CN205890860U - Electric automobile electricity liquid composite brake system - Google Patents

Abstract

The utility model discloses an electric automobile electricity liquid composite brake system, including motor regenerative brake power module, hydraulic braking power module and composite brake power control module. Does motor regenerative brake power module include two in -wheel motor, brake pedal position sensor, four fast sensors of wheels, speed sensor, super capacitor, two quadrant DC A DC converter and a ECU, hydraulic braking power module includes oil pump motor, hydraulic oil pump and the 2nd ECU. In vapour vehicle driving process, through detecting the fast and brake pedal position sigual of the speed of a motor vehicle, wheel that the vehicle travel, composite brake power control module controls the distribution ratio that motor regenerative brake did all can between module and the hydraulic braking power module. Simultaneously through the multi -objective optimization to electric liquid composite brake system to brake pedal sensation, motor recovered energy are the target, obtain higher energy recovering efficiency and suitable brake pedal sensation under the ECE rules.

Description

A kind of electric automobile Electro-hydraulic brake system

Technical field

This utility model is related to electric automobile Electro-hydraulic brake system regions, more particularly, to a kind of electric based on electric automobile Liquid composite braking system.

Background technology

Brakes on automobile to be divided according to vehicle class at present, is broadly divided into brake fluid system and compressed air brake system System, the relatively low passenger car of general weight all adopts brake fluid system.Traditional vacuum assisted hydraulic brake system mainly by pedal, Vacuum booster and master, fluid reservoir, abs (anti-lock braking system)/esp (dynamic stability control system) module and rim brake Composition, the vacuum needed for vacuum booster is mainly provided by vacuum sources such as electromotor, vacuum pumps, and a total of five big assembly modules are real Show the function of brakes.When passenger car driver is braked, by stepping on brake pedal, vacuum booster utilizes interior Pressure reduction between the vacuum of portion's acquisition and air, produces in power-assisted, and the double-piston acting on to master cylinder to the push rod of its inside, Piston movement in master cylinder promotes the brake fluid of master cylinder to produce pressure, and is transferred to the rim brake system on four wheels Dynamic.

At present due to the development of regulation and technology, as described above, anti-lock braking system and dynamic stability control system are also introduced into To brakes, this brakes, mainly on the basis of Conventional braking systems, collects wheel speed sensors, direction rotation angular sensing The signal such as device and yaw-rate sensor, using the control module being connected between master cylinder and rim brake, to vehicle Anti-lock and dynamic stability performance be controlled, thus obtaining higher security performance.Therefore, this kind of brakes is referred to as Traditional vacuum assisted hydraulic brake system.

Such brakes is the commonly used design structure of passenger car in worldwide at present, with country to new energy The fast development of attention and the correlation technique increasingly of source automobile, high-power traveling motor starts equipment on new forms of energy car, this The maximum feature of class motor is can to carry out energy regenerating when vehicle has deceleration intention and generate electricity, thus realizing braking energy Regeneration, but at present because the presence of conventional hydraulic brakes is so that vehicle has biography when carrying out retarding braking simultaneously System hydraulic braking and motor braking both of which, severely impact the normal driving of driver, particularly on low attachment road surface In the case of, the Effects of Anomalous of abs and esp can be led to, there is very big potential safety hazard.

Utility model content

Technical problem to be solved in the utility model is for involved defect in background technology, provides a kind of base In electric automobile Electro-hydraulic brake system.

This utility model is to solve above-mentioned technical problem to employ the following technical solutions:

A kind of electric automobile Electro-hydraulic brake system, including motor regenerative braking force module, hydraulic braking force module and Composite braking power control module；

Described motor regenerative braking force module includes two wheel hub motors, brake pedal position sensor, four wheel speeds biographies Sensor, vehicle speed sensor, super capacitor, two quadrant dc-dc changer and an ecu；

Described two wheel hub motors are correspondingly arranged in two front-wheels of electric automobile, for driving and braking before two Wheel；

Described brake pedal position sensor is arranged at brake pedal, for obtaining the stroke that brake pedal is depressed；

Described four wheel speed sensors are correspondingly arranged on four wheels of electric automobile, for obtaining the four of electric automobile The angular velocity of individual wheel；

Described vehicle speed sensor is arranged on electric automobile, for obtaining the speed of electric automobile；

Described respectively with two wheel hub motor electrical equipment of two quadrant dc-dc changer are connected, for receiving a described ecu's Digital command is converted into analog control signal and is sent respectively to two wheel hub motors；

Respectively with two wheel hub motors in described super capacitor one end are electrically connected, the storage battery of the other end and electric automobile Gas phase connects, and the electric energy obtaining during for temporary transient storage electric automobile regenerative braking is simultaneously charged to accumulator with this；

A described ecu respectively with brake pedal position sensor, wheel speed sensors, vehicle speed sensor, two quadrant dc-dc Changer, the electrical connection of composite braking power control module, for according to brake pedal position sensor, wheel speed sensors, speed The input signal of sensor passes through the two wheel hub motor work of two quadrant dc-dc convertor controls, by the work of two wheel hub motors Pass to described composite braking power control module as state, and receive the order of described composite braking power control module and two are taken turns Hub motor is adjusted；

Described hydraulic braking force module includes Oil pump electrical machinery, hydraulic oil pump and the 2nd ecu；

And be electrically connected for driving hydraulic oil pump and controlling hydraulic fluid pressure with the 2nd ecu；

Described hydraulic oil pump is arranged on the oil suction chamber of electric vehicle brake master cylinder and goes out between oil pocket, for adjusting electronic vapour The oil suction chamber of car master cylinder and go out the hydraulic pressure difference between oil pocket；

Described Oil pump electrical machinery is used for driving described hydraulic oil pump to be operated；

Described 2nd ecu respectively with brake pedal position sensor, wheel speed sensors, vehicle speed sensor, Oil pump electrical machinery, multiple Close braking force control modular electrical connect, for according to brake pedal position sensor, wheel speed sensors, vehicle speed sensor defeated Enter signal and hydraulic oil pump work is controlled by Oil pump electrical machinery, the working condition of hydraulic oil pump is passed to described composite braking power control Molding block, and receive the order of described composite braking power control module hydraulic oil pump is adjusted；

Described composite braking power control module comprises the 3rd ecu, and described 3rd ecu senses with brake pedal position respectively Device, wheel speed sensors, vehicle speed sensor, an ecu, the 2nd ecu electrical connection, for according to brake pedal position sensor, The working condition of two wheel hub motors and hydraulic oil pump that wheel speed sensors, the input signal of vehicle speed sensor, combination receive Working condition motor regenerative braking force module, the brake force size of hydraulic braking force module.

This utility model adopts above technical scheme compared with prior art, has following technical effect that

1. the utility model proposes a kind of electric automobile Electro-hydraulic brake system is according to the speed being obtained by sensor, wheel On the basis of speed, brake pedal position signal and road surface signal, simultaneously to motor regenerative braking force module, hydraulic braking force module And the impact of road surface input is optimized, improve the retardation efficiency of electric wheel truck, preferably analyze electricity and regeneration power list Conspiracy relation between unit and hydraulic braking force module；

2. this utility model can be effectively increased on the basis of ensureing vehicle insensitivity, ride comfort and safety Feeling automobile brake pedal, makes driver all can realize the good assurance to braking ability under various operating modes, effectively changes Kind braking performance of vehicle, is that design and the optimization of brake pedal feel simulator is provided fundamental basis.

Brief description

Fig. 1 is that this utility model electric automobile Electro-hydraulic brake system arranges schematic diagram；

Fig. 2 is this utility model multiple-objection optimization flow chart.

In figure, 1- brake pedal, 2- vacuum booster, 3- master cylinder, 4- brake fluid pipeline, 5- driving wheel, 6- brakes Pedal position sensor, 7- wheel hub motor, 8- SABS, 9- driven pulley.

Specific embodiment

Below in conjunction with the accompanying drawings the technical solution of the utility model is described in further detail:

As shown in figure 1, the utility model discloses a kind of electric automobile Electro-hydraulic brake system, regenerating system including motor Power plant module, hydraulic braking force module and composite braking power control module；

Described motor regenerative braking force module includes two wheel hub motors, brake pedal position sensor, four wheel speeds biographies Sensor, vehicle speed sensor, super capacitor, two quadrant dc-dc changer and an ecu；

Described two wheel hub motors are correspondingly arranged in two front-wheels of electric automobile, for driving and braking before two Wheel；

Described brake pedal position sensor is arranged at brake pedal, for obtaining the stroke that brake pedal is depressed；

Described four wheel speed sensors are correspondingly arranged on four wheels of electric automobile, for obtaining the four of electric automobile The angular velocity of individual wheel；

Described vehicle speed sensor is arranged on electric automobile, for obtaining the speed of electric automobile；

Described respectively with two wheel hub motor electrical equipment of two quadrant dc-dc changer are connected, for receiving a described ecu's Digital command is converted into analog control signal and is sent respectively to two wheel hub motors；

Respectively with two wheel hub motors in described super capacitor one end are electrically connected, the storage battery of the other end and electric automobile Gas phase connects, and the electric energy obtaining during for temporary transient storage electric automobile regenerative braking is simultaneously charged to accumulator with this；

A described ecu respectively with brake pedal position sensor, wheel speed sensors, vehicle speed sensor, two quadrant dc-dc Changer, the electrical connection of composite braking power control module, for according to brake pedal position sensor, wheel speed sensors, speed The input signal of sensor passes through the two wheel hub motor work of two quadrant dc-dc convertor controls, by the work of two wheel hub motors Pass to described composite braking power control module as state, and receive the order of described composite braking power control module and two are taken turns Hub motor is adjusted；

Described hydraulic braking force module includes Oil pump electrical machinery, hydraulic oil pump and the 2nd ecu；

And be electrically connected for driving hydraulic oil pump and controlling hydraulic fluid pressure with the 2nd ecu；

Described hydraulic oil pump is arranged on the oil suction chamber of electric vehicle brake master cylinder and goes out between oil pocket, for adjusting electronic vapour The oil suction chamber of car master cylinder and go out the hydraulic pressure difference between oil pocket；

Described Oil pump electrical machinery is used for driving described hydraulic oil pump to be operated；

Described 2nd ecu respectively with brake pedal position sensor, wheel speed sensors, vehicle speed sensor, Oil pump electrical machinery, multiple Close braking force control modular electrical connect, for according to brake pedal position sensor, wheel speed sensors, vehicle speed sensor defeated Enter signal and hydraulic oil pump work is controlled by Oil pump electrical machinery, the working condition of hydraulic oil pump is passed to described composite braking power control Molding block, and receive the order of described composite braking power control module hydraulic oil pump is adjusted；

Described composite braking power control module comprises the 3rd ecu, and described 3rd ecu senses with brake pedal position respectively Device, wheel speed sensors, vehicle speed sensor, an ecu, the 2nd ecu electrical connection, for according to brake pedal position sensor, The working condition of two wheel hub motors and hydraulic oil pump that wheel speed sensors, the input signal of vehicle speed sensor, combination receive Working condition motor regenerative braking force module, the brake force size of hydraulic braking force module.

As shown in Fig. 2 a kind of the invention also discloses optimization based on this electric automobile Electro-hydraulic brake system Method, comprises the steps of

Step 1), set up model and the braking force distribution model of electric automobile Electro-hydraulic brake system, described electro-hydraulic Composite braking system model includes brake pedal model, vacuum booster model, master cylinder model, wheel cylinder model, direct current generator mould Type, and two quadrant dc-dc changer model；

Step 2), under damped condition, the stroke that depressed using brake pedal, energy recovery rate are as Electro-hydraulic brake The Performance Evaluating Indexes of system, electric-hydraulic combined as electric automobile using the antero posterior axis braking force distribution ratio scope of ece rules and regulations The constraints of brakes, and set up motor regenerative braking force module, hydraulic braking force module and composite braking power control mould The object function of the performance indications of block ece；

Step 3), according to motor regenerative braking force module, hydraulic braking force module and composite braking power control module ece The object function of performance indications sets up the Model for Multi-Objective Optimization of electric automobile Electro-hydraulic brake system；

Step 4), setting optimized variable, performance indications scope and constraint condition and range, based on nsga- algorithm to compound Brakes is optimized calculating, obtains the parameters optimization about described optimized variable for the electric automobile Electro-hydraulic brake system, And according to the parameters optimization obtaining optimized variable, the corresponding parameter of electric automobile Electro-hydraulic brake system is adjusted.

Described step 2) in:

1), the object function of hydraulic braking force module ece performance indications is f (x₁):

$f\left(x_1\right)=\frac{1}{2{\mathrm{\π\ω}}_0}{\&integral;}_0^{{\mathrm{\ω}}_0}{\left|\frac{f_{in}\left(s\right)}{f_f\left(s\right)}\right|}_{s=j\mathrm{\ω}}^{2}d\mathrm{\ω}$

In formula, f₁X () represents brake pedal feel in information of road surface effective frequency range (0, ω₀) in frequency domain energy put down Average；ω₀Represent the maximum frequency values of useful signal in information of road surface；For brake pedal feel transmission function:

$\frac{f_{in}\left(s\right)}{f_z\left(s\right)}=\frac{k_t{a}_m(1+{\mathrm{\τ}}_{p}s)}{a_w(1+{\mathrm{\β}}_e)\[m_m{\mathrm{\τ}}_p{s}^3+(m_m+c_m{\mathrm{\τ}}_p)s^2+(c_m+k_m{\mathrm{\τ}}_p)s+(k_m-{\mathrm{kk}}_t)\]}$

In formula, k_tFor pedal return spring rate, a_mFor master cylinder area, τ_pFor vacuum booster equivalent model when Between constant, a_wFor piston wheel cylinder area, β_eFor motor braking power and hydraulic braking force distribution ratio, m_mFor master cylinder quality, c_mFor master cylinder Damping, k_mFor master cylinder spring rate, k is the amplification coefficient of vacuum booster equivalent model, k_tFirm for brake pedal return spring Degree；

2), the object function of the performance indications of motor regenerative braking force module ece is p:

$p=\frac{rf\[rrf+k_e{k}_t{\mathrm{\ω}}_m\left(1+\frac{1}{{\mathrm{\β}}_e}\right)\]}{{k_t}^2{\left(1+\frac{1}{{\mathrm{\β}}_e}\right)}^2}$

In formula, r is wheel equivalent redius, and f is the total braking force of design conditions, and r is motor equivalent internal resistance, k_eFor anti-electronic Potential constant, ω_mFor the angular velocity of wheel, k_tFor motor torque constant；

3), the object function of the performance indications of composite braking power control module ece is:

$\left\{\begin{array}{cc}{\mathrm{\β}}_{hyb}\&greaterequal;\frac{b+{\mathrm{zh}}_g}{l}& 0.15\≤z\≤0.8\\ {\mathrm{\β}}_{hyb}\≤\frac{(z+0.04)(b+{\mathrm{zh}}_g)}{0.7zl}& 0.1\≤z\≤0.52\\ {\mathrm{\β}}_{hyb}\&greaterequal;1-\frac{(z+0.04)(b+{\mathrm{zh}}_g)}{0.7zl}& 0.1\≤z\≤0.52\end{array}\right.$

In formula, β_hybFor motor braking power and hydraulic braking force distribution ratio, b is the distance of barycenter to rear axle, h_gHigh for barycenter Degree, z is severity of braking, and a is the distance of barycenter to front axle, and l is the distance between antero posterior axis.

Described step 3) in Model for Multi-Objective Optimization f (x) of electric automobile Electro-hydraulic brake system be:

$\left\{\begin{array}{c}f\left(x\right)=\frac{k_1}{f\left(x_1\right)}+k_{2}f\left(x_2\right)\\ f\left(x_1\right)=\frac{1}{2{\mathrm{\π\ω}}_0}{\&integral;}_0^{{\mathrm{\ω}}_0}|\frac{f_n\left(s\right)}{f_f\left(s\right)}{|}_{s=j\mathrm{\ω}}^{2}d\mathrm{\ω}\\ f\left(x_2\right)=p\end{array}\right.$

In formula, k₁And k₂For the weight pre-setting.

Described step 4) in setting optimized variable be: brake pedal return spring rigidity k_t, motor torque coefficient k_t, system Dynamic master cylinder quality m_m, vacuum booster equivalent time constant τ_p.

Described step 4) in setting constraints scope be:

(1) in optimization process, the denominator of brake pedal feel transmission function should meet the constraints of routh criterion；

(2) in optimization process, braking deceleration should meet a≤0.52g, and g is acceleration of gravity；

(3) in optimization process, slip rate should be in 0.13≤λ≤0.2.

Described step 4) in the scope of performance indications of setting be:

$\left\{\begin{array}{cc}{\mathrm{\β}}_{hyb}\&greaterequal;\frac{b+{\mathrm{zh}}_g}{l}& 0.15\≤z\≤0.8\\ {\mathrm{\β}}_{hyb}\≤\frac{(z+0.04)(b+{\mathrm{zh}}_g)}{0.7l}& 0.1\≤z\≤0.52\\ {\mathrm{\β}}_{hyb}\&greaterequal;1-\frac{(z+0.04)(b+{\mathrm{zh}}_g)}{0.7zl}& 0.1\≤z\≤0.52\end{array}\right..$

It is understood that unless otherwise defined, all terms used herein (include skill to those skilled in the art of the present technique Art term and scientific terminology) have and the general understanding identical of the those of ordinary skill in this utility model art meaning Justice.It should also be understood that those terms defined in such as general dictionary should be understood that have upper with prior art The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or excessively formal implication Lai Explain.

Above-described specific embodiment, is entered to the purpose of this utility model, technical scheme and beneficial effect One step describes in detail, be should be understood that and the foregoing is only specific embodiment of the present utility model, is not used to limit This utility model processed, all of the present utility model spirit and principle within, any modification, equivalent substitution and improvement done etc., all Should be included within protection domain of the present utility model.

Claims (1)

1. a kind of electric automobile Electro-hydraulic brake system is it is characterised in that include motor regenerative braking force module, hydraulic braking Power module and composite braking power control module；

Described motor regenerative braking force module include two wheel hub motors, brake pedal position sensor, four wheel speed sensors, Vehicle speed sensor, super capacitor, two quadrant dc-dc changer and an ecu；

Described two wheel hub motors are correspondingly arranged in two front-wheels of electric automobile, for driving and braking two front-wheels；

Described brake pedal position sensor is arranged at brake pedal, for obtaining the stroke that brake pedal is depressed；

Described four wheel speed sensors are correspondingly arranged on four wheels of electric automobile, for obtaining four cars of electric automobile The angular velocity of wheel；

Described vehicle speed sensor is arranged on electric automobile, for obtaining the speed of electric automobile；

Described respectively with two wheel hub motor electrical equipment of two quadrant dc-dc changer are connected, for receiving the numeral of a described ecu Order is converted into analog control signal and is sent respectively to two wheel hub motors；

Respectively with two wheel hub motors in described super capacitor one end are electrically connected, the storage battery gas phase of the other end and electric automobile Connect, the electric energy obtaining during for temporary transient storage electric automobile regenerative braking is simultaneously charged to accumulator with this；

A described ecu converts with brake pedal position sensor, wheel speed sensors, vehicle speed sensor, two quadrant dc-dc respectively Device, the electrical connection of composite braking power control module；

Described hydraulic braking force module includes Oil pump electrical machinery, hydraulic oil pump and the 2nd ecu；

And be electrically connected for driving hydraulic oil pump and controlling hydraulic fluid pressure with the 2nd ecu；

Described hydraulic oil pump is arranged on the oil suction chamber of electric vehicle brake master cylinder and goes out between oil pocket, for adjusting electric automobile system The oil suction chamber of dynamic master cylinder and go out the hydraulic pressure difference between oil pocket；

Described Oil pump electrical machinery is used for driving described hydraulic oil pump to be operated；

Described 2nd ecu respectively with brake pedal position sensor, wheel speed sensors, vehicle speed sensor, Oil pump electrical machinery, compound system Power train control module is electrically connected；

Described composite braking power control module comprises the 3rd ecu, described 3rd ecu respectively with brake pedal position sensor, wheel Fast sensor, vehicle speed sensor, an ecu, the 2nd ecu electrical connection.