CN105599616A - Braking energy recovery control method and device and electromobile - Google Patents
Braking energy recovery control method and device and electromobile Download PDFInfo
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- CN105599616A CN105599616A CN201610007280.8A CN201610007280A CN105599616A CN 105599616 A CN105599616 A CN 105599616A CN 201610007280 A CN201610007280 A CN 201610007280A CN 105599616 A CN105599616 A CN 105599616A
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- electric motor
- motor car
- speed
- slip rate
- braking
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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
- 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
- B60L7/10—Dynamic electric regenerative braking
Abstract
The invention discloses a braking energy recovery control method and device and an electromobile. The method includes the steps that the mode which the electromobile is in is judged; if the electromobile is in a braking state, speed of the electromobile is obtained, and the speed segment which the electromobile is in is judged according to the speed of the electromobile; if the speed of the electromobile is in a first preset speed segment, first preset torque is adopted for braking control over the electromobile; if the speed of the electromobile is in a second preset speed segment, first preset power is adopted for braking control over the electromobile. More energy can be recovered through the braking energy recovery control method in the embodiment, and stability of electromobile braking can be ensured.
Description
Technical field
The present invention relates to technical field of energy recovery, be specifically related to a kind of braking energy recycling and control method, device and electric motor car.
Background technology
Braking energy recovering function is the peculiar technology of electric motor car, and its function is to ensure under the prerequisite of electric motor car riding stability,A part of mechanical energy when electric motor car being slowed down or braking is converted to electric energy through drive motors system, is stored in electrokinetic cell,Or provide the need for electricity of electric motor car electricity consumption equipment. In correlation technique, adopt parallel energy to reclaim control mode, its guarantorHold the structure of traditional electrical motor-car brakes, adopt the independent of machine made power and electric braking force to control, both are in normal drivingIn process, be independent of each other. But this control mode energy recovery rate is generally lower, very little to the increase of continual mileage, and attachedWhile the braking of the low road surface of coefficient, very easily cause vehicle slip, increase the probability of wheel lock up, and more difficult the steady of braking of taking into accountMaximum qualitative and energy reclaims.
Summary of the invention
The present invention is intended to solve at least to a certain extent one of technical problem in correlation technique. For this reason, one of the present inventionObject is to propose a kind of braking energy recycling and control method. The method can effectively improve energy recovery rate, can protect simultaneouslyThe insensitivity of card electric motor car.
Second object of the present invention is to propose a kind of brake energy recycle control device.
The 3rd object of the present invention is to propose a kind of electric motor car.
For achieving the above object, the braking energy recycling and control method of first aspect present invention embodiment, comprising: judge electronicThe pattern of living in of car; If described electric motor car, in braking mode, obtains the speed of described electric motor car, and according to described electricityThe speed of motor-car judges described electric motor car velocity shooting of living in; If the speed of described electric motor car is in the first pre-set velocity section,Adopt the first predetermined torque to brake control to described electric motor car; If the speed of described electric motor car is in the second pre-set velocitySection, adopts the first default power to brake control to described electric motor car.
The braking energy recycling and control method of the embodiment of the present invention, according to the operational mode of electric motor car and the speed of service, adoptsDifferent control methods is braked control to electric motor car, thereby has improved energy recovery rate, has increased in the continuation of the journey of electric motor carJourney, and can ensure the insensitivity of electric motor car.
In addition, braking energy recycling and control method according to the above embodiment of the present invention can also have following additional technology spyLevy:
According to one embodiment of present invention, described method also comprises: the slip rate that calculates described electric motor car; Compare respectively instituteState the size between slip rate and the first preset value, the second preset value; If described slip rate is greater than the first preset value, move backGo out braking energy and reclaim, and electric braking force is arranged to 0; If described slip rate be greater than the second preset value and be less than or equal to described inThe first preset value, carries out PI (Proportional-Integral, ratio-integration) to electric motor car and controls, and described in inciting somebody to actionElectric braking force is set to PI regulated value; And if described slip rate is less than or equal to described the second preset value, by described electricity systemPower is set to default brake force.
According to one embodiment of present invention, calculate the slip rate of described electric motor car according to following formula:
S＝|u-uw|/u*100％
Wherein, S is described slip rate, the speed that u is described electric motor car, uwFor the wheel speed of the wheel of described electric motor car.
According to one embodiment of present invention, if described electric motor car in sliding mode, and the speed of described electric motor car is inDescribed the first pre-set velocity section or described the second pre-set velocity section, adopt the second predetermined torque to brake described electric motor carControl.
According to one embodiment of present invention, described the first pre-set velocity section is 45～80,000 ms/h, and described second is defaultVelocity shooting is 80～125,000 ms/h.
For achieving the above object, the energy recovery control device of second aspect present invention embodiment, comprising: the first judge module,For judging the pattern of living in of electric motor car; Acquisition module, for judging that at described the first judge module described electric motor car is in systemWhen dynamic model formula, obtain the speed of described electric motor car; The second judge module, described in judging according to the speed of described electric motor carElectric motor car velocity shooting of living in; The first control module, for judging that at described the second judge module the speed of described electric motor car is inWhen the first pre-set velocity section, adopt the first predetermined torque to brake control to described electric motor car, and in described the second judgementModule judges when the speed of described electric motor car is in the second pre-set velocity section, adopts the first default power to carry out described electric motor carBraking is controlled.
The brake energy recycle control device of the embodiment of the present invention, judges the operational mode of electric motor car by the first judge module,Obtained the speed of service of electric motor car by acquisition module, and judge the speed of service speed of living in of electric motor car by the second judge moduleSection, and then adopt different control methods to brake control to electric motor car by the first control module, thus improve energyThe rate of recovery, has increased the course continuation mileage of electric motor car, and can ensure the insensitivity of electric motor car, alleviates wheel lock up simultaneouslyRisk.
In addition, brake energy recycle control device according to the above embodiment of the present invention can also comprise following supplementary technology spyLevy:
According to one embodiment of present invention, described device also comprises: computing module, and for calculating the slippage of described electric motor carRate; Comparison module, for the size between more described slip rate and the first preset value, the second preset value respectively; The second controlMolding piece, in the time that described comparison module judges that described slip rate is greater than the first preset value, controls described electric motor car and exits systemEnergy reclaims, and electric braking force is arranged to 0, judges that at described comparison module described slip rate is greater than the second preset value and littleIn the time equaling described the first preset value, electric motor car is carried out to PI control, and described electric braking force is set to PI regulated value,And in the time that described comparison module judges that described slip rate is less than or equal to described the second preset value, described electric braking force is set toDefault brake force.
According to one embodiment of present invention, described computing module, specifically for: calculate described electric motor car according to following formulaSlip rate:
S＝|u-uw|/u*100％
Wherein, S is described slip rate, the speed that u is described electric motor car, uwFor the wheel speed of the wheel of described electric motor car.
According to one embodiment of present invention, described the first control module, also for: judge institute at described the first judge moduleState electric motor car in sliding mode, and described the second judge module judges that the speed of described electric motor car is in the described first default speedWhen degree section or described the second pre-set velocity section, adopt the second predetermined torque to brake control to described electric motor car.
According to one embodiment of present invention, described the first pre-set velocity section is 45～80,000 ms/h, and described second is defaultVelocity shooting is 80～125,000 ms/h.
For achieving the above object, the electric motor car of third aspect present invention embodiment, comprises the system of second aspect present invention embodimentEnergy recovery control device. This electric motor car can, according to the operational mode of self and the speed of service, adopt different controlMethod is braked control, thereby has improved energy recovery rate, has increased the course continuation mileage of self, and can ensure selfInsensitivity is alleviated the risk of wheel lock up simultaneously.
Brief description of the drawings
Above-mentioned and/or additional aspect of the present invention and advantage from conjunction with below accompanying drawing to becoming obvious the description of embodimentWith easy understanding, wherein:
Fig. 1 is the flow chart of braking energy recycling and control method according to an embodiment of the invention;
Fig. 2 is " speed of a motor vehicle-electric braking force " curve synoptic diagram according to an embodiment of the invention;
Fig. 3 is " speed of a motor vehicle-electric braking force " curve synoptic diagram in accordance with another embodiment of the present invention;
Fig. 4 is the flow chart of braking energy recycling and control method in accordance with another embodiment of the present invention;
Fig. 5 is the structured flowchart of brake energy recycle control device according to an embodiment of the invention;
Fig. 6 is the structured flowchart of brake energy recycle control device in accordance with another embodiment of the present invention.
Detailed description of the invention
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, wherein identical from start to finishOr similarly label represents same or similar element or has the element of identical or similar functions. Below by retouching with reference to accompanying drawingThe embodiment stating is exemplary, is intended to for explaining the present invention, and can not be interpreted as limitation of the present invention.
Braking energy recycling and control method, device and the electric motor car of the embodiment of the present invention are described below with reference to accompanying drawing.
Fig. 1 is the flow chart of braking energy recycling and control method according to an embodiment of the invention. As shown in Figure 1, this systemEnergy recycling and control method comprises the following steps:
S101, judges the pattern of living in of electric motor car.
In an embodiment of the present invention, the described pattern of electric motor car comprises sliding mode and braking mode. When electric motor car is in cunningWhen row mode, electric motor car slides energy and reclaims control; When electric motor car is during in braking mode, electric motor car carries out Brake EnergyAmount reclaims to be controlled. Particularly, in the time that electric motor car travels with certain speed of a motor vehicle, step on brake pedal, electric motor car carries out braking energyReclaim and control; In the time that electric motor car travels with certain speed of a motor vehicle, be totally released accelerator pedal, and do not step on brake pedal, electric motor carSlide energy and reclaim control.
Be understandable that, electric motor car is in the time carrying out braking energy recovery control, if electric motor car is carried out to brake hard,ABS (AntilockBrakeSystem, anti-blocking brake system) intervention work, exits energy and reclaims control.
S102, if electric motor car, in braking mode, obtains the speed of electric motor car, and according to the speed judgement electricity of electric motor carMotor-car velocity shooting of living in.
In an embodiment of the present invention, if electric motor car in braking mode, i.e. electric motor car carry out braking energy reclaim control time,Can adopt " speed of a motor vehicle-electric braking force " curve as shown in Figure 2 to control electric motor car, the negative sign table of Fig. 2 mid point brake forceShow braking, electric motor car is applied to resistance.
S103, if the speed of electric motor car is in the first pre-set velocity section, adopts the first predetermined torque to electric motor car systemMoving control.
Wherein, the first pre-set velocity section can be 45～80,000 ms/h, and the first predetermined torque can be 85 Ns of rice.
Particularly, as shown in Figure 2, electric motor car carry out braking energy reclaim time, if the speed of a motor vehicle 45～80,000 ms/h itBetween, can adopt the moment of torsion of 85 Ns of rice to brake control to electric motor car, to reach the demand of quick deceleration.
S104, if the speed of electric motor car is in the second pre-set velocity section, adopts the first default power to electric motor car systemMoving control.
Wherein, the second pre-set velocity section can be 80～125,000 ms/h, and the first default power can be 53 kilowatts.
Particularly, as shown in Figure 2, electric motor car carry out braking energy reclaim time, if the speed of a motor vehicle 80～125,000 ms/h itBetween, can adopt the power of 53 kilowatts to brake control to electric motor car, to reach the demand of quick deceleration.
Further, as shown in Figure 2, if electric motor car at low speed segment, is less than 45,000 ms/h, apply slowElectric braking force. Along with the reduction of the speed of a motor vehicle, reduce gradually electric braking force, to maintain the braking uniformity of electric motor car.
It should be noted that, electric braking force is braking torque.
In another embodiment of the present invention, if electric motor car in sliding mode, i.e. electric motor car slide energy reclaimWhen control, can adopt " speed of a motor vehicle-electric braking force " curve as shown in Figure 3 to control electric motor car. As shown in Figure 4, electricityWhen motor-car slides energy and reclaims, consider the comfortableness of driving habits and electric motor car, electric motor car brake to controlElectric braking force output is less, all adopts second to preset in high speed section (i.e. the first pre-set velocity section and the second pre-set velocity section)Moment of torsion is braked control to electric motor car. Thus, make electric motor car there is no strong deceleration sense, meet driving experience.
Wherein, the second predetermined torque can be 40 Ns of rice.
Further, in an embodiment of the present invention, at coefficient of road adhesion, when lower or brake hard, braking energy reclaimsCan increase that electric motor car skids or the risk of wheel lock up. For alleviating this risk, further, as shown in Figure 4, above-mentioned brakingEnergy recycling and control method can comprise the steps:
S201, the slip rate of calculating electric motor car.
Particularly, can calculate according to following formula (1) slip rate of electric motor car:
S＝|u-uw|/u*100％(1)
Wherein, S is slip rate, the speed that u is electric motor car, uwFor the wheel speed of the wheel of electric motor car.
Preferably, the wheel speed substitution of the each wheel of electric motor car can be calculated respectively to each slip rate of taking turns, and then can therefrom selectMaximum is as the slip rate for electric motor car relatively.
S202, compares respectively the size between slip rate and the first preset value, the second preset value.
Wherein, the first preset value can be that 20%, the second preset value can be 10%.
S203, if slip rate is greater than the first preset value, exits braking energy and reclaims, and electric braking force is arranged to 0.
Be understandable that, if slip rate is greater than 20%, illustrate that electric motor car skids obviously, now should exit braking energyReclaim, be set to 0 by electric braking force, to alleviate, electric motor car skids or the risk of wheel lock up.
S204, if slip rate is greater than the second preset value and is less than or equal to the first preset value, carries out PI control to electric motor car,And electric braking force is set to PI regulated value.
Particularly, the input that this PI controls can be power of motor and the motor speed of electric motor car, the PI regulated value of outputElectric braking force, i.e. braking torque.
It should be noted that, if the PI regulated value of output is greater than the electricity system corresponding to current vehicle speed of curve shown in Fig. 2 or Fig. 3The half of power, electric braking force is set to the half of electric motor car present mode and electric braking force corresponding to current vehicle speed.
S205, if slip rate is less than or equal to the second preset value, electric braking force is set to default brake force.
Wherein, default brake force can be determined according to " speed of a motor vehicle-electric braking force " curve shown in Fig. 2 or Fig. 3, according to electricityThe speed of a motor vehicle of motor-car pattern of living in and electric motor car is determined.
In an embodiment of the present invention, by above-mentioned control algolithm, on the lower road surface of attachment coefficient, when electric motor carWhen slip rate is 13%-17%, can effectively alleviate the risk of wheel lock up.
The braking energy recycling and control method of the embodiment of the present invention, according to the operational mode of electric motor car and the speed of service, adoptsDifferent control methods is braked control to electric motor car, thereby has improved energy recovery rate, has increased in the continuation of the journey of electric motor carJourney, and can ensure the insensitivity of electric motor car, alleviate the risk of wheel lock up simultaneously.
Fig. 5 is the structured flowchart of the brake energy recycle control device of the embodiment of the present invention. As shown in Figure 5, this braking energyRecovery control device comprises: the first judge module 10, acquisition module 20, the second judge module 30 and the first control module 40.
Particularly, the first judge module 10 is for judging the pattern of living in of electric motor car.
In an embodiment of the present invention, the described pattern of electric motor car comprises sliding mode and braking mode. When electric motor car is in cunningWhen row mode, electric motor car slides energy and reclaims control; When electric motor car is during in braking mode, electric motor car carries out Brake EnergyAmount reclaims to be controlled. Particularly, in the time that electric motor car travels with certain speed of a motor vehicle, step on brake pedal, electric motor car carries out braking energyReclaim and control; In the time that electric motor car travels with certain speed of a motor vehicle, be totally released accelerator pedal, and do not step on brake pedal, electric motor carSlide energy and reclaim control.
Be understandable that, electric motor car is in the time carrying out braking energy recovery control, if electric motor car is carried out to brake hard,ABS gets involved work, exits energy and reclaims control.
Acquisition module 20, in the time that the first judge module 10 judges electric motor car in braking mode, obtains the speed of electric motor car.
In an embodiment of the present invention, if electric motor car in braking mode, i.e. electric motor car carry out braking energy reclaim control time,Can adopt " speed of a motor vehicle-electric braking force " curve as shown in Figure 2 to control electric motor car, the negative sign table of Fig. 2 mid point brake forceShow braking, electric motor car is applied to resistance.
The second judge module 30 is for judging electric motor car velocity shooting of living according to the speed of electric motor car.
The first control module 40 is in the time that the second judge module 30 judges that the speed of electric motor car is in the first pre-set velocity section,Adopt the first predetermined torque to brake control to electric motor car, and judge that at the second judge module 30 speed of electric motor car is inWhen the second pre-set velocity section, adopt the first default power to brake control to electric motor car.
Wherein, the first pre-set velocity section can be 45～80,000 ms/h, and the first predetermined torque can be 85 Ns of rice, theTwo pre-set velocity sections can be 80～125,000 ms/h, and the first default power can be 53 kilowatts.
Particularly, as shown in Figure 2, electric motor car carry out braking energy reclaim time, if the speed of a motor vehicle 45～80,000 ms/h itBetween, can adopt the moment of torsion of 85 Ns of rice to brake control to electric motor car, to reach the demand of quick deceleration; If carSpeed, between 80～125,000 ms/h, can adopt the power of 53 kilowatts to brake control to electric motor car, to reachThe demand of slowing down fast.
Further, as shown in Figure 2, if electric motor car at low speed segment, is less than 45,000 ms/h, apply slowElectric braking force. Along with the reduction of the speed of a motor vehicle, reduce gradually electric braking force, to maintain the braking uniformity of electric motor car.
It should be noted that, electric braking force is braking torque.
In another embodiment of the present invention, the first control module 40 is also for judging electric motor car at the first judge module 10In sliding mode, and the second judge module 30 judges that the speed of electric motor car is in the first pre-set velocity section or the second pre-set velocityDuan Shi, adopts the second predetermined torque to brake control to electric motor car.
Particularly, if electric motor car in sliding mode, i.e. electric motor car slide energy reclaim control time, can adopt as" speed of a motor vehicle-electric braking force " curve shown in Fig. 3 is controlled electric motor car. As shown in Figure 4, electric motor car slides energyWhen recovery, consider the comfortableness of driving habits and electric motor car, the electric braking force output of electric motor car being braked to control is less,All adopt the second predetermined torque to electric motor car system in high speed section (i.e. the first pre-set velocity section and the second pre-set velocity section)Moving control. Thus, make electric motor car there is no strong deceleration sense, meet driving experience.
Wherein, the second predetermined torque can be 40 Ns of rice.
Further, in an embodiment of the present invention, while recovery in order to alleviate braking energy, electric motor car skids or wheel lock upRisk, as shown in Figure 6, this brake energy recycle control device can comprise: computing module 50, comparison module 60 andTwo control modules 70.
Wherein, computing module 50 is for calculating the slip rate of electric motor car.
Particularly, computing module 50 can calculate according to following formula (1) slip rate of electric motor car:
S＝|u-uw|/u*100％(1)
Wherein, S is slip rate, the speed that u is electric motor car, uwFor the wheel speed of the wheel of electric motor car.
Preferably, the wheel speed substitution of the each wheel of electric motor car can be calculated respectively to each slip rate of taking turns, and then can therefrom selectMaximum is as the slip rate for electric motor car relatively.
Comparison module 60 is for comparing respectively the size between slip rate and the first preset value, the second preset value.
Wherein, the first preset value can be that 20%, the second preset value can be 10%.
The second control module 70, in the time that comparison module judges that slip rate is greater than the first preset value, is controlled electric motor car and is exited brakingEnergy reclaims, and electric braking force is arranged to 0, judges that at comparison module 60 slip rate is greater than the second preset value and is less than or equal to theWhen one preset value, electric motor car is carried out to PI control, and electric braking force is set to PI regulated value, and sentences at comparison moduleWhen determining slip rate and being less than or equal to the second preset value, electric braking force is set to default brake force.
Wherein, the input that above-mentioned PI controls can be power of motor and the motor speed of electric motor car, and the PI regulated value of output isElectric braking force, i.e. braking torque. It should be noted that, if the PI regulated value of output is greater than curve shown in Fig. 2 or Fig. 3The half of electric braking force corresponding to current vehicle speed, electric braking force is set to electric motor car present mode and electricity corresponding to current vehicle speedThe half of brake force.
Default brake force can be determined according to " speed of a motor vehicle-electric braking force " curve shown in Fig. 2 or Fig. 3, according to electric motor car instituteThe speed of a motor vehicle of place's pattern and electric motor car is determined.
Be understandable that, if slip rate is greater than 20%, illustrate that electric motor car skids obviously, now should exit braking energyReclaim, be set to 0 by electric braking force, to alleviate, electric motor car skids or the risk of wheel lock up.
The brake energy recycle control device of the embodiment of the present invention, judges the operational mode of electric motor car by the first judge module,Obtained the speed of service of electric motor car by acquisition module, and judge the speed of service speed of living in of electric motor car by the second judge moduleSection, and then adopt different control methods to brake control to electric motor car by the first control module, thus improve energyThe rate of recovery, has increased the course continuation mileage of electric motor car, and can ensure the insensitivity of electric motor car, alleviates wheel lock up simultaneouslyRisk.
Further, the embodiment of third aspect present invention has proposed a kind of electric motor car, comprises the system of the above embodiment of the present inventionEnergy recovery control device. This electric motor car can, according to the operational mode of self and the speed of service, adopt different controlMethod is braked control, thereby has improved energy recovery rate, has increased the course continuation mileage of self, and can ensure selfInsensitivity is alleviated the risk of wheel lock up simultaneously.
In addition, other formation of electric motor car according to the above embodiment of the present invention with effect for the ordinary skill of this area isKnown, for reducing redundancy, do not repeat herein.
In description of the invention, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length "," width ", " thickness ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " footpathTo ", orientation or the position relationship of the instruction such as " circumferentially " be based on orientation shown in the drawings or position relationship, is only for justIn describing the present invention and simplified characterization, instead of the device of instruction or hint indication or element must have specific orientation, withSpecific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.
In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint relatively importantProperty or the implicit quantity that indicates indicated technical characterictic. Thus, the feature that is limited with " first ", " second " is passableExpress or impliedly comprise at least one this feature. In description of the invention, the implication of " multiple " is at least two,For example two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " GuFixed " etc. term should be interpreted broadly, for example, can be to be fixedly connected with, can be also to removably connect, or integral; CanTo be mechanical connection, it can be also electrical connection; Can be to be directly connected, also can indirectly be connected by intermediary, canThe connection of two element internals or the interaction relationship of two elements, unless separately there is clear and definite restriction. For this areaThose of ordinary skill, can understand above-mentioned term concrete meaning in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, First Characteristic Second Characteristic " on " or D score canBeing that the first and second features directly contact, or the first and second features are by intermediary mediate contact. And, theOne feature Second Characteristic " on ", " top " and " above " but First Characteristic directly over Second Characteristic orOblique upper, or only represent that First Characteristic level height is higher than Second Characteristic. First Characteristic Second Characteristic " under "," below " and " below " can be First Characteristic under Second Characteristic or tiltedly, or only represents the first spyLevy level height and be less than Second Characteristic.
In the description of this description, reference term " embodiment ", " some embodiment ", " example ", " toolBody example " or the description of " some examples " etc. mean specific features, structure, the material described in conjunction with this embodiment or exampleMaterial or feature are contained at least one embodiment of the present invention or example. In this manual, the signal to above-mentioned termProperty statement not must for be identical embodiment or example. And, specific features, structure, material or the spy of descriptionPoint can one or more embodiment in office or example in suitable mode combination. In addition, not conflicting in the situation that,Those skilled in the art can be by the spy of the different embodiment that describe in this description or example and different embodiment or exampleLevy and carry out combination and combination.
Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary,Can not be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-described embodimentChange, amendment, replacement and modification.
Claims (11)
1. a braking energy recycling and control method, is characterized in that, comprises the following steps:
Judge the pattern of living in of electric motor car;
If described electric motor car, in braking mode, obtains the speed of described electric motor car, and according to the speed of described electric motor carJudge described electric motor car velocity shooting of living in;
If the speed of described electric motor car is in the first pre-set velocity section, adopt the first predetermined torque to carry out described electric motor carBraking is controlled;
If the speed of described electric motor car is in the second pre-set velocity section, adopt the first default power to carry out described electric motor carBraking is controlled.
2. braking energy recycling and control method as claimed in claim 1, is characterized in that, also comprises:
Calculate the slip rate of described electric motor car;
Size between more described slip rate and the first preset value, the second preset value respectively;
If described slip rate is greater than the first preset value, exits braking energy and reclaim, and electric braking force is arranged to 0;
If described slip rate is greater than the second preset value and is less than or equal to described the first preset value, to electric motor car carry out ratio-Integral PI control, and described electric braking force is set to PI regulated value; And
If described slip rate is less than or equal to described the second preset value, described electric braking force is set to default brake force.
3. braking energy recycling and control method as claimed in claim 2, is characterized in that, described in calculating according to following formulaThe slip rate of electric motor car:
S＝|u-uw|/u*100％
Wherein, S is described slip rate, the speed that u is described electric motor car, uwFor the wheel speed of the wheel of described electric motor car.
4. braking energy recycling and control method as claimed in claim 1, is characterized in that, if described electric motor car is in cunningRow mode, and the speed of described electric motor car is in described the first pre-set velocity section or described the second pre-set velocity section, adoptsTwo predetermined torques are braked control to described electric motor car.
5. braking energy recycling and control method as claimed in claim 1, is characterized in that, described the first pre-set velocity section is45～80,000 ms/h, described the second pre-set velocity section is 80～125,000 ms/h.
6. a brake energy recycle control device, is characterized in that, comprising:
The first judge module, for judging the pattern of living in of electric motor car;
Acquisition module, in the time that described the first judge module judges described electric motor car in braking mode, obtains described electronicThe speed of car;
The second judge module, for judging described electric motor car velocity shooting of living according to the speed of described electric motor car;
The first control module, for judging that at described the second judge module the speed of described electric motor car is in the first pre-set velocity sectionTime, adopt the first predetermined torque to brake control to described electric motor car, and judge described electricity at described the second judge moduleWhen the speed of motor-car is in the second pre-set velocity section, adopt the first default power to brake control to described electric motor car.
7. brake energy recycle control device as claimed in claim 6, is characterized in that, also comprises:
Computing module, for calculating the slip rate of described electric motor car;
Comparison module, for the size between more described slip rate and the first preset value, the second preset value respectively;
The second control module, in the time that described comparison module judges that described slip rate is greater than the first preset value, controls described electricityMotor-car exits braking energy and reclaims, and electric braking force is arranged to 0, judges that at described comparison module described slip rate is greater than secondPreset value and while being less than or equal to described the first preset value, electric motor car is carried out to PI control, and described electric braking force is set toPI regulated value, and in the time that described comparison module judges that described slip rate is less than or equal to described the second preset value, by described electricity systemPower is set to default brake force.
8. brake energy recycle control device as claimed in claim 7, is characterized in that, described computing module, specifically usesIn:
Calculate the slip rate of described electric motor car according to following formula:
S＝|u-uw|/u*100％
Wherein, S is described slip rate, the speed that u is described electric motor car, uwFor the wheel speed of the wheel of described electric motor car.
9. brake energy recycle control device as claimed in claim 6, is characterized in that, described the first control module, alsoBe used for:
Judge that at described the first judge module described electric motor car is in sliding mode, and described the second judge module judges described electricityWhen the speed of motor-car is in described the first pre-set velocity section or described the second pre-set velocity section, adopt the second predetermined torque to describedControl is braked in electric motor car.
10. brake energy recycle control device as claimed in claim 6, is characterized in that, described the first pre-set velocity sectionBe 45～80,000 ms/h, described the second pre-set velocity section is 80～125,000 ms/h.
11. 1 kinds of electric motor cars, is characterized in that, comprise that the braking energy as described in any one in claim 6 to 10 reclaimsControl device.
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