CN105774566B - One kind being used for brake energy feedback control method of pure electric automobile - Google Patents
One kind being used for brake energy feedback control method of pure electric automobile Download PDFInfo
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- CN105774566B CN105774566B CN201610304085.1A CN201610304085A CN105774566B CN 105774566 B CN105774566 B CN 105774566B CN 201610304085 A CN201610304085 A CN 201610304085A CN 105774566 B CN105774566 B CN 105774566B
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- braking
- feedback control
- brake
- braking moment
- energy feedback
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Classifications
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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
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention relates to one kind being used for brake energy feedback control method of pure electric automobile, this method carries out braking energy feedback control it is first determined whether there is speed, feedback control terminates if no speed, continue to judge SOC whether between 20%-80% if having speed, feedback control terminates if not in range, if judging the brake of acquisition, gear and throttle signal in range；When be N grades in gear, gear be not N grades of brake signals be more than zero or throttle signal be zero these three calculate braking moment Te_calc, then pass through electric power generation external characteristics, temperature MAP and voltage MAP obtains final braking moment given value Te_out, if not in three kinds of situations, feedback control terminates.By periodically judging condition above, braking moment is calculated, motor power is allowed to feed back in battery, the braking energy control of pure electric vehicle is realized, improves the battery availability factor of pure electric vehicle, increase course continuation mileage.
Description
Technical field
The present invention relates to braking energy of electric automobiles to recycle control technology field, and in particular to one kind being used for pure electric automobile
Braking energy feeding control method.
Background technology
The problem of comparing concern to new-energy automobile at present is exactly course continuation mileage, for solving the problems, such as that this proposes one kind
Scheme is exactly to increase the power density of battery, but this scheme needs are improved and innovate on battery technology, are difficult in a short time
It completes.Another method is exactly to increase battery capacity, and the kerb weight of vehicle can be caused to increase under current technology level, both increased
Add cost, and affects safety and the dynamic economics of vehicle.Under current level, using braking energy feedback method
A kind of relatively good solution because the motor on pure electric automobile can both carry out it is electronic can be with generator operation.System
Electric energy storage can be converted the kinetic energy of pure electric vehicle in the battery by generator operation when dynamic, energy dissipation can be avoided
Battery availability factor can also be improved.But current new-energy automobile braking energy feeding control method is fairly simple, it is difficult to realize
Best braking energy feedback.
Invention content
The purpose of the present invention is to provide one kind being used for brake energy feedback control method of pure electric automobile, is ensureing battery
And in the case of controller secure, braking energy is recycled to the greatest extent.
To achieve the above object, present invention employs following technical schemes：
One kind being used for brake energy feedback control method of pure electric automobile, includes the following steps：
（1）Judge whether current motor rotating speed absolute value is more than zero, if it is not, then automobile brake energy feedback control terminates；
If so, thening follow the steps（2）；
（2）The SOC of present battery is judged whether between 20%~80%, if so, acquisition brake, gear and throttle letter
Number, if it is not, then automobile brake energy feedback terminates；
（3）Judge whether current gear is N grades, if so, being recorded as neutral gear braking, and executes step（6）, if it is not, then
Execute step（4）；
（4）Judge whether brake signal brake is more than zero, if so, being recorded as skidding, and executes step（6）If
It is no, it thens follow the steps（5）；
（5）Judge whether throttle signal throttle is equal to zero, if so, being recorded as sliding brake function, and executes step
（6）, if it is not, then automobile brake energy feedback control terminates；
（6）According to battery allow maximum charging current Imax, cell voltage U and motor speed V, by formula Te=
9550*Imax*U/V calculates maximum allowable braking moment Te；
（7）Maximum allowable braking moment Te and the MAP chart brake force Te_map1 of calibration are compared, formula Te_ is passed through
Calc=min { Te, Te_map1 }, finally obtains braking moment Te_calc；
（8）By the braking moment Te_calc obtained compared with electric power generation external characteristics, temperature and voltage MAP limitation figures,
It obtains the braking moment Te_out of output, terminates braking energy feedback control;
（9）It repeats（1）~（8）Step.
Described is used for brake energy feedback control method of pure electric automobile, step（8）In, the braking moment Te_
Calc is in limitation figure, then braking moment Te_out takes current moment values, if braking moment Te_calc is beyond limitation figure model
It encloses, then braking moment Te_out takes the moment values of limitation；
Described is used for brake energy feedback control method of pure electric automobile, and the SOC value of the battery passes through full-vehicle control
Device carries out estimation acquisition according to the battery case monomer voltage and electric current of acquisition, and the motor speed V passes through entire car controller root
Calculating acquisition is carried out according to the electromechanical transducer signal of acquisition.
It is described to be used for brake energy feedback control method of pure electric automobile, the braking moment Te_calc when calculating,
According to the mode of braking of recording different types, using the brake force MAP chart of different calibration.
As shown from the above technical solution, of the present invention to be used for brake energy feedback control method of pure electric automobile, it fills
Divide and consider that battery allows charging current, electric power generation external characteristics, the temperature of controller and voltage condition, motor is braked
Torque Control realizes energy feedback, can either ensure brake safe, ensure the safety of controller, and can realize braking energy
Best feedback.For electric vehicle, the present invention can improve the efficiency of battery, increase course continuation mileage, have warp well
Ji property.
Description of the drawings
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the principle of the present invention figure；
Fig. 3 is the electric power generation external characteristics figure of the present invention；
Fig. 4 is that the excess temperature torque of the present invention limits MAP chart；
Fig. 5 is that the overvoltage torque of the present invention limits MAP chart；
Fig. 6 is that the braking moment of the present invention demarcates MAP chart.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings：
Fig. 2 is a kind of schematic diagram of braking energy feeding control method of the present invention, mainly have battery, motor, inverter and
Entire car controller form, when enter braking mode when, entire car controller can according to from the collected information of battery, motor speed,
The data such as inverter temperature calculate braking moment, the instruction of braking moment are sent to inverter by CAN bus, inverter is then
By controlling motor, realize that the kinetic energy of motor is changed into electric energy and flows into battery, to realize the recycling of energy.In feedback
It needs to control the brake force of feedback in journey.
As shown in Figure 1, the present invention proposes that one kind being used for brake energy feedback control method of pure electric automobile, including following step
Suddenly：
S1：Judge whether current motor rotating speed absolute value is more than zero：
If current motor rotating speed absolute value is equal to zero, indicate that car has stopped, braking energy feedback control terminates；Such as
Whether fruit current motor rotating speed absolute value is more than zero, continue to judge the SOC of present battery between 20%-80%；
If the SOC of present battery is not between 20%-80%, in order to protect battery, braking energy feedback control to terminate；Such as
The SOC of fruit present battery then acquires brake, gear and throttle signal between 20%-80%；
S2：Judge whether current gear signal is N grades：
If current gear is N grades, it is recorded as neutral gear braking, and carries out next step and calculates braking moment；If worked as
Preceding gear is not N grades, then judges whether brake signal brake is more than zero；
If brake signal brake is more than zero, it is recorded as skidding, and carries out next step and calculates braking moment；
If brake signal brake is not more than zero, judge whether throttle signal throttle is equal to zero；
If throttle signal throttle is not equal to zero, braking energy feedback control terminates；If throttle signal
Throttle is equal to zero, is recorded as sliding brake function, and carries out next step and calculate braking moment；
S3：Maximum charging current Imax, cell voltage U and the motor speed V allowed according to battery calculates maximum allowable
Braking moment, calculation formula is Te=9550*Imax*U/V, and is compared with the MAP chart brake force Te_map1 of calibration, Te_
Calc=min { Te, Te_map1 }, finally obtains braking moment Te_calc；
S4：Braking moment Te_calc is compared by motor external characteristics, temperature and voltage MAP limitation figures, and braking moment exists
With current moment values in limitation figure, it is more than the system of limitation range limitation, finally obtains the braking moment Te_out of output, tie
Beam braking energy feedback controls；Whether detailed process is to judge braking moment in characteristic in conjunction with the electric power generation external characteristics figure of Fig. 3
It in range, overruns using external characteristics torque as braking moment, otherwise using Te_calc as braking moment, in conjunction with the mistake of Fig. 4
Temperature torque limits MAP chart, and torque coefficient K1 is obtained according to the current temperature of controller, is limited in conjunction with the overvoltage torque of Fig. 5
MAP chart obtains torque coefficient K2 according to the busbar voltage percentage of controller, calculates Te_out=K1*K2*Te_calc.
S5：Step S1~S4 is periodically carried out, judgement and the Calculating Torque during Rotary of feedback braking are carried out, realizes that braking energy returns
Feedback control.
The control method is realized in the MCU of entire car controller, while entire car controller is according to the signal of electromechanical transducer
Motor speed V is calculated, CAN communication obtains battery case monomer voltage and electric current estimates SOC by being carried out with battery information collector
Value.The periodic cycle of the control method is realized by the timer of MCU.Fig. 5 is that the overvoltage torque of the present invention limits MAP
Figure；Controller busbar voltage percentage 100% indicates normal voltage, illustrates that busbar voltage is higher more than 100%.
When the control method calculates braking moment Te_calc, according to the different type modes of braking of record, using difference
Calibration brake force MAP chart, in conjunction with Fig. 6 braking moments demarcate MAP chart, for different modes of braking such as sliding brake function, sky
BrakeSpeed1, brakeSpeed2 and brakeLimit can be demarcated respectively under shelves braking, service brake braking, to not
Different braking effects is just had under same mode of braking, finally realizes the optimum braking effect under each mode of braking.
The present invention is prevented in regeneration processes by the excessively mild overvoltage MAP chart of controller because braking moment causes greatly very much to control
The damage of device processed.This method calculates braking moment Te_calc by three kinds of situations, then passes through electric power generation external characteristics, temperature
MAP and voltage MAP obtains final braking moment given value Te_out, if not in three kinds of situations, feedback control terminates.
By periodically judging condition above, braking moment is calculated, allows motor power to feed back in battery, realizes the system of pure electric vehicle
Energy controls.This method is real by controlling electric power generation under the premise of ensureing brake safe, controller and cell safety
Now best energy regenerating can improve the battery availability factor of pure electric vehicle, increase course continuation mileage.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, under the premise of not departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain of claims of the present invention determination.
Claims (2)
1. one kind being used for brake energy feedback control method of pure electric automobile, which is characterized in that include the following steps：
（1）Judge whether current motor rotating speed absolute value is more than zero, if it is not, then automobile brake energy feedback control terminates；If so,
It thens follow the steps（2）；
（2）The SOC of present battery is judged whether between 20%~80%, if so, acquisition brake, gear and throttle signal,
If it is not, then automobile brake energy feedback terminates；
（3）Judge whether current gear is N grades, if so, being recorded as neutral gear braking, and executes step（6）, if it is not, then executing
Step（4）；
（4）Judge whether brake signal brake is more than zero, if so, being recorded as skidding, and executes step（6）, if it is not,
It thens follow the steps（5）；
（5）Judge whether throttle signal throttle is equal to zero, if so, being recorded as sliding brake function, and executes step（6）If
No, then automobile brake energy feedback control terminates；
（6）According to maximum charging current Imax, cell voltage U and motor speed V that battery allows, pass through formula Te=9550*
Imax*U/V calculates maximum allowable braking moment Te；
（7）Maximum allowable braking moment Te and the MAP chart brake force Te_map1 of calibration are compared, formula Te_calc is passed through
=min { Te, Te_map1 }, finally obtains braking moment Te_calc；
（8）By the braking moment Te_calc obtained compared with electric power generation external characteristics, temperature and voltage MAP limitation figures, obtain
The braking moment Te_out of output terminates braking energy feedback control;
Step（8）In, the braking moment Te_calc is in limitation figure, then braking moment Te_out takes current moment values, if
Braking moment Te_calc takes the moment values of limitation beyond limitation figure range, then braking moment Te_out；
The braking moment Te_calc is when calculating, according to the mode of braking of recording different types, using the braking of different calibration
Power MAP chart.
2. according to claim 1 be used for brake energy feedback control method of pure electric automobile, it is characterised in that：The electricity
The SOC value in pond carries out estimation acquisition, the motor by entire car controller according to the battery case monomer voltage and electric current of acquisition
Rotating speed V carries out calculating acquisition by entire car controller according to the electromechanical transducer signal of acquisition.
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| CN201610304085.1A CN105774566B (en) | 2016-05-07 | 2016-05-07 | One kind being used for brake energy feedback control method of pure electric automobile |
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| CN201610304085.1A CN105774566B (en) | 2016-05-07 | 2016-05-07 | One kind being used for brake energy feedback control method of pure electric automobile |
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| CN105774566B true CN105774566B (en) | 2018-11-02 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107120426A (en) * | 2017-04-28 | 2017-09-01 | 北京新能源汽车股份有限公司 | A kind of Control of Electric Vehicles method, device and electric automobile |
| CN107554307B (en) * | 2017-08-01 | 2019-11-22 | 北京新能源汽车股份有限公司 | Automobile brake control method, apparatus and system |
| CN109693555B (en) * | 2017-10-20 | 2022-06-21 | 河南森源重工有限公司 | Method and device for controlling sliding feedback of electric vehicle |
| CN111619359A (en) * | 2019-02-28 | 2020-09-04 | 北京新能源汽车股份有限公司 | Control method for recovering vehicle braking energy, vehicle control unit and vehicle |
| CN111327231B (en) * | 2020-02-26 | 2023-08-18 | 致瞻科技(上海)有限公司 | Motor braking feedback energy absorbing method, device and system based on high-frequency injection |
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