CN110293848B - Power and torque setting method and device - Google Patents

Power and torque setting method and device Download PDF

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Publication number
CN110293848B
CN110293848B CN201910581076.0A CN201910581076A CN110293848B CN 110293848 B CN110293848 B CN 110293848B CN 201910581076 A CN201910581076 A CN 201910581076A CN 110293848 B CN110293848 B CN 110293848B
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motor
braking torque
power
fuel cell
vehicle
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CN110293848A (en
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邓金涛
张芳
姜峰
解胜东
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Weichai Power Co Ltd
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Weichai Power 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/30—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling fuel cells
    • 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
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a method and a device for setting power and torque, wherein the method comprises the following steps: when the preset braking energy recovery condition is met, the battery remaining available charging power of the fuel battery and the current power of the fuel battery engine in the running process of the vehicle are obtained, the current power and the battery remaining available power are compared, if the current power is not larger than the battery remaining available charging power, the fuel battery engine is controlled to run at the current power, the actual braking torque of the motor is distributed to the motor and is equal to the initial required braking torque of the motor, and if the current power is larger than the battery remaining available charging power, the actual power of the fuel battery engine and the actual braking torque of the motor are set according to the kinetic energy of the vehicle and the opening degree of a braking pedal. The method provided by the invention is applied to set the actual power for the fuel cell engine and the actual braking torque for the motor, thereby realizing the purpose of recovering the braking energy to the maximum degree while influencing the service life of the fuel cell to the minimum degree.

Description

Power and torque setting method and device
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a device for setting power and torque.
Background
With the vigorous popularization of national new energy automobiles, more and more new energy automobiles appear on the market, a hydrogen fuel cell automobile takes renewable resource hydrogen as energy, chemical energy in the hydrogen is converted into electric energy through a fuel cell, and a discharge product is water, so that the aim of zero emission and no pollution is really realized, and the hydrogen fuel cell automobile is more and more favored by the automobile industry at home and abroad.
Compared with the traditional automobile, the endurance capacity of the hydrogen fuel cell automobile is far lower than that of the traditional automobile, so that the braking energy of the hydrogen fuel automobile in a braking condition needs to be recovered, namely, the braking energy generated during the deceleration and braking of the automobile is recovered, so that the endurance capacity of the hydrogen fuel automobile is improved. In the prior art, the output power of the fuel cell engine needs to be reduced to 0 when the braking energy generated by the braking condition is recovered, and the output power of the fuel cell engine needs to be frequently adjusted due to frequent braking conditions, and the service life of the fuel cell can be shortened due to frequent change of the output power of the fuel cell engine.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a power and torque setting method, which realizes that the service life of a fuel cell is influenced to the minimum degree and the braking energy is recycled to the maximum degree by reasonably calculating and distributing the power of an engine of the fuel cell and the braking torque of a motor.
The invention also provides a power and torque setting device, which is used for ensuring the realization and application of the method in practice.
A method of setting power and torque, comprising:
when the preset braking energy recovery condition is met, acquiring the residual available charging power of a battery of a fuel cell and the current power of an engine of the fuel cell in the running process of the vehicle;
comparing the current power with the remaining available charging power of the battery;
if the current power is not larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine as the current power, and setting the actual braking torque of the motor in the vehicle as the pre-acquired initial motor demand braking torque;
if the current power is larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine and the actual braking torque of the motor according to the vehicle kinetic energy and the brake pedal opening acquired in advance; if the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value and the opening degree of the brake pedal is greater than a preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the remaining available charging power of the battery, and setting the actual braking torque of the motor as the initial required braking torque of the motor; if the kinetic energy of the vehicle is not larger than the preset kinetic energy threshold value, or the opening degree of the brake pedal is not larger than the preset opening degree threshold value, the actual power of the fuel cell engine is set as the current power, a motor target required braking torque is determined according to the current power of the fuel cell engine and the motor initial required braking torque, and the motor actual braking torque of the motor is set as the motor target required braking torque.
The method described above, optionally, the process of obtaining the initial required braking torque of the motor includes:
acquiring the opening degree of a brake pedal and the current speed of the vehicle;
according to the opening degree of the brake pedal and the current vehicle speed, searching the original required braking torque of the motor corresponding to the opening degree of the brake pedal and the current vehicle speed in a preset braking torque list;
acquiring a braking torque required by an electronic braking system of the vehicle and a maximum braking torque of a motor;
and taking the braking torque with the minimum value in the original motor required braking torque, the required braking torque of the electronic braking system and the maximum motor braking torque as the initial motor required braking torque.
The method optionally includes the step of obtaining the kinetic energy of the vehicle:
and calculating through a preset kinetic energy calculation formula according to the vehicle weight of the vehicle and the current vehicle speed to obtain the vehicle kinetic energy of the vehicle.
The method described above, optionally, the obtaining the remaining available charging power of the battery of the fuel cell during the running of the vehicle, includes:
acquiring the consumed power of an auxiliary machine, the actual rotating speed of a motor and the maximum battery charging power of a fuel battery;
and calculating according to the initial required braking torque of the motor, the maximum battery charging power of the fuel battery, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset first calculation formula to obtain the remaining available battery charging power of the fuel battery.
The method described above, optionally, the determining a target motor demand braking torque according to the current power of the fuel cell engine and the initial motor demand braking torque includes:
calculating according to the current power of the fuel cell engine, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset second calculation formula to obtain the final required braking torque of the motor;
and taking the braking torque with the minimum value in the final required braking torque of the motor and the initial required braking torque of the motor as the target required braking torque of the motor.
A power and torque setting device comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the residual available charging power of a battery of a fuel cell and the current power of an engine of the fuel cell in the running process of a vehicle when a preset braking energy recovery condition is met;
the comparison unit is used for comparing the current power with the remaining available charging power of the battery;
a first setting unit, configured to set an actual power of the fuel cell engine to the current power and set an actual motor braking torque of a motor in the vehicle to a pre-acquired initial motor required braking torque if the current power is not greater than the remaining available charging power of the battery;
the second setting unit is used for setting the actual power of the fuel cell engine and the actual braking torque of the motor according to the vehicle kinetic energy and the brake pedal opening degree which are acquired in advance if the current power is larger than the residual available charging power of the battery; if the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value and the opening degree of the brake pedal is greater than a preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the remaining available charging power of the battery, and setting the actual braking torque of the motor as the initial required braking torque of the motor; if the kinetic energy of the vehicle is not larger than the preset kinetic energy threshold value, or the opening degree of the brake pedal is not larger than the preset opening degree threshold value, the actual power of the fuel cell engine is set as the current power, a motor target required braking torque is determined according to the current power of the fuel cell engine and the motor initial required braking torque, and the motor actual braking torque of the motor is set as the motor target required braking torque.
The above apparatus, optionally, the first setting unit includes:
the first obtaining subunit is used for obtaining the opening degree of a brake pedal of the vehicle and the current vehicle speed;
the searching subunit is used for searching the original required braking torque of the motor corresponding to the opening degree of the brake pedal and the current vehicle speed in a preset braking torque list according to the opening degree of the brake pedal and the current vehicle speed;
the second acquiring subunit is used for acquiring the braking torque required by the electronic braking system of the vehicle and the maximum braking torque of the motor;
and the first determining subunit is used for taking the braking torque with the minimum value in the original braking torque required by the motor, the braking torque required by the electronic braking system and the maximum braking torque of the motor as the initial braking torque required by the motor.
The above apparatus, optionally, the second setting unit includes:
and the first calculating subunit is used for calculating according to the vehicle weight of the vehicle and the current vehicle speed through a preset kinetic energy calculating formula to obtain the vehicle kinetic energy of the vehicle.
The above apparatus, optionally, the obtaining unit includes:
the third acquisition subunit is used for acquiring the consumed power of the auxiliary machine, the actual rotating speed of the motor and the maximum battery charging power of the fuel battery;
and the second calculating subunit is used for calculating according to the initial required braking torque of the motor, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset first calculating formula to obtain the remaining available battery charging power of the fuel cell.
The above apparatus, optionally, the second setting unit includes:
the third calculation unit is used for calculating through a preset second calculation formula according to the current power of the fuel cell engine, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor to obtain the final required braking torque of the motor;
and the second determining subunit is used for taking the braking torque with the minimum value in the final required braking torque of the motor and the initial required braking torque of the motor as the target required braking torque of the motor.
A storage medium comprising stored instructions, wherein the instructions, when executed, control a device on which the storage medium is located to perform the power and torque setting method described above.
An electronic device comprising a memory, and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the power and torque setting method described above.
Compared with the prior art, the invention has the following advantages:
the invention provides a method for setting power and torque, which comprises the following steps: when the preset braking energy recovery condition is met, acquiring the battery residual available charging power of a fuel battery and the current power of a fuel battery engine in the running process of a vehicle, comparing the current power with the battery residual available power, if the current power is not more than the battery residual available charging power, setting the actual power of the engine as the current power, setting the actual braking torque of a motor of the motor in the vehicle as the pre-acquired initial motor required braking torque, if the current power is more than the battery residual power, setting the actual power of the fuel battery engine as the battery residual available power when the kinetic energy of the vehicle is judged to be more than a preset kinetic energy threshold value and the pre-acquired opening degree of a brake pedal is more than a preset pedal opening degree threshold value, setting the actual braking torque of the motor as the initial motor required braking torque, and judging that the kinetic energy of the vehicle is not more than the preset kinetic energy threshold value, or when the opening degree of the brake pedal is not greater than the preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the current power, determining the target required braking torque of the motor, and setting the actual braking torque of the motor as the target required braking torque of the motor. By applying the power and torque setting method provided by the invention, when the braking energy recovery condition is met, the actual power is set for the fuel cell engine and the actual braking torque is set for the motor according to the comparison result between the current power of the fuel cell engine and the battery residual available charging power of the fuel cell, so that the braking energy is recovered to the maximum extent while the service life of the fuel cell is influenced to the minimum extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for setting power and torque according to the present invention;
FIG. 2 is a flow chart of another method of a power and torque setting method provided by the present invention;
FIG. 3 is a schematic structural diagram of a power and torque setting device provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method for setting power and torque, which can be applied to a hydrogen fuel cell automobile, wherein an execution main body of the method can be a complete automobile control unit VCU of the hydrogen fuel cell automobile, and a flow chart of the method for setting the power and the torque is shown in figure 1 and specifically comprises the following steps:
s101: when the preset braking energy recovery condition is met, acquiring the residual available charging power of a battery of a fuel cell and the current power of an engine of the fuel cell in the running process of the vehicle;
in the method provided by the embodiment of the invention, the position signal of the accelerator pedal of the vehicle is acquired in real time in the driving process of the vehicle, and when the position signal of the accelerator pedal represents that the accelerator pedal is in a released state, the accelerator pedal signal is judged to meet the preset braking energy recovery condition, namely the current state of the hydrogen fuel cell vehicle meets the preset braking energy recovery condition, and the residual available charging power of the battery of the fuel cell and the current power of the engine of the fuel cell are acquired.
It should be noted that the fuel cell provided in the embodiment of the present invention is a hydrogen fuel cell, and the fuel cell engine is a hydrogen fuel cell engine.
S102: comparing the current power with the remaining available charging power of the battery;
in the method provided by the embodiment of the invention, the magnitude relation between the current power of the fuel cell engine and the battery residual available power of the fuel cell is compared to obtain the comparison result, so as to set the output power for the fuel cell engine and the braking torque for the motor according to the comparison result.
S103: if the current power is not larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine as the current power, and setting the actual braking torque of the motor in the vehicle as the pre-acquired initial motor demand braking torque;
in the method provided by the embodiment of the invention, if the current power of the fuel cell engine is greater than the battery residual power of the fuel cell, the actual power of the fuel cell engine is set as the current power, that is, the fuel cell engine is triggered to continue to work at the current power, wherein the actual power is the working power at the next moment corresponding to the current power, and the actual power of the fuel cell engine is set as the current power, specifically, the vehicle control unit VCU feeds the current power back to the fuel cell engine controller FCU, and the FCU controls the fuel cell engine to continue to work at the current power according to the current power; and the actual braking torque of the motor in the vehicle is set as the pre-acquired initial braking torque required by the motor.
It should be noted that the braking power corresponding to the actual braking torque of the motor is the entire vehicle braking power of the vehicle.
S104: and if the current power is greater than the residual available charging power of the battery, setting the actual power of the fuel cell engine and the actual braking torque of the motor according to the vehicle kinetic energy and the brake pedal opening degree which are acquired in advance.
In the method provided by the embodiment of the invention, if the current power of a fuel cell engine is greater than the remaining available charging power of a fuel cell battery, judging whether the pre-acquired kinetic energy of a vehicle is greater than a preset kinetic energy threshold value and whether the pre-acquired brake pedal opening degree is greater than a preset pedal opening degree threshold value, if the kinetic energy of the vehicle is greater than the preset kinetic energy threshold value and the brake pedal opening degree is greater than the preset pedal opening degree threshold value, a complete vehicle control unit VCU controls a fuel cell engine controller FCU of the vehicle to adjust the actual power of the fuel cell engine, sets the actual power of the fuel cell engine as the remaining available charging power of the battery, and distributes the motor with the initial required braking torque of the motor, namely sets the actual braking torque of the motor as the initial required braking torque of;
if the kinetic energy of the vehicle is not greater than the preset kinetic energy threshold value or the opening degree of the brake pedal is not greater than the preset opening degree threshold value, the power of the fuel cell engine is not adjusted, the fuel cell engine continues to work at the current power, namely the actual power of the fuel cell engine is equal to the current power, the target required braking torque of the motor is determined according to the current power of the fuel cell engine and the pre-acquired initial required braking torque of the motor, the target required braking torque of the motor is distributed to the motor, and the actual braking power of the motor is equal to the target required braking torque of the motor.
It should be noted that the preset kinetic energy threshold and the preset pedal opening are theoretical empirical values, and the preset kinetic energy threshold and the preset pedal opening threshold may be adjusted by combining configuration information of the vehicle and an actual braking condition.
In the method for setting power and torque provided by the embodiment of the invention, when a preset braking energy recovery condition is met, the current power of a fuel cell engine and the remaining available charging power of a fuel cell battery in the running process of a vehicle are acquired, if the current power is not more than the remaining available charging power of the battery, the fuel cell engine is triggered to continue working with the current power, the actual braking power of a motor is set as the initial required torque of the motor, if the current power is more than the remaining available charging power of the battery, when the pre-acquired kinetic energy of the vehicle is judged to be more than a preset kinetic energy threshold value and the pre-acquired opening degree of a brake pedal is more than a preset opening degree of the pedal, a VCU controls an FCU to adjust the actual power of the fuel cell engine to be equal to the remaining available charging power of the battery, sets the actual braking torque of the motor to be the initial braking torque of the motor, or when the opening of the brake pedal is not larger than the preset pedal opening threshold value, triggering the fuel cell engine to continuously work at the current power, obtaining the target required brake torque of the motor according to the current power and the initial required brake torque of the motor, and enabling the actual brake torque of the motor to be equal to the target required brake torque. By applying the power and torque setting method provided by the embodiment of the invention, when the braking energy recovery condition is met, according to the comparison result between the current power of the fuel cell engine and the battery residual available charging power of the fuel cell, reasonable actual power is set for the fuel cell engine, and reasonable actual braking torque is set for the motor, so that the braking energy is recovered to the maximum extent while the service life of the fuel cell is influenced to the minimum extent.
The steps disclosed in fig. 1 in the embodiment of the present invention as shown in fig. 2 may specifically include the following steps:
s201: collecting an accelerator pedal position signal of a vehicle;
in the method provided by the embodiment of the invention, in the running process of the vehicle, the vehicle control unit VCU acquires the position signal of the accelerator pedal, the position signal of the accelerator pedal is a trigger switch signal for recovering braking energy, and optionally, the acquired position signal of the accelerator pedal is filtered to filter partial interference factors, so that the judgment on the position signal of the accelerator pedal is more accurate.
S202: judging whether the position signal of the accelerator pedal meets a preset braking energy recovery condition or not;
in the method provided by the embodiment of the invention, when the position signal of the accelerator pedal indicates that the accelerator pedal is in a released state at present, that is, when a driver of a vehicle releases the accelerator pedal, the position signal of the accelerator pedal is determined to meet a preset braking energy recovery condition, when the position signal of the accelerator pedal indicates that the accelerator pedal is not in the released state at present, the position signal of the accelerator pedal is determined to not meet the preset braking energy recovery condition, when the position signal of the accelerator pedal is determined to meet the preset braking energy recovery condition, step S203 is executed, and when the position signal of the accelerator pedal is determined to not meet the preset braking energy recovery condition, step S201 is executed.
S203: determining the initial required braking torque of the motor;
in the method provided by the embodiment of the invention, the current speed and the opening degree of a brake pedal of a vehicle are obtained, the original required braking torque of a motor corresponding to the opening degree of the brake pedal and the current speed is searched in a preset braking torque list according to the opening degree of the brake pedal and the current speed, the required braking torque of an electronic braking system is obtained according to message information fed back by the electronic braking system EBS of the vehicle, and the maximum braking torque of the motor is obtained according to message information fed back by a motor controller MCU of the vehicle, wherein the maximum braking torque of the motor can be determined by the current temperature and the actual running condition of the motor.
According to the original braking torque required by the motor, the braking torque required by the electronic braking system and the maximum braking torque of the motor, the initial braking torque required by the motor is determined, and the method specifically comprises the following steps: comparing the original braking torque required by the motor, the braking torque required by the electronic braking system and the maximum braking torque of the motor, and taking the braking torque with the minimum value in the original braking torque required by the motor, the braking torque required by the electronic system and the maximum braking torque of the motor as the initial braking torque required by the motor of the motor.
It should be noted that the preset braking torque list is a two-dimensional map, and the current vehicle speed and the brake pedal opening degree are input to the two-dimensional map, so that the braking torque corresponding to both the current vehicle speed and the brake pedal opening degree can be obtained.
It should be noted that the opening degree of the brake pedal affects the magnitude of the original required braking torque of the motor, and the larger the opening degree of the brake pedal is, the larger the corresponding original required braking torque of the motor is.
S204: calculating the remaining available charging power of the fuel cell;
in the method provided by the embodiment of the invention, a VCU obtains the maximum battery charging power of a fuel cell according to message information fed back by a battery management system BMS of a vehicle, acquires auxiliary information, obtains auxiliary consumed power according to the auxiliary information, and obtains an actual motor rotation speed of a motor, wherein the auxiliary information includes voltage and current, and calculates according to an initial required braking torque of the motor, the maximum battery charging power of the fuel cell, the auxiliary consumed power, and the actual motor rotation speed by a preset first calculation formula to obtain the remaining available battery charging power of the fuel cell, wherein the first calculation formula is as follows:
Figure BDA0002113148430000091
wherein, P△For remaining available charging power of the battery, PBattLmtFor maximum charging power of the battery, PEAMConsuming power for auxiliary machines, TRgnFor the initial demand of braking torque, n, for the motorMTThe actual rotation speed of the motor.
S205: acquiring the current power of a fuel cell generator;
in the method provided by the embodiment of the invention, the fuel cell engine is controlled by the fuel cell engine controller FCU, and the complete vehicle control unit VCU receives the current power of the fuel cell engine fed back by the FCU.
S206: judging whether the current power is larger than the remaining available charging power of the battery;
in the method provided by the embodiment of the invention, the current power of the fuel cell engine is compared with the remaining available charging power of the fuel cell, if the current power of the fuel cell engine is not greater than the remaining available charging power of the fuel cell, step S207 is executed, and if the current power of the fuel cell engine is greater than the remaining available charging power of the fuel cell, step S208 is executed.
S207: setting the actual power of the fuel cell engine as the current power, and setting the actual braking torque of the motor as the initial braking torque required by the motor;
in the method provided by the embodiment of the invention, if the current power of the fuel cell engine is not more than the remaining available charging power of the fuel cell, the actual power of the fuel cell engine is set as the current power, so that the fuel cell engine continues to operate at the current power, wherein the actual power is the output power of the fuel cell engine at the next moment corresponding to the current power, and the actual braking torque of the motor is set as the initial required braking torque of the motor, and at the moment, the sum of the actual power of the fuel cell engine, the consumption power of the auxiliary engine and the braking power of the motor corresponding to the actual braking torque of the motor is less than the maximum charging power of the battery, which indicates that the charging power cannot exceed the limit.
S208: calculating vehicle kinetic energy of the vehicle;
and if the current power of the fuel cell engine is greater than the remaining available charging power of the fuel cell battery, calculating by a kinetic energy calculation formula according to the vehicle weight and the current vehicle speed of the vehicle to obtain the kinetic energy of the vehicle.
S209: judging whether the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value or not, and judging whether the opening degree of a brake pedal of the vehicle is greater than a preset pedal opening degree threshold value or not;
in the method provided by the embodiment of the invention, if the current power of the fuel cell engine is greater than the remaining available charging power of the battery of the fuel cell, the braking torque of the motor is represented to be too large, so that the output power of the fuel cell engine or the braking torque of the motor needs to be adjusted, and the sum of the actual power of the fuel cell engine, the auxiliary engine consumption power and the motor braking power corresponding to the actual braking torque of the motor does not exceed the maximum charging power of the battery.
In the method provided by the embodiment of the invention, the output power of the fuel cell engine and the braking torque of the motor can be adjusted according to the kinetic energy of the vehicle and the opening degree of the brake pedal, namely, the output power of the fuel cell engine and the braking torque of the motor are adjusted by comparing the kinetic energy of the vehicle with a preset kinetic energy threshold value and comparing the opening degree of the brake pedal with the preset opening degree threshold value. If the vehicle kinetic energy is greater than the preset kinetic energy threshold value and the vehicle brake pedal opening degree is greater than the preset pedal opening degree threshold value, step S210 is executed, and if the vehicle kinetic energy is not greater than the preset kinetic energy threshold value or the vehicle brake pedal opening degree is not greater than the preset pedal opening degree threshold value, step S211 is executed.
S210: setting the actual power of a fuel cell engine as the residual available charging power of the battery, and setting the actual braking torque of a motor as the initial required braking torque;
in the method provided by the embodiment of the invention, if the kinetic energy of the vehicle is greater than the preset kinetic energy threshold value and the opening degree of the brake pedal is greater than the preset pedal opening degree threshold value, the characteristic that the current braking torque of the vehicle is larger and the recoverable braking energy is more is realized, so that the original required braking torque of the motor is distributed for the motor, the actual power of the fuel cell engine is set as the remaining available charging power of the battery, the output power of the fuel cell engine is reduced to recover more braking energy, the fuel cell engine is adjusted in a smaller amplitude, the service life of the fuel cell is less influenced, and the actual braking torque of the motor is set as the initial required braking torque.
S211: the actual power of the fuel cell engine is set as the current power, and the motor actual braking torque of the motor is set as the target required braking torque.
In the method provided by the embodiment of the invention, if the kinetic energy of the vehicle is not greater than the preset kinetic energy threshold value or the opening degree of the brake pedal is not greater than the preset opening degree threshold value, it is characterized that the current braking torque of the vehicle is smaller and the recoverable braking energy is less, therefore, the actual power of the fuel cell engine is set as the current power, the fuel cell engine is controlled to continue to operate at the current power, the motor initial demand braking torque is not distributed to the motor any longer, but the motor target braking torque is determined according to the current power of the fuel cell engine and the motor initial braking torque, the motor target braking torque is distributed to the motor, the motor actual braking torque of the motor is equal to the motor target braking torque, so as to achieve the purpose that the sum of the actual power of the fuel cell engine, the auxiliary engine consumption power and the motor braking power corresponding to the motor actual braking torque, and the output power of the fuel cell engine does not need to be adjusted, and the influence on the fuel cell is small.
The determining of the target braking torque of the motor according to the current power of the fuel cell engine and the initial braking torque of the motor may specifically include: calculating by a preset second calculation formula according to the current power of the fuel cell engine, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor to obtain the final required braking torque of the motor, wherein the second calculation formula is as follows:
Figure BDA0002113148430000111
wherein, T'RgnFor the final demand of braking torque, P, of the motorFuelIs the current power of the fuel cell engine.
And comparing the final required braking torque of the motor with the initial required braking torque of the motor, and taking the braking torque with the minimum value in the final required braking torque of the motor and the initial required braking torque of the motor as the target required braking torque of the motor.
It should be noted that the torque and the power provided by the embodiment of the present invention are both positive values, the braking power corresponding to the actual braking torque of the motor is the braking power of the entire vehicle, and the braking power of the entire vehicle is obtained by calculation according to the actual braking torque of the motor and the actual rotating speed of the motor.
In the method for setting power and torque provided by the embodiment of the invention, when a position signal of an accelerator pedal represents that the current state of the accelerator pedal is a released state in the running process of a vehicle, the original required braking torque of a motor of the motor is determined according to the current speed and the opening degree of the brake pedal of the vehicle, the braking torque with the minimum value in the original required braking torque of the motor, the required braking torque of an electronic braking system and the maximum braking torque of the motor is taken as the initial required braking torque of the motor, the electromagnetic residual available charging power of a fuel cell is determined according to the initial required braking torque of the motor, the maximum charging power of the motor, the consumed power of an auxiliary machine and the actual rotating speed of the motor, the current power of a fuel cell engine of the vehicle is obtained, the current power and the residual available charging power of the battery are compared, if the current power is, controlling the fuel cell engine to continuously run at the current power, distributing the actual braking torque of the motor to be equal to the initial required braking torque of the motor, if the current power is larger than the residual available charging power of the battery, when the kinetic energy of the vehicle is greater than the preset kinetic energy threshold value and the opening degree of the brake pedal is greater than the preset pedal opening degree threshold value, controlling the actual power of the fuel cell engine to be equal to the residual available charging power of the battery, distributing the actual braking torque of the motor to be equal to the initial required braking torque of the motor, when the kinetic energy of the vehicle is not more than the preset kinetic energy threshold value or the opening degree of the brake pedal is not more than the preset pedal opening degree threshold value, controlling the fuel cell engine to continuously run at the current power, and determining the target required braking torque of the motor according to the current power and the initial required braking torque of the motor, and distributing the actual braking torque of the motor to be equal to the target required braking torque of the motor. By applying the method provided by the embodiment of the invention, when the braking energy recovery condition is met, the actual power is set for the fuel cell engine and the actual braking torque is set for the motor according to the comparison result between the current power of the fuel cell engine and the battery residual available charging power of the fuel cell, so that the braking energy is recovered to the maximum extent while the service life of the fuel cell is influenced to the minimum extent.
Corresponding to the method illustrated in fig. 1, an embodiment of the present invention further provides a device for setting power and torque, which is used for implementing the method illustrated in fig. 1 specifically, and a schematic structural diagram of the device is illustrated in fig. 3, and specifically includes:
an acquiring unit 301, configured to acquire remaining available charging power of a battery of a fuel cell and current power of an engine of the fuel cell during a vehicle driving process when a preset braking energy recovery condition is met;
a comparing unit 302, configured to compare the current power with the remaining available charging power of the battery;
a first setting unit 303, configured to set an actual power of the fuel cell engine as the current power and set an actual motor braking torque of a motor in the vehicle as a pre-acquired initial motor required braking torque if the current power is not greater than the remaining available charging power of the battery;
a second setting unit 304, configured to set an actual power of the fuel cell engine and an actual braking torque of the motor according to a vehicle kinetic energy and a brake pedal opening degree obtained in advance, if the current power is greater than the remaining available charging power of the battery; if the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value and the opening degree of the brake pedal is greater than a preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the remaining available charging power of the battery, and setting the actual braking torque of the motor as the initial required braking torque of the motor; if the kinetic energy of the vehicle is not larger than the preset kinetic energy threshold value, or the opening degree of the brake pedal is not larger than the preset opening degree threshold value, the actual power of the fuel cell engine is set as the current power, a motor target required braking torque is determined according to the current power of the fuel cell engine and the motor initial required braking torque, and the motor actual braking torque of the motor is set as the motor target required braking torque.
The power and torque setting device provided by the embodiment of the invention acquires the current power of a fuel cell engine and the remaining available charging power of a fuel cell battery in the running process of a vehicle when the preset braking energy recovery condition is met, if the current power is not more than the remaining available charging power of the battery, the fuel cell engine is triggered to continue working with the current power, the actual braking power of the motor is set as the initial required torque of the motor, if the current power is more than the remaining available charging power of the battery, when the pre-acquired kinetic energy of the vehicle is judged to be more than the preset kinetic energy threshold value and the pre-acquired opening degree of a brake pedal is more than the preset pedal opening degree, a VCU controls an FCU to adjust the actual power of the fuel cell engine to be equal to the remaining available charging power of the battery, sets the actual braking torque of the motor as the initial braking torque of the motor, and when the kinetic energy, or when the opening of the brake pedal is not larger than the preset pedal opening threshold value, triggering the fuel cell engine to continuously work at the current power, obtaining the target required brake torque of the motor according to the current power and the initial required brake torque of the motor, and enabling the actual brake torque of the motor to be equal to the target required brake torque. By applying the power and torque setting device provided by the embodiment of the invention, reasonable actual power is set for the fuel cell engine, and reasonable actual braking torque is set for the motor, so that the braking energy is recovered to the maximum degree while the service life of the fuel cell is influenced to the minimum degree.
In an embodiment of the present invention, based on the foregoing scheme, the first setting unit 303 is configured to:
the first obtaining subunit is used for obtaining the opening degree of a brake pedal of the vehicle and the current vehicle speed;
the searching subunit is used for searching the original required braking torque of the motor corresponding to the opening degree of the brake pedal and the current vehicle speed in a preset braking torque list according to the opening degree of the brake pedal and the current vehicle speed;
the second acquiring subunit is used for acquiring the braking torque required by the electronic braking system of the vehicle and the maximum braking torque of the motor;
and the first determining subunit is used for taking the braking torque with the minimum value in the original braking torque required by the motor, the braking torque required by the electronic braking system and the maximum braking torque of the motor as the initial braking torque required by the motor.
In an embodiment of the present invention, based on the foregoing scheme, the second setting unit 304 is configured to:
and the first calculating subunit is used for calculating according to the vehicle weight of the vehicle and the current vehicle speed through a preset kinetic energy calculating formula to obtain the vehicle kinetic energy of the vehicle.
In an embodiment of the present invention, based on the foregoing scheme, the obtaining unit 301 is configured to:
the third acquisition subunit is used for acquiring the consumed power of the auxiliary machine, the actual rotating speed of the motor and the maximum battery charging power of the fuel battery;
and the second calculating subunit is used for calculating according to the initial required braking torque of the motor, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset first calculating formula to obtain the remaining available battery charging power of the fuel cell.
In an embodiment of the present invention, based on the foregoing scheme, the second setting unit 304 is configured to:
the third calculation unit is used for calculating through a preset second calculation formula according to the current power of the fuel cell engine, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor to obtain the final required braking torque of the motor;
and the second determining subunit is used for taking the braking torque with the minimum value in the final required braking torque of the motor and the initial required braking torque of the motor as the target required braking torque of the motor.
The embodiment of the invention also provides a storage medium, which comprises a stored instruction, wherein when the instruction runs, the device where the storage medium is located is controlled to execute the setting method of the power and the torque.
An electronic device is provided in an embodiment of the present invention, and the structural diagram of the electronic device is shown in fig. 4, which specifically includes a memory 401 and one or more instructions 402, where the one or more instructions 402 are stored in the memory 401 and configured to be executed by one or more processors 403 to perform the following operations for executing the one or more instructions 402:
when the preset braking energy recovery condition is met, acquiring the residual available charging power of a battery of a fuel cell and the current power of an engine of the fuel cell in the running process of the vehicle;
comparing the current power with the remaining available charging power of the battery;
if the current power is not larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine as the current power, and setting the actual braking torque of the motor in the vehicle as the pre-acquired initial motor demand braking torque;
if the current power is larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine and the actual braking torque of the motor according to the vehicle kinetic energy and the brake pedal opening acquired in advance; if the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value and the opening degree of the brake pedal is greater than a preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the remaining available charging power of the battery, and setting the actual braking torque of the motor as the initial required braking torque of the motor; if the kinetic energy of the vehicle is not larger than the preset kinetic energy threshold value, or the opening degree of the brake pedal is not larger than the preset opening degree threshold value, the actual power of the fuel cell engine is set as the current power, a motor target required braking torque is determined according to the current power of the fuel cell engine and the motor initial required braking torque, and the motor actual braking torque of the motor is set as the motor target required braking torque.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and the device for setting power and torque provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A method of setting power and torque, comprising:
when the preset braking energy recovery condition is met, acquiring the residual available charging power of a battery of a fuel cell and the current power of an engine of the fuel cell in the running process of the vehicle;
comparing the current power with the remaining available charging power of the battery;
if the current power is not larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine as the current power, and setting the actual braking torque of the motor in the vehicle as the pre-acquired initial motor demand braking torque;
if the current power is larger than the residual available charging power of the battery, setting the actual power of the fuel cell engine and the actual braking torque of the motor according to the vehicle kinetic energy and the brake pedal opening acquired in advance; if the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value and the opening degree of the brake pedal is greater than a preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the remaining available charging power of the battery, and setting the actual braking torque of the motor as the initial required braking torque of the motor; if the kinetic energy of the vehicle is not larger than the preset kinetic energy threshold value, or the opening degree of the brake pedal is not larger than the preset opening degree threshold value, the actual power of the fuel cell engine is set as the current power, a motor target required braking torque is determined according to the current power of the fuel cell engine and the motor initial required braking torque, and the motor actual braking torque of the motor is set as the motor target required braking torque.
2. The method of claim 1, wherein the obtaining of the initial demand braking torque of the electric machine comprises:
acquiring the opening degree of a brake pedal and the current speed of the vehicle;
according to the opening degree of the brake pedal and the current vehicle speed, searching the original required braking torque of the motor corresponding to the opening degree of the brake pedal and the current vehicle speed in a preset braking torque list;
acquiring a braking torque required by an electronic braking system of the vehicle and a maximum braking torque of a motor;
and taking the braking torque with the minimum value in the original motor required braking torque, the required braking torque of the electronic braking system and the maximum motor braking torque as the initial motor required braking torque.
3. The method of claim 2, wherein the obtaining of the kinetic energy of the vehicle comprises:
and calculating through a preset kinetic energy calculation formula according to the vehicle weight of the vehicle and the current vehicle speed to obtain the vehicle kinetic energy of the vehicle.
4. The method according to claim 2, wherein the obtaining of the remaining available charging power of the battery of the fuel cell during the running of the vehicle comprises:
acquiring the consumed power of an auxiliary machine, the actual rotating speed of a motor and the maximum battery charging power of a fuel battery;
and calculating according to the initial required braking torque of the motor, the maximum battery charging power of the fuel battery, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset first calculation formula to obtain the remaining available battery charging power of the fuel battery.
5. The method of claim 4, wherein said determining a motor target demand braking torque based on a current power of said fuel cell engine and said motor initial demand braking torque comprises:
calculating according to the current power of the fuel cell engine, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset second calculation formula to obtain the final required braking torque of the motor;
and taking the braking torque with the minimum value in the final required braking torque of the motor and the initial required braking torque of the motor as the target required braking torque of the motor.
6. A power and torque setting device, comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the residual available charging power of a battery of a fuel cell and the current power of an engine of the fuel cell in the running process of a vehicle when a preset braking energy recovery condition is met;
the comparison unit is used for comparing the current power with the remaining available charging power of the battery;
a first setting unit, configured to set an actual power of the fuel cell engine to the current power and set an actual motor braking torque of a motor in the vehicle to a pre-acquired initial motor required braking torque if the current power is not greater than the remaining available charging power of the battery;
the second setting unit is used for setting the actual power of the fuel cell engine and the actual braking torque of the motor according to the vehicle kinetic energy and the brake pedal opening degree which are acquired in advance if the current power is larger than the residual available charging power of the battery; if the kinetic energy of the vehicle is greater than a preset kinetic energy threshold value and the opening degree of the brake pedal is greater than a preset pedal opening degree threshold value, setting the actual power of the fuel cell engine as the remaining available charging power of the battery, and setting the actual braking torque of the motor as the initial required braking torque of the motor; if the kinetic energy of the vehicle is not larger than the preset kinetic energy threshold value, or the opening degree of the brake pedal is not larger than the preset opening degree threshold value, the actual power of the fuel cell engine is set as the current power, a motor target required braking torque is determined according to the current power of the fuel cell engine and the motor initial required braking torque, and the motor actual braking torque of the motor is set as the motor target required braking torque.
7. The apparatus according to claim 6, wherein the first setting unit includes:
the first obtaining subunit is used for obtaining the opening degree of a brake pedal of the vehicle and the current vehicle speed;
the searching subunit is used for searching the original required braking torque of the motor corresponding to the opening degree of the brake pedal and the current vehicle speed in a preset braking torque list according to the opening degree of the brake pedal and the current vehicle speed;
the second acquiring subunit is used for acquiring the braking torque required by the electronic braking system of the vehicle and the maximum braking torque of the motor;
and the first determining subunit is used for taking the braking torque with the minimum value in the original braking torque required by the motor, the braking torque required by the electronic braking system and the maximum braking torque of the motor as the initial braking torque required by the motor.
8. The apparatus according to claim 7, wherein the second setting unit includes:
and the first calculating subunit is used for calculating according to the vehicle weight of the vehicle and the current vehicle speed through a preset kinetic energy calculating formula to obtain the vehicle kinetic energy of the vehicle.
9. The apparatus of claim 7, wherein the obtaining unit comprises:
the third acquisition subunit is used for acquiring the consumed power of the auxiliary machine, the actual rotating speed of the motor and the maximum battery charging power of the fuel battery;
and the second calculating subunit is used for calculating according to the initial required braking torque of the motor, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor by a preset first calculating formula to obtain the remaining available battery charging power of the fuel cell.
10. The apparatus according to claim 9, wherein the second setting unit includes:
the third calculation unit is used for calculating through a preset second calculation formula according to the current power of the fuel cell engine, the maximum battery charging power of the fuel cell, the consumed power of the auxiliary engine and the actual rotating speed of the motor to obtain the final required braking torque of the motor;
and the second determining subunit is used for taking the braking torque with the minimum value in the final required braking torque of the motor and the initial required braking torque of the motor as the target required braking torque of the motor.
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