CN105034821A - Composite regenerative braking method used for vehicle - Google Patents
Composite regenerative braking method used for vehicle Download PDFInfo
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- CN105034821A CN105034821A CN201510170692.9A CN201510170692A CN105034821A CN 105034821 A CN105034821 A CN 105034821A CN 201510170692 A CN201510170692 A CN 201510170692A CN 105034821 A CN105034821 A CN 105034821A
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Abstract
The invention provides a composite regenerative braking method used for a vehicle comprising a hydraulic braking system and a regenerative braking system. The hydraulic braking system has a main cylinder and is configured to applied a hydraulic braking torque to the vehicle to make the vehicle decelerate, the regenerative braking system is configured to apply a regenerative braking torque to make the vehicle decelerate. The composite regenerative braking method comprises responding to driver's operation on a braking pedal of the vehicle, and calculating a braking torque needed by the driver; applying a hydraulic braking torque and/or a regenerative braking torque to make the vehicle decelerate based on the braking torque; and responding to the braking torque needed by the driver, and generating resistance to forward movement of the braking pedal through a linear electromagnetic driver and applying the resistance on the braking pedal. The invention further relates to a composite regenerative braking method used for a vehicle. By adopting the composite regenerative braking method, same or similar feeling on a braking pedal of a conventional vehicle can be reserved during a regenerative braking process.
Description
Technical field
Various aspects of the present invention relate to the regeneration brake system used in vehicle especially pure electric vehicle, hybrid electric vehicle and plug-in hybrid electric vehicles, in particular to the combined regenerative braking method for vehicle.
Background technology
Different from the combustion engine of routine, elec. vehicle (EV), such as pure electric vehicle, hybrid electric vehicle and plug-in hybrid electric vehicles, that one at least employs battery (or electric capacity, hydrogen cell etc.) and preserve electric energy in the battery as vehicle drive force and at least employ electrical motor and to advance the vehicle driven as vehicle, it adopts alternative power as the propulsion source of vehicle thus reduces the pollution that brings of Vehicular exhaust, also prepares for limited oil resources and/or natural gas source shortage simultaneously.
Studying now and converting the braking force of part to electric energy, so for obtaining electric energy and charging to electrical energy storage device such as battery, electric capacity etc., in this way, in the braking procedure of vehicle, the part kinetic energy of being run by vehicle in process is used for driving a producer (such as electrical motor) thus is reducing kinetic energy (namely, underspeed) while produce electric energy storing, this mode being used for abrupt deceleration vehicle is called regenerative brake.In braking procedure, can inverted driven motor or one independently producer carry out generating electric energy.The driving process of this part electric energy stored such as after vehicle is converted to kinetic energy as propulsion source again by the electrical motor being used as now motor operation, or is used as the propulsion source of other institution staff on vehicle.
Adopt the Regenerative Braking Technology of this sample loading mode, the travelled distance number of vehicle can be improved, improve the efficiency of fuel, and when hybrid vehicle, while raising travelled distance number, generation and the discharge of pernicious gas can also be reduced, benefit environmental protection.
The braking realized based on above-mentioned regenerative brake mode needs a composite braking system usually to realize complete car brakeing by hydraulic pressure, in order to meet the braking hope of vehicle driver, namely in order to obtain the braking amount suitable with the summation of regenerative braking force and hydraulic braking force that vehicle driver requires, adopt the composite braking system (namely brake off pedal is connected the decoupling zero with attainment brake hydraulic pressure and pedal stroke with the solid mechanical between brake master cylinder piston) of decoupling zero mode, after deducting the regenerative braking force produced by electrical motor the braking force that must require from driver, only produce required hydraulic braking force.
But, vehicle driver can be caused like this to experience strange brake pedal feel, such as, feel and step on the problem that sky or stop mechanism lost efficacy, thus accelerate or trample further to improve braking force, cause erroneous judgement, therefore need ill effect is minimized.
In prior art, work out relevant technology to strengthen when regenerative brake is had an effect, driver is made to experience brake pedal feel, such as No. 200610152771.8 Chinese patent proposes a kind of regenerative braking method for the vehicle with electrical motor, by provide at the entrance and exit place of each wheel cylinder the access valve of often opening type and normal close type outlet valve and the access valve controlling drive wheel according to the difference of pressure between the pressure in master cylinder and wheel pressure in braking procedure obtains the brake pedal feel of vehicle driver, and the outlet valve controlling drive wheel follows goal pressure to allow wheel of vehicle pressure, and in order to improve brake fluid pressure, by opening the opening/closing valve that the hydraulic tubing between oil storage cylinder and Hydraulic Pump provides, and operate motor directly to pump the brake noise of required flow velocity in oil storage cylinder, the brake pedal feel identical with conventional truck is retained with this.
But, in the scheme of the disclosure, control to obtain brake pedal feel by the difference of pressure between the pressure in master cylinder and wheel pressure, the detection of the access valve wherein designed, outlet valve and pressure is still a kind of comparatively complicated hydraulic control mode, and its efficiency and reliability remain to be confirmed.
Summary of the invention
The object of the invention is to provide a kind of combined regenerative braking method for vehicle, and the method retains the brake pedal feel identical or approximate with conventional truck at process of regenerative braking.
Above-mentioned purpose of the present invention is realized by the technical characteristic of independent claims, and dependent claims develops the technical characteristic of independent claims with alternative or favourable mode.
For reaching above-mentioned purpose, a first aspect of the present invention discloses a kind ofly to unify the combined regenerative braking method of vehicle of regeneration brake system for having hydraulic braking sysgtem, this hydraulic brake system has a master cylinder and is configured to be suitable for applying hydraulic braking moment of torsion to make car retardation to this vehicle, this regeneration brake system is configured to be suitable for applying regenerative braking torque to make car retardation to this vehicle, it is characterized in that, this combined regenerative braking method comprises:
In response to the operation of driver to the brake pedal of vehicle, the required brake torque of computing driver;
Car retardation is made based on described brake torque applying hydraulic braking moment of torsion and/or regenerative braking torque; And
In response to the required brake torque of described driver, produced by a straight line electromagnetic driver and hinder the resistance of brake pedal advance and be applied on this brake pedal.
According to of the present invention open, also propose a kind of combined regenerative braking method for vehicle, comprising:
The regeneration brake system of vehicle is made to apply regenerative braking torque to make car retardation when braking requirement produces to this vehicle;
A hydraulic brake system with master cylinder is made to apply hydraulic braking moment of torsion to make car retardation to this vehicle where necessary; And
There is provided a straight line electromagnetic driver as the feedback mechanism when braking requirement produces and controllably give hinder the resistance of brake pedal advance and be applied on this brake pedal in braking procedure.
As long as should be appreciated that aforementioned concepts and all combinations of extra design described in further detail below can be regarded as a part for subject matter of the present disclosure when such design is not conflicting.In addition, all combinations of theme required for protection are all regarded as a part for subject matter of the present disclosure.
The foregoing and other aspect of the present invention's instruction, embodiment and feature can be understood by reference to the accompanying drawings from the following description more all sidedly.Feature and/or the beneficial effect of other additional aspect of the present invention such as illustrative embodiments will be obvious in the following description, or by learning in the practice of the detailed description of the invention according to the present invention's instruction.
Accompanying drawing explanation
Accompanying drawing is not intended to draw in proportion.In the accompanying drawings, each identical or approximately uniform component part illustrated in each figure can represent with identical label.For clarity, in each figure, not each component part is all labeled.Now, the embodiment of many aspects of the present invention also will be described with reference to accompanying drawing by example, wherein:
Fig. 1 is the schematic diagram of the combined regenerative braking system for vehicle provided by the invention.
Fig. 2 is the system schematic after increase guiding mechanism on the basis of the example shown in Fig. 1
Fig. 3 is the schematic diagram of the combined regenerative braking system of the 3rd embodiment provided by the invention.
Fig. 4 provided by the inventionly to unify the schematic flow sheet of combined regenerative braking method of vehicle of regeneration brake system for having hydraulic braking sysgtem.
The schematic flow sheet of Fig. 5 position combined regenerative braking method for vehicle provided by the invention.
Detailed description of the invention
In order to more understand technology contents of the present invention, institute's accompanying drawings is coordinated to be described as follows especially exemplified by specific embodiment.
Each side with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.Embodiment of the present disclosure must not be intended to comprise all aspects of the present invention.Be to be understood that, multiple design presented hereinbefore and embodiment, and describe in more detail below those design and embodiment can in many ways in any one implement, this is because design disclosed in this invention and embodiment are not limited to any embodiment.In addition, aspects more disclosed by the invention can be used alone, or when they each other not contradiction and conflict otherwisely anyly appropriately combinedly to use with disclosed by the invention.
In the disclosure, a kind of combined regenerative braking system for vehicle is proposed, shown in composition graphs 1-3, especially there is hydraulic braking sysgtem to unify the vehicle of regeneration brake system, these vehicles are elec. vehicle (EV) especially, such as pure electric vehicle, hybrid electric vehicle and plug-in hybrid electric vehicles, that one at least employs battery (or electric capacity, hydrogen cell etc.) and preserves electric energy in the battery as vehicle drive force and at least employ electrical motor and to advance the vehicle driven as vehicle.
The regeneration brake system of elec. vehicle (EV) may be used for reclaiming kinetic energy when car brakeing, thus energy returned to (such as comprising battery, electric capacity etc.) electric energy management system.Energy during braking catches the low efficiency that can alleviate and originally be introduced by traditional friction braking again.In regeneration brake system, when desired braking, electrical motor can be used as electrical generator, opposing traveling in the movement direction.The electric energy that electrical motor produces when taking on electrical generator is converted into the form that can be accepted and recharge for the battery to vehicle, electric capacity etc.Regeneration brake system uses with traditional hydraulic brake system (being also friction braking system) is collaborative usually.
Have in the vehicle of regeneration brake system at these, aforementioned hydraulic brake system usually has a master cylinder and is configured to be suitable for applying hydraulic braking moment of torsion to make car retardation to this vehicle.
The regeneration brake system that aforementioned vehicle especially elec. vehicle (EV) configures, especially include motor, motor driver, electrical energy storage device (rechargeable), the regeneration brake system of this type is configured to be suitable for applying regenerative braking torque to make car retardation and to produce electric energy to this vehicle.In such process of regenerative braking, the motor of vehicle is used as electrical generator, opposing traveling in the movement direction.
When necessary or suitable, aforementioned regeneration brake system can also comprise a DC/DC conv more, for providing the conversion of voltage.
In the realization of the combined regenerative braking in the disclosure, abandon adopting traditional mode such as electromagnetic valve, additional hydraulic systems to realize the feedback system to brake pedal when regenerative brake occurs, the realization of combined regenerative braking of the present disclosure adopts linear electromagnetic actuator as feedback feeling actuating unit during pedal brake, utilize that its fast response time, reliability are high, action is level and smooth, degree of controllability high, can the generation of feedback impedance power be carried out according to the required brake torque of driver and be applied on brake pedal to provide the realization of brake pedal feel.
Utilize the embodiment that the disclosure proposes, when regenerative brake occurs, the brake pedal feel identical or approximate with conventional truck can be retained, be unlikely to produce the problem stepped on sky or lost efficacy because of stop mechanism, thus accelerate or trample further to improve braking force, cause erroneous judgement, affect brake safe.
When brake pedal depresses, the movable information of inductive brake pedal is carried out by such as pedal stroke sensor and/or angular transducer, and in response to this, such as by the required brake torque of a control unit computing driver, distribute regenerative braking torque and hydraulic braking moment of torsion accordingly, make car retardation based on applying regenerative braking torque and/or hydraulic braking moment of torsion, as favourable mode, can be arranged to preferentially use regenerative braking torque to make car retardation.While brake pedal depresses, based on the brake torque of the described requirement calculated, produce for driving the drive singal of a straight line electromagnetic driver to make its movable part produce the resistance hindering brake pedal to advance to drive this linear electromagnetic actuator, be delivered on the brake pedal of this vehicle, thus the realization of brake pedal feel is provided.
The resistance that aforementioned obstruction brake pedal advances, such as, show as the thrust produced by the movable part of linear electromagnetic actuator.
Certainly, in other embodiments, aforesaid vehicle can also be such as utilize electrical network to provide electric energy to realize the tramway train, trackless trolley car, high speed train etc. that drive, in these cases, the electric energy that regeneration brake system produces will be fed in electrical network, in order to recycling by suitable mode.
In further embodiments, aforesaid vehicle can also be the vehicle of fuel cell-driven, such as hydrogen cell, SOFC etc., these batteries will not carry out supplementing of electric energy by aforementioned in the mode of simply charging again, therefore in this class vehicle, regeneration brake system can comprise some other forms of energy storing devices, such as flywheel, when regenerative brake occurs, by some machinery and/or electron steering, kinetic energy is converted to store with the energy of flywheel rotated versions, be beneficial to follow-up application.
This kind of energy regenerating mode, the KERS kinetic energy recovery system that existing vehicle such as, provide, this kinetic energy recovery system single unit system will be arranged on the back axle of vehicle.During vehicle brake, the energy of dispersion can be pooled together by flywheel High Rotation Speed, flywheel maximum speed of revolution can reach 60000rpm.When vehicle starts mobile again, the energy that flywheel is collected before being passed out by rotation, is transferred to vehicle rear wheel by certain transmission device.
Certainly, in some other embodiments, aforesaid regeneration brake system can also comprise some other forms of closed-center systems, such as compression air energy-storing apparatus, when regenerative brake occurs, by some machinery and/or electron steering, kinetic energy is converted to and stores with the energy of pressurized air form, be beneficial to follow-up utilization.
The energy regenerating form of this type, such as, store by one and the compression cylinder that releases energy and certain transmission device realize.Such as, the hybrid power system of a kind of HybridAir provided in existing vehicle, become with pneumatic groups of motors primarily of spark ignition engine, pressurized air memory system, in this cover hybrid dynamic system, pressurized air drives air motor to operate as energy source, thus realizes the recycling to pressurized air institute stored energy.
Certainly, in other example, can also be done work as automobile power by the compressed air-driven expansion engine that will store, the automobile power produced like this can be power-assisted also can be major impetus, so to realize the recycling to pressurized air institute stored energy.
In the example shown in fig. 1, combined regenerative braking system 100 comprises a control unit 110, hydraulic brake system 130 and regeneration brake system 120, and control unit 110 is suitable for when brake pedal 150 is depressed (when braking requirement produces) and carries out the distribution of hydraulic braking moment of torsion and regenerative braking torque according to required brake torque.
In this example, regeneration brake system 120 is configured to include at least one motor, motor driver and the storage battery (such as lead-acid battery, lithium cell, nickel-cadmium cell etc.) as energy storing device.Obviously, also such as electric capacity, electrical network etc. can be configured to as energy storing device.
Certainly, as previously mentioned, in necessary or suitable, aforesaid regeneration brake system 120 can also arrange a DC/DC conv further.
Obviously, such regeneration brake system is only exemplary, and as described by the above content of the disclosure, regeneration brake system involved in the present invention is not as restriction.
Control unit 110, such as, can be configured to an ECU in vehicle electric element control system, certainly when necessary or suitable, also can be the set of one group of such as multiple ECU.
The aforementioned braking requirement produced based on pedal brake can be the movable information based on brake pedal 150, such as, pass through the electric signal that angular transducer and/or pedal stroke sensor and/or speed sensor obtain, obtained by computing.Movable information depends on brake pedal 150 by the information such as stroke and/or angle position depressed.Certainly, if necessary, speed and/or the acceleration information of brake pedal can also be comprised.
As preferred mode, the regenerative braking torque that this control unit 110 preferentially meets regeneration brake system 120 in an advantageous manner distributes, and namely whole composite regenerated control system is configured to preferentially use regenerative braking torque to brake.
The control unit 110 maximum renewable brake torque that can also be arranged to based on regeneration brake system 120 carries out the distribution of regenerative braking torque, wherein the maximum renewable brake torque of aforementioned regeneration brake system depends on the ceiling capacity recovery ability that regenerative braking system for vehicle 120 is current, the current available torque peak of such as motor, recharge rate of cell, the driving power of motor driver, these influence factors are as the realization preferably adopted based on Bucket Principle (short-board effect), namely the ability that reclaims the ceiling capacity that regeneration brake system 120 is current depends on the short slab factor in these factors.The factors such as the driving power of the current available torque peak of these motors, recharge rate of cell, motor driver, calculate by certain mode, and judge that the current ceiling capacity of regeneration brake system 120 reclaims ability accordingly, this is mathematical.
Such as, if power storage cell is close to fully charged state, then exceed full charge owing to charging, therefore the maximum renewable brake torque of regeneration brake system reduces; Otherwise if storage battery is close to empty charge condition, then the maximum renewable brake torque of regeneration brake system increases.
Aforesaid hydraulic brake system 130 has a master cylinder 131 and is configured to be suitable for applying hydraulic braking moment of torsion to make car retardation to this vehicle.
As shown in Figure 1, in this example, hydraulic brake system 130 is configured to also comprise a supercharging actuator 132, and supercharging actuator 132 comprises a driven part 133, common formation booster body, is suitable for providing thrust to be applied on described master cylinder by the piston 131a of described master cylinder 131 controllably.
Aforesaid supercharging actuator 132, such as can adopt vacuum boosting actuator, electric liquid supercharging actuator etc., these supercharging actuators can be common in prior art, vacuum boosting device, electric liquid supercharging device etc. that the company such as such as BOSCH, Volkswagen, FORD produces, or ten thousand all electric liquid supercharging devices disclosed in the company such as (Co., Ltd.), Kia.
Aforementioned regeneration brake system 120 in this example is configured to be suitable for applying regenerative braking torque to make car retardation and to produce electric energy to this vehicle, and these electric energy are through converting the form that can be accepted for recharging the storage battery of vehicle to.
In an advantageous manner, as shown in Figure 1, combined regenerative braking system 100 is also provided with first connecting rod 153, is connected between this first connecting rod 153 with brake pedal 150 by hinge, when brake pedal 150 is depressed, this first connecting rod 153 has corresponding stroke usually.The other end of first connecting rod 153 is configured to be connected with the movable part 140a of a straight line electromagnetic driver 140.
Linear electromagnetic actuator 140 is arranged to and makes its movable part 140a produce the resistance hindering brake pedal 150 to advance according to the drive singal applied, and this resistance shows as the thrust produced by the movable part 140a of linear electromagnetic actuator 140.This resistance to be applied on brake pedal 150 by aforesaid first connecting rod 153 thus to provide pedal brake feedback feeling.
The drive singal of linear electromagnetic actuator 140 derives from required brake torque when described control unit 110 is depressed based on brake pedal 150 and produces, especially when described braking requirement produces, in this example shown in Fig. 1, formed mechanically decoupled between the piston 131a of the master cylinder 131 of brake pedal 150 and hydraulic brake system 130, brake torque required when control unit 110 is depressed based on brake pedal 150 and produce the drive singal of linear electromagnetic actuator 140.
Now, alternatively, the corresponding relation according to setting is configured between the thrust that the obstruction brake pedal of the movable part 140a of the required brake torque of aforementioned driver and linear electromagnetic actuator 140 advances.This corresponding relation can be certain functional relation, such as linear change, nonlinearities change, or can be change according to the form mapping relations of setting.
Certainly, in other examples, such as when the braking distance of brake pedal 150 increases, cause being formed between the piston 131a of the master cylinder 131 of itself and hydraulic brake system 130 mechanical decoupled state when removing, control unit 110 mechanically directly feeds back to the thrust of brake pedal 150 in response to the brake torque required by driver and hydraulic brake system and produces the drive singal of linear electromagnetic actuator 140.In these examples, except according to except the brake torque required by driver, also the braking mode according to vehicle is determined the drive singal of linear electromagnetic actuator 140.
As shown in Figure 1, as favourable mode, between the movable part 140a and described first connecting rod 153 of aforesaid rectilinear electromagnetic driver 140, be provided with a pushing part 160, the other end of aforementioned first connecting rod 153 is configured to be connected with the movable part 140a of linear electromagnetic actuator 140 by this pushing part 160.
Link with the movable part 140a of linear electromagnetic actuator 140 in aforementioned pushing part 160, the thrust that the movable part 140a of linear electromagnetic actuator 140 produces is passed on first connecting rod 153 by this pushing part 160, thus is applied to further on brake pedal 150.
Shown in composition graphs 1, in example of the present disclosure, when brake pedal 150 is depressed, formed mechanically decoupled between the piston 131a of the master cylinder 131 of brake pedal 150 and hydraulic brake system 130, mechanically decoupled between the piston 131a realizing the master cylinder 131 of brake pedal 150 and hydraulic brake system 130 in this example by leaving a space between described pushing part 160 and the driven part 133 of aforesaid supercharging actuator 132.
As favourable mode, as Fig. 1, aforesaid pushing part 160 is preferably configured to horizontal " convex " shape structure, there is a body 160a for being fixedly connected with the movable part 140a of linear electromagnetic actuator 140, such as by realizations such as bolts, and a salient 160b, be configured to the shape protruding aforementioned body 160a, and protrude towards the direction of the piston 131a of the master cylinder 131 of described hydraulic brake system 130.In this example, the path between the piston 131a of this salient 160b and master cylinder 131 leaves space mechanically decoupled with what formed between the piston 131a of the master cylinder 131 of hydraulic brake system 130 and brake pedal 150.
So, when brake pedal 150 is depressed, shown in composition graphs 1, due to the existence in the space of aforementioned setting, hydraulic brake system 130 (the piston 131a of master cylinder) is incited somebody to action not action immediately and produces hydraulic braking force, thus the whole braking procedure of the intervention preventing hydraulic braking too early or excessive.Now, the pedal travel electric signal that nationality is produced by the aforementioned such as angular transducer and/or pedal stroke sensor mentioned, the required brake torque of control unit 110 computing driver also divides configuration brake torque based on the regenerative braking torque preferentially meeting regeneration brake system 120, ideally wish brake torque be all reproduced brake system 120 utilize to realize the maximum recovery of energy, if the available brake torque of regeneration brake system 120 is enough, the lock torque that then vehicle is provided by motor slows down, storage battery is charged simultaneously, realize regenerative brake.
But, if beyond regeneration braking capacity, (ceiling capacity that namely regeneration brake system is current reclaims ability to the deceleration demand of driver (namely required brake torque), the current available torque peak of motor, the charge rate of storage battery, the driving power etc. of electrical equipment actuator is depended on) as aforementioned, then need to provide hydraulic braking moment of torsion accordingly and complete car brakeing by the coordination of hydraulic brake system 130, meeting the deceleration demand of driver.Now, aforementioned required brake torque and the difference of regenerative braking torque of distributing by as hydraulic braking torque distribution to hydraulic brake system 130, produce braking force to make car brakeing by the piston movement of its master cylinder 131, the thrust that especially also can such as be provided by supercharging actuator 132 is promoted.
While pedal brake occurs (namely when producing braking requirement), due to the effect of regeneration brake system, if do not provide the feedback that pedal brake is felt, then likely there are erroneous judgement or other negative consequences, therefore produced by the movable part 140a of linear electromagnetic actuator 140 in the present example and hinder the resistance of pedal advance and be applied on brake pedal 150, to eliminate this unfavorable sensation.
In the embodiment be more preferably, as shown in Figure 2, combined regenerative braking system 100 also comprises a guide piece 170, is arranged to the motion guide of the movable part 140a providing described pushing part 160 and/or linear electromagnetic actuator 140.
As shown in Figure 2, this guide piece 170 is configured between described pushing part 160 and described supercharging actuator 132 to provide the motion guide of described pushing part 160.
In example as shown in Figure 2, the parts of the through hole that the pushing part 160b that guide piece 170 is configured to have pushing part 160 described in a tolerable passes through.
In some other examples, this guide piece 170 can also be configured to the spherical structure of honeycomb and configure a pilot bar be inserted in honeycomb structure, and pilot bar penetrates in pushing part 160 simultaneously, realizes the motion guide of pushing part 160.
In multiple embodiment described above, especially the example shown in composition graphs 1, Fig. 2, in some other embodiments, aforesaid pushing part 160 can not also be set, but be configured to suitable shape with structure by aforementioned first connecting rod 153 (when being necessary) and be directly connected with one end of the movable part 140a of aforesaid linear electromagnetic actuator 140, and the other end of this movable part 140a is configured to directly be moved towards described supercharging actuator 132 when brake pedal depresses.Certainly, when brake pedal 150 is depressed generation braking requirement, by first connecting rod 153 move (when the thrust that brake pedal transmits be greater than linear electromagnetic actuator produce resistance time) the movable part 140a of linear electromagnetic actuator is moved towards the piston 131a of master cylinder, and the path of the two leaving certain space makes the motion of this movable part 140a thrust to be directly delivered on this piston 131a immediately, formed mechanically decoupled between the piston 131a realizing the master cylinder 131 of brake pedal 150 and hydraulic brake system 130.
While when brake pedal 150 is depressed, produce by the movable part 140a of aforesaid rectilinear electromagnetic driver 140 resistance hindering brake pedal 150 to advance according to the drive singal loaded, be applied on brake pedal to provide pedal brake feedback feeling.
Certainly, do not arrange in the example of pushing part 160 at these, regenerative braking torque and hydraulic braking moment of torsion such as can distribute according to above mode.
Apparently, do not arrange in the example of pushing part 160 at these, can also be disposed therein by it according to the description of above guide piece 170, the guiding that the movable part 140a of linear electromagnetic actuator 140 moves towards piston 131a is provided.
Now, guide piece 170 also can be arranged on other positions, and obviously, it is easy understand and realization that these positions arrange according to the instruction of previous embodiment, does not repeat at this.
In aforementioned multiple embodiment of the present disclosure, what have employed between piston 131a that suitable mode forms the master cylinder 131 of brake pedal 150 and hydraulic brake system 130 is mechanically decoupled, so to increase the action effect of regenerative brake.
Aforesaid mechanically decoupled, refer to that the interaction relation between brake pedal and piston is not fixed, especially when brake pedal depresses, directly can not promote piston (the mechanical connection relation due to fixing) and produce hydraulic braking effect.At least in the incipient stage that brake pedal depresses, the direct transmission of thrust from brake pedal to piston is interrupted.
Obviously, in further embodiments, in conjunction with multiple embodiments of aforementioned description, especially composition graphs 1, combined regenerative braking system illustrated in fig. 2, mechanically decoupled between the piston 131a that can not also form the master cylinder 131 of brake pedal 150 and hydraulic brake system 130, such as the movable part 140a of aforesaid linear electromagnetic drive division 140 is directly engaged the driven part 133 of supercharging actuator 132, this driven part 133 is configured to engage with the piston 131a of master cylinder 131 and movable part 140a respectively.Or in the embodiment not arranging supercharging actuator 132, by realizing with the piston 131a that the pushing part 160 that the movable part 140a of linear electromagnetic drive division 140 links directly engages master cylinder 131.
So, when pedal brake occurs, feedback feeling when also providing pedal brake by this linear electromagnetic drive division 140, and the distribution of regenerative brake and hydraulic braking can adopt traditional mode to realize.
In the disclosure, in earlier figures 1, Fig. 2, label 140b represents the fixed part of linear electromagnetic actuator.
Label 131c exemplarily describes and compensates liquid filling.
When being necessary, label 131d and 131e exemplarily describes front axle master cylinder and rear axle master cylinder.
Label 133 represents the driven part of supercharging actuator 132.
Label 151 exemplarily indicates aforesaid angular transducer, label 152 exemplarily indicates aforesaid pedal stroke sensor, the position of these two sensors is exemplary in the example shown, in the implementation procedure of multiple scheme of the present invention, its position is variable, and all are reasonably placed and are related personnel institute and understand and easily realize.
The movable part 140a of the linear electromagnetic actuator of aforementioned description, can be configured to elementary, and now aforesaid fixed part 140b is then configured to secondary.Certainly, in other embodiment, aforesaid movable part 140a can also be configured to secondary, then aforesaid fixed part 140b is then configured to elementary.
In example shown in earlier figures 1, cylindrical case between the movable part 140a of linear electromagnetic actuator 140 and fixed part 140b can be used as the shell of linear electromagnetic actuator, meanwhile, this shell also can provide support by the component part simultaneously or for brake system 100 together with other shell component.
In order to more be conducive to the stampede operation of brake pedal, aforesaid cylindrical case can not be closed, and especially closes on one end of described brake pedal, can be arranged to uncovered or not exclusively closed, or leave position, hole.
As shown in the figure, be not be adjacent to completely between the movable part 140a of aforesaid rectilinear electromagnetic driver 140 and aforementioned cylindrical case, but fine gap space or can be left when being necessary.
In foregoing individual embodiments of the present disclosure, the realization of brake pedal feel when providing regenerative brake to occur by providing linear electromagnetic actuator 140, compared to the feedback that the modes such as traditional additional hydraulic systems realize, system realizes simple, device is few, annexation is simple, realize without the need to relying on the such as sensing such as pressure sensor, electromagnetic valve class and valve type device controlling, reliability is high.
As more favourable embodiment, for strengthening the reliability of Brake feedback, the brake pedal feedback neutralization that prevents linear electromagnetic drives fail from bringing, in combined regenerative braking system as shown in Figure 3, also be provided with one and recover mechanism 180, when producing for providing braking requirement and the rightabout resistance of the motion of brake pedal 150, with the realization making this recovery mechanism 180 and described linear electromagnetic actuator 140 jointly or separately provide brake pedal feel.
In this example, aforesaid linear electromagnetic actuator 140 is by as one first brake pedal feel feedback mechanism, and this recovery mechanism 180 forms one second brake pedal feel feedback mechanism.
In the representative configuration figure of the combined regenerative braking system shown in Fig. 3, with the function of each component part in earlier figures 3, constituent elements, part that effect is all identical or construct and all adopt identical label to represent, its specific implementation repeats no more in the present embodiment.
As shown in Figure 3, recover mechanism 180, preferably, be configured to a recovery spring.
Between the body 160a that this recovery spring 180 is arranged on aforementioned pushing part 160 and supercharging actuator 132, as shown in the figure, in this example being provided with guide piece 170, this recovery spring 180 between guide piece 170 and the body 160a of pushing part 160, its one end can engage with body 160a, and the other end and guide piece 170 are fixed.Certainly, in necessary or suitable, recovering spring 180 can be not exclusively all adopt the mode be fixedly connected with both, but free-standing and when needs (such as when brake pedal 150 is depressed) produced resistance by compressing.
So, composition graphs 3, when aforementioned brake pedal 150 is depressed, first connecting rod 153 promotes described movable part 140a and moves, pushing part 160 interlock makes this spring compacted and produces the resistance (namely hindering the resistance that pedal advances) that an opposing compresses trend, this resistance, by aforesaid body 160a---first connecting rod 153, is applied on brake pedal 150.
Certainly, as previously mentioned, under the embodiment that pushing part is not set, aforesaid recovery spring is arranged between movable part 140a and supercharging actuator 132, in like manner produced the resistance (hindering the resistance that pedal advances) of an opposing compression trend by this recovery spring when brake pedal 150 depresses, and by such as movable part 140a---first connecting rod 153, be applied on brake pedal 150.
In this example, composition graphs 3, described recovery mechanism 180 is arranged between the body 160a of pushing part 160 and supercharging actuator 132, certainly in a further embodiment, recover mechanism 180 and can also be arranged on other positions, such as, in Fig. 1, Fig. 2 or Fig. 3 position at angular transducer 151 place or the position closed on.Obviously, should be appreciated that the be arranged on plurality of positions recovering mechanism 180, according to the instruction of aforementioned one or more embodiment of the present invention, in order to make this recovery spring produce the resistance hindering pedal to advance, its position and annexation should be understood and realize.
So, when regenerative brake occurs, when described linear electromagnetic actuator 140 normally works, this recovery mechanism 180 and described linear electromagnetic actuator 140 provide the realization of brake pedal feel jointly.When losing efficacy at described linear electromagnetic actuator 140, this recovery mechanism 180 still can provide separately the realization of brake pedal feel.
Obviously, in each embodiment aforesaid, when brake pedal 150 is depressed braking intention generation, if when described linear electromagnetic actuator 140 lost efficacy, certain brake pedal feedback feeling still can be provided by aforesaid recovery mechanism 180, even if when regeneration brake system 120 and/or linear electromagnetic actuator 140 all lost efficacy, still deepen to trample the stroke of the first connecting rod 153 be connected with brake pedal 150 is strengthened by driver, mechanically decoupled with what stop between brake pedal 150 and hydraulic brake system 130, driver is loaded on traditional hydraulic brake system 130 by the required brake torque of brake pedal 150 through mechanical path, realize the braking of vehicle (obviously, when not decoupling zero, this braking intention certainly can be applied directly on master cylinder or by supercharging actuator and be applied on master cylinder again).The decoupling zero realized compared to traditional employing electromagnetic valve, additional hydraulic efficiency pressure system and brake pedal feedback system, the mode that the disclosure provides, the car brakeing under unexpected situation can be realized fast, traditional hydraulic brake system is had an effect rapidly, effectively prevent the generation of brake safe accident, be supplied to the brake pedal feel that driver is certain simultaneously, prevent erroneous judgement and cause safety traffic dangerous.
In certain embodiments, aforesaid recovery mechanism 180 can also be configured to other forms of elastic and resilient element, such as Rubber Parts, recoverable steel disc etc., certainly and with as restriction.
In the aforementioned disclosed multiple design of the present invention and embodiment, in the demutation regeneration brake system especially 1, mentioned by Fig. 2, Fig. 3, the storage battery all mentioned using foregoing is as energy-storage units to describe exemplary enforcement of the present invention.Obviously, according to the instruction of above-mentioned design of the present invention, embodiment, the transformation of energy of aforesaid regeneration brake system and file layout be not as restriction, still can be implemented with the form of such as aforesaid flywheel energy storage or compressed-air energy storage, its significant beneficial effect is also easily learnt according to the instruction of the aforementioned one or more embodiment of the present invention.
In multiple examples as previously suggested, be all described for the vehicle being provided with brake pedal, be beneficial to driver and trample and produce braking requirement.Certainly, in some other examples, such as do not design the vehicle of brake pedal, can be now substitute described brake pedal with lever connection, its function and efficacy and brake pedal are substantially identical, and difference is: brake pedal is produced braking requirement when depressing, and lever connection produces braking requirement, should be appreciated that its structure and connection mode are well known to those of ordinary skill in the art or easy realization.In these examples, correspondingly, linear electromagnetic actuator 140 hinders this lever connection being pulled or being pushed the resistance that advances in direction and be applied on this lever connection by producing, thus realizes the realization of pull bar Brake feedback sensation.
As shown in Figure 4, the disclosure also proposes a kind of combined regenerative braking method for vehicle, comprises the following steps in conjunction with its realization:
In response to the operation of driver to brake pedal, the required brake torque of computing driver;
Car retardation is made based on described brake torque applying regenerative braking torque and/or hydraulic braking moment of torsion; And
In response to the required brake torque of described driver, produce resistance the brake pedal being delivered to this vehicle that drive singal drives a straight line electromagnetic driver that its movable part is produced to hinder brake pedal to advance to provide the realization of brake pedal feel by a such as control unit.
In conjunction with the combined regenerative braking system of foregoing individual embodiments, the description of the combined regenerative braking system especially shown in Fig. 1, Fig. 2, Fig. 3, the combined regenerative braking method for vehicle that the disclosure proposes is applicable to the vehicle with hydraulic brake system 130 and regeneration brake system 120.
As aforementioned, hydraulic brake system 130 is configured for and applies hydraulic braking moment of torsion to make car retardation to vehicle, and regeneration brake system 120 is configured for and applies regenerative braking torque to make car retardation to vehicle.
Hydraulic brake system 130 can be configured to multiple implementation as the aforementioned, certainly not with these representative configuration for restriction.Regeneration brake system 120 also can be configured to multiple implementation as the aforementioned, includes but not limited to adopt electrical energy form conversion and storage, flywheel formal transformation and storage and the energy storage of pressurized air form etc.
Present embodiment provide in the combined regenerative braking method of vehicle, especially when braking requirement produces, by producing drive singal based on the brake torque required by driver's (such as by trampling brake pedal 150), this drive singal is configured to driving brake pedal feel feedback mechanism, i.e. linear electromagnetic actuator, the resistance its movable part being produced hinder brake pedal to advance the brake pedal being delivered to this vehicle are to provide the realization of brake pedal feel.As preferred mode, between the resistance that the available obstruction brake pedal of movable part of the required brake torque of described driver and described linear electromagnetic actuator advances, be configured to the corresponding relation according to setting.
Aforesaid corresponding relation can be certain functional relation, such as linear change, nonlinearities change, or changes according to the form mapping relations of setting.
Certainly, in some instances, such as when the braking distance of brake pedal 150 increases, cause being formed between the piston 131a of the master cylinder 131 of itself and hydraulic brake system 130 mechanical decoupled state when removing, control unit 110 mechanically directly feeds back to the thrust of brake pedal 150 in response to the brake torque required by driver and hydraulic brake system and produces the drive singal of linear electromagnetic actuator 140.In these examples, except according to except the brake torque required by driver, also the braking mode according to vehicle is determined the drive singal of linear electromagnetic actuator 140.
The linear electromagnetic actuator adopted in this example is described as the beneficial effect of brake pedal feel feedback mechanism and/or favourable outcome in aforesaid one or more embodiment.
For improving the reliability of system, the negative consequence that prevents the inefficacy of linear electromagnetic actuator from bringing, with reference to the combined regenerative braking system described above especially described in composition graphs 3, preceding method more comprises:
During by arranging for providing braking requirement to produce and the recovery mechanism 180 of the rightabout resistance of motion of brake pedal with the realization making this recovery mechanism 180 and described linear electromagnetic actuator 140 jointly or separately provide brake pedal feel.
Aforesaid recovery mechanism is configured to recover mechanism as spring by elasticity, or is realized by other elastic elements, such as recoverable steel disc, Rubber Parts etc.
In order to better realize transformation of energy, this combined regenerative braking method more comprises:
When braking requirement produces, by a such as control unit 110 in response to the required brake torque of described driver to control the distribution of described hydraulic braking moment of torsion and regenerative braking torque, and the preferential regenerative braking torque that uses is braked, that is: the current maximum regeneration braking potential (the current ceiling capacity of regeneration brake system 120 reclaims ability) preferentially provided according to regeneration brake system distributes regenerative braking torque, and described brake torque and the difference of the regenerative braking torque distributed are dispensed to hydraulic brake system.
For the responding ability of the energy conversion efficiency and regenerative brake that improve regenerative brake further, preceding method more comprises:
When braking requirement produces, make to be formed between the piston 131a of the brake pedal 150 of this vehicle and the master cylinder 131 of described hydraulic brake system mechanically decoupled.
Be to be understood that, aforementioned one or more combined regenerative braking method for vehicle, its implementation procedure and/or beneficial effect and/or favourable outcome are in the description of aforementioned multiple composite brakig regeneration system, in the description of the especially composite brakig regeneration system of composition graphs 1-Fig. 3, be illustrated, the instruction according to the aforementioned one or more embodiment of the present invention is also easily learnt.
As previously mentioned, in some other examples, the brake pedal mentioned in aforementioned one or more combined regenerative braking method can also be substituted with lever connection, now correspondingly, linear electromagnetic actuator 140 hinders this lever connection pulling the resistance that advances in direction and be applied on this lever connection by producing, thus realizes the realization of pull bar Brake feedback sensation.
As shown in Figure 5, according to of the present invention open, also propose a kind of combined regenerative braking method for vehicle, this combined regenerative braking method comprises: make the regeneration brake system of vehicle apply regenerative braking torque to make car retardation when braking requirement produces to this vehicle; A hydraulic brake system with master cylinder is made to apply hydraulic braking moment of torsion to make car retardation to this vehicle where necessary; And provide a straight line electromagnetic driver as the feedback mechanism when braking requirement produces and controllably give hinder the resistance of brake pedal advance and be applied on this brake pedal in braking procedure.
Preferably, the combined regenerative braking method of aforementioned proposition comprises more:
In when braking requirement produces, carry out the distribution of described hydraulic braking moment of torsion and regenerative braking torque in response to the brake torque required by driver, and the preferential regenerative braking torque that uses is braked.
Preferably, the combined regenerative braking method of aforementioned proposition comprises more:
When providing described braking requirement to produce by arranging a recovery mechanism and the rightabout resistance of motion of brake pedal, with the realization making this recovery mechanism and described linear electromagnetic actuator jointly or separately provide brake pedal feel.
Preferably, aforesaid recovery mechanism is configured to recover mechanism's realization by elasticity.
Preferably, the combined regenerative braking method of aforementioned proposition comprises more:
When braking requirement produces, make to be formed between the piston of the master cylinder of the brake pedal of this vehicle and described hydraulic brake system mechanically decoupled.
Be to be understood that, in conjunction with the combined regenerative braking system of combined regenerative braking system especially shown in Fig. 1, Fig. 2, Fig. 3 of aforementioned multiple embodiment, the combined regenerative braking method for vehicle of aforesaid one or more embodiment, as its preferred scheme or configuration or realization, the function of these extentions or preferred version, effect, effect and/or result are illustrated in aforementioned one or more associated description about combined regenerative braking system, especially, shown in Fig. 1-3, do not repeat them here.
Although the present invention with preferred embodiment disclose as above, so itself and be not used to limit the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on those as defined in claim.
Claims (14)
1. to unify the combined regenerative braking method of vehicle of regeneration brake system for having hydraulic braking sysgtem for one kind, this hydraulic brake system has a master cylinder and is configured to be suitable for applying hydraulic braking moment of torsion to make car retardation to this vehicle, this regeneration brake system is configured to be suitable for applying regenerative braking torque to make car retardation to this vehicle, it is characterized in that, this combined regenerative braking method comprises:
In response to the operation of driver to the brake pedal of vehicle, the required brake torque of computing driver;
Car retardation is made based on described brake torque applying hydraulic braking moment of torsion and/or regenerative braking torque; And
In response to the required brake torque of described driver, produced by a straight line electromagnetic driver and hinder the resistance of brake pedal advance and be applied on this brake pedal.
2. combined regenerative braking method according to claim 1, is characterized in that, aforementioned combined regenerative braking method more comprises:
When described braking requirement produces, between the resistance that the obstruction brake pedal that the required brake torque of described driver and described linear electromagnetic actuator give advances, be configured to the corresponding relation according to setting.
3. combined regenerative braking method according to claim 2, is characterized in that, aforementioned combined regenerative braking method more comprises:
Aforesaid corresponding relation is certain functional relation, or changes according to the form mapping relations of setting.
4. combined regenerative braking method according to claim 2, is characterized in that, aforementioned combined regenerative braking method more comprises:
Aforesaid corresponding relation is set to linear change.
5. combined regenerative braking method according to claim 1, is characterized in that, aforementioned combined regenerative braking method more comprises:
When described braking requirement produces, carry out the distribution of described hydraulic braking moment of torsion and regenerative braking torque in response to the required brake torque of described driver, and the preferential regenerative braking torque that uses is braked.
6. combined regenerative braking method according to claim 1, is characterized in that, aforementioned combined regenerative braking method comprises more:
When providing described braking requirement to produce by arranging a recovery mechanism and the rightabout resistance of motion of brake pedal, with the realization making this recovery mechanism and described linear electromagnetic actuator jointly or separately provide brake pedal feel.
7. the combined regenerative braking method for vehicle according to claim 6, is characterized in that, aforementioned combined regenerative braking method comprises more:
Described recovery mechanism is configured to recover mechanism by elasticity and realizes.
8. combined regenerative braking method according to claim 1, is characterized in that, aforementioned combined regenerative braking method more comprises:
When described braking requirement produces, make to be formed between the piston of the master cylinder of the brake pedal of this vehicle and described hydraulic brake system mechanically decoupled.
9. according to the combined regenerative braking method in claim 1-8 described in any one, it is characterized in that, replace aforesaid brake pedal with lever connection.
10. for a combined regenerative braking method for vehicle, it is characterized in that, this combined regenerative braking method comprises:
The regeneration brake system of vehicle is made to apply regenerative braking torque to make car retardation when braking requirement produces to this vehicle;
A hydraulic brake system with master cylinder is made to apply hydraulic braking moment of torsion to make car retardation to this vehicle where necessary; And
There is provided a straight line electromagnetic driver as the feedback mechanism when braking requirement produces and controllably give hinder the resistance of brake pedal advance and be applied on this brake pedal in braking procedure.
The 11. combined regenerative braking methods for vehicle according to claim 10, it is characterized in that, preceding method comprises more:
In when braking requirement produces, carry out the distribution of described hydraulic braking moment of torsion and regenerative braking torque in response to the brake torque required by driver, and the preferential regenerative braking torque that uses is braked.
12. combined regenerative braking methods for vehicle according to claim 10 or 11, it is characterized in that, preceding method comprises more:
When providing described braking requirement to produce by arranging a recovery mechanism and the rightabout resistance of motion of brake pedal, with the realization making this recovery mechanism and described linear electromagnetic actuator jointly or separately provide brake pedal feel.
The 13. combined regenerative braking methods for vehicle according to claim 12, it is characterized in that, preceding method comprises more:
Described recovery mechanism is configured to recover mechanism by elasticity and realizes.
The 14. combined regenerative braking methods for vehicle according to claim 10, it is characterized in that, preceding method comprises more:
When braking requirement produces, make to be formed between the piston of the master cylinder of the brake pedal of this vehicle and described hydraulic brake system mechanically decoupled.
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| CN201510168977.9A Pending CN105083240A (en) | 2015-02-05 | 2015-04-10 | Vehicle brake system with backup mode |
| CN201510170599.8A Pending CN105109349A (en) | 2015-02-05 | 2015-04-10 | Vehicle braking system with high reliability |
| CN201510169077.6A Pending CN105034820A (en) | 2015-02-05 | 2015-04-10 | Composite regenerative braking system used for vehicle |
| CN201510170661.3A Pending CN105035057A (en) | 2015-02-05 | 2015-04-10 | Method for storing electric energy in vehicle |
| CN201510169062.XA Pending CN105015515A (en) | 2015-02-05 | 2015-04-10 | Pedal brake sense feedback actuator for vehicle |
| CN201510170692.9A Pending CN105034821A (en) | 2015-02-05 | 2015-04-10 | Composite regenerative braking method used for vehicle |
| CN201510171070.8A Pending CN105015516A (en) | 2015-02-05 | 2015-04-10 | Method for realizing braking sense feedback on vehicle |
| CN201510171081.6A Active CN105015531B (en) | 2015-02-05 | 2015-04-10 | Braking system for vehicle and the vehicle with the system |
| CN201510171104.3A Pending CN105034822A (en) | 2015-02-05 | 2015-04-10 | Braking system used for vehicle |
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| CN201510170599.8A Pending CN105109349A (en) | 2015-02-05 | 2015-04-10 | Vehicle braking system with high reliability |
| CN201510169077.6A Pending CN105034820A (en) | 2015-02-05 | 2015-04-10 | Composite regenerative braking system used for vehicle |
| CN201510170661.3A Pending CN105035057A (en) | 2015-02-05 | 2015-04-10 | Method for storing electric energy in vehicle |
| CN201510169062.XA Pending CN105015515A (en) | 2015-02-05 | 2015-04-10 | Pedal brake sense feedback actuator for vehicle |
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| CN201510171104.3A Pending CN105034822A (en) | 2015-02-05 | 2015-04-10 | Braking system used for vehicle |
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Also Published As
| Publication number | Publication date |
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| CN105034820A (en) | 2015-11-11 |
| CN105015531A (en) | 2015-11-04 |
| CN105015516A (en) | 2015-11-04 |
| CN105015531B (en) | 2018-10-02 |
| CN105035057A (en) | 2015-11-11 |
| CN105034822A (en) | 2015-11-11 |
| CN105083240A (en) | 2015-11-25 |
| CN105015515A (en) | 2015-11-04 |
| CN105109349A (en) | 2015-12-02 |
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Application publication date: 20151111 |