CN110281776B - Electric automobile energy recovery method and device - Google Patents

Electric automobile energy recovery method and device Download PDF

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Publication number
CN110281776B
CN110281776B CN201910613463.8A CN201910613463A CN110281776B CN 110281776 B CN110281776 B CN 110281776B CN 201910613463 A CN201910613463 A CN 201910613463A CN 110281776 B CN110281776 B CN 110281776B
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torque
recovery
gain coefficient
motor
energy recovery
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CN110281776A (en
Inventor
付超
王新树
张飞
高洁
刘小峰
王金桥
韩友国
汪跃中
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Chery New Energy Automobile Co Ltd
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Chery New Energy Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L2240/10—Vehicle control parameters
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/421—Speed
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention discloses an electric automobile energy recovery method, which comprises the following steps: when the electric automobile enters an energy recovery mode, obtaining a first torque gain coefficient according to the current speed, the gradient information of the current running road, the energy recovery grade and the brake opening degree; determining a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque; obtaining a second recovery torque according to a preset reference recovery power; determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the power generation torque of the motor; and controlling the motor to output motor recovery torque to recover energy. According to the invention, the energy recovery of the electric automobile is controlled according to a plurality of parameters such as the current speed of the electric automobile, the gradient information of the current running road, the energy recovery grade, the brake opening degree of the brake pedal and the like, so that the energy recovery efficiency is improved.

Description

Electric automobile energy recovery method and device
Technical Field
The invention relates to the field of electric automobiles, in particular to an energy recovery method and device for an electric automobile.
Background
With the research and development of pure electric vehicles, new energy vehicles are rapidly developed, a battery system is used as a power source of the new energy vehicles, the improvement of the endurance mileage of the new energy vehicles by using battery energy is more and more important, and the energy recovery of the electric vehicles becomes necessary in order to improve the endurance mileage of the electric vehicles.
In the related art, energy recovery is performed on an electric vehicle according to the vehicle speed.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems:
in the energy recovery of the electric automobile in the related technology, the energy recovery can be controlled only according to the speed of a single parameter, so that the efficiency of the energy recovery is reduced.
Disclosure of Invention
The embodiment of the invention provides an electric automobile energy recovery method and device, which can improve the energy recovery efficiency. The technical scheme is as follows:
the embodiment of the invention provides an energy recovery method for an electric automobile, which comprises the following steps:
judging whether the electric automobile enters an energy recovery mode or not;
when the electric automobile enters an energy recovery mode, acquiring the current speed of the electric automobile, the gradient information of a current running road, the energy recovery level, the brake opening of a brake pedal, the charging power allowed by a battery and the generating torque of a motor;
obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade and the brake opening degree;
determining a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque;
obtaining a second recovery torque according to a preset reference recovery power;
determining a motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by a battery and the power generation torque of the motor;
and controlling the motor to output the motor recovery torque to recover energy.
Optionally, the determining whether the electric vehicle enters the energy recovery mode includes:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
Optionally, the determining, according to the throttle signal, the gear signal, the current vehicle speed, and the charging power allowed by the battery, whether the electric vehicle enters an energy recovery mode includes:
when the first condition, the second condition, the third condition and the fourth condition are met, the electric automobile enters an energy recovery mode;
wherein the first condition comprises: the accelerator signal is a signal that the accelerator is not stepped on;
the second condition includes: the gear signal is a forward gear signal or a reverse gear signal;
the third condition includes: the current vehicle speed is greater than a preset vehicle speed;
the fourth condition includes: the allowable charging power of the battery is greater than zero.
Optionally, the obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current road, the energy recovery level, and the brake opening degree includes:
acquiring the energy recovery duration of the electric automobile;
and obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade, the brake opening and the energy recovery duration.
Optionally, the obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery level, the brake opening degree, and the energy recovery duration includes:
searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient;
searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient;
searching a third gain coefficient corresponding to the energy recovery grade in a corresponding relation table of the energy recovery grade and the third gain coefficient;
searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient;
searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient;
and multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient and the fifth gain coefficient to obtain the first torque gain coefficient.
Optionally, the obtaining a second recovered torque according to a preset reference recovered power includes:
acquiring the current motor rotating speed of the motor;
inputting the current motor rotating speed and the reference recovery power into a recovery torque formula to obtain the second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
wherein M is the second recovered torque, P is the reference recovered power, and n is the current motor rotation speed.
Optionally, the determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery, and the power generation torque of the motor includes:
obtaining a third recovery torque according to the allowable charging power of the battery;
comparing the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor to obtain the minimum value of the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor, and determining the minimum value as the motor recovery torque of the motor.
Optionally, the determining a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque includes:
and multiplying the first torque gain coefficient by the preset reference recovery torque to obtain the first recovery torque.
The embodiment of the invention provides an energy recovery device of an electric automobile, which comprises:
the judging module is used for judging whether the electric automobile enters an energy recovery mode or not;
the acquisition module is used for acquiring the current speed of the electric automobile, the gradient information of a current running road, the energy recovery grade, the brake opening degree of a brake pedal, the charging power allowed by a battery and the generating torque of a motor when the electric automobile enters an energy recovery mode;
the first determining module is used for obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade and the brake opening degree;
the second determining module is used for determining a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque;
the third determining module is used for obtaining a second recovery torque according to the preset reference recovery power;
the fourth determining module is used for determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by a battery and the power generation torque of the motor;
and the control module is used for controlling the motor to output the motor recovery torque to recover energy.
Optionally, the determining module is further configured to:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
Optionally, the determining module is further configured to:
when the first condition, the second condition, the third condition and the fourth condition are met, the electric automobile enters an energy recovery mode;
wherein the first condition comprises: the accelerator signal is a signal that the accelerator is not stepped on;
the second condition includes: the gear signal is a forward gear signal or a reverse gear signal;
the third condition includes: the current vehicle speed is greater than a preset vehicle speed;
the fourth condition includes: the allowable charging power of the battery is greater than zero.
Optionally, the first determining module is further configured to:
acquiring the energy recovery duration of the electric automobile;
and obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade, the brake opening and the energy recovery duration.
Optionally, the first determining module is further configured to:
searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient;
searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient;
searching a third gain coefficient corresponding to the energy recovery grade in a corresponding relation table of the energy recovery grade and the third gain coefficient;
searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient;
searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient;
and multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient and the fifth gain coefficient to obtain the first torque gain coefficient.
Optionally, the third determining module is further configured to:
acquiring the current motor rotating speed of the motor;
inputting the current motor rotating speed and the reference recovery power into a recovery torque formula to obtain the second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
wherein M is the second recovered torque, P is the reference recovered power, and n is the current motor rotation speed.
Optionally, the fourth determining module is further configured to:
obtaining a third recovery torque according to the allowable charging power of the battery;
comparing the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor to obtain the minimum value of the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor, and determining the minimum value as the motor recovery torque of the motor.
Optionally, the second determining module is further configured to:
and multiplying the first torque gain coefficient by the preset reference recovery torque to obtain the first recovery torque.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the method provided by the embodiment of the invention, the energy recovery of the electric automobile can be controlled according to a plurality of parameters such as the current speed of the electric automobile, the gradient information of the current running road, the energy recovery grade, the brake opening of the brake pedal and the like, so that the energy recovery efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of an energy recovery method for an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an energy recovery method for an electric vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of an energy recovery device for an electric vehicle according to an embodiment of the present invention.
Detailed Description
Unless defined otherwise, all technical terms used in the examples of the present invention have the same meaning as commonly understood by one of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
An exemplary embodiment of the present invention provides an energy recovery method for an electric vehicle, as shown in fig. 1, a process flow of the method may include the following steps:
step S101, judging whether the electric automobile enters an energy recovery mode or not;
step S102, when the electric automobile enters an energy recovery mode, acquiring the current speed of the electric automobile, the gradient information of a current running road, the energy recovery grade, the brake opening degree of a brake pedal, the charging power allowed by a battery and the generating torque of a motor;
step S103, obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade and the brake opening degree;
step S104, determining a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque;
step S105, obtaining a second recovery torque according to preset reference recovery power;
step S106, determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the power generation torque of the motor;
step S107, the motor is controlled to output motor recovery torque to recover energy.
The invention provides an electric automobile energy recovery method, which is used for judging whether an electric automobile enters an energy recovery mode or not; when the electric automobile enters an energy recovery mode, acquiring the current speed of the electric automobile, the gradient information of a current running road, the energy recovery level, the brake opening of a brake pedal, the charging power allowed by a battery and the generating torque of a motor; obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade and the brake opening degree; determining a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque; obtaining a second recovery torque according to a preset reference recovery power; determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the power generation torque of the motor; and controlling the motor to output motor recovery torque to recover energy. In the embodiment of the invention, the energy recovery of the electric automobile can be controlled according to a plurality of parameters such as the current speed of the electric automobile, the gradient information of the current running road, the energy recovery grade, the brake opening of the brake pedal and the like, so that the energy recovery efficiency is improved, and the cruising mileage of the electric automobile is increased.
Wherein, judge whether electric automobile gets into energy recuperation mode, include:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
Wherein, judge whether electric automobile gets into energy recuperation mode according to throttle signal, gear signal, current speed of a motor vehicle and the battery allowable power of charging, include:
when the first condition, the second condition, the third condition and the fourth condition are met, the electric automobile enters an energy recovery mode;
wherein the first condition comprises: the accelerator signal is a signal that the accelerator is not stepped on;
the second condition includes: the gear signal is a forward gear signal or a reverse gear signal;
the third condition includes: the current vehicle speed is greater than the preset vehicle speed;
the fourth condition includes: the battery allows a charging power greater than zero.
The method for obtaining the first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade and the brake opening degree comprises the following steps:
acquiring the energy recovery duration of the electric automobile;
and obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade, the brake opening and the energy recovery duration.
Wherein, according to the slope information, the energy recovery grade, the brake aperture and the energy recovery duration of the road that present speed, the present road of traveling, obtain first torque gain coefficient, include:
searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient;
searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient;
searching a third gain coefficient corresponding to the energy recovery level in a corresponding relation table of the energy recovery level and the third gain coefficient;
searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient;
searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient;
and multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient and the fifth gain coefficient to obtain a first torque gain coefficient.
Wherein, retrieve the moment of torsion according to predetermined benchmark and obtain the second, include:
acquiring the current motor rotating speed of the motor;
inputting the current motor rotating speed and the reference recovery power into a recovery torque formula to obtain a second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
and M is a second recovery torque, P is reference recovery power, and n is the current motor rotating speed.
Wherein, according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the generating torque of the motor, determining the motor recovery torque of the motor comprises:
obtaining a third recovery torque according to the allowable charging power of the battery;
and comparing the first recovery torque, the second recovery torque and the third recovery torque with the power generation torque of the motor to obtain the minimum value of the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor, and determining the minimum value as the motor recovery torque of the motor.
Wherein, according to the first torque gain factor and a preset reference recovery torque, determining the first recovery torque comprises:
and multiplying the first torque gain coefficient by a preset reference recovery torque to obtain a first recovery torque.
All the above-mentioned optional technical solutions can be combined arbitrarily to form the optional embodiments of the present invention, and are not described herein again.
An exemplary embodiment of the present invention provides an energy recovery method for an electric vehicle, as shown in fig. 2, a process flow of the method may include the following steps:
step S201, determining whether the electric vehicle enters an energy recovery mode.
Wherein, judge whether electric automobile gets into energy recuperation mode, include:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
In some embodiments of the present invention, determining whether the electric vehicle enters the energy recovery mode according to the throttle signal, the gear signal, the current vehicle speed and the charging power allowed by the battery includes: when the first condition, the second condition, the third condition and the fourth condition are met, the electric automobile enters an energy recovery mode;
wherein the first condition comprises: the accelerator signal is a signal that the accelerator is not stepped on;
the second condition includes: the gear signal is a forward gear signal or a reverse gear signal;
the third condition includes: the current vehicle speed is greater than the preset vehicle speed;
the fourth condition includes: the battery allows a charging power greater than zero.
The accelerator signal includes a signal that the accelerator is not pressed and a signal that the accelerator is pressed, and when the detected accelerator signal is the signal that the accelerator is not pressed, it indicates that the accelerator pedal of the electric vehicle is not pressed, and when the detected accelerator signal is the signal that the accelerator is pressed, it indicates that the accelerator pedal of the electric vehicle is pressed, for example: the signal that the accelerator is not pressed may be represented by a digital "0", and the signal that the accelerator is pressed may be represented by a digital "1", and when the received accelerator signal is "0", the accelerator pedal of the electric vehicle is not pressed, and the first condition is satisfied.
In some embodiments of the present invention, the preset vehicle speed may be a speed at which the vehicle travels at a constant speed in a natural coasting state.
The energy recovery mode of the electric automobile can comprise two modes, namely energy recovery when the automobile is subjected to sliding deceleration, and energy recovery when the automobile is subjected to brake application.
When the electric automobile is in a natural sliding state and slides and decelerates to the stable speed from a high speed state, the motor can output motor recovery torque to enable the motor to be in a power generation mode, and therefore the motor can recover energy.
The natural coasting state refers to a state in which the shift position of the electric vehicle is in the forward gear or the reverse gear and neither the accelerator pedal nor the brake pedal is depressed.
In some embodiments of the present invention, the allowable charging power of the battery refers to a charging power that the battery can receive in a charging state.
And step S202, when the electric automobile enters the energy recovery mode, acquiring the current speed of the electric automobile, the gradient information of the current running road, the energy recovery grade, the brake opening degree of a brake pedal, the allowable charging power of a battery and the generating torque of a motor.
In some embodiments of the invention, the current vehicle speed is detected in real time by the vehicle speed sensor and sent to the vehicle control unit, so that the vehicle control unit obtains the current vehicle speed.
The gradient information is a tangent value of an acute angle between a road on which the vehicle is currently traveling and a horizontal road surface. The gradient information of the current running road is detected by a gradient sensor and is sent to the vehicle control unit, so that the vehicle control unit obtains the gradient information.
The energy recovery grade is determined according to the triggering of a user on the function key corresponding to the energy recovery grade, the function key corresponding to the energy recovery grade is arranged on the electric automobile, different energy recovery grades correspond to different function keys, and the energy recovery strength corresponding to the energy recovery grade is enhanced when the energy recovery grade is higher. For example: the electric automobile can be provided with function buttons corresponding to low, medium and high energy recovery levels. In some embodiments of the present invention, an instrument panel corresponding to the energy recovery level from low to high may also be disposed on the electric vehicle, and the corresponding energy recovery level is selected from a corresponding position of the instrument panel.
It should be noted that, in the energy recovery mode, when the user does not select the energy recovery level, the vehicle control unit may obtain the preset energy recovery level as the energy recovery level corresponding to the energy recovery.
In some embodiments of the present invention, the brake opening of the brake pedal is used to indicate the degree to which the brake pedal is depressed.
The generating torque of the motor is obtained by calculation according to the rated power of the motor and the rotating speed of the motor, and the current rotating speed of the motor and the determined power of the motor are input into the following formula to obtain the generating torque of the motor.
M＝P×9550/n；
Wherein M is the power generation torque of the motor, P is the power, and n is the current motor rotating speed.
Step S203, obtains the energy recovery duration of the electric vehicle.
It should be noted that the energy recovery duration refers to a duration of the energy recovery process until the current time. The energy recovery time can be timed by a timer, and the vehicle control unit acquires the energy recovery time from the timer.
And step S204, obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade, the brake opening and the energy recovery duration.
Wherein, according to the slope information, the energy recovery grade, the brake aperture and the energy recovery duration of the road that present speed, the present road of traveling, obtain first torque gain coefficient, include:
searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient;
searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient;
searching a third gain coefficient corresponding to the energy recovery level in a corresponding relation table of the energy recovery level and the third gain coefficient;
searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient;
searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient;
and multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient and the fifth gain coefficient to obtain a first torque gain coefficient.
It should be noted that, in the energy recovery scheme in the prior art, when the vehicle goes up a slope and performs energy recovery, the resistance of the vehicle going up the slope and the energy recovery braking force are accumulated, the vehicle decelerates too fast, and the driving feeling is poor. When the vehicle runs down a slope and energy recovery is carried out, the energy recovery strength is insufficient due to the influence of gravity, and more energy cannot be recovered.
Step S205 determines a first recovery torque according to the first torque gain factor and a preset reference recovery torque.
Wherein, according to the first torque gain factor and a preset reference recovery torque, determining the first recovery torque comprises:
and multiplying the first torque gain coefficient by a preset reference recovery torque to obtain a first recovery torque.
It should be noted that the preset reference recovery torque can limit the recovery torque of the motor when the rotating speed of the motor is in a low rotating speed state, so that the electric vehicle is decelerated and runs stably when the rotating speed of the motor is in the low rotating speed state.
And step S206, obtaining a second recovery torque according to the preset reference recovery power.
Wherein, retrieve the moment of torsion according to predetermined benchmark and obtain the second, include:
acquiring the current motor rotating speed of the motor;
inputting the current motor rotating speed and the reference recovery power into a recovery torque formula to obtain a second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
and M is a second recovery torque, P is reference recovery power, and n is the current motor rotating speed.
It should be noted that the preset reference recovered power may limit the recovered torque of the motor when the rotation speed of the motor is in a high rotation speed state.
And step S207, determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the power generation torque of the motor.
Wherein, according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the generating torque of the motor, determining the motor recovery torque of the motor comprises:
obtaining a third recovery torque according to the allowable charging power of the battery;
and comparing the first recovery torque, the second recovery torque and the third recovery torque with the power generation torque of the motor to obtain the minimum value of the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor, and determining the minimum value as the motor recovery torque of the motor.
In some embodiments of the present invention, the third recovery torque may be obtained by inputting the allowable charging power of the battery and the rotation speed of the motor into a recovery torque equation.
In step S208, the motor is controlled to output a motor recovery torque to recover energy.
In the operation process of the motor outputting the recovery torque, the redundant energy released by the vehicle in the motion is converted into electric energy through the motor, and then converted into chemical energy to be stored in the storage battery, so that the energy recovery is realized.
An exemplary embodiment of the present invention provides an energy recovery apparatus for an electric vehicle, as shown in fig. 3, the apparatus including:
the judging module 301 is used for judging whether the electric automobile enters an energy recovery mode;
the obtaining module 302 is configured to obtain a current vehicle speed of the electric vehicle, gradient information of a currently running road, an energy recovery level, a brake opening of a brake pedal, charging power allowed by a battery, and a generating torque of a motor when the electric vehicle enters an energy recovery mode;
the first determining module 303 is configured to obtain a first torque gain coefficient according to a current vehicle speed, gradient information of a current road, the energy recovery level, and the brake opening degree;
a second determining module 304, configured to determine a first recovery torque according to the first torque gain coefficient and a preset reference recovery torque;
a third determining module 305, configured to obtain a second recovery torque according to a preset reference recovery power;
a fourth determining module 306, configured to determine a motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery, and the power generation torque of the motor;
and the control module 307 is used for controlling the motor to output the motor recovery torque to recover energy.
Optionally, the determining module 301 is further configured to:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
Optionally, the determining module 301 is further configured to:
when the first condition, the second condition, the third condition and the fourth condition are met, the electric automobile enters an energy recovery mode;
wherein the first condition comprises: the accelerator signal is a signal that the accelerator is not stepped on;
the second condition includes: the gear signal is a forward gear signal or a reverse gear signal;
the third condition includes: the current vehicle speed is greater than the preset vehicle speed;
the fourth condition includes: the battery allows a charging power greater than zero.
Optionally, the first determining module 303 is further configured to:
acquiring the energy recovery duration of the electric automobile;
and obtaining a first torque gain coefficient according to the current vehicle speed, the gradient information of the current running road, the energy recovery grade, the brake opening and the energy recovery duration.
Optionally, the first determining module 303 is further configured to:
searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient;
searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient;
searching a third gain coefficient corresponding to the energy recovery level in a corresponding relation table of the energy recovery level and the third gain coefficient;
searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient;
searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient;
and multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient and the fifth gain coefficient to obtain a first torque gain coefficient.
Optionally, the third determining module 305 is further configured to:
acquiring the current motor rotating speed of the motor;
inputting the current motor rotating speed and the reference recovery power into a recovery torque formula to obtain a second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
and M is a second recovery torque, P is reference recovery power, and n is the current motor rotating speed.
Optionally, the fourth determining module 306 is further configured to:
obtaining a third recovery torque according to the allowable charging power of the battery;
and comparing the first recovery torque, the second recovery torque and the third recovery torque with the power generation torque of the motor to obtain the minimum value of the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor, and determining the minimum value as the motor recovery torque of the motor.
Optionally, the second determining module 304 is further configured to:
and multiplying the first torque gain coefficient by a preset reference recovery torque to obtain a first recovery torque.
All the above optional technical solutions may be combined arbitrarily to form the optional embodiments of the present disclosure, and are not described herein again.
The above description is only an illustrative embodiment of the present invention, and should not be taken as limiting the scope of the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. An energy recovery method for an electric vehicle, the method comprising:
judging whether the electric automobile enters an energy recovery mode or not;
when the electric automobile enters an energy recovery mode, acquiring the current speed of the electric automobile, the gradient information of a current running road, the energy recovery grade, the brake opening degree of a brake pedal, the energy recovery duration of the electric automobile, the charging power allowed by a battery and the generating torque of a motor;
searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient;
searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient;
searching a third gain coefficient corresponding to the energy recovery grade in a corresponding relation table of the energy recovery grade and the third gain coefficient;
searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient;
searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient;
multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient, and the fifth gain coefficient to obtain a first torque gain coefficient;
multiplying the first torque gain coefficient by a preset reference recovery torque to obtain a first recovery torque;
acquiring the current motor rotating speed of the motor;
inputting the current motor rotating speed and preset reference recovery power into a recovery torque formula to obtain a second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
wherein M is the second recovered torque, P is the reference recovered power, and n is the current motor speed;
determining a motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the power generation torque of the motor;
and controlling the motor to output the motor recovery torque to recover energy.
2. The method of claim 1, wherein the determining whether the electric vehicle enters the energy recovery mode comprises:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
3. The method of claim 2, wherein the determining whether the electric vehicle enters an energy recovery mode according to the throttle signal, the gear signal, the current vehicle speed and the allowable charging power of the battery comprises:
when the first condition, the second condition, the third condition and the fourth condition are met, the electric automobile enters an energy recovery mode;
wherein the first condition comprises: the accelerator signal is a signal that the accelerator is not stepped on;
the second condition includes: the gear signal is a forward gear signal or a reverse gear signal;
the third condition includes: the current vehicle speed is greater than a preset vehicle speed;
the fourth condition includes: the allowable charging power of the battery is greater than zero.
4. The method of claim 1, wherein determining a motor recovery torque for the motor based on the first recovery torque, the second recovery torque, the allowable charging power for the battery, and the generated torque for the motor comprises:
obtaining a third recovery torque according to the allowable charging power of the battery;
comparing the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor to obtain the minimum value of the first recovery torque, the second recovery torque, the third recovery torque and the power generation torque of the motor, and determining the minimum value as the motor recovery torque of the motor.
5. An energy recovery device for an electric vehicle, the device comprising:
the judging module is used for judging whether the electric automobile enters an energy recovery mode or not;
the acquisition module is used for acquiring the current speed of the electric automobile, the gradient information of a current running road, the energy recovery grade, the brake opening degree of a brake pedal, the energy recovery duration of the electric automobile, the charging power allowed by a battery and the generating torque of a motor when the electric automobile enters an energy recovery mode;
the first determining module is used for searching a first gain coefficient corresponding to the current vehicle speed in a corresponding relation table of the vehicle speed and the first gain coefficient; searching a second gain coefficient corresponding to the gradient information in a corresponding relation table of the gradient information and the second gain coefficient; searching a third gain coefficient corresponding to the energy recovery grade in a corresponding relation table of the energy recovery grade and the third gain coefficient; searching a fourth gain coefficient corresponding to the brake opening in a corresponding relation table of the brake opening and the fourth gain coefficient; searching a fifth gain coefficient corresponding to the energy recovery duration in a corresponding relation table of the energy recovery duration and the fifth gain coefficient; multiplying the first gain coefficient, the second gain coefficient, the third gain coefficient, the fourth gain coefficient, and the fifth gain coefficient to obtain a first torque gain coefficient;
the second determining module is used for multiplying the first torque gain coefficient and a preset reference recovery torque to obtain a first recovery torque;
the third determining module is used for acquiring the current motor rotating speed of the motor; inputting the current motor rotating speed and preset reference recovery power into a recovery torque formula to obtain a second recovery torque, wherein the recovery torque formula is as follows:
M＝P×9550/n；
wherein M is the second recovered torque, P is the reference recovered power, and n is the current motor speed;
the fourth determining module is used for determining the motor recovery torque of the motor according to the first recovery torque, the second recovery torque, the charging power allowed by the battery and the power generation torque of the motor;
and the control module is used for controlling the motor to output the motor recovery torque to recover energy.
6. The apparatus of claim 5, wherein the determining module is further configured to:
acquiring an accelerator signal and a gear signal;
and judging whether the electric automobile enters an energy recovery mode or not according to the accelerator signal, the gear signal, the current speed and the charging power allowed by the battery.
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