CN105459836A - Composite braking rapid control system and method of three-motor electric car - Google Patents
Composite braking rapid control system and method of three-motor electric car Download PDFInfo
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- CN105459836A CN105459836A CN201510887885.6A CN201510887885A CN105459836A CN 105459836 A CN105459836 A CN 105459836A CN 201510887885 A CN201510887885 A CN 201510887885A CN 105459836 A CN105459836 A CN 105459836A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
- B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
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Abstract
The invention discloses an electro-hydraulic composite braking rapid control system of a three-motor electric car. The system comprises a motor regenerative braking module, a hydraulic braking module, an information collection module, an industrial personal computer, a terminal board and a display. According to the built electro-hydraulic composite braking rapid control system, electro-hydraulic composite braking control over the electric car is achieved by collecting and outputting data in real time, the correctness of a control algorithm is verified, the rapid development of a controller is achieved, the development cost is reduced, the development efficiency is improved, and the development cycle is shortened. An electro-hydraulic composite braking rapid control method of the three-motor electric car is disclosed based on the electro-hydraulic composite braking rapid control system, according to the drive type, brake strength, and the states of drive motors and a power battery of the electric car, the motor regenerative braking and hydraulic braking are concertedly controlled, and therefore the three-motor electric car further improves the brake energy recycling efficiency on the basis of ensuring the braking safety.
Description
Technical field
The present invention relates to electric vehicle engineering field, particularly relate to a kind of composite brakig fast acting control system and control method of three motor powered automobiles.
Background technology
Under the dual-pressure of energy and environment, electronlmobil obtains certain development, however course continuation mileage short be one of restriction electronlmobil business-like principal element always.Brake energy recovery technology can improve course continuation mileage by actv., but the motor regenerative brake that can carry out Brake energy recovery is subject to the restriction of electric machines control technology and battery charging and discharging, cannot provide enough braking forces to electronlmobil, the insensitivity of electronlmobil and safety cannot fully be ensured.Adopt the hydraulic braking of brake disc/brake wheel can provide enough rate of brakings, but braking energy can only distribute, and does not have the function of energy regenerating with the form of heat energy.Therefore the electricity of motor regenerative brake and hydraulic braking associated working, liquid composite brakig both can meet car load rate of braking, ensured good insensitivity, had again higher Brake energy recovery efficiency.In view of above factor, electricity, the liquid composite brakig of electronlmobil become one of focus of electronlmobil field of research.
The mode that current electronlmobil electricity, liquid composite brakig generally adopt numerical simulation, stand test and sample car to test is studied.Because numerical simulation is difficult to the factor such as dynamic response characteristic, hardware controls cycle, noise jamming accurately considering actuator, result often can not get the abundant trust of people; Stand test is difficult to simulate real working conditions change, and result also can not get the accreditation of people; Although and the result of sample car test is convincing, the R&D cycle is long, cost is high, is seldom used.Along with the development of embedded computer technology, real-time simulation, rapid control prototyping technology obtains fast development.Rapid control prototyping is the initial stage in system development, set up controller model rapidly, and the feasibility that off-line and online test carry out access control scheme is carried out repeatedly to whole system, be implemented between the algorithm design stage of research and development of products and specific implementation stage.Rapid control prototyping is exactly utilize certain means to download in certain computer hardware platforms by the algorithm that engineer develops, this computer hardware platforms is working train family controller under real-time conditions, be connected with controlled object material object by actual I/O equipment, the reliability of verification algorithm and accuracy, not only increase research and development speed, also reduce R&D costs.
Although also have people at the rapid control prototyping doing electronlmobil electricity, liquid composite brakig at present, but also there is not the rapid control prototyping of the battery-driven car electricity based on concrete drive form, liquid composite brakig, this directly constrains the raising of Brake energy recovery efficiency, also has a certain impact to braking safety and stability.
Therefore, to those skilled in the art, how for the exploitation of electronlmobil electricity, liquid composite brakig controller provide accurately and fast, the technical scheme of low cost is need the technical matters of solution badly.
Summary of the invention
Based on the technical matters that background technology exists, the present invention proposes a kind of composite brakig fast acting control system and control method of three motor powered automobiles.
The composite brakig fast acting control system of a kind of three motor powered automobiles that the present invention proposes, comprising:
Motor regenerative brake module, is connected with terminal board, for according to instruction for vehicle provides motor regenerative brake;
Hydraulic braking module, is connected with terminal board, for according to instruction for vehicle provides hydraulic braking;
Information acquisition module, is connected with terminal board, for the SOC value of collection vehicle electrokinetic cell, brake pedal opening information, wheel speed information and pressure of wheel braking cylinder information;
Industrial computer, for the treatment of the information that information acquisition module gathers, and sends instruction hydraulic control brake module and motor regenerative brake module work according to above-mentioned information processing result;
Terminal board, is connected with industrial computer, for information acquisition module data are inputed to industrial computer, and instruction that industrial computer sends is exported to hydraulic braking module and motor regenerative brake module;
Telltale, for showing industrial computer operating data;
Electrokinetic cell, is connected with industrial computer, carries out the electric energy of Brake energy recovery generation for storing motor regenerative brake module.
Preferably, motor regenerative brake module comprises front-wheel motor-drive circuit, the near front wheel motor, off front wheel motor, back axle motor-drive circuit and back axle motor, the near front wheel motor, off front wheel motor are all connected with front-wheel motor-drive circuit, back axle motor-drive circuit is connected with back axle motor, and front road motor-drive circuit, back axle motor-drive circuit are all connected with terminal board.
Preferably, information acquisition module comprises Wheel cylinder pressure sensors, pressure of wheel braking cylinder signal conditioning circuit, wheel speed sensors, wheel speed signal modulate circuit, brake pedal displacement pickup and battery information management circuit, brake pedal displacement pickup is connected with terminal board, wheel speed sensors is connected with terminal board by wheel speed signal modulate circuit, electrokinetic cell is connected with terminal board by battery information management circuit, and Wheel cylinder pressure sensors is connected with terminal board by pressure of wheel braking cylinder signal conditioning circuit.
Preferably, hydraulic braking module comprises hydraulic braking driving circuit, hydraulic braking regulating control and car side brake, and hydraulic braking driving circuit is connected with terminal board, and hydraulic braking driving circuit is by hydraulic braking regulating control and car side brake control linkage.
Preferably, motor regenerative brake module is connected by wire with terminal board, and/or, hydraulic braking module is connected by wire with terminal board, and/or information acquisition module is connected by wire with terminal board, and/or terminal board is connected by Serial Port Line with industrial computer.
The composite brakig fast acting control system of a kind of three motor powered automobiles provided in the present invention, Acquire and process center using industrial computer as data, can related software be inputted in industrial computer, set up rapid control prototyping model, be carried out the constrained input of industrial computer signal by terminal board, system comprises motor regenerative brake module, hydraulic braking module, information acquisition module, electrokinetic cell, vehicle dynamic model is set up in rapid control prototyping model, controller model, battery management system model, incoming signal processing module, output signal processing module, vehicle dynamic model is all connected with controller model with battery management system model, the information of information acquisition module input industrial computer is received by incoming signal processing module and after changing, be supplied to vehicle dynamic model and battery management system model, operation result is inputed to controller model by vehicle dynamic model and battery management system model, controller model forms instruction according to result, and after being changed by output signal processing module, motor regenerative brake module is exported to through terminal board, hydraulic braking module performs, telltale can show the result that industrial computer runs.
The present invention also provides a kind of composite brakig fast control method of three motor powered automobiles, comprises the following steps:
S1: the SOC value obtaining electrokinetic cell, if the SOC value of electrokinetic cell is less than or equal to 0.8, then proceeds to step S2, if the SOC value of electrokinetic cell is greater than 0.8, then proceed to step S9;
S2: the opening information obtaining brake pedal, calculates rate of braking Z value according to the opening information of brake pedal, if rate of braking Z value is less than or equal to 0.2, then proceeds to step S3; If rate of braking Z value is greater than 0.2 and is less than or equal to 0.8, then proceed to step S4; If rate of braking Z value is greater than 0.8, then proceed to step S9;
S3: the work state information obtaining ABS, if ABS is mode of operation, then proceeds to step S9; If ABS is off working state, then proceed to step S10;
S4: the work state information obtaining ABS, if ABS is mode of operation, then proceeds to step S8; If ABS is off working state, obtain drive form information; If drive form is forerunner, then proceed to step S5; If drive form is rear-guard, then proceed to step S6; If drive form is 4 wheel driven, then proceed to step S7;
S5: adopt the first Electro-hydraulic brake pattern, wherein, the first Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, and trailing wheel adopts brake hydraulic braking, front turbin generator regenerative braking force F
bf_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S6: adopt the second Electro-hydraulic brake pattern, wherein, the second Electro-hydraulic brake pattern is that front-wheel adopts brake hydraulic braking, and trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, rear-wheel motor regenerative braking force F
br_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S7: adopt the 3rd Electro-hydraulic brake pattern, wherein, 3rd Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, and trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, front turbin generator regenerative braking force F
bf_reg, rear-wheel motor regenerative braking force F
br_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S8: adopt the 4th Electro-hydraulic brake pattern, wherein, 4th Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, and front turbin generator regenerative brake and rear-wheel motor regenerative brake are motor can produce the braking force that torque peak produces under current rotating speed;
S9: adopt hydraulic braking pattern;
S10: adopt motor braking mode.
The composite brakig fast control method of a kind of three motor powered automobiles provided in the present invention, by monitoring the SOC value of electrokinetic cell in real time, judge whether electrokinetic cell has direction charging ability, when the SOC value of electrokinetic cell is greater than 0.8, explanation battery electric quantity is sufficient, without the need to carrying out motor regenerative brake recuperated energy, therefore skipping braking mode and judging, only carrying out hydraulic braking; Calculate rate of braking by the opening information of brake pedal thus judge the braking intention of chaufeur, when rate of braking is emergency braking, is primary factor with braking safety, only adopts hydraulic braking; When rate of braking is light brake, in conjunction with ABS mode of operation, adopt motor braking mode or hydraulic braking pattern; When rate of braking is moderate braking, according to the difference of drive form and in conjunction with ABS mode of operation, devise the corresponding different drive forms of four kinds of Electro-hydraulic brake patterns and ABS mode of operation.
In sum, the composite brakig fast acting control system of a kind of three motor powered automobiles provided provided by the invention and control method have the following advantages:
1, can fast verification electronlmobil electricity, liquid composite brakig control algorithm with strategy correctness and feasibility, the mistake of design and defect can be made to solve before product development, reduce cost of development, improve development efficiency, shorten time-to-market;
2, C code migrating can be converted into in real controllers by using the related softwares such as MATLAB/Simulink, reduce further controller development difficulty and cost, improve development rate;
3, the electronlmobil for concrete drive form carries out electricity, liquid composite brakig controls, and further can improve Brake energy recovery efficiency, promote electric vehicle brake stability and safety.
Accompanying drawing explanation
Fig. 1 be the present invention propose a kind of three motor powered automobile electrics, liquid composite brakig fast acting control system schematic block diagram;
Fig. 2 be the present invention propose a kind of three motor powered automobile electrics, liquid composite brakig fast acting control system structural representation;
Fig. 3 be the present invention propose a kind of three motor powered automobile electrics, liquid composite brakig fast control method diagram of circuit.
In fig. 2,1. wheel; 2. off front wheel motor; 3. hydraulic braking regulating control; 4. hydraulic braking driving circuit; 5. telltale; 6. industrial computer; 7. terminal board; 8. battery information management circuit; 9. back axle motor; 10. electrokinetic cell; 11. wheel speed sensors; 12. car side brakes; 13. Wheel cylinder pressure sensors; 14. pressure of wheel braking cylinder signal conditioning circuits; 15. back axle motor-drive circuits; 16. front-wheel motor-drive circuits; 17. wheel speed signal modulate circuits; 18. brake pedal displacement pickups; 19. brake pedals; 20. the near front wheel motors.
Detailed description of the invention
As Figure 1-3, Fig. 1 be the present invention propose a kind of three motor powered automobile electrics, liquid composite brakig fast acting control system schematic block diagram; Fig. 2 be the present invention propose a kind of three motor powered automobile electrics, liquid composite brakig fast acting control system structural representation; Fig. 3 be the present invention propose a kind of three motor powered automobile electrics, liquid composite brakig fast control method diagram of circuit.
Below in conjunction with drawings and Examples, the present invention is described in detail.
With reference to Fig. 1-2, the composite brakig fast acting control system of a kind of three motor powered automobiles that the present invention proposes, comprising:
Motor regenerative brake module, is connected with terminal board 7, for according to instruction for vehicle provides motor regenerative brake;
Hydraulic braking module, is connected with terminal board 7, for according to instruction for vehicle provides hydraulic braking;
Information acquisition module, is connected with terminal board 7, for the SOC value of collection vehicle electrokinetic cell 10, brake pedal 19 opening information, wheel speed information and pressure of wheel braking cylinder information;
Industrial computer 6, for the treatment of the information that information acquisition module gathers, and sends instruction hydraulic control brake module and motor regenerative brake module work according to above-mentioned information processing result;
Terminal board 7, is connected with industrial computer 6, for information acquisition module data are inputed to industrial computer 6, and by industrial computer 6 send instruction and export hydraulic braking module and motor regenerative brake module to;
Telltale 5, for showing industrial computer 6 operating data;
Electrokinetic cell 10, is connected with industrial computer 6, carries out the electric energy of Brake energy recovery generation for storing motor regenerative brake module;
Motor regenerative brake module comprises front-wheel motor-drive circuit 16, the near front wheel motor 20, off front wheel motor 2, back axle motor-drive circuit 15 and back axle motor 9, the near front wheel motor 20, off front wheel motor 2 are all connected with front-wheel motor-drive circuit 16, back axle motor-drive circuit 15 is connected with back axle motor 9, and front road motor-drive circuit, back axle motor-drive circuit 15 are all connected with terminal board 7;
Information acquisition module comprises Wheel cylinder pressure sensors 13, pressure of wheel braking cylinder signal conditioning circuit 14, wheel speed sensors 11, wheel speed signal modulate circuit 17, brake pedal displacement pickup 18 and battery information management circuit 8, brake pedal displacement pickup 18 is connected with terminal board 7, wheel speed sensors 11 is connected with terminal board 7 by wheel speed signal modulate circuit 17, electrokinetic cell 10 is connected with terminal board 7 by battery information management circuit 8, and Wheel cylinder pressure sensors 13 is connected with terminal board 7 by pressure of wheel braking cylinder signal conditioning circuit 14;
Hydraulic braking module comprises hydraulic braking driving circuit 4, hydraulic braking regulating control 3 and car side brake 12, hydraulic braking driving circuit 4 is connected with terminal board 7, and hydraulic braking driving circuit 4 is by hydraulic braking regulating control 3 and car side brake 12 control linkage;
Motor regenerative brake module is connected by wire with terminal board 7, and hydraulic braking module is connected by wire with terminal board 7, and information acquisition module is connected by wire with terminal board 7, and terminal board 7 is connected by Serial Port Line with industrial computer 6.
With reference to Fig. 3, based on the composite brakig fast acting control system of above-mentioned three motor powered automobiles, the composite brakig fast control method of a kind of three motor powered automobiles that the present invention proposes, comprises the following steps:
S1: the SOC value obtaining electrokinetic cell 10, if the SOC value of electrokinetic cell 10 is less than or equal to 0.8, then proceeds to step S2, if the SOC value of electrokinetic cell 10 is greater than 0.8, then proceed to step S9;
S2: the opening information obtaining brake pedal 19, calculates rate of braking Z value according to the opening information of brake pedal 19, if rate of braking Z value is less than or equal to 0.2, then proceeds to step S3; If rate of braking Z value is greater than 0.2 and is less than or equal to 0.8, then proceed to step S4; If rate of braking Z value is greater than 0.8, then proceed to step S9;
S3: the work state information obtaining ABS, if ABS is mode of operation, then proceeds to step S9; If ABS is off working state, then proceed to step S10;
S4: the work state information obtaining ABS, if ABS is mode of operation, then proceeds to step S8; If ABS is off working state, obtain drive form information; If drive form is forerunner, then proceed to step S5; If drive form is rear-guard, then proceed to step S6; If drive form is 4 wheel driven, then proceed to step S7;
S5: adopt the first Electro-hydraulic brake pattern, wherein, the first Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, and trailing wheel adopts brake hydraulic braking, front turbin generator regenerative braking force F
bf_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S6: adopt the second Electro-hydraulic brake pattern, wherein, the second Electro-hydraulic brake pattern is that front-wheel adopts brake hydraulic braking, and trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, rear-wheel motor regenerative braking force F
br_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S7: adopt the 3rd Electro-hydraulic brake pattern, wherein, 3rd Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, and trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, front turbin generator regenerative braking force F
bf_reg, rear-wheel motor regenerative braking force F
bf_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S8: adopt the 4th Electro-hydraulic brake pattern, wherein, 4th Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, and front turbin generator regenerative brake and rear-wheel motor regenerative brake are motor can produce the braking force that torque peak produces under current rotating speed;
S9: adopt hydraulic braking pattern;
S10: adopt motor braking mode.
In above-mentioned control system and corresponding control method, the brakig force distribution flow process that four kinds of Electro-hydraulic brake patterns and ABS coordinate braking mode is as follows:
Industrial computer 6 is according to the SOC signal of current power battery 10, the current tach signal of the near front wheel motor 20, the current tach signal of off front wheel motor 2 and the current tach signal of left back bridge motor 9, the current maximum regenerative braking force that can provide is provided, and contrast with required braking force, under the prerequisite meeting drive wheel not locking, three motors are given by brakig force distribution when being no more than the minimum value in three motor maximum braking torque values, with the requirement of the maximum braking energy of satisfied acquisition, if the maximum braking torque that drive motor provides can't meet the demand of braking force on drive wheel, braking torque insufficient section will be supplemented by hydraulic braking.Corresponding control signal will send hydraulic braking driving circuit 4 to, by reaching braking target to the control of hydraulic braking regulating control 3.In braking procedure, pressure of wheel braking cylinder, wheel 1 rotating speed, the speed of a motor vehicle, battery SOC, motor speed will be fed back to brak control unit by as incoming signal, carry out closed loop control.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (6)
1. a composite brakig fast acting control system for three motor powered automobiles, is characterized in that, comprising:
Motor regenerative brake module, is connected with terminal board (7), for according to instruction for vehicle provides motor regenerative brake;
Hydraulic braking module, is connected with terminal board (7), for according to instruction for vehicle provides hydraulic braking;
Information acquisition module, is connected with terminal board (7), for the SOC value of collection vehicle electrokinetic cell (10), brake pedal (19) opening information, wheel speed information and pressure of wheel braking cylinder information;
Industrial computer (6), for the treatment of the information that information acquisition module gathers, and sends instruction hydraulic control brake module and motor regenerative brake module work according to above-mentioned information processing result;
Terminal board (7), be connected with industrial computer (6), for information acquisition module data are inputed to industrial computer (6), and by industrial computer (6) send instruction and export hydraulic braking module and motor regenerative brake module to;
Telltale (5), for showing industrial computer (6) operating data;
Electrokinetic cell (10), is connected with industrial computer (6), carries out the electric energy of Brake energy recovery generation for storing motor regenerative brake module.
2. the composite brakig fast acting control system of three motor powered automobiles according to claim 1, it is characterized in that, motor regenerative brake module comprises front-wheel motor-drive circuit (16), the near front wheel motor (20), off front wheel motor (2), back axle motor-drive circuit (15) and back axle motor (9), the near front wheel motor (20), off front wheel motor (2) is all connected with front-wheel motor-drive circuit (16), back axle motor-drive circuit (15) is connected with back axle motor (9), front road motor-drive circuit, back axle motor-drive circuit (15) is all connected with terminal board (7).
3. the composite brakig fast acting control system of three motor powered automobiles according to claim 1, it is characterized in that, information acquisition module comprises Wheel cylinder pressure sensors (13), pressure of wheel braking cylinder signal conditioning circuit (14), wheel speed sensors (11), wheel speed signal modulate circuit (17), brake pedal displacement pickup (18) and battery information management circuit (8), brake pedal displacement pickup (18) is connected with terminal board (7), wheel speed sensors (11) is connected with terminal board (7) by wheel speed signal modulate circuit (17), electrokinetic cell (10) is connected with terminal board (7) by battery information management circuit (8), Wheel cylinder pressure sensors (13) is connected with terminal board (7) by pressure of wheel braking cylinder signal conditioning circuit (14).
4. the composite brakig fast acting control system of three motor powered automobiles according to claim 1, it is characterized in that, hydraulic braking module comprises hydraulic braking driving circuit (4), hydraulic braking regulating control (3) and car side brake (12), hydraulic braking driving circuit (4) is connected with terminal board (7), and hydraulic braking driving circuit (4) is by hydraulic braking regulating control (3) and car side brake (12) control linkage.
5. the composite brakig fast acting control system of three motor powered automobiles according to claim 1, it is characterized in that, motor regenerative brake module is connected by wire with terminal board (7), and/or, hydraulic braking module is connected by wire with terminal board (7), and/or information acquisition module is connected by wire with terminal board (7), and/or terminal board (7) is connected by Serial Port Line with industrial computer (6).
6. a composite brakig fast control method for three motor powered automobiles, is characterized in that, comprise the following steps:
S1: the SOC value obtaining electrokinetic cell (10), if the SOC value of electrokinetic cell (10) is less than or equal to 0.8, then proceeds to step S2, if the SOC value of electrokinetic cell (10) is greater than 0.8, then proceed to step S9;
S2: the opening information obtaining brake pedal (19), calculates rate of braking Z value according to the opening information of brake pedal (19), if rate of braking Z value is less than or equal to 0.2, then proceeds to step S3; If rate of braking Z value is greater than 0.2 and is less than or equal to 0.8, then proceed to step S4; If rate of braking Z value is greater than 0.8, then proceed to step S9;
S3: the work state information obtaining ABS, if ABS is mode of operation, then proceeds to step S9; If ABS is off working state, then proceed to step S10;
S4: the work state information obtaining ABS, if ABS is mode of operation, then proceeds to step S8; If ABS is off working state, obtain drive form information; If drive form is forerunner, then proceed to step S5; If drive form is rear-guard, then proceed to step S6; If drive form is 4 wheel driven, then proceed to step S7;
S5: adopt the first Electro-hydraulic brake pattern, wherein, the first Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, and trailing wheel adopts brake hydraulic braking, front turbin generator regenerative braking force F
bf_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S6: adopt the second Electro-hydraulic brake pattern, wherein, the second Electro-hydraulic brake pattern is that front-wheel adopts brake hydraulic braking, and trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, rear-wheel motor regenerative braking force F
br_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S7: adopt the 3rd Electro-hydraulic brake pattern, wherein, 3rd Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, and trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, front turbin generator regenerative braking force F
bf_reg, rear-wheel motor regenerative braking force F
br_reg, front-wheel brake braking force F
bf_hydwith rear wheel brake braking force F
br_hydbetween distribution distribute by UNECE automotive regulation curve;
S8: adopt the 4th Electro-hydraulic brake pattern, wherein, 4th Electro-hydraulic brake pattern is that front-wheel adopts motor regenerative brake and brake hydraulic braking associated working, trailing wheel adopts motor regenerative brake and brake hydraulic braking associated working, and front turbin generator regenerative brake and rear-wheel motor regenerative brake are motor can produce the braking force that torque peak produces under current rotating speed;
S9: adopt hydraulic braking pattern;
S10: adopt motor braking mode.
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| CN201510887885.6A CN105459836B (en) | 2015-12-02 | 2015-12-02 | The composite braking fast acting control system and control method of a kind of three motor powereds automobile |
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| CN107225977A (en) * | 2017-05-25 | 2017-10-03 | 北京新能源汽车股份有限公司 | Braking energy recovery processing method and device and electric automobile |
| CN109435938A (en) * | 2017-08-28 | 2019-03-08 | 比亚迪股份有限公司 | Brake control method and device |
| CN109910849A (en) * | 2019-03-14 | 2019-06-21 | 同济大学 | A kind of distributed driving electric vehicle composite braking control method based on EHB system |
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| CN112224029A (en) * | 2020-10-15 | 2021-01-15 | 中车青岛四方车辆研究所有限公司 | Redundancy control method for electromechanical brake system of rail vehicle |
| CN112622856A (en) * | 2020-12-25 | 2021-04-09 | 中国第一汽车股份有限公司 | Regenerative braking method and device for hybrid power assembly rack, vehicle and medium |
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| CN110597237A (en) * | 2019-10-12 | 2019-12-20 | 北京北方华德尼奥普兰客车股份有限公司 | Simulation method of RCP (remote control protocol) system of whole vehicle controller of extended range electric vehicle |
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| CN112622856B (en) * | 2020-12-25 | 2022-02-08 | 中国第一汽车股份有限公司 | Regenerative braking method and device for hybrid power assembly rack, vehicle and medium |
| CN113002321A (en) * | 2021-03-23 | 2021-06-22 | 奇瑞新能源汽车股份有限公司 | New energy automobile braking method and device, whole automobile controller and new energy automobile |
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