CN104924914B - A kind of braking system of electric car and brake control method - Google Patents
A kind of braking system of electric car and brake control method Download PDFInfo
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- CN104924914B CN104924914B CN201510329659.6A CN201510329659A CN104924914B CN 104924914 B CN104924914 B CN 104924914B CN 201510329659 A CN201510329659 A CN 201510329659A CN 104924914 B CN104924914 B CN 104924914B
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Abstract
The invention discloses a kind of braking system of electric car and brake control method；When brake handle is braked, braking energy is reclaimed to greatest extent using motor anti-dragged brake；When brake pedal is braked, mechanical friction brake force with motor anti-dragged brake power is organic is superimposed, if vehicle slip rate is no more than ABS limit values, ABS system is not involved in work, and total braking force is with brake pedal aperture linear change；If vehicle slip rate is more than ABS limit values, ABS system intervention work, ABS control unit informs entire car controller corresponding information by CAN, vehicle control unit controls motor is gradually backed out energy recuperation mode, and the braking force value being gradually backed out is informed into ABS control unit by CAN, ABS control unit control pressure supply valve is opened.It is of the invention organically to have merged mechanical braking, auxiliary braking and regenerative braking, the interference problem during electric vehicle brake is eliminated, brake efficiency is improved, manipulation of the lifting driver to brakes is experienced.
Description
Technical field
The present invention relates to electric vehicle brake field, more particularly to a kind of braking system of electric car and control for brake side
Method.
Background technology
The power of electric automobile has than larger difference with control system compared with orthodox car, and ISG is utilized during braking
It is the innate advantage of electric automobile that motor, which recovers energy and (is also known as regenerative braking), is also a big profit of electric automobile reduction energy consumption
Device.Brake energy recovery technology is widely studied and apply by domestic and international electric automobile manufacturer.It is advanced using Brake energy recovery
While technology, electric automobile has not had in complete abandoning tradition automobile very ripe mechanical-hydraulic or compressed air brake system
Unite and braking anti-lock is prevented dragging sliding technology, ABS EBAs are still installed.This widely used combination braking side
Case is seemed very rationally, but can cause various brake problems because control method is incorrect in actual application, when serious
Cause security incident.These problems mainly include：
1st, when driver steps on brake pedal, whether motor reclaims braking energy and reclaims the change of electric current, can bring not
Same brake force, feels different, it is impossible to anticipation braking distance to driver.If energy recovery state changes in braking procedure
Greatly, vehicle preshoot can be caused, security incident is easily caused.
2nd, in braking procedure, if ABS system is just in action, ISG motors continue to recover energy it is counter drag drive shaft, can influence
The distribution of vehicle antero posterior axis braking moment, disturbs ABS control strategy, does not simply fail to shorten braking distance, can extend system on the contrary
Dynamic distance reduction brake efficiency.
3rd, driver can not be individually with regenerative braking Braking system vehicle, it is impossible to control the size of regenerative braking efficiency.
The content of the invention
The purpose of the present invention is exactly that there is provided a kind of braking system of electric car and control for brake side in order to solve the above problems
Method, the braking scheme suitable for electric automobile of complete set organically merges mechanical braking, auxiliary braking and regenerative braking,
The interference problem during electric vehicle brake is eliminated, brake efficiency is improved, manipulation of the lifting driver to brakes is experienced.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of braking system of electric car, including ABS control unit, entire car controller and electric machine controller, the ABS controls
Unit processed, entire car controller and electric machine controller are connected by CAN and transmit message information；
Brake handle and braking reclaim state display device and all connect entire car controller；The output end connection of electric machine controller
Motor；
Multiple wheel speed sensors all connect the input of the ABS control unit；
ABS control unit adjusts the pressure of gas in valve regulation brake chamber, or ABS control unit by control pressure
The pressure of gas in valve regulation brake chamber is fed by control pressure；
Master cylinder is connected with brake pedal；Master cylinder is brake chamber conveying braking gas.
The pressure-regulating valve includes first pressure regulating valve, second pressure regulating valve, the 3rd pressure-regulating valve and the 4th
Four connection first pressure regulating valve, second pressure regulations respectively in pressure-regulating valve, the ABS control unit output end
The control end of valve, the 3rd pressure-regulating valve and the 4th pressure-regulating valve；The first pressure regulating valve and second pressure regulating valve
Inlet end connection master cylinder, outlet side connects respective brake chamber.
The output end connection pressure of the ABS control unit feeds the control end of valve；
The inlet end connection source of the gas of the pressure supply valve, outlet side connects two-way one-way valve；
The side air inlet termination master cylinder of the two-way one-way valve, opposite side air inlet termination pressure feeds the outlet of valve
End, the outlet of the two-way one-way valve terminates the inlet end of the 3rd pressure-regulating valve and the 4th pressure-regulating valve；3rd pressure
The outlet side of force regulating valve and the 4th pressure-regulating valve connects respective brake chamber.
The wheel speed sensor is provided with four, and each wheel sets one.
The motor is ISG motors.
A kind of brake control method of braking system of electric car, including：
When brake handle is braked, braking energy is reclaimed to greatest extent using motor anti-dragged brake；
When brake pedal is braked, mechanical friction brake force with motor anti-dragged brake power is organic is superimposed, if vehicle slip rate is not
More than ABS limit values, ABS system is not involved in work, with maximum brake force abrupt deceleration vehicle, shortens braking distance to greatest extent, always
Brake force is with brake pedal aperture linear change；
If vehicle slip rate is more than ABS limit values, ABS system intervention work, ABS control unit is informed whole by CAN
Vehicle controller corresponding information, vehicle control unit controls motor is gradually backed out energy recuperation mode, and by the brake force being gradually backed out
Value informs ABS control unit by CAN, and ABS control unit control pressure supply valve is opened, and by controlling first pressure
Regulating valve, second pressure regulating valve, the 3rd pressure-regulating valve and the 4th pressure-regulating valve, supplement the air pressure of brake chamber, increase
Mechanical friction brake force, makes up the regenerative braking power being gradually backed out, and the stage is controlled subsequently into ABS；
Meanwhile, vehicle control unit controls energy regenerating indicator lamp it is bright with not working.
In control process, handle braking processed and pedal brake processed are simultaneously deposited or during two kinds of modes of braking switchings, the feedback of motor
The maximum of brake force regenerative braking power for both.
The bright and specific method that is not working of vehicle control unit controls energy regenerating indicator lamp is：
Battery management system estimates the current chargeable power of battery according to real-time SOC, and is sent by CAN
To entire car controller；
Entire car controller determines whether to reclaim braking energy according to chargeable power and current motor speed, if not
Allow recovery braking energy then to brake recovery state display device and do not light energy regenerating indicator lamp；If allowing to reclaim braking energy
Then braking reclaims state display device and lights energy regenerating indicator lamp, while recovery braking torque can be used by calculating；
Entire car controller distinguishes the brake force of computation requests by brake handle aperture and brake pedal aperture size, takes most
Big value is as the brake force exported, so as to calculate actual motor anti-dragged brake power.
Beneficial effects of the present invention：
1st, the present invention has organically merged mechanical braking, auxiliary braking and regenerative braking, eliminates electric vehicle brake process
In interference problem, improve brake efficiency, lifting driver experiences to the manipulation of brakes.
2nd, original brakes need not be changed, independent control motor regenerative braking intensity is realized by increasing brake handle
Function, reclaims braking energy to greatest extent, reduces the frequency of use of mechanical friction brakes, improves making for brake friction pair
Use the life-span.
3rd, the makeup function that valve realizes motor regenerative braking exit time tool friction brake force is fed by pressure, it is to avoid system
There is the phenomenon of vehicle preshoot in dynamic process, improves brake comfort.
Brief description of the drawings
Fig. 1 is structure principle chart of the invention；
Fig. 2 is the implementation of the mode of braking of the present invention；
Fig. 3 is the implementation of the actual recovered brake force of the present invention；
In figure, 1, wheel speed sensor；2nd, brake chamber；3rd, first pressure regulating valve；4th, master cylinder；5th, ABS is controlled
Unit processed；6th, two-way one-way valve；7th, pressure supply valve；8th, electric machine controller；9th, entire car controller；10th, ISG motors；11st, brake
Handle；12nd, state display device is reclaimed in braking；13rd, brake pedal；14th, second pressure regulating valve；15th, the 3rd pressure-regulating valve,
16th, the 4th pressure-regulating valve.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of braking system of electric car, including ABS control unit 5, entire car controller 9 and motor control
Device 8, ABS control unit 5, entire car controller 9 and electric machine controller 8 are connected by CAN and transmit message information；
Brake handle 11 and braking reclaim state display device 12 and all connect entire car controller 9；The output of electric machine controller 8
End connection ISG motors 10；
Four wheels each set a wheel speed sensor 1, and four wheel speed sensors 1 all connect ABS controls
The input of unit 5；Four connection first pressure regulating valve 3, second pressure regulations respectively in the output end of ABS control unit 5
The control end of valve 14, the 3rd pressure-regulating valve 15 and the 4th pressure-regulating valve 16；The output end connection of ABS control unit 5
Pressure feeds the control end of valve 7；
The inlet end connection source of the gas of pressure supply valve 7, outlet side connects two-way one-way valve 6；
The side air inlet termination master cylinder 4 of two-way one-way valve 6, opposite side air inlet termination pressure feeds the outlet side of valve 7,
The outlet of two-way one-way valve 6 terminates the inlet end of the 3rd pressure-regulating valve 15 and the 4th pressure-regulating valve 16；3rd pressure is adjusted
The outlet side of the pressure-regulating valve 16 of valve 15 and the 4th connects respective brake chamber 2；
Master cylinder 4 is also connected with brake pedal 13；
The inlet end connection master cylinder 4 of first pressure regulating valve 3 and second pressure regulating valve 14, outlet side connection is respective
Brake chamber 2.
As shown in Fig. 2 a kind of brake control method of braking system of electric car, including：
A, driver select mode of braking according to actual condition, and brake condition is not urgent or can select handle during lower long slope
Braking, braking energy is reclaimed using motor anti-dragged brake to greatest extent.When the braking distance of brake hard or requirement is shorter, selection
Pedal brake mode, mechanical friction brake force with motor anti-dragged brake power is organic is superimposed, with maximum brake force abrupt deceleration vehicle, most
Limits shorten braking distance, and total braking force is with brake pedal aperture linear change.
B, handle braking and pedal brake are simultaneously deposited or during the switching of two kinds of modes of braking, the regenerative braking power of motor is returned for the two
Present the maximum of brake force, it is to avoid total braking force is mutated to the direction of reduction.
When c, brake pedal braking, if vehicle slip rate is more than ABS limit values, ABS system intervention work, ABS control unit
Entire car controller corresponding information is informed by CAN, vehicle control unit controls motor is gradually backed out energy recuperation mode, and will
The braking force value being gradually backed out informs ABS control unit by CAN, and abs controller control pressure supply valve is opened, and is led to
Control pressure regulating valve is crossed, the air pressure of brake chamber is supplemented, increases mechanical friction brake force, makes up the regenerative braking being gradually backed out
Power, controls the stage subsequently into ABS, prevents the sensation of vehicle preshoot brought when regenerative braking is exited.ABS controls the stage to be existing
There is technological means, will not be repeated here.
As shown in figure 3, a kind of brake control method of braking system of electric car, in addition to：
Battery management system estimates the current chargeable power of battery according to real-time SOC, and is sent by CAN
To entire car controller；
Entire car controller determines whether to reclaim braking energy according to chargeable power and current motor speed, if not
Allow recovery braking energy then to brake recovery state display device and do not light energy regenerating indicator lamp；If allowing to reclaim braking energy
Then braking reclaims state display device and lights energy regenerating indicator lamp, while recovery braking torque can be used by calculating.
Entire car controller is determined whether to reclaim braking energy according to chargeable power and current motor speed, calculated
Can be with braking torque be reclaimed, the method for the two is that prior art is soluble, be will not be repeated here.
Entire car controller distinguishes the brake force of computation requests by brake handle aperture and brake pedal aperture size, takes most
Big value, the brake force asked as driver, so as to calculate actual motor anti-dragged brake power.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (7)
1. a kind of braking system of electric car, it is characterized in that, including ABS control unit, entire car controller and electric machine controller, institute
ABS control unit, entire car controller and electric machine controller is stated to connect by CAN and transmit message information；
Brake handle and braking reclaim state display device and all connect entire car controller；The output end connection electricity of electric machine controller
Machine；
Multiple wheel speed sensors all connect the input of the ABS control unit；ABS control unit is adjusted by control pressure
The pressure of gas in valve regulation brake chamber is saved, or ABS control unit is fed in valve regulation brake chamber by control pressure
The pressure of gas；Master cylinder is connected with brake pedal；Master cylinder is brake chamber conveying braking gas；
The pressure-regulating valve includes first pressure regulating valve, second pressure regulating valve, the 3rd pressure-regulating valve and the 4th pressure
Four in regulating valve, the ABS control unit output end connection first pressure regulating valve, second pressure regulating valve, the respectively
The control end of three pressure-regulating valves and the 4th pressure-regulating valve；The air inlet of the first pressure regulating valve and second pressure regulating valve
End connection master cylinder, outlet side connects respective brake chamber；
The output end connection pressure of the ABS control unit feeds the control end of valve；
The inlet end connection source of the gas of the pressure supply valve, outlet side connects two-way one-way valve；
The side air inlet termination master cylinder of the two-way one-way valve, opposite side air inlet termination pressure feeds the outlet side of valve, institute
The outlet for stating two-way one-way valve terminates the inlet end of the 3rd pressure-regulating valve and the 4th pressure-regulating valve；The 3rd pressure regulation
The outlet side of valve and the 4th pressure-regulating valve connects respective brake chamber.
2. a kind of braking system of electric car as claimed in claim 1, it is characterized in that, the wheel speed sensor is provided with four
Individual, each wheel sets one.
3. a kind of braking system of electric car as claimed in claim 1, it is characterized in that, the motor is ISG motors.
4. a kind of brake control method of braking system of electric car as claimed in claim 1, it is characterized in that, including：
When brake handle is braked, braking energy is reclaimed to greatest extent using motor anti-dragged brake；
When brake pedal is braked, mechanical friction brake force with motor anti-dragged brake power is organic is superimposed, if vehicle slip rate is no more than
ABS limit values, ABS system is not involved in work, with maximum brake force abrupt deceleration vehicle, shortens braking distance to greatest extent, total braking
Power is with brake pedal aperture linear change；
If vehicle slip rate informs vehicle control more than ABS limit values, ABS system intervention work, ABS control unit by CAN
Device corresponding information processed, vehicle control unit controls motor is gradually backed out energy recuperation mode, and the braking force value being gradually backed out is led to
Cross CAN and inform ABS control unit, ABS control unit control pressure supply valve is opened, and by controlling first pressure to adjust
Valve, second pressure regulating valve, the 3rd pressure-regulating valve and the 4th pressure-regulating valve, supplement the air pressure of brake chamber, increase machinery
Friction brake force, makes up the regenerative braking power being gradually backed out, and the stage is controlled subsequently into ABS；
Meanwhile, vehicle control unit controls energy regenerating indicator lamp it is bright with not working.
5. a kind of brake control method of braking system of electric car as claimed in claim 4, it is characterized in that, control process
In, handle braking processed and pedal brake processed are simultaneously deposited or when two kinds of modes of braking switch, regenerative braking power feedbacks for both of motor
The maximum of brake force.
6. a kind of brake control method of braking system of electric car as claimed in claim 4, it is characterized in that, entire car controller
Specific method of the bright of energy regenerating indicator lamp with not working is controlled to be：
Battery management system estimates the current chargeable power of battery according to real-time SOC, and is sent to by CAN whole
Vehicle controller；
Entire car controller determines whether to reclaim braking energy according to chargeable power and current motor speed, if not allowing
Recovery braking energy then brakes recovery state display device and does not light energy regenerating indicator lamp；Made if allowing to reclaim braking energy
The dynamic state display device that reclaims lights energy regenerating indicator lamp, while recovery braking torque can be used by calculating.
7. a kind of brake control method of braking system of electric car as claimed in claim 4, it is characterized in that, entire car controller
The brake force of computation requests is distinguished by brake handle aperture and brake pedal aperture size, maximum is taken as the braking of output
Power, so as to calculate actual motor anti-dragged brake power.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510329659.6A CN104924914B (en) | 2015-06-15 | 2015-06-15 | A kind of braking system of electric car and brake control method |
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| CN201510329659.6A CN104924914B (en) | 2015-06-15 | 2015-06-15 | A kind of braking system of electric car and brake control method |
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| CN104924914B true CN104924914B (en) | 2017-08-25 |
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| CN109827782B (en) * | 2019-03-25 | 2020-09-01 | 江西江铃集团新能源汽车有限公司 | Brake linear calibration method and system of electric automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204845581U (en) * | 2015-06-15 | 2015-12-09 | 中通客车控股股份有限公司 | Electric automobile braking system |
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| US20070108838A1 (en) * | 2005-11-14 | 2007-05-17 | Ford Global Technologies, Llc | Regenerative braking control system and method |
| CN100491153C (en) * | 2006-10-08 | 2009-05-27 | 清华大学 | Composite braking system for electric automobile |
| CN101734164B (en) * | 2009-12-21 | 2011-09-14 | 清华大学 | Automobile composite braking system |
| CN102490617B (en) * | 2011-11-14 | 2014-04-09 | 江苏大学 | Hybrid braking system with active auxiliary braking function and control method |
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| CN204845581U (en) * | 2015-06-15 | 2015-12-09 | 中通客车控股股份有限公司 | Electric automobile braking system |
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Address after: 252000 No.261 Huanghe Road, economic development zone, Liaocheng City, Shandong Province Patentee after: Zhongtong bus Limited by Share Ltd. Address before: 252000 No.261 Huanghe Road, economic development zone, Liaocheng City, Shandong Province Patentee before: ZHONGTONG BUS HOLDING Co.,Ltd. |
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