CN110001610A - A kind of four-wheel independent hub electric car composite braking control device - Google Patents
A kind of four-wheel independent hub electric car composite braking control device Download PDFInfo
- Publication number
- CN110001610A CN110001610A CN201910329830.1A CN201910329830A CN110001610A CN 110001610 A CN110001610 A CN 110001610A CN 201910329830 A CN201910329830 A CN 201910329830A CN 110001610 A CN110001610 A CN 110001610A
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- braking
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- electric car
- moment
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- 239000002131 composite material Substances 0.000 title claims abstract description 19
- 230000001172 regenerating effect Effects 0.000 claims abstract description 28
- 239000012530 fluid Substances 0.000 claims description 7
- 230000008929 regeneration Effects 0.000 claims description 4
- 238000011069 regeneration method Methods 0.000 claims description 4
- 238000011217 control strategy Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 150000001875 compounds Chemical class 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of four-wheel independent hub electric car composite braking control devices, the control device includes wheel hub electric car single-wheel braking system, hierarchical control framework and composite braking single-wheel control program, specific embodiment includes the following steps: first to determine whether remaining capacity (SOC) is more than secure threshold by upper layer braking information, if being more than, regenerative braking capability is exited；It is conventional brake or emergency braking by upper layer information judgement braking if SOC is less than secure threshold；When demand braking moment is less than the maximum allowable output valve of single-wheel regenerative braking moment this moment, braking moment is all provided by regenerative braking；When demand braking moment, which is greater than maximum regenerative braking force square, allows output valve, electric system is braked with the maximum regenerative braking force square allowed.The four-wheel independent hub electric car composite braking control device can effectively get up regenerative braking force energy utilization using the control strategy of hierarchical control, thus energy saving.
Description
Technical field
The present invention relates to electric car technical field of electronic control, specially a kind of four-wheel independent hub electric car is compound
Brake control.
Background technique
Electric car electronic control refers to be combined by electronic technology and electric car, so that application of electronic technology exists
On electric car, in order to which electric car is controlled well, as patent is entitled, " a kind of four-wheel hub motor independently drives electricity
The regenerating brake control method of electrical automobile " and Patent No. " CN102923128B " give control flow chart, but do not provide
The reason of specific to brake hardware structure diagram and control hardware structure diagram, and emergency braking causes brake wheel locking is to apply
Brake force on to wheel is excessive, and recycles braking energy and wish that regenerative braking moment is exported with peak value, so regeneration at this time
Braking and the braking of vehicle, which are stablized, constitutes intrinsic contradiction, and since motor is asynchronous with the response speed of hydraulic system, slightly
Big regenerative braking force this may result in braking unstability, under the operating condition of ANTI LOCK, using slip rate as Rule of judgment, and sliding
The torque of the fixed value limitation regenerative braking of the excessively high Shi Yi little of rate, energy can be carried out when coefficient of road adhesion is relatively high and is returned
It receives, but still suffers from locking danger when coefficient of road adhesion is too low, so, proposed by the present invention is that one kind takes into account energy regenerating
With the torque distribution mode of ANTI LOCK.
Summary of the invention
The present invention is to solve at least one defect described in the above-mentioned prior art, provides a kind of electronic vapour of four-wheel independent hub
Vehicle composite braking control device, the present apparatus utilize composite braking device, effectively regenerative braking force energy utilization can be got up,
Thus it is energy saving, improve the cruising ability of electric automobile during traveling.
To achieve the above object, the invention provides the following technical scheme: a kind of compound system of four-wheel independent hub electric car
Dynamic control device, the control device includes wheel hub electric car single-wheel braking system, hierarchical control framework and composite braking list
Wheel control journey, specific embodiment include the following steps:
S1: first determining whether remaining capacity (SOC) is more than secure threshold by upper layer braking information, if being more than, exits regeneration system
Dynamic function, braking moment needed for providing whole as brake fluid system；
S2: being conventional brake or emergency braking by upper layer information judgement braking, if tightly if SOC is less than secure threshold
Anxious braking, then limit regenerative braking peak value output torque, if conventional brake is then directly entered the judgement of next step；
S3: when demand braking moment is less than the maximum allowable output valve of single-wheel regenerative braking moment this moment, braking moment is whole
It is provided by regenerative braking；
S4: when demand braking moment, which is greater than maximum regenerative braking force square, allows output valve, electric system with allow it is maximum again
Raw braking moment braking, the braking moment that residue needs are provided by hydraulic system.
Preferably, the wheel hub electric car single-wheel braking system includes entire car controller, brake fluid system and control
Device, battery system and controller and hub motor and controller.
Preferably, the battery system includes power battery pack and battery management system.
Preferably, the hydraulic system includes the Hydraulic Elements such as accumulator, master cylinder and solenoid valve and hydraulic braking
Controller, and the on-off of master cylinder and wheel cylinder passes through solenoid valve control, and each wheel cylinder is respectively mounted pressure of wheel braking cylinder sensing
Device.
Preferably, the layer-stepping controls framework for the controller of vehicle, sensor and power drive system and braking system
It is divided into organized layer, cooperation layer and execution level, and instruction and information, and three layers is transmitted by Vehicle Body Bus system between layers
Between with dotted line separate, while solid line be Vehicle Body Bus system.
Compared with prior art, the beneficial effects of the present invention are: the four-wheel independent hub electric car composite braking controls
A kind of four-wheel hub motor independently drives the regenerating brake control method of electric car, control of the invention to device compared with prior art
System structure processed is more detailed, and more refines, meanwhile, the present apparatus uses the control strategy of hierarchical control, improves control
Efficiency, effectively regenerative braking force energy utilization can be got up, thus energy saving, improve the continuous of electric automobile during traveling
Boat ability, and the present apparatus designs control hardware structure diagram using single-chip microcontroller as central control unit, in addition, designing
Hardware structure diagram is braked, compared with similar techniques, structure is more perfect, and execution efficiency is high.
Detailed description of the invention
Fig. 1 is wheel hub electric car single-wheel brake system structure figure of the present invention；
Fig. 2 is hierarchical control architectural configurations figure of the present invention；
Fig. 3 is that composite braking single-wheel of the present invention controls program flow diagram.
Specific embodiment
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 description, 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. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of four-wheel independent hub electric car composite braking control
Device processed, control device include wheel hub electric car single-wheel braking system, hierarchical control framework and composite braking single-wheel control journey
Sequence, specific embodiment include the following steps:
S1: first determining whether remaining capacity (SOC) is more than secure threshold by upper layer braking information, if being more than, exits regeneration system
Dynamic function, braking moment needed for providing whole as brake fluid system；
S2: being conventional brake or emergency braking by upper layer information judgement braking, if tightly if SOC is less than secure threshold
Anxious braking, then limit regenerative braking peak value output torque, if conventional brake is then directly entered the judgement of next step；
S3: when demand braking moment is less than the maximum allowable output valve of single-wheel regenerative braking moment this moment, braking moment is whole
It is provided by regenerative braking；
S4: when demand braking moment, which is greater than maximum regenerative braking force square, allows output valve, electric system with allow it is maximum again
Raw braking moment braking, the braking moment that residue needs are provided by hydraulic system；
Wheel hub electric car single-wheel braking system includes entire car controller, brake fluid system and controller, battery system and control
Device processed and hub motor and controller, since four-wheel is symmetrical, other three wheel structures be it is identical, as shown in Fig. 1, vehicle
Controller mainly executes the composite braking control strategy of vehicle, acquires vehicle running condition information and operator brake signal, right
Control instruction is analyzed and calculated and obtain to the signal of sensor feedback, sends or be sent directly to corresponding controllers through In-vehicle networking
In, control of the movement of each electro hydraulic valve by brake hydraulic pressure controller, electric machine controller then issue phase in brake fluid system
For the control instruction answered to In-wheel motor driving device blocks, brake actuator then includes the wheel in hub motor and hydraulic braking
Cylinder etc., for being ultimately applied to the motor force square of wheel with mechanical friction braking moment.
Battery system includes power battery pack and battery management system, and then by battery system well to whole device
Electric energy is provided.
Hydraulic system includes the Hydraulic Elements such as accumulator, master cylinder and solenoid valve and brake hydraulic pressure controller, and is made
The on-off of dynamic master cylinder and wheel cylinder is by solenoid valve control, and each wheel cylinder is respectively mounted Wheel cylinder pressure sensors, is thus convenient for
The pressure of each wheel cylinder is monitored, and then is convenient for the alert operation in later period, improves the safety that whole device uses.
Layer-stepping control framework by the controller of vehicle, sensor and power drive system and braking system be divided into organized layer,
Cooperation layer and execution level, and between layers by Vehicle Body Bus system transmitting instruction and information, and dotted line is used between three layers
It separates, while solid line is Vehicle Body Bus system, as shown in Fig. 2, central control unit layer is motion control layer, motion control layer
Middle speed following controller and anti-lock braking controller co-ordination input information and electronic vapour according to the brake pedal of driver
The relevant sensor of each system unit of vehicle or parameter calculate the desired braking information of driver (acceleration and speed), and
Thus the total braking moment of required four-wheel is obtained, torque distribution control elementary layer goes out total according to given in a upper level
Expectation torque and relevant information, obtained on the basis of guaranteeing vehicle braking stability in conjunction with the control strategy and target of formulation
To the corresponding torque method of salary distribution and the desired value of each wheel braking moment, then basis receives the control system of execution level component
Torque instruction, follow desired value export braking moment, make motion control layer control intention obtain final realization.
The principle that the braking moment of single-wheel is reallocated is that regenerative braking allows preferentially to use regenerative braking in the case where use
Power, insufficient section are then supplemented by hydraulic braking force.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (5)
1. a kind of four-wheel independent hub electric car composite braking control device, it is characterised in that: the control device includes wheel
Hub electric car single-wheel braking system, hierarchical control framework and composite braking single-wheel control program, and specific embodiment includes such as
Lower step:
S1: first determining whether remaining capacity (SOC) is more than secure threshold by upper layer braking information, if being more than, exits regeneration system
Dynamic function, braking moment needed for providing whole as brake fluid system；
S2: being conventional brake or emergency braking by upper layer information judgement braking, if tightly if SOC is less than secure threshold
Anxious braking, then limit regenerative braking peak value output torque, if conventional brake is then directly entered the judgement of next step；
S3: when demand braking moment is less than the maximum allowable output valve of single-wheel regenerative braking moment this moment, braking moment is whole
It is provided by regenerative braking；
S4: when demand braking moment, which is greater than maximum regenerative braking force square, allows output valve, electric system with allow it is maximum again
Raw braking moment braking, the braking moment that residue needs are provided by hydraulic system.
2. a kind of four-wheel independent hub electric car composite braking control device according to claim 1, it is characterised in that:
The wheel hub electric car single-wheel braking system includes entire car controller, brake fluid system and controller, battery system and control
Device processed and hub motor and controller.
3. a kind of four-wheel independent hub electric car composite braking control device according to claim 1, it is characterised in that:
The battery system includes power battery pack and battery management system.
4. a kind of four-wheel independent hub electric car composite braking control device according to claim 1, it is characterised in that:
The hydraulic system includes the Hydraulic Elements such as accumulator, master cylinder and solenoid valve and brake hydraulic pressure controller, and brakes master
The on-off of cylinder and wheel cylinder is by solenoid valve control, and each wheel cylinder is respectively mounted Wheel cylinder pressure sensors.
5. a kind of four-wheel independent hub electric car composite braking control device according to claim 1, it is characterised in that:
The controller of vehicle, sensor and power drive system and braking system are divided into organized layer, coordinated by the layer-stepping control framework
Layer and execution level, and between layers by Vehicle Body Bus system transmitting instruction and information, and separated between three layers with dotted line,
Solid line is Vehicle Body Bus system simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910329830.1A CN110001610A (en) | 2019-04-23 | 2019-04-23 | A kind of four-wheel independent hub electric car composite braking control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910329830.1A CN110001610A (en) | 2019-04-23 | 2019-04-23 | A kind of four-wheel independent hub electric car composite braking control device |
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| CN110001610A true CN110001610A (en) | 2019-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910329830.1A Pending CN110001610A (en) | 2019-04-23 | 2019-04-23 | A kind of four-wheel independent hub electric car composite braking control device |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111186424A (en) * | 2020-01-21 | 2020-05-22 | 江苏大学 | Composite brake control system and method based on motor brake characteristics |
| CN112140904A (en) * | 2020-09-17 | 2020-12-29 | 东风汽车集团有限公司 | Electro-hydraulic composite brake coordination control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101054065A (en) * | 2007-05-25 | 2007-10-17 | 吉林大学 | Regeneration braking and anti-lock integrated control system for mixed power car |
| CN203766763U (en) * | 2014-01-28 | 2014-08-13 | 同济大学 | Hierarchical control framework suitable for electrical-hydraulic composite brake system with integrated brake master cylinder |
| US20140379234A1 (en) * | 2013-06-19 | 2014-12-25 | Nissin Kogyo Co., Ltd. | Vehicle brake hydraulic pressure control apparatus |
| CN108162766A (en) * | 2017-12-07 | 2018-06-15 | 燕山大学 | A kind of In-wheel motor driving automobile mechanical electronic hydraulic redundant braking system and control method |
| CN108437805A (en) * | 2018-03-09 | 2018-08-24 | 武汉理工大学 | Regenerating braking energy recycling control based on wheel hub motor four-wheel drive vehicle and computational methods |
-
2019
- 2019-04-23 CN CN201910329830.1A patent/CN110001610A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101054065A (en) * | 2007-05-25 | 2007-10-17 | 吉林大学 | Regeneration braking and anti-lock integrated control system for mixed power car |
| US20140379234A1 (en) * | 2013-06-19 | 2014-12-25 | Nissin Kogyo Co., Ltd. | Vehicle brake hydraulic pressure control apparatus |
| CN203766763U (en) * | 2014-01-28 | 2014-08-13 | 同济大学 | Hierarchical control framework suitable for electrical-hydraulic composite brake system with integrated brake master cylinder |
| CN108162766A (en) * | 2017-12-07 | 2018-06-15 | 燕山大学 | A kind of In-wheel motor driving automobile mechanical electronic hydraulic redundant braking system and control method |
| CN108437805A (en) * | 2018-03-09 | 2018-08-24 | 武汉理工大学 | Regenerating braking energy recycling control based on wheel hub motor four-wheel drive vehicle and computational methods |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111186424A (en) * | 2020-01-21 | 2020-05-22 | 江苏大学 | Composite brake control system and method based on motor brake characteristics |
| CN111186424B (en) * | 2020-01-21 | 2021-09-10 | 江苏大学 | Composite brake control system and method based on motor brake characteristics |
| CN112140904A (en) * | 2020-09-17 | 2020-12-29 | 东风汽车集团有限公司 | Electro-hydraulic composite brake coordination control method |
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Application publication date: 20190712 |