CN114407668A

CN114407668A - Braking energy recovery method, braking energy recovery device, braking energy recovery apparatus, storage medium, and program product

Info

Publication number: CN114407668A
Application number: CN202210166011.1A
Authority: CN
Inventors: 叶先军
Original assignee: Zhejiang Geely Holding Group Co Ltd; Weirui Electric Automobile Technology Ningbo Co Ltd; Zeekr Automobile Ningbo Hangzhou Bay New Area Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Weirui Electric Automobile Technology Ningbo Co Ltd; Zeekr Automobile Ningbo Hangzhou Bay New Area Co Ltd
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-04-29
Anticipated expiration: 2042-02-23
Also published as: CN114407668B

Abstract

The application provides a braking energy recovery method, device, equipment, storage medium and program product. The method comprises the following steps: acquiring braking energy recovery power and allowable charging power of a vehicle; judging whether the braking energy recovery power is greater than the allowable charging power; if the braking energy recovery power is determined to be larger than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power; the operating states of the electric drives are controlled in dependence on the braking energy recovery power, the energy dissipation power and the allowable charging power, such that the at least one electric drive operates in the energy recovery state and the at least one electric drive operates in the energy dissipation state. According to the scheme, when the battery of the vehicle is in a full-charge state or close to the full-charge state, the braking energy recovery device can provide the braking energy recovery torque, so that the loss of the mechanical friction system can be reduced, and the mechanical friction system can be lightened to obtain more allocable spaces.

Description

Braking energy recovery method, braking energy recovery device, braking energy recovery apparatus, storage medium, and program product

Technical Field

The present application relates to the field of electric vehicles, and in particular, to a braking energy recovery method, apparatus, device, storage medium, and program product.

Background

In order to increase the endurance mileage of the vehicle, the electric vehicle is equipped with a braking energy recovery device. The braking energy recovery device converts the kinetic energy of the vehicle into electric energy to be stored in the high-voltage battery through the power generation function of the motor. When the vehicle slides or meets the requirements of medium and low braking torques, the braking energy recovery torque provided by the braking energy recovery device can meet the braking torque requirements of the vehicle; when the high braking torque is required, the mechanical braking system of the vehicle only needs to provide the part of the braking energy recovery torque which can not meet the braking torque requirement. Therefore, when the braking energy recovery device can stably and reliably provide the braking energy recovery torque, the brake disc, the brake hub, the hydraulic subsystem and the like of the mechanical friction braking system can be lightened, so that the cost is reduced.

However, in order to avoid the overcharge of the high-voltage battery caused by the charging of the braking energy recovery device when the battery of the electric vehicle is in a full-charge state or a state close to the full-charge state, in the prior art, the braking energy recovery device is started only when the charging power allowed by the battery is greater than the braking energy recovery power, so that the braking energy recovery device cannot be guaranteed to stably and reliably provide braking energy recovery torque, the mechanical friction braking system needs to bear all the braking torque requirements, the braking loss of the mechanical friction braking system is large, and meanwhile, the mechanical friction braking system cannot be lightened to guarantee the braking safety, so that the usable space of the vehicle is reduced, and the dead weight is increased.

Therefore, in the prior art, when the battery of the vehicle is in a full-charge state or close to the full-charge state, the problem that the braking energy recovery device cannot provide the braking energy recovery torque exists, and further the mechanical friction system is quickly worn, and the problem that the size and the weight cannot be reduced due to light weight is caused.

Disclosure of Invention

The application provides a braking energy recovery method, a braking energy recovery device, a braking energy recovery equipment, a storage medium and a program product, which are used for solving the problem that when a battery of a vehicle is in a full-charge state or close to the full-charge state, a braking energy recovery device cannot provide braking energy recovery torque, so that a mechanical friction system is high in loss, and light in weight and small in size and weight.

According to a first aspect of the present application, there is provided a braking energy recovery method comprising:

acquiring braking energy recovery power and allowable charging power of a vehicle;

judging whether the braking energy recovery power is larger than the allowable charging power;

if the braking energy recovery power is determined to be larger than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power;

and controlling the running state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, so that at least one electric drive runs in an energy recovery state, at least one electric drive runs in an energy dissipation state, and the difference between the power of the electric motor running in the electric drive in the energy recovery state for performing braking energy recovery and the power of the electric drive running in the energy dissipation state for dissipating energy is smaller than or equal to the allowable charging power, wherein when the electric drive runs in the energy recovery state, the electric motor running in the electric drive runs in a power generation state for performing braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in a driving state for performing energy dissipation.

According to a second aspect of the present application, there is provided a braking energy recovery device comprising:

the system comprises an acquisition module, a control module and a charging module, wherein the acquisition module is used for acquiring braking energy recovery power and allowable charging power of a vehicle;

the judging module is used for judging whether the braking energy recovery power is larger than the allowable charging power;

the determining module is used for determining energy dissipation power according to the braking energy recovery power and the allowable charging power if the braking energy recovery power is determined to be larger than the allowable charging power;

and the control module is used for controlling the operation state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, so that at least one electric drive operates in an energy recovery state, at least one electric drive operates in an energy dissipation state, and the difference between the power of the electric motor in the electric drive operating in the energy recovery state for performing braking energy recovery and the power of the electric drive operating in the energy dissipation state for dissipating energy is smaller than or equal to the allowable charging power, wherein when the electric drive operates in the energy recovery state, the electric motor in the electric drive operates in a power generation state for performing braking energy recovery, and when the electric drive operates in the energy dissipation state, the electric motor in the electric drive operates in a driving state for performing energy dissipation.

According to a third aspect of the present application, there is provided an electronic device comprising: a memory and a processor;

the memory is connected with the processor circuit;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement the method as described in the first aspect.

According to a fourth aspect of the present application, there is provided a computer readable storage medium having stored thereon computer executable instructions for implementing the method as described in the first aspect when executed by a processor.

According to a fifth aspect of the application, a computer program product is provided, comprising a computer program for implementing the method as described in the first aspect when the computer program is executed by a processor.

According to the braking energy recovery method, the braking energy recovery device, the braking energy recovery equipment, the storage medium and the program product, the braking energy recovery power and the allowable charging power of the vehicle are acquired; judging whether the braking energy recovery power is larger than the allowable charging power; if the braking energy recovery power is determined to be larger than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power; controlling the operation state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, so that at least one electric drive operates in an energy recovery state, at least one electric drive operates in an energy dissipation state, and the difference between the power of the electric motor in the electric drive operating in the energy recovery state for performing braking energy recovery and the power of the energy dissipated by the electric drive operating in the energy dissipation state is smaller than or equal to the allowable charging power, wherein when the electric drive operates in the energy recovery state, the electric motor in the electric drive operates in the power generation state for performing braking energy recovery, and when the electric drive operates in the energy dissipation state, the electric motor in the electric drive operates in the driving state for performing energy dissipation, and since by controlling the operation state of the electric drive, the at least one electric drive operates in the energy recovery state, providing a energy recovery torque, the at least one electric drive operates in the energy dissipation state, the energy recovered by the braking energy recovery device is dissipated, and the battery is not overcharged. Therefore, when the battery of the vehicle is in a full-power state or close to the full-power state, the braking energy recovery device can provide braking energy recovery torque, so that the loss of the mechanical friction system can be reduced, meanwhile, the mechanical friction system can be lightened, more distributable spaces can be obtained, the distributable spaces can be used for expanding the capacity of the battery of the vehicle, the vehicle endurance can be improved, or the space in the vehicle can be expanded by a user, so that the user can obtain better experience and the like.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a schematic flow diagram of a braking energy recovery method provided in accordance with a first embodiment of the present application;

FIG. 3 is a schematic flow diagram of a braking energy recovery method provided in accordance with a second embodiment of the present application;

FIG. 4 is a schematic flow diagram of a braking energy recovery method provided in accordance with a fourth embodiment of the present application;

FIG. 5 is a schematic structural diagram of a braking energy recovery device provided in accordance with a sixth embodiment of the present application;

fig. 6 is a block diagram of an electronic device provided according to a seventh embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

First, terms referred to in the present application will be explained.

Electric drives, i.e. electric drive systems, generally consist of an electric motor, a transmission and a converter.

An Electric machine (Electric machine) is an electromagnetic device capable of realizing mutual conversion between Electric energy and mechanical energy, and generally has two operation states: a power generation state and a driving state. When the motor operates in a power generation state, mechanical energy can be converted into electric energy and heat energy. When the motor runs in a driving state, the electric energy can be converted into mechanical energy and heat energy.

The transmission mechanism is a mechanism for connecting the motor and the vehicle main shaft, can transmit the torque and the rotating speed output by the motor to the vehicle main shaft so as to drive the vehicle to run, and can transmit the rotating speed of the vehicle main shaft to the motor so as to realize power generation.

The converter is a device for converting voltage, current, waveform, number of phases, frequency, and the like as required, and mainly includes an inverter for converting direct current into alternating current and a DC/DC converter for converting direct current power supply voltage.

The recovery of braking energy refers to the operation of converting kinetic energy of a vehicle into electric energy by an electric drive through a motor and a transmission mechanism when the vehicle is braked.

Energy dissipation, refers to the operation of an electric drive to consume electric energy through at least one of an electric machine and a converter.

The prior art to which this application relates will be described and analyzed in detail below.

When a vehicle is braked, a braking torque is required, the braking torque is usually provided by a mechanical friction braking system (the braking torque provided by the mechanical friction system is called as a mechanical braking torque), and the mechanical friction system converts kinetic energy of the vehicle into heat energy through friction among a brake disc, a hub or a disc so as to realize vehicle braking. For an electric vehicle, whether a pure electric vehicle or a hybrid electric vehicle, a braking energy recovery device is generally configured to increase the cruising range of the vehicle. When the vehicle slides and brakes, the braking energy recovery device enables the electric drive to operate in an energy recovery state by controlling the electric drive to operate in an electricity generation state, the kinetic energy of the vehicle is recovered through the electric motor and stored in the battery, and the electric drive/electric motor performs braking energy recovery and provides braking torque (the braking torque provided by the braking energy recovery device/electric drive/electric motor is called braking energy recovery torque). For an electric automobile, the electric automobile is equipped with both a braking energy recovery device and a mechanical friction braking system, and when the automobile is braked, the braking energy recovery device can be used for providing braking energy recovery torque to convert kinetic energy of the automobile into electric energy, and the mechanical friction braking system can also be used for providing mechanical braking torque.

When the vehicle slides or the vehicle brakes and has medium and low braking torque requirements, the braking energy recovery device is usually adopted alone to provide the braking energy recovery torque so as to meet the braking torque requirements; when the braking torque is required to be high, the braking energy recovery device can provide limited braking energy recovery torque, so that safe braking is ensured by controlling the braking energy recovery device and the mechanical friction braking system to act together according to a set strategy so as to provide braking torque together to meet the braking torque requirement, and the mechanical friction braking system can also provide braking torque only. If the mechanical friction braking system only provides the braking torque, the loss caused by braking to the mechanical friction braking system is higher than the loss when the braking energy recovery device and the mechanical friction braking system provide the braking torque together.

Therefore, for the electric automobile, when the high braking torque is required, if the electric drive can stably and reliably provide the braking energy recovery torque, when the automobile is braked, the mechanical friction system and the electric drive provide the braking torque together, and compared with the braking only by the mechanical friction system, when the braking torque is provided together, the mechanical braking torque required by the mechanical friction system is reduced, and the loss of the mechanical friction system is reduced. Meanwhile, as the mechanical braking torque required to be provided by the mechanical friction system is reduced, the brake disc, the brake hub, the hydraulic subsystem and the like of the mechanical friction braking system can be lightened, the size and the weight of the mechanical friction braking system are reduced, more allocable spaces are obtained, the allocable spaces can be used for expanding the battery capacity of the vehicle, the endurance of the vehicle is improved, or the space in the vehicle is expanded by a user, so that the user can obtain better experience.

However, because the braking torque provided by the braking energy recovery device is to convert the kinetic energy of the vehicle into electric energy to be stored in the battery, in order to avoid that when the battery (such as a high-voltage battery) of the vehicle is fully charged or is close to being fully charged, the electric energy recovered by the braking energy recovery device charges the battery, so that the battery is overcharged and the service life of the battery is damaged, the braking energy recovery device can be started only when the electric quantity of the battery is lower than a certain value, and the braking torque is provided for the vehicle brake through electric driving, so that the braking torque cannot be stably and reliably provided for the vehicle brake, the mechanical friction system cannot be quickly lost, and the weight cannot be reduced.

In summary, in the prior art, when a battery of a vehicle is in a full state or close to the full state, a braking energy recovery device cannot provide a braking energy recovery torque, so that a mechanical friction system is quickly worn, and cannot be lightened, and a distributable space of the vehicle is occupied.

In the face of the problems in the prior art, the inventor finds out through creative research that the technical scheme of the application is provided and aims to solve the problems in the prior art. In order to enable the braking energy recovery device to provide braking energy recovery torque when the battery of the vehicle is in a full-charge state or close to the full-charge state, and not to cause overcharging to the battery, the energy recovered by the braking energy recovery device needs to be dissipated, so that the braking energy recovery power and the allowable charging power of the vehicle are acquired; judging whether the braking energy recovery power is larger than the allowable charging power; if the braking energy recovery power is determined to be larger than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power; and controlling the running state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, so that at least one electric drive runs in an energy recovery state, at least one electric drive runs in an energy dissipation state, and the difference between the power of the electric motor running in the electric drive in the energy recovery state for performing braking energy recovery and the power of the electric drive running in the energy dissipation state for dissipating energy is smaller than or equal to the allowable charging power, wherein when the electric drive runs in the energy recovery state, the electric motor running in the electric drive runs in a power generation state for performing braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in a driving state for performing energy dissipation. Therefore, according to the braking energy recovery method provided by the application, the at least one electric drive is operated in the energy recovery state to provide the braking energy recovery torque by controlling the operation state of the electric drives, and the at least one electric drive is operated in the energy dissipation state to dissipate the energy recovered by the braking energy recovery device without overcharging the battery. Therefore, when the battery of the vehicle is in a full-power state or close to the full-power state, the braking energy recovery device can still provide braking energy recovery torque, so that the loss of the mechanical friction system can be reduced, meanwhile, the mechanical friction system can be lightened, more distributable spaces can be obtained, the distributable spaces can be used for expanding the battery capacity of the vehicle, the endurance of the vehicle is improved, or the space in the vehicle is expanded by a user, so that the user can obtain better experience and the like.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

An application scenario of the braking energy recovery method provided by the present application is described below. When the following description refers to the accompanying drawings, the same data in different drawings represent the same or similar elements, unless otherwise indicated.

Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present application, and as shown in fig. 1, the braking energy recovery method provided by the embodiment of the present application is applied to a braking energy recovery device 10 of a vehicle, where the braking energy recovery device 10 is configured in the vehicle, and the vehicle may be a pure electric vehicle or a hybrid vehicle. At least an electric drive system 111, an electric drive system 112, an electronic control system 113 and a braking energy recovery device 10 are arranged on the vehicle. The braking energy recovery device 10, the electric drive system 111, the electric drive system 112 and the electronic control system 113 are electrically interconnected. Electric drive system 111 includes an electric machine 1111, and electric drive system 112 includes an electric machine 1121. The electronic control system 113 includes a Motor Controller (MCU)1131, a Battery Management System (BMS)1132 and a vehicle controller 1133 that are electrically interconnected. The battery management system 1132 can collect data such as charging and discharging current, voltage, and ambient temperature of the vehicle battery, and can estimate the remaining capacity of the battery; motor controller 1131 is capable of controlling the operating conditions of electric drive system 111 and electric drive system 112 for electric motors 1111 and 1121; the vehicle control unit 1133 can directly or through bus communication, acquire vehicle operation data such as vehicle speed, motor speed, and current of the vehicle, and record the type, specification, and model of the motor, tire, and the like configured in the vehicle. The braking energy recovery device can control the operation state of the electric drive according to the braking energy recovery method provided by the application, and the braking energy recovery device can control the operation state of the motor in the electric drive by communicating with the vehicle control unit 1133 and the motor controller 1131.

It should be noted that, according to the connection relationship, the connection mode, and the like between the system units in the vehicle provided in the embodiment of the present application, the connection relationship may be set according to various parameter conditions, such as the performance and the specific structure of the vehicle in the actual working condition, which is not limited in this embodiment. In addition, the embodiment of the application is not limited to the specific type and structure of the vehicle, and the vehicle only needs to be provided with at least two electric driving systems.

It should be noted that the foregoing application scenarios are merely illustrative, and the braking energy recovery method, apparatus, device, storage medium, and program product provided in the embodiments of the present application include, but are not limited to, the foregoing application scenarios.

Embodiments of the present application will be described below with reference to the accompanying drawings. The embodiments described in the following examples do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

Example one

Fig. 2 is a schematic flow chart of a braking energy recovery method according to a first embodiment of the present application, and as shown in fig. 2, an execution main body of the present application is a braking energy recovery device, and the braking energy recovery device is located in an electronic device. The braking energy recovery method provided by the embodiment includes steps 201 to 205.

Step 201, acquiring braking energy recovery power and allowable charging power of a vehicle.

In the embodiment, in order to stably and reliably provide braking torque requirements for vehicle braking, when the vehicle brakes, the electric drive operates in an energy recovery state, the motor in the electric drive operates in a power generation state, and vehicle kinetic energy is converted into electric energy through an electromagnetic induction law; the braking energy recovery torque is provided for the vehicle brake through the rotation of the motor rotor. Braking energy recovery power P of vehicle_regenFor the generated power P of the motor_outThat is to say that,

in the formula, Tq_regenFor recovering the braking energy, i.e. the input torque value of the electric motor during its power generation mode, which is the torque value transmitted to the electric motor by the electrically driven transmission mechanism, n₁The motor speed and the whole vehicle controlThe controller can directly acquire the motor speed n or acquire the motor speed n through bus communication₁And determining the braking energy recovery torque Tq when the motor executes energy recovery according to the braking energy recovery torque demand allocated to the braking energy recovery device during vehicle braking, the type, specification and model of the motor, the rotating speed and the like_regen，η₁To the efficiency of the motor₁＝f(Tq_regen,n₁) The generation efficiency of different types and specifications of motors may be different, eta₁The torque Tq can be recovered by pre-constructed braking energy_regenAnd motor speed n₁The two-dimensional table can be obtained by inquiring, and can also be obtained by actually testing motors of different types and specifications. The torque value transmitted by the electrically driven transmission mechanism to the electric motor can be calculated according to the braking energy recovery torque demand and the transmission ratio of the transmission mechanism. For example, if the braking energy recovery torque demand provided by the braking energy recovery device is T and the transmission ratio of the transmission mechanism is i, the electrically-driven transmission mechanism transmits the input torque value of the motor, namely the braking energy recovery torque Tq_regen＝T×i。

Allowing charging power P_chgmaxThe charging power for the vehicle battery to allow the external device to charge the vehicle battery, the allowable charging power being related to the state of charge (state of charge) of the battery, may be estimated by the battery management system according to the voltage of the vehicle battery, and the embodiment is not limited to the specific method for obtaining the allowable charging power. For example, when the remaining battery capacity is less than 95%, the allowable charging power is the first power, and when the remaining battery capacity rises from 95% to 100%, the allowable charging power may gradually decrease from the first power to zero.

Step 202, judging whether the braking energy recovery power is larger than the allowable charging power.

Specifically, the magnitude of the braking energy recovery power is compared with the magnitude of the allowable charging power.

Step 203, if it is determined that the braking energy recovery power is greater than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power.

In the present embodiment, the allowable charging power P_chgmaxAt zero time, the energy dissipation power P_Loss≥P_regenAt the allowable charging power P_chgmaxWhen not zero, the energy dissipation power P_Loss∈(P_regen-P_chgmax,P_regen) I.e. energy dissipation power P_LossCan be P_regen-P_chgmaxTo P_regenAny value of (1). The electric energy obtained by recovering the braking energy when the motor operates in a power generation state can not cause overcharging to the battery.

And 204, controlling the operation state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, so that at least one electric drive operates in an energy recovery state, at least one electric drive operates in an energy dissipation state, and the difference between the power of the electric drive operating in the energy recovery state for performing braking energy recovery and the power of the electric drive operating in the energy dissipation state for dissipating energy is smaller than or equal to the allowable charging power, wherein when the electric drive operates in the energy recovery state, the electric motor in the electric drive operates in a power generation state for performing braking energy recovery, and when the electric drive operates in the energy dissipation state, the electric motor in the electric drive operates in a driving state for performing energy dissipation.

In the embodiment, the vehicle is provided with at least two electric drives, and when the vehicle is braked, at least one electric drive is controlled to operate in an energy recovery state, namely, a motor in at least one electric drive is controlled to operate in a power generation state so as to convert kinetic energy of the vehicle into electric energy, realize braking energy recovery and provide braking energy recovery torque for vehicle braking; and controlling at least one electric drive to operate in an energy dissipation state, namely controlling the motor in the at least one electric drive to operate in a driving state so as to consume electric energy obtained by recovering braking energy and avoid overcharging a vehicle battery. Here, the braking energy recovery power is the power generated by the electric motor operating in the energy recovery state and the power generated by the electric motor operating in the power generation state, and the energy dissipation power is the power consumed by the electric motor operating in the energy dissipation state. Here, for convenience of description, the motor operating in the power generation state is simply referred to as a power generation motor, and the motor operating in the driving state is simply referred to as a driving motor. Specifically, the electric drive which operates in the energy dissipation state dissipates electric energy comprising the loss of the converter and the loss of the motor, so that the motor can operate in the driving state without generating torque and rotating speed by controlling the working current of the motor, and further, the motor winding converts the electric energy into heat energy to dissipate, and only the sum of the power dissipated by the motor winding through the heat energy consumption and the power dissipated by the converter is required to be equal to the energy dissipation power. Here, the winding may be a stator winding, a rotor winding, or the like of the electric motor according to different motor types and specification models. Therefore, in the present embodiment, it is possible to arbitrarily control the at least one electric drive to operate in the energy recovery state and to arbitrarily control the at least one electric drive to operate in the energy dissipation state, depending on the actual condition of each electric drive. For example, the electric motor in the electric drive is a permanent magnet synchronous motor, and for the permanent magnet synchronous motor, the high-speed operation efficiency of the flux-weakening control motor is too low, and if the high-speed operation is performed to maintain neutral sliding, the high power consumption is also high to maintain the flux-weakening rotating speed, which is not favorable for the endurance mileage of the vehicle. Therefore, a release device is usually adopted, when the driving of the permanent magnet synchronous motor is not needed, the permanent magnet synchronous motor is separated from the transmission mechanism, so that unnecessary power consumption of the motor for maintaining the flux-weakening rotating speed is avoided, at the moment, the electric drive of the motor which is not separated from the transmission mechanism can be controlled to operate in an energy recovery state, and the electric drive of the motor which is separated from the transmission mechanism is controlled to operate in an energy dissipation state. The motor can also be controlled to be reconnected with the transmission mechanism, and then the running state of each electric drive is controlled according to the actual condition of each electric drive.

According to the braking energy recovery method provided by the embodiment, the braking energy recovery power and the allowable charging power of the vehicle are acquired; judging whether the braking energy recovery power is larger than the allowable charging power; if the braking energy recovery power is determined to be larger than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power; and controlling the running state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, so that at least one electric drive runs in an energy recovery state, at least one electric drive runs in an energy dissipation state, and the difference between the power of the electric motor running in the electric drive in the energy recovery state for performing braking energy recovery and the power of the electric drive running in the energy dissipation state for dissipating energy is smaller than or equal to the allowable charging power, wherein when the electric drive runs in the energy recovery state, the electric motor running in the electric drive runs in a power generation state for performing braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in a driving state for performing energy dissipation. The at least one electric drive is operated in the energy recovery state to provide the braking energy recovery torque, and the at least one electric drive is operated in the energy dissipation state to dissipate the energy recovered by the braking energy recovery device without overcharging the battery. Therefore, the braking energy recovery device can still provide the braking energy recovery torque when the battery of the vehicle is in a full state or close to the full state.

Example two

Fig. 3 is a schematic flow chart of a braking energy recovery method according to a second embodiment of the present application, and as shown in fig. 3, step 201 is refined by the braking energy recovery method according to the first embodiment, and then step 201 includes step 301 to step 304.

Step 301, obtaining a vehicle speed and a brake pedal position of the vehicle.

In this embodiment, the vehicle controller may obtain the vehicle speed VehSpd and the brake pedal position α of the vehicle directly or through bus communication. The brake pedal is also called as a brake, and the vehicle control unit can acquire whether the driver has a braking intention, a braking deceleration desired by the driver, and the like through the brake pedal position α.

Step 302, determining whether the brake pedal position is zero.

In this embodiment, the vehicle controller may directly determine whether the brake pedal position α is zero.

Step 303, if it is determined that the position of the brake pedal is not zero, determining the braking energy recovery power according to the vehicle speed.

In the present embodiment, it can be understood that when the brake pedal position is not zero, the driver has the intention to brake, and transmits the desired braking deceleration (or braking distance) to the vehicle control unit through the brake pedal position. The different braking torques required for braking the vehicle, i.e. the different brake pedal positions, correspond to different braking torque requirements, i.e. braking torque requirement Tq, depending on the different braking decelerations desired by the driver_brakeWhere α is a brake pedal position, α ≠ 0. The braking torque demand may be provided by at least one of a mechanical friction braking system and a braking energy recovery device. The braking torque required to be provided by the braking energy recovery device is the braking energy recovery torque requirement, and the braking torque required to be provided by the mechanical friction braking system is the mechanical braking torque requirement. The mechanical friction braking demand and the braking energy recovery torque demand can be distributed according to different braking decelerations desired by the driver. Specifically, braking energy recovery torque demand Tq_regenbrakeG (α, VehSpd). For example, the value of the braking energy recovery torque demand may be determined by determining whether the brake pedal position is greater than a preset position, where the preset position may be the brake pedal position corresponding to the maximum braking torque that can be provided by the braking energy recovery device. If the position of the brake pedal is determined to be larger than the preset position, in order to ensure that the vehicle brakes at the braking deceleration expected by the driver, the vehicle needs to provide braking demand torque together by the braking energy recovery device and the mechanical friction braking system. At this time, the braking energy recovery torque demand may be the maximum braking torque that the braking energy recovery device can provide. If the position of the brake pedal is less than or equal to the preset position, the braking torque demand can be distributed to at least one of the braking energy recovery device and the mechanical friction braking system, at the moment, if the braking torque demand is completely distributed to the mechanical friction braking system, the value of the braking energy recovery torque is equal to zero, if the braking torque demand is completely distributed to the braking energy recovery device, the value of the braking energy recovery torque demand is equal to the value of the braking torque demand, and if the braking torque demand is distributed to the braking energy recovery device and the mechanical friction braking system, the braking torque demand can be distributed to at least one of the braking energy recovery device and the mechanical friction braking systemAnd determining the value of the braking energy recovery torque demand according to the distribution condition. In this embodiment, the braking torque demand can be distributed according to the actual conditions of different scenes, and this is not limited.

In this embodiment, the braking energy recovery torque Tq_regenCan be equal to the braking energy recovery torque demand Tq_regenbrakeRecovery power of braking energy

For motors of the same type and specification, the motor speed n₁Has positive correlation with the vehicle speed of the vehicle, and specifically, the motor speed n can be calculated according to the type, specification and state of the motor and the vehicle speed₁And then determines the braking energy recovery power.

And 304, if the position of the brake pedal is determined to be zero, acquiring the position of an accelerator pedal of the vehicle, and determining the braking energy recovery power according to the position of the accelerator pedal.

In this embodiment, when the position of the brake pedal is zero, the vehicle may not need to be braked, specifically, the position of the accelerator pedal of the vehicle may be directly obtained by the vehicle controller, and if the position of the accelerator pedal is not zero, it is determined that the vehicle is in a normal driving state, and the driver does not have a braking intention, so that braking energy recovery is not needed, and it is determined that the braking energy recovery power is zero.

According to the braking energy recovery method provided by the embodiment, the vehicle speed and the position of the brake pedal of the vehicle are acquired; judging whether the position of the brake pedal is zero or not, if the position of the brake pedal is determined to be not zero, determining the braking energy recovery torque according to the vehicle speed, if the position of the brake pedal is determined to be zero, acquiring the position of an accelerator pedal of the vehicle, determining the braking energy recovery power according to the position of the accelerator pedal, and determining different braking energy recovery torques according to different positions of the brake pedal, so that the braking energy recovery torque values under different driving conditions can be determined, the braking energy recovery can be conveniently carried out according to different driving conditions, and the loss of a mechanical friction braking system is effectively reduced.

As an alternative implementation, on the basis of the second embodiment, the step 304 is refined, and then the step 304 refinement includes steps 3041 to 3042.

Step 3041, determine if the accelerator pedal position is zero.

Specifically, the vehicle control unit may directly determine whether the accelerator pedal position is zero.

Step 3042, if it is determined that the position of the accelerator pedal is zero, calculating the braking energy recovery power according to the vehicle speed.

In this embodiment, if the accelerator pedal position is zero, since the brake pedal position is also zero at this time, the braking energy recovery torque needs to be calculated according to the vehicle speed. Specifically, it may be determined whether the vehicle speed is greater than a preset speed, and if the vehicle speed is greater than the preset speed, the vehicle is in a coasting state, and at this time, the braking energy recovery power is recovered

In the formula, Tq_cosstFor recovering braking energy of vehicle during coasting, Tq_cosstDepending on the vehicle speed, the torque function Tq for recovering the braking energy of the vehicle during coasting can be constructed in advance according to different_coastF (vehspd) is calculated. And if the vehicle speed is less than or equal to the preset vehicle speed, the vehicle is in an electric crawling (e-road) state, and at the moment, the braking energy recovery torque is determined to be zero.

According to the braking energy recovery method provided by the embodiment, by judging whether the position of the accelerator pedal is zero or not, if the position of the accelerator pedal is determined to be zero, the braking energy recovery power is calculated according to the vehicle speed, and different braking energy recovery torques are determined according to different positions of the accelerator pedal, so that the braking energy recovery torques under different driving conditions can be determined, and the braking energy recovery can be conveniently carried out according to different driving conditions.

EXAMPLE III

In the braking energy recovery method provided in this embodiment, on the basis of any one of the above embodiments, step 203 is refined, and then step 203 refinement includes step 2031.

Step 2031, determining the difference between the braking energy recovery power and the allowable charging power as the energy dissipation power.

In particular, dissipating the energy by power P_LossIs determined as P_Loss＝P_regen-P_chgmaxIn the formula, P_regenFor recovering power from braking energy, P_chgmaxTo allow charging power.

In the braking energy recovery method of this embodiment, the difference between the braking energy recovery power and the allowable charging power is determined as the energy dissipation power, and since the energy dissipation power is a part of the braking energy recovery power that is greater than the allowable charging power, the energy that does not cause the battery overcharge can be charged into the battery, and more braking energy can be recovered as much as possible.

Example four

Fig. 4 is a schematic flow chart of a braking energy recovery method according to a fourth embodiment of the present application, and as shown in fig. 4, the braking energy recovery method provided in this embodiment refines step 204 on the basis of any one of the above embodiments, and then the step 204 refinement includes steps 401 to 404.

Step 401, obtaining rated power of each motor of the vehicle.

In this embodiment, the vehicle has at least two electric drives, one electric drive comprising one electric machine, and the vehicle thus has at least two electric machines. Each electric machine is an electric machine in each electric drive of the vehicle. Specifically, the rated power of each motor of the vehicle can be directly obtained through the vehicle controller.

Step 402, determining a first motor and a second motor according to the rated power of each motor, wherein the rated power of the first motor is smaller than or equal to the rated power of the second motor.

In this embodiment, if the number of the vehicle motors is two, the rated powers of the two motors are compared, if the rated powers of the two motors are not equal, the motor with the smaller rated power is determined as the first motor, the motor with the larger rated power is determined as the second motor, and if the rated powers of the two motors are equal, the two motors are respectively determined as the first motor and the second motor.

If the number of the motors of the vehicle is more than two, at least one motor is determined as a first motor, at least one motor is determined as a second motor, and the rated power of the second motor is larger than that of the first motor.

And step 403, controlling the electric drive of the first motor to operate in an energy recovery state so that the first motor performs a braking energy recovery operation.

Specifically, the first electric machine may be controlled by the electric machine controller to operate in the power generation state, so that the at least one electric drive in which the first electric machine is located operates in the energy recovery state.

And 404, controlling the electric drive of the second motor to operate in an energy dissipation state according to the energy dissipation power so as to enable the second motor to perform energy dissipation operation.

Specifically, the second motor can be controlled by the motor controller to operate in the driving state, so that the second motor operates in the energy dissipation state, and the output power P of the motor operating in the driving state_out2Greater than or equal to the energy dissipation power P_LossTo ensure P_chgmax+P_out2≥P_out1And the battery is ensured not to be overcharged.

The braking energy recovery method provided by the embodiment can be used for recovering the braking energy of the vehicle by acquiring the rated power of each motor of the vehicle, determining a first motor and a second motor according to the rated power of each motor, wherein the rated power of the first motor is less than or equal to the rated power of the second motor, controlling the first motor to operate in a power generation state to execute a braking energy recovery operation, controlling the second motor to operate in a driving state according to the energy dissipation power to perform an energy dissipation operation, because the rated power of the first motor is less than or equal to the rated power of the second motor, the first motor is controlled to execute the braking energy recovery operation, the second motor is controlled to execute the energy dissipation operation, therefore, it can be ensured that the difference between the power at which the first electric motor performs energy recovery and the power at which the second electric motor performs energy dissipation is less than or equal to the allowable charging power, and therefore, it can be ensured that the battery is not overcharged.

As an optional implementation manner, on the basis of the fourth embodiment, the step 404 is refined, and then the step 404 refinement includes steps 4041 to 4042.

Step 4041, obtaining a connection condition between the second electric machine and the engine.

In this embodiment, the connection condition between the second motor and the generator can be directly obtained through the vehicle control unit. The connection condition of the second motor and the engine comprises the following steps: the second electric machine is connected to the engine and the second electric machine is not connected to the engine motor. When the second motor is not connected to the engine, the vehicle may have the engine, but the connection between the second motor and the engine is in a disengaged state, or the vehicle may be a pure electric vehicle without the engine.

Step 4042, if it is determined that the second electric machine is connected to the engine, the first operation or the second operation is performed.

The first operation includes:

controlling the second motor to operate in a driving state and the output torque to be zero;

calculating a dissipation current value according to the energy dissipation power;

controlling a value of current flowing through the second motor winding equal to a dissipation current value to effect energy dissipation.

In this embodiment, the electric drive can be controlled

The second operation includes:

and controlling the second motor to drive the generator to idle so as to realize energy dissipation.

In this embodiment, when the first operation is performed, the electric energy recovered from the braking energy can be converted into heat energy for dissipation. For an electric drive operating in an energy dissipation state, the power required to dissipate the energy is greater than or equal to the energy dissipation power P_Loss. For the electric drive in which the second electric machine is located, the electric energy dissipated by the second electric machine mainly comprises the losses of the inverter and the second electric machine, and the efficiency eta of the inverter₂＝f(T₂,n₂) In the formula, T₂For the output torque of the second motor, in the present embodiment, the output torque of the second motor is controlledMoment of zero, n₂The rotating speed of the second motor can be directly obtained through the vehicle control unit. Specifically, the output power P of the second motor can be made according to different types and specification models of motors_out2＝P_Loss×η₂The value of the dissipation current is calculated and the value of the current flowing through the winding of the second motor is controlled to be equal to the value of the dissipation current to achieve energy dissipation. Illustratively, such as a synchronous motor (e.g., a permanent magnet synchronous motor), which is controlled to operate in a driving state and to output a torque of zero, i.e., a q-axis current I thereof_qIs 0. With P_out2Calculating the value of the dissipation current as the output power, i.e. calculating the d-axis current value I_dFor synchronous machines, power is output

Therefore, the temperature of the molten metal is controlled,

the q axis is also called a quadrature axis and is a coordinate axis perpendicular to the magnetic field direction of the motor rotor, the d axis is also called a direct axis and is a coordinate axis in which the magnetic field direction of the motor rotor is located, and the coordinate axes in which the q axis and the d axis are located are coordinate axes to which a mathematical model of the motor is converted.

In this embodiment, when the second operation is performed, the electric energy recovered from the braking energy can be converted into the kinetic energy of the engine, and the rotational inertia of the engine needs to make the power of converting the electric energy into the mechanical energy greater than or equal to the energy dissipation power when the motor-driven engine operates.

As an alternative embodiment, after step 4041, step 4043 is also included.

Step 4043, if it is determined that the second electric machine is not connected to the engine, the first operation is performed.

In this embodiment, if the second electric machine is not connected to the engine, the second operation cannot be performed to convert the electric energy into the mechanical energy for dissipation, and therefore, the electric energy can be converted into the thermal energy for dissipation only by performing the first operation.

According to the braking energy recovery method provided by the embodiment, by acquiring the connection condition of the second motor and the engine, if the second motor is determined to be connected with the engine, the first operation or the second operation is executed, and if the second motor is determined not to be connected with the engine, the first operation is executed.

EXAMPLE five

The braking energy recovery method provided by this embodiment is based on any of the above embodiments, and further includes step 206.

And step 206, if the allowable charging power is determined to be greater than or equal to the braking energy recovery power, controlling the electric drive of the vehicle to operate in an energy recovery state so as to enable the motor to execute the braking energy recovery operation.

In this embodiment, the braking energy recovery power is generated power when at least one electrically-driven motor of the vehicle is operated in a power generation state. If the allowable charging power of the vehicle battery is greater than or equal to the braking energy recovery power, when the vehicle brakes, the braking energy recovery device does not overcharge the battery when charging the battery with the generated braking energy recovery power, so that the electric drive of the vehicle can be controlled to operate in an energy recovery state, the motor in the electric drive operates in a power generation state to perform braking energy recovery, a braking energy recovery torque is provided for braking the vehicle, and the kinetic energy of the vehicle is converted into electric energy to be stored in the battery of the vehicle, so that the cruising ability of the vehicle is improved.

In this embodiment, if the allowable charging power is greater than the preset power value, and the preset power value may be the sum of the starting powers of all the electric drives of the vehicle when all the electric drives of the vehicle operate in the energy recovery state, it may be considered that the braking energy recovery device does not cause the overcharge to the battery, and therefore, one or more electric drives of the vehicle may be arbitrarily controlled to operate in the energy recovery state according to the braking torque demand of the vehicle, so as to provide the braking torque demand for the vehicle.

In the braking energy recovery method provided by this embodiment, if it is determined that the allowable charging power is greater than or equal to the braking energy recovery power, the motor of the vehicle is controlled to execute the braking energy recovery operation according to the braking energy recovery power, so that the braking energy recovery device can stably provide the braking energy recovery torque for the vehicle, and further, the mechanical system of the vehicle can be lightened.

As an alternative implementation, on the basis of the fifth embodiment, the step 206 is refined, and then the step 206 refinement includes the step 2061.

Step 2061, controlling the at least one electric drive to operate in the energy recovery state, so that the at least one electric drive motor operates in the power generation state to execute the braking energy recovery operation.

In this embodiment, the allowable charging power of the vehicle battery is greater than the braking energy recovery power of the at least one electric drive when operating in the energy recovery state, so that the braking energy recovery power does not cause overcharging of the battery, and the electric drive can be controlled to operate in the energy recovery state according to a conventional method, so that the electric drive motor operates in the power generation state, and the battery is charged.

According to the braking energy recovery method provided by the embodiment, the at least one motor is controlled to operate in the power generation state to execute the braking energy recovery operation, and the battery can be charged by operating the motor in the power generation state, so that the cruising ability of the vehicle can be improved.

As an alternative embodiment, the step 206 refinement further includes steps 2062 to 2064.

And step 2062, determining the rotating speed of each motor of the vehicle according to the vehicle speed.

In this embodiment, the rotation speed of each motor corresponding to the vehicle speed may be calculated according to the type and specification model of each motor and the specification of the vehicle tire.

Step 2063, determining the power generation power of each motor according to the rotating speed of each motor.

In particular, it can be represented by the formula

And calculating the generated power of each motor.

At least one electric drive operating in an energy recovery state is determined based on the generated power of each electric machine, step 2064.

In this embodiment, since the allowable charging power of the battery is greater than the braking energy recovery power, it can be determined that any electric drive is operating in the energy recovery state.

In this embodiment, if the allowable charging power of the battery is sufficiently large, that is, the allowable charging power of the battery is larger than the maximum braking energy recovery power that can be provided by the braking energy recovery device. The at least one electric drive operating in the energy recovery state can be determined from the generated power of the respective electric machine in order to maximize the braking energy recovery power. Specifically, the braking energy recovery torque provided by the braking energy recovery device for braking the vehicle meets the braking torque demand T borne by the braking energy recovery device_{regen_total}And as a constraint condition, the braking energy recovery power is taken as a target function, and the torque of each motor is distributed to make the value of the target function as large as possible. For example, taking the vehicle with two electric drives, front and rear, the braking torque demand T borne by the braking energy recovery device_{regen_total}＝T₁×i₁+T₂×i₂In the formula, T₁The motor torque in the front electric drive; i.e. i₁The transmission ratio of the transmission mechanism of the front electric drive; t is₂Electric machine torque in rear electric drive, i₂The transmission ratio of the rear electric drive is adopted. Power recovered from braking energy

So that P is_{regen_total}The torque T of the electric machine in the front and rear electric drives being distributed to the greatest possible extent₁And T₂。

According to the braking energy recovery method provided by the embodiment, the rotating speed of each motor of the vehicle is determined according to the vehicle speed, the power generation power of each motor is determined according to the rotating speed of each motor, at least one motor for executing the braking energy recovery operation is determined according to the power generation power of each motor, and as at least one motor for executing the braking energy recovery is determined according to the power generation power of each motor, the braking energy can be recovered with the highest efficiency, and the cruising energy of the vehicle is increased.

EXAMPLE six

Fig. 5 is a schematic structural view of a braking energy recovery device according to a sixth embodiment of the present application, and as shown in fig. 5, the braking energy recovery device provided in this embodiment is located in an electronic device, where the electronic device may be a device where the braking energy recovery device, an electronic control system, or a vehicle control unit is located. The braking energy recovery apparatus 10 includes: an acquisition module 51, a judgment module 52, a determination module 53, and a control module 54.

The acquiring module 51 is used for acquiring braking energy recovery power and allowable charging power of the vehicle.

The determining module 52 is configured to determine whether the braking energy recovery power is greater than the allowable charging power.

If it is determined that the braking energy recovery power is greater than the allowable charging power, the determining module 53 is configured to determine energy dissipation power according to the braking energy recovery power and the allowable charging power;

the control module 54 is configured to control an operation state of the electric drives according to the braking energy recovery power, the energy dissipation power and the allowable charging power, such that at least one electric drive operates in an energy recovery state, at least one electric drive operates in an energy dissipation state, and a difference between a power of the electric drive operating in the energy recovery state for performing braking energy recovery and a power of the electric drive operating in the energy dissipation state for dissipating energy is smaller than or equal to the allowable charging power, wherein when the electric drive operates in the energy recovery state, the electric machine in the electric drive operates in a power generation state for performing braking energy recovery, and when the electric drive operates in the energy dissipation state, the electric machine in the electric drive operates in a driving state for performing energy dissipation.

The braking energy recovery device provided in this embodiment may execute the braking energy recovery method provided in the first embodiment, and the specific implementation manner is similar to the principle, which is not described herein again.

As an alternative embodiment, the obtaining module 51 is specifically configured to obtain a vehicle speed and a brake pedal position of the vehicle; judging whether the position of the brake pedal is zero or not; if the position of the brake pedal is determined to be not zero, determining the braking energy recovery power according to the vehicle speed; and if the position of the brake pedal is determined to be zero, acquiring the position of an accelerator pedal of the vehicle, and determining the braking energy recovery power according to the position of the accelerator pedal.

As an optional implementation manner, the obtaining module 51 is further specifically configured to determine whether the accelerator pedal position is zero; and if the position of the accelerator pedal is determined to be zero, calculating the braking energy recovery power according to the vehicle speed.

As an optional implementation manner, the determining module 53 is specifically configured to determine a difference between the braking energy recovery power and the allowable charging power as the energy dissipation power.

As an alternative embodiment, the control module 54 is specifically configured to obtain the rated power of each motor of the vehicle; determining a first motor and a second motor according to the rated power of each motor, wherein the rated power of the first motor is less than or equal to the rated power of the second motor; controlling the electric drive of the first motor to operate in an energy recovery state so as to enable the first motor to execute a braking energy recovery operation; and controlling the electric drive of the second motor to operate in an energy dissipation state according to the energy dissipation power so as to enable the second motor to perform energy dissipation operation.

As an optional implementation manner, the control module 54 is specifically further configured to obtain a connection condition between the second motor and the engine; executing a first operation or a second operation if the second motor is determined to be connected with the engine; the first manipulation includes: controlling the second motor to operate in a driving state and the output torque to be zero; calculating a dissipation current value according to the energy dissipation power; controlling a value of current flowing through the second motor winding equal to a dissipation current value to effect energy dissipation; the second operation includes: and controlling the second motor to drive the generator to idle so as to realize energy dissipation.

As an alternative, the control module 54 is specifically further configured to perform the first operation if it is determined that the second electric machine is not coupled to the engine.

As an alternative embodiment, if it is determined that the allowable charging power is greater than or equal to the braking energy recovery power, the control module 54 is further configured to control the electric drive of the vehicle to operate in an energy recovery state, so that the electric motor performs a braking energy recovery operation.

As an alternative embodiment, the control module 54 is specifically configured to control the at least one electric drive to operate in the energy recovery state, so that the at least one electric drive motor operates in the power generation state to perform the braking energy recovery operation.

As an alternative embodiment, the control module 54 is specifically further configured to determine the rotation speed of each motor of the vehicle according to the vehicle speed; determining the power generation power of each motor according to the rotating speed of each motor; at least one electric drive operating in an energy recovery state is determined based on the generated power of each electric machine.

The braking energy recovery device provided in this embodiment may execute the braking energy recovery method provided in any one of the second to fifth embodiments, and the specific implementation manner is similar to the principle, and is not described herein again.

It will be appreciated that the above described apparatus embodiments are merely illustrative and that the apparatus of the present application may be implemented in other ways. For example, the division of the units/modules in the above embodiments is only one logical function division, and there may be another division manner in actual implementation. For example, multiple units, modules, or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented.

In addition, unless otherwise specified, each functional unit/module in the embodiments of the present application may be integrated into one unit/module, or each unit/module may exist alone physically, or two or more units/modules may be integrated together. The integrated units/modules may be implemented in the form of hardware or software program modules.

If the integrated unit/module is implemented in hardware, the hardware may be digital circuitry, analog circuitry, etc. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and the like. The processor may be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, ASIC, etc., unless otherwise specified. Unless otherwise specified, the Memory unit may be any suitable magnetic storage medium or magneto-optical storage medium, such as resistive Random Access Memory rram (resistive Random Access Memory), Dynamic Random Access Memory dram (Dynamic Random Access Memory), Static Random Access Memory SRAM (Static Random-Access Memory), enhanced Dynamic Random Access Memory edram (enhanced Dynamic Random Access Memory), High-Bandwidth Memory HBM (High-Bandwidth Memory), hybrid Memory cubic hmc (hybrid Memory cube), and the like.

The integrated units/modules, if implemented in the form of software program modules and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

EXAMPLE seven

Fig. 6 is a block diagram of an electronic device according to a seventh embodiment of the present application, and as shown in fig. 6, an electronic device 60 provided in this embodiment includes a memory 61 and a processor 62.

The memory 61 is electrically connected with the processor 62;

the memory 61 stores computer execution instructions;

the processor 62 executes the computer-executable instructions stored in the memory 61 to implement the braking energy recovery method provided in any of the above embodiments.

The embodiment of the present invention further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the method for recovering braking energy provided in any of the above embodiments is implemented.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. The technical features of the embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that the acts and modules referred to are not necessarily required in this application.

It should be further noted that, although the steps in the flowchart are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A braking energy recovery method, comprising:

2. The method of claim 1, wherein capturing braking energy recovery power of the vehicle comprises:

acquiring the vehicle speed and the position of a brake pedal of the vehicle;

judging whether the position of the brake pedal is zero or not;

if the position of the brake pedal is determined to be not zero, determining the braking energy recovery power according to the vehicle speed;

and if the position of the brake pedal is determined to be zero, acquiring the position of an accelerator pedal of the vehicle, and determining the braking energy recovery power according to the position of the accelerator pedal.

3. The method of claim 2, wherein determining the braking energy recovery power as a function of the accelerator pedal position comprises:

judging whether the position of the accelerator pedal is zero or not;

and if the position of the accelerator pedal is determined to be zero, calculating the braking energy recovery power according to the vehicle speed.

4. The method of claim 1, wherein determining an energy dissipation power from the braking energy recovery power and the allowable charging power comprises:

determining the difference between the braking energy recovery power and the allowable charging power as the energy dissipation power.

5. The method of claim 1, wherein the controlling the operating state of the electric drive as a function of the braking energy recovery power, the energy dissipation power, and the allowable charging power comprises:

acquiring rated power of each motor of the vehicle;

determining a first motor and a second motor according to the rated power of each motor, wherein the rated power of the first motor is less than or equal to the rated power of the second motor;

controlling the electric drive of the first motor to operate in an energy recovery state so as to enable the first motor to execute a braking energy recovery operation;

and controlling the electric drive of the second motor to operate in an energy dissipation state according to the energy dissipation power so as to enable the second motor to perform energy dissipation operation.

6. The method of claim 5, wherein controlling the electric drive in which the second electric machine is operated in an energy dissipation state based on the energy dissipation power to cause the second electric machine to perform an energy dissipation operation comprises:

acquiring the connection condition of the second motor and an engine;

executing a first operation or a second operation if the second motor is determined to be connected with the engine;

the first manipulation includes:

controlling a value of current flowing through the second motor winding equal to a dissipation current value to effect energy dissipation;

the second operation includes:

7. The method of claim 6, further comprising:

and if the second motor is not connected with the engine, executing the first operation.

8. The method of claim 1, further comprising:

and if the allowable charging power is determined to be greater than or equal to the braking energy recovery power, controlling the electric drive of the vehicle to operate in an energy recovery state so as to enable the motor to execute the braking energy recovery operation.

9. The method of claim 8, wherein controlling the electric drive of the vehicle to operate in an energy recovery state to cause the electric machine to perform a braking energy recovery operation comprises:

and controlling the at least one electric drive to operate in the energy recovery state so that the at least one electric drive motor operates in the power generation state to perform the braking energy recovery operation.

10. The method of claim 9, wherein controlling the at least one electric machine to operate in the generating state to perform the braking energy recovery operation further comprises:

determining the rotating speed of each motor of the vehicle according to the vehicle speed;

determining the power generation power of each motor according to the rotating speed of each motor;

at least one electric drive operating in an energy recovery state is determined based on the generated power of each electric machine.

11. A braking energy recovery device, comprising:

12. An electronic device, comprising: a memory and a processor;

the memory is connected with the processor circuit;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1 to 10.

13. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 10.

14. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 10.