CN106494237A - Pure electric automobile regenerative braking energy reclaiming system and control method - Google Patents
Pure electric automobile regenerative braking energy reclaiming system and control method Download PDFInfo
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- CN106494237A CN106494237A CN201610872902.3A CN201610872902A CN106494237A CN 106494237 A CN106494237 A CN 106494237A CN 201610872902 A CN201610872902 A CN 201610872902A CN 106494237 A CN106494237 A CN 106494237A
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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
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of pure electric automobile regenerative braking energy reclaiming system, flywheel group one end is linked in sequence with torque speed probe, motor by electromagnetic clutch, and the described flywheel group other end is linked in sequence with speed changer, brake by magnetic powder cluth；Brake pedal is connected with brake, installs brake-pedal-travel sensor between described brake pedal and brake；Batteries are electrically connected with motor by electric machine controller, and batteries controller is electrically connected with batteries；Master controller is electrically connected with electric machine controller, batteries controller, electromagnetic clutch, magnetic powder cluth, brake-pedal-travel sensor, torque speed probe.Pure electric automobile developer can select different control strategies, study energy regenerating situation of the automobile under different braking pattern according to different vehicle loads and vehicle, solve the difficult problem for monitoring regenerative braking when pure electric automobile is developed.
Description
Technical field
The present invention relates to pure electric automobile regenerating braking energy recovery technology field, especially a kind of pure electric automobile regeneration
Brake energy recovering system and control method.
Background technology
Pure electric automobile gradually occupies automobile market because of environmental friendliness, using the advantages of new forms of energy, in research and development, regeneration system
Move and can improve energy utilization rate, be to solve the short research emphasis of its continual mileage.And in processes of research ＆ development, directly carry out real vehicle
If test, cost and risk are all very high, and with the development of automotive electronic technology, the reliability of electronic devices and components is greatly improved,
It is sufficient for the actual driving cycle of automobile.Before the energy regenerating to pure electric automobile carries out real train test, need in mould
Tested in the pure electric automobile energy-recuperation system of plan, but monitoring regenerative braking during pure electric automobile exploitation is a hardly possible
Topic.
Content of the invention
The technical problem to be solved in the present invention is：There is provided a kind of based on electromagnetic clutch and the pure electronic vapour of magnetic powder cluth
Car regenerative braking energy reclaiming system, to overcome deficiency of the prior art, solves monitoring regeneration system when pure electric automobile is developed
A dynamic difficult problem.
The technical solution adopted for the present invention to solve the technical problems is：A kind of pure electric automobile regenerating braking energy is reclaimed
System, including motor, electric machine controller, batteries, batteries controller, flywheel group, electromagnetic clutch, magnetic powder clutched
Device, speed changer, brake, brake pedal, brake-pedal-travel sensor, torque speed probe, master controller；
Described flywheel group one end is linked in sequence with torque speed probe, motor by electromagnetic clutch, and described flies
The wheel group other end is linked in sequence with speed changer, brake by magnetic powder cluth；
Described brake pedal is connected with brake, installs brake-pedal travel between described brake pedal and brake
Sensor；
Described batteries are electrically connected with motor by electric machine controller, and batteries controller is electrically connected with batteries
Connect；
Described master controller and electric machine controller, batteries controller, electromagnetic clutch, magnetic powder cluth, braking
PTS, the electrical connection of torque speed probe.
A kind of control method of above-mentioned pure electric automobile regenerative braking energy reclaiming system, with following steps：
Step 1：Brake pedal signal is passed to master controller by brake pedal, brake-pedal-travel sensor, electricity
Machine controller, battery controller are by motor signal, batteries signal transmission to master controller；
Step 2：Master controller makes braking decision-making according to above-mentioned signal, sends certainly to electromagnetic clutch, magnetic powder cluth
Plan signal；
The braking decision-making includes light brake decision-making, moderate braking decision-making, severe braking decision-making or brake hard decision-making；
During light brake decision-making, electromagnetic clutch is engaged, and magnetic powder cluth disconnects, and motor works and is in regenerative braking work
Operation mode；
During moderate braking decision-making, electromagnetic clutch and magnetic powder cluth are engaged, and motor works and is in regenerative braking work
Operation mode, brake operation；
When severe braking decision-making or brake hard decision-making, electromagnetic clutch disconnects, and magnetic powder cluth is engaged, brake work
Make.
The invention has the beneficial effects as follows：Using the present invention, pure electric automobile developer can be negative according to different automobiles
Carry and vehicle, select different control strategies, study energy regenerating situation of the automobile under different braking pattern, solve pure electronic vapour
A difficult problem for regenerative braking is monitored when car is developed.
Carrying out before the energy regenerating to pure electric automobile carries out real train test, first returning in pure electric automobile regeneration energy
Tested in receipts system, the cycle and cost that can make pure electric automobile substantially reduces, also make the reliability of research and development get a promotion.
Description of the drawings
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the control flow chart of the present invention；
Specific embodiment
Presently in connection with accompanying drawing, the present invention is further illustrated.These accompanying drawings are simplified schematic diagram only with signal side
The basic structure of the formula explanation present invention, therefore which only shows the composition relevant with the present invention.
As shown in figure 1, a kind of pure electric automobile regenerative braking energy reclaiming system, including motor 1, electric machine controller 2, stores
Battery pack 3, batteries controller 4, flywheel group 5, electromagnetic clutch 6, magnetic powder cluth 7, speed changer 8, brake 9, braking
Pedal 10, brake-pedal-travel sensor 11, torque speed probe 12, master controller 13；
Described 5 one end of flywheel group is linked in sequence with torque speed probe 12, motor 1 by electromagnetic clutch 6, described
5 other end of flywheel group be linked in sequence with speed changer 8, brake 9 by magnetic powder cluth 7.
Described brake pedal 10 is connected with brake 9, installs braking and step between described brake pedal 10 and brake 9
Plate stroke sensor 11；
Described batteries 3 are electrically connected with motor 1 by electric machine controller 2, batteries controller 4 and batteries
3 electrical connections；
Described master controller 13 and electric machine controller 2, batteries controller 4, electromagnetic clutch 6, magnetic powder cluth
7th, brake-pedal-travel sensor 11, torque speed probe 12 are electrically connected.
As shown in Fig. 2 a kind of control method using above-mentioned pure electric automobile regenerative braking energy reclaiming system, has
Following steps：
Step 1：Brake pedal signal is passed to master controller by brake pedal, brake-pedal-travel sensor, electricity
Machine controller, battery controller are by motor signal, batteries signal transmission to master controller；
Step 2：Master controller makes braking decision-making according to above-mentioned signal, sends certainly to electromagnetic clutch, magnetic powder cluth
Plan signal；
The braking decision-making includes light brake decision-making, moderate braking decision-making, severe braking decision-making or brake hard decision-making；
During light brake decision-making, electromagnetic clutch is engaged, and magnetic powder cluth disconnects, and motor works and is in regenerative braking work
Operation mode；The energy transmission route of system is：Flywheel group electromagnetic clutch motor batteries, at the same motor as send out
Motor needs to overcome magnetic resistance moment, produces resistance in flywheel group.
During moderate braking decision-making, electromagnetic clutch and magnetic powder cluth are engaged, and motor works and is in regenerative braking work
Operation mode, brake operation；The energy transmission route of system is：Flywheel group electromagnetic clutch motor batteries；Fly
Wheel group magnetic powder cluth speed changer brake.
When severe braking decision-making or brake hard decision-making, electromagnetic clutch disconnects, and magnetic powder cluth is engaged, brake work
Make.The energy transmission route of system is：Flywheel group magnetic powder cluth speed changer brake.
In the pure electric automobile regenerative braking energy reclaiming system of the present invention, drive part of the motor for system；Motor control
The driving of device controlled motor processed and braking function；Batteries are the power section of system, provide primary energy for system；Electric power storage
Pond group controller, the SOC value of control batteries, temperature, charging/discharging voltage etc.；Flywheel group simulated automotive movement inertia, can
Load regulation flywheel group quality according to automobile；Electromagnetic clutch controlled motor and the connecting and disconnecting of flywheel；Magnetic powder cluth
The torque size that control realization brake is transmitted with flywheel group and motor portion；Speed changer is used for the transmission of power；Brake
Flywheel group is braked；Brake pedal, brake pedal carry out different degrees of braking；Brake-pedal-travel sensor,
Measure the stroke of brake pedal；Torque speed probe, measurement brake torque and rotating speed；The function of master controller is monitoring
Or the signal of each part of reception, realize the interaction of information.Master controller mainly includes braking force distribution unit and dynamics of vehicle
Unit.Batteries adopt ferric phosphate lithium ion battery by battery series-fed, battery.
The present invention is provided with two sets of clutches：Magnetic powder cluth and electromagnetic clutch, during normally travel at magnetic powder cluth
In released state, magnetic powder cluth is not connected with flywheel group, alleviates the load of motor；The magnetic powder cluth when sliding or brake
Engagement state, magnetic powder cluth and flywheel group, motor connection is in, motor is converted into Generator Status, the energy produced during braking
Amount is battery charging by motor, improves the continual mileage of pure electric automobile.
Flywheel one end connects magnetic powder cluth, and magnetic powder cluth with granular magnetic as working media with exciting curent is
Control device, for buffer starting, power absorption, fictitious load, stepless time adjustment, overload protection etc., is a kind of superior performance
From control element, can be used to control and transmit the moment of torsion between flywheel and brake, with fast response time, simple structure excellent
Point.
In pure electric automobile regenerative braking energy reclaiming system, the slip power P of magnetic powder cluthsFor：
Wherein, ToutRepresent the output torque of magnetic powder cluth；ncRepresent slippage rotating speed.
As long as slip power is less than slip power allowable, in the excursion of output torque, slippage rotating speed can be allowed
Small range fluctuates.
Control realization to magnetic powder cluth is as follows：
Ground brake force F by demandxb1Determine the opposing torque T of demandb, then special by the electric current-torque of magnetic powder cluth
Property, determine exciting curent, and further determine that the control voltage of demand, and then calculate dutycycle.
Opposing torque is provided by magnetic powder cluth and gearbox DC brushless motor to flywheel to simulate front axle ground
Brake force.Its opposing torque is to be expressed as follows：
Tb=Fxb1×r
Output torque T of magnetic powder cluth driven shaftcbFor：
Wherein, Fxb1Represent the front axle ground brake force that is shared by hydraulic braking；R represents radius of wheel；igPass for gearbox
Dynamic ratio；TbRepresent opposing torque；TcbRepresent the output torque of magnetic powder cluth driven shaft.
It should be noted that the i of gearboxgFixed speed ratio is set to, that is, is directed to a kind of test of vehicle, the shelves of gearbox
Position is fixed, thus reduces the power requirement of the motor of driving magnetic powder cluth, can also make the rotating speed of motor in rationally
Scope.
In pure electric automobile regenerative braking energy reclaiming system, motor type used is gearbox DC brushless motor.
The rotating speed of motor can be obtained by following formula,
Wherein, n is motor speed, and unit is r/min；ω is motor angular velocity, and unit is rad/s.
The power output of motor is
P=T ω
By above two formula, can obtain,
When the motor braking of vehicle, the moment of resistance of motor is known action,
Wherein, T represents the moment of resistance of motor；F represents the motor braking power for acting on vehicle；ηtRepresent the machinery effect of motor
Rate；igRepresent transmission ratio；i0Representing, final driver ratio (because main reducing gear is not related in the system, therefore takes i0=
1).
The total electricity that motor sends in braking procedure is,
That is,
Wherein Er represents total electric power generation amount in braking procedure.
In motor and controller, main data flow is：Input data is demand torque and rotating speed；The number of output
According to for motor discharge power, the torque of motor reality output and rotating speed.
When motor demand power is calculated, it is considered to its rotor inertia torque, torque limit and rotary speed-torque operating characteristic
Impact.According to the demand rotating speed mc_spd_out_r of rotor input, motor estimation rotating speed mc_spd_est is solved, its turn is calculated
Sub- inertia torque, estimates output torque according to mc_spd_est, using the method for inquiry power of motor MAP tables, solves motor
Input demand power mc_spd_in_r.
In pure electric automobile regenerative braking energy reclaiming system, the battery model type of selection is rint.
According to power definition formula
P=V × I
Kirchhoff's second law
V=VOC-R×I
Understand,
P=(VOC×I)-I2R
Wherein, R represents open circuit internal resistance；VOCRepresent open-circuit voltage；I represents charging and discharging currents；P represents long discharge power.
With I as unknown number, other are known or have tried to achieve, can draw two solutions of I, cast out negative value.
With regard to being calculated as follows for lithium ion electronics open-circuit voltage and internal resistance,
U=f (SOC)
Rint=f (SOC)
The transferable power of battery must be in its allowed band, mainly according to current SOC value, open-circuit voltage and interior
Resistance, motor allow minimum voltage to limit power output.
Pout=0, when SOC is equal or close to 0, demand power PreqFor just discharging；Pout=0, when SOC is equal to or connects
It is bordering on 0.99, demand power PreqCharge for negative.
Maximum effective power P of battery outputmaxWith operating voltage VbusThree relating to parameters for limiting, operating voltage
VbusMinimum voltage mc_min_volts and the minimum voltage value ess_min_volts* of batteries that not lower than motor works
Ess_module_num, if meeting conditions above, when battery-operated voltage is open-circuit voltage half, batteries are exported
Peak power.Peak power limit value is calculated as follows,
Vbus=max (Voc/ 2, mc_min_volts, ess_min_volts*ess_module_num)
The current parameters of equivalent circuit are that the quadratic equation related with internal resistance, actual power according to open-circuit voltage is calculated
, the current value of equivalent circuit is calculated according to the quadratic equation of electrical power and Kirchhoff's second law.
P=V × I
V=VOC-R×I
Maximum charging current is,
Terminal voltage is,
V=VOC-R×I
According to the actual soc-value of the storage battery stream calculation module, know that SOC is for the dump energy of calculating accumulator
A·h.The estimation of SOC value is using subsequent iteration, the method for Step wise approximation actual value.
The specific algorithm of pure electric automobile regenerative braking energy reclaiming system, step are as follows：
(1) by driver's brake pedal, current brake-pedal travel X is detected by brake-pedal-travel sensor
Value.
(2) brake-pedal-travel sensor is delivered to X values in braking force distribution unit, and braking force distribution unit is combined and set
Fixed driving cycle determines severity of braking z, and according to control strategy by total braking force be divided into front wheel brake power, rear-wheel braking force,
Regenerative braking force, and the numerical value of front and back wheel brake force is passed to dynamics of vehicle unit, the numerical value of regenerative braking force is transmitted
Give master controller.
(3) to motor and controller, electric machine controller calculates actual defeated master controller transmission braking force distribution signal
Go out torque and pass to dynamics of vehicle unit.
(4) current vehicle speed is calculated accordingly by dynamics of vehicle unit, then is fed back in braking force distribution unit.
(5) power output is delivered in batteries by motor by controller, then is calculated by batteries current
SOC value, feeds back in braking force distribution module.
With the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various change and modification can be carried out entirely in the range of without departing from this invention technological thought.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (2)
1. a kind of pure electric automobile regenerative braking energy reclaiming system, it is characterised in that：Including motor, electric machine controller, electric power storage
Pond group, batteries controller, flywheel group, electromagnetic clutch, magnetic powder cluth, speed changer, brake, brake pedal, braking
PTS, torque speed probe, master controller；
Described flywheel group one end is linked in sequence with torque speed probe, motor by electromagnetic clutch, described flywheel group
The other end is linked in sequence with speed changer, brake by magnetic powder cluth；
Described brake pedal is connected with brake, installs brake-pedal travel sensing between described brake pedal and brake
Device；
Described batteries are electrically connected with motor by electric machine controller, and batteries controller is electrically connected with batteries；
Described master controller and electric machine controller, batteries controller, electromagnetic clutch, magnetic powder cluth, brake pedal
Stroke sensor, the electrical connection of torque speed probe.
2. the control method of the pure electric automobile regenerative braking energy reclaiming system described in a kind of employing claim 1, its feature
It is, with following steps：
Step 1：Brake pedal signal is passed to master controller, motor control by brake pedal, brake-pedal-travel sensor
Device processed, battery controller are by motor signal, batteries signal transmission to master controller；
Step 2：Master controller makes braking decision-making according to above-mentioned signal, sends decision-making letter to electromagnetic clutch, magnetic powder cluth
Number；
The braking decision-making includes light brake decision-making, moderate braking decision-making, severe braking decision-making or brake hard decision-making；
During light brake decision-making, electromagnetic clutch is engaged, and magnetic powder cluth disconnects, and motor works and is in regenerative braking Working mould
Formula；
During moderate braking decision-making, electromagnetic clutch and magnetic powder cluth are engaged, and motor works and is in regenerative braking Working mould
Formula, brake operation；
When severe braking decision-making or brake hard decision-making, electromagnetic clutch disconnects, and magnetic powder cluth is engaged, brake operation.
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| CN201610872902.3A CN106494237A (en) | 2016-09-30 | 2016-09-30 | Pure electric automobile regenerative braking energy reclaiming system and control method |
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| CN201610872902.3A CN106494237A (en) | 2016-09-30 | 2016-09-30 | Pure electric automobile regenerative braking energy reclaiming system and control method |
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| CN109017323A (en) * | 2018-08-06 | 2018-12-18 | 武汉理工大学 | The tandem electric vehicle lower long slope regenerating brake control method of In-wheel motor driving |
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Application publication date: 20170315 |