CN108515960A - Slide energy reclaiming method, apparatus and system - Google Patents
Slide energy reclaiming method, apparatus and system Download PDFInfo
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- CN108515960A CN108515960A CN201810260934.7A CN201810260934A CN108515960A CN 108515960 A CN108515960 A CN 108515960A CN 201810260934 A CN201810260934 A CN 201810260934A CN 108515960 A CN108515960 A CN 108515960A
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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
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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
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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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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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
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
- B60W2710/08—Electric propulsion units
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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
- B60W2710/24—Energy storage means
- B60W2710/242—Energy storage means for electrical energy
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- Combustion & Propulsion (AREA)
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Abstract
The present invention provides one kind sliding energy reclaiming method, apparatus and system, is related to automobile technical field, and this method includes：Obtain the driving parameters and grade signal of current vehicle；Wherein, driving parameters include speed, gear and brake pedal signal；The initial reclamation torque under current vehicle speed is calculated according to driving parameters；Initial reclamation torque is modified according to grade signal, obtains target recycling torque；Target recycling torque is sent to motor, energy regenerating is carried out to trigger motor.It is provided by the invention to slide energy reclaiming method, apparatus and system, in energy recovery process, it can be according to roadway sign, initial reclamation torque is modified, avoid vehicle vehicle deceleration during upward slope is excessive point is caused frequently to be stepped on the gas, or vehicle deceleration too small caused the problems such as frequently point touches on the brake during descending, help to ensure that the comfort level of drivability.
Description
Technical field
The present invention relates to automobile technical fields, and energy reclaiming method, apparatus and system are slided more particularly, to one kind.
Background technology
With becoming increasingly popular for hybrid vehicle, also increasing, the hybrid power of the owning amount of hybrid vehicle
The energy saving and continuation of the journey problem of automobile is by the very big attention of domestic and international automotive community.For environmental protection and reasonably utilize
Resource must just reduce the resource consumption of hybrid vehicle.In general, the energy lost when hybrid vehicle is braked carries out
Recycling, and recycled when hybrid vehicle accelerates or goes up a slope, the cruising ability of hybrid vehicle can be improved.
In general, hybrid vehicle is equipped with slide energy recovery system, and in driving procedure, driver's accelerator releasing
When, vehicle reaches slowing effect by overcoming engine rotational resistance square, and vehicle deceleration is lost in this moderating process
Kinetic energy can only all be fallen by the heat-energy losses that frictional resistance generates, and can not be recycled.And it is exactly logical to slide energy-recuperation system
It crosses and the energy loss of the part is recycled to reach good oil-saving effect, but existing at present slide energy regenerating
The size that energy regenerating torque can only be judged to slide in function based on the signals such as speed and throttle, only focuses in energy regenerating most
Bigization effect, can not allowing for driver's cornering ability comfort, reduce the comfort level of driver.
Invention content
In view of this, the purpose of the present invention is to provide one kind sliding energy reclaiming method, apparatus and system, it is existing to alleviate
Some slide energy recovery systems can not allowing for driver's cornering ability comfort the technical issues of.
In a first aspect, an embodiment of the present invention provides one kind sliding energy reclaiming method, this method is applied to slide energy
Recovery system carries out sliding energy regenerating, and this method includes：Obtain the driving parameters and grade signal of current vehicle；Wherein, row
It includes speed, gear and brake pedal signal to sail parameter；The initial reclamation torque under current vehicle speed is calculated according to driving parameters；Root
Initial reclamation torque is modified according to grade signal, obtains target recycling torque；Target recycling torque is sent to motor, is touched
Generator carries out energy regenerating.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein on
Stating the step of calculating the initial reclamation torque under current vehicle speed according to driving parameters includes：Obtain pre-stored vehicle attribute letter
Breath calculates maximum recycling torque and initial reclamation torque, wherein vehicle attribute information according to vehicle attribute information and driving parameters
It includes at least：Motor status, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance.
The possible embodiment of with reference to first aspect the first, an embodiment of the present invention provides second of first aspect
Possible embodiment, wherein it is above-mentioned that initial reclamation torque is modified according to grade signal, obtain target recycling torque
Step includes：It is searched in pre-stored correction chart according to grade signal and is with the matched amendment of the driving parameters of current vehicle
Number；Initial reclamation torque is modified according to correction factor, obtains target recycling torque.
Second of possible embodiment with reference to first aspect, an embodiment of the present invention provides the third of first aspect
Possible embodiment, wherein it is above-mentioned that initial reclamation torque is modified according to correction factor, obtain target recycling torque
Step includes：When the signal corresponding gradient in ramp is more than the first gradient threshold value, correction factor is less than 1；When ramp signal corresponds to
The gradient be less than the second gradient threshold value when, correction factor be more than 1；Wherein, the first gradient threshold value is more than the second gradient threshold value；Work as slope
When spending the corresponding gradient of signal and be more than the second gradient threshold value, and being less than the first gradient threshold value, correction factor is equal to 1；Target recycles
The calculation formula of torque is：Wherein, For correction factor,For the gradient,For the first gradient threshold value；For the second gradient threshold value；TTarget recycles torqueIt is returned for target
Receive torque；TInitial reclamation torqueFor initial reclamation torque, and, when correction factor is more than 1, TTarget recycles torqueTorque is recycled less than maximum.
The third possible embodiment with reference to first aspect, an embodiment of the present invention provides the 4th kind of first aspect
Possible embodiment, wherein it is above-mentioned obtain target recycling torque after, method further includes：It is calculated according to driving parameters current
The skidding rate of vehicle；Safety coefficient corresponding with skidding rate is searched in pre-stored safety coefficient table；Target is recycled and is turned round
Square is multiplied by safety coefficient, show that optimization aim recycles torque；Optimization aim recycling torque is sent to motor, triggering motor carries out
Energy regenerating.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein on
Stating the step of triggering motor carries out energy regenerating includes：The rotation of torque drive motor is recycled according to target, is charged the battery.
The 5th kind of possible embodiment with reference to first aspect, an embodiment of the present invention provides the 6th kind of first aspect
Possible embodiment, wherein the above method further includes：When battery charges, energy regenerating signal is monitored in real time, wherein energy
Amount recycling signal includes at least：Electricity, battery temperature and the motor temperature signal of battery；When either signal in energy regenerating signal
When more than pre-set signal threshold value, stop the process of energy regenerating.
With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiments of first aspect, wherein on
The method of stating further includes：The accelerator opening angle signal of monitoring current vehicle in real time, when monitoring accelerator opening angle signal, and,
When accelerator opening angle signal is less than pre-set aperture threshold value, energy recovery process is slided in startup.
Second aspect, the embodiment of the present invention additionally provide one kind and sliding energy recycle device, which, which is set to, slides energy
Recovery system is measured, carries out sliding energy regenerating, which includes：Acquisition module, for obtain current vehicle driving parameters and
Grade signal；Wherein, driving parameters include speed, gear and brake pedal signal；Computing module, based on according to driving parameters
Calculate the initial reclamation torque under current vehicle speed；Correcting module is obtained for being modified to initial reclamation torque according to grade signal
Torque is recycled to target；Energy recovery module, for target recycling torque to be sent to motor, triggering motor carries out energy and returns
It receives.
The third aspect, the embodiment of the present invention additionally provide one kind and sliding energy-recuperation system, the system include memory with
And processor, memory are used to store the program for supporting that processor executes first aspect the method, processor is configured as using
In executing the program stored in memory.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer storage media, for being stored as second aspect institute
State the computer software instructions used in device.
The embodiment of the present invention brings following advantageous effect：
One kind provided in an embodiment of the present invention slides energy reclaiming method, apparatus and system, can obtain current vehicle
Driving parameters and grade signal calculate the initial reclamation torque under current vehicle speed according to driving parameters；And according to grade signal pair
Initial reclamation torque is modified, and obtains target recycling torque；Target recycling torque is sent to motor again, triggering motor carries out
Energy regenerating can be modified initial reclamation torque, vehicle avoided to exist in energy recovery process according to roadway sign
During upward slope vehicle deceleration it is excessive cause frequently put step on the gas or descending during vehicle deceleration it is too small caused by frequently
The problems such as point touches on the brake, helps to ensure that the comfort level of drivability, to realize driving in the case where ensureing different ramp angles
Sail the maximization to recover energy on the basis of comfort level.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart sliding energy reclaiming method provided in an embodiment of the present invention；
Fig. 2 is the flow chart that another kind provided in an embodiment of the present invention slides energy reclaiming method；
Fig. 3 is a kind of structural schematic diagram sliding energy recycle device provided in an embodiment of the present invention；
Fig. 4 is a kind of structure diagram sliding energy-recuperation system provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, sliding in energy recovery function, can only be turned round based on the signals such as speed and throttle to judge to slide energy regenerating
The size of square only focuses on and maximizes effect in energy regenerating, can not take into account driving so that and it is too fast in upward slope vehicle deceleration, or
Vehicle accelerates too fast frequency to touch on the brake when person's descending, reduces the comfort level of driver.Based on this, provided in an embodiment of the present invention one
Kind slides energy reclaiming method, apparatus and system, while carrying out energy regenerating, ensures the driving comfort of driver.
For ease of understanding the present embodiment, energy regenerating side is slided to one kind disclosed in the embodiment of the present invention first
Method describes in detail.
Embodiment one：
An embodiment of the present invention provides one kind sliding energy reclaiming method, and this method is applied to sliding for hybrid vehicle
Energy-recuperation system can specifically execute on the controller for slide energy-recuperation system, carry out sliding energy regenerating, energy
Amount recovery system refers to that the excess energy for consuming vehicle in braking or moderating process recycles, and the energy of vehicle is reduced with this
Amount consumption, improves the mileage travelled of hybrid vehicle.
A kind of flow chart sliding energy reclaiming method as shown in Figure 1, includes the following steps：
Step S102 obtains the driving parameters and grade signal of current vehicle；In general, the driving parameters include speed, shelves
Position and brake pedal signal；
When specific implementation, speed and gear signal can be measured by velocity sensor, and brake pedal signal can be by stopping
Vehicle pedal jaw opening sensor detects.
Step S104 calculates the initial reclamation torque under current vehicle speed according to driving parameters；
Step S106 is modified initial reclamation torque according to grade signal, obtains target recycling torque；
Target recycling torque is sent to motor by step S108, and triggering motor carries out energy regenerating.
In the process of moving in view of hybrid vehicle (hereinafter referred to as automobile), according to the difference of traffic information, or
The driving habit of driver is different, it may appear that frequently touch on the brake pedal the case where, and slightly put when touching on the brake pedal, be not appropriate for
It carries out sliding energy regenerating.Therefore, in order to avoid sliding the frequent starting of energy-recuperation system, the above method further includes：In vehicle
When driving, the accelerator opening angle signal for monitoring current vehicle in real time, when monitoring accelerator opening angle signal, and, accelerate
When pedal opening signal is less than pre-set aperture threshold value, energy recovery process is slided in startup, ensure that and slides energy regenerating
The startup validity of system avoids frequently starting the energy waste brought in vain.
The attributes such as car weight and engine generally, due to each automobile are different, and above-mentioned initial reclamation torque is caused also to differ
Sample, therefore, when calculating initial reclamation torque, be normally based on vehicle attribute information and the current driving parameters of automobile into
Capable.In particular it is required that obtaining pre-stored vehicle attribute information, counted according to vehicle attribute information and driving parameters
It calculates, obtains maximum recycling torque and initial reclamation torque, wherein vehicle attribute information includes at least：Motor status, battery shape
State, car weight, vehicle sliding resistance and the engine towing astern moment of resistance.
Specific simulation calculation process can establish vehicle calculating by the modeling method based on MATLAB/Simulink
Machine simulation model is realized, carries out energy management strategies design according to simulation model, and then be based on vehicle attribute information and current vehicle
Driving parameters, obtain maximum recycling torque and initial reclamation torque.Further, it can also be designed in energy management strategies
In, above-mentioned simulation model can also be used to the energy expenditure of quantitative analysis vehicle, establish energy consumption model, be used for design energy
Management strategy, fast verification energy management strategies reduce unnecessary sample car manufacture and real train test, shorten the development cycle, drop
Low development cost.The specific modeling method of simulation calculation and the method for building up of simulation model can refer to phase in the prior art
Pass data realizes that it is not limited by the embodiments of the present invention.
In general, above-mentioned initial reclamation torque is the recycling torque that current automobile is generated based on current vehicle speed, based on not
Same speed, the initial reclamation torque are different.When specific implementation, above-mentioned recycling torque is in automobile brake, by kinetic energy or gesture
Electric energy can be converted to, and passes to the torque of motor from wheel, in general, when automobile brake, brake generates torque, a part of power
Square generates a braking deceleration as braking moment, which directly reflects the braking for making car deceleration travel
The size of power, braking deceleration is bigger, and brake force is bigger, and the speed decline of automobile is faster, and braking distance is also shorter, therefore,
Braking deceleration can be such that car deceleration runs, that is, so that the rotating speed of wheel is declined, finally make car deceleration until parking；Under
When driving, which can also make automobile keep stabilizing speed appropriate on slope；In addition, can also automobile be made reliably to be parked in original
On ground or ramp.
It is another in addition to the torque of an above-mentioned part is as braking moment in the case where not sliding energy-recuperation system
The heat-energy losses that part is then generated in vehicle deceleration process by frictional resistance are fallen.And configured with sliding energy-recuperation system
Automobile on, the torque lost can be recycled.
Traditional slides energy-recuperation system, when progress energy is recycled, is mostly just based on speed and throttle etc.
Signal judges to recycle the size of torque, only focuses on and maximizes effect in energy regenerating, leads to occur vehicle during automobile up slope
The problems such as vehicle deceleration is too small during deceleration is excessive or descending.
It is provided in an embodiment of the present invention to slide energy reclaiming method based on this, it can be right after obtaining initial reclamation torque
Initial reclamation torque is modified, and therefore, slides energy reclaiming method based on shown in FIG. 1, the embodiment of the present invention additionally provides
Another kind slides energy reclaiming method, and another kind as shown in Figure 2 slides the flow chart of energy reclaiming method, including following step
Suddenly：
Step S202 monitors the accelerator opening angle signal of current vehicle in real time, when monitoring accelerator opening angle signal,
And accelerator opening angle signal be less than pre-set aperture threshold value when, startup slide energy recovery process；
It is above-mentioned to slide after energy recovery process starts, pass through step S204~step S218 and carries out energy regenerating.
Step S204 obtains the driving parameters and grade signal of current vehicle；
Step S206 obtains pre-stored vehicle attribute information, is calculated most according to vehicle attribute information and driving parameters
Big recycling torque and initial reclamation torque；
Wherein, the process of simulation calculation can be realized based on the modeling method of above-mentioned MATLAB/Simulink.Vehicle attribute
Information includes at least：Motor status, battery status, car weight, vehicle sliding resistance and the engine towing astern moment of resistance, in general, root
The maximum recycling torque that current vehicle allows is calculated according to motor status and battery status；According to driving parameters, as speed, gear and
Brake pedal signal, and combination car weight, vehicle sliding resistance and engine towing astern moment of resistance etc. calculate initial reclamation torque.
Step S208 is searched in pre-stored correction chart according to grade signal and is matched with the driving parameters of current vehicle
Correction factor；
Specifically, which is the correction factor based on grade signal, when automobile is under upward slope operating mode, the amendment system
It counts less than 1, and, the corresponding gradient of ramp signal (ramp angles) is bigger, and the correction factor is smaller；When automobile is in descending operating mode
Under, the correction factor be more than 1, and, the signal corresponding gradient in ramp is smaller, and the correction factor is bigger；The specific correction factor
The relationship of size and ramp angles can be obtained by the method for experimental calibration, e.g., under upward slope operating mode, when the gradient is 30 degree, be repaiied
Positive coefficient is 0.7；When the gradient is 40 degree, correction factor is 0.6 etc..Specific value of slope and the corresponding amendment of the value of slope
Coefficient can be carried out experimental calibration, be specifically subject to actual conditions based on the vehicle attribute information of current vehicle, and the present invention is real
Example is applied to be not limited this
After finding correction factor, the makeover process of initial reclamation torque can be carried out.
Step S210 is modified initial reclamation torque according to correction factor, obtains target recycling torque；
For the ease of being demarcated to the gradient, gradient coordinate system can be established, using horizontal plane as zero, it is specified that the slope gone up a slope
Degree is positive direction, and the gradient of descending is negative direction.
When the signal corresponding gradient in ramp is more than the first gradient threshold value, correction factor is less than 1；When ramp, signal is corresponding
When the gradient is less than the second gradient threshold value, correction factor is more than 1；Wherein, the first gradient threshold value is more than the second gradient threshold value；Work as the gradient
The corresponding gradient of signal be more than the second gradient threshold value, and less than the first gradient threshold value when, correction factor be equal to 1；
Specifically, in gradient coordinate system, above-mentioned first gradient threshold value is typically greater than zero value, and the second gradient threshold value is
Minus value, therefore, the gradient is bigger, indicates that current automobile is upward slope operating mode, and ramp is steeper；The gradient is smaller, and is less than zero,
Indicate that current automobile is descending operating mode, and ramp is steeper.
When specific implementation, the first gradient threshold value and the second gradient threshold value can be configured according to actual conditions, the present invention
Embodiment is not limited this.
Further, the calculation formula of above-mentioned target recycling torque can be expressed as：
Wherein, For correction factor,For the gradient,For first gradient
Threshold value；For the second gradient threshold value；TTarget recycles torqueTorque is recycled for target；TInitial reclamation torqueFor initial reclamation torque, and, it is when correcting
When number is more than 1, TTarget recycles torqueTorque is recycled less than maximum.
It is illustrated by taking automobile up slope and descending as an example：
When automobile enters energy regenerating under upward slope operating mode, sliding energy-recuperation system can be based on the ramp calculated in real time
Angular dimension searches correction factor as input condition, at this point, correction factor is less than 1, initial reclamation torque is multiplied by this and is less than 1
After correction factor so that recycling torque reduces, although reducing the recycling of energy, can help to ensure that in automobile up slope
When, vehicle deceleration is held essentially constant, and avoids the occurrence of the too fast equal driving sex chromosome mosaicism of upward slope deceleration；
When automobile enters energy regenerating under descending operating mode, sliding energy-recuperation system can be based on the ramp calculated in real time
Angular dimension searches correction factor as input condition, at this point, correction factor is more than 1, initial reclamation torque is multiplied by this and is more than 1
After correction factor so that recycling torque increases, and improves the recycling of energy, meanwhile, the energy of recycling is more, avoids automobile and exists
Descending process medium velocity increases very fast situation.
Further, in order to avoid torque is excessive that security performance is caused to reduce for recycling, therefore, target during descending is returned
It receives torque and must not exceed maximum recycling torque.
When specific implementation, above-mentioned target recycling torque and maximum recycling torque can be sent to by sliding energy-recuperation system
ESP (Electronic Stability Program, body electronics systems stabilisation) system, the ESP system can promote vehicle
Manipulation performance while, be effectively prevented system or program that automobile reaches out of control when its dynamic limit, promote vehicle
Safety and handling.Therefore, ESP system can be based on wheel side after receiving target recycling torque and maximum recycling torque
The monitoring safety factor such as deceleration and skidding rate considers to optimize processing to above-mentioned target recycling torque, specific such as step S212
Shown in~step S218.
Step S212 calculates the skidding rate of current vehicle according to driving parameters；
In general, vehicle in transport because ground is soft, moist, or due to overload running gear skid, it is assumed that
Ground contact point is Va relative to the linear velocity on ground, and the axis speed of wheel is Vx, then skidding rate is (Va/Vx) * 100%.
It should be appreciated that above-mentioned skidding rate is only schematically illustrate, when specific implementation, above-mentioned skidding rate can be according to vehicle category
Property information and current road conditions are configured, and therefore, the calculating process of above-mentioned skidding rate can also refer to existing skill
Associated materials in art realize, are specifically subject to actual conditions, and it is not limited by the embodiments of the present invention.
Step S214 searches safety coefficient corresponding with skidding rate in pre-stored safety coefficient table；
Target recycling torque is multiplied by safety coefficient, show that optimization aim recycles torque by step S216；
Optimization aim recycling torque is sent to motor by step S218, and triggering motor carries out energy regenerating.
When specific implementation, target can be recycled torque and be sent to motor progress torque sound by the process of above-mentioned energy regenerating
It answers, is rotated with driving motor, charged the battery.
Further, it is contemplated that the safety in utilization of battery, when battery charges, the above method further includes real-time monitoring energy
Recycle signal, wherein energy regenerating signal includes at least：Electricity, battery temperature and the motor temperature signal of battery；When energy returns
When either signal is more than pre-set signal threshold value in the collection of letters number, exits and slide energy-recuperation system, stop energy regenerating
Process.
One kind provided in an embodiment of the present invention slides energy reclaiming method, can obtain driving parameters and the slope of current vehicle
Signal is spent, the initial reclamation torque under current vehicle speed is calculated according to driving parameters；And according to grade signal to initial reclamation torque
It is modified, obtains target recycling torque；Target recycling torque is sent to motor again, to trigger motor rotation, carries out energy
Recycling, in energy recovery process, can be modified initial reclamation torque, vehicle is avoided to go up a slope according to roadway sign
In the process vehicle deceleration it is excessive cause frequently put step on the gas or descending during vehicle deceleration it is too small caused by frequently point step on
The problems such as brake, helps to ensure that the comfort level of drivability, to which the driving realized in the case where ensureing different ramp angles is relaxed
The maximization to recover energy on the basis of appropriateness.
Embodiment two：
On the basis of the above embodiments, the embodiment of the present invention additionally provides one kind and sliding energy recycle device, the device
It is set to and slides energy-recuperation system, carry out sliding energy regenerating, a kind of structure sliding energy recycle device as shown in Figure 3
Schematic diagram, the device include：
Acquisition module 30, driving parameters and grade signal for obtaining current vehicle；Wherein, driving parameters include vehicle
Speed, gear and brake pedal signal；
Computing module 32, for calculating the initial reclamation torque under current vehicle speed according to driving parameters；
Correcting module 34 obtains target recycling torque for being modified to initial reclamation torque according to grade signal；
Energy recovery module 36, for target recycling torque to be sent to motor, triggering motor carries out energy regenerating.
It is provided in an embodiment of the present invention to slide energy recycle device, slide energy reclaiming method with what above-described embodiment provided
Technical characteristic having the same reaches identical technique effect so can also solve identical technical problem.
The embodiment of the present invention additionally provides one kind and sliding energy-recuperation system, which includes memory and processor,
Memory is used to store the program for supporting that processor executes one the method for above-described embodiment, and processor is configurable for executing
The program stored in memory.
Further, the embodiment of the present invention additionally provides a kind of computer storage media, for being stored as above-described embodiment two
Computer software instructions used in described device.
Referring to Fig. 4, the embodiment of the present invention also provides a kind of structure diagram sliding energy-recuperation system, including：Processor
400, memory 401, bus 402 and communication interface 403, the processor 400, communication interface 403 and memory 401 are by total
Line 402 connects；Processor 400 is for executing the executable module stored in memory 401, such as computer program.
Wherein, memory 401 may include high-speed random access memory (RAM, Random Access Memory),
May further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.By extremely
A few communication interface 403 (can be wired or wireless) is realized logical between the system network element and at least one other network element
Letter connection can use internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 402 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, number
According to bus, controlling bus etc..For ease of indicating, only indicated with a four-headed arrow in Fig. 4, it is not intended that an only bus
Or a type of bus.
Wherein, memory 401 is for storing program, and the processor 400 executes the journey after receiving and executing instruction
Sequence, the method slided performed by energy recycle device that aforementioned any embodiment of the embodiment of the present invention discloses can be applied to handle
In device 400, or realized by processor 400.
Processor 400 may be a kind of IC chip, the processing capacity with signal.It is above-mentioned during realization
Each step of method can be completed by the integrated logic circuit of the hardware in processor 400 or the instruction of software form.On
The processor 400 stated can be general processor, including central processing unit (Central Processing Unit, abbreviation
CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital
Signal Processing, abbreviation DSP), application-specific integrated circuit (Application Specific Integrated
Circuit, abbreviation ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or
Person other programmable logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute sheet
Disclosed each method, step and logic diagram in inventive embodiments.General processor can be microprocessor or the processing
Device can also be any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in
Hardware decoding processor executes completion, or in decoding processor hardware and software module combination execute completion.Software mould
Block can be located at random access memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable storage
In the storage medium of this fields such as device, register maturation.The storage medium is located at memory 401, and processor 400 reads memory
Information in 401, in conjunction with the step of its hardware completion above method.
What the embodiment of the present invention was provided slides the computer program product of energy reclaiming method, apparatus and system, including
The computer readable storage medium of program code is stored, the instruction that said program code includes can be used for executing previous methods real
The method described in example is applied, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Finally it should be noted that：Above example, only specific implementation mode of the invention, to illustrate the skill of the present invention
Art scheme, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to the present invention into
Go detailed description, it should be understood by those skilled in the art that：Any one skilled in the art takes off in the present invention
In the technical scope of dew, it can still modify to the technical solution recorded in previous embodiment or can readily occur in change
Change or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make relevant art
Scheme essence be detached from technical solution of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it
It is interior.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. one kind sliding energy reclaiming method, which is characterized in that the method is applied to slide energy-recuperation system, the method
Including：
Obtain the driving parameters and grade signal of current vehicle；Wherein, the driving parameters include speed, gear and brake pedal
Signal；
The initial reclamation torque under presently described speed is calculated according to the driving parameters；
The initial reclamation torque is modified according to the grade signal, obtains target recycling torque；
Target recycling torque is sent to motor, the motor is triggered and carries out energy regenerating.
2. according to the method described in claim 1, it is characterized in that, described calculate presently described speed according to the driving parameters
Under initial reclamation torque the step of include：
Pre-stored vehicle attribute information is obtained, maximum recycling is calculated according to the vehicle attribute information and the driving parameters
Torque and the initial reclamation torque, wherein the vehicle attribute information includes at least：Motor status, battery status, car weight,
Vehicle sliding resistance and the engine towing astern moment of resistance.
3. according to the method described in claim 2, it is characterized in that, described turn round the initial reclamation according to the grade signal
Square is modified, and is obtained the step of target recycles torque and is included：
It is searched in pre-stored correction chart according to the grade signal and the driving parameters of the current vehicle are matched repaiies
Positive coefficient；
The initial reclamation torque is modified according to the correction factor, obtains the target recycling torque.
4. according to the method described in claim 3, it is characterized in that, described turn round the initial reclamation according to the correction factor
Square is modified, and is obtained the step of target recycles torque and is included：
When the corresponding gradient of the ramp signal is more than the first gradient threshold value, the correction factor is less than 1；When the ramp is believed
When number corresponding gradient is less than the second gradient threshold value, the correction factor is more than 1；Wherein, first gradient threshold value is more than institute
State the second gradient threshold value；
When the corresponding gradient of the grade signal is more than the second gradient threshold value, and is less than the first gradient threshold value, the amendment system
Number is equal to 1；
The calculation formula of target recycling torque is：
Wherein, For correction factor,For the gradient,For the first gradient threshold value；For the second gradient threshold value；
TTarget recycles torqueTorque is recycled for the target；TInitial reclamation torqueFor the initial reclamation torque, and, when the correction factor is more than
When 1, the TTarget recycles torqueLess than the maximum recycling torque.
5. according to the method described in claim 4, it is characterized in that, it is described obtain target recycling torque after, the method is also
Including：
The skidding rate of current vehicle is calculated according to the driving parameters；
Safety coefficient corresponding with the skidding rate is searched in pre-stored safety coefficient table；
Target recycling torque is multiplied by the safety coefficient, show that optimization aim recycles torque；
Optimization aim recycling torque is sent to motor, the motor is triggered and carries out energy regenerating.
6. according to the method described in claim 1, it is characterized in that, the step of triggering motor carries out energy regenerating packet
It includes：
Motor rotation described in torque drive is recycled according to the target, is charged the battery.
7. according to the method described in claim 6, it is characterized in that, the method further includes：
When the battery charges, energy regenerating signal is monitored in real time, wherein the energy regenerating signal includes at least：It is described
Electricity, battery temperature and the motor temperature signal of battery；
When either signal is more than pre-set signal threshold value in the energy regenerating signal, stop the process of energy regenerating.
8. according to the method described in claim 1, it is characterized in that, the method further includes：
The accelerator opening angle signal for monitoring the current vehicle in real time, when monitoring the accelerator opening angle signal, and, institute
When stating accelerator opening angle signal less than pre-set aperture threshold value, energy recovery process is slided described in startup.
9. one kind sliding energy recycle device, which is characterized in that described device, which is set to, slides energy-recuperation system, is slided
Energy regenerating, described device include：
Acquisition module, driving parameters and grade signal for obtaining current vehicle；Wherein, the driving parameters include speed,
Gear and brake pedal signal；
Computing module, for calculating the initial reclamation torque under presently described speed according to the driving parameters；
Correcting module obtains target recycling torque for being modified to the initial reclamation torque according to the grade signal；
Energy recovery module triggers the motor and carries out energy regenerating for target recycling torque to be sent to motor.
10. one kind sliding energy-recuperation system, which is characterized in that the system comprises memory and processor, the storage
Device is used to store the program for supporting that processor perform claim requires any one of 1 to 8 the method, and the processor is configured as using
The program stored in the execution memory.
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