CN108248599B - Hydraulic hybrid regeneration brake system and control method based on double accumulators - Google Patents
Hydraulic hybrid regeneration brake system and control method based on double accumulators Download PDFInfo
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- CN108248599B CN108248599B CN201810103164.5A CN201810103164A CN108248599B CN 108248599 B CN108248599 B CN 108248599B CN 201810103164 A CN201810103164 A CN 201810103164A CN 108248599 B CN108248599 B CN 108248599B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Braking Arrangements (AREA)
Abstract
The present invention provides hydraulic hybrid regeneration brake systems and control method based on double accumulators, belong to Development of HEV Technology field, it include: brake unit include hydraulic regenerative braking unit and mechanical braking unit, hydraulic regenerative braking unit includes the first high pressure accumulator, second high pressure accumulator, throttle valve, check valve, two-bit triplet solenoid directional control valve, secondary component hydraulic pump/motor, overflow valve and low pressure accumulator, power unit includes main reducing gear, electromagnetic clutch, torsion coupler, gearbox and engine, control unit includes controller, accelerator pedal angular displacement sensor, brake pedal angular displacement sensor, energy storage pressure sensor, Engine ECU, velocity sensor and secondary component hydraulic pump/motor pressure sensor.The device effectively improves hydraulic regenerative braking unit style and is short of power the short slab low with energy recovery rate, the torque of reasonable distribution engine and the torque of hydraulic regenerative braking unit, makes engine operation in high efficient district.
Description
Technical field
The invention belongs to Development of HEV Technology fields, and in particular to a kind of hydraulic hybrid based on double accumulators
Regeneration brake system and control method.
Background technique
Liquid-driving mixed power automobile is mainly made of a set of conventional power system plus hydraulic power system, and hydraulic pump is hair
The hydraulic energy that motivation and regeneration brake system generate is stored in high pressure accumulator.It starts to walk and accelerates the two oil consumptions highest
Stage discharges the energy in high pressure accumulator, pushes hydraulic motor assisted engine to be driven using hydraulic oil.When braking,
Braking energy is recovered in high pressure accumulator by hydraulic pump, in case being used when driving.
The hydraulic braking energy recycling system of domestic and international mainstream is to use a single high pressure accumulator recycling system
Energy.Using the parallel-connection type hybrid power vehicle of preceding single high pressure accumulator, energy recovery rate is not high, and in damped condition
Under more urgent operating condition, hydraulic braking effect is bad, influences the safety of running car, cannot take into account braking characteristic and energy returns
Yield.
Summary of the invention
In order to overcome the shortcomings of the prior art described above, the present invention provides a kind of hydraulic hybrids based on double accumulators
Power regenerating braking system.
To achieve the goals above, the invention provides the following technical scheme:
Hydraulic hybrid regeneration brake system based on double accumulators, including brake unit, power unit and control are single
Member；
The brake unit includes hydraulic regenerative braking unit and mechanical braking unit；
The hydraulic regenerative braking unit include the first high pressure accumulator, the second high pressure accumulator, throttle valve, check valve,
Two-bit triplet solenoid directional control valve, secondary component hydraulic pump/motor, overflow valve and low pressure accumulator, the low pressure accumulator and institute
The oil inlet of the oil inlet and the overflow valve of stating secondary component hydraulic pump/motor is connected, the two-bit triplet solenoid directional control valve
A mouth be connected with the oil outlet of the oil outlet of the secondary component hydraulic pump/motor and the overflow valve, two-bit triplet electricity
The P mouth of magnetic reversal valve is connected with the entrance of the check valve, the T mouth of the two-bit triplet solenoid directional control valve and the check valve
Outlet is connected to first high pressure accumulator and the second high pressure accumulator by the throttle valve by pipeline；
The mechanical braking unit includes electric Proportion valve, main brake valve, air accumulator, air compressor and motor, described
Motor drives air compressor rotation, by high pressure gas storage there are in the air accumulator, the air accumulator and the main system
Dynamic valve connection, the outlet of the main brake valve by pipeline be separately connected nonpowered axle brake caliper and the electrical ratio
Valve, the brake caliper of the electric Proportion valve outlet end connection drive shaft；
The power unit includes main reducing gear, electromagnetic clutch, torsion coupler, gearbox and engine, the hair
The power that motivation generates passes to the input shaft of the gearbox, and the power that the output shaft of the gearbox generates passes to described
First transmission shaft of torsion coupler, the power that the secondary component hydraulic pump/motor generates are passed by the electromagnetic clutch
The second driving shaft of the torsion coupler is passed, the power that the second driving shaft of the torsion coupler generates is via described turn
First transmission shaft of square coupler passes to the main reducing gear driving wheels travel；
Described control unit includes controller, accelerator pedal angular displacement sensor, brake pedal angular displacement sensor, accumulation of energy
Device pressure sensor, Engine ECU, velocity sensor and secondary component hydraulic pump/motor pressure sensor, the accumulator pressure
Force snesor is mounted on the connecting line of first high pressure accumulator and the second high pressure accumulator and the throttle valve, described
Velocity sensor is mounted on nonpowered axle, and the secondary component hydraulic pump/motor pressure sensor is mounted on the Quadratic Finite Element
On the connecting line of part hydraulic pump/motor and the two-bit triplet solenoid directional control valve.
Preferably, the controller is internally provided with data acquisition module, data processing module and execution module；
The detection signal of each sensor of data acquisition module real-time reception, and will test signal and be sent to the data
Processing module；
The data processing module receives the detection signal and is handled it to obtain processing signal, is believed according to processing
Number to the execution module issue control command；
The execution module receives the control command that the data processing module is sent, according to control strategy by control command
It is independent to pass to controlled device.
Preferably, the accelerator pedal angular displacement sensor, brake pedal angular displacement sensor, energy storage pressure sensing
Device, velocity sensor, secondary component hydraulic pump/motor pressure sensor, the data of engine, gearbox with the controller
Acquisition module electrical connection；
The throttle valve, two-bit triplet solenoid directional control valve, secondary component hydraulic pump/motor, electromagnetic clutch, engine
ECU, electric Proportion valve, main brake valve are electrically connected with the execution module of the controller；
The Engine ECU starts mechatronics with described.
Preferably, the accumulation of energy amount of first high pressure accumulator is less than the accumulation of energy amount of second high pressure accumulator.
The hydraulic hybrid regeneration brake system control based on double accumulators that another object of the present invention is to provide a kind of
Method processed, comprising the following steps:
Step 1: when automobilism, controller receives accelerator pedal angular displacement sensor and brake pedal angular displacement at any time
The angular displacement signal that sensor passes come obtains accelerator opening angle signal and braking is stepped on by the calculating of the controller
Plate opening amount signal judges the operating condition of automobile at this time according to the accelerator opening angle signal and brake pedal opening amount signal, specifically
Rule of judgment is expressed as follows:
For 1a. when the accelerator opening angle signal is greater than 0, automobile is in driving operating condition at this time for the controller judgement,
And issue control command and make throttle valve fully open, the A mouth of two-bit triplet solenoid directional control valve connects with T mouthfuls, P mouthfuls of closings, this
Shi Suoshu controller is judged according to the aperture of accelerator pedal, and receives the tach signal that Engine ECU passes over, and is passed through
The map of engine schemes, and calculates the torque of the engine output at this time and engine power at this time, judges the hair at this time
Whether motivation works in high efficient district, if work, in high efficient district, electromagnetic clutch disconnects, and the engine independently drives vehicle at this time
, if the engine does not operate at high efficient district at this time, judge the engine be work in low-speed high-torque state or
High speed low torque state；
If the engine operation combines 1b. in low-speed high-torque state, the electromagnetic clutch at this time, the control at this time
The pressure signal of device processed secondary component hydraulic pump/motor pressure sensor based on the received judge the secondary component hydraulic pump/
The pressure at motor both ends, if the pressure at secondary component hydraulic pump/motor both ends is higher than hydraulic regenerative braking unit at this time
Minimum operating pressure, then hydraulic regenerative braking unit and engine joint drive vehicle at this time, start described in adjustment at this time
Machine works in best operating point, and hydraulic regenerative braking unit does power supplement, guarantees the normally travel of automobile；
If the engine operation combines 1c. in high speed low torque state, the electromagnetic clutch at this time, the control at this time
The pressure signal of device processed secondary component hydraulic pump/motor pressure sensor based on the received judge the secondary component hydraulic pump/
The pressure at motor both ends, if the pressure at secondary component hydraulic pump/motor both ends is higher than hydraulic regenerative braking unit energy at this time
The minimum pressure of enough independent driving vehicles, then the engine does not work at this time, and hydraulic regenerative braking unit, which works independently, to be driven
Vehicle；If the pressure at secondary component hydraulic pump/motor both ends independently drives vehicle lower than hydraulic regenerative braking unit at this time
Minimum pressure, then the engine independently drives vehicle at this time, and engine power more than needed will be used to fill for accumulator
Energy；
Step 2: when the brake pedal opening amount signal, that is, severity of braking is greater than 0, the controller judges that automobile is in
Braking deceleration operating condition, and issue control command and make the A mouth of two three-way solenoid valves and P mouthfuls of connections, T mouthfuls are closed,
Specific Rule of judgment is expressed as follows；
For 2a. as the severity of braking z > 0.7, the controller judges that damped condition is emergency braking operating condition at this time, and
It issues control command and makes the electromagnetic clutch disconnection, electric Proportion valve standard-sized sheet, at this time in order to guarantee braking system safety,
Hydraulic regenerative braking unit is no longer participate in work, and mechanical braking unit provides whole braking torques, and the controller is according at this time
Severity of braking adjust main brake valve (16) aperture braked, do not recycle braking energy at this time；
As the severity of braking z≤0.7, the electromagnetic clutch combines 2b., and the controller receives the first high pressure and stores
Energy storage pressure cell pressure signal on energy device pipeline is calculated according to the discharge capacity of the secondary component hydraulic pump/motor
The renewable brake force of maximum that hydraulic regenerative braking unit can provide at this time, and turned round with required braking under severity of braking is braked herein
Square is compared, if renewable brake force can satisfy brake request at this time, the controller is judged as light brake operating condition,
The electric Proportion valve and main brake valve are closed, and the throttle valve connecting with first high pressure accumulator is opened, with the second high pressure
The throttle valve of accumulator connection is closed, and recycles braking energy by first high pressure accumulator at this time, and mechanical braking unit is not joined
With work；If it is impossible to meet brake request, the controls for the renewable braking torque that the second high pressure accumulator at this time provides
Device processed judges damped condition at this time as moderate damped condition, and the throttle valve connecting with second high pressure accumulator is opened, with
The throttle valve of the first high pressure accumulator connection is closed, and recycles braking energy by second high pressure accumulator at this time, maximum
Limit uses hydraulic regenerative braking unit, is calculated by the controller, by adjust the aperture of the electric Proportion valve come
The ratio for adjusting mechanical braking force and renewable brake force, recycles braking energy to greatest extent.
Preferably, the brake unit is braked using the optimal energy reclaiming based on line control brake system technology
Take-back strategy, optimal energy take-back strategy turn to target with Brake energy recovery maximum, change the mechanical braking force on driving wheel,
The mechanical braking force on non-driving wheel is not changed；In light brake, pure regenerative braking is used on driving wheel, at this time by described the
One high pressure accumulator recycles braking energy；Composite braking is used when moderate is braked, in composite braking, on driving wheel to greatest extent
Performance regenerative braking force, brake hypodynamic part and supplemented by mechanical braking unit, at this time by second high pressure accumulator
Recycle braking energy；In emergency braking, for the safety for guaranteeing braking, hydraulic regenerative braking unit is not involved in work, brakes
Power is all provided by mechanical braking unit.
Hydraulic hybrid regeneration brake system and control method provided by the invention based on double accumulators has following
The utility model has the advantages that
(1) hydraulic regenerative braking unit style is effectively improved to be short of power the short slab low with energy recovery rate；Reasonable distribution
The torque of engine and the torque of hydraulic regenerative braking unit, make engine operation in high efficient district；
(2) add-assembly is simple, it is only necessary to install a set of hydraulic regenerative braking unit on orthodox car, not change
Former vehicle brake piping, cost is relatively low；
(3) automobile power is obviously improved and reduces oil consumption and discharge；
(4) after hydraulic regenerative braking thrashing, tradition machinery brake unit can be continued to use, and be guaranteed in braking process
Safety and stability；
(5) system noise is small, has been truly realized energy conservation and environmental protection, free from environmental pollution.
Detailed description of the invention
Fig. 1 is the structural representation of the hydraulic hybrid regeneration brake system based on double accumulators of the embodiment of the present invention 1
Figure；
Fig. 2 is the hydraulic hybrid regeneration brake system control method based on double accumulators of the embodiment of the present invention 1
Drive control strategy block diagram；
Fig. 3 is the hydraulic hybrid regeneration brake system control method based on double accumulators of the embodiment of the present invention 1
Control strategy block diagram when braking.
Specific embodiment
With reference to the accompanying drawing, further description of the specific embodiments of the present invention.Following embodiment is only used for more
Technical solution of the present invention is clearly demonstrated, and not intended to limit the protection scope of the present invention.
Embodiment 1
The present invention provides a kind of hydraulic hybrid regeneration brake system based on double accumulators, it is specific as shown in Figure 1,
Including brake unit, power unit and control unit；
Brake unit includes hydraulic regenerative braking unit and mechanical braking unit；
Hydraulic regenerative braking unit include the first high pressure accumulator 4, the second high pressure accumulator 5, throttle valve 7, check valve 8,
Two-bit triplet solenoid directional control valve 9, secondary component hydraulic pump/motor 10, overflow valve 11 and low pressure accumulator 20, low pressure accumulator 20
It is connected with the oil inlet of the oil inlet of secondary component hydraulic pump/motor 10 and overflow valve 11, the A of two-bit triplet solenoid directional control valve 9
Mouth is connected with the oil outlet of the oil outlet of secondary component hydraulic pump/motor 10 and overflow valve 11, two-bit triplet solenoid directional control valve 9
P mouthfuls are connected with the entrance of check valve 8, and the outlet of the T mouth and check valve 8 of two-bit triplet solenoid directional control valve 9 is by pipeline by section
Stream valve 7 is connected to the first high pressure accumulator 4 and the second high pressure accumulator 5；
Mechanical braking unit includes electric Proportion valve 15, main brake valve 16, air accumulator 17, air compressor 18 and motor
19, motor 19 is rotated with engine-driven air compressor 18, by high pressure gas storage there are in air accumulator 17, air accumulator 17 and main brake valve 16
Connection, the outlet of main brake valve 16 are separately connected the brake caliper 26 and electric Proportion valve 15 of nonpowered axle by pipeline, electrically
The brake caliper 27 of 15 outlet end of proportioning valve connection drive shaft；
Power unit includes main reducing gear 12, electromagnetic clutch 13, torsion coupler 14, gearbox 22 and engine 23,
The power that engine 23 generates passes to the input shaft of gearbox 22, and the power that the output shaft of gearbox 22 generates passes to torque
First transmission shaft of coupler 14, the power that secondary component hydraulic pump/motor 10 generates is passed to by electromagnetic clutch 13 to be turned
The second driving shaft of square coupler 14, the power that the second driving shaft of torsion coupler 14 generates is via the of torsion coupler 14
One transmission shaft passes to main reducing gear 12 and drives wheels travel；
Control unit includes controller 1, accelerator pedal angular displacement sensor 2, brake pedal angular displacement sensor 3, accumulation of energy
Device pressure sensor 6, Engine ECU 21, velocity sensor 24 and secondary component hydraulic pump/motor pressure sensor 25, accumulation of energy
Device pressure sensor 6 is mounted on the connecting line of the first high pressure accumulator 4 and the second high pressure accumulator 5 and throttle valve 7, speed
Sensor 24 is mounted on nonpowered axle, secondary component hydraulic pump/motor pressure sensor 25 be mounted on secondary component hydraulic pump/
On the connecting line of motor 10 and two-bit triplet solenoid directional control valve 9.
Further, in this embodiment controller 1 is internally provided with data acquisition module, data processing module and executes mould
Block；
The detection signal of each sensor of data acquisition module real-time reception, and will test signal and be sent to data processing mould
Block；
Data processing module receives detection signal and simultaneously is handled it to obtain processing signal, according to processing signal to execution
Module issues control command；
Execution module receives the control command that data processing module is sent, according to control strategy by the independent biography of control command
Pass controlled device.
Specific control signal connection relationship are as follows: accelerator pedal angular displacement sensor 2, brake pedal angular displacement sensor 3,
Energy storage pressure sensor 6, velocity sensor 24, secondary component hydraulic pump/motor pressure sensor 25, engine 23, speed change
Case 22 is electrically connected with the data acquisition module of controller 1；
Throttle valve 7, two-bit triplet solenoid directional control valve 9, secondary component hydraulic pump/motor 10, electromagnetic clutch 13, engine
ECU21, electric Proportion valve 15, main brake valve 16 are electrically connected with the execution module of controller 1；Engine ECU 21 and engine
23 electrical connections.
In the present embodiment, the accumulation of energy amount of the accumulation of energy amount of the first high pressure accumulator 4 less than the second high pressure accumulator 5.
The another object of the present embodiment is to provide a kind of hydraulic hybrid regeneration brake system based on double accumulators
Control method, as shown in Figures 2 and 3, comprising the following steps:
Step 1: when automobilism, controller 1 receives accelerator pedal angular displacement sensor 2 and brake pedal angle position at any time
The angular displacement signal that displacement sensor 3 passes over obtains accelerator opening angle signal and braking is stepped on by the calculating of controller 1
Plate opening amount signal judges the operating condition of automobile at this time according to accelerator opening angle signal and brake pedal opening amount signal, specific to judge
Condition is expressed as follows:
For 1a. when accelerator opening angle signal is greater than 0, automobile is in driving operating condition to the judgement of controller 1 at this time, and issues control
System order so that throttle valve 7 is fully open, A mouth of two-bit triplet solenoid directional control valve 9 is connected with T mouthfuls, P mouthfuls close, control at this time
Device 1 is judged according to the aperture of accelerator pedal, and receives the tach signal that Engine ECU 21 passes over, and passes through engine
23 map figure, calculates torque and engine power at this time that engine 23 at this time exports, judgement at this time engine 23 whether
Work is in high efficient district, if work, in high efficient district, electromagnetic clutch 13 disconnects, at this time 23 independent drive vehicles of engine, if at this time
Engine 23 does not operate at high efficient district, judges that engine 23 is work in low-speed high-torque state or high speed low torque shape
State；
If the 1b. work of engine 23 at this time is in low-speed high-torque state, electromagnetic clutch 13 is combined, at this time controller 1
Pressure signal according to received secondary component hydraulic pump/motor pressure sensor 25 judges 25 liang of secondary component hydraulic pump/motor
The pressure at end, if the pressure at 25 both ends of secondary component hydraulic pump/motor is higher than the minimum work of hydraulic regenerative braking unit at this time
Pressure, then hydraulic regenerative braking unit and the joint of engine 23 drive vehicle at this time, adjust the work of engine 23 at this time best
Operating point, hydraulic regenerative braking unit do power supplement, guarantee the normally travel of automobile；
If the 1c. work of engine 23 at this time is in high speed low torque state, electromagnetic clutch 13 is combined, at this time controller 1
Pressure signal according to received secondary component hydraulic pump/motor pressure sensor 25 judges 25 liang of secondary component hydraulic pump/motor
The pressure at end, if the pressure at 25 both ends of secondary component hydraulic pump/motor can independently drive higher than hydraulic regenerative braking unit at this time
The minimum pressure of dynamic vehicle, then engine 23 does not work at this time, and hydraulic regenerative braking unit, which works independently, drives vehicle；If at this time
The pressure at 25 both ends of secondary component hydraulic pump/motor independently drives the minimum pressure of vehicle lower than hydraulic regenerative braking unit, then
The independent driving vehicle of engine 23 at this time, the power more than needed of engine 23 will be used to fill energy for accumulator；
Step 2: when brake pedal opening amount signal, that is, severity of braking is greater than 0, controller 1 judges that automobile is in braking deceleration
Operating condition, and issue control command and make the A mouth of two-bit triplet solenoid directional control valve 9 and P mouthfuls of connections, T mouthfuls of closings, specific Rule of judgment
It is expressed as follows；
For 2a. as severity of braking z > 0.7, controller 1 judges that damped condition is emergency braking operating condition at this time, and issues control
System order so that electromagnetic clutch 13 disconnect, 15 standard-sized sheet of electric Proportion valve, at this time in order to guarantee braking system safety, it is hydraulic again
Raw brake unit is no longer participate in work, and mechanical braking unit provides whole braking torques, and controller 1 is according to severity of braking at this time
The aperture for adjusting main brake valve 16 is braked, and does not recycle braking energy at this time；
As severity of braking z≤0.7, electromagnetic clutch 13 combines 2b., and controller 1 receives 4 pipeline of the first high pressure accumulator
On 6 pressure signal of energy storage pressure sensor calculated hydraulic at this time according to the discharge capacity of secondary component hydraulic pump/motor 10
The renewable brake force of maximum that regenerative brake unit can provide, and compared with required braking torque under severity of braking is braked herein
Compared with if renewable brake force can satisfy brake request at this time, controller 1 is judged as light brake operating condition, electric Proportion valve
15 and main brake valve 16 close, the throttle valve 7 that connect with the first high pressure accumulator 4 opening is connect with the second high pressure accumulator 5
Throttle valve 7 is closed, and recycles braking energy by the first high pressure accumulator 4 at this time, and mechanical braking unit is not involved in work；If at this time
It is impossible to meet brake request, the then braking of the judgement of controller 1 at this time for the renewable braking torque that second high pressure accumulator 5 provides
Operating condition is moderate damped condition, and the throttle valve 7 connecting with the second high pressure accumulator 5 is opened, connect with the first high pressure accumulator 4
Throttle valve 7 is closed, and is recycled braking energy by the second high pressure accumulator 5 at this time, is used hydraulic regenerative braking unit to greatest extent,
It is calculated by controller 1, adjusts the ratio of mechanical braking force and renewable brake force by adjusting the aperture of electric Proportion valve 15
Example, recycles braking energy to greatest extent.
In the present embodiment, brake unit is braked using the optimal energy reclaiming based on line control brake system technology
Take-back strategy, optimal energy take-back strategy turn to target with Brake energy recovery maximum, change the mechanical braking force on driving wheel,
The mechanical braking force on non-driving wheel is not changed；In light brake, pure regenerative braking is used on driving wheel, it is high by first at this time
Accumulator 4 is pressed to recycle braking energy；Composite braking is used when moderate is braked, in composite braking, on driving wheel to greatest extent
Regenerative braking force is played, hypodynamic part is braked and is supplemented by mechanical braking unit, is recycled make by the second high pressure accumulator 5 at this time
Energy；In emergency braking, for the safety for guaranteeing braking, hydraulic regenerative braking unit is not involved in work, and brake force is whole
It is provided by mechanical braking unit.
Braking energy, work are recycled using the first different high pressure accumulator 4 of big small size, the second high pressure accumulator 5
The following formula of principle:
According to the equation of gas state:
p0v0 n=p1v1 n=p2v2 n=pvn=c
P in formula0--- the blowing pressure (MPa) of accumulator；
v0--- the original volume (L) of gas in accumulator；
p1--- the minimum operating pressure (MPa) of gas in accumulator；
v1--- pressure p1When gas volume (L)；
p2--- the maximum working pressure (MPa) of gas in accumulator；
v2--- pressure p2When gas volume (L)；
P --- any time accumulator gas pressure (MPa)；
V --- any time accumulator gas volume (L)；
This process is considered as adiabatic process by n --- air polytropic exponent, and n takes 1.4；
C --- constant.
The hydraulic pump volume delta v oily to accumulator indentation when braking, then:
Δ V in formula --- pump motor is pressed into oil liquid volume (L) as accumulator.
Accumulator works in minimum operating pressure p1, maximum working pressure p2Between, air bag volume is in corresponding v1、v2Between,
It is filled with after the hydraulic oil of Δ V volume, gas volume V (unit L) in air bag are as follows:
V=v1-Δv
Accumulator oil charging-discharging process is adiabatic process, according to pressure p in equation of gas state braking process are as follows:
The braking torque T that hydraulic regenerative braking unit provides are as follows:
The ENERGY E recycled in accumulator are as follows:
When the first high pressure accumulator 4,5 minimum operating pressure p of the second high pressure accumulator1One timing, it is assumed that automobile is being braked
During, 10 full-load operation of secondary component pump/motor, therefore the first high pressure accumulator 4, second is filled within the same time
The oil liquid Δ v of high pressure accumulator 5 is identical, by above formula it is found that the foundation of pressure is than the first high pressure in the second high pressure accumulator 5
What pressure was established in accumulator 1 is fast, therefore can provide bigger braking torque in a short time and can recycle braking energy.This
It is small and recycle that sample just compensates for renewable brake force that large volume list high pressure accumulator provides in the higher situation of severity of braking
The low disadvantage of braking energy.
In Fig. 2 and Fig. 3, hydraulic system is hydraulic regenerative braking unit.
Embodiment described above is merely preferred embodiments of the present invention, and the scope of protection of the present invention is not limited to this,
Anyone skilled in the art within the technical scope of the present disclosure, the technical solution that can be become apparent to
Simple change or equivalence replacement, all belong to the scope of protection of the present invention.
Claims (2)
1. the hydraulic hybrid regeneration brake system control method based on double accumulators, which is characterized in that including brake unit,
Power unit and control unit；
The brake unit includes hydraulic regenerative braking unit and mechanical braking unit；
The hydraulic regenerative braking unit includes the first high pressure accumulator (4), the second high pressure accumulator (5), throttle valve (7), list
To valve (8), two-bit triplet solenoid directional control valve (9), secondary component hydraulic pump/motor (10), overflow valve (11) and low pressure accumulator
(20), the oil inlet and the overflow valve (11) of the low pressure accumulator (20) and the secondary component hydraulic pump/motor (10)
Oil inlet be connected, A mouth of the two-bit triplet solenoid directional control valve (9) and the secondary component hydraulic pump/motor (10) out
The oil outlet of hydraulic fluid port and the overflow valve (11) is connected, the P mouth and the check valve of the two-bit triplet solenoid directional control valve (9)
(8) entrance is connected, the outlet of T mouth and the check valve (8) of the two-bit triplet solenoid directional control valve (9) pass through pipeline by
The throttle valve (7) is connected to first high pressure accumulator (4) and the second high pressure accumulator (5)；
The mechanical braking unit includes electric Proportion valve (15), main brake valve (16), air accumulator (17), air compressor (18)
With motor (19), the motor (19) drives air compressor (18) rotation, and by high pressure gas storage, there are the air accumulators
(17) in, the air accumulator (17) connect with the main brake valve (16), and the outlet of the main brake valve (16) passes through pipeline point
Not Lian Jie nonpowered axle brake caliper (26) and the electric Proportion valve (15), electric Proportion valve (15) outlet end connection
The brake caliper (27) of drive shaft；
The power unit includes main reducing gear (12), electromagnetic clutch (13), torsion coupler (14), gearbox (22) and hair
Motivation (23), the power that the engine (23) generates pass to the input shaft of the gearbox (22), the gearbox (22)
The power that generates of output shaft pass to the first transmission shaft of the torsion coupler (14), the secondary component hydraulic pump/horse
The power generated up to (10) passes to the second driving shaft of the torsion coupler (14), institute by the electromagnetic clutch (13)
The power for stating the second driving shaft generation of torsion coupler (14) is transmitted via the first transmission shaft of the torsion coupler (14)
Wheels travel is driven to the main reducing gear (12)；
Described control unit includes controller (1), accelerator pedal angular displacement sensor (2), brake pedal angular displacement sensor
(3), energy storage pressure sensor (6), Engine ECU (21), velocity sensor (24) and secondary component hydraulic pump/motor pressure
Sensor (25), the energy storage pressure sensor (6) are mounted on first high pressure accumulator (4) and the second high pressure accumulator
(5) and on the connecting line of the throttle valve (7), the velocity sensor (24) is mounted on nonpowered axle, the Quadratic Finite Element
Part hydraulic pump/motor pressure sensor (25) is mounted on the secondary component hydraulic pump/motor (10) and two-bit triplet electricity
On the connecting line of magnetic reversal valve (9)；
The controller (1) is internally provided with data acquisition module, data processing module and execution module；
The detection signal of each sensor of data acquisition module real-time reception, and will test signal and be sent to the data processing
Module；
The data processing module receives the detection signal and is handled it to obtain processing signal, according to handle signal to
The execution module issues control command；
The execution module receives the control command that the data processing module is sent, according to control strategy that control command is independent
Pass to controlled device；
The accelerator pedal angular displacement sensor (2), brake pedal angular displacement sensor (3), energy storage pressure sensor (6),
Velocity sensor (24), secondary component hydraulic pump/motor pressure sensor (25), engine (23), gearbox (22) are and institute
State the data acquisition module electrical connection of controller (1)；
The throttle valve (7), two-bit triplet solenoid directional control valve (9), secondary component hydraulic pump/motor (10), electromagnetic clutch
(13), the execution module of Engine ECU (21), electric Proportion valve (15), main brake valve (16) with the controller (1) is electrically connected
It connects；
The Engine ECU (21) is electrically connected with the engine (23)；
The accumulation of energy amount of first high pressure accumulator (4) is less than the accumulation of energy amount of second high pressure accumulator (5)；
The control method the following steps are included:
Step 1: when automobilism, the controller (1) receives the accelerator pedal angular displacement sensor (2) and braking at any time
The angular displacement signal that pedal angular displacement sensor (3) passes over obtains accelerator pedal by the calculating of the controller (1)
Opening amount signal and brake pedal opening amount signal judge at this time according to the accelerator opening angle signal and brake pedal opening amount signal
The operating condition of automobile, specific Rule of judgment are expressed as follows:
For 1a. when the accelerator opening angle signal is greater than 0, automobile is in driving operating condition at this time for controller (1) judgement, and
Issuing control command makes the throttle valve (7) fully open, and the A mouth of the two-bit triplet solenoid directional control valve (9) connects with T mouthfuls
Logical, P mouthfuls of closings, the controller (1) is judged according to the aperture of accelerator pedal at this time, and receives the Engine ECU
(21) tach signal passed over is schemed by the map of the engine (23), calculates engine (23) output at this time
Torque and engine power at this time, whether the engine (23) works in high efficient district at this time for judgement, if work is efficient
Area, the electromagnetic clutch (13) disconnect, at this time engine (23) independent drive vehicles, if the engine (23) at this time
High efficient district is not operated at, judges that the engine (23) is work in low-speed high-torque state or high speed low torque state；
If engine (23) work is in low-speed high-torque state at this time by 1b., the electromagnetic clutch (13) is combined, at this time institute
State controller (1) based on the received the secondary component hydraulic pump/motor pressure sensor (25) pressure signal judgement described in
The pressure at secondary component hydraulic pump/motor (25) both ends, if the pressure at secondary component hydraulic pump/motor (25) both ends at this time
Higher than the minimum operating pressure of hydraulic regenerative braking unit, then the hydraulic regenerative braking unit and the engine (23) at this time
Joint driving vehicle adjusts the engine (23) work in best operating point at this time, and the hydraulic regenerative braking unit is done
Power supplement, guarantees the normally travel of automobile；
If engine (23) work is in high speed low torque state at this time by 1c., the electromagnetic clutch (13) is combined, at this time institute
State controller (1) secondary component hydraulic pump/motor pressure sensor (25) based on the received pressure signal judge it is described secondary
The pressure at element hydraulic pump/motor (25) both ends, if the pressure at secondary component hydraulic pump/motor (25) both ends is higher than at this time
Hydraulic regenerative braking unit can independently drive the minimum pressure of vehicle, then the engine (23) does not work at this time, the liquid
It presses regenerative brake unit to work independently and drives vehicle；If the pressure at secondary component hydraulic pump/motor (25) both ends is low at this time
The minimum pressure of vehicle is independently driven in the hydraulic regenerative braking unit, then independently driving is whole for the engine (23) at this time
Vehicle, the engine (23) power more than needed will be used to fill energy for second high pressure accumulator (5), when second high pressure stores
After energy device (5) energy is full of, by controlling the throttle valve (7), continues as first high pressure accumulator (4) and fill energy；
Step 2: when the brake pedal opening amount signal, that is, severity of braking is greater than 0, the controller (1) judges that automobile is in system
Dynamic decelerating mode, and issue control command and make the A mouth of the two-bit triplet solenoid directional control valve (9) and P mouthfuls of connections, T mouthfuls are closed,
Specific Rule of judgment is expressed as follows；
For 2a. as the severity of braking z > 0.7, the controller (1) judges that damped condition is emergency braking operating condition at this time, and
Issue control command the electromagnetic clutch (13) are disconnected, electric Proportion valve (15) standard-sized sheet, at this time in order to guarantee braking system
System safety, hydraulic regenerative braking unit are no longer participate in work, and mechanical braking unit provides whole braking torques, the controller
(1) it is braked according to the aperture that severity of braking at this time adjusts main brake valve (16), does not recycle braking energy at this time；
As the severity of braking z≤0.7, the electromagnetic clutch (13) combines 2b., and it is high that the controller (1) receives first
Energy storage pressure sensor (6) pressure signal on accumulator (4) pipeline is pressed, according to the secondary component hydraulic pump/motor
(10) discharge capacity, calculates the renewable brake force of maximum that the hydraulic regenerative braking unit at this time can provide, and with make herein
Required braking torque is compared under dynamic severity of braking, if renewable brake force can satisfy brake request, the control at this time
Device (1) processed is judged as light brake operating condition, and the electric Proportion valve (15) and main brake valve (16) are closed, with first high pressure
The throttle valve (7) of accumulator (4) connection is opened, and the throttle valve (7) connecting with second high pressure accumulator (5) is closed, at this time
Braking energy is recycled by first high pressure accumulator (4), mechanical braking unit is not involved in work；If described second at this time is high
It is impossible to meet brake requests for the renewable braking torque for pressing accumulator (5) to provide, then the controller (1) judges system at this time
Condition of starting building is moderate damped condition, and the throttle valve (7) connecting with second high pressure accumulator (5) is opened, high with described first
It presses the throttle valve (7) of accumulator (4) connection to close, braking energy, maximum limit is recycled by second high pressure accumulator (5) at this time
Degree uses hydraulic regenerative braking unit, is calculated by the controller (1), by adjusting opening for electric Proportion valve (15)
It spends to adjust the ratio of mechanical braking force and renewable brake force, recycles braking energy to greatest extent.
2. the hydraulic hybrid regeneration brake system control method according to claim 1 based on double accumulators, special
Sign is that the brake unit is using the optimal energy reclaiming braking recycling plan based on line control brake system technology
Slightly, optimal energy take-back strategy turns to target with Brake energy recovery maximum, changes the mechanical braking force on driving wheel, does not change
Mechanical braking force on non-driving wheel；In light brake, pure regenerative braking is used on driving wheel, at this time by first high pressure
Accumulator (4) recycles braking energy；Composite braking is used when moderate is braked, in composite braking, on driving wheel to greatest extent
Regenerative braking force is played, hypodynamic part is braked and is supplemented by mechanical braking unit, at this time by second high pressure accumulator (5)
Recycle braking energy；In emergency braking, for the safety for guaranteeing braking, hydraulic regenerative braking unit is not involved in work, brakes
Power is all provided by mechanical braking unit.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109080613B (en) * | 2018-07-20 | 2020-04-28 | 燕山大学 | Hydraulic regenerative braking device, braking method and system |
| CN109515407A (en) * | 2018-11-14 | 2019-03-26 | 浙江工业大学 | Parallel hydraulic brake energy recovering system |
| CN109572440B (en) * | 2018-12-28 | 2022-02-11 | 重庆大学 | Electric hydraulic hybrid power system applied to SUV and control method thereof |
| CN111688668A (en) * | 2019-03-12 | 2020-09-22 | 中冶宝钢技术服务有限公司 | Hydraulic hybrid vehicle control method |
| CN110329224B (en) * | 2019-08-14 | 2023-07-25 | 吉林大学 | Emergency braking energy recovery device based on gas type energy accumulator and control method |
| CN111071229A (en) * | 2019-12-31 | 2020-04-28 | 一汽解放汽车有限公司 | Air-assisted hydraulic braking system and new energy automobile |
| CN113173147A (en) * | 2021-04-19 | 2021-07-27 | 郑州宇通重工有限公司 | Hybrid brake system and hydraulic drive transportation equipment |
| CN113335242A (en) * | 2021-06-23 | 2021-09-03 | 中国第一汽车股份有限公司 | Integrated braking energy recovery system and integrated braking energy recovery method |
| CN114151056B (en) * | 2021-12-06 | 2024-02-06 | 吉林大学 | Oil hybrid fracturing truck and control method thereof |
| CN118356283B (en) * | 2024-06-20 | 2024-08-23 | 兰州理工大学 | Energy regeneration type magnetorheological fluid damping active lower artificial limb knee joint and control method |
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