CN105021406B - A kind of electric automobile regeneration brake system method of testing based on driving cycle - Google Patents
A kind of electric automobile regeneration brake system method of testing based on driving cycle Download PDFInfo
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- CN105021406B CN105021406B CN201510438120.4A CN201510438120A CN105021406B CN 105021406 B CN105021406 B CN 105021406B CN 201510438120 A CN201510438120 A CN 201510438120A CN 105021406 B CN105021406 B CN 105021406B
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Abstract
The invention discloses a kind of electric automobile regeneration brake system method of testing based on driving cycle, belong to electric automobile field, including：Step 1, experiment parameter is configured；If the parameter of existing laboratory vehicle, directly select laboratory vehicle parameter；Step 2, choice experiment operating mode or the experiment condition of new EXCEL forms is imported into host computer；Step 3, communication interface is selected；Step 4, stand working condition measurement is carried out；After whole state of cyclic operation terminates, path and form that data preserve are selected as needed；Step 5, interpretation of result is carried out；The requirement for reaching regeneration brake system test is assessed whether, and modification can be made to program according to assessment result.Instant invention overcomes the problem that control method in traditional electric automobile regeneration brake system test process is complicated, the actual driving cycle of can simulation electric automobile on experimental stand, the precise control of regeneration brake system method of testing proposed by the present invention, regenerative braking feedback rate computational accuracy are high.
Description
Technical field
The present invention relates to the regenerative braking method of testing in electric automobile field, and in particular to a kind of based on driving cycle
Electric automobile regeneration brake system method of testing.
Background technology
In today that energy crisis and environmental pollution more deteriorate, Development of EV is particularly important.With traditional vehicle
Compare, electric automobile can improve energy utilization rate by regenerative braking recycling part energy.Continual mileage is
The critical index of electric automobile performance is weighed, regenerative braking can reclaim the portion of energy of braking procedure, and in driving process
It is middle to discharge energy, can extending driving range well.
Compared with orthodox car, the electric automobile for being equipped with regeneration brake system can be by partial brake energy in braking procedure
Mechanical energy and electric energy are converted into, finally storage is into electrokinetic cell in the form of chemical energy, so as to improve electric automobile energy profit
With rate and course continuation mileage etc..And mileage and regeneration during continuous under given travel operating mode of electric automobile equipped with regeneration brake system
Retardation efficiency is one of important performance indexes of electric automobile.The electric automobile equipped with regeneration brake system is measured on real vehicle
Not only need in special experimental site, and need higher control method, can be travelled according to canonical form operating mode.This
In invention, the test drawn and braked to electric automobile is carried out on experimental stand, can be with the actual driving cycle of simulated automotive.
The content of the invention
It is an object of the invention to provide a kind of electric automobile regeneration brake system method of testing based on driving cycle, uses
Family can complete continual mileage, energy consumption, regeneration indoors according to oneself electric automobile whole parameter and self-defined driving cycle
Feedback braking energy etc. is tested and assessed.Realize that technical scheme is as follows：
A kind of electric automobile regeneration brake system method of testing based on driving cycle, comprises the following steps：
Step 1, experiment parameter is configured；Including：The host computer interface of this test platform is first turned on, is then made according to regeneration
Dynamic system experimentation needs, and configures the parameter of laboratory vehicle, if the parameter of existing laboratory vehicle, directly selects laboratory vehicle parameter i.e.
Can；
Step 2, choice experiment operating mode；Configured according to regeneration brake system experiment needs, select to write from memory in test platform
The state of cyclic operation recognized, or the experiment condition of new EXCEL forms is imported into host computer；
Step 3, communication interface is opened, required communication interface is selected, if host computer does not show available communication
Interface, check communication line, ensure after communication line normal work communication interface needed for selection again；
Step 4, stand working condition measurement is carried out；Including：Data are mutually passed by host computer and acceleration and brake monitor in real time,
Host computer obtain when front platform drive shaft speed, program using the difference of the target vehicle speed at each time point and actual vehicle speed as pair
As using the demand voltage value of speed regulation system regulation accelerator pedal and brake pedal, using up actual vehicle speed and target vehicle speed
Amount reaches consistent；
After whole state of cyclic operation terminates, path and form that data preserve are selected as needed；
Step 5, interpretation of result；Including：According to step 4 preserve data, analysis electric current, voltage, battery SOC, temperature with
And continual mileage data, the requirement for reaching regeneration brake system test is assessed whether, and can be according to assessment result to program
Make modification.
Further, the parameter of the laboratory vehicle in the step 1 specifically includes：Complete vehicle quality, braking moment, circulation time
Number, current coefficient, voltage coefficient.
Further, the communication interface in the step 3 includes：USB interface and CAN interface；The USB interface is used
Communication connection between host computer and acceleration and brake monitor, the CAN interface is used to accelerate and brake monitor
Communication connection between electric machine controller and power battery pack.
Further, the step 4 also includes：Host computer shows motor bus current, cell voltage, battery in real time
SOC, speed and acceleration dutycycle and braking duty cycle information；The motor bus current, cell voltage, battery SOC, speed
And duty cycle information is accelerated to be transmitted by automobile batteries management system BMS and vehicle management system VMS in the form of CAN message
To host computer.
Further, the speed regulation system described in the step 4 uses PID Closed Loop Fuzzy Controls.
Further, the PID Closed Loop Fuzzy Controls method is as follows：
Step 4-1：By target vehicle speed and the difference e of currently practical speed, and target vehicle speed and currently practical speed
Difference rate of change ec is as input, the average voltage u of two phase windings of outputs, for controlled motor rotating speed n；
Step 4-2：Establish tri- parameter k of PIDp、ki、kdFuzzy rule relation between the e and the ec；
Step 4-3：E value and the value of the ec described in current system are calculated, fuzzy reasoning is carried out using fuzzy rule, looks into
Ask fuzzy matrix table adjusting parameter kp、ki、kdValue.
Further, the fuzzy rule relation in the step 4-2 is：
In above formula, kpFor proportional action coefficient, kiFor integral action coefficient, kdFor derivative coefficient.
Further, the program in the step 5 is using PWM control speed governing, using the brush DC of conduction mode two-by-two
Motor only has two-phase stator winding electrifying at any time, and the dutycycle D of regulation power switch pipe pwm signal can adjust direct current
Brushless motor speed n.
Beneficial effects of the present invention are：
(1) regeneration brake system method of testing proposed by the present invention overcomes traditional electric automobile regeneration brake system test
During the complicated problem of control method, the actual driving cycle of can simulation electric automobile, Ke Yigen on experimental stand
Continual mileage, energy consumption, regenerative braking feedback are completed indoors according to oneself electric automobile whole parameter and self-defined driving cycle
Energy etc. is tested and assessed.Regenerative braking feedback efficiency under method of testing of the present invention and the regenerative braking under Real-road Driving Cycle
Feedback efficiency comparative show that the precise control of regeneration brake system test proposed by the present invention, regenerative braking feedback rate calculates essence
Degree is high.
(2) performance evaluation of regeneration brake system will be carried out under experiment condition, and experiment condition is the electronic vapour of evaluation
One of important evidence of car performance, the present invention in experiment condition, can be configured as needed, to meet that vehicle is not gone together
The regeneration brake system test experiments under operating mode are sailed, flexibly, conveniently.
(3) realize that host computer mutually passes data in real time with acceleration and brake monitor using CAN, there is transmission speed
It hurry up, the advantages that anti-electromagnetic interference capability is strong, real-time.
(4) speed regulation system uses PID Closed Loop Fuzzy Controls, is that system can quickly ring the advantages of this control algolithm
Target vehicle speed is answered, while and can realizes the precision of control, actual vehicle speed is rapidly achieved the requirement of target vehicle speed.
(5) regeneration brake system method of testing can gathered data, and can in the process of running proposed by the present invention
With the current data according to collection, analyze the regenerative braking efficiency of current regeneration brake system, real-time and it is interactive preferably.
Brief description of the drawings
Fig. 1 is the test platform connection framework 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 Controls 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
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
As shown in figure 1, being the test platform connection framework figure of the present invention, host computer turns serial ports with accelerating and making by USB
Movement controller is communicatively coupled, and monitoring in real time accelerates and the running status of brake.Accelerate and brake monitor passes through CAN
Bus is communicatively coupled with electric machine controller and power battery pack, the rotating speed of controlled motor, realizes the function of speed tracing.
As shown in Fig. 2 it is host computer procedure flowage structure schematic diagram of the present invention；Detailed process is：1. open test platform
Host computer interface, after program starts, first according to experiment needs, configure regeneration brake system experiment parameter, if before
Through doing test, i.e., the parameter of existing laboratory vehicle, directly select laboratory vehicle parameter；2. import rank into driving cycle
Section, the several state of cyclic operations for needing to select to give tacit consent in test platform according to regeneration brake system experiment (including ECE state of cyclic operations,
NEDC state of cyclic operations, UDDS state of cyclic operations etc.), or the experiment condition of new EXCEL forms is imported into host computer, test
Operating mode is to evaluate the pith of regeneration brake system performance；3. then into driving cycle simulation steps, host computer is clicked on
The button of communication interface is opened in interface, selects required communication interface, if host computer does not show that available communication connects
Mouthful, user should check whether communication line is intact to ensure circuit normal work；Then, user sends forward, if hair
Failure is sent, user should check whether communication line stands intact；4. and then vehicle performance test starts, host computer is with accelerating and making
Movement controller mutually passes data in real time, and host computer obtains the speed when front platform drive shaft, and program is with the target carriage at each time point
The difference of speed and actual vehicle speed is object, regulates and controls the demand voltage value of accelerator pedal and brake pedal；Meanwhile host computer is according to adopting
The data of collection, to import time of operating mode as abscissa, speed is ordinate, and target operating condition curve is drawn out by actual time；
After whole state of cyclic operation terminates, click on and preserve data button, and select path and the form of data preservation, example according to their needs
Such as experimental data can be exported TXT forms, facilitate the processing of other software；5. interpretation of result, according to previous step 4. middle preservation
Data (data include：Voltage, electric current, speed, battery SOC, temperature etc.), electric current, voltage, temperature and driving can be analyzed
The data such as mileage, assessing whether to reach the requirement of regeneration brake system test, (the requirement index of regeneration brake system test is main
Including energy recovery efficiency, continual mileage etc.), and modification can be made to program according to assessment result, described program is used
Moved in control automobile according to the speed for importing driving cycle.
Wherein, during Work condition analogue is travelled, the actual condition curve of vehicle shows that the system is adopted on host computer
It is PWM control speed governing, only has two-phase stator winding to lead at any time using the DC brushless motor of conduction mode two-by-two
Electricity, according to steady state voltage equilibrium equation
us=2e+iR=2ken+iR (1)
Can obtain rotating speed is：
In relational expression (2), n is motor speed；usFor the average voltage of two phase windings；E is the counter electromotive force of motor；R is
Loop equivalent resistance；I is machine winding phase current；Ke is the coefficient of winding back emf.So change on the phase winding of motor two
Average voltage us, the rotating speed n of brshless DC motor can be adjusted.And to control the average voltage u between two phase windingss, only need to adjust
The relation of the dutycycle of power switch pipe pwm signal, dutycycle and rotating speed is
Drawn by relational expression (1) and relational expression (3)
us=D*ud (4)
According to relational expression (3), change the amplitude u that dutycycle D cans change PWM square-wave voltagesd；Further according to relational expression
(4) the amplitude u of PWM square-wave voltages, is changeddThe average voltage u of two phase windings can be changeds, and then adjust brshless DC motor
Rotating speed n.
In vehicle performance test link, program have recorded automobile actual condition curve, battery terminal voltage, motor bus electricity
The data such as stream, electric machine controller temperature, and store in a computer.In interpretation of result step, user can be according to these
The data of preservation, the performances such as the electric automobile continual mileage, the regenerative braking rate of recovery are assessed, and these data can also separate
Out and it imported into other programs, such as temperature data can be used as the reference data of battery charging/discharging performance testing
Deng.
As shown in figure 3, it is PID Closed Loop Fuzzy Controls device structural representation of the present invention.The PID Closed Loop Fuzzy Controls are with error
E and error change ec is as input, and in the electric automobile regeneration brake system method of testing based on driving cycle, e is
The difference of target vehicle speed and currently practical speed, ec are the rate of change of this difference.The system can meet at different moments
The requirement of error e and error rate ec to pid parameter Self-tuning System, regulate and control the input voltage value of accelerator pedal and brake pedal,
So that actual vehicle speed is rapidly achieved target vehicle speed.Pid parameter Fuzzy self- turning is exactly to find out tri- parameters of PID and difference e and difference
Fuzzy relation between value changes rate ec, continuous detection error e is transmitted by CAN in actual test operation and error becomes
Rate ec, online modification immediately is carried out to three parameters according to fuzzy control principle, control joined during meeting different e and ec
Several different requirements, and controlled device is had good dynamic and static performance, actual vehicle speed is quick and precisely reached target carriage
Speed.Fuzzy selftuning PID is on the basis of pid algorithm, by calculating current system error e and error rate ec, is utilized
Fuzzy rule carries out fuzzy reasoning, and inquiry fuzzy matrix table carries out parameter adjustment.Wherein, the amendment type of tri- parameters of PID is：
In relational expression (5), kpFor proportional action coefficient, kiFor integral action coefficient, kdFor derivative coefficient.Testing
In running, control system by the result treatment to fuzzy logic ordination, table look-up and computing, complete to exist to pid parameter
The instant self-correcting of line.
With reference to Fig. 4 and Fig. 5, Fig. 4 is the actual speed-time curve figure that the present invention is obtained by the test platform,
Fig. 5 is theoretic speed-time curve figure, can show that Fig. 4 and Fig. 5 repetitive rates are higher, and uniformity is preferable by contrast,
This shows the electric automobile regeneration brake system method of testing precise control based on driving cycle, and the degree of accuracy is higher.
It is described above to be only used for explaining technical scheme, the protection domain being not intended to limit the present invention, answer
Understand, on the premise of without prejudice to substantive content of the present invention and spirit, change, improve and equivalent substitution etc. will all fall
Enter in protection scope of the present invention.
Claims (5)
1. a kind of electric automobile regeneration brake system method of testing based on driving cycle, it is characterised in that comprise the following steps：
Step 1, experiment parameter is configured；Including：The host computer interface of test platform is first turned on, then according to regeneration brake system
Experiment needs, and configures the parameter of laboratory vehicle, if the parameter of existing laboratory vehicle, directly selects laboratory vehicle parameter；
Step 2, choice experiment operating mode；Need to be configured according to regeneration brake system experiment, select what is given tacit consent in test platform
State of cyclic operation, or the experiment condition of new EXCEL forms is imported into host computer；
Step 3, communication interface is opened, selects required communication interface, if host computer does not show available communication interface,
Check communication line, ensure after communication line normal work communication interface needed for selection again；
Step 4, stand working condition measurement is carried out；Including：Data are mutually passed by host computer and acceleration and brake monitor in real time, it is upper
Machine obtain when front platform drive shaft speed, program using the difference of the target vehicle speed at each time point and actual vehicle speed as object,
Using the demand voltage value of speed regulation system regulation accelerator pedal and brake pedal, actual vehicle speed and target vehicle speed is set to reach as far as possible
To consistent；
After whole state of cyclic operation terminates, path and form that data preserve are selected as needed；
Step 5, interpretation of result；Including：The data preserved according to step 4, analyze electric current, voltage, battery SOC, temperature and continue
Mileage is sailed, assesses whether the requirement for reaching regeneration brake system test, and program can be made according to assessment result
Modification；
The parameter of laboratory vehicle in the step 1 specifically includes：Complete vehicle quality, braking moment, cycle-index, current coefficient, electricity
Press coefficient；The state of cyclic operation of acquiescence described in the step 2 includes：ECE state of cyclic operations, NEDC state of cyclic operations, UDDS circulations
Operating mode；
The step 4 also includes：Host computer shows motor bus current, cell voltage, battery SOC, speed and added in real time
Fast dutycycle and braking duty cycle information；The motor bus current, cell voltage, battery SOC, speed and acceleration dutycycle
Information is transferred to host computer by automobile batteries management system BMS and vehicle management system VMS in the form of CAN message；
Speed regulation system described in the step 4 uses PID Closed Loop Fuzzy Controls.
2. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is special
Sign is that the communication interface in the step 3 includes：USB interface and CAN interface；The USB interface be used for host computer with
Communication connection between acceleration and brake monitor, the CAN interface is used to accelerate and brake monitor and motor control
Communication connection between device and power battery pack.
3. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is special
Sign is that the PID Closed Loop Fuzzy Controls method is as follows：
Step 4-1：By target vehicle speed and the difference e of currently practical speed, and the difference of target vehicle speed and currently practical speed
Rate of change ec is as input, the average voltage u of two phase windings of outputs, for controlled motor rotating speed n；
Step 4-2：Establish tri- parameter k of PIDp、ki、kdFuzzy rule relation between the e and the ec；
Step 4-3：E value and the value of the ec described in current system are calculated, fuzzy reasoning is carried out using fuzzy rule, inquires about mould
Paste matrix table adjusting parameter kp、ki、kdValue.
4. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 3, it is special
Sign is that the fuzzy rule relation in the step 4-2 is：
kp = kp’+{ei, eci}p
ki = ki’+{ei, eci}i
kd = kd’+{ei, eci}d
In above formula, kpFor proportional action coefficient, kiFor integral action coefficient, kdFor derivative coefficient.
5. a kind of electric automobile regeneration brake system method of testing based on driving cycle according to claim 1, it is special
Sign is that using PWM control speed governing, the DC brushless motor using conduction mode two-by-two exists the described program in the step 5
Any moment only has two-phase stator winding electrifying, and the dutycycle D of regulation power switch pipe pwm signal can adjust brush DC electricity
Machine rotating speed n.
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| CN112881027B (en) * | 2019-11-29 | 2023-07-11 | 比亚迪股份有限公司 | Method, device and system for determining automobile braking energy recovery efficiency |
| CN111581796B (en) * | 2020-04-28 | 2023-04-11 | 中国汽车技术研究中心有限公司 | Plug-in hybrid electric vehicle key technology evaluation system |
| 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 |
| 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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Application publication date: 20151104 Assignee: XUZHOU XCMG AUTOMOTIVE MANUFACTURING CO., LTD. Assignor: Jiangsu University Contract record no.: 2017320000082 Denomination of invention: Driving-condition-based testing method for regenerative brake system of electric automobile License type: Exclusive License Record date: 20170314 |
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