CN101941430B - Hydraulic braking system of four-wheel driven electric vehicle - Google Patents
Hydraulic braking system of four-wheel driven electric vehicle Download PDFInfo
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- CN101941430B CN101941430B CN 201010225740 CN201010225740A CN101941430B CN 101941430 B CN101941430 B CN 101941430B CN 201010225740 CN201010225740 CN 201010225740 CN 201010225740 A CN201010225740 A CN 201010225740A CN 101941430 B CN101941430 B CN 101941430B
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Abstract
The invention discloses a hydraulic braking system of a four-wheel driven electric vehicle. Based on the conventional hydraulic braking system, the system has the following characteristics that: 1, a selector valve and a master cylinder brake pressure sensor are arranged in front of a high-pressure damper on a brake pipeline led out of a master brake pump, a pipeline is connected from an outlet of the selector valve, and a medium pressure energy accumulator is arranged; another selector valve is arranged in front of the high-pressure damper on another brake pipeline, a pipeline is connected from the outlet of the selector valve, and a medium pressure energy accumulator is arranged; 2, two pipelines are led out of a liquid storage chamber and communicated with two one-way valves, and a switching electromagnetic valve is arranged on the pipeline; and 3, a wheel cylinder brake pressure sensor is connected at a left front wheel cylinder and a right rear wheel cylinder respectively. The system can ensure the same feeling of brake pedal as that of the conventional hydraulic braking system; the braking energy recovery efficiency reaches the maximum; and an ABS function can also be realized; and the driving safety is ensured and the driving range of an electrically-propelled vehicle is widened.
Description
Technical field
The present invention relates to the hydraulic brake system of vehicle, specifically, refer to a kind of hydraulic brake system with braking energy recovering function of four-wheel driven hybrid power vehicle, pure electric vehicle.
Background technology
By the dynamical element of control electronlmobil, the kinetic energy that dissipates during with braking reclaims, and is an important technology that improves the electric automobile energy degree of utilization.In this course, electrical motor uses as electrical generator, and the energy of recovery is stored in the battery with the form of electric energy.One of key issue that faces in the electronlmobil research process is exactly that the specific energy of the battery that provides on the current market is lower, therefore causes the continual mileage of electronlmobil to compare with gasoline car.Address this problem, except will be this Pinch technology of battery has breakthrough, also should optimize the general design and the energy management system of setting up highly effective and safe of electronlmobil, therefore electronlmobil is in development and development process, and how rationally use and energy savings just become the important topic that the designer faces.The braking energy feedback technology is the pioneering technology that at present domestic and international electronlmobil maker extensively adopts, and generally, by the auxiliary braking of motor, can with braking procedure middle part separating vehicles recover kinetic energy to storage battery, greatly improve capacity usage ratio.The external advanced braking control system with regenerative braking function that proposes comprises at present: sharp this braking control system of Toyota-Pu, Honda-EV plus braking control system, these two kinds of brake system all are in order to add the feedback braking function original brake system to be carried out larger transformation to form, these two kinds of brake system can not only realize the braking energy feedback function, and can guarantee ABS under the limiting condition, VSC, TCS function, can expand this function by control software is improved.Sharp this braking control system of Toyota-Pu and Honda-EV plus braking control system is representing the forward position of feedback braking function development, and still, the research of reclaiming hydraulic brake system for the four-wheel driving electric vehicle braking energy is relatively less.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide the hydraulic brake system with braking energy recovering function of a kind of four-wheeled electric vehicle.
For achieving the above object, the present invention takes following technical scheme: the hydraulic brake system of a kind of four-wheeled electric vehicle, comprise a brake pedal (1), one vacuum booster (2), one fluid reservoir (3), one master brake cylinder (4), one ABS motor (19), two high-tension dampers (5), (6), two low pressure accumulators (11), (12), four check valves (7), (8), (9), (10), six switch electromagnetic valves (13), (14), (15), (16), (17), (18), wherein, fluid reservoir (3) is master brake cylinder (4) fuel feeding, draw two braking pipelines from two outlets of master brake cylinder (4) and control respectively front-wheel and trailing wheel, each described high-tension damper, check valve, low pressure accumulator, switch electromagnetic valve on average is configured on the two braking pipelines, two braking pipelines share a described ABS motor (19), between the master brake cylinder (4) and ABS motor (19) on the two described brake pipings, be connected in series respectively one group of high-tension damper (5), check valve (7) and high-tension damper (6), check valve (8), be connected in series a check valve (9) between described ABS motor (19) and the low pressure accumulator (11), be connected in series a check valve (10) between described ABS motor (19) and the low pressure accumulator (12), per two is one group in six described switch electromagnetic valves, control respectively the near front wheel, two trailing wheels of off front wheel and co-controlling, it is characterized in that: on a described brake piping, between master brake cylinder (4) and the high-tension damper (5) selector valve (22) is set, and between master brake cylinder (4) and selector valve (22), be connected in series a master cylinder brake-pressure sensor (28), connect a pipeline from an output port of selector valve (22), at described pipeline one intermediate-pressure accumulator (24) is set; On another described brake piping, between master brake cylinder (4) and the high-tension damper (6) another selector valve (23) is set, connect a pipeline from an output port of another selector valve (23), at described pipeline one intermediate-pressure accumulator (25) is set; Between fluid reservoir (3) and check valve (9), be communicated with a brake piping, and at this pipeline one switch electromagnetic valve (20) is set, between fluid reservoir (3) and check valve (10), be communicated with a brake piping, and at this pipeline one switch electromagnetic valve (21) be set; In the brake piping between electromagnetic valve (14) and the left front wheel cylinder (29), be connected in series a front-wheel wheel cylinder brake-pressure sensor (26), in the brake piping between electromagnetic valve (18) and the right back wheel cylinder (32), be connected in series a trailing wheel wheel cylinder brake-pressure sensor (27); Master cylinder pressure sensor (28) signal and pressure of wheel braking cylinder sensor (26), (27) signal send brake controller (33) to, described each electromagnetic valve and ABS motor are controlled by brake controller (33), drive motor (35) is by entire car controller (34) control, and brake controller (33) is also realized the feedback braking function jointly with entire car controller (34) communication.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention transforms to realize braking energy recovering function to four-wheeled electric vehicle conventional hydraulic brake system, it is drawn two oil circuits and is concatenated into respectively on two oil pumps in the fluid reservoir chamber in the conventional hydraulic brake system, and at oil circuit two switch electromagnetic valves are set; Two oil circuits of drawing at former master brake cylinder add two selector valves, two intermediate-pressure accumulators; A front-wheel wheel cylinder brake-pressure sensor is set in addition again, a trailing wheel wheel cylinder brake-pressure sensor, a master cylinder brake-pressure sensor, and relevant brake piping, formed a kind of hydraulic brake system that can realize that braking energy reclaims, this hydraulic brake system can realize that the braking energy peak efficiency reclaims, the antero posterior axis braking force distributes arbitrarily, identical with conventional hydraulic brake system brake pedal feel.2, not only can realize braking energy recovering function through the improved hydraulic brake system of the present invention, but also have the ABS function, deceleration and stopping performance meets laws and regulations requirement, has improved Vehicle Economy.
Description of drawings
Fig. 1 is conventional hydraulic brake system schematic diagram
Fig. 2 is hydraulic brake system schematic diagram of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
The present invention is to provide a kind of solution that braking energy of electric automobiles is reclaimed, it is transformed the conventional hydraulic brake system, and in conjunction with the drive motor in the vehicle, software carries out rationally to controlling, Reliable Design, reclaims to realize braking energy.
Shown in Figure 1 is conventional hydraulic brake system schematic diagram, the conventional hydraulic brake system comprises brake pedal 1, vacuum booster 2, fluid reservoir 3, master brake cylinder 4, high-tension damper 5,6, check valve 7,8,9,10, low pressure accumulator 11,12, switch electromagnetic valve 13,14,15,16,17,18, ABS motor 19.Wherein, fluid reservoir 3 is master brake cylinder 4 fuel feeding, draw two braking pipelines from two outlets of master brake cylinder 4 and control respectively front-wheel and trailing wheel, each described high-tension damper, check valve, low pressure accumulator, switch electromagnetic valve on average is configured on the two braking pipelines, two braking pipelines share a described ABS motor 19, between the master brake cylinder 4 and ABS motor 19 on the two described brake pipings, be connected in series respectively one group of high-tension damper 5, check valve 7 and high-tension damper 6, check valve 8, be connected in series a check valve 9 between described ABS motor 19 and the low pressure accumulator 11, be connected in series a check valve 10 between described ABS motor 19 and the low pressure accumulator 12, in six described switch electromagnetic valves, switch electromagnetic valve 13,14 is one group of control the near front wheel, switch electromagnetic valve 15,16 is one group of control off front wheel, switch electromagnetic valve 17,18 is one group of co-controlling two trailing wheel.
Shown in Figure 2 is hydraulic brake system schematic diagram of the present invention, it is to add switch electromagnetic valve 20,21 in the conventional hydraulic brake system, selector valve 22,23, intermediate-pressure accumulator 24,25, front-wheel wheel cylinder brake-pressure sensor 26, trailing wheel wheel cylinder brake-pressure sensor 27, master cylinder brake-pressure sensor 28, and relevant brake piping, formed and a kind ofly can realize the hydraulic brake system that braking energy reclaims for four-wheeled electric vehicle.
Concretely: the brake piping between master brake cylinder 4 and high-tension damper 5 arranges selector valve 22, and is connected in series into master cylinder brake-pressure sensor 28 between master brake cylinder 4 and selector valve 22; Between master brake cylinder 4 and high-tension damper 6, selector valve 23 is set; 22 1 output port places arrange intermediate-pressure accumulator 24 at selector valve, and connect intermediate-pressure accumulator 24 and selector valve 22 with brake piping; 23 1 output port places arrange intermediate-pressure accumulator 25 at selector valve, and connect intermediate-pressure accumulator 25 and selector valve 23 with brake piping; Between fluid reservoir 3 and check valve 9, be communicated with a brake piping, and at this pipeline a switch electromagnetic valve 20 be set; Between fluid reservoir 3 and check valve 10, be communicated with a brake piping, and at this pipeline a switch electromagnetic valve 21 be set; In the brake piping between electromagnetic valve 14 and the left front wheel cylinder 29, be connected in series front-wheel wheel cylinder brake-pressure sensor 26; In the brake piping between electromagnetic valve 18 and the right back wheel cylinder 32, be connected in series trailing wheel wheel cylinder brake-pressure sensor 27.
Master cylinder pressure sensor 28 signals and pressure of wheel braking cylinder sensor 26,27 signals send brake controller 33 (BCU) to; All electromagnetic valves and ABS motor 19 are by brake controller 33 controls; Drive motor 35 (D) is controlled by entire car controller 34 (VCU); Brake controller 33 and entire car controller 34 communications and the common feedback braking function that realizes.
Special feature of the present invention is that axle regenerative braking power and hydraulic braking force ratio can regulate arbitrarily, realizes also realizing the ABS anti-lock function when braking energy peak efficiency reclaims.The below introduces the principle of work of hydraulic brake system under different operating modes:
1 conventional brake
1.1 hydraulic pressure conventional brake function
The hydraulic pressure conventional brake refers to only have hydraulic braking force to participate in braking procedure.
Electro-hydraulic element shown in Figure 2 keeps normality (no power state), and chaufeur is stepped on brake pedal 1, and braking liquid flow through selector valve 22, electromagnetic valve 14 enter left front wheel cylinder, realize the conventional supercharging of the near front wheel; Braking liquid flow through selector valve 22, electromagnetic valve 16 enter right front wheel cylinder, realize the conventional supercharging of off front wheel; Braking liquid flow through selector valve 23, electromagnetic valve 18 enter left back and right back wheel cylinder, realize the conventional supercharging of left rear wheel and off hind wheel.Decompression process is identical with conventional hydraulic brake system decompression process, no longer repeats herein.
Feel identical with conventional hydraulic brake system brake pedal feel trampling of this brake pedal 1, this is because brake oil flow and conventional hydraulic brake system are identical.
1.2 regenerative braking conventional brake function
The regenerative braking conventional brake refers to only have regenerative braking power to participate in braking procedure.
Do not illustrate in the whether energising situation of electro-hydraulic element, electro-hydraulic element shown in Figure 2 all keeps normality (no power state).At pedal position one brake switch is arranged, when stepping on brake pedal, the signal that the brake switch signal begins as brake operating also is the energizing signal that selector valve 22 and 23 begins to switch on.When brake controller monitors the brake switch signal, selector valve 22 and 23 energisings, brake controller can be determined the braking requirement of chaufeur according to the signal value of pressure sensor 28, being equipped with kinetic moment is T, brake controller sends feedback torque command value T to entire car controller, entire car controller is so that drive motor produces regenerative braking moment, and (the hypothesis driven motor can provide regenerative braking moment T to size herein for T.This moment, four wheel hydraulic braking force were zero, and vehicle relies on merely regenerative braking power to satisfy the chaufeur braking requirement.
Brake pedal feel is simulated by intermediate-pressure accumulator, therefore good pedal sense is just arranged, this be because: master brake cylinder 4 braking liquid out directly enters intermediate-pressure accumulator 24,25, therefore when implementing regenerative braking, the pressure that supercharging and decompression cause changes can not affect the pressure of master brake cylinder, and then can not affect brake pedal feel.
1.3 regenerative braking and hydraulic braking mixing conventional brake function
Regenerative braking refers to that with hydraulic braking mixing conventional brake function in whole braking procedure, regenerative braking power and hydraulic braking force concur.
The brake switch signal also is the energizing signal that selector valve 22 and 23 begins to switch on as the brake operating commencing signal.Hypothesis only has two front-wheels to participate in regenerative braking herein.When monitoring the brake switch signal, the braking liquid selector valve 22 of flowing through enters intermediate-pressure accumulator 24 (reason that is called intermediate-pressure accumulator is that the working pressure range of this energy storage is 0～5MPa in selector valve 22 energising, the master brake cylinder 4, spring stiffness relatively low pressure energy storage is larger), can know the braking requirement (being made as T) of chaufeur by the signal of pressure sensor 28, if this moment, Return moment was T
h, then the required hydraulic braking moment of two front-wheels is T
y=T-T
h, can know two front-wheel hydraulic braking moment values by the signal of pressure sensor 26, electromagnetic valve 20 energising, 29 energisings of ABS motor, flow through electromagnetic valve 20, high-tension damper 5 of braking liquid enters two front-wheel wheel cylinders in the fluid reservoir, when the front-wheel hydraulic braking moment equals T
yThe time, electromagnetic valve 20, ABS motor 19 return to normal.
The braking requirement of supposing chaufeur this moment is constant, needs to increase Return moment, reduce two front-wheel hydraulic braking moment.Increasing Return moment can realize by sending instructions to drive motor controller. Electromagnetic valve 13,14,15,16 energisings, two front wheel brake liquid enter low pressure accumulator 11, if electromagnetic valve 20 energisings, braking liquid flows back to fluid reservoir, reaches the purpose that reduces two front-wheel hydraulic braking moment; If failing to be convened for lack of a quorum, electromagnetic valve 20 no powers, braking liquid are stored in 11 li of low pressure accumulators.
Brake pedal feel is simulated by intermediate-pressure accumulator.
1.4 feedback and hydraulic hybrid are braked the transition of pure hydraulic braking
When the current charge condition of battery (SOC) during greater than rated value, can not utilize regenerative braking power to brake, suppose that current state is feedback and hydraulic hybrid braking, NextState need to become pure hydraulic braking, and current state two trailing wheels are pure hydraulic brakings.When composite brakig arrives pure hydraulic braking transition, increase hydraulic braking force when need to reduce regenerative braking power, guarantee that total braking force is constant.Electromagnetic valve 20, selector valve 22,19 energisings of ABS motor, flow through electromagnetic valve 20, high-tension damper 5, electromagnetic valve 14,16 of fluid reservoir braking liquid enters two front wheel cylinders, simultaneously brake controller and entire car controller communication reduces corresponding Return moment value, it is 0 that this process continues to regenerative braking power, has so far finished the transition of composite brakig to pure hydraulic braking.
Brake pedal feel is simulated by intermediate-pressure accumulator.
1.5 feedback and hydraulic hybrid are braked the transition of pure regenerative braking
In some cases, in order to improve the braking energy organic efficiency, utilize two front-wheels (f-w-d vehicle) regenerative braking power to bear whole braking requirement.Suppose that current state is composite brakig, i.e. two trailing wheel hydraulic brakings, two front-wheel composite brakigs, NextState need to be to pure regenerative braking transition.Increase regenerative braking power in the transient process, reduce hydraulic braking force.Increasing regenerative braking power realizes by brake controller and entire car controller communication. Electromagnetic valve 20,21,13,14,15,16,17,18 energisings, flow through electromagnetic valve 13, low pressure accumulator 11, check valve 9, electromagnetic valve 20 of braking liquid enters fluid reservoir in the near front wheel wheel cylinder; Flow through electromagnetic valve 15, low pressure accumulator 11, check valve 9, electromagnetic valve 20 of braking liquid enters fluid reservoir in the off front wheel wheel cylinder; Flow through electromagnetic valve 17, low pressure accumulator 19, check valve 10, electromagnetic valve 21 of braking liquid enters fluid reservoir in left back, the off hind wheel wheel cylinder, so far realized reducing of four wheel hydraulic braking force, final four wheel hydraulic braking force are zero, and the car load braking requirement has regenerative braking power to bear.
Brake pedal feel is simulated by intermediate-pressure accumulator.
2 emergency brakings
Emergency braking refers to occur in the braking procedure braking model of certain wheel lockup phenomenon.
2.1 pure hydraulic braking is to the ABS transient process during emergency braking
Do not explain the situation down, electro-hydraulic element shown in Figure 2 all keeps normality (no power state).When monitoring certain wheel and locking trend occurs, be assumed to be the near front wheel herein, electromagnetic valve 13,14 energisings, 19 energisings of ABS motor, flow through electromagnetic valve 13, low pressure accumulator 11, check valve 9, ABS motor 19 of left front wheel cylinder braking liquid enters master brake cylinder and right front wheel cylinder (if electromagnetic valve 16 keeps normalities), and the result is that the near front wheel braking force reduces, the off front wheel braking force increases, brake pedal has the slight pulsations sensation.The near front wheel pressure charging valve and reducing valve are switched on simultaneously, can realize holding pressure control.
2.2 composite brakig is to the ABS transient process during emergency braking
Majority is in the composite brakig state in the Vehicle Driving Cycle process, composite brakig is during to the ABS transition, all electro-hydraulic elements reset (maintenance normality), and whether regenerative braking power decides on control policy if participating in ABS, and the simplest handling is directly to withdraw from feedback braking.Utilize hydraulic braking force to participate in the ABS control method identical with upper joint working process, no longer repeat herein.
Above-mentioned each process only is used for explanation the present invention, and wherein the specific implementation of each function can be carried out equivalents and improvement on the basis of technical solution of the present invention, all should not get rid of outside protection scope of the present invention.
Claims (1)
1. the hydraulic brake system of a four-wheeled electric vehicle, comprise a brake pedal, one vacuum booster, one fluid reservoir, one master brake cylinder, one ABS motor, the first and second high-tension dampers, the first and second low pressure accumulators, first to fourth check valve, the first to the 8th switch electromagnetic valve, wherein, described fluid reservoir is described master brake cylinder fuel feeding, draw the first and second brake pipings from two outlets of described master brake cylinder and control respectively front-wheel and trailing wheel, each described first and second high-tension damper, first to fourth check valve, the first and second low pressure accumulators on average are configured on described the first and second brake pipings, first to fourth switch electromagnetic valve is configured on described the first brake piping, the the 5th to the 6th switch electromagnetic valve is configured on described the second brake piping, described the first and second brake pipings share described ABS motor, between the master brake cylinder on the first brake piping and ABS motor, be connected in series the first high-tension damper and the first check valve, between the master brake cylinder on the second brake piping and ABS motor, be connected in series the second high-tension damper and the second check valve, be connected in series the 3rd check valve between described ABS motor and the first low pressure accumulator, be connected in series the 4th check valve between described ABS motor and the second low pressure accumulator, the first and second switch electromagnetic valves are one group of control the near front wheel, the third and fourth switch electromagnetic valve is one group of control off front wheel, the the 5th and the 6th switch electromagnetic valve is one group of co-controlling two trailing wheel, it is characterized in that:
On described the first brake piping, between described master brake cylinder and the first high-tension damper the first selector valve is set, and between described master brake cylinder and the first selector valve, be connected in series a master cylinder brake-pressure sensor, connect the pipeline that from an output port of described the first selector valve the first intermediate-pressure accumulator is set;
On described the second brake piping, between described master brake cylinder and the second high-tension damper the second selector valve is set, connect the pipeline that from an output port of described the second selector valve the second intermediate-pressure accumulator is set;
The brake piping that is communicated with between described fluid reservoir and described the 3rd check valve arranges minion and closes electromagnetic valve, and the brake piping that is communicated with between described fluid reservoir and the 4th check valve arranges the 8th switch electromagnetic valve;
In the brake piping between described second switch electromagnetic valve and the left front wheel cylinder, be connected in series a front-wheel wheel cylinder brake-pressure sensor, in the brake piping between described the 6th switch electromagnetic valve and the right back wheel cylinder, be connected in series a trailing wheel wheel cylinder brake-pressure sensor;
Described master cylinder pressure sensor signal and front-wheel, rear wheel rotation cylinder pressure transducer signal send brake controller to, each switch electromagnetic valve and ABS motor are controlled by described brake controller, drive motor is by vehicle control unit controls, and described brake controller and entire car controller communication also realize the feedback braking function jointly.
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| CN102133891B (en) * | 2011-03-07 | 2013-05-22 | 清华大学 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
| CN102310850B (en) * | 2011-06-15 | 2013-05-22 | 浙江亚太机电股份有限公司 | Electric vehicle braking system capable of reclaiming braking energy |
| CN102556034B (en) * | 2012-01-17 | 2014-11-26 | 清华大学 | Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator |
| KR101351344B1 (en) * | 2012-03-08 | 2014-01-16 | 주식회사 만도 | Electronic control brake system for automobile |
| CN102765378B (en) * | 2012-07-12 | 2014-07-30 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| CN102975706B (en) * | 2012-11-27 | 2015-04-08 | 奇瑞汽车股份有限公司 | Automobile brake boosting and controlling device |
| CN104802785B (en) * | 2015-04-09 | 2017-10-20 | 奇瑞汽车股份有限公司 | A kind of control system for Recovering Waste Energy of Braking in Automobiles |
| CN104960426B (en) * | 2015-07-16 | 2018-03-27 | 芜湖市汽车产业技术研究院有限公司 | A kind of decision circuitry of electric vehicle brake power demand |
| CN105606369B (en) * | 2015-09-08 | 2018-05-11 | 宁波拓普智能刹车***有限公司 | A kind of motorcar electric machinery booster is performance test bed |
| CN109305155A (en) * | 2018-10-17 | 2019-02-05 | 芜湖伯特利电子控制***有限公司 | The oil circuit of electric controlled brake system pressure reduction pulse can be reduced |
| CN111605528B (en) * | 2019-02-26 | 2021-07-30 | 北京新能源汽车股份有限公司 | Control method and device of electric power-assisted brake system and controller |
| CN115551752A (en) * | 2020-06-19 | 2022-12-30 | 舍弗勒技术股份两合公司 | Braking system and vehicle |
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