CN110154775B - Regenerative braking energy recovery control method for electric automobile - Google Patents
Regenerative braking energy recovery control method for electric automobile Download PDFInfo
- Publication number
- CN110154775B CN110154775B CN201910375678.0A CN201910375678A CN110154775B CN 110154775 B CN110154775 B CN 110154775B CN 201910375678 A CN201910375678 A CN 201910375678A CN 110154775 B CN110154775 B CN 110154775B
- Authority
- CN
- China
- Prior art keywords
- accelerator pedal
- opening
- opening degree
- torque
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a regenerative braking energy recovery control method for an electric automobile. The method comprises the following steps: dividing the opening degree interval of the accelerator pedal into a braking interval of the acceleration interval, and sending a command to the motor controller by the vehicle control unit according to the opening degree information of the accelerator pedal; the vehicle control unit calculates the magnitude of regenerative braking torque T and sends the calculated T to the motor controller, wherein T is a negative value; the calculation formula is T2= F × R × T1, if T2> Tmax, T = T2, otherwise T = Tmax. The invention can solve the problems that only one torque can be generated in one braking process in the prior art and the continuous adjustment cannot be realized; the input parameters are many and the weights of the parameters are different, and the input parameters cannot be controlled to be the same every time, so that the problem that stable braking torque cannot be obtained is caused.
Description
Technical Field
The invention relates to the technical field of electric automobile manufacturing, in particular to a regenerative braking energy recovery control method for an electric automobile.
Background
In the existing technical scheme, the energy recovery control mode of the pure electric vehicle is to control the magnitude of regenerative braking torque and a torque reduction curve through an ESP (electronic stability program) after an accelerator is released, and the braking torque of the method is usually smaller, so that the recovered energy is less.
In the existing published patent, the scheme described in CN108284771A, which is the closest to the present technical scheme, needs to control the braking torque according to the change rate when the pedal is released, the vehicle speed, and the pedal opening degree, if the change rate when the pedal is released is greater than a preset value, the opening degree before the pedal is released, the pedal release change rate, and the vehicle speed are input to a neural network calculation module for calculating the braking torque, and if the change rate when the pedal is released is less than a preset threshold value, the braking torque is calculated through a table of the rotation speed and the braking torque, and the above braking torque is output to the motor controller, and the motor controller needs to completely release the accelerator (the pedal opening degree is less than 1.5%), which can be realized, it can be seen that the above scheme has two disadvantages:
firstly, the method mentioned in the patent essentially belongs to the regenerative braking of the throttle valve, the result of braking torque is output to a motor controller, the throttle valve needs to be completely loosened, namely, only one type of torque can be generated in one braking process, and continuous adjustment cannot be carried out;
and secondly, a neural network method is used for calculating the braking torque, the input and output are in a nonlinear relation, the input parameters are more, the weight of each parameter is different, and the input parameters cannot be controlled to be the same every time, so that the stable braking torque cannot be obtained.
ESP is short for electronic stability control module.
Disclosure of Invention
The invention aims to provide a regenerative braking energy recovery control method of an electric automobile, which can solve the problems that only one torque can be generated in one braking process and continuous adjustment cannot be realized in the prior art; the input parameters are many and the weights of the parameters are different, and the input parameters cannot be controlled to be the same every time, so that the problem that stable braking torque cannot be obtained is caused.
In order to solve the problems, the invention adopts the technical scheme that: the regenerative braking energy recovery control method of the electric vehicle is realized by adopting an electric vehicle braking device, the device comprises a vehicle control unit, the vehicle control unit receives opening information of an accelerator pedal provided with an opening sensor and operation information of a key operation panel, the vehicle control unit controls a driving motor to operate through a gear shifting mechanism and a motor controller according to the opening information and the operation information, the vehicle control unit controls the output of a power battery through a battery management system according to the opening information and the operation information, and controls the stability of a vehicle body through an electronic stability control module; the method comprises the following implementation steps: 1) dividing the opening degree interval of the accelerator pedal into a braking interval of an acceleration interval, sending a command to the motor controller by the vehicle controller according to the opening degree information of the accelerator pedal, if the value of the opening degree information is not greater than a preset threshold value and the opening degree change rate is greater than the preset threshold value, sending a negative torque command to the motor controller by the vehicle controller, realizing a braking function of the vehicle, and if the value of the opening degree information is greater than the preset threshold value, sending a positive torque command to the motor controller by the vehicle controller, and realizing a forward function of the vehicle; the opening information comprises the opening of the accelerator pedal and the change rate of the accelerator pedal, wherein the change rate is the opening of the accelerator pedal at the previous moment minus the opening of the accelerator pedal at the current moment; 2) the vehicle control unit calculates the magnitude of regenerative braking torque T and sends the calculated T to the motor controller, wherein T is a negative value; the method for calculating the regenerative braking torque T comprises the following steps: when the change rate of the accelerator is larger than 2% and the actual opening B of an accelerator pedal is smaller than 30%, the product of the mapped logical opening F, the recovery strength R and the maximum allowable braking torque T1 is obtained according to the actual opening B of the accelerator pedal, the product is T2, T2 is compared with the maximum allowable braking torque Tmax of a battery and then is taken as a large value, the fed-back current is guaranteed not to exceed the allowable value, the mathematical formula is used for expressing that T2= F × R × T1, if T2> Tmax, T = T2, otherwise, T = Tmax, and the calculation result is output to a motor controller; the recovery strength R is the percentage of the maximum braking torque under different vehicle speeds, the value is calibrated according to the actual vehicle, the result is stored in a one-dimensional table of the vehicle speed and the recovery strength, and the braking torque is directly output after the result is calculated according to the opening degree of the pedal, so that the driver can change the opening degree of the accelerator according to the intention in the braking stage to realize different braking effects.
In the above technical solution, a more specific solution may also be: the relationship between the opening information and the torque is as follows: when the opening degree is 0-30%, the regenerative braking function is adopted, when the opening degree is changed from 30% -0, the regenerative braking torque is increased from 0-maximum and is linearly increased, and when the opening degree is 30% -100%, the acceleration torque is gradually increased from 0; the opening degree is within 0-30%, the change rate is larger than 2%, namely the accelerator pedal is in a release state, the automobile is in a brake state, and when the opening degree is within 30-100%, the accelerator pedal is in a treading state, and the automobile is in a forward state.
Further: the positive torque is calculated by the following method: setting B to be more than 30% according to the actual opening degree B of the accelerator pedal to obtain the mapped logical opening degree F, setting F to be 0-100% of the mapped logical opening degree of the actual opening degree of the accelerator pedal in a range of 30% -100%, using F as the input of the vehicle control unit, calculating the actual logical opening degree by the vehicle control unit by looking up a table of the opening degree and the rotating speed of the accelerator pedal, and using the product obtained by multiplying the actual logical opening degree by the motor torque T3 obtained by the table of the external characteristics of the motor as the output of the positive torque; therefore, if the actual opening degree of the accelerator pedal is greater than 30%, the vehicle is in the acceleration state, and if the actual opening degree of the accelerator pedal is less than 30% and the rate of change of the accelerator pedal is less than 2%, F is limited to 0, and at this time, no positive torque is output and the vehicle is in the coasting state.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the beneficial effects that: according to the invention, the opening degree interval of the accelerator pedal is divided into the acceleration interval and the braking interval, and the braking torque and the pedal opening degree have a definite mathematical relation in the braking interval, so that the braking torque obtained by calculation according to the opening degree can be obtained by changing the opening degree in the braking process, and the calculated braking torque is directly output to the motor controller without precondition. Thus, a continuously adjustable, stable braking torque is achieved.
Drawings
FIG. 1 is a block diagram of the braking device of an electric vehicle according to the present invention.
Detailed Description
Example 1
The invention is described in more detail below with reference to the following figures and examples:
the regenerative braking energy recovery control method of the electric vehicle shown in fig. 1 is implemented by using an electric vehicle braking device, the device includes a vehicle control unit 1, the vehicle control unit 1 receives opening information of an accelerator pedal 2 provided with an opening sensor and operation information of a key operation panel 3, the vehicle control unit 1 controls a driving motor to operate through a gear shifting mechanism 4 and a motor controller 5 according to the opening information and the operation information, the vehicle control unit 1 further controls output of a power battery 9 through a battery management system 7 according to the opening information and the operation information, and controls stability of a vehicle body through an electronic stability control module 6 (ESP for short); the method comprises the following implementation steps: 1) dividing an opening interval of an accelerator pedal 2 into a braking interval of the acceleration interval, sending a command to a motor controller 5 by a vehicle control unit 1 according to opening information of the accelerator pedal, if the value of the opening information is not greater than a preset threshold value and a change rate of the opening is greater than the preset threshold value, sending a negative torque command to the motor controller 5 by the vehicle control unit 1, realizing a braking function of the vehicle, and if the value of the opening information is greater than the preset threshold value, sending a positive torque command to the motor controller 5 by the vehicle control unit 1, and realizing a forward function of the vehicle; the opening information comprises the opening of an accelerator pedal and the change rate of the accelerator pedal, wherein the change rate is the opening of the accelerator pedal at the previous moment minus the opening of the accelerator pedal at the current moment; 2) the vehicle control unit 1 sends the calculated regenerative braking torque T to the motor controller 5; the regenerative braking torque T is calculated by the following method: when the change rate of the accelerator pedal 2 is greater than 2% and the actual opening B of the accelerator pedal 2 is less than 30%, the product of the mapped logical opening F obtained according to the actual opening B of the accelerator pedal 2, the recovery strength R and the maximum allowable braking torque T1 is T2, the maximum allowable braking torque Tmax allowed by the battery management system 7 is compared with T2, the fed-back current is guaranteed not to exceed the allowable value, the mathematical formula is used for expressing that T2= F × R × T1, if T2> Tmax, T = T2, otherwise, T = Tmax, and the calculation result is output to the motor controller; the recovery strength R is the percentage of the maximum braking torque under different vehicle speeds, the value is calibrated according to the actual vehicle, the result is stored in a one-dimensional table of the vehicle speed and the recovery strength, and the braking torque is directly output after the result is calculated according to the opening degree of the pedal, so that the driver can change the opening degree of the accelerator according to the intention in the braking stage to realize different braking effects.
The relationship between the opening degree information and the torque is as follows: when the opening degree is 0, the regenerative braking function is performed, when the regenerative braking torque is the maximum, when the opening degree is 30%, the acceleration torque is larger than 0, when the accelerator pedal 2 is released from the 30% opening degree and the change rate is larger than 2%, the automobile is in a braking state, when the opening degree is larger than 30%, the automobile obtains positive torque, and the automobile is in an acceleration forward state.
The positive torque is calculated by the following method: and B is set to be more than 30% according to the actual opening degree B of the accelerator pedal 2 to obtain the mapped logical opening degree F, the mapped logical opening degree of the actual opening degree of the accelerator pedal 2 at 30% is 0, F is used as the input of the vehicle control unit 1, the vehicle control unit 1 calculates the actual logical opening degree by checking a table of the opening degree and the rotating speed of the accelerator pedal, and the product obtained by multiplying the table of the actual logical opening degree and the external characteristics of the motor by the motor torque T3 is used as the output of the positive torque. Therefore, if the actual opening degree of the accelerator pedal 2 is >30%, the vehicle is in an acceleration state, and if the actual opening degree of the accelerator pedal 2 is <30% and the rate of change of the accelerator pedal 2 is <2%, F is limited to 0, and at this time, no positive torque is output, and the vehicle is in a coasting state.
Example 2
The invention is described in more detail below with reference to the following figures and examples:
the regenerative braking energy recovery control method of the electric vehicle shown in fig. 1 is implemented by using an electric vehicle braking device, the device includes a vehicle control unit 1, the vehicle control unit 1 receives opening information of an accelerator pedal 2 provided with an opening sensor and operation information of a key operation panel 3, the vehicle control unit 1 controls a driving motor to operate through a gear shifting mechanism 4 and a motor controller 5 according to the opening information and the operation information, the vehicle control unit 1 further controls output of a power battery 9 through a battery management system 7 according to the opening information and the operation information, and controls stability of a vehicle body through an electronic stability control module 6 (ESP for short); the method comprises the following implementation steps: 1) dividing an opening interval of an accelerator pedal 2 into a braking interval of the acceleration interval, sending a command to a motor controller 5 by a vehicle control unit 1 according to opening information of the accelerator pedal, if the value of the opening information is not greater than a preset threshold value and a change rate of the opening is greater than the preset threshold value, sending a negative torque command to the motor controller 5 by the vehicle control unit 1, realizing a braking function of the vehicle, and if the value of the opening information is greater than the preset threshold value, sending a positive torque command to the motor controller 5 by the vehicle control unit 1, and realizing a forward function of the vehicle; the opening information comprises the opening of an accelerator pedal and the change rate of the accelerator pedal, wherein the change rate is the opening of the accelerator pedal at the previous moment minus the opening at the current moment; 2) the vehicle control unit 1 sends the calculated regenerative braking torque T to the motor controller 5; the regenerative braking torque T is calculated by the following method: when the change rate of the accelerator pedal 2 is greater than 2% and the actual opening B of the accelerator pedal 2 is less than 30%, the product of the mapped logical opening F obtained according to the actual opening B of the accelerator pedal 2, the recovery strength R and the maximum allowable braking torque T1 is T2, the maximum allowable braking torque Tmax allowed by the battery management system 7 is compared with T2, the fed-back current is guaranteed not to exceed the allowable value, the mathematical formula is used for expressing that T2= F × R × T1, if T2> Tmax, T = T2, otherwise, T = Tmax, and the calculation result is output to the motor controller; the recovery strength R is the percentage of the maximum braking torque under different vehicle speeds, the value is calibrated according to the actual vehicle, the result is stored in a one-dimensional table of the vehicle speed and the recovery strength, and the braking torque is directly output after the result is calculated according to the opening degree of the pedal, so that the driver can change the opening degree of the accelerator according to the intention in the braking stage to realize different braking effects.
The relationship between the opening degree information and the torque is as follows: when the opening degree is 10%, the regenerative braking function is performed, the regenerative braking torque is an intermediate value, when the opening degree is changed from 10% to 0, the regenerative braking torque is changed from the intermediate value to 0 and linearly increases, when the opening degree is 65%, the acceleration torque is an intermediate value, when an accelerator pedal is released from 30% of the opening degree, the change rate is more than 2%, the automobile is in a braking state, and when the opening degree is within 30% -65%, the automobile obtains positive torque and is in an acceleration advancing state.
The positive torque is calculated by the following method: and B is set to be more than 30% according to the actual opening degree B of the accelerator pedal 2 to obtain the mapped logical opening degree F, the mapped logical opening degree of the actual opening degree of the accelerator pedal 2 at 45% is 50%, F is used as the input of the vehicle control unit 1, the vehicle control unit 1 checks tables of the opening degree and the rotating speed of the accelerator pedal to calculate the actual logical opening degree, and the product obtained by multiplying the table of the actual logical opening degree and the external characteristics of the motor by the motor torque T3 is used as the output of the positive torque. Therefore, if the actual opening degree of the accelerator pedal 2 is greater than 30%, the vehicle is in the acceleration state, and if the actual opening degree of the accelerator pedal 2 is less than 30% and the rate of change of the accelerator pedal 2 is less than 2%, F is limited to 0, and at this time, no positive torque is output and the vehicle is in the coasting state.
Example 3
The invention is described in more detail below with reference to the following figures and examples:
the regenerative braking energy recovery control method of the electric vehicle shown in fig. 1 is implemented by using an electric vehicle braking device, and the device includes a vehicle control unit 1, the vehicle control unit 1 receives opening information of an accelerator pedal 2 provided with an opening sensor and operation information of a key operation panel 3, the vehicle control unit 1 controls a driving motor to operate through a gear shifting mechanism 4 and a motor controller 5 according to the opening information and the operation information, the vehicle control unit 1 further controls output of a power battery 9 through a battery management system 7 according to the opening information and the operation information, and controls stability of a vehicle body through an electronic stability control module 6 (ESP for short); the method comprises the following implementation steps: 1) dividing an opening interval of an accelerator pedal 2 into a braking interval of the acceleration interval, sending a command to a motor controller 5 by a vehicle control unit 1 according to opening information of the accelerator pedal, if the value of the opening information is not greater than a preset threshold value and the opening change rate is less than the preset threshold value, sending a negative torque command to the motor controller 5 by the vehicle control unit 1, realizing a braking function of the vehicle, and if the value of the opening information is greater than the preset threshold value, sending a positive torque command to the motor controller 5 by the vehicle control unit 1, and realizing a forward function of the vehicle; the opening information comprises the opening of an accelerator pedal and the change rate of the accelerator pedal, wherein the change rate is the opening of the accelerator pedal at the previous moment minus the opening of the accelerator pedal at the current moment; 2) the vehicle control unit 1 sends the calculated regenerative torque T to the motor controller 5; the regenerative braking torque T is calculated by the following method: when the change rate of the accelerator pedal 2 is greater than 2% and the actual opening B of the accelerator pedal 2 is less than 30%, the product of the mapped logical opening F obtained according to the actual opening B of the accelerator pedal 2, the recovery strength R and the maximum allowable braking torque T1 is T2, the maximum allowable braking torque Tmax allowed by the battery management system 7 is compared with T2, the fed-back current is guaranteed not to exceed the allowable value, the mathematical formula is used for expressing that T2= F × R × T1, if T2> Tmax, T = T2, otherwise, T = Tmax, and the calculation result is output to the motor controller; the recovery strength R is the percentage of the maximum braking torque under different vehicle speeds, the value is calibrated according to the actual vehicle, the result is stored in a one-dimensional table of the vehicle speed and the recovery strength, and the braking torque is directly output after the result is calculated according to the opening degree of the pedal, so that the driver can change the opening degree of the accelerator according to the intention in the braking stage to realize different braking effects.
The relationship between the opening degree information and the torque is as follows: the regenerative braking function is performed when the opening degree is 30%, the regenerative braking torque is changed from 0 to the maximum and linearly increases when the opening degree is changed from 30% to 0, the acceleration torque is the maximum when the opening degree is 100%, the vehicle is in a braking state when the acceleration pedal 2 is released from 30% opening degree and the change rate is more than 2%, and the vehicle is in a forward state when the opening degree is within 100%.
The positive torque is calculated by the following method: and B is set to be more than 30% according to the actual opening degree B of the accelerator pedal 2 to obtain the mapped logical opening degree F, the mapped logical opening degree of the actual opening degree of the accelerator pedal 2 at 100% is 100%, F is used as the input of the vehicle control unit 1, the vehicle control unit 1 checks tables of the opening degree and the rotating speed of the accelerator pedal to calculate the actual logical opening degree, and the product obtained by multiplying the table of the actual logical opening degree and the external characteristics of the motor by the motor torque T3 is used as the output of the positive torque. Therefore, if the actual opening degree of the accelerator pedal 2 is greater than 30%, the vehicle is in the acceleration state, and if the actual opening degree of the accelerator pedal 2 is less than 30% and the rate of change of the accelerator pedal 2 is less than 2%, F is limited to 0, and at this time, no positive torque is output and the vehicle is in the coasting state.
Claims (2)
1. A regenerative braking energy recovery control method of an electric vehicle is characterized by comprising the following steps: the device is realized by adopting an electric automobile braking device, and comprises a vehicle control unit, wherein the vehicle control unit receives opening information of an accelerator pedal provided with an opening sensor and operation information of a key operation panel, the vehicle control unit controls a driving motor to operate through a gear shifting mechanism and a motor controller according to the opening information and the operation information, and the vehicle control unit controls the output of a power battery through a battery management system according to the opening information and the operation information and controls the stability of an automobile body through an electronic stability control module; the method comprises the following implementation steps: 1) dividing an opening interval of the accelerator pedal into an acceleration interval and a braking interval, sending a command to the motor controller by the vehicle control unit according to the opening information of the accelerator pedal, if the value of the opening information is not greater than a preset threshold value and the opening change rate is greater than the preset threshold value, sending a negative torque command to the motor controller by the vehicle control unit, realizing a braking function of the vehicle, and if the value of the opening information is greater than the preset threshold value, sending a positive torque command to the motor controller by the vehicle control unit, and realizing a forward function of the vehicle; the opening information comprises the opening of the accelerator pedal and the change rate of the accelerator pedal, wherein the change rate is the opening of the accelerator pedal at the previous moment minus the opening of the accelerator pedal at the current moment; 2) the vehicle control unit calculates the magnitude of regenerative braking torque T and sends the calculated T to the motor controller, wherein T is a negative value; the method for calculating the regenerative braking torque T comprises the following steps: when the change rate of the accelerator is larger than 2% and the actual opening B of an accelerator pedal is smaller than 30%, the product of the mapped logical opening F, the recovery strength R and the maximum allowable braking torque T1 is obtained according to the actual opening B of the accelerator pedal, the product is T2, T2 is compared with the maximum allowable braking torque Tmax of a battery and then is taken as a large value, the fed-back current is guaranteed not to exceed the allowable value, the mathematical formula is used for expressing that T2= F × R × T1, if T2> Tmax, T = T2, otherwise, T = Tmax, and the calculation result is output to a motor controller; the recovery strength R is the percentage of the maximum braking torque under different vehicle speeds, the recovery strength R is calibrated according to the actual vehicle, the result is stored in a one-dimensional table of the vehicle speed and the recovery strength, and the braking torque is directly output after the result is calculated according to the opening degree of a pedal, so that a driver can change the opening degree of an accelerator according to the intention in the braking stage to realize different braking effects; the positive torque is calculated by the following method: setting B to be more than 30% according to the actual opening degree B of the accelerator pedal to obtain the mapped logical opening degree F, setting F to be 0-100% of the mapped logical opening degree of the actual opening degree of the accelerator pedal in a range of 30% -100%, using F as the input of the vehicle control unit, calculating the actual logical opening degree by the vehicle control unit according to a table of the opening degree and the rotating speed of the accelerator pedal, and using the product obtained by multiplying the actual logical opening degree by the motor torque T3 obtained by the table of the external characteristics of the motor as the output of the positive torque; therefore, if the actual opening degree of the accelerator pedal is greater than 30%, the vehicle is in the acceleration state, and if the actual opening degree of the accelerator pedal is less than 30% and the rate of change of the accelerator pedal is less than 2%, F is limited to 0, and at this time, no positive torque is output and the vehicle is in the coasting state.
2. The regenerative braking energy recovery control method for an electric vehicle according to claim 1, characterized in that: the relationship between the opening information and the torque is as follows: when the opening degree is 0-30%, the regenerative braking function is adopted, when the opening degree is changed from 30% -0, the regenerative braking torque is increased from 0-maximum and is linearly increased, and when the opening degree is 30% -100%, the acceleration torque is gradually increased from 0; the opening degree is within 0-30%, the change rate is larger than 2%, namely the accelerator pedal is in a release state, the automobile is in a brake state, and when the opening degree is within 30-100%, the accelerator pedal is in a treading state, and the automobile is in a forward state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375678.0A CN110154775B (en) | 2019-05-07 | 2019-05-07 | Regenerative braking energy recovery control method for electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375678.0A CN110154775B (en) | 2019-05-07 | 2019-05-07 | Regenerative braking energy recovery control method for electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110154775A CN110154775A (en) | 2019-08-23 |
| CN110154775B true CN110154775B (en) | 2022-06-10 |
Family
ID=67633533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910375678.0A Active CN110154775B (en) | 2019-05-07 | 2019-05-07 | Regenerative braking energy recovery control method for electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154775B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098717B (en) * | 2019-12-20 | 2021-07-30 | 中国第一汽车股份有限公司 | Single-pedal control method, device and system for electric automobile |
| CN110979018A (en) * | 2019-12-27 | 2020-04-10 | 宝能(广州)汽车研究院有限公司 | Vehicle, control method and device thereof, electronic device and storage medium |
| CN113400935A (en) * | 2021-07-01 | 2021-09-17 | 上汽大通房车科技有限公司 | Dual function pedal control system |
| CN113650622B (en) * | 2021-07-16 | 2023-06-20 | 东风柳州汽车有限公司 | Vehicle speed track planning method, device, equipment and storage medium |
| CN113547930B (en) * | 2021-07-30 | 2022-06-14 | 重庆长安新能源汽车科技有限公司 | Intelligent energy-saving control method and device for following running of pure electric vehicle and vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006168497A (en) * | 2004-12-15 | 2006-06-29 | Toyota Motor Corp | Traveling controller for vehicle |
| DE102011081724A1 (en) * | 2011-08-29 | 2013-02-28 | Robert Bosch Gmbh | Method for controlling a deceleration arrangement of a motor vehicle |
| CN105034818A (en) * | 2015-07-13 | 2015-11-11 | 北京现代汽车有限公司 | Electromobile energy recovery method and device |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05284610A (en) * | 1992-04-01 | 1993-10-29 | Yaskawa Electric Corp | Control method for electric automobile |
| JP3196599B2 (en) * | 1995-10-03 | 2001-08-06 | 三菱自動車工業株式会社 | Regenerative braking control device for electric vehicles |
| JP3997955B2 (en) * | 2003-06-23 | 2007-10-24 | トヨタ自動車株式会社 | Hybrid vehicle and control method thereof |
| DE102013208325B4 (en) * | 2013-05-07 | 2021-02-04 | Bayerische Motoren Werke Aktiengesellschaft | Method for controlling the build-up of a regenerative braking torque generated by an electrical machine of a vehicle |
| KR20160034773A (en) * | 2014-09-22 | 2016-03-30 | 현대자동차주식회사 | Apparatus and method of controlling motor of electric vehicle for reducing vibration |
| CN106853780B (en) * | 2015-12-08 | 2019-09-20 | 北京宝沃汽车有限公司 | Electric car and its torque analytic method and torque resolution system |
| CN107972531A (en) * | 2016-10-25 | 2018-05-01 | 法乐第(北京)网络科技有限公司 | A kind of control method, device and the electronic equipment of the compound pedal of electric automobile |
| CN108082187A (en) * | 2016-11-16 | 2018-05-29 | 深圳市航盛电子股份有限公司 | A kind of method and device of automobile energy recycling |
| CN108340787B (en) * | 2018-01-02 | 2021-08-31 | 北京理工大学 | Single-accelerator-pedal brake control method and vehicle |
| CN108284771B (en) * | 2018-02-01 | 2020-03-10 | 北京新能源汽车股份有限公司 | Single-pedal driving control method and device and electric automobile |
| CN108790945B (en) * | 2018-06-12 | 2020-07-21 | 北京新能源汽车股份有限公司 | Single-pedal brake control method, device and equipment for electric automobile and automobile |
| CN109515200A (en) * | 2018-11-30 | 2019-03-26 | 北京新能源汽车股份有限公司 | The regenerating brake control method and device of vehicle and single pedal electric car |
-
2019
- 2019-05-07 CN CN201910375678.0A patent/CN110154775B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006168497A (en) * | 2004-12-15 | 2006-06-29 | Toyota Motor Corp | Traveling controller for vehicle |
| DE102011081724A1 (en) * | 2011-08-29 | 2013-02-28 | Robert Bosch Gmbh | Method for controlling a deceleration arrangement of a motor vehicle |
| CN105034818A (en) * | 2015-07-13 | 2015-11-11 | 北京现代汽车有限公司 | Electromobile energy recovery method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110154775A (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110154775B (en) | Regenerative braking energy recovery control method for electric automobile | |
| US8040084B2 (en) | Vehicle, control method thereof and braking device | |
| EP2965963B1 (en) | Hybrid vehicle and power- train torque control method thereof | |
| US20180312078A1 (en) | Controller for a motor vehicle and method | |
| DE102008037017B4 (en) | Method and device for controlling the acceleration of a vehicle | |
| CN102689604A (en) | Control system for electric vehicle | |
| CN212289508U (en) | Vehicle accelerator pedal assembly | |
| CN108202736B (en) | Hill start control method and control device | |
| CN104627024B (en) | Improve the control method of pure electric vehicle driving | |
| EP1981729A1 (en) | Control device for vehicle, and control method thereof | |
| CN103171557A (en) | Hybrid automobile engine auxiliary braking access control method | |
| CN112428995B (en) | New energy automobile constant-speed cruising and active speed-limiting intelligent driving control method | |
| CN111976500B (en) | Torque filtering method, torque filtering device and vehicle | |
| WO2012116896A1 (en) | Determining wheel and/or axle torque specifications in a motor vehicle | |
| CN103476656A (en) | Hybrid electric vehicle and method of controlling a hybrid electric vehicle | |
| CN108790835A (en) | A kind of single pedal for pure electric vehicle logistic car slides control method | |
| EP1966020A1 (en) | Method for operating a hybrid vehicle | |
| CN106864234A (en) | A kind of electric automobile dual-motor drive system and control method | |
| WO2018162191A1 (en) | Regulator system and method for regulating a drive by specifying a drive torque value | |
| DE102009033953B4 (en) | Vehicle cruise control using vehicle brakes in a cruise control mode | |
| JP2018093646A (en) | Device for controlling electric vehicle, system for controlling electric vehicle and method for controlling electric vehicle | |
| CN107985312A (en) | A kind of electric car starting method and electric car | |
| US20230382385A1 (en) | Braking force control device | |
| JP2008120220A (en) | Regeneration/friction cooperative brake control device for vehicle | |
| CN107284287A (en) | Control method and system for the Dual-motors Driving of electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |