CN107499143A - A kind of expansible regenerative brake control system - Google Patents
A kind of expansible regenerative brake control system Download PDFInfo
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- CN107499143A CN107499143A CN201710687087.8A CN201710687087A CN107499143A CN 107499143 A CN107499143 A CN 107499143A CN 201710687087 A CN201710687087 A CN 201710687087A CN 107499143 A CN107499143 A CN 107499143A
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- return moment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
Abstract
The invention discloses a kind of expansible regenerative brake control system, including automatically controlled regenerative braking module, hydraulic regenerative braking module, Return moment actuator, regenerating braking energy recovery models and Full Vehicle Dynamics state, regenerating braking energy recovery models include state observation end and control terminal, Full Vehicle Dynamics state, state observation end, longitudinal force control distribution, automatically controlled regenerative braking module, air bag are all withed a hook at the end and compatible for scalability interface, are realized on the basis of original vehicle framework and are controlled so as to ensure to retain as far as possible；Two drives/4 wheel driven drive system is applicable not only to, and decoupled suitable for hydraulic torque/Return moment, decouple regeneration brake system；Ensure that driver is consistent with the regenerative braking pedal sense of former vehicle, avoid vehicle unstability as far as possible, improve organic efficiency, distribute safe Return moment limit value by longitudinal force control, vehicle safety can be effectively ensured.
Description
Technical field
The present invention relates to a kind of braking control system, specifically a kind of expansible regenerative brake control system.
Background technology
Oil and natural gas is non-renewable resources, and how energy-saving and emission-reduction are had gone up as Chinese state basic policy.New-energy automobile
To greatly develop be one of low-carbon technology, under the vigorously advocating of country, related industry, technology are increasingly ripe.
Regenerative braking control function is the peculiar technologies of new energy car such as electric car, mixed motor-car, can brake vehicle regenerative
During vehicle energy power storage is converted into electrokinetic cell by motor towing astern, further improve course continuation mileage.With
Traditional brake regenerative braking is compared, and regenerative braking control function introduces Return moment, and the quality that both torques are coordinated certainly will
Influence the regenerative braking pedal sense of driver, in some instances it may even be possible to cause potential potential safety hazard.
At present, regenerative braking control function has been used widely on new energy car at home, is no lack of in Patents
What the tandem scheme and hydraulic torque that hydraulic torque can not decouple with regenerative feedback torque can decouple with regenerative feedback torque
Parallel scheme.
Patent data retrieval result shows have following patent and the present invention to have similarity：
Chinese Patent Application No. 201210535260.X, disclosed in entitled " a kind of Tandem regenerative brake control method "
A kind of scheme of tandem energy feedback, the program gather master cylinder, Wheel cylinder pressure sensors by regenerative braking control unit,
And then judge driving intention and cooperate with Return moment with hydraulic regenerative braking torque；
Chinese Patent Application No. 201610471947.X, entitled " electric automobile and its regenerating braking energy recovery method,
A kind of regenerating braking energy recovery method is disclosed in system ", three electricity conditions and driving model state flexible calibration can be combined
Feedback ability；
Chinese Patent Application No. 200510016980.5, entitled " regenerating braking energy returns during hybrid vehicle descending
Regenerating braking energy recovery method when the control method of receipts " discloses a kind of vehicle descending, this method pass through full-vehicle control module
The states such as vehicle speed, acceleration are monitored, by asking energy feedback to keep deceleration during descending stable；
Chinese Patent Application No. 200710024617.7, entitled " automobile regeneration and routine based on AB functional modules S are again
Raw brake integrated controller and control method " discloses one kind and regenerating braking energy recovery function is placed on into AB functional modules S
In scheme, front axle completed by hydraulic torque and Return moment, and rear axle is calculated by regenerative braking force distribution curve and has liquid
Pressure square produces；
Chinese Patent Application No. 200910192034.4, a kind of entitled " electric automobile regenerative braking energy reclaiming system
And its control method " disclose a kind of method that energy feedback is realized based on entire car controller.Entire car controller is made by regenerating
Dynamic pedal sensor is confirmed whether to be in regenerative braking state, into after vehicle regenerative on-position, according to vehicle speed sensor
Signal carrys out interpolation feedback moment of torsion；
Chinese Patent Application No. 201010172443.0, entitled " a kind of regenerating braking energy for vehicle reclaims system
System and its method " discloses a kind of adjustable energy feedback method based on entire car controller, can have driver's choosing by knob
Select feedback intensity；
Chinese Patent Application No. 201510520616.6, a kind of entitled " electric automobile regenerative braking energy reclaiming system
With recovery method and electric automobile " a kind of electric car regenerative braking energy reclaiming system is disclosed, and pass through under being briefly described
Entire car controller monitors regenerative braking pedal and battery status confirms target Return moment；
Chinese Patent Application No. 201610007280.8, entitled " regenerating braking energy recycling and control method, device and electricity
Motor-car " discloses a kind of regenerating braking energy recovery method, and energy feedback segmentation is carried out with reference to different speeds, and in sectional area
It is interior by wheel slip state, further adjust Return moment.This method can effectively suppress vehicle and enter unstability shape in advance
State, so as to improve feedback ability；
Chinese Patent Application No. 201610220730.1, entitled " regenerative braking energy reclaiming system and based on the system
Control method " disclose a kind of regenerative braking energy reclaiming system and control method, using driving wheel, driven pulley difference, adopt
By the use of PID result as judge it is low it is attached, in attached, high attached foundation, further confirm that regenerative braking energy feedback size；This method is led to
Cross regenerative braking energy feedback and realize ' class anti-lock ' control effect；
Chinese Patent Application No. 201710216699.9, it is entitled " regenerating braking energy alluvial determine method and apparatus,
And energy-recuperation system and method " disclose a kind of regenerating braking energy recovery and determine method and apparatus, while describe recovery
System and method；
Document《The comparative study of rear-guard pure electric vehicle regenerative braking energy reclaiming system and its strategy》、《Non-decoupling formula with
The electric-hydraulic combined regeneration brake system of decoupling type and its evaluation》、《The classification and its application of hybrid vehicle regenerative braking》Deng
Art paper is set forth from series and parallel mode, and its scheme is largely all based on regenerative braking force distribution curve β,
Preferable regenerative braking force distribution curve I and ECE method gage line carries out the distribution of hydraulic torque, Return moment.
The regenerative braking control program announced at present has the disadvantage that：
1. related control method scalability is not strong, can only be directed to decoupling or not decouple regenerative braking scheme, and
Clear and definite 4 wheel driven motor feedback moment of torsion control is not embodied；
2. part control method needs to additionally introduce the external equipments such as master cylinder, Wheel cylinder pressure sensors and judges driver intention
With realize Return moment control, change amount is big, exploitativeness is poor；
3. part control method quotes ideal braking force distribution curve and antero posterior axis braking force distribution curve as feedback force
Square refers to control targe, and real vehicle load change can influence control effect, and exploitativeness is not strong；
4. control method does not introduce factor of safety, such as slip rate, even if quoting, part control interval is also only limitted to；
5. significant portion control method weight, the request of regenerative braking control mode is to be looked into according to speed obtained by value, will not driven
The person's of sailing brake pedal sense concerned brake pedal displacement, vehicle deceleration etc. introduce.
For disadvantage mentioned above, the invention discloses a kind of recovery of the regenerating braking energy after forward range accelerator releasing pedal
Method.
The content of the invention
It is an object of the invention to provide a kind of expansible regenerative brake control system, to solve to regenerate in the prior art
Braking energy feedback torque, hydraulic regenerative braking torque, the sense of driver's regenerative braking pedal, vehicle safety, energy feedback are maximum
The Harmonic Controls such as change.
To achieve the above object, the present invention provides following technical scheme：
A kind of expansible regenerative brake control system, including automatically controlled regenerative braking module, hydraulic regenerative braking module, return
Feedback torque actuator, regenerating braking energy recovery models and Full Vehicle Dynamics state, regenerating braking energy recovery models include shape
State observes end and control terminal, and the automatically controlled regenerative braking module is used for providing four wheel speed information and vehicle body stability status are sentenced
It is disconnected；The hydraulic regenerative braking module is used for providing regenerative braking hydraulic torque, while supports decoupling scheme and non-decoupling scheme；
The state observation end is used for collecting outer signals, judges dynamics of vehicle state；The control terminal is used for according to state observation
End and Return moment actuator information, comprehensive descision Return moment size and antero posterior axis distribution；Return moment actuator is used for real
Existing torque feedback simultaneously provides Return moment limit value.
As the further scheme of the present invention：The Full Vehicle Dynamics state includes anti-lock braking system, deceleration of electrons
Power distribution system, body electronics constancy system state, the anti-lock braking system, EBD, vehicle body
Electronic stability system state is provided by automatically controlled regenerative braking module, and vehicle body yaw velocity is provided by air bag, for sentencing
Whether disconnected vehicle-state has touched safety；Regenerative braking pedal state is used for judging to be presently at sliding the feedback stage, also
It is the regenerative braking feedback stage；Slide Return moment adjustment module to be used for performing sliding feedback, substantially dragged not causing driver
Under the premise of stagnant sensation, according to the Return moment under the different speeds of different speeds demarcation；Controling parameter evaluation unit by it is automatically controlled again
Four wheel speed signals that raw brake module provides, the slip rate of estimation speed and each wheel is obtained according to synthesis；State observation
End is used for estimating vehicle body yaw angle and works out wheel slip rate, yaw velocity, yaw angle weighing factor and targets threshold；Feedback force
Metric calculation be used for according to state observation end provide factor of safety, regenerative braking pedal position signal, longitudinal acceleration signal,
Motor Return moment limit value and motor actual torque, obtain total Return moment value；4 wheel driven drivetrain is realized in longitudinal force control distribution
The distribution of antero posterior axis Return moment, hydraulic torque in system is the same as motor Return moment distribution function.
As further scheme of the invention：The Full Vehicle Dynamics state provides anti-lock braking system and electronics system
Power distribution system working condition position, once find anti-lock braking system or EBD work, feedback force
Square exits；Confirm Return moment size flow conversely, then entering：First by controling parameter evaluation unit according to ANTI LOCK
The wheel speed signal that system provides is estimated speed and vehicle deceleration, and correlation estimation parameter is passed into braking energy and returned
The state observation end in model is received, then, factor of safety is provided by state observation end and combines actual torque, torque limit and system
Dynamic pedal position, estimation speed, the Return moment of longitudinal acceleration demarcation, finally confirm total Return moment value；Finally, by longitudinal direction
Power control distribution realizes that Return moment performs.
As further scheme of the invention：The Full Vehicle Dynamics state provides electronic stability program, prevented
Antilock brake system and EBD working condition position, once find electronic stability program, anti-lock
Brakes or EBD work, Return moment exit；Confirm Return moment size stream conversely, then entering
Journey.
As further scheme of the invention：It is described to confirm that Return moment size flow is specially：
(1) wheel speed signal provided by controling parameter evaluation unit according to electronic stability program estimate speed,
Air bag module provides the angular signal that vehicle deceleration and electric steering system provide, and relevant parameter is passed into braking
State observation end in energy regenerating model；
(2) by state observation end provide factor of safety and combine actual torque, torque limit and by brake pedal position, estimate
Calculate speed, the Return moment that longitudinal acceleration calibrates, confirm total Return moment value；
(3) distribution is controlled to contrast safe Return moment limit value by longitudinal force, if it is satisfied, directly using total Return moment value
The total Return moment value provided realizes that antero posterior axis Return moment distributes by antero posterior axis Return moment allocation unit；Conversely, according to
Safe Return moment limit value implements the distribution of antero posterior axis Return moment.
Compared with prior art, the beneficial effects of the invention are as follows：
1. functional module Full Vehicle Dynamics state, state observation end, longitudinal force control distribution, automatically controlled regenerative braking module,
Air bag is all withed a hook at the end for scalability interface and compatibility, so as to ensure to retain as far as possible reality on the basis of original vehicle framework
Now control；Two drives/4 wheel driven drive system is applicable not only to, and decoupled suitable for hydraulic torque/Return moment, decouple regeneration
Brakes.
2. introduce feedback force metric calculation S205 (speed, longitudinal acceleration, regenerative braking pedal position in Return moment control
Put), so as to preferably follow driver's driving intention, and ensure that driver is consistent with the regenerative braking pedal sense of former vehicle.
3. state observation end wheel speed slip rate, yaw velocity, vehicle body yaw angle are introduced in Return moment control), so as to
Vehicle unstability is avoided as far as possible, improves organic efficiency.
4. distributing safe Return moment limit value by longitudinal force control, vehicle safety can be effectively ensured.
Brief description of the drawings
Fig. 1 is that a kind of function of embodiment of the expansible regenerative braking of expansible regenerative brake control system realizes knot
Structure schematic diagram.
Fig. 2 is the logical schematic of expansible regenerative brake control system.
Fig. 3 is a kind of embodiment signal source schematic diagram that expansible regenerative brake control system is related to.
In figure：Solid line represents basic scheme component, and dotted line represents that embodiment component can be expanded.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1~3, in the embodiment of the present invention, a kind of expansible regenerative brake control system, including automatically controlled regeneration
Brake module S103, hydraulic regenerative braking module S104, Return moment actuator S105, regenerating braking energy recovery models and whole
Vehicle dynamics state S201, regenerating braking energy recovery models include state observation end S101 and control terminal S102.
Wherein, the automatically controlled regenerative braking module S103 is used for providing four wheel speed information and vehicle body stability status are sentenced
It is disconnected；The hydraulic regenerative braking module S104 is used for providing regenerative braking hydraulic torque, can support decoupling scheme and non-simultaneously
Decoupling scheme；The regenerating braking energy recovery models simply represent a kind of control method, and the hardware for being not limiting as its realization carries
Body；The state observation end S101 is used for collecting outer signals, judges dynamics of vehicle state；The control terminal S102 is used for root
According to state observation end S101 and Return moment actuator S105 information, comprehensive descision Return moment size and antero posterior axis distribution；Return
Feedback torque actuator S105 is used for realizing torque feedback and provides Return moment limit value.
It is stable that Full Vehicle Dynamics state S201 includes anti-lock braking system, EBD, body electronics
Sexual system state, the anti-lock braking system, EBD, body electronics constancy system state are by automatically controlled
Regenerative braking module S103 is provided, and whether vehicle body yaw velocity is provided by air bag S303, for judging vehicle-state
Through touching safety.
Regenerative braking pedal state S202 is used for judging to be presently at sliding the feedback stage, or regenerative braking feedback rank
Section；
Slide Return moment adjustment module S203 to be used for performing sliding feedback, before not causing driver substantially to drag sensation
Put, the Return moment demarcated according to different speeds under different speeds；
Four wheel speed signals that controling parameter evaluation unit S204 is provided by automatically controlled regenerative braking module S103, according to comprehensive
The legal slip rate for obtaining estimation speed and each wheel；
State observation end S101 is used for estimating vehicle body yaw angle and works out wheel slip rate, yaw velocity, yaw angle influence
Weight and targets threshold.
Feedback force metric calculation S205 is used for factor of safety, the regenerative braking pedal position provided according to state observation end S101
Confidence number, longitudinal acceleration signal, motor Return moment limit value and motor actual torque, acquisition can ensure security, efficiently
Total Return moment value S206 of recovery.Wherein,
(1) factor of safety by the parameter that state observation end S101 is provided as comprehensive reference, to ensure the premise of not unstability
Under as big as possible request Return moment；It is described in detail below, by the maximum slip rate in four wheels, vehicle body yaw angle speed
The difference of the same corresponding threshold value of the parameters such as degree, estimation vehicle body yaw angle, and factor of safety is used as according to a certain percentage；
(2) longitudinal acceleration signal needs different and incomplete same according to finished vehicle electronic framework, is indulged if former car is equipped with
To acceleration transducer, the signal derives from longitudinal acceleration sensor, if without, it is necessary to controling parameter evaluation unit S204
Estimation is carried out according to wheel speed, estimation speed
Longitudinal force controls distribution S207 to realize the antero posterior axis Return moment distribution in 4 wheel driven drive system, hydraulic torque with electricity
The functions such as machine Return moment distribution.Wherein,
(1) hydraulic torque adjustment unit is in decoupling scheme, it is possible to achieve both stable transition, not only normal work mistake
Torque can be distributed according to priority in journey, and can be fast under vehicle unstability or electric motor actuator scarce capacity state
Velocity modulation section supplements hydraulic torque；
(2) safe Return moment limit value need to be premised on vehicle safety, for regeneration brake system in parallel, it is necessary to combine electricity
Control regeneration brake system actively supplements hydraulic torque time and whole vehicle state Comprehensive affirming；
The distribution of antero posterior axis Return moment is in view of antero posterior axis wheel speed slip rate, front and rear spindle motor feedback ability situations such as
Under, distribute, once the factor of safety of single shaft exceedes limit value, be then superimposed upon Return moment on current basal according to a certain percentage
On other single shaft, until reaching safe Return moment limit value or vehicle is in instability status.
Energy recovery scheme disclosed by the invention and control method can compatible a variety of regeneration brake systems, to the greatest extent can may be used
It can not change on original hardware foundation, be realized by software.The present invention is applied to two drives/4 wheel driven drive system, can also be applied
In hydraulic torque ,-Return moment decoupling/does not decouple regeneration brake system, realized on the basis of original vehicle framework is retained as far as possible
Control, control method not only (can be estimated speed, indulged with the sense of allowing for driver's regenerative braking pedal in feedback force metric calculation S205
Be introduced into acceleration, regenerative braking pedal position) and energy feedback maximize (factor of safety is drawn in feedback force metric calculation S205
Enter), and vehicle safety can be effectively ensured (the safe Return moment limit values of longitudinal force control distribution S207 introduce).
Fig. 3 is a kind of embodiment signal source signal that a kind of expansible regenerative braking control program of the present invention is related to
Figure, is explained only for a kind of embodiment below, it is clear that as long as essentially without the invention for departing from the present invention
Point and effect, are also all contained within protection scope of the present invention.
Wherein, full-vehicle control module S301 is responsible for providing current torque, feedback as feedback actuator interactive function module
Torque limit value (comprehensive motor and battery status) and regenerative braking pedal position.
Automatically controlled regenerative braking module S103 conducts can not decouple scheme, and hydraulic control module provides wheel speed, anti-lock regeneration
Brakes and vehicle body constancy system；As scheme can be decoupled, except information above-mentioned, current hydraulic coupling can be also provided
Square value.
Air bag S303 is used to provide the yaw velocity of gyro sensor offer, longitudinal acceleration, lateral acceleration
Spend signal.
Regenerating braking energy recovery models carrier S 302 is according to the signal received, estimation speed, wheel speed slip rate, vehicle body
The parameters such as target yaw angle/actual yaw angle of vehicle body, further ask hydraulic torque and Return moment.
For scalability, embodiment is listed below：
Embodiment one, anti-lock braking system+electric car that brakes+two drives drive system is not decoupled
Full Vehicle Dynamics state S201 offer anti-lock braking system and EBD working condition position, one
Denier finds anti-lock braking system or EBD work, and Return moment exits (longitudinal force control distribution S207
Realize)；Confirm Return moment size flow conversely, then entering：First by controling parameter evaluation unit S204 according to anti-lock
The wheel speed signal that brakes provides is estimated speed and vehicle deceleration, and correlation estimation parameter is passed into Brake Energy
The state observation end S101 in recovery models is measured, then, factor of safety is provided by state observation end and combines actual torque, moment of torsion
Limit value and brake pedal position, estimation speed, the Return moment of longitudinal acceleration demarcation, finally confirm total Return moment value
S206.Finally, distribution S207 is controlled to realize that Return moment performs by longitudinal force.
The electric car of embodiment two, electronic stability program+decoupling brakes+4 wheel driven drive system
Full Vehicle Dynamics state S201 provides electronic stability program, anti-lock braking system and electronic braking force point
Match system working condition position, once find electronic stability program, anti-lock braking system or electronic braking force distribution system
System work, Return moment exit (longitudinal force control distribution S207 is realized)；Confirm Return moment size flow conversely, then entering：
1. car is estimated by the controling parameter evaluation unit S204 wheel speed signals provided according to electronic stability program
Speed, air bag module provide the angular signal that S303 vehicle decelerations and electric steering system provide, and relevant parameter is passed
Pass the state observation end S101 in Brake energy recovery model.
2. by state observation end provide factor of safety and combine actual torque, torque limit and by brake pedal position, estimate
Calculate speed, the Return moment that longitudinal acceleration calibrates, confirm total Return moment value S206.
3. distribution S207 is controlled to contrast safe Return moment limit value by longitudinal force, if it is satisfied, directly using total feedback force
Total Return moment value that square value S206 is provided realizes that antero posterior axis Return moment distributes by antero posterior axis Return moment allocation unit；Instead
It, implements the distribution of antero posterior axis Return moment according to safe Return moment limit value.
Advantage of the present invention is summarized as follows：
1. functional module Full Vehicle Dynamics state S201, state observation end S101, longitudinal force control distribution S207, it is automatically controlled again
Raw brake module S103, air bag S303 withs a hook at the end for scalability interface and compatibility, so as to ensure to retain as far as possible
Control is realized on the basis of original vehicle framework；It is applicable not only to two drives/4 wheel driven drive system, and suitable for hydraulic torque/return
The decoupling of feedback torque, do not decouple regeneration brake system.
2. introduce feedback force metric calculation S205 (speed, longitudinal acceleration, regenerative braking pedal position in Return moment control
Put), so as to preferably follow driver's driving intention, and ensure that driver is consistent with the regenerative braking pedal sense of former vehicle.
3. state observation end S101 (wheel speed slip rate, yaw velocity, vehicle body yaw angle) is introduced in Return moment control,
So as to avoid vehicle unstability as far as possible, organic efficiency is improved.
4. controlling the distribution safe Return moment limit values of S207 by longitudinal force, vehicle safety can be effectively ensured.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of expansible regenerative brake control system, it is characterised in that including automatically controlled regenerative braking module (S103), hydraulic pressure
Regenerative braking module (S104), Return moment actuator (S105), regenerating braking energy recovery models and Full Vehicle Dynamics state
(S201), regenerating braking energy recovery models include state observation end (S101) and control terminal (S102), the automatically controlled regeneration system
Dynamic model block (S103) is used for providing four wheel speed information and vehicle body stability status judge；The hydraulic regenerative braking module
(S104) it is used for providing regenerative braking hydraulic torque, while supports decoupling scheme and non-decoupling scheme；The state observation end
(S101) it is used for collecting outer signals, judges dynamics of vehicle state；The control terminal (S102) is used for according to state observation end
(S101) and Return moment actuator (S105) information, comprehensive descision Return moment size and antero posterior axis distribute；Return moment is held
Row device (S105) is used for realizing torque feedback and provides Return moment limit value.
2. expansible regenerative brake control system according to claim 1, it is characterised in that the Full Vehicle Dynamics shape
State (S201) includes anti-lock braking system, EBD, body electronics constancy system state, described antilock
Dead brakes, EBD, body electronics constancy system state are by automatically controlled regenerative braking module (S103)
There is provided, vehicle body yaw velocity is provided by air bag (S303), for judging whether vehicle-state has touched safety；Regeneration
Brake pedal status (S202) is used for judging to be presently at sliding the feedback stage, or the regenerative braking feedback stage；Slide back
Feedback torque adjusting module (S203) is used for performing sliding feedback, under the premise of not causing driver substantially to drag sensation, according to not
The Return moment demarcated with speed under different speeds；Controling parameter evaluation unit (S204) passes through automatically controlled regenerative braking module
(S103) four wheel speed signals provided, the slip rate of estimation speed and each wheel is obtained according to synthesis；State observation end
(S101) it is used for estimating vehicle body yaw angle and works out wheel slip rate, yaw velocity, yaw angle weighing factor and targets threshold；Return
Present moment values and calculate factor of safety, regenerative braking pedal position letter that (S205) is used for providing according to state observation end (S101)
Number, longitudinal acceleration signal, motor Return moment limit value and motor actual torque, obtain total Return moment value (S206)；Longitudinal direction
Power controls distribution (S207) to realize the antero posterior axis Return moment distribution in 4 wheel driven drive system, hydraulic torque with motor Return moment
Distribution function.
3. expansible regenerative brake control system according to claim 2, it is characterised in that the Full Vehicle Dynamics shape
State (S201) provides anti-lock braking system and EBD working condition position, once find anti-skid braking system
System or EBD work, Return moment exit；Confirm Return moment size flow conversely, then entering：First
The wheel speed signal provided by controling parameter evaluation unit (S204) according to anti-lock braking system is to speed and vehicle deceleration
Estimated, and correlation estimation parameter is passed to the state observation end (S101) in Brake energy recovery model, then, by shape
State observation end provides factor of safety and combines actual torque, torque limit and brake pedal position, estimation speed, longitudinal acceleration
The Return moment of demarcation, finally confirm total Return moment value (S206)；Finally, distribution (S207) is controlled to realize feedback by longitudinal force
Torque performs.
4. expansible regenerative brake control system according to claim 2, it is characterised in that the Full Vehicle Dynamics shape
State (S201) provides electronic stability program, anti-lock braking system and EBD working condition position,
Once it was found that electronic stability program, anti-lock braking system or EBD work, Return moment move back
Go out；Confirm Return moment size flow conversely, then entering.
5. expansible regenerative brake control system according to claim 4, it is characterised in that the confirmation Return moment
Size flow is specially：
(1) wheel speed signal provided by controling parameter evaluation unit (S204) according to electronic stability program estimates car
Speed, air bag module provide the angular signal that (S303) vehicle deceleration and electric steering system provide, and by relevant parameter
Pass to the state observation end (S101) in Brake energy recovery model；
(2) by state observation end offer factor of safety and combination actual torque, torque limit and by brake pedal position, estimation car
The Return moment that speed, longitudinal acceleration calibrate, confirms total Return moment value (S206)；
(3) distribution (S207) is controlled to contrast safe Return moment limit value by longitudinal force, if it is satisfied, directly using total Return moment
Total Return moment value that value (S206) provides realizes that antero posterior axis Return moment distributes by antero posterior axis Return moment allocation unit；Instead
It, implements the distribution of antero posterior axis Return moment according to safe Return moment limit value.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528454A (en) * | 2018-03-30 | 2018-09-14 | 吉利汽车研究院（宁波）有限公司 | Method for recovering brake energy, brake energy recovering system and vehicle |
| CN109080462A (en) * | 2018-08-01 | 2018-12-25 | 奇瑞新能源汽车技术有限公司 | A kind of electric automobile energy recycling adjusting method |
| CN109572439A (en) * | 2018-12-24 | 2019-04-05 | 广州小鹏汽车科技有限公司 | A kind of method for recovering brake energy, device and automobile |
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| CN110239543A (en) * | 2018-03-07 | 2019-09-17 | 丰田自动车株式会社 | Braking force controller, device and method |
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