CN109895775A - 用于可变控制制动能量再生级别的系统及其方法 - Google Patents
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Abstract
本发明涉及用于可变控制制动能量再生级别的系统及其方法。本发明具体公开了一种用于可变控制制动能量再生级别的系统,车辆以根据驾驶员使用换挡拨片手动设置的再生级别的限定的减速度在平地上滑行时,如果由于车辆进入下坡道路或上坡道路而产生根据道路坡度的减速度差异,通过反映根据减速度差异的补偿扭矩,所述系统可以包括运行条件确定器、基于坡度阻力的前馈控制器、基于减速度的反馈控制器和滑行扭矩反映器。
Description
相关申请的交叉引用
本申请要求2017年12月8日提交的韩国专利申请No.10-2017-0168535的权益,该申请的全部内容通过引用并入本文。
技术领域
本申请的示例性实施方案涉及一种包括驱动电机和电力存储设备的车辆中的再生制动技术,并且更具体地,涉及一种基于道路坡度用于可变控制制动能量再生级别的系统及其方法。
背景技术
包括驱动电机和电力存储设备的车辆中的制动包括制动液压制动和利用电机的再生制动。
近来,可以手动地设置用于有效的再生制动的再生级别的换挡拨片已经应用于车辆。驾驶员在滑行时通过换挡拨片的[+]输入或[-]输入调整期望的再生级别,以通过再生制动调整减速。图1(相关技术)为示出根据换挡拨片所设置的每一个再生级别的车辆速度的再生扭矩的视图,并且示出了根据换挡拨片设置的再生级别的四个等级D0、D1、D2以及D3的再生扭矩的差异。
然而,如果仅根据驾驶员的手动操作调整再生级别,驾驶员根据驾驶状况(例如路面坡度变化)而频繁地进行换挡拨片输入、加速以及制动操作会造成不便。因此,再生制动可能不会有效地实现,使得无法实现期望的燃料效率。
发明内容
本申请的实施方案致力于提供一种可变控制制动能量再生级别的系统及其方法,其中根据道路坡度以及驾驶员的换挡拨片的手动输入来确定行驶情况,以便可变地控制再生级别,从而将不必要的换挡拨片输入、加速以及制动操作最小化,因而改善驾驶便捷性以及在实际道路上的燃料效率。
根据本申请的实施方案,一种车辆中用于可变控制制动能量再生级别的系统可以包括:运行条件确定器,其配置为确定车辆是否在滑行并且基于路面坡度输出坡度信息;基于坡度阻力的前馈控制器,其配置为接收来自所述运行条件确定器的坡度信息并且计算坡度阻力扭矩作为前馈控制值;基于减速度的反馈控制器,其配置为基于驾驶员使用换挡拨片手动设置的减速度与实际车辆减速度之间的差异输出反馈控制值;以及滑行扭矩反映器,其配置为输出包含修正扭矩的滑行扭矩,所述修正扭矩计算为所述前馈控制值与所述反馈控制值之和。
所述运行条件确定器可以基于油门位置传感器、制动器以及档位的信息确定车辆是否在滑行,并且基于纵向加速度传感器测量的坡度信息来确定道路坡度是否大于或等于特定坡度,以最终确定如果在滑行期间道路坡度大于或等于特定坡度,则再生级别可变控制的运行条件得到满足。
当再生级别可变控制的运行条件得到满足时,所述运行条件确定器可以向基于坡度阻力的前馈控制器提供坡度信息。
所述基于坡度阻力的前馈控制器可以使用坡度信息以计算坡度阻力扭矩并且输出计算出的坡度阻力扭矩作为前馈控制值。
基于减速度的反馈控制器可以输出用于对驾驶员手动设置的再生级别减速度与通过PID控制的实际车辆减速度之间的差异进行反馈补偿的反馈控制值。
所述滑行扭矩反映器可以将通过前馈控制值与反馈控制值之和计算出的补偿扭矩反映到根据驾驶员手动设置的再生级别的再生扭矩,以输出滑行扭矩。
所述系统可以进一步包括:再生级别显示器,其逆向计算具有下述的再生扭矩的再生级别,该再生扭矩近似为根据驾驶员手动设置的再生级别的再生扭矩与由基于坡度阻力的前馈控制器计算出的坡度阻力扭矩之和,使得驾驶员识别在滑行期间实际执行的再生级别,并且显示出逆向计算的再生级别。
根据本申请的另一个实施方案,一种车辆中用于可变控制制动能量再生级别的方法可以包括:由运行条件确定器确定车辆是否在滑行,并且基于路面坡度输出坡度信息;由基于坡度阻力的前馈控制器接收来自所述运行条件确定器的坡度信息,并且计算坡度阻力扭矩作为前馈控制值;由基于减速度的反馈控制器输出基于驾驶员使用换挡拨片手动设置的减速度与实际车辆减速度之间的差异的反馈控制值;以及由滑行扭矩反映器输出包含修正扭矩的滑行扭矩,所述修正扭矩计算为所述前馈控制值与所述反馈控制值之和。
在确定运行条件中,所述运行条件确定器可以确定再生级别可变控制的运行条件是否得到满足。
在输出基于坡度阻力的前馈控制值中,基于坡度阻力的前馈控制器可以计算坡度阻力扭矩并且输出计算出的坡度阻力扭矩作为前馈控制值。
在输出基于减速度的反馈控制值中,基于减速度的反馈控制器可以输出用于对驾驶员手动设置的再生级别减速度与通过PID控制的实际车辆减速度之间的差异进行反馈补偿的反馈控制值。
在反映滑行扭矩中,所述滑行扭矩反映器可以通过将前馈控制值与反馈控制值之和计算出的补偿扭矩反映到根据驾驶员手动设置的再生级别的再生扭矩,以输出滑行扭矩。
所述方法可以进一步包括显示再生级别,其中再生级别显示器逆向计算具有下述的再生扭矩的再生级别,该再生扭矩近似为根据驾驶员手动设置的再生级别的再生扭矩与由基于坡度阻力的前馈控制器计算出的坡度阻力扭矩之和,并且显示出逆向计算的再生级别。
本发明的其它目的和优点可以通过如下描述而理解,并且参考本发明的具体实施方案而变得清楚。此外,对于本申请所属领域的技术人员显而易见的是,本申请的目的和优点可以通过如本文所述的布置及其组合来实现。
附图说明
图1(相关技术)为示出根据换挡拨片所设置的每个再生级别的车辆速度的再生扭矩的示意图。
图2为示出本申请的基本概念的示意图。
图3为根据本申请的实施方案的用于可变控制制动能量再生级别的系统的配置示意图。
图4为根据本申请的实施方案的用于可变控制制动能量再生级别的方法的流程示意图。
具体实施方式
应当理解,本文中所使用的术语“车辆”或“车辆的”或其它类似术语一般包括机动车辆,例如包括运动型多用途车辆(SUV)、大客车、卡车、各种商用车辆的乘用汽车,包括各种舟艇、船舶的船只,航空器等等,并且包括混合动力车辆、电动车辆、插电式混合动力电动车辆、氢动力车辆以及其它替代性燃料车辆(例如源于非石油的能源的燃料)。正如本文所提到的,混合动力车辆是具有两种或更多动力源的车辆,例如汽油动力和电力动力两者的车辆。
本文所用的术语仅为了描述特定实施例的目的,并不旨在限制本申请。正如本文所使用的,单数形式“一”、“一个”和“该”旨在也包括复数形式,除非上下文另有清楚的说明。还将理解当在本说明书中使用术语“包含”和/或“包括”时,指明存在所述特征、数值、步骤、操作、元件和/或组件,但是不排除存在或加入一种或多种其他的特征、数值、步骤、操作、元件、组件和/或其群体。正如本文所述的,术语“和/或”包括一种或多种相关列举项目的任何和所有组合。在整个说明书中,除非明确地相反描述,术语“包括”和变化形式例如“包含”或“包括有”应被理解为暗示包含所述元件但是不排除任何其它元件。此外,在说明书中描述的术语“单元”、“器件”、“部件”和“模块”意为用于执行至少一个功能和操作的单元,并且可以由硬件组件或者软件组件以及它们的组合来实现。
此外,本发明的控制逻辑可以实施为计算机可读介质上的非瞬态计算机可读介质,其包含由处理器、控制器等执行的可执行程序指令。计算机可读介质的示例包括但不限于ROM、RAM、光碟(CD)-ROM、磁带、软盘、闪盘驱动器、智能卡和光学数据存储设备。计算机可读介质还可以分布在网络连接的计算机系统上,使得计算机可读介质例如通过远程信息处理服务器或控制器区域网络(CAN)以分布方式存储和执行。
下面,将结合附图对根据本申请的实施方案的用于可变控制制动能量再生级别的系统及其控制方法进行详细描述。然而,将省略可能使本申请的主旨模糊的公知功能和配置的详细描述和详细说明。
图2为显示本申请的基本概念的示意图。
参考图2,本申请具有这样的基本概念:在根据驾驶员手动设置的再生级别车辆以限定的减速度在平地上滑行时,如果由于车辆进入下坡道路或上坡道路而产生根据道路坡度的减速度差异再生级别,通过反映根据减速度差异的补偿扭矩来可变地控制再生级别,以在再生制动期间无论道路坡度如何都连续地保持驾驶员期望的减速度,而驾驶员不进行换挡拨片的输入、加速和制动操作。
图3为根据本申请的实施方案的用于可变控制制动能量再生级别的系统的配置示意图。
参考图3,根据本申请的实施方案的用于可变控制制动能量再生级别的系统配置为包括运行条件确定器10、基于坡度阻力的前馈(feed forward,FF)控制器20、基于减速度的反馈(feed back,FB)控制器30以及滑行扭矩反映器40。
所述运行条件确定器10基于油门位置传感器(APS)、制动器以及档位的信息确定车辆是否在滑行,并且基于由纵向加速度传感器测量的坡度信息来确定道路坡度是否等于或大于特定坡度。如果在滑行期间道路坡度大于或等于特定坡度,运行条件确定器10最终确定再生级别可变控制的运行条件,并且将坡度信息提供给基于坡度阻力的前馈控制器20。例如,基于对应45°倾斜角的正切值,特定坡度可以设置为对应于5%的坡度(θ=tan-1(0.05))。
基于坡度阻力的前馈控制器20利用坡度信息以根据下面的等式1计算坡度阻力扭矩,并且输出计算出的坡度阻力扭矩作为前馈控制值。
坡度阻力扭矩=(mgsinθ)×r×k (等式1)
在上面的等式1中,m表示车辆的空车重量,g表示重力加速度,θ表示道路倾斜角度,r表示轮胎动态半径以及k表示用于反映其他阻力因素的补偿因子。
基于减速度的反馈控制器30输出用于对差异进行反馈补偿的反馈控制值,该差异是根据驾驶员手动设置的再生级别的减速度和通过PID(proportional integralderivative,比例积分微分)控制的实际车辆减速度之间的差异。因此,基于减速度的反馈控制器30补偿车辆减速度的误差,该误差由车辆的重量误差以及路面情况(该路面情况基于从基于坡度阻力的前馈控制器20输出的控制值)引起。
通过将前馈控制值与反馈控制值的和计算出的修正扭矩反映到根据驾驶员手动设置的再生级别的再生扭矩,滑行扭矩反映器40输出滑行扭矩。
同时,根据本申请的实施方案的用于可变控制制动能量再生级别的系统可以进一步包括再生级别显示器(未示出),该再生级别显示器逆向计算具有再生扭矩再生级别(该再生扭矩近似为根据驾驶员手动设置的再生级别的再生扭矩与基于坡度阻力的前馈控制器20计算出的坡度阻力扭矩的和)的再生级别,使得驾驶员可以识别在滑行期间实际执行的再生级别并且显示出逆向计算出的再生级别(例如,在仪表板上)。
图4为根据本申请的实施方案的用于可变控制制动能量再生级别的方法的示意图。
参考图4,根据本申请的实施方案的用于可变控制制动能量再生级别的方法包括:确定运行条件(S10)、输出基于坡度阻力的前馈控制值(S20)、输出基于减速度的反馈控制值(S30),反映滑行扭矩(S40)以及显示再生级别(S50)。
在确定运行条件(S10)中,运行条件确定器10确定再生级别可变控制的运行条件是否满足。
在输出基于坡度阻力的前馈控制值(S20)中,基于坡度阻力的前馈控制器20计算出坡度阻力扭矩并且输出计算出的坡度阻力扭矩作为前馈控制值。
在输出基于减速度的反馈控制值(S30)中,基于减速度的反馈控制器30输出用于对差异进行反馈补偿的反馈控制值,该差异是根据由驾驶员手动设置的再生级别的减速度与由PID控制的实际车辆减速度之间的差异。
在反映滑行扭矩(S40)中,滑行扭矩反映器40将通过前馈控制值与反馈控制值的和计算出的补偿扭矩反映到根据驾驶员手动设置的再生级别的再生扭矩,以输出滑行扭矩。
在显示再生级别(S50)中,再生级别显示器(未示出)逆向计算具有再生扭矩再生级别(该再生扭矩近似为根据驾驶员手动设置的再生级别的再生扭矩与基于坡度阻力的前馈控制器20计算出的坡度阻力扭矩的和)的再生级别,并且显示出逆向计算出的再生级别(例如,在仪表板上)。
根据本申请的实施方案的用于可变控制制动能量再生级别的系统及其方法根据的道路坡度以及驾驶员的换挡拨片的手动输入来确定行驶情况,以便可变地控制再生级别,从而将不必要的换挡拨片输入、加速以及制动操作最小化,因而改善驾驶便捷性以及在实际道路上的燃料效率。
根据本申请的实施方案的用于可变控制制动能量再生级别的系统及其方法根据的道路坡度以及驾驶员的换挡拨片的手动输入来确定行驶情况,以便可变地控制再生级别,从而将不必要的换挡拨片输入、加速以及制动操作最小化,因而改善驾驶便捷性以及在实际道路上的燃料效率。
本说明书和附图中公开的实施方案仅用于容易地解释本申请的技术构思的目的,并不用于限制权利要求中描述的本申请的范围。因此,本领域技术人员将理解,可以进行各种修改并且可以获得其他等同实施方案。
Claims (13)
1.一种车辆中用于可变控制制动能量再生级别的系统,包括:
运行条件确定器,其配置为确定车辆是否在滑行并且基于路面坡度输出坡度信息;
基于坡度阻力的前馈控制器,其配置为接收来自所述运行条件确定器的坡度信息并且计算坡度阻力扭矩作为前馈控制值;
基于减速度的反馈控制器,其配置为基于驾驶员使用换挡拨片手动设置的减速度与实际车辆减速度之间的差异输出反馈控制值;以及
滑行扭矩反映器,其配置为输出包含修正扭矩的滑行扭矩,所述修正扭矩计算为所述前馈控制值与所述反馈控制值之和。
2.根据权利要求1所述的车辆中用于可变控制制动能量再生级别的系统,其中,所述运行条件确定器基于油门位置传感器、制动器以及档位的信息确定车辆是否在滑行,并且基于纵向加速度传感器测量的坡度信息来确定道路坡度是否大于或等于特定坡度,以最终确定如果在滑行期间道路坡度大于或等于特定坡度,则再生级别可变控制的运行条件得到满足。
3.根据权利要求2所述的车辆中用于可变控制制动能量再生级别的系统,其中,当再生级别可变控制的运行条件得到满足时,所述运行条件确定器向基于坡度阻力的前馈控制器提供坡度信息。
4.根据权利要求3所述的车辆中用于可变控制制动能量再生级别的系统,其中,所述基于坡度阻力的前馈控制器使用坡度信息以计算坡度阻力扭矩并且输出计算出的坡度阻力扭矩作为前馈控制值。
5.根据权利要求4所述的车辆中用于可变控制制动能量再生级别的系统,其中,所述基于减速度的反馈控制器输出用于对驾驶员手动设置的再生级别减速度与通过PID控制的实际车辆减速度之间的差异进行反馈补偿的反馈控制值。
6.根据权利要求5所述的车辆中用于可变控制制动能量再生级别的系统,其中,所述滑行扭矩反映器将通过前馈控制值与反馈控制值之和计算出的补偿扭矩反映到根据驾驶员手动设置的再生级别的再生扭矩,以输出滑行扭矩。
7.根据权利要求6所述的车辆中用于可变控制制动能量再生级别的系统,进一步包括:
再生级别显示器,其逆向计算具有下述的再生扭矩的再生级别,该再生扭矩近似为根据驾驶员手动设置的再生级别的再生扭矩与由基于坡度阻力的前馈控制器计算出的坡度阻力扭矩之和,使得驾驶员识别在滑行期间实际执行的再生级别,并且显示逆向计算出的再生级别。
8.一种车辆中用于可变控制制动能量再生级别的方法,包括:
由运行条件确定器确定车辆是否在滑行,并且基于路面坡度输出坡度信息;
由基于坡度阻力的前馈控制器接收来自所述运行条件确定器的坡度信息,并且计算坡度阻力扭矩作为前馈控制值;
由基于减速度的反馈控制器输出基于驾驶员使用换挡拨片手动设置的减速度与实际车辆减速度之间的差异的反馈控制值;以及
由滑行扭矩反映器输出包含修正扭矩的滑行扭矩,所述修正扭矩计算为所述前馈控制值与所述反馈控制值之和。
9.根据权利要求8所述的车辆中用于可变控制制动能量再生级别的方法,其中,在确定车辆是否在滑行中,所述运行条件确定器确定再生级别可变控制的运行条件是否得到满足。
10.根据权利要求9所述的车辆中用于可变控制制动能量再生级别的方法,其中,在输出前馈控制值中,基于坡度阻力的前馈控制器计算坡度阻力扭矩并且输出计算出的坡度阻力扭矩作为前馈控制值。
11.根据权利要求10所述的车辆中用于可变控制制动能量再生级别的方法,其中,在输出反馈控制值中,基于减速度的反馈控制器输出用于对驾驶员手动设置的再生级别减速度与通过PID控制的实际车辆减速度之间的差异进行反馈补偿的反馈控制值。
12.根据权利要求11所述的车辆中用于可变控制制动能量再生级别的方法,其中,在反映滑行扭矩中,滑行扭矩反映器将通过前馈控制值与反馈控制值之和计算出的补偿扭矩反映到根据驾驶员手动设置的再生级别的再生扭矩,以输出滑行扭矩。
13.根据权利要求8所述的车辆中用于可变控制制动能量再生级别的方法,进一步包括:显示再生级别,其中再生级别显示器逆向计算具有下述的再生扭矩的再生级别,该再生扭矩近似为根据驾驶员手动设置的再生级别的再生扭矩与由基于坡度阻力的前馈控制器计算出的坡度阻力扭矩之和,并且显示出逆向计算的再生级别。
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US11110927B2 (en) | 2021-09-07 |
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