CN112428829A - Braking energy feedback control method for electric automobile - Google Patents
Braking energy feedback control method for electric automobile Download PDFInfo
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- CN112428829A CN112428829A CN202011372987.1A CN202011372987A CN112428829A CN 112428829 A CN112428829 A CN 112428829A CN 202011372987 A CN202011372987 A CN 202011372987A CN 112428829 A CN112428829 A CN 112428829A
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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
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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
- B60L2240/10—Vehicle control parameters
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/421—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
Abstract
The invention discloses a braking energy feedback control method for an electric vehicle, which comprises the following steps: respectively collecting the vehicle speed, the motor rotating speed, the accelerator depth, the brake signal and the energy feedback grade signal, and outputting the brake torque according to the energy feedback grade signal and the current vehicle speed, the accelerator depth and the brake depth; calculating the change rate of the rotating speed according to the rotating speed of the motor, and further calculating the output compensation braking torque; and limiting the maximum output braking torque according to the power of the motor, performing energy feedback, and charging the storage battery. The invention outputs braking torque under different feedback levels based on energy feedback levels; outputting a compensating braking torque based on the rate of change of the motor speed; the brake torque can be changed rapidly and dynamically, the driving feeling of the whole vehicle during energy feedback is balanced, the cost is not increased, and the brake system is safe and reliable and has a good practical application effect. Meanwhile, the maximum braking torque is limited, the battery is effectively protected, and the endurance mileage of the vehicle is improved to the maximum extent.
Description
Technical Field
The invention belongs to the technical field of electric vehicle control, and particularly relates to a braking energy feedback control method for an electric vehicle.
Background
The storage battery is one of core components of the pure electric vehicle, and the amount of energy stored in the storage battery determines the endurance mileage of the electric vehicle. Therefore, in order to improve the endurance mileage, when the vehicle slides, brakes or decelerates, the motor is used as a generator, and the reduced kinetic energy is converted into electric energy which is recycled into the storage battery for storage and utilization, namely, energy feedback control is carried out, so that the endurance mileage of the electric vehicle is improved.
Patent document 1(CN106926710A) discloses a regenerative braking energy recovery system and a control method for an electric vehicle, which are typical representatives of energy feedback control, and the regenerative braking energy recovery system and the control method can realize braking energy feedback to a greater extent and improve the recovery rate of regenerative braking by calculating driving torque and feedback torque based on the opening value and the rotation speed of an accelerator pedal without changing the existing mechanical braking structure and increasing the cost.
The prior art comprises the steps of:
(1) energy feedback levels (level 0, level1, level 2) were selected according to the driver's intentions:
when the energy feedback Level is Level1, controlling the output braking torque according to the vehicle speed and the accelerator signal;
when the energy feedback Level is Level2, controlling the output braking torque according to the braking depth and the vehicle speed;
at an energy feedback Level of Level0, the output brake torque is 0.
(2) Calculating the change rate of the rotating speed at the front moment and the rear moment according to the rotating speed of the motor, and outputting the compensated braking torque;
(3) and limiting the maximum braking torque according to the maximum power and the motor rotating speed, carrying out energy feedback on the output braking torque, and charging the storage battery.
In the prior art, under the working condition of energy feedback, the braking energy feedback is purely carried out to the maximum extent, the regenerative braking rate is improved, the driving feeling of a vehicle and the maximum allowable bearing capacity of a battery are not considered, and the good driving experience feeling of the whole vehicle under the working condition of energy feedback and the high safety of a power battery cannot be ensured.
Disclosure of Invention
The invention aims to: the braking energy feedback control method for the electric automobile is simple, effective and easy to implement, outputs braking torques under different feedback levels based on energy feedback levels, achieves real-time dynamic adjustment of the braking torques, balances the driving performance of the whole automobile, limits feedback currents through a maximum braking torque curve, effectively protects a power battery, improves the endurance mileage of the automobile, and is simple, effective and easy to implement.
The technical scheme of the invention is as follows:
1. a braking energy feedback control method for an electric automobile is characterized by comprising the following steps:
s1, respectively collecting the vehicle speed, the motor speed, the accelerator depth, the brake signal and the energy feedback grade signal, and outputting the brake torque Ne according to the energy feedback grade signal and the current vehicle speed, the accelerator depth and the brake depth;
s2, calculating a change rate Spd _ Grd of the rotation speed according to the rotation speed of the motor, further calculating a compensation braking torque Nc, and obtaining a total braking torque N as Ne + Nc;
and S3, limiting the maximum output braking torque according to the motor power, performing energy feedback, and charging the storage battery.
2. The braking energy feedback control method for the electric vehicle according to claim 1, wherein the method for determining the braking torque Ne in step S1 is divided into three cases:
(1.1) if the energy feedback Level is Level1, if the current vehicle speed V is greater than a vehicle speed threshold value V _ lim and the accelerator depth is less than an accelerator depth threshold value A _ lim: brake torque Ne — N1;
(1.2) if the energy feedback Level is Level2, dividing the braking depth B _ Act into two conditions:
(1.2.1) if the braking depth is less than or equal to the braking depth threshold value B _ lim: brake torque Ne — N2;
(1.2.2) if the braking depth is greater than the braking depth threshold value B _ lim: calculating braking torque N3 ═ k1 × V + k2 × B _ Act according to the current vehicle speed V and the braking depth B _ Act, and then: brake torque Ne — N3;
(1.3) if the energy feedback Level is not Level1 or Level2, namely the energy feedback Level is Level0, then: brake torque Ne — N0;
the vehicle speed threshold V _ lim, the accelerator depth threshold A _ lim, the brake depth threshold B _ lim, the braking torques N1, N2 and N0 are obtained through vehicle test calibration, and the braking torques N3, N2, N1, N0 and 0 are obtained.
Preferably, in step S2, the rate of change of the rotation speed Spd _ Grd is calculated from the motor rotation speed:
calculating the compensation torque: nc — Spd _ Grd × Ke, then: total braking torque N — Ne + Nc;
wherein, lambdan is the motor rotating speed at the nth moment, lambdan-1 is the motor rotating speed at the nth-1 moment, delta t is sampling time, and Ke is a braking torque compensation coefficient.
Preferably, in step S3, the method for limiting the output braking torque according to the motor power is to determine a maximum braking torque threshold N _ max at the current power according to the maximum braking torque and the motor power output curve;
(3.1) if the braking torque N is greater than the braking torque threshold value N _ max, the braking torque N output is equal to N _ max;
(3.2) if the braking torque N is less than or equal to the braking torque threshold value N _ max, the output braking torque N takes the current value.
The invention has the advantages that:
1. the braking energy feedback control method for the electric vehicle, provided by the invention, is used for outputting braking torques at different feedback levels based on energy feedback levels; outputting a compensation braking torque based on the motor speed change rate; the brake torque can be changed rapidly and dynamically, the driving feeling of the whole vehicle during energy feedback is balanced, and the brake system is safe and reliable and has a good practical application effect.
2. The invention provides a method for limiting the maximum braking torque under the current rotating speed according to the maximum power and the rotating speed of the motor, so as to achieve the purpose of limiting the current and prevent the feedback current from exceeding the maximum charging current allowed by the battery.
3. The invention realizes the rapid dynamic change of the braking torque without increasing the cost, simultaneously considers the driving performance of the whole vehicle, limits the maximum braking torque, effectively protects the battery and improves the endurance mileage of the vehicle to the maximum extent.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a flow chart of a braking energy feedback control method for an electric vehicle according to the present invention;
fig. 2 is a plot of motor maximum braking torque and motor power output.
Detailed Description
As shown in fig. 1, the braking energy feedback control method for the electric vehicle of the present invention includes the steps of:
s1, respectively collecting current vehicle speed, motor speed, accelerator depth, brake depth and energy feedback grade signals, and determining brake torque Ne according to the energy feedback grade signals and the current vehicle speed, accelerator depth and brake depth;
the method of determining the braking torque Ne is divided into three cases:
(1.1) if the energy feedback Level is Level1, if the current vehicle speed V is greater than a vehicle speed threshold value V _ lim and the accelerator depth is less than an accelerator depth threshold value A _ lim: brake torque Ne — N1;
(1.2) if the energy feedback Level is Level2, dividing the braking depth B _ Act into two conditions:
(1.2.1) if the braking depth is less than or equal to the braking depth threshold value B _ lim: brake torque Ne — N2;
(1.2.2) if the braking depth is greater than the braking depth threshold value B _ lim: calculating braking torque N3 ═ k1 × V + k2 × B _ Act according to the current vehicle speed V and the braking depth B _ Act, and then: brake torque Ne — N3;
(1.3) if the energy feedback Level is not Level1 or Level2, namely the energy feedback Level is Level0, then: brake torque Ne — N0;
the vehicle speed threshold V _ lim, the accelerator depth threshold A _ lim, the brake depth threshold B _ lim, the braking torques N1, N2 and N0 are obtained through vehicle test calibration, and the braking torques N3, N2, N1 and N0 are obtained.
S2, calculating the change rate Spd _ Grd of the rotating speed according to the rotating speed of the motor:
calculating the compensation torque: nc — Spd _ Grd × Ke, then: total braking torque N — Ne + Nc;
wherein, lambdan is the motor rotating speed at the nth moment, lambdan-1 is the motor rotating speed at the nth-1 moment, delta t is sampling time, and Ke is a braking torque compensation coefficient.
And S3, feeding back energy according to the maximum braking torque limited by the motor power, and charging the storage battery.
As shown in fig. 2, a maximum braking torque and motor power output curve of the motor is obtained, and a torque threshold N _ max under the current power is determined according to the maximum braking torque and motor power output curve;
(3.1) if the braking torque N is greater than the braking torque threshold value N _ max, the braking torque N output is equal to N _ max;
(3.2) if the braking torque N is less than or equal to the braking torque threshold value N _ max, the output braking torque N takes the current value.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (4)
1. A braking energy feedback control method for an electric automobile is characterized by comprising the following steps:
s1, respectively collecting the vehicle speed, the motor speed, the accelerator depth, the brake signal and the energy feedback grade signal, and outputting the brake torque Ne according to the energy feedback grade signal and the current vehicle speed, the accelerator depth and the brake depth;
s2, calculating a change rate Spd _ Grd of the rotation speed according to the rotation speed of the motor, further calculating a compensation braking torque Nc, and obtaining a total braking torque N as Ne + Nc;
and S3, limiting the maximum output braking torque according to the motor power, performing energy feedback, and charging the storage battery.
2. The braking energy feedback control method for the electric vehicle according to claim 1, wherein the method for determining the braking torque Ne in step S1 is divided into three cases:
(1.1) if the energy feedback Level is Level1, if the current vehicle speed V is greater than a vehicle speed threshold value V _ lim and the accelerator depth is less than an accelerator depth threshold value A _ lim: brake torque Ne — N1;
(1.2) if the energy feedback Level is Level2, dividing the braking depth B _ Act into two conditions:
(1.2.1) if the braking depth is less than or equal to the braking depth threshold value B _ lim: brake torque Ne — N2;
(1.2.2) if the braking depth is greater than the braking depth threshold value B _ lim: calculating braking torque N3 ═ k1 × V + k2 × B _ Act according to the current vehicle speed V and the braking depth B _ Act, and then: brake torque Ne — N3;
(1.3) if the energy feedback Level is not Level1 or Level2, namely the energy feedback Level is Level0, then: brake torque Ne — N0;
the vehicle speed threshold V _ lim, the accelerator depth threshold A _ lim, the brake depth threshold B _ lim, the braking torques N1, N2 and N0 are obtained through vehicle test calibration, and the braking torques N3, N2, N1, N0 and 0 are obtained.
3. The braking energy feedback control method for the electric vehicle as claimed in claim 2, wherein in step S2, the change rate Spd _ Grd of the rotation speed is calculated according to the rotation speed of the motor:
calculating the compensation torque: nc — Spd _ Grd × Ke, then: total braking torque N — Ne + Nc;
wherein, lambdan is the motor rotating speed at the nth moment, lambdan-1 is the motor rotating speed at the nth-1 moment, delta t is sampling time, and Ke is a braking torque compensation coefficient.
4. The braking energy feedback control method for the electric vehicle as claimed in claim 3, wherein in step S3, the method for limiting the output braking torque according to the motor power is to determine a maximum braking torque threshold N _ max under the current power according to the maximum braking torque and the motor power output curve;
(3.1) if the braking torque N is greater than the braking torque threshold value N _ max, the braking torque N output is equal to N _ max;
(3.2) if the braking torque N is less than or equal to the braking torque threshold value N _ max, the output braking torque N takes the current value.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113173075A (en) * | 2021-05-19 | 2021-07-27 | 上汽通用五菱汽车股份有限公司 | New energy automobile, energy feedback control method, device and medium |
| CN113232514A (en) * | 2021-06-10 | 2021-08-10 | 宝能(广州)汽车研究院有限公司 | Method, system, electronic device and storage medium for improving endurance mileage |
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| CN112428829B (en) | 2022-04-01 |
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