CN104802645A - Parallel type electric vehicle regeneration brake system and control method thereof - Google Patents
Parallel type electric vehicle regeneration brake system and control method thereof Download PDFInfo
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Abstract
The invention discloses a parallel type electric vehicle regeneration brake system and a control method of the parallel type electric vehicle regeneration brake system. The parallel type electric vehicle regeneration brake system comprises a central processing unit, a vehicular speed sensor, an acceleration pedal position sensor, a brake pedal position sensor, a battery management system, a power battery, a motor controller and an electric motor; the central processing unit is respectively and electrically connected with the vehicular speed sensor, the acceleration pedal position sensor, the brake pedal position sensor, the battery management system, and the motor controller; the battery management is also electrically connected with the power battery; the motor controller is further electrically connected with the electric motor. According to the vehicular speed, the acceleration pedal position, the brake pedal position and acceptable maximum power of the current power battery, the current maximum useable feedback torque can be calculated, the highest feedback power is limited, and the power battery is protected.
Description
Technical field
The present invention relates to electric vehicle engineering field, particularly relate to a kind of parallel electronlmobil regeneration brake system and control method thereof.
Background technology
Along with traditional energy growing tension, electronlmobil is paid attention to by people day by day, the development of electronlmobil more and more receives the concern of people, by the restriction of battery energy density, the course continuation mileage of electronlmobil is not high, and motor itself has the dual nature that can be used as and drive and generate electricity, utilize motor as electrical generator, when not needing to increase extra means, the kinetic transformation that vehicle is wasted in braking procedure be electrical power storage in the power supply system, effectively can improve energy utilization rate, increase course continuation mileage, economize energy.Existing electronlmobil regeneration brake system does not have SOP (the State of Power according to electrokinetic cell when calculating feedback moment of torsion, available output under battery current state) situation limits the highest feedback power, cell damage or life-span may be caused to reduce because feedback current is excessive, also may cause motor damage in some cases.
China Patent Publication No. CN102501772, publication date on June 20th, 2012, the name of invention is called brake feedback control circuit and the method for electronlmobil, this application case discloses a kind of brake feedback control circuit and method of electronlmobil, it comprises controller, electrokinetic cell, motor and for the first DC contactor of the break-make that controls circuit between described electrokinetic cell and motor and the second DC contactor, one braking resistor and described motor parallel are arranged, described braking resistor is by the break-make of circuit between the braking resistor described in one the 3rd DC contactor and fuse control and described motor.Its weak point is, this brake feedback control circuit and method do not limit the highest feedback power according to the SOP situation of electrokinetic cell, cell damage or life-span may be caused to reduce because feedback current is excessive.
Summary of the invention
The object of the invention is to overcome when existing electronlmobil regeneration brake system calculates feedback moment of torsion and according to the SOP situation of electrokinetic cell, the highest feedback power is not limited; may because the excessive technical matters causing cell damage or life-span to reduce of feedback current; provide a kind of parallel electronlmobil regeneration brake system and control method thereof; it calculates current maximum available feedback moment of torsion according to the maximum power that the speed of a motor vehicle, accelerator pedal position, brake pedal position and current power battery can accept; the highest feedback power is limited, protection electrokinetic cell.
In order to solve the problem, the present invention is achieved by the following technical solutions:
The parallel electronlmobil regeneration brake system of one of the present invention, comprise central processing unit, car speed sensor, accelerator pedal position sensor, brake pedal position sensor, battery management system, electrokinetic cell, electric machine controller and motor, described central processing unit is electrically connected with car speed sensor, accelerator pedal position sensor, brake pedal position sensor, battery management system and electric machine controller respectively, described battery management system is also electrically connected with electrokinetic cell, and described electric machine controller is also electrically connected with motor.
In the technical program, car speed sensor detects current vehicle speed; Whether accelerator pedal position sensor detects acceleration pedal and is operated; Brake pedal position sensor detects the degree of depth that brake pedal is operated; Battery management system dynamics of management battery, and the maximum power information that can be accepted by current power battery is sent to central processing unit; Motor controller controls machine operation.
When acceleration pedal unclamps, first central processing unit gathers speed information, when the speed of a motor vehicle is less than feedback restriction rotating speed V1, does not carry out regenerative brake; When the speed of a motor vehicle is more than or equal to feedback restriction rotating speed V1, carry out regenerative brake.
After entering regenerative brake, whether central processing unit detects brake pedal and is operated.If brake pedal is operated, then the depth S that is operated of brake pedal that central processing unit detects according to car speed sensor current vehicle speed V, brake pedal position sensor detect and the maximum power P that the current power battery that battery management system sends can accept
max1calculate current maximum available feedback torque T 1; If brake pedal is not operated, the current vehicle speed V that central processing unit detects according to car speed sensor and the maximum power P that the current power battery that battery management system sends can accept
max1calculate and slide feedback torque T 2.
Central processing unit is by the maximum available feedback torque T 1 calculated or slide feedback torque T 2 and send to electric machine controller, motor controller controls motor works with given feedback moment of torsion, now motor is as electrical generator, is that electric energy is to power battery charging by the kinetic transformation of brake loss.
As preferably, described central processing unit is also electrically connected with ABS system.After entering regenerative brake, when brake pedal is operated, if now ABS system works, then do not carry out regenerative brake, ensure car brakeing safety.
As preferably, described central processing unit is electrically connected with battery management system and electric machine controller by CAN.
As preferably, described central processing unit is entire car controller.
One of the present invention parallel electronlmobil regeneration brake system control method, comprises the following steps:
S1: the state of central processing unit Real-Time Monitoring acceleration pedal;
S2: when acceleration pedal is not operated, accelerator pedal position sensor detects this information, central processing unit detects current vehicle speed by car speed sensor, if current vehicle speed is less than feedback restriction rotating speed V1, then jump to step S1, if current vehicle speed is more than or equal to feedback restriction rotating speed V1, then perform step S3;
S3: whether central processing unit detects brake pedal and be operated, if brake pedal is operated, then performs step S4, otherwise performs step S7;
S4: whether central processing unit detects ABS system and work, if ABS system works, then jumps to step S1, otherwise perform step S5;
S5: the depth S that the brake pedal that the current vehicle speed V that central processing unit detects according to car speed sensor, brake pedal position sensor detect is operated and the maximum power P that the current power battery that battery management system sends can accept
max1calculate current maximum available feedback torque T 1;
S6: the maximum available feedback torque T 1 calculated is sent to electric machine controller by central processing unit, and motor controller controls motor works with feedback torque T 1, the kinetic transformation of brake loss, as electrical generator, is that electric energy is to power battery charging by motor;
S7: the current vehicle speed V that central processing unit detects according to car speed sensor and the current power battery that sends of the battery management system maximum power P that can accept
max1calculate and slide feedback torque T 2;
S8: the feedback torque T 2 that slides calculated is sent to electric machine controller by central processing unit, and motor controller controls motor works with feedback torque T 2, the kinetic transformation of brake loss, as electrical generator, is that electric energy is to power battery charging by motor.
As preferably, calculate current maximum available feedback torque T 1 in described step S5 and comprise the following steps:
First calculate maximum feedback torque T according to vehicle velocity V
max1,
As V1≤V<V2, T
max1=K1 × (V-V1),
As V2≤V≤V3, T
max1t
max2,
As V>V3, T
max1k2 × P
max2/ V,
Wherein, K1, K2 are the constant of setting, T
max2for the maximum feedback moment of torsion of motor of setting, P
max2for the maximum feedback power of motor of setting,
Then according to motor speed N and maximum feedback torque T
max1, calculate the maximum charge power P 1, P1=T under this speed of a motor vehicle
max1× N/9550,
If P1≤P
max1, then maximum available feedback torque T 1=K3 × T
max1,
If P1>P
max1, then maximum available feedback torque T 1=K3 × K2 × P
max1/ V,
Wherein, K3=S/S1, S1 are that brake pedal is by the degree of depth of flooring.
As preferably, calculate in described step S7 and slide feedback torque T 2 and comprise the following steps:
First calculate maximum feedback torque T according to vehicle velocity V
max1,
As V1≤V<V2, T
max1=K1 × (V-V1),
As V2≤V≤V3, T
max1t
max2,
As V>V3, T
max1k2 × P
max2/ V,
Wherein, K1, K2 are the constant of setting, T
max2for the maximum feedback moment of torsion of motor of setting, P
max2for the maximum feedback power of motor of setting,
Then according to motor speed N and maximum feedback torque T
max1, calculate maximum charge power P 2, the P2=K4 × T under this speed of a motor vehicle
max1× N/9550, K4 are the constant of setting,
If P2≤P
max1, then feedback torque T 2=K4 × T is slided
max1,
If P2>P
max1, then feedback torque T 2=K4 × K2 × P is slided
max1/ V.
Substantial effect of the present invention is: (1) calculates current maximum available feedback moment of torsion according to the maximum power that the speed of a motor vehicle, accelerator pedal position, brake pedal position and current power battery can accept; the highest feedback power is limited; at utmost carry out energy regenerating; improve vehicle economy, protect electrokinetic cell and electric machine controller simultaneously.(2) control regenerative brake according to the brake pedal degree of depth, driver comfort is good.(3) increase ABS action message, ensure the safety of car brakeing.
Accompanying drawing explanation
Fig. 1 is that a kind of circuit theory of the present invention connects block diagram;
Fig. 2 is diagram of circuit of the present invention;
Fig. 3 is vehicle velocity V and maximum feedback torque T
max1graph of a relation.
In figure: 1, central processing unit, 2, car speed sensor, 3, accelerator pedal position sensor, 4, brake pedal position sensor, 5, battery management system, 6, electrokinetic cell, 7, electric machine controller, 8, motor, 9, ABS system.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment: the parallel electronlmobil regeneration brake system of one of the present embodiment, as shown in Figure 1, comprise central processing unit 1, car speed sensor 2, accelerator pedal position sensor 3, brake pedal position sensor 4, battery management system 5, electrokinetic cell 6, electric machine controller 7 and motor 8, central processing unit 1 is by CAN and battery management system 5 and electric machine controller 7, central processing unit 1 also respectively with car speed sensor 2, accelerator pedal position sensor 3, brake pedal position sensor 4 and ABS system 9 are electrically connected, battery management system 5 is also electrically connected with electrokinetic cell 6, electric machine controller 7 is also electrically connected with motor 8, central processing unit 1 is entire car controller.
Car speed sensor 2 detects current vehicle speed; Whether accelerator pedal position sensor 3 detects acceleration pedal and is operated; Brake pedal position sensor 4 detects the degree of depth that brake pedal is operated; Battery management system 5 dynamics of management battery 6, and the maximum power information that can be accepted by current power battery 6 is sent to central processing unit 1; Electric machine controller 7 controls motor 8 and works.
When acceleration pedal unclamps, first central processing unit 1 gathers speed information, when the speed of a motor vehicle is less than feedback restriction rotating speed V1, does not carry out regenerative brake; When the speed of a motor vehicle is more than or equal to feedback restriction rotating speed V1, carry out regenerative brake.
After entering regenerative brake, whether central processing unit 1 detects brake pedal and is operated.If brake pedal is operated, and ABS system 9 does not have action, then the depth S that is operated of brake pedal that central processing unit 1 detects according to car speed sensor 2 current vehicle speed V, brake pedal position sensor 4 detect and the maximum power P that the current power battery 6 that battery management system 5 sends can accept
max1calculate current maximum available feedback torque T 1; If brake pedal is not operated, the current vehicle speed V that central processing unit 1 detects according to the car speed sensor 2 and maximum power P that the current power battery 6 that battery management system 5 sends can accept
max1calculate and slide feedback torque T 2.
Central processing unit 1 is by the maximum available feedback torque T 1 calculated or slide feedback torque T 2 and send to electric machine controller 7, electric machine controller 7 controls motor 8 with the work of given feedback moment of torsion, now motor is as electrical generator, is that electric energy charges to electrokinetic cell 6 by the kinetic transformation of brake loss.
The one parallel electronlmobil regeneration brake system control method of the present embodiment, as shown in Figure 2, comprises the following steps:
S1: the state of central processing unit Real-Time Monitoring acceleration pedal;
S2: when acceleration pedal is not operated, accelerator pedal position sensor detects this information, central processing unit detects current vehicle speed by car speed sensor, if current vehicle speed is less than feedback restriction rotating speed V1, then jump to step S1, if current vehicle speed is more than or equal to feedback restriction rotating speed V1, then perform step S3;
S3: whether central processing unit detects brake pedal and be operated, if brake pedal is operated, then performs step S4, otherwise performs step S7;
S4: whether central processing unit detects ABS system and work, if ABS system works, then jumps to step S1, otherwise perform step S5;
S5: the depth S that the brake pedal that the current vehicle speed V that central processing unit detects according to car speed sensor, brake pedal position sensor detect is operated and the maximum power P that the current power battery that battery management system sends can accept
max1calculate current maximum available feedback torque T 1;
S6: the maximum available feedback torque T 1 calculated is sent to electric machine controller by central processing unit, and motor controller controls motor works with feedback torque T 1, the kinetic transformation of brake loss, as electrical generator, is that electric energy is to power battery charging by motor;
S7: the current vehicle speed V that central processing unit detects according to car speed sensor and the current power battery that sends of the battery management system maximum power P that can accept
max1calculate and slide feedback torque T 2;
S8: the feedback torque T 2 that slides calculated is sent to electric machine controller by central processing unit, and motor controller controls motor works with feedback torque T 2, the kinetic transformation of brake loss, as electrical generator, is that electric energy is to power battery charging by motor.
Calculate current maximum available feedback torque T 1 in step S5 to comprise the following steps:
First calculate maximum feedback torque T according to vehicle velocity V
max1, as shown in Figure 3,
As V1≤V<V2, T
max1=K1 × (V-V1),
As V2≤V≤V3, T
max1t
max2,
As V>V3, T
max1k2 × P
max2/ V,
Wherein, K1, K2 are the constant of setting, T
max2for the maximum feedback moment of torsion of the motor (T of setting
max2=K5 × T
max3, K5 is the constant of setting, T
max3torque peak for motor), P
max2for the maximum feedback power of motor of setting,
Then according to motor speed N and maximum feedback torque T
max1, calculate the maximum charge power P 1, P1=T under this speed of a motor vehicle
max1× N/9550,
If P1≤P
max1, then maximum available feedback torque T 1=K3 × T
max1,
If P1>P
max1, then maximum available feedback torque T 1=K3 × K2 × P
max1/ V,
Wherein, K3=S/S1, S1 be brake pedal by the degree of depth of flooring, P
max1for the maximum power that current power battery can accept.
Calculate in step S7 and slide feedback torque T 2 and comprise the following steps:
First calculate maximum feedback torque T according to vehicle velocity V
max1,
As V1≤V<V2, T
max1=K1 × (V-V1),
As V2≤V≤V3, T
max1t
max2,
As V>V3, T
max1k2 × P
max2/ V,
Wherein, K1, K2 are the constant of setting, T
max2for the maximum feedback moment of torsion of motor of setting, P
max2for the maximum feedback power of motor of setting,
Then according to motor speed N and maximum feedback torque T
max1, calculate maximum charge power P 2, the P2=K4 × T under this speed of a motor vehicle
max1× N/9550, K4 are the constant of setting,
If P2≤P
max1, then feedback torque T 2=K4 × T is slided
max1,
If P2>P
max1, then feedback torque T 2=K4 × K2 × P is slided
max1/ V.
Claims (7)
1. a parallel electronlmobil regeneration brake system, it is characterized in that: comprise central processing unit (1), car speed sensor (2), accelerator pedal position sensor (3), brake pedal position sensor (4), battery management system (5), electrokinetic cell (6), electric machine controller (7) and motor (8), described central processing unit (1) respectively with car speed sensor (2), accelerator pedal position sensor (3), brake pedal position sensor (4), battery management system (5) and electric machine controller (7) electrical connection, described battery management system (5) is also electrically connected with electrokinetic cell (6), described electric machine controller (7) is also electrically connected with motor (8).
2. the parallel electronlmobil regeneration brake system of one according to claim 1, is characterized in that: described central processing unit (1) is also electrically connected with ABS system (9).
3. the parallel electronlmobil regeneration brake system of one according to claim 1 and 2, is characterized in that: described central processing unit (1) is electrically connected with battery management system (5) and electric machine controller (7) by CAN.
4. the parallel electronlmobil regeneration brake system of one according to claim 1 and 2, is characterized in that: described central processing unit (1) is entire car controller.
5. a parallel electronlmobil regeneration brake system control method, is characterized in that, comprise the following steps:
S1: the state of central processing unit Real-Time Monitoring acceleration pedal;
S2: when acceleration pedal is not operated, accelerator pedal position sensor detects this information, central processing unit detects current vehicle speed by car speed sensor, if current vehicle speed is less than feedback restriction rotating speed V1, then jump to step S1, if current vehicle speed is more than or equal to feedback restriction rotating speed V1, then perform step S3;
S3: whether central processing unit detects brake pedal and be operated, if brake pedal is operated, then performs step S4, otherwise performs step S7;
S4: whether central processing unit detects ABS system and work, if ABS system works, then jumps to step S1, otherwise perform step S5;
S5: the depth S that the brake pedal that the current vehicle speed V that central processing unit detects according to car speed sensor, brake pedal position sensor detect is operated and the maximum power P that the current power battery that battery management system sends can accept
max1calculate current maximum available feedback torque T 1;
S6: the maximum available feedback torque T 1 calculated is sent to electric machine controller by central processing unit, and motor controller controls motor works with feedback torque T 1, the kinetic transformation of brake loss, as electrical generator, is that electric energy is to power battery charging by motor;
S7: the current vehicle speed V that central processing unit detects according to car speed sensor and the current power battery that sends of the battery management system maximum power P that can accept
max1calculate and slide feedback torque T 2;
S8: the feedback torque T 2 that slides calculated is sent to electric machine controller by central processing unit, and motor controller controls motor works with feedback torque T 2, the kinetic transformation of brake loss, as electrical generator, is that electric energy is to power battery charging by motor.
6. one according to claim 5 parallel electronlmobil regeneration brake system control method, is characterized in that, calculates current maximum available feedback torque T 1 and comprise the following steps in described step S5:
First calculate maximum feedback torque T according to vehicle velocity V
max1,
As V1≤V<V2, T
max1=K1 × (V-V1),
As V2≤V≤V3, T
max1t
max2,
As V>V3, T
max1k2 × P
max2/ V,
Wherein, K1, K2 are the constant of setting, T
max2for the maximum feedback moment of torsion of motor of setting, P
max2for the maximum feedback power of motor of setting,
Then according to motor speed N and maximum feedback torque T
max1, calculate the maximum charge power P 1, P1=T under this speed of a motor vehicle
max1× N/9550,
If P1≤P
max1, then maximum available feedback torque T 1=K3 × T
max1,
If P1>P
max1, then maximum available feedback torque T 1=K3 × K2 × P
max1/ V,
Wherein, K3=S/S1, S1 are that brake pedal is by the degree of depth of flooring.
7. one according to claim 5 parallel electronlmobil regeneration brake system control method, is characterized in that, calculates and slide feedback torque T 2 and comprise the following steps in described step S7:
First calculate maximum feedback torque T according to vehicle velocity V
max1,
As V1≤V<V2, T
max1=K1 × (V-V1),
As V2≤V≤V3, T
max1t
max2,
As V>V3, T
max1k2 × P
max2/ V,
Wherein, K1, K2 are the constant of setting, T
max2for the maximum feedback moment of torsion of motor of setting,
P
max2for the maximum feedback power of motor of setting,
Then according to motor speed N and maximum feedback torque T
max1, calculate maximum charge power P 2, the P2=K4 × T under this speed of a motor vehicle
max1× N/9550, K4 are the constant of setting,
If P2≤P
max1, then feedback torque T 2=K4 × T is slided
max1,
If P2>P
max1, then feedback torque T 2=K4 × K2 × P is slided
max1/ V.
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| CN105599616A (en) * | 2016-01-06 | 2016-05-25 | 北京新能源汽车股份有限公司 | Braking energy recovery control method and device and electromobile |
| CN105882425A (en) * | 2016-04-11 | 2016-08-24 | 纳恩博（北京）科技有限公司 | Method for recycling electric energy of electric automobile and electric automobile |
| CN106183835A (en) * | 2016-07-13 | 2016-12-07 | 纳恩博（北京）科技有限公司 | A kind of vehicle electric energy recovery method, device and electric motor car |
| CN106809020A (en) * | 2015-11-30 | 2017-06-09 | 北汽福田汽车股份有限公司 | auxiliary braking method, system and vehicle |
| CN107298024A (en) * | 2016-04-15 | 2017-10-27 | 宝沃汽车（中国）有限公司 | Energy feedback side, system and the vehicle of vehicle |
| CN107972494A (en) * | 2017-12-05 | 2018-05-01 | 东风柳州汽车有限公司 | Electric vehicle energy recycling and control method |
| CN112339569A (en) * | 2020-11-17 | 2021-02-09 | 奇瑞商用车（安徽）有限公司 | New energy vehicle braking energy recovery control method |
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| GB555069A (en) * | 1941-01-31 | 1943-08-03 | British Thomson Houston Co Ltd | Improvements in and relating to electric braking systems |
| JPH0937407A (en) * | 1995-07-18 | 1997-02-07 | Toyota Motor Corp | Controller for regenerative braking |
| CN102343824B (en) * | 2010-07-30 | 2013-07-10 | 北汽福田汽车股份有限公司 | Braking energy recovery control method of electric car and device thereof |
| CN102501772B (en) * | 2011-10-29 | 2014-04-23 | 苏州海格新能源汽车电控系统科技有限公司 | Brake feedback control circuit and method of electric vehicle |
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| CN106809020A (en) * | 2015-11-30 | 2017-06-09 | 北汽福田汽车股份有限公司 | auxiliary braking method, system and vehicle |
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| CN105599616A (en) * | 2016-01-06 | 2016-05-25 | 北京新能源汽车股份有限公司 | Braking energy recovery control method and device and electromobile |
| CN105599616B (en) * | 2016-01-06 | 2018-03-13 | 北京新能源汽车股份有限公司 | Brake energy recovery control method, device and electric car |
| CN105882425A (en) * | 2016-04-11 | 2016-08-24 | 纳恩博（北京）科技有限公司 | Method for recycling electric energy of electric automobile and electric automobile |
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| CN106183835B (en) * | 2016-07-13 | 2019-02-12 | 纳恩博（北京）科技有限公司 | A kind of vehicle electric energy recovery method, device and electric vehicle |
| CN107972494A (en) * | 2017-12-05 | 2018-05-01 | 东风柳州汽车有限公司 | Electric vehicle energy recycling and control method |
| CN112339569A (en) * | 2020-11-17 | 2021-02-09 | 奇瑞商用车（安徽）有限公司 | New energy vehicle braking energy recovery control method |
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