CN105459836B - The composite braking fast acting control system and control method of a kind of three motor powereds automobile - Google Patents
The composite braking fast acting control system and control method of a kind of three motor powereds automobile Download PDFInfo
- Publication number
- CN105459836B CN105459836B CN201510887885.6A CN201510887885A CN105459836B CN 105459836 B CN105459836 B CN 105459836B CN 201510887885 A CN201510887885 A CN 201510887885A CN 105459836 B CN105459836 B CN 105459836B
- Authority
- CN
- China
- Prior art keywords
- braking
- motor
- wheel
- brake
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000001172 regenerating effect Effects 0.000 claims abstract description 55
- 238000011084 recovery Methods 0.000 claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000003750 conditioning effect Effects 0.000 claims description 6
- 230000008929 regeneration Effects 0.000 claims description 5
- 238000011069 regeneration method Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 abstract description 19
- 239000007788 liquid Substances 0.000 abstract description 19
- 238000011161 development Methods 0.000 abstract description 9
- 238000010276 construction Methods 0.000 abstract 1
- 230000018109 developmental process Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000012827 research and development Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of electricity of three motor powereds automobile, liquid composite braking fast acting control system, including motor regenerative braking module, hydraulic braking module, information acquisition module, industrial computer, terminal board and display.According to the electricity of foundation, liquid composite braking fast acting control system, by gathering in real time and output data, electric automobile electricity, the control of liquid composite braking, access control correctness of algorithm are realized, realize that controller is quickly developed, reduce development cost, improve development efficiency, shorten the construction cycle.A kind of three motor powered automobiles electricity, liquid composite braking control method are disclosed based on said system, according to electric automobile drive form, severity of braking, motor and electrokinetic cell state, coordination control is carried out to motor regenerative braking and hydraulic braking, three motor powered automobiles is further increased Brake energy recovery efficiency on the basis of braking safety is ensured.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly to a kind of composite braking of three motor powereds automobile quickly to control
System and control method processed.
Background technology
Under the dual-pressure of energy and environment, electric automobile has obtained certain development, but course continuation mileage is short always
It is to restrict one of commercialized principal element of electric automobile.Brake energy recovery technology can effectively improve course continuation mileage, so
And the motor regenerative braking that can carry out Brake energy recovery is limited by electric machines control technology and battery charging and discharging, can not give
Electric automobile provides enough brake force, and the insensitivity and security of electric automobile can not be to be fully ensured.Using system
The hydraulic braking of Moving plate/brake drum can provide enough severities of braking, but braking energy can only be distributed in the form of heat energy, no
Function with energy regenerating.Therefore electricity, the liquid composite braking that motor regenerative braking works together with hydraulic braking can both expire
Sufficient vehicle severity of braking, ensures good insensitivity, has higher Brake energy recovery efficiency again.In view of the above because
Element, electricity, the liquid composite braking of electric automobile turn into one of focus of electric automobile research field.
Electric automobile electricity, liquid composite braking are typically entered by the way of the experiment of numerical simulation, bench test and sample car at present
Row research.Due to numerical simulation it is difficult to accurately consider the dynamic response characteristic of actuator, hardware controls cycle, noise jamming etc. because
Element, it as a result often cannot get the abundant trust of people；Bench test is difficult to simulate real working conditions change, as a result also cannot
The accreditation of people；And the result of sample car experiment is although convincing, but R＆D cycle length, cost are high, are seldom used.With embedding
Enter formula computer technology, the development of real-time simulation, rapid control prototyping technology has obtained fast development.Rapid control prototyping be
The initial stage of system development, controller model is rapidly established, and repeatedly offline and online test is carried out to whole system
Carry out the feasibility of access control scheme, be implemented between the algorithm design phase of research and development of products and specific implementation stage.Quick control
Prototype processed is exactly to be downloaded to the algorithm that engineer develops in some computer hardware platforms using certain means, and the computer is hard
Part platform runs analog controller under real-time conditions, is connected by actual I/O equipment with controlled device material object, verification algorithm
Reliability and the degree of accuracy, research and development speed is not only increased, also reduces R＆D costs.
Although also someone is doing the rapid control prototyping of electric automobile electricity, liquid composite braking at present, it is not based on also
Electric car electricity, the rapid control prototyping of liquid composite braking of specific drive form, this directly constrains Brake energy recovery efficiency
Raising, also braking safety and stability are had a certain impact.
Therefore, to those skilled in the art, how to be carried for the exploitation of electric automobile electricity, liquid composite braking controller
Technical problem for technical scheme accurately and fast, inexpensive for urgent need to resolve.
The content of the invention
Based on technical problem existing for background technology, it is fast that the present invention proposes a kind of composite braking of three motor powereds automobile
Speed control system and control method.
A kind of composite braking fast acting control system of three motor powereds automobile proposed by the present invention, including：
Motor regenerative braking module, is connected with terminal board, for providing motor regenerative braking according to instruction for vehicle；
Hydraulic braking module, is connected with terminal board, for providing hydraulic braking according to instruction for vehicle；
Information acquisition module, it is connected with terminal board, the SOC value, brake pedal for collection vehicle electrokinetic cell are opened
Spend information, wheel speed information and pressure of wheel braking cylinder information；
Industrial computer, the information gathered for processing information acquisition module, and sent and referred to according to above- mentioned information result
Order control hydraulic braking module and the work of motor regenerative braking module；
Terminal board, be connected with industrial computer, for by information acquisition module data input to industrial computer, and by industrial computer
Transmitted instruction is exported to hydraulic braking module and motor regenerative braking module；
Display, for showing industrial computer service data；
Electrokinetic cell, it is connected with industrial computer, is carried out for storing motor regenerative braking module caused by Brake energy recovery
Electric energy.
Preferably, motor regenerative braking module include front-wheel motor-drive circuit, left front turbin generator, off-front wheel motor, after
Bridge motor-drive circuit and back axle motor, left front turbin generator, off-front wheel motor are connected with front-wheel motor-drive circuit, back axle electricity
Drive circuit and back axle motor connection, preceding road motor-drive circuit, back axle motor-drive circuit are connected with terminal board.
Preferably, information acquisition module includes Wheel cylinder pressure sensors, pressure of wheel braking cylinder signal conditioning circuit, wheel speed sensing
Device, wheel speed signal modulate circuit, brake pedal displacement transducer and battery information management circuit, brake pedal displacement transducer with
Terminal board is connected, and wheel speed sensors are connected by wheel speed signal modulate circuit with terminal board, and electrokinetic cell passes through electricity
Managing pool information circuit is connected with terminal board, and Wheel cylinder pressure sensors pass through pressure of wheel braking cylinder signal conditioning circuit and terminals
Daughter board connects.
Preferably, hydraulic braking module includes hydraulic braking drive circuit, hydraulic braking adjuster and wheel drag, liquid
The dynamic drive circuit of compacting is connected with terminal board, and hydraulic braking drive circuit passes through hydraulic braking adjuster and wheel drag
Control connection.
Preferably, motor regenerative braking module is connected with terminal board by wire, and/or, hydraulic braking module with
Terminal board is connected by wire, and/or, information acquisition module is connected with terminal board by wire, and/or, wiring
Terminal board is connected with industrial computer by Serial Port Line.
A kind of composite braking fast acting control system of the three motor powereds automobile provided in the present invention, number is used as using industrial computer
According to collection and processing center, can by related software input industrial computer in, establish rapid control prototyping model, pass through terminals
Daughter board carries out the input and output of industrial computer signal；System includes motor regenerative braking module, hydraulic braking module, information gathering
Module, electrokinetic cell, vehicle dynamic model, controller model, battery management system mould are established in rapid control prototyping model
Type, input signal processing module, output signal processing module, vehicle dynamic model and battery management system model with control
Device model connects, after the information of information acquisition module input industrial computer is received and changed by input signal processing module, there is provided give
Vehicle dynamic model and battery management system model, vehicle dynamic model and battery management system model are defeated by operation result
Entering to controller model, controller model is formed according to result and instructed, and after being changed by output signal processing module, through connecing
Line end daughter board is exported to motor regenerative braking module, hydraulic braking module and performed；What display can be run to industrial computer
As a result shown.
The present invention also provides a kind of composite braking fast control method of three motor powereds automobile, comprises the following steps：
S1：The SOC value of electrokinetic cell is obtained, if the SOC value of electrokinetic cell is less than or equal to 0.8, is transferred to step S2, if
The SOC value of electrokinetic cell is more than 0.8, then is transferred to step S9；
S2：The opening information of brake pedal is obtained, severity of braking Z values are calculated according to the opening information of brake pedal, if system
Fatigue resistance Z values are less than or equal to 0.2, then are transferred to step S3；If severity of braking Z values are more than 0.2 and less than or equal to 0.8, turn
Enter step S4；If severity of braking Z values are more than 0.8, step S9 is transferred to；
S3：ABS work state information is obtained, if ABS is working condition, is transferred to step S9；If ABS is inoperative shape
State, then it is transferred to step S10；
S4：ABS work state information is obtained, if ABS is working condition, is transferred to step S8；If ABS is inoperative shape
State, obtain drive form information；If drive form is forerunner, step S5 is transferred to；If drive form is rear-guard, step is transferred to
S6；If drive form is 4 wheel driven, step S7 is transferred to；
S5：Using the first Electro-hydraulic brake pattern, wherein, the first Electro-hydraulic brake pattern is that front-wheel uses motor again
Raw braking and brake hydraulic braking associated working, trailing wheel are braked using brake hydraulic, preceding turbin generator regenerative braking force
Fbf_reg, front wheel brake brake force Fbf_hydWith rear wheel brake brake force Fbr_hydBetween distribution press the United Nations's European economy
Committee's automotive regulation curve distribution；
S6：Using the second Electro-hydraulic brake pattern, wherein, the second Electro-hydraulic brake pattern is that front-wheel uses brake
Hydraulic braking, trailing wheel is using motor regenerative braking and brake hydraulic braking associated working, rear-wheel motor regenerative braking force
Fbr_reg, front wheel brake brake force Fbf_hydWith rear wheel brake brake force Fbr_hydBetween distribution press the United Nations's European economy
Committee's automotive regulation curve distribution；
S7：Using the 3rd Electro-hydraulic brake pattern, wherein, the 3rd Electro-hydraulic brake pattern is that front-wheel uses motor again
Raw braking is worked together with brake hydraulic braking associated working, trailing wheel using motor regenerative braking and brake hydraulic braking,
Preceding turbin generator regenerative braking force Fbf_reg, rear-wheel motor regenerative braking force Fbr_reg, front wheel brake brake force Fbf_hydWith trailing wheel system
Dynamic device brake force Fbr_hydBetween distribution by the distribution of UNECE automotive regulation curve；
S8：Using the 4th Electro-hydraulic brake pattern, wherein, the 4th Electro-hydraulic brake pattern is that front-wheel uses motor again
Raw braking is worked together with brake hydraulic braking associated working, trailing wheel using motor regenerative braking and brake hydraulic braking,
Preceding turbin generator regenerative braking and rear-wheel motor regenerative braking are produced by motor can be generated peak torque under current rotating speed
Brake force；
S9：Using hydraulic braking pattern；
S10：Using motor braking mode.
A kind of composite braking fast control method of the three motor powereds automobile provided in the present invention, it is dynamic by monitoring in real time
The SOC value of power battery, judges whether electrokinetic cell has direction charging ability, when electrokinetic cell SOC value be more than 0.8, explanation
Battery electric quantity is sufficient, is recovered energy without carrying out motor regenerative braking, therefore skips braking mode judgement, only carries out hydraulic pressure system
It is dynamic；Severity of braking is calculated so as to judge the braking intention of driver by the opening information of brake pedal, when severity of braking is tight
During anxious braking, using braking safety as primary factor, only with hydraulic braking；When severity of braking is light brake, with reference to ABS
Working condition, using motor braking mode or hydraulic braking pattern；When severity of braking is that moderate is braked, according to driving shape
The difference of formula simultaneously combines ABS working conditions, devises four kinds of Electro-hydraulic brake patterns and corresponds to different drive forms and ABS works
Make state.
In summary, a kind of composite braking fast acting control system of three motor powereds automobile of offer provided by the invention and
Control method has advantages below：
1st, it is capable of the correctness and feasibility of fast verification electric automobile electricity, liquid composite braking control algolithm and strategy, energy
The mistake of design is solved with defect before product development, reduce development cost, improve development efficiency, shorten exploitation
Cycle；
2nd, C code can be converted into by using related softwares such as MATLAB/Simulink to be transplanted in real controllers,
Controller development difficulty and cost are reduce further, improves development rate；
3rd, the electric automobile for specific drive form carries out electricity, liquid composite braking controls, and can further improve
Brake energy recovery efficiency, lifting electric vehicle brake stability and security.
Brief description of the drawings
Fig. 1 is a kind of three motor powereds automobile electricity proposed by the present invention, the schematic block of liquid composite braking fast acting control system
Figure；
Fig. 2 shows for a kind of three motor powereds automobile electricity proposed by the present invention, the structure of liquid composite braking fast acting control system
It is intended to；
Fig. 3 is a kind of three motor powereds automobile electricity proposed by the present invention, the flow chart of liquid composite braking fast control method.
In fig. 2,1. wheel；2. off-front wheel motor；3. hydraulic braking adjuster；4. hydraulic braking drive circuit；It is 5. aobvious
Show device；6. industrial computer；7. terminal board；8. battery information manages circuit；9. back axle motor；10. electrokinetic cell；11. wheel speed
Sensor；12. wheel drag；13. Wheel cylinder pressure sensors；14. pressure of wheel braking cylinder signal conditioning circuit；15. back axle motor drives
Dynamic circuit；16. front-wheel motor-drive circuit；17. wheel speed signal modulate circuit；18. brake pedal displacement transducer；19. braking
Pedal；20. left front turbin generator.
Embodiment
As Figure 1-3, Fig. 1 quickly controls for a kind of three motor powereds automobile electricity proposed by the present invention, liquid composite braking
The schematic block diagram of system；Fig. 2 is that a kind of three motor powereds automobile proposed by the present invention is electric, liquid composite braking fast acting control system
Structural representation；Fig. 3 is a kind of three motor powereds automobile electricity proposed by the present invention, the flow of liquid composite braking fast control method
Figure.
The present invention is described in detail with reference to the accompanying drawings and examples.
Reference picture 1-2, a kind of composite braking fast acting control system of three motor powereds automobile proposed by the present invention, including：
Motor regenerative braking module, is connected with terminal board 7, for providing motor regeneration system according to instruction for vehicle
It is dynamic；
Hydraulic braking module, it is connected with terminal board 7, for providing hydraulic braking according to instruction for vehicle；
Information acquisition module, it is connected with terminal board 7, SOC value, brake pedal for collection vehicle electrokinetic cell 10
19 opening informations, wheel speed information and pressure of wheel braking cylinder information；
Industrial computer 6, the information gathered for processing information acquisition module, and sent and referred to according to above- mentioned information result
Order control hydraulic braking module and the work of motor regenerative braking module；
Terminal board 7, be connected with industrial computer 6, for by information acquisition module data input to industrial computer 6, and by work
The transmitted instruction of control machine 6 is exported to hydraulic braking module and motor regenerative braking module；
Display 5, for showing the service data of industrial computer 6；
Electrokinetic cell 10, it is connected with industrial computer 6, Brake energy recovery generation is carried out for storing motor regenerative braking module
Electric energy；
Motor regenerative braking module includes front-wheel motor-drive circuit 16, left front turbin generator 20, off-front wheel motor 2, back axle
Motor-drive circuit 15 and back axle motor 9, left front turbin generator 20, off-front wheel motor 2 are connected with front-wheel motor-drive circuit 16,
Back axle motor-drive circuit 15 is connected with back axle motor 9, and preceding road motor-drive circuit, back axle motor-drive circuit 15 are and wiring
Terminal board 7 connects；
Information acquisition module include 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 transducer 18 and battery information management circuit 8, brake pedal displacement transducer
18 are connected with terminal board 7, and wheel speed sensors 11 are connected by wheel speed signal modulate circuit 17 with terminal board 7, power
Battery 10 manages circuit 8 by battery information and is connected with terminal board 7, and Wheel cylinder pressure sensors 13 pass through pressure of wheel braking cylinder signal
Modulate circuit 14 is connected with terminal board 7；
Hydraulic braking module includes hydraulic braking drive circuit 4, hydraulic braking adjuster 3 and wheel drag 12, hydraulic pressure
Braking drive circuit 4 is connected with terminal board 7, and hydraulic braking drive circuit 4 passes through hydraulic braking adjuster 3 and wheel braking
The control connection of device 12；
Motor regenerative braking module is connected with terminal board 7 by wire, and hydraulic braking module is logical with terminal board 7
Wire connection is crossed, information acquisition module is connected with terminal board 7 by wire, and terminal board 7 passes through serial ports with industrial computer 6
Line connects.
Reference picture 3, based on the composite braking fast acting control system of above-mentioned three motor powereds automobile, one kind proposed by the present invention
The composite braking fast control method of three motor powered automobiles, comprises the following steps：
S1：The SOC value of electrokinetic cell 10 is obtained, if the SOC value of electrokinetic cell 10 is less than or equal to 0.8, is transferred to step
S2, if the SOC value of electrokinetic cell 10 is more than 0.8, it is transferred to step S9；
S2：The opening information of brake pedal 19 is obtained, severity of braking Z values are calculated according to the opening information of brake pedal 19,
If severity of braking Z values are less than or equal to 0.2, step S3 is transferred to；If severity of braking Z values are more than 0.2 and less than or equal to 0.8,
Then it is transferred to step S4；If severity of braking Z values are more than 0.8, step S9 is transferred to；
S3：ABS work state information is obtained, if ABS is working condition, is transferred to step S9；If ABS is inoperative shape
State, then it is transferred to step S10；
S4：ABS work state information is obtained, if ABS is working condition, is transferred to step S8；If ABS is inoperative shape
State, obtain drive form information；If drive form is forerunner, step S5 is transferred to；If drive form is rear-guard, step is transferred to
S6；If drive form is 4 wheel driven, step S7 is transferred to；
S5：Using the first Electro-hydraulic brake pattern, wherein, the first Electro-hydraulic brake pattern is that front-wheel uses motor again
Raw braking and brake hydraulic braking associated working, trailing wheel are braked using brake hydraulic, preceding turbin generator regenerative braking force
Fbf_reg, front wheel brake brake force Fbf_hydWith rear wheel brake brake force Fbr_hydBetween distribution press the United Nations's European economy
Committee's automotive regulation curve distribution；
S6：Using the second Electro-hydraulic brake pattern, wherein, the second Electro-hydraulic brake pattern is that front-wheel uses brake
Hydraulic braking, trailing wheel is using motor regenerative braking and brake hydraulic braking associated working, rear-wheel motor regenerative braking force
Fbr_reg, front wheel brake brake force Fbf_hydWith rear wheel brake brake force Fbr_hydBetween distribution press the United Nations's European economy
Committee's automotive regulation curve distribution；
S7：Using the 3rd Electro-hydraulic brake pattern, wherein, the 3rd Electro-hydraulic brake pattern is that front-wheel uses motor again
Raw braking is worked together with brake hydraulic braking associated working, trailing wheel using motor regenerative braking and brake hydraulic braking,
Preceding turbin generator regenerative braking force Fbf_reg, rear-wheel motor regenerative braking force Fbf_reg, front wheel brake brake force Fbf_hydWith trailing wheel system
Dynamic device brake force Fbr_hydBetween distribution by the distribution of UNECE automotive regulation curve；
S8：Using the 4th Electro-hydraulic brake pattern, wherein, the 4th Electro-hydraulic brake pattern is that front-wheel uses motor again
Raw braking is worked together with brake hydraulic braking associated working, trailing wheel using motor regenerative braking and brake hydraulic braking,
Preceding turbin generator regenerative braking and rear-wheel motor regenerative braking are produced by motor can be generated peak torque under current rotating speed
Brake force；
S9：Using hydraulic braking pattern；
S10：Using motor braking mode.
In above-mentioned control system and corresponding control method, four kinds of Electro-hydraulic brake patterns coordinate braking mode with ABS
Braking force distribution flow it is as follows：
Industrial computer 6 is electric according to the SOC signals, 20 current tach signal of left front turbin generator, off-front wheel of current power battery 10
9 current tach signal of 2 current tach signal of machine and left back bridge motor, determine the maximum regeneration braking that currently can be provided
Power, and contrasted with required brake force, on the premise of driving wheel not locking is met, the maximum system of no more than three motors
Braking force distribution is given to three motors during minimum value in dynamic torque value, to meet to obtain the requirement of maximum braking energy, if
The maximum braking torque that motor provides is not met by the demand of brake force on driving wheel, and braking moment insufficient section will be by
Hydraulic braking supplements.Corresponding control signal is transferred to hydraulic braking drive circuit 4, by hydraulic braking adjuster 3
Control reach braking target.In braking procedure, pressure of wheel braking cylinder, the rotating speed of wheel 1, speed, battery SOC, motor speed will be made
Brak control unit is fed back to for input signal, carries out closed-loop control.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (5)
- A kind of 1. composite braking fast acting control system of three motor powereds automobile, it is characterised in that including：Motor regenerative braking module, it is connected with terminal board (7), for providing motor regenerative braking according to instruction for vehicle；Hydraulic braking module, it is connected with terminal board (7), for providing hydraulic braking according to instruction for vehicle；Information acquisition module, it is connected with terminal board (7), SOC value, brake pedal for collection vehicle electrokinetic cell (10) (19) opening information, wheel speed information and pressure of wheel braking cylinder information；Industrial computer (6), the information gathered for processing information acquisition module, and sent and instructed according to above- mentioned information result Control hydraulic braking module and the work of motor regenerative braking module；Terminal board (7), it is connected with industrial computer (6), for by information acquisition module data input to industrial computer (6), and will The transmitted instruction of industrial computer (6) is exported to hydraulic braking module and motor regenerative braking module；Display (5), for showing industrial computer (6) service data；Electrokinetic cell (10), it is connected with industrial computer (6), Brake energy recovery generation is carried out for storing motor regenerative braking module Electric energy；The control method of composite braking fast acting control system based on the three motor powereds automobile, comprises the following steps：S1：The SOC value of electrokinetic cell (10) is obtained, if the SOC value of electrokinetic cell (10) is less than or equal to 0.8, is transferred to step S2, if the SOC value of electrokinetic cell (10) is more than 0.8, it is transferred to step S9；S2：The opening information of brake pedal (19) is obtained, severity of braking Z values are calculated according to the opening information of brake pedal (19), If severity of braking Z values are less than or equal to 0.2, step S3 is transferred to；If severity of braking Z values are more than 0.2 and less than or equal to 0.8, Then it is transferred to step S4；If severity of braking Z values are more than 0.8, step S9 is transferred to；S3：ABS work state information is obtained, if ABS is working condition, is transferred to step S9；If ABS is off working state, Then it is transferred to step S10；S4：ABS work state information is obtained, if ABS is working condition, is transferred to step S8；If ABS is off working state, Obtain drive form information；If drive form is forerunner, step S5 is transferred to；If drive form is rear-guard, step S6 is transferred to； If drive form is 4 wheel driven, step S7 is transferred to；S5：Using the first Electro-hydraulic brake pattern, wherein, the first Electro-hydraulic brake pattern is front-wheel using motor regeneration system The braking associated working of dynamic and brake hydraulic, trailing wheel are braked using brake hydraulic, preceding turbin generator regenerative braking force Fbf_reg, it is preceding Take turns brake braking force Fbf_hydWith rear wheel brake brake force Fbr_hydBetween distribution press UNECE's vapour Car regulation curve distributes；S6：Using the second Electro-hydraulic brake pattern, wherein, the second Electro-hydraulic brake pattern is that front-wheel uses brake hydraulic Braking, trailing wheel is using motor regenerative braking and brake hydraulic braking associated working, rear-wheel motor regenerative braking force Fbr_reg, it is preceding Take turns brake braking force Fbf_hydWith rear wheel brake brake force Fbr_hydBetween distribution press UNECE's vapour Car regulation curve distributes；S7：Using the 3rd Electro-hydraulic brake pattern, wherein, the 3rd Electro-hydraulic brake pattern is front-wheel using motor regeneration system The braking associated working of dynamic and brake hydraulic, trailing wheel is using motor regenerative braking and brake hydraulic braking associated working, front-wheel Motor regenerative braking force Fbf_reg, rear-wheel motor regenerative braking force Fbr_reg, front wheel brake brake force Fbf_hydAnd rear wheel brake Brake force Fbr_hydBetween distribution by the distribution of UNECE automotive regulation curve；S8：Using the 4th Electro-hydraulic brake pattern, wherein, the 4th Electro-hydraulic brake pattern is front-wheel using motor regeneration system The braking associated working of dynamic and brake hydraulic, trailing wheel is using motor regenerative braking and brake hydraulic braking associated working, front-wheel Motor regenerative braking and rear-wheel motor regenerative braking are that motor can be generated system caused by peak torque under current rotating speed Power；S9：Using hydraulic braking pattern；S10：Using motor braking mode.
- 2. the composite braking fast acting control system of three motor powereds automobile according to claim 1, it is characterised in that motor Regenerative braking module includes front-wheel motor-drive circuit (16), left front turbin generator (20), off-front wheel motor (2), back axle motor and driven Dynamic circuit (15) and back axle motor (9), left front turbin generator (20), off-front wheel motor (2) with front-wheel motor-drive circuit (16) Connection, back axle motor-drive circuit (15) are connected with back axle motor (9), preceding road motor-drive circuit, back axle motor-drive circuit (15) it is connected with terminal board (7).
- 3. the composite braking fast acting control system of three motor powereds automobile according to claim 1, it is characterised in that information Acquisition module includes Wheel cylinder pressure sensors (13), pressure of wheel braking cylinder signal conditioning circuit (14), wheel speed sensors (11), wheel speed letter Number modulate circuit (17), brake pedal displacement transducer (18) and battery information management circuit (8), brake pedal displacement transducer (18) it is connected with terminal board (7), wheel speed sensors (11) pass through wheel speed signal modulate circuit (17) and terminal board (7) Connection, electrokinetic cell (10) manage circuit (8) by battery information and are connected with terminal board (7), Wheel cylinder pressure sensors (13) it is connected by pressure of wheel braking cylinder signal conditioning circuit (14) with terminal board (7).
- 4. the composite braking fast acting control system of three motor powereds automobile according to claim 1, it is characterised in that hydraulic pressure Brake module includes hydraulic braking drive circuit (4), hydraulic braking adjuster (3) and wheel drag (12), and hydraulic braking is driven Dynamic circuit (4) is connected with terminal board (7), and hydraulic braking drive circuit (4) passes through hydraulic braking adjuster (3) and wheel system Dynamic device (12) control connection.
- 5. the composite braking fast acting control system of three motor powereds automobile according to claim 1, it is characterised in that motor Regenerative braking module is connected with terminal board (7) by wire, and/or, hydraulic braking module passes through with terminal board (7) Wire connect, and/or, information acquisition module is connected with terminal board (7) by wire, and/or, terminal board (7) and Industrial computer (6) is connected by Serial Port Line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105459836A CN105459836A (en) | 2016-04-06 |
| CN105459836B true CN105459836B (en) | 2017-11-28 |
Family
ID=55598152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510887885.6A Expired - Fee Related 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105459836B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427602B (en) * | 2016-10-25 | 2019-12-13 | 北京新能源汽车股份有限公司 | control method and control device of brake system |
| CN107225977A (en) * | 2017-05-25 | 2017-10-03 | 北京新能源汽车股份有限公司 | Brake energy recovery processing method, device and electric automobile |
| CN107200001A (en) * | 2017-06-05 | 2017-09-26 | 重庆大学 | HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor |
| CN109435938B (en) * | 2017-08-28 | 2020-09-15 | 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 |
| CN110597237B (en) * | 2019-10-12 | 2020-10-23 | 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 |
| CN112009444A (en) * | 2020-08-21 | 2020-12-01 | 盐城工学院 | Composite braking system of electric vehicle |
| CN112224029B (en) * | 2020-10-15 | 2022-04-12 | 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101073992A (en) * | 2007-06-25 | 2007-11-21 | 江苏大学 | Regenerative and conventional brake integrated controller and its control based on ABS for automobile |
| KR20080049203A (en) * | 2006-11-30 | 2008-06-04 | 현대자동차주식회사 | Control method for flow regenerative energy |
| CN103434506A (en) * | 2013-08-01 | 2013-12-11 | 西安交通大学 | Coordination control system of four-wheel independent drive and independent steering electric automobile |
| CN103941594A (en) * | 2014-04-10 | 2014-07-23 | 北京工业大学 | Electric-hydraulic braking rapid control prototype of electric vehicle |
-
2015
- 2015-12-02 CN CN201510887885.6A patent/CN105459836B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080049203A (en) * | 2006-11-30 | 2008-06-04 | 현대자동차주식회사 | Control method for flow regenerative energy |
| CN101073992A (en) * | 2007-06-25 | 2007-11-21 | 江苏大学 | Regenerative and conventional brake integrated controller and its control based on ABS for automobile |
| CN103434506A (en) * | 2013-08-01 | 2013-12-11 | 西安交通大学 | Coordination control system of four-wheel independent drive and independent steering electric automobile |
| CN103941594A (en) * | 2014-04-10 | 2014-07-23 | 北京工业大学 | Electric-hydraulic braking rapid control prototype of electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105459836A (en) | 2016-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105459836B (en) | The composite braking fast acting control system and control method of a kind of three motor powereds automobile | |
| CN101767542B (en) | Intelligent drive platform for four wheels of electric automobile | |
| EP2660581B1 (en) | System for testing and evaluating the performance and energy efficiency of the drive system of a hybrid-electric automotive vehicle | |
| CN105584374B (en) | A kind of electric automobile energy feedback system and energy feedback method based on ABS | |
| CN109484392A (en) | A kind of integrated method for diagnosing faults of distributed hybrid power system of more wheels | |
| CN109060369A (en) | A kind of distributed electrical transmission system test method, device and rack | |
| CN101532914A (en) | Hardware-in-loop test bed of hybrid car brake coordination control system | |
| CN105799549A (en) | Integration control system and method for electric power steering system (EPS) and direct yaw moment control (DYC) of electric wheel automobile | |
| CN104670206B (en) | Method and apparatus for monitoring unexpected vehicle movement | |
| CN104748981A (en) | New energy vehicle testing system based on driver-vehicle-road closed-loop control | |
| CN104024822B (en) | Vehicle diagnosing system, Vehicular diagnostic method and external diagnostic device | |
| CN202685982U (en) | Complete vehicle controller for pure electric vehicle | |
| CN102060016A (en) | Regenerative braking torque compensation device, method for regenerative braking torque compensation and a hybrid vehicle embodying such device and method | |
| CN106608250A (en) | Active safety control system and method of vehicle | |
| CN104175891B (en) | Pure electric automobile energy regenerating regenerating brake control method | |
| CN103176472A (en) | Four-wheel drive pure electric vehicle hardware-in-loop simulation experimental system | |
| CN112874502B (en) | Wire control chassis information physical system in intelligent traffic environment and control method | |
| CN103395376A (en) | Monitoring system for torque request of pure electric automobile | |
| CN102756669B (en) | Multiplex control system, transport device with multiplex control system and control method | |
| CN101751034A (en) | Test bed of air pressure and regenerative braking coordinated control system of hybrid electric bus | |
| CN109484207A (en) | A kind of braking torque control method, device and the automobile of driving motor | |
| CN110001609A (en) | A kind of four-wheel wheel hub driving electric car line traffic control electric braking control device | |
| CN109900399A (en) | A kind of wheel side/hub drive system test platform | |
| CN102706565B (en) | Real automobile testing system for controlling automotive active anti-rollover | |
| CN102112337B (en) | System for managing torque exerted by electric machine on wheel of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20181202 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |