CN112758095A - Energy control method, braking energy feedback system and computer readable storage medium - Google Patents
Energy control method, braking energy feedback system and computer readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—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
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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Abstract
The invention discloses an energy control method, in the scheme, the absolute value of the difference value between the target braking energy feedback torque of the current sampling period and the target braking energy feedback torque of the previous sampling period is smaller than the absolute value of the difference value between the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period, so that the change of the target braking energy feedback torque is smooth, the torque change of a driving motor is smoother when an MCU controls the torque change of the driving motor based on the target braking energy feedback torque, the impact of the positive and negative torque change of the driving motor on a torque transmission carrier power transmission system, a gearbox gear and a rear axle gear can be reduced, and the service life of the mechanical transmission system can be prolonged. The invention also discloses a braking energy feedback system and a computer readable storage medium, which have the same beneficial effects as the energy control method.
Description
Technical Field
The present invention relates to the field of energy control and electrically driven vehicles, and more particularly, to an energy control method, a braking energy feedback system, and a computer readable storage medium.
Background
With the increasing environmental protection importance of the country, the electric drive vehicle has been rapidly developed. Compared with a traditional fuel vehicle, the electrically-driven vehicle has the great advantage of braking energy feedback, and particularly, when the electrically-driven vehicle is converted from a driving state to a braking state, the motor can work as a generator, and the generator is used for generating electricity so as to convert kinetic energy of the electrically-driven vehicle into electric energy which is stored in a power battery for secondary use.
In the prior art, after a VCU (Vehicle Control Unit) obtains a basic energy regenerative braking torque, the basic energy regenerative braking torque is provided to an MCU (Motor Control Unit), so that the MCU controls a torque of a driving Motor to change based on the basic energy regenerative braking torque. However, when the electrically-driven vehicle is switched from a driving state to a braking state, the torque of the driving motor changes from positive to negative rapidly, and the positive and negative changes cause serious impact on a torque transmission carrier power transmission system, a gearbox gear and a rear axle gear, and can generate abnormal sound at the same time, so that the service life of the mechanical transmission system is shortened.
Disclosure of Invention
The invention aims to provide an energy control method, a braking energy feedback system and a computer readable storage medium, which can enable the change of target braking energy feedback torque to be smooth, and enable the torque change of a driving motor to be smoother when an MCU controls the torque change of the driving motor based on the target braking energy feedback torque, thereby reducing the impact of positive and negative torque changes of the driving motor on a torque transmission carrier power transmission system, a gearbox gear and a rear axle gear, and further prolonging the service life of a mechanical transmission system.
In order to solve the above technical problem, the present invention provides an energy control method, including:
determining the basic energy feedback braking torque of the current sampling period;
determining a target braking energy feedback torque of the current sampling period based on the change trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period and a preset torque change value corresponding to the basic energy feedback braking torque of the current sampling period, so that the absolute value of the difference value between the target braking energy feedback torque of the current sampling period and the target braking energy feedback torque of the previous sampling period is smaller than the absolute value of the difference value between the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period;
and sending the target braking energy feedback torque of the current sampling period to an MCU (microprogrammed control unit), so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period.
Preferably, the determining the target braking energy feedback torque of the current sampling period based on the variation trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque of the current sampling period includes:
if T1 is less than T3f and T1 is greater than a1, taking T2 as max (T1 (T3f-b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a1 is more than or equal to T1 and a2, taking T2 as max (T1 (T3f-b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a2 is more than or equal to T1 and a3, taking T2 as max (T1 (T3f-b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a3 is not less than T1>0, taking T2 as max (T1 (T3f-b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and 0 is more than or equal to T1> -a3, taking T2 as max (T1 (T3f-b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 3 is more than or equal to T1> -a2, taking T2 as max (T1 (T3f-b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 2 is more than or equal to T1> -a1, taking T2 as max (T1 (T3f-b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 1 is not less than T1, taking T2 as max (T1 (T3f-b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 1 is not less than T1, taking T2-min (T1; (T3f + b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 1 is larger than or equal to T1> -a2, taking T2-min (T1 (T3f + b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 3 is larger than or equal to T1> -a2, taking T2-min (T1 (T3f + b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and 0 is greater than or equal to T1> -a3, taking T2-min (T1 (T3f + b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a3 is not less than T1 and greater than 0, taking T2-min (T1; (T3f + b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a2 is not less than T1 and a3, taking T2-min (T1 (T3f + b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a1 is not less than T1 and a2, taking T2-min (T1 (T3f + b2)) as the target braking energy feedback torque of the current sampling period;
if T1> T3f and T1> a1, taking T2-min (T1; (T3f + b1)) as the target braking energy feedback torque of the current sampling period;
wherein T1 is the base energy feedback braking torque of the current sampling period, T2 is the target braking energy feedback torque of the current sampling period, T3f is the target braking energy feedback torque of the previous sampling period, a1, a2, a3, -a1, -a2, -a3 are all preset torque values, and a1> a2> a3>0> (-a3) > (-a2) > (-a1), b1, b2, b3, b4 are all preset torque change values, and b1> b2> b3> b4> 0.
Preferably, after determining the target braking energy feedback torque in the current sampling period based on the variation trend of the basic energy feedback braking torque in the current sampling period and the target braking energy feedback torque in the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque in the current sampling period, the method further includes:
performing second-order filtering processing on the target braking energy feedback torque in the current sampling period;
sending the target braking energy feedback torque of the current sampling period to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period, and the method comprises the following steps:
and sending the target braking energy feedback torque of the current sampling period after the second-order filtering processing to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period after the second-order filtering processing.
Preferably, the second-order filtering processing is performed on the target braking energy feedback torque of the current sampling period, and includes:
and performing second-order filtering processing on the target braking energy feedback torque in the current sampling period based on T3(T) ═ K1T 2(T) + K2T 2(T-T) + K3T 2(T-2T) + K4T 3(T-T) + K5T 3(T-2T), wherein T3(T) is the target braking energy feedback torque subjected to second-order filtering processing at the T moment in the current sampling period, T2(T) is the target braking energy feedback torque at the T moment in the current sampling period, K1, K2, K3, K4 and K5 are filter coefficients, T is time, and T is one sampling period.
Preferably, determining the base energy regenerative braking torque for the current sample period comprises:
acquiring a first maximum available torque of the MCU in the current sampling period, a second maximum available torque of the BMS in the current sampling period and a target energy feedback brake torque of the current vehicle speed;
and calculating the basic energy feedback braking torque of the current sampling period based on T1 ═ Kn (min (T11; T12; T13)), wherein T1 is the basic energy feedback braking torque of the current sampling period, Kn is a braking energy feedback coefficient of the nth gear, n is a positive integer, T11 is the first maximum available torque, T12 is the second maximum available torque, and T13 is the target energy feedback braking torque of the current vehicle speed.
In order to solve the above technical problem, the present invention further provides a braking energy feedback system, including:
a memory for storing a computer program;
a VCU for implementing the steps of the energy control method as described above when executing the computer program.
Preferably, the method further comprises the following steps:
the MCU is connected with the VCU and is used for providing a first maximum available torque for the VCU and adjusting the driving motor based on the target braking energy feedback torque;
the driving motor is connected with the MCU and used for adjusting based on the control of the MCU;
a BMS connected to the VCU for providing a second maximum available torque to the VCU.
To solve the above technical problem, the present invention further provides a computer-readable storage medium, having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps of the energy control method as described above.
The invention provides an energy control method, in the scheme, the target braking energy feedback torque of the current sampling period is determined based on the change trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the last sampling period and the preset torque change value corresponding to the basic energy feedback braking torque of the current sampling period, the absolute value of the difference value between the target braking energy feedback torque of the current sampling period and the target braking energy feedback torque of the last sampling period is smaller than the absolute value of the difference value between the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the last sampling period, the change of the target braking energy feedback torque can be smooth, when an MCU controls the torque change of a driving motor based on the target braking energy feedback torque, the torque change of the driving motor is smoother, further, the impact of the positive and negative torque changes of the driving motor on the torque transmission carrier power transmission system, the gearbox gear and the rear axle gear can be reduced, and the service life of the mechanical transmission system is further prolonged.
The invention also provides a braking energy feedback system and a computer readable storage medium, which have the same beneficial effects as the energy control method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a process flow diagram of an energy control method provided by the present invention;
FIG. 2 is a process flow diagram of another energy control method provided by the present invention;
fig. 3 is a schematic structural diagram of a braking energy feedback system according to the present invention.
Detailed Description
The core of the invention is to provide an energy control method, a braking energy feedback system and a computer readable storage medium, which can make the change of target braking energy feedback torque smooth, and the torque change of a driving motor is smoother when an MCU controls the torque change of the driving motor based on the target braking energy feedback torque, thereby reducing the impact of positive and negative torque changes of the driving motor on a torque transmission carrier power transmission system, a gearbox gear and a rear axle gear, and further prolonging the service life of a mechanical transmission system.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, 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.
Referring to fig. 1, fig. 1 is a process flow chart of an energy control method according to the present invention.
The method comprises the following steps:
s11: determining the basic energy feedback braking torque of the current sampling period;
s12: determining a target braking energy feedback torque of the current sampling period based on the change trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period and a preset torque change value corresponding to the basic energy feedback braking torque of the current sampling period, so that the absolute value of the difference value between the target braking energy feedback torque of the current sampling period and the target braking energy feedback torque of the previous sampling period is smaller than the absolute value of the difference value between the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period;
s13: and sending the target braking energy feedback torque of the current sampling period to the MCU so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period.
The applicant considers that in the prior art, after the VCU obtains the basic energy regenerative braking torque, the basic energy regenerative braking torque is provided to the MCU so that the MCU controls the torque of the driving motor to be varied based on the basic energy regenerative braking torque. However, when the electrically-driven vehicle is switched from a driving state to a braking state, the torque of the driving motor changes from positive to negative rapidly, and the positive and negative changes cause serious impact on a torque transmission carrier power transmission system, a gearbox gear and a rear axle gear, and can generate abnormal sound at the same time, so that the service life of the mechanical transmission system is shortened.
In this embodiment, the target braking energy feedback torque of the current sampling period is determined based on the variation trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque of the current sampling period, so that the absolute value of the difference between the target braking energy feedback torque of the current sampling period and the target braking energy feedback torque of the previous sampling period is smaller than the absolute value of the difference between the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period.
In summary, compared with the prior art that the VCU directly provides the basic energy feedback braking torque to the MCU after obtaining the basic energy feedback braking torque, the scheme obtains the target braking energy feedback torque of the current sampling period after a series of processing on the basic energy feedback braking torque of the current sampling period obtained by the VCU, and provides the target braking energy feedback torque of the current sampling period to the MCU, wherein the target braking energy feedback torque of the current sampling period is closer to the target braking energy feedback torque of the previous sampling period than the basic energy feedback braking torque of the current sampling period. Based on the above, the change of the target braking energy feedback torque of each sampling period is smooth relative to the change of the target braking energy feedback torque of the previous sampling period, and the torque change of the driving motor is smooth when the MCU controls the torque change of the driving motor based on the target braking energy feedback torque, so that the impact of the positive and negative torque changes of the driving motor on the torque transmission carrier power transmission system, the gearbox gear and the rear axle gear can be reduced, and the service life of the mechanical transmission system can be prolonged.
Referring to fig. 2, fig. 2 is a process flow chart of another energy control method provided by the present invention.
On the basis of the above-described embodiment:
as a preferred embodiment, the determining the target braking energy feedback torque in the current sampling period based on the variation trend of the basic energy feedback braking torque in the current sampling period and the target braking energy feedback torque in the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque in the current sampling period includes:
if T1 is less than T3f and T1 is greater than a1, taking T2 as max (T1 (T3f-b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a1 is more than or equal to T1 and a2, taking T2 as max (T1 (T3f-b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a2 is more than or equal to T1 and a3, taking T2 as max (T1 (T3f-b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a3 is not less than T1>0, taking T2 as max (T1 (T3f-b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and 0 is more than or equal to T1> -a3, taking T2 as max (T1 (T3f-b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 3 is more than or equal to T1> -a2, taking T2 as max (T1 (T3f-b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 2 is more than or equal to T1> -a1, taking T2 as max (T1 (T3f-b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 1 is not less than T1, taking T2 as max (T1 (T3f-b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 1 is not less than T1, taking T2-min (T1; (T3f + b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 1 is larger than or equal to T1> -a2, taking T2-min (T1 (T3f + b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 3 is larger than or equal to T1> -a2, taking T2-min (T1 (T3f + b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and 0 is greater than or equal to T1> -a3, taking T2-min (T1 (T3f + b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a3 is not less than T1 and greater than 0, taking T2-min (T1; (T3f + b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a2 is not less than T1 and a3, taking T2-min (T1 (T3f + b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a1 is not less than T1 and a2, taking T2-min (T1 (T3f + b2)) as the target braking energy feedback torque of the current sampling period;
if T1> T3f and T1> a1, taking T2-min (T1; (T3f + b1)) as the target braking energy feedback torque of the current sampling period;
wherein T1 is the base energy feedback braking torque of the current sampling period, T2 is the target braking energy feedback torque of the current sampling period, T3f is the target braking energy feedback torque of the previous sampling period, a1, a2, a3, -a1, -a2, -a3 are all preset torque values, and a1> a2> a3>0> (-a3) > (-a2) > (-a1), b1, b2, b3, b4 are all preset torque change values, and b1> b2> b3> b4> 0.
In this embodiment, a specific implementation manner for determining the target braking energy feedback torque in the current sampling period based on the variation trend of the basic energy feedback braking torque in the current sampling period and the target braking energy feedback torque in the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque in the current sampling period is provided.
Specifically, preset torque values a1, a2, a3, -a1, -a2, -a3 are set firstly, and a1> a2> a3>0> (-a3) > (-a2) > (-a 1); preset torque variation values b1, b2, b3, b4, and b1> b2> b3> b4> 0.
If T1 is greater than a1 or-a 1 is not less than T1, it indicates that the change of the basic energy feedback braking torque T1 in the current sampling period is maximum relative to the target braking energy feedback torque T3f in the previous sampling period, and at this time, the maximum preset torque value b1 is selected as a preset torque value corresponding to the basic energy feedback braking torque T1 in the current sampling period; if a1 is not less than T1> a2 or-a 2 is not less than T1> -a1, the change of the basic energy feedback braking torque T1 in the current sampling period relative to the target braking energy feedback torque T3f in the previous sampling period is large, and at the moment, the second large preset torque value b2 is selected as the preset torque value corresponding to the basic energy feedback braking torque T1 in the current sampling period; if a2 is not less than T1> a3 or-a 3 is not less than T1> -a2, the change of the basic energy feedback braking torque T1 in the current sampling period relative to the target braking energy feedback torque T3f in the previous sampling period is smaller, and at the moment, a preset torque value b3 is selected as a preset torque value corresponding to the basic energy feedback braking torque T1 in the current sampling period; if 0 is greater than or equal to T1> -a3 or a3 is greater than or equal to T1>0, the change of the basic energy feedback braking torque T1 of the current sampling period relative to the target braking energy feedback torque T3f of the last sampling period is minimum, and at the moment, the minimum preset torque value b4 is selected as the preset torque value corresponding to the basic energy feedback braking torque T1 of the current sampling period.
Then, the relationship between the basic energy feedback braking torque T1 in the current sampling period and the target braking energy feedback torque T3f in the previous sampling period is compared, if T1 is less than T3f, it indicates that the basic energy feedback braking torque T1 in the current sampling period is in a downward trend relative to the target braking energy feedback torque T3f in the previous sampling period, and if T1 is greater than or equal to T3f, it indicates that the basic energy feedback braking torque T1 in the current sampling period is in an upward trend relative to the target braking energy feedback torque T3f in the previous sampling period.
When T1< T3 f:
if T1> a1 or-a 1 is not less than T1, it indicates that the basic energy feedback braking torque T1 of the current sampling period is in a descending trend relative to the target braking energy feedback torque T3f of the previous sampling period, and the descending variation is the largest, at this time, the maximum variation torque value b1 is subtracted from the target braking energy feedback torque T3f of the previous sampling period, the result is compared with the basic energy feedback braking torque T1 of the current sampling period, and the maximum value of the comparison is selected as the target braking energy feedback torque T2 of the current sampling period, so that the obtained target braking energy feedback torque T2 of the current sampling period is closer to the target braking energy feedback torque T3f of the previous sampling period;
if a1 is not less than T1> a2 or-a 2 is not less than T1> -a1, it is indicated that the basic energy feedback braking torque T1 in the current sampling period is in a descending trend relative to the target braking energy feedback torque T3f in the previous sampling period, and the descending variation is large, at this time, the second large variation torque value b2 is subtracted from the target braking energy feedback torque T3f in the previous sampling period, the result is compared with the basic energy feedback braking torque T1 in the current sampling period, and the maximum value of the comparison is selected as the target braking energy feedback torque T2 in the current sampling period; and so on.
When T1< T3 f:
if T1> a1 or-a 1 is not less than T1, it indicates that the basic energy feedback braking torque T1 of the current sampling period is in an ascending trend relative to the target braking energy feedback torque T3f of the previous sampling period, and the ascending variation is the largest, at this time, the target braking energy feedback torque T3f of the previous sampling period is added with the maximum variation torque value b1, the result is compared with the basic energy feedback braking torque T1 of the current sampling period, and the compared minimum value is selected as the target braking energy feedback torque T2 of the current sampling period, so that the obtained target braking energy feedback torque T2 of the current sampling period is closer to the target braking energy feedback torque T3f of the previous sampling period;
if a1 is more than or equal to T1> a2 or-a 2 is more than or equal to T1> -a1, the situation that the basic energy feedback braking torque T1 in the current sampling period is in an ascending trend relative to the target braking energy feedback torque T3f in the previous sampling period and the ascending variation is large is shown, at the moment, the target braking energy feedback torque T3f in the previous sampling period is added with a second large variation torque value b2, the result is compared with the basic energy feedback braking torque T1 in the current sampling period, and the minimum value of the comparison is selected as the target braking energy feedback torque T2 in the current sampling period; and so on.
Based on this, the variation trend and the variation magnitude of the basic energy feedback braking torque T1 of the current sampling period relative to the target braking energy feedback torque T3f of the previous sampling period are judged, if the basic energy feedback braking torque T1 of the current sampling period is in an ascending trend relative to the target braking energy feedback torque T3f of the previous sampling period, the target braking energy feedback torque T3f of the previous sampling period is added with a corresponding preset torque value, and then the preset torque value is compared with the basic energy feedback braking torque T1 of the current sampling period, and the maximum comparison value is selected, so that the target braking energy feedback torque T2 of the current sampling period, which is closest to the target braking energy feedback torque T3f of the previous sampling period, can be obtained; the same is true if the base energy feedback braking torque T1 of the current sampling period is trending downward relative to the target braking energy feedback torque T3f of the previous sampling period. Therefore, the target braking energy feedback torque of each sampling period can be smoothly changed relative to the target braking energy feedback torque of the previous sampling period.
For example, a1 is 12, a2 is 9, a3 is 7, b1 is 5, b2 is 4, b3 is 3, b4 is 2, the target braking energy feedback torque T3f in the previous sampling period is 18, the base energy feedback braking torque T1 in the current sampling period is 10, at this time, T1< T3f and a1 ≧ T1> a2, the target braking energy feedback torque T2 ═ max (T1; (T3f-b2)) ═ max (10; (18-4)) -14 in the current sampling period. As can be seen, the absolute value of the difference between the target braking energy feedback torque T2 in the current sampling period and the target braking energy feedback torque T3f in the previous sampling period is 4, and the absolute value of the difference between the basic energy feedback braking torque T1 in the current sampling period and the target braking energy feedback torque T3f in the previous sampling period is 8, that is, the target braking energy feedback torque T2 in the current sampling period is closer to the target braking energy feedback torque T3f in the previous sampling period than to the basic energy feedback braking torque T1 in the current sampling period.
The specific values of a1, a2, a3, b1, b2, b3 and b4 are not particularly limited in this application.
As a preferred embodiment, after determining the target braking energy feedback torque in the current sampling period based on the variation trend of the basic energy feedback braking torque in the current sampling period and the target braking energy feedback torque in the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque in the current sampling period, the method further includes:
s14: performing second-order filtering processing on the target braking energy feedback torque in the current sampling period;
sending the target braking energy feedback torque of the current sampling period to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period, and the method comprises the following steps:
and sending the target braking energy feedback torque of the current sampling period after the second-order filtering processing to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period after the second-order filtering processing.
In order to further ensure the smoothness of zero positive and negative transition of the target braking energy feedback torque. In this embodiment, after the target braking energy feedback torque of the current sampling period is determined based on the change trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period and the preset torque change value corresponding to the basic energy feedback braking torque of the current sampling period, the target braking energy feedback torque of the current sampling period is subjected to second-order filtering processing, and then the target braking energy feedback torque of the current sampling period after the second-order filtering processing is sent to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period after the second-order filtering processing.
As a preferred embodiment, performing a second-order filtering process on the target braking energy feedback torque of the current sampling period includes:
the target braking energy feedback torque of the current sampling period is subjected to two-stage filtering processing based on T3(T) ═ K1T 2(T) + K2T 2(T-T) + K3T 2(T-2T) + K4T 3(T-T) + K5T 3(T-2T), wherein T3(T) is the target braking energy feedback torque subjected to second-stage filtering processing at the time T in the current sampling period, T2(T) is the target braking energy feedback torque at the time T in the current sampling period, K1, K2, K3, K4 and K5 are filter coefficients, T is time, and T is a sampling period.
In this embodiment, a specific implementation manner of performing second-order filtering processing on the target braking energy feedback torque in the current sampling period is provided. Specifically, the smoothness of the zero-point positive and negative transition of the target braking energy feedback torque in the current sampling period can be further ensured by performing the second-order filtering processing on the target braking energy feedback torque in the current sampling period by adopting T3(T) ═ K1 (T2 (T) + K2 (T2 (T-T) + K3) T2(T-2T) + K4 (T3) (T-T) + K5 (T3) (T-2T).
As a preferred embodiment, determining the base energy regenerative braking torque for the current sampling period comprises:
acquiring a first maximum available torque of an MCU (microprogrammed control unit) in a current sampling period, a second maximum available torque of a BMS (Battery Management System) in the current sampling period and a target energy feedback brake torque of a current vehicle speed;
and calculating the basic energy feedback braking torque of the current sampling period based on T1-Kn (min (T11; T12; T13)), wherein T1 is the basic energy feedback braking torque of the current sampling period, Kn is the braking energy feedback coefficient of the nth gear, n is a positive integer, T11 is the first maximum available torque, T12 is the second maximum available torque, and T13 is the target energy feedback braking torque of the current vehicle speed.
In this embodiment, a specific implementation manner of obtaining the first maximum available torque of the MCU in the current sampling period, the second maximum available torque of the BMS in the current sampling period, and the target energy regenerative braking torque of the current vehicle speed is provided. Specifically, the minimum value of the first maximum available torque of the MCU for the current sampling period, the second maximum available torque of the BMS for the current sampling period, and the target energy regenerative braking torque for the current vehicle speed is used as the base energy regenerative braking torque for the current sampling period.
It should be noted that n is usually 1 or 2, the 1 st gear refers to the first energy feedback regulating switch, and usually selects the first energy feedback regulating switch in a light load state, the 2 nd gear refers to the second energy feedback regulating switch, and usually selects the second energy feedback regulating switch in a heavy load state.
Of course, n is not limited to 1 or 2, the relationship between the shift position and the switch is not limited to the above-mentioned manner, and the present application is not limited thereto.
In addition, when an ABS (Antilock Brake System) is operated, the energy regenerative braking torque is cleared.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a braking energy feedback system according to the present invention.
The invention also provides a braking energy feedback system, comprising:
a memory 31 for storing a computer program;
the VCU32, when executing the computer program, implements the steps of the energy control method described above.
As a preferred embodiment, the method further comprises the following steps:
an MCU33 coupled to the VCU32 and configured to provide a first maximum available torque to the VCU32 and to regulate the drive motor 35 based on a target braking energy feedback torque;
the driving motor 35 is connected with the MCU33 and is used for adjusting based on the control of the MCU 33;
a BMS34 connected to the VCU32 for providing a second maximum available torque to the VCU 32.
For an introduction of the braking energy feedback system provided by the present invention, please refer to the above embodiments of the present invention, and the present invention is not repeated herein.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the energy control method as described above.
For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above-mentioned embodiments of the present invention, which are not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An energy control method, comprising:
determining the basic energy feedback braking torque of the current sampling period;
determining a target braking energy feedback torque of the current sampling period based on the change trend of the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period and a preset torque change value corresponding to the basic energy feedback braking torque of the current sampling period, so that the absolute value of the difference value between the target braking energy feedback torque of the current sampling period and the target braking energy feedback torque of the previous sampling period is smaller than the absolute value of the difference value between the basic energy feedback braking torque of the current sampling period and the target braking energy feedback torque of the previous sampling period;
and sending the target braking energy feedback torque of the current sampling period to an MCU (microprogrammed control unit), so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period.
2. The energy control method of claim 1, wherein determining the target braking energy feedback torque in the current sampling period based on a variation trend of the basic energy feedback braking torque in the current sampling period and the target braking energy feedback torque in the previous sampling period and a preset torque variation value corresponding to the basic energy feedback braking torque in the current sampling period comprises:
if T1 is less than T3f and T1 is greater than a1, taking T2 as max (T1 (T3f-b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a1 is more than or equal to T1 and a2, taking T2 as max (T1 (T3f-b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a2 is more than or equal to T1 and a3, taking T2 as max (T1 (T3f-b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and a3 is not less than T1>0, taking T2 as max (T1 (T3f-b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and 0 is more than or equal to T1> -a3, taking T2 as max (T1 (T3f-b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 3 is more than or equal to T1> -a2, taking T2 as max (T1 (T3f-b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 2 is more than or equal to T1> -a1, taking T2 as max (T1 (T3f-b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is less than T3f and-a 1 is not less than T1, taking T2 as max (T1 (T3f-b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 1 is not less than T1, taking T2-min (T1; (T3f + b1)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 1 is larger than or equal to T1> -a2, taking T2-min (T1 (T3f + b2)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and-a 3 is larger than or equal to T1> -a2, taking T2-min (T1 (T3f + b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and 0 is greater than or equal to T1> -a3, taking T2-min (T1 (T3f + b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a3 is not less than T1 and greater than 0, taking T2-min (T1; (T3f + b4)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a2 is not less than T1 and a3, taking T2-min (T1 (T3f + b3)) as the target braking energy feedback torque of the current sampling period;
if T1 is greater than T3f and a1 is not less than T1 and a2, taking T2-min (T1 (T3f + b2)) as the target braking energy feedback torque of the current sampling period;
if T1> T3f and T1> a1, taking T2-min (T1; (T3f + b1)) as the target braking energy feedback torque of the current sampling period;
wherein T1 is the base energy feedback braking torque of the current sampling period, T2 is the target braking energy feedback torque of the current sampling period, T3f is the target braking energy feedback torque of the previous sampling period, a1, a2, a3, -a1, -a2, -a3 are all preset torque values, and a1> a2> a3>0> (-a3) > (-a2) > (-a1), b1, b2, b3, b4 are all preset torque change values, and b1> b2> b3> b4> 0.
3. The energy control method of claim 1, wherein after determining the target braking energy feedback torque in the current sampling period based on the variation trend of the basic energy feedback braking torque in the current sampling period and the target braking energy feedback torque in the previous sampling period and the preset torque variation value corresponding to the basic energy feedback braking torque in the current sampling period, the method further comprises:
performing second-order filtering processing on the target braking energy feedback torque in the current sampling period;
sending the target braking energy feedback torque of the current sampling period to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period, and the method comprises the following steps:
and sending the target braking energy feedback torque of the current sampling period after the second-order filtering processing to the MCU, so that the MCU adjusts the driving motor based on the target braking energy feedback torque of the current sampling period after the second-order filtering processing.
4. The energy control method of claim 3, wherein performing a second-order filtering process on the target braking energy feedback torque for a current sampling period comprises:
and performing second-order filtering processing on the target braking energy feedback torque in the current sampling period based on T3(T) ═ K1T 2(T) + K2T 2(T-T) + K3T 2(T-2T) + K4T 3(T-T) + K5T 3(T-2T), wherein T3(T) is the target braking energy feedback torque subjected to second-order filtering processing at the T moment in the current sampling period, T2(T) is the target braking energy feedback torque at the T moment in the current sampling period, K1, K2, K3, K4 and K5 are filter coefficients, T is time, and T is one sampling period.
5. The energy control method of any of claims 1 to 4, wherein determining the base energy regenerative braking torque for the current sample period comprises:
acquiring a first maximum available torque of the MCU in the current sampling period, a second maximum available torque of the BMS in the current sampling period and a target energy feedback brake torque of the current vehicle speed;
and calculating the basic energy feedback braking torque of the current sampling period based on T1 ═ Kn (min (T11; T12; T13)), wherein T1 is the basic energy feedback braking torque of the current sampling period, Kn is a braking energy feedback coefficient of the nth gear, n is a positive integer, T11 is the first maximum available torque, T12 is the second maximum available torque, and T13 is the target energy feedback braking torque of the current vehicle speed.
6. A brake energy feedback system, comprising:
a memory for storing a computer program;
VCU for implementing the steps of the energy control method according to any one of claims 1 to 5 when executing said computer program.
7. The braking energy feedback system of claim 6, further comprising:
the MCU is connected with the VCU and is used for providing a first maximum available torque for the VCU and adjusting the driving motor based on the target braking energy feedback torque;
the driving motor is connected with the MCU and used for adjusting based on the control of the MCU;
a BMS connected to the VCU for providing a second maximum available torque to the VCU.
8. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the energy control method according to any one of claims 1 to 5.
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