CN1176820C - 车辆的制动装置 - Google Patents
车辆的制动装置 Download PDFInfo
- Publication number
- CN1176820C CN1176820C CNB998076929A CN99807692A CN1176820C CN 1176820 C CN1176820 C CN 1176820C CN B998076929 A CNB998076929 A CN B998076929A CN 99807692 A CN99807692 A CN 99807692A CN 1176820 C CN1176820 C CN 1176820C
- Authority
- CN
- China
- Prior art keywords
- braking force
- aforementioned
- regenerative brake
- pressure
- wheel side
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- 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
- Y02T10/62—Hybrid vehicles
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking
Abstract
一种车辆的制动装置,在备有以蓄电池为电源的车辆行驶用的电动机的车辆的制动装置中,最大限度地产生电动机的再生制动力。令电动机能够产生的再生制动力为BM,令蓄电池能接受的供电量相当的再生制动力为BB,令与制动器操作量相对应的从动轮侧的制动力为BF0,令驱动轮侧的最低限度所需制动力为BR0,令从动轮侧的最低限度所需制动力为BFm,令所需制动力为B0=BF0+BR0-BFm时,在BB≥BM时把前述电动机的再生制动力BM设定为BM,在BB<BM时设定为BB。在BM≥B0时进行控制使得从动轮侧的制动力为BFm,电动机的制动力为B0。此外在BM<B0时进行控制使得从动轮侧的制动力为BFm,电动机的再生制动力为BM,不足的部分靠车辆的制动机构来产生制动力。
Description
技术领域
本发明涉及车辆的制动装置,特别是涉及在通过让使车辆行驶用的电动机在减速时发电,把此时的发电引起的负载作为制动力来利用的车辆中,最佳控制该制动装置的技术。
背景技术
在备有以蓄电池为电源的车辆行驶用的电动机的车辆中,在电动机的控制中备由有微计算机等组成的控制器,由此一控制器来控制电动机,以便根据加速踏板的踏下量等驾驶状态信号产生想要的驱动转矩者是公知的。
在这种车辆中,如果松开加速踏板,则此前驱动包括驱动轮在内的驱动系的电动机的负载翻转,成为由驱动系来驱动电动机的状态。此时为了有效利用车辆具有的惯性能量而进行叫做制动器再生的控制。也就是说靠来自驱动系的驱动力使电动机进行发电,把此时的电动机的发电负载作为制动力来利用,并且把电动机的发生电力供给到蓄电池的充电等。在这种车辆减速时,如果在根据制动器操作量确定的要求制动力的范围内未能适当地同时控制制动装置的制动力和电动机的发电量,则存在着给蓄电池的充电量过剩的危险。另一方面,作为混合驱动系统的发电装置,为了防止电动机的再生控制时的过剩的供电,有不是按电动机的再生发电量,而是控制由发动机所驱动的发电机者(特开平8-308016号公报)。
发明的公开
本发明是着眼于这种问题作出的,其目的在于,通过在车辆的制动时同时控制制动装置的制动力和电动机的再生制动力,既满足与制动器操作量相对应的要求制动力,又使在蓄电池能接受的供电量的范围内最大限度地产生电动机的再生制动力。
本发明,在备有以蓄电池为电源的车辆行驶用的电动机的车辆的制动装置中,设置求出与驾驶员的制动器操作量相对应的从动轮侧的制动力BF0和驱动轮侧的制动力BR0和从动轮侧的最低限度所需制动力BFm的制动力运算机构,基于前述各制动力来运算所需制动力B0=BF0+BR0-BFm的所需制动力运算机构,求出前述电动机能够产生的再生制动力BM的第1再生制动力运算机构,求出前述蓄电池能接受的供电量相当的再生制动力BB的第2再生制动力运算机构。此外,设置把前述BB和BM进行比较,在BB≥BM时把BM,在BB<BM时把BB设定为前述电动机的再生制动力BM的再生制动力设定机构,以及控制前述电动机和制动机构,以便把此一设定的再生制动力BM与前述所需制动力B0进行比较,在BM≥B0时在从动轮侧产生最低限度所需制动力BFm并仅靠前述电动机来产生所需制动力B0,此外在BM<B0时在从动轮侧产生最低限度所需制动力BFm并由前述电动机产生再生制动力BM并且不足部分在驱动轮侧的制动力BR0和从动轮侧的制动力BF0的范围内由车辆的制动机构来产生的再生制动控制机构。
在本发明中,如果在车辆减速时进行制动器操作,则求出与其操作量相对应的从动轮侧的制动力BF0和驱动轮侧的制动力BR0和从动轮侧的最低限度所需制动力BFm,根据这些来运算所需制动力B0=BF0+BR0-BFm。此外,求出电动机能够产生的再生制动力BM,和蓄电池能接受的供电量相当的再生制动力BB。而且,通过BB和BM的比较,在BB≥BM时BM,在BB<BM时BB重新设定为电动机的再生制动力BM。通过基于把此一再生制动力BM与所需制动力B0的比较的控制,在BM≥B0时仅靠电动机来产生所需制动力B0,并且由制动机构在从动轮侧产生最低限度所需制动力BFm。在BM<B0时由制动机构在从动轮侧产生最低限度所需制动力BFm,另一方面由电动机产生再生制动力BM并且其不足部分在驱动轮侧的制动力BR0和从动轮侧的制动力BF0的范围内由制动机构来产生。在此一场合,可以既满足与制动器操作量相对应的要求制动力又防止向蓄电池的过剩的供电,可以在蓄电池的允许范围内最大限度地产生电动机的再生制动力。进而,由于在从动轮侧也作用着超过最低限度所需制动力的制动力,所以在仅靠电动机产生所需制动力时也能良好地确保车辆的操纵稳定性。
作为前述车辆制动机构可以运用能够靠由微计算机等组成的控制装置来控制其制动力的各种制动机构。这种制动机构备有例如基于来自压力源的压力使制动力作用于车轮的制动柱塞,根据驾驶员的制动踏板操作量和/或来自前述控制机构的指令来增减前述压力的压力比例控制阀,以及根据前述制动踏板操作量按照来自前述再生制动控制机构的指令来调整供给到前述压力比例控制阀的压力的由切断阀或电磁先导操作部等组成的压力调整机构。在此一场合,这样来构成前述再生制动控制机构,以便在再生制动时,靠前述压力调整机构来抑制与制动踏板操作量相对应的压力,并且控制前述压力比例控制阀而在前述制动柱塞上产生对于前述要求制动力的再生制动力的不足部分。
附图的简要说明
图1是本发明的实施例的概略构成图。
图2是表示前述实施例中的控制器的控制内容的流程图。
图3是表示前述实施例中的控制器的控制内容的流程图。
图4是表示在前述实施例中电动机能够产生的制动力的特性例的特性曲线图。
图5是用柱状图来表示前述实施例的控制器的制动力的控制例的说明图。
实施发明的最佳形态
在图1中,1是发电用的发动机,在其输出轴上经由未画出的增速机连接着发电机2的旋转轴。由发电机2发电的电力从变流器3经由接线盒4供给到蓄电池5的充电或电动机7的驱动。8是驱动轮8a的车轴,在其中间部夹装着差速器9。在差速器9的驱动齿轮9a上连接着传动轴10的一端,电动机7的旋转轴经由减速机连接于传动轴10的另一端。
电动机7从逆变器6接收电力而被驱动。其输出经由前述传动轴10以下的驱动系统传递到驱动轮8a。车辆减速时,驱动系的负载翻转,也就是说电动机7反过来被驱动系所驱动。由该负载给车辆以制动力,并且此时进行把由电动机7所发电的电力经由逆变器6向蓄电池5供给这样的再生制动。
控制电动机7的运行的是控制器15和逆变器6,逆变器6根据控制器15的转矩指令来控制电动机7。转矩指令为正时,蓄电池5或发电机2向电动机7供给与转矩指令相对应的电力,另一方面转矩指令为负时,电动机7向蓄电池5供给与转矩指令相对应的电力。此外,转矩指令为0时停止电力的供给。控制器15作为由微计算机等组成的电子控制装置而构成,如下所述进行再生制动时的车辆制动机构等的控制。
20是作为车辆的空气制动器系统而构成的制动机构的制动阀。制动阀20把与驾驶员的制动踏板踏下量相对应的信号压力从气罐21分别经由切断阀23a、23b供给到压力比例控制阀22a、22b。这些切断阀23a、23b虽然通常(非再生制动时)维持开状态,把来自制动阀20的信号压力向压力比例控制阀22a、22b送出,但是在前述电动机7进行的再生制动时切换到闭状态,把向压力比例控制阀22a、22b的信号压力排气。
各压力比例控制阀22a、22b从气罐21向各制动腔室24a、24b按规定的制动力分配供给与来自制动阀20的信号压力相对应的制动压力。在此一压力比例控制阀22a、22b上备有未画出的电磁先导操作部。前述电磁先导操作部在切断阀23a、23b切换到排气侧的再生制动时,根据控制器15控制的励磁电流来操作压力比例控制阀22a、22b,把来自气罐21的空气压力调整成与前述励磁电流相对应的制动压力而向各制动腔室24a、24b供给。制动腔室24a是作为从动轮的前轮用的,24b是作为驱动轮的后轮用的,虽然图面上仅示出各一个,但是在实际的车辆上按车轮数来设置。
作为如下所述控制电动机7的再生制动力和各制动腔室24a、24b的制动力BF、BR所需的检测机构,在控制器15上设置检测蓄电池5的充电率BW的蓄电池监视器30,检测车速V的车速传感器31,以及检测制动阀20的信号压力P的制动压力传感器32。
控制器15如图2和图3中所示,备有求出与制动阀20的信号压力P相对应的前轮侧的制动力BF0和后轮侧的制动力BR0和前轮侧的最低限度所需制动力BFm的各制动力运算机构(步骤1、步骤3、步骤4),根据这些来运算所需制动力B0=BF0+BR0-BFm的所需制动力运算机构(步骤5),求出电动机7能够产生的再生制动力BM的第1再生制动力运算机构(步骤2、步骤6),以及求出蓄电池5能接受的供电量相当的再生制动力BB的第2再生制动力运算机构(步骤2、步骤7)的功能。
此外,备有通过BB和BM的比较,在BB≥BM时把BM,在BBBM时把BB重新设定为电动机7的再生制动力BM的再生制动力设定机构(步骤8~步骤10),以及控制电动机7的逆变器6和压力比例控制阀22a、22b以便通过此一设定的再生制动力BM与所需制动力B0的比较,在BM≥B0时在前轮侧产生最低限度所需制动力BFm并仅靠电动机7来产生所需制动力B0,在BM<B0时在前轮侧产生最低限度所需制动力BFm并由电动机7产生再生制动力BM并且不足部分在后轮侧的制动力BR0和前轮侧的制动力BF0的范围内由制动机构的制动力来补充的再生制动控制机构(步骤11~步骤20)的功能。
就图2和图3更详细地说明,在步骤1里读取制动阀20的信号压力P,在步骤2里读取车速V和蓄电池5的充电率BW。在步骤3里,根据重新设定在存储器上以便励磁成图中的特性图b的控制图求出与制动阀20的信号压力P相对应的前轮侧的制动力BF0和后轮侧的制动力BR0。在步骤4里,为了确保车辆的操纵安全性,同样从控制图根据制动阀20的信号压力P来求出前轮侧的最低限度所需制动力BFm。
在步骤5里,根据这些制动力BF0、BR0、BFm来运算所需制动力B0(B0=BF0+BR0-BFm)。在步骤6里,根据车速V求出电动机7能够产生的再生制动力BM。例如作为控制图在存储器上设定图4那样的电动机7的特性,检索此一特性图,在车速V为V1时作为电动机7的能够产生的再生制动力给出BM。图4中QL是驱动转矩线,如果把它翻转成负的则制动转矩线成为BL。
在步骤7里,根据蓄电池5的充电率BW来运算蓄电池5能接受的供电量相当的再生制动力BB。而且,在图3的步骤8里,把这些制动力BM和B0进行比较。在BM≥B0时,在步骤9里把前述BM原封不动地设定为电动机7的能够产生的再生制动力BM,另一方面在BB<BM时在步骤10里把前述BB重新设定为电动机7的能够产生的再生制动力BM。
在步骤11里把此一设定的再生制动力BM和所需制动力B0(B0=BF0+BR0-BFm)进行比较。在BM≥B0时,在步骤12里设定为BM=B0,BF=BFm。而且在步骤13里,向电动机7输出产生BM=B0相当的再生制动力的负的转矩指令,另一方面关闭前轮侧的切断阀23a和后轮侧的切断阀23b,并且向前轮侧的压力比例控制阀22a输出BF=BFm相当的制动压力指令,向后轮侧的压力比例控制阀22b输出制动压力为零的指令。
在BM<B0时,在步骤14里判定是否BM+BR0≥B0。此时如果BM+BR0≥B0,则在步骤15里设定为BM=BM,BR=B0-BM,BF=BFm。而且在步骤16里,向电动机7输出产生BM=BM相当的再生制动力的负的转矩指令,另一方面关闭前轮侧的切断阀23a和后轮侧的切断阀23b,并且向前轮侧的压力比例控制阀22a输出BF=BFm相当的制动压力指令,向后轮侧的压力比例控制阀22b输出BR=B0-BM相当的制动压力指令。
在步骤14的判定为BM+BR0<B0的场合,在步骤17里判定是否BM+BR0+BF0≥B0。此时如果BM+BR0+BF0≥B0,则在步骤18里设定为BM=BM,BR=BR0,BF=B0-BM-BR0+BFm。而且在步骤18里向电动机7输出产生BM=BM相当的再生制动力的负的转矩指令,另一方面关闭前轮侧的切断阀23a和后轮侧的切断阀23b,并且向前轮侧的压力比例控制阀22a输出BF=B0-BM-BR0+BFm相当的制动压力指令,向后轮侧的压力比例控制阀22b输出BR=BR0相当的制动压力指令。
步骤1~步骤18的处理反复进行到在步骤19里成为制动阀20的信号压力P=0为止,如果成为制动阀20的信号压力P=0,则在步骤20里向电动机7输出不产生再生制动力的0或正的转矩指令,另一方面打开前轮侧的切断阀23a和后轮侧的切断阀23b,并且分别向前轮侧的压力比例控制阀22a和后轮侧的压力比例控制阀22b输出制动压力为零的指令。
图5是具体地举例表示控制器15的控制内容的说明图,在车辆制动时,像①那样求出与制动阀20的信号压力P相对应的前轮侧的制动力BF0和后轮侧的制动力BR0和前轮侧最低限度所需制动力BFm,根据这些来运算所需制动力B0=BF0+BR0-BFm。
在②中,求出电动机7的能够产生的再生制动力BM,求出蓄电池5能接受的供电量相当的再生制动力BB。而且,通过这些再生制动力BM和再生制动力BB的比较,在BB≥BM时把电动机的能够产生的再生制动力BM设定为电动机7的再生制动力BM,在BB<BM时把蓄电池5能接受的供电量相当的再生制动力BB设定为电动机7的能够产生的再生制动力BM。也就是说,电动机7的再生制动力BM根据与蓄电池5能接受的供电量相当的再生制动力BB的关系,设定成当时所允许的最大限度。
基于此一再生制动力BM(BM或BB)、与制动阀20的信号压力P相对应的前轮侧的制动力BF0和后轮侧的制动力BR0和在前轮侧最低限度所需制动力BFm和所需制动力B0=BF0+BR0-BFm,像上述那样控制电动机7和各制动腔室24a、24b。
在BM≥B0时,像③那样在前轮侧的制动腔室24a中产生最低限度所需制动力BFm并且仅靠电动机7来产生所需制动力B0。在BM+BR0≥B0时,像④那样在前轮侧的制动腔室24a中产生最低限度所需制动力BFm,另一方面靠电动机7产生再生制动力BM并且其不足部分(B0-BM)的制动力靠后轮侧的制动腔室24b产生。在BM+BR0+BF0≥B0时,像⑤那样靠电动机7产生再生制动力BM并且靠后轮侧的制动腔室24b产生制动力BF0,另一方面其不足部分(B0-BM-BR0)与最低限度所需制动力BFm靠前轮侧的制动腔室24a产生。
通过这种控制,可以一边既满足与制动器操作量相对应的要求制动力B(B=BF0+BR0)又防止向蓄电池5的过剩的供电,一边在蓄电池5的允许范围内最大限度地产生电动机7的再生制动力BM。此外,因为在前轮侧也作用着最低限度所需制动力BFm以上的制动力,故即使在仅靠电动机7来产生所需制动力B0时,也可以良好地确保车辆的操纵稳定性。
在车辆的制动机构中,也可以把图1压力比例控制阀22a、22b变更成仅备有电磁先导操作部者,作为制动器操作量的检测机构代替制动压力传感器32设置检测制动踏板的踏下量的踏板开度传感器,控制器15基于其检测信号,由压力比例控制阀22a、22b的电磁先导操作部来控制制动压力,以便即使在不产生电动机7的再生制动力的制动时,也靠前轮侧的制动腔室24a的制动力BF0和后轮侧的制动腔室24b的制动力BR0来产生与制动踏板踏下量相对应的所需制动力B。在此一场合,由于仅电磁先导操作部作为制动压力调整机构发挥功能,所以可以省略切断阀23a、23b或制动阀20和信号压力的配管。
虽然作为流程图未画出,但是作为由控制器15进行的控制也可以运用以下这样的形态。也就是说,设置求出与制动阀20的信号压力P相对应的所需制动力B的所需制动力运算机构,求出电动机7能够产生的再生制动力BM的第1再生制动力运算机构,求出蓄电池能接受的供电量相当的再生制动力BB的第2再生制动力运算机构,以及通过前述BB和BM的比较,在BB≥BM时把电动机7的再生制动力BM重新设定为BM,在BB<BM时重新设定为BB的再生制动力设定机构。此外,通过此一设定的再生制动力BM与所需制动力B的比较来控制电动机7的逆变器6和制动机构的压力比例控制阀22a、22b,以便在BM≥B时仅靠电动机7来产生所需制动力B,在BM<B时在电动机7中产生再生制动力BM并且不足部分(B-BM)靠制动装置的制动力来产生。在此一场合,可以使控制器15的控制内容比较简单。
Claims (3)
1.一种车辆的制动装置,是备有以蓄电池为电源的车辆行驶用的电动机的车辆的制动装置,其中设置求出与驾驶员的制动器操作量相对应的从动轮侧的制动力BF0和驱动轮侧的制动力BR0并且设定从动轮侧的最低限度所需制动力BFm的制动力运算机构,基于前述各制动力来运算所需制动力B0=BF0+BR0-BFm的所需制动力运算机构,求出前述电动机能够产生的再生制动力BM的第1再生制动力运算机构,求出前述蓄电池能接受的供电量相当的再生制动力BB的第2再生制动力运算机构,把前述BB和BM进行比较,在BB≥BM时把BM,在BB<BM时把BB设定为前述电动机的再生制动力BM的再生制动力设定机构,以及控制前述电动机和制动机构,以便把此一设定的再生制动力BM与前述所需制动力B0进行比较,在BM≥B0时在从动轮侧产生前述最低限度所需制动力BFm并仅靠前述电动机来产生所需制动力B0,此外在BM<B0时在从动轮侧产生最低限度所需制动力BFm并由前述电动机产生再生制动力BM并且不足部分在驱动轮侧的制动力BR0和从动轮侧的制动力BF0的范围内由车辆的制动机构来产生的再生制动控制机构。
2.根据权利要求1中所述的车辆的制动装置,其中前述制动机构备有基于来自压力源的压力使制动力作用于车轮的制动柱塞,根据驾驶员的制动踏板操作量和/或来自前述控制机构的指令来增减前述压力的压力比例控制阀,以及根据前述制动踏板操作量按照来自前述再生制动控制机构的指令来调整供给到前述压力比例控制阀的压力的压力调整机构,前述再生制动控制机构以在再生制动时,靠前述压力调整机构来抑制与制动踏板操作量相对应的压力,并且控制前述压力比例控制阀而在前述制动柱塞上产生再生制动力对于前述要求制动力的不足部分的方式被构成。
3.根据权利要求2中所述的车辆的制动装置,其中前述压力调整机构是在非再生制动时把与制动踏板操作量相对应的信号压力供给到前述压力比例控制阀,在再生制动时把向压力比例控制阀的信号压力排气的切断阀。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP184089/1998 | 1998-06-30 | ||
JP18408998A JP3502768B2 (ja) | 1998-06-30 | 1998-06-30 | 車両のブレーキシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1306479A CN1306479A (zh) | 2001-08-01 |
CN1176820C true CN1176820C (zh) | 2004-11-24 |
Family
ID=16147213
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB998076929A Expired - Fee Related CN1176820C (zh) | 1998-06-30 | 1999-03-24 | 车辆的制动装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US6353786B1 (zh) |
EP (1) | EP1092584B1 (zh) |
JP (1) | JP3502768B2 (zh) |
KR (1) | KR20010078753A (zh) |
CN (1) | CN1176820C (zh) |
CA (1) | CA2336422A1 (zh) |
WO (1) | WO2000000363A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102216134A (zh) * | 2008-11-14 | 2011-10-12 | 万国卡车知识产权有限公司 | 用于中型或重型卡车的优化再生制动的行车制动控制系统 |
CN101049825B (zh) * | 2006-04-03 | 2013-04-24 | 株式会社爱德克斯 | 用于车辆的制动装置 |
Families Citing this family (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20020066846A (ko) * | 2001-02-14 | 2002-08-21 | 현대중공업 주식회사 | 모터의 회생제동력과 기계적 제동력을 결합하여 사용하는전기자동차의 브레이크 시스템 |
DE10124344A1 (de) * | 2001-05-18 | 2002-11-21 | Linde Ag | Fahrzeug, insbesondere Flurförderzeug, mit elektrischer und mechanischer Bremse |
DE10163208C1 (de) * | 2001-12-21 | 2003-05-15 | Bosch Gmbh Robert | Verfahren und Einrichtung zur Regelung des Antriebsmomentes nach einem Lastwechsel bei Hybridfahrzeugen |
JP4147850B2 (ja) | 2002-02-15 | 2008-09-10 | 日産自動車株式会社 | 制動制御装置 |
JP3921109B2 (ja) * | 2002-03-20 | 2007-05-30 | 日産ディーゼル工業株式会社 | 車両のハイブリッドシステム |
JP3720316B2 (ja) * | 2002-09-24 | 2005-11-24 | 独立行政法人科学技術振興機構 | 電気自動車の駆動装置 |
KR100534709B1 (ko) * | 2003-12-30 | 2005-12-07 | 현대자동차주식회사 | 전기자동차의 회생제동 제어 방법 및 장치 |
JP4659390B2 (ja) * | 2004-05-31 | 2011-03-30 | 富士重工業株式会社 | 車両制動装置および車両制動方法 |
US20060047400A1 (en) * | 2004-08-25 | 2006-03-02 | Raj Prakash | Method and apparatus for braking and stopping vehicles having an electric drive |
ES2401093T3 (es) * | 2005-09-15 | 2013-04-16 | Mitsubishi Denki Kabushiki Kaisha | Aparato de control de frenado y método de control de frenado para vehículo eléctrico |
EP2049646A2 (en) * | 2006-07-14 | 2009-04-22 | Xcellerex, Inc. | Environmental containment systems |
JP4375376B2 (ja) * | 2006-09-14 | 2009-12-02 | トヨタ自動車株式会社 | 制動力制御装置 |
CN101209683B (zh) * | 2006-12-26 | 2011-06-15 | 比亚迪股份有限公司 | 电动汽车驱动电机控制方法及其控制系统 |
US9187083B2 (en) * | 2009-09-16 | 2015-11-17 | Polaris Industries Inc. | System and method for charging an on-board battery of an electric vehicle |
KR101404087B1 (ko) * | 2010-05-12 | 2014-06-05 | 주식회사 만도 | 회생 제동 제어 방법 |
JP5387597B2 (ja) * | 2011-03-02 | 2014-01-15 | トヨタ自動車株式会社 | 車両の制御装置 |
US9855835B1 (en) * | 2011-03-08 | 2018-01-02 | Harris Corporation | Pneumatic-based drive power for motorized vehicles |
DE102011111594A1 (de) * | 2011-08-25 | 2013-02-28 | Audi Ag | Verfahren zum Bremsen eines Kraftfahrzeugs |
CN103842223A (zh) * | 2011-09-28 | 2014-06-04 | 丰田自动车株式会社 | 车辆用驱动装置的控制装置 |
DE102012202647A1 (de) * | 2012-02-21 | 2013-08-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Steuerung einer elektrischen Maschine |
DE102012107812A1 (de) * | 2012-08-24 | 2014-05-28 | Krones Ag | Vorrichtung und Verfahren zur Behandlung von Behältnissen mit einer mechanischen Bremseinrichtung |
CN104477040B (zh) * | 2014-11-18 | 2016-08-24 | 浙江工业大学之江学院 | 单能量源电动汽车变电流再生制动控制方法 |
US10300786B2 (en) | 2014-12-19 | 2019-05-28 | Polaris Industries Inc. | Utility vehicle |
WO2017218225A1 (en) | 2016-06-14 | 2017-12-21 | Polaris Industries, Inc. | Hybrid utility vehicle |
US10363946B2 (en) * | 2016-12-02 | 2019-07-30 | Harris Corporation | Hybrid pneumatic regenerative system for railway vehicles |
US10012247B2 (en) | 2016-12-02 | 2018-07-03 | Harris Corporation | Variable booster for hybrid pneumatic regenerative system |
US10780770B2 (en) | 2018-10-05 | 2020-09-22 | Polaris Industries Inc. | Hybrid utility vehicle |
US11370266B2 (en) | 2019-05-16 | 2022-06-28 | Polaris Industries Inc. | Hybrid utility vehicle |
US10773135B1 (en) | 2019-08-28 | 2020-09-15 | Taylor Made Golf Company, Inc. | Golf club head |
DE102021114497A1 (de) * | 2021-06-07 | 2022-12-08 | Zf Cv Systems Global Gmbh | Bremsanlage eines Kraftfahrzeugs und Verfahren zur Steuerung derselben |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05284607A (ja) * | 1992-03-27 | 1993-10-29 | Toyota Motor Corp | 電気自動車の制動制御装置 |
JPH07163008A (ja) * | 1993-12-08 | 1995-06-23 | Nissan Motor Co Ltd | 電気自動車の制動装置 |
JP3121998B2 (ja) | 1994-11-30 | 2001-01-09 | 京セラ株式会社 | 音響反響除去装置 |
JP3167880B2 (ja) | 1995-05-10 | 2001-05-21 | 本田技研工業株式会社 | ハイブリッド車の発電装置 |
JP3360499B2 (ja) | 1995-09-05 | 2002-12-24 | トヨタ自動車株式会社 | 電気車両の回生制動制御装置及び方法 |
JP3428289B2 (ja) * | 1996-04-22 | 2003-07-22 | 三菱自動車工業株式会社 | 電気自動車の制動制御装置 |
JPH09154202A (ja) * | 1995-11-28 | 1997-06-10 | Toyota Motor Corp | 電気車両における回生目標決定方法及び回生制動制御装置 |
DE69635384T8 (de) * | 1995-12-26 | 2006-12-14 | Denso Corp., Kariya | Brems-Steuergerät für ein Fahrzeug |
JP3702539B2 (ja) * | 1996-06-20 | 2005-10-05 | アイシン精機株式会社 | 電動車両の制動制御装置 |
JP3118191B2 (ja) * | 1996-07-31 | 2000-12-18 | アイシン精機株式会社 | 電動車両の制動制御装置 |
JPH1159387A (ja) * | 1997-08-27 | 1999-03-02 | Toyota Motor Corp | 電動車両の制動装置 |
-
1998
- 1998-06-30 JP JP18408998A patent/JP3502768B2/ja not_active Expired - Fee Related
-
1999
- 1999-03-24 CN CNB998076929A patent/CN1176820C/zh not_active Expired - Fee Related
- 1999-03-24 KR KR1020007014981A patent/KR20010078753A/ko active IP Right Grant
- 1999-03-24 WO PCT/JP1999/001496 patent/WO2000000363A1/ja active IP Right Grant
- 1999-03-24 US US09/720,716 patent/US6353786B1/en not_active Expired - Lifetime
- 1999-03-24 EP EP99910688A patent/EP1092584B1/en not_active Expired - Lifetime
- 1999-03-24 CA CA002336422A patent/CA2336422A1/en not_active Abandoned
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101049825B (zh) * | 2006-04-03 | 2013-04-24 | 株式会社爱德克斯 | 用于车辆的制动装置 |
CN102216134A (zh) * | 2008-11-14 | 2011-10-12 | 万国卡车知识产权有限公司 | 用于中型或重型卡车的优化再生制动的行车制动控制系统 |
Also Published As
Publication number | Publication date |
---|---|
EP1092584A4 (en) | 2003-05-21 |
JP2000023304A (ja) | 2000-01-21 |
EP1092584B1 (en) | 2011-07-20 |
EP1092584A1 (en) | 2001-04-18 |
CA2336422A1 (en) | 2000-01-06 |
WO2000000363A1 (fr) | 2000-01-06 |
US6353786B1 (en) | 2002-03-05 |
KR20010078753A (ko) | 2001-08-21 |
JP3502768B2 (ja) | 2004-03-02 |
CN1306479A (zh) | 2001-08-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1176820C (zh) | 车辆的制动装置 | |
JP4606074B2 (ja) | 電気自動車の回生制動制御方法及び装置 | |
EP1129889B1 (en) | Regeneration control device of hybrid electric vehicle | |
JP3167935B2 (ja) | ハイブリッド車両の制御装置 | |
US8428840B2 (en) | Method for controlling torque at one or more wheels of a vehicle | |
US7761214B2 (en) | Vehicle deceleration control device | |
US7523797B2 (en) | Power output apparatus, method of controlling power output apparatus, and automobile with power output apparatus mounted thereon | |
US6755489B2 (en) | Control device for electric vehicle stopping at slope road | |
JP2994590B2 (ja) | ハイブリッド車両の制御装置 | |
EP2330008A1 (en) | Hybrid industrial vehicle | |
US20050218717A1 (en) | Braking system of hybrid vehicle | |
CN101596869A (zh) | 混合动力客车气压与再生制动协调控制系统 | |
US9656573B2 (en) | Method and device for sensory control of hybrid operation machine | |
JP2007210417A (ja) | 車両の制御装置 | |
US20030184147A1 (en) | Method and system to provide coastdown braking torque to an electrically propelled vehicle without regenerative braking | |
JP2014050130A (ja) | 電動車両 | |
EP4223607A1 (en) | Vehicle control device, vehicle control method, and vehicle control system | |
JP2000291451A (ja) | シリーズハイブリッド車回生電力消費制御装置 | |
KR20080037342A (ko) | 전기자동차용 회생제동 제어 방법 | |
CN111720223B (zh) | 混合动力车辆和制动混合动力车辆的方法 | |
JP2003209905A (ja) | ハイブリッド車両の制御装置 | |
JP3856302B2 (ja) | 車両のハイブリッドシステム | |
CN113879306A (zh) | 车辆驱动系统 | |
CN104553822A (zh) | 电机牵引力矩补偿 | |
JP4018023B2 (ja) | 車両のハイブリッドシステム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20041124 Termination date: 20150324 |
|
EXPY | Termination of patent right or utility model |