CN108583293A - The feedback braking torque distribution method and its four-wheel-driven control system of new-energy automobile - Google Patents
The feedback braking torque distribution method and its four-wheel-driven control system of new-energy automobile Download PDFInfo
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- CN108583293A CN108583293A CN201810570378.3A CN201810570378A CN108583293A CN 108583293 A CN108583293 A CN 108583293A CN 201810570378 A CN201810570378 A CN 201810570378A CN 108583293 A CN108583293 A CN 108583293A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
Abstract
The invention discloses a kind of feedback braking torque distribution methods of new-energy automobile, including step：Computing system can absorb feedback braking torque, the total feedback braking demand torque of computing system, bridge stability it is expected feedback torque before calculating, bridge economy it is expected feedback torque before calculating, bridge feedback braking demand torque before calculating, rear axle feedback braking demand torque is calculated, front-rear axle braking requirement torque is calculated, calculates front-rear axle mechanical braking demand torque.This method can calculate the total braking requirement torque of driver, can also judge whether body gesture is best stabilized state, calculate the front-rear axle braking torque ratio for maintaining vehicle body optimal stability.This method can well coordinate management, intact stability and the front-rear axle electric drive system ability of electric flux, the feedback torque between reasonable distribution front-rear axle.There is the hybrid power 4 wheel driven vehicle of full decoupled independent power source configuration suitable for front-rear axle.The invention also discloses a kind of four-wheel-driven control systems of new-energy automobile.
Description
Technical field
The present invention relates to a kind of distribution of the feedback braking torque of technical field of new energy more particularly to new-energy automobile
Method and its four-wheel-driven control system.
Background technology
In recent years, energy and environment problem becomes increasingly conspicuous, and exploitation energy-saving and environmental protection, efficient automobile have become social each
The common recognition on boundary.In this background, electric vehicle and plug-in hybrid-power automobile gradually go on traffic stage, following electronic
More substitution orthodox car is become the walking-replacing tool of people by automobile, plug-in hybrid-power automobile.Correspondingly, meet society
Demand to automobile electrically-charging equipment also becomes more and more important.
People also increasingly pay attention to long journey self-driving travel in addition to work, correspondingly, the driveability requirement to vehicle
It is higher and higher.In this case, has the 4-wheel driven car of new energy dynamical system (such as hybrid power system or pure electric vehicle system)
It is becoming increasingly popular.
It is different from the engine driving mode of general internal combustion engine power car, new energy dynamical system or pure electric vehicle system
Drive form is more flexible, and system configuration is not limited to single power source.Since the full decoupled power configuration of front-rear axle is in cloth
Set more flexible, the arrangement space of bigger can be provided for power battery, power source may be implemented more intelligent control and
More efficient braking energy feedback may be implemented, therefore, become current popular selection.
The new-energy automobile for driving rear axle with independent electrical has better energy feedback potentiality relative to two drive automobiles, reasonable
Deceleration feedback is carried out using the electric drive system of preceding bridge and rear axle, the feedback not less than 0.3G acceleration may be implemented, absolutely mostly
The common road surface of number can realize complete feedback, or even seldom brake fluid system be needed to intervene.Since feedback distribution is related to
Coordination between the management of electric flux, intact stability and front-rear axle electric drive system ability, returning between reasonable distribution front-rear axle
Feedback torque is the key that play the system good potentiality and difficult point.
Invention content
In view of this, the purpose of the present invention is to provide a kind of feedback braking torque distribution method of new-energy automobile, it should
Method can be between reasonable distribution front-rear axle feedback torque, play the good potentiality of the system.The present invention also provides a kind of new
The four-wheel-driven control system of energy automobile.
To achieve the goals above, the present invention provides following technical solutions：
A kind of feedback braking torque distribution method of new-energy automobile, includes the following steps：
Computing system can absorb feedback braking torque, and system can absorb feedback braking torque=system and can absorb feedback braking
Power/the wheel speed of (electric system efficiency × transmission system efficiency) × 9550/, wherein system can absorb feedback braking power=height
The pressure load chargeable power of total consumed power+power battery；
It is total to calculate driver according to speed and brake pedal position combination car weight for the total feedback braking demand torque of computing system
Braking requirement torque, (system can absorb feedback braking torque to the total feedback braking demand torque=MAX of system, and driver always brakes
Demand torque)；
Bridge stability it is expected feedback torque before calculating, and bridge minimum braking torque accounts for before being calculated according to speed and steering wheel angle
Than preceding bridge stability it is expected the feedback torque=total feedback braking demand torque of system × preceding bridge minimum braking torque accounting；
The bridge economy phase before bridge economy expectation feedback torque before calculating, comprehensive preceding electric bridge and rear electric bridge efficiency characteristic are established
Hope torque MAP, bridge economy it is expected torque MAP to obtain the preceding bridge economy phase before being looked into using the total feedback braking demand torque of system
Hope feedback torque；
Bridge feedback braking demand torque before calculating, preceding bridge feedback braking demand torque=MAX { (it is expected MIN by preceding bridge stability
Feedback torque, preceding bridge economy it is expected feedback torque), preceding bridge motor currently can power generation torque }；
Rear axle feedback braking demand torque is calculated, rear axle feedback braking demand torque=MAX { turn round by preceding bridge feedback braking demand
Square × (bridge minimum braking torque accounting before 1-)/preceding bridge minimum braking torque accounting, rear axle motor currently can power generation torques }；
Front-rear axle braking requirement torque is calculated, the preceding total braking requirement torque of bridge braking requirement torque=driver × preceding bridge is most
Small braking torque accounting；The rear axle braking requirement torque=total braking requirement torque of driver × (bridge minimum braking torque accounts for before 1-
Than)；
Front-rear axle mechanical braking demand torque is calculated, preceding bridge mechanical braking demand torque=preceding bridge braking requirement torque-is preceding
The practical feedback braking torque of axle driving system feedback；Rear axle mechanical braking demand torque=rear axle braking requirement torque-rear axle
The practical feedback braking torque of drive system feedback.
The feedback braking torque distribution method of new-energy automobile provided by the invention, including step：Computing system is absorbable
Feedback braking torque, the total feedback braking demand torque of computing system, bridge stability it is expected feedback torque before calculating, bridge warp before calculating
Ji property it is expected feedback torque, and bridge feedback braking demand torque before calculating calculates rear axle feedback braking demand torque, calculates front-rear axle
Braking requirement torque calculates front-rear axle mechanical braking demand torque.This method can calculate the total braking requirement torque of driver, also
It may determine that whether body gesture is best stabilized state, calculate the front-rear axle braking torque ratio for maintaining vehicle body optimal stability
Example.This method can well coordinate management, intact stability and the front-rear axle electric drive system ability of electric flux, before and after reasonable distribution
Feedback torque between bridge, plays the good potentiality of the system.There is full decoupled independent power source structure suitable for front-rear axle
The hybrid power 4 wheel driven vehicle of type.
A kind of four-wheel-driven control system of new-energy automobile provided by the invention, including：Dynamical system control unit, vehicle body are steady
Qualitative contrlol device, steering wheel angle sensor, wheel speed sensors, front axle driving system, rear bridge driven system, power battery and system
Dynamic pedal position sensor, wherein
The dynamical system control unit can absorb feedback braking torque for computing system, and system can absorb feedback braking
Torque=system can absorb feedback braking power/wheel speed of (electric system efficiency × transmission system efficiency) × 9550/, wherein is
System can absorb feedback braking power=high-voltage load total consumed power+chargeable power of power battery；The dynamical system control
Unit is additionally operable to bridge economy before calculating and it is expected that feedback torque, comprehensive preceding electric bridge and rear electric bridge efficiency characteristic establish preceding bridge economy
It is expected that torque MAP, bridge economy it is expected torque MAP to obtain preceding bridge economy before being looked into using the total feedback braking demand torque of system
It is expected that feedback torque；
The vehicle body stability controller includes：The total feedback braking demand torque computing module of system, preceding bridge stability period
Hope feedback torque arithmetic module, front-rear axle feedback braking demand torque computing module, front-rear axle braking requirement torque arithmetic module,
Front-rear axle mechanical braking demand torque computing module, wherein
The total feedback braking demand torque computing module of system is used for according to speed and brake pedal position combination car weight
The calculating total braking requirement torque of driver, the total feedback braking demand torque=MAX of system (system can absorb feedback braking torque,
The total braking requirement torque of driver)；
The preceding bridge stability it is expected that feedback torque arithmetic module is used to calculate preceding bridge most according to speed and steering wheel angle
Small braking torque accounting, preceding bridge stability it is expected that feedback torque=total feedback braking demand torque of system × preceding bridge minimum braking is turned round
Square accounting；
The front-rear axle feedback braking demand torque computing module is for bridge feedback braking demand torque before calculating and calculating
Rear axle feedback braking demand torque, { (preceding bridge stability it is expected feedback torque to MIN to preceding bridge feedback braking demand torque=MAX, preceding
Bridge economy it is expected feedback torque), preceding bridge motor currently can power generation torque }, rear axle feedback braking demand torque=MAX { preceding bridges
Feedback braking demand torque × (bridge minimum braking torque accounting before 1-)/preceding bridge minimum braking torque accounting, rear axle motor are current
It can power generation torque }；
The front-rear axle braking requirement torque arithmetic module is for calculating front-rear axle braking requirement torque, preceding bridge braking requirement
The total braking requirement torque of torque=driver × preceding bridge minimum braking torque accounting；Rear axle braking requirement torque=driver always makes
Dynamic demand torque × (bridge minimum braking torque accounting before 1-)；
The front-rear axle mechanical braking demand torque computing module is for calculating front-rear axle mechanical braking demand torque, preceding bridge
The practical feedback braking torque of mechanical braking demand torque=preceding bridge braking requirement torque-front axle driving system feedback；Rear axle machine
The practical feedback braking torque of tool braking requirement torque=rear axle braking requirement torque-rear bridge driven system feedback；
The steering wheel angle sensor is for acquiring steering wheel angle and steering wheel angle signal being sent to the vehicle
Body stability controller；
The wheel speed sensors are stablized for acquiring four wheel speeds respectively and four-wheel tach signal being sent to the vehicle body
Property controller is to be converted to speed and four-wheel wheel speed；
Bridge provides driving torque forward when the front axle driving system is used for vehicle traction, provides when vehicle braking and brakes back
Present torque；
Driving torque is provided to rear axle when the rear bridge driven system is used for vehicle traction, provides when vehicle braking and brakes back
Present torque；
Driving electric energy is provided to power drive system when the power battery is used for vehicle traction, and in vehicle braking feedback
The electric energy of the rear bridge driven system and/or the front axle driving system feedback can be stored；
The brake pedal position sensor is used to brake pedal displacement or angular displacement being converted to voltage signal, will be electric
Pressure signal sends the vehicle body stability controller to；
The front axle driving system and the rear bridge driven system are all connected to the power battery and pass through described
Dynamical system control unit is connected to the vehicle body stability controller, the steering wheel angle sensor, wheel speed sensing
Device and the brake pedal position sensor are all connected to the vehicle body stability controller.
Preferably, in the four-wheel-driven control system of above-mentioned new-energy automobile, the dynamical system control unit is integrated in whole
In vehicle controller.
Preferably, it in the four-wheel-driven control system of above-mentioned new-energy automobile, is built-in in the vehicle body stability controller
Acceleration transducer.
In the four-wheel-driven control system of new-energy automobile provided by the invention, vehicle body stability controller is integrated with feedback braking
Control function can calculate the total braking requirement torque of driver according to speed and brake pedal position variation, can also calculate
Four-wheel wheel speed, speed, and body gesture is monitored simultaneously, bonding position disk corner, speed, wheel speed and the acceleration built in it pass
Sensor judges whether body gesture is best stabilized state, and carries (default) and vehicle acceleration, side according to vehicle antero posterior axis axis
The front-rear axle braking torque ratio for maintaining vehicle body optimal stability is calculated to information such as disk corners.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the four-wheel-driven control system structural schematic diagram of the new-energy automobile in the specific embodiment of the invention；
Fig. 2 is the flow diagram of the feedback braking torque distribution method in the specific embodiment of the invention；
Fig. 3 is the motor external characteristic curve in the specific embodiment of the invention.
In Fig. 1：
1- dynamical systems control unit, 2- vehicle bodies stability controller, 3- steering wheel angle sensors, 4- wheel speeds sensing
Device, 5- front axle driving systems, 6- rear bridge drivens system, 7- power batteries, 8- brake pedal position sensors.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is the four-wheel-driven control system structural representation of the new-energy automobile in the specific embodiment of the invention
Figure.For the feedback torque between reasonable distribution front-rear axle, the good potentiality of new-energy automobile four-wheel-driven control system, this hair are played
Bright to provide a kind of four-wheel-driven control system of new-energy automobile, such as Fig. 1, which includes：Dynamical system control is single
Member 1, vehicle body stability controller 2, steering wheel angle sensor 3, wheel speed sensors 4, front axle driving system 5, rear bridge driven system
System 6, power battery 7, brake pedal position sensor 8.The function and realization process of various pieces are described in detail below：
Dynamical system control unit 1, abbreviation PCU, the gross electric capacity that can be inputted and store for calculating vehicle high-voltage system,
And front-rear axle power drive system ability and efficiency characteristic are combined, it is expected respectively based on bridge before Best Economy calculating vehicle and rear axle
It is output to the feedback torque at wheel end；Wherein, vehicle high-voltage system be refer to storage electric energy, other abilities are converted into electric energy with
And consumption electric energy meets the system of other functional requirements of vehicle, voltage should be not less than 60V.Preferably, the power in this programme
System control unit 1 is integrated in entire car controller, that is, by correlation function Integrated Simulation in existing entire car controller, such as
This setting can reduce parts in order to arrangement of parts.Certainly, dynamical system control unit 1 can also be designed in this programme
For individual controller, i.e. Powertrain Control Unit, abbreviation PCU.
Dynamical system control unit 1 can absorb feedback braking torque for computing system, and system can absorb feedback braking and turns round
Square=system can absorb feedback braking power/wheel speed of (electric system efficiency × transmission system efficiency) × 9550/, wherein system
Absorbable feedback braking power=high-voltage load total consumed power+chargeable power of power battery.The dynamical system control unit 1
It is additionally operable to bridge economy before calculating and it is expected that feedback torque, comprehensive preceding electric bridge and rear electric bridge efficiency characteristic are established preceding bridge economy and it is expected
Torque MAP, bridge economy it is expected torque MAP to obtain preceding bridge economy expectation before being looked into using the total feedback braking demand torque of system
Feedback torque.
Vehicle body stability controller 2 (Electric Stability Controller, abbreviation ESC), is integrated with and brakes back
Control function is presented, for distributing hydraulic braking torque and electric braking torque during braking, for calculating four-wheel wheel speed, vehicle
Speed, and vehicle body stability control is carried out according to steering wheel angle, speed, wheel speed, according to speed and brake pedal position variation meter
The total braking requirement torque of driver is calculated, desired front-rear axle deceleration torque ratio is calculated based on intact stability demand, and in vehicle
Dynamical system is intervened as needed during body stability control.Specifically, vehicle body stability controller 2 includes：System
Total feedback braking demand torque computing module, the preceding bridge stability of uniting it is expected that feedback torque arithmetic module, front-rear axle feedback braking need
Ask torque arithmetic module, front-rear axle braking requirement torque arithmetic module, front-rear axle mechanical braking demand torque computing module.It is preferred that
Ground is also built-in with acceleration transducer in vehicle body stability controller 2.Specifically, each calculating of vehicle body stability controller 2
The function of module is as follows：
The total feedback braking demand torque computing module of system is used to be calculated according to speed and brake pedal position combination car weight
The total braking requirement torque of driver, (system can absorb feedback braking torque to the total feedback braking demand torque=MAX of system, drives
The total braking requirement torque of member)；
Preceding bridge stability it is expected that feedback torque arithmetic module is used to calculate preceding bridge minimum system according to speed and steering wheel angle
Dynamic torque accounting, preceding bridge stability it is expected that the feedback torque=total feedback braking demand torque of system × preceding bridge minimum braking torque accounts for
Than；
Front-rear axle feedback braking demand torque computing module is for bridge feedback braking demand torque before calculating and calculates rear axle
Feedback braking demand torque, { (preceding bridge stability it is expected feedback torque, preceding bridge warp to MIN to preceding bridge feedback braking demand torque=MAX
Ji property it is expected feedback torque), preceding bridge motor currently can power generation torque }, { the preceding bridge braking of rear axle feedback braking demand torque=MAX
Feedback demand torque × (bridge minimum braking torque accounting before 1-)/preceding bridge minimum braking torque accounting, rear axle motor can currently be sent out
Electric torque }；
Front-rear axle braking requirement torque arithmetic module is for calculating front-rear axle braking requirement torque, preceding bridge braking requirement torque
The total braking requirement torque of=driver × preceding bridge minimum braking torque accounting；Rear axle braking requirement torque=driver, which always brakes, to be needed
Seek torque × (bridge minimum braking torque accounting before 1-)；
Front-rear axle mechanical braking demand torque computing module is for calculating front-rear axle mechanical braking demand torque, preceding bridge machinery
The practical feedback braking torque of braking requirement torque=preceding bridge braking requirement torque-front axle driving system feedback；Rear axle machinery system
The practical feedback braking torque of dynamic demand torque=rear axle braking requirement torque-rear bridge driven system feedback.
Steering wheel angle sensor 3 is steady for acquiring steering wheel angle and steering wheel angle signal being sent to the vehicle body
Qualitative contrlol device 2.
Wheel speed sensors 4 for acquiring four wheel speeds and four-wheel tach signal being sent to vehicle body stability controller respectively
2 to be converted to speed and four-wheel wheel speed；Respectively there are one wheel speed sensors for installation at four wheels of vehicle in this programme
4, as shown in Figure 1.
Front axle driving system 5, bridge provides driving torque forward when being used for vehicle traction, and when vehicle braking provides feedback braking
Torque；Front axle driving system 5 can be pure electric drive system, can also be hybrid electric drive system, as needed, can be with
Include deceleration or gear, can voluntarily calculate the maximum (when driving) of front axle driving system 5, minimum (feedback braking
When) exportable torque, and can the practical feedback braking torque of bridge before real-time estimation.
Rear bridge driven system 6 provides driving torque when being used for vehicle traction to rear axle, and when vehicle braking provides feedback braking
Torque；Rear bridge driven system 6 can be pure electric drive system, can also be hybrid electric drive system, as needed, can be with
Include deceleration or gear, can voluntarily calculate the maximum (when driving) of rear bridge driven system 6, minimum (feedback braking
When) exportable torque, and can the practical feedback braking torque of real-time estimation rear axle.
Power battery 7 provides driving electric energy when being used for vehicle traction to power drive system, and can in vehicle braking feedback
To store the electric energy of 5 feedback of rear bridge driven system 6 and/or front axle driving system.
Brake pedal position sensor 8, for brake pedal displacement or angular displacement to be converted to voltage signal, by voltage
Signal sends vehicle body stability controller 2 to, and brake pedal position and change rate are calculated for vehicle body stability controller 2.
Wherein, front axle driving system 5 and rear bridge driven system 6 are all connected to power battery 7 and pass through dynamical system
Control unit 1 is connected to vehicle body stability controller 2, steering wheel angle sensor 3, wheel speed sensors 4 and brake pedal position
It sets sensor 8 and is all connected to vehicle body stability controller 2.
It should be noted that the vehicle body stability controller 2 in this programme is integrated with feedback braking control function, in vehicle body
Dynamical system is intervened as needed during stability control, specific intervention is to dynamical system control unit 1
Intervention request is sent out, the output torque of front and back axle driving system is adjusted to respond respectively by dynamical system control unit 1
The Needs for Intervention of vehicle body stability controller 2.ESC in this programme can according to speed and brake pedal position and change rate with
And preset car weight calculates the total braking requirement torque of driver, can also acquire the voltage signal of four wheel speed sensors 4 and incite somebody to action
It is scaled wheel speed and speed, while monitoring body gesture, bonding position disk corner, speed, wheel speed and the acceleration built in it
Degree sensor judges whether body gesture is best stabilized state, and carries (default) and vehicle acceleration according to vehicle antero posterior axis axis
The information such as degree, steering wheel angle calculate the front-rear axle braking torque ratio for maintaining vehicle body optimal stability.
Fig. 2 is please referred to, Fig. 2 is the flow diagram of the feedback braking torque distribution method in the specific embodiment of the invention.
The present invention also provides a kind of feedback braking torque distribution methods of new-energy automobile, include the following steps：
S1：Computing system can absorb feedback braking torque, and system can absorb the absorbable braking of feedback braking torque=system
Feedback power/the wheel speed of (electric system efficiency × transmission system efficiency) × 9550/, wherein system can absorb feedback braking power
=high-voltage load total consumed power+chargeable the power of power battery.The executive agent of the step is dynamical system control unit 1,
The first computing system of dynamical system control unit 1 can absorb feedback braking power, is averaged wheel speed and electric system then in conjunction with four-wheel
Efficiency (transfer efficiency of the motor inverter electrical power to motor shaft end mechanical output), transmission system efficiency can system can absorb
Feedback braking power conversion is that system can absorb feedback braking torque (note：Driving torque/power described herein be just,
Feedback torque/power is negative).
Wherein, system can absorb feedback braking power and specifically refers to the consumable gross electric capacity of high-pressure system (including high pressure
Load consumption and power battery charging).
High-voltage load total consumed power refers to the ability of load consumption high pressure, the computational methods of high-voltage load total consumed power
Including but not limited to：Each high pressure distributed elements use the physical signal of oneself acquisition, if electric current is multiplied with voltage, obtain each
From power, the power that dynamical system control unit 1 reports each high pressure distribution high voltage component is added, alternatively, dynamical system
System control unit 1, which is multiplied using the electric current that each distributed elements report with the total voltage of high-pressure system, to be obtained.
The chargeable power of power battery refers to the ability that power battery can absorb maximum power, the chargeable work(of power battery
The computational methods of rate include but not limited to：Power battery management system is using collected physical signal and estimation signal, packet
Monomer voltage, module temperature etc. are included, is looked into conjunction with the tables of data (tables of data established based on battery chemical characteristics) of its preset configuration
Table is calculated.
S2：The total feedback braking demand torque of computing system, vehicle body stability controller 2 is according to speed and brake pedal position
The total braking requirement torque of driver is calculated in conjunction with car weight, (system is absorbable to brake back the total feedback braking demand torque=MAX of system
Present torque, the total braking requirement torque of driver), the equation relationship can ensure that vehicle caused by the feedback torque that system provides subtracts
Speed does not exceed the expection of driver, and does not exceed the absorbable braking feedback braking power of system so as to cause high pressure system
System overcharges.
Wherein, the total feedback braking demand torque of system refers to considering the total braking requirement torque of driver and system can
After absorbing feedback braking torque, system determines to need the braking requirement torque of practical feedback.Automaker is in the development phase
In in the software of vehicle body stability controller 2 it is built-in based on speed, brake pedal position and car weight (after end-of-development i.e.
For definite value) with the algorithm of the total braking requirement torque relationship of driver, when operator brake, vehicle body stability controller 2 is according to working as
Preceding real-time speed, brake pedal position, which are tabled look-up, obtains the real-time total braking requirement torque of driver.
S3：Bridge stability it is expected feedback torque before calculating, and vehicle body stability controller 2 is according to speed and steering wheel angle meter
Bridge minimum braking torque accounting (it is expected that preceding bridge braking torque accounts for the ratio of total braking torque based on stability) before calculating, preceding bridge is stablized
Property it is expected the feedback torque=total feedback braking demand torque of system × preceding bridge minimum braking torque accounting；
S4：Bridge economy it is expected that feedback torque, dynamical system control unit 1 integrate preceding electric bridge and rear electric bridge efficiency before calculating
Bridge economy it is expected torque MAP before characteristic curve is established, and bridge economy it is expected before being looked into using the total feedback braking demand torque of system
Torque MAP it is expected feedback torque to obtain preceding bridge economy.According to preceding bridge electric power generation efficiency characteristic, in electric efficiency curve
A curve that Braking system feedback overall efficiency can be made optimal is artificially chosen on (horizontal axis is torque, and the longitudinal axis is efficiency), referred to as
It is expected torque MAP for preceding bridge economy.If the external characteristic curve of the motor external characteristic curve of Fig. 3, motor is on electromechanical testing
Set different supply voltages, the maximum power that motor can export under current state (supply voltage in Fig. 3 is 330V)
Or peak torque, with the curve of rotation speed change, the horizontal axis in Fig. 3 is motor speed (rpm), and left side longitudinal axis is motor output torque
(Nm), right side longitudinal axis is output power of motor (kW)；In Project Process, according to the curve and vehicle tested out
Common operating point, designer independently remove selection optimum efficiency curve, form final expectation torque curve.According to the final phase
Torque curve and current motor speed is hoped to search corresponding inflection point, the inflection point as shown in circle position in Fig. 3
(92.98kW) is the optimum point artificially chosen, to ensure the efficiency optimization of vehicle.
S5：Bridge feedback braking demand torque before vehicle body stability controller 2 calculates, preceding bridge feedback braking demand torque=
{ MIN (preceding bridge stability it is expected that feedback torque, preceding bridge economy it is expected feedback torque), preceding bridge motor can currently generate electricity torsion MAX
Square }.Wherein, preceding bridge feedback braking demand torque refers to the feedback braking demand torque for distributing to front axle driving system execution；Before
Bridge motor currently can power generation torque refer to before bridge electric system front axle driving system mechanical energy can be converted into power battery energy
The maximum capacity of the electric energy enough stored, specific algorithm are the algorithm based on motor characteristic setting built in electric machine controller.This step
Mainly consider that the feedback braking torque of bridge before distributing to should meet following three condition in rapid：1, it should be no less than and be examined between stability
The torque limit of worry (the counted preceding bridge stability of step S3 it is expected feedback torque)；2, the torsion considered based on economy should be no less than
Square limit value (the counted preceding bridge economy of step S4 it is expected feedback torque)；3, the feedback braking ability of motor itself should be no more than.
S6：The calculating rear axle feedback braking demand torque of vehicle body stability controller 2, rear axle feedback braking demand torque=
MAX { preceding bridge feedback braking demand torque × (bridge minimum braking torque accounting before 1-)/preceding bridge minimum braking torque accounting, rear axle
Motor currently can power generation torque }；
S7：Vehicle body stability controller 2 calculates front-rear axle braking requirement torque, and preceding bridge braking requirement torque=driver is total
Braking requirement torque × preceding bridge minimum braking torque accounting；The rear axle braking requirement torque=total braking requirement torque of driver ×
(bridge minimum braking torque accounting before 1-).Preceding bridge braking requirement torque is by preceding bridge mechanical braking demand torque and preceding bridge feedback braking
Demand torque collectively forms；The total braking requirement torque of driver is total braking torque that driver it is expected that front-rear axle provides, and
Preceding bridge braking requirement torque is the braking requirement torque of bridge before system is distributed to, that is, to account for driver total for preceding bridge braking requirement torque
A part of ratio (ratio is obtained based on intact stability by emulating and testing) of braking requirement torque, always makes from driver
Bridge braking requirement torque before being subtracted in dynamic demand torque, remaining is rear axle braking requirement torque.
S8：The calculating front-rear axle mechanical braking demand torque of vehicle body stability controller 2, preceding bridge mechanical braking demand torque=
The practical feedback braking torque of preceding bridge braking requirement torque-front axle driving system feedback；Rear axle mechanical braking demand torque=after
The practical feedback braking torque of bridge braking requirement torque-rear bridge driven system feedback.Wherein, preceding bridge mechanical braking demand torque is
Bridge provides the torque of vehicle deceleration by mechanical system before referring to.The practical feedback braking torque of front axle driving system feedback is electricity
Machine system monitored during feedback braking motor that motor status obtains the practical feedback braking in vehicle wheel end torque.Braking
In the process, braking torque is provided jointly to realize driver by mechanical braking system and electrical brake system (i.e. driving motor system)
To taking turns the demand of end braking torque, and preferentially braking is provided by electrical brake system in mechanical braking torque and electric braking torque the two
Feedback torque such as cannot still meet operator brake demand, then compensate braking torque by mechanical braking system, be driven with being finally reached
Demand of the person of sailing to total braking torque.
The feedback braking torque distribution method of new-energy automobile provided by the invention, can calculate the total braking requirement of driver
Torque can also judge whether body gesture is best stabilized state, calculate the front-rear axle braking for maintaining vehicle body optimal stability
Torque ratio.This method can well coordinate management, intact stability and the front-rear axle electric drive system ability of electric flux, rationally divide
With the feedback torque between front-rear axle, the good potentiality of the system is played.It is dynamic with full decoupled independence suitable for front-rear axle
The hybrid power 4 wheel driven vehicle of power source configuration.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (4)
1. a kind of feedback braking torque distribution method of new-energy automobile, which is characterized in that include the following steps：
Computing system can absorb feedback braking torque, and system can absorb feedback braking torque=system and can absorb feedback braking work(
Rate/the wheel speed of (electric system efficiency × transmission system efficiency) × 9550/, wherein system can absorb feedback braking power=high pressure
Load the chargeable power of total consumed power+power battery；
The total feedback braking demand torque of computing system calculates driver according to speed and brake pedal position combination car weight and always brakes
Demand torque, (system can absorb feedback braking torque, the total braking requirement of driver to the total feedback braking demand torque=MAX of system
Torque)；
Bridge stability it is expected feedback torque before calculating, bridge minimum braking torque accounting before being calculated according to speed and steering wheel angle,
Preceding bridge stability it is expected the feedback torque=total feedback braking demand torque of system × preceding bridge minimum braking torque accounting；
Bridge economy it is expected torsion before bridge economy expectation feedback torque before calculating, comprehensive preceding electric bridge and rear electric bridge efficiency characteristic are established
Square MAP, bridge economy expectation torque MAP it is expected back with obtaining preceding bridge economy before being looked into using the total feedback braking demand torque of system
Present torque；
Bridge feedback braking demand torque before calculating, { (preceding bridge stability it is expected feedback to MIN to preceding bridge feedback braking demand torque=MAX
Torque, preceding bridge economy it is expected feedback torque), preceding bridge motor currently can power generation torque }；
Calculating rear axle feedback braking demand torque, rear axle feedback braking demand torque=MAX preceding bridge feedback braking demand torque ×
(bridge minimum braking torque accounting before 1-)/preceding bridge minimum braking torque accounting, rear axle motor currently can power generation torques }；
Calculate front-rear axle braking requirement torque, the preceding total braking requirement torque of bridge braking requirement torque=driver × preceding bridge minimum system
Dynamic torque accounting；The rear axle braking requirement torque=total braking requirement torque of driver × (bridge minimum braking torque accounting before 1-)；
Front-rear axle mechanical braking demand torque is calculated, preceding bridge mechanical braking demand torque=preceding bridge braking requirement torque-preceding bridge drives
The practical feedback braking torque of dynamic system feedback；Rear axle mechanical braking demand torque=rear axle braking requirement torque-rear bridge driven
The practical feedback braking torque of system feedback.
2. a kind of four-wheel-driven control system of new-energy automobile, which is characterized in that including：Dynamical system control unit, vehicle body are stablized
Property controller, steering wheel angle sensor, wheel speed sensors, front axle driving system, rear bridge driven system, power battery and braking
Pedal position sensor,
Wherein, the dynamical system control unit can absorb feedback braking torque for computing system, and system is absorbable to brake back
It presents torque=system and can absorb feedback braking power/wheel speed of (electric system efficiency × transmission system efficiency) × 9550/, wherein
System can absorb feedback braking power=high-voltage load total consumed power+chargeable power of power battery；The dynamical system control
Unit processed is additionally operable to bridge economy before calculating and it is expected that feedback torque, comprehensive preceding electric bridge and rear electric bridge efficiency characteristic establish preceding bridge economy
Property it is expected torque MAP, bridge economy it is expected torque MAP with bridge economy before obtaining before being looked into using the total feedback braking demand torque of system
Property it is expected feedback torque；
The vehicle body stability controller includes：The total feedback braking demand torque computing module of system, preceding bridge stability it is expected back
Present torque arithmetic module, front-rear axle feedback braking demand torque computing module, front-rear axle braking requirement torque arithmetic module, front and back
Bridge mechanical braking demand torque computing module, wherein
The total feedback braking demand torque computing module of system is used to be calculated according to speed and brake pedal position combination car weight
The total braking requirement torque of driver, (system can absorb feedback braking torque to the total feedback braking demand torque=MAX of system, drives
The total braking requirement torque of member)；
The preceding bridge stability it is expected that feedback torque arithmetic module is used to calculate preceding bridge minimum system according to speed and steering wheel angle
Dynamic torque accounting, preceding bridge stability it is expected that the feedback torque=total feedback braking demand torque of system × preceding bridge minimum braking torque accounts for
Than；
The front-rear axle feedback braking demand torque computing module is for bridge feedback braking demand torque before calculating and calculates rear axle
Feedback braking demand torque, { (preceding bridge stability it is expected feedback torque, preceding bridge warp to MIN to preceding bridge feedback braking demand torque=MAX
Ji property it is expected feedback torque), preceding bridge motor currently can power generation torque }, { the preceding bridge braking of rear axle feedback braking demand torque=MAX
Feedback demand torque × (bridge minimum braking torque accounting before 1-)/preceding bridge minimum braking torque accounting, rear axle motor can currently be sent out
Electric torque }；
The front-rear axle braking requirement torque arithmetic module is for calculating front-rear axle braking requirement torque, preceding bridge braking requirement torque
The total braking requirement torque of=driver × preceding bridge minimum braking torque accounting；Rear axle braking requirement torque=driver, which always brakes, to be needed
Seek torque × (bridge minimum braking torque accounting before 1-)；
The front-rear axle mechanical braking demand torque computing module is for calculating front-rear axle mechanical braking demand torque, preceding bridge machinery
The practical feedback braking torque of braking requirement torque=preceding bridge braking requirement torque-front axle driving system feedback；Rear axle machinery system
The practical feedback braking torque of dynamic demand torque=rear axle braking requirement torque-rear bridge driven system feedback；
The steering wheel angle sensor is steady for acquiring steering wheel angle and steering wheel angle signal being sent to the vehicle body
Qualitative contrlol device；
The wheel speed sensors for acquiring four wheel speeds and four-wheel tach signal being sent to the vehicle body stability control respectively
Device processed is to be converted to speed and four-wheel wheel speed；
Bridge provides driving torque forward when the front axle driving system is used for vehicle traction, and feedback braking is provided when vehicle braking and is turned round
Square；
Driving torque is provided to rear axle when the rear bridge driven system is used for vehicle traction, feedback braking is provided when vehicle braking and is turned round
Square；
Driving electric energy is provided to power drive system when the power battery is used for vehicle traction, and can be in vehicle braking feedback
Store the electric energy of the rear bridge driven system and/or the front axle driving system feedback；
The brake pedal position sensor is used to brake pedal displacement or angular displacement being converted to voltage signal, and voltage is believed
Number send the vehicle body stability controller to；
The front axle driving system and the rear bridge driven system are all connected to the power battery and by the power
System control unit is connected to the vehicle body stability controller, the steering wheel angle sensor, the wheel speed sensors with
And the brake pedal position sensor is all connected to the vehicle body stability controller.
3. the four-wheel-driven control system of new-energy automobile according to claim 2, which is characterized in that the dynamical system control
Unit is integrated in entire car controller.
4. the four-wheel-driven control system of new-energy automobile according to claim 2, which is characterized in that the vehicle body stability control
It is built-in with acceleration transducer in device processed.
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Application publication date: 20180928 Assignee: Chongqing Changan New Energy Automotive Technology Co., Ltd. Assignor: Chongqing Changan Automobile Co., Ltd. Contract record no.: 2018500000017 Denomination of invention: The feedback braking torque distribution method and its four-wheel-driven control system of new-energy automobile License type: Exclusive License Record date: 20181121 |
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