CN108068631A - Pure electric automobile and its energy back-feed control method, control device - Google Patents
Pure electric automobile and its energy back-feed control method, control device Download PDFInfo
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- CN108068631A CN108068631A CN201711297594.7A CN201711297594A CN108068631A CN 108068631 A CN108068631 A CN 108068631A CN 201711297594 A CN201711297594 A CN 201711297594A CN 108068631 A CN108068631 A CN 108068631A
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of pure electric automobile and its energy back-feed control method, control devices, the described method comprises the following steps：After pure electric automobile enters energy feedback pattern, the parameter information of speed, the rotating speed of motor, brake pedal position signal and power battery is obtained；The initial feed torque of motor is obtained according to speed, and the first feed torque of motor is obtained according to initial feed torque and brake pedal position signal, and the first output power of motor is obtained according to the rotating speed of the first feed torque and motor；The maximum allowable charge power of power battery is obtained according to parameter information；Judge whether the first output power is less than or equal to maximum allowable charge power；If, then energy feedback is carried out according to the first feed torque control motors, so as to efficiently solve pure electric automobile using motor feedback can not reach the technical barrier of total energy feedback to greatest extent and motor regenerative braking match with the deceleration dynamics of braking system it is bad caused by drive sense difference the problem of.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly to a kind of energy back-feed control method of pure electric automobile,
A kind of energy feedback control device of pure electric automobile and a kind of pure electric automobile with the control device.
Background technology
At present, realize that the method for pure electric automobile energy feedback has very much.For example, can by monitoring wheel wheel speed signal,
And wheel wheel speed signal is converted into vehicle speed signal, corresponding motor is then obtained by tabling look-up according to vehicle speed signal
Feedback torque, and energy feedback is carried out to electric vehicle according to the motor feedback torque.This method is although fairly simple, but
In the case that braking system intervenes, vehicle braking process is unstable, and braking deceleration sense is powerful so that it is very poor to drive sense.
The content of the invention
It is contemplated that one of the technical issues of at least solving to a certain extent in above-mentioned technology.For this purpose, the present invention
First purpose be to propose a kind of energy back-feed control method of pure electric automobile, can effectively solve the problem that pure electric automobile can not
Reach the technical barrier of total energy feedback and subtracting for motor regenerative braking and braking system using motor feedback to greatest extent
The problem of sense difference is driven caused by the matching of turn of speed degree is bad.
Second object of the present invention is to propose a kind of computer readable storage medium.
Third object of the present invention is the energy feedback control device for proposing a kind of pure electric automobile.
Fourth object of the present invention is to propose a kind of pure electric automobile.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of energy feedback control of pure electric automobile
Method comprises the following steps：After the pure electric automobile enters energy feedback pattern, the vehicle of the pure electric automobile is obtained
The parameter information of the rotating speed of motor, brake pedal position signal and power battery in fast, described pure electric automobile；According to the vehicle
Speed obtains the initial feed torque of the motor, and is obtained according to the initial feed torque and the brake pedal position signal
The first of the motor feeds torque and obtains the motor according to the rotating speed of the described first feed torque and the motor
First output power；The maximum allowable charge power of the power battery is obtained according to the parameter information of the power battery；Sentence
Whether first output power that breaks is less than or equal to the maximum allowable charge power；If first output power be less than etc.
In the maximum allowable charge power, then motor carries out energy feedback according to described first feeds moment of torsion control.
The energy back-feed control method of pure electric automobile according to embodiments of the present invention enters energy in pure electric automobile and returns
After feedback pattern, the rotating speed of motor in the speed of pure electric automobile, pure electric automobile, brake pedal position signal and dynamic are obtained first
Then the parameter information of power battery obtains the initial feed torque of motor according to speed, and according to initial feed torque and braking
Pedal position signal obtains the first feed torque of motor and obtains motor according to the rotating speed of the first feed torque and motor
First output power, while according to the maximum allowable charge power of the parameter information of power battery acquisition power battery, finally sentence
Whether disconnected first output power is less than or equal to maximum allowable charge power, and is less than or equal to maximum allowable fill in the first output power
During electrical power, energy feedback is carried out according to the first feed torque control motors.This method can effectively solve the problem that pure electric automobile without
Method reaches the technical barrier of total energy feedback and motor regenerative braking and braking system using motor feedback to greatest extent
The problem of sense difference is driven caused by the matching of deceleration dynamics is bad.
In addition, the energy back-feed control method for the pure electric automobile that above-described embodiment proposes can also have according to the present invention
Following additional technical characteristic：
According to one embodiment of present invention, if first output power is more than the maximum allowable charge power,
The second feed torque of the motor is then obtained according to the rotating speed of the maximum allowable charge power and the motor, and according to institute
It states motor described in the second feed moment of torsion control and carries out energy feedback.
According to one embodiment of present invention, before the pure electric automobile enters the energy feedback pattern, also wrap
It includes：Judge whether the speed of the pure electric automobile meets preset vehicle speed condition, and determine whether accelerator pedal signal；If
The speed meets the preset vehicle speed condition and without accelerator pedal signal, then the pure electric automobile is controlled to enter the energy
Feedback pattern.
According to one embodiment of present invention, the parameter information of the power battery includes the carrying capacity of the power battery
And temperature, wherein, the maximum allowable of the power battery is obtained by tabling look-up according to the carrying capacity of the power battery and temperature
Charge power.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of computer readable storage medium, has
Instruction therein is stored in, when executed, performs the energy back-feed control method of above-mentioned pure electric automobile.
The computer readable storage medium of the embodiment of the present invention, by the energy feedback control for performing above-mentioned pure electric automobile
Method processed can effectively solve the problem that pure electric automobile can not reach the technology hardly possible of total energy feedback using motor feedback to greatest extent
Topic and motor regenerative braking match with the deceleration dynamics of braking system it is bad caused by drive the problem of sense is poor.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of energy feedback control of pure electric automobile
Device, including：First acquisition module, for after the pure electric automobile enters energy feedback pattern, obtaining the pure electric vehicle
The parameter information of the rotating speed of motor, brake pedal position signal and power battery in the speed of automobile, the pure electric automobile；The
Two acquisition modules, for obtaining the initial feed torque of the motor according to the speed, and according to the initial feed torque
The first feed torque of the motor is obtained with the brake pedal position signal and according to the described first feed torque and institute
The rotating speed for stating motor obtains the first output power of the motor；3rd acquisition module, for the ginseng according to the power battery
The maximum allowable charge power of power battery described in number acquisition of information；First judgment module, for judging first output work
Whether rate is less than or equal to the maximum allowable charge power；Control module, for judging described in first judgment module
When one output power is less than or equal to the maximum allowable charge power, carried out according to motor described in the described first feed moment of torsion control
Energy feedback.
The energy feedback control device of pure electric automobile according to embodiments of the present invention enters energy in pure electric automobile and returns
After feedback pattern, pass through rotating speed, the brake pedal of motor in the speed of the first acquisition module acquisition pure electric automobile, pure electric automobile
The parameter information of position signal and power battery, and pass through the initial feed torsion that the second acquisition module obtains motor according to speed
Square, and the first feed torque of motor is obtained and according to the first feedback according to initial feed torque and brake pedal position signal
The rotating speed of electric torque and motor obtains the first output power of motor, while by the 3rd acquisition module according to the ginseng of power battery
Whether the maximum allowable charge power of number acquisition of information power battery, judge the first output power finally by the first judgment module
Judge that the first output power is less than or equal to maximum allowable charging less than or equal to maximum allowable charge power, and in the first judgment module
During power, energy feedback is carried out according to the first feed torque control motors by control module.The device can effectively solve the problem that pure
Electric vehicle can not to greatest extent using motor feedback reach total energy feedback technical barrier and motor regenerative braking with
Braking system deceleration dynamics matching it is bad caused by drive sense difference the problem of.
In addition, the energy feedback control device for the pure electric automobile that above-described embodiment proposes can also have according to the present invention
Following additional technical characteristic：
According to one embodiment of present invention, if first output power is more than the maximum allowable charge power,
The control module then obtains the second feed of the motor according to the rotating speed of the maximum allowable charge power and the motor
Torque, and the motor according to the described second feed moment of torsion control carries out energy feedback.
According to one embodiment of present invention, the energy feedback control device of above-mentioned pure electric automobile further includes：Second
Judgment module, for before the pure electric automobile enters the energy feedback pattern, judging the vehicle of the pure electric automobile
Whether speed meets preset vehicle speed condition, and determines whether accelerator pedal signal, wherein, if the speed meets described preset
Speed condition and without accelerator pedal signal, the control module then control the pure electric automobile to enter the energy feedback mould
Formula.
According to one embodiment of present invention, the parameter information of the power battery includes the carrying capacity of the power battery
And temperature, wherein, the 3rd acquisition module obtains described move according to the carrying capacity and temperature of the power battery by tabling look-up
The maximum allowable charge power of power battery.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of pure electric automobile, including above-mentioned
Energy feedback control device.
The pure electric automobile of the embodiment of the present invention by above-mentioned energy feedback control device, can effectively solve the problem that pure electricity
Electrical automobile can not to greatest extent using motor feedback reach total energy feedback technical barrier and motor regenerative braking with system
The problem of sense difference being driven caused by the deceleration dynamics matching of dynamic system is bad.
Description of the drawings
Fig. 1 is the flow chart of the energy back-feed control method of pure electric automobile according to embodiments of the present invention；
Fig. 2 is the flow chart of the energy back-feed control method of the pure electric automobile of a specific embodiment according to the present invention；
Fig. 3 is the block diagram of the energy feedback control device of pure electric automobile according to embodiments of the present invention；And
Fig. 4 is the block diagram of the energy feedback control device of pure electric automobile according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The energy back-feed control method of the pure electric automobile of the embodiment of the present invention, pure electric vehicle vapour described below in conjunction with the accompanying drawings
The energy feedback control device of vehicle and the pure electric automobile with the control device.
Fig. 1 is the flow chart of the energy back-feed control method of pure electric automobile according to embodiments of the present invention.
It should be noted that energy feedback refers to pure electric automobile when kinetic energy reduces (e.g., slide traveling or braking when)
The kinetic energy of axletree is converted into electric energy, and is stored, to be used when needed as auxiliary power.
As shown in Figure 1, the energy back-feed control method of the pure electric automobile may include following steps：
S1 after pure electric automobile enters energy feedback pattern, obtains electricity in the speed of pure electric automobile, pure electric automobile
The parameter information of the rotating speed of machine, brake pedal position signal and power battery.
Wherein, the wheel speed signal of each wheel, Ran Hougen can be gathered in real time by being arranged on the wheel speed sensors at speed changer
The vehicle velocity V of pure electric automobile is obtained according to wheel speed signal；Pass through motor speed measurement probe (such as hall sensing being arranged on motor
Device) obtain pure electric automobile in motor rotating speed VMotor；Brake pedal is obtained by being arranged on the position sensor at brake pedal
Position signal PedalB, and acquired brake pedal position signal PedalB can be indicated by stroke aperture, work as row
When Cheng Kaidu is 0, brake pedal is not stepped in expression, when stroke aperture is 100%, is represented that brake pedal is stepped on completely, is braked
Degree reaches maximum；Parameter information (e.g., carrying capacity SOC and the temperature of power battery are obtained by the battery manager of electric vehicle
Spend T etc.).
S2, the initial feed torque of motor is obtained according to speed, and is believed according to initial feed torque and brake pedal position
First feed torque of number acquisition motor and the first output work that motor is obtained according to the rotating speed of the first feed torque and motor
Rate.
Wherein, the initial feed torque T of motor can be obtained by the preset relation table being arranged in pure electric automobile.Specifically
Ground premised on braking system and motor control matching and calibration, can pre-define each speed section and motor in pure electric automobile
Mapping relations between initial feed torque T, as shown in table 1, then store table 1 into pure electric automobile.
Table 1
As it can be seen from table 1 when speed is between [0,10], corresponding initial feed torque is 0, at this time without
Energy feedback；When speed is in (10,60] between when, different speed sections, which corresponds to, different initially feeds torque, e.g., speed section
(30,40] it is corresponding it is initial feed torque can be 20Nm.
Further, after the initial feed torque T of motor and brake pedal position signal PedalB is got, under
State the first feed torque T m that formula (1) calculates motor：
Tm=T* (1-PedalB) (1)
Wherein, Tm is the first feed torque of motor, and T is the initial feed torque of motor, and PedalB is brake pedal position
Confidence number.
Yet further, after the first feed torque T m of motor is got, the of motor is calculated by following formula (2)
One output power P1：
P1=Tm*VMotor/9550 (2)
Wherein, P1 be motor the first output power, VMotorFor the rotating speed of motor.
S3 obtains the maximum allowable charge power of power battery according to the parameter information of power battery.
According to one embodiment of present invention, the parameter information of power battery may include the carrying capacity and temperature of power battery
Degree, wherein, the maximum allowable charge power that acquisition power battery of tabling look-up is passed through according to the carrying capacity of power battery and temperature.
Specifically, can pre-set between carrying capacity SOC, the temperature T of power battery and maximum allowable charge power Pmax
Mapping table, as shown in table 2, then table 2 is stored into pure electric automobile, enters energy feedback mould in pure electric automobile
After formula, the maximum allowable charging of power battery is obtained by tabling look-up according to the carrying capacity SOC of the power battery got and temperature T
Power P max.
Table 2
Wherein, SOC1, SOC2, SOC3 ..., SOCn represent the carrying capacity of power battery, T1, T2, T3 ..., Tm represent dynamic
The temperature of power battery, TS1, TS2, TS3 ..., TSmn represent the maximum allowable charge power of power battery, wherein, m and n's takes
Value can specifically be demarcated according to actual conditions.
S4, judges whether the first output power is less than or equal to maximum allowable charge power.
S5, if the first output power is less than or equal to maximum allowable charge power, according to the first feed moment of torsion control electricity
Machine carries out energy feedback.
According to one embodiment of present invention, if the first output power is more than maximum allowable charge power, according to most
Big the second feed torque that the rotating speed of charge power and motor is allowed to obtain motor, and according to the second feed torque control motors into
Row energy feedback.
Specifically, after the first output power P1 and maximum allowable charge power Pmax is got, judge between the two
Magnitude relationship.If the first output power P1 is less than or equal to maximum allowable charge power Pmax, illustrate the first output power P1
Without departing from the charging limit of power battery, energy feedback, the first feed are carried out according to the first feed torque T m control motors at this time
Torque T m=T* (1-PedalB), wherein, as PedalB=0, brakeless pedal signal is known as " pure motor feedback section ", when
During PedalB ≠ 0, there is brake pedal signal, be known as " pure motor feedback and front and rear mechanical braking combined segment ".
If the first output power P1 is more than maximum allowable charge power Pmax, illustrate that the first output power P1 has surpassed
Go out the charging limit of power battery, at this time according to maximum allowable charge power Pmax and the rotating speed V of motorMotorObtain the of motor
Two feed torque T b, Tb=Pmax*9550/VMotor, energy feedback is then carried out according to the second feed torque T b control motors, from
And it is possible to prevente effectively from causing to damage to power battery beyond the charge power that power battery can bear, guarantee power battery
Service life.
Therefore, the energy back-feed control method of pure electric automobile according to embodiments of the present invention, by being obtained according to speed
The initial feed torque of motor, and according to the parameter information of brake pedal position signal and power battery to the initial feed of motor
Torque is adjusted and carries out energy feedback to motor according to the feed torque after adjusting, so as to efficiently solve pure electric vehicle
Automobile can not to greatest extent using motor feedback reach total energy feedback technical barrier and motor regenerative braking with braking
System deceleration dynamics matching it is bad caused by drive sense difference the problem of.
Further, according to one embodiment of present invention, also wrapped before pure electric automobile enters energy feedback pattern
It includes：Judge whether the speed of pure electric automobile meets preset vehicle speed condition, and determine whether accelerator pedal signal；If speed
Meet preset vehicle speed condition and without accelerator pedal signal, then pure electric automobile is controlled to enter energy feedback pattern.Wherein, vehicle is preset
Fast condition can be demarcated according to actual conditions.
Specifically, during pure electric automobile travels, the wheel speed letter of each wheel is gathered in real time by wheel speed sensors
Number, and according to the vehicle velocity V of wheel speed signal acquisition pure electric automobile, then judge whether the vehicle velocity V meets preset vehicle speed condition (such as
Speed is less than or equal to 32km/h), if meeting speed condition, driven by being arranged on the position sensor judgement at accelerator pedal
The person of sailing whether bend the throttle, if the non-bend the throttle of driver, illustrates currently without accelerator pedal signal, this time control
Pure electric automobile processed enters energy feedback pattern.
After pure electric automobile enters energy feedback pattern, electricity is obtained by above-mentioned table 1 according to the vehicle velocity V of pure electric automobile
The initial feed torque T of machine, and obtain the rotating speed V of motorMotor, brake pedal position signal PedalB, the carrying capacity of power battery
SOC and temperature T.Then, calculated according to initial feed torque T and brake pedal position signal PedalB by above-mentioned formula (1)
The first feed torque T m of motor is obtained, and according to the first feed torque T m and the rotating speed V of motorMotorIt is counted by above-mentioned formula (2)
Calculate the first output power P1 for obtaining motor.Meanwhile it is obtained according to the carrying capacity SOC and temperature T of power battery by above-mentioned table 2
The maximum allowable charge power Pmax of power battery.Then judge whether the first output power P1 is less than or equal to maximum allowable charging
Power P max, if the first output power P1 is less than or equal to maximum allowable charge power Pmax, according to the first feed torque T m
Motor is controlled to carry out energy feedback；If the first output power P1 is more than maximum allowable charge power Pmax, permitted according to maximum
Perhaps the rotating speed V of charge power Pmax and motorMotorThe second feed torque T b of motor is obtained, and according to the second feed torque T b controls
Motor processed carries out energy feedback.During pure electric automobile carries out energy feedback, if the speed of pure electric automobile is less than
Certain value (e.g., 0.5km/h), then control pure electric automobile to exit energy feedback pattern.
It should be noted that a function button can also be set in an embodiment of the present invention, if driver wishes
Vehicle carries out energy feedback in moderating process, then presses the function button to open the energy feedback function, and if driven
Member is not intended to vehicle with energy feedback function, then need not press the function button.
The energy back-feed control method of pure electric automobile according to an embodiment of the invention is controlled with braking system and motor
Premised on matching and calibration, the relation between each speed section and the initial feed torque of motor is defined, can realize energy to greatest extent
Feedback is measured, effectively improves the course continuation mileage of pure electric automobile.Meanwhile braking system has been effectively matched, reduce motor feedback
Burst sense of slowing down caused by torque intervention optimizes the pure electric vehicle in the case of brake force is existed simultaneously with feedback torque and slows down
Driving smooth-going in the process.
Further, Fig. 2 is the energy back-feed control method of the pure electric automobile of a specific embodiment according to the present invention
Flow chart.As shown in Fig. 2, the energy back-feed control method of the pure electric automobile may include following steps：
S101, function are opened.
S102 obtains the vehicle velocity V of pure electric automobile, accelerator pedal signal PedalA, the rotating speed V of motorMotor, power battery
Carrying capacity SOC and temperature T.
S103, judges whether vehicle velocity V meets preset vehicle speed condition such as 31.5km/h ＜ V≤32km/h.If so, perform step
Rapid S105.
S104 judges whether no accelerator pedal signal PedalA.If so, perform step S105.
S105, control pure electric automobile enter energy feedback pattern.
S106 obtains the initial feed torque T of motor and brake pedal position signal PedalB.
S107 calculates the first feed torque T m=T* (1-PedalB) of motor under cooperation brake pedal.
S108 calculates the first output power P1=Tm*V of motorMotor/9550。
S109 obtains the maximum allowable charging of power battery according to the carrying capacity SOC of power battery and temperature T by tabling look-up
Power P max.
S110 judges whether P1≤Pmax is true.If so, perform step S111；If not, perform step S112.
S111 carries out energy feedback according to the first feed torque T m control motors, and the first feed torque of motor is Tm=
T*(1-PedalB)。
S112, according to maximum allowable charge power Pmax and the rotating speed V of motorMotorIt calculates and obtains the second feed torque T b, Tb
=Pmax*9550/VMotor, and energy feedback is carried out according to control the second feed torque T b control motors.
S113, judges whether the vehicle velocity V of pure electric automobile is more than or equal to limit value such as 0.5km/h.If so, perform step
S114；If not, perform step S115.
S114, control pure electric automobile are constantly in energy feedback pattern.
S115, control pure electric automobile exit energy feedback pattern.
In conclusion the energy back-feed control method of pure electric automobile according to embodiments of the present invention, in pure electric automobile
Into after energy feedback pattern, the rotating speed of motor, brake pedal position first in the speed of acquisition pure electric automobile, pure electric automobile
Then the parameter information of confidence number and power battery obtains the initial feed torque of motor according to speed, and according to initial feed
Torque and brake pedal position signal obtain the first feed torque of motor and according to the first feed torques and the rotating speed of motor
The first output power of motor is obtained, while the maximum allowable charging work(of power battery is obtained according to the parameter information of power battery
Rate, finally judges whether the first output power is less than or equal to maximum allowable charge power, and is less than or equal in the first output power
During maximum allowable charge power, energy feedback is carried out according to the first feed torque control motors.This method can effectively solve the problem that pure
Electric vehicle can not to greatest extent using motor feedback reach total energy feedback technical barrier and motor regenerative braking with
Braking system deceleration dynamics matching it is bad caused by drive sense difference the problem of.
In addition, the embodiment of the present invention also proposed a kind of computer readable storage medium, have and be stored in finger therein
Order, when executed, performs the energy back-feed control method of above-mentioned pure electric automobile.
The computer readable storage medium of the embodiment of the present invention, by the energy feedback control for performing above-mentioned pure electric automobile
Method processed can effectively solve the problem that pure electric automobile can not reach the technology hardly possible of total energy feedback using motor feedback to greatest extent
Topic and motor regenerative braking match with the deceleration dynamics of braking system it is bad caused by drive the problem of sense is poor.
Fig. 3 is the block diagram of the energy feedback control device of pure electric automobile according to embodiments of the present invention.Such as Fig. 3 institutes
Show, the energy feedback control device of the pure electric automobile may include：First acquisition module 10, the second acquisition module the 20, the 3rd obtain
Modulus block 30, the first judgment module 40 and control module 50.
Wherein, the first acquisition module 10 is used for after pure electric automobile enters energy feedback pattern, obtains pure electric automobile
Speed, in pure electric automobile the rotating speed of motor, brake pedal position signal and power battery parameter information.Second obtains mould
Block 20 is used to obtain the initial feed torque of motor according to speed, and is obtained according to initial feed torque and brake pedal position signal
It takes the first of motor to feed torque and the first output power of motor is obtained according to the rotating speed of the first feed torque and motor.
3rd acquisition module 30 obtains the maximum allowable charge power of power battery according to the parameter information of power battery.First judges mould
Block 40 is used to judge whether the first output power is less than or equal to maximum allowable charge power.Control module 40 is used to judge first
When module 40 judges that the first output power is less than or equal to maximum allowable charge power, carried out according to the first feed torque control motors
Energy feedback.
According to one embodiment of present invention, if the first output power is more than maximum allowable charge power, control module
50 the second feed torques that motor is obtained according to the rotating speed of maximum allowable charge power and motor, and according to the second feed torque
Motor is controlled to carry out energy feedback.
According to one embodiment of present invention, as shown in figure 4, the energy feedback control device of above-mentioned pure electric automobile also
It may include the second judgment module 60.Wherein, the second judgment module 60 is used for before pure electric automobile enters energy feedback pattern,
Judge whether speed meets preset vehicle speed condition, and determine whether accelerator pedal signal, wherein, if speed meets default vehicle
Fast condition and without accelerator pedal signal, control module 50 then controls pure electric automobile to enter energy feedback pattern.
According to one embodiment of present invention, the parameter information of power battery includes the carrying capacity and temperature of power battery,
Wherein, the 3rd acquisition module 30 is filled according to the carrying capacity and temperature of power battery by acquisition the maximum allowable of power battery of tabling look-up
Electrical power.
It should be noted that it is not disclosed in the energy feedback control device of the pure electric automobile of the embodiment of the present invention thin
Section, the details disclosed in the energy back-feed control method for the pure electric automobile that refer to the embodiment of the present invention, specifically here not
It is described in detail again.
The energy feedback control device of pure electric automobile according to embodiments of the present invention enters energy in pure electric automobile and returns
After feedback pattern, pass through rotating speed, the brake pedal of motor in the speed of the first acquisition module acquisition pure electric automobile, pure electric automobile
The parameter information of position signal and power battery, and pass through the initial feed torsion that the second acquisition module obtains motor according to speed
Square, and the first feed torque of motor is obtained and according to the first feedback according to initial feed torque and brake pedal position signal
The rotating speed of electric torque and motor obtains the first output power of motor, while by the 3rd acquisition module according to the ginseng of power battery
Whether the maximum allowable charge power of number acquisition of information power battery, judge the first output power finally by the first judgment module
Judge that the first output power is less than or equal to maximum allowable charging less than or equal to maximum allowable charge power, and in the first judgment module
During power, energy feedback is carried out according to the first feed torque control motors by control module.The device can effectively solve the problem that pure
Electric vehicle can not to greatest extent using motor feedback reach total energy feedback technical barrier and motor regenerative braking with
Braking system deceleration dynamics matching it is bad caused by drive sense difference the problem of.
In addition, the embodiment of the present invention also proposed a kind of pure electric automobile, dress is controlled including above-mentioned energy feedback
It puts.
The pure electric automobile of the embodiment of the present invention by above-mentioned energy feedback control device, can effectively solve the problem that pure electricity
Electrical automobile can not to greatest extent using motor feedback reach total energy feedback technical barrier and motor regenerative braking with system
The problem of sense difference being driven caused by the deceleration dynamics matching of dynamic system is bad.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features contact directly or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments described in this specification or example and different embodiments or exemplary feature
It closes and combines.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of energy back-feed control method of pure electric automobile, which is characterized in that comprise the following steps：
After the pure electric automobile enters energy feedback pattern, the speed of the pure electric automobile, the pure electric vehicle vapour are obtained
The parameter information of the rotating speed of motor, brake pedal position signal and power battery in vehicle；
The initial feed torque of the motor is obtained according to the speed, and is stepped on according to the initial feed torque and the braking
First feed torque of motor described in Board position signal acquisition and the rotating speed for feeding torque and the motor according to described first
Obtain the first output power of the motor；
The maximum allowable charge power of the power battery is obtained according to the parameter information of the power battery；
Judge whether first output power is less than or equal to the maximum allowable charge power；
If first output power is less than or equal to the maximum allowable charge power, according to the described first feed torque control
It makes the motor and carries out energy feedback.
2. the energy back-feed control method of pure electric automobile as described in claim 1, which is characterized in that if described first is defeated
Go out power more than the maximum allowable charge power, then obtained according to the rotating speed of the maximum allowable charge power and the motor
Second feed torque of the motor, and the motor according to the described second feed moment of torsion control carries out energy feedback.
3. the energy back-feed control method of pure electric automobile as claimed in claim 1 or 2, which is characterized in that in the pure electricity
Electrical automobile enters before the energy feedback pattern, further includes：
Judge whether the speed of the pure electric automobile meets preset vehicle speed condition, and determine whether accelerator pedal signal；
If the speed meets the preset vehicle speed condition and without accelerator pedal signal, the pure electric automobile is controlled to enter
The energy feedback pattern.
4. the energy back-feed control method of pure electric automobile as claimed in claim 3, which is characterized in that the power battery
Parameter information includes the carrying capacity and temperature of the power battery, wherein, led to according to the carrying capacity of the power battery and temperature
It crosses to table look-up and obtains the maximum allowable charge power of the power battery.
5. a kind of computer readable storage medium, which is characterized in that have and be stored in instruction therein, when described instruction is performed
When, the energy back-feed control method of pure electric automobile of the execution as any one of claim 1-4.
6. a kind of energy feedback control device of pure electric automobile, which is characterized in that including：
First acquisition module, for after the pure electric automobile enters energy feedback pattern, obtaining the pure electric automobile
The parameter information of the rotating speed of motor, brake pedal position signal and power battery in speed, the pure electric automobile；
Second acquisition module, for obtaining the initial feed torque of the motor according to the speed, and according to the initial feedback
Electric torque and the brake pedal position signal obtain the first feed torque of the motor and are turned round according to the described first feed
The rotating speed of square and the motor obtains the first output power of the motor；
3rd acquisition module, for obtaining the maximum allowable charging of the power battery according to the parameter information of the power battery
Power；
First judgment module, for judging whether first output power is less than or equal to the maximum allowable charge power；
Control module, for judging that first output power is less than or equal to described maximum allowable fill in first judgment module
During electrical power, energy feedback is carried out according to motor described in the described first feed moment of torsion control.
7. the energy feedback control device of pure electric automobile as claimed in claim 6, which is characterized in that if described first is defeated
Go out power more than the maximum allowable charge power, the control module is then according to the maximum allowable charge power and the electricity
The rotating speed of machine obtains the second feed torque of the motor, and the motor according to the described second feed moment of torsion control carries out energy
Feedback.
8. the energy feedback control device of pure electric automobile as claimed in claims 6 or 7, which is characterized in that further include：
Second judgment module, for before the pure electric automobile enters the energy feedback pattern, judging the pure electric vehicle
Whether the speed of automobile meets preset vehicle speed condition, and determines whether accelerator pedal signal, wherein, if the speed meets
The preset vehicle speed condition and without accelerator pedal signal, the control module then control the pure electric automobile to enter the energy
Feedback pattern.
9. the energy feedback control device of pure electric automobile as claimed in claim 8, which is characterized in that the power battery
Parameter information includes the carrying capacity and temperature of the power battery, wherein, the 3rd acquisition module is according to the power battery
Carrying capacity and temperature the maximum allowable charge power of the power battery is obtained by tabling look-up.
10. a kind of pure electric automobile, which is characterized in that including the energy feedback control as any one of claim 6-9
Device.
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| CN201711297594.7A CN108068631A (en) | 2017-12-08 | 2017-12-08 | Pure electric automobile and its energy back-feed control method, control device |
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| CN201711297594.7A CN108068631A (en) | 2017-12-08 | 2017-12-08 | Pure electric automobile and its energy back-feed control method, control device |
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| CN112440822A (en) * | 2019-08-27 | 2021-03-05 | 北京新能源汽车股份有限公司 | Method and device for determining feedback power of electric automobile and electric automobile |
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| CN110816516A (en) * | 2019-11-06 | 2020-02-21 | 航天重型工程装备有限公司 | Method and device for controlling speed of mine vehicle |
| CN110816516B (en) * | 2019-11-06 | 2021-05-18 | 航天重型工程装备有限公司 | Method and device for controlling speed of mine vehicle |
| CN111409471A (en) * | 2020-04-17 | 2020-07-14 | 大运汽车股份有限公司 | Torque control method of four-wheel drive electric automobile |
| CN113525097A (en) * | 2020-04-21 | 2021-10-22 | 北京新能源汽车股份有限公司 | Low-voltage energy recovery control method, vehicle control unit, system and vehicle |
| CN113525097B (en) * | 2020-04-21 | 2024-03-15 | 北京新能源汽车股份有限公司 | Control method for low-voltage energy recovery, whole vehicle controller, system and vehicle |
| CN113830068A (en) * | 2020-06-24 | 2021-12-24 | 比亚迪股份有限公司 | Electric brake control method and device for hybrid electric vehicle and hybrid electric vehicle |
| CN113830068B (en) * | 2020-06-24 | 2023-07-11 | 比亚迪股份有限公司 | Electric brake control method and device for hybrid electric vehicle and hybrid electric vehicle |
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