CN110481329A - Electric bus Brake energy recovery control method - Google Patents
Electric bus Brake energy recovery control method Download PDFInfo
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- CN110481329A CN110481329A CN201910859470.6A CN201910859470A CN110481329A CN 110481329 A CN110481329 A CN 110481329A CN 201910859470 A CN201910859470 A CN 201910859470A CN 110481329 A CN110481329 A CN 110481329A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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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
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- 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 invention discloses a kind of electric bus Brake energy recovery control methods, include: step 1: entering automatic energy take-back model, step 2: current vehicle speed is dealt into full-vehicle control module, step 3: calculating target vehicle deceleration and be dealt into full-vehicle control module, brake pedal signal is dealt into full-vehicle control module, step 4: battery capacity is dealt into full-vehicle control module, and recycling torque can be used by calculating maximum under different speeds, and step 5: maximum can be dealt into electric machine controller with recycling torque and be executed by motor；Step 6: actual energy regenerating torque feedback is to full-vehicle control module and deceleration of electrons control system, step 7: real-time deceleration signal feeds back to full-vehicle control module, step 8: adjustment energy regenerating torque.On the contrary the present invention adjusts reasonable energy regenerating torque according to complete vehicle curb weight fluctuation, requests smaller energy regenerating torque when kerb weight is lower, then request bigger energy regenerating torque, and raising energy recovery rate simultaneously takes into account braking comfort.
Description
Technical field
The present invention relates to a kind of control method of New energy electric bus more particularly to a kind of electric bus Brake Energies
Measure recycling and control method.
Background technique
Attached drawing 1 is referred to, currently, electric bus is for the control method of Brake energy recovery: according to Electric Transit
The brake pedal depth that vehicle speed and driver step on, while considering that high-tension battery electricity and motor maximum can use recycling torque, it is whole
Vehicle control module 1 issues braking recycling torque to electric machine controller 2, and electric machine controller 2 controls motor 3 to realize the recycling of demand
Torque, at this time motor 3 is in power generation mode, can produce electric current to high-tension battery end as energy storage.Motor braking is turned round
If square is not enough to reach desired deceleration, at this moment deceleration of electrons control system 4 controls aerobraking to generate remaining braking
Torque, to reach the requirement of deceleration.
The Brake energy recovery control method of the prior art is able to satisfy requirement for the application scenarios of other commercial vehicles, still
Deficiency there is for the application scenarios of electric bus.Since electric bus application environment is more special, itself whole
Standby quality is changed greatly with getting on or off the bus for passenger, and unloaded electric bus and fully loaded electric bus, maximum car weight are poor
It not can reach 5 tons or more (the common variation range of kerb weight is 12-18 tons).Therefore, electric bus is in practical application
The problem of being caused in scene using the energy recovery control method of the prior art is: when electric bus is in idle mode,
Driver driving request reaches a desired deceleration and steps on brake pedal, at this time since car weight is smaller, same recycling braking
Torque request leads to biggish deceleration, passenger's deceleration degree of comfort decreased；When electric bus is in the even fully loaded shape of heavy duty
When state, driver steps on brake pedal and requests same desired deceleration, and recycling braking torque at this time is since car weight is larger, equally
Recycling braking torque request caused by deceleration it is insufficient, the deceleration of electrons control system on chassis can intervene ahead of time at this time, pass through
It increases brake and supplies braking moment, the degree of comfort decreased not only slowed down, and recycling is braked due to excessive aerobraking
The intervention of torque leads to the decline of energy regenerating, sacrifices Energy Consumption Economy.
Summary of the invention
The purpose of the present invention is to provide a kind of electric bus Brake energy recovery control methods, can be reorganized and outfit according to vehicle
The fluctuation of quality adjusts reasonable energy regenerating torque, i.e., smaller energy regenerating torque is requested when kerb weight is lower,
Without intervening aerobraking, braking comfort is taken into account, it is on the contrary then request bigger energy regenerating torque, recycling can be used in maximum
Request reasonable energy regenerating torque to improve energy recovery rate in the range of torque, if maximum recycling torque still can not expire
Sufficient deceleration demand intervenes aerobraking to meet the security requirement of deceleration.
The present invention is implemented as follows:
A kind of electric bus Brake energy recovery control method, comprising the following steps:
Step 1: full-vehicle control module judges whether electric bus enters automatic energy take-back model, if so, thening follow the steps
2, if it is not, being then failure to actuate；
Step 2: current vehicle speed is sent full-vehicle control module by instrument；
Step 3: deceleration of electrons control system is calculated target vehicle deceleration and sends it to full-vehicle control module, simultaneously
Full-vehicle control module is sent by brake pedal signal；
Step 4: battery capacity is sent full-vehicle control module by battery management system, and full-vehicle control module calculates under different speeds
The maximum that motor executes when pure electric braking can use recycling torque；
Step 5: the maximum that step 4 is calculated can be sent electric machine controller with recycling torque by full-vehicle control module, and by
Electric machine controller controls motor and executes energy regenerating；
Step 6: electric machine controller gives the energy regenerating torque feedback actually executed to full-vehicle control module, while full-vehicle control mould
The energy regenerating torque actually executed is transmitted to deceleration of electrons control system by block；
Step 7: real-time deceleration signal is fed back to full-vehicle control module by deceleration of electrons control system；
Step 8: full-vehicle control module adjusts the energy regenerating torque actually executed according to real-time deceleration signal.
In the step 1, the electric bus enters the condition of automatic energy take-back model are as follows:
1, the current gear of electric bus is drive shift；
2, battery management system allows charge power > 0 at present；
3, current vehicle speed >=5 kilometer/hour；
4, accelerator pedal signal is invalid；
5, the aperture > 0.05 of brake pedal switch；
6, electric machine controller detects the lower torque limit value < 0 of motor；
7, battery management system detects state-of-charge≤0.98 of battery；
8, anti-lock braking system is in unactivated state.；
9, body electronics systems stabilisation is in unactivated state；
10, the high pressure attachment on electric bus is without failure；
When above-mentioned condition is all satisfied, electric bus enters automatic energy take-back model.
In the step 4, the maximum that motor executes can be with the method for recycling torque:
I) when battery capacity≤0.98 and vehicle speed >=5km/h, recycling can be used using the maximum that motor corresponds to current vehicle speed
Torque；
II) as battery capacity > 0.98, forbid recycling torque；
III) as speed < 5km/h, using the torque of calibration fall off curve obtain recycling torque until speed be zero.
The maximum of motor can be specifically with the calculation method of recycling torque when pure electric braking under the different speeds:
S1: according to basic physics principle, target braking force F is calculated, calculation formula is as follows:
F=m*a
Wherein, m is kerb weight, and a is desired deceleration；
S2: calculating wheel end braking torque T, and calculation formula is as follows:
T=F*r
Wherein, F is target braking force, and r is tire radius；
S3: maximum, which is calculated, can use recycling torque M, and calculation formula is as follows:
M=T*η
Wherein, T is wheel end braking torque, and η is torque efficiency.
The torque efficiency η is 0.95-0.98.
In the step 8, the method for adjustment of the energy regenerating torque of the practical execution is specifically: according to target
Deceleration adjustment reduces feedback braking torque if deceleration is greater than desired deceleration in real time, i.e. reduction brake force；If real
When deceleration be less than desired deceleration, then increase feedback braking torque, i.e., increase brake force.
In the step 8, recycled if the maximum of electric bus can be adjusted to the maximum of motor with recycling torque
Torque is not still able to satisfy deceleration demand, and deceleration of electrons control system controls pneumatic brake unit assisted deceleration.
When the deceleration of electrons control system sends the request of any emergency braking safety, full-vehicle control module will not
Send recycling torque request.
When the battery management system, which sends any discomfort, closes the request for carrying out recycling charging, full-vehicle control module is not
Recycling torque request can be sent.
When the full-vehicle control module sends recycling torque request, when 5 kilometers/hour≤speed≤20 kilometer/hour,
The practical energy regenerating torque executed of motor gradually increases, and when 20 kilometers/hour of speed≤50 kilometer/hour <, motor is practical
The energy regenerating torque of execution is that the maximum of motor can use recycling torque, when 50 kilometers/hour of speed≤70 kilometer/hour <,
The practical energy regenerating torque executed of motor is gradually reduced.
The present invention is on the basis of original electric bus brake energy recovering system framework, available deceleration of electrons control
System signal processed is parsed by software, without being modified upgrading to hardware and mechanical system structure, is not had to Full Vehicle System
There are any increased costs.Energy Consumption Economy can be improved using control method of the invention, combine braking comfort, it can be with
It is demarcated according to the demand of client and application scenarios and adjusts different projectile deceleration histories come meet demand, flexibility is bigger, application
Scene is more extensive.
Detailed description of the invention
Fig. 1 is the schematic diagram of the electric vehicle brake power recycling and control method of the prior art；
Fig. 2 is the schematic diagram of electric bus Brake energy recovery control method of the present invention.
In figure, 1 full-vehicle control module, 2 electric machine controllers, 3 motors, 4 deceleration of electrons control systems, 5 instrument, 6 cell tubes
Reason system, 7 rear axle speed-reducing systems.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Refer to attached drawing 2, a kind of electric bus Brake energy recovery control method, comprising the following steps:
Step 1: full-vehicle control module 1 judges whether electric bus enters automatic energy take-back model, if so, thening follow the steps
2, if it is not, being then failure to actuate.
The electric bus enters the condition of automatic energy take-back model are as follows:
1, the current gear of electric bus is drive shift.
2, battery management system 6 allows charge power > 0 at present.
3, current vehicle speed >=5 kilometer/hour.
4, accelerator pedal signal is invalid.
5, the aperture > 0.05 of brake pedal switch.
6, electric machine controller 2 detects the lower torque limit value < 0 of motor.
7, battery management system 6 detects state-of-charge≤0.98 of battery.
8, anti-lock braking system is in unactivated state.
9, body electronics systems stabilisation is in unactivated state.
10, other high pressure attachmentes on electric bus are without failure.
When above-mentioned condition is all satisfied, electric bus can enter automatic energy take-back model.
Step 2: current vehicle speed is sent full-vehicle control module 1 by instrument 5.
Step 3: deceleration of electrons control system 4 is calculated suitable target vehicle deceleration and sends it to vehicle control
Molding block 1, while full-vehicle control module 1 is sent by brake pedal signal.
In step 3, calculating target vehicle deceleration can be patrolled by the algorithm of the deceleration of electrons control system 4 of the prior art
It collects and realizes, basic logic is to demarcate reasonable projectile deceleration history according to brake pedal depth, and projectile deceleration history can be according to difference
Vehicle (such as bus, recreational vehicle or lorry) and application scenarios are demarcated and are adjusted, and the present invention repeats no more.
Step 4: battery capacity is sent full-vehicle control module 1 by battery management system 6, and full-vehicle control module 1 is by working as
Preceding speed and the maximum that motor 3 executes when pure electric braking under battery capacity combining target vehicle deceleration calculation difference speed are available
Recycle torque.
According to the power generation characteristics of motor 3, motor 3 has corresponding available recycling torque under different rotating speeds, is also required at this time
Recycling torque can be used by obtaining reasonable maximum in conjunction with vehicle speed and battery capacity characteristic.Specific method is: when battery capacity≤
When 0.98 and speed >=5km/h, directly recycling torque can be used using the maximum of the corresponding current vehicle speed of motor 3, to greatest extent
Storage recycles electric current to achieve the purpose that reduce energy consumption；It is whole in order to improve the service life of battery as battery capacity > 0.98
Vehicle is not responding to the recycling torque of deceleration of electrons control system request, can forbid output recycling torque at this time.As speed < 5km/h
When, at this point, the generating efficiency of motor 3 is relatively low, although the power generation characteristics of motor 3 can permit very big recycling torque at this time,
The comfort and recovery efficiency for considering safety, the braking of battery, fall off curve by the torque of calibration reasonably to be returned
Torque is received until speed is zero.This it is reasonable recycling torque be by electric brake system request recycling torque under different speeds
The corresponding proportionality coefficient of curve of falling off is multiplied to obtain recycling torque, and the reasonability for recycling torque curve can be obtained by calibration, this
When recovery efficiency it is relatively low, but the high stability of the comfort of low speed braking and vehicle parking such as does not shake at the abnormal shape
State.
The maximum of motor 3 can be specific with the calculation method method of recycling torque when pure electric braking under the different speeds
It is:
S1: according to basic physics principle, target braking force F is calculated, calculation formula is as follows:
F=m*a
Wherein, m is kerb weight, and a is desired deceleration.
S2: calculating wheel end braking torque T, and calculation formula is as follows:
T=F*r
Wherein, F is target braking force, and r is tire radius.
S3: in conjunction with wheel end braking torque T and torque efficiency η, maximum, which is calculated, to use recycling torque M, and calculation formula is such as
Under: M=T* η.
Preferably, the torque efficiency η can use 0.95-0.98.
Step 5: full-vehicle control module 1 can send the maximum that step 4 is calculated to recycling torque by CAN bus
Electric machine controller 2, and controlling motor 3 by electric machine controller 2 can use recycling torque to execute energy according to the corresponding maximum of current vehicle speed
Amount recycling.At this point, only if it were not in condition forbidden range, motor 3 can carry out energy regenerating with recycling torque all in accordance with maximum,
Improve Energy Consumption Economy.
Step 6: electric machine controller 2 gives the energy regenerating torque feedback actually executed to full-vehicle control mould by CAN bus
Block 1, while the energy regenerating torque actually executed is transmitted to deceleration of electrons control system by CAN bus by full-vehicle control module 1
System 4.
Step 7: real-time deceleration signal is fed back to full-vehicle control mould by CAN bus by deceleration of electrons control system 4
Block 1.
Step 8: full-vehicle control module 1 adjusts the energy regenerating torque actually executed according to real-time deceleration signal, with
Meet reasonable deceleration-based controller requirement.The method of adjustment of the energy regenerating torque of the practical execution is specifically: according to mesh
It marks deceleration adjustment and reduces feedback braking torque if deceleration is greater than desired deceleration in real time, is i.e. reduction brake force；If
Real-time deceleration is less than desired deceleration, then increases feedback braking torque, i.e. increase brake force.
In the step 8, recycled if the maximum of electric bus can be adjusted to the maximum of motor 3 with recycling torque
Torque is not still able to satisfy desired deceleration demand, and deceleration of electrons control system 4 controls the auxiliary of pneumatic brake unit 41 and subtracts at this time
Speed, to meet desired deceleration demand.
When the method for the present invention executes Brake energy recovery, there are following using priciples:
1, brake safe principle: when deceleration of electrons control system 4 sends the request of any emergency braking safety, full-vehicle control mould
Block 1 will not send recycling torque request, i.e., do not execute step 5.
2, battery principle: the request for carrying out recycling charging is closed when battery management system 6 sends any discomfort by CAN bus
When, such as insulation resistance value is low, battery system temperature is excessively high, full-vehicle control module 1 will not send recycling torque request, i.e., not
Execute step 5.
3, speed principle: when full-vehicle control module 1 sends recycling torque request, as 5km/h≤speed≤20km/h, electricity
The energy regenerating torque that machine 3 actually executes gradually increases, and in the case where battery capacity≤0.98, it is right that motor 3 can be used directly
Answer the maximum under current vehicle speed that can use recycling torque.When 20 kilometers/hour of speed≤50 kilometer/hour <, motor 3 is practical to be executed
Energy regenerating torque be that the maximum of motor 3 can use recycling torque, and maximum can be gradually increased with recycling torque.When 50 kilometers/
Speed≤70 kilometer/hour hour <, since the corresponding maximum recyclable torque of motor 3 reduces, the energy that motor 3 actually executes
Recycling torque is gradually reduced.
4, Energy Consumption Economy principle: meet deceleration it is controllable under the premise of, full-vehicle control module 1 recycle torque demand be
Maximum can use recycling torque, i.e., think controllable when actual deceleration degree can reach the deceleration of deceleration of electrons control system demand, real
The torque that border executes is exactly that motor maximum can use recycling torque.
Apply the present invention on certain other electric bus of brand Twelve-Meter Class, the configuration of the electric bus is as follows: adopting
With the full-vehicle control module 1 of Shang Qishenwo company, the alternating-current synchronous driving motor (electrification machine controller 2), peaceful of Siemens
The ferric phosphate lithium cell (charged pool management system 6) in moral epoch, Germany adopt angstrom rear axle speed-reducing system 7 inspired confidence in and Wei Bai section EBS3's
Deceleration of electrons control system 4.
Energy consumption testing is carried out in complete vehicle test field, referring to " GBT 18386-2017 electric automobile energy consumption rate and driving
Tyre mileage test method ", 16.5 tons of carload, operating condition is Typical Cities in China public transport circulation, recycles energy using different brakings
Amount control method tests 3 Typical Cities in China public transport circulations respectively:
The first, the control method of the prior art: the brake pedal depth stepped on according to electric bus speed and driver, simultaneously
Consider that high-tension battery electricity and motor maximum can issue braking recycling torque with recycling torque, full-vehicle control module 1 and give motor control
Device 2 processed, electric machine controller 2 control motor 3 to realize that the recycling torque of demand, motor 3 are in power generation mode, can produce electric current
To high-tension battery end as energy storage.In the control method of the prior art, average cell energy consumption is 0.756kwh/km, average
Braking recovers energy as the every circulation of 2.38kwh, and it is 35.02% that braking, which recovers energy in total energy content of battery consumption contribution degree,.
Second, using control method of the invention, energy consumption testing is carried out in complete vehicle test field, referring to " GBT 18386-
2017 electric automobile energy consumption rates and continual mileage test method ", carload is 16.5 tons of fixed load, and operating condition is China
Typical urban public transport circulation.According to bus safety and comfort requirement, maximum deceleration is no more than 3m/s2.It is different simultaneously
The different maximum of the corresponding lower motor of vehicle speed can use recycling torque, and wherein the maximum of Rated motor can be with recycling torque
2500Nm, but be a curve below different rotating speeds, final test result is as follows: average cell energy consumption is 0.712kwh/
H, average energy are recovered as the every circulation of 2.59kwh, and it is 38.22% that braking, which recovers energy in total energy content of battery consumption contribution degree,.
In conclusion energy consumption can be effectively reduced in Brake energy recovery control method of the invention, for electronic public affairs
Vehicle is handed over nearly can effectively to improve energy recovery efficiency and Energy Consumption Economy for the distance travelled of 300km daily.
The above is merely preferred embodiments of the present invention, it is not intended to limit the protection scope of invention, it is therefore, all at this
Any modification, equivalent replacement, improvement and so within the spirit and principle of invention, should be included in protection scope of the present invention
Within.
Claims (10)
1. a kind of electric bus Brake energy recovery control method, it is characterized in that: the following steps are included:
Step 1: full-vehicle control module (1) judges whether electric bus enters automatic energy take-back model, if so, executing step
Rapid 2, if it is not, being then failure to actuate；
Step 2: current vehicle speed is sent full-vehicle control module (1) by instrument (5)；
Step 3: deceleration of electrons control system (4) is calculated target vehicle deceleration and sends it to full-vehicle control module
(1), while by brake pedal signal it is sent to full-vehicle control module (1)；
Step 4: battery management system (6) sends battery capacity to full-vehicle control module (1), and full-vehicle control module (1) calculates
The maximum that motor (3) executes when pure electric braking under different speeds can use recycling torque；
Step 5: full-vehicle control module (1) can send electric machine controller with recycling torque for the maximum that step 4 is calculated
(2), and energy can be executed with recycling torque according to the corresponding maximum of current vehicle speed by electric machine controller (2) control motor (3) to return
It receives；
Step 6: electric machine controller (2) gives the energy regenerating torque feedback actually executed full-vehicle control module (1), while vehicle
The energy regenerating torque actually executed is transmitted to deceleration of electrons control system (4) by control module (1)；
Step 7: real-time deceleration signal is fed back to full-vehicle control module (1) by deceleration of electrons control system (4)；
Step 8: full-vehicle control module (1) adjusts the energy regenerating torque actually executed according to real-time deceleration signal.
2. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: in the step
In 1, the electric bus enters the condition of automatic energy take-back model are as follows:
1, the current gear of electric bus is drive shift；
2, battery management system (6) allows charge power > 0 at present；
3, current vehicle speed >=5 kilometer/hour；
4, accelerator pedal signal is invalid；
5, the aperture > 0.05 of brake pedal switch；
6, electric machine controller (2) detects the lower torque limit value < 0 of motor；
7, battery management system (6) detects state-of-charge≤0.98 of battery；
8, anti-lock braking system is in unactivated state；
9, body electronics systems stabilisation is in unactivated state；
10, the high pressure attachment on electric bus is without failure；
When above-mentioned condition is all satisfied, electric bus enters automatic energy take-back model.
3. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: in the step
In 4, the maximum that motor (3) executes can be with the method for recycling torque:
I it) when battery capacity≤0.98 and vehicle speed >=5km/h, be can be used back using the maximum of motor (3) corresponding current vehicle speed
Receive torque；
II) as battery capacity > 0.98, forbid recycling torque；
III) as speed < 5km/h, using the torque of calibration fall off curve obtain recycling torque until speed be zero.
4. electric bus Brake energy recovery control method according to claim 1 or 3, it is characterized in that: it is described not
With the maximum of motor (3) can be specifically with the calculation method of recycling torque when pure electric braking under speed:
S1: according to basic physics principle, target braking force F is calculated, calculation formula is as follows:
F=m*a
Wherein, m is kerb weight, and a is desired deceleration；
S2: calculating wheel end braking torque T, and calculation formula is as follows:
T=F*r
Wherein, F is target braking force, and r is tire radius；
S3: maximum, which is calculated, can use recycling torque M, and calculation formula is as follows:
M=T*η
Wherein, T is wheel end braking torque, and η is torque efficiency.
5. electric bus Brake energy recovery control method according to claim 4, it is characterized in that: the torque is imitated
Rate η is 0.95-0.98.
6. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: in the step
In 8, the method for adjustment of the energy regenerating torque of the practical execution is specifically: being adjusted according to desired deceleration, if in real time
Deceleration is greater than desired deceleration, then reduces feedback braking torque, i.e. reduction brake force；If real-time deceleration subtracts less than target
Speed then increases feedback braking torque, i.e. increase brake force.
7. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: in the step
In 8, subtract if the maximum recycling torque that the maximum of electric bus can be adjusted to motor (3) with recycling torque is not still able to satisfy
Speed requires, and deceleration of electrons control system (4) controls pneumatic brake unit (41) assisted deceleration.
8. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: working as the electronics
When braking control system (4) sends the request of any emergency braking safety, full-vehicle control module (1) will not send recycling torque and ask
It asks.
9. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: working as the battery
When management system (6) transmission any discomfort closes the request for carrying out recycling charging, full-vehicle control module (1) will not send recycling torque
Request.
10. electric bus Brake energy recovery control method according to claim 1, it is characterized in that: the vehicle
When control module (1) sends recycling torque request, when 5 kilometers/hour≤speed≤20 kilometer/hour, motor (3) is actually executed
Energy regenerating torque gradually increase, when the energy that 20 kilometers/hour of speed≤50 kilometer/hour <, motor (3) actually execute
Recycling torque is that the maximum of motor (3) can use recycling torque, when 50 kilometers/hour of speed≤70 kilometer/hour <, motor (3)
The energy regenerating torque actually executed is gradually reduced.
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| CN201910859470.6A CN110481329B (en) | 2019-09-11 | 2019-09-11 | Braking energy recovery control method for electric bus |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645528A (en) * | 2020-06-05 | 2020-09-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
| CN111775713A (en) * | 2020-07-31 | 2020-10-16 | 厦门金龙联合汽车工业有限公司 | Control method for energy recovery braking parking of electric vehicle |
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