CN109808502A - A kind of energy feedback withdrawal control method suitable for pure electric vehicle - Google Patents
A kind of energy feedback withdrawal control method suitable for pure electric vehicle Download PDFInfo
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- CN109808502A CN109808502A CN201711173767.4A CN201711173767A CN109808502A CN 109808502 A CN109808502 A CN 109808502A CN 201711173767 A CN201711173767 A CN 201711173767A CN 109808502 A CN109808502 A CN 109808502A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present disclosure discloses a kind of energy feedback withdrawal control methods suitable for pure electric vehicle, it is characterised in that the following steps are included: A1:ABS starts；A2: judge ABS send message whether be energy feedback exit message and the energy feedback whether exit message effective；If it is not, then continuing energy feedback；If so, thening follow the steps A3；A3: according to motor speed or driving wheel wheel speed, it is determined whether exit energy feedback system.The disclosure can efficiently solve electric motor coach after the rain or when the braking of the road surface of the low attachment coefficient such as wet-skid road surface, and ABS starting makes that energy feedback exits at once and then brake force moment reduces vehicle is caused to scurry out forward problem.The disclosure is simple and easy and takes into account energy feedback with ABS performance, alters before vehicle when energy feedback being avoided to exit, and ensure that driver driving and the comfort of passenger.
Description
Technical field
This disclosure relates to which pure electric vehicle control field more particularly to a kind of energy feedback suitable for pure electric vehicle exit control
Method processed.
Background technique
Brake energy feedback system is premised on guaranteeing safety, to brake, i.e. feedback braking mode and accelerator releasing, that is, pine tar
Under door feedback mode operating condition, by making vehicle deceleration using the part or all of electric braking generation opposing torque of driving motor or stopping
Vehicle, while feedback energy charges for battery, improves the utilization rate of energy, reduces the abrasion of the modes of braking such as machinery, air pressure.
The slip control system of pure electric automobile, i.e. ABS system, it is contemplated that the safety of automobile, ABS system work
When, braking energy feedback must exit in order to avoid influencing the work of ABS system.And the mode that braking energy feedback exits and automobile system
Dynamic stability and ride comfort has very big relationship.The relationship of current braking energy feedback exit strategy and ABS system are as follows: vehicle
When braking, if ABS is activated, braking energy feedback directly exits immediately.
Publication No. CN2014107849, a kind of entitled energy back-feed control method of pure electric vehicle disclose following
Technology contents: accelerator pedal unclamp and vehicle be in forward under the premise of, judge whether ABS starts, if ABS is not opened
It is dynamic, then enter feedback mode；Feedback mode selecting step: after entering feedback mode, judge whether brake pedal is stepped on, if having stepped on
Under, then vehicle enters feedback braking mode, and it is no not step on, then enter the feedback mode that slides, entire car controller calculates feedback torque,
By the energy storage of recycling into power battery；When vehicle is in braking or slides in feedback mode, real-time monitoring ABS is
No starting, if starting, exits feedback mode.By the maximum reception ability of power battery, the actual decelerating mode of vehicle with
And the feedback ability of motor itself determines feedback torque, extends pure electricity as much as possible under the premise of guaranteeing vehicle safety
The continual mileage of electrical automobile.The energy feedback of the program is immediately exited from when ABS system starts.If after rain, vehicle puddle,
Delay when stepping on braking on the wet-skid road surfaces such as deceleration strip, motor regenerative braking torque and the braking of a small amount of gas participate in that rear-wheel is caused to tend to embrace
Extremely, ABS is activated.Motor regenerative braking is cut off in ABS activation immediately, due to motor braking torque in entire brake force opposite gas
It is larger to suppress dynamic accounting, will cause vehicle after motor braking torque pop-off and alter forward.
Summary of the invention
Being designed to provide for the disclosure is a kind of when effectively contingencies can be avoided to occur, and ABS is activated and then makes energy
Feedback exit moment brake force die-off lead to vehicle before the energy feedback withdrawal control method suitable for pure electric vehicle altered.
In order to solve the above technical problems, the disclosure provides the following technical solutions:
A kind of energy feedback withdrawal control method suitable for pure electric vehicle, it is characterised in that the following steps are included:
A1:ABS starting；
A2: judge ABS send message whether be energy feedback exit message and the energy feedback whether exit message effective；
If it is not, then continuing energy feedback；If so, thening follow the steps A3；
A3: according to motor speed or driving wheel wheel speed, it is determined whether exit energy feedback system.
Judge that ABS sends whether message is that energy feedback exits message and whether the energy feedback exits message in step A2
Effectively, specifically:
When the message that ABS is continuously transmitted is that energy feedback exits message and the energy feedback continuously transmitted exits message amount
When more than or equal to preset message threshold value, then it is effective to exit message for energy feedback；
When the message that ABS is sent is not that energy feedback exits message；Or the message that ABS is sent is that energy feedback exits report
Text, but when the energy feedback exits message amount less than preset message threshold value, then it is invalid to exit message for energy feedback.
Step A2 specifically:
When the message that ABS is continuously transmitted is that energy feedback exits message and the energy feedback continuously transmitted exits message amount
When more than or equal to 3, then it is effective to exit message for energy feedback；
It is less than when the message that ABS is sent exits message amount for the energy feedback that energy feedback exits message and continuously transmits
When 3, then it is invalid to exit message for energy feedback.
It is specially ABS triggering retarder cutting message or ABS activation report that energy feedback described in step A2, which exits message,
Text.
Step A3 specifically:
By the motor speed and default motor speed threshold value comparison, or by the driving wheel wheel speed and default driving wheel wheel
Fast threshold value is compared, and is driven when the motor speed is greater than default motor speed threshold value or the driving wheel wheel speed greater than default
When driving wheel wheel speed threshold, continue energy feedback；
When any motor speed is less than or equal to default motor speed threshold value or any driving wheel wheel speed is less than etc.
When default driving wheel wheel speed threshold, energy feedback is exited.
Step A3 specifically:
When the motor speed is greater than 700 revs/min, continue energy feedback；
When any motor speed is less than or equal to 700 revs/min, energy feedback is exited.
Further include step A4:
It is driven when any motor speed is less than default motor speed threshold value or any driving wheel wheel speed less than default
Driving wheel wheel speed threshold, motor exit command according to energy feedback and exit energy feedback according to preset smoothing parameter and then make electricity
Machine braking energy feedback torque is gradually reduced.
It is specifically included in step A4:
A41: the corresponding relationship of default several groups smoothing parameter and vehicle speed range；
A42: when receiving energy feedback and exiting command, obtaining the real-time speed of vehicle, where determining the real-time speed of vehicle
Preset vehicle speed range, and then determine corresponding first smoothing parameter of the real-time speed of the vehicle；
A43: motor reduces braking energy feedback according to first smoothing parameter and exits torque；
A44: when measuring the real-time speed of vehicle and reducing to preset second vehicle speed range, motor is according to the second speed model
It encloses corresponding second smoothing parameter reduction braking energy feedback and exits torque；
A45: when motor not yet exits energy feedback completely, continue to monitor the real-time speed of vehicle whether to reduce to other pre-
If vehicle speed range in, if can if by the corresponding smoothing parameter of other vehicle speed ranges reduce braking energy feedback exit torque until
Energy feedback is exited completely.
Step A2 may further comprise:
Message is exited when not receiving the energy feedback that ABS is sent at the appointed time, then regards as ABS communication abnormality,
Energy feedback exits.
Further include step A0 before step A1:
Any wheel wheel speed in the locking trend or four wheels of any rear-wheel is monitored, when monitoring that any rear-wheel has locking to become
When any wheel wheel speed is lower than reference speed in gesture or four wheels, step A1 is executed.
Compared with prior art, the disclosure has the following beneficial effects:
The disclosure can efficiently solve electric motor coach after the rain or when the braking of the road surface of the low attachment coefficient such as wet-skid road surface,
ABS starting, which sends energy feedback and exits after message, makes that energy feedback exits at once and then brake force moment reduces and causes vehicle forward
It scurries out problem, in addition, motor makes braking energy feedback exit torque smooth control according to smoothing parameter when disclosure energy feedback exits
It exits, when being further ensured that energy feedback exits under any speed in this way, vehicle is without preshoot sense.The disclosure is simple and easy and makes
Energy feedback is taken into account with ABS performance, alters before vehicle when energy feedback being avoided to exit, and ensure that driver driving and passenger's is comfortable
Sense.
Detailed description of the invention
Fig. 1 is the energy feedback withdrawal control method flow chart that the disclosure is suitable for pure electric vehicle；
Fig. 2 is the one embodiment process of energy feedback withdrawal control method that the disclosure is suitable for pure electric vehicle.
Specific embodiment
Embodiment of the disclosure 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, it is intended to for explaining the disclosure, and should not be understood as the limitation to the disclosure.
The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of energy feedback withdrawal control method suitable for pure electric vehicle, it is characterised in that the following steps are included:
A1:ABS starting；
A2: judge ABS send message whether be energy feedback exit message and the energy feedback whether exit message effective；
If it is not, then continuing energy feedback；If so, thening follow the steps A3；
A3: according to motor speed or driving wheel wheel speed, it is determined whether exit energy feedback system.
Further include step A0 before step A1:
Any wheel wheel speed in the locking trend or four wheels of any rear-wheel is monitored, when monitoring that any rear-wheel has locking to become
When any wheel wheel speed is lower than reference speed in gesture or four wheels, step A1 is executed.
Judge that ABS sends whether message is that energy feedback exits message and whether the energy feedback exits message in step A2
Effective specific judgment step are as follows:
When the message that ABS is continuously transmitted is that energy feedback exits message and the energy feedback continuously transmitted exits message amount
When more than or equal to preset message threshold value, then it is effective to exit message for energy feedback；
When the message that ABS is sent is not that energy feedback exits message；Or the message that ABS is sent is that energy feedback exits report
Text, but when the energy feedback exits message amount less than preset message threshold value, then it is invalid to exit message for energy feedback.
It is specially ABS triggering retarder cutting message or ABS activation message that energy feedback, which exits message,.When electric vehicle is two
When driving, whether the monitoring any wheel speed of rear-wheel has locking trend, reports if so, ABS start and sends ABS triggering retarder cutting
Text.When electric vehicle is four-wheel drive cars, the wheel speed of any wheel in four wheels is monitored, when any wheel wheel speed is lower than reference
When wheel speed, ABS starts and sends ABS activation message.
Preferably, when the ABS message continuously transmitted is the ABS triggering that ABS triggers that retarder cuts off message and continuously transmits
When retarder cuts off message amount more than or equal to 3 frame, it is effective that ABS triggers retarder cutting message；
When the message that ABS is sent is not ABS triggering retarder cutting message；Or the message that ABS is sent is that ABS triggering is slow
Device cuts off message, but when continuous ABS triggering retarder cutting message amount is less than 3 frame, ABS triggers retarder and cuts off message
It is invalid.
Whether reach default message threshold value by judging that energy feedback exits the quantity of message, can be sent out to avoid contingencies
When raw, as long as ABS starts and transmission energy feedback exits message and results in energy feedback to exit at once and then make brake force wink
Between reduce vehicle caused to scurry out forward problem.When the continuous ABS triggering retarder cutting message amount that ABS is sent is 1 frame or 2
When frame, i.e., when the quantity that energy feedback exits message not up to presets message threshold value, it may be possible to due to, such as especially rainy day
Wet-skid road surface, braking frequently result in ABS and start and then send ABS triggering retarder cutting message.In this case, ABS can be certainly
Dynamic to adjust and then vehicle is made to reenter normal condition, vehicle continues energy feedback.
Step A2 may further comprise:
Message is exited when not receiving the energy feedback that ABS is sent at the appointed time, then regards as ABS communication abnormality,
Energy feedback exits.
Step A3 specifically:
By the motor speed and default motor speed threshold value comparison, or by the driving wheel wheel speed and default driving wheel wheel
Fast threshold value is compared, and is driven when the motor speed is greater than default motor speed threshold value or the driving wheel wheel speed greater than default
When driving wheel wheel speed threshold, continue energy feedback；
When any motor speed is less than or equal to default motor speed threshold value or any driving wheel wheel speed is less than etc.
When default driving wheel wheel speed threshold, energy feedback is exited.
What it is when transmission is that energy feedback exits message and the energy feedback continuously transmitted exits message amount more than or equal to pre-
If when message threshold value, further judging in conjunction with motor speed or driving wheel wheel speed.If motor speed is greater than default turn at this time
When fast threshold value, ABS can be automatically adjusted and then so that vehicle is reentered normal road surface and return to reference speed.Therefore, for this
Situation, just without the problem of exiting energy feedback, being altered before vehicle when can further avoid exiting energy feedback at once.Only when
ABS send continuous ABS triggering retarder cutting message amount be more than or equal to message preset threshold when, in conjunction with motor speed,
Driving wheel wheel speed when the two condition all meets, then exits energy feedback.The regulatory function that ABS can thus be utilized, effectively keeps away
When exempting from the generation of the contingencies such as rainy day road surface slippery situation, vehicle, which is frequently braked, causes easy triggering retarder cutting message to cause vehicle
The problem of preshoot.
Preferably, step A3 specifically: when the motor speed is greater than 700 revs/min, continue energy feedback；When any
When the motor speed is less than 700 revs/min, energy feedback is exited.
Under nominal situation, when ABS triggers retarder cutting message and is continuously 3 frame, when motor speed is greater than 700 revs/min,
Oneself is adjusted and vehicle is made to return to reference speed into normal road surface again by ABS, can not drop to 700 revs/min hereinafter, so
It not will lead to energy feedback to exit, avoid vehicle preshoot problem, situations such as vehicle locking will not therefore occur, meet just common
Vehicle demand also meets regulation test, reaches ideal braking effect.
The disclosure further includes step A4: when any motor speed is less than default motor speed threshold value or any described
When driving wheel wheel speed is less than default driving wheel wheel speed threshold, motor exits command according to energy feedback and according to preset smooth ginseng
Number exits energy feedback and then is gradually reduced motor braking energy feedback torque.
When determining that energy feedback exits, energy feedback is sent to entire car controller from EBS system and is exited command, vehicle control
Device control motor processed exits energy feedback according to preset smoothing parameter and then is gradually reduced motor braking energy feedback torque.
Vehicle braking energy feedback is exited when brake force being caused to reduce suddenly, and the ECU of EBS electric brake system sends control command to bridge
Module is controlled, the process that bridge control module compensates gas braking in time is very short, therefore braking energy feedback smoothly slowly exits and gives EBS electricity
Sub- braking system feedback time can further solve the problems, such as to lead to vehicle preshoot when because the feedback of ABS activation energy being exited.
Step A4 further comprises:
A41: the corresponding relationship of default several groups smoothing parameter and vehicle speed range；
A42: when receiving energy feedback and exiting command, obtaining the real-time speed of vehicle, where determining the real-time speed of vehicle
Preset vehicle speed range, and then determine corresponding first smoothing parameter of the real-time speed of the vehicle；
A43: motor reduces braking energy feedback according to first smoothing parameter and exits torque；
A44: when measuring the real-time speed of vehicle and reducing to preset second vehicle speed range, motor is according to the second speed model
It encloses corresponding second smoothing parameter reduction braking energy feedback and exits torque；
A45: when motor not yet exits energy feedback completely, continue to monitor the real-time speed of vehicle whether to reduce to other pre-
If vehicle speed range in, if can if by the corresponding smoothing parameter of other vehicle speed ranges reduce braking energy feedback exit torque until
Energy feedback is exited completely.
Two vehicle speed ranges: the first vehicle speed range: 0-V1 are preset in the embodiment of the present disclosure；Second vehicle speed range: V1-V2.
The corresponding smoothing parameter of first vehicle speed range 0-V1 is B1, and the corresponding smoothing parameter of the second vehicle speed range V1-V2 is B2.B1 < B2,
The unit of smoothing parameter B1, B2 are N/ms.V1 generally takes 20km/h-30km/h, it is highly preferred that V1 is 25km/h.V2 is preferably
Allow max. speed+10km/h for vehicle.The more big corresponding smoothing parameter of vehicle speed range is bigger.It is exited when receiving energy feedback
When order, if the real-time speed of vehicle is located in V1-V2 vehicle speed range, motor turns round braking energy feedback according to smoothing parameter B2
Square is gradually reduced；When the real-time speed of vehicle reduces in 0-V1 vehicle speed range, then motor makes braking energy according to smoothing parameter B1
Feedback torque is progressively smaller until to be zero.
When determining vehicle speed range and corresponding smoothing parameter B1, B2 value, it is first determined the maximum braking that motor allows
Energy feedback torque, it is ensured that the time that the braking energy feedback torque all exits does not influence the regulating effect of ABS.Generally exit
1000ms is arranged hereinafter, being set in the section 500ms-1000ms in time.Such as the maximum braking energy that motor allows returns
Feedback torque is 800N, max. speed 70Km/h, the time t=that the maximum braking energy feedback torque that motor allows all exits
When 600ms, V1=20Km/h, V2=80Km/h, when ABS is activated, when energy feedback exits under any speed, the equal nothing of vehicle
Preshoot sense
As shown in Fig. 2, the specific control implementation method of the one of the disclosure is as follows:
Entire car controller receives the retarder moment of torsion control message ID:0x265 1.0-1.1 value 3 and message of ABS transmission
Continuous 3 frame when and any side motor speed≤700, then stops feedback；Retarder moment of torsion control message ID:0x265 1.0-
1.1 values 3 are that retarder cuts off message；
If message ID:0x265 1.0-1.1 value is 3, but when continuous message is 1 or 2 frame, then allows feedback；
If message ID:0x265 1.0-1.1 value is not 3, allow feedback；
It powers on and is defaulted as allowing regenerating condition, do not receive ID:0x2651.0-1.1 message more than 2s and then think to communicate with ABS
It is abnormal, then exit feedback.
It is appreciated that retarder moment of torsion control message ID:0x265 1.0-1.1 value can be set as it according to different automobile types
Message is cut off when he is worth for retarder.
It is 700 revs/min is actual measurement operating conditions that default motor speed is judged that here, which is with motor speed:
Actual test operating condition one, when no addition revolving speed judges, the one piece of data tested in the case where simulating deceleration strip road conditions,
Speed is braked when 40km/h with the brake depth of 50%-60%, ABS activation, and triggering retarder cutting message is effective,
For energy feedback according to requiring to exit, driver has preshoot feeling.
Actual test operating condition two, when addition revolving speed judges, the one piece of data tested under rainy day public transport road conditions, speed
It when 40km/h, is braked with 50% or so brake depth, ABS activation, triggering retarder cutting message is effective, left motor
Revolving speed drops to 2500 and turns left the right side from 3100 right sides of turning left；For energy feedback according to requiring not exit, driver does not have preshoot feeling.
Actual test operating condition three enters the station the one of test in rainy day public transport Road quality simulation public transport when revolving speed being added judging
Segment data, speed are braked when 40km/h with 60% or so brake depth, and ABS activation, triggering retarder cuts off message
Effectively, left motor speed drops to 2100 and turns left the right side from 3000 right sides of turning left；For energy feedback according to requiring not exit, driver does not have preshoot
Feel.
Actual test operating condition four is surveyed when addition revolving speed judges in the simulation emergency braking of rainy day crossroad region of paint
The one piece of data of examination, speed are braked when 40km/h with 40% or so brake depth, and ABS activation, triggering retarder is cut
Disconnected message is effective, and left motor speed drops to 2200 and turn left the right side from 2400 right sides of turning left；, energy feedback is according to requiring not exit, driver
There is no preshoot feeling.
Actual test operating condition five, when addition revolving speed judges, in the one piece of data of ABS watering road surface test, speed exists
It when 40km/h, is braked with 40% or so brake depth, ABS activation, triggering retarder cutting message is effective, and left motor turns
Speed drops to 700 turns or less from 4100 right sides of turning left；Energy feedback is according to requiring to exit, and the road surface ABS brake(s)man is controllable, braking effect
Well.
Implement by test result as above, to the contradictory problems between electric motor coach energy feedback and ABS, is made that effective
Evade, ABS activation trigger retarder cutting, caused vehicle preshoot problem is addressed, and keeps energy feedback and ABS performance simultaneous
It cares for, and ensure that the comfort of driver driving and passenger's trip.
Although embodiment of the disclosure has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the disclosure, those skilled in the art within the scope of this disclosure can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of energy feedback withdrawal control method suitable for pure electric vehicle, it is characterised in that the following steps are included:
A1:ABS starting；
A2: judge ABS send message whether be energy feedback exit message and the energy feedback whether exit message effective；If
It is no, then continue energy feedback；If so, thening follow the steps A3；
A3: according to motor speed or driving wheel wheel speed, it is determined whether exit energy feedback system.
2. the energy feedback withdrawal control method according to claim 1 suitable for pure electric vehicle, it is characterised in that: step
Judge in A2 ABS send message whether be energy feedback exit message and the energy feedback whether exit message effective, specifically:
It is greater than when the message that ABS is continuously transmitted exits message amount for the energy feedback that energy feedback exits message and continuously transmits
Or when being equal to preset message threshold value, then it is effective to exit message for energy feedback；
When the message that ABS is sent is not that energy feedback exits message；Or the message that ABS is sent exits message for energy feedback, but
When the energy feedback exits message amount less than preset message threshold value, then it is invalid to exit message for energy feedback.
3. the energy feedback withdrawal control method according to claim 2 suitable for pure electric vehicle, is characterized in that: step A2
Specifically:
It is greater than when the message that ABS is continuously transmitted exits message amount for the energy feedback that energy feedback exits message and continuously transmits
Or when being equal to 3, then it is effective to exit message for energy feedback；
When the message that ABS is sent is that energy feedback exits message and the energy feedback continuously transmitted exits message amount less than 3,
Then it is invalid to exit message for energy feedback.
4. the energy feedback withdrawal control method according to any one of claims 1 to 3 suitable for pure electric vehicle, feature
Be: it is specially ABS triggering retarder cutting message or ABS activation message that energy feedback described in step A2, which exits message,.
5. the energy feedback withdrawal control method according to any one of claims 1 to 3 suitable for pure electric vehicle, feature
It is: step A3 specifically:
By the motor speed and default motor speed threshold value comparison, or by the driving wheel wheel speed and default driving wheel wheel speed threshold
Value is compared, when the motor speed is greater than default motor speed threshold value or the driving wheel wheel speed greater than default driving wheel
When wheel speed threshold, continue energy feedback；
When any motor speed is less than or equal to default motor speed threshold value or any driving wheel wheel speed less than or equal to pre-
If exiting energy feedback when driving wheel wheel speed threshold.
6. the energy feedback withdrawal control method according to any one of claims 1 to 3 suitable for pure electric vehicle, feature
It is: step A3 specifically:
When the motor speed is greater than 700 revs/min, continue energy feedback；
When any motor speed is less than or equal to 700 revs/min, energy feedback is exited.
7. the energy feedback withdrawal control method according to any one of claims 1 to 3 suitable for pure electric vehicle, feature
It is: further includes step A4:
When any motor speed is less than or equal to default motor speed threshold value or any driving wheel wheel speed less than or equal to pre-
If when driving wheel wheel speed threshold, motor exited command according to energy feedback and according to preset smoothing parameter exit energy feedback into
And it is gradually reduced motor braking energy feedback torque.
8. the energy feedback withdrawal control method according to claim 7 suitable for pure electric vehicle, it is characterised in that: step
It is specifically included in A4:
A41: the corresponding relationship of default several groups smoothing parameter and vehicle speed range；
A42: when receiving energy feedback and exiting command, obtaining the real-time speed of vehicle, determines pre- where the real-time speed of vehicle
If vehicle speed range, and then determine corresponding first smoothing parameter of the real-time speed of the vehicle；
A43: motor reduces braking energy feedback according to first smoothing parameter and exits torque；
A44: when measuring the real-time speed of vehicle and reducing to preset second vehicle speed range, motor is according to second vehicle speed range pair
The second smoothing parameter answered reduces braking energy feedback and exits torque；
A45: when motor not yet exits energy feedback completely, continue to monitor the real-time speed of vehicle whether to reduce to other preset
In vehicle speed range, if can if reduce braking energy feedback by the corresponding smoothing parameter of other vehicle speed ranges and exit torque until completely
Exit energy feedback.
9. the energy feedback withdrawal control method suitable for pure electric vehicle stated according to claim 2, it is characterised in that: step A2
It may further comprise:
Message is exited when not receiving the energy feedback that ABS is sent at the appointed time, then regards as ABS communication abnormality, energy
Feedback is exited.
10. the energy feedback withdrawal control method according to claim 1 suitable for pure electric vehicle, it is characterised in that: step
Further include step A0 before rapid A1:
Monitor any wheel wheel speed in the locking trend or four wheels of any rear-wheel, when monitor any rear-wheel have locking trend or
When any wheel wheel speed is lower than reference speed in four wheels, step A1 is executed.
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| CN111469670A (en) * | 2020-04-14 | 2020-07-31 | 桂林电子科技大学 | Electric automobile regenerative braking control strategy based on road surface identification |
| CN112339569A (en) * | 2020-11-17 | 2021-02-09 | 奇瑞商用车（安徽）有限公司 | New energy vehicle braking energy recovery control method |
| CN114670648A (en) * | 2020-12-24 | 2022-06-28 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
| CN114670649A (en) * | 2020-12-24 | 2022-06-28 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
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| CN111469670A (en) * | 2020-04-14 | 2020-07-31 | 桂林电子科技大学 | Electric automobile regenerative braking control strategy based on road surface identification |
| CN112339569A (en) * | 2020-11-17 | 2021-02-09 | 奇瑞商用车（安徽）有限公司 | New energy vehicle braking energy recovery control method |
| CN114670648A (en) * | 2020-12-24 | 2022-06-28 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
| CN114670649A (en) * | 2020-12-24 | 2022-06-28 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
| CN114670648B (en) * | 2020-12-24 | 2023-06-16 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
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