CN110103924A

CN110103924A - Four-wheel acoustic filed brake energy recovering system of electric vehicle based on stacked unidirectional valve and check valve

Info

Publication number: CN110103924A
Application number: CN201910429606.XA
Authority: CN
Inventors: 杨坤; 王杰; 李敏; 谭迪; 李跃伟; 赵昱; 田昭贤
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2019-08-09
Anticipated expiration: 2039-05-22
Also published as: CN110103924B

Abstract

The present invention provides a kind of four-wheel acoustic filed brake energy recovering system of electric vehicle based on stacked unidirectional valve and check valve, belong to electric vehicle brake power recovery technology field, the program is directed to the characteristics of four-wheel acoustic filed electric vehicle four-wheel motor braking power Independent adjustable, by increasing secondary air accumulator in having the decoupling type brake energy recovering system based on air pressure ABS solenoid valve, switch electromagnetic valve, triple valve, drive wheel stacked unidirectional valve, drive wheel check valve, drive the components such as wheel brake pressure sensor, each driving wheel braking gas circuit is set to all have double back line structure, make it in Brake energy recovery, it can choose the high gas source of air pressure and provide high pressure gas for each driving wheel braking gas chamber, to efficiently solve, when continuously being braked present in existing scheme, because the relatively low bring of bleed pressure drives vehicle Wheel coupling braking force response rate is slow, and lags behind the critical issue of demand brake force.

Description

Four-wheel acoustic filed electric vehicle brake power based on stacked unidirectional valve and check valve Recovery system

Technical field

The invention belongs to electric vehicle brake power recovery technology fields, and in particular to one kind is based on stacked unidirectional valve and list To the four-wheel acoustic filed brake energy recovering system of electric vehicle of valve.

Background technique

With getting worse for environmental pollution and energy security problem, electric vehicle is increasingly valued by people, braking Energy recycling system is one of energy-efficient key means of electric vehicle, and energy of the script consumption in friction catch can be passed through electricity by it Machine is recycled and is used, as document " decoupling type brake energy recovering system research " based on EMB (Yang Kun, Gao Song, Wang Jie, Equal study [J] automobile engineering, 2016,38 (8): 1072-1079. based on the decoupling type brake energy recovering system of EMB) institute It states, 30% or so of energy needed for this portion of energy can account for driving vehicle.

Currently, brake energy recovering system can be divided into manifold type and two kinds of decoupling type, manifold type braking according to working principle Though energy recycling system without the arrangement of the former vehicle braking system of change, has, brake feel is poor, Brake energy recovery rate is low Disadvantage, application gradually decreases at present.

Decoupling type brake energy recovering system can be driven by the coupling of mechanical braking force and motor braking power accurately to meet The braking requirement for the person of sailing has the advantage that brake feel is good, Brake energy recovery rate is high.When motor braking power can be fully met When operator brake demand, brake force is provided by motor braking completely, when motor braking power cannot fully meet operator brake When demand, vehicle brake force is provided jointly by motor braking and mechanical braking, therefore the conjunction of motor braking power and mechanical braking force The demand brake force that can power accurately track driver just becomes the key for influencing decoupling type brake energy recovering system effect.

For electric commercial vehicle, since complete vehicle weight is larger, shadow of the Brake energy recovery effect to vehicle economy Sound is just particularly important, while from reduction system cost, the angle of development cost and system reform workload, currently, Studying more electric commercial vehicle decoupling type brake energy recovering system scheme is document " integral new-energy passenger URBS air pressure ABS electricity Magnet valve failure analysis and improvement " (Yang Kun, Ma Chao, Guo Dong wait the URBS air pressure ABS solenoid valve failure analysis of integral new-energy passenger and change Into [J] Guangxi University journal (natural science edition), 2017,42 (5): 1647-1656.) mention in a text based on air pressure ABS The decoupling type brake energy recovering system of solenoid valve；This scheme has at low cost, the advantage of Yi Shixian, but finds under study for action There are the following problems: the adjustment speed of brake chamber pressure depends on the difference of air accumulator gas pressure and brake chamber gas pressure Value, when continuously braking number is greater than twice when driving, pressure can be substantially reduced, and continuously brake in air accumulator number More, pressure decline is bigger, and the adjustment speed of brake chamber pressure can be substantially reduced at this time, and then make brake energy recovering system The coupling brake force for being applied to vehicle can lag behind demand brake force, thus bring brake feel different from conventional braking system, And it may cause the serious problems such as braking distance is elongated.

In addition, the driving method of electric vehicle can be divided into traditional centralized driving mode and distributed driving method, with concentration Driving method is compared, and distribution driving has the advantages such as transmission efficiency high, space layout is flexible, dynamic property is strong, good economy performance, together When also there is the motor braking power of driving wheel to have the advantage of Independent adjustable, this is further increases its Brake energy recovery rate It provides the foundation with insensitivity, while it is considered that front and back wheel is recyclable to brake for 4 wheel driven electric commercial vehicle Energy, this is also to further increase Brake energy recovery rate to provide the foundation, therefore develop and be suitable for four-wheel acoustic filed formula electricity The decoupling type brake energy recovering system of motor-car has stronger practical value.

Summary of the invention

The present invention is having the decoupling type brake energy recovering system scheme based on air pressure ABS solenoid valve regarding to the issue above On the basis of a kind of four-wheel acoustic filed brake energy recovering system of electric vehicle based on stacked unidirectional valve and check valve is provided, In the program, by increasing secondary air accumulator (3), rear drive shaft switch electromagnetic valve (5), the in existing brake energy recovering system One triple valve (7), rear drive shaft relay valve (8), the second triple valve (9), rear right driving wheel stacked unidirectional valve (10), third Triple valve (11), rear right driving wheel brake pressure sensor (17), rear right driving wheel check valve (20), the 4th triple valve (21), rear left driving wheel check valve (22), rear left driving wheel brake pressure sensor (25), the 5th triple valve (31), after Left driving wheel stacked unidirectional valve (32), the 6th triple valve (33), drive axle relay valve (37), the 7th triple valve (38), 8th triple valve (39), front left driving wheel stacked unidirectional valve (40), the 9th triple valve (41), front left drive wheel braking pressure Force snesor (47), front left driving wheel check valve (50), front right driving wheel check valve (51), front right drive wheel braking pressure Force snesor (54), the tenth triple valve (60), front right driving wheel stacked unidirectional valve (61), the 11st triple valve (62), the The components such as 12 triple valves (63), brake pedal displacement sensor (64), drive axle switch electromagnetic valve (65), make each driving wheel There are two independent high-pressure air source and double back line structures for brake circuit tool, and when triggering Brake energy recovery, can pass through control The high gas source of one air pressure of Systematic selection processed provides high pressure gas for each driving wheel braking gas chamber, to effectively solve continuous system When dynamic, the relatively low bring air pressure brake-force control speed of bleed pressure reduces problem.

A kind of four-wheel acoustic filed brake energy recovering system of electric vehicle based on stacked unidirectional valve and check valve is by making Dynamic pedal (1), brake valve (2), secondary air accumulator (3), main air accumulator (4), rear drive shaft switch electromagnetic valve (5), air compressor (6), the first triple valve (7), rear drive shaft relay valve (8), the second triple valve (9), rear right driving wheel stacked unidirectional valve (10), third triple valve (11), rear right driving wheel wheel speed sensors (14), rear right driving wheel drive motors and transmission device (15), rear right driving wheel drive motors controller (16), rear right driving wheel brake pressure sensor (17), rear right driving vehicle Take turns brake chamber (18), rear right driving wheel ABS solenoid valve (19), rear right driving wheel check valve (20), the 4th triple valve (21), rear left driving wheel check valve (22), rear left driving wheel ABS solenoid valve (23), rear left drive wheel braking gas chamber (24), rear left driving wheel brake pressure sensor (25), rear left driving wheel drive motors and transmission device (26), rear left are driven Motor car wheel drive motor controller (27), rear left driving wheel wheel speed sensors (28), the 5th triple valve (31), rear left drive vehicle Take turns stacked unidirectional valve (32), the 6th triple valve (33), battery management system (34), entire car controller (35), brake monitor (36), drive axle relay valve (37), the 7th triple valve (38), the 8th triple valve (39), front left driving wheel superposing type are unidirectional Valve (40), the 9th triple valve (41), front left driving wheel wheel speed sensors (44), front left driving wheel drive motors and transmission dress Set (45), front left driving wheel drive motors controller (46), front left driving wheel brake pressure sensor (47), front left driving Wheel braking gas chamber (48), front left driving wheel ABS solenoid valve (49), front left driving wheel check valve (50), front right drive vehicle Take turns check valve (51), front right driving wheel ABS solenoid valve (52), front right driving wheel braking gas chamber (53), front right driving wheel Brake-pressure sensor (54), front right driving wheel drive motors controller (55), front right driving wheel drive motors and transmission Device (56), front right driving wheel wheel speed sensors (57), the tenth triple valve (60), front right drive wheel stacked unidirectional valve (61), the 11st triple valve (62), the 12nd triple valve (63), brake pedal displacement sensor (64), drive axle switch electricity Magnet valve (65) composition.

The air outlet b and main air accumulator (4) air inlet port a of air compressor (6) pass through air circuit connection, air compressor (6) the air inlet port a of air outlet a and secondary air accumulator (3) pass through air circuit connection.

The air inlet port a of brake valve (2) is connected with the air outlet d of main air accumulator (4) by gas circuit, brake valve (2) Air inlet port b is connected with the air outlet c of main air accumulator (4) by gas circuit, the air outlet c and drive axle of brake valve (2) The control port c of relay valve (37) is connected by gas circuit, the air outlet d of brake valve (2) and the control of rear drive shaft relay valve (8) Port c processed is connected by gas circuit.

The air outlet b of secondary air accumulator (3) is connected by gas circuit with the air inlet port a of rear drive shaft switch electromagnetic valve (5), The air outlet b of rear drive shaft switch electromagnetic valve (5) is connected with the air inlet port a of the first triple valve (7) by gas circuit, and the one or three The air outlet b of port valve (7) is connected by gas circuit with the air inlet port b of rear right driving wheel stacked unidirectional valve (10), and first The air outlet c of triple valve (7) is connected by gas circuit with the air inlet port b of rear left driving wheel stacked unidirectional valve (32).

The port a of rear drive shaft relay valve (8) is connected with the air outlet e of main air accumulator (4) by gas circuit, rear drive shaft The port b of relay valve (8) is connected by gas circuit with the port b of the second triple valve (9).

The port a of second triple valve (9) is connected by gas circuit with the port c of the 4th triple valve (21), the 4th triple valve (21) port a is connected by gas circuit with the air inlet port a of rear right driving wheel stacked unidirectional valve (10), the 4th triple valve (21) port b is connected by gas circuit with the air outlet b of rear right driving wheel check valve (20), rear right driving wheel superposing type The air outlet c of check valve (10) is connected with the port a of third triple valve (11) by gas circuit, rear right driving wheel check valve (20) air inlet port a is connected with the port c of third triple valve (11) by gas circuit, and the port b of third triple valve (11) is with after It is right driving wheel ABS solenoid valve (19) air inlet port a by gas circuit be connected, it is rear it is right driving wheel ABS solenoid valve (19) into Gas port b is connected with rear right driving wheel braking gas chamber (18) by gas circuit.

Rear right driving wheel brake pressure sensor (17) is installed on right driving wheel braking gas chamber (18) afterwards.

The port c of second triple valve (9) is connected by gas circuit with the port c of the 6th triple valve (33), the 6th triple valve (33) port a is connected by gas circuit with the air inlet port a of rear left driving wheel stacked unidirectional valve (32), the 6th triple valve (33) port b is connected by gas circuit with the air outlet b of rear left driving wheel check valve (22), and rear left drives wheel superposing type The air outlet c of check valve (32) is connected with the port a of the 5th triple valve (31) by gas circuit, and rear left drives wheel check valve (22) air inlet port a is connected with the port c of the 5th triple valve (31) by gas circuit, and the port b of the 5th triple valve (31) is with after It is left driving wheel ABS solenoid valve (23) air inlet port a by gas circuit be connected, rear left drive wheel ABS solenoid valve (23) into Gas port b is connected with rear left driving wheel braking gas chamber (24) by gas circuit.

Rear left driving wheel brake pressure sensor (25) is installed in rear left driving wheel braking gas chamber (24).

The air outlet c of secondary air accumulator (3) passes through the air inlet port a phase of gas circuit and drive axle switch electromagnetic valve (65) Even, the air outlet b of drive axle switch electromagnetic valve (65) and the air inlet port a of the 12nd triple valve (63) pass through gas circuit phase Even, the inlet end that the air outlet b of the 12nd triple valve (63) passes through gas circuit and front right driving wheel stacked unidirectional valve (61) Mouthful b is connected, the air outlet c of the 12nd triple valve (63) by gas circuit and front left driving wheel stacked unidirectional valve (40) into Gas port b is connected.

The port a of drive axle relay valve (37) is connected with the air outlet b of main air accumulator (4) by gas circuit, preceding driving The port b of axis relay valve (37) is connected by gas circuit with the port b of the 7th triple valve (38).

The port a of 7th triple valve (38) is connected by gas circuit with the port c of the 11st triple valve (62), the 11st threeway The port a of valve (62) is connected by gas circuit with the air inlet port a of front right driving wheel stacked unidirectional valve (61), the 11st threeway The port b of valve (62) is connected by gas circuit with the air outlet b of front right driving wheel check valve (51), and front right drives wheel superposition The air outlet c of formula check valve (61) is connected with the port a of the tenth triple valve (60) by gas circuit, and front right drives wheel check valve (51) air inlet port a is connected with the port c of the tenth triple valve (60) by gas circuit, and the port b of the tenth triple valve (60) is with before It is right driving wheel ABS solenoid valve (52) air inlet port a by gas circuit be connected, front right drive wheel ABS solenoid valve (52) into Gas port b is connected with front right driving wheel braking gas chamber (53) by gas circuit.

Front right driving wheel brake pressure sensor (54) is installed in front right driving wheel braking gas chamber (53).

The port c of 7th triple valve (38) is connected by gas circuit with the port c of the 8th triple valve (39), the 8th triple valve (39) port a is connected by gas circuit with the air inlet port a of front left driving wheel stacked unidirectional valve (40), the 8th triple valve (39) port b is connected by gas circuit with the air outlet b of front left driving wheel check valve (50), and front left drives wheel superposing type The air outlet c of check valve (40) is connected with the port a of the 9th triple valve (41) by gas circuit, and front left drives wheel check valve (50) air inlet port a is connected with the port c of the 9th triple valve (41) by gas circuit, and the port b of the 9th triple valve (41) is with before It is left driving wheel ABS solenoid valve (49) air inlet port a by gas circuit be connected, front left drive wheel ABS solenoid valve (49) into Gas port b is connected with front left driving wheel braking gas chamber (48) by gas circuit.

Front left driving wheel brake pressure sensor (47) is installed in front left driving wheel braking gas chamber (48).

Right driving wheel wheel speed sensors (14), rear left driving wheel wheel speed sensors (28), front left drive vehicle wheel afterwards Fast sensor (44), front right driving wheel wheel speed sensors (57) are connected by signal wire with brake monitor (36).

Right driving wheel ABS solenoid valve (19), rear left driving wheel ABS solenoid valve (23), front left driving wheel ABS electricity afterwards Magnet valve (49), front right driving wheel ABS solenoid valve (52) are connected by signal wire with brake monitor (36).

Rear drive shaft switch electromagnetic valve (5), rear right driving wheel brake pressure sensor (17), rear left drive wheel braking Pressure sensor (25), front left driving wheel brake pressure sensor (47), front right driving wheel brake pressure sensor (54), Brake pedal displacement sensor (64) and drive axle switch electromagnetic valve (65) are connected by signal wire with entire car controller (35).

Right driving wheel drive motors controller (16), rear left driving wheel drive motors controller (26), front left are driven afterwards Motor car wheel drive motor controller (46), front right drive wheel drive motors controller (55), battery management system (34), vehicle Controller (35) is connected with brake monitor (36) by CAN bus.

It is based on above-mentioned recycled based on the four-wheel acoustic filed electric vehicle brake power of stacked unidirectional valve and check valve System, entire car controller (35) are based on speed, the brake pedal displacement sensor that brake monitor (36) are exported by CAN bus (64) the battery permission maximum charging current that pedal displacement signal, the battery management system (34) exported is exported by CAN bus, The rear right driving wheel drive motors and transmission device that right driving wheel drive motors controller (16) is exported by CAN bus afterwards (15) the rear right driving wheel maximum motor brake force that can be provided, rear left driving wheel drive motors controller (26) pass through The front left driving wheel maximum motor that the rear left driving wheel drive motors and transmission device (27) of CAN bus output can be provided Brake force, front right driving wheel drive motors that front right drives wheel drive motors controller (55) export by CAN bus and The front right that transmission device (56) can be provided drives wheel maximum motor brake force, and front left drives wheel drive motors controller (46) front left that the front left exported by CAN bus drives wheel drive motors and transmission device (45) can be provided drives wheel Maximum motor brake force, judge whether trigger braking energy recovering function, and accordingly control rear drive shaft switch electromagnetic valve (5) and Drive axle switch electromagnetic valve (65).

When brake pedal and triggering braking energy recovering function, entire car controller (35) controls rear drive shaft switch Solenoid valve (5) conducting, is connected between the port b of secondary air accumulator (3) and the port a of the first triple valve (7)；Entire car controller (35) Control drive axle switch electromagnetic valve (65) conducting, the port a of the port c of secondary air accumulator (3) and the 12nd triple valve (63) it Between be connected.

When brake pedal but when not triggering braking energy recovering function, entire car controller (35) control rear drive shaft is opened Powered-down magnet valve (5) shutdown, is not turned between the port b of secondary air accumulator (3) and the port a of the first triple valve (7)；Entire car controller (35) control drive axle switch electromagnetic valve (65) shutdown, the port c of secondary air accumulator (3) and the port of the 12nd triple valve (63) It is not turned between a.

When driver loosens the brake (1), entire car controller (35) controls rear drive shaft switch electromagnetic valve (5) and disconnects Connection between secondary air accumulator (3) port b and the first triple valve (7) port a；Entire car controller (35) controls drive axle switch Solenoid valve (65) disconnects the connection between pair air accumulator (3) port c and the 12nd triple valve (63) port a.

Compared with prior art, the present invention by increasing secondary air accumulator (3), rear-guard in existing brake energy recovering system Moving axis switch electromagnetic valve (5), the first triple valve (7), rear drive shaft relay valve (8), the second triple valve (9), rear right driving wheel Stacked unidirectional valve (10), third triple valve (11), rear right driving wheel brake pressure sensor (17), rear right driving wheel list Wheel brake pressure sensor is driven to valve (20), the 4th triple valve (21), rear left driving wheel check valve (22), rear left (25), the 5th triple valve (31), rear left drive wheel stacked unidirectional valve (32), the 6th triple valve (33), drive axle servo Valve (37), the 7th triple valve (38), the 8th triple valve (39), front left drive wheel stacked unidirectional valve (40), the 9th triple valve (41), front left driving wheel brake pressure sensor (47), front left driving wheel check valve (50), front right drive wheel check valve (51), front right driving wheel brake pressure sensor (54), the tenth triple valve (60), front right drive wheel stacked unidirectional valve (61), the 11st triple valve (62), the 12nd triple valve (63), brake pedal displacement sensor (64), drive axle switch electricity The components such as magnet valve (65), making each driving wheel brake circuit tool, there are two independent high-pressure air source and double back line structure, triggering brakings When energy regenerating, high pressure gas can be provided for driving wheel braking gas chamber by the higher gas source of air pressure in two high-pressure air sources, from And efficiently solve when continuously being braked present in existing scheme, because the relatively low bring driving wheel of bleed pressure couples brake force Response speed is slow, and lags behind the critical issue of demand brake force.

Fig. 1 is that the present invention is based on the recycling of the four-wheel acoustic filed electric vehicle brake power of stacked unidirectional valve and check valve The structural schematic diagram of system.Wherein: 1, brake pedal；2, brake valve；3, secondary air accumulator；4, main air accumulator；5, rear drive shaft switchs Solenoid valve；6, air compressor；7, the first triple valve；8, rear drive shaft relay valve；9, the second triple valve；10, rear right driving vehicle Take turns stacked unidirectional valve；11, third triple valve；12, rear right driving wheel drag；13, rear right driving wheel；14, rear right drive Motor car wheel wheel speed sensors；15, rear right driving wheel drive motors and transmission device；16, rear right driving wheel drive motors control Device processed；17, rear right driving wheel brake pressure sensor；18, rear right driving wheel braking gas chamber；19, rear right driving wheel ABS Solenoid valve；20, rear right driving wheel check valve；21, the 4th triple valve；22, rear left drives wheel check valve；23, rear left drives Wheel ABS solenoid valve；24, rear left drives wheel braking gas chamber；25, rear left drives wheel brake pressure sensor；26, rear left is driven Motor car wheel drive motor controller；27, rear left driving wheel drive motors and transmission device；28, rear left driving wheel wheel speed passes Sensor；29, rear left drives wheel drag；30, rear left drives wheel；31, the 5th triple valve；32, rear left driving wheel superposition Formula check valve；33, the 6th triple valve；34, battery management system；35, entire car controller；36, brake monitor；37, preceding driving Axis relay valve；38, the 7th triple valve；39, the 8th triple valve；40, front left drives wheel stacked unidirectional valve；41, the 9th threeway Valve；42, front left drives wheel；43, front left drives wheel drag；44, front left drives wheel wheel speed sensors；45, front left is driven Motor car wheel driving motor and transmission device；46, front left drives wheel drive motors controller；47, front left drives wheel braking pressure Force snesor；48, front left drives wheel braking gas chamber；49, front left drives wheel ABS solenoid valve；50, front left driving wheel is unidirectional Valve；51, front right drives wheel check valve；52, front right drives wheel ABS solenoid valve；53, front right drives wheel braking gas chamber；54, Front right drives wheel brake pressure sensor；55, front right drives wheel drive motors controller；56, front right driving wheel driving Motor and transmission device；57, front right drives wheel wheel speed sensors；58, front right drives wheel drag；59, front right drives vehicle Wheel；60, the tenth triple valve；61, front right drives wheel stacked unidirectional valve；62, the 11st triple valve；63, the 12nd triple valve； 64, brake pedal displacement sensor；65, drive axle switch electromagnetic valve.

A specific embodiment of the invention is described below.

The present invention provides a kind of four-wheel acoustic filed electric vehicle brake power based on stacked unidirectional valve and check valve time Receipts system referring to attached drawing and gives an actual example further to the present invention to keep technical solution of the present invention and effect clearer, clear It is described in detail；It should be appreciated that specific implementation described herein is not intended to limit the present invention only to explain the present invention.

As shown in Figure 1, recycling system based on the four-wheel acoustic filed electric vehicle brake power of stacked unidirectional valve and check valve System is by brake pedal (1), brake valve (2), secondary air accumulator (3), main air accumulator (4), rear drive shaft switch electromagnetic valve (5), air Compressor (6), the first triple valve (7), rear drive shaft relay valve (8), the second triple valve (9), rear right driving wheel superposing type list To valve (10), third triple valve (11), rear right driving wheel wheel speed sensors (14), rear right driving wheel drive motors and transmission Device (15), rear right driving wheel drive motors controller (16), rear right driving wheel brake pressure sensor (17), rear right drive Motor car wheel brake chamber (18), rear right driving wheel ABS solenoid valve (19), rear right driving wheel check valve (20), the 4th threeway Valve (21), rear left driving wheel check valve (22), rear left driving wheel ABS solenoid valve (23), rear left drive wheel braking gas chamber (24), rear left driving wheel brake pressure sensor (25), rear left driving wheel drive motors and transmission device (26), rear left are driven Motor car wheel drive motor controller (27), rear left driving wheel wheel speed sensors (28), the 5th triple valve (31), rear left drive vehicle Take turns stacked unidirectional valve (32), the 6th triple valve (33), battery management system (34), entire car controller (35), brake monitor (36), drive axle relay valve (37), the 7th triple valve (38), the 8th triple valve (39), front left driving wheel superposing type are unidirectional Valve (40), the 9th triple valve (41), front left driving wheel wheel speed sensors (44), front left driving wheel drive motors and transmission dress Set (45), front left driving wheel drive motors controller (46), front left driving wheel brake pressure sensor (47), front left driving Wheel braking gas chamber (48), front left driving wheel ABS solenoid valve (49), front left driving wheel check valve (50), front right drive vehicle Take turns check valve (51), front right driving wheel ABS solenoid valve (52), front right driving wheel braking gas chamber (53), front right driving wheel Brake-pressure sensor (54), front right driving wheel drive motors controller (55), front right driving wheel drive motors and transmission Device (56), front right driving wheel wheel speed sensors (57), the tenth triple valve (60), front right drive wheel stacked unidirectional valve (61), the 11st triple valve (62), the 12nd triple valve (63), brake pedal displacement sensor (64), drive axle switch electricity Magnet valve (65) composition.

The port a of 7th triple valve (38) is connected by gas circuit with the port c of the 11st triple valve (62), the 11st threeway The port a of valve (62) is connected by gas circuit with the air inlet port a of front right driving wheel stacked unidirectional valve (61), the 11st threeway The port b of valve (62) is connected by gas circuit with the air outlet b of front right driving wheel check valve (51), and front right drives wheel superposition The air outlet c of formula check valve (61) is connected with the port a of the tenth triple valve (60) by gas circuit, and front right drives wheel check valve (51) air inlet port a is connected with the port c of the tenth triple valve (60) by gas circuit, and the port b of the tenth triple valve (60) is with before It is right driving wheel ABS solenoid valve (52) air inlet port a by gas circuit be connected, front right drive wheel ABS solenoid valve (52) into Gas port b is connected with front right driving wheel braking gas chamber (53) by gas circuit；

When braking, the working principle of above-mentioned braking system is as follows.

In car running process, right driving wheel wheel speed sensors (14), rear left driving after brake monitor (36) receives Wheel wheel speed sensors (28), front left driving wheel wheel speed sensors (44), front right driving wheel wheel speed sensors (57) output Wheel speed signal.

Entire car controller (35) receives the speed signal exported by brake monitor (36) and vehicle acceleration signal, by making The pedal displacement signal of dynamic pedal displacement sensor (64) output, after rear right driving wheel brake pressure sensor (17) output Right driving wheel braking atmospheric pressure value, rear left drive the rear left of wheel brake pressure sensor (25) output to drive wheel braking Atmospheric pressure value, front right drives the front right of wheel brake pressure sensor (54) output to drive wheel braking atmospheric pressure value, preceding The front left of left driving wheel brake pressure sensor (47) output drives wheel braking atmospheric pressure value, and battery management system (34) passes through The battery of CAN bus output allows maximum charging current, and rear right driving wheel drive motors controller (16) is defeated by CAN bus The rear right driving wheel maximum motor brake force that rear right driving wheel drive motors and transmission device (15) out can be provided, after Left driving wheel drive motors controller (26) drives wheel drive motors and transmission device by the rear left that CAN bus exports (27) the rear left driving wheel maximum motor brake force that can be provided, front right driving wheel drive motors controller (55) pass through The front right driving wheel maximum motor that the front right driving wheel drive motors and transmission device (56) of CAN bus output can be provided Brake force, front left driving wheel drive motors that front left drives wheel drive motors controller (46) export by CAN bus and The front left that transmission device (45) can be provided drives wheel maximum motor brake force.

Right driving wheel drive motors and transmission device (15) can be applied to the maximum motor of rear right driving wheel (13) afterwards Brake force, rear left driving wheel drive motors and transmission device (27) can be applied to the maximum motor system of rear left driving wheel (30) Power, front right driving wheel drive motors and transmission device (56) can be applied to the maximum motor braking of front right driving wheel (59) Power, front left driving wheel drive motors and transmission device (45) can be applied to the maximum motor brake force of front left driving wheel (42) The battery exported according to vehicle speed, vehicle acceleration, battery management system (34) by CAN bus by entire car controller (35) The rear right driving wheel for allowing maximum charging current, rear right driving wheel drive motors controller (16) to export by CAN bus The rear right driving wheel maximum motor brake force that driving motor and transmission device (15) can be provided, rear left drive wheel driving electricity The rear left driving wheel drive motors that machine controller (26) is exported by CAN bus and the rear left that transmission device (27) can be provided Wheel maximum motor brake force is driven, front right drives wheel drive motors controller (55) to drive by the front right that CAN bus exports The front right that motor car wheel driving motor and transmission device (56) can be provided drives wheel maximum motor brake force, and front left drives wheel The front left driving wheel drive motors and transmission device (45) that drive motor controller (46) is exported by CAN bus can be provided Front left driving wheel maximum motor brake force determine.

Entire car controller (35) is based on speed, the brake pedal displacement biography that brake monitor (36) are exported by CAN bus The battery permission maximum charge that pedal displacement signal, the battery management system (34) of sensor (64) output are exported by CAN bus The rear right driving wheel drive motors and biography that electric current, rear right driving wheel drive motors controller (16) are exported by CAN bus Move rear right driving wheel maximum motor brake force, rear left driving wheel drive motors controller (26) that device (15) can be provided The rear left that the rear left exported by CAN bus drives wheel drive motors and transmission device (27) can be provided drives wheel maximum Motor braking power, front right driving wheel drive motors controller (55) drive wheel driving electricity by the front right that CAN bus exports The front right that machine and transmission device (56) can be provided drives wheel maximum motor brake force, front left driving wheel drive motors control The front left driving wheel drive motors that device (46) is exported by CAN bus and the front left driving vehicle that transmission device (45) can be provided Maximum motor brake force is taken turns, and is judged whether to trigger braking energy recovering function: condition one, braking control according to following four conditions The vehicle speed value of device (36) output processed is greater than the minimum speed threshold value for allowing Brake energy recovery；Condition two, brake pedal displacement pass The pedal displacement signal of sensor (64) output is greater than the pedal displacement threshold value of triggering Brake energy recovery；Condition three, battery management The battery of system (34) output allows maximum charging current to be greater than 0；Condition four, the rear right driving determined by entire car controller (35) Wheel demand motor braking power, rear left driving wheel demand motor braking power, front right drive wheel demand motor braking power or preceding Left motor car wheel demand motor braking power is greater than the minimum motor braking force threshold for allowing Brake energy recovery.

When meeting aforementioned four condition simultaneously, braking energy recovering function is triggered；When there is any one not to be able to satisfy, Braking energy recovering function cannot then be triggered.

When brake pedal (1), and when triggering braking energy recovering function.

Entire car controller (35) according to speed, vehicle acceleration and brake pedal be displaced, determine front left driving wheel (42), Total brake force target value needed for front right drives wheel (59), rear left to drive wheel (30) and rear right driving wheel (13).

Entire car controller (35) drives wheel (42), front right driving wheel (59), rear left driving wheel (30) according to front left The battery exported with total brake force target value needed for rear right driving wheel (13), battery management system (34) by CAN bus The rear right driving wheel for allowing maximum charging current, rear right driving wheel drive motors controller (16) to export by CAN bus Rear right driving wheel maximum motor brake force that driving motor and transmission device (15) can be provided, rear left driving wheel driving electricity The rear left driving wheel drive motors that machine controller (26) is exported by CAN bus and the rear left that transmission device (27) can be provided Driving wheel maximum motor brake force, front right driving wheel drive motors controller (55) are driven by the front right that CAN bus exports The front right that motor car wheel driving motor and transmission device (56) can be provided drives wheel maximum motor brake force, front left to drive wheel The front left driving wheel drive motors and transmission device (45) that drive motor controller (46) is exported by CAN bus can be provided Front left drive wheel maximum motor brake force, determine front left driving wheel (42), front right driving wheel (59), rear left driving vehicle Motor braking power target value needed for taking turns (30) and rear right driving wheel (13).

Entire car controller (35) drives wheel (30) total brake force target value and rear left to drive wheel (30) institute according to rear left The motor braking power target value needed determines the air-pressure brake power target value of rear left driving wheel (30).

Entire car controller (35) the total brake force target value of right driving wheel (13) and rear right driving wheel (13) institute after The air-pressure brake power target value of the motor braking power target value needed right driving wheel (13) after determining.

Entire car controller (35) drives wheel (42) total brake force target value and front left to drive wheel (42) institute according to front left The motor braking power target value needed determines the air-pressure brake power target value of front left driving wheel (42).

Entire car controller (35) drives wheel (59) total brake force target value and front right to drive wheel (59) institute according to front right The motor braking power target value needed determines the air-pressure brake power target value of front right driving wheel (59).

Required rear left is driven the output of wheel (30) motor braking power target value by CAN bus by entire car controller (35) Pass through CAN bus for required rear right driving vehicle to rear left driving wheel drive motors controller (26), entire car controller (35) Wheel (13) motor braking power target value is exported to be passed through to rear right driving wheel drive motors controller (16), entire car controller (35) Required front right driving wheel (59) motor braking power target value is exported and gives front right driving wheel drive motors control by CAN bus Required front left is driven the output of wheel (42) motor braking power target value by CAN bus by device (55), entire car controller (35) Wheel drive motors controller (46) are driven to front left, entire car controller (35) exports front left driving wheel (42), front right driving Wheel (59), rear left drive the air-pressure brake power target value of wheel (30) and rear right driving wheel (13), by rear right driving wheel The rear right driving air pressure brake force actual value of brake-pressure sensor (17) output is passed by front right driving wheel brake pressure The front right driving air pressure brake force actual value of sensor (54) output drives wheel brake pressure sensor (25) defeated by rear left Rear left driving air pressure brake force actual value out, the front left drive by front left driving wheel brake pressure sensor (47) output Motor car wheel air-pressure brake power actual value is given brake monitor (36).

When triggering braking energy recovering function, the principle for applying braking to rear left driving wheel (30) is as follows.

Entire car controller (35) controls rear drive shaft switch electromagnetic valve (5) conducting, the high pressure gas in secondary air accumulator (3) according to It is secondary by the port b of secondary air accumulator (3), the port a and port b of rear drive shaft switch electromagnetic valve (5), the first triple valve (7) Port a and port c reaches the port b of rear left driving wheel stacked unidirectional valve (32).

High pressure gas in main air accumulator (4) is by the port d of main air accumulator (4), the port a and port d of brake valve (2) Into the control port c of rear drive shaft relay valve (8), the port a and port b of rear drive shaft relay valve (8) is connected, main gas storage High pressure gas in tank (4) successively pass through the port e of main air accumulator (4), the port a of rear drive shaft relay valve (8) and port b, The port b and port c of second triple valve (9), the port c and port a of the 6th triple valve (33) reach rear left driving wheel superposition The port a of formula check valve (32).

At this point, driving wheel stacked unidirectional valve (32) port a air pressure and rear left to drive wheel superposing type list according to rear left To the size of valve (32) port b air pressure, it is divided into the case where rear left driving wheel braking gas chamber (24) offer brake pressure as follows Two kinds.

When rear left driving wheel stacked unidirectional valve (32) port a air pressure is greater than port b air pressure, by main air accumulator (4) High pressure gas is provided to rear left driving wheel braking gas chamber (24)；At this point, the high pressure gas in main air accumulator (4) is successively by master The port e of air accumulator (4), the port a and port b of rear drive shaft relay valve (8), the second triple valve (9) port b and port c, The port c and port a of 6th triple valve (33), rear left drive the port a and port c, the 5th of wheel stacked unidirectional valve (32) The port a and port b of triple valve (31), the port a and port b of rear left driving wheel ABS solenoid valve (23) enter rear left driving Wheel braking gas chamber (24), so as to apply air pressure system to rear left driving wheel (30) by rear left driving wheel drag (29) Power.

When rear left driving wheel stacked unidirectional valve (32) port a air pressure is less than port b air pressure, by secondary air accumulator (3) High pressure gas is provided to rear left driving wheel braking gas chamber (24)；At this point, the high pressure gas in secondary air accumulator (3) successively passes through pair The port b of air accumulator (3), the port a and port b of rear drive shaft switch electromagnetic valve (5), the port a of the first triple valve (7) and end Mouthful c, the port b and port c of rear left driving wheel stacked unidirectional valve (32), the 5th triple valve (31) port a and port b, Rear left drives the port a and port b of wheel ABS solenoid valve (23), wheel braking gas chamber (24) is driven into rear left, so as to logical Later left driving wheel drag (29) applies air-pressure brake power to rear left driving wheel (30).

To realize that rear left drives the decoupling control of wheel (30) motor braking power and air-pressure brake power, vehicle is driven by rear left The size that ABS solenoid valve (23) adjust rear left driving wheel (30) air-pressure brake power is taken turns, wheel drive motors are driven according to rear left And transmission device (27) can be applied to the maximum motor brake force of rear left driving wheel (30) and rear left drives the total of wheel (30) Relationship between brake force target value, the mode for applying brake force to rear left driving wheel (30) are divided into the following two kinds.

Mode one: when rear left drives wheel drive motors and transmission device (27) to be applied to rear left driving wheel (30) most When big motor braking power is greater than or equal to rear left driving wheel (30) total brake force target value, rear left drives the air pressure of wheel (30) Brake force target value is 0, at this point, brake monitor (36) passes through signal line traffic control rear left driving wheel ABS solenoid valve (23) end Mouthful a is closed, and port b and port c are opened, disconnect rear left driving wheel braking gas chamber (24) and the 5th triple valve (31) port b it Between air circuit connection, rear left drive wheel braking gas chamber (24) by rear left drive wheel ABS solenoid valve (23) port b and end Mouth c is communicated with atmosphere, drives wheel drive motors and transmission device (27) to apply to rear left driving wheel (30) by rear left at this time Required brake force.

Mode two: when rear left drives wheel drive motors and transmission device (27) that can be applied to rear left driving wheel (30) When maximum motor brake force is less than rear left driving wheel (30) total brake force target value, rear left drives wheel drive motors and transmission Device (27) applies maximum motor brake force to rear left driving wheel (30).

Rear left drives wheel (30) air-pressure brake power target value by the total brake force target value of rear left driving wheel (30) with after The difference for the maximum motor brake force that left driving wheel drive motors and transmission device (27) are applied to rear left driving wheel (30) is true It is fixed, the relationship between wheel (30) air-pressure brake power target value and air-pressure brake power actual value is driven according to rear left, rear left is driven The case where motor car wheel (30) application air-pressure brake power, is divided into following three kinds.

When rear left driving wheel (30) air-pressure brake power target value is greater than air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (23) port a and port b conducting being driven by signal line traffic control rear left, port c is closed, and the five or three High pressure gas at port valve (31) port b enters rear left drive by rear left driving wheel ABS solenoid valve (23) port a and port b Motor car wheel brake chamber (24), to realize the increase of rear left driving wheel (30) actual pressure brake force.

When rear left driving wheel (30) air-pressure brake power target value is less than air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (23) port a is driven to close by signal line traffic control rear left, port b and port c conducting, rear left are driven High pressure gas at motor car wheel brake chamber (24) is discharged into greatly by rear left driving wheel ABS solenoid valve (23) port b and port c Gas, to realize the reduction of rear left driving wheel (30) actual pressure brake force.

When rear left driving wheel (30) air-pressure brake power target value is equal to air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (23) port b and port c is driven to close by signal line traffic control rear left, rear left drives wheel braking Air pressure in gas chamber (24) remains unchanged, to realize the holding of rear left driving wheel (30) actual pressure brake force.

When brake pedal (1), but when not triggering braking energy recovering function.

Rear drive shaft switch electromagnetic valve (5) is closed, between secondary air accumulator (3) port b and the port a of the first triple valve (7) Gas circuit disconnect, rear left drive wheel stacked unidirectional valve (32) port b without high pressure gas.

Rear left drives the port b of wheel stacked unidirectional valve (32) to close, port a and port c conducting, main air accumulator (4) In high pressure gas successively pass through the port a and port b, the two or three of the port e of main air accumulator (4), rear drive shaft relay valve (8) The port b and port c of port valve (9), the port c and port a of the 6th triple valve (33), rear left drive wheel stacked unidirectional valve (32) the port a and port b of port a and port c, the 5th triple valve (31), rear left drive the end of wheel ABS solenoid valve (23) Mouth a and port b enters rear left driving wheel braking gas chamber (24), to give rear left to drive by rear left driving wheel drag (29) Motor car wheel (30) applies air-pressure brake power.

Releasing to the gentle compacting power of releasing that the releasing of rear left driving wheel (30) braking is divided into motor braking power, work It is as follows to make principle.

When driver loosens the brake (1), entire car controller (35) drives wheel drive motors to control by rear left Device (26) control drives wheel drive motors and transmission device (27) to apply motor braking to rear left driving wheel (30) by rear left Power reduces, to release the motor braking power of rear left driving wheel.

When driver loosens the brake (1), brake valve (2) is closed, and rear drive shaft relay valve (8) disconnects main air accumulator (4) air circuit connection between port e and the second triple valve (9) port b, rear drive shaft switch electromagnetic valve (5) disconnect secondary air accumulator (3) air circuit connection between port b and the first triple valve (7) port a, rear left drive the high pressure gas in wheel braking gas chamber (24) Body passes sequentially through the port b and port a of rear left driving wheel ABS solenoid valve (23), the port b of the 5th triple valve (31) and end Mouth c, rear left drive the port b and port c, the two or three of the port a and port b of wheel check valve (22), the 6th triple valve (33) The port c and port b of port valve (9) enter rear drive shaft relay valve (8), atmosphere are discharged into through rear drive shaft relay valve (8), to solve Except the air-pressure brake power of rear left driving wheel (30), control is not applied to rear left driving wheel ABS solenoid valve (23) in the process System.

When triggering braking energy recovering function, the principle for applying braking to rear right driving wheel (13) is as follows.

Entire car controller (35) controls rear drive shaft switch electromagnetic valve (5) conducting, the high pressure gas in secondary air accumulator (3) according to It is secondary by the port b of secondary air accumulator (3), the port a and port b of rear drive shaft switch electromagnetic valve (5), the first triple valve (7) The port b of port a and port b right driving wheel stacked unidirectional valve (10) after reaching.

High pressure gas in main air accumulator (4) is by the port d of main air accumulator (4), the port a and port d of brake valve (2) Into the control port c of rear drive shaft relay valve (8), the port a and port b of rear drive shaft relay valve (8) is connected, main gas storage High pressure gas in tank (4) successively pass through the port e of main air accumulator (4), the port a of rear drive shaft relay valve (8) and port b, The port b and port a of second triple valve (9), the port c and port a of the 4th triple valve (21) right driving wheel superposition after reaching The port a of formula check valve (10).

At this point, according to rear right driving wheel stacked unidirectional valve (10) port a air pressure and rear right driving wheel superposing type list To the size of valve (10) port b air pressure, it is divided into the case where rear right driving wheel braking gas chamber (18) offer brake pressure as follows Two kinds.

When rear right driving wheel stacked unidirectional valve (10) port a air pressure is greater than port b air pressure, by main air accumulator (4) High pressure gas is provided to rear right driving wheel braking gas chamber (18)；At this point, the high pressure gas in main air accumulator (4) is successively by master The port e of air accumulator (4), the port a and port b of rear drive shaft relay valve (8), the second triple valve (9) port b and port a, The port c and port a of 4th triple valve (21), the rear right port a and port c, third for driving wheel stacked unidirectional valve (10) Right driving after the port a and port b of triple valve (11), the rear right port a and port b for driving wheel ABS solenoid valve (19) enter Wheel braking gas chamber (18), so as to apply air pressure system to rear right driving wheel (13) by rear right driving wheel drag (12) Power.

When rear right driving wheel stacked unidirectional valve (10) port a air pressure is less than port b air pressure, by secondary air accumulator (3) High pressure gas is provided to rear right driving wheel braking gas chamber (18)；At this point, the high pressure gas in secondary air accumulator (3) successively passes through pair The port b of air accumulator (3), the port a and port b of rear drive shaft switch electromagnetic valve (5), the port a of the first triple valve (7) and end Mouthful b, the port b and port c of rear right driving wheel stacked unidirectional valve (10), third triple valve (11) port a and port b, The port a and port b of right driving wheel ABS solenoid valve (19) afterwards, the right driving wheel braking gas chamber (18) after, so as to logical Later right driving wheel drag (12) applies air-pressure brake power to rear right driving wheel (13).

For the decoupling control of driving wheel (13) motor braking power and air-pressure brake power right after realization, pass through rear right driving vehicle The size for taking turns right driving wheel (13) air-pressure brake power after ABS solenoid valve (19) are adjusted, according to rear right driving wheel drive motors And transmission device (15) can be applied to it is rear it is right driving wheel (13) maximum motor brake force and it is rear it is right driving wheel (13) it is total Relationship between brake force target value, the mode for applying brake force to rear right driving wheel (13) are divided into following two kinds.

Mode one: when after right driving wheel drive motors and transmission device (15) be applied to rear right driving wheel (13) most When big motor braking power is greater than rear right driving wheel (13) total brake force target value, the rear right air-pressure brake power for driving wheel (13) Target value is 0, at this point, brake monitor (36) is closed by driving wheel ABS solenoid valve (19) port a right after signal line traffic control It closes, port b and port c are opened, and the gas circuit after disconnection between right driving wheel braking gas chamber (18) and third triple valve (11) connects It connects, the port b and port c and atmosphere that rear right driving wheel braking gas chamber (18) passes through rear right driving wheel ABS solenoid valve (19) It communicates, braking needed for being applied at this time by rear right driving wheel drive motors and transmission device (15) to rear right driving wheel (13) Power.

Mode two: when after right driving wheel drive motors and transmission device (15) rear right driving wheel (13) can be applied to Maximum motor brake force be less than rear right driving wheel (13) always brake force target value when, rear right driving wheel drive motors and transmission Device (15) applies maximum motor brake force to rear right driving wheel (13).

Right driving wheel (13) air-pressure brake power target value is by the total brake force target value of rear right driving wheel (13) with after afterwards The difference that right driving wheel drive motors and transmission device (15) are applied to the maximum motor brake force of rear right driving wheel (13) is true It is fixed, according to the relationship between rear right driving wheel (13) air-pressure brake power target value and air-pressure brake power actual value, to rear right drive The case where motor car wheel (13) application air-pressure brake power, is divided into following three kinds.

When rear right driving wheel (13) air-pressure brake power target value is greater than air-pressure brake power actual value, brake monitor (36) by right driving wheel ABS solenoid valve (19) port a after signal line traffic control and port b conducting, port c is closed, and the three or three High pressure gas right drive after right driving wheel ABS solenoid valve (19) port a and port b entrance after at port valve (11) port b Motor car wheel brake chamber (18), with the increase of driving wheel (13) actual pressure brake force right after realization.

When rear right driving wheel (13) air-pressure brake power target value is less than air-pressure brake power actual value, brake monitor (36) it is closed by driving wheel ABS solenoid valve (19) port a right after signal line traffic control, port b and port c conducting, rear right drive Right driving wheel ABS solenoid valve (19) port b and port c is discharged into greatly after high pressure gas warp at motor car wheel brake chamber (18) Gas, with the reduction of driving wheel (13) actual pressure brake force right after realization.

When rear right driving wheel (13) air-pressure brake power target value is equal to air-pressure brake power actual value, brake monitor (36) it is closed by right driving wheel ABS solenoid valve (19) port b after signal line traffic control and port c, rear right driving wheel braking Air pressure in gas chamber (18) remains unchanged, with the holding of driving wheel (13) actual pressure brake force right after realization.

Rear drive shaft switch electromagnetic valve (5) is closed, between secondary air accumulator (3) port b and the port a of the first triple valve (7) Gas circuit disconnect, it is rear it is right driving wheel stacked unidirectional valve (10) port b without high pressure gas.

The port b of right driving wheel stacked unidirectional valve (10) is closed afterwards, port a and port c conducting, main air accumulator (4) In high pressure gas successively pass through the port a and port b, the two or three of the port e of main air accumulator (4), rear drive shaft relay valve (8) The port b and port a of port valve (9), the port c and port a of the 4th triple valve (21), rear right driving wheel stacked unidirectional valve (10) the port a and port b of port a and port c, third triple valve (11), the rear right end for driving wheel ABS solenoid valve (19) Right driving wheel braking gas chamber (18) after mouth a and port b enters, to give rear right drive by rear right driving wheel drag (12) Motor car wheel (13) applies air-pressure brake power.

It is divided into the releasing of the gentle compacting power of releasing of motor braking power, work to the releasing of rear right driving wheel (13) braking It is as follows to make principle.

When driver loosens the brake (1), entire car controller (35) is controlled by rear right driving wheel drive motors The motor system that device (16) control is applied by rear right driving wheel drive motors and transmission device (15) to rear right driving wheel (13) Power reduces, with the motor braking power of driving wheel right after releasing.

When driver loosens the brake (1), brake valve (2) is closed, and rear drive shaft relay valve (8) disconnects main air accumulator (4) air circuit connection between port e and the second triple valve (9) port b, rear drive shaft switch electromagnetic valve (5) disconnect secondary air accumulator (3) air circuit connection between port b and the first triple valve (7) port a, the rear right high pressure gas driven in wheel braking gas chamber (18) Body passes sequentially through the port b and port a of rear right driving wheel ABS solenoid valve (19), the port b of third triple valve (11) and end Mouthful c, the port a and port b of rear right driving wheel check valve (20), the 4th triple valve (21) port b and port c, the two or three The port a and port b of port valve (9) enter rear drive shaft relay valve (8), atmosphere are discharged into through rear drive shaft relay valve (8), to solve Except the air-pressure brake power of rear right driving wheel (13), control is not applied to rear right driving wheel ABS solenoid valve (19) in the process System.

When triggering braking energy recovering function, the process for applying braking to front left driving wheel (42) is as follows.

Entire car controller (35) controls drive axle switch electromagnetic valve (65) conducting, the high pressure gas in secondary air accumulator (3) Successively by the port c of secondary air accumulator (3), port a and port b, the 12nd triple valve of drive axle switch electromagnetic valve (65) (63) port a and port c reaches the port b of front left driving wheel stacked unidirectional valve (40).

High pressure gas in main air accumulator (4) is by the port c of main air accumulator (4), the port b and port c of brake valve (2) Into the control port c of drive axle relay valve (37), the port a and port b of drive axle relay valve (37) is connected, main storage High pressure gas in gas tank (4) successively passes through the port b of main air accumulator (4), the port a of drive axle relay valve (37) and port B, the port b and port c of the 7th triple valve (38), port c and port a the arrival front left driving wheel of the 8th triple valve (39) are folded Add the port a of formula check valve (40).

At this point, driving wheel stacked unidirectional valve (40) port a air pressure and front left to drive wheel superposing type list according to front left To the size of valve (40) port b air pressure, it is divided into the case where front left driving wheel braking gas chamber (48) offer brake pressure as follows Two kinds.

When front left driving wheel stacked unidirectional valve (40) port a air pressure is greater than port b air pressure, by main air accumulator (4) High pressure gas is provided to front left driving wheel braking gas chamber (48)；At this point, the high pressure gas in main air accumulator (4) is successively by master The port b of air accumulator (4), the port a and port b of drive axle relay valve (37), the port b of the 7th triple valve (38) and port C, the port c and port a of the 8th triple valve (39), the port a and port c of front left driving wheel stacked unidirectional valve (40), the The port a and port b of nine triple valves (41), the port a and port b of front left driving wheel ABS solenoid valve (49) enter front left drive Motor car wheel brake chamber (48), so as to apply air pressure to front left driving wheel (42) by front left driving wheel drag (43) Brake force.

When front left driving wheel stacked unidirectional valve (40) port a air pressure is less than port b air pressure, by secondary air accumulator (3) High pressure gas is provided to front left driving wheel braking gas chamber (48)；At this point, the high pressure gas in secondary air accumulator (3) successively passes through pair The port c of air accumulator (3), the port a and port b of drive axle switch electromagnetic valve (65), the 12nd triple valve (63) port a With port c, the port b and port c of front left driving wheel stacked unidirectional valve (40), the port a of the 9th triple valve (41) and end Mouth b, front left drive the port a and port b of wheel ABS solenoid valve (49), drive wheel braking gas chamber (48) into front left, thus Wheel drag (43) can be driven to apply air-pressure brake power to front left driving wheel (42) by front left.

To realize that front left drives the decoupling control of wheel (42) motor braking power and air-pressure brake power, vehicle is driven by front left The size that ABS solenoid valve (49) adjust front left driving wheel (42) air-pressure brake power is taken turns, wheel drive motors are driven according to front left And transmission device (45) can be applied to the maximum motor brake force of front left driving wheel (42) and front left drives the total of wheel (42) Relationship between brake force target value, the mode for applying brake force to front left driving wheel (42) are divided into the following two kinds.

Mode one: when front left drives wheel drive motors and transmission device (45) to be applied to front left driving wheel (42) most When big motor braking power is greater than or equal to front left driving wheel (42) total brake force target value, front left drives the air pressure of wheel (42) Brake force target value is 0, at this point, brake monitor (36) passes through signal line traffic control front left driving wheel ABS solenoid valve (49) end Mouthful a is closed, and port b and port c are opened, disconnect front left driving wheel braking gas chamber (48) and the 9th triple valve (41) port b it Between air circuit connection, front left drive wheel braking gas chamber (48) by front left drive wheel ABS solenoid valve (49) port b and end Mouth c is communicated with atmosphere, drives wheel drive motors and transmission device (45) to apply to front left driving wheel (42) by front left at this time Required brake force.

Mode two: when front left drives wheel drive motors and transmission device (45) that can be applied to front left driving wheel (42) When maximum motor brake force is less than front left driving wheel (42) total brake force target value, front left drives wheel drive motors and transmission Device (45) applies maximum motor brake force to front left driving wheel (42).

Front left drives wheel (42) air-pressure brake power target value by the total brake force target value of front left driving wheel (42) with before The difference for the maximum motor brake force that left driving wheel drive motors and transmission device (45) are applied to front left driving wheel (42) is true It is fixed, the relationship between wheel (42) air-pressure brake power target value and air-pressure brake power actual value is driven according to front left, front left is driven The case where motor car wheel (42) application air-pressure brake power, is divided into following three kinds.

When front left driving wheel (42) air-pressure brake power target value is greater than air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (49) port a and port b conducting being driven by signal line traffic control front left, port c is closed, and the 9th 3 High pressure gas at port valve (41) port b enters front left drive by front left driving wheel ABS solenoid valve (49) port a and port b Motor car wheel brake chamber (48), to realize the increase of front left driving wheel (42) actual pressure brake force.

When front left driving wheel (42) air-pressure brake power target value is less than air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (49) port a is driven to close by signal line traffic control front left, port b and port c conducting, front left are driven High pressure gas at motor car wheel brake chamber (48) is discharged into greatly by front left driving wheel ABS solenoid valve (49) port b and port c Gas, to realize the reduction of front left driving wheel (42) actual pressure brake force.

When front left driving wheel (42) air-pressure brake power target value is equal to air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (49) port b and port c is driven to close by signal line traffic control front left, front left drives wheel braking Air pressure in gas chamber (48) remains unchanged, to realize the holding of front left driving wheel (42) actual pressure brake force.

Drive axle switch electromagnetic valve (65) is closed, the port a of secondary air accumulator (3) port c and the 12nd triple valve (63) Between gas circuit disconnect, front left drive wheel stacked unidirectional valve (40) port b without high pressure gas.

Front left drives the port b of wheel stacked unidirectional valve (40) to close, port a and port c conducting, main air accumulator (4) In high pressure gas successively pass through the port a and port b, the 7th of the port b of main air accumulator (4), drive axle relay valve (37) The port b and port c of triple valve (38), the port c and port a of the 8th triple valve (39), front left driving wheel superposing type are unidirectional The port a and port c of valve (40), the port a and port b of the 9th triple valve (41), front left drive wheel ABS solenoid valve (49) Port a and port b enters front left driving wheel braking gas chamber (48), to give front left by front left driving wheel drag (43) Wheel (42) are driven to apply air-pressure brake power.

Releasing to the gentle compacting power of releasing that the releasing of front left driving wheel (42) braking is divided into motor braking power, work It is as follows to make process.

When driver loosens the brake (1), entire car controller (35) drives wheel drive motors to control by front left Device (46) control drives wheel drive motors and transmission device (45) to apply motor braking to front left driving wheel (42) by front left Power reduces, to release the motor braking power of front left driving wheel.

When driver loosens the brake (1), brake valve (2) is closed, and drive axle relay valve (37) disconnects main gas storage Air circuit connection between tank (4) port b and the 7th triple valve (38) port b, drive axle switch electromagnetic valve (65) disconnect secondary storage Air circuit connection between gas tank (3) port c and the 12nd triple valve (63) port a, front left drive in wheel braking gas chamber (48) High pressure gas, pass sequentially through the end of front left driving the port b and port a of wheel ABS solenoid valve (49), the 9th triple valve (41) Mouthful b and port c, the port a and port b of front left driving wheel check valve (50), the 8th triple valve (39) port b and port c, The port c and port b of 7th triple valve (38) enter drive axle relay valve (37), are discharged into greatly through drive axle relay valve (37) Gas does not drive wheel ABS solenoid valve to front left in the process to release the air-pressure brake power of front left driving wheel (42) (49) apply control.

When triggering braking energy recovering function, the process for applying braking to front right driving wheel (59) is as follows.

Entire car controller (35) controls drive axle switch electromagnetic valve (65) conducting, the high pressure gas in secondary air accumulator (3) Successively by the port c of secondary air accumulator (3), port a and port b, the 12nd triple valve of drive axle switch electromagnetic valve (65) (63) port a and port b reaches the port b of front right driving wheel stacked unidirectional valve (61).

High pressure gas in main air accumulator (4) is by the port c of main air accumulator (4), the port b and port c of brake valve (2) Into the control port c of drive axle relay valve (37), the port a and port b of drive axle relay valve (37) is connected, main storage High pressure gas in gas tank (4) successively passes through the port b of main air accumulator (4), the port a of drive axle relay valve (37) and port B, port c and port a the arrival front right driving wheel of the port b and port a of the 7th triple valve (38), the 11st triple valve (62) The port a of stacked unidirectional valve (61).

At this point, driving wheel stacked unidirectional valve (61) port a air pressure and front right to drive wheel superposing type list according to front right To the size of valve (61) port b air pressure, it is divided into the case where front right driving wheel braking gas chamber (53) offer brake pressure as follows Two kinds.

When front right driving wheel stacked unidirectional valve (61) port a air pressure is greater than port b air pressure, by main air accumulator (4) High pressure gas is provided to front right driving wheel braking gas chamber (53)；At this point, the high pressure gas in main air accumulator (4) is successively by master The port b of air accumulator (4), the port a and port b of drive axle relay valve (37), the port b of the 7th triple valve (38) and port A, the port c and port a of the 11st triple valve (62), front right driving wheel stacked unidirectional valve (61) port a and port c, The port a and port b of tenth triple valve (60), the port a and port b of front right driving wheel ABS solenoid valve (52) enter front right It drives wheel braking gas chamber (53), so as to apply gas to front right driving wheel (59) by front right driving wheel drag (58) Suppress power.

When front right driving wheel stacked unidirectional valve (61) port a air pressure is less than port b air pressure, by secondary air accumulator (3) High pressure gas is provided to front right driving wheel braking gas chamber (53)；At this point, the high pressure gas in secondary air accumulator (3) successively passes through pair The port c of air accumulator (3), the port a and port b of drive axle switch electromagnetic valve (65), the 12nd triple valve (63) port a With port b, the port b and port c of front right driving wheel stacked unidirectional valve (61), the port a of the tenth triple valve (60) and end Mouth b, front right drive the port a and port b of wheel ABS solenoid valve (52), drive wheel braking gas chamber (53) into front right, thus Wheel drag (58) can be driven to apply air-pressure brake power to front right driving wheel (59) by front right.

To realize that front right drives the decoupling control of wheel (59) motor braking power and air-pressure brake power, vehicle is driven by front right The size that ABS solenoid valve (52) adjust front right driving wheel (59) air-pressure brake power is taken turns, wheel drive motors are driven according to front right And transmission device (56) can be applied to the maximum motor brake force of front right driving wheel (59) and front right drives the total of wheel (59) Relationship between brake force target value, the mode for applying brake force to front right driving wheel (59) are divided into following two kinds.

Mode one: when front right drives wheel drive motors and transmission device (56) to be applied to front right driving wheel (59) most When big motor braking power is greater than front right driving wheel (59) total brake force target value, front right drives the air-pressure brake power of wheel (59) Target value is 0, at this point, brake monitor (36) drives wheel ABS solenoid valve (52) port a to close by signal line traffic control front right It closes, port b and port c are opened, and the gas circuit disconnected between front right driving wheel braking gas chamber (53) and the tenth triple valve (60) connects It connects, front right drives wheel braking gas chamber (53) to pass through the port b and port c and atmosphere of front right driving wheel ABS solenoid valve (52) It communicates, braking needed for driving wheel drive motors and transmission device (56) to apply to front right driving wheel (59) by front right at this time Power.

Mode two: when front right drives wheel drive motors and transmission device (56) that can be applied to front right driving wheel (59) When maximum motor brake force is less than front right driving wheel (59) total brake force target value, front right drives wheel drive motors and transmission Device (56) applies maximum motor brake force to front right driving wheel (59).

Front right drives wheel (59) air-pressure brake power target value by the total brake force target value of front right driving wheel (59) with before The difference for the maximum motor brake force that right driving wheel drive motors and transmission device (56) are applied to front right driving wheel (59) is true It is fixed, the relationship between wheel (59) air-pressure brake power target value and air-pressure brake power actual value is driven according to front right, front right is driven The case where motor car wheel (59) application air-pressure brake power, is divided into following three kinds.

When front right driving wheel (59) air-pressure brake power target value is greater than air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (52) port a and port b conducting being driven by signal line traffic control front right, port c is closed, and the 13rd High pressure gas at port valve (60) port b enters front right drive by front right driving wheel ABS solenoid valve (52) port a and port b Motor car wheel brake chamber (53), to realize the increase of front right driving wheel (59) actual pressure brake force.

When front right driving wheel (59) air-pressure brake power target value is less than air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (52) port a is driven to close by signal line traffic control front right, port b and port c conducting, front right are driven High pressure gas at motor car wheel brake chamber (53) is discharged into greatly by front right driving wheel ABS solenoid valve (52) port b and port c Gas, to realize the reduction of front right driving wheel (59) actual pressure brake force.

When front right driving wheel (59) air-pressure brake power target value is equal to air-pressure brake power actual value, brake monitor (36) wheel ABS solenoid valve (52) port b and port c is driven to close by signal line traffic control front right, front right drives wheel braking Air pressure in gas chamber (53) remains unchanged, to realize the holding of front right driving wheel (59) actual pressure brake force.

Drive axle switch electromagnetic valve (65) is closed, the port a of secondary air accumulator (3) port c and the 12nd triple valve (63) Between gas circuit disconnect, front right drive wheel stacked unidirectional valve (61) port b without high pressure gas.

Front right drives the port b of wheel stacked unidirectional valve (61) to close, port a and port c conducting, main air accumulator (4) In high pressure gas successively pass through the port a and port b, the 7th of the port b of main air accumulator (4), drive axle relay valve (37) The port b and port a of triple valve (38), the port c and port a of the 11st triple valve (62), front right drive wheel superposing type list To the port a and port c of valve (61), the port a and port b of the tenth triple valve (60), front right driving wheel ABS solenoid valve (52) Port a and port b enter front right driving wheel braking gas chamber (53), to be driven before wheel drag (58) give by front right Right driving wheel (59) applies air-pressure brake power.

Releasing to the gentle compacting power of releasing that the releasing of front right driving wheel (59) braking is divided into motor braking power, work It is as follows to make process.

When driver loosens the brake (1), entire car controller (35) drives wheel drive motors to control by front right The motor braking that device (55) controls front right driving wheel drive motors and transmission device (56) applies to front right driving wheel (59) Power reduces, to release the motor braking power of front right driving wheel.

When driver loosens the brake (1), brake valve (2) is closed, and drive axle relay valve (37) disconnects main gas storage Air circuit connection between tank (4) port b and the 7th triple valve (38) port b, drive axle switch electromagnetic valve (65) disconnect secondary storage Air circuit connection between gas tank (3) port c and the 12nd triple valve (63) port a, front right drive in wheel braking gas chamber (53) High pressure gas, pass sequentially through the end of front right driving the port b and port a of wheel ABS solenoid valve (52), the tenth triple valve (60) Mouth b and port c, the port a and port b of front right driving wheel check valve (51), the port b of the 11st triple valve (62) and port C, the port a and port b of the 7th triple valve (38) enter drive axle relay valve (37), are discharged into through drive axle relay valve (37) Atmosphere does not drive wheel ABS solenoid valve to front right in the process to release the air-pressure brake power of front right driving wheel (59) (52) apply control.

To rear-guard in the four-wheel acoustic filed brake energy recovering system of electric vehicle based on stacked unidirectional valve and check valve Moving axis switch electromagnetic valve (5), drive axle switch electromagnetic valve (65), rear right driving wheel stacked unidirectional valve (10), rear left are driven Motor car wheel stacked unidirectional valve (32), front right driving wheel stacked unidirectional valve (61), front left drive wheel stacked unidirectional valve (40), rear right driving wheel check valve (20), rear left driving wheel check valve (22), front right driving wheel check valve (51), preceding The work characteristics of left driving wheel check valve (50) is described below.

When the non-brake pedal of driver (1), rear drive shaft switch electromagnetic valve (5) is in an off state, and the one or three Without high pressure gas at the port a of port valve (7)；When driver's brake pedal (1) but when not triggering braking energy recovering function, Rear drive shaft switch electromagnetic valve (5) is in an off state, without high pressure gas at the port a of the first triple valve (7)；When driver steps on When lower brake pedal (1) and triggering braking energy recovering function, rear drive shaft switch electromagnetic valve (5) is in the conductive state, and first There is high pressure gas at the port a of triple valve (7).

When the non-brake pedal of driver (1), drive axle switch electromagnetic valve (65) is in an off state, and the 12nd Without high pressure gas at the port a of triple valve (63)；Braking energy recovering function is not triggered when driver's brake pedal (1) but When, drive axle switch electromagnetic valve (65) is in an off state, without high pressure gas at the port a of the 12nd triple valve (63)；When When driver's brake pedal (1) and triggering braking energy recovering function, drive axle switch electromagnetic valve (65) is on State has high pressure gas at the port a of the 12nd triple valve (63).

There are three ports: air inlet port a, air inlet port b and outlet side for right driving wheel stacked unidirectional valve (10) tool afterwards Mouth c, gas can only be flowed into from the air inlet port a and air inlet port b of rear right driving wheel stacked unidirectional valve (10), from rear right drive The air outlet c of motor car wheel stacked unidirectional valve (10) flows out, so that controlling gas can only be from the first triple valve (7) or rear driving Right driving wheel braking gas chamber (18) after axis relay valve (8) flow direction, cannot reversely be connected；When air inlet port a air pressure be greater than into When the b of gas port, port a and port c conducting, port b shutdown；When the air pressure of air inlet port a be less than air inlet port b when, port b and Port c conducting, port a shutdown.

Rear left drives wheel stacked unidirectional valve (32) tool, and there are three ports: air inlet port a, air inlet port b and outlet side Mouth c, gas can only drive the air inlet port a and air inlet port b of wheel stacked unidirectional valve (32) to flow into from rear left, drive from rear left The air outlet c of motor car wheel stacked unidirectional valve (32) flows out, so that controlling gas can only be from the first triple valve (7) and rear driving Axis relay valve (8) flows to rear left driving wheel braking gas chamber (24), cannot reversely be connected；When air inlet port a air pressure be greater than into When the b of gas port, port a and port c conducting, port b shutdown；When the air pressure of air inlet port a be less than air inlet port b when, port b and Port c conducting, port a shutdown.

Front right drives wheel stacked unidirectional valve (61) tool, and there are three ports: air inlet port a, air inlet port b and outlet side Mouth c, gas can only drive the air inlet port a and air inlet port b of wheel stacked unidirectional valve (61) to flow into from front right, drive from front right The air outlet c of motor car wheel stacked unidirectional valve (61) flows out, so that controlling gas can only be from the 12nd triple valve (63) or preceding Drive shaft relay valve (37) flows to front right driving wheel braking gas chamber (53), cannot reversely be connected；When the air pressure of air inlet port a is big When air inlet port b, port a and port c conducting, port b shutdown；When the air pressure of air inlet port a is less than air inlet port b, end Mouth b and port c conducting, port a shutdown.

Front left drives wheel stacked unidirectional valve (40) tool, and there are three ports: air inlet port a, air inlet port b and outlet side Mouth c, gas can only drive the air inlet port a and air inlet port b of wheel stacked unidirectional valve (40) to flow into from front left, drive from front left The air outlet c of motor car wheel stacked unidirectional valve (40) flows out, so that controlling gas can only be from the 12nd triple valve (63) or preceding Drive shaft relay valve (37) flows to front left driving wheel braking gas chamber (48), cannot reversely be connected；When the air pressure of air inlet port a is big When air inlet port b, port a and port c conducting, port b shutdown；When the air pressure of air inlet port a is less than air inlet port b, end Mouth b and port c conducting, port a shutdown.

There are two ports for right driving wheel check valve (20) tool afterwards: air inlet port a and air outlet b, gas can only from into Gas port a flows to air outlet b, cannot reversely be connected, can only be from rear right driving wheel braking gas chamber (18) for controlling gas Flow to rear drive shaft relay valve (8).

Rear left drives wheel check valve (22) tool there are two port: air inlet port a and air outlet b, gas can only from into Gas port a flows to air outlet b, cannot reversely be connected, and can only drive wheel braking gas chamber (24) from rear left for controlling gas Flow to rear drive shaft relay valve (8).

Front right drives wheel check valve (51) tool there are two port: air inlet port a and air outlet b, gas can only from into Gas port a flows to air outlet b, cannot reversely be connected, and can only drive wheel braking gas chamber (53) from front right for controlling gas Flow to drive axle relay valve (37).

Front left drives wheel check valve (50) tool there are two port: air inlet port a and air outlet b, gas can only from into Gas port a flows to air outlet b, cannot reversely be connected, and can only drive wheel braking gas chamber (48) from front left for controlling gas Flow to drive axle relay valve (37).

By above-mentioned discussion it is found that by increasing secondary air accumulator (3) in existing brake energy recovering system, rear drive shaft is opened Powered-down magnet valve (5), the first triple valve (7), rear drive shaft relay valve (8), the second triple valve (9), rear right driving wheel superposing type Check valve (10), third triple valve (11), rear right driving wheel brake pressure sensor (17), rear right driving wheel check valve (20), the 4th triple valve (21), rear left driving wheel check valve (22), rear left driving wheel brake pressure sensor (25), the Five triple valves (31), rear left driving wheel stacked unidirectional valve (32), the 6th triple valve (33), drive axle relay valve (37), It is 7th triple valve (38), the 8th triple valve (39), front left driving wheel stacked unidirectional valve (40), the 9th triple valve (41), preceding Left driving wheel brake pressure sensor (47), front left driving wheel check valve (50), front right driving wheel check valve (51), preceding Right driving wheel brake pressure sensor (54), the tenth triple valve (60), front right drive wheel stacked unidirectional valve (61), the tenth One triple valve (62), the 12nd triple valve (63), brake pedal displacement sensor (64), drive axle switch electromagnetic valve (65) etc. Component, making each driving wheel brake circuit tool, there are two independent high-pressure air source and double back line structures, step on when driver steps on braking When plate (1) and no triggering braking energy recovering function, rear left drives wheel (30), rear right driving wheel (13), front left driving High pressure gas needed for wheel (42) and front right driving wheel (59) is provided by main air accumulator (4)；When driver's brake pedal (1) when and triggering braking energy recovering function, rear left drives wheel (30), rear right driving wheel (13), front left to drive wheel (42) it is provided with high pressure gas needed for front right driving wheel (59) by the big person of air pressure in main air accumulator (4) and secondary air accumulator (3), When so as to effectively solve continuously to brake present in existing scheme, because the relatively low bring driving wheel of bleed pressure couples brake force Response speed is slow, and lags behind the critical issue of demand brake force.

Claims

1. a kind of four-wheel acoustic filed brake energy recovering system of electric vehicle based on stacked unidirectional valve and check valve, feature It is: by brake pedal (1), brake valve (2), secondary air accumulator (3), main air accumulator (4), rear drive shaft switch electromagnetic valve (5), sky Air compressor (6), the first triple valve (7), rear drive shaft relay valve (8), the second triple valve (9), rear right driving wheel superposing type Check valve (10), third triple valve (11), rear right driving wheel wheel speed sensors (14), rear right driving wheel drive motors and biography Dynamic device (15), rear right driving wheel drive motors controller (16), rear right driving wheel brake pressure sensor (17), the rear right side Drive wheel braking gas chamber (18), rear right driving wheel ABS solenoid valve (19), rear right driving wheel check valve (20), the four or three Port valve (21), rear left driving wheel check valve (22), rear left driving wheel ABS solenoid valve (23), rear left drive wheel braking gas Room (24), rear left driving wheel brake pressure sensor (25), rear left driving wheel drive motors and transmission device (26), rear left Drive wheel drive motors controller (27), rear left driving wheel wheel speed sensors (28), the 5th triple valve (31), rear left driving Wheel stacked unidirectional valve (32), the 6th triple valve (33), battery management system (34), entire car controller (35), control for brake Device (36), drive axle relay valve (37), the 7th triple valve (38), the 8th triple valve (39), front left drive wheel superposing type list To valve (40), the 9th triple valve (41), front left driving wheel wheel speed sensors (44), front left driving wheel drive motors and transmission Device (45), front left driving wheel drive motors controller (46), front left driving wheel brake pressure sensor (47), front left are driven Motor car wheel brake chamber (48), front left driving wheel ABS solenoid valve (49), front left driving wheel check valve (50), front right driving Wheel check valve (51), front right driving wheel ABS solenoid valve (52), front right driving wheel braking gas chamber (53), front right drive vehicle Take turns brake-pressure sensor (54), front right driving wheel drive motors controller (55), front right driving wheel drive motors and biography Dynamic device (56), front right driving wheel wheel speed sensors (57), the tenth triple valve (60), front right drive wheel stacked unidirectional valve (61), the 11st triple valve (62), the 12nd triple valve (63), brake pedal displacement sensor (64), drive axle switch electricity Magnet valve (65) composition；The air outlet b and main air accumulator (4) air inlet port a of air compressor (6) pass through air circuit connection, air The air outlet a of compressor (6) and the air inlet port a of secondary air accumulator (3) pass through air circuit connection；

The air inlet port a of brake valve (2) is connected with the air outlet d of main air accumulator (4) by gas circuit, the air inlet of brake valve (2) Port b is connected with the air outlet c of main air accumulator (4) by gas circuit, the air outlet c and drive axle servo of brake valve (2) The control port c of valve (37) is connected by gas circuit, the air outlet d of brake valve (2) and the control terminal of rear drive shaft relay valve (8) Mouth c is connected by gas circuit；

The air outlet b of secondary air accumulator (3) is connected by gas circuit with the air inlet port a of rear drive shaft switch electromagnetic valve (5), rear-guard The air outlet b of moving axis switch electromagnetic valve (5) is connected with the air inlet port a of the first triple valve (7) by gas circuit, the first triple valve (7) air outlet b is connected by gas circuit with the air inlet port b of rear right driving wheel stacked unidirectional valve (10), the first threeway The air outlet c of valve (7) is connected by gas circuit with the air inlet port b of rear left driving wheel stacked unidirectional valve (32)；

The port a of rear drive shaft relay valve (8) is connected with the air outlet e of main air accumulator (4) by gas circuit, rear drive shaft servo The port b of valve (8) is connected by gas circuit with the port b of the second triple valve (9)；

The port a of second triple valve (9) is connected by gas circuit with the port c of the 4th triple valve (21), the 4th triple valve (21) Port a is connected by gas circuit with the air inlet port a of rear right driving wheel stacked unidirectional valve (10), the end of the 4th triple valve (21) Mouth b is connected by gas circuit with the air outlet b of rear right driving wheel check valve (20), rear right driving wheel stacked unidirectional valve (10) air outlet c is connected with the port a of third triple valve (11) by gas circuit, it is rear it is right driving wheel check valve (20) into Gas port a is connected with the port c of third triple valve (11) by gas circuit, the port b of third triple valve (11) and rear right driving vehicle Take turns ABS solenoid valve (19) air inlet port a by gas circuit be connected, it is rear it is right driving wheel ABS solenoid valve (19) air inlet port b with Right driving wheel braking gas chamber (18) is connected by gas circuit afterwards；

Rear right driving wheel brake pressure sensor (17) is installed on right driving wheel braking gas chamber (18) afterwards；

The port c of second triple valve (9) is connected by gas circuit with the port c of the 6th triple valve (33), the 6th triple valve (33) Port a is connected by gas circuit with the air inlet port a of rear left driving wheel stacked unidirectional valve (32), the end of the 6th triple valve (33) Mouth b is connected by gas circuit with the air outlet b of rear left driving wheel check valve (22), and rear left drives wheel stacked unidirectional valve (32) air outlet c is connected with the port a of the 5th triple valve (31) by gas circuit, rear left drive wheel check valve (22) into Gas port a is connected with the port c of the 5th triple valve (31) by gas circuit, and the port b and rear left of the 5th triple valve (31) drive vehicle Take turns ABS solenoid valve (23) air inlet port a by gas circuit be connected, rear left drive wheel ABS solenoid valve (23) air inlet port b with Rear left drives wheel braking gas chamber (24) to be connected by gas circuit；

Rear left driving wheel brake pressure sensor (25) is installed in rear left driving wheel braking gas chamber (24)；

The air outlet c of secondary air accumulator (3) is connected by gas circuit with the air inlet port a of drive axle switch electromagnetic valve (65), preceding The air outlet b of drive shaft switch electromagnetic valve (65) is connected with the air inlet port a of the 12nd triple valve (63) by gas circuit, and the tenth The air outlet b of two triple valves (63) is connected by gas circuit with the air inlet port b of front right driving wheel stacked unidirectional valve (61), The air inlet port b that the air outlet c of 12nd triple valve (63) passes through gas circuit and front left driving wheel stacked unidirectional valve (40) It is connected；

The port a of drive axle relay valve (37) is connected with the air outlet b of main air accumulator (4) by gas circuit, drive axle after The port b of dynamic valve (37) is connected by gas circuit with the port b of the 7th triple valve (38)；

The port a of 7th triple valve (38) is connected by gas circuit with the port c of the 11st triple valve (62), the 11st triple valve (62) port a is connected by gas circuit with the air inlet port a of front right driving wheel stacked unidirectional valve (61), the 11st triple valve (62) port b is connected by gas circuit with the air outlet b of front right driving wheel check valve (51), and front right drives wheel superposing type The air outlet c of check valve (61) is connected with the port a of the tenth triple valve (60) by gas circuit, and front right drives wheel check valve (51) air inlet port a is connected with the port c of the tenth triple valve (60) by gas circuit, and the port b of the tenth triple valve (60) is with before It is right driving wheel ABS solenoid valve (52) air inlet port a by gas circuit be connected, front right drive wheel ABS solenoid valve (52) into Gas port b is connected with front right driving wheel braking gas chamber (53) by gas circuit；

Front right driving wheel brake pressure sensor (54) is installed in front right driving wheel braking gas chamber (53)；

The port c of 7th triple valve (38) is connected by gas circuit with the port c of the 8th triple valve (39), the 8th triple valve (39) Port a is connected by gas circuit with the air inlet port a of front left driving wheel stacked unidirectional valve (40), the end of the 8th triple valve (39) Mouth b is connected by gas circuit with the air outlet b of front left driving wheel check valve (50), and front left drives wheel stacked unidirectional valve (40) air outlet c is connected with the port a of the 9th triple valve (41) by gas circuit, front left drive wheel check valve (50) into Gas port a is connected with the port c of the 9th triple valve (41) by gas circuit, and the port b and front left of the 9th triple valve (41) drive vehicle Take turns ABS solenoid valve (49) air inlet port a by gas circuit be connected, front left drive wheel ABS solenoid valve (49) air inlet port b with Front left drives wheel braking gas chamber (48) to be connected by gas circuit；

Front left driving wheel brake pressure sensor (47) is installed in front left driving wheel braking gas chamber (48)；

Right driving wheel wheel speed sensors (14), rear left driving wheel wheel speed sensors (28), front left driving wheel wheel speed pass afterwards Sensor (44), front right driving wheel wheel speed sensors (57) are connected by signal wire with brake monitor (36)；

Right driving wheel ABS solenoid valve (19), rear left driving wheel ABS solenoid valve (23), front left drive wheel ABS solenoid valve afterwards (49), front right driving wheel ABS solenoid valve (52) is connected by signal wire with brake monitor (36)；

Rear drive shaft switch electromagnetic valve (5), rear right driving wheel brake pressure sensor (17), rear left drive wheel brake pressure Sensor (25), front left driving wheel brake pressure sensor (47), front right driving wheel brake pressure sensor (54), braking Pedal displacement sensor (64) and drive axle switch electromagnetic valve (65) are connected by signal wire with entire car controller (35)；It is right afterwards Drive wheel drive motors controller (16), rear left driving wheel drive motors controller (26), front left driving wheel driving electricity Machine controller (46), front right driving wheel drive motors controller (55), battery management system (34), entire car controller (35) and Brake monitor (36) is connected by CAN bus.

2. the four-wheel acoustic filed electric vehicle brake power according to claim 1 based on stacked unidirectional valve and check valve Recovery system, entire car controller (35) are based on speed, the brake pedal displacement biography that brake monitor (36) are exported by CAN bus The battery permission maximum charge that pedal displacement signal, the battery management system (34) of sensor (64) output are exported by CAN bus Electric current, the rear right driving wheel drive motors and biography that rear right driving wheel drive motors controller (16) is exported by CAN bus The rear right driving wheel maximum motor brake force that dynamic device (15) can be provided, rear left drive wheel drive motors controller (26) The front left that the rear left exported by CAN bus drives wheel drive motors and transmission device (27) can be provided drives wheel maximum Motor braking power, front right drive wheel drive motors controller (55) to drive wheel driving electricity by the front right that CAN bus exports The front right that machine and transmission device (56) can be provided drives wheel maximum motor brake force, and front left drives wheel drive motors control The front left driving wheel drive motors that device (46) is exported by CAN bus and the front left driving vehicle that transmission device (45) can be provided Maximum motor brake force is taken turns, judges whether to trigger braking energy recovering function, and control rear drive shaft switch electromagnetic valve (5) accordingly With drive axle switch electromagnetic valve (65), it is characterised in that:

When brake pedal and triggering braking energy recovering function, entire car controller (35) controls rear drive shaft and switchs electromagnetism Valve (5) conducting, the gas circuit between secondary air accumulator (3) port b and the first triple valve (7) port a are connected；Entire car controller (35) control Drive axle switch electromagnetic valve (65) conducting processed, the gas between secondary air accumulator (3) port c and the 12nd triple valve (63) port a Road conducting；

When brake pedal but when not triggering braking energy recovering function, entire car controller (35) controls rear drive shaft switch electricity Magnet valve (5) shutdown, the gas circuit between secondary air accumulator (3) port b and the first triple valve (7) port a are not turned on；Entire car controller (35) control drive axle switch electromagnetic valve (65) shutdown, secondary air accumulator (3) port c and the 12nd triple valve (63) port a it Between gas circuit be not turned on；

When driver loosens the brake (1), entire car controller (35) controls rear drive shaft switch electromagnetic valve (5) and disconnects secondary storage Air circuit connection between gas tank (3) port b and the first triple valve (7) port a；Entire car controller (35) controls drive axle switch Solenoid valve (65) disconnects the air circuit connection between pair air accumulator (3) port c and the 12nd triple valve (63) port a.