CN109080637A - Decelerating mode method for controlling driving speed and system based on chassis dynamometer - Google Patents
Decelerating mode method for controlling driving speed and system based on chassis dynamometer Download PDFInfo
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- CN109080637A CN109080637A CN201811115853.4A CN201811115853A CN109080637A CN 109080637 A CN109080637 A CN 109080637A CN 201811115853 A CN201811115853 A CN 201811115853A CN 109080637 A CN109080637 A CN 109080637A
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- Prior art keywords
- chassis dynamometer
- control
- deceleration
- braking
- rotating hub
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
Abstract
The invention discloses a kind of decelerating mode method for controlling driving speed and system based on chassis dynamometer, wherein method includes: step S1, determines and enter braking section controlled load case；Step S2, judge whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；If it is not, thening follow the steps S3, carrying out deceleration control according to rotating hub auxiliary braking strategy；If so, thening follow the steps S4, carrying out deceleration control according to regenerative braking strategy；Step S5, judge whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than or equal to target vehicle speed；If so, thening follow the steps S6, terminating braking section controlled load case.The present invention realizes the operation of the active retarding braking under decelerating mode, and reliable and stable control essence is provided under the premise of without manned.
Description
Technical field
The present invention relates to electric car testing field more particularly to a kind of decelerating mode speed controls based on chassis dynamometer
Method and system processed.
Background technique
It need to be stepped on by stepping on braking when vehicle deceleration in working condition tests when vehicle full charge endurance of electromobile is tested at present
Plate makes the braking system acts of vehicle, and vehicle is allowed to slow down as needed.Usually two ways: pilot steering is stepped on by driver
Lower brake pedal, automatic Pilot by robot braking leg brake pedal.
But the test period of pilot steering is long, driver's large labor intensity, and when long-duration driving is also easy to produce fatigue, error
Probability increases；Difference in operation in the different driving styles of driver and same driver's test of many times during the test,
The error for also resulting in test result reduces the confidence level of test；And robot driver is then (to be similar to people by executing agency
Leg and foot) remove brake pedal, but be required to learn the position of the executing agency when each mounting robot, adjust
Examination, process is cumbersome and shifts in driving vehicle processes since the shaking of vehicle may result in robot, makes the parameter of study
It shifts, control precision reduction is caused to seriously affect experimental result.
Summary of the invention
The object of the present invention is to provide a kind of without the decelerating mode speed control based on chassis dynamometer for executing structural solid
Method and system processed are provided under the premise of without manned with realizing the operation of the active retarding braking under decelerating mode
Reliable and stable control precision.
The technical solution adopted by the invention is as follows:
A kind of decelerating mode method for controlling driving speed based on chassis dynamometer, comprising:
Step S1, it determines and enters braking section controlled load case；
Step S2, judge whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；
If it is not, thening follow the steps S3, carrying out deceleration control according to rotating hub auxiliary braking strategy；
If so, thening follow the steps S4, carrying out deceleration control according to regenerative braking strategy；
Step S5, judge whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than or equal to target carriage
Speed；
If so, thening follow the steps S6, terminating braking section controlled load case.
Optionally, step S3 is specifically included:
Step S31, chassis dynamometer control is obtained；
Step S32, constant speed mode is set by chassis dynamometer；
Step S33, parameter is taken aim in advance according to preset deceleration, sends constant speed instruction to rotating hub motor with simulating brake pedal
Braking effect.
Optionally, step S4 is specifically included:
Step S41, start energy regenerating deceleration；
Step S42, control error is calculated in real time in moderating process；
Step S43, judge to control whether error is more than or equal to preset error bounds；
If so, thening follow the steps S44, starting rotating hub auxiliary braking strategy, and return rotating hub auxiliary braking strategy and energy
It receives braking strategy and carries out deceleration control jointly；
If it is not, thening follow the steps S45, continuing to carry out deceleration control according to regenerative braking policy independence.
Optionally, step S4 further include:
Step S46, judge whether actual vehicle speed is less than energy regenerating lower velocity limit value；
If so, thening follow the steps S47, closing energy regenerating deceleration；
Step S48, it is switched to rotating hub auxiliary braking strategy and carries out deceleration control.
Optionally, before step S2, the method also includes:
Step S11, the power transmission for disconnecting test vehicle, makes vehicle freedom of entry coasting mode.
A kind of decelerating mode vehicle speed control system based on chassis dynamometer, comprising:
Controlled load case determining module enters braking section controlled load case for determining；
Remaining capacity monitoring modular, for judging whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；
Rotating hub auxiliary braking module is used for when the output of remaining capacity monitoring modular is no, according to rotating hub auxiliary braking plan
Slightly carry out deceleration control；
Regenerative braking module, for when remaining capacity monitoring modular output for be when, according to regenerative braking plan
Slightly carry out deceleration control；
Operating condition comparison module, for judging whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than
Equal to target vehicle speed；
EOT end of test module, for terminating braking section controlled load case when the output of operating condition comparison module is is.
Optionally, the rotating hub auxiliary braking module specifically includes:
Control acquiring unit, for obtaining chassis dynamometer control；
Mode setting unit, for setting constant speed mode for chassis dynamometer；
Rotating hub control unit sends constant speed instruction to rotating hub motor for taking aim at parameter in advance according to preset deceleration to simulate
The braking effect of brake pedal.
Optionally, the regenerative braking module specifically includes:
Energy regenerating start unit, for starting energy regenerating deceleration；
Computing unit, for calculating control error in real time in moderating process；
Error comparing unit controls whether error is more than or equal to preset error bounds for judging；
Jointly control unit, for starting rotating hub auxiliary braking strategy when the output of error comparing unit is is, and makes to turn
Hub auxiliary braking strategy and regenerative braking strategy carry out deceleration control jointly；
Energy regenerating maintenance unit, for continuing according to regenerative braking plan when the output of error comparing unit is no
Slightly independently carry out deceleration control.
Optionally, the regenerative braking module further include:
Speed comparing unit, for judging whether actual vehicle speed is less than energy regenerating lower velocity limit value；
Energy regenerating exits unit, for closing energy regenerating deceleration when the output of speed comparing unit is is；
Braking strategy switch unit carries out deceleration control for being switched to rotating hub auxiliary braking strategy.
Optionally, dynamic the system also includes what is connect respectively with controlled load case determining module and remaining capacity monitoring modular
Power interrupt module makes vehicle freedom of entry coasting mode for disconnecting the power transmission of test vehicle.
The present invention by chassis dynamometer (rotating hub) auxiliary intervention, on the one hand solve merely using voltage control signal without
Method realizes the problem of pedal control electric vehicle slows down, and on the other hand the effective binding energy of the two enough maximally utilises vehicle
The energy recovery function of itself.The present invention realizes the operation of the active retarding braking under decelerating mode, without manned
Under the premise of reliable and stable control precision is provided.
Detailed description of the invention
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step description, in which:
Fig. 1 is the process of the embodiment of the decelerating mode method for controlling driving speed provided by the invention based on chassis dynamometer
Figure；
Fig. 2 is the flow chart of rotating hub auxiliary braking implementation of strategies example provided by the invention；
Fig. 3 is the flow chart of regenerative braking implementation of strategies example provided by the invention；
Fig. 4 is the box of the embodiment of the decelerating mode vehicle speed control system provided by the invention based on chassis dynamometer
Figure.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
It need to indicate in advance, the invention belongs to automobile test fields, although testing for electric car course continuation mileage, this hair
It is bright to be expanded in the automatic Pilot application of the drive forms vehicles such as transmission fuel vehicle AT, AMT, CVT, DCT.
Idea of the invention is that electric vehicle can be fixed on chassis dynamometer in running distance of eletric vehicles test, chassis
Dynamometer machine simulates the road running resistance of the vehicle and the quality of experiments of vehicle, and vehicle is in chassis dynamometer according to certain operating condition row
It sails, is use up until by vehicle electric energy consumption.It in order to overcome the drawbacks of the prior art due to the present invention, is real based on no executing agency
The electric signal control mode of body, in this way, vehicle is on chassis dynamometer when being tested, the tire of vehicle and chassis dynamometer
Wheel hub hub face is tangent, and the speed of vehicle is equal with the linear velocity of chassis dynamometer rotating hub, although vehicle does not have brake pedal execution
Braking maneuver, but as long as the speed of control chassis dynamometer rotating hub, and the speed reduction needed according to vehicle, make the two speed not
It is consistent then surface of tyre generate frictional force, just equally brake pedal realize braking function.
Chassis dynamometer has three kinds of constant speed, constant force, road analogy control models, for example, can use constant speed mould
Formula controls rotating hub, such as sends duty parameter to chassis dynamometer with the frequency of 10Hz, and wherein initial speed is 36km/h, target subtracts
Speed is 5m/s2, such first moment sends constant speed 36km/h to chassis dynamometer, sent when subsequent time to chassis dynamometer
Constant speed 34.2km/h speed thereby realizes rotating hub in 36km/h according to 5m/s2The function slowed down of deceleration.In reality
In the test of border, test equipment can be connected by cable with rotating hub, and send AK instruction to rotating hub based on ICP/IP protocol, with complete
At rotating hub auxiliary braking.
Specifically, the present invention provides a kind of decelerating mode method for controlling driving speed based on chassis dynamometer, such as Fig. 1 institute
Show, can specifically include following steps:
Step S1, it determines and enters braking section controlled load case；
Braking section controlled load case can be divided and be determined previously according to test purpose, and need to carry out determining
When deceleration, coasting mode can also be executed one step ahead, to simulate real working condition.Specifically, can further include herein
Step S11, the power transmission for disconnecting test vehicle, makes vehicle freedom of entry coasting mode.Vehicle will under art skating operating condition
It is to realize to slow down by the collective effects such as self gravity and air and ground drag.
Step S2, judge whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；
The step allows for only when remaining capacity is lower than certain threshold value, and energy regenerating just will start, and then is vehicle
Provide additional brake force.
If it is not, thening follow the steps S3, carrying out deceleration control according to rotating hub auxiliary braking strategy；
If so, thening follow the steps S4, carrying out deceleration control according to regenerative braking strategy；
Step S5, judge whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than or equal to target carriage
Speed；
The step can carry out circulation execution by certain time from coasting mode in other embodiments, if slided
Stage meets target requirement, then without further executing step S3 or step S4.
If so, thening follow the steps S6, terminating braking section controlled load case.
The present invention by chassis dynamometer (rotating hub) auxiliary intervention, on the one hand solve merely using voltage control signal without
Method realizes the problem of pedal control electric vehicle slows down, and on the other hand the effective binding energy of the two enough maximally utilises vehicle
The energy recovery function of itself.The present invention realizes the operation of the active retarding braking under decelerating mode, without manned
Under the premise of reliable and stable control precision is provided.
About the embodiment of above-mentioned steps S3, can specifically include in Fig. 2 embodiment:
Step S31, chassis dynamometer control is obtained；
Step S32, constant speed mode is set by chassis dynamometer；
Step S33, parameter is taken aim in advance according to preset deceleration, sends constant speed instruction to rotating hub motor with simulating brake pedal
Braking effect.
In the present embodiment, the purpose that design deceleration is taken aim in advance is the instruction response delay in order to offset rotating hub, can with this
Further promote control precision.
About the embodiment of above-mentioned steps S4, can specifically include in Fig. 3 embodiment:
Step S41, start energy regenerating deceleration；
Step S42, control error is calculated in real time in moderating process；
Step S43, judge to control whether error is more than or equal to preset error bounds；
This is allowed for when using energy regenerating to carry out retarding braking completely, may be existed caused by energy regenerating
Deceleration is insufficient, the problem for causing the control error of actual vehicle speed larger；Therefore, one kind is devised in the present embodiment by error
Control boundary determines the scheme of subsequent strategy, and wherein error bounds can be but not limited to operating condition speed+80% × permission
Velocity error specifically thinks energy regenerating scarce capacity if error is larger, thens follow the steps S44, starting rotating hub at this time
Auxiliary braking strategy, and rotating hub auxiliary braking strategy and regenerative braking strategy is made to carry out deceleration control jointly；That is to say by
Double-reduction control is common to realize reduction of speed demand.If error is lower than boundary, then it is assumed that energy regenerating can provide enough subtract
Speed, therefore execute step S45, continue to carry out deceleration control according to regenerative braking policy independence.
On this basis, Fig. 3 embodiment is also further contemplated when speed is less than certain threshold value (required by energy regenerating
Lower velocity limit) when, the energy recovery function of electric vehicle can be automatically closed, therefore it is further proposed that, the present embodiment it is subsequent also
It may include steps of the switching to realize control strategy:
Step S46, judge whether actual vehicle speed is less than energy regenerating lower velocity limit value；
If so, thening follow the steps S47, closing energy regenerating deceleration；
Step S48, it is switched to rotating hub auxiliary braking strategy and carries out deceleration control.
The preferred embodiment also solves the reality caused by being automatically closed energy recovery function to a certain extent
The problem of speed is more than aforementioned error boundary.
In conclusion on the one hand the present invention solves by the intervention of chassis dynamometer (rotating hub) auxiliary and uses voltage merely
Control signal cannot achieve the problem of pedal control electric vehicle slows down, and on the other hand the effective binding energy of the two is enough to greatest extent
Ground utilizes the energy recovery function of vehicle itself.The present invention realizes the operation of the active retarding braking under decelerating mode, is being not necessarily to
Reliable and stable control precision is provided under the premise of manned.
Corresponding to the above method, the present invention also provides a kind of, and the decelerating mode speed based on chassis dynamometer controls system
System, as shown in figure 4, the system can specifically include:
Controlled load case determining module enters braking section controlled load case for determining；
Remaining capacity monitoring modular, for judging whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；
It should be noted that can also include being monitored respectively with controlled load case determining module and remaining capacity in Fig. 4 embodiment
The power interruption module of module connection, is used to disconnect the power transmission of test vehicle, makes vehicle freedom of entry coasting mode.
Rotating hub auxiliary braking module is used for when the output of remaining capacity monitoring modular is no, according to rotating hub auxiliary braking plan
Slightly carry out deceleration control；
Regenerative braking module, for when remaining capacity monitoring modular output for be when, according to regenerative braking plan
Slightly carry out deceleration control；
Operating condition comparison module, for judging whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than
Equal to target vehicle speed；
EOT end of test module, for terminating braking section controlled load case when the output of operating condition comparison module is is.
Wherein, the rotating hub auxiliary braking module can specifically include:
Control acquiring unit, for obtaining chassis dynamometer control；
Mode setting unit, for setting constant speed mode for chassis dynamometer；
Rotating hub control unit sends constant speed instruction to rotating hub motor for taking aim at parameter in advance according to preset deceleration to simulate
The braking effect of brake pedal.
Also, the regenerative braking module can specifically include:
Energy regenerating start unit, for starting energy regenerating deceleration；
Computing unit, for calculating control error in real time in moderating process；
Error comparing unit controls whether error is more than or equal to preset error bounds for judging；
Jointly control unit, for starting rotating hub auxiliary braking strategy when the output of error comparing unit is is, and makes to turn
Hub auxiliary braking strategy and regenerative braking strategy carry out deceleration control jointly；
Energy regenerating maintenance unit, for continuing according to regenerative braking plan when the output of error comparing unit is no
Slightly independently carry out deceleration control.
In a preferred embodiment, the regenerative braking module can also include:
Speed comparing unit, for judging whether actual vehicle speed is less than energy regenerating lower velocity limit value；
Energy regenerating exits unit, for closing energy regenerating deceleration when the output of speed comparing unit is is；
Braking strategy switch unit carries out deceleration control for being switched to rotating hub auxiliary braking strategy.
The working method and technical principle of the above system embodiment and preferred embodiment are no longer superfluous herein referring to described previously
It states；It is to be noted that various component embodiments of the invention can be implemented in hardware, or at one or more
The software module run on reason device is realized, or is implemented in a combination thereof；It can also be the module or unit group in embodiment
A module or unit are synthesized, and furthermore they can be divided into multiple submodule or subelements.
It is described in detail structure, feature and effect of the invention based on the embodiments shown in the drawings, but more than
Described is only presently preferred embodiments of the present invention, needs to explain, and technology involved in above-described embodiment and its preferred embodiment is special
Sign, those skilled in the art can be under the premise of not departing from, not changing mentality of designing and technical effect of the invention, rationally
Ground combination collocation is at a variety of equivalent schemes；Therefore, the present invention does not limit the scope of implementation as shown in the drawings, all according to of the invention
Change or equivalent example modified to equivalent change, do not go beyond the spirit of the description and the drawings made by conception
When, it should all be within the scope of the present invention.
Claims (10)
1. a kind of decelerating mode method for controlling driving speed based on chassis dynamometer characterized by comprising
Step S1, it determines and enters braking section controlled load case；
Step S2, judge whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；
If it is not, thening follow the steps S3, carrying out deceleration control according to rotating hub auxiliary braking strategy；
If so, thening follow the steps S4, carrying out deceleration control according to regenerative braking strategy；
Step S5, judge whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than or equal to target vehicle speed；
If so, thening follow the steps S6, terminating braking section controlled load case.
2. the decelerating mode method for controlling driving speed according to claim 1 based on chassis dynamometer, which is characterized in that step
S3 is specifically included:
Step S31, chassis dynamometer control is obtained；
Step S32, constant speed mode is set by chassis dynamometer；
Step S33, parameter is taken aim in advance according to preset deceleration, sends constant speed instruction to rotating hub motor with the braking of simulating brake pedal
Effect.
3. the decelerating mode method for controlling driving speed according to claim 1 based on chassis dynamometer, which is characterized in that step
S4 is specifically included:
Step S41, start energy regenerating deceleration；
Step S42, control error is calculated in real time in moderating process；
Step S43, judge to control whether error is more than or equal to preset error bounds；
If so, thening follow the steps S44, starting rotating hub auxiliary braking strategy, and make rotating hub auxiliary braking strategy and energy regenerating system
Dynamic strategy carries out deceleration control jointly；
If it is not, thening follow the steps S45, continuing to carry out deceleration control according to regenerative braking policy independence.
4. the decelerating mode method for controlling driving speed according to claim 3 based on chassis dynamometer, which is characterized in that step
S4 further include:
Step S46, judge whether actual vehicle speed is less than energy regenerating lower velocity limit value；
If so, thening follow the steps S47, closing energy regenerating deceleration；
Step S48, it is switched to rotating hub auxiliary braking strategy and carries out deceleration control.
5. the decelerating mode method for controlling driving speed according to any one of claims 1 to 4 based on chassis dynamometer, feature
It is, before step S2, the method also includes:
Step S11, the power transmission for disconnecting test vehicle, makes vehicle freedom of entry coasting mode.
6. a kind of decelerating mode vehicle speed control system based on chassis dynamometer characterized by comprising
Controlled load case determining module enters braking section controlled load case for determining；
Remaining capacity monitoring modular, for judging whether the remaining capacity for testing vehicle reaches energy regenerating power threshold；
Rotating hub auxiliary braking module, for when remaining capacity monitoring modular output be it is no when, according to rotating hub auxiliary braking strategy into
Row, which slows down, to be controlled；
Regenerative braking module, for when remaining capacity monitoring modular output for be when, according to regenerative braking strategy into
Row, which slows down, to be controlled；
Operating condition comparison module, for judging whether actual deceleration degree is more than or equal to desired deceleration, and actual vehicle speed is less than or equal to
Target vehicle speed；
EOT end of test module, for terminating braking section controlled load case when the output of operating condition comparison module is is.
7. the decelerating mode vehicle speed control system according to claim 6 based on chassis dynamometer, which is characterized in that described
Rotating hub auxiliary braking module specifically includes:
Control acquiring unit, for obtaining chassis dynamometer control；
Mode setting unit, for setting constant speed mode for chassis dynamometer；
Rotating hub control unit sends constant speed instruction to rotating hub motor for taking aim at parameter in advance according to preset deceleration with simulating brake
The braking effect of pedal.
8. the decelerating mode vehicle speed control system according to claim 6 based on chassis dynamometer, which is characterized in that described
Regenerative braking module specifically includes:
Energy regenerating start unit, for starting energy regenerating deceleration；
Computing unit, for calculating control error in real time in moderating process；
Error comparing unit controls whether error is more than or equal to preset error bounds for judging；
Jointly control unit, for starting rotating hub auxiliary braking strategy, and keep rotating hub auxiliary when the output of error comparing unit is is
Braking strategy and regenerative braking strategy is helped to carry out deceleration control jointly；
Energy regenerating maintenance unit, for continuing only according to regenerative braking strategy when the output of error comparing unit is no
It is vertical to carry out deceleration control.
9. the decelerating mode vehicle speed control system according to claim 8 based on chassis dynamometer, which is characterized in that described
Regenerative braking module further include:
Speed comparing unit, for judging whether actual vehicle speed is less than energy regenerating lower velocity limit value；
Energy regenerating exits unit, for closing energy regenerating deceleration when the output of speed comparing unit is is；
Braking strategy switch unit carries out deceleration control for being switched to rotating hub auxiliary braking strategy.
10. special according to the described in any item decelerating mode vehicle speed control systems based on chassis dynamometer of claim 6~9
Sign is that the system also includes the power interruption moulds connecting respectively with controlled load case determining module and remaining capacity monitoring modular
Block makes vehicle freedom of entry coasting mode for disconnecting the power transmission of test vehicle.
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| CN201811115853.4A CN109080637A (en) | 2018-09-25 | 2018-09-25 | Decelerating mode method for controlling driving speed and system based on chassis dynamometer |
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Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
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Application publication date: 20181225 |