CN114475261A - Braking energy recovery control method, computer storage medium and new energy commercial vehicle - Google Patents
Braking energy recovery control method, computer storage medium and new energy commercial vehicle Download PDFInfo
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- CN114475261A CN114475261A CN202210150795.9A CN202210150795A CN114475261A CN 114475261 A CN114475261 A CN 114475261A CN 202210150795 A CN202210150795 A CN 202210150795A CN 114475261 A CN114475261 A CN 114475261A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a brake energy recovery control method, a computer storage medium and a new energy commercial vehicle, which comprises the following steps: calculating the real-time load mass of the vehicle, calculating the dynamic load of the front axle and the rear axle, obtaining the relation between the braking torque of the front axle and the rear axle and the pedal opening, obtaining the braking torque Tf and Tr1 of the front axle and the rear axle with different pressures, obtaining the relation between the sliding resistance a and V, calculating the maximum rear wheel braking torque Tr, obtaining the braking torque Tr1 of the rear axle and the maximum rear wheel braking torque Tr, and obtaining the maximum energy recovery braking torque. The advantages are that: on the premise of ensuring stable braking, calculating the maximum rear wheel braking torque Tr according to the relationship between the braking strength and the rear wheel utilization rate to obtain the braking torque Tr1 of the rear axle and the maximum rear wheel braking torque Tr, and obtaining the maximum energy recovery braking torque Tre; the energy recovery efficiency of the new energy commercial vehicle can be effectively improved, and the braking stability in the energy recovery process can be ensured.
Description
Technical Field
The invention relates to the technical field of brake energy recovery of new-energy commercial vehicles, in particular to a brake energy recovery control method, a computer storage medium and a new-energy commercial vehicle.
Background
Motor drive's commercial car passes through motor braking energy recuperation and effectively reduces the energy consumption, promotes continuation of the journey mileage, but commercial car is many to be driven after as the owner, and empty full load difference is great, intervenes when electric braking, at different loads, different road surfaces, under the different brake pedal degree of depth, single control if energy recuperation is too big to make the vehicle rear wheel lock in advance to lead to the vehicle braking unstable, the undersize leads to recovery efficiency low easily.
At present, a new energy commercial vehicle generally uses a single control motor brake torque MAP graph to perform simulation calibration in association with the opening of a brake pedal and the vehicle speed, but has no theoretical basis and does not conform to the complex use condition of the commercial vehicle.
Therefore, it is necessary to introduce a set of control calculation schemes to avoid the above disadvantages.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
The invention aims to provide a braking energy recovery control method, a computer storage medium and a new energy commercial vehicle.
The invention provides a braking energy recovery control method, which comprises the following steps:
s1: calculating the real-time load mass of the vehicle according to the torque and the vehicle speed of the vehicle in low-speed actual operation, and entering the step S2;
s2: calculating dynamic loads of a front axle and a rear axle according to data on a basic parameter table of the whole vehicle, and entering the step S3;
s3: obtaining the relation between the braking torque and the pedal opening degree of the front axle and the rear axle according to the relation between the opening degree of the main braking valve and the air pressure and the relation between the opening degree of the braking pedal and the air pressure, and entering the step S4;
s4: obtaining braking torques Tf and Tr1 of the front axle and the rear axle with different pressures through bench tests of the front axle brake and the rear axle brake, and entering the step S5;
s5: obtaining the relation between the sliding deceleration and the vehicle speed through the data of the bench test, obtaining the relation between the sliding resistance a and V, and entering the step S6;
s6: calculating the maximum rear wheel brake torque Tr according to the brake strength and the rear wheel brake utilization coefficient specified in the national standard commercial vehicle brake system technical requirements and test method, and entering the step S7;
s7: obtaining the brake torque Tr1 of the rear axle and the maximum rear wheel brake torque Tr under the condition of different brake pedal depths, and entering the step S8;
s8: and obtaining the maximum energy recovery braking torque through the braking torque of the rear axle and the maximum rear wheel braking torque.
Further, the step S1 includes the formula: and M (a + gsin alpha) is T/r, wherein a is the real-time acceleration of the whole vehicle, M is the mass of the whole vehicle, T is the wheel torque, and alpha is the real-time gradient.
Further, the real-time acceleration a of the whole vehicle can be obtained by deriving the real-time vehicle speed V, wherein the real-time vehicle speed V is directly detected by an ABS wheel speed sensor or a transmission shaft rotating speed sensor, the wheel torque T can be obtained by looking up a table through a motor MAP, the mass M of the whole vehicle is a fixed value, and the real-time gradient alpha is a continuously-transformed value.
Further, the step S1 includes detecting the real-time gradient α N times, obtaining values α 1 to α N, and substituting the values α 1 to α N into the formula M (a + gsin α) ═ T/r, obtaining values M1 to Mn.
Further, step S1 includes calculating the root mean square value of the vehicle mass M and the root mean square values from M1 to Mn by a least square method, and obtaining the real-time load mass of the vehicle.
Further, the relationship between the sliding resistance a and V in step S5 is "f (V)".
Further, step S6 includes calculating Z ═ f (ar) by the brake strength and the rear wheel brake utilization factor specified in "national standard commercial vehicle brake system specification and test method", and obtaining the maximum rear wheel brake torque Tr, where Z is the vehicle brake strength and ar is the rear wheel brake utilization factor.
Further, the maximum energy recovery brake torque Tre in step S8 is the maximum rear wheel brake torque Tr — rear axle brake torque Tr 1.
The invention also provides a computer storage medium comprising a computer program which, when executed, executes the above-mentioned braking energy recovery control method to control the braking torque of the braking energy recovery.
The invention further provides a new energy commercial vehicle, and the new energy commercial vehicle controls the new energy commercial vehicle by adopting the braking energy recovery control method.
According to the braking energy recovery control method provided by the invention, the braking torque which can be provided by the maximum energy recovery braking which can be released currently is comprehensively calculated according to the actual load, the working condition, the deceleration and the slip ratio of the whole vehicle; the energy recovery efficiency of the new energy commercial vehicle can be effectively improved, and the braking stability in the energy recovery process can be ensured.
Drawings
Fig. 1 is a flowchart of a braking energy recovery control method provided in embodiment 1 of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The terms first, second, third, fourth and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
Fig. 1 is a flowchart of a braking energy recovery control method provided in embodiment 1 of the present invention. Referring to fig. 1, a braking energy recovery control method provided in an embodiment of the present invention includes the following steps:
s1: calculating the real-time load mass of the vehicle according to the torque and the vehicle speed of the vehicle in low-speed actual operation, and entering the step S2; it should be noted that the air resistance of the whole vehicle can be ignored at low speed;
specifically, step S1 includes the formula: and M (a + gsin alpha) is T/r, wherein a is the real-time acceleration of the whole vehicle, M is the mass of the whole vehicle, T is the wheel torque, and alpha is the real-time gradient.
The real-time acceleration a of the whole vehicle can be obtained by deriving the real-time vehicle speed V, wherein the real-time vehicle speed V is directly detected by an ABS wheel speed sensor or a transmission shaft rotating speed sensor, the wheel side torque T can be obtained by looking up a table through a motor MAP, the mass M of the whole vehicle is a fixed value, and the real-time gradient alpha is a continuously-transformed value.
Step S1 further includes detecting the real-time gradient α N times to obtain values α 1 to α N, and substituting the values α 1 to α N into the formula M (a + gsin α) ═ T/r to obtain values M1 to Mn; and calculating the root mean square value of the mass M of the whole vehicle and the root mean square values from M1 to Mn to be small through a least square method, and obtaining the real-time load mass of the vehicle.
S2: calculating dynamic loads of a front axle and a rear axle according to data on a basic parameter table of the whole vehicle, and entering the step S3;
s3: obtaining the relation between the braking torque and the pedal opening degree of the front axle and the rear axle according to the relation between the opening degree of the main braking valve and the air pressure and the relation between the opening degree of the braking pedal and the air pressure, and entering the step S4;
it should be noted that the relationship between the opening degree of the master cylinder valve and the air pressure and the relationship between the opening degree of the brake pedal and the air pressure may be provided by a demand provider.
S4: obtaining braking torques Tf and Tr1 of the front axle and the rear axle with different pressures through bench tests of the front axle brake and the rear axle brake, and entering the step S5;
s5: obtaining a relationship between the coasting deceleration and the vehicle speed from data of the bench test, obtaining a relationship between the coasting resistance a and V, specifically, a relationship between the coasting resistance a and V is "f (V), and proceeding to step S6;
s6: calculating the maximum rear wheel brake torque Tr according to the brake strength and the rear wheel brake utilization coefficient specified by the national standard commercial vehicle brake system technical requirement and test method, specifically, calculating Z-f (ar) according to the brake strength and the rear wheel brake utilization coefficient specified by the national standard commercial vehicle brake system technical requirement and test method to obtain the maximum rear wheel brake torque Tr, wherein Z is the brake strength of the whole vehicle, and ar is the rear wheel brake utilization coefficient, and entering the step S7;
s7: obtaining the brake torque Tr1 of the rear axle and the maximum rear wheel brake torque Tr under the condition of different brake pedal depths, and entering the step S8;
s8: the maximum energy recuperation braking torque is obtained from the rear axle braking torque and the maximum rear wheel braking torque, specifically the maximum energy recuperation braking torque Tre is the maximum rear wheel braking torque Tr — the rear axle braking torque Tr 1.
It should be noted that, the braking energy recovery control method provided by the invention comprehensively calculates the braking torque which can be provided by the maximum energy recovery brake which can be released currently according to the actual load, working condition, deceleration and slip rate of the whole vehicle; the energy recovery efficiency of the new energy commercial vehicle can be effectively improved, and the braking stability in the energy recovery process can be ensured.
The invention also provides a computer storage medium, which includes a computer program, when the computer program is executed, the braking energy recovery control method is executed to control the braking torque of the braking energy recovery.
The invention also provides a new energy commercial vehicle, which controls the new energy commercial vehicle by adopting the braking energy recovery control method; for other technical features of the new energy commercial vehicle, please refer to the prior art, which is not described herein.
Based on the above description, the present invention has the following advantages:
1. according to the braking energy recovery control method provided by the invention, the braking torque which can be provided by the maximum energy recovery braking which can be released currently is comprehensively calculated according to the actual load, the working condition, the deceleration and the slip ratio of the whole vehicle; the energy recovery efficiency of the new-energy commercial vehicle can be effectively improved, and the braking stability in the energy recovery process can be ensured.
2. According to the braking energy recovery control method provided by the invention, on the premise of ensuring stable braking, the maximum rear wheel braking torque Tr is calculated through the relation between the braking strength and the rear wheel utilization rate, the braking torque Tr1 of the rear axle and the maximum rear wheel braking torque Tr are obtained, and the maximum energy recovery braking torque Tre is obtained.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A braking energy recovery control method, characterized by comprising the steps of:
s1: calculating the real-time load mass of the vehicle according to the torque and the vehicle speed of the vehicle in low-speed actual operation, and entering the step S2;
s2: calculating dynamic loads of a front axle and a rear axle according to data on a basic parameter table of the whole vehicle, and entering the step S3;
s3: obtaining the relation between the braking torque and the pedal opening degree of the front axle and the rear axle according to the relation between the opening degree of the main braking valve and the air pressure and the relation between the opening degree of the braking pedal and the air pressure, and entering the step S4;
s4: obtaining braking torques Tf and Tr1 of the front axle and the rear axle with different pressures through bench tests of the front axle brake and the rear axle brake, and entering the step S5;
s5: obtaining the relation between the sliding deceleration and the vehicle speed through the data of the bench test, obtaining the relation between the sliding resistance a and V, and entering the step S6;
s6: calculating the maximum rear wheel brake torque Tr according to the brake strength and the rear wheel brake utilization coefficient specified in the national standard commercial vehicle brake system technical requirements and test method, and entering the step S7;
s7: obtaining the brake torque Tr1 of the rear axle and the maximum rear wheel brake torque Tr under the condition of different brake pedal depths, and entering the step S8;
s8: and obtaining the maximum energy recovery braking torque through the braking torque of the rear axle and the maximum rear wheel braking torque.
2. The braking energy recovery control method of claim 1, wherein the step S1 includes a formula: and M (a + gsin alpha) is T/r, wherein a is the real-time acceleration of the whole vehicle, M is the mass of the whole vehicle, T is the wheel torque, and alpha is the real-time gradient.
3. The braking energy recovery control method of claim 2, wherein the real-time acceleration a of the entire vehicle is obtained by deriving a real-time vehicle speed V, wherein the real-time vehicle speed V is directly detected by an ABS wheel speed sensor or a transmission shaft rotation speed sensor, the wheel-side torque T is obtained by looking up a table through a motor MAP, the mass M of the entire vehicle is a fixed value, and the real-time gradient α is a continuously variable value.
4. The braking energy recovery control method of claim 2, wherein the step S1 further comprises detecting the real-time gradient α N times to obtain values α 1 to α N, and substituting the values α 1 to α N into the formula M (a + gsin α) ═ T/r to obtain values M1 to Mn.
5. The braking energy recovery control method of claim 4, wherein the step S1 further comprises calculating by a least square method that the RMS values of the entire vehicle mass M and M1 to Mn are small to obtain the real-time load mass of the vehicle.
6. The braking energy recovery control method according to claim 1, wherein the relationship between the sliding resistance a and V in step S5 is a ═ f (V).
7. The braking energy recovery control method according to claim 1, wherein step S6 includes calculating Z ═ f (ar) by the braking intensity and the rear wheel braking utilization factor specified in "national standard commercial vehicle braking system technical requirements and test methods", and obtaining the maximum rear wheel braking torque Tr, where Z is the braking intensity of the entire vehicle and ar is the rear wheel braking utilization factor.
8. The braking energy recovery control method of claim 1, wherein the maximum energy recovery braking torque Tre in step S8 is the maximum rear wheel braking torque Tr — rear axle braking torque Tr 1.
9. A computer storage medium characterized by comprising a computer program that, when executed, controls braking torque of the braking energy recovery by performing the braking energy recovery control method of any of claims 1 to 8.
10. A new-energy commercial vehicle, characterized in that the new-energy commercial vehicle controls the new-energy commercial vehicle by adopting the braking energy recovery control method of any one of claims 1 to 8.
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| CN202210150795.9A CN114475261A (en) | 2022-02-14 | 2022-02-14 | Braking energy recovery control method, computer storage medium and new energy commercial vehicle |
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| CN202210150795.9A CN114475261A (en) | 2022-02-14 | 2022-02-14 | Braking energy recovery control method, computer storage medium and new energy commercial vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489323A (en) * | 2022-11-17 | 2022-12-20 | 潍柴动力股份有限公司 | Braking energy recovery method and device and vehicle |
| CN116160865A (en) * | 2023-04-19 | 2023-05-26 | 小米汽车科技有限公司 | Vehicle control method and device, medium and vehicle |
| CN116533770A (en) * | 2023-05-25 | 2023-08-04 | 重庆青山工业有限责任公司 | Braking energy recovery feedback control method for multi-gear hybrid system |
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| JP2003170823A (en) * | 2001-09-27 | 2003-06-17 | Nissan Motor Co Ltd | Braking controller |
| CN110385997A (en) * | 2019-06-26 | 2019-10-29 | 江铃汽车股份有限公司 | A kind of energy reclaiming method and system |
| CN110667396A (en) * | 2019-10-12 | 2020-01-10 | 江铃汽车股份有限公司 | Energy recovery torque calibration method for rear-drive electric vehicle |
| US20200172109A1 (en) * | 2018-12-03 | 2020-06-04 | Hyundai Motor Company | Vehicle having electric motor and driving control method for the same |
| CN111469674A (en) * | 2020-05-06 | 2020-07-31 | 浙江吉利新能源商用车集团有限公司 | Braking energy recovery control method for new energy cargo vehicle |
| CN113276684A (en) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | Sliding energy recovery control method for electric automobile |
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2022
- 2022-02-14 CN CN202210150795.9A patent/CN114475261A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003170823A (en) * | 2001-09-27 | 2003-06-17 | Nissan Motor Co Ltd | Braking controller |
| US20200172109A1 (en) * | 2018-12-03 | 2020-06-04 | Hyundai Motor Company | Vehicle having electric motor and driving control method for the same |
| CN110385997A (en) * | 2019-06-26 | 2019-10-29 | 江铃汽车股份有限公司 | A kind of energy reclaiming method and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489323A (en) * | 2022-11-17 | 2022-12-20 | 潍柴动力股份有限公司 | Braking energy recovery method and device and vehicle |
| CN116160865A (en) * | 2023-04-19 | 2023-05-26 | 小米汽车科技有限公司 | Vehicle control method and device, medium and vehicle |
| CN116533770A (en) * | 2023-05-25 | 2023-08-04 | 重庆青山工业有限责任公司 | Braking energy recovery feedback control method for multi-gear hybrid system |
| CN116533770B (en) * | 2023-05-25 | 2024-05-03 | 重庆青山工业有限责任公司 | Braking energy recovery feedback control method for multi-gear hybrid system |
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