CN111439129A - Sliding energy recovery control method for electric automobile - Google Patents
Sliding energy recovery control method for electric automobile Download PDFInfo
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- CN111439129A CN111439129A CN202010292461.6A CN202010292461A CN111439129A CN 111439129 A CN111439129 A CN 111439129A CN 202010292461 A CN202010292461 A CN 202010292461A CN 111439129 A CN111439129 A CN 111439129A
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- 238000011084 recovery Methods 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 31
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
Abstract
A sliding energy recovery control method for an electric automobile comprises the following steps: establishing a longitudinal dynamic equation of the whole vehicle; acquiring current vehicle and environment parameters; acquiring a reference horizontal acceleration, acquiring a longitudinal dynamic equation of parameters and acquiring the horizontal acceleration of the whole vehicle; acquiring the current actual acceleration of the whole vehicle; and outputting an energy recovery strategy value, performing difference operation on the acquired reference horizontal acceleration and the current actual acceleration of the whole vehicle, judging that the current whole vehicle is in a downhill state and reaches a state capable of performing energy recovery if the difference is larger than a preset threshold value in the whole vehicle controller, and outputting the energy recovery strategy value. According to the invention, under the condition that hardware equipment is not added, the downhill working condition identification of the whole vehicle is newly added, when the whole vehicle is in the downhill working condition, the whole vehicle sliding energy recovery force is improved, and the larger the gradient is, the larger the sliding energy recovery force is, so that the utilization rate of the whole vehicle energy is improved.
Description
Technical Field
The invention relates to the field of energy recovery, in particular to a sliding energy recovery control method for an electric automobile.
Background
With the development of society, energy crisis and environmental pollution become important factors restricting economic development more and more seriously, and electric automobiles are regarded as effective directions for solving the problems and are highly valued by governments and automobile industries of various countries. Compared with the conventional automobile, the energy saving problem of the electric automobile is a major research point because the driving range of the electric automobile is generally not high due to low energy density of the battery. In order to save energy to the maximum extent, most of the electric vehicles at present have energy recovery technologies, and there are two main technologies: the first method is that when the electric automobile is braked, the motor is switched from an electric state to a power generation state, and the power generation energy of the motor is recycled to a battery to increase the driving range of the electric automobile; the other method is to make full use of the sliding time of the electric automobile to convert the automobile from a natural sliding state to a braking sliding state, so that the motor operates in a power generation state to increase the driving range.
However, the conventional sliding energy recovery strategy controls the energy recovery according to the vehicle speed when the whole vehicle slides, the recovery method is single, and the adjustment of the sliding energy recovery strength according to the actual driving condition of the whole vehicle is not considered so as to improve the utilization rate of the sliding energy of the whole vehicle. Therefore, a method for recovering sliding energy of the electric automobile according to the actual driving condition is provided.
Disclosure of Invention
The present invention provides a method for controlling energy recovery for electric vehicle sliding according to the problems of the background art, and the present invention is further described below.
A sliding energy recovery control method of an electric automobile is completed through the following systems on the whole automobile:
the driving state sensing system comprises a speed sensor and a torque sensor, and is used for respectively acquiring the instant speed u and the driving torque T of the whole driving vehicle;
the environment sensing system at least comprises a wind speed sensor, a wind direction sensor, a tire and ground friction sensing system and a gyroscope, and is used for respectively acquiring the current wind speed v, the current wind direction n and the inclination degree of a vehicle body, namely the current gradient α;
the battery module provides a power source for the whole vehicle and recovers energy in a sliding state;
the vehicle control unit is connected with the driving state sensing system, the environment sensing system and the battery module, receives detection data of the state sensing system and the environment sensing system, judges the sliding state through a built-in program, outputs the output of the recovery force and controls the energy recovery force of the battery module;
the sliding energy recovery control method of the electric automobile comprises the following steps:
step 1, establishing a longitudinal dynamics equation of the whole vehicle, and establishing a longitudinal dynamics equation suitable for the vehicle according to the difference of the whole vehicle, wherein the longitudinal dynamics equation is as follows:
wherein, the formula is a rotating mass conversion coefficient, CDIs the wind resistance coefficient, A is the orthographic projection area, F is the tire rolling resistance coefficient, m is the total vehicle mass, FCMDThe driving force of the whole vehicle at present, m can be regarded as a known constant;
step 2, obtaining current parameters of the whole vehicle and the environment, obtaining current speed u and driving torque T through a driving state sensing system, obtaining current wind speed v, wind direction n and tire rolling resistance coefficient f through the environment sensing system,
wherein, the wind speed v and the wind direction n obtain a wind resistance coefficient C through vector operationDThe wind direction n obtains an orthographic projection area A through vector operation with the sectional area of the vehicle body, and the operation formula is the prior art and is not explained;
step 3, acquiring reference horizontal acceleration a0Substituting the parameters obtained in the step 2 into the longitudinal dynamics equation in the step 1, and obtaining the driving force F of the whole vehicle when the current gradient α is 0CMDLower horizontal acceleration α0，
Wherein the driving force FCMDThe method comprises the steps that the method is obtained by indexing a corresponding table or a dynamic relational expression of driving torque and driving force in the whole vehicle controller;
step 4, acquiring the current actual acceleration a of the whole vehicle, constructing a function formula of the received speed u and time by the whole vehicle controller, and acquiring the current actual acceleration a of the whole vehicle
Step 5, outputting an energy recovery strategy value n, and comparing the reference horizontal acceleration a obtained in the step 3 and the step 40And performing difference operation on the current actual acceleration a of the whole vehicle to obtain a difference delta a ═ a-a0If the delta a is larger than a preset threshold value a' in the whole vehicle controller, namely the delta a>a', judging that the current finished automobile is in a downhill state and reaches a state capable of performing energy recovery, and outputting an energy recovery strategy value n; otherwise, not starting energy recovery;
and 6, energy recovery, wherein the battery module receives the energy recovery strategy value n, and the kinetic energy of the whole vehicle is converted into electric energy according to the energy recovery strategy value n through the existing mature energy recovery system to reversely charge the battery module.
Further, the output energy recovery strategy value n in step 5 is in a proportional relationship with the value of Δ a, where n is k Δ a, and the proportional coefficient k is set according to the actual situation of the finished vehicle.
Further, the step 3 acquires a reference horizontal acceleration a0And 4, acquiring any one of the current actual acceleration a of the whole vehicle in advance or simultaneously.
Has the advantages that: compared with the prior art, the method and the device have the advantages that the downhill working condition identification of the whole vehicle is added under the condition that hardware equipment is not added, when the whole vehicle is in the downhill working condition, the whole vehicle sliding energy recovery force is improved, and the larger the gradient is, the larger the sliding energy recovery force is, so that the utilization rate of the whole vehicle energy is improved.
Drawings
FIG. 1: the control method of the invention is schematically shown.
Detailed Description
A specific embodiment of the present invention will be described in detail with reference to fig. 1.
A sliding energy recovery control method for an electric automobile is completed through the following existing systems on the whole automobile:
the driving state sensing system comprises a speed sensor and a torque sensor, and is used for respectively acquiring the instant speed u and the driving torque T of the whole driving vehicle;
the environment sensing system at least comprises a wind speed sensor, a wind direction sensor, a tire and ground friction sensing system and a gyroscope, and is used for respectively acquiring the current wind speed v, the current wind direction n, the tire rolling resistance coefficient f and the inclination degree of a vehicle body, namely the current gradient α;
the battery module provides a power source for the whole vehicle and recovers energy in a sliding state;
the vehicle control unit is connected with the driving state sensing system, the environment sensing system and the battery module, receives detection data of the state sensing system and the environment sensing system, judges the sliding state through a built-in program, outputs the output of the recovery force and controls the energy recovery force of the battery module;
the coasting energy recovery control method comprises the following steps:
step 1, establishing a longitudinal dynamics equation of the whole vehicle, and establishing a longitudinal dynamics equation suitable for the vehicle according to the difference of the whole vehicle, wherein the longitudinal dynamics equation is as follows:
wherein, the formula is a rotating mass conversion coefficient, CDIs the wind resistance coefficient, A is the orthographic projection area, m is the total mass of the whole vehicle, FCMDThe driving force of the whole vehicle at present, m can be regarded as a known constant;
step 2, acquiring current vehicle and environment parameters, acquiring current speed u and driving torque T through a driving state sensing system, and acquiring current wind speed v, wind direction n and tire rolling resistance coefficient f through the environment sensing system;
wherein, the wind speed v and the wind direction n obtain a wind resistance coefficient C through vector operationDThe wind direction n obtains an orthographic projection area A through vector operation with the sectional area of the vehicle body, and the operation formula is the prior art and is not explained;
step 3, acquiring reference horizontal acceleration a0Substituting the parameters obtained in the step 2 into the longitudinal dynamics equation in the step 1, and presetting the reference horizontal acceleration a if the vehicle runs on the horizontal plane at present0I.e. driving with the current gradient α equal to 0 and the whole vehicleForce FCMDHorizontal acceleration of
Wherein the driving force FCMDThe method comprises the steps that the method is obtained by indexing a corresponding table or a dynamic relational expression of driving torque and driving force in the whole vehicle controller;
step 4, acquiring the current actual acceleration a of the whole vehicle, constructing a function formula of the received speed u and time by the whole vehicle controller, and acquiring the current actual acceleration a of the whole vehicle
Step 5, outputting an energy recovery strategy value n, and comparing the reference horizontal acceleration a obtained in the step 3 and the step 40And performing difference operation on the current actual acceleration a of the whole vehicle to obtain a difference delta a ═ a-a0If the delta a is larger than a preset threshold value a' in the whole vehicle controller, namely the delta a>a', judging that the current finished automobile is in a downhill state and reaches a state capable of performing energy recovery, and outputting an energy recovery strategy value n;
and 6, energy recovery, wherein the battery module receives the energy recovery strategy value n, and the kinetic energy of the whole vehicle is converted into electric energy according to the energy recovery strategy value n through the existing mature energy recovery system to reversely charge the battery module.
The output energy recovery strategy value n in step 5 is in a proportional relationship with the value of Δ a, that is, n is k Δ a, and the proportional coefficient k is set according to the actual situation of the vehicle, the proportional relationship is preset in the vehicle controller, for example, when Δ a is 0, the vehicle controller starts the energy recovery operation, the energy recovery rate at this time is defined as 1, and thereafter, as Δ a increases, the energy recovery rate is k Δ a, that is, the energy recovery rate increases as the current acceleration increases, and the optimal energy recovery effect is achieved.
The step 3 of obtaining the reference horizontal acceleration a0And 4, any one of the current actual vehicle acceleration a is acquired in advance or simultaneously, namely, no sequence limitation exists, and the technical effect can be achieved.
According to the invention, under the condition that hardware equipment is not added, the downhill working condition identification of the whole vehicle is newly added, when the whole vehicle is in the downhill working condition, the whole vehicle sliding energy recovery force is improved, and the larger the gradient is, the larger the sliding energy recovery force is, so that the utilization rate of the whole vehicle energy is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A sliding energy recovery control method of an electric automobile is completed through the following systems on the whole automobile:
the driving state sensing system comprises a speed sensor and a torque sensor, and is used for respectively acquiring the instant speed u and the driving torque T of the whole driving vehicle;
the environment sensing system at least comprises a wind speed sensor, a wind direction sensor, a tire and ground friction sensing system and a gyroscope, and is used for respectively acquiring the current wind speed v, the current wind direction n and the inclination degree of a vehicle body, namely the current gradient α;
the battery module provides a power source for the whole vehicle and recovers energy in a sliding state;
the vehicle control unit is connected with the driving state sensing system, the environment sensing system and the battery module, receives detection data of the state sensing system and the environment sensing system, judges the sliding state through a built-in program, outputs the output of the recovery force and controls the energy recovery force of the battery module;
the sliding energy recovery control method of the electric automobile comprises the following steps:
step 1, establishing a longitudinal dynamics equation of the whole vehicle, and establishing a longitudinal dynamics equation suitable for the vehicle according to the difference of the whole vehicle, wherein the longitudinal dynamics equation is as follows:
wherein, the formula is a rotating mass conversion coefficient, CDIs the wind resistance coefficient, A is the orthographic projection area, F is the tire rolling resistance coefficient, m is the total vehicle mass, FCMDThe driving force of the whole vehicle at present, m can be regarded as a known constant;
step 2, obtaining current parameters of the whole vehicle and the environment, obtaining current speed u and driving torque T through a driving state sensing system, obtaining current wind speed v, wind direction n and tire rolling resistance coefficient f through the environment sensing system,
wherein, the wind speed v and the wind direction n obtain a wind resistance coefficient C through vector operationDThe wind direction n obtains an orthographic projection area A through vector operation with the sectional area of the vehicle body;
step 3, acquiring reference horizontal acceleration a0Substituting the parameters obtained in the step 2 into the longitudinal dynamics equation in the step 1, and obtaining the driving force F of the whole vehicle when the current gradient α is 0CMDHorizontal acceleration of a0，
Wherein the driving force FCMDThe method comprises the steps that the method is obtained by indexing a corresponding table or a dynamic relational expression of driving torque and driving force in the whole vehicle controller;
step 4, acquiring the current actual acceleration a of the whole vehicle, constructing a function formula of the received speed u and time by the whole vehicle controller, wherein the current actual acceleration a of the whole vehicle,
step 5, outputting an energy recovery strategy value n, and comparing the reference horizontal acceleration a obtained in the step 3 and the step 40And performing difference operation on the current actual acceleration a of the whole vehicle to obtain a difference delta a ═ a-a0If the delta a is larger than a preset threshold value a' in the whole vehicle controller, namely the delta a>a', judging that the whole vehicle is in a downhill stateWhen the state reaches the state capable of carrying out energy recovery, outputting an energy recovery strategy value n; otherwise, not starting energy recovery;
and 6, energy recovery, wherein the battery module receives the energy recovery strategy value n, and the kinetic energy of the whole vehicle is converted into electric energy according to the energy recovery strategy value n through the existing mature energy recovery system to reversely charge the battery module.
2. The sliding energy recovery control method for the electric vehicle as claimed in claim 1, wherein: in step 5, the output energy recovery strategy value n is in a proportional relationship with the value of Δ a, where n is k Δ a, and the proportional coefficient k is set according to the actual situation of the finished vehicle.
3. The sliding energy recovery control method for the electric vehicle as claimed in claim 2, wherein: the step 3 of obtaining the reference horizontal acceleration a0And 4, acquiring any one of the current actual acceleration a of the whole vehicle in advance or simultaneously.
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| CN113276684A (en) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | Sliding energy recovery control method for electric automobile |
| CN113561782A (en) * | 2021-08-25 | 2021-10-29 | 武汉宇磐科技有限公司 | Vehicle energy recovery method and system |
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