CN112248817A - Electric vehicle, energy recovery control system, stability control method, and medium therefor - Google Patents
Electric vehicle, energy recovery control system, stability control method, and medium therefor Download PDFInfo
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- CN112248817A CN112248817A CN202011189019.7A CN202011189019A CN112248817A CN 112248817 A CN112248817 A CN 112248817A CN 202011189019 A CN202011189019 A CN 202011189019A CN 112248817 A CN112248817 A CN 112248817A
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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
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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
- 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
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- 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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- 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
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses an electric vehicle and an energy recovery control system, a stability control method and a medium thereof, wherein the control system comprises a vehicle control unit, an ESP (electronic stability program) and a motor controller, a sliding energy feedback module is integrated in the vehicle control unit, the ESP is integrated with a stability control module and a braking energy feedback module, and the motor controller is integrated with a torque control module, wherein the stability control module determines that the electric vehicle calculates a torque feedback value when instability occurs in the sliding energy recovery process and/or the braking energy recovery process according to the vehicle state, and sends the torque feedback value to the motor controller through the communication connection between the ESP and the motor controller, so that the torque control module only responds to a torque request of the stability control module. The control system can control discomfort caused by braking energy recovery intervention in the sliding energy recovery process, so that the comfort in the energy recovery process is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an energy recovery control system of an electric vehicle, a stability control method in energy recovery of the electric vehicle, a computer-readable storage medium and the electric vehicle.
Background
In order to improve the cruising ability of the electric vehicle, a scheme that the sliding energy recovery and the braking energy recovery are simultaneously applied to the electric vehicle is provided. Normally, the coasting energy recovery is controlled by the vehicle control unit, and the braking energy recovery is controlled by an Electronic Stability Program (ESP). However, when the electric vehicle performs the sliding energy recovery, the brake pedal is stepped, the braking energy recovery intervenes, the sliding energy recovery exits, and the sliding energy recovery torque suddenly changes, so that the electric vehicle generates a pause and frustration feeling, the control effect is poor, and the comfort experience is reduced.
In order to solve the problem of sudden change of torque, a scheme of overall calculation and superposition of torque by using a controller is adopted in the related technology, for example, an ESP (electronic stability program) is used for controlling the whole energy recovery strategy, namely, the ESP is used for controlling the sliding recovery and the braking recovery. Specifically, in the process of sliding, the vehicle control unit firstly sends sliding torque to the ESP, and the ESP filters the torque according to the vehicle body stability and then sends the torque to the vehicle control unit for energy recovery. When only braking energy is recovered, the ESP directly transmits torque to the vehicle control unit after operation, and the vehicle control unit directly recovers the braking energy. When the sliding energy is recovered, if the braking energy is recovered, the ESP performs logic processing, the sliding energy recovery value and the braking energy recovery value are subjected to superposition processing, and then the sliding energy recovery value and the braking energy recovery value are sent to the vehicle controller, and the vehicle controller performs torque energy recovery.
However, the whole energy recovery strategy in the above scheme is controlled by the ESP, so that the development time and cost of the ESP are correspondingly increased.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first objective of the present invention is to provide an energy recovery control system for an electric vehicle, so as to control discomfort caused by intervention of braking energy recovery during coasting energy recovery, thereby improving comfort during energy recovery, and effectively reducing development time and cost of the system.
A second object of the present invention is to provide an electric vehicle.
A third object of the present invention is to provide a method for controlling stability in energy recovery of an electric vehicle.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an energy recovery control system for an electric vehicle, including a vehicle controller, a vehicle body stability control system ESP and a motor controller,
the whole vehicle controller is integrated with a sliding energy feedback module, and the sliding energy feedback module is used for acquiring a sliding energy feedback value when the electric vehicle slides; the ESP integrated stability control module and the braking energy feedback module are used for acquiring braking energy feedback values when the electric vehicle brakes, and the stability control module is used for acquiring the slip ratio of the electric vehicle and monitoring the vehicle state according to the slip ratio of the electric vehicle; the motor controller integrates a torque control module for responding to a torque request received by the motor controller;
the stability control module calculates a torque feedback value when determining that the electric vehicle is unstable in a sliding energy recovery process and/or a braking energy recovery process according to the vehicle state, and sends the torque feedback value to the motor controller through communication connection between the ESP and the motor controller, so that the torque control module only responds to a torque request of the stability control module.
According to the energy recovery control system of the electric vehicle, when the electric vehicle is unstable in the process of sliding energy recovery and/or the process of braking energy recovery, the torque feedback value is calculated through the stability control module and is sent to the motor controller through the communication connection between the ESP and the motor controller, so that the torque control module only responds to the torque request of the stability control module, the discomfort caused by the intervention of braking energy recovery in the process of sliding energy recovery can be controlled, the comfort in the process of energy recovery is further improved, and the development working hours and the development cost of the system are effectively reduced.
In order to achieve the above object, a second aspect of the present invention provides an electric vehicle, including the energy recovery control system of the electric vehicle.
According to the electric vehicle provided by the embodiment of the invention, the discomfort caused by the intervention of braking energy recovery in the process of sliding energy recovery can be controlled by the energy recovery control system of the electric vehicle, so that the comfort in the process of energy recovery is improved, and the development working hours and the development cost of the system are effectively reduced.
In order to achieve the above object, a third aspect of the present invention provides a method for controlling stability in energy recovery of an electric vehicle, including: acquiring the slip rate of the electric vehicle, and monitoring the vehicle state according to the slip rate of the electric vehicle; determining whether the electric vehicle is unstable in the process of sliding energy recovery and/or the process of braking energy recovery according to the vehicle state; and calculating a torque feedback value when the electric vehicle is determined to be unstable, and responding to a torque request of a stability control module in an ESP (stability control system) according to the torque feedback value.
According to the stability control method during energy recovery of the electric vehicle, when the electric vehicle is determined to be unstable in the process of sliding energy recovery and/or the process of braking energy recovery, the torque feedback value can be calculated, and the torque request of the stability control module in the ESP of the vehicle body stability control system can be responded according to the torque feedback value, so that the discomfort caused by braking energy recovery intervention in the process of sliding energy recovery can be controlled, the comfort in the process of energy recovery is further improved, and the development working hours and the development cost of the system are effectively reduced.
In order to achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, having a stability control program for energy recovery of an electric vehicle stored thereon, where the stability control program, when executed by a processor, implements the above-mentioned stability control method for energy recovery of an electric vehicle.
According to the computer-readable storage medium of the embodiment of the invention, when the stable control program stored on the computer-readable storage medium is executed by the processor during energy recovery of the electric vehicle, the discomfort caused by braking energy recovery intervention in the sliding energy recovery process can be controlled, so that the comfort in the energy recovery process is improved, and the development working hours and the development cost of the system are effectively reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a block diagram of an energy recovery control system of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of the operation of an energy recovery control system for an electric vehicle according to one specific example of the present invention;
FIG. 3 is an interactive schematic diagram of an energy recovery control system of an electric vehicle according to one particular example of the invention;
fig. 4 is a block diagram of the structure of an electric vehicle according to an embodiment of the invention;
fig. 5 is a flowchart of a stability control method in energy recovery of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An electric vehicle, an energy recovery control system thereof, a stability control method, and a medium according to an embodiment of the present invention will be described below with reference to fig. 1 to 5.
Fig. 1 is a block diagram of an energy recovery control system of an electric vehicle according to an embodiment of the present invention. Referring to fig. 1, an energy recovery control system 100 of an electric vehicle includes a vehicle control unit 101, a vehicle body stability control system ESP102, and a motor controller 103.
The vehicle control unit 101 is integrated with a sliding energy feedback module 1011, and the sliding energy feedback module 1011 is used for acquiring a sliding energy feedback value when the electric vehicle slides.
The ESP102 integrates a stability control module 1021 and a braking energy feedback module 1022, the braking energy feedback module 1022 is configured to acquire a braking energy feedback value when the electric vehicle brakes, and the stability control module 1021 is configured to acquire a slip ratio of the electric vehicle and monitor a vehicle state according to the slip ratio of the electric vehicle.
The motor controller 103 integrates a torque control module 1031, the torque control module 1031 being configured to respond to torque requests received by the motor controller 103.
The stability control module 1021 calculates a torque feedback value when determining that the electric vehicle is unstable during coasting energy recovery and/or braking energy recovery according to the vehicle state, and transmits the torque feedback value to the motor controller 103 through a communication connection between the ESP102 and the motor controller 103, so that the torque control module 1031 only responds to the torque request of the stability control module 1021.
Specifically, when only coasting energy recovery or braking energy recovery is available, the stability control module 1021 may acquire the slip ratio of the electric vehicle and monitor the state of the electric vehicle according to the slip ratio of the electric vehicle.
It should be noted that the slip ratio of the electric vehicle is generally controlled between 10% and 30%, and when the wheel slip ratio is in the range of 15% to 20%, the wheel adhesion coefficients such as the longitudinal adhesion coefficient and the lateral adhesion coefficient can reach the maximum values, the adhesion force of the wheel to the road surface is large, and the vehicle body state of the electric vehicle is correspondingly more stable. When the slip ratio of the electric vehicle is greater than 30% and is increased all the time, the adhesion coefficient of the wheels is reduced sharply, the adhesion of the wheels to the road surface is reduced, and the body state of the electric vehicle is in a destabilization state.
Referring to fig. 1, if the electric vehicle is determined to be unstable according to the state of the electric vehicle, a torque feedback value is calculated by the stability control module 1021 and sent to the motor controller 103 through a communication connection between the ESP102 and the motor controller 103 so that the torque control module 1031 responds only to the torque request of the stability control module 1021. Therefore, the instability of the electric vehicle can be effectively controlled, and the comfort of the electric vehicle is improved.
In an embodiment of the present invention, when only the coasting energy is recovered, referring to fig. 2, the vehicle control unit 101 may first determine whether the coasting energy feedback module 1011 is triggered, and if so, may obtain the coasting energy feedback value through the coasting energy feedback module 1011. If the stability control module 1021 determines that the electric vehicle is not unstable based on the state of the electric vehicle, then when only coasting energy is recovered, as shown in fig. 1, the coasting energy feedback module 1011 may send the coasting energy feedback value to the motor controller 103 via the communication connection between the vehicle controller 101 and the motor controller 103, so that the torque control module 1031 only responds to the torque request of the coasting energy feedback module 1011. Thus, effective recovery of the sliding energy can be ensured.
In another embodiment of the present invention, when only braking energy is recovered, ESP102 may determine whether braking energy feedback module 1022 is activated, as described with reference to fig. 2. If the braking energy feedback module 1022 triggers, a braking energy feedback value can be obtained through the braking energy feedback module 1022. If the stability control module 1021 determines that the electric vehicle is not unstable according to the state of the electric vehicle, when only braking energy is recovered, as shown in fig. 1, the braking energy feedback module 1022 may send the braking energy feedback value to the motor controller 103 through the communication connection between the ESP102 and the motor controller 103, so that the torque control module only responds to the torque request of the braking energy feedback module 1022. Thus, effective recovery of braking energy can be ensured.
In another embodiment of the present invention, when the coasting energy recovery and the braking energy recovery are performed simultaneously, referring to fig. 2, ESP102 may determine the operating state of the electric Vehicle auxiliary System such as ABS (Antilock Brake System), VDC (Vehicle Dynamics Control), CDD (Complex devices Drivers), APA (automatic Parking Assist System), and RPA (Parking Assist System).
As an example, when an accelerator pedal is depressed, ABS or VDC trigger is triggered, ESP102 may send the operating status of ABS or VDC to vehicle controller 101, for example, ESP102 may indicate ABS or VDC trigger when it detects that operating status flag abswordstats of ABS or vdcwokstats is 1, and send absswordstats or vdcwokstats to vehicle controller 101 as shown in fig. 3. Since the ABS or VDC is single wheel control and the coasting energy recovery is full axle control, the coasting energy recovery is performed on the premise that the ABS or VDC is triggered, which may affect the stability of the vehicle. Therefore, after the vehicle control unit 101 receives absthrokstas or VDCwokstas sent by the ESP102, the coasting energy recovery can be controlled to exit until the coasting energy recovery intervention is controlled after the accelerator pedal is stepped on next time.
As another example, when the auxiliary System APA and/or RPA and/or CDD of the electric vehicle is triggered, if the ESP102 detects that CDDworkstas is 1, the ESP102 sends CDDworkstas to the vehicle controller 101, and after the vehicle controller 101 receives the CDDworkstas, the vehicle controller controls the coasting energy recovery to exit, and triggers a CRBS (Cooperative Regenerative Braking System) to decelerate the electric vehicle.
Upon CRBS triggering, ESP102 sends a CRBS torque request and a corresponding torque value as shown in FIG. 3. After receiving the torque request and the corresponding torque value, the vehicle control unit 101 superimposes the torque request and the value of the coasting energy recovery, and sends the recovery torque currently responded by the motor to the CRBS and the maximum recovery torque provided by the motor to the CRBS to the ESP102, where neither the recovery torque currently responded by the motor to the CRBS nor the maximum recovery torque provided by the motor to the CRBS includes the coasting energy recovery value.
In one example of the present invention, vehicle control unit 101 may also send the current actual torque to ESP102, where torque is positive for driving and negative for energy recovery. When detecting that a DTC (Dynamic traction Control) system is triggered, ESP102 transmits a DTC operating state and a DTC torque request to vehicle controller 101 if detecting that a flag fmcurtorqincorrereq vldty triggered by front flag axle DTC is 1 or that a flag rmcurtorqincorrereq vldty triggered by rear flag axle DTC is 1. The vehicle control unit 101 responds to a DTC torque request, wherein the DTC negative torque request can effect coasting energy recovery. Of course, the vehicle control unit 101 may also actively send a request for coasting energy recovery to the ESP102 to request to exit the DTC system, so that the coasting energy recovery is controlled by the vehicle control unit 101.
Further, when the coasting energy recovery and the braking energy recovery are performed simultaneously, if the stabilization control module 1021 determines that the electric vehicle is unstable according to the state of the electric vehicle, as shown in fig. 2, the vehicle control unit 101 and the ESP102 respectively control the coasting energy recovery and the braking energy recovery to exit, and then the stabilization control module 1021 calculates a torque feedback value and sends the torque feedback value to the motor controller 103, so that the torque control module 1031 only responds to the torque request of the stabilization control module 1021.
When the electric vehicle is involved in the sliding energy recovery process and the braking energy recovery process at the same time and no instability occurs, the sliding energy feedback module 1011 sends the sliding energy feedback value to the motor controller 103 through the communication connection between the vehicle controller 101 and the motor controller 103, and the braking energy feedback module 1022 sends the braking energy feedback value to the motor controller 103 through the communication connection between the ESP102 and the motor controller 103, so that the torque control module 1031 responds to the torque request of the sliding energy feedback module 1011 and the torque request of the braking energy feedback module 1022 at the same time. Of course, as shown in fig. 2, the coasting energy feedback module 1011 and the braking energy feedback module 1022 may also respectively send the coasting energy feedback value and the braking energy feedback value to the vehicle controller, and the vehicle controller superimposes the coasting energy feedback value and the braking energy feedback value and sends the superimposed values to the motor controller 103.
According to the energy recovery control system of the electric vehicle, when the electric vehicle is unstable in the process of sliding energy recovery and/or the process of braking energy recovery, the torque feedback value is calculated through the stability control module and is sent to the motor controller through the communication connection between the ESP and the motor controller, so that the torque control module only responds to the torque request of the stability control module, the discomfort caused by the intervention of braking energy recovery in the process of sliding energy recovery can be controlled, the comfort in the process of energy recovery is further improved, and the development working hours and the development cost of the system are effectively reduced.
Further, the invention also provides an electric vehicle. Referring to fig. 4, an electric vehicle 1000 includes the energy recovery control system 100 of the electric vehicle described above.
According to the electric vehicle provided by the embodiment of the invention, the discomfort caused by the intervention of braking energy recovery in the process of sliding energy recovery can be controlled by the energy recovery control system of the electric vehicle, so that the comfort in the process of energy recovery is improved, and the development working hours and the development cost of the system are effectively reduced.
Fig. 5 is a flowchart of a stability control method in energy recovery of an electric vehicle according to an embodiment of the present invention. As shown in fig. 5, the stabilization control method includes:
and S101, acquiring the slip ratio of the electric vehicle, and monitoring the vehicle state according to the slip ratio of the electric vehicle.
And S102, determining whether the electric vehicle is unstable in the process of sliding energy recovery and/or the process of braking energy recovery according to the vehicle state.
And S103, calculating a torque feedback value when the electric vehicle is determined to be unstable, and responding to a torque request of a stability control module in the vehicle body stability control system (ESP) according to the torque feedback value.
In one embodiment of the invention, when the electric vehicle is not unstable in the process of recovering the coasting energy, the torque control module in the motor controller can respond to the torque request of the coasting energy feedback module in the vehicle control unit according to the coasting energy feedback value when the electric vehicle coasts.
In one embodiment of the invention, when the electric vehicle is not unstable in the braking energy recovery process, the torque control module in the motor controller can respond to the torque request of the braking energy feedback module in the ESP according to the braking energy feedback value when the electric vehicle is braked.
In an embodiment of the invention, when the electric vehicle intervenes in the coasting energy recovery process and the braking energy recovery process simultaneously and is not unstable, the torque control module may superimpose the braking energy feedback value when the electric vehicle brakes and the coasting energy feedback value when the electric vehicle coasts, so as to simultaneously respond to the torque request of the coasting energy feedback module in the vehicle controller and the torque request of the braking energy feedback module in the ESP.
According to the stability control method during energy recovery of the electric vehicle, when the electric vehicle is determined to be unstable in the process of sliding energy recovery and/or the process of braking energy recovery, the torque feedback value can be calculated, and the torque request of the stability control module in the ESP of the vehicle body stability control system can be responded according to the torque feedback value, so that the discomfort caused by braking energy recovery intervention in the process of sliding energy recovery can be controlled, the comfort in the process of energy recovery is further improved, and the development working hours and the development cost of the system are effectively reduced.
Further, the present invention also provides a computer-readable storage medium having stored thereon a stability control program for energy recovery of an electric vehicle, which when executed by a processor implements the above-mentioned stability control method for energy recovery of an electric vehicle.
According to the computer-readable storage medium of the embodiment of the invention, when the stable control program stored on the computer-readable storage medium is executed by the processor during energy recovery of the electric vehicle, the discomfort caused by braking energy recovery intervention in the sliding energy recovery process can be controlled, so that the comfort in the energy recovery process is improved, and the development working hours and the development cost of the system are effectively reduced.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An energy recovery control system of an electric vehicle is characterized by comprising a vehicle control unit, a vehicle body stability control system (ESP) and a motor controller,
the whole vehicle controller is integrated with a sliding energy feedback module, and the sliding energy feedback module is used for acquiring a sliding energy feedback value when the electric vehicle slides;
the ESP integrated stability control module and the braking energy feedback module are used for acquiring braking energy feedback values when the electric vehicle brakes, and the stability control module is used for acquiring the slip ratio of the electric vehicle and monitoring the vehicle state according to the slip ratio of the electric vehicle;
the motor controller integrates a torque control module for responding to a torque request received by the motor controller;
the stability control module calculates a torque feedback value when determining that the electric vehicle is unstable in a sliding energy recovery process and/or a braking energy recovery process according to the vehicle state, and sends the torque feedback value to the motor controller through communication connection between the ESP and the motor controller, so that the torque control module only responds to a torque request of the stability control module.
2. The energy recovery control system of an electric vehicle according to claim 1, wherein the coasting energy feedback module transmits the coasting energy feedback value to the motor controller through a communication connection between the vehicle control unit and the motor controller so that the torque control module responds only to the torque request of the coasting energy feedback module when the electric vehicle is not destabilized during the coasting energy recovery process.
3. The energy recovery control system of an electric vehicle of claim 1, wherein the braking energy feedback module sends the braking energy feedback value to the motor controller through a communication connection between the ESP and the motor controller so that the torque control module only responds to torque requests from the braking energy feedback module when the electric vehicle is not destabilized during braking energy recovery.
4. The energy recovery control system of claim 1, wherein when the electric vehicle is involved in a coasting energy recovery process and a braking energy recovery process simultaneously and is not unstable, the coasting energy feedback module sends the coasting energy feedback value to the motor controller through a communication connection between the vehicle controller and the motor controller, and the braking energy feedback module sends the braking energy feedback value to the motor controller through a communication connection between the ESP and the motor controller, so that the torque control module responds to the torque request of the coasting energy feedback module and the torque request of the braking energy feedback module simultaneously.
5. An electric vehicle characterized by comprising the energy recovery control system of the electric vehicle according to any one of claims 1 to 4.
6. A stability control method in energy recovery of an electric vehicle is characterized by comprising the following steps:
acquiring the slip rate of the electric vehicle, and monitoring the vehicle state according to the slip rate of the electric vehicle;
determining whether the electric vehicle is unstable in the process of sliding energy recovery and/or the process of braking energy recovery according to the vehicle state;
and calculating a torque feedback value when the electric vehicle is determined to be unstable, and responding to a torque request of a stability control module in an ESP (stability control system) according to the torque feedback value.
7. The method as claimed in claim 6, wherein the electric vehicle responds to the torque request of the coasting energy feedback module in the vehicle control unit according to the coasting energy feedback value when the electric vehicle is coasting when no instability occurs during the coasting energy recovery process.
8. The method as claimed in claim 6, wherein the method is used for responding to the torque request of the braking energy feedback module in the ESP according to the braking energy feedback value when the electric vehicle brakes when the electric vehicle does not have instability during the braking energy recovery process.
9. The method as claimed in claim 6, wherein when the electric vehicle is involved in the coasting energy recovery process and the braking energy recovery process simultaneously and is not unstable, the braking energy feedback value during braking of the electric vehicle and the coasting energy feedback value during coasting of the electric vehicle are superimposed to simultaneously respond to the torque request of the coasting energy feedback module in the vehicle controller and the torque request of the braking energy feedback module in the ESP.
10. A computer-readable storage medium, having stored thereon a stability control program in energy recovery of an electric vehicle, which when executed by a processor implements a stability control method in energy recovery of an electric vehicle according to any one of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189019.7A CN112248817A (en) | 2020-10-30 | 2020-10-30 | Electric vehicle, energy recovery control system, stability control method, and medium therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189019.7A CN112248817A (en) | 2020-10-30 | 2020-10-30 | Electric vehicle, energy recovery control system, stability control method, and medium therefor |
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| Publication Number | Publication Date |
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| CN112248817A true CN112248817A (en) | 2021-01-22 |
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