CN112213959A - Braking energy recovery experiment table based on vehicle-road cooperation - Google Patents
Braking energy recovery experiment table based on vehicle-road cooperation Download PDFInfo
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- CN112213959A CN112213959A CN202011190364.2A CN202011190364A CN112213959A CN 112213959 A CN112213959 A CN 112213959A CN 202011190364 A CN202011190364 A CN 202011190364A CN 112213959 A CN112213959 A CN 112213959A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 7
- 238000004088 simulation Methods 0.000 claims abstract description 19
- 239000006247 magnetic powder Substances 0.000 claims abstract description 13
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
A braking energy recovery experiment table based on vehicle-road cooperation comprises a simulation system and a braking energy recovery module, wherein the simulation system is used for simulating the vehicle running state in a traffic scene; the braking energy recovery module comprises a flywheel, a motor/engine, a magnetic powder brake, a motor controller and a power battery which are electrically connected; the simulation system comprises a PreScan system and a dSPACE system, the PreScan system outputs a signal obtained by simulation to the dSPACE system, and the dSPACE system converts the received signal and then respectively transmits the converted signal to the motor controller and the magnetic powder brake; the motor controller controls the motor/generator to reverse the direction of rotation of the magnetic field, whereupon the motor/generator transitions to a generating state, with the motor/generator recovering the generated energy into the power cell. The invention has remarkable braking energy recovery effect in the cooperative environment of the vehicle and the road and can provide experimental reference for the development of a subsequent control system.
Description
Technical Field
The invention relates to a braking energy recovery experimental device, in particular to a braking energy recovery experimental bench based on vehicle-road cooperation.
Background
With the development of advanced technologies such as automatic driving, internet of vehicles and the like, cooperative optimization of vehicle roads becomes a research hotspot in the field of intelligent transportation, and multi-vehicle cooperative traffic control is an important component of the intelligent transportation, so that the intelligent transportation has great practical significance and wide development prospect, and due to the increase of complexity, higher requirements are provided for a cooperative control mechanism.
Most researches are carried out by taking the internet automatic driving vehicle as a research object, taking the driving safety field theory as a basis, taking the purposes of reducing driving risks and improving traffic efficiency as research purposes, and carrying out cooperative control around the internet automatic driving vehicle. The braking energy recovery system is one of the most important links in the electric automobile, and the recovery rate of the existing braking energy recovery system is low.
Disclosure of Invention
In order to improve the safety and the high efficiency of the passing of the networked vehicles and improve the recovery rate of the recovery of the braking energy, the invention provides a braking energy recovery experiment table based on vehicle-road cooperation.
The technical scheme adopted by the invention is as follows: a braking energy recovery experiment table based on vehicle-road cooperation comprises a simulation system and a braking energy recovery module, wherein the simulation system is used for simulating the vehicle running state in a traffic scene;
the braking energy recovery module comprises a flywheel for simulating the running inertia of the vehicle, the flywheel is connected with a transmission shaft of the motor/engine, a magnetic powder brake is sleeved on the transmission shaft of the motor/engine, and the motor/engine is respectively and electrically connected with the motor controller and the power battery;
the simulation system comprises a PreScan system and a dSPACE system; the PreScan system is electrically connected with the dSPACE system, and outputs a braking intensity signal, a speed signal and an acceleration signal which are obtained by simulation of the PreScan system to the dSPACE system; the dSPACE system is respectively electrically connected with the motor controller and the magnetic powder brake, decomposes the received brake intensity signal into an electric brake intensity signal and a mechanical brake intensity signal, converts the speed signal into a rotating speed signal and converts the acceleration signal into an angular acceleration signal, wherein the electric brake intensity signal, the rotating speed signal and the angular acceleration signal are output to the motor controller, and the mechanical brake intensity signal is output to the magnetic powder brake;
the motor controller is electrically connected with the motor/engine, the motor controller controls the magnetic field rotating direction of the motor/engine according to the received signal value, when the magnetic field rotating direction is reversed, an electric braking torque is generated, the motor/generator is converted into a power generation state at the moment, and the motor/generator recovers the generated energy into the power battery;
meanwhile, the motor controller also feeds back a real-time rotating speed signal of the flywheel to the dSPACE system, the dSPACE system converts the received real-time rotating speed signal into a real-time speed signal and feeds the real-time speed signal back to the PreScan system, and the PreScan system calculates the distance according to the real-time speed signal and changes the vehicle running state in the simulated traffic scene; and the Prescan system detects the SOC change condition of the power battery and calculates the braking energy recovery rate.
Further, the PreScan system comprises a virtual traffic scene model for simulating a traffic scene, a radar sensor model for simulating a radar sensor to measure distance, an image sensor model for identifying traffic signals, pedestrians and vehicles in the driving process and a pedestrian model.
The invention has the beneficial effects that: the simulation software Prescan be used for simulating a complex traffic environment, then the vehicle longitudinal driving result obtained through simulation is sent to the dSPACE, the motor controller is controlled, semi-physical simulation is achieved, the effect of recovering the braking energy of the vehicle in the vehicle-road cooperative environment can be effectively proved to be remarkable, and experimental reference can be provided for subsequent control system development.
Drawings
Fig. 1 is a block diagram of the present invention.
Description of reference numerals: 1. a flywheel; 2. an electric motor/generator; 3. a motor controller; 4. a power battery; 5. a magnetic powder brake; 6. a dSPACE system; 7. PreScan system.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention. 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.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to improve the braking energy recovery rate under the vehicle-road cooperative environment, referring to the attached drawings, the embodiment of the invention provides a vehicle-road cooperative braking energy recovery experiment table based on vehicle-road cooperation, which comprises a simulation system and a braking energy recovery module, wherein the simulation system is used for simulating the vehicle running state in a traffic scene, and the vehicle-road cooperative environment is considered to realize real-time information interaction between vehicle-vehicle communication and vehicle-road communication, and the vehicle can acquire the dynamic information of surrounding vehicles and road environment in real time;
the braking energy recovery module comprises a flywheel 1 for simulating the running inertia of the vehicle, the flywheel 1 is connected with a transmission shaft of a motor/engine 2, a magnetic powder brake 5 is sleeved on the transmission shaft of the motor/engine 2, and the motor/engine 2 is respectively and electrically connected with a motor controller 3 and a power battery 4; specifically, the mass of the flywheel 1 is determined by the mass of the vehicle being simulated, and the power of the motor/generator 2 is determined by the longitudinal dynamics equation of the vehicle: fx＝Ff+Fw+Fi+FjDetermination of FfTo rolling resistance, FwAs air resistance, FiAs slope resistance, FjFor accelerating resistance, the power of the motor controller 3 and the power battery 4 is selected according to the power of the motor/engine 2, and the braking capacity of the magnetic powder brake 5 is determined by hydraulic braking equipment of the vehicle.
The simulation system comprises a PreScan system 7 and a dSPACE system 6; the PreScan system 7 comprises a virtual traffic scene model for simulating a traffic scene, a radar sensor model for simulating a radar sensor to measure distance, an image sensor model for identifying traffic signals, pedestrians and vehicles in the driving process and a pedestrian model; the PreScan system 7 is electrically connected with the dSPACE system 6, and the PreScan system 7 outputs a brake strength signal, a speed signal and an acceleration signal obtained by simulation to the dSPACE system 6;
the dSPACE system 6 is respectively electrically connected with the motor controller 3 and the magnetic powder brake 5, the dSPACE system 6 decomposes the received brake intensity signal into an electric brake intensity signal and a mechanical brake intensity signal, converts the speed signal into a rotating speed signal and converts the acceleration signal into an angular acceleration signal, wherein the electric brake intensity signal, the rotating speed signal and the angular acceleration signal are output to the motor controller 3, and the mechanical brake intensity signal is output to the magnetic powder brake 5;
the motor controller 3 is electrically connected with the motor/engine 2, the motor controller 3 controls the magnetic field rotating direction of the motor/engine 2 according to the received signal value, when the magnetic field rotating direction is reversed, an electric braking torque is generated, the motor/generator 2 is converted into a power generation state at the moment, and the motor/generator 2 recovers the generated energy into the power battery 4;
meanwhile, the motor controller 3 also feeds back a real-time rotating speed signal of the flywheel to the dSPACE system 6, the dSPACE system 6 converts the received real-time rotating speed signal into a real-time speed signal and feeds back the real-time speed signal to the PreScan system 7, the PreScan system 7 converts the real-time rotating speed signal of the flywheel and the electromechanical composite braking acceleration fed back by the dSPACE system 6 into a distance through a formula through a simulated traffic scene, the fact that a vehicle is not collided under the simulated traffic environment is guaranteed, meanwhile, the maximum braking energy recovery effect is achieved, and semi-physical simulation is completed; the PreScan system 7 detects the SOC change condition of the power battery 4 and calculates the braking energy recovery rate.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (2)
1. The utility model provides a braking energy recovery laboratory bench based on car road is in coordination which characterized in that: the system comprises a simulation system and a braking energy recovery module, wherein the simulation system is used for simulating the vehicle running state in a traffic scene;
the braking energy recovery module comprises a flywheel for simulating the running inertia of the vehicle, the flywheel is connected with a transmission shaft of the motor/engine, a magnetic powder brake is sleeved on the transmission shaft of the motor/engine, and the motor/engine is respectively and electrically connected with the motor controller and the power battery;
the simulation system comprises a PreScan system and a dSPACE system; the PreScan system is electrically connected with the dSPACE system, and outputs a braking intensity signal, a speed signal and an acceleration signal which are obtained by simulation of the PreScan system to the dSPACE system; the dSPACE system is respectively electrically connected with the motor controller and the magnetic powder brake, decomposes the received brake intensity signal into an electric brake intensity signal and a mechanical brake intensity signal, converts the speed signal into a rotating speed signal and converts the acceleration signal into an angular acceleration signal, wherein the electric brake intensity signal, the rotating speed signal and the angular acceleration signal are output to the motor controller, and the mechanical brake intensity signal is output to the magnetic powder brake;
the motor controller is electrically connected with the motor/engine, the motor controller controls the magnetic field rotating direction of the motor/engine according to the received signal value, when the magnetic field rotating direction is reversed, an electric braking torque is generated, the motor/generator is converted into a power generation state at the moment, and the motor/generator recovers the generated energy into the power battery;
meanwhile, the motor controller also feeds back a real-time rotating speed signal of the flywheel to the dSPACE system, the dSPACE system converts the received real-time rotating speed signal into a real-time speed signal and feeds the real-time speed signal back to the PreScan system, and the PreScan system calculates the distance according to the real-time speed signal and changes the vehicle running state in the simulated traffic scene; and the Prescan system detects the SOC change condition of the power battery and calculates the braking energy recovery rate.
2. The braking energy recovery experiment table based on vehicle-road coordination as claimed in claim 1, wherein: the PreScan system comprises a virtual traffic scene model for simulating a traffic scene, a radar sensor model for simulating a radar sensor to measure distance, an image sensor model for identifying traffic signals, pedestrians and vehicles in the driving process and a pedestrian model.
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| CN202011190364.2A CN112213959B (en) | 2020-10-30 | 2020-10-30 | Braking energy recovery experiment table based on vehicle-road cooperation |
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Citations (5)
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|---|---|---|---|---|
| WO2012089857A1 (en) * | 2010-12-30 | 2012-07-05 | Fundacion Tecnalia Research & Innovation | System for testing and evaluating the behaviour and energy efficiency of the drive system of a hybrid-electric motor vehicle |
| CN109388070A (en) * | 2017-08-03 | 2019-02-26 | 上汽通用汽车有限公司 | A kind of emulation platform of active safety system |
| CN110333730A (en) * | 2019-08-12 | 2019-10-15 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and the storage medium of automatic Pilot algorithm expectation function safety |
| CN110568772A (en) * | 2019-09-03 | 2019-12-13 | 包头市塞北机械设备股份有限公司 | Series-parallel hybrid drive vehicle real-time simulation system and method based on dSPACE |
| CN213399233U (en) * | 2020-10-30 | 2021-06-08 | 浙江工业大学 | Braking energy recovery experiment table based on vehicle-road cooperation |
-
2020
- 2020-10-30 CN CN202011190364.2A patent/CN112213959B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012089857A1 (en) * | 2010-12-30 | 2012-07-05 | Fundacion Tecnalia Research & Innovation | System for testing and evaluating the behaviour and energy efficiency of the drive system of a hybrid-electric motor vehicle |
| CN109388070A (en) * | 2017-08-03 | 2019-02-26 | 上汽通用汽车有限公司 | A kind of emulation platform of active safety system |
| CN110333730A (en) * | 2019-08-12 | 2019-10-15 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and the storage medium of automatic Pilot algorithm expectation function safety |
| CN110568772A (en) * | 2019-09-03 | 2019-12-13 | 包头市塞北机械设备股份有限公司 | Series-parallel hybrid drive vehicle real-time simulation system and method based on dSPACE |
| CN213399233U (en) * | 2020-10-30 | 2021-06-08 | 浙江工业大学 | Braking energy recovery experiment table based on vehicle-road cooperation |
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