CN104192107A - Precursor electric automobile regenerative braking and ABS matching control method - Google Patents
Precursor electric automobile regenerative braking and ABS matching control method Download PDFInfo
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- CN104192107A CN104192107A CN201410401713.9A CN201410401713A CN104192107A CN 104192107 A CN104192107 A CN 104192107A CN 201410401713 A CN201410401713 A CN 201410401713A CN 104192107 A CN104192107 A CN 104192107A
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Abstract
The invention relates to the technical field of electric automobiles, in particular to a precursor electric automobile regenerative braking and ABS matching control method. A controller determines the strength of braking, then whether the braking is emergency braking or not is judged according to the electric liquid composite braking strategy, and if the braking is the emergency braking, an ABS is started directly; if the braking is not the emergency braking, the braking force of a front axle of an automobile and the braking force of a rear axle of the automobile are determined, and the friction braking force of the front axle, the friction braking force of the rear axle and the regenerative braking force of the front axle are determined by combining the maximum regenerative braking force; when it is detected that front wheels arrive at the optimal slip rate, the ABS is started, the regenerative braking force is kept to be constant, the pressure of a wheel braking cylinder is adjusted, the wheel slip rate is controlled to be at the optimal value, and locking of the wheels is avoided; when it is detected that rear wheels are in a locking trend, and the rear wheel slip rate is controlled by using a traditional ABS. According to the method, a regenerative braking system and the ABS are combined to conduct comprehensive control, a part of braking energy can be recycled, the economical efficiency can be improved, and the automobile can obtain better braking performance.
Description
Technical field
The present invention relates to electric vehicle engineering field, be specifically related to a kind of front drive electric automobile regenerative brake and ABS match control method.
Background technology
In recent years, electronlmobil has received the concern of all circles with the advantage of its low energy consumption, zero-emission, and electronlmobil is also studied energetically under the ordering about of Policy orientation by government by some enterprises and scientific research institution.
Braking energy recovery technology is the important means of electric automobile energy saving, and motor has two kinds of mode of operations: drive motor state and electric generator state.When motor is in the time that generating state moves, both can produce brake torque to axle, realize car deceleration, the part braking energy of automobile can be converted to electric energy again, give power battery charging, thereby improve the course continuation mileage of automobile.In the operating mode of city, automobile starting and braking procedure occur frequent especially, and electronlmobil can reclaim more braking energy.Relevant research shows, in urban work, if the braking energy of automobile can be carried out to actv. recovery, its course continuation mileage will improve 10 to percent 30.Regenerative Braking Technology has good effect to the wearing and tearing of reduction energy resource consumption, the discharge that reduces pollutants and minimizing drg brake plate.
Wheel lockup is the problem that automobile often can run in the process of braking, its one side can be aggravated the wearing and tearing of tire, can cause again on the other hand automobile to occur dangerous situation: when front-wheel locking, automobile will be lost steering capability, cannot avoid people or obstacle; Rear lock can make the dangerous working conditions such as automobile breaks away, whipping.Wheel lockup is more dangerous, and for this reason, anti-skid brake system (Anti-lock Braking System, be called for short ABS) is introduced in brake system of car, and constantly obtains people's accreditation, has now become one of standard configuration that automobile dispatches from the factory.After automobile is introduced ABS, even if there is emergency braking situation, wheel, also in non-locking state, has so just been avoided the generation of front-wheel locking or rear lock situation, has improved the safety of automobile in braking procedure.What ABS system mainly adopted is electron controls technology, and it is made up of controller, wheel speed sensors and electromagnetic valve three parts.In braking procedure, in the time that wheel speed sensors detects that wheel has locking trend, controller can be controlled electromagnetic valve and carry out corresponding operation, pressure in brake wheel cylinder is repeatedly switched in three processes of supercharging-pressurize-decompression, prevent wheel lockup, and the slip rate of wheel is controlled near a best value, thereby obtain maximum braking deceleration, reduce stopping distance, make automobile ramp to stop as early as possible.
Than traditional fuel-engined vehicle, the brake system of electronlmobil is many individual regeneration brake system, and in the process of braking, regeneration brake system will participate in whole braking procedure, it and ABS system concur, therefore, the coupling of how to do well between these two with coordinate just to seem particularly important.
In order to ensure the directional balance of braking vehicle and enough brake efficiencys, the ECE R13 brake legislation that UNECE formulates has proposed clear and definite requirement to two-axle motor unit antero posterior axis brake braking force.In ECE R13 brake legislation " about the unified regulation of M, N and O class car brakeing certification ", clearly specify that diaxon automobile axle braking force distribution ratio should meet following requirement:
For
between various vehicles, require rate of braking
Vehicle is under various loading conditions, and front axle utilizes adhesion value curve to utilize on adhesion value curve at rear axle.In the time that rate of braking is between 0.3～0.45, if rear axle utilizes adhesion value, curve exceedes straight line
allow rear axle utilize adhesion value curve front axle utilize adhesion value curve above.ECE regulation for the requirement of the brakig force distribution of car as shown in Figure 1.
The brake system of pure electric automobile combines regeneration brake system and conventional hydraulic brake system, and therefore, the required lock torque of automobile is provided jointly by regenerative braking moment and friction braking moment.Adding of regenerative braking moment, must change automobile antero posterior axis brake braking force distribution ratio, the requirement that the value after change also should satisfy regulatory.
Regeneration brake system can reclaim braking energy, extends course continuation mileage, and therefore, we should as much as possiblely make regenerative brake power participate in braking procedure.But because regenerative brake masterpiece is used on drive wheel, adding of it must increase braking force distribution ratio β value, the possibility that makes front-wheel be tending towards locking strengthens, and rear-wheel braking force application is not enough.
Angle based on improving capacity usage ratio is considered, in the time that electronlmobil is braked, should allow as much as possible regenerative brake power system remove the braking force that provides required while braking, in the time that it can not meet, be provided by traditional friction brake force again, but the necessary safety that ensures braking procedure.Therefore, the brake system of pure electric automobile should possess following three functions:
(1) meet the demand of total braking force.No matter the composite braking system of controller control, in which kind of mode of operation, all must meet braking force that brake system provides and equal total demand braking force, makes braking effect consistent with the expection of chaufeur.
(2) meet the requirement of ECE brake legislation.Drag in order to prevent in braking procedure that trailing wheel shifts to an earlier date locking dangerous situations such as skidding off existing sideslip, whipping, improve the adhesion value that utilizes of front and back wheel simultaneously, require the distribution of automobile axle brake braking force must meet ECE laws and regulations requirement.
(3) braking anti-lock function.In order to improve deceleration and stopping performance, the brake system of pure electric automobile also should be loaded ABS system, wheel generation locking while preventing from braking.Meanwhile, ABS system is controlled at the slip rate of motor tire near optimum value, thereby can obtain larger braking deceleration, reduces stopping distance.
1015, under the typical recycling operating mode such as NYCC, ECE-EUDC, maximum speed and the average ground speed of automobile are lower, brake snub process is frequent, and it is more that rate of braking is less than 0.3 middle low brake condition, wherein rate of braking is less than 0.1 ratio and accounts for respectively 96.2%, 75.5%, 90.3%.For this reason, research regenerative brake and ABS matching control policy extends to rainwater for pure electric vehicle or the larger area of snowfall has very important significance.
Summary of the invention
For solving the deficiency in above-mentioned technology, the object of the invention is to: a kind of front drive electric automobile regenerative brake and ABS match control method are provided, regeneration brake system and ABS system are combined, carry out Comprehensive Control, when meeting total braking force demand and the requirement of ECE brake legislation, realize braking anti-lock function, not only can recovery section braking energy, improve economy, can also make automobile obtain better deceleration and stopping performance.
For solving its technical matters, the technical solution used in the present invention is:
Described front drive electric automobile regenerative brake and ABS match control method, comprising:
A. controller is determined electronlmobil rate of braking according to the aperture of brake pedal, and then judges according to electricity, liquid composite brakig control policy whether this braking is emergency braking;
If b. emergency braking, directly enters ABS antiblock device, regeneration brake system does not participate in braking; If not first emergency braking determines automobile axle braking force according to ECE brake legislation, then the maximum regeneration braking force that can provide in conjunction with motor, determine the friction brake force of axle and the regenerative brake power of front axle;
C. control respectively for electronlmobil front and rear wheel, calculate respectively the angular deceleration of front and back wheel according to the forward and backward angular speed of wheel signal of electronlmobil, in the time that it is less than reference value-X, illustrate that wheel is tending towards the possibility of locking larger, the slip rate that now calculates again front and back wheel according to electronlmobil front and rear wheel rotating speed and reference speed, judges with this whether tire is tending towards locking;
If d. slip rate is greater than optimal slip ratio, illustrate that wheel is tending towards locking, now, the maximum regeneration braking force size that should keep it to provide for front-wheel is constant, avoids locking by regulating friction brake force to control wheel; For trailing wheel,, directly by regulating friction brake force to prevent that it from locking occurring, if slip rate is less than optimal slip ratio, can there is not locking in wheel, do not process.
The present invention overcomes to differ in the hydraulic brake system short time and fills up surely the defect of the braking force that regeneration brake system reduces, and prevents that shake from appearring in electronlmobil, ensures that total braking force meets the braking requirement of chaufeur; While preventing that automobile from braking on low adhesion value road surfaces such as sleet, because very little rate of braking causes wheel generation locking phenomenon, reclaim to greatest extent the energy consuming in car deceleration braking procedure, improved the degree of utilization of energy.
Wherein, described electricity, liquid composite brakig control policy are:
In the time of 0<z<0.1, the no requirement (NR) of ECE brake legislation, now, the required braking force of braking procedure is less, regenerative brake power can provide completely, therefore provide separately braking force by regenerative brake power, friction brake force does not participate in braking procedure, with recovery braking energy as much as possible;
In the time of 0.1<z<0.7, adopt composite brakig pattern, regenerative brake power and friction brake force participate in braking procedure simultaneously.The preferential regenerative brake power that adopts, when the maximum torque that can provide when motor can not provide the required braking force of car load, friction brake force participates in braking again, provides and remains required braking force;
In the time of z>0.7, belong to emergency braking operating mode, now, in order to ensure the safety of braking, exit regeneration brake system, provide braking required braking force completely by traditional hydraulic brake system;
Wherein, z is rate of braking.
In conjunction with the brake-power distribution chart of ECE regulation car, and formula
and formula
calculate the span of braking force distribution ratio β.
In above formula, a is the distance of electronlmobil centroid distance front-wheel, and b is the distance of electronlmobil centroid distance trailing wheel, h
gfor electronlmobil height of center of mass, the wheelbase that L is automobile, above-mentioned parameter unit is rice (m).
The parameters of substitution car, the relational expression of last matching can be expressed as:
β＝0.85-0.1z (4)
Calculate the total braking force of electronlmobil according to the existing known technology of auto trade, the total braking force of electronlmobil recently calculates electronlmobil axle braking force according to brakig force distribution formula (4) Suo Shu after determining.After electronlmobil axle braking force is determined, the rear axle braking force of front drive electric automobile is all provided by friction brake force, front axle braking force is provided jointly by friction brake force and the regenerative brake power of front axle, front axle regenerative brake power can uniquely be determined according to the characteristic curve of electronlmobil motor used, after front axle regenerative brake power is determined, the total braking force of front axle deducts regenerative brake power and is front axle friction brake force.
In addition, described reference value X span is 37-43, preferably 40; Described optimal slip ratio span is 0.15-0.4, preferably 0.2.
Compared with prior art, the present invention has following beneficial effect:
The present invention combines regeneration brake system and ABS system, carry out Comprehensive Control, when meeting total braking force demand and the requirement of ECE brake legislation, realize braking anti-lock function, not only can recovery section braking energy, improve economy, can also make automobile obtain better deceleration and stopping performance, overcoming differed in the hydraulic brake system short time fills up the defect of the braking force that regeneration brake system reduces surely, prevents that shake from appearring in electronlmobil, ensures that total braking force meets the braking requirement of chaufeur; While preventing that automobile from braking on low adhesion value road surfaces such as sleet, because very little rate of braking causes wheel generation locking phenomenon, reclaim to greatest extent the energy consuming in car deceleration braking procedure, improved the degree of utilization of energy.
Brief description of the drawings
Fig. 1 ECE regulation is distributed and is required figure for car brake power.
Fig. 2 control program diagram of circuit of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is described further:
As shown in Figure 1-2, described front drive electric automobile regenerative brake and ABS match control method, comprising:
A. controller is determined electronlmobil rate of braking according to the aperture of brake pedal, and then judges according to electricity, liquid composite brakig control policy whether this braking is emergency braking;
If b. emergency braking, directly enters ABS antiblock device, regeneration brake system does not participate in braking; If not first emergency braking determines automobile axle braking force according to ECE brake legislation, then the maximum regeneration braking force that can provide in conjunction with motor, determine the friction brake force of axle and the regenerative brake power of front axle;
C. control respectively for electronlmobil front and rear wheel, calculate respectively the angular deceleration of front and back wheel according to the forward and backward angular speed of wheel signal of electronlmobil, in the time that it is less than reference value-X, illustrate that wheel is tending towards the possibility of locking larger, the slip rate that now calculates again front and back wheel according to electronlmobil front and rear wheel rotating speed and reference speed, judges with this whether tire is tending towards locking;
If d. slip rate is greater than optimal slip ratio, illustrate that wheel is tending towards locking, now, the maximum regeneration braking force size that should keep it to provide for front-wheel is constant, avoids locking by regulating friction brake force to control wheel; For trailing wheel,, directly by regulating friction brake force to prevent that it from locking occurring, if slip rate is less than optimal slip ratio, can there is not locking in wheel, do not process.
The present invention overcomes to differ in the hydraulic brake system short time and fills up surely the defect of the braking force that regeneration brake system reduces, and prevents that shake from appearring in electronlmobil, ensures that total braking force meets the braking requirement of chaufeur; While preventing that automobile from braking on low adhesion value road surfaces such as sleet, because very little rate of braking causes wheel generation locking phenomenon, reclaim to greatest extent the energy consuming in car deceleration braking procedure, improved the degree of utilization of energy.
In the present embodiment, reference value X span is 37-43, preferably 40; Optimal slip ratio span is 0.15-0.4, preferably 0.2, and in Fig. 2, optimal slip ratio S is taking 0.2 as example; Described electricity, liquid composite brakig control policy are:
In the time of 0<z<0.1, the no requirement (NR) of ECE brake legislation, now, the required braking force of braking procedure is less, regenerative brake power can provide completely, therefore provide separately braking force by regenerative brake power, friction brake force does not participate in braking procedure, with recovery braking energy as much as possible;
In the time of 0.1<z<0.7, adopt composite brakig pattern, regenerative brake power and friction brake force participate in braking procedure simultaneously.The preferential regenerative brake power that adopts, when the maximum torque that can provide when motor can not provide the required braking force of car load, friction brake force participates in braking again, provides and remains required braking force;
In the time of z>0.7, belong to emergency braking operating mode, now, in order to ensure the safety of braking, exit regeneration brake system, provide braking required braking force completely by traditional hydraulic brake system;
Wherein, z is rate of braking.
In conjunction with the brake-power distribution chart of ECE regulation car, and formula
and formula
calculate the span of braking force distribution ratio β.
In above formula, a is the distance of electronlmobil centroid distance front-wheel, and b is the distance of electronlmobil centroid distance trailing wheel, h
gfor electronlmobil height of center of mass, the wheelbase that L is automobile, above-mentioned parameter unit is rice (m).
The parameters of substitution car, the relational expression of last matching can be expressed as:
β＝0.85-0.1z (7)
Calculate the total braking force of electronlmobil according to the existing known technology of auto trade, the total braking force of electronlmobil recently calculates electronlmobil axle braking force according to brakig force distribution formula (7) Suo Shu after determining.After electronlmobil axle braking force is determined, the rear axle braking force of front drive electric automobile is all provided by friction brake force, front axle braking force is provided jointly by friction brake force and the regenerative brake power of front axle, front axle regenerative brake power can uniquely be determined according to the characteristic curve of electronlmobil motor used, after front axle regenerative brake power is determined, the total braking force of front axle deducts regenerative brake power and is front axle friction brake force.
The present invention combines regeneration brake system and ABS system, carry out Comprehensive Control, when meeting total braking force demand and the requirement of ECE brake legislation, realize braking anti-lock function, not only can recovery section braking energy, improve economy, can also make automobile obtain better deceleration and stopping performance, overcoming differed in the hydraulic brake system short time fills up the defect of the braking force that regeneration brake system reduces surely, prevents that shake from appearring in electronlmobil, ensures that total braking force meets the braking requirement of chaufeur; While preventing that automobile from braking on low adhesion value road surfaces such as sleet, because very little rate of braking causes wheel generation locking phenomenon, reclaim to greatest extent the energy consuming in car deceleration braking procedure, improved the degree of utilization of energy.
Claims (6)
1. before, drive electric automobile regenerative brake and an ABS match control method, is characterized in that, comprising:
A. controller is determined electronlmobil rate of braking according to the aperture of brake pedal, and then judges according to electricity, liquid composite brakig control policy whether this braking is emergency braking;
If b. emergency braking, directly enters ABS antiblock device, regeneration brake system does not participate in braking; If not first emergency braking determines automobile axle braking force according to ECE brake legislation, then the maximum regeneration braking force that can provide in conjunction with motor, determine the friction brake force of axle and the regenerative brake power of front axle;
C. control respectively for electronlmobil front and rear wheel, calculate respectively the angular deceleration of front and back wheel according to the forward and backward angular speed of wheel signal of electronlmobil, in the time that it is less than reference value-X, illustrate that wheel is tending towards the possibility of locking larger, the slip rate that now calculates again front and back wheel according to electronlmobil front and rear wheel rotating speed and reference speed, judges with this whether tire is tending towards locking;
If d. slip rate is greater than optimal slip ratio, illustrate that wheel is tending towards locking, now, the maximum regeneration braking force size that should keep it to provide for front-wheel is constant, avoids locking by regulating friction brake force to control wheel; For trailing wheel,, directly by regulating friction brake force to prevent that it from locking occurring, if slip rate is less than optimal slip ratio, can there is not locking in wheel, do not process.
2. front drive electric automobile regenerative brake according to claim 1 and ABS match control method, it is characterized in that, the matching relational expression of described rate of braking and braking force distribution ratio β is: β=0.85-0.1z, and wherein z represents rate of braking, β is braking force distribution ratio.
3. front drive electric automobile regenerative brake according to claim 1 and ABS match control method, is characterized in that, described reference value X span is 37-43.
4. according to front drive electric automobile regenerative brake and ABS match control method described in claim 1 or 3, it is characterized in that, described reference value X is 40.
5. front drive electric automobile regenerative brake according to claim 1 and ABS match control method, is characterized in that, described optimal slip ratio span is 0.15-0.4.
6. front drive electric automobile regenerative brake according to claim 1 and ABS match control method, is characterized in that, described optimal slip ratio is 0.2.
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