CN114407668B - Braking energy recovery method, device, apparatus, storage medium, and program product - Google Patents

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

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Publication number
CN114407668B
CN114407668B CN202210166011.1A CN202210166011A CN114407668B CN 114407668 B CN114407668 B CN 114407668B CN 202210166011 A CN202210166011 A CN 202210166011A CN 114407668 B CN114407668 B CN 114407668B
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China
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power
energy recovery
motor
braking
state
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CN114407668A (en
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叶先军
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Zhejiang Geely Holding Group Co Ltd
Weirui Electric Automobile Technology Ningbo Co Ltd
Zeekr Automobile Ningbo Hangzhou Bay New Area Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Weirui Electric Automobile Technology Ningbo Co Ltd
Zeekr Automobile Ningbo Hangzhou Bay New Area Co Ltd
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Publication of CN114407668A publication Critical patent/CN114407668A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The application provides a braking energy recovery method, device, apparatus, 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 larger than the allowable charging power or not; if the determined energy recovery power is larger than the allowable charging power, determining energy dissipation power according to the braking energy recovery power and the allowable charging power; the operating state of the electric drives is controlled in accordance with the braking energy recovery power, the energy dissipation power and the charging-enabled power such that at least one electric drive operates in the energy recovery state and 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 is close to the full-charge state, the braking energy recovery device can provide braking energy recovery torque, so that loss of the mechanical friction system can be reduced, and the mechanical friction system can be lightened, so that more distributable space can be obtained.

Description

Braking energy recovery method, device, apparatus, storage medium, and program product
Technical Field
The present disclosure relates to the field of electric vehicles, and in particular, to a braking energy recovery method, device, apparatus, storage medium, and program product.
Background
In order to increase the endurance mileage of the vehicle, an electric automobile is equipped with a braking energy recovery device. The braking energy recovery device converts kinetic energy of the vehicle into electric energy through the power generation function of the motor and stores the electric energy into the high-voltage battery. When the vehicle slides or is in a middle or low braking moment requirement, the braking energy recovery moment provided by the braking energy recovery device can meet the braking moment requirement of the vehicle; at high braking torque demands, the mechanical brake system of the vehicle only needs to provide a portion of the braking energy recovery torque that cannot meet the braking torque demand. Therefore, when the braking energy recovery device can stably and reliably provide braking energy recovery moment, the brake disc, the brake hub, the hydraulic subsystem and the like of the mechanical friction braking system can be lightened so as to reduce cost.
However, in order to avoid overcharging of the high-voltage battery caused by charging the braking energy recovery device when the battery of the electric vehicle is in a full-charge state or near the full-charge state, in the prior art, the braking energy recovery device is started only when the allowable charging power of the battery is larger than the braking energy recovery power, the braking energy recovery device cannot be ensured to stably and reliably provide braking energy recovery torque, the mechanical friction braking system needs to bear all 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 ensure braking safety, so that usable space of the vehicle is reduced and dead weight is increased.
Therefore, in the prior art, when the battery of the vehicle is in a full-charge state or is close to the full-charge state, there is a problem that the braking energy recovery device cannot provide braking energy recovery torque, and further, the mechanical friction system is fast in loss, and the reduction of the weight and the volume cannot be performed.
Disclosure of Invention
The application provides a braking energy recovery method, device, equipment, storage medium and program product, which are used for solving the problem that when a battery of a vehicle is in a full-charge state or is close to the full-charge state, the braking energy recovery device cannot provide braking energy recovery moment, so that the mechanical friction system is fast in loss and cannot be lightened to reduce the volume and the 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 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;
and controlling the running states 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for performing braking energy recovery by the electric motor running in the energy recovery state and the power for performing electric drive dissipation energy running in the energy dissipation state 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 the power generation state to perform braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in the driving state to perform energy dissipation.
According to a second aspect of the present application, there is provided a braking energy recovery device comprising:
the acquisition module is used for acquiring the braking energy recovery power and the allowable charging power of the vehicle;
the judging module is used for judging whether the braking energy recovery power is larger than the allowable charging power or not;
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 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for executing braking energy recovery by the motor running in the electric drive in the energy recovery state and the power for executing electric drive dissipation energy in the energy dissipation state is smaller than or equal to the allowable charging power, wherein when the electric drive runs in the energy recovery state, the motor in the electric drive runs in the power generation state to execute braking energy recovery, and when the electric drive runs in the energy dissipation state, the motor in the electric drive runs in the driving state to execute 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 in circuit connection with the processor;
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 storing computer executable instructions which when executed by a processor are adapted to carry out the method as described in the first aspect.
According to a fifth aspect of the present application there is provided a computer program product comprising a computer program for implementing a method as described in the first aspect when the computer program is executed by a processor.
The braking energy recovery method, the device, the equipment, the storage medium and the program product provided by the application are used for acquiring the braking energy recovery power and the allowable charging power of the 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; and controlling the running states 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for executing braking energy recovery by the motor running in the electric drive in the energy recovery state and the power for executing electric drive dissipation energy in the energy dissipation state is smaller than or equal to the allowable charging power. Therefore, when the battery of the vehicle is in a full-charge state or is close to the full-charge 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 to obtain more distributable space, the distributable space can be used for expanding the battery capacity of the vehicle, improving the endurance of the vehicle, or a user can expand the space in the vehicle, so that the user obtains 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 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 chart of a braking energy recovery method according to a first embodiment of the present application;
FIG. 3 is a schematic flow chart of a braking energy recovery method according to a second embodiment of the present application;
FIG. 4 is a schematic flow chart of a braking energy recovery method according to a fourth embodiment of the present application;
FIG. 5 is a schematic structural view of a braking energy recovery device according to 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.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
The terms referred to in this application are explained first.
An electric drive, i.e. an electric drive system, generally consists of an electric motor, a transmission and a converter.
The motor (Electric machinery), which is an electromagnetic device capable of achieving the mutual conversion of electric energy and mechanical energy, generally has two operating 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 is operated in a driving state, the electric energy can be converted into mechanical energy and thermal energy.
The transmission mechanism is a mechanism for connecting the motor and the vehicle main shaft, and can transmit torque and rotation speed output by the motor to the vehicle main shaft so as to drive the vehicle to run, and meanwhile, can transmit the rotation 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, phase number, frequency, etc. 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.
Braking energy recovery refers to the operation of an electric drive to convert the kinetic energy of a vehicle into electrical energy through a motor and transmission mechanism when the vehicle is braked.
Energy dissipation refers to the operation of electrically driving through at least one of an electric machine and an inverter to consume electric energy.
The prior art to which this application relates is described in detail and analyzed as follows.
Braking torque is required when a vehicle is braked, and is generally provided by a mechanical friction braking system (the braking torque provided by the mechanical friction system is called mechanical braking torque), and the mechanical friction system converts kinetic energy of the vehicle into heat energy for dissipation through friction among brake discs, hubs or discs so as to realize vehicle braking. For electric vehicles, either pure electric vehicles or hybrid electric vehicles, a braking energy recovery device is generally configured to increase the range of the vehicle. The braking energy recovery device is used for controlling the electric drive to operate in an energy recovery state when the vehicle slides and brakes, so that a motor in the electric drive operates in a power generation state, the kinetic energy of the vehicle is recovered through the motor and is stored in a battery, and the electric drive/motor performs braking energy recovery and provides braking torque (the braking torque provided by the braking energy recovery device/electric drive/motor is called braking energy recovery torque). For an electric automobile, the electric automobile is provided with a braking energy recovery device and a mechanical friction braking system, when the automobile is braked, the braking energy recovery device can be used for providing braking energy recovery moment, the kinetic energy of the automobile is converted into electric energy, and the mechanical friction braking system can also be used for providing mechanical braking moment.
When the vehicle slides or the vehicle brakes are required to have medium or low braking torque, the braking torque requirement can be met by singly adopting the braking energy recovery device to provide the braking energy recovery torque; when the braking torque is required to be high, the braking energy recovery device can provide limited braking energy recovery torque, so that the braking torque is required to be met, the safety braking is ensured, the braking torque can be provided jointly by controlling the braking energy recovery device and the mechanical friction braking system to jointly act according to a set strategy so as to meet the braking torque requirement, and the braking torque can also be provided by the mechanical friction braking system only. If only the mechanical friction braking system provides braking torque, the braking will cause a higher loss to the mechanical friction system than if the braking torque is provided by both the braking energy recovery device and the mechanical friction braking system.
Therefore, for the electric automobile, when the electric drive can stably and reliably provide the braking energy recovery moment in the high braking moment requirement, the mechanical friction system and the electric drive jointly provide the braking moment when the automobile is braked, compared with the case that the mechanical friction system is used for braking and the braking moment is jointly provided, the mechanical braking moment required to be provided by the mechanical friction system is reduced, and the loss of the mechanical friction system is reduced. Meanwhile, as the mechanical braking moment 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 volume and the weight of the mechanical friction braking system are reduced, more allocable space is obtained, the allocable space can be used for expanding the battery capacity of a vehicle, the cruising of the vehicle is promoted, or the space in the vehicle is expanded by a user, so that the user obtains better experience.
However, since the braking torque provided by the braking energy recovery device is converted into electric energy and stored in the battery, the current braking energy recovery method is not capable of providing the braking torque for the vehicle brake stably and reliably, and solves the problems that the mechanical friction system is fast in loss and cannot be light because the battery is overcharged and the service life of the battery is damaged due to the fact that the electric energy recovered by the braking energy recovery device charges the battery when the battery (such as a high-voltage battery) of the vehicle is full or nearly full, and the braking torque can be provided for the vehicle brake by electric drive only after the electric quantity of the battery is lower than a certain value.
In summary, in the prior art, when the battery of the vehicle is in a full-charge state or is close to a full-charge state, the braking energy recovery device cannot provide braking energy recovery torque, so that the mechanical friction system is fast in loss, the weight cannot be reduced, and the allocable space of the vehicle is occupied.
In facing the problems in the prior art, the inventor finds through creative research that the technical scheme of the application is proposed 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 is close to the full-charge state, and meanwhile, the battery is not overcharged, and the energy recovered by the braking energy recovery device is required to be dissipated, so that the braking energy recovery power and the charging permission power of the vehicle are obtained; 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; and controlling the running states 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for performing braking energy recovery by the electric motor running in the energy recovery state and the power for performing electric drive dissipation energy running in the energy dissipation state 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 the power generation state to perform braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in the driving state to perform energy dissipation. Therefore, according to the braking energy recovery method, the operation state of the electric drives is controlled, so that at least one electric drive is operated in the energy recovery state to provide braking energy recovery moment, at least one electric drive is operated in the energy dissipation state to dissipate the energy recovered by the braking energy recovery device, and the battery is not overcharged. Therefore, when the battery of the vehicle is in a full-charge state or is close to the full-charge 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 to obtain more distributable space, the distributable space can be used for expanding the battery capacity of the vehicle, improving the cruising of the vehicle, or expanding the space in the vehicle by a user, so that the user obtains better experience and the like.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
The application scenario of the braking energy recovery method provided by the application is described below. When the following description refers to the accompanying drawings, the same data in different drawings represents the same or similar elements, unless otherwise indicated.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application, as shown in fig. 1, the braking energy recovery method provided in 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 a vehicle, and the vehicle may be a pure electric vehicle or a hybrid vehicle. The vehicle is provided with at least an electric drive system 111, an electric drive system 112, an electric control system 113, and a braking energy recovery device 10. The braking energy recovery device 10, the electric drive system 111, the electric drive system 112 and the electric control system 113 are electrically interconnected. Wherein the electric drive system 111 comprises a motor 1111 and the electric drive system 112 comprises a motor 1121. The electronic control system 113 includes a Motor Controller (MCU) 1131 and 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 charge and discharge current, voltage, ambient temperature and the like of a vehicle battery, and can estimate the residual capacity of the battery; the motor controller 1131 can control the operation states of the motors 1111 and 1121 in the electric drive system 111 and 112; the vehicle controller 1133 can acquire vehicle operation data such as the vehicle speed, the motor rotation speed, and the current of the vehicle directly or through bus communication, and records the types, specifications, and the like of the motor, the tire, and the like of the vehicle configuration. The braking energy recovery device can control the running state of the electric drive according to the braking energy recovery method provided by the application, and the braking energy recovery device can communicate with the whole vehicle controller 1133 and the motor controller 1131 to control the running state of the motor in the electric drive.
It should be noted that, the connection relationships, modes and the like between the system units in the vehicle provided in the embodiment of the present application may be set correspondingly according to various parameter conditions such as performance, specific structure and the like of the vehicle in an 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 drive systems.
It should be noted that the above application scenario is 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 above application scenario.
Embodiments of the present application will be described below with reference to the accompanying drawings. The embodiments described in the examples below do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
Example 1
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 subject of the present application is a braking energy recovery device, where the device is located in an electronic apparatus. The braking energy recovery method provided in the present 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 is braked, an electric drive operates in an energy recovery state, a 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; and the motor rotor rotates to provide braking energy recovery moment for vehicle braking. Braking energy recovery power P of vehicle regen For generating power P of the motor out I.e.,wherein Tq regen For braking energy recuperation torque, i.e. the input torque value of the motor when it is operating in the generating state, which is the torque value transmitted to the motor by the electrically driven transmission mechanism, n 1 For the motor rotation speed, the whole vehicle controller can directly acquire or acquire the motor rotation speed n through bus communication 1 And according to the time division of braking the vehicleThe braking energy recovery torque demand, the type, the specification and the model of the motor, the rotating speed and the like assigned to the braking energy recovery device determine the braking energy recovery torque Tq when the motor executes energy recovery regen ，η 1 For generating efficiency of motor, eta 1 ＝f(Tq regen ,n 1 ) The power generation efficiency of motors of different types and specification may be different, eta 1 The torque Tq can be recovered by braking energy built in advance regen And motor speed n 1 The two-dimensional table of the motor is obtained by inquiring the two-dimensional table of the motor, and the motor can be obtained by carrying out actual tests on motors of different types and specifications. The torque value transmitted to the motor by the electrically driven transmission mechanism can be calculated according to the braking energy recovery torque requirement 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 input torque value transmitted to the motor by the electrically driven transmission mechanism, namely the braking energy recovery torque Tq regen ＝T×i。
Allowable charging power P chgmax The charging power for allowing the vehicle battery to be charged by the outside world is related to the state of charge (state of charge) of the battery, and can be estimated by the battery management system according to the voltage of the vehicle battery. Illustratively, the charging power is allowed to be the first power when the remaining battery power is less than 95%, and the charging power is allowed to gradually decrease from the first power to zero when the remaining battery power increases from 95% to 100%.
Step 202, determining whether the braking energy recovery power is greater than the allowable charging power.
Specifically, the magnitude of the braking energy recovery power is compared with the magnitude of the allowable charging power.
If it is determined that the braking energy recovery power is greater than the allowable charging power, then an energy dissipation power is determined according to the braking energy recovery power and the allowable charging power, step 203.
In the present embodiment, the charging power P is allowed chgmax Zero, the energy dissipation power P Loss ≥P regen At the allowable charging power P chgmax Non-zero energy dissipation power P Loss ∈(P regen -P chgmax ,P regen ) I.e. energy dissipation power P Loss May be P regen -P chgmax To P regen Any value of (3). So as to ensure that the electric energy obtained by recovering the braking energy when the motor operates in a power generation state does not cause overcharge of the battery.
And 204, controlling the running states 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for executing braking energy recovery by the electric motor running in the energy recovery state and the power for executing electric drive dissipation energy in the energy dissipation state 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 the power generation state to execute braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in the driving state to execute energy dissipation.
In this embodiment, the vehicle has at least two electric drives, and when the vehicle brakes, at least one electric drive is controlled to operate in an energy recovery state, that is, 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 at the same time; and controlling at least one electric drive to operate in an energy dissipation state, namely controlling a motor in the at least one electric drive to operate in a driving state so as to consume electric energy recovered by braking energy and avoid overcharging a vehicle battery. Here, the braking energy recovery power is generated power of the motor operating in the power recovery state in the electric drive operating in the power generation state, and the energy dissipation power is power of electric energy dissipated by the electric drive 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. In particular, the electric drive operating in the energy dissipation state, the dissipated electric energy comprises the losses of the inverter and the losses of the motor, so that the motor can be operated in the drive state by controlling the operating current of the motor, but without generating torque and rotational speed, and further, the motor windings are enabled to convert the electric energy into heat energy for dissipation, and only the sum of the power dissipated by the heat energy by the motor windings and the power lost by the inverter is enabled to be equal to the energy dissipation power. Here, the windings may be stator windings, rotor windings, etc. of the electric motor according to different motor types and specification models. Therefore, in this embodiment, according to the actual situation of each electric drive, at least one electric drive can be arbitrarily controlled to operate in an energy recovery state, and at least one electric drive can be arbitrarily controlled to operate in an energy dissipation state. For example, the 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 weak magnetic control motor is too low, for example, the high-speed operation maintains neutral gear sliding, so that the weak magnetic rotation speed is maintained, and the continuous voyage mileage of the vehicle is not facilitated. Therefore, the disengaging gear is usually adopted, when the permanent magnet synchronous motor is not needed to drive, the permanent magnet synchronous motor is separated from the transmission mechanism, unnecessary electricity consumption caused by the motor for maintaining the weak magnetic 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 be controlled to be connected with the transmission mechanism again, 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 obtained; 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; and controlling the running states 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for performing braking energy recovery by the electric motor running in the energy recovery state and the power for performing electric drive dissipation energy running in the energy dissipation state 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 the power generation state to perform braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in the driving state to perform energy dissipation. Because the running state of the electric drives is controlled, at least one electric drive runs in the energy recovery state to provide braking energy recovery moment, and at least one electric drive runs in the energy dissipation state to dissipate the energy recovered by the braking energy recovery device, and the battery is not overcharged. Therefore, the braking energy recovery device is still able to provide a braking energy recovery torque when the battery of the vehicle is at or near full charge.
Example two
Fig. 3 is a schematic flow chart of a braking energy recovery method according to a second embodiment of the present application, as shown in fig. 3, in the braking energy recovery method according to the present embodiment, based on the first embodiment, step 201 is refined, and step 201 refinement includes steps 301 to 304.
Step 301, the vehicle speed and the brake pedal position of the vehicle are obtained.
In this embodiment, the vehicle speed VehSpd and the brake pedal position α of the vehicle may be acquired by the whole vehicle controller directly or through bus communication. The brake pedal is also called a brake, and the vehicle control unit can acquire whether the driver has a brake intention, a brake deceleration desired by the driver, and the like from 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.
If it is determined that the brake pedal position is not zero, the brake energy recovery power is determined according to the vehicle speed, step 303.
In the present embodiment, it is understood that the driver has a braking intention when the brake pedal position is not zeroThe map is used for transmitting the expected braking deceleration (or braking distance) to the whole vehicle controller through the position of a brake pedal. Depending on the different braking decelerations desired by the driver, the vehicle is braked with different braking torques, i.e. the different brake pedal positions correspond to different braking torque demands, i.e. braking torque demand Tq brake =f (α), α+.0, where α is the brake pedal position. 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 demand, and the braking torque required to be provided by the mechanical friction braking system is the mechanical braking torque demand. The mechanical friction braking demand and braking energy recuperation torque demand may be distributed according to different braking decelerations desired by the driver. Specifically, the braking energy recovery torque demand Tq regenbrake =g (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, which may be a brake pedal position corresponding to a maximum braking torque that the braking energy recovery device is capable of providing. If it is determined that the brake pedal position is greater than the preset position, the vehicle needs to be jointly provided with a braking demand torque by the braking energy recovery device and the mechanical friction braking system in order to ensure that the vehicle brakes at a brake deceleration desired by the driver. At this time, the braking energy recovery torque demand may be a maximum braking torque that the braking energy recovery device can provide. If the brake pedal position is less than or equal to the preset position, the brake torque demand may be allocated to at least one of the brake energy recovery device and the mechanical friction brake system, at this time, if the brake torque demand is fully allocated to the mechanical friction brake system, the value of the brake energy recovery torque is equal to zero, if the brake torque demand is fully allocated to the brake energy recovery device, the value of the brake energy recovery torque demand is equal to the value of the brake torque demand, and if the brake torque demand is allocated to the brake energy recovery device and the mechanical friction brake system, the value of the brake energy recovery torque demand may be determined according to the allocation situation. In this embodiment, the braking torque requirement may be determined by The allocation is performed in the same manner as the actual situation of the scene, and is not limited thereto.
In the present embodiment, the braking energy recovery torque Tq regen May be equal to the braking energy recovery torque demand Tq regenbrake Braking energy recovery powerFor motors of the same type and specification, the motor rotation speed n 1 In positive correlation with the speed of the vehicle, in particular, the motor speed n can be calculated from the type, specification, model, state and speed of the motor 1 And further determining the energy recovery power.
And 304, if the brake pedal position is determined to be zero, acquiring the accelerator pedal position of the vehicle, and determining the brake energy recovery power according to the accelerator pedal position.
In this embodiment, the vehicle may not need to brake when the brake pedal position is zero, specifically, the vehicle controller may directly acquire the accelerator pedal position of the vehicle, if the accelerator pedal position is not zero, it is determined that the vehicle is in a normal running state, and the driver does not have a braking intention, so that braking energy recovery is not required, and it is determined that the braking energy recovery power is zero.
According to the braking energy recovery method provided by the embodiment, the speed of the vehicle and the position of the braking pedal of the vehicle are obtained; judging whether the position of the brake pedal is zero, if the position of the brake pedal is determined to be not zero, determining the braking energy recovery moment 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, and determining the braking energy recovery power according to the position of the accelerator pedal.
As an alternative implementation, based on the second embodiment, the step 304 is refined, and then the step 304 refinement includes steps 3041 to 3042.
Step 3041, judging whether the accelerator pedal position is zero.
Specifically, the vehicle controller can directly judge whether the position of the accelerator pedal is zero.
Step 3042, if it is determined that the accelerator pedal position is zero, calculating the braking energy recovery power according to the vehicle speed.
In the present embodiment, if the accelerator pedal position is zero, since the brake pedal position is also zero at this time, it is necessary to calculate the braking energy recovery torque from the vehicle speed. Specifically, whether the vehicle speed is greater than a preset speed or not can be judged, if the vehicle speed is greater than the preset speed, the vehicle is in a sliding state, and the energy recovery power is braked at the momentWherein Tq cosst For recovering torque, tq, of braking energy of the vehicle while coasting cosst Depending on the vehicle speed, the braking energy recuperation moment function Tq of the vehicle during coasting, which can be built in advance, can be varied coast Calculation was performed=f (VehSpd). If the vehicle speed is less than or equal to the preset vehicle speed, the vehicle is in a pure electric creep (e-creep) state, and at the moment, the braking energy recovery moment is determined to be zero.
According to the braking energy recovery method provided by the embodiment, whether the accelerator pedal position is zero is judged, if the accelerator pedal position is determined to be zero, the braking energy recovery power is calculated according to the vehicle speed, and different braking energy recovery moments are determined according to different positions of the accelerator pedal, so that the braking energy recovery moments under different driving conditions can be determined, and braking energy recovery can be conducted 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 foregoing embodiments, step 203 is refined, and step 203 refinement includes step 2031.
Step 2031, determining a difference between the braking energy recovery power and the allowable charging power as the energy dissipation power.
Specifically, the energy is dissipated to power P Loss Is determined as P Loss ＝P regen -P chgmax Wherein P is regen Recovering power for braking energy, P chgmax To allow charging power.
According to the braking energy recovery method, the difference between the braking energy recovery power and the allowable charging power is determined as the energy dissipation power, and the energy dissipation power is a part of the braking energy recovery power which is larger than the allowable charging power, so that energy which does not cause battery overcharge can be charged into the battery, and more braking energy can be recovered as much as possible.
Example IV
Fig. 4 is a flow chart of a braking energy recovery method according to a fourth embodiment of the present application, as shown in fig. 4, in the braking energy recovery method according to the present embodiment, on the basis of any one of the foregoing embodiments, the step 204 is refined, 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 including one motor, and therefore, the vehicle has at least two motors. Each motor is referred to as a motor in each electric drive of the vehicle. Specifically, the rated power of each motor of the vehicle can be directly obtained through the whole vehicle controller.
Step 402, determining a first motor and a second motor according to 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 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 determined as the first motor and the second motor, respectively.
If the number of motors of the vehicle is greater than two, at least one motor is determined to be a first motor, at least one motor is determined to be a second motor, and the rated power of the second motor is greater than the rated power of the first motor.
Step 403, controlling the electric drive of the first motor to operate in the energy recovery state, so that the first motor performs the braking energy recovery operation.
Specifically, the motor controller can control the first motor to operate in a power generation state, so that at least one electric drive where the first motor is located operates in an energy recovery state.
And step 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 execute energy dissipation operation.
Specifically, the second motor may be controlled to operate in a driving state by the motor controller, such that the second motor operates in an energy dissipation state, and the output power P of the motor operating in the driving state out2 Greater than or equal to the energy dissipation power P Loss To ensure P chgmax +P out2 ≥P out1 Ensuring that no overcharge is caused to the battery.
According to the braking energy recovery method, the rated power of each motor of the vehicle is obtained, the first motor and the second motor are determined according to the rated power of each motor, the rated power of the first motor is smaller than or equal to the rated power of the second motor, the first motor is controlled to operate in a power generation state to execute braking energy recovery operation, the second motor is controlled to operate in a driving state to execute energy dissipation operation according to the energy dissipation power, the first motor is controlled to execute braking energy recovery operation, and the second motor is controlled to execute energy dissipation operation, so that the difference between the power of the first motor for executing energy recovery and the power of the second electric drive for executing energy dissipation is smaller than or equal to the allowable charging power, and the situation that the battery is overcharged can be avoided.
As an alternative implementation, on the basis of example four, the refinement of step 404 includes steps 4041 to 4042.
Step 4041, obtaining the connection condition of the second motor and the engine.
In this embodiment, the connection condition of the second motor and the generator may be directly obtained through the whole vehicle controller. The connection condition of the second motor and the engine comprises: the second motor is connected with the engine and the second motor is not connected with the engine motor. When the second motor is not connected with the engine, the vehicle may be provided with the engine, but the connection between the second motor and the engine is in a disconnected state, or the vehicle may be a pure electric vehicle and not provided with the engine.
Step 4042, if it is determined that the second electric machine is connected to the engine, performing the first operation or the second operation.
The first operation includes:
controlling the second motor to run in a driving state and the output torque is zero;
calculating a dissipation current value from the energy dissipation power;
controlling a value of current flowing through the second motor winding to be equal to a dissipation current value to achieve energy dissipation.
In this embodiment, the electric power 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 requirement of the dissipated energy is greater than or equal to the energy dissipation power P Loss . For the electric drive of the second motor, the dissipated electric energy mainly comprises the loss of the inverter and the loss of the second motor, and the efficiency eta of the inverter 2 ＝f(T 2 ,n 2 ) Wherein T is 2 For the output torque of the second motor, in this embodiment, the output torque of the second motor is controlled to be zero, n 2 The rotating speed of the second motor can be directly obtained through the whole vehicle controller. In particular according toMotors of different types and specifications can make the output power P of the second motor out2 ＝P Loss ×η 2 A dissipation current value is calculated and the current value flowing through the second motor winding is controlled to be equal to the dissipation current value to achieve energy dissipation. Illustratively, a synchronous motor (e.g., a permanent magnet synchronous motor) is controlled to operate in a drive state with zero output torque, i.e., q-axis current I q Is 0. With P out2 Calculating the dissipation current value as output power, i.e. the d-axis current value I d For synchronous motors, output powerThus (S)>The q axis is also called the intersecting axis, and is a coordinate axis perpendicular to the magnetic field direction of the motor rotor, the d axis is also called the straight axis, and is a coordinate axis where the magnetic field direction of the motor rotor is located, and the coordinate axes where the q axis and the d axis are located are coordinate axes to which the mathematical model of the motor is converted, under which the three-phase motor can obtain control characteristics similar to those of a direct current motor.
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 moment of inertia of the engine is required to be such that the power of converting the electric energy into the mechanical energy is greater than or equal to the energy dissipation power when the engine is driven by the motor.
As an alternative embodiment, step 4043 is further included after step 4041.
Step 4043, if it is determined that the second electric machine is not connected to the engine, executing the first operation.
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 mechanical energy for dissipation, and therefore, the first operation can only be performed to convert the electric energy into thermal energy for dissipation.
According to the braking energy recovery method, through obtaining 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, if the second motor is determined to be not connected with the engine, the first operation is executed, and different operations are executed according to the connection condition of the second motor and the engine, so that electric energy recovered by braking energy can be dissipated for vehicles with different connection conditions of the motor and the engine, and the situation that the battery is not overcharged is ensured.
Example five
The braking energy recovery method provided in this embodiment further includes step 206 based on any one of the above embodiments.
And 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 of at least one electric motor of the vehicle operating in a generating state. If the allowable charging power of the vehicle battery is greater than or equal to the braking energy recovery power, when the vehicle is braked, 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 run in an energy recovery state, the motor in the electric drive runs in a power generation state to execute braking energy recovery, braking energy recovery torque is provided for the vehicle brake, and the kinetic energy of the vehicle is converted into electric energy to be stored in the battery of the vehicle so as to improve the cruising ability of the vehicle.
In this embodiment, if the allowable charging power is greater than the preset power value, the preset power value may be the sum of the starting powers of all the motors when all the electric drives of the vehicle are operated in the energy recovery state, and the braking energy recovery device may be considered to not cause overcharge of the battery, so that one or more electric drives of the vehicle may be optionally controlled to operate in the energy recovery state according to the braking torque requirement of the vehicle, and the braking torque requirement is provided for the vehicle.
According to the braking energy recovery method provided by the embodiment, if the allowable charging power is determined to be 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, and the braking energy recovery device can stably provide the braking energy recovery moment for the vehicle, so that the mechanical system of the vehicle can be lightened.
As an alternative implementation, based on the fifth embodiment, the refinement of step 206, then step 206 refinement includes step 2061.
Step 2061, controlling at least one electric drive to operate in an energy recovery state such that at least one electric drive motor operates in a power generation state to perform a braking energy recovery operation.
In this embodiment, the allowable charging power of the vehicle battery is greater than the braking energy recovery power when at least one electric drive is operated in the energy recovery state, so that the braking energy recovery power does not cause overcharge to 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 is operated in the power generation state, and the battery is charged.
According to the braking energy recovery method, the at least one motor is controlled to run in the power generation state to execute the braking energy recovery operation, and the battery can be charged through the motor running in the power generation state, so that the cruising ability of the vehicle can be improved.
As an alternative embodiment, step 206 refinement further includes steps 2062 to 2064.
Step 2062, determining the rotational speed of each motor of the vehicle according to the vehicle speed.
In this embodiment, the rotational speeds of the motors corresponding to the vehicle speed may be calculated according to the types and specification models of the motors and the specifications of the vehicle tires.
Step 2063, determining the power generated by each motor based on the rotational speed of each motor.
Specifically, the formula can be usedAnd calculating the power generation power of each motor.
Step 2064, determining at least one electric drive operating in the energy recovery state based on the generated power of each motor.
In this embodiment, since the battery allows the charging power to be larger 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 greater than the maximum braking energy recovery power that can be provided by the braking energy recovery device. At least one electric drive operating in the energy recovery state may be determined based on the generated power of each motor so that the braking energy recovery power is as large as possible. Specifically, the braking energy recovery torque provided by the braking energy recovery device for vehicle braking meets the braking torque demand T born by the braking energy recovery device regen_total As a constraint condition, the braking energy recovery power is used as an objective function, and the torque of each motor is allocated so that the value of the objective function is as large as possible. Illustratively, taking the vehicle having a front electric drive and a rear electric drive as examples, the braking torque demand T imposed by the braking energy recovery device regen_total ＝T 1 ×i 1 +T 2 ×i 2 Wherein T is 1 Motor torque in the precursor electric drive; i.e 1 The transmission ratio of the transmission mechanism is the transmission ratio of the front electric drive; t (T) 2 Motor torque in rear electric drive, i 2 Is the transmission ratio of the transmission mechanism of the rear electric drive. Braking energy recovery powerSo that P regen_total As large a target as possible, the torque T of the motor in the front electric drive and the rear electric drive is distributed 1 And T 2 。
According to the braking energy recovery method provided by the embodiment, the rotation 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 rotation speed of each motor, at least one motor for executing braking energy recovery operation is determined according to the power generation power of each motor, and therefore the braking energy can be recovered with the highest efficiency, and the cruising energy of the vehicle can be increased.
Example six
Fig. 5 is a schematic structural diagram of a braking energy recovery device according to a sixth embodiment of the present application, as shown in fig. 5, where the braking energy recovery device provided in this embodiment is located in an electronic device, and the electronic device may be a device where the braking energy recovery device, an electronic control system, or a vehicle controller is located. The braking energy recovery device 10 includes: an acquisition module 51, a judgment module 52, a determination module 53 and a control module 54.
The acquisition module 51 is used for acquiring braking energy recovery power and allowable charging power of the vehicle.
The judgment module 52 is configured to judge 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 an energy dissipation power based on the braking energy recovery power and the allowable charging power;
the control module 54 is configured to control the operation states 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 is operated in the energy recovery state, at least one electric drive is operated in the energy dissipation state, and a difference between a power of the electric drive in the energy recovery state to perform braking energy recovery and a power of the electric drive dissipation energy operated in the energy dissipation state is less than or equal to the allowable charging power, wherein when the electric drive is operated in the energy recovery state, the electric drive is operated in the power generation state to perform braking energy recovery, and when the electric drive is operated in the energy dissipation state, the electric drive is operated in the driving state to perform energy dissipation.
The braking energy recovery device provided in this embodiment may perform the braking energy recovery method provided in the first embodiment, and specific implementation manner and principle are similar, and are not repeated here.
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 brake pedal position is zero; if the brake pedal position is determined to be not zero, determining the brake energy recovery power according to the vehicle speed; and if the brake pedal position is determined to be zero, acquiring the accelerator pedal position of the vehicle, and determining the brake energy recovery power according to the accelerator pedal position.
As an optional implementation manner, the obtaining module 51 is specifically further configured to determine whether the accelerator pedal position is zero; and if the accelerator pedal position is determined to be zero, calculating the braking energy recovery power according to the vehicle speed.
As an alternative embodiment, the determining module 53 is specifically configured to determine the 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 rated powers of the motors, wherein the rated power of the first motor is smaller 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 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 execute energy dissipation operation.
As an alternative embodiment, the control module 54 is specifically further configured to obtain a connection condition between the second electric machine and the engine; if the second motor is determined to be connected with the engine, executing a first operation or a second operation; the first manipulation comprises: controlling the second motor to run in a driving state and the output torque is zero; calculating a dissipation current value from the energy dissipation power; controlling a current value flowing through the second motor winding to be equal to a dissipation current value to achieve 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 embodiment, the control module 54 is specifically further configured to perform the first operation if it is determined that the second electric machine is not connected 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 specifically further configured to control the electric drive of the vehicle to operate in the energy recovery state so that the motor performs the braking energy recovery operation.
As an alternative embodiment, control module 54 is also specifically configured to control operation of at least one electric drive in an energy recovery state such that operation of at least one electric motor in a power generation state performs a braking energy recovery operation.
As an alternative embodiment, the control module 54 is specifically further configured to determine the rotational 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 motor.
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 will not be described herein again.
It should be understood that the above-described device embodiments are merely illustrative, and that the device of the present application may be implemented in other ways. For example, the division of the units/modules in the above embodiments is merely a logic 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 performed.
In addition, each functional unit/module in each embodiment 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, unless otherwise specified. The integrated units/modules described above may be implemented either in hardware or in software program modules.
The integrated units/modules, if implemented in hardware, may be digital circuits, analog circuits, 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 CPU, GPU, FPGA, DSP and ASIC, etc., unless otherwise specified. Unless otherwise indicated, the storage elements may be any suitable magnetic 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 cube HMC (Hybrid Memory Cube), etc.
The integrated units/modules may be stored in a computer readable memory if implemented in the form of software program modules and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Example seven
Fig. 6 is a block diagram of an electronic device provided according to a seventh embodiment of the present application, and as shown in fig. 6, an electronic device 60 provided in the present embodiment includes a memory 61 and a processor 62.
The memory 61 is electrically connected with the processor 62;
the memory 61 stores computer-executable instructions;
the processor 62 executes computer-executable instructions stored in the memory 61 to implement the braking energy recovery method provided in any one of the above embodiments.
The embodiment of the invention also provides a computer readable storage medium, wherein computer executable instructions are stored in the computer readable storage medium, and the computer executable instructions are used for realizing the braking energy recovery method provided by any one of the embodiments when being executed by a processor.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments. The technical features of the foregoing embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the disclosure.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required in the present application.
It should be further noted that, although the steps in the flowchart are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in the flowcharts may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order in which the sub-steps or stages are performed is not necessarily sequential, and may be performed in turn or alternately with at least a portion of the sub-steps or stages of other steps or 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 application 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 application 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 is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (12)

1. A braking energy recovery method, characterized by comprising:
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;
Controlling the running states 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 the energy recovery state, at least one electric drive runs in the energy dissipation state, and the difference between the power for performing braking energy recovery by the electric motor running in the energy recovery state and the power for performing electric drive dissipation energy running in the energy dissipation state 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 power generation state to perform braking energy recovery, and when the electric drive runs in the energy dissipation state, the electric motor running in the electric drive runs in the driving state to perform energy dissipation;
said controlling the operating state of the electric drive in accordance with said braking energy recovery power, said energy dissipation power and said allowable charging power, comprising:
obtaining rated power of each motor of the vehicle;
determining a first motor and a second motor according to rated powers of the motors, wherein the rated power of the first motor is smaller 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 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 execute energy dissipation operation.
2. The method of claim 1, wherein said deriving braking energy recovery power for the vehicle comprises:
acquiring a vehicle speed and a brake pedal position of the vehicle;
judging whether the brake pedal position is zero;
if the brake pedal position is determined to be not zero, determining the brake energy recovery power according to the vehicle speed;
and if the brake pedal position is determined to be zero, acquiring the accelerator pedal position of the vehicle, and determining the brake energy recovery power according to the accelerator pedal position.
3. The method of claim 2, wherein determining the braking energy recovery power based on the accelerator pedal position comprises:
judging whether the position of the accelerator pedal is zero;
and if the accelerator pedal position 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 allowed charging power comprises:
The difference between the braking energy recovery power and the allowable charging power is determined as the energy dissipation power.
5. The method of claim 1, wherein controlling the electric drive in which the second electric machine is operating in an energy dissipating state based on the energy dissipating power to cause the second electric machine to perform an energy dissipating operation comprises:
acquiring the connection condition of the second motor and the engine;
if the second motor is determined to be connected with the engine, executing a first operation or a second operation;
the first operation includes:
controlling the second motor to run in a driving state and the output torque is zero;
calculating a dissipation current value from the energy dissipation power;
controlling a current value flowing through the second motor winding to be equal to a dissipation current value to achieve energy dissipation;
the second operation includes:
and controlling the second motor to drive the generator to idle so as to realize energy dissipation.
6. The method as recited in claim 5, further comprising:
and if the second motor is determined not to be connected with the engine, executing the first operation.
7. The method as recited in claim 1, further comprising:
And if the allowable charging power is 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 braking energy recovery operation.
8. The method of claim 7, wherein controlling the electric drive of the vehicle to operate in the energy recovery state to cause the electric machine to perform the braking energy recovery operation comprises:
and controlling at least one electric drive to operate in an energy recovery state so that the motor of the at least one electric drive operates in a power generation state to perform a braking energy recovery operation.
9. The method of claim 8, wherein controlling the at least one electric machine to operate in a power generation state to perform a braking energy recovery operation further comprises:
determining 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 motor.
10. A braking energy recovery apparatus, characterized by comprising:
the acquisition module is used for acquiring the braking energy recovery power and the allowable charging power of the vehicle;
the judging module is used for judging whether the braking energy recovery power is larger than the allowable charging power or not;
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;
a control module for controlling the operation states 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 the energy recovery state, at least one electric drive operates in the energy dissipation state, and a difference between the power of the braking energy recovery performed by the motor in the electric drive operating in the energy recovery state and the power of the electric drive dissipation energy operating in the energy dissipation state is less than or equal to the allowable charging power, wherein when the electric drive operates in the energy recovery state, the motor in the electric drive operates in the power generation state to perform braking energy recovery, and when the electric drive operates in the energy dissipation state, the motor in the electric drive operates in the driving state to perform energy dissipation;
the control module is specifically used for acquiring rated power of each motor of the vehicle;
determining a first motor and a second motor according to rated powers of the motors, wherein the rated power of the first motor is smaller 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 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 execute energy dissipation operation.
11. An electronic device, comprising: a memory and a processor;
the memory is in circuit connection with the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 9.
12. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 9.
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