WO2011116640A1 - Système de compensation de force de freinage destiné à un véhicule électrique hybride - Google Patents

Système de compensation de force de freinage destiné à un véhicule électrique hybride Download PDF

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Publication number
WO2011116640A1
WO2011116640A1 PCT/CN2011/070511 CN2011070511W WO2011116640A1 WO 2011116640 A1 WO2011116640 A1 WO 2011116640A1 CN 2011070511 W CN2011070511 W CN 2011070511W WO 2011116640 A1 WO2011116640 A1 WO 2011116640A1
Authority
WO
WIPO (PCT)
Prior art keywords
hydraulic
brake
braking force
management unit
driving device
Prior art date
Application number
PCT/CN2011/070511
Other languages
English (en)
Chinese (zh)
Inventor
段志辉
李宗华
张裕强
周安健
苏岭
Original Assignee
重庆长安汽车股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 重庆长安汽车股份有限公司 filed Critical 重庆长安汽车股份有限公司
Publication of WO2011116640A1 publication Critical patent/WO2011116640A1/fr

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Classifications

    • 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
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • 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
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/44—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems
    • B60T8/441—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters
    • B60T8/442—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters the booster being a fluid return pump, e.g. in combination with a brake pedal force booster
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to the field of hybrid electric vehicles, and in particular to a hybrid vehicle braking force compensation system. Background technique
  • Hybrid vehicle technology has been gradually promoted, and it has great advantages in energy saving and emission reduction compared with conventional vehicles.
  • the motor recovers part of the energy and replenishes it to the power battery to increase the cruising range of the entire vehicle.
  • mechanical braking and motor energy recovery braking exist simultaneously, that is, hybrid braking.
  • the motor recovery braking force fluctuates with time and battery power.
  • pedaling force and foot feel consistency when the driver steps on the brake pedal it is necessary to change the torque due to the recovery.
  • the resulting braking force fluctuations are compensated.
  • the brake compensation device must be equipped.
  • the brake compensator not only ensures the safety of the brake, but also ensures the consistency of the driver's brake feel.
  • An object of the present invention is to provide a hybrid vehicle braking force compensation system which can ensure the safety of braking and ensure the consistency of the driver's braking feeling.
  • the present invention provides a hybrid vehicle braking force compensation system, which comprises
  • the brake pedal assembly and the brake master cylinder provide the hydraulic oil required for braking to the brake force system through the main oil passage, and also include a hydraulic sensor, a brake management unit, and energy compensation driven by the power drive device.
  • Hydraulic cylinder Hydraulic cylinder
  • the hydraulic pressure sensor is configured to detect a hydraulic pressure of a main oil passage, and a hydraulic signal output end of the hydraulic pressure sensor is connected to a hydraulic signal input end of the brake management unit, and a driving signal output end of the brake management unit and the power a control end of the driving device is connected, and an oil outlet of the energy compensation hydraulic cylinder is in communication with the main oil passage;
  • the brake management unit When the hydraulic pressure value P2 detected by the hydraulic pressure sensor is less than the preset pressure value P1, the brake management unit sends a driving signal to the power driving device, and the power driving device drives the energy compensation hydraulic cylinder to the main oil circuit Compensating the hydraulic oil; when the hydraulic pressure value P2 detected by the hydraulic sensor is not less than the preset pressure value P1, the brake management unit sends a driving signal to the power driving device, and the power driving device stops working.
  • the method further includes a displacement sensor for detecting a displacement amount of the brake pedal, wherein the displacement signal output end of the displacement sensor is connected to the displacement signal input end of the main controller, and the main controller is configured according to the displacement sensor.
  • the displacement amount of the moving pedal determines the ratio of the distributed mechanical brake and the energy recovery brake, and performs the braking force distribution.
  • the motor controller the power battery controller, the current, the torque, the rotational speed, and the motor temperature of the motor according to the recovered torque detected by the motor controller, according to the power battery detected by the power battery controller
  • the electric quantity and temperature, the brake management unit determines the hydraulic oil output of the energy compensation hydraulic cylinder.
  • the main controller determines a change of the energy recovery torque according to the torque information monitored by the motor controller, and if the recovery torque decreases, the main controller sends a control signal to the brake management unit, and controls The power drive works.
  • the main controller and the brake management unit perform data transmission via a CAN bus.
  • the preset pressure value P1 is a neighborhood of (Pl-m, Pl+m), where m is a small jitter value of the pressure in the entire system.
  • the power driving device is a hydraulic electric motor.
  • the main oil passage is provided with a check valve.
  • the structure of the hybrid vehicle braking force compensation system provided by the invention can ensure the safety and reliability of the hybrid power system, and can also ensure the consistency of the driver's brake pedal, and ensure that as much as possible to recover the braking energy, The braking distance can also meet regulatory requirements.
  • Figure 1 is a logic diagram of the braking force distribution of a hybrid vehicle
  • FIG. 2 is a schematic structural view of a braking force compensation system for a hybrid vehicle according to the present invention
  • FIG. 3 is a schematic view showing a control principle of a braking force compensation system for a hybrid vehicle according to the present invention
  • the brake pedal assembly 1 the brake master cylinder 2, the hydraulic sensor 3, the energy compensation hydraulic cylinder 4, the hydraulic electric motor 5, the displacement sensor 6, the first relay 71, the second relay 72, and the third relay 73.
  • FIG. 1 is a schematic diagram of a braking force distribution of a hybrid vehicle.
  • FIG. 2 is a schematic structural view of a hybrid vehicle braking force compensation system according to the present invention, and FIG. 3 is a hybrid power provided by the present invention. Schematic diagram of the control principle of the vehicle braking force compensation system.
  • the brake demand is input to the main controller HCU, and the main controller HCU calculates the data of the brake demand input, determines the ratio of the distributed mechanical brake and the energy recovery brake, and performs the braking force distribution; The change of the recovery torque is judged. If the energy recovery torque becomes small or disappears, the hybrid vehicle braking force compensation system compensates the corresponding torque.
  • the cylinder 2 supplies the hydraulic oil required for braking to the braking force system through the main oil passage B, and further includes a hydraulic sensor 3, a brake management unit BMU, and an energy compensation hydraulic cylinder 4 driven by the power driving device, in a specific scheme, the power
  • the drive unit can employ a hydraulic electric motor 5.
  • the hydraulic pressure sensor 3 is configured to detect the hydraulic pressure of the main oil passage, and the hydraulic signal output end of the hydraulic pressure sensor 3 is connected to the hydraulic signal input end of the brake management unit BMU, the brake pipe
  • the drive signal output end of the control unit BMU is connected to the control end of the power drive device, and the oil discharge port of the energy compensation hydraulic cylinder 4 is in communication with the main oil passage.
  • the pressure of the main oil passage is a preset pressure value P1
  • the brake management unit BMU drives the power The device sends a driving signal, and the power driving device drives the energy compensation hydraulic cylinder 4 to compensate the hydraulic oil to the main oil passage;
  • the hydraulic pressure value P2 detected by the hydraulic pressure sensor 3 is not less than the preset pressure value P1
  • the braking The management unit BMU sends a drive signal to the power drive, and the power drive stops operating.
  • the energy compensation hydraulic cylinder 4 is connected in series with the brake main cylinder 2, and the hydraulic oil flows through the brake main cylinder 2 to the compensation cavity A of the energy compensation hydraulic cylinder 4, and flows into the main oil passage B through the compensation cavity A.
  • a braking force response acts on the brake wheel, and the pressure of the main oil passage at this time is P2.
  • the displacement controller 6 mounted on the brake pedal can be used to the main controller.
  • the HCU sends a braking demand
  • the displacement sensor 6 is used to detect the brake pedal displacement
  • the displacement signal output end of the displacement sensor 6 is connected to the displacement signal input end of the main controller HCU
  • the main controller HCU is according to the displacement sensor 6
  • the detected displacement amount of the brake pedal determines the ratio of the distributed mechanical brake and the energy recovery brake, and performs the braking force distribution.
  • the displacement sensor 6 on the brake pedal can simulate the input of the driver's braking force demand, and output a voltage signal to the brake management unit BMU, and the position of the brake pedal changes, which can be passed.
  • the displacement sensor 6 collects, the displacement sensor 64 bar displacement is converted into the voltage amount, the larger the voltage, the deeper the pedal stepping, and the lighter the opposite; the pedal pedaling speed can be expressed by the voltage change speed, the voltage unit time changes rapidly , indicating that the braking demand is stronger.
  • the hybrid vehicle braking force compensation system provided by the present invention further includes a motor controller IPU and a power battery controller BCU, and the current, the torque, the rotation speed, and the motor of the recovery torque detected by the motor controller IPU.
  • the brake management unit BMU determines the hydraulic oil output amount of the energy compensation hydraulic cylinder 4 based on the power amount and temperature of the power battery detected by the power battery controller BCU.
  • the mixing provided by the present invention is provided for accurate and timely compensation of the braking force.
  • the braking force compensation system of the power vehicle can also compensate the braking force in the following manner:
  • the main controller HCU determines the change of the energy recovery torque according to the torque information monitored by the motor controller IPU, and if the recovery torque is reduced,
  • the main controller HCU sends a control signal to the brake management unit BMU to control the operation of the power drive device.
  • the main oil passage is provided with a one-way valve. Under the action of the one-way valve, the liquid in the chamber A does not cancel the output of the brake hydraulic master cylinder.
  • the main controller HCU and the brake management unit BMU perform data transmission via a CAN bus.
  • the hybrid vehicle braking force compensation system provided by the present invention can adopt a low voltage DC 12V power supply, and adopts two three-pin sensors, namely a displacement sensor 6 and a hydraulic sensor 3.
  • the braking management unit BMU power-on process in the hybrid vehicle braking force compensation system may adopt a scheme following the main controller HCU.
  • the main controller HCU When the start key is dialed to the IIGNTI ON position, the main controller HCU is connected to the low voltage, then the main controller HCU sends the first relay 71 to close the command, and the 12V power supply passes through the normally closed second relay 72 and the third relay 73, respectively.
  • the controller IPU and the power battery controller BCU provide low voltage 12V power supply, and the brake management unit BMU also passes 12V low voltage direct current. All the controllers in this process are powered on, which is called low voltage power-on process. After the BMU is powered on, it provides 5V power supply.
  • the pin is used to supply the displacement sensor 6 and the hydraulic sensor 3.
  • the displacement sensor 6 and the other two pins of the hydraulic sensor 3 are signal lines and signal ground.
  • the hybrid system When the key is dialed to the START position, the hybrid system is running and each controller begins recording the data of the controlled body. If the brake energy recovery mode occurs, the motor controller IPU monitors the current, torque, speed, motor temperature and temperature of the motor controller IPU of the large motor; the power battery controller BCU monitors the power and temperature of the power battery.
  • the above signals are collected on the bus, the CAN data is sent to the brake management unit BMU through the acquisition card, and the displacement voltage signal of the displacement sensor 6 and the hydraulic system pressure signal of the hydraulic sensor 3 are all transmitted to the calculation module of the brake management unit BMU. Calculate, the displacement voltage changes, reflecting the pedaling depth of the brake pedal, and the rate of change of the voltage reflects the speed at which the brake pedal is stepped on.
  • the result command is output to the hydraulic electric motor 5,
  • the driving of the hydraulic electric motor 5 causes the liquid in the A chamber to be continuously input to the pipeline B.
  • the preset pressure value P1 is a neighborhood of (Pl-m, Pl+m), where m is a small jitter value of the pressure in the entire system.
  • the power driving device adopts a hydraulic electric motor, and the present invention is not limited thereto.
  • the power driving device may also be an electric pump, a hydraulic pump, etc., and any power driving device capable of driving the energy compensating hydraulic cylinder should be in the present invention.
  • any power driving device capable of driving the energy compensating hydraulic cylinder should be in the present invention.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention a trait à un système de compensation de force de freinage destiné à un véhicule électrique hybride, lequel système de compensation de force de freinage comprend un ensemble pédale de frein (1), un maître-cylindre de frein (2), un capteur de pression hydraulique (3), une unité de gestion de freinage (BMU) et un cylindre hydraulique de compensation d'énergie (4) entraîné par un dispositif d'entraînement de puissance (5). Le maître-cylindre de frein (2) fournit au système de force de freinage de l'huile sous pression hydraulique de freinage au moyen d'une conduite principale. Lorsque la valeur de pression hydraulique (P2) détectée par ledit capteur de pression hydraulique (3) est inférieure à la valeur de pression prédéterminée (P1), ladite unité de gestion de freinage (BMU) envoie un signal d'entraînement au dispositif d'entraînement de puissance (5) et le cylindre hydraulique de compensation d'énergie (4) est entraîné de manière à compenser ladite conduite pour l'huile sous pression hydraulique au moyen dudit dispositif d'entraînement de puissance (5) ; lorsque la valeur de pression hydraulique (P2) détectée par ledit capteur de pression hydraulique (3) n'est pas inférieure à la valeur de pression prédéterminée (P1), ladite unité de gestion de freinage (BMU) envoie un signal d'entraînement au dispositif d'entraînement de puissance (5) et le dispositif d'entraînement de puissance (5) est arrêté, ce qui permet d'assurer la sécurité et la fiabilité du véhicule électrique hybride et de garantir la cohérence de la pédale de freinage.
PCT/CN2011/070511 2010-03-26 2011-01-24 Système de compensation de force de freinage destiné à un véhicule électrique hybride WO2011116640A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201010133904.3 2010-03-26
CN 201010133904 CN101791978B (zh) 2010-03-26 2010-03-26 一种混合动力汽车制动力补偿方法

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WO2011116640A1 true WO2011116640A1 (fr) 2011-09-29

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CN101791978B (zh) * 2010-03-26 2013-05-08 重庆长安汽车股份有限公司 一种混合动力汽车制动力补偿方法
DE102018129132B3 (de) * 2018-11-20 2020-01-02 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Verfahren zur Bestimmung eines Bremswegs
CN109986974A (zh) * 2019-03-11 2019-07-09 汉腾汽车有限公司 一种电动汽车电驱能量回收的温度条件判断算法
CN110065479B (zh) * 2019-03-28 2023-03-31 南京航空航天大学 一种位移与力矩耦合控制的电子机械制动系统及控制方法
CN110450641B (zh) * 2019-08-21 2022-10-28 上海英恒电子有限公司 一种汽车制动能量回收方法、装置和电动汽车
CN110758366B (zh) * 2019-10-31 2021-12-10 上海拿森汽车电子有限公司 一种电子助力刹车系统的扭矩控制方法及装置
CN113968142B (zh) * 2020-07-22 2024-03-15 北京新能源汽车股份有限公司 一种能量回收控制方法、装置及汽车
CN115675177B (zh) * 2021-07-26 2024-09-10 比亚迪股份有限公司 混合动力汽车的电池电量管理系统、方法及装置
CN113525319B (zh) * 2021-09-03 2022-05-31 吉林大学 一种基于可调储液缸的真空助力再生制动控制方法

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JP2006246614A (ja) * 2005-03-03 2006-09-14 Nissan Motor Co Ltd 複合ブレーキの協調制御装置
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CN101791978B (zh) 2013-05-08

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