CN106904080A - Method, device and vehicle for determining feedback moment of torsion - Google Patents
Method, device and vehicle for determining feedback moment of torsion Download PDFInfo
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- CN106904080A CN106904080A CN201510981654.1A CN201510981654A CN106904080A CN 106904080 A CN106904080 A CN 106904080A CN 201510981654 A CN201510981654 A CN 201510981654A CN 106904080 A CN106904080 A CN 106904080A
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- feedback
- aperture
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- pedal
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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
- B60L7/20—Braking by supplying regenerated power to the prime mover of vehicles comprising engine-driven generators
Abstract
The invention discloses a kind of method for determining feedback moment of torsion, device and vehicle, the method includes：Obtain the rotating speed of motor；Obtain the aperture of brake pedal；Aperture according to the brake pedal determines feedback deceleration；According to the feedback deceleration, pre- feedback moment of torsion is determined using default feedback torque function；Rotating speed according to the motor determines feedback coefficient；And, feedback moment of torsion is determined according to the pre- feedback moment of torsion and the feedback coefficient.So, the present invention can calculate feedback moment of torsion by the rotating speed of motor, the aperture of brake pedal and default feedback torque function, deceleration and braking deceleration are slided without distinguishing, solves to calculate feedback torque method complexity in the prior art, be also easy to produce the problem of error.
Description
Technical field
The present invention relates to feedback torque arithmetic field, in particular it relates to a kind of for determining feedback moment of torsion
Method, device and vehicle.
Background technology
Electric energy as one kind cleaning, efficiently, easily secondary energy sources, be widely used in every field.
Electric energy applies the discharge that pollutant can be reduced in automotive field, improves the utilization ratio of the energy, electronic vapour
Therefore car is also more and more used in production and living.Wherein, electric automobile is when sliding or braking
Feedback moment of torsion, feedback moment of torsion can be produced not only to be related to the cornering ability and security of automobile, can also be notable
Energy feedback efficiency in influence regeneration processes, and then influence the continual mileage of vehicle, therefore energy feedback
When it is significant to the calculating of feedback moment of torsion.
At present, the calculating to feedback moment of torsion is made up of two parts：One is the calculating for sliding feedback moment of torsion；Two
It is the calculating of feedback braking moment of torsion.Point two parts are needed due to this method to calculate feedback moment of torsion, not only
Practical operation process of getting up is complicated, and easily produces error, is unfavorable for the recycling of energy.
The content of the invention
The present invention provides a kind of method for determining feedback moment of torsion, device and vehicle, existing for solving
The computational methods of feedback moment of torsion are complicated in technology, and are also easy to produce the problem of error.
To achieve these goals, according to the first aspect of the invention, the present invention provides a kind of for determining
The method of feedback moment of torsion, methods described includes：
Obtain the rotating speed of motor；
Obtain the aperture of brake pedal；
Aperture according to the brake pedal determines feedback deceleration；
According to the feedback deceleration, pre- feedback moment of torsion is determined using default feedback torque function；
Rotating speed according to the motor determines feedback coefficient；And,
Feedback moment of torsion is determined according to the pre- feedback moment of torsion and the feedback coefficient.
Alternatively, the step of aperture according to the brake pedal determines feedback deceleration includes：
Variation relation according to feedback deceleration and the aperture of brake pedal determines and the braking for obtaining
The corresponding feedback deceleration of aperture of pedal, wherein, the feedback deceleration produces vehicle for feedback moment of torsion
Raw deceleration, the variation relation pre-sets.
Alternatively, the variation relation includes：
When the aperture of the brake pedal is zero, the feedback deceleration of vehicle is the first deceleration；
When the aperture of the brake pedal is more than zero and during less than the first pedal aperture, the feedback of vehicle is slowed down
Degree is linearly to increase according to first slope, wherein, opened equal to the first pedal in the aperture of the brake pedal
When spending, the feedback deceleration of the vehicle is the second deceleration；
When the aperture of the brake pedal is more than the first pedal aperture and during less than the second pedal aperture,
The feedback deceleration of vehicle is second deceleration；
When the aperture of the brake pedal is more than the second pedal aperture and during less than the 3rd pedal aperture, vehicle
Feedback deceleration be linearly to reduce according to the second slope, wherein, be equal in the aperture of the brake pedal
During the 3rd pedal aperture, the feedback deceleration of the vehicle is zero.
Alternatively, it is described according to the feedback deceleration, determine pre- returning using default feedback torque function
The step of feedback moment of torsion, includes：
Obtain kerb weight, the tire radius of the vehicle, the speed reducing ratio of the vehicle and the institute of vehicle
State the transmission efficiency of the transmission system of vehicle；
According to the feedback deceleration, the kerb weight, the tire radius, the speed reducing ratio and
The transmission efficiency, the pre- feedback moment of torsion is determined using the feedback torque function；
The feedback torque function includes：
Wherein, Tpre(m,r,i0,η,are) the default feedback torque function is represented, m represents described and reorganizes and outfit
Quality, r represents the tire radius, i0The speed reducing ratio is represented, η represents the transmission efficiency, areTable
Show the feedback deceleration.
Alternatively, before the aperture of the acquisition brake pedal, methods described also includes：
Obtain the aperture of accelerator pedal；
Obtain battery dump energy；
Obtain battery connection status；
Obtain the gear of gearbox；
Obtain anti-lock braking system ABS states；
Judge the rotating speed of the motor, aperture of the accelerator pedal, the battery dump energy, described
Whether battery connection status, the gear of the gearbox and the ABS states meet pre-conditioned；
Rotating speed, the aperture of the accelerator pedal in the motor, the battery dump energy, the electricity
Pond connection status, the gear of the gearbox and the ABS states meet the pre-conditioned feelings
Under condition, the aperture of the acquisition brake pedal is carried out；Rotating speed, the accelerator pedal in the motor
Aperture, the battery dump energy, the battery connection status, the gear of the gearbox and described
ABS states be unsatisfactory for it is described it is pre-conditioned in the case of, determine that feedback moment of torsion is zero.
According to the second aspect of the invention, the present invention also provides a kind of device for determining feedback moment of torsion,
Described device includes：
Electric machines test module, the rotating speed for obtaining motor；
Braking performance test module, the aperture for obtaining brake pedal；
Deceleration determining module, is connected, for according to the brake pedal with the braking performance test module
Aperture determines feedback deceleration；
Pre- feedback determining module, is connected with the deceleration determining module, for being slowed down according to the feedback
Degree, pre- feedback moment of torsion is determined using default feedback torque function；
Coefficient determination module, is connected with the electric machines test module, true for the rotating speed according to the motor
Determine feedback coefficient；And,
Torque determination module, is connected with the pre- feedback determining module, and connects with the coefficient determination module
Connect, for determining feedback moment of torsion according to the pre- feedback moment of torsion and the feedback coefficient.
Alternatively, the deceleration determining module is used for：
Variation relation according to feedback deceleration and the opening value of brake pedal determines and the system for obtaining
The corresponding feedback deceleration of aperture of dynamic pedal, wherein, the feedback deceleration makes vehicle for feedback moment of torsion
The deceleration of generation, the variation relation pre-sets.
Alternatively, the variation relation includes：
When the aperture of the brake pedal is zero, the feedback deceleration of vehicle is the first deceleration；
When the aperture of the brake pedal is more than zero and during less than the first pedal aperture, the feedback of vehicle is slowed down
Degree is linearly to increase according to first slope, wherein, opened equal to the first pedal in the aperture of the brake pedal
When spending, the feedback deceleration of the vehicle is the second deceleration；
When the aperture of the brake pedal is more than the first pedal aperture and during less than the second pedal aperture,
The feedback deceleration of vehicle is second deceleration；
When the aperture of the brake pedal is more than the second pedal aperture and during less than the 3rd pedal aperture, vehicle
Feedback deceleration be linearly to reduce according to the second slope, wherein, be equal in the aperture of the brake pedal
During the 3rd pedal aperture, the feedback deceleration of the vehicle is zero.
Alternatively, the pre- feedback determining module includes：
Parameter acquiring submodule, kerb weight, the tire radius of the vehicle, institute for obtaining vehicle
State the transmission efficiency of the speed reducing ratio of vehicle and the transmission system of the vehicle；
Pre- feedback torque arithmetic submodule, is connected with the parameter acquiring submodule, for being returned according to described
Feedback deceleration, the kerb weight, the tire radius, the speed reducing ratio and the transmission efficiency,
Determine the pre- feedback moment of torsion using the feedback torque function；
The feedback torque function includes：
Wherein, Tpre(m,r,i0,η,are) the default feedback torque function is represented, m represents described and reorganizes and outfit
Quality, r represents the tire radius, i0The speed reducing ratio is represented, η represents the transmission efficiency, areTable
Show the feedback deceleration.
Alternatively, described device also includes：
Acceleration detection module, the aperture for obtaining accelerator pedal；
Battery detecting module, for obtaining battery dump energy；
Connection detection module, for obtaining battery connection status；
Gear detection module, the gear for obtaining gearbox；
ABS detection modules, for obtaining anti-lock braking system ABS states；
Judge module, with the electric machines test module, the acceleration detection module, the battery detecting mould
Block, the connection detection module, the gear detection module, ABS detection modules connection, and
Be connected with the braking performance test module, for judge the rotating speed of the motor, the aperture of the accelerator pedal,
The battery dump energy, the battery connection status, the gear of the gearbox and the ABS
It is pre-conditioned whether state meets；
Rotating speed, the aperture of the accelerator pedal in the motor, the battery dump energy, the electricity
Pond connection status, the gear of the gearbox and the ABS states meet the pre-conditioned feelings
Under condition, the aperture of the acquisition brake pedal is carried out；
Rotating speed, the aperture of the accelerator pedal in the motor, the battery dump energy, the electricity
Pond connection status, the gear of the gearbox and the ABS states are unsatisfactory for described pre-conditioned
In the case of, determine that feedback moment of torsion is zero.
According to the third aspect of the invention we, the present invention also provides a kind of vehicle, and the vehicle includes：
Detection means for detecting the aperture of brake pedal；
Device provided by the present invention for determining feedback moment of torsion.
In sum, method for determining feedback moment of torsion provided in an embodiment of the present invention, device and vehicle,
Can be by obtaining the rotating speed of motor and the aperture of brake pedal and true according to default feedback torque function
Fixed pre- feedback moment of torsion, secondly, feedback coefficient can also be determined by the rotating speed for obtaining motor, returned according to pre-
Feedback torque value and feedback coefficient can obtain feedback moment of torsion.By above-mentioned technical proposal, the present invention can be with
Slip deceleration and braking deceleration need not be distinguished, but is combined the two using feedback deceleration so that
The computational methods of feedback moment of torsion are simpler, as a result more accurate, are conducive to the energy utilization of electric automobile.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of specification, with
Following specific embodiment is used to explain the present invention together, but is not construed as limiting the invention.
In accompanying drawing：
Fig. 1 is the structured flowchart of the vehicle provided according to one embodiment of the invention.
Fig. 2 is the structural frames of the device for determining feedback moment of torsion provided according to one embodiment of the invention
Figure.
Fig. 3 is that the variation relation of the motor speed and feedback coefficient provided according to one embodiment of the invention is illustrated
Figure.
Fig. 4 is the change of the aperture of the feedback deceleration and brake pedal provided according to one embodiment of the invention
Relation schematic diagram.
Fig. 5 is the device for determining feedback moment of torsion that another embodiment of the invention is provided
Structured flowchart.
Fig. 6 is the structure of the device for determining feedback moment of torsion for providing according to another embodiment of the present invention
Block diagram.
Fig. 7 is the flow of the method for determining feedback moment of torsion provided according to an embodiment of the present invention
Figure.
Fig. 8 is the flow of the method for determining feedback moment of torsion for providing according to still another embodiment of the invention
Figure.
Fig. 9 is the flow of the method for determining feedback moment of torsion provided according to further embodiment of this invention
Figure.
Description of reference numerals
10 be used for detect brake pedal aperture detection means
20 devices for being used to determine feedback moment of torsion
The braking performance test module of 201 electric machines test module 202
The pre- feedback determining module of 203 deceleration determining module 204
The pre- feedback torque arithmetic submodule of 2041 parameter acquiring submodule 2042
The torque determination module of 205 coefficient determination module 206
The battery detecting module of 207 acceleration detection module 208
The gear detection module of 209 connection detection module 210
The judge module of 211 ABS detection modules 212
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that
Specific embodiment described herein is merely to illustrate and explain the present invention, and is not limited to this hair
It is bright.
Fig. 1 is the structured flowchart of the vehicle provided according to one embodiment of the invention.As shown in figure 1, the car
Can include：Detection means 10 for detecting the aperture of brake pedal；For determining feedback moment of torsion
Device 20.Describe the detection means 10 of the aperture for detecting brake pedal in detail below in conjunction with accompanying drawing
And for determining the device 20 of feedback moment of torsion.
First, for detecting that the detection means 10 of the aperture of brake pedal can be position sensor, pacify
In brakes, the change of brake pedal aperture can be converted into the change of electric signal, for being used for
Determine that the device 20 of feedback moment of torsion is used.
Fig. 2 is the structural frames of the device for determining feedback moment of torsion provided according to one embodiment of the invention
Figure.As shown in Fig. 2 this is used to determine that the device 20 of feedback moment of torsion can to include：
Electric machines test module 201, the rotating speed for obtaining motor；
Braking performance test module 202, the aperture for obtaining brake pedal；
Deceleration determining module 203, is connected, for according to brake pedal with braking performance test module 202
Aperture determines feedback deceleration；
Pre- feedback determining module 204, is connected with deceleration determining module 203, for being slowed down according to feedback
Degree, pre- feedback moment of torsion is determined using default feedback torque function；
Coefficient determination module 205, is connected with electric machines test module 201, true for the rotating speed according to motor
Determine feedback coefficient；And,
Torque determination module 206, is connected with pre- feedback determining module 204, and with coefficient determination module 205
Connection, for determining feedback moment of torsion according to pre- feedback moment of torsion and feedback coefficient.
Illustratively, Fig. 3 is the change of the motor speed and feedback coefficient provided according to one embodiment of the invention
Relation schematic diagram.As shown in figure 3, x-axis represents the motor speed of vehicle, y-axis represents feedback coefficient.
Wherein, coefficient determination module 205 can according to the variation relation schematic diagram of motor speed and feedback coefficient,
Determine the feedback coefficient in the case of different motor speeds.The variation relation of motor speed and feedback coefficient except
Outside curve shown in Fig. 3, or other forms relation, such as motor speed and feedback coefficient
Variation relation can be motor speed and feedback coefficient corresponding table, have recorded difference in the corresponding table
The corresponding feedback coefficient of motor speed；Or, motor speed can also be with the variation relation of feedback coefficient
Functional relation, the input using the motor speed of acquisition as the functional relation is that can obtain corresponding feedback
Coefficient.
Illustratively, the deceleration determining module 203 can be used for：
Determine to be stepped on the braking for obtaining according to feedback deceleration and the variation relation of the opening value of brake pedal
The corresponding feedback deceleration of aperture of plate, wherein, feedback deceleration is that feedback moment of torsion makes subtracting for vehicle generation
Speed, the variation relation pre-sets.
Wherein, the deceleration for being provided in the embodiment of the present invention is by slip deceleration and braking deceleration two parts
Composition, slides deceleration and is brake pedal and when accelerator pedal is not operated, the deceleration that vehicle is produced
Degree；Braking deceleration represents that accelerator pedal is not operated, and when brake pedal is operated, what vehicle was produced subtracts
Speed.Therefore, the present invention can be according between the advance vehicle deceleration demarcated and brake pedal aperture
Variation relation, and aperture with reference to vehicle brake pedal determines the feedback deceleration of current time vehicle, and
Need not judge that vehicle is in on-position or sliding state, so as to mitigate the workload of calculating.
Illustratively, Fig. 4 is according to the feedback deceleration of one embodiment of the invention offer and opening for brake pedal
The variation relation schematic diagram of degree.Illustratively, the variation relation can include：
When the aperture of brake pedal is zero, the feedback deceleration of vehicle is the first deceleration；
When the aperture of brake pedal is more than zero and during less than the first pedal aperture, the feedback deceleration of vehicle is
Linearly increase according to first slope, wherein, when the aperture of brake pedal is equal to the first pedal aperture, car
Feedback deceleration be the second deceleration；
When the aperture of brake pedal is more than the first pedal aperture and during less than the second pedal aperture, vehicle is returned
Feedback deceleration is the second deceleration；
When the aperture of brake pedal is more than the second pedal aperture and during less than the 3rd pedal aperture, vehicle is returned
Feedback deceleration is linearly to reduce according to the second slope, wherein, it is equal to the 3rd pedal in the aperture of brake pedal
During aperture, the feedback deceleration of vehicle is zero.
As shown in figure 4, a axles represent the feedback deceleration of vehicle, b axles represent the vehicle brake pedal
Aperture, a0The first deceleration is represented, is the deceleration of vehicle when brake pedal aperture b is zero, that is, slided
Deceleration；a1The second deceleration is represented, is the maximum feedback deceleration in moderating process, b1Represent first
Pedal aperture, as shown in figure 4, when the aperture of brake pedal is in 0~b1Between when vehicle feedback deceleration
According to first slope k1From a0Start increase, and vehicle feedback deceleration a opening in brake pedal
It is b to spend1When reach maximum a1, wherein first slope k1Can be according to (0, a0) and (b1, a1)
It is determined that；b2Represent the second pedal aperture, b3Represent the 3rd pedal aperture, as shown in figure 4, vehicle return
Present deceleration a from b2Place starts according to the second slope k2Reduce, and the feedback deceleration a of vehicle exists
b3Place is decreased to zero, wherein k2Can be according to (b2, a1) and (b3, 0) determine.
In addition, the variation relation of the aperture of feedback deceleration and brake pedal is closed except the figure shown in Fig. 4
Outside system, or other forms relation, the change of the aperture of such as feedback deceleration and brake pedal
Change relation can be the corresponding table of feedback deceleration and the aperture of brake pedal, be have recorded in the corresponding table
The corresponding feedback deceleration of aperture of different braking pedal；Or, feedback deceleration is opened with brake pedal
The variation relation of degree can also be functional relation, and the aperture of the brake pedal for obtaining is closed as the function
The input of system is that can obtain corresponding feedback deceleration.
Thus, by the feedback deceleration and the aperture of vehicle brake pedal of vehicle in the embodiment of the present invention
Variation relation, can simply obtain vehicle brake pedal in regenerative braking and be under each state
Feedback deceleration so as to the research more intuitive and convenient of vehicle feedback deceleration.
Fig. 5 is the device for determining feedback moment of torsion that another embodiment of the invention is provided
Structured flowchart.As shown in figure 5, illustratively, pre- feedback determining module 204 can include：
Parameter acquiring submodule 2041, for obtain the kerb weight of vehicle, the tire radius of the vehicle,
The transmission efficiency of the transmission system of the speed reducing ratio of the vehicle and the vehicle；
Pre- feedback torque arithmetic submodule 2042, is connected, for basis with parameter acquiring submodule 2041
Feedback deceleration, kerb weight, tire radius, speed reducing ratio and transmission efficiency, using feedback moment of torsion letter
Number determines pre- feedback moment of torsion；
The feedback torque function includes：
Wherein, Tpre(m,r,i0,η,are) the default feedback torque function is represented, m represents described and reorganizes and outfit
Quality, r represents the tire radius, i0The speed reducing ratio is represented, η represents the transmission efficiency, areTable
Show the feedback deceleration.
By above-mentioned implementation method, the present invention is fully taken into account in vehicle regenerative braking procedure, vehicle it is whole
The influences of the parameter to feedback moment of torsion such as standby quality, the radius of tire, the speed reducing ratio of vehicle, transmission efficiency,
Wherein due to vehicle the bigger vehicle of kerb weight and tire radius suffered by frictional force it is bigger, so car
Kerb weight and tire radius and vehicle deceleration direct proportionality, the speed reducing ratio and car of vehicle
Transmission efficiency then with the inversely proportional relation of the deceleration of vehicle, therefore according to default feedback moment of torsion letter
The pre- feedback moment of torsion that number is calculated is more accurate, and error is small.
Fig. 6 is the structure of the device for determining feedback moment of torsion for providing according to another embodiment of the present invention
Block diagram.As shown in fig. 6, illustratively, described device 20 can also include：
Acceleration detection module 207, the aperture for obtaining accelerator pedal；
Battery detecting module 208, for obtaining battery dump energy；
Connection detection module 209, for obtaining battery connection status；
Gear detection module 210, the gear for obtaining gearbox；
ABS detection modules 211, for obtaining anti-lock braking system ABS states；
Judge module 212, with electric machines test module 201, acceleration detection module 207, battery detecting module
208th, connection detection module 209, gear detection module 210, ABS detection modules connection 211, and with
Braking performance test module 202 is connected, rotating speed, the aperture of accelerator pedal, remaining battery for judging motor
Whether electricity, battery connection status, the gear of gearbox and ABS states meet pre-conditioned；
The aperture of rotating speed, accelerator pedal in motor, battery dump energy, battery connection status, speed change
The gear and ABS states of case meet it is pre-conditioned in the case of, carried out by braking performance test module 202
Obtain the aperture of brake pedal；
The aperture of rotating speed, accelerator pedal in motor, battery dump energy, battery connection status, speed change
The gear and ABS states of case be unsatisfactory for it is pre-conditioned in the case of, determine that feedback moment of torsion is zero.
Exemplary, whether above-mentioned judgement is to prejudge the current state of vehicle in energy feedback
State, therefore the present invention obtain brake pedal aperture before, that is, start calculate feedback moment of torsion before,
Can first judge the rotating speed of motor, the aperture of accelerator pedal, battery dump energy, battery connection status,
Whether the gear and ABS states of gearbox meet pre-conditioned.Example, this it is pre-conditioned can be with
Be motor speed in certain range of speeds, the aperture of the aperture of accelerator pedal is zero, remaining battery electricity
Within the specific limits, battery is in connection status to amount, and the gear of gearbox is in D (Drive) shelves, and
ABS is without effect.Although it is understood that, the pre-conditioned of present invention offer is not limited to this, other
The parameter area that energy feedback can be provided falls within protection scope of the present invention.
When judge module 212 judge the above-mentioned parameter value that gets be satisfied by this it is pre-conditioned when, vehicle can
To carry out energy feedback, then the device continues to obtain the aperture of brake pedal and calculate feedback moment of torsion；When sentencing
Disconnected module 212 judges the rotating speed of the motor for getting, the aperture of accelerator pedal, battery dump energy, electricity
Pond connection status, the gear of gearbox, when at least one in ABS states is unsatisfactory for pre-conditioned, car
Do not carry out energy feedback, it is determined that feedback deceleration is zero.
In sum, the present invention for determine feedback moment of torsion device can by obtain motor rotating speed and
The aperture of brake pedal, and pre- feedback moment of torsion is determined according to default feedback torque function, secondly, pass through
The rotating speed for obtaining motor can also determine feedback coefficient, can according to pre- feedback torque value and feedback coefficient
Obtain feedback moment of torsion.By above-mentioned technical proposal, the present invention may not necessarily distinguish slip deceleration with braking
Deceleration, but combined the two using feedback deceleration so that the computational methods of feedback moment of torsion are simpler
It is single, it is as a result more accurate, be conducive to the energy utilization of electric automobile.
Computational methods of the invention correspond to computing device, therefore identical content is repeated no more.
Fig. 7 is the flow of the method for determining feedback moment of torsion provided according to an embodiment of the present invention
Figure.As shown in fig. 7, this is used to determine that the method for feedback moment of torsion can to include：
Step 701, obtains the rotating speed of motor.
Step 702, obtains the aperture of brake pedal.
Step 703, the aperture according to brake pedal determines feedback deceleration.
Step 704, according to feedback deceleration, pre- feedback moment of torsion is determined using default feedback torque function.
Step 705, according to the rotating speed of motor determines feedback coefficient.
Step 706, according to pre- feedback moment of torsion and feedback coefficient determine feedback moment of torsion.
Illustratively, the step of aperture according to brake pedal determines feedback deceleration can include：
Variation relation according to feedback deceleration and the aperture of brake pedal determines and the brake pedal for obtaining
The corresponding feedback deceleration of aperture, wherein, feedback deceleration be feedback moment of torsion make vehicle produce deceleration
Degree, the variation relation pre-sets.
Pre-setting feedback deceleration can be so that feedback be slowed down with the variation relation of the aperture of brake pedal
The calculating process of degree is simple to operation so that feedback deceleration has with the variation relation of the aperture of brake pedal
There is preferable portability, be conducive to the exploitation for carrying out hardware and software platform to it to design.
Illustratively, feedback deceleration can include with the variation relation of the aperture of brake pedal：
When the aperture b of brake pedal is zero, the feedback deceleration a of vehicle is the first deceleration a0；
When the aperture b of brake pedal is more than zero and less than the first pedal aperture b1When, the feedback of vehicle is slowed down
Degree a is linearly to increase according to first slope, wherein, opened equal to the first pedal in the aperture b of brake pedal
Degree b1When, the feedback deceleration a of vehicle is the second deceleration a1；
When the aperture b of brake pedal is more than the first pedal aperture b1And less than the second pedal aperture b2When,
The feedback deceleration a of vehicle is the second deceleration a1；
When the aperture b of brake pedal is more than the second pedal aperture b2And less than the 3rd pedal aperture b3When,
The feedback deceleration a of vehicle is linearly to reduce according to the second slope, wherein, in the aperture b of brake pedal
Equal to the 3rd pedal aperture b3When, the feedback deceleration a of vehicle is zero.
Wherein a0, a1, b1, b2, b3The value of advance demarcation is, by this implementation method, this hair
The bright a large amount of calculating that can simplify for feedback deceleration, so as to reduce the complexity of feedback torque arithmetic.
Fig. 8 is the flow of the method for determining feedback moment of torsion for providing according to still another embodiment of the invention
Figure.As shown in figure 8, illustratively, described in step 704 according to feedback deceleration, using default
The step of feedback torque function determines pre- feedback moment of torsion can include：
Step 801, obtains kerb weight, the tire radius of the vehicle, the speed reducing ratio of the vehicle of vehicle
And the transmission efficiency of the transmission system of the vehicle.
Step 802, according to feedback deceleration, kerb weight, tire radius, speed reducing ratio and transmission effect
Rate, pre- feedback moment of torsion is determined using feedback torque function.
The feedback torque function includes：
Wherein, Tpre(m,r,i0,η,are) the default feedback torque function is represented, m represents described and reorganizes and outfit
Quality, r represents the tire radius, i0The speed reducing ratio is represented, η represents the transmission efficiency, areTable
Show the feedback deceleration.
Thus, the present invention takes into full account the parameters of influence feedback torque arithmetic in vehicle regenerative braking
Value so that being accurately calculated for feedback moment of torsion, reduces error, is conducive to improving the utilization rate of energy.
Fig. 9 is the flow of the method for determining feedback moment of torsion provided according to further embodiment of this invention
Figure.As shown in figure 9, illustratively, before the aperture of brake pedal is obtained, this is used to determine that feedback is turned round
The method of square can also include：
Obtain the aperture of accelerator pedal；
Obtain battery dump energy；
Obtain battery connection status；
Obtain the gear of gearbox；
Obtain anti-lock braking system ABS states；
Judge rotating speed, the aperture of accelerator pedal, battery dump energy, battery connection status, the change of motor
Whether the gear and ABS states of fast case meet pre-conditioned；
The aperture of rotating speed, accelerator pedal in motor, battery dump energy, battery connection status, speed change
The gear and ABS states of case meet it is pre-conditioned in the case of, carry out step 702 obtain braking step on
The aperture of plate, and carry out step 703~706；The aperture of rotating speed, accelerator pedal in motor, battery are remained
Remaining electricity, battery connection status, the gear of gearbox and ABS states are unsatisfactory for pre-conditioned feelings
Under condition, determine that feedback moment of torsion is zero.
Thus, the method for determining feedback moment of torsion provided in an embodiment of the present invention can first determine that vehicle is
It is no to be appropriate for energy feedback, on the premise of vehicle safety is ensured, balanced car cornering ability and energy
The amount rate of recovery.
In sum, the method for determining feedback moment of torsion provided in an embodiment of the present invention can be by obtaining
The rotating speed of motor and the aperture of brake pedal, and determine that pre- feedback is turned round according to default feedback torque function
Square, secondly, feedback coefficient can also be determined by the rotating speed for obtaining motor, according to pre- feedback torque value with
And feedback coefficient can obtain feedback moment of torsion.By above-mentioned technical proposal, the present invention may not necessarily distinguish cunning
Dynamic deceleration and braking deceleration, but combined the two using feedback deceleration so that feedback moment of torsion
Computational methods are simpler, as a result more accurate, are conducive to the energy utilization of electric automobile.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited
Detail in above-mentioned implementation method, in range of the technology design of the invention, can be to the present invention
Technical scheme carry out various simple variants, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique described in above-mentioned specific embodiment is special
Levy, in the case of reconcilable, can be combined by any suitable means.In order to avoid need not
The repetition wanted, the present invention is no longer separately illustrated to various possible combinations.
Additionally, can also be combined between a variety of implementation methods of the invention, as long as its
Without prejudice to thought of the invention, it should equally be considered as content disclosed in this invention.
Claims (10)
1. a kind of method for determining feedback moment of torsion, it is characterised in that methods described includes：
Obtain the rotating speed of motor；
Obtain the aperture of brake pedal；
Aperture according to the brake pedal determines feedback deceleration；
According to the feedback deceleration, pre- feedback moment of torsion is determined using default feedback torque function；
Rotating speed according to the motor determines feedback coefficient；And,
Feedback moment of torsion is determined according to the pre- feedback moment of torsion and the feedback coefficient.
2. method according to claim 1, it is characterised in that described according to the brake pedal
Aperture include the step of determine feedback deceleration：
Variation relation according to feedback deceleration and the opening value of brake pedal determines and the system for obtaining
The corresponding feedback deceleration of aperture of dynamic pedal, wherein, the feedback deceleration makes vehicle for feedback moment of torsion
The deceleration of generation, the variation relation pre-sets；The variation relation includes：
When the aperture of the brake pedal is zero, the feedback deceleration of vehicle is the first deceleration；
When the aperture of the brake pedal is more than zero and during less than the first pedal aperture, the feedback of vehicle is slowed down
Degree is linearly to increase according to first slope, wherein, opened equal to the first pedal in the aperture of the brake pedal
When spending, the feedback deceleration of the vehicle is the second deceleration；
When the aperture of the brake pedal is more than the first pedal aperture and during less than the second pedal aperture,
The feedback deceleration of vehicle is second deceleration；
When the aperture of the brake pedal is more than the second pedal aperture and during less than the 3rd pedal aperture, vehicle
Feedback deceleration be linearly to reduce according to the second slope, wherein, be equal in the aperture of the brake pedal
During the 3rd pedal aperture, the feedback deceleration of the vehicle is zero.
3. method according to claim 1, it is characterised in that described to be slowed down according to the feedback
Degree, includes the step of determine pre- feedback moment of torsion using default feedback torque function：
Obtain kerb weight, the tire radius of the vehicle, the speed reducing ratio of the vehicle and the institute of vehicle
State the transmission efficiency of the transmission system of vehicle；
According to the feedback deceleration, the kerb weight, the tire radius, the speed reducing ratio and
The transmission efficiency, the pre- feedback moment of torsion is determined using the feedback torque function；
The feedback torque function includes：
Wherein, Tpre(m,r,i0,η,are) the default feedback torque function is represented, m represents described and reorganizes and outfit
Quality, r represents the tire radius, i0The speed reducing ratio is represented, η represents the transmission efficiency, areTable
Show the feedback deceleration.
4. the method according to any one of claim 1-3 claim, it is characterised in that
Before the aperture for obtaining brake pedal, methods described also includes：
Obtain the aperture of accelerator pedal；
Obtain battery dump energy；
Obtain battery connection status；
Obtain the gear of gearbox；
Obtain anti-lock braking system ABS states；
Judge the rotating speed of the motor, aperture of the accelerator pedal, the battery dump energy, described
Whether battery connection status, the gear of the gearbox and the ABS states meet pre-conditioned；
Rotating speed, the aperture of the accelerator pedal in the motor, the battery dump energy, the electricity
Pond connection status, the gear of the gearbox and the ABS states meet the pre-conditioned feelings
Under condition, the aperture of the acquisition brake pedal is carried out；Rotating speed, the accelerator pedal in the motor
Aperture, the battery dump energy, the battery connection status, the gear of the gearbox and described
ABS states be unsatisfactory for it is described it is pre-conditioned in the case of, determine that feedback moment of torsion is zero.
5. a kind of device for determining feedback moment of torsion, it is characterised in that described device includes：
Electric machines test module, the rotating speed for obtaining motor；
Braking performance test module, the aperture for obtaining brake pedal；
Deceleration determining module, is connected, for according to the brake pedal with the braking performance test module
Aperture determines feedback deceleration；
Pre- feedback determining module, is connected with the deceleration determining module, for being slowed down according to the feedback
Degree, pre- feedback moment of torsion is determined using default feedback torque function；
Coefficient determination module, is connected with the electric machines test module, true for the rotating speed according to the motor
Determine feedback coefficient；And,
Torque determination module, is connected with the pre- feedback determining module, and connects with the coefficient determination module
Connect, for determining feedback moment of torsion according to the pre- feedback moment of torsion and the feedback coefficient.
6. device according to claim 5, it is characterised in that the deceleration determining module is used
In：
Variation relation according to feedback deceleration and the opening value of brake pedal determines and the system for obtaining
The corresponding feedback deceleration of aperture of dynamic pedal, wherein, the feedback deceleration makes vehicle for feedback moment of torsion
The deceleration of generation, the variation relation pre-sets.
7. device according to claim 6, it is characterised in that the variation relation includes：
When the aperture of the brake pedal is zero, the feedback deceleration of vehicle is the first deceleration；
When the aperture of the brake pedal is more than zero and during less than the first pedal aperture, the feedback of vehicle is slowed down
Degree is linearly to increase according to first slope, wherein, opened equal to the first pedal in the aperture of the brake pedal
When spending, the feedback deceleration of the vehicle is the second deceleration；
When the aperture of the brake pedal is more than the first pedal aperture and during less than the second pedal aperture,
The feedback deceleration of vehicle is second deceleration；
When the aperture of the brake pedal is more than the second pedal aperture and during less than the 3rd pedal aperture, vehicle
Feedback deceleration be linearly to reduce according to the second slope, wherein, be equal in the aperture of the brake pedal
During the 3rd pedal aperture, the feedback deceleration of the vehicle is zero.
8. device according to claim 5, it is characterised in that the pre- feedback determining module bag
Include：
Parameter acquiring submodule, kerb weight, the tire radius of the vehicle, institute for obtaining vehicle
State the transmission efficiency of the speed reducing ratio of vehicle and the transmission system of the vehicle；
Pre- feedback torque arithmetic submodule, is connected with the parameter acquiring submodule, for being returned according to described
Feedback deceleration, the kerb weight, the tire radius, the speed reducing ratio and the transmission efficiency,
Determine the pre- feedback moment of torsion using the feedback torque function；
The feedback torque function includes：
Wherein, Tpre(m,r,i0,η,are) the default feedback torque function is represented, m represents described and reorganizes and outfit
Quality, r represents the tire radius, i0The speed reducing ratio is represented, η represents the transmission efficiency, areTable
Show the feedback deceleration.
9. the device according to any one of claim 5-8 claim, it is characterised in that institute
Stating device also includes：
Acceleration detection module, the aperture for obtaining accelerator pedal；
Battery detecting module, for obtaining battery dump energy；
Connection detection module, for obtaining battery connection status；
Gear detection module, the gear for obtaining gearbox；
ABS detection modules, for obtaining anti-lock braking system ABS states；
Judge module, with the electric machines test module, the acceleration detection module, the battery detecting mould
Block, the connection detection module, the gear detection module, ABS detection modules connection, and
Be connected with the braking performance test module, for judge the rotating speed of the motor, the aperture of the accelerator pedal,
The battery dump energy, the battery connection status, the gear of the gearbox and the ABS
It is pre-conditioned whether state meets；
Rotating speed, the aperture of the accelerator pedal in the motor, the battery dump energy, the electricity
Pond connection status, the gear of the gearbox and the ABS states meet the pre-conditioned feelings
Under condition, the braking performance test module carries out the aperture of the acquisition brake pedal；
Rotating speed, the aperture of the accelerator pedal in the motor, the battery dump energy, the electricity
Pond connection status, the gear of the gearbox and the ABS states are unsatisfactory for described pre-conditioned
In the case of, determine that feedback moment of torsion is zero.
10. a kind of vehicle, it is characterised in that the vehicle includes：
Detection means for detecting the aperture of brake pedal；
The device for determining feedback moment of torsion according to any one of claim 5-9 claim.
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