CN108045234B - A kind of braking energy of electric automobiles recovery method of high security - Google Patents
A kind of braking energy of electric automobiles recovery method of high security Download PDFInfo
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- CN108045234B CN108045234B CN201711376132.4A CN201711376132A CN108045234B CN 108045234 B CN108045234 B CN 108045234B CN 201711376132 A CN201711376132 A CN 201711376132A CN 108045234 B CN108045234 B CN 108045234B
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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
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of braking energy recovery system for electric vehicle of high security, including motor braking system, conventional hydraulic braking system and auxiliary braking system.Based on brake energy recovering system, the method for recovering brake energy of a set of electric vehicle is devised, the aperture of coefficient of road adhesion, speed and brake pedal that method is travelled according to vehicle distributes the brake force of front and rear wheel.The present invention is compared with the prior art, use former and later two braking motors, and the distribution of regenerative braking power is adjusted by current regulator, while ensureing Brake energy recovery rate maximum, maintain the stability of Motor Vehicle Braking Procedure, skid or offset are avoided, Brake energy recovery security performance is high.
Description
Technical field
The invention belongs to technical field of new energy more particularly to a kind of braking energy of electric automobiles of high security to return
Receiving method.
Background technology
Pure electric automobile smaller, low noise, efficient, simple in structure, easy to maintenance and prolonged in view of its environmental pollution
A series of advantages such as durable are allowed to obtain the common concern of every country, while also having caused a worldwide automobile
Revolution.
Braking energy recovery system for electric vehicle refers to passing through the part kinetic energy of automobile in the braking process of vehicle
Generator is converted to electric energy and stores, the system for providing all or part of driving force when vehicle accelerates or starts for automobile.
In braking process, the mechanical energy of driving wheel passes through energy conversion device（Such as motor, rectification circuit）Power storage is converted to exist
In energy storage device（Such as accumulator, super capacitor）, realize the recycling of energy；When vehicle accelerates or starts, in energy storage device
Electric energy again in turn pass through energy conversion device（Such as motor, inverter circuit）It is transformed to mechanical energy, is loaded on driving wheel
Driving force is provided for vehicle, realizes the recycling of energy.
Although there has been significant progress in the world today to Recovering Waste Energy of Braking in Automobiles systematic research, there is also
Some aspects urgently to be resolved hurrily or perfect, such as：1）Energy recovery efficiency.Brake energy recovery process is due to by each face of each side
Factor influence, so the collection of the loss of energy cannot adequately absorb, it is therefore desirable to consider to improve energy regenerating
The problem of efficiency, is maximized with realizing.2）Vehicle brake safety issue.Because of in the process of running, the speed of vehicle
Range is very big, and therefore, in brake, required brake force also has prodigious gap.And when vehicle high-speed is run into
Brake force needed for row brake is not what motor can be provided.Especially it can not ensure normal braking in the brake force of motor
When, it is desirable to mechanical brake device provides certain power, rather than in order to which the kinetic energy of bigger recycles, so that it may to ignore vehicle brake
Ride comfort.It needs to ensure that safety is the first element considered when braking.Not only to consider the torque that regenerative braking generates,
The effective resistance torque for handling friction catch well, will also ensure ride comfort when brake as possible.But just at present, above
2 problems, which fail to obtain to integrate, ideally to be solved.
Invention content
Based on above-mentioned technical problem, the present invention provides a kind of braking energy recovery system for electric vehicle of high security,
Including motor braking system, conventional hydraulic braking system and auxiliary braking system；
The motor braking system includes preceding spindle motor and rear spindle motor, and preceding spindle motor connects front axle by front clutch and drives
Dynamic bridge, front axle drive axle are mounted on front axle, and rear spindle motor connects rear axle drive axle by rear clutch, the preceding spindle motor and
Spindle motor connects current regulator by conducting wire respectively afterwards, and two current regulators are respectively connected to battery management system, cell tube
Reason system connects vehicle-mounted lithium ion battery, and battery management system is connected with entire car controller by data line；
The conventional hydraulic braking system includes liquid braking device, brake pedal, abs pump, the master cylinder of front and rear wheel
And fluid reservoir, hydraulic oil is housed, fluid reservoir is mounted on the master cylinder, the brake pedal and described in the fluid reservoir
The push rod of master cylinder is connected, and the liquid outlet of the master cylinder connects abs pump by hydraulic oil pipe, abs pump for before distributing,
The hydraulic braking force of rear axle, the abs pump are separately connected the liquid braking device of front and rear wheel by hydraulic oil pipe；
The auxiliary braking system includes entire car controller, road surface identification module, vehicle speed sensor and pedal aperture sensing
Device, the entire car controller realize that data interaction connects by data line with battery management system, and the entire car controller passes through
Data line is connected with current regulator, abs pump, for output order to current regulator, abs pump, road surface identification module, speed
Sensor and pedal jaw opening sensor are connected by data line and entire car controller 17, the road surface attachment system for that will calculate gained
The aperture of number, speed and brake pedal is transferred in entire car controller.
A kind of method for recovering brake energy of electric vehicle, coefficient of road adhesion, speed and the braking travelled according to vehicle
The aperture of pedal distributes the brake force of front and rear wheel, is specially：
As coefficient of road adhesion φ≤0.3, speed v≤30km/h, the slight brake pedal of driver, hydraulic braking
System does not work, and front clutch is closed, preceding spindle motor rotation power generation, while providing braking moment, and power generation gained electric energy passes through electricity
Throttle regulator is flowed into battery management system, then is imported in vehicle-mounted lithium ion battery by battery management system, and rear clutch disconnects,
Spindle motor is not involved in braking afterwards；When driver's moderate tramples brake pedal, the pressure sensor at brake pedal position is by signal
It is transferred to entire car controller, ideal front and rear wheel brake force point is previously provided under vehicle light condition in the entire car controller
With curve, the attachment coefficient value on road surface is transferred in entire car controller by road surface identification module in real time, and entire car controller is according to attached
The ratio beta that coefficient determines rear-wheel braking force and front wheel brake power1, the linearity curve of rear-wheel braking force and front wheel brake power is just
By the numerical value of the corresponding ideal curve of attachment coefficient value, then whole-control system output signal be closed at front clutch and
Clutch afterwards, according still further to β1It is worth output order and adjusts two current regulators so that the brake force of rear spindle motor and preceding spindle motor
Ratio is β1；When driver's severe tramples brake pedal, front clutch and rear clutch disconnect, and entire car controller starts hydraulic pressure
Braking system by front and back wheel simultaneously locking；
As coefficient of road adhesion φ≤0.3, speed v ＞ 30km/h, driver tramples the aperture of brake pedal≤always open
Degree 70% when, entire car controller is closed at front clutch and rear clutch, and output order adjusts two current regulators,
So that the brake force ratio of preceding spindle motor and rear spindle motor is β1, when driver tramples the total apertures of aperture ＞ of brake pedal
When 70%, front clutch and rear clutch disconnect, and entire car controller starts brake fluid system by front and back wheel locking simultaneously；
As 0.3 φ≤0.9 ＜ of coefficient of road adhesion, speed≤30km/h, the slight brake pedal of driver, hydraulic pressure
Braking system does not work, and front clutch is closed, and preceding spindle motor rotation power generation carries out energy regenerating, while providing braking moment, after
Clutch disconnects, and rear spindle motor is not involved in braking；When driver's moderate tramples brake pedal, first it is provided separately by preceding spindle motor
Brake force, when current spindle motor maximum braking force cannot meet brake pedal aperture corresponding brake force, rear spindle motor participates in system
It is dynamic so that total brake force and the corresponding brake force of brake pedal aperture are equal；When driver's severe tramples brake pedal, vehicle
Controller according to ideal front and rear wheel braking force distribution curve under attachment coefficient and vehicle light condition determine rear-wheel braking force with
The ratio beta of front wheel brake power2, entire car controller first determines whether the corresponding brake force of brake pedal aperture according to β2It is assigned to forward and backward
After axis, if be respectively less than preceding spindle motor and rear spindle motor maximum braking force, if it is less, be closed at front clutch and after from
Clutch adjusts two current regulators, according to β2The brake force of preceding spindle motor and rear spindle motor is distributed, carries out energy regenerating, together
When keep vehicle stability, if the corresponding brake force of brake pedal aperture is according to β2After being assigned to axle, wherein there are one
Or two be all higher than preceding spindle motor or rear spindle motor maximum braking force, disconnects front clutch and rear clutch, preceding spindle motor and after
Spindle motor does not generate regenerative braking power, distributes the hydraulic braking force of axle so that the total brake force of axle meets β2Value,
When the aperture of brake pedal is 90% or more of total aperture, brake fluid system simultaneously braked by locking antero posterior axis；
As 0.3 φ≤0.9 ＜ of coefficient of road adhesion, speed ＞ 30km/h, the slight brake pedal of driver, hydraulic pressure
Braking system does not work, and entire car controller is closed at front clutch and rear clutch, and output order adjusts two electric current tune
Save device so that the brake force ratio of preceding spindle motor and rear spindle motor is β3, the β3It is entire car controller according to attachment coefficient and vehicle
Ideal front and rear wheel braking force distribution curve determines the ratio of rear-wheel braking force and front wheel brake power under light condition, when driving
When the person's of sailing moderate or severe trample brake pedal, front clutch and rear clutch disconnect, and preceding spindle motor and rear spindle motor are not participated in
Braking, entire car controller start brake fluid system and are braked, and axle brake force is according to β3Distribution；
As coefficient of road adhesion φ ＞ 0.9, entire car controller is according to ideal under attachment coefficient and vehicle light condition
Front and rear wheel braking force distribution curve determines the ratio beta of rear-wheel braking force and front wheel brake power4, when driver slightly steps on braking
Pedal, entire car controller is according to β4The brake force of 1.5~2 times of distribution axles of value, by adjusting two current regulators,
The brake force that spindle motor and preceding spindle motor generate after so that is according to the β41.5~2 times of distribution of value are braked, and are carried out at the same time
Energy regenerating；When driver's moderate tramples brake pedal, the brake force that rear spindle motor and preceding spindle motor generate is according to the β4
1.5~2 times of distribution of value are braked, and the brake force of spindle motor or preceding spindle motor is after wherein any one is more than after distributing to
When spindle motor or preceding spindle motor maximum braking moment, entire car controller is not turned on front clutch and rear clutch, and uses hydraulic pressure
Braking system is according to β4The hydraulic braking force of value distribution axle is braked；It is whole when driver's severe tramples brake pedal
Vehicle controller is not turned on front clutch and rear clutch, and uses brake fluid system according to β4The hydraulic pressure of value distribution axle
Brake force is braked.
Further, the slight brake pedal refers to so that the aperture of brake pedal is the 5%~20% of total aperture；
It refers to so that the aperture of brake pedal is the 21%~70% of total aperture that the moderate, which tramples brake pedal,；The severe tramples braking
Pedal refers to that the aperture of brake pedal is 71% or more of total aperture.
The present invention compared with the prior art, uses former and later two braking motors, and be adjusted back by current regulator
The distribution of feedback brake force maintains the stability of Motor Vehicle Braking Procedure, avoids while ensureing Brake energy recovery rate maximum
Skid or offset, Brake energy recovery security performance are high.
The coefficient of road adhesion of vehicle traveling, the aperture of speed and brake pedal have been considered before braking, have been obtained
Braking strategy is more scientific and effective, and braking and the cooperation of energy regenerating more optimize, and driving experience is preferable.
Description of the drawings
Fig. 1 is the braking force distribution curve of axle under the braking strategy of the embodiment of the present invention 1；
Fig. 2 is total brake force-brake pedal opening curve under the braking strategy of the embodiment of the present invention 1；
Fig. 3 is the braking force distribution curve of axle under the braking strategy of the embodiment of the present invention 2；
Fig. 4 is total brake force-brake pedal opening curve under the braking strategy of the embodiment of the present invention 2；
Fig. 5 is the braking force distribution curve of axle under the braking strategy of the embodiment of the present invention 3；
Fig. 6 is total brake force-brake pedal opening curve under the braking strategy of the embodiment of the present invention 3；
Fig. 7 is the braking force distribution curve of axle under the braking strategy of the embodiment of the present invention 4；
Fig. 8 is total brake force-brake pedal opening curve under the braking strategy of the embodiment of the present invention 4；
Fig. 9 is the braking force distribution curve of axle under the braking strategy of the embodiment of the present invention 5；
Figure 10 is total brake force-brake pedal opening curve under the braking strategy of the embodiment of the present invention 5；
Figure 11 is the structural schematic diagram of brake energy recovering system of the present invention.
Specific implementation mode
As shown in figure 11, a kind of brake energy recovering system, including motor braking system, conventional hydraulic braking system and auxiliary
Braking system is helped, under normal circumstances, merely relies on motor braking to can not meet the requirement of high intensity braking, therefore the present invention adopts
Brake fluid system is cooperateed with conventional motor braking.
Tradition mostly uses driving motor as braking motor, that is to say, that renewable to brake the braking for belonging to drive shaft.Through
It crosses test to find, under low attachment coefficient road surface, if braked using uniaxial (i.e. front axle or rear axle), due to forward and backward brake force
Unreasonable distribution can influence the balance of vehicle braking, cause the sideslip under non-locking state or offset, sent out traffic accident,
Therefore include preceding spindle motor 1 and rear spindle motor 2, front axle electricity present invention employs forward and backward bi-motor system namely motor braking system
Machine 1 connects front axle drive axle 4 by front clutch 3, and front axle drive axle 4 is mounted on front axle, and rear spindle motor 2 passes through rear clutch
5 connection rear axle drive axles 6, rear axle drive axle 6 is mounted on rear axle, and preceding spindle motor and rear spindle motor are used as electricity of the present invention
The electric power source of electrical automobile, when inputing power drives preceding spindle motor and rear spindle motor rotates, preceding spindle motor passes through torque
Front clutch 3, front axle drive axle 4 pass on front axle, drive front axis, rear spindle motor that torque is passed through rear clutch 5, rear axle
Drive axle 6 passes on rear axle, drives rear axle rotation, realizes the electric power operation of automobile.When Brake energy recovery, front axle or rear axle
On torque preceding spindle motor or rear spindle motor are passed to by front axle drive axle, rear axle drive axle, front clutch, rear clutch respectively
On, it drives preceding spindle motor or rear spindle motor to rotate backward, realizes that mechanical energy is converted to electric energy, carry out energy regenerating.Conducting wire is in magnetic
The size that power is generated in is related to size of current in conducting wire, therefore preceding spindle motor 1 of the present invention and rear spindle motor 2 lead to respectively
Conducting wire connection current regulator 7 is crossed, current regulator 7 is used to control the current value flowed out from preceding spindle motor 1 and rear spindle motor 2,
To realize the adjusting of braking moment.Two current regulators 7 are respectively connected to battery management system 8, right by battery management system 8
Input current carries out rectification, and battery management system 8 connects vehicle-mounted lithium ion battery 9, and battery management system 8 and entire car controller are logical
Data line connection is crossed, the effect of battery management system 8 further includes：Electricity for detecting vehicle-mounted lithium ion battery 9 in real time；For
Realize that data interaction connects with entire car controller；Electric energy for will be flowed into from current regulator imports vehicle-mounted lithium ion battery
In；It is set as power source or other vehicle mounted electrical apparatus for spindle motor 1 before being assigned to the electric energy export in vehicle-mounted lithium ion battery
It is standby to use.
The conventional hydraulic braking system uses the brake fluid system of this field routine, only requires Hydraulic braking system
System can distribute the brake force of axle as required, not do other special requirements.Conventional hydraulic system of the present invention
Dynamic system includes liquid braking device 10, brake pedal 11, abs pump 12, master cylinder 13 and the fluid reservoir 14 of front and rear wheel, liquid storage
Hydraulic oil is housed, fluid reservoir 14 is mounted on the master cylinder 13, the push rod of brake pedal 11 and master cylinder 13 in tank 14
It is connected, the liquid outlet of master cylinder 13 connects abs pump 12 by hydraulic oil pipe 15, includes EBD modules in abs pump, for distributing
The hydraulic braking force of axle, abs pump are separately connected the liquid braking device 10 of front and rear wheel by hydraulic oil pipe 15.
The auxiliary braking system includes that entire car controller 17, road surface identification module 18, vehicle speed sensor 19 and pedal are opened
Sensor 16 is spent, the entire car controller realizes that data interaction connects by data line with battery management system 8, the vehicle control
Device processed is connected by data line and current regulator 7, abs pump 12, for output order to current regulator 7, abs pump 12, into
And control the distribution of the brake force and hydraulic braking force of preceding spindle motor 1 and rear spindle motor 2.The road surface identification module 18 is used for
The situation for detecting running car road surface, calculates the attachment coefficient of track, and vehicle speed sensor 19 measures garage for implementing
Speed is sailed, road surface identification module 18, vehicle speed sensor 19 and pedal jaw opening sensor 16 pass through data line and entire car controller 17
Connection, for that will calculate the coefficient of road adhesion of gained, the aperture of speed and brake pedal will be transferred in entire car controller 17.
The present invention realizes a kind of method for recovering brake energy of electric vehicle, according to vehicle row by above structure
The aperture of coefficient of road adhesion, speed and the brake pedal sailed distributes the brake force of front and rear wheel, is divided into following several braking plans
Slightly：
Embodiment 1
As coefficient of road adhesion φ≤0.3, speed v≤30km/h, the slight brake pedal of driver, hydraulic braking
System does not work, and front clutch is closed, preceding spindle motor rotation power generation, while providing braking moment, and power generation gained electric energy passes through electricity
Throttle regulator is flowed into battery management system, then is imported in vehicle-mounted lithium ion battery by battery management system, and rear clutch disconnects,
Spindle motor is not involved in braking afterwards；When driver's moderate tramples brake pedal, the pressure sensor at brake pedal position is by signal
It is transferred to entire car controller, ideal front and rear wheel brake force point is previously provided under vehicle light condition in the entire car controller
With curve, the attachment coefficient value on road surface is transferred in entire car controller by road surface identification module in real time, and entire car controller is according to attached
The ratio beta that coefficient determines rear-wheel braking force and front wheel brake power1, the linearity curve of rear-wheel braking force and front wheel brake power is just
By the numerical value of the corresponding ideal curve of attachment coefficient value, then whole-control system output signal be closed at front clutch and
Clutch afterwards, according still further to β1It is worth output order and adjusts two current regulators so that the brake force of rear spindle motor and preceding spindle motor
Ratio is β1；When driver's severe tramples brake pedal, front clutch and rear clutch disconnect, and entire car controller starts hydraulic pressure
Braking system by front and back wheel simultaneously locking.The braking force distribution curve of its axle and total brake force-brake pedal aperture are bent
Line difference is as depicted in figs. 1 and 2.
Embodiment 2
As coefficient of road adhesion φ≤0.3, speed v ＞ 30km/h, driver tramples the aperture of brake pedal≤always open
Degree 70% when, entire car controller is closed at front clutch and rear clutch, and output order adjusts two current regulators,
So that the brake force ratio of preceding spindle motor and rear spindle motor is β1, when driver tramples the total apertures of aperture ＞ of brake pedal
When 70%, front clutch and rear clutch disconnect, and entire car controller starts brake fluid system by front and back wheel locking simultaneously.Its
The braking force distribution curve of axle and total brake force-brake pedal opening curve difference are as shown in Figure 3 and Figure 4.
Embodiment 3
As 0.3 φ≤0.9 ＜ of coefficient of road adhesion, speed≤30km/h, the slight brake pedal of driver, hydraulic pressure
Braking system does not work, and front clutch is closed, and preceding spindle motor rotation power generation carries out energy regenerating, while providing braking moment, after
Clutch disconnects, and rear spindle motor is not involved in braking；When driver's moderate tramples brake pedal, first it is provided separately by preceding spindle motor
Brake force, when current spindle motor maximum braking force cannot meet brake pedal aperture corresponding brake force, rear spindle motor participates in system
It is dynamic so that total brake force and the corresponding brake force of brake pedal aperture are equal；When driver's severe tramples brake pedal, vehicle
Controller first determines whether the corresponding brake force of brake pedal aperture according to β2After being assigned to axle, if be respectively less than front axle electricity
Machine and rear spindle motor maximum braking force adjust two current regulations if it is less, being closed at front clutch and rear clutch
Device, entire car controller determine trailing wheel according to ideal front and rear wheel braking force distribution curve under attachment coefficient and vehicle light condition
The ratio beta of brake force and front wheel brake power2, according to β2The brake force of preceding spindle motor and rear spindle motor is distributed, energy regenerating is carried out,
The stability for keeping vehicle simultaneously, if the corresponding brake force of brake pedal aperture is according to β2After being assigned to axle, wherein having one
It is a or two are all higher than preceding spindle motor or rear spindle motor maximum braking force, disconnect front clutch and rear clutch, preceding spindle motor and
Spindle motor does not generate regenerative braking power afterwards, distributes the hydraulic braking force of axle so that the total brake force of axle meets β2
Value, such as：The corresponding brake force of brake pedal aperture is 5kN, according to β2The brake force that value is assigned to front axle is 3.5kN, distribution
Brake force to rear axle is 1.5kN, if it is assumed that the maximum braking force that preceding spindle motor and rear spindle motor can be provided is 4kN,
That 3.5kN, 1.5kN are respectively less than 4kN, then vehicle is braked jointly according to preceding spindle motor and rear spindle motor, carry out energy regenerating；
Assuming that the maximum braking force that preceding spindle motor and rear spindle motor can be provided is respectively 3kN and 2kN, then since 3kN is less than 3.5kN,
Wheel does not use regenerative braking power, and is braked using brake fluid system；Assuming that preceding spindle motor and rear spindle motor institute
The maximum braking force that can be provided is 1kN, due to according to β2Value is assigned to the brake force of front axle and the brake force of rear axle is all higher than
The maximum brake force of the two, therefore wheel does not use regenerative braking power yet, and braked using brake fluid system.When
When the aperture of brake pedal is 90% or more of total aperture, brake fluid system simultaneously braked by locking antero posterior axis.Its is forward and backward
The braking force distribution curve of axis and total brake force-brake pedal opening curve difference are as shown in Figure 5 and Figure 6.
Embodiment 4
As 0.3 φ≤0.9 ＜ of coefficient of road adhesion, speed ＞ 30km/h, the slight brake pedal of driver, hydraulic pressure
Braking system does not work, and entire car controller is closed at front clutch and rear clutch, and output order adjusts two electric current tune
Save device so that the brake force ratio of preceding spindle motor and rear spindle motor is β3, the β3It is entire car controller according to attachment coefficient and vehicle
Ideal front and rear wheel braking force distribution curve determines the ratio of rear-wheel braking force and front wheel brake power under light condition, when driving
When the person's of sailing moderate or severe trample brake pedal, front clutch and rear clutch disconnect, and preceding spindle motor and rear spindle motor are not participated in
Braking, entire car controller start brake fluid system and are braked, and axle brake force is according to β3Distribution.The system of its axle
Power distribution curve and total brake force-brake pedal opening curve difference are as shown in Figure 7 and Figure 8.
Embodiment 5
As coefficient of road adhesion φ ＞ 0.9, entire car controller is according to ideal under attachment coefficient and vehicle light condition
Front and rear wheel braking force distribution curve determines the ratio beta of rear-wheel braking force and front wheel brake power4, when driver slightly steps on braking
Pedal, entire car controller is according to β4The brake force of 1.5~2 times of distribution axles of value, by adjusting two current regulators,
The brake force that spindle motor and preceding spindle motor generate after so that is according to the β41.5~2 times of distribution of value are braked, and are carried out at the same time
Energy regenerating；When driver's moderate tramples brake pedal, the brake force that rear spindle motor and preceding spindle motor generate is according to the β4
1.5~2 times of distribution of value are braked, and the brake force of spindle motor or preceding spindle motor is after wherein any one is more than after distributing to
When spindle motor or preceding spindle motor maximum braking moment, entire car controller is not turned on front clutch and rear clutch, and uses hydraulic pressure
Braking system is according to β4The hydraulic braking force of value distribution axle is braked；It is whole when driver's severe tramples brake pedal
Vehicle controller is not turned on front clutch and rear clutch, and uses brake fluid system according to β4The hydraulic pressure of value distribution axle
Brake force is braked.The braking force distribution curve of its axle and total brake force-brake pedal opening curve are respectively such as Fig. 9
Shown in Figure 10.
In Examples 1 to 5, the slight brake pedal refers to so that the aperture of brake pedal is the 5% of total aperture
~20%；It refers to so that the aperture of brake pedal is the 21%~70% of total aperture that the moderate, which tramples brake pedal,；The severe is stepped on
Brake-apply refers to that the aperture of brake pedal is 71% or more of total aperture.
Technical solution provided by the present invention is described in detail above, for those of ordinary skill in the art,
The thought of embodiment according to the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (3)
1. a kind of method carrying out Brake energy recovery using braking energy recovery system for electric vehicle, the electric vehicle brake energy
It includes motor braking system, conventional hydraulic braking system and auxiliary braking system to measure recovery system；The motor braking system packet
Preceding spindle motor and rear spindle motor are included, preceding spindle motor connects front axle drive axle by front clutch, and front axle drive axle is mounted on front axle
On, rear spindle motor connects rear axle drive axle by rear clutch, and the preceding spindle motor is connected by conducting wire respectively with rear spindle motor
Current regulator, two current regulators are respectively connected to battery management system, and battery management system connects vehicle-mounted lithium ion battery,
Battery management system is connected with entire car controller by data line；The conventional hydraulic braking system includes the liquid of front and rear wheel
Brake, brake pedal, abs pump, master cylinder and fluid reservoir are pressed, hydraulic oil is housed in the fluid reservoir, fluid reservoir is mounted on
On the master cylinder, the brake pedal is connected with the push rod of the master cylinder, and the liquid outlet of the master cylinder passes through
Hydraulic oil pipe connects abs pump, and abs pump is used to distribute the hydraulic braking force of axle, and the abs pump is distinguished by hydraulic oil pipe
Connect the liquid braking device of front and rear wheel；The auxiliary braking system includes entire car controller, road surface identification module, speed sensing
Device and pedal jaw opening sensor, the entire car controller realize that data interaction connects by data line with battery management system, institute
Entire car controller is stated to connect with current regulator, abs pump by data line, for output order to current regulator, abs pump,
Road surface identification module, vehicle speed sensor and pedal jaw opening sensor are connected by data line and entire car controller 17, by will based on
The aperture of coefficient of road adhesion, speed and brake pedal obtained by calculating is transferred in entire car controller；
It is characterized in that, according to the coefficient of road adhesion of vehicle traveling, the aperture of speed and brake pedal, front and rear wheel is distributed
Brake force is specially：
As coefficient of road adhesion φ≤0.3, speed v≤30km/h, the slight brake pedal of driver, brake fluid system
It does not work, front clutch is closed, preceding spindle motor rotation power generation, while providing braking moment, and power generation gained electric energy passes through electric current tune
It saves device to flow into battery management system, then is imported in vehicle-mounted lithium ion battery by battery management system, rear clutch disconnects, rear axle
Motor is not involved in braking；When driver's moderate tramples brake pedal, the pressure sensor at brake pedal position transmits signal
To entire car controller, it is bent that ideal front and rear wheel braking force distribution is previously provided under vehicle light condition in the entire car controller
The attachment coefficient value on road surface is transferred in entire car controller by line, road surface identification module in real time, and entire car controller is according to attachment
Number determines the ratio beta of rear-wheel braking force and front wheel brake power1, the linearity curve of rear-wheel braking force and front wheel brake power just past
The numerical value of the corresponding ideal curve of attachment coefficient value, then whole-control system output signal be closed at front clutch and after from
Clutch, according still further to β1It is worth output order and adjusts two current regulators so that the brake force ratio of rear spindle motor and preceding spindle motor
For β1；When driver's severe tramples brake pedal, front clutch and rear clutch disconnect, and entire car controller starts hydraulic braking
System by front and back wheel simultaneously locking；
As coefficient of road adhesion φ≤0.3, speed v ＞ 30km/h, driver tramples aperture≤total aperture of brake pedal
When 70%, entire car controller is closed at front clutch and rear clutch, and output order adjusts two current regulators so that
The brake force ratio of preceding spindle motor and rear spindle motor is β1, when driver tramples the 70% of the total apertures of aperture ＞ of brake pedal,
Front clutch and rear clutch disconnect, and entire car controller starts brake fluid system by front and back wheel locking simultaneously；
As 0.3 φ≤0.9 ＜ of coefficient of road adhesion, speed≤30km/h, the slight brake pedal of driver, hydraulic braking
System does not work, and front clutch is closed, and preceding spindle motor rotation power generation carries out energy regenerating, while providing braking moment, rear clutch
Device disconnects, and rear spindle motor is not involved in braking；When driver's moderate tramples brake pedal, braking is first provided separately by preceding spindle motor
Power, when current spindle motor maximum braking force cannot meet brake pedal aperture corresponding brake force, rear spindle motor participates in braking, makes
It obtains total brake force and the corresponding brake force of brake pedal aperture is equal；When driver's severe tramples brake pedal, full-vehicle control
Device determines rear-wheel braking force and front-wheel according to ideal front and rear wheel braking force distribution curve under attachment coefficient and vehicle light condition
The ratio beta of brake force2, entire car controller first determines whether the corresponding brake force of brake pedal aperture according to β2It is assigned to axle
Afterwards, if preceding spindle motor and rear spindle motor maximum braking force are respectively less than, if it is less, being closed at front clutch and rear clutch
Device adjusts two current regulators, according to β2The brake force of preceding spindle motor and rear spindle motor is distributed, carries out energy regenerating, simultaneously
The stability for keeping vehicle, if the corresponding brake force of brake pedal aperture is according to β2After being assigned to axle, wherein there are one or
Two are all higher than preceding spindle motor or rear spindle motor maximum braking force, disconnect front clutch and rear clutch, preceding spindle motor and rear axle
Motor does not generate regenerative braking power, distributes the hydraulic braking force of axle so that the total brake force of axle meets β2Value, when
When the aperture of brake pedal is 90% or more of total aperture, brake fluid system simultaneously braked by locking antero posterior axis；
As 0.3 φ≤0.9 ＜ of coefficient of road adhesion, speed ＞ 30km/h, the slight brake pedal of driver, hydraulic braking
System does not work, and entire car controller is closed at front clutch and rear clutch, and output order adjusts two current regulators,
So that the brake force ratio of preceding spindle motor and rear spindle motor is β3, the β3It is empty according to attachment coefficient and vehicle for entire car controller
Ideal front and rear wheel braking force distribution curve determines the ratio of rear-wheel braking force and front wheel brake power under load state, works as driver
When moderate or severe trample brake pedal, front clutch and rear clutch disconnect, and preceding spindle motor and rear spindle motor do not participate in braking,
Entire car controller starts brake fluid system and is braked, and axle brake force is according to β3Distribution.
2. according to the method described in claim 1, it is characterized in that, as coefficient of road adhesion φ ＞ 0.9, entire car controller root
Rear-wheel braking force and front wheel brake are determined according to ideal front and rear wheel braking force distribution curve under attachment coefficient and vehicle light condition
The ratio beta of power4, when the slight brake pedal of driver, entire car controller is according to β41.5~2 times of distribution axles of value
Brake force, by adjusting two current regulators so that the brake force that rear spindle motor and preceding spindle motor generate is according to the β4Value
1.5~2 times of distribution braked, be carried out at the same time energy regenerating；When driver's moderate tramples brake pedal, rear spindle motor and
The brake force that preceding spindle motor generates is according to the β41.5~2 times of distribution of value are braked, spindle motor or front axle after distributing to
The brake force of motor wherein any one be more than rear spindle motor or preceding spindle motor maximum braking moment when, entire car controller is not turned on
Front clutch and rear clutch, and use brake fluid system according to β4The hydraulic braking force of value distribution axle is braked；
When driver's severe tramples brake pedal, entire car controller is not turned on front clutch and rear clutch, and uses hydraulic braking
System is according to β4The hydraulic braking force of value distribution axle is braked.
3. according to the method described in claim 2, it is characterized in that, the slight brake pedal refers to so that brake pedal
Aperture be total aperture 5%~20%；It refers to so that the aperture of brake pedal is total aperture that the moderate, which tramples brake pedal,
21%~70%；The severe trample brake pedal refer to brake pedal aperture be total aperture 71% or more.
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| CN110654370A (en) * | 2018-06-28 | 2020-01-07 | 长城汽车股份有限公司 | Hybrid vehicle control method and system with low-attachment road surface |
| DE102018217224A1 (en) | 2018-10-09 | 2020-04-09 | Audi Ag | Method for distributing a braking torque requested by a driver to the axles of a motor vehicle |
| CN109849679B (en) * | 2019-03-28 | 2020-09-29 | 潍柴动力股份有限公司 | Braking energy recovery method and device |
| CN112848915A (en) * | 2019-11-12 | 2021-05-28 | 罗伯特·博世有限公司 | Driving torque controller, control method, automobile and computer storage medium |
| CN113022317A (en) * | 2019-12-09 | 2021-06-25 | 观致汽车有限公司 | New energy automobile, energy recovery method and device thereof and storage medium |
| CN111301377B (en) * | 2019-12-23 | 2020-10-02 | 南昌工程学院 | Electric automobile brake control method based on road surface adhesion |
| CN113306401B (en) * | 2020-02-27 | 2023-05-16 | 博世汽车部件(苏州)有限公司 | Method, device and system for adjusting regenerative braking torque of split-axle type driving vehicle and vehicle |
| CN111645528B (en) * | 2020-06-05 | 2022-02-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
| CN111775915A (en) * | 2020-07-21 | 2020-10-16 | 西南石油大学 | Brake control method of heavy vehicle |
| CN111873807A (en) * | 2020-08-13 | 2020-11-03 | 桂林电子科技大学 | Single-shaft series braking energy recovery method and system for pure electric vehicle |
| CN115489323B (en) * | 2022-11-17 | 2023-04-18 | 潍柴动力股份有限公司 | Braking energy recovery method and device and vehicle |
| CN115782837A (en) * | 2022-11-30 | 2023-03-14 | 蔚来汽车科技(安徽)有限公司 | Braking force distribution method, storage medium, braking force distribution device, and vehicle |
| CN116373609B (en) * | 2023-06-05 | 2023-07-28 | 厦门金龙汽车新能源科技有限公司 | Braking strategy optimization method for pure electric bus |
| CN117774921B (en) * | 2024-02-26 | 2024-05-10 | 厦门金龙联合汽车工业有限公司 | Intelligent chassis line control power distribution method |
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