CN202115506U - Electric and hydraulic combination brake laboratory vehicle - Google Patents
Electric and hydraulic combination brake laboratory vehicle Download PDFInfo
- Publication number
- CN202115506U CN202115506U CN2011201353962U CN201120135396U CN202115506U CN 202115506 U CN202115506 U CN 202115506U CN 2011201353962 U CN2011201353962 U CN 2011201353962U CN 201120135396 U CN201120135396 U CN 201120135396U CN 202115506 U CN202115506 U CN 202115506U
- Authority
- CN
- China
- Prior art keywords
- controller
- entire car
- electric
- braking
- brake
- 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 - Lifetime
Links
Images
Abstract
An electric and hydraulic combination brake comprehensive laboratory vehicle belongs to a vehicle power performance test field and relates a comprehensive test device which has multiple drive patterns, achieves power-assisted steering cooperative control and realizes energy recuperation. The electric and hydraulic combination brake laboratory vehicle is mainly composed of electric wheels (5), a hydraulic brake (6), a steering assisted motor (29), and an entire vehicle controller (26); a motor controller (25) controls the electric wheels (5); an ABS controller (10) controls the hydraulic brake (6); an electric power-assisted steering controller (27) controls the steering assisted motor (29); the motor controller (25), the ABS controller (10) and the electric power-assisted steering controller (27) are respectively controlled by the entire vehicle controller (26); and an engine (1) and a central drive motor (20) are respectively controlled by the entire vehicle controller (26). Multiple modern vehicle technologies are utilized on the electric and hydraulic combination brake laboratory vehicle and a test place for further development of the vehicle is provided.
Description
Technical field
The utility model relates to the laboratory vehicle of a kind of electricity, liquid Associated brake, i.e. the laboratory vehicle of regenerative brake and hydraulic braking Associated brake, especially a kind of multiple drive modes and hybrid power laboratory vehicle that turns to pattern of having concurrently.
Background technology
The regenerative brake technology is the hot issue of present electric vehicle engineering research, and the Control Strategy for Regenerative Braking of reasonably stability can improve the economic performance of car load, also satisfies low-carbon (LC), environmental protection requirement simultaneously.At present; The traditional electric automobile test car often is that mono-pursues how to improve regenerative brake power; But the regenerative brake technology itself receives electric machines control technology and battery charging and discharging technology limitation; Its braking force that offers electronlmobil is limited, this shows that the stability and the safety of the braking of existing electronlmobil test car can't fully be ensured.Hydraulic brake system is applied in technology maturation on traditional fuel-engined vehicle; The stability and the safety of braking are reliable; Therefore can consider the test car of electronlmobil braking safety and stability for exploitation is a kind of; Be necessary hydraulic brake system is assemblied on the electronic test car, and study the Associated brake technology of regenerative brake and hydraulic braking on this basis.Electronlmobil is of a great variety as its drive pattern of emerging project; Mono-is considered certain specific drive pattern and the control of braking strategy formulated is not possess general applicability, and the control of braking strategy of therefore formulating should be able to be applicable to the electronlmobil of different driving pattern.In addition, only have at present and consider the unify co-operative control of electric boosting steering system of hydraulic braking sysgtem, and be technological gap the electronlmobil realization stabilizing effective electric power steering of regeneration brake system and hydraulic brake system Associated brake.See that from traditional fuel vehicle market electric boosting steering system is applied in the trend that is inevitable on the electronlmobil, so the co-operative control problem of regenerative brake and electric boosting steering system needs to be resolved hurrily.
The utility model content
From above-mentioned purpose, need that exploitation is a kind of to be possessed multiple drive modes and be equipped with the regenerative brake of electric boosting steering system and the laboratory vehicle that hydraulic braking jointly controls, and the control technology that research can stabilizing effective realization corresponding function on this basis.
To achieve these goals, the utility model has been taked following technical scheme:
Electricity, liquid Associated brake laboratory vehicle comprise driving engine 1, semiaxis 2, foresteerage gear 3, hydraulic brake 6, steering shaft retarder 7, steering handwheel 9, master brake cylinder 11, brake servo unit 13, brake pedal 16, acceleration pedal switch 17, acceleration pedal 18, main reduction gear and diff 19, center driven motor 20, change-speed box 21, power battery pack 22, DC/DC DC-DC power supply 23, battery management system 24, power steering motor 29, change speed gear box 30, power-transfer clutch 31;
Also be provided with four wheel speed sensors 4, front and back totally four electric drive wheels 5, torque sensor 8, abs controller 10, pressure sensor 12, brake pedal switch 14, pedal angular transducer 15, electric machine controller 25, entire car controller 26, electric booster steering controller 27, current sensor 28; From front axle, driving engine 1, power-transfer clutch 31, change speed gear box 30, main reduction gear and diff 19, semiaxis 2, hydraulic brake 6, electric drive wheel 5 be mechanical connection in order; Two electric drive wheels of front axle 5 and foresteerage gear 3 mechanical connections; Foresteerage gear 3, steering shaft retarder 7, power steering motor 29 be mechanical connection in order; From rear axle, center driven motor 20, change-speed box 21, main reduction gear and diff 19, semiaxis 2, hydraulic brake 6, electric drive wheel 5 be mechanical connection in order; Master brake cylinder 11, brake servo unit 13, brake pedal 16 be mechanical connection in order;
DC/DC DC-DC power supply (23) provides working power with power battery pack (22) for each controller and sensor.
The signal that electricity, liquid Associated brake laboratory vehicle collect according to braking moment wheel speed sensors 4, pedal angular transducer 15 and pressure sensor 12, entire car controller 26 distributes corresponding braking scheme, and is specific as follows:
1), when being at a high speed braking or emergency braking, entire car controller 26 carries out conventional hydraulic braking through 6 pairs of four electric drive wheels 5 of abs controller 10 modulated pressure drgs, realizes the pure hydraulic braking of forward and backward axle under the conventional brake pattern;
2), when being in braking of non-high speed and non-emergent glancing impact, entire car controller 26 goes out the needed braking force of antero posterior axis according to the calculated signals that pressure sensor 12 sends, and it is divided into high, medium and low three gear intervals,
2.1), in low-grade interval, entire car controller 26 is realized regenerative brakes through four electric drive wheels of electric machine controller 25 controls 5;
2.2), in middle-grade interval, entire car controller 26 is through two electric drive wheels 5 of electric machine controller 25 control front axles, entire car controller 26 is controlled two electric drive wheels 5 of rear axle simultaneously through electric machine controller 25 and center driven motor 20, realizes regenerative brake;
2.3), in high-grade interval; Two electric drive wheels 5 of front axle are braked by electric machine controller 25 and hydraulic brake 6 jointly; The rear axle electric drive wheel is then braked by electric machine controller 25, center driven motor 20, hydraulic brake 6 jointly, realizes electricity, liquid Associated brake.
Electricity, liquid Associated brake laboratory vehicle are provided with power battery pack 22, center driven motor 20 and 1 three kinds of propulsions source of driving engine; Entire car controller 26 control driving engines provide power to front axle electric drive wheel 5; Entire car controller 26 is that rear axle electric drive wheel 5 provides power through electric machine controller 25 control center driven motors; Entire car controller 26 control electric machine controllers 25, power battery pack 22 provide propulsion source through power-supply management system 24 for forward and backward axle electric drive wheel 5 under electric machine controller 25 controls; Through the different combinations of propulsion source, laboratory vehicle can be realized multiple drive modes.
1), when braking on curve initial velocity during less than calibration value A, entire car controller 26 control abs controllers 10 quit work, and control electric booster steering controller 27 carries out routine and turn to control, realize the electric power steering under the braking on curve pattern;
2), when braking on curve initial velocity during greater than calibration value B, entire car controller 26 control abs controllers 10 work, and control electric booster steering controller 27 quits work, and realizes the manual steering under the braking on curve pattern;
3), when braking on curve initial velocity value is between calibration value A and calibration value B, entire car controller 26 synchro control abs controllers 10 and electric booster steering controller 27 work; Abs controller 10 keeps conventional control policy constant; Electric booster steering controller 27 is according to the control command of the current signal and the entire car controller of current sensor 28; The braking on curve assist characteristic curve that is provided with in advance according to its inside is to power steering motor 29 input service electric currents, realizes the co-operative control of ABS and electric power steering under the braking on curve operating mode.
Electricity, liquid Associated brake laboratory vehicle braking on curve assist characteristic curve is following:
Wherein, I is the target current of 27 pairs of power steering motors of electric booster steering controller, 29 inputs,
V is a current vehicle speed,
T
dBe the steering handwheel input torque,
T
D0Steering handwheel input torque during for the startup power-assisted,
T
D1Be break place steering handwheel input torque, i.e. the intersection point of two sections line segments,
T
D maxBe maximum steering handwheel input torque,
k
1(v) be the slope of first section broken line,
k
2(v) be the slope of second section broken line,
k
1(v), k
2(v) follow the growth of speed and reduce, and the cooresponding k of identical speed
1(v)＞k
2(v),
A, B are demarcation speed.
Electricity, liquid Associated brake laboratory vehicle pass through the main reduction gear and the diff 19 of locking or the forward and backward axle of release,
Through the rotating speed of electric machine controller 25 control electric drive wheels 5, realize the different patterns that turns to simultaneously.
The utility model has been realized the Associated brake of regenerative brake and hydraulic braking, has guaranteed the stability and the safety of braking procedure; And possess multiple drive modes, can study the control of braking strategy that is applicable to the different driving pattern and also can study corresponding control of braking strategy, thereby satisfy the diversified demand of experiment to certain specific drive pattern; The utility model has also been realized the co-operative control of bend regenerative brake and electric power steering in addition; In sum, the utlity model has the braking procedure stability and safety, possess multiple drive modes and realized the advantage of electric power steering with electricity, liquid Associated brake co-operative control.
Description of drawings
The structural representation of Fig. 1 the utility model
System's control principle block diagram of Fig. 2 the utility model
The brakig force distribution control flow chart of Fig. 3 the utility model
Electric power steering of Fig. 4 the utility model and regenerative brake coordination control flow chart
Figure: 1. Engines 2. Axle 3 wheel steering mechanism 4 wheel speed sensors 5. Electric wheel 6 hydraulic brakes 7. Steering shaft reducer 8 torque sensor 9. steering wheel 10.ABS controller 11. brake master cylinder 12. pressure sensor 13. brake booster 14. brake pedal switch 15 a pedal angle sensor 16. brake pedal 17. accelerator pedal switch 18. accelerator pedal 19 main gear and the differential 20. central drive motor 21. transmission 22 . power battery pack 23.DC/DC (DC to DC power supply) 24. battery management system 25. motor controller 26 vehicle controller 27. electric power steering controller 28 The current sensor 29. steering motor 30. gearbox 31. clutch
The specific embodiment
Combine 1～3 pair of present embodiment of accompanying drawing to be described further at present.
The utility model provides electricity, liquid brakig force distribution scheme under the different operating modes in order to realize the stabilizing effective regenerative brake.Specific as follows:
Braking allocative decision 1: be applicable at a high speed or the emergency braking operating mode; When entire car controller 26 obtains the initial speed of braking value according to wheel speed sensors 4 and the calculated signals that brake pedal switch 14 sends; And when being judged to be the high speed damped condition; Perhaps entire car controller 26 is according to the signal of pedal angular transducer 15 with 14 transmissions of brake pedal switch; And when judging the emergency braking operating mode, entire car controller 26 carries out conventional hydraulic braking through 6 pairs of four electric drive wheels 5 of abs controller 10 modulated pressure drgs, realizes forward and backward axle hydraulic braking under the conventional brake pattern.
Braking allocative decision 2: be applicable to non-high speed braking and non-emergent damped condition; Entire car controller 26 goes out the required brake pressure value of antero posterior axis according to the calculated signals that pressure sensor 12 sends; When the braking force current, that rear axle is required all was lower than the maximum regeneration braking force sum of 70% respective shaft electric drive wheel 5, entire car controller 26 was judged to be low-grade interval; At this moment, entire car controller 26 control electric machine controllers 25 carry out regenerative brake to four electric drive wheels 5 synchronously; Electric drive wheel 5 works in generating state, and 24 pairs of power battery pack 22 of electric machine controller 25 control power-supply management systems are charged, and realizes the forward and backward axle electric drive wheel braking under the pure electric braking pattern.
Braking allocative decision 3: be applicable to non-high speed braking and non-emergent damped condition; Entire car controller 26 goes out the required brake pressure value of antero posterior axis according to the calculated signals that pressure sensor 12 sends; Braking force current, that the rear axle arbitrary axis is required be higher than respective shaft electric drive wheel 5 maximum regeneration braking force sum 70%; And the required braking force of rear axle is lower than two electric drive wheels 5 of rear axle, center driven motor 20 threes' 70% o'clock of maximum regeneration braking force sum, and entire car controller 26 is judged to be middle-grade interval; At this moment, entire car controller 26 carries out regenerative brake through two electric drive wheels of 25 pairs of front axles of electric machine controller 5; Entire car controller 26 carries out regenerative brake through electric machine controller 25 and two electric drive wheels of 20 pairs of rear axles of center driven motor 5; Electric drive wheel works in generating state, and 24 pairs of power battery pack 22 of electric machine controller 25 control power-supply management systems are charged; The braking of front axle electric drive wheel, rear axle electric drive wheel and motor Associated brake under the pure electric braking pattern have been realized.
Braking allocative decision 4: be applicable to non-high speed braking and non-emergent damped condition; Entire car controller 26 goes out the required brake pressure value of antero posterior axis according to the calculated signals that pressure sensor 12 sends; Braking force current, that the rear axle arbitrary axis is required be higher than respective shaft electric drive wheel 5 maximum regeneration braking force sum 70%; And the required braking force of rear axle is higher than two electric drive wheels 5 of rear axle, center driven motor 20 threes' 70% o'clock of maximum regeneration braking force sum, and entire car controller 26 is judged to be high-grade interval; Two electric drive wheels of 25 pairs of front axles of electric machine controller this moment 5 carry out regenerative brake, and for front axle provides 70% of required maximum braking force, not enough braking force is provided by hydraulic brake 6; Electric machine controller 25 provides 70% of required maximum braking force with center driven motor 20 for rear axle, and not enough braking force is provided by hydraulic brake 6; Electric drive wheel works in generating state, and 24 pairs of power battery pack 22 of electric machine controller 25 control power-supply management systems are charged; Electricity, liquid Associated brake have been realized;
More than four kinds the braking allocative decision in; Braking allocative decision 1 relates to hydraulic brake system with braking allocative decision 4; In braking procedure, adopt the anti-blocking brake system scheme; The braking anti-lock scheme adopts representative type Threshold Control Method method in the present automobile industry, thereby avoids occurring in the braking procedure wheel lockup situation, has further improved the safety and the stability of automobile brake.
The utility model can be realized the independent assortment of propulsion source, has multiple drive modes, can be under the representative type drive pattern kinetic character of research automobile.Concrete drive pattern is following:
Two-wheeled forerunner pattern 1: entire car controller 26 drives 5 work of front axle electric drive wheel through electric machine controller 25, and driving engine 1 is not participated in work with center driven motor 20; This moment, power battery pack 22 was under electric machine controller 25 control, for front axle electric drive wheel 5 electrical source of power was provided through power-supply management system 24, realized pure electronic two-wheeled forerunner pattern;
Two-wheeled forerunner pattern 2: entire car controller 26 only drives 5 work of front axle electric drive wheel through driving engine 1, realizes the two-wheeled forerunner pattern under the pure engine operation;
Two-wheeled forerunner mode 3: entire car controller 26 drives 5 work of front axle electric drive wheel through electric machine controller 25, and entire car controller 26 drives 5 work of front axle electric drive wheel through driving engine 1 simultaneously; This moment, power battery pack 22 was under electric machine controller 25 control, for front axle electric drive wheel 5 electrical source of power was provided through power-supply management system 24, realized hybrid dynamic two-wheeled forerunner's pattern.
Two-wheeled rear-guard pattern 1: entire car controller 26 drives 5 work of rear axle electric drive wheel through electric machine controller 25, and driving engine 1 is not participated in work with center driven motor 20; This moment, power battery pack 22 was under electric machine controller 25 control, for rear axle electric drive wheel 5 electrical source of power was provided through power-supply management system 24, realized pure electronic two-wheeled rear-guard pattern.
Two-wheeled rear-guard pattern 2: entire car controller 26 is through electric machine controller 25 control center driven motors 20, and then driving rear axle electric drive wheel 5, and driving engine is not participated in work; This moment, power battery pack 22 was under electric machine controller 25 control, for center driven motor 20 electrical source of power was provided through power-supply management system 24, realized pure electronic two-wheeled rear-guard pattern;
Two-wheeled rear-guard mode 3: entire car controller 26 drives 5 work of rear axle electric drive wheel through electric machine controller 25, and simultaneously, entire car controller 26 is controlled center driven motors 20 through electric machine controller 25, and then drives rear axle electric drive wheel 5; At this moment, power battery pack 22 provides electrical source of power through power-supply management system 24 for rear axle electric drive wheel 5 and center driven motor 20 under electric machine controller 25 controls at this moment, realizes pure electronic two-wheeled rear-guard pattern;
Four wheel drive pattern 1: entire car controller 26 drives 5 work of antero posterior axis electric drive wheel through electric machine controller 25, and driving engine 1 is not participated in work with center driven motor 20; This moment, power battery pack 22 was under electric machine controller 25 control, for electric drive wheel 5 electrical source of power was provided through power-supply management system 24, realized pure electric four-wheeled drive pattern;
Four wheel drive pattern 2: entire car controller 26 drives 5 work of front axle electric drive wheel through electric machine controller 25, and entire car controller 26 passes through electric machine controller 25 control center driven motors 20 simultaneously, and then drives 5 work of rear axle electric drive wheel, and driving engine is not participated in work; Power battery pack 22 provides electrical source of power through power-supply management system 24 for front axle electric drive wheel 5 and center driven motor 20 under electric machine controller 25 controls at this moment, realizes pure electric four-wheel drive pattern.
The four wheel drive mode 3: entire car controller 26 drives 5 work of antero posterior axis electric drive wheel through electric machine controller 25, and entire car controller 26 passes through electric machine controller 25 control center driven motors 20 simultaneously, and then drives 5 work of rear axle electric drive wheel, and driving engine is not participated in work; Power battery pack 22 provides electrical source of power through power-supply management system 24 for antero posterior axis electric drive wheel 5 and center driven motor 20 under electric machine controller 25 controls at this moment, realizes pure electric four-wheel drive pattern.
Four wheel drive pattern 4: entire car controller 26 drives 5 work of rear axle electric drive wheel through electric machine controller 25, and simultaneously, entire car controller 26 control driving engines 1 drive 5 work of front axle electric drive wheel, and the center driven motor is not worked; At this moment, this moment power battery pack 22 in electric machine controller 25 control down, electrical source of power is provided, realization hybrid power 4 wheel driven pattern through power-supply management system 24 for rear axle electric drive wheel 5.
Four wheel drive pattern 5: entire car controller 26 drives 5 work of antero posterior axis electric drive wheel through electric machine controller 25, and simultaneously, entire car controller 26 control driving engines 1 drive 5 work of front axle electric drive wheel, and the center driven motor is not worked; At this moment, this moment power battery pack 22 in electric machine controller 25 control down, electrical source of power is provided, realization hybrid power 4 wheel driven pattern through power-supply management system 24 for antero posterior axis electric drive wheel 5.
Four wheel drive pattern 6: entire car controller 26 is through electric machine controller 25 control center driven motors 20, and then 5 work of driving rear axle electric drive wheel, and while entire car controller 26 control driving engines 1 drive front axle electric drive wheel 5 and work; At this moment, this moment power battery pack 22 in electric machine controller 25 control down, electrical source of power is provided, realization hybrid power 4 wheel driven pattern through power-supply management system 24 for center driven motor 20.
The four wheel drive mode 7: entire car controller 26 is through electric machine controller 25 control center driven motors 20; And then driving rear axle electric drive wheel 5 work; Entire car controller 26 control driving engines 1 drive 5 work of front axle electric drive wheel, and entire car controller 26 control electric machine controllers 25 drive the front axle electric drive wheel simultaneously; At this moment, power battery pack 22 provides electrical source of power through power-supply management system 24 for center driven motor 20 and antero posterior axis electric drive wheel under electric machine controller 25 controls at this moment, realizes hybrid power 4 wheel driven pattern.
Four wheel drive pattern 8: entire car controller 26 is through electric machine controller 25 control center driven motors 20; And then driving rear axle electric drive wheel 5 work; Entire car controller 26 control driving engines 1 drive 5 work of front axle electric drive wheel, and entire car controller 26 control electric machine controllers 25 drive the rear axle electric drive wheel simultaneously; At this moment, power battery pack 22 provides electrical source of power through power-supply management system 24 for center driven motor 20 and rear axle electric drive wheel under electric machine controller 25 controls at this moment, realizes hybrid power 4 wheel driven pattern.
Four wheel drive pattern 9: entire car controller 26 is through electric machine controller 25 control center driven motors 20; And then driving rear axle electric drive wheel 5 work; Entire car controller 26 control driving engines 1 drive 5 work of front axle electric drive wheel, and entire car controller 26 control electric machine controllers 25 drive the antero posterior axis electric drive wheel simultaneously; At this moment, power battery pack 22 provides electrical source of power through power-supply management system 24 for center driven motor 20 and antero posterior axis electric drive wheel under electric machine controller 25 controls at this moment, realizes hybrid power 4 wheel driven pattern.
The utility model provides conventional electric power steering pattern and braking on curve electric power steering pattern in order to realize the co-operative control of electric power steering and regenerative brake under the braking on curve operating mode.Specific as follows:
Conventional electric power steering pattern: when automobile is in turning around a curve; Entire car controller 26 control abs controllers 10 quit work; And control electric booster steering controller 27 carries out conventional electric power steering control, the electric power steering under the realization bend pattern.
Braking on curve electric power steering pattern 1: be applicable to the braking on curve operating mode; Entire car controller 26 obtains the initial speed of braking value according to wheel speed sensors 4 and the calculated signals that brake pedal switch 14 sends; When the initial speed of braking value is lower than calibration value A (during 15km/h≤A≤25km/h); Entire car controller 26 control abs controllers 10 quit work, and control electric booster steering controller 27 carries out conventional electric power steering control, the electric power steering under the realization braking on curve pattern.
Braking on curve electric power steering pattern 2: be applicable to the braking on curve operating mode; Entire car controller 26 obtains the initial speed of braking value according to wheel speed sensors 4 and the calculated signals that brake pedal switch 14 sends; (15km/h≤A≤25km/h) and calibration value B are (between 60km/h≤A≤75km/h) time between calibration value A when the initial speed of braking value; Entire car controller 26 synchro control abs controllers 10 and electric booster steering controller 27; Abs controller 10 keeps conventional control policy constant; Electric booster steering controller 27 is according to the control command of the current signal and the entire car controller of current sensor 28; The braking on curve assist characteristic curve that is provided with in advance according to its inside is to power steering motor 29 output services electric currents, thereby realizes the co-operative control of ABS and electric power steering under the braking on curve operating mode, and braking on curve assist characteristic curve is following:
Wherein, I is the target current of electric booster steering controller 27 to 29 inputs of power steering motor, T
dBe the steering handwheel input torque, the steering handwheel 9 center dtc signals that this signal is gathered according to torque sensor 8 by electric booster steering controller 27 calculate T
D0Steering handwheel input torque during for the startup power-assisted, T
DmaxBe maximum steering handwheel input torque, T
D1Be break place steering handwheel input torque, k
1(v) be the slope of first section broken line, k
2(v) be the slope of second section broken line, k
1(v), k
2(v) follow the growth of speed and reduce, and the cooresponding k of identical speed
1(v)>=k
2(v); This curve table is shown under the different speed of a motor vehicle, steering handwheel input torque and the relation of electric booster steering controller 27 between the working current that power steering motor 29 provides.This working current is big more, and the power torque of power steering motor 29 outputs is big more.
Under the different driving pattern, should adopt engineering experience and the method that experiment combines to come progressively to revise for the assignment of above parameter.When adopting driving engine 1 to drive like front-wheel, setting A is 20km/h, and B is 70km/h, T
D0Be set at 1Nm, T
D1Be set at 3Nm, T
DmaxBe set at 6Nm, when the speed of a motor vehicle is 20km/h, 30km/h, 40km/h, 50km/h, 60km/h, 70km/h, k
1(v) be set at 4,3,2.5,2,0.9,0.7 respectively, k
2(v) be set at 2.5,1.5,0.9,0.6,0.5 respectively.If when adopting hybrid power driving or electricity to drive, above parameter value should suitably reduce.
Braking on curve electric power steering mode 3: be applicable to the braking on curve operating mode; Entire car controller 26 obtains the initial speed of braking value according to wheel speed sensors 4 and the calculated signals that brake pedal switch 14 sends; When the initial speed of braking value is higher than calibration value B (during 60km/h≤A≤75km/h); Entire car controller 26 control abs controllers 10 keep conventional control policy constant, control electric booster steering controller 27 simultaneously and quit work, and realize the manual steering under the braking on curve pattern.
Several kinds turned to pattern below the utility model can also be realized:
Differential steering pattern 1: before the experiment; With front axle main reduction gear and diff 19 lockings; Front axle left and right sides electric drive wheel 5 is rigidly connected, rear axle main reduction gear and diff 19 releases, entire car controller 26 is through electric machine controller 25; And then electric drive wheel 5 different rotating speeds rotate before controlling two, realize the front-wheel differential steering.
Differential steering pattern 2: before the experiment; Forward and backward axle main reduction gear and differential are removed 19 lockings, forward and backward axle left and right sides electric drive wheel 5 is rigidly connected, entire car controller 26 is through electric machine controller 25; And then control four electric drive wheel 5 different rotating speeds and rotate, realize that four-wheel differentia turns to.
Differential servo-steering pattern: before the experiment; With forward and backward axle main reduction gear and diff 19 releases; Forward and backward axle left and right sides electric drive wheel 5 is flexibly connected, and entire car controller 26 rotates with different rotating speeds through control electric machine controller 25 and then two electric drive wheels 5 of control front axle, realizes the differential servo-steering;
In addition, this laboratory vehicle can also realize that the steering handwheel routine turns to: also can realize that conventional steering handwheel turns to through steering handwheel 9 during vehicle '.
Claims (5)
1. electricity, liquid Associated brake laboratory vehicle comprise driving engine (1), semiaxis (2), foresteerage gear (3), hydraulic brake (6), steering shaft retarder (7), steering handwheel (9), master brake cylinder (11), brake servo unit (13), brake pedal (16), acceleration pedal switch (17), acceleration pedal (18), main reduction gear and diff (19), center driven motor (20), change-speed box (21), power battery pack (22), DC/DC DC-DC power supply (23), battery management system (24), power steering motor (29), change speed gear box (30), power-transfer clutch (31);
It is characterized in that: also be provided with four wheel speed sensors (4), front and back totally four electric drive wheels (5), torque sensor (8), abs controller (10), pressure sensor (12), brake pedal switch (14), pedal angular transducer (15), electric machine controller (25), entire car controller (26), electric booster steering controller (27), current sensor (28); From front axle, driving engine (1), power-transfer clutch (31), change speed gear box (30), main reduction gear and diff (19), semiaxis (2), hydraulic brake (6), electric drive wheel (5) be mechanical connection in order; Two electric drive wheels of front axle (5) and foresteerage gear (3) mechanical connection; Foresteerage gear (3), steering shaft retarder (7), power steering motor (29) be mechanical connection in order; From rear axle, center driven motor (20), change-speed box (21), main reduction gear and diff (19), semiaxis (2), hydraulic brake (6), electric drive wheel (5) be mechanical connection in order; Master brake cylinder (11), brake servo unit (13), brake pedal (16) be mechanical connection in order;
Brake pedal (16) triggers brake pedal switch (14) and produces the braking energizing signal, and this signal is passed to entire car controller (26); According to the braking energizing signal; Pedal angular transducer (15) is gathered the angle signal of brake pedal (16) and is passed to entire car controller (26); Pressure sensor (12) is gathered the pressure signal of master brake cylinder (11) and is passed to entire car controller (26), and wheel speed sensors (4) is gathered wheel speed signal and is passed to entire car controller (26) and abs controller (10); Entire car controller (26) carries out hydraulic braking through abs controller (10) modulated pressure drg (6) to electric drive wheel (5), and abs controller (10) feeds back its work state information to entire car controller (26) simultaneously; Entire car controller (26) carries out regenerative brake through electric machine controller (25) to electric drive wheel (5), and electric machine controller (25) feeds back its work state information to entire car controller (26) simultaneously; Entire car controller (26) carries out regenerative brake through electric machine controller (25) control center driven motor (20) to electric drive wheel (5), and electric machine controller (25) feeds back its work state information to entire car controller (26) simultaneously;
Torque sensor (8) is gathered steering handwheel (9) center dtc signal and is passed to entire car controller (26) and electric booster steering controller (27); Entire car controller (26) is according to the above-mentioned signal control electric booster steering controller (27) that collects; The working current signal control power steering motor (29) of the power steering motor (29) that electric booster steering controller (27) is gathered according to the control command of entire car controller (26) and current sensor (28), thus realize the power steering function;
Entire car controller (26) control electric machine controller (25), electric machine controller (25) control battery management system (24), under the driving condition, power battery pack (22) is supplied power to center driven motor (20) and electric drive wheel (5) through battery management system (24); Under the braking mode, electric drive wheel (5) and center driven motor (20) charge through battery management system (24) regenerating braking energy under the control of electric machine controller (25) to power battery pack (22);
DC/DC DC-DC power supply (23) provides working power with power battery pack (22) for each controller and sensor.
2. electricity according to claim 1, liquid Associated brake laboratory vehicle; It is characterized in that: according to braking the signal that moment wheel speed sensors (4), pedal angular transducer (15) and pressure sensor (12) collect; Entire car controller (26) distributes corresponding braking scheme, and is specific as follows:
1), when being at a high speed braking or emergency braking, entire car controller (26) carries out conventional hydraulic braking through abs controller (10) modulated pressure drg (6) to four electric drive wheels (5), realizes forward and backward pure hydraulic braking under the conventional brake pattern;
2), when being in braking of non-high speed and non-emergent glancing impact, entire car controller (26) goes out the needed braking force of antero posterior axis according to the calculated signals that pressure sensor (12) sends, and it is divided into high, medium and low three gear intervals,
2.1), in low-grade interval, entire car controller (26) is realized regenerative brake through four electric drive wheels of electric machine controller (25) control (5);
2.2), in middle-grade interval; Entire car controller (26) is through electric machine controller (25) control two electric drive wheels of front axle (5); Entire car controller (26) is controlled two electric drive wheels of rear axle (5) simultaneously through electric machine controller (25) and center driven motor (20), realizes regenerative brake;
2.3), in high-grade interval; Two electric drive wheels of front axle (5) are braked by electric machine controller (25) and hydraulic brake (6) jointly; The rear axle electric drive wheel is then braked by electric machine controller (25), center driven motor (20), hydraulic brake (6) jointly, realizes electricity, liquid Associated brake.
3. electricity according to claim 1, liquid Associated brake laboratory vehicle; It is characterized in that: this laboratory vehicle is provided with power battery pack (22), center driven motor (20) and (1) three kind of propulsion source of driving engine; Entire car controller (26) control driving engine provides power to front axle electric drive wheel (5); Entire car controller (26) is that rear axle electric drive wheel (5) provides power through electric machine controller (25) control center driven motor; Entire car controller (26) control electric machine controller (25), power battery pack (22) provide propulsion source through power-supply management system (24) for forward and backward axle electric drive wheel (5) under electric machine controller (25) control.
4. electricity according to claim 1, liquid Associated brake laboratory vehicle is characterized in that: brake pedal switch (14) produces the braking energizing signal under brake pedal (16) triggers; Wheel speed sensors (4) is gathered wheel speed signal according to the braking energizing signal; Torque sensor (8) is gathered steering handwheel (9) center dtc signal according to the braking energizing signal; Current sensor (28) is gathered the working current signal of power steering motor (29); Entire car controller (26) through to the different control combinations of abs controller (10) with electric booster steering controller (27), realizes that the difference under the braking on curve situation turns to pattern according to above-mentioned signal, and is specific as follows:
1), when braking on curve initial velocity during less than calibration value A, entire car controller (26) control abs controller (10) quits work, and control electric booster steering controller (27) carries out routine and turn to control, realizes the electric power steering under the braking on curve pattern;
2), when braking on curve initial velocity during greater than calibration value B, entire car controller (26) control abs controller (10) work, and control electric booster steering controller (27) quits work, and realizes the manual steering under the braking on curve pattern;
3), when braking on curve initial velocity value is between calibration value A and calibration value B, the work of entire car controller (26) synchro control abs controller (10) and electric booster steering controller (27); Abs controller (10) keeps conventional control policy constant; Electric booster steering controller (27) is according to the current signal of current sensor (28) and the control command of entire car controller; The braking on curve assist characteristic curve that is provided with in advance according to its inside is to power steering motor (29) input service electric current, realizes the co-operative control of ABS and electric power steering under the braking on curve operating mode.
5. electricity according to claim 1, liquid Associated brake laboratory vehicle is characterized in that: the main reduction gear and the diff (19) of the forward and backward axle of locking or release, through the rotating speed of electric machine controller (25) control electric drive wheel (5), realize the different patterns that turns to simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201353962U CN202115506U (en) | 2011-04-29 | 2011-04-29 | Electric and hydraulic combination brake laboratory vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201353962U CN202115506U (en) | 2011-04-29 | 2011-04-29 | Electric and hydraulic combination brake laboratory vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202115506U true CN202115506U (en) | 2012-01-18 |
Family
ID=45456592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201353962U Expired - Lifetime CN202115506U (en) | 2011-04-29 | 2011-04-29 | Electric and hydraulic combination brake laboratory vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202115506U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102269658A (en) * | 2011-04-29 | 2011-12-07 | 北京工业大学 | Electro-hydraulic combined brake experiment vehicle |
| CN102975714A (en) * | 2012-11-19 | 2013-03-20 | 北京工业大学 | Electric vehicle chassis system and collaborative control method thereof |
| CN102991570A (en) * | 2012-11-26 | 2013-03-27 | 精功镇江汽车制造有限公司 | Electric power-assisted steering system of pure electric vehicle |
| CN104108316A (en) * | 2014-04-12 | 2014-10-22 | 北京工业大学 | Electrohydraulic-combined brake control method of battery electric vehicle |
| EP3521096A4 (en) * | 2016-11-24 | 2020-01-08 | LG Chem, Ltd. | Battery management apparatus |
-
2011
- 2011-04-29 CN CN2011201353962U patent/CN202115506U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102269658A (en) * | 2011-04-29 | 2011-12-07 | 北京工业大学 | Electro-hydraulic combined brake experiment vehicle |
| CN102975714A (en) * | 2012-11-19 | 2013-03-20 | 北京工业大学 | Electric vehicle chassis system and collaborative control method thereof |
| CN102975714B (en) * | 2012-11-19 | 2015-10-14 | 北京工业大学 | A kind of elec. vehicle chassis system |
| CN102991570A (en) * | 2012-11-26 | 2013-03-27 | 精功镇江汽车制造有限公司 | Electric power-assisted steering system of pure electric vehicle |
| CN104108316A (en) * | 2014-04-12 | 2014-10-22 | 北京工业大学 | Electrohydraulic-combined brake control method of battery electric vehicle |
| EP3521096A4 (en) * | 2016-11-24 | 2020-01-08 | LG Chem, Ltd. | Battery management apparatus |
| US10682914B2 (en) | 2016-11-24 | 2020-06-16 | Lg Chem, Ltd. | Battery management apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102269658B (en) | Electro-hydraulic combined brake experiment vehicle | |
| CN107009869B (en) | The back wheel driving gear of Cleaning Equipment | |
| CN100475596C (en) | Vehicle regenerative braking control apparatus and method | |
| CN1853999B (en) | Mode transition control system for hybrid vehicle | |
| CN106800020B (en) | Four-wheel drive hybrid power system and control method thereof | |
| CN103287411B (en) | Method for controlling anti-lock system of four-hub-motor drive electric car free of hydraulic braking | |
| CN103171557B (en) | A kind of hybrid electric vehicle engine auxiliary braking connection control method | |
| KR101272515B1 (en) | Auto cruise control method for electric vehicle | |
| CN105517839A (en) | Driving force control device and driving force control method | |
| CN103332184A (en) | Electric-hydro complex brake control method for electric vehicle use and controlling device thereof | |
| CN103481766B (en) | A kind of drive system of electronlmobil and method | |
| CN105555591A (en) | Control device for electric vehicle and control method for electric vehicle | |
| CN112677772B (en) | Control method of automobile regenerative braking control system based on electronic hydraulic braking | |
| CN106029425A (en) | Clutch control device for four-wheel drive vehicle | |
| CN202115506U (en) | Electric and hydraulic combination brake laboratory vehicle | |
| CN108372854B (en) | Device and method for controlling braking of vehicle | |
| CN101746375A (en) | Device for controlling regenerative braking of vehicle | |
| CN103434389A (en) | Tracked vehicle electric driving device with straight driving power-assisted mechanism | |
| CN204623112U (en) | A kind of hybrid electric drive system | |
| CN106965795A (en) | Plug-in four-wheel-drive hybrid power vehicle complete vehicle control system | |
| US10300910B2 (en) | Apparatus for driving rear-wheels of environment-friendly vehicle | |
| CN103370220B (en) | Vehicle console device | |
| CN102485563A (en) | Energy-saving method of electric vehicle for realizing recovery of braking energy by adopting one-way clutch device | |
| CN201030800Y (en) | Motor feedback braking and air-pressure brake combination controlled braking arrangement | |
| CN102463986A (en) | Method for distributing and controlling torque of front and rear wheels of four-wheel driven hybrid vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120118 Effective date of abandoning: 20130403 |
|
| RGAV | Abandon patent right to avoid regrant |