CN103818264A - Electric car regenerative braking system and energy recovery method thereof - Google Patents
Electric car regenerative braking system and energy recovery method thereof Download PDFInfo
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- CN103818264A CN103818264A CN201410064957.2A CN201410064957A CN103818264A CN 103818264 A CN103818264 A CN 103818264A CN 201410064957 A CN201410064957 A CN 201410064957A CN 103818264 A CN103818264 A CN 103818264A
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Abstract
The invention relates to an electric car regenerative braking system and an energy recovery method thereof and belongs to the technical field of electric cars. The electric car regenerative braking system comprises a whole car control device, a hydraulic braking device and a regenerative braking device. A whole car controller receives signals transmitted by sensors, a regenerative braking mode is carried out, the whole car controller computes total-demand braking force and determines a braking power source, a hydraulic control unit and a motor controller carry out regenerative braking, and energy is recovered. According to the technical scheme, the characteristic of a battery of a motor is considered comprehensively, reasonable distribution of composite braking moment is achieved, the braking safety stability of an electric car is guaranteed, and meanwhile braking energy is recovered efficiently.
Description
Technical field
The present invention relates to a kind of electronlmobil regeneration brake system and energy reclaiming method thereof, belong to electric vehicle engineering field.
Background technology
In energy shortage and aerial contamination more and more serious today, initiative development electronlmobil just progressively becomes people's common recognition.Compared with conventional truck, electronlmobil has an absolute predominance, can recycling part braking energy, realize regenerative brake, extend electronlmobil continual mileage, improve energy utilization efficiency, save the energy.
The lock torque that the regenerative brake power of electronlmobil does not generally have the brake system of conventional truck to provide is large, although therefore electronlmobil is provided with motor braking system, has also retained traditional hydraulic brake system simultaneously.Like this, have on the electronlmobil of regenerative braking capability and just had motor braking system and hydraulic brake system simultaneously, form electric-hydraulic combined regeneration brake system.Compared with traditional braking system, composite braking system the satisfied person of controlling to the prerequisite of demand braking force under, should recovery braking energy as much as possible, and there is good insensitivity and traveling comfort.For this reason, need to, according to the functional requirement under different braking operating mode, take into full account dynamo battery characteristic, determine the rational distribution method of braking force in composite brakig process, adopt suitable control policy to improve the percent recovery of braking energy.
Summary of the invention
Main purpose of the present invention is to provide a kind of electronlmobil regeneration brake system, and carry out energy and recycle control policy, consider dynamo battery characteristic, realize the reasonable distribution of composite brakig moment, in guaranteeing electronlmobil brake safe stability, high efficiency recovery braking energy.
For achieving the above object, the technical solution used in the present invention is in the time that braking occurs electronlmobil, the pedal stroke signal determining rate of braking transmitting according to brake pedal displacement pickup, obtains battery SOC, voltage and current information, comprehensive selection braking mode by battery management system; Calculate the required total braking force of braking by entire car controller, and according to given braking control strategy, hydraulic braking force and motor braking power are carried out to reasonable distribution; Hydraulic control unit controls to regulate the size of front and back wheel friction brake force to car side brake, electric machine controller calculates the braking current needing in armature, thereby the regenerative braking moment of demand is provided more accurately; The electric current producing in armature is filled with in battery and saves through two-way DC/DC changer, realizes the recovery of braking energy.
Described braking mode comprises regenerative brake pattern, conventional hydraulic braking pattern and three kinds of patterns of non-braking mode pattern, and wherein, regenerative brake pattern is divided into again pure regenerative brake pattern, medium composite brakig pattern and senior composite brakig pattern.
Described hydraulic brake system comprises master cylinder, hydraulic control unit and car side brake, and master cylinder is connected with the brake pedal of electronlmobil.
Described motor is permagnetic synchronous motor or AC induction motor.
Described entire car controller, electric machine controller and battery management system carry out information interaction by CAN bus, and entire car controller is responsible for the Control and coordination of whole power system.
Described brake system adopts precursor motor as the braking function motor in regenerative brake control device, braking force from ground acts on rotor through wheel, Bian Qi mechanism etc., produce inducing current by dragging motor rotor, the mechanical energy of automobile is transformed into the electric energy in motor.
Described two-way DC/DC changer is for regulating the voltage matches relation between electric power generation and battery charging, and the energy that makes to be finally recovered in battery reaches maximum.This two-way DC/DC changer is by the control of DC/DC controller, entire car controller is according to the signal export target magnitude of voltage of battery management system, and send instruction to DC/DC controller, by the mode of operation of the two-way DC/DC changer of DC/DC controller control, and then control the magnitude of current that enters battery.And DC/DC controller comprises boost module and voltage reduction module, when the generating voltage of motor higher, and when now the voltage of battery is lower, the voltage reduction module work of DC/DC controller, the output voltage of motor is filled into battery after step-down; When electric power generation voltage is lower, when cell pressure is higher, the boost module work of DC/DC controller, is filled with in battery after the generating voltage of motor is raise.
Described brake system, in braking procedure, according to the stability of wheel speed sensors and car speed sensor information control braking, realizes the control that braking mode is rationally switched.
Compared with prior art, the present invention cooperatively interacts as foundation take Electro-hydraulic brake, considers dynamo battery characteristic, and choose reasonable braking mode, by the coordination control of regenerative brake power and front and back wheel hydraulic braking force, maximizes and reclaims braking energy.In braking procedure, by the monitoring of real time information, realize the control to braking procedure stability, guarantee brake safe.
Accompanying drawing explanation
Fig. 1 is the structural representation of electronlmobil regenerative brake control system of the present invention;
Fig. 2 is the control schematic diagram of regeneration brake system DC/DC changer of the present invention;
Fig. 3 is the diagram of circuit of regeneration brake system energy reclaiming method of the present invention;
Fig. 4 is the regenerative brake pattern switching figure of energy recycling and control method of the present invention;
Fig. 5 is the regenerative brake power allocation strategy schematic diagram of energy recycling and control method of the present invention.
Number in the figure: 1, wheel; 2, car side brake; 3, hydraulic control unit; 4, master cylinder; 5, brake pedal; 6, displacement pickup; 7, battery management system; 8, battery; 9, pressure sensor; 10, wheel speed sensors; 11, rear axle; 12, car speed sensor; 13, two-way DC/DC changer; 14, DC/DC controller; 15, entire car controller; 16, electric machine controller; 17, motor; 18, speed-changing mechanism; 19, axle drive shaft; 20, inverter; 21, boost module; 22, voltage reduction module.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is further elaborated: as shown in Figure 1, electronlmobil regeneration brake system of the present invention comprises car load control setup and coupled hydraulic brake system and regenerative braking device.Wherein car load control setup drives the core apparatus of control and state-detection as car load, include entire car controller 15, the displacement pickup 6 being connected with brake pedal 5, be arranged on pressure sensor 9 and the wheel speed sensors 10 at each wheel 1 place, and be arranged on the car speed sensor 12 on car load, each sensor Real-Time Monitoring information, by digital signal transfers to entire car controller 15.In addition, entire car controller 15 carries out information interaction by CAN bus and hydraulic control unit 3, electric machine controller 16, battery management system 7, is responsible for the Control and coordination of whole power system.Hydraulic brake system includes master cylinder 4, hydraulic control unit 3 and is arranged on the car side brake 2 on each wheel 1, and hydraulic control unit 3 controls to regulate the size of front and back wheel friction brake force to car side brake 2.Regenerative braking device includes battery 8 and battery management system 7, and battery 8 is electrically connected with motor 17 by DC/DC changer 13 and inverter 20, and motor 17 is connected with the axle drive shaft 19 of car load by speed-changing mechanism 18.The instruction that electric machine controller 16 sends by entire car controller 15 is coordinated to control to motor braking moment, and the electric current producing in armature is filled with in battery 8 and saves through two-way DC/DC changer 13.Adopt multiple connection in series-parallel lithium-ion battery monomer together to realize for battery 8, and by battery management system 7, the charge and discharge process of battery is carried out to Real-Time Monitoring.
Reach maximum in order to make to be recovered to energy in battery 8, the present invention has added two-way DC/DC changer 13 for regulating motor 17 generatings and the efficiency rapport of battery 8 charging rooms and voltage matches relation between the two, as shown in Figure 2.Entire car controller 15 is determined the mode of operation of DC/DC and is calculated export target magnitude of voltage according to the current and voltage signals of motor 17, battery 8, and sends instruction to DC/DC controller 14.DC/DC controller 14 comprises boost module 21 and voltage reduction module 22 two parts, two-way DC/DC changer 13 is controlled in real time by control signal according to entire car controller 15 instructions, and braking energy as much as possible is recovered in battery 8 when realizing regenerative brake.
Electronlmobil regeneration brake system energy of the present invention reclaims control policy flow process as shown in Figure 3.Reclaiming embodiment of control policy below in conjunction with regeneration brake system energy of the present invention is described in further detail control policy.
(1) in electronlmobil braking procedure, displacement pickup 6 gathers the displacement signal of brake pedal 5, and definite rate of braking z, detection signals such as the corresponding speed of a motor vehicle, wheel speed, battery SOC and temperature is real-time transmitted to entire car controller 15 by car speed sensor 12, wheel speed sensors 10, battery management system 7.
(2) entire car controller 15 is by variablees such as checking rate of braking z, battery SOC (battery remaining power) and temperature, judge whether to open motor regenerative brake, be no more than 0.7 when running into rate of braking, battery SOC is less than 0.8 and temperature during lower than 55 ℃, open motor regenerative brake, all the other situations are not opened regenerative brake;
(3) selection of determining braking mode as an example of certain experimental model example as shown in Figure 4, braking mode comprises five kinds of patterns, i.e. pure regenerative brake pattern, medium composite brakig pattern, senior composite brakig pattern, conventional hydraulic braking pattern and non-braking mode pattern etc.That is: 1. pure regenerative brake Mode S OC<0.8,0<z≤0.1; 2. medium composite brakig Mode S OC<0.8,0.1<z≤0.53; 3. senior composite brakig Mode S OC<0.8,0.53<z≤0.7; 4. conventional hydraulic braking Mode S OC<0.8,0.7<z≤1.0; 5. non-braking mode pattern z≤0.After entering braking procedure, if detected when the Current Temperatures of battery 8 is greater than 55 ℃, for avoiding regenerative brake to charge and affect the normal work of battery 8 battery, stop regenerative brake.
(4), after braking mode is determined, need calculate aggregate demand braking force and carry out antero posterior axis brakig force distribution.It is recovery braking energy as much as possible under the prerequisite that guarantees braking safety that regenerative brake power is distributed the principle of control policy, being assigned on axle drive shaft more than braking force is tried one's best.The present invention adopts the conventional control with changed scale valve hydraulic separate distribution of traditional vehicle to replace ideal braking force distribution curve, and control with changed scale valve hydraulic separate distribution is optimized.
Control with changed scale valve hydraulic separate distribution is made up of two sections, OA and AB line, as shown in Figure 5, and wherein F
u1for front wheel brake power, F
u2for rear-wheel braking force.In order to make after adoption rate valve the adhesion coefficient utilization of vehicle the highest, A point, B point should be positioned on the idealized characteristic of at full load.And determining that B is ordered should be taken into account that vehicle is in the time of wide as far as possible adhesion value scope inside brake, there is not the first locking of trailing wheel, also to meet the requirement of adhesion coefficient utilization simultaneously.To be fully loaded with the folded area minimum of ideal braking force distribution curve and OAB as target, determine A point and B point.Meeting on the basis of ECE R13 brake legislation, in order to prevent as much as possible front-wheel locking, plan is used with the broken line CDE of the folded area minimum of M curve and is replaced M curve, form composite brakig power partition line and realize the distribution of front and back wheel braking force with f curve, represent front and back wheel hydraulic braking force partition line with broken line OAB, determine thus regenerative brake power distribution curve.
(5), when opening when regenerative brake, calculate at that time the maximum charge power P by battery maximum charging current and limiting voltage by battery SOC
bmax.
(6) the maximum charge power P of comparison battery
bmaxb.P. P with motor
dmax.If motor braking power P
dmaxbe greater than battery charge power P
bmax, by P
bmaxas regenerative brake power, remaining B.P. supplements with hydraulic braking power; If motor braking power P
dmaxbe less than battery charge power P
bmax, use motor braking power P now
dmaxas regenerative brake power.Thus, determine motor maximum regeneration braking force F
reg-max=min (P
dmax, P
bmax).
(7) in the time that rate of braking z is no more than 0.1, car load demand braking force is provided by motor completely, and motor braking power is F
reg=F
b.
(8) when rate of braking z is greater than 0.1 and while being no more than 0.7, relatively motor braking power F
regwith demand braking force F
b.If F
regbe less than F
b, remaining braking force should be provided by front-wheel hydraulic brake, and motor braking power is F
reg-max, hydraulic braking force is F
b-F
reg-max; If F
regbe more than or equal to F
b, braking force now is all provided by motor, and motor braking power size is F
b.
(9) in the time that rate of braking is greater than 0.7, now motor regenerative brake is closed, and braking force is all provided by hydraulic braking, and wherein front and back wheel hydraulic braking force is respectively F
band F
r.
(10) vehicle is in the time of non-braking mode, and front and back hydraulic braking force and regenerative brake power are zero.
In braking energy of electric automobiles removal process, the electric energy that motor sends charges to battery, and along with the increase of battery electric quantity, battery terminal voltage raises.When cell pressure is during higher than motor terminal voltage, battery can not continue reclaiming braking energy.When charging current that the electric current sending when motor allows higher than the current SOC value of battery, thereby inside battery structure will be damaged and affect battery life.For guaranteeing battery recycling energy as much as possible, two-way DC/DC changer output signal is controlled, realize output voltage and follow expectation value, regulate the voltage matches relation between electric power generation and battery charging, the energy that makes to be finally recovered in battery reaches maximum.
Above content is the further description of provided technical scheme being done in conjunction with the preferred embodiment of the present invention; can not assert that the concrete enforcement of the present invention is confined to above-mentioned these explanations; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. electronlmobil regeneration brake system, is characterized in that: comprise car load control setup, hydraulic brake system and regenerative braking device,
Described car load control setup comprises entire car controller, the displacement pickup being connected with brake pedal, be arranged at pressure sensor, the wheel speed sensors at wheel place, and car speed sensor, displacement pickup, pressure sensor, wheel speed sensors and car speed sensor send signal to car load control setup;
Described hydraulic brake system comprises master cylinder, hydraulic control unit and is installed on the car side brake at wheel place, and hydraulic control unit is by master cylinder control car side brake, and then controls running state of wheels;
Described regenerative braking device comprises battery and battery management system, battery is connected with motor with inverter by two-way DC/DC changer, motor is connected with the axle drive shaft of car load by speed-changing mechanism, motor is by its lock torque of motor controller controls, and the armature that motor is caused by lock torque and the electric current that produces sends battery to through two-way DC/DC changer, and preserved by battery, battery management system is monitored discharging and recharging in real time of battery;
Entire car controller carries out information interaction with hydraulic control unit, electric machine controller, battery management system respectively by CAN bus, to realize control and the coordination of whole power system.
2. electronlmobil regeneration brake system as claimed in claim 1, it is characterized in that: described two-way DC/DC changer is by the control of DC/DC controller, entire car controller is according to the signal export target magnitude of voltage of battery management system, and send instruction to DC/DC controller, by the mode of operation of the two-way DC/DC changer of DC/DC controller control, and then control the magnitude of current that enters battery.
3. electronlmobil regeneration brake system as claimed in claim 2, it is characterized in that: described DC/DC controller comprises boost module and voltage reduction module, when the generating voltage of motor higher, and when now the voltage of battery is lower, the voltage reduction module work of DC/DC controller, the output voltage of motor is filled into battery after step-down; When electric power generation voltage is lower, when cell pressure is higher, the boost module work of DC/DC controller, is filled with in battery after the generating voltage of motor is raise.
4. electronlmobil regeneration brake system as claimed in claim 1, is characterized in that: described battery is by multiple connection in series-parallel lithium-ion battery monomer together.
5. electronlmobil regeneration brake system as claimed in claim 1, is characterized in that: described motor is permagnetic synchronous motor or AC induction motor.
6. the method that described in employing claim 1-5 any one, regeneration brake system carries out electric automobile energy recovery, is characterized in that, comprises the steps:
A. entire car controller receives the signal that each sensor transmits, regenerative brake pattern, conventional hydraulic braking pattern and three kinds of braking modes of non-braking mode are selected, while selecting regenerative brake pattern, entered step b, otherwise, enter conventional hydraulic braking state or non-braking mode;
B. after braking mode is determined, entire car controller calculates aggregate demand braking force, and the braking force of car load front and back wheel is distributed, and meanwhile, battery management system calculates battery maximum charge power according to battery remaining power, determines motor maximum regeneration braking force;
C. entire car controller is according to the motor maximum regeneration braking force of battery management system feedback, determine brake power source, and send the required braking force signal providing to hydraulic control unit and electric machine controller, hydraulic control unit and electric machine controller carry out regenerative brake, recuperated energy according to the signal receiving.
7. electric automobile energy recovery method as claimed in claim 6, it is characterized in that: in step a, displacement pickup gathers the displacement signal of brake pedal and determines rate of braking, car speed sensor, wheel speed sensors and battery management system send the speed of a motor vehicle, wheel speed and battery remaining power and battery temperature to entire car controller, entire car controller is according to above-mentioned Information Selection braking mode, as 55 ℃ of battery remaining power < 0.8, battery temperature <, and rate of braking≤0.7 o'clock, enters regenerative brake pattern; 55 ℃ of battery remaining power < 0.8, battery temperature <, and 0.7 < rate of braking≤1.0 o'clock, regenerative brake pattern is closed, and enters conventional hydraulic braking pattern; Rate of braking≤0 o'clock, enters non-braking mode; In the time of 55 ℃ of battery temperature >, stop regenerative brake pattern.
8. electric automobile energy recovery method as claimed in claim 7, it is characterized in that: described regenerative brake pattern comprises pure regenerative brake pattern, medium composite brakig pattern and senior composite brakig pattern, in the time of 0 < rate of braking≤0.1, enter pure regenerative brake pattern; 0.1 < rate of braking≤0.53 o'clock, enters medium composite brakig pattern; 0.53 < rate of braking≤0.7 o'clock, enters senior composite brakig pattern.
9. electric automobile energy recovery method as claimed in claim 6, is characterized in that, in step b, definite mode of described motor maximum regeneration braking force is: calculate battery maximum charge power P according to battery maximum charging current and limiting voltage
bmax, when battery maximum charge power P
bmax< motor braking power P
dmaxtime, battery maximum charge power P
bmaxfor regenerative brake power; When battery maximum charge power P
bmax>=motor braking power P
dmaxtime, motor braking power P
dmaxfor regenerative brake power, determine the maximum regeneration braking force of motor according to selected regenerative brake power.
10. electric automobile energy recovery method as claimed in claim 6, is characterized in that, in step c, determines that the mode in brake power source is: in the time of rate of braking≤0.1, the required braking force of car load is provided by motor completely; When 0.1 < rate of braking≤0.7, and when motor maximum regeneration braking force < car load demand braking force, motor and hydraulic brake system provide jointly; When 0.1 < rate of braking≤0.7, and when motor maximum regeneration braking force >=car load demand braking force, the required braking force of car load is provided by motor completely; In the time of rate of braking > 0.7, the required braking force of car load is provided by hydraulic brake system completely.
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| CN201410064957.2A CN103818264B (en) | 2014-02-26 | 2014-02-26 | Electronlmobil regeneration brake system and energy reclaiming method thereof |
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