CN116198331A - Vehicle energy recovery torque control method and device and electronic equipment - Google Patents
Vehicle energy recovery torque control method and device and electronic equipment Download PDFInfo
- Publication number
- CN116198331A CN116198331A CN202211728518.8A CN202211728518A CN116198331A CN 116198331 A CN116198331 A CN 116198331A CN 202211728518 A CN202211728518 A CN 202211728518A CN 116198331 A CN116198331 A CN 116198331A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- energy recovery
- energy
- recovery
- exit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a vehicle energy recovery torque control method, a device and electronic equipment, comprising the following steps: acquiring working condition parameters of the vehicle energy recovery state, and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters; calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed; calculating a step factor of the recovered energy of the vehicle according to the working condition parameters in a preset vehicle exit energy recovery state; and calculating a vehicle recovered energy value according to the step factor of the vehicle recovered energy, and controlling the vehicle braking torque according to the recovered energy value. Therefore, the control of the vehicle braking torque is realized by calculating the limit value of the recovered energy during the vehicle braking, and the problem that the stability of the whole vehicle is affected by the underbraking and the overbraking feeling caused by torque fluctuation when the motor energy is withdrawn and recovered during the process of braking the vehicle to a low speed is solved.
Description
Technical Field
The present disclosure relates to the field of energy recovery technologies, and in particular, to a vehicle energy recovery torque control method and apparatus, and an electronic device.
Background
Generally, electric vehicles all have an energy recovery function, that is, when a brake pedal is depressed or the electric vehicle slides without being depressed, a motor and an inverter convert kinetic energy of the vehicle into electric energy to charge a power battery or supply power to electric equipment.
In the prior art, when the energy recovery torque is limited during braking, the torque limiting value which needs to be reduced in each control period is calculated by estimating the recovery torque withdrawing time. However, calculation in this way results in large fluctuation of the recovered torque when the fluctuation of the deceleration of the vehicle is large, and poor stability of the whole vehicle.
Disclosure of Invention
The purpose of the application is to provide a vehicle energy recovery torque control method, a device and electronic equipment, wherein the control of vehicle braking torque is realized by calculating a limit value of recovered energy during vehicle braking, and the problem that the stability of the whole vehicle is affected by underbraking and overbraking caused by torque fluctuation when motor energy is withdrawn and recovered during the process of braking the vehicle to a low speed is solved.
To achieve the above object:
in a first aspect, an embodiment of the present application provides a vehicle energy recovery torque control method, including the steps of:
acquiring working condition parameters of the vehicle energy recovery state, and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters;
calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed;
in a preset vehicle exit energy recovery state, calculating a step factor of the recovered energy of the vehicle according to the working condition parameters and the minimum time of the exit energy recovery;
and calculating a vehicle recovered energy value according to the step factor of the vehicle recovered energy, and controlling the vehicle braking torque according to the recovered energy value.
Optionally, the acquiring the working condition parameter of the vehicle energy recovery state and calculating the minimum time for the vehicle to exit the energy recovery includes:
acquiring a maximum force value of the current converted energy recovery torque of the vehicle as a current energy recovery force value of the vehicle; acquiring a current conversion target recovery torque force of the vehicle as a current target recovery force value of the vehicle;
comparing the current energy recovery force value of the vehicle with the current target recovery force value of the vehicle, taking the minimum value of the current energy recovery force value and the current target recovery force value of the vehicle as the recovery force energy value of vehicle braking, and determining the minimum time for vehicle exit energy recovery through the recovery force energy value of the vehicle braking:
time＝ForRegen/k
wherein time represents the minimum time for vehicle exit energy recovery, forRegen represents the recovery force energy value for vehicle braking, and k represents the preset maximum recovery torque slope.
Optionally, the calculating the starting vehicle speed of vehicle exit energy recovery according to the working condition parameter and the minimum time of vehicle exit energy recovery includes:
determining the starting speed of vehicle exiting energy recovery according to the working condition parameters of the vehicle energy recovery state and the minimum time of vehicle exiting energy recovery:
Vstart＝Vend+|Ax|*time
where Vstart represents the starting vehicle speed of the vehicle exit energy recovery, |ax| represents the current acceleration of the vehicle obtained by the vehicle sensor, and time represents the minimum time of the vehicle exit energy recovery.
Optionally, the controlling the vehicle to enter the preset vehicle exit energy recovery state according to the initial vehicle speed of the vehicle exit energy recovery includes:
acquiring the current speed of a vehicle, and judging that the current speed of the vehicle is equal to the initial speed of the vehicle for recovering the exiting energy;
and if the current speed of the vehicle is equal to the initial speed of the vehicle exit energy, controlling the vehicle to enter a preset vehicle exit energy recovery state.
Optionally, the step factor of the recovered energy of the vehicle is calculated according to the working condition parameter and the minimum time of the recovery of the exit energy, and the step factor comprises:
calculating the vehicle energy recovery step length according to the preset maximum recovery torque slope:
DR1＝ForRegen/(time/cycletime)
wherein DR1 represents the vehicle energy recovery step length, forRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for the complete exit of energy recovery, and cycle represents the preset limit period for energy recovery torque.
Optionally, the step factor of the recovered energy of the vehicle is calculated according to the working condition parameter and the minimum time of the recovery of the exit energy, and the step factor comprises:
calculating a vehicle energy recovery step length according to the vehicle braking energy recovery acceleration:
vehicle energy recovery step size dr2= ((Vehicle-Vehicle)/|ax|)/cycle
Wherein DR2 represents the Vehicle energy recovery step length, vehicle represents the Vehicle speed of the whole Vehicle during Vehicle braking, vend represents the preset final Vehicle speed for completely recovering energy, ax represents the current acceleration of the Vehicle obtained by a Vehicle sensor, and cycle represents the limiting period for carrying out energy recovery torque;
and comparing the vehicle energy recovery step DR1 with the vehicle energy recovery step DR2, and taking the maximum value as the maximum value of the vehicle energy recovery step.
Optionally, the step factor of the recovered energy of the vehicle is calculated according to the working condition parameter and the minimum time of the recovered energy, and the step factor comprises:
acquiring a maximum value of a vehicle energy recovery step length, and carrying out accumulated summation on the maximum value of the vehicle energy recovery step length and an initial value of a vehicle accumulated step length to acquire an accumulated step length of vehicle braking;
calculating a step Factor of hydraulic pressurization according to the accumulated step length of vehicle braking:
Factor＝1-(sumDR/ForRegen)
wherein Factor represents a step Factor of hydraulic boost, sumDR represents an accumulated step of vehicle braking, and Forregen represents a current braking recovery force energy value of the vehicle.
Optionally, the calculating a vehicle recovered energy value according to the step factor of the vehicle recovered energy, and controlling the vehicle braking torque according to the recovered energy value includes:
acquiring a preset vehicle torque rollback curve function, and acquiring a change value of a vehicle energy recovery torque factor when the vehicle brakes along with the step factor when the torque is subjected to energy recovery according to the function;
calculating a recovered energy value when the vehicle brakes according to the energy recovery torque factor:
DRlimit＝Mbfactor*ForRegen
wherein DRlimit represents a recovered energy value when the vehicle brakes, msfactor represents a vehicle energy recovery torque factor, and Forregen represents a current vehicle braking recovery force energy value;
and controlling the torque of the vehicle during braking according to the calculated recovered energy value during braking.
In a second aspect, embodiments of the present application provide a vehicle energy recovery torque control device, the device comprising:
the acquisition module is used for acquiring working condition parameters of the vehicle energy recovery state and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters;
the calculation module is used for calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed; in a preset vehicle exit energy recovery state, calculating a step factor of the recovered energy of the vehicle according to the working condition parameters and the minimum time of the exit energy recovery;
and the control recovery module is used for calculating a vehicle recovery energy value according to the step factor of the vehicle recovery energy and controlling the vehicle braking torque according to the recovery energy value.
In a third aspect, an embodiment of the present application discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory for performing the vehicle energy recovery torque control method according to the first aspect.
The application discloses a vehicle energy recovery torque control method, a device and electronic equipment, comprising the following steps: acquiring working condition parameters of the vehicle energy recovery state, and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters; calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed; calculating a step factor of the recovered energy of the vehicle according to the working condition parameters in a preset vehicle exit energy recovery state; and calculating a vehicle recovered energy value according to the step factor of the vehicle recovered energy, and controlling the vehicle braking torque according to the recovered energy value. Therefore, the control of the vehicle braking torque is realized by calculating the limit value of the recovered energy during the vehicle braking, and the problem that the stability of the whole vehicle is affected by the underbraking and the overbraking feeling caused by torque fluctuation when the motor energy is withdrawn and recovered during the process of braking the vehicle to a low speed is solved.
Drawings
FIG. 1 is a flow chart of a vehicle energy recovery torque control method according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle energy recovery torque control device according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle energy recovery torque control device according to another preferred embodiment of the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations 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.
It should be noted that, in this document, step numbers such as S101 and S102 are used for the purpose of more clearly and briefly describing the corresponding content, and not to constitute a substantial limitation on the sequence, and those skilled in the art may execute S102 first and then S101 when implementing the present invention, which is within the scope of protection of the present application.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1, in an embodiment of the present application, a vehicle energy recovery torque control method may be implemented by a vehicle energy recovery torque control device provided in the embodiment of the present application, where the vehicle energy recovery torque control device may be implemented in software and/or hardware, and in the embodiment of the present application, the vehicle energy recovery torque control device is applied to a server as an example, and the vehicle energy recovery torque control method provided in the embodiment of the present application includes the following steps:
step S101: and acquiring working condition parameters of the vehicle energy recovery state, and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters.
In one embodiment, before the working condition parameters of the energy recovery state are acquired, whether the vehicle is in a braking state is judged, and if the vehicle is in the braking state currently, the vehicle is judged to enter the energy recovery state.
In one embodiment, a maximum force value of a current converted energy recovery torque of the vehicle is obtained as a current energy recovery force value of the vehicle; acquiring a current conversion target recovery torque force of the vehicle as a current target recovery force value of the vehicle;
comparing the current energy recovery force value of the vehicle with the current target recovery force value of the vehicle, taking the minimum value of the current energy recovery force value and the current target recovery force value of the vehicle as the recovery force energy value of vehicle braking, and determining the minimum time for vehicle exit energy recovery through the recovery force energy value of the vehicle braking:
time＝ForRegen/k
wherein time represents the minimum time for vehicle exit energy recovery, forRegen represents the recovery force energy value for vehicle braking, and k represents the preset maximum recovery torque slope.
Step S102: and calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed.
In one embodiment, a vehicle exit energy recovery start vehicle speed is determined based on the operating parameters of the vehicle energy recovery state and the minimum time for vehicle exit energy recovery:
Vstart＝Vend+|Ax|*time
wherein Vstart represents a start vehicle speed of vehicle exit energy recovery, vend represents a preset final vehicle speed of complete energy recovery, |ax| represents a current acceleration of the vehicle obtained by a vehicle sensor, and time represents a minimum time of vehicle exit energy recovery.
In one embodiment, a real-time vehicle speed for energy recovery during vehicle braking is obtained, if the vehicle speed at a certain moment in the real-time vehicle speed for energy recovery during vehicle braking is judged to be equal to the calculated initial vehicle speed for vehicle exiting energy recovery, the vehicle speed at the moment is frozen, and the vehicle is controlled to enter a preset vehicle exiting energy recovery state; if the vehicle speed for energy recovery during vehicle braking is greater than the initial vehicle speed for vehicle exiting energy recovery, waiting for the vehicle to continue energy recovery; and if the vehicle speed for energy recovery during vehicle braking is smaller than the initial vehicle speed for vehicle exiting energy recovery and is larger than the preset final vehicle speed for complete energy recovery, the vehicle energy recovery enters an energy recovery torque control function.
Step S103: and calculating a step factor of the recovered energy of the vehicle according to the working condition parameters and the minimum time of the recovery of the exit energy.
In one embodiment, the working condition parameters of the energy recovery state of the vehicle during braking are obtained, and the vehicle energy recovery step length is calculated according to the preset maximum recovery torque slope:
DR1＝ForRegen/(time/cycletime)
wherein DR1 represents the vehicle energy recovery step length, forRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for the complete exit of energy recovery, and cycle represents the preset limit period for energy recovery torque.
Calculating a vehicle energy recovery step size according to the vehicle braking energy recovery acceleration:
vehicle energy recovery step dr2=fb/((Vehicle-Vehicle)/|ax|)/cycle
Wherein DR2 represents the Vehicle energy recovery step length, fb represents the current energy recovery force value of the Vehicle, vehicle represents the Vehicle speed of the whole Vehicle during braking, vend represents the preset final Vehicle speed of complete energy recovery, ax represents the current acceleration of the Vehicle obtained by a Vehicle sensor, and cycle represents the limiting period of energy recovery torque;
and comparing the vehicle energy recovery step DR1 with the vehicle energy recovery step DR2, and taking the maximum value as the maximum value of the vehicle energy recovery step.
In one embodiment, a vehicle energy recovery step maximum value is obtained, and the vehicle energy recovery step maximum value and an initial value of a vehicle accumulation step are accumulated and summed to obtain an accumulated step of vehicle braking:
sumDR＝DR 0 +DR max
wherein DR 0 Initial value of accumulated step length for vehicle energy recovery, DR max Indicating the vehicle recovery step size.
Calculating a step Factor of hydraulic pressurization according to the accumulated step length of vehicle braking:
Factor＝1-(sumDR/ForRegen)
wherein Factor represents a step Factor of hydraulic boost, sumDR represents an accumulated step of vehicle braking, and Forregen represents a current braking recovery force energy value of the vehicle.
Step S104: and calculating a vehicle recovered energy value according to the step factor of the vehicle recovered energy, and controlling the vehicle braking torque according to the recovered energy value.
In one embodiment, an actual hydraulic boost curve during vehicle braking is obtained, and the vehicle torque rollback curve function is set according to the vehicle hydraulic boost law: y= -2x 3 +3x 2 Substituting the vehicle energy recovery step factor, and acquiring a change value of the vehicle energy recovery torque factor when the step factor is used for recovering energy along with the vehicle braking according to the function:
Mbfactor＝-2factor 3 +3factor 2
wherein Mbfactor represents the vehicle energy recovery torque factor, and factor represents the vehicle braking energy recovery step factor.
Calculating a recovered energy value when the vehicle brakes according to the energy recovery torque factor:
DRlimit＝Mbfactor*ForRegen
wherein DRlimit represents a recovered energy value when the vehicle brakes, msfactor represents a vehicle energy recovery torque factor, and Forregen represents a current vehicle braking recovery force energy value;
and controlling the torque of the vehicle during braking according to the calculated recovered energy value during braking.
In summary, in the vehicle energy recovery torque control method provided in the above embodiment, the recovery energy value during vehicle braking is calculated according to the hydraulic boosting rule during vehicle braking to realize control of the vehicle recovery torque, which is helpful to realize vehicle stability during vehicle braking and exiting energy recovery, and reduce impact caused by vehicle torque fluctuation.
The method provided in the foregoing embodiments will be described in detail by way of a specific example based on the same inventive concept as the foregoing embodiments.
Referring to fig. 2, in order to provide a vehicle energy recovery torque control device according to an embodiment of the present application, the vehicle energy recovery torque control device includes an acquisition module, a calculation module, and an energy recovery module, where,
the acquisition module is used for acquiring working condition parameters of the vehicle energy recovery state and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters;
the calculation module is used for calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed; in a preset vehicle exit energy recovery state, calculating a step factor of the recovered energy of the vehicle according to the working condition parameters and the minimum time of the exit energy recovery;
and the control recovery module is used for calculating a vehicle recovery energy value according to the step factor of the vehicle recovery energy and controlling the vehicle braking torque according to the recovery energy value.
In an embodiment, the acquiring module is specifically configured to determine, before acquiring the working condition parameter of the energy recovery state, whether the vehicle is in a braking state, and if the vehicle is currently in the braking state, determine that the vehicle enters the energy recovery state.
In one embodiment, a maximum force value of a current converted energy recovery torque of the vehicle is obtained as a current energy recovery force value of the vehicle; acquiring a current conversion target recovery torque force of the vehicle as a current target recovery force value of the vehicle;
comparing the current energy recovery force value of the vehicle with the current target recovery force value of the vehicle, taking the minimum value of the current energy recovery force value and the current target recovery force value of the vehicle as the recovery force energy value of vehicle braking, and determining the minimum time for vehicle exit energy recovery through the recovery force energy value of the vehicle braking:
time＝ForRegen/k
wherein time represents the minimum time for vehicle exit energy recovery, forRegen represents the recovery force energy value for vehicle braking, and k represents the preset maximum recovery torque slope.
In an embodiment, the calculation module is specifically configured to determine a start vehicle speed of vehicle exit energy recovery according to the working condition parameter of the vehicle energy recovery state and the minimum time of vehicle exit energy recovery:
Vstart＝Vend+|Ax|*time
wherein Vstart represents a start vehicle speed of vehicle exit energy recovery, vend represents a preset final vehicle speed of complete energy recovery, |ax| represents a current acceleration of the vehicle obtained by a vehicle sensor, and time represents a minimum time of vehicle exit energy recovery.
In one embodiment, a real-time vehicle speed for energy recovery during vehicle braking is obtained, if the vehicle speed at a certain moment in the real-time vehicle speed for energy recovery during vehicle braking is judged to be equal to the calculated initial vehicle speed for vehicle exiting energy recovery, the vehicle speed at the moment is frozen, and the vehicle is controlled to enter a preset vehicle exiting energy recovery state; if the vehicle speed for energy recovery during vehicle braking is greater than the initial vehicle speed for vehicle exiting energy recovery, waiting for the vehicle to continue energy recovery; and if the vehicle speed for energy recovery during vehicle braking is smaller than the initial vehicle speed for vehicle exiting energy recovery and is larger than the preset final vehicle speed for complete energy recovery, the vehicle energy recovery enters an energy recovery torque control function.
In one embodiment, the working condition parameters of the energy recovery state of the vehicle during braking are obtained, and the vehicle energy recovery step length is calculated according to the preset maximum recovery torque slope:
DR1＝ForRegen/(time/cycletime)
wherein DR1 represents the vehicle energy recovery step length, forRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for the complete exit of energy recovery, and cycle represents the preset limit period for energy recovery torque.
Calculating a vehicle energy recovery step size according to the vehicle braking energy recovery acceleration:
vehicle energy recovery step dr2=fb/((Vehicle-Vehicle)/|ax|)/cycle
Wherein DR2 represents the Vehicle energy recovery step length, fb represents the current energy recovery force value of the Vehicle, vehicle represents the Vehicle speed of the whole Vehicle during braking, vend represents the preset final Vehicle speed of complete energy recovery, ax represents the current acceleration of the Vehicle obtained by a Vehicle sensor, and cycle represents the limiting period of energy recovery torque;
and comparing the vehicle energy recovery step DR1 with the vehicle energy recovery step DR2, and taking the maximum value as the maximum value of the vehicle energy recovery step.
In one embodiment, a vehicle energy recovery step maximum value is obtained, and the vehicle energy recovery step maximum value and an initial value of a vehicle accumulation step are accumulated and summed to obtain an accumulated step of vehicle braking:
sumDR＝DR 0 +DR max
wherein DR 0 Initial value of accumulated step length for vehicle energy recovery, DR max Indicating the vehicle recovery step size.
Calculating a step Factor of hydraulic pressurization according to the accumulated step length of vehicle braking:
Factor＝1-(sumDR/ForRegen)
wherein Factor represents a step Factor of hydraulic boost, sumDR represents an accumulated step of vehicle braking, and Forregen represents a current braking recovery force energy value of the vehicle.
In an embodiment, the energy recovery module is specifically configured to obtain an actual hydraulic boost curve during braking of the vehicle, and set the vehicle torque rollback curve function according to the vehicle hydraulic boost law: y= -2x 3 +3x 2 Substituting the vehicle energy recovery step factor, and acquiring a change value of the vehicle energy recovery torque factor when the step factor is used for recovering energy along with the vehicle braking according to the function:
Mbfactor＝-2factor 3 +3factor 2
wherein Mbfactor represents the vehicle energy recovery torque factor, and factor represents the vehicle braking energy recovery step factor.
Calculating a recovered energy value when the vehicle brakes according to the energy recovery torque factor:
DRlimit＝Mbfactor*ForRegen
wherein DRlimit represents a recovered energy value when the vehicle brakes, msfactor represents a vehicle energy recovery torque factor, and Forregen represents a current vehicle braking recovery force energy value;
and controlling the torque of the vehicle during braking according to the calculated recovered energy value during braking.
In summary, in the vehicle energy recovery torque control device provided in the above embodiment, the working condition parameters of the vehicle for energy recovery are obtained through the obtaining module, the starting speed of vehicle exit energy recovery and the step factor of vehicle exit energy are calculated through the calculating module, and the vehicle braking torque is controlled through the control recovery module, so that the vehicle stability of vehicle exit energy recovery in the vehicle braking process is improved.
Based on the same inventive concept as the previous embodiments, an embodiment of the present invention provides a vehicle energy recovery torque control device, as shown in fig. 3, including: a processor 210 and a memory 211 storing a computer program; the number of the processors 210 illustrated in fig. 3 is not used to refer to one number of the processors 210, but is merely used to refer to a positional relationship of the processors 210 with respect to other devices, and in practical applications, the number of the processors 210 may be one or more; likewise, the memory 211 illustrated in fig. 3 is also used in the same sense, that is, only to refer to the positional relationship of the memory 211 with respect to other devices, and in practical applications, the number of the memories 211 may be one or more. The vehicle energy recovery torque control method applied to the above-described apparatus is implemented when the processor 210 runs the computer program.
The apparatus may further include: at least one network interface 212. The various components in the device are coupled together by a bus system 213. It is understood that the bus system 213 is used to enable connected communication between these components. The bus system 213 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as bus system 213 in fig. 3.
The memory 211 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory 211 described in embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 211 in the embodiment of the present invention is used to store various types of data to support the operation of the apparatus. Examples of such data include: any computer program for operating on the device, such as an operating system and application programs; contact data; telephone book data; a message; a picture; video, etc. The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs may include various application programs such as a Media Player (Media Player), a Browser (Browser), etc. for implementing various application services. Here, a program for implementing the method of the embodiment of the present invention may be included in an application program.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements is included, and may include other elements not expressly listed.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle energy recovery torque control method, comprising the steps of:
acquiring working condition parameters of the vehicle energy recovery state, and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters;
calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed;
in a preset vehicle exit energy recovery state, calculating a step factor of the recovered energy of the vehicle according to the working condition parameters and the minimum time of the exit energy recovery;
and calculating a vehicle recovered energy value according to the step factor of the vehicle recovered energy, and controlling the vehicle braking torque according to the recovered energy value.
2. The method of claim 1, wherein the obtaining the operating parameters of the vehicle energy recovery state and calculating the minimum time for vehicle exit energy recovery comprises:
acquiring a maximum force value of the current converted energy recovery torque of the vehicle as a current energy recovery force value of the vehicle; acquiring a current conversion target recovery torque force of the vehicle as a current target recovery force value of the vehicle;
comparing the current energy recovery force value of the vehicle with the current target recovery force value of the vehicle, taking the minimum value of the current energy recovery force value and the current target recovery force value of the vehicle as the recovery force energy value of vehicle braking, and determining the minimum time for vehicle exit energy recovery through the recovery force energy value of the vehicle braking:
time＝ForRegen/k
wherein time represents the minimum time for vehicle exit energy recovery, forRegen represents the recovery force energy value for vehicle braking, and k represents the preset maximum recovery torque slope.
3. The method of claim 1, wherein calculating a vehicle exit energy recovery start vehicle speed based on the operating parameters and a minimum time for vehicle exit energy recovery comprises:
determining the starting speed of vehicle exiting energy recovery according to the working condition parameters of the vehicle energy recovery state and the minimum time of vehicle exiting energy recovery:
Vstart＝Vend+|Ax|*time
where Vstart represents the starting vehicle speed of the vehicle exit energy recovery, |ax| represents the current acceleration of the vehicle obtained by the vehicle sensor, and time represents the minimum time of the vehicle exit energy recovery.
4. The method according to claim 1, wherein the controlling the vehicle to enter the preset vehicle exit energy recovery state according to the vehicle exit energy recovery start vehicle speed includes:
acquiring the current speed of a vehicle, and judging that the current speed of the vehicle is equal to the initial speed of the vehicle exiting energy recovery;
and if the current speed of the vehicle is equal to the initial speed of the vehicle exit energy, controlling the vehicle to enter a preset vehicle exit energy recovery state.
5. The method of claim 1, wherein the calculating a step factor of the recovered energy of the vehicle based on the operating parameters and the minimum time to exit energy recovery comprises:
calculating the vehicle energy recovery step length according to the preset maximum recovery torque slope:
DR1＝ForRegen/(time/cycletime)
wherein DR1 represents the vehicle energy recovery step length, forRegen represents the current braking recovery force energy value of the vehicle, time represents the minimum time for the complete exit of energy recovery, and cycle represents the preset limit period for energy recovery torque.
6. The method of claim 1, wherein the calculating a step factor of the recovered energy of the vehicle based on the operating parameters and the minimum time to exit energy recovery comprises:
calculating a vehicle energy recovery step length according to the vehicle braking energy recovery acceleration:
vehicle energy recovery step size dr2= ((Vehicle-Vehicle)/|ax|)/cycle
Wherein DR2 represents the Vehicle energy recovery step length, vehicle represents the Vehicle speed of the whole Vehicle during Vehicle braking, vend represents the preset final Vehicle speed for completely recovering energy, ax represents the current acceleration of the Vehicle obtained by a Vehicle sensor, and cycle represents the limiting period for carrying out energy recovery torque;
and comparing the vehicle energy recovery step DR1 with the vehicle energy recovery step DR2, and taking the maximum value as the maximum value of the vehicle energy recovery step.
7. The method of claim 1, wherein the calculating a step factor for the vehicle recovered energy based on the operating parameters and the minimum time to exit energy recovery comprises:
acquiring a maximum value of a vehicle energy recovery step length, and carrying out accumulated summation on the maximum value of the vehicle energy recovery step length and an initial value of a vehicle accumulated step length to acquire an accumulated step length of vehicle braking;
calculating a step Factor of hydraulic pressurization according to the accumulated step length of vehicle braking:
Factor＝1-(sumDR/ForRegen)
wherein Factor represents a step Factor of hydraulic boost, sumDR represents an accumulated step of vehicle braking, and Forregen represents a current braking recovery force energy value of the vehicle.
8. The method of claim 1, wherein calculating a vehicle recovered energy value from the step factor of the vehicle recovered energy, and controlling vehicle braking torque from the recovered energy value comprises:
acquiring a preset vehicle torque rollback curve function, and acquiring a change value of a vehicle energy recovery torque factor when the vehicle brakes along with the step factor when the torque is subjected to energy recovery according to the function;
calculating a recovered energy value when the vehicle brakes according to the energy recovery torque factor:
DRlimit＝Mbfactor*ForRegen
wherein DRlimit represents a recovered energy value when the vehicle brakes, msfactor represents a vehicle energy recovery torque factor, and Forregen represents a current vehicle braking recovery force energy value;
and controlling the torque of the vehicle during braking according to the calculated recovered energy value during braking.
9. A vehicle energy recovery torque control device, the device comprising:
the acquisition module is used for acquiring working condition parameters of the vehicle energy recovery state and calculating the minimum time for the vehicle to exit the energy recovery according to the working condition parameters;
the calculation module is used for calculating the initial vehicle speed of vehicle exit energy recovery according to the working condition parameters and the minimum time of vehicle exit energy recovery, and controlling the vehicle to enter a preset vehicle exit energy recovery state according to the initial vehicle speed; in a preset vehicle exit energy recovery state, calculating a step factor of the recovered energy of the vehicle according to the working condition parameters and the minimum time of the exit energy recovery;
and the control recovery module is used for calculating a vehicle recovery energy value according to the step factor of the vehicle recovery energy and controlling the vehicle braking torque according to the recovery energy value.
10. An electronic device, comprising: a processor, a memory;
the memory is used for storing a computer program;
the processor for executing the vehicle energy recovery torque control method according to any one of claims 1 to 8 by calling the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211728518.8A CN116198331A (en) | 2022-12-30 | 2022-12-30 | Vehicle energy recovery torque control method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211728518.8A CN116198331A (en) | 2022-12-30 | 2022-12-30 | Vehicle energy recovery torque control method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116198331A true CN116198331A (en) | 2023-06-02 |
Family
ID=86506903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211728518.8A Pending CN116198331A (en) | 2022-12-30 | 2022-12-30 | Vehicle energy recovery torque control method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116198331A (en) |
-
2022
- 2022-12-30 CN CN202211728518.8A patent/CN116198331A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107323272B (en) | Electric automobile energy recovery method and device | |
| CN110525234B (en) | Control method and device for motor output torque and vehicle control unit | |
| CN114802137B (en) | Brake fade compensation method, device, electronic equipment and computer storage medium | |
| CN111942356B (en) | Parking method, device, system and terminal | |
| CN111959285A (en) | Electric vehicle energy recovery method, equipment, storage medium and device | |
| CN112802227B (en) | Method and device for collecting ADAS driving data of vehicle, man-machine interaction device and vehicle | |
| CN113580948A (en) | Brake control method, device, equipment and storage medium for electric automobile | |
| CN116198331A (en) | Vehicle energy recovery torque control method and device and electronic equipment | |
| CN112776787B (en) | Vehicle emergency braking control method and device and computer storage medium | |
| CN115465285A (en) | Vehicle voice control method based on driving process and related device | |
| CN113022484B (en) | Storage battery monitoring method and device, vehicle and computer storage medium | |
| CN115891676A (en) | Vehicle speed control method and device, computer equipment and storage medium | |
| US20230060311A1 (en) | Method and device for parking control, vehicle controller, and new-energy vehicle | |
| CN112986850B (en) | Calculation method and device for self-discharge parameter value and electric vehicle | |
| CN116262442A (en) | High-voltage input undervoltage fault detection method and device for electric automobile and storage medium | |
| CN116278789A (en) | Single pedal mode control method and device for electric automobile and storage medium | |
| CN113360132B (en) | Real vehicle test data analysis method and device | |
| CN115649088B (en) | Vehicle auxiliary driving control method and device based on safety chip data | |
| CN116826929B (en) | Charging control method, charging device and computer readable storage medium | |
| CN114647347B (en) | Vehicle key control method and related equipment | |
| CN116708438A (en) | Data processing method, system and computer readable storage medium | |
| CN110816518B (en) | Torque assist control method, device, storage medium and apparatus | |
| CN116319419A (en) | Traffic monitoring method and device for vehicle-mounted application program | |
| CN104395163A (en) | Analysis of the behaviour of a vehicle braking system with a decoupled pedal | |
| CN116039585A (en) | Front wheel pressure adjusting method, device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |