CN105021406A - Driving-condition-based testing method for regenerative brake system of electric automobile - Google Patents
Driving-condition-based testing method for regenerative brake system of electric automobile Download PDFInfo
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- CN105021406A CN105021406A CN201510438120.4A CN201510438120A CN105021406A CN 105021406 A CN105021406 A CN 105021406A CN 201510438120 A CN201510438120 A CN 201510438120A CN 105021406 A CN105021406 A CN 105021406A
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- regeneration brake
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Abstract
The invention discloses a driving-condition-based testing method for a regenerative brake system of an electric automobile and belongs to the field of electric automobiles. The method includes a step 1 of configuring experimental parameters (selecting experimental automobile parameters if experimental automobile parameters are in a list); a step 2 of selecting an experimental working condition or importing the experimental working condition in a new EXCEL format to an upper computer; a step 3 of selecting a communication interface; a step 4 of performing rack working condition testing and choosing data saving path and format based on requirements after the whole cycle is ended; and a step 5 of performing result analysis, evaluating whether requirements for the regenerative brake system are met or not and modifying a program according to the evaluation result. According to the invention, problems of control method complexity in a traditional testing process of the regenerative brake system of the electric automobile are solved. Actual driving condition of the electric automobile can be simulated on a testing rack. The method provided by the invention is accurate in control and high in regenerative brake feedback rate calculation.
Description
Technical field
The present invention relates to the regenerative braking method of testing in electric automobile field, be specifically related to a kind of electric automobile regeneration brake system method of testing based on driving cycle.
Background technology
In today that energy crisis and environmental pollution worsen more, Development of EV seems particularly important.Compared with conventional truck, electric automobile can pass through regenerative braking recycling part energy, improves energy utilization rate.Continual mileage is the critical index weighing electric automobile performance, and regenerative braking can reclaim the portion of energy of braking procedure, and in driving process by fault offset out, can extending driving range well.
Compared with orthodox car, partial brake Conversion of Energy can be mechanical energy and electric energy by the electric automobile being equipped with regeneration brake system in braking procedure, finally be stored in electrokinetic cell with the form of chemical energy, thus improve electric automobile energy utilization factor and course continuation mileage etc.And mileage and regenerative braking efficiency are one of important performance indexes of electric automobile during continuous under given travel operating mode of the electric automobile being furnished with regeneration brake system.The electric automobile being furnished with regeneration brake system to be measured not only need at special experimental site on real vehicle, and need higher control method, can travel according to canonical form operating mode.In the present invention, the test of electric automobile traction and braking is carried out on experimental stand, can the driving cycle of simulated automotive reality.
Summary of the invention
The object of the present invention is to provide a kind of electric automobile regeneration brake system method of testing based on driving cycle, user can complete the tests such as continual mileage, energy consumption, regenerative braking feedback energy and assessment according to oneself electric automobile whole parameter and self-defined driving cycle in indoor.Realize technical scheme of the present invention as follows:
Based on an electric automobile regeneration brake system method of testing for driving cycle, comprise the steps:
Step 1, configuration experiment parameter; Comprise: the host computer interface first opening this test platform, then according to regeneration brake system experiment needs, the parameter of configuration laboratory vehicle, if there is the parameter of laboratory vehicle, direct choice experiment car parameter;
Step 2, choice experiment operating mode; Need to be configured, to select the state of cyclic operation given tacit consent in test platform according to regeneration brake system experiment, or the experiment condition of new EXCEL form is imported in host computer;
Step 3, opens communication interface, the communication interface required for selection, if host computer does not show available communication interface, checks communication line, guarantees that communication line selects required communication interface after normally working again;
Step 4, carries out stand working condition measurement; Comprise: pass data mutually in real time by host computer and acceleration and brake monitor, host computer obtains the speed of a motor vehicle when front platform driving shaft, program with the difference of the target vehicle speed of each time point and actual vehicle speed for object, adopt the demand voltage value of speed regulation system regulation accelerator pedal and brake pedal, make actual vehicle speed and target vehicle speed reach consistent as far as possible;
After whole state of cyclic operation terminates, the path selecting data to preserve as required and form;
Step 5, interpretation of result; Comprise: the data of preserving according to step 4, analyze electric current, voltage, battery SOC, temperature and continual mileage data, whether assessment reaches the requirement of regeneration brake system test, and can make amendment according to assessment result to program.
Further, the parameter of the laboratory vehicle in described step 1 specifically comprises: complete vehicle quality, braking moment, cycle index, current coefficient, voltage coefficient.
Further, the communication interface in described step 3 comprises: USB interface and CAN interface; Described USB interface is used for the communication connection between host computer and acceleration and brake monitor, the communication connection of described CAN interface for accelerating and between brake monitor and electric machine controller and power battery pack.
Further, described step 4 also comprises: host computer shows motor bus current, cell voltage, battery SOC, the speed of a motor vehicle in real time and accelerates dutycycle and braking duty cycle information; Described motor bus current, cell voltage, battery SOC, the speed of a motor vehicle and acceleration duty cycle information are transferred to host computer by automobile batteries management system BMS and vehicle management system VMS with the form of CAN message.
Further, the speed regulation system described in described step 4 adopts PID Closed Loop Fuzzy Control.
Further, described PID Closed Loop Fuzzy Control method is as follows:
Step 4-1: by the difference e of target vehicle speed and current actual vehicle speed, and the difference rate of change ec of target vehicle speed and current actual vehicle speed is as input, exports the average voltage u of two phase windings
s, for controlling motor speed n;
Step 4-2: set up PID tri-parameter k
p, k
i, k
dand the fuzzy rule relation between described e and described ec;
Step 4-3: calculate the value of e and the value of described ec described in current system, utilize fuzzy rule to carry out fuzzy reasoning, inquiry fuzzy matrix table adjustment parameter k
p, k
i, k
dvalue.
Further, the fuzzy rule in described step 4-2 closes:
In above formula, k
pfor proportional action coefficient, k
ifor integral action coefficient, k
dfor derivative coefficient.
Further, program in described step 5 adopts PWM to control speed governing, adopt the DC brushless motor of conduction mode between two to only have two-phase stator winding electrifying at any time, the dutycycle D of regulating power switching tube pwm signal can regulate direct current brushless motor speed n.
Beneficial effect of the present invention is:
(1) the regeneration brake system method of testing that the present invention proposes overcomes a difficult problem for control method complexity in conventional electric automobile regeneration brake system test process, just can the driving cycle of analog electrical electrical automobile reality on experimental stand, the tests such as continual mileage, energy consumption, regenerative braking feedback energy and assessment can be completed according to oneself electric automobile whole parameter and self-defined driving cycle in indoor.Regenerative braking feedback efficiency under method of testing of the present invention and the regenerative braking feedback efficiency comparative under Real-road Driving Cycle draw, the precise control of the regeneration brake system test that the present invention proposes, regenerative braking feedback rate computational accuracy is high.
(2) performance evaluation of regeneration brake system will be carried out under experiment condition, experiment condition is one of important evidence evaluating electric automobile performance, experiment condition in the present invention, can be configured as required, meet the regeneration brake system test experiments under the different driving cycle of vehicle, flexibly, conveniently.
(3) adopt CAN to realize host computer and acceleration and brake monitor and pass data mutually in real time, there is the advantages such as transmission speed is fast, anti-electromagnetic interference capability is strong, real-time.
(4) speed regulation system adopts PID Closed Loop Fuzzy Control, and the advantage of this control algolithm is that system can respond target vehicle speed fast, can realize again the precision controlled simultaneously, enable actual vehicle speed reach the requirement of target vehicle speed fast.
(5) the regeneration brake system method of testing that the present invention proposes just can image data in operational process, and according to the current data of collection, can analyze the regenerative braking efficiency of current regeneration brake system, real-time and better interactive.
Accompanying drawing explanation
Fig. 1 is test platform connecting frame figure of the present invention;
Fig. 2 is host computer procedure flowage structure schematic diagram of the present invention;
Fig. 3 is PID Closed Loop Fuzzy Control device structural representation of the present invention;
Fig. 4 is actual speed-time plot of the present invention;
Fig. 5 is theoretical velocity-time plot of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1, be test platform connecting frame figure of the present invention, host computer turns serial ports and acceleration and brake monitor by USB and communicates to connect, and monitoring is in real time accelerated and the running status of detent.Accelerate and brake monitor is communicated to connect by CAN and electric machine controller and power battery pack, the rotating speed of control motor, realizes the function of speed tracing.
As shown in Figure 2, be host computer procedure flowage structure schematic diagram of the present invention; Detailed process is: the host computer interface 1. opening test platform, after program starts, first experimentally needs, and configuration regeneration brake system experiment parameter, if did test before, had namely existed the parameter of laboratory vehicle, direct choice experiment car parameter; 2. driving cycle lead-in stage is entered, need to select the several state of cyclic operations given tacit consent in test platform (to comprise ECE state of cyclic operation according to regeneration brake system experiment, NEDC state of cyclic operation, UDDS state of cyclic operation etc.), or import in host computer by the experiment condition of new EXCEL form, experiment condition is the pith evaluating regeneration brake system performance; 3. driving cycle simulation steps is then entered into, click the button opening communication interface in host computer interface, communication interface required for selection, if host computer does not show available communication interface, user should check that whether communication line is intact to guarantee that circuit normally works; Then, user sends advance gear, if send unsuccessfully, user should check whether communication line stands intact; 4. then vehicle performance test starts, host computer and acceleration and brake monitor pass data in real time mutually, host computer obtains when the speed of a motor vehicle of front platform driving shaft, program with the difference of the target vehicle speed of each time point and actual vehicle speed for object, the demand voltage value of regulation and control accelerator pedal and brake pedal; Meanwhile, host computer is according to the data gathered, and to import the time of operating mode for horizontal ordinate, speed is ordinate, by drawing out target operating condition curve actual time; After whole state of cyclic operation terminates, click and preserve data button, and according to the path self needing to select data to preserve and form, such as, experimental data can be derived TXT form, facilitate the process of other softwares; 5. interpretation of result, according to previous step 4. in preserve data (data comprise: voltage, electric current, the speed of a motor vehicle, battery SOC, temperature etc.), the data such as electric current, voltage, temperature and continual mileage can be analyzed, (the requirement index of regeneration brake system test mainly comprises energy recovery efficiency to assess the requirement whether reaching regeneration brake system test, continual mileage etc.), and can make amendment according to assessment result to program, described program is for controlling automobile according to the speed motion importing driving cycle.
Wherein, in the process travelling Work condition analogue, the actual condition curve of vehicle shows on host computer, and what native system adopted is that PWM controls speed governing, the DC brushless motor of conduction mode is between two adopted to only have two-phase stator winding electrifying at any time, according to steady state voltage balance equation
u
s＝2e+iR＝2k
en+iR (1)
Can obtain rotating speed is:
In relational expression (2), n is motor speed; u
sit is the average voltage of two phase windings; E is the back electromotive force of motor; R is loop equivalent resistance; I is motor winding phase current; Ke is the coefficient of winding back emf.So change the average voltage u on motor two phase winding
s, the rotating speed n of brshless DC motor can be regulated.And the average voltage u that will control between two phase windings
s, only need the dutycycle of regulating power switching tube pwm signal, the pass of dutycycle and rotating speed is
Drawn by relational expression (1) and relational expression (3)
u
s＝D*u
d(4)
According to relational expression (3), change the amplitude u that dutycycle D just can change PWM square-wave voltage
d; Again according to relational expression (4), change the amplitude u of PWM square-wave voltage
dthe average voltage u of two phase windings can be changed
s, and then regulate the rotating speed n of brshless DC motor.
In vehicle performance test link, program have recorded the data such as automobile actual condition curve, battery terminal voltage, motor bus current, Electric Machine Control actuator temperature, and stores in a computer.In interpretation of result step, the data that user can preserve according to these, assess this performance such as electric automobile continual mileage, the regenerative braking recovery, such as, and these data can also be separated and import in other programs, and temperature data can be used as the reference data etc. of battery charging/discharging performance testing.
As shown in Figure 3, be PID Closed Loop Fuzzy Control device structural representation of the present invention.This PID Closed Loop Fuzzy Control is using error e and error change ec as input, and at this based in the electric automobile regeneration brake system method of testing of driving cycle, e is the difference of target vehicle speed and current actual vehicle speed, and ec is the rate of change of this difference.Native system can meet not that error e in the same time and error rate ec are to the requirement of pid parameter Self-tuning System, and the input voltage value of regulation and control accelerator pedal and brake pedal, makes actual vehicle speed reach target vehicle speed fast.Pid parameter Fuzzy self-turning is exactly find out PID tri-parameters and the fuzzy relation between difference e and difference rate of change ec, continuous metrical error e and error rate ec is transmitted by CAN in actual test run, according to fuzzy control principle, online instant amendment is carried out to three parameters, different requirements to controling parameters during to meet different e and ec, and make controlled device have good dynamic and static performance, enable actual vehicle speed quick and precisely reach target vehicle speed.Fuzzy selftuning PID is on the basis of pid algorithm, by calculating current system error e and error rate ec, utilizes fuzzy rule to carry out fuzzy reasoning, and inquiry fuzzy matrix table carries out parameter adjustment.Wherein, the amendment type of PID tri-parameters is:
In relational expression (5), k
pfor proportional action coefficient, k
ifor integral action coefficient, k
dfor derivative coefficient.In test run process, control system by the result treatment of fuzzy logic ordination, table look-up and computing, complete the online instant self-correcting to pid parameter.
Composition graphs 4 and Fig. 5, Fig. 4 is the speed-time curve figure of the reality that the present invention is obtained by described test platform, Fig. 5 is theoretic speed-time curve figure, can be drawn by contrast, Fig. 4 and Fig. 5 repetition rate is higher, consistance is better, and this shows that accuracy is higher originally based on the electric automobile regeneration brake system method of testing precise control of driving cycle.
The above is only for explaining technical scheme of the present invention; the protection domain be not intended to limit the present invention; should be understood that under the prerequisite without prejudice to flesh and blood of the present invention and spirit, institute change, improve and be equal to replacement etc. all will fall within the scope of protection of the present invention.
Claims (8)
1., based on an electric automobile regeneration brake system method of testing for driving cycle, it is characterized in that, comprise the steps:
Step 1, configuration experiment parameter; Comprise: the host computer interface first opening test platform, then according to regeneration brake system experiment needs, the parameter of configuration laboratory vehicle, if there is the parameter of laboratory vehicle, direct choice experiment car parameter;
Step 2, choice experiment operating mode; Need to be configured, to select the state of cyclic operation given tacit consent in test platform according to regeneration brake system experiment, or the experiment condition of new EXCEL form is imported in host computer;
Step 3, opens communication interface, the communication interface required for selection, if host computer does not show available communication interface, checks communication line, guarantees that communication line selects required communication interface after normally working again;
Step 4, carries out stand working condition measurement; Comprise: pass data mutually in real time by host computer and acceleration and brake monitor, host computer obtains the speed of a motor vehicle when front platform driving shaft, program with the difference of the target vehicle speed of each time point and actual vehicle speed for object, adopt the demand voltage value of speed regulation system regulation accelerator pedal and brake pedal, make actual vehicle speed and target vehicle speed reach consistent as far as possible;
After whole state of cyclic operation terminates, the path selecting data to preserve as required and form;
Step 5, interpretation of result; Comprise: the data of preserving according to step 4, analyze electric current, voltage, battery SOC, temperature and continual mileage data, whether assessment reaches the requirement of regeneration brake system test, and can make amendment according to assessment result to program.
2. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is characterized in that, the parameter of the laboratory vehicle in described step 1 specifically comprises: complete vehicle quality, braking moment, cycle index, current coefficient, voltage coefficient; The state of cyclic operation of the acquiescence described in described step 2 comprises: ECE state of cyclic operation, NEDC state of cyclic operation, UDDS state of cyclic operation.
3. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is characterized in that, the communication interface in described step 3 comprises: USB interface and CAN interface; Described USB interface is used for the communication connection between host computer and acceleration and brake monitor, the communication connection of described CAN interface for accelerating and between brake monitor and electric machine controller and power battery pack.
4. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is characterized in that, described step 4 also comprises: host computer shows motor bus current, cell voltage, battery SOC, the speed of a motor vehicle in real time and accelerates dutycycle and braking duty cycle information; Described motor bus current, cell voltage, battery SOC, the speed of a motor vehicle and acceleration duty cycle information are transferred to host computer by automobile batteries management system BMS and vehicle management system VMS with the form of CAN message.
5. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, is characterized in that, the speed regulation system described in described step 4 adopts PID Closed Loop Fuzzy Control.
6. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 4, it is characterized in that, described PID Closed Loop Fuzzy Control method is as follows:
Step 4-1: by the difference e of target vehicle speed and current actual vehicle speed, and the difference rate of change ec of target vehicle speed and current actual vehicle speed is as input, exports the average voltage u of two phase windings
s, for controlling motor speed n;
Step 4-2: set up PID tri-parameter k
p, k
i, k
dand the fuzzy rule relation between described e and described ec;
Step 4-3: calculate the value of e and the value of described ec described in current system, utilize fuzzy rule to carry out fuzzy reasoning, inquiry fuzzy matrix table adjustment parameter k
p, k
i, k
dvalue.
7. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 6, is characterized in that, the fuzzy rule in described step 4-2 closes and is:
In above formula, k
pfor proportional action coefficient, k
ifor integral action coefficient, k
dfor derivative coefficient.
8. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is characterized in that, described program in described step 5 adopts PWM to control speed governing, adopt the DC brushless motor of conduction mode between two to only have two-phase stator winding electrifying at any time, the dutycycle D of regulating power switching tube pwm signal can regulate direct current brushless motor speed n.
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| CN106597155A (en) * | 2016-12-09 | 2017-04-26 | 江铃汽车股份有限公司 | Method and device for testing reliability performance of electric drive system of hybrid vehicle |
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| CN111581796A (en) * | 2020-04-28 | 2020-08-25 | 中国汽车技术研究中心有限公司 | Plug-in hybrid electric vehicle key technology evaluation system |
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| CN105823640A (en) * | 2016-05-25 | 2016-08-03 | 北京新能源汽车股份有限公司 | Working condition test system and working condition test method for electric cars |
| CN106199265A (en) * | 2016-07-04 | 2016-12-07 | 中车青岛四方机车车辆股份有限公司 | A kind of test device of Braking System for Multiple Units |
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| CN106840694A (en) * | 2017-01-11 | 2017-06-13 | 吉林大学 | Electric motor coach composite braking hardware-in―the-loop test platform and method of testing based on electric controlled brake system |
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| CN112304639B (en) * | 2020-10-30 | 2022-07-08 | 重庆长安汽车股份有限公司 | Vehicle BTV (vehicle to vehicle) complete vehicle testing method |
| CN113092131A (en) * | 2021-03-31 | 2021-07-09 | 泰明顿摩擦材料技术(上海)有限公司 | Brake system rack test system and method based on whole vehicle brake working condition |
| CN113092131B (en) * | 2021-03-31 | 2023-10-27 | 泰明顿摩擦材料技术(上海)有限公司 | Brake system bench test system and method based on whole vehicle brake working condition |
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