjunction with battery carries out second step judgement: the judgement based on battery SOC state.For preventing that momentary charge electric current from impacting the excessive service life to battery and motor, when the SOC of battery state is can carry out regenerative brake and energy reclaims within the scope of this in [0,80].If exceed this scope, do not carry out so regenerative brake, by traditional brake gear, promptly complete whole braking requirement.When battery SOC state is in [0,80] scope, carry out the 3rd step judgement: the judgement based on the speed of a motor vehicle.If the speed of a motor vehicle is less than 1m/s, now vehicle speed lock torque changes very responsive.Compared to the generation of regenerative braking moment, traditional brake gear produces this process of mechanical braking moment more accurately and reliably.For guaranteeing that the speed of a motor vehicle changes, can accurately meet chaufeur expectation, the braking when the speed of a motor vehicle is less than 1m/s is all completed by mechanical braking.If the speed of a motor vehicle is not less than 1m/s, enter so regenerative brake operating mode, ECU enters second link: braking controlling unit.
2) braking controlling unit
As shown in Figure 3, in this link, ECU needs the status information of collection vehicle to the flow process of braking controlling unit, comprising: battery pack terminal voltage, motor speed, axle drive shaft moment, the speed of a motor vehicle etc.Obtain regenerative braking moment and two control signals of traditional machine made power, and control signal is dealt into respectively to traditional brake gear and motor.
Second link is to complete by four steps.
The first step, obtains chaufeur according to speed-slackening signal and wishes the lock torque obtaining
, maximum regeneration lock torque
with the axle drive shaft moment after braking.The expectation value of chaufeur to lock torque
equal current speed-slackening signal and be multiplied by the available maximum machine lock torque of brake gear
(4)
Wherein
speed-slackening signal,
it is the available maximum machine lock torque of brake gear.In order to improve energy recovery efficiency, can carry out under the operating mode of regenerative brake, pay the utmost attention to the braking expectation that completes chaufeur with regenerative braking moment.Regenerative braking moment is by motor, to be subject to the generation that drags of axle drive shaft, thereby under concrete operating mode, the maximum regeneration lock torque that motor can produce is subject to the impact of motor terminal voltage and total external characteristics.According to the rotating speed of motor and battery pack terminal voltage, table look-up and obtain when the issuable maximum regeneration lock torque of vehicle in front herein
, this is counted table and need to obtain by calibration experiment.
First to obtain the moment information when drive axle
, the moment information of axle drive shaft can obtain by estimation.In the first step, drawn the lock torque of chaufeur expectation, the axle drive shaft moment after braking will be changed to former axle drive shaft moment and deduct the lock torque of expectation so,
(5)
Wherein
axle drive shaft moment after braking,
it is the lock torque of expectation.
Second step, obtains mechanical braking moment
.In renewable braking procedure, if regenerative braking moment can complete the braking expectation of chaufeur, if mechanical braking moment is the lock torque expectation value that 0. regenerative braking moment is less than chaufeur so, so not enough part is supplemented by traditional mechanical braking, the lock torque that mechanical braking moment is chaufeur expectation so deducts maximum renewable lock torque,
(6)
Wherein
mechanical braking moment,
the lock torque of chaufeur expectation,
it is maximum renewable lock torque.So only adopt axle drive shaft moment after traditional mechanical braking will be changed to former axle drive shaft moment and deduct mechanical braking moment,
(7)
Wherein
axle drive shaft moment after braking,
mechanical braking moment.
The 3rd step, obtains regeneration torque expectation value
, this numerical value is motor and at axle drive shaft, drags the lock torque of lower generation.From first two steps, the braking effect that regenerative brake will reach make exactly axle drive shaft moment by
become
if actual reproduction lock torque does not reach requirement, the braking requirement that the variation of the speed of a motor vehicle is chaufeur by the expectation value of out of reach chaufeur so can not be met.Secondly on axle drive shaft, may gather larger energy, cause the waste of the violent and energy of transmission system.In order to guarantee braking effect and to improve energy recovery efficiency, when obtaining current regenerative braking moment expectation, must consider axle drive shaft moment variations.In conjunction with current axle drive shaft moment information passing ratio-integral way, obtain the regenerative braking moment expectation of motor herein
,
(8)
,
be respectively proportion integral modulus, consider under fixing operating mode that the maximum regeneration lock torque of motor exists to limit
, regenerative braking moment is so
(9)
By above-mentioned way, can obtain the expectation value of regenerative braking moment
expectation with traditional mechanical braking
two control signals, ECU issues these two signals respectively the controller of electric machine controller and brake gear.Motor and brake gear combined action cause the change of the speed of a motor vehicle.At next constantly, chaufeur can be given Acceleration Signal or the speed-slackening signal making new advances, and this ECU re-starts judgement and controls.
5, experimental verification
1) embodiment 1: even deceleration experiment
Parameter arranges: battery SOC state is 70, Figure 5 shows that the maximum regeneration lock torque value that vehicle can produce under different terminal voltages and output speed condition.
The flow process of the be changed at the uniform velocity-even deceleration of car speed-at the uniform velocity-even deceleration-parking in embodiment 1.Be that vehicle has twice braking, braking for the first time is only slowed down, and braking for the second time is first slowed down and then stopped.The simulation experiment result is as follows:
Consult Fig. 6, the expectation value that can obtain mechanical braking torque signals by chaufeur speed-slackening signal and maximum regeneration lock torque is solid line as shown in FIG., dotted line is the speed-slackening signal of chaufeur, and curve comparison can find out that in the braking requirement of chaufeur, only some is completed by mechanical braking.
Consult Fig. 7, the variation of the moment of axle drive shaft as shown in the figure.Wherein axle drive shaft moment be on the occasion of time, illustrate that moment is produced by motor and reaches drive wheel through driving system, i.e. vehicle consumed energy; Axle drive shaft moment is 0 o'clock, illustrates and does not carry out the transmission of moment and the transfer of energy; When axle drive shaft moment is negative value, illustrate moment from axle drive shaft and drive wheel via the acting of driving system drive motor, recovery generation current that motor carries out energy charge to closed-center system.At the uniform velocity in driving process, axle drive shaft moment is for just, and motor produces power; In twice braking procedure, axle drive shaft moment is for negative, and axle drive shaft drive motor does work.
Consult Fig. 8, according to axle drive shaft moment information and mechanical braking moment values, adopt PI algorithm to obtain the expectation value of regenerative braking moment, solid line as shown in FIG., dotted line is the regenerative braking moment of real electrical machinery output, the tracking expectation value curve that actual value can be good, and tracking error is very little.Because direction of motor rotation is positive dirction, so work as motor torque, be timing, illustrate that motor is in electric motor mode, produce output torque, consumed energy; When motor torque is negative, motor enters generator mode, and motor produces regenerative braking moment, and produce power.The tracking expectation value curve that actual value can be good as can be seen from Figure 8, tracking error is very little.
Consult Fig. 9, final actual vehicle speed situation of change with desired speed contrast situation as shown in FIG., in figure, twice braking procedure can carry out regenerative brake, can find out the desired speed of following that pure electric automobile actual vehicle speed that the present invention controls can fast and stable, the braking requirement of chaufeur is met.
Consult Figure 10, final battery pack SOC situation of change as shown in FIG., can see that battery SOC state in process of regenerative braking rises, and energy is recycled.
The resulting image of above emulation experiment can illustrate that regenerating brake control method of the present invention can make regenerative braking moment and the co-ordination of traditional mechanical braking moment in change deceleration situation, guarantee that the variation fast and stable ground of the speed of a motor vehicle reaches the braking effect of chaufeur expectation, the actification by motor enables to be recycled simultaneously.
2) embodiment 2: become the experiment of slowing down
The regenerating brake control method being proposed by the known the present invention of the simulation result of example 1 can meet demand for control under even decelerating mode, in order to further illustrate control effect, the present embodiment carries out simulating, verifying to the energy reclaiming brake control method of electronlmobil in the situation that becoming deceleration, and parameter arranges same embodiment 1.Consult Figure 11 to Figure 15, the speed of a motor vehicle that reach is the dotted line shown in Figure 14.
In this embodiment, vehicle entered the regenerative brake stage after 115 seconds.Consult Figure 11 to Figure 15, the speed of a motor vehicle that reach is the dotted line shown in Fig. 6.According to aforementioned regenerating brake control method step, the simulation experiment result is as follows:
Consult Figure 11, mechanical braking torque signals is solid line as shown in FIG., and dotted line is the speed-slackening signal of chaufeur.Curve comparison can find out in the braking requirement of chaufeur to only have fraction to be completed by mechanical braking; Major part is completed by regenerative brake;
Consult Figure 12, the variation of the moment of axle drive shaft as shown in the figure.Before 115 seconds, vehicle is still in the state of giving it the gun, and axle drive shaft moment is being for just, and after 115 seconds, vehicle enters braking mode, and axle drive shaft moment becomes negative value, i.e. axle drive shaft dragging motor acting;
Consult Figure 13, the moment that motor produces is solid line as shown in FIG., and in figure, before 115 seconds, motor, in drive pattern, produces drive torque.After 115 seconds, motor enters regenerative brake pattern, produces regenerative braking moment.In figure, dotted line is the regenerative braking moment of real electrical machinery output, and the simulation curve after 115 seconds can be seen the tracking expectation value curve that actual value can be good, and tracking error is very little.
Consult Figure 14, with desired speed contrast situation as shown in FIG., in figure, after 115 seconds, vehicle enters renewable braking procedure to final actual vehicle speed situation of change, chaufeur expectation car retardation, and vehicle enters braking mode and braking acceleration is variate.Fig. 9 demonstrates the desired speed of following that pure electric automobile actual vehicle speed that the present invention controls can fast and stable, and the braking requirement of chaufeur is met.
Consult Figure 15, final battery pack SOC situation of change as shown in FIG., can find out that in the process of regenerative braking of battery after 115 seconds, SOC state rises, and energy is recycled.
By the resulting image of above emulation experiment, can illustrate that regenerating brake control method of the present invention still can make each physical quantity comprise to enter motor regenerative braking moment and the speed of a motor vehicle fast under the continuous decelerating mode of vehicle and expectation value in stable tracking.
Above-mentioned two embodiment have checked respectively the performance of the regenerating brake control method of the electric automobile energy recovery based on axle drive shaft moment information of the present invention, first the correctness of authentication control method and integraty under even decelerating mode are then further verified control system under the operating mode that becomes deceleration.From Fig. 9 and Figure 14, show, the velocity variations of vehicle can meet the expectation of chaufeur preferably, that is to say that the braking requirement of chaufeur is met.From Fig. 9 and Figure 14, show, under regenerative brake state, the Motor torque under PI regulates can reach the regenerative braking moment of expectation, thereby has guaranteed whole braking effect.Figure 10, Figure 15 show simultaneously, and the SOC state of battery rises, and battery electric quantity increases.
Energy reclaiming brake control method based on axle drive shaft moment information of the present invention has reached design objective of the present invention, and obtained good control effect, thereby can prove that control method of the present invention can guarantee that whole braking effects can meet chaufeur expectation accurately, and its function admirable, no matter be that braking effect and energy recovering effect can meet control accuracy requirement at even deceleration or change decelerating mode.
Claims (2)
1. a pure electric automobile energy reclaiming brake control method, it is characterized in that: be that to take driving signal, speed-slackening signal and motor speed, battery SOC state, cell pressure, the speed of a motor vehicle and the axle drive shaft moment information that pilot model sends be input, to control output mechanical braking signal and the size of the torque demand of motor is carried out to modeling, be divided into operating mode judgement link and braking controlling unit;
Operating mode judgement link:
Vehicle sensors detects driver intention and gathers whole vehicle state information, judges whether to enter regenerative brake master mode; While allowing to carry out regenerative brake, according to brake pedal calculated signals, go out total braking force square; Judge whether to need the coordination of regenerative braking moment and mechanical braking moment to control; The expectation value of calculating machine lock torque and the expectation value of regenerative braking moment; Wherein to calculate be that moment information and motor maximum regeneration lock torque in conjunction with axle drive shaft calculates to the expectation value of regenerative braking moment;
During Acceleration Signal Accsing>0,
(1)
(2)
the torque demand of chaufeur,
the maximum torque that motor can provide,
the moment of starting actual output,
by motor maximum torque map figure, got;
the mechanical braking moment of actual output;
Acceleration Signal is 0 o'clock, needs so in conjunction with speed-slackening signal, battery SOC state, vehicle speed signal, further judges that vehicle is in regenerative brake state or non-renewable braking mode;
Speed-slackening signal is greater than 0.95, can think that vehicle is current in sudden stop state; For guaranteeing deceleration and stopping performance, by traditional brake gear, promptly complete whole braking requirement;
Speed-slackening signal is not more than 0.95, and the SOC state in conjunction with battery carries out second step judgement: the judgement based on battery SOC state, and the SOC state of battery is between [0,80];
Battery SOC state, when [0,80] scope is interior, carries out the 3rd step judgement: the judgement based on the speed of a motor vehicle, and the braking when speed of a motor vehicle is less than 1m/s is all completed by mechanical braking; The speed of a motor vehicle is not less than 1m/s, enters so regenerative brake operating mode, and ECU enters second link: braking controlling unit;
Braking controlling unit:
The shape battery pack terminal voltage of ECU collection vehicle, motor speed, axle drive shaft moment, the speed of a motor vehicle; Obtain regenerative braking moment and two control signals of traditional machine made power, and control signal is dealt into respectively to traditional brake gear and motor;
The expectation value of chaufeur to lock torque
:
(4)
Wherein
speed-slackening signal,
it is the available maximum machine lock torque of brake gear;
Obtain the moment information when drive axle
:
(5)
Wherein
axle drive shaft moment after braking,
it is the lock torque of expectation;
Obtain mechanical braking moment
:
(6)
Wherein
mechanical braking moment,
the lock torque of chaufeur expectation,
it is maximum renewable lock torque;
Axle drive shaft moment after braking
:
(7)
Wherein
axle drive shaft moment after braking,
mechanical braking moment;
Obtain regeneration torque expectation value
:
(8)
(9)
,
it is respectively proportion integral modulus;
Acquisition obtains the expectation value of regenerative braking moment
expectation with traditional mechanical braking
two control signals, ECU issues these two signals respectively the controller of electric machine controller and brake gear.
2. pure electric automobile energy reclaiming brake control method according to claim 1, it is characterized in that: the judgement based on battery SOC state: for preventing that momentary charge electric current from impacting the excessive service life to battery and motor, when carrying out regenerative brake and energy within the scope of this in [0,80], reclaims the SOC of battery state; Exceed this scope, do not carry out regenerative brake, by traditional brake gear, promptly complete whole braking requirement.
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| CN107168104A (en) * | 2017-06-23 | 2017-09-15 | 吉林大学 | Pure electric intelligent automobile longitudinal method for controlling driving speed based on observer |
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| CN111791710A (en) * | 2019-04-09 | 2020-10-20 | 毛奕萱 | Braking energy recovery system and method applied to fuel vehicle |
| CN110254405A (en) * | 2019-06-25 | 2019-09-20 | 吉林大学 | A kind of automobile brake-by-wire control system and its control method driven towards automatic Pilot and intelligence auxiliary |
| CN112706620A (en) * | 2020-12-31 | 2021-04-27 | 北京金万安汽车电子技术研发有限公司 | Motor braking torque control method in energy recovery of new energy vehicle |
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Effective date of registration: 20170615 Address after: 130012 Jilin high tech Zone Changchun Anxin Road No. 198 Patentee after: Jilin Province Qixing Kunda Electric Appliance Co., Ltd. Address before: 130012 Jilin City, Changchun province people's street, No. 5988 Patentee before: Jilin University |