CN106184194B - 混合动力车辆的再生制动控制方法 - Google Patents

混合动力车辆的再生制动控制方法 Download PDF

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CN106184194B
CN106184194B CN201510216841.0A CN201510216841A CN106184194B CN 106184194 B CN106184194 B CN 106184194B CN 201510216841 A CN201510216841 A CN 201510216841A CN 106184194 B CN106184194 B CN 106184194B
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braking
torque
speed
engine
control method
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CN106184194A (zh
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崔锦林
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Hyundai Motor Co
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Hyundai Motor Co
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    • 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
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • 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
    • B60L15/2009—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 for braking
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    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
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  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种混合动力车辆的再生制动控制方法，包括步骤：再生制动确认步骤：确认是否执行再生制动；发动机停止确认步骤：确认发动机是否停止；以及向前换挡步骤：如果在所述发动停止确认步骤中，确认发动机停止，通过电动机将挡位换至最低挡位。

Description

混合动力车辆的再生制动控制方法
相关申请的交叉引用
本申请要求2014年11月27日提交的韩国专利申请第10-2014-0167584号的优先权，该申请的全部内容通过的引用方式结合于此，用于所有目的。
技术领域
本发明公开一种混合动力车辆的再生制动控制方法，更具体的，本发明公开一种在再生制动期间，能够持续性地保持制动感觉并且防止制动效率降低的混合动力车辆的再生制动控制方法。
背景技术
混合动力车辆是指通过有效结合两种不同动力源所驱动的车辆。在多数情况下，是指通过燃烧燃料(如汽油等矿物燃料)而获得扭矩的发动机和通过电池电源而获得扭矩的电动机(马达或发电机)所驱动的车辆。
由于混合动力车辆采用了发动机和作为辅助动力源的电动机(如马达或发电机)，其能够减少废气排放并提高燃油效率，因而混合动力车辆具有很大的潜力。对混合动力车辆的研发已经积极开展，以适应提高燃油效率和开发环保型产品的时代需求。
目前，最新的混合动力车采用了双离合器变速器(DCT)，其可以传递驱动力至车轮，而不需要中断来自动力源的供应动力。
这种双离合变速器配置为：将任意一个具有奇数挡位(1、3、5、7挡等)的奇数变速机构及一个具有偶数挡位(2，4和6挡)的偶数变速机构中的轴(主轴)与电动机(马达或发电机)侧连接。
这种装配了双离合变速器的混合动力车辆利用在制动期间产生的一些制动力用于电动机发电来执行再生制动功能，该再生制动功能利用产生的电能给电池充电。
这种再生制动是一种使用了一些动能的制动方法，该动能以车辆的行驶速度作为能量，该制动方法在动能减少时(行驶速度减少)需要驱动电动机产生电能。
根据现有的混合动力车辆的再生制动方法，在再生制动期间，当电动机的扭矩为“0”之后，与电动机连接的变速机构中的挡位(排挡挡位)改变时，通过爪形离合器执行换挡，然后电动机执行再生制动，会使得这种制动感觉会有所不同。
针对以上缺点，当电动机的扭矩为“0”时，可使用一种通过增加制动油压或者使用发动机制动的补偿制动力的控制方法。然而，在使用这种这种控制方法的情况下，在换挡期间，动能无法适当地恢复，因此，该再生制动的效率会大幅降低。
公开于该背景技术部分的信息仅仅旨在加深对本发明的一般背景技术的理解，而不应当被视为承认或以任何形式暗示该信息已构成为本领域技术人员所公知的现有技术。
发明内容
因此，本发明已经解决了现有技术中产生的上面所提及和/或其他的问题，同时完整地保持了由现有技术所实现的优点。
本发明在多个方面公开一种混合动力车辆的再生制动控制方法，其能够通过在执行再生制动期间避免换挡，从而持续保持制动感觉，并且可以防止由于未执行换挡而产生的再生制动效率的降低。
根据本发明的一个方面，该种混合动力车辆的再生制动控制方法包括：再生制动确认步骤：确认是否执行再生制动；发动机停止确认步骤：确认发动机是否停止；以及向前换挡步骤：如果在所述发动停止确认步骤中，确认发动机停止，将挡位换至电动机驱动的最低挡位。
在所述再生制动确认步骤中，所述再生制动可通过关闭油门位置传感器(APS)来执行。
在所述发动机停止确认步骤中，根据是否对电池充电，确认是否停止发动机。
在所述向前换挡步骤中，执行换挡至满足电动机在当前车速下的最大转速的各挡位之中的最低挡位。
该种混合动力车辆的再生制动控制方法进一步包括：电动机转速确认步骤：在所述向前换挡步骤之后，根据车速的减速度，确认电动机的转速值是否等于或小于额定转速。
该种混合动力车辆的再生制动控制方法进一步包括：需求扭矩确认步骤：在所述电动机转速确认步骤中，如果确认所述电动机的转速等于或小于额定转速，确认制动需求扭矩是否大于当前挡位级的最大输出扭矩。
该种混合动力车辆的再生制动控制方法进一步包括：发动机制动步骤：如果确认制动需求扭矩大于电动机最大扭矩，所述制动需求扭矩通过与离合器连接的发动机摩擦力来获得。
该种混合动力车辆的再生制动控制方法进一步包括：扭矩之和确认步骤：在所述发动机制动步骤之后，确认由发动机和电动机所提供的最大扭矩之和是否小于所述制动需求扭矩。
该种混合动力车辆的再生制动控制方法进一步包括：制动油压增加步骤：在所述扭矩之和确认步骤中，如果确认所述最大扭矩之和小于所述制动需求扭矩，增加制动油压以满足所述制动需求扭矩。
根据本发明的另一个方面，一种混合动力车辆的再生制动控制方法，其包括：如果确认执行再生制动，将档位换至在当前车速下车辆由电动机驱动的挡位范围内的最低挡位。
该种混合动力车辆的再生制动控制方法进一步包括：在确认执行再生制动之后，确认发动机是否停止，如果确认发动机停止，将档位换至在当前车速下车辆由电动机驱动的挡位范围内的最佳挡位。
本发明的方法和装置可以具有其他的特性和优点，这些特性和优点从并入本文中的附图和随后的具体实施方式中将是显而易见的，或者将在并入本文中的附图和随后的具体实施方式中进行详细陈述，这些附图和具体实施方式共同用于解释本发明的原理。
附图说明
通过随后结合附图所呈现的具体描述将会更为清楚地理解本发明的上述和其它目的、特征以及优点。
图1为电动机-扭矩示意图，该图示出了电动机与扭矩之间的关系；
图2为曲线图，该图示出了在每个排挡阶段的再生扭矩与电动机转速(RPM)之间的关系；以及
图3为流程图，该图示出了根据本发明的一个示例性实施例，本发明的混合动力车辆的再生制动控制方法。
具体实施方式
下面将详细参考本发明的各个具体实施方式，这些具体实施方式的示例显示在附图中并描述如下。尽管本发明将与示例性的具体实施方式相结合进行描述，但是应当意识到，本说明书并非旨在将本发明限制为这些示例性的具体实施方式。相反，本发明旨在不但覆盖这些示例性的具体实施方式，而且可以覆盖包括在由所附权利要求所限定的本发明的精神和范围之内的各种选择形式、修改形式、等价形式及其它的具体实施方式。
在附图中示出的构件的尺寸，线条的宽度等，作为本发明的参考性描述，为了便于说明可能会有些许夸张。此外，用于描述本发明的术语在本发明中由于考虑其功能而被限定，因此这些术语由于某种意图、实践以及使用者或操作者的喜好而可能发生改变。因此，这些术语用词的定义应该基于贯穿于说明书的内容进行解释。
图3为根据本发明的一个示例性实施例，本发明的混合动力车辆的再生制动控制方法的流程图。
首先，执行确认是否执行再生制动的再生制动确认步骤S1。在该再生制动确认步骤S1的确认条件中，当油门位置传感器(accel position sensor，APS)关闭，即可确认再生制动执行。这里，可以参考制动位置传感器(brake position sensor，BPS)等来更精确地确认该油门位置传感器是否关闭。
如果确认该再生制动执行，执行确认发动机是否停止的发动机停止确认步骤S2。
在该发动机停止确认步骤S2中，不执行发动机的停止的情况是不同的。一个例子如下。
首先，当一辆通用的内燃机车辆以相对较高的车速行驶时，当油门位置传感器(APS)关闭时，车辆处于滑行状态，发动机切断燃料，通过发动机阻力矩的施加使得车辆不断减速。另一方面，为了获得与内燃机车辆相似的减速效果，混合动力车辆执行相当于发动机阻力大小或相当量的滑行充电。在进行滑行充电期间，处于充电状态(SOC)的电池电量增加，而在不充电时，该滑行阻力由发动机产生，发动机不停止，因此这时不会产生再生制动。
更进一步地，如果在所述发动机停止确认步骤S2中确认发动机停止，执行在电动机驱动下的向前换挡至最低挡位的向前换挡步骤S3。
如图1所示，由于电动机是一个动态动力源，在达到额定转速(RPM)时电动机的扭矩一直是恒定的，但超过该额定转速后，该扭矩会逐渐减小。因此，在额定转速或额定转速以上时，该再生制动的产生不取决于转速并且其功率是相同的。因此，在执行向前换挡至最低挡位(满足或达到电动机在当前车速下的最大转速的挡位)时，即使车辆在减速，也预先换挡至低级挡位，因此，可以避免不必要的换挡。
如前面所述，由于不执行换挡，在再生制动期间的制动感觉是持续性的，并且可以防止降低再生制动效率。
该向前换挡步骤S3的一个实施例将在下面详细描述。
混合动力车辆中的电动机与奇数变速机构连接，其车速取决于挡位和转速(RPM)的例子如表1所示。
表1
在该例中，电动机的最大转速为8400RPM，额定转速为1200RPM，如果车辆处于速度为：120Km/h，挡位在第7挡(或者挡位7)的行驶状态下，其需要再生制动，释放离合器以让发动机停止，在车辆的当前速度下，选择至最低档位，该最低挡位为在当前车速下由电动机可以驱动的最低挡位。如上述的表1所示，在第3挡(或者挡位3)，该车辆可由电动机驱动最高至159Km/h，因此电动机的扭矩被设定为“0”，选择由7挡换至3挡来执行向前换挡。因此，该再生制动可以在从22km/h到最高至120km/h时执行。
此时，该转速(RPM)等于或小于当车速在22km/h时的额定转速，发动机的充电电量减少，但在低车速时车辆的动能很小并且再生能源也在减少，无需为了将挡位换至低级挡位，而保持该转速比额定转速大。
进一步地，执行电动机转速确认步骤S4，用于确认由于执行了前述的向前换挡步骤S3之后，车速逐渐减小，电动机的转速(RPM)是否等于或小于额定转速。
此时，当车辆以等于或大于120km/h的当前车速行驶，不执行换至1挡或3挡，作为一个案例，通常是换至5挡。由于处于5挡的额定转速的车速为43km/h，如图2所示，当车辆在点和点之间行驶时，在换至第3挡时，在更大的扭矩下会产生再生制动，但制动感觉也会改变。
在这里应当理解，这里用于转速，速度，挡位或其他特征的具体数值或范围仅仅是示意性而并非限定性的。
因此，为了在大扭矩下实现再生制动而克服制动感觉的变化，如下步骤将会额外地或选择性地执行。
当电动机的转速等于或小于额定转速时，执行制动需求扭矩确认步骤S5，用于确认制动需求扭矩(即，制动需求再生制动扭矩，)是否大于电动机的最大扭矩(即，当前挡位输出的最大扭矩)。
在制动需求扭矩确认步骤S5中，当确认制动需求扭矩大于或高于电动机的最大扭矩时，执行发动机制动步骤S6，用于通过与离合器连接的发动机进行制动(例如，发动机的摩擦力)，以满足该制动需求扭矩。
在发动机制动步骤S6之后，执行扭矩之和确认步骤S7，用于确认发动机和电动机最大扭矩之和是否小于所述的制动需求扭矩。
在该扭矩之和确认步骤S7中，如果确认所述最大扭矩之和小于制动需求扭矩，执行制动油压增加步骤S8，用于增加制动油压，该增加的油压量与不满足所述制动需求扭矩的量相应。
这里，在前述的制动需求扭矩确认步骤S5中，即使该制动需求扭矩大于电动机的最大扭矩，所述发动机制动步骤S6至所述制动油压增加步骤S8也可以忽略。由于电动机产生的扭矩是恒定的，即使有离合器的接入，发动机的制动(发动机摩擦力)是没有用的，产生于变速器的制动力不变，但是当电动机的转速等于或小于额定转速时，通过再生制动获得的充电电量将会减少。因此，即使充电电量减小，可以预见到，由于驾驶员会由于发动机启动而感到不便，上述所描述的发电机转速确认步骤S4至制动油压增加步骤S8也可以忽略。
如上面所描述的，根据本发明所描述的各种示例性的具体实施方式，所述混合动力车辆的再生制动控制方法，如图3所示，如果在步骤S1确认执行再生制动，将执行在一个挡位范围内向前换挡至最低挡位的步骤S3，该挡位范围是指：在当前车速下电动机可以驱动的范围。这里，一旦确认所述再生制动执行，即使是在再生制动的车速减速阶段，由于预先执行切换至最佳挡位，即通过控制将挡位提前换至由电动机在当前车速下可以驱动的最低挡位，可以避免不必要的换挡并且可以保持持续制动感觉，并且，在不执行不必要的换挡的情况下，通过响应车辆的减速而适度地执行再生制动，可避免降低再生制动效率。
进一步地，执行再生制动确认之后，在步骤S2确认发动机是否停止，如果确认发动停止，将执行在当前车速下电动机可以驱动的范围内换挡至最低挡位的步骤S3。这样，当在发动机停止的情况下，通过执行提前换至最佳挡位，可进一步提高再生制动的控制效率。其原因是，由于发动机不停止，发动机会产生滑行阻力，因此不需要再生制动。
前面对本发明具体示例性实施方案所呈现的描述是出于说明和描述的目的。前面的描述并不旨在穷举，也并不旨在将本发明限制为所公开的确切形式，显然，根据上述教导，许多改变和变化均是可能的。这些示例性的具体实施方式的选择和描述是为了解释本发明的特定原理及其实际应用，从而使得本领域的技术人员能够实现并利用本发明的各种示例性的具体实施方式，还包括其不同的选择和修改形式。本发明的范围由所附权利要求书及其等价形式所限定。

Claims (10)

1.一种混合动力车辆的再生制动控制方法，其特征在于包括如下步骤：
再生制动确认步骤：确认是否执行再生制动；
发动机停止确认步骤：确认发动机是否停止；以及
向前换挡步骤：如果在所述发动机停止确认步骤中，确认发动机停止，将挡位换至电动机驱动的最低挡位，
其中，在所述向前换挡步骤中，将挡位换至满足电动机在当前车速下的最大转速的各挡位之中的最低挡位。
2.根据权利要求1所述的混合动力车辆的再生制动控制方法，其特征在于：在所述再生制动确认步骤中，所述再生制动通过关闭油门位置传感器来执行。
3.根据权利要求1所述的混合动力车辆的再生制动控制方法，其特征在于：在所述发动机停止确认步骤中，根据是否对电池充电，确认发动机是否停止。
4.根据权利要求1所述的混合动力车辆的再生制动控制方法，其特征在于进一步包括：
电动机转速确认步骤：在所述向前换挡步骤之后，根据车速的减速度，确认电动机的转速值是否等于或小于额定转速。
5.根据权利要求4所述的混合动力车辆的再生制动控制方法，其特征在于进一步包括：
需求扭矩确认步骤：在所述电动机转速确认步骤中，如果确认所述电动机的转速等于或小于额定转速，确认制动需求扭矩是否大于当前挡位的最大输出扭矩。
6.根据权利要求5所述的混合动力车辆的再生制动控制方法，其特征在于进一步包括：
发动机制动步骤：如果确认所述制动需求扭矩大于电动机最大扭矩，该制动需求扭矩通过使用发动机摩擦力来获得，该发动机摩擦力通过离合器接合发动机获得。
7.根据权利要求6所述的混合动力车辆的再生制动控制方法，其特征在于进一步包括：
扭矩之和确认步骤：在所述发动机制动步骤之后，确认由发动机和电动机所提供的最大扭矩之和是否小于所述制动需求扭矩。
8.根据权利要求7所述的混合动力车辆的再生制动控制方法，其特征在于进一步包括：
制动油压增加步骤：在所述扭矩之和确认步骤中，如果确认所述最大扭矩之和小于所述制动需求扭矩，增加制动油压以满足所述制动需求扭矩。
9.一种混合动力车辆的再生制动控制方法，其特征在于包括如下步骤：
如果确认执行再生制动，将档位换至满足电动机在当前车速下的最大转速的各挡位之中的最低挡位。
10.根据权利要求9所述的混合动力车辆的再生制动控制方法，其特征在于进一步包括：
在确认执行再生制动之后，确认发动机是否停止，
如果确认发动机停止，将档位换至所述最低挡位。
CN201510216841.0A 2014-11-27 2015-04-30 混合动力车辆的再生制动控制方法 Expired - Fee Related CN106184194B (zh)

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