CN109398100B - Regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation - Google Patents
Regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation Download PDFInfo
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- CN109398100B CN109398100B CN201811043799.7A CN201811043799A CN109398100B CN 109398100 B CN109398100 B CN 109398100B CN 201811043799 A CN201811043799 A CN 201811043799A CN 109398100 B CN109398100 B CN 109398100B
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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
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
Abstract
The invention relates to a regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation. Compared with the prior art, the control method is simple and easy to implement, can greatly reduce the impact degree of the vehicle under the working condition of low-speed withdrawal during regenerative braking, and has typicality and universality.
Description
Technical Field
The invention relates to the technical field of automobile composite braking, in particular to a regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation.
Background
The hybrid braking system generally comprises a motor braking subsystem and a hydraulic braking subsystem, and the braking demand of the electric automobile is responded by the regenerative braking of the driving motor and the hydraulic braking system together. An Electro-hydraulic Brake System (EHB) is a novel Brake-by-wire System with an active boosting function, is a development trend of an automobile hydraulic Brake System, and meets the requirements of the Brake System, and comprises a motor Brake subsystem and a hydraulic Brake subsystem.
When the vehicle brakes, the motor braking force is preferentially adopted under the condition of ensuring the braking safety, and when the motor braking force cannot meet the braking requirement, the hydraulic braking force is applied. Because the response speeds of the motor and the hydraulic braking system are different, the response speed of the motor is high, and the response speed of the hydraulic system is lower than that of the motor, the composite braking can generate larger braking impact degree (namely, derivative of braking deceleration) under a transition working condition, and the smoothness and comfort of the braking are deteriorated.
The research shows that compared with the intervention and the quit of a hydraulic braking system, the working condition that the regenerative braking force of the motor is withdrawn at a low speed brings larger braking impact to the vehicle, so that the braking smoothness is rapidly deteriorated, and therefore, the coordination of the low-speed quit working condition of the motor force is necessary to pay attention. At present, research in the field of composite braking mainly provides a control strategy of regenerative braking, braking forces of front and rear axles are reasonably distributed, states of vehicle deceleration, impact degree and the like in the whole braking process are not paid much attention, and therefore the actual effect of a plurality of braking energy recovery strategies cannot be reflected. Therefore, how to effectively reduce the impact degree in the process of the regenerative braking low-speed withdrawal working condition is an important problem which needs to be solved at present. The control method in the prior art is complex and inconvenient to use, and the degree of reducing the impact degree of the vehicle under the condition of regenerative braking and low-speed withdrawal is not high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation.
The purpose of the invention can be realized by the following technical scheme:
a regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation comprises the following steps:
s1: according to the controlled vehicle model and the composite braking system, vehicle information including vehicle speed and braking requirements and battery information including battery state of charge, charging power and the like are obtained.
S2: and distributing the braking force according to the vehicle information and the battery information to obtain the target motor force and the target hydraulic pressure.
S3: and acquiring respective response time of the motor braking subsystem and the hydraulic braking subsystem based on the controlled composite braking system.
S4: and designing a high-pass filter according to the response speed difference between the motor braking subsystem and the hydraulic braking subsystem in the composite braking system by combining the response time of the motor braking subsystem and the response time of the hydraulic braking subsystem.
The transfer function of the high-pass filter is as follows:
where a is a time delay constant.
Preferably, the value of the time delay constant a is obtained from the delay time after the high frequency signal of the target hydraulic pressure is filtered. The time delay constant a is calculated by the formula:
in the formula, τ is a delay time of the filtered high-frequency signal of the target hydraulic pressure. The delay time of the filtered high-frequency signal of the target hydraulic pressure is determined by the response time difference of the hydraulic braking subsystem and the electric motor braking subsystem.
S5: and performing high-frequency separation on the target hydraulic pressure through a high-pass filter and performing high-frequency compensation on the target motor force to obtain the output motor force and the output hydraulic pressure. The concrete contents are as follows:
inputting the target hydraulic pressure into a high-pass filter for high-frequency separation of the target hydraulic pressure, and performing high-frequency compensation on the separated high-frequency hydraulic pressure on the target motor force to obtain the output motor force of the motor braking subsystem; and applying the separated low-frequency hydraulic pressure to a hydraulic braking subsystem to obtain output hydraulic pressure.
S6: and controlling the low-speed withdrawal working condition of the vehicle during regenerative braking according to the acquired output motor force and output hydraulic pressure.
Compared with the prior art, the invention has the following advantages:
the method of the invention designs a high-pass filter aiming at the response speed difference between a motor braking subsystem and a hydraulic braking subsystem in an automobile composite braking system, correspondingly compensates the high-frequency braking force demand which cannot be responded by the hydraulic braking subsystem due to the characteristic of slow response speed of the hydraulic braking subsystem by a motor, and greatly reduces the impact degree of the regenerative braking of a vehicle under the working condition of low-speed withdrawal;
and secondly, the control method is simple and easy to implement, and has typicality and universality.
Drawings
FIG. 1 is a flow chart of a regenerative braking low-speed withdrawal condition control method based on high-frequency compensation according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
The invention relates to a regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation, which comprises the following steps of:
step one, acquiring vehicle information including vehicle speed, braking requirements and the like and battery information including battery state of charge, charging power and the like based on a researched vehicle model and a composite braking system; and distributing the braking force according to the vehicle information and the battery information to obtain the target motor force and the target hydraulic pressure.
And step two, researching response characteristics of the motor braking subsystem and the hydraulic braking subsystem to obtain respective response time of the motor braking subsystem and the hydraulic braking subsystem.
And thirdly, designing a high-pass filter according to the response speed difference between the motor braking subsystem and the hydraulic braking subsystem in the composite braking system by combining the response time of the motor braking subsystem and the response time of the hydraulic braking subsystem.
Since the target hydraulic pressure rises rapidly under the regenerative braking low-speed withdrawal condition, the input is made to be:
let the transfer function of the high-pass filter be:
the high-pass filtered output signal is then:
the output signal appears in the time domain as:
y(t)＝e-at
wherein a is a time delay constant, and the delay time of the high-frequency signal after being filtered is represented as:
and taking tau as 0.1s and a as 10 according to the response time difference between the electronic hydraulic brake system and the brake motor. The transfer function of the high-frequency filter of the present embodiment is thus obtained as:
and step four, based on the step three, performing high-frequency separation on the target hydraulic pressure and performing high-frequency compensation on the target motor force through a high-pass filter.
The motor has high response speed and can respond to high-frequency signals; the hydraulic brake subsystem is slow to respond, only responding to low frequency signals and not responding to high frequency signals. Therefore, as shown in fig. 1, the signal is passed through a high-pass filter, and the high-frequency signal passed through the high-pass filter and the target motor force signal are superimposed and applied to the motor braking subsystem, and the low-frequency signal is applied to the hydraulic braking subsystem.
The evaluation index of the regenerative braking low-speed withdrawing condition is expressed by the derivative of the braking impact degree, namely, the deceleration. In the embodiment, the impact degree of the regenerative braking under the low-speed withdrawing working condition after the method is adopted is reduced from 60.94m/s3 to 36.31m/s3 by 40.4 percent through bench tests compared with the condition without a control strategy. Therefore, the method can greatly reduce the impact degree of the automobile under the condition of low-speed withdrawal during regenerative braking.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A regenerative braking low-speed withdrawal working condition control method based on high-frequency compensation is characterized by comprising the following steps of:
1) according to the controlled vehicle model and the composite braking system, vehicle information including vehicle speed and braking requirements and battery information including battery state of charge, charging power and the like are obtained;
2) distributing the braking force according to the vehicle information and the battery information to obtain a target motor force and a target hydraulic pressure;
3) based on the controlled composite braking system, acquiring respective response time of the motor braking subsystem and the hydraulic braking subsystem;
4) designing a high-pass filter according to the response speed difference of the motor braking subsystem and the hydraulic braking subsystem in the composite braking system by combining the response time of the motor braking subsystem and the response time of the hydraulic braking subsystem; the transfer function of the high-pass filter is as follows:
wherein a is a time delay constant;
5) performing high-frequency separation on the target hydraulic pressure through a high-pass filter and performing high-frequency compensation on the target motor force to obtain an output motor force and an output hydraulic pressure;
6) controlling the low-speed withdrawal working condition of the vehicle during regenerative braking according to the acquired output motor force and output hydraulic pressure;
the concrete content of the step 5) is as follows:
inputting the target hydraulic pressure into a high-pass filter for high-frequency separation of the target hydraulic pressure, and performing high-frequency compensation on the separated high-frequency hydraulic pressure on the target motor force to obtain the output motor force of the motor braking subsystem; and applying the separated low-frequency hydraulic pressure to a hydraulic braking subsystem to obtain output hydraulic pressure.
2. The control method for the regenerative braking low-speed withdrawal condition based on high-frequency compensation according to claim 1, characterized in that the value of the time delay constant a is obtained by filtering the delay time of the high-frequency signal of the target hydraulic pressure.
3. The regenerative braking low-speed withdrawal condition control method based on high-frequency compensation according to claim 2, characterized in that the time delay constant a is calculated by the formula:
in the formula, τ is a delay time of the filtered high-frequency signal of the target hydraulic pressure.
4. The regenerative braking low-speed withdrawal condition control method based on high-frequency compensation according to claim 3, characterized in that the delay time of the high-frequency signal of the target hydraulic pressure after being filtered is determined by the response time difference of the hydraulic braking subsystem and the motor braking subsystem.
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