CN117239891A - Energy recovery method and device for electric two-wheeled vehicle - Google Patents
Energy recovery method and device for electric two-wheeled vehicle Download PDFInfo
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Abstract
The invention discloses an energy recovery method and device for an electric two-wheeled vehicle. The energy recovery method of the electric two-wheeled vehicle provided by the embodiment of the invention comprises the steps of obtaining the running state and bus voltage of the electric two-wheeled vehicle; determining a torque voltage of the electric two-wheeled vehicle according to the driving state; and determining a target reverse charging current of the electric two-wheel vehicle according to the running state and the torque voltage. According to the technical scheme provided by the embodiment of the invention, the torque voltage of the electric two-wheeled vehicle is determined so as to determine the target reverse charging current, so that the reverse charging strength is regulated through the torque voltage, the dependence of energy recovery on motor parameters is reduced, and the energy recovery efficiency is improved.
Description
Technical Field
The invention relates to the technical field of energy recovery, in particular to an energy recovery method and device for an electric two-wheeled vehicle.
Background
The electric two-wheel vehicle has the advantages of environmental protection, energy saving, economy, silence, comfort, easy driving and the like, and is loved by consumers. But the cruising ability of the electric two-wheeled vehicle is poor, and the cruising ability of the electric two-wheeled vehicle can be improved by adopting an energy recovery technology. The existing energy recovery method generally needs to calibrate parameters such as rated rotation speed, pole pair number, counter potential constant and the like of a motor, so that the energy recovery effect is poor under the condition that the parameters of the motor are unknown. How to reduce the dependency of energy recovery on motor parameters is therefore a problem to be solved.
Disclosure of Invention
The invention provides an energy recovery method and device for an electric two-wheeled vehicle, and aims to solve the problem that the energy recovery effect is poor due to the fact that the existing energy recovery method is high in dependence on motor parameters.
According to an aspect of the present invention, there is provided an energy recovery method for an electric two-wheeled vehicle, including:
acquiring the running state and bus voltage of the electric two-wheel vehicle;
determining the torque voltage of the electric two-wheel vehicle according to the running state;
the target reverse charge current of the electric two-wheeled vehicle is determined according to the running state, the bus voltage and the torque voltage.
Optionally, determining the torque voltage of the electric two-wheeled vehicle according to the driving state includes:
when the running state of the electric two-wheel vehicle is a braking state, acquiring torque voltage;
when the running state of the electric two-wheeled vehicle is a sliding state, the torque voltage is determined according to the bus voltage.
Optionally, when the running state of the electric two-wheeled vehicle is coasting, determining the torque voltage according to the bus voltage includes:
when the running state of the electric two-wheel vehicle is sliding, acquiring the counter potential voltage of the electric two-wheel vehicle;
and calculating the torque voltage according to the ratio of the counter potential voltage to the bus voltage.
Optionally, determining the target counter-charging current of the electric two-wheeled vehicle according to the driving state, the bus voltage and the torque voltage includes:
determining the maximum reverse charging current of the electric two-wheel vehicle according to the bus voltage;
determining a preset switching point of the torque voltage according to the driving state;
and determining a target reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current.
Optionally, determining the maximum reverse charging current of the electric two-wheeled vehicle according to the bus voltage includes:
when the bus voltage is smaller than or equal to a first preset threshold value, determining the maximum reverse charging current according to the maximum discharging current of the electric two-wheel vehicle;
when the bus voltage is larger than a first preset threshold value and smaller than a second preset threshold value, determining the maximum reverse charging current according to the maximum discharging current, the rated voltage of the battery of the electric bicycle and the bus voltage;
when the bus voltage is greater than or equal to a second preset threshold, determining the maximum reverse charging current as zero;
wherein the first preset threshold is less than the second preset threshold.
Optionally, when the bus voltage is less than or equal to the first preset threshold, the maximum counter-charging current is calculated by the following formula:
when the bus voltage is greater than the first preset threshold and less than the second preset threshold, the maximum reverse charge current is calculated by the following formula:
when the bus voltage is greater than or equal to the second preset threshold, the maximum reverse charge current is calculated by the following formula:
I c ＝0(V bus ≥1.2V 0 ) (3)
wherein I is C For maximum reverse charge current, I m For maximum discharge current, V 0 For the rated voltage V of the battery bus Is the bus voltage.
Optionally, determining the target reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current includes:
determining a current reverse charging current according to the torque voltage, a preset switching point and a maximum reverse charging current;
the target counter charge current is calculated from the product of the present counter charge current and the maximum counter charge current.
Optionally, determining the current reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current includes:
taking the first preset switching point as an initial rising point of the current reverse charging current, and the second preset switching point as a stopping rising point of the current reverse charging current rising to the maximum reverse charging current, so as to generate a relation graph of the current reverse charging current and the torque voltage;
determining a present reverse charging current in a relationship graph based on the torque voltage;
the preset switching points comprise a first preset switching point and a second preset switching point.
Optionally, after determining the target reverse charging current of the electric two-wheeled vehicle according to the running state and the torque voltage, the method further comprises:
determining the current to-be-regulated quantity according to the difference between the current reverse charging current and the target reverse charging current;
according to the current to-be-regulated quantity, performing proportional integral operation on the torque voltage to obtain a target voltage value;
the torque voltage is adjusted to a target voltage value.
In a second aspect, an embodiment of the present invention provides an energy recovery device for an electric two-wheeled vehicle, including:
the acquisition module acquires the running state and bus voltage of the electric two-wheel vehicle;
the confirmation module is used for determining the torque voltage of the electric two-wheel vehicle according to the driving state;
and the calculation module is used for determining the target reverse charging current of the electric two-wheel vehicle according to the running state and the torque voltage.
According to the technical scheme, the running state and the bus voltage of the electric two-wheeled vehicle are obtained, the torque voltage of the electric two-wheeled vehicle is determined according to the running state, and the target reverse charging current of the electric two-wheeled vehicle is determined according to the running state and the torque voltage. According to the energy recovery method of the electric two-wheeled vehicle, the target reverse charging current is determined by determining the torque voltage of the electric two-wheeled vehicle, so that the reverse charging strength is adjusted through the torque voltage, the dependence of energy recovery on motor parameters is reduced, and the energy recovery efficiency is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for recovering energy of an electric two-wheeled vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for recovering energy of an electric two-wheeled vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart of an energy recovery method for an electric two-wheeled vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a phase voltage sampling circuit according to an embodiment of the present invention;
FIG. 5 is a voltage waveform diagram according to an embodiment of the present invention;
FIG. 6 is a flowchart of an energy recovery method for a two-wheeled motor vehicle according to an embodiment of the present invention;
FIG. 7 is a flowchart of an energy recovery method for a two-wheeled motor vehicle according to an embodiment of the present invention;
FIG. 8 is a flowchart of an energy recovery method for a two-wheeled motor vehicle according to an embodiment of the present invention;
FIG. 9 is a flowchart of an energy recovery method for a two-wheeled motor vehicle according to an embodiment of the present invention;
FIG. 10 is a graph of a relationship provided by an embodiment of the present invention;
FIG. 11 is a flowchart of an energy recovery method for a two-wheeled motor vehicle according to an embodiment of the present invention;
FIG. 12 is a flowchart of an energy recovery method for a two-wheeled motor vehicle according to an embodiment of the present invention;
fig. 13 is a schematic structural view of an energy recovery device for an electric two-wheeled vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for recovering energy of an electric two-wheeled vehicle according to an embodiment of the present invention. Referring to fig. 1, the method for recovering energy of an electric two-wheeled vehicle provided by the embodiment of the invention comprises the following steps:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
Specifically, the electric two-wheeled vehicle drives the motor to work by supplying power to the motor through a battery under a normal running state. Under some road conditions, energy recovery can be performed according to the running state of the electric two-wheeled vehicle, and the running state of the electric two-wheeled vehicle capable of performing energy recovery comprises a sliding state and a braking state. The current bus voltage may be used to determine the current charge condition of the battery. The running state and the bus voltage of the electric two-wheeled vehicle are acquired, and the running state and the bus voltage of the electric two-wheeled vehicle can be used for determining the torque voltage for energy recovery of the electric two-wheeled vehicle.
S102, determining the torque voltage of the electric two-wheel vehicle according to the running state.
Specifically, in the energy recovery process, the electric two-wheeled vehicle can output voltage to adjust the torque of the motor through the motor controller, and then output the reverse charging current to realize energy recovery. The torque voltage is the voltage of the motor controller for adjusting the torque of the motor. The running states are different, the torque voltage of the electric two-wheel vehicle entering the energy recovery state is also different, and the torque voltage of the electric two-wheel vehicle can be determined according to the current running state, bus voltage and other parameters.
S103, determining target reverse charging current of the electric two-wheel vehicle according to the running state, the bus voltage and the torque voltage.
Specifically, the running states of the electric two-wheeled vehicle are different, the sizes of the reverse charging currents are also different, the sizes of the bus voltages depend on the current battery power, the current battery power is different, and the required reverse charging currents are also different. The target charging current currently required by the electric two-wheeled vehicle can be confirmed according to the running state and the bus voltage of the electric two-wheeled vehicle. According to the torque voltage, the motor can be controlled by the motor controller to output torque, and then target reverse charging current is output, so that the energy recovery of the electric two-wheel vehicle is realized.
For example, during driving, when the electric bicycle brakes or slides on a slope, the electric bicycle may enter an energy recovery state. The electric two-wheel vehicle obtains the current running state, determines whether the electric two-wheel vehicle is in a sliding state or a braking state at present, and obtains bus voltage to determine the current electric quantity condition of the battery. And determining the torque voltage of the electric two-wheeled vehicle in the energy recovery state according to the current running state, bus voltage and other parameters. And then according to the current running state and the bus voltage, confirming the current required target charging current of the two-wheeled electric vehicle. The motor controller controls the motor to output torque according to the torque voltage, and then outputs target reverse charging current, so that energy recovery of the electric two-wheel vehicle is realized.
According to the energy recovery method for the electric two-wheeled vehicle, provided by the embodiment of the invention, the torque voltage of the electric two-wheeled vehicle is determined by acquiring the running state and the bus voltage of the electric two-wheeled vehicle, so that the target reverse charging current is determined, and the reverse charging strength is regulated by the torque voltage. The existing energy recovery method generally needs to calibrate parameters such as rated rotation speed, pole pair number, counter potential constant and the like of a motor, otherwise, the adaptation of different motors can cause too strong or too weak deceleration feeling, and driving experience and energy recovery effect are affected. The energy recovery method of the electric two-wheeled vehicle reduces the dependence of energy recovery on motor parameters and improves the energy recovery efficiency.
Alternatively, fig. 2 is a flowchart of another method for recovering energy of an electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 2, the method for recovering energy of the electric two-wheeled vehicle provided by the embodiment of the invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S201, when the running state of the electric two-wheeled vehicle is a braking state, acquiring torque voltage.
Specifically, when the electric two-wheeled vehicle is in a braking state, the motor of the electric two-wheeled vehicle is in a working state, and the current torque voltage can be directly obtained through the motor controller to be used as the torque voltage of the electric two-wheeled vehicle in an energy recovery state.
S202, when the running state of the electric two-wheeled vehicle is a sliding state, determining a torque voltage according to the bus voltage.
Specifically, when the electric two-wheeled vehicle is in a sliding state, the motor of the electric two-wheeled vehicle is in a stop state, the current torque voltage cannot be directly obtained, and the torque voltage of the electric two-wheeled vehicle entering the energy recovery state needs to be calculated according to the bus voltage and the phase voltage of the motor. By this arrangement, the torque voltage can be adaptively adjusted according to the running state of the electric two-wheeled vehicle, and the energy recovery effect can be improved.
S103, determining target reverse charging current of the electric two-wheel vehicle according to the running state, the bus voltage and the torque voltage.
Optionally, fig. 3 is a flowchart of an energy recovery method of another electric two-wheeled vehicle according to an embodiment of the present invention. Fig. 4 is a schematic structural diagram of a phase voltage sampling circuit according to an embodiment of the present invention. Fig. 5 is a voltage waveform diagram according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 3, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S201, when the running state of the electric two-wheeled vehicle is a braking state, acquiring torque voltage.
S301, when the running state of the electric two-wheeled vehicle is a sliding state, acquiring the counter potential voltage of the electric two-wheeled vehicle.
Specifically, referring to fig. 4 and 5, u, V and W are three-phase power line interfaces of the motor, and the ADC is a phase voltage sampling port. The phase voltage waveform obtained by sampling is a steamed bread wave a1, and a broken line a2 is a counter potential voltage waveform obtained according to the phase voltage waveform. When the running state of the electric two-wheeled vehicle is a sliding state, the phase voltage of the motor can be obtained, and then the counter potential voltage of the motor can be obtained. In the process of stopping and sliding of the electric two-wheeled vehicle, according to the waveform of the relation between the speed and the phase voltage acquired by the sampling circuit, the amplitude value in each period can be determined, so that the waveform of the counter potential voltage is determined, the phase voltage waveform and the Hall sector are changed along with the change of the rotor magnetic field, when the rotor magnetic field is changed for one period, the Hall sector is changed twice, the phase voltage is subjected to steamed bread wave once, and therefore, the amplitude value of the phase voltage in the two Hall sectors can be acquired rapidly, and the counter potential voltage of the motor can be calculated.
S302, calculating the torque voltage according to the ratio of the counter potential voltage to the bus voltage.
Specifically, according to the acquired counter potential voltage and bus voltage, the torque voltage can be calculated by the following formula:
wherein U is q The torque voltage of the electric two-wheel vehicle in the energy recovery state is Vemf which is counter potential voltage, K is a fixed coefficient, V bus Is the bus voltage. The motor controller can perform vector control on the motor through torque voltage, and the control is started when the vehicle speed is non-zero, so that the motor can be started with zero torque. The power mutation when the motor is started can be prevented by the arrangement, and riding experience of a driver is improved.
S103, determining target reverse charging current of the electric two-wheel vehicle according to the running state, the bus voltage and the torque voltage.
Optionally, fig. 6 is a flowchart of an energy recovery method of another electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 6, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S102, determining the torque voltage of the electric two-wheel vehicle according to the running state.
S401, determining the maximum reverse charging current of the electric two-wheeled vehicle according to the bus voltage.
Specifically, the amount of electricity of the battery, that is, the saturated state of the battery, can be determined based on the bus voltage. From the state of saturation of the battery, the maximum counter-charge current that the battery can accept at the present state of saturation can be determined. The arrangement can play a role in charging overvoltage and overcurrent protection on the battery, and the safety of the battery is improved.
S402, determining a preset switching point of the torque voltage according to the driving state.
Specifically, a preset switching point of the torque voltage may be set according to a driving state. The preset switching point may be used to represent the relationship between the reverse charge current and the torque voltage. If the motor starts to generate the reverse charging current at the first preset switching point, the reverse charging current is continuously increased along with the increase of the torque voltage until the second preset switching point, and the reverse charging current reaches the maximum reverse charging current at the moment, so that the reverse charging current is not increased along with the increase of the torque voltage.
For example, preset voltage values V1, V2, V3, and V4 may be determined, where 0 < V1 < V2 < V3 < V4. When the electric two-wheel vehicle is in a sliding state, the speed is higher, the corresponding torque voltage is larger, the first preset switching point can be set to be V2, and the second preset switching point can be set to be V4. When the electric two-wheel vehicle is in a vehicle-related state, the speed is lower, the corresponding torque voltage is smaller, the first preset switching point can be set to be V1, and the second preset switching point can be set to be V3. By the arrangement, the adjusting ranges of the torque voltage and the reverse charging current can be determined, and the control effect of energy recovery is improved.
S403, determining a target reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current.
Specifically, the maximum reverse charging current is determined by the bus voltage, and the preset switching point of the torque voltage is determined by the driving state. The reverse charging current output by the motor according to the current torque voltage can be determined, and then the reverse charging current is adjusted according to the maximum reverse charging current, so that the target reverse charging current can be obtained. The arrangement can improve the energy recovery effect while ensuring the safety of the battery.
Alternatively, fig. 7 is a flowchart of an energy recovery method of another electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 7, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S102, determining the torque voltage of the electric two-wheel vehicle according to the running state.
S501, when the bus voltage is smaller than or equal to a first preset threshold value, determining the maximum anti-charge current according to the maximum discharge current of the electric two-wheel vehicle.
Alternatively, the bus voltage may be compared to a first preset threshold to determine a maximum counter-charge current. The first preset threshold may be a voltage value of the battery near saturation determined according to a rated voltage of the battery. When the bus voltage is smaller than or equal to a first preset threshold, the electric quantity in the battery is lower, and the motor controller can determine the maximum anti-charging current according to the maximum discharging current of the electric two-wheel vehicle. The maximum discharge current is the maximum discharge current which can be output by the motor controller in the normal running process of the electric two-wheeled vehicle. This arrangement can maintain high energy recovery efficiency when the battery level is low.
S502, when the bus voltage is larger than a first preset threshold value and smaller than a second preset threshold value, determining the maximum reverse charging current according to the maximum discharging current, the rated voltage of the battery of the electric two-wheel vehicle and the bus voltage.
Alternatively, the second preset threshold may be a voltage value of battery saturation determined according to a rated voltage of the battery. When the bus voltage is greater than the first preset threshold and less than the second preset threshold, the battery charge is nearly full, and the maximum reverse charge current needs to be reduced. The maximum reverse charge current may be calculated based on the maximum discharge current, the rated voltage of the battery, and the bus voltage. The arrangement can play a role in charging overvoltage and overcurrent protection, improve the safety of the battery and ensure the energy recovery efficiency.
And S503, when the bus voltage is greater than or equal to a second preset threshold value, determining the maximum reverse charging current to be zero.
Wherein the first preset threshold is less than the second preset threshold.
Optionally, when the bus voltage is greater than or equal to the second preset threshold, it indicates that the battery is saturated, and the maximum anti-charging current can be directly determined to be zero without continuing energy recovery, so as to further improve the protection effect on the battery.
S402, determining a preset switching point of the torque voltage according to the driving state.
S403, determining a target reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current.
Optionally, on the basis of the above embodiment, when the bus voltage is less than or equal to the first preset threshold, the maximum counter charge current is calculated by the following formula:
when the bus voltage is greater than the first preset threshold and less than the second preset threshold, the maximum reverse charge current is calculated by the following formula:
when the bus voltage is greater than or equal to the second preset threshold, the maximum reverse charge current is calculated by the following formula:
I c ＝0(V bus ≥1.2V 0 ) (3)
wherein I is C For maximum reverse charge current, I m For maximum discharge current, V 0 Rated voltage V of battery bus Bus voltage.
Specifically, when the bus voltage is less than or equal to 1.15 times the rated voltage of the battery, the maximum reverse charge current can be calculated by formula (1). When the bus voltage is greater than 1.15 times and less than 1.2 times the rated voltage of the battery, the maximum reverse charge current can be calculated by formula (2). When the bus voltage is greater than or equal to 1.2 times the rated voltage of the battery, the maximum reverse charge current can be calculated by formula (3). The device can judge the saturation state of the battery according to the bus voltage, and adjust the maximum reverse charging current according to the saturation state of the battery, so as to realize the charging overvoltage and overcurrent protection effects of the battery and prevent the battery from being damaged in the energy recovery process.
Optionally, fig. 8 is a flowchart of an energy recovery method of another electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 8, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S102, determining the torque voltage of the electric two-wheel vehicle according to the running state.
S401, determining the maximum reverse charging current of the electric two-wheeled vehicle according to the bus voltage.
S402, determining a preset switching point of the torque voltage according to the driving state.
S601, determining the current reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current.
Specifically, the relationship between the torque voltage and the current counter-charge current may be determined by a preset switching point of the maximum counter-charge current and the torque voltage, and the current counter-charge current may be determined according to the current torque voltage.
S602, calculating the target anti-charging current according to the product of the current anti-charging current and the maximum anti-charging current.
Specifically, according to the present reverse charging current and the maximum reverse charging current, the target reverse charging current can be calculated by the following formula:
wherein I is C For maximum reverse charge current, I t To target the reverse charge current, I p Is the present counter charge current. According to the calculated target reverse charging current, the motor controller outputs torque voltage to control the motor to charge the battery, and the target reverse charging current can be subjected to linearization treatment, so that the energy recovery process is smoother. This arrangement can further enhance the energy recovery effect.
Optionally, fig. 9 is a flowchart of an energy recovery method of another electric two-wheeled vehicle according to an embodiment of the present invention. Fig. 10 is a graph of a relationship provided by an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 9, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S102, determining the torque voltage of the electric two-wheel vehicle according to the running state.
S401, determining the maximum reverse charging current of the electric two-wheeled vehicle according to the bus voltage.
S402, determining a preset switching point of the torque voltage according to the driving state.
S701, taking a first preset switching point as an initial rising point of the current reverse charging current, and a second preset switching point as a stop rising point of the current reverse charging current rising to the maximum reverse charging current, and generating a relation graph of the current reverse charging current and the torque voltage.
Specifically, the present counter charge current increases with increasing torque voltage until the maximum counter charge current is reached. According to the first preset switching point and the second preset switching point, a section where the current reverse charging current rises and a section where the current reverse charging current remains unchanged after rising to the maximum reverse charging current can be determined, and a relation graph of the current reverse charging current and the torque voltage is generated.
Referring to fig. 10, it can be seen that the first preset switching point U1 is preceded by a section in which energy recovery is not started, a section in which the current reverse charging current is increased is located between the first preset switching point U1 and the second preset switching point U2, and the current reverse charging current is increased to the maximum reverse charging current I after the second preset switching point U2 C And then remain unchanged. The relation between the current reverse charging current and the torque voltage can be acquired more clearly through the arrangement.
S702, determining the current reverse charging current in a relation graph according to the torque voltage.
The preset switching points comprise a first preset switching point and a second preset switching point.
Specifically, the present counter-charging current corresponding to the torque voltage may be determined in the relational graph according to the torque voltage.
S602, calculating the target anti-charging current according to the product of the current anti-charging current and the maximum anti-charging current.
Optionally, fig. 11 is a flowchart of an energy recovery method of another electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 11, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s101, acquiring a running state and a bus voltage of the electric two-wheeled vehicle.
S102, determining the torque voltage of the electric two-wheel vehicle according to the running state.
S401, determining the maximum reverse charging current of the electric two-wheeled vehicle according to the bus voltage.
S402, determining a preset switching point of the torque voltage according to the driving state.
S601, determining the current reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current.
S602, calculating the target anti-charging current according to the product of the current anti-charging current and the maximum anti-charging current.
S801, determining the current to be regulated according to the difference between the current reverse charging current and the target reverse charging current.
Specifically, in the energy recovery process of the electric two-wheeled vehicle, the magnitude of the target reverse charging current is continuously changed along with the bus voltage, so that continuous adjustment is required. And subtracting the current reverse charging current from the target reverse charging current to obtain a result, namely the current to-be-regulated quantity.
S802, performing proportional integral operation on the torque voltage according to the current to-be-regulated quantity to obtain a target voltage value.
Specifically, the target voltage value may be calculated by the following formula:
wherein U is q1 For the target voltage value, k p Is a proportionality coefficient, k i Is an integral coefficient, k d And e (t) is the current to be regulated and is a differential coefficient. By performing the proportional integral calculation, the torque voltage required for outputting the target reverse charging current, i.e., the target voltage value, can be determined according to the current to-be-regulated amount.
S803, adjusting the torque voltage to a target voltage value.
Specifically, the motor controller may adjust the output voltage to a target voltage value to adjust the torque output by the motor, thereby enabling the motor to output a target reverse charging current.
Fig. 12 is a flowchart of an energy recovery method of a further electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 12, the method for recovering energy of an electric two-wheeled vehicle according to the embodiment of the present invention includes:
s1, entering an energy recovery state.
S2, acquiring bus voltage and driving state.
S3, judging whether the running state is a sliding state or not; if yes, go to step S5; if not, the process proceeds to step S4.
S4, acquiring the torque voltage output currently, and entering step S6.
S5, calculating torque voltage according to the counter potential voltage and the bus voltage.
And S6, calculating the maximum reverse charging current according to the bus voltage.
S7, judging whether the maximum reverse charging current is greater than 0; if yes, go to step S8; if not, the process proceeds to step S15.
S8, determining a preset switching point according to the driving state.
And S9, generating a relation curve graph of the current reverse charging current and the torque voltage according to a preset switching point.
S10, calculating a target reverse charging current according to the current reverse charging current and the maximum reverse charging current.
S11, judging whether the target reverse charging current is larger than 0; if yes, go to step S12; if not, the process proceeds to step S15.
S12, energy recovery is started.
S13, determining the current to be regulated.
S14, updating the torque voltage, and returning to the step S9.
S15, exiting the energy recovery state.
For example, during driving, when the electric bicycle brakes or slides on a slope, the electric bicycle may enter an energy recovery state. The method comprises the steps that an electric two-wheel vehicle obtains a current running state, determines whether the electric two-wheel vehicle is in a sliding state or a braking state at present, determines a preset switching point of torque voltage, and obtains bus voltage. When the electric two-wheel vehicle is in a braking state, the current torque voltage is directly obtained through the motor controller and is used as the torque voltage of the electric two-wheel vehicle entering the energy recovery state. When the electric two-wheeled vehicle is in a sliding state, the phase voltage of the motor is obtained, the counter potential voltage of the motor is obtained, and the torque voltage is calculated according to the counter potential voltage and the bus voltage.
And comparing the bus voltage with a first preset threshold value, and determining the maximum anti-charging current according to the maximum discharging current of the electric two-wheel vehicle when the bus voltage is smaller than or equal to the first preset threshold value. And when the bus voltage is larger than the first preset threshold value and smaller than the second preset threshold value, calculating the maximum anti-charging current according to the maximum discharging current, the rated voltage of the battery and the bus voltage. And when the bus voltage is greater than or equal to a second preset threshold value, determining the maximum reverse charging current as zero. And determining a section in which the current reverse charging current is increased and a section in which the current reverse charging current is kept unchanged after being increased to the maximum reverse charging current according to the first preset switching point and the second preset switching point, and generating a relation graph of the current reverse charging current and the torque voltage. And determining the current reverse charging current corresponding to the torque voltage in a relation graph according to the torque voltage. And calculating the target reverse charging current through the current reverse charging current and the maximum reverse charging current. And according to the calculated target anti-charging current, the motor controller outputs torque voltage to control the motor to charge the battery.
The magnitude of the target reverse charging current is continuously changed along with the energy recovery, and the current reverse charging current and the target reverse charging current are subjected to addition and subtraction operation to obtain the current to-be-regulated quantity. And performing proportional integral operation on the torque voltage according to the current to-be-regulated quantity to obtain a target voltage value. The motor controller adjusts the output voltage to a target voltage value to adjust the torque output by the motor, thereby enabling the motor to output a target anti-charging current.
Alternatively, fig. 13 is a schematic structural diagram of an energy recovery device for an electric two-wheeled vehicle according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 13, an energy recovery device 10 for an electric two-wheeled vehicle according to an embodiment of the present invention includes:
the acquisition module 11 acquires the running state and bus voltage of the electric two-wheeled vehicle;
a confirmation module 12 for determining a torque voltage of the electric two-wheeled vehicle according to the running state;
a calculation module 13 for determining a target reverse charge current of the electric two-wheeled vehicle based on the running state and the torque voltage.
The energy recovery device of the electric two-wheeled vehicle acquires the running state and bus voltage of the electric two-wheeled vehicle; determining the torque voltage of the electric two-wheel vehicle according to the running state; the target reverse charge current of the electric two-wheeled vehicle is determined according to the running state and the torque voltage. According to the technical scheme provided by the embodiment of the invention, the torque voltage of the electric two-wheeled vehicle is determined so as to determine the target reverse charging current, so that the reverse charging strength is regulated through the torque voltage, the dependence of energy recovery on motor parameters is reduced, and the energy recovery efficiency is improved.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. An energy recovery method for an electric two-wheeled vehicle, comprising:
acquiring the running state and bus voltage of the electric two-wheel vehicle;
determining a torque voltage of the electric two-wheeled vehicle according to the driving state;
and determining a target reverse charging current of the electric two-wheel vehicle according to the running state, the bus voltage and the torque voltage.
2. The method according to claim 1, wherein the determining the torque voltage of the electric two-wheeled vehicle according to the running state includes:
when the running state of the electric two-wheel vehicle is a braking state, acquiring the torque voltage;
and when the running state of the electric two-wheel vehicle is a sliding state, determining the torque voltage according to the bus voltage.
3. The method according to claim 2, wherein the determining the torque voltage from the bus voltage when the running state of the electric two-wheeled vehicle is a coasting state includes:
when the running state of the electric two-wheel vehicle is a sliding state, acquiring counter potential voltage of the electric two-wheel vehicle;
and calculating the torque voltage according to the ratio of the counter potential voltage to the bus voltage.
4. The method of claim 1, wherein the determining a target reverse charge current of the electric two-wheeled vehicle based on the driving state, the bus voltage, and the torque voltage comprises:
determining the maximum reverse charging current of the electric two-wheeled vehicle according to the bus voltage;
determining a preset switching point of the torque voltage according to the driving state;
and determining the target reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current.
5. The method of claim 4, wherein determining a maximum reverse charge current of the electric two-wheeled vehicle based on the bus voltage comprises:
when the bus voltage is smaller than or equal to a first preset threshold value, determining the maximum reverse charging current according to the maximum discharging current of the electric two-wheeled vehicle;
when the bus voltage is larger than the first preset threshold value and smaller than a second preset threshold value, determining the maximum reverse charging current according to the maximum discharging current, the rated voltage of the battery of the electric two-wheel vehicle and the bus voltage;
when the bus voltage is greater than or equal to a second preset threshold, determining the maximum reverse charging current to be zero;
wherein the first preset threshold is less than the second preset threshold.
6. The method of claim 5, wherein the step of determining the position of the probe is performed,
when the bus voltage is less than or equal to a first preset threshold, the maximum reverse charging current is calculated by the following formula:
when the bus voltage is greater than the first preset threshold and less than a second preset threshold, the maximum reverse charge current is calculated by the following formula:
when the bus voltage is greater than or equal to a second preset threshold, the maximum reverse charging current is calculated by the following formula:
I c ＝0 (V bus ≥1.2V 0 ) (3)
wherein I is C For the maximum reverse charge current, I m For the maximum discharge current, V 0 For the rated voltage of the battery, V bus Is the bus voltage.
7. The method of claim 4, wherein said determining said target counter charge current based on said torque voltage, said preset switching point and said maximum counter charge current comprises:
determining a current reverse charging current according to the torque voltage, the preset switching point and the maximum reverse charging current;
and calculating the target reverse charging current according to the product of the current reverse charging current and the maximum reverse charging current.
8. The method of claim 7, wherein said determining a present counter charge current based on said torque voltage, said preset switching point and said maximum counter charge current comprises:
taking a first preset switching point as an initial rising point of the current reverse charging current, and a second preset switching point as a stop rising point of the current reverse charging current rising to the maximum reverse charging current, so as to generate a relation graph of the current reverse charging current and the torque voltage;
determining the present reverse charge current in the relationship graph based on the torque voltage;
the preset switching points comprise the first preset switching point and the second preset switching point.
9. The method according to claim 7, further comprising, after the determining a target reverse charging current of the electric two-wheeled vehicle according to the running state and the torque voltage:
determining a current to-be-regulated quantity according to the difference between the current reverse charging current and the target reverse charging current;
according to the current to-be-regulated quantity, performing proportional integral operation on the torque voltage to obtain a target voltage value;
and adjusting the torque voltage to the target voltage value.
10. An energy recovery device for an electric two-wheeled vehicle, comprising:
the acquisition module acquires the running state and bus voltage of the electric two-wheel vehicle;
the confirmation module is used for determining the torque voltage of the electric two-wheel vehicle according to the running state;
and the calculation module is used for determining the target reverse charging current of the electric two-wheel vehicle according to the running state and the torque voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311280487.9A CN117239891A (en) | 2023-09-28 | 2023-09-28 | Energy recovery method and device for electric two-wheeled vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311280487.9A CN117239891A (en) | 2023-09-28 | 2023-09-28 | Energy recovery method and device for electric two-wheeled vehicle |
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| Publication Number | Publication Date |
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| CN117239891A true CN117239891A (en) | 2023-12-15 |
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| CN202311280487.9A Pending CN117239891A (en) | 2023-09-28 | 2023-09-28 | Energy recovery method and device for electric two-wheeled vehicle |
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- 2023-09-28 CN CN202311280487.9A patent/CN117239891A/en active Pending
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