CN106926709A - Brake power recovering device, method and LEV - Google Patents

Brake power recovering device, method and LEV Download PDF

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Publication number
CN106926709A
CN106926709A CN201511021478.3A CN201511021478A CN106926709A CN 106926709 A CN106926709 A CN 106926709A CN 201511021478 A CN201511021478 A CN 201511021478A CN 106926709 A CN106926709 A CN 106926709A
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CN
China
Prior art keywords
control unit
lev
energy
motor drive
electronic
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Granted
Application number
CN201511021478.3A
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Chinese (zh)
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CN106926709B (en
Inventor
刘建平
W·麦
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Robert Bosch GmbH
Robert Bosch Co Ltd
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Robert Bosch GmbH
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Priority to CN201511021478.3A priority Critical patent/CN106926709B/en
Publication of CN106926709A publication Critical patent/CN106926709A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L7/00Electrodynamic brake systems for vehicles in general
    • B60L7/10Dynamic electric regenerative braking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/176Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616Microprocessor-based systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L3/00Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10Indicating wheel slip ; Correction of wheel slip
    • B60L3/106Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
    • B60L3/108Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L7/00Electrodynamic brake systems for vehicles in general
    • B60L7/24Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26Controlling the braking effect
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58Combined or convertible systems
    • B60T13/585Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/176Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16DCOUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D61/00Brakes with means for making the energy absorbed available for use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2200/00Type of vehicles
    • B60L2200/12Bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2200/00Type of vehicles
    • B60L2200/24Personal mobility vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/10Vehicle control parameters
    • B60L2240/12Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/10Vehicle control parameters
    • B60L2240/14Acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/46Drive Train control parameters related to wheels
    • B60L2240/461Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/46Drive Train control parameters related to wheels
    • B60L2240/465Slip
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2250/00Driver interactions
    • B60L2250/26Driver interactions by pedal actuation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00Further aspects of brake control systems not otherwise provided for
    • B60T2270/60Regenerative braking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00Further aspects of brake control systems not otherwise provided for
    • B60T2270/60Regenerative braking
    • B60T2270/602ABS features related thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00Further aspects of brake control systems not otherwise provided for
    • B60T2270/60Regenerative braking
    • B60T2270/611Engine braking features related thereto

Abstract

The invention provides a kind of method for recovering brake energy, for LEV, including:Detect the transport condition parameter of LEV;When LEV is braked, according to the transport condition of LEV, different energy regenerating strategies are performed.The present invention is also disclosed that a kind of energy-recuperation system (200), including:The electronic-controlled installation (101 ') of anti-lock braking controller (212), control loop;Anti-lock braking controller (212) sends vehicle running state parameter to electronic-controlled installation (101 '), and electronic-controlled installation (101 ') control carries out Brake energy recovery.The present invention is it is also disclosed that a kind of electronic-controlled installation (101).By the present invention, so that after LEV is particularly anti-lock braking system intervention control in braking procedure, the strategy of different energy regeneratings can be set according to different transport conditions, so that LEV realizes most efficient Brake energy recovery in braking procedure, while having taken into account the braking ability of LEV.

Description

Brake power recovering device, method and LEV
Technical field
The present invention relates to LEV Driving control field, a kind of particularly braking energy Retracting device, method;The invention further relates to a kind of LEV.
Background technology
LEV includes Segway Human Transporter, electric bicycle, power-assisted, electronic rubs Motorcycle etc..In recent years, 100 public affairs are typically smaller than as drive energy, weight using battery and motor Jin, the LEV with two or three wheels obtain significant progress.LEV Travel speed it is relatively fast, exercising condition is relative complex, and landform can be subject in the process of moving With the limitation of traffic conditions.Driver needs to be braked according to surface conditions at any time, makes vehicle deceleration Or parking.And in order to increase continuation of the journey course, LEV generally also includes energy recycle device, The principle of most energy recycle device is that kinetic energy when LEV is braked is converted into electricity Can, the battery to LEV is charged.
By taking two-wheeled LEV as an example, traditional mode of braking individually controls front and back wheel to brake, The braking that braking hub cap is carried out to vehicle before and after by the way that two brake cables are each connected.When tight When bringing to a halt, brake force increases suddenly, if brake force is more than tire and the frictional force on ground, Wheel will stop operating completely, produce so-called " locking " phenomenon.Now wheel lock up causes Wheel is wholly absent to the adhesive force on ground, and wheel is slided along road surface so that LEV loses Stability is gone, caused skidding, run tail etc., LEV is out of hand to cause contingency Occur.Greatly influence the driving safety of LEV.In order to solve the problems, such as wheel lock up, The installing wheel antilock device generally on LEV.During brake hard, wheel anti-lock Device starts, and produces and puts effect of stopping.So that wheel is not by locking, in the state that side rolling is slided, The adhesive force for keeping wheel maximum with ground.
In the prior art, the anti-lock braking system of LEV is typically independent of Ride Control System, And the Ride Control System of LEV does not also consider anti-lock in energy recovery process The influence produced after system intervention.Therefore how energy is reclaimed during LEV is braked Amount is problem demanding prompt solution instantly.
The content of the invention
For shortcoming present in prior art, it is an object of the invention to provide a kind of Brake Energy Amount recovery method, is made after the anti-lock braking system intervention control for brake of LEV Energy is reclaimed.
What method for recovering brake energy of the invention was realized in:
A kind of method for recovering brake energy, for LEV, including:Detect described light-duty The transport condition parameter of electric motor car;When the LEV is braked, according to described light The transport condition of type electric motor car, performs different Brake energy recovery strategies.
Preferably, the transport condition parameter includes:Wheel speed, acceleration, slip rate and relative Speed.
Preferably, the transport condition of the LEV includes:Stable state, trend are unstable Fixed state and unstable state.
Preferably, when the LEV is in stable state, efficient Brake Energy is performed Amount take-back strategy;The LEV is in when tending to unstable state, performs mid-efficiency Brake energy recovery strategy;When the LEV plays pendulum, stop reclaiming Braking energy.
It is a further object of the present invention to provide a kind of energy-recuperation system:Including:Anti-lock is controlled The electronic-controlled installation of device, control loop;The anti-lock braking controller sends vehicle running state Parameter to the electronic-controlled installation, the electronic-controlled installation control carries out Brake energy recovery.
Preferably, the electronic-controlled installation includes:Motor drive control unit and energy regenerating Control unit.
Preferably, the energy regenerating control unit is according to the vehicle running state state modulator Carry out Brake energy recovery.
Preferably, the motor drive control unit sends control instruction to the energy regenerating control Unit processed, controls the energy regenerating control unit control to carry out Brake energy recovery.
Present invention also offers a kind of LEV, including above-mentioned energy-recuperation system.
Invention further provides a kind of electronic-controlled installation, for LEV, including:Horse Up to drive control unit;Anti-lock braking controller, is connected with the motor drive control unit, uses In vehicle running state parameter of the acquisition LEV in braking procedure, and will be described Vehicle running state parameter is sent to the motor drive control unit;It is additionally operable to according to the car Transport condition state modulator starts antilock device;And energy regenerating control unit, with institute The connection of motor drive control unit is stated, the motor drive control unit is come from for receiving Control instruction, controls the LEV to carry out energy regenerating.
Preferably, the energy regenerating control unit is connected with the anti-lock braking controller, is used for The vehicle running state parameter that the anti-lock braking controller sends is received, and according to the car Transport condition state modulator carries out energy regenerating.
Preferably, the car that the motor drive control unit sends according to anti-lock braking controller Transport condition parameter judges the transport condition residing for the LEV, and according to the row Sail state control energy regenerating control unit control and perform different energy regenerating strategies.
Preferably, the motor drive control unit judge the LEV be in stablize shape During state, the motor drive control unit control energy regenerating control unit performs efficient energy Amount take-back strategy;The motor drive control unit judges that the LEV is in and is intended to During unsure state, the motor drive control unit control energy regenerating control unit is performed The energy regenerating strategy of mid-efficiency;The motor drive control unit judges the light-weight electric When car plays pendulum, the motor drive control unit controls energy regenerating control unit Stop performing energy regenerating.
Preferably, it is characterised in that the energy recycle device of the LEV is in the electricity The energy stores that will be reclaimed under the control of pond administrative unit are in the battery.
The present invention finally provides a kind of LEV, including above-mentioned Electronic Control dress Put.
Energy recovery control method, system and the device provided according to the present invention so that light-duty After electric motor car is particularly anti-lock braking system intervention control in braking procedure, can be according to different rows Sail the strategy that state sets different energy regeneratings so that LEV is real in braking procedure Most efficient Brake energy recovery is showed, while having taken into account the braking ability of LEV.
Brief description of the drawings
From the description of the preferred embodiment of the present invention be given with reference to following accompanying drawings, in the art Technical staff better understood when above and other feature and advantage of the invention, wherein:
Fig. 1 is that a kind of system architecture of the control loop of LEV of the invention is illustrated Figure;
Fig. 2 is the structural representation of energy-recuperation system according to embodiments of the present invention;
Fig. 3 is the electronics control of the control loop of LEV according to another embodiment of the present invention The structural representation of device processed;
Fig. 4 is to implement energy in LEV braking procedure according to a further embodiment of the present invention Measure the schematic flow sheet for reclaiming;And
Fig. 5 is LEV traveling shape in LEV braking procedure in a further embodiment The change schematic diagram of state.
Specific embodiment
Describe exemplary embodiment disclosed by the invention in detail below with reference to accompanying drawings.
Fig. 1 is a kind of system knot of the control loop of LEV of the preferred embodiment of the present invention Structure schematic diagram.The LEV is preferably two-wheeled.The Ride Control System of LEV 100 are mainly used in managing the battery of LEV, traveling, Brake energy recovery and control anti- Locking etc. drives subsystem.
The Ride Control System 100 of LEV includes:Electronic-controlled installation 101, driving Control hardware 102, wheel 103, brakes 104, anti-lock braking system 105 (afterwards describe in detail), Battery 106 and energy recycle device 107.Wherein, electronic-controlled installation 101 is controlled with driving Hardware processed 102 is connected, and for receiving the instruction from Driving control hardware 102, and is controlled light Type electric motor car is operated in different operating modes, for example, drive LEV traveling, braking etc..Electricity Sub- control device 101 also respectively with wheel 103, brakes 104, anti-lock hardware 105, Battery 106 and energy recycle device 107 are connected, be respectively used to driving moment 103 make it is light-duty Electric motor car is travelled;Start the braking LEV of brakes 104;According to LEV system Dynamic state starts anti-lock braking system 105;Management battery 106;And start energy recycle device 107 reclaim braking energy.Those skilled in the art is it is to be appreciated that electronic-controlled installation 101 Can meet it is default under the conditions of control to start above-described one or more light-weight electric The driving subsystem of car is intervened without driver and controlled.
Fig. 2 shows the structural representation of the energy-recuperation system (200) of a preferred embodiment. Energy-recuperation system (200) includes:The anti-lock braking controller 212, light-weight electric of ABS system The electronic-controlled installation 101 ' of car control loop.In the present embodiment, anti-lock braking controller 212 with The electronic-controlled installation 101 of control loop is separately existed in respective system.Electronic-controlled installation 101 only receive the vehicle running state parameter that anti-lock braking controller 212 sends, and are made Energy is reclaimed.Preferably, vehicle running state parameter includes:Wheel speed, relative speed, plus Speed and slip rate.
Electronic-controlled installation 101 ' at least includes:Motor drive control unit 201 ', energy regenerating Control unit 203 '.
Anti-lock braking controller 212 is connected with electronic-controlled installation 101 '.Anti-lock braking controller 212 Send vehicle running state parameter to electronic-controlled installation 101 '.
Preferably, vehicle running state parameter is respectively sent to motor by anti-lock braking controller 212 Drive control unit 201 ' and energy regenerating control unit 203 '.
Preferably, anti-lock braking controller 212 also sends ABS system status information to motor and drives Control unit 201 '.
Energy regenerating control unit 203 ' carries out braking energy according to vehicle running state state modulator Reclaim.
Motor drive control unit 201 ' judges that ABS system is opened according to ABS system status information After dynamic, control instruction to energy regenerating control unit 203 ' is sent, control energy regenerating control is single Unit 203 ' carries out Brake energy recovery.
Fig. 3 shows electronic-controlled installation 101 according to another preferred embodiment of the invention Structural representation.From unlike above example, anti-lock braking controller 212 is integrated into electricity In sub- control device 101.
Electronic-controlled installation 101 includes:Motor drive control unit 201, battery management unit 202nd, energy regenerating control unit 203 and anti-lock braking controller 212.
Battery management unit 202 is used to manage battery 106.
Motor drive control unit 201 connects with such as accelerator pedal 209 of Driving control hardware 102 Connect, for receiving the operation information from driver, control LEV is operated in different Under operating mode.
Motor drive control unit 201 is also connected with battery management unit 202, when motor drives After control unit 201 receives the instruction that the next instruction of the transmission of accelerator pedal 209 is for example given it the gun, Motor drive control unit 201 sends control instruction to battery management unit 202, battery management The driving wheel of the control output electrical energy drive LEV of battery 106 of unit 202 accelerates to rotate, So that LEV accelerates to exercise.
Motor drive control unit 201 is also connected with anti-lock braking controller 212, for receiving The vehicle running state parameter that anti-lock braking controller 212 sends, for example:Acceleration, slip rate With relative speed.
Preferably, motor drive control unit 201 is also connected with brake lamp control unit 210, When LEV is braked, the control brake lamp of brake lamp control unit 210 is lighted, electricity Under the control of motor drive control unit 201, control battery 106 stops pond administrative unit 202 Only drive the driving wheel of LEV.
Anti-lock braking controller 212 includes:Antilock control unit 204 and data processing unit 211. Data processing unit 211 further includes driving wheel wheel speed processing module 207 and supporting roller wheel speed Processing module 206.Preferably, driving wheel is trailing wheel, and supporting roller is front-wheel.
Driving wheel wheel speed processing module 207 and supporting roller wheel speed processing module 206 are received simultaneously respectively Treatment comes from wheel speed sensors 205 and measures the wheel speed information for obtaining.Preferably, wheel speed sensing Device 205 is arranged at the front and back wheel of LEV.Driving wheel wheel speed processing module 207 and with The vehicle running state data that also basis is received respectively of driving wheel wheel speed processing module 206, for example: Wheel speed information, relative speed etc. calculate real-time vehicle running state parameter, for example:Acceleration And slip rate.
Data processing unit 211 is connected with antilock control unit 204, data processing unit 211 By vehicle running state parameter send to antilock control unit 204.
Preferably, data processing unit 211 is connected with motor drive control unit 201, motor The compensation calculation vehicle wheel rotational speed of drive control unit 201.Further, driving wheel wheel speed treatment mould Block 207 is connected with motor drive control unit 201.
Preferably, data processing unit 211 is connected with brake lamp control unit 210, at data Reason unit 211 receives the braking information of the LEV that brake lamp control unit 210 sends.
Antilock control unit 204 meet it is pre-conditioned in the case of control start anti-lock braking system System 105.
Anti-lock braking system 105 includes:Wheel speed sensors 205, anti-lock braking controller 212 and anti- Locking hardware 208.
Antilock control unit 204 is connected with data processing unit 211, antilock control unit 204 are also connected with anti-lock hardware 208, for controlling anti-lock hardware 208 to work.It is antilock The size of the control brake brake force of stiff part 208, prevents wheel from the situation of locking occurring, and makes Obtain wheel and be in the state that side rolling slides (slip rate is 10% or so), to ensure wheel with ground The adhesive force in face is in maximum.
Preferably, anti-lock hardware 208 is after start-up course, regenerative braking state to driving wheel Wheel speed processing module 207.
Preferably, when wheel speed sensors 205 measure wheel speed reduction, in order to discriminate whether to be The reduction of the wheel wheel speed for being operated and being caused by driver's active brake, electronic-controlled installation 101 Also it is connected with brake lamp control unit 210.Preferably, data processing unit 211 and brake lamp Control unit 210 is connected.When the control brake lamp of brake lamp control unit 210 is lighted, then sentence Disconnected LEV has carried out active brake operation;When the wheel speed reduction of LEV is braked When lamp control unit 210 does not control brake lamp to light, data processing unit 211 judges light-duty electricity Motor-car does not carry out active brake.In the case where LEV is active brake, anti-lock Control unit 204 judges whether to start anti-lock braking system 105 according to vehicle running state parameter.
Preferably, antilock control unit 204 is also sent to motor vehicle running state parameter Drive control unit 201.
Energy regenerating control unit 203 is connected with motor drive control unit 201, and motor drives Control unit 201 sends control instruction to energy regenerating control unit 203, energy regenerating control Unit 203 so control start energy recycle device 107 carry out Brake energy recovery.
Preferably, energy regenerating control unit 203 is also connected with anti-lock braking controller 212, uses In the vehicle running state parameter that anti-lock braking controller 212 sends is received, energy regenerating control is single Unit 203 is meeting pre-conditioned rear control startup energy recycle device 107, reclaims braking procedure The heat of middle generation, and under the cooperation of battery management unit 202, converting heat is turned into electricity Can store in battery 106.
The electronic-controlled installation 101 of the present embodiment, the anti-lock of anti-lock braking system 105 is controlled (motor drives the electronic-controlled installation of the Ride Control System 100 of device 212 and LEV Control unit 201) integrate.Level of integrated system is improve, cost is reduced.It is also comprehensive Consider various situations during braking with closing, improve the stabilization that LEV is exercised and braked Property.The vehicle running state parameter that anti-lock braking controller 212 is calculated in real time simultaneously so that energy Reclaiming control unit 203 can control to carry out Brake energy recovery under different conditions.
Reclaimed and utilized by braking energy, the continual mileage of LEV can be obtained To increase, motor vehicle braking system premature abrasion can also be avoided, reduce making for LEV Use cost.
The method that the control of Ride Control System 100 carries out energy regenerating mainly includes:Detection is described The transport condition parameter of LEV;When the LEV is braked, according to institute The transport condition of LEV is stated, different Brake energy recovery strategies are performed.Preferably, In braking procedure, different energy regeneratings are set according to the different transport condition of LEV , for example, can be divided into for transport condition of the LEV in braking procedure by strategy:Stabilization State, the unsure state that is intended to, unstable state.According to the different traveling shapes for being divided State, sets different Brake energy recovery strategies, for example:LEV in stable state, Perform high-energy take-back strategy;When LEV is in an unsure state, stop carrying out Brake energy recovery;When LEV is in is intended to unsure state, perform medium Energy regenerating strategy.
The control of Ride Control System 100 of explanation LEV in detail below carries out energy time The method of receipts.
Fig. 4 is for LEV Brake Energy according to also one preferred embodiment of the present invention Measure the schematic diagram of recovery method.Exemplarily, using the electronic-controlled installation 101 shown in Fig. 3 To realize the embodiment shown in Fig. 4.But it is intelligible for those skilled in that art It is that the method shown in the present embodiment is not limited to the entity apparatus with ad hoc structure.
Step 301:The real-time reception vehicle running state data of electronic-controlled installation 101, according to Vehicle running state data acquisition vehicle running state parameter.And send out vehicle running state parameter Deliver to motor drive control unit 201.
Preferably, vehicle running state data include:Wheel speed information and relative speed.
Preferably, vehicle running state parameter at least includes:Acceleration, slip rate and relative car Speed.
Specifically, anti-lock braking controller 212 is calculated vehicle running state parameter, and sends To motor drive control unit 201.
More specifically, data processing unit 211 is calculated according to wheel speed information and relative speed To vehicle running state parameter, and vehicle running state parameter is sent to antilock control unit 204, further treatment receives vehicle running state parameter to antilock control unit 204, and will The vehicle running state parameter sends motor drive control unit 201 extremely.
Step 302:Electronic-controlled installation 101 judges whether LEV has carried out actively system Dynamic, when judging that LEV has carried out active brake, energy regenerating control unit 203 is controlled System starts energy recycle device 107 carries out the recovery of braking energy.
Preferably, judge whether LEV carries out active brake and include:It is light-duty when detecting During the situation that electric motor car slows down, determine whether brake operation signal for example:Brake lamp control Whether unit processed 210 controls brake lamp to light, when the control control of brake lamp control unit 210 is stopped When car light is lighted, judge that LEV has carried out brake operating;
Step 303:In the braking procedure of LEV, it is preferable that anti-lock control is single Unit 204 reaches the triggering of anti-lock braking system 105 always according to vehicle running state parameter in judgement Start anti-lock braking system 105 during condition, intervene the braking procedure of LEV.
Step 304:After the intervention braking procedure of anti-lock braking system 105, motor drive control unit 201 constantly receive the vehicle running state parameter that antilock control unit 204 sends, and sentence Disconnected transport condition of the LEV in braking procedure.The basis of motor drive control unit 201 The transport condition of LEV, control energy regenerating control unit 203 is meeting pre-conditioned When control carry out energy regenerating.
Preferably, according to the pre-defined LEV of vehicle running state parameter in braking procedure In transport condition;
Preferably, judge whether LEV is according to pre-defined vehicle running state Pre-defined transport condition;
Preferably, the different Rule of judgment of different vehicle running state correspondences;And judging to work as Its corresponding Rule of judgment is set during vehicle in front transport condition for limit priority.
Preferably, row of the LEV in braking procedure is defined according to acceleration, slip rate Sail state.As shown in figure 5, for example:
By acceleration in -4m/s2Within, transport condition of the slip rate within 4% is defined as stabilization Region 0 in state, such as Fig. 5;
Transport condition by slip rate more than 9% is defined as unstable state, the region in such as Fig. 5 3;
Transport condition by slip rate between 4% to 9% is defined as being intended to unstable shape State.
Preferably, can also be further unstable state is intended to slip rate according to acceleration Be divided into multiple is intended to unstable state, region 1 and region 2 in such as Fig. 5.
Region 1 is defined by formula (1):
SL_F=k1*a_F+sL_F1 (1)
Wherein:4%<sL_F<6%, -4m/s2<a_F<-2m/s2, sL_F1=8%;K1 is root The brake coefficient determined according to the physical characteristic of LEV;SL_F1 is side-play amount.
Region 2 is defined by formula (2):
SL_F=k2*a_F+sL_F2 (2)
Wherein:6%<sL_F<9%, -4m/s2<a_F<-2m/s2, sL_F2=11%;K2 is root The brake coefficient determined according to the physical characteristic of LEV;SL_F2 is side-play amount.
According to formula (1) and formula (2), when the slip rate of LEV is less than 4%, Motor drive control unit 201 judges that LEV is in the on-position of the stabilization in region 0, Now the control energy regenerating of motor drive control unit 201 control unit 203 starts energy regenerating Device 107, carries out Brake energy recovery.Energy regenerating control unit 203 controls energy regenerating Device 107 performs the Brake energy recovery strategy of maximal efficiency, realizes maximum energy regenerating effect Rate.
When slip rate is between 4% and 6%, if acceleration is more than -2m/s2, motor driving Control unit 201 judges that LEV is in the on-position of the stabilization in region 0;Now horse Start energy recycle device up to the control energy regenerating of drive control unit 201 control unit 203 107, perform the Brake energy recovery strategy of maximal efficiency;
Further, when slip rate is between 4% and 6%, if acceleration is in -2m/s2With When between k1 (sL_F-sL_F1), wherein sL_F1=8%, motor drive control unit 201 judges LEV is in the on-position of the stabilization in region 0;Now motor drive control unit 201 Control energy regenerating control unit 203 starts energy recycle device 107, performs maximal efficiency Brake energy recovery strategy;
Further, when slip rate is between 4% and 6%, if acceleration is less than K1 (sL_F-sL_F1), during wherein sL_F1=8%, motor drive control unit 201 judges light-duty Electric motor car tends to unstable on-position in region 1;Now motor drive control unit 201 control energy regenerating control units 203 start energy recycle device 107, perform mid-efficiency Brake energy recovery strategy.
When slip rate is between 6% and 9%, if acceleration is more than -2m/s2, motor drive Dynamic control unit 201 judges that LEV tends to unstable on-position in region 1; Now the control energy regenerating of motor drive control unit 201 control unit 203 starts energy regenerating Device 107, performs the Brake energy recovery strategy of mid-efficiency;
Further, when slip rate is between 6% and 9%, if acceleration is in -2m/s2With When between k2 (sL_F-sL_F2), wherein sL_F2=11%, motor drive control unit 201 judges LEV tends to unstable on-position in region 1;Now motor drive control The control energy regenerating of unit 201 control unit 203 starts energy recycle device 107, in execution Etc. the Brake energy recovery strategy of efficiency;
Further, when slip rate is between 6% and 9%, if acceleration is less than K1 (sL_F-sL_F2), during wherein sL_F2=11%, motor drive control unit 201 judges light-duty Electric motor car tends to unstable on-position in region 2;Now motor drive control unit 201 control energy regenerating control units 203 start energy recycle device 107, perform mid-efficiency Brake energy recovery strategy.
Preferably, when LEV is in region 2, its energy recovery efficiency is less than light-duty Electric motor car is in the energy recovery efficiency performed during region 1.
When slip rate is more than 9%, motor drive control unit 201 is judged at LEV In the unstable on-position in region 3, the now control of motor drive control unit 201 control Energy regenerating control unit 203 stops performing Brake energy recovery.
Preferably, when antilock control unit 204 judges needs according to vehicle running state parameter When starting anti-lock braking system 105, the control of antilock control unit 204 starts anti-lock hardware 208 Intervention braking procedure.The vehicle running state parameter of LEV also can in real time produce change, The acceleration of such as LEV can also exist on the occasion of change between negative value, or slip rate Change near specific numerical value.Alternatively it is also possible to intervene rear car according to anti-lock braking system 105 Transport condition parameter defines different vehicle running states, and energy corresponding thereto is returned Receive strategy.
Preferably, in actual braking procedure, LEV is randomly in different travelings Under state, for example, directly jump to unstable state from stable state.Motor drive control list Unit 201 and/or energy regenerating control unit 203 control energy regenerating according to different transport conditions Device 107 performs different Brake energy recovery strategies in real time.
Those skilled in the art is it is to be appreciated that can be according to the definition of vehicle running state parameter not Same vehicle running state, such as be unstable state when defining slip rate more than particular value; Or unsure state is intended to according to different slip rates and acceleration definition, it might even be possible to Define multiple and be intended to unsure state.
The different transport conditions of LEV are divided in braking procedure, according to different travelings State sets the strategy of Brake energy recovery so that LEV is realized in braking procedure Most efficient Brake energy recovery, while having taken into account the braking ability of LEV.
Obviously, those skilled in the art can carry out various changes and change to the embodiment of the present invention Type is without departing from the spirit and scope of the present invention.So, if these modifications and modification belong to this Within the scope of the claim and its equivalent technologies of invention, then the present invention is also intended to comprising these Including change and modification.

Claims (15)

1. a kind of method for recovering brake energy, for LEV, it is characterised in that including:
Detect the transport condition parameter of the LEV;In the LEV system When dynamic, according to the transport condition of the LEV, different Brake energy recovery plans are performed Slightly.
2. method for recovering brake energy according to claim 1, it is characterised in that described Transport condition parameter includes:Wheel speed, acceleration, slip rate and relative speed.
3. method for recovering brake energy according to claim 2, it is characterised in that described The transport condition of LEV includes:Stable state, tend to unsure state and unstable State.
4. method for recovering brake energy according to claim 3, it is characterised in that described When LEV is in stable state, efficient Brake energy recovery strategy is performed;It is described LEV is in when tending to unstable state, performs the Brake energy recovery plan of mid-efficiency Slightly;When the LEV plays pendulum, stop reclaiming braking energy.
5. energy-recuperation system (200), it is characterised in that including:Anti-lock braking controller (212), The electronic-controlled installation (101 ') of control loop;The anti-lock braking controller (212) sends car Transport condition parameter is to the electronic-controlled installation (101 '), the electronic-controlled installation (101 ') control carries out Brake energy recovery.
6. energy-recuperation system (200) according to claim 5, it is characterised in that institute Stating electronic-controlled installation (101 ') includes:Motor drive control unit (201 ') and energy are returned Receive control unit (203 ').
7. energy-recuperation system (200) according to claim 6, it is characterised in that institute Energy regenerating control unit (203 ') is stated according to the vehicle running state state modulator system Energy is reclaimed.
8. energy-recuperation system (200) according to claim 6, it is characterised in that institute State motor drive control unit (201 ') and send control instruction to the energy regenerating control unit (203 '), control energy regenerating control unit (203 ') control to carry out Brake energy recovery.
9. a kind of LEV, it is characterised in that including appointing in above claim 5 to 8 Energy-recuperation system (200) described in meaning one.
10. a kind of electronic-controlled installation (101), for LEV, it is characterised in that Including:
Motor drive control unit (201);
Anti-lock braking controller (212), is connected with the motor drive control unit (201), uses In vehicle running state parameter of the acquisition LEV in braking procedure, and will be described Vehicle running state parameter is sent to the motor drive control unit (201);It is additionally operable to basis The vehicle running state state modulator starts antilock device (208);And,
Energy regenerating control unit (203), is connected with the motor drive control unit (201), Come from the control instruction of the motor drive control unit (201) for receiving, control is described LEV carries out energy regenerating.
11. electronic-controlled installations (101) according to claim 10, it is characterised in that The energy regenerating control unit (203) is connected with the anti-lock braking controller (212), uses In the vehicle running state parameter for receiving anti-lock braking controller (212) transmission, and root Energy regenerating is carried out according to the vehicle running state state modulator.
12. electronic-controlled installations (101) according to claim 10, it is characterised in that The motor drive control unit (201) according to anti-lock braking controller (212) send it is described Vehicle running state parameter judges the transport condition residing for the LEV, and according to described Transport condition controls energy regenerating control unit (203) control to perform different energy regenerating strategies.
13. electronic-controlled installations (101) according to claim 12, it is characterised in that When the motor drive control unit (201) judges that the LEV is in stable state, The motor drive control unit (201) controls energy regenerating control unit (203) to perform height The energy regenerating strategy of efficiency;The motor drive control unit (201) judges the light-duty electricity Motor-car is in when being intended to unsure state, motor drive control unit (201) control Energy regenerating control unit (203) performs the energy regenerating strategy of mid-efficiency;The motor drives When dynamic control unit (201) judges that the LEV plays pendulum, the motor Drive control unit (201) controls energy regenerating control unit (203) to stop performing energy time Receive.
14. electronic-controlled installation (101) according to any one in claim 10 to 13, Characterized in that, the energy regenerating control unit (203) is in battery management unit (202) Cooperation under will reclaim energy stores in the battery (106).
15. a kind of LEVs, it is characterised in that including above claim 10 to 14 Electronic-controlled installation (101) described in middle any one.
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CN112026526A (en) * 2020-09-08 2020-12-04 中国第一汽车股份有限公司 Energy recovery control method and device and vehicle
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TW200401497A (en) * 2002-03-11 2004-01-16 Vectrix Corp Regenerative braking system for an electric vehicle
CN101979259A (en) * 2010-09-10 2011-02-23 奇瑞汽车股份有限公司 Electric vehicle energy recovery system and control method thereof
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