CN104477038A - Regenerative braking system and method for electric vehicle - Google Patents
Regenerative braking system and method for electric vehicle Download PDFInfo
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- CN104477038A CN104477038A CN201410850653.9A CN201410850653A CN104477038A CN 104477038 A CN104477038 A CN 104477038A CN 201410850653 A CN201410850653 A CN 201410850653A CN 104477038 A CN104477038 A CN 104477038A
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Abstract
The invention discloses a regenerative braking system and a regenerative braking method for an electric vehicle. According to the technical scheme, when a driver brakes, requirements on a braking torque are calculated through a pressure sensor in an ESC (Electronic Stability Control), a regenerative braking torque which can be provided by the electric vehicle is obtained through a CAN (Controller Area Network), and depressurization or pressurization is judged through the required braking torque and the regenerative braking torque. According to the technical scheme, the braking torque is finely controlled, the driver feels comfortable when braking and feels good when stepping on a pedal, and energy is fully recovered.
Description
Technical field
The invention belongs to the technical field of automobile construction, relate to the brake system of automobile, more particularly, the present invention relates to electronlmobil regenerative braking system.In addition, the invention still further relates to the regenerative braking method of this brake system.
Background technology
Electronlmobil is subject to country and supports energetically, and the development of its technology and market is swift and violent.The regenerative braking technology of electronlmobil can economize energy,
China Patent No. is the patent documentation of 201110155722.0, and disclose " a kind of for hydraulic control braking and the method for regenerative brake ", its technical scheme is:
Order variable regenerative braking when the method is included in pressing down of brake actuator, until described regenerative brake reaches threshold level, and the hydraulic variable braking in order wheel circuit.The braking of order hydraulic variable comprises:
When the fluid in described Main cylinder is between described first pressure and the second pressure, fluid pressure is stoped to be delivered to wheel circuit from Main cylinder by abs valve;
When the fluid in described Main cylinder is between described second pressure and the 3rd pressure, partly limit fluid pressure is delivered to described wheel circuit from described Main cylinder by described abs valve;
And when the fluid in described Main cylinder is greater than described 3rd pressure, allow fluid pressure to be fully transmitted to described wheel circuit from described Main cylinder by described abs valve.
The technical scheme that this patent documentation is recorded, the method adopted, complex structure, control coarse, pedal sense is bad, and energy regenerating is insufficient.
Method of the prior art is substantially all coordinated with regenerative braking by ABS, and these methods control coarse, and can not initiatively pressurize, pedal sense is also bad.
Summary of the invention
The invention provides electronlmobil regenerative braking system, its objective is and realize coordinating of regenerative braking and hydraulic braking, energy fully reclaims.
To achieve these goals, the technical scheme that the present invention takes is:
Electronlmobil regenerative braking system of the present invention, comprises master cylinder MC1, master cylinder MC2, master cylinder pressure sensor; Also comprise four wheel cylinders, i.e. the wheel cylinder of the near front wheel, off hind wheel, left rear wheel and off front wheel; Described regenerative braking system is controlled by electronic stabilizing control system (ESC);
The hydraulic circuit of described brake system of car comprises the two road main lines be connected with described master cylinder MC1, master cylinder MC2 respectively: first via main line leads to the near front wheel, off hind wheel, and the second road main line leads to left rear wheel, off front wheel;
Wherein:
First via main line through master cylinder pressure sensor, connects the pressure regulating solenoid valve in first via main line from master cylinder MC1; Then two pipelines are divided into, that is: the near front wheel pipeline and off hind wheel pipeline;
The near front wheel pipeline connects a normally open solenoid valve in first via main line, is then divided into two tunnels: a road connects the near front wheel wheel cylinder, and another road connects a normally closed solenoid valve in first via main line;
Off hind wheel pipeline connects another normally open solenoid valve in first via main line, is then divided into two tunnels, and a road connects off hind wheel wheel cylinder, and another road connects another normally closed solenoid valve in first via main line;
Normally closed solenoid valve in these two first via main lines is connected with the low pressure accumulator in first via main line respectively;
This low pressure accumulator is divided into again two tunnels, one tunnel leads to master cylinder MC1 for solenoid in first via main line, connects the wheel cylinder of pressure regulating solenoid valve in described first via main line and the near front wheel, off hind wheel after the plunger pump of separately leading up in first via main line;
Second road main line connects the pressure regulating solenoid valve the second road main line from master cylinder MC2; Then two pipelines are divided into, that is: left rear wheel pipeline and off front wheel pipeline;
Left rear wheel pipeline connects a normally open solenoid valve in the second road main line, is then divided into two tunnels, and a road connects left rear wheel wheel cylinder, and another road connects a normally closed solenoid valve in the second road main line;
Off front wheel pipeline connects another normally open solenoid valve in the second road main line, is then divided into two tunnels, and a road connects off front wheel wheel cylinder, and another road connects another normally closed solenoid valve in the second road main line;
Normally closed solenoid valve in these two the second road main lines is connected with the low pressure accumulator in the second road main line respectively;
This low pressure accumulator is divided into again two tunnels, one tunnel leads to master cylinder MC2 for solenoid in the second road main line, connects the wheel cylinder of pressure regulating solenoid valve in the second described road main line and left rear wheel, off front wheel after the plunger pump of separately leading up in the second road main line;
Wherein, the power of the plunger pump in the plunger pump in first via main line and the second road main line provides by HM Hydraulic Motor;
In order to realize the goal of the invention identical with technique scheme, present invention also offers the regenerative braking method of above-described electronlmobil regenerative braking system, its technical scheme is as follows:
When chaufeur steps on brake pedal, electronic stabilizing control system records the master cylinder pressure in pipeline by master cylinder pressure sensor, and this pressure and lock torque are linear function, can obtain operator demand's moment by this function;
Now, the lock torque that electronic stabilizing control system can be provided by CAN network acquisition regenerative braking system, is judged with comparing of regenerative braking moment by the lock torque of demand, carries out pressure release or pressurization:
When regenerative braking system can provide larger lock torque, then wheel cylinder needs venting regenerative braking system to be provided to the lock torque of each wheel, pass through electronic stabilizing control system, close the normally open solenoid valve in the near front wheel pipeline, open the normally closed solenoid valve in the near front wheel pipeline, the braking liquid of the near front wheel wheel cylinder is unloaded in the low pressure accumulator in first via main line by this normally closed solenoid valve; Close the normally open solenoid valve in off front wheel pipeline, open the normally closed solenoid valve in off front wheel pipeline, the braking liquid of off front wheel wheel cylinder is unloaded in the low pressure accumulator in the second road main line by this normally closed solenoid valve; To reach the lock torque of demand;
When regenerative braking system can not provide lock torque maybe can only provide very little lock torque, then need to increase braking liquid to wheel cylinder, to increase lock torque, pass through electronic stabilizing control system, close the normally closed solenoid valve in the near front wheel pipeline, primer fluid pressure motor, braking liquid in low pressure accumulator in first via main line is got to the front of the normally open solenoid valve in the near front wheel pipeline, if the braking liquid in low pressure accumulator is not enough, then open for solenoid simultaneously, braking liquid in master cylinder MC1 is got to the front of the normally open solenoid valve in the near front wheel pipeline, then this normally open solenoid valve is opened with certain dutycycle, braking liquid is added in the near front wheel wheel cylinder, close the normally closed solenoid valve in off front wheel pipeline, primer fluid pressure motor, braking liquid in low pressure accumulator in second road main line is got to the front of the normally open solenoid valve in off front wheel pipeline, if the braking liquid in low pressure accumulator is not enough, then open for solenoid simultaneously, braking liquid in master cylinder MC2 is got to the front of the normally open solenoid valve in off front wheel pipeline, then open this normally open solenoid valve with certain dutycycle, braking liquid is added in off front wheel wheel cylinder.
The present invention adopts technique scheme, utilize the pressure sensor in electronic stabilizing control system (ESC), can accurately calculate the demand of lock torque, the regenerative braking moment that can be provided by CAN network acquisition electronlmobil, by the lock torque of demand and the comparison of regenerative braking moment, judge pressure release or pressurization, facilitate coordinating of regenerative braking and hydraulic braking, lock torque controls meticulous, and brake feel is comfortable, pedal sense is good, and energy regenerating is abundant.
Accompanying drawing explanation
Mark in accompanying drawing content and figure is as follows:
Fig. 1 is brake system schematic diagram of the present invention.
Be labeled as in figure:
1, normally open solenoid valve, 2, normally closed solenoid valve, 3, low pressure accumulator, 4, normally closed solenoid valve, 5, normally open solenoid valve, 6, plunger pump, 7, pressure regulating solenoid valve, 8, for solenoid (repairing electromagnetic valve), 9, master cylinder pressure sensor, 10, HM Hydraulic Motor, 11, pressure regulating solenoid valve, 12, plunger pump, 13, for solenoid, 14, normally open solenoid valve, 15, low pressure accumulator, 16, normally open solenoid valve, 17, normally closed solenoid valve, 18, normally closed solenoid valve.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.
Brake system schematic diagram of the present invention as shown in Figure 1, this brake system comprises master cylinder MC1, master cylinder MC2, master cylinder pressure sensor 9; Also comprise four wheel cylinders, i.e. the wheel cylinder of the near front wheel, off hind wheel, left rear wheel and off front wheel; Described regenerative braking system is controlled by electronic stabilizing control system (ESC).The present invention is the fit system of the regenerative braking based on electronic stabilizing control system (ESC).
In order to solve prior art Problems existing and overcome its defect, realize coordinating of regenerative braking and hydraulic braking, the goal of the invention that energy fully reclaims, the technical scheme that the present invention takes is:
Electronlmobil regenerative braking system of the present invention, as shown in Figure 1: equipment ESC, employing X-type arrange that the ESC hydraulic module oil channel structures of the hydraulic brake system of (namely left front, right back with left back, right front two-way cross-over control) mainly comprises the two road main lines be connected with described master cylinder MC1, master cylinder MC2 respectively: first via main line leads to the near front wheel, off hind wheel, and the second road main line leads to left rear wheel, off front wheel;
Wherein:
First via main line through master cylinder pressure sensor 9, connects pressure regulating solenoid valve 7 from master cylinder MC1; Then two pipelines are divided into, that is: the near front wheel pipeline and off hind wheel pipeline;
The near front wheel pipeline connects normally open solenoid valve 1, is then divided into two tunnels: a road connects the near front wheel wheel cylinder, and another road connects normally closed solenoid valve 2;
Off hind wheel pipeline connects normally open solenoid valve 5, is then divided into two tunnels, and a road connects off hind wheel wheel cylinder, and another road connects normally closed solenoid valve 4;
Normally closed solenoid valve 2 is connected with low pressure accumulator 3 (LPA) with normally closed solenoid valve 4;
This low pressure accumulator 3 is divided into again two tunnels, and the wheel cylinder connecting pressure regulating solenoid valve 7 and the near front wheel, off hind wheel after plunger pump 6, through leading to master cylinder MC1 for solenoid 8, is separately leaded up in a road.
Second road main line connects pressure regulating solenoid valve 11 from master cylinder MC2; Then two pipelines are divided into, that is: left rear wheel pipeline and off front wheel pipeline;
Left rear wheel pipeline connects normally open solenoid valve 14, is then divided into two tunnels, and a road connects left rear wheel wheel cylinder, and another road connects normally closed solenoid valve 17;
Off front wheel pipeline connects normally open solenoid valve 16, is then divided into two tunnels, and a road connects off front wheel wheel cylinder, and another road connects normally closed solenoid valve 18;
Normally closed solenoid valve 17 and normally closed solenoid valve 18 are connected with low pressure accumulator 15 (LPA) respectively;
This low pressure accumulator 15 is divided into again two tunnels, and the wheel cylinder connecting pressure regulating solenoid valve 11 and left rear wheel, off front wheel after plunger pump 12, through leading to master cylinder MC2 for solenoid 13, is separately leaded up in a road;
Wherein, the power of plunger pump 6 and plunger pump 12 provides by HM Hydraulic Motor 10.
Normally open solenoid valve 1, normally open solenoid valve 5, pressure regulating solenoid valve, pressure regulating solenoid valve 11, normally open solenoid valve 14 and normally open solenoid valve are magnetic-pulse controlled electromagnetic valve, and the size of its aperture is controlled by the some sky ratio of electromagnetic pulse.
Low pressure accumulator 3 and low pressure accumulator 15 are the storage organization of braking liquid.
Electronic control unit control flow is: after starting, and to electronic control unit energising, carries out necessary system initialization and prepares, then allow electronic control unit send default control command, carry out the default action of program to electromagnetic valve and HM Hydraulic Motor.
In order to realize the goal of the invention identical with technique scheme, present invention also offers the regenerative braking method of above-described electronlmobil regenerative braking system, its technical scheme is as follows:
When chaufeur steps on brake pedal, electronic stabilizing control system (ESC) records the master cylinder pressure in pipeline by master cylinder pressure sensor 9, and this pressure and lock torque are linear function, can obtain operator demand's moment by this function;
Now, ESC can obtain by CAN network the lock torque data that regenerative braking system can provide, and to be compared and judges, carry out pressure release or pressurization by the lock torque data of demand with the data of regenerative braking moment:
When regenerative braking system can provide larger lock torque, then wheel cylinder needs venting regenerative braking system to be provided to the lock torque of each wheel, pass through ESC, close normally open solenoid valve 1, open normally closed solenoid valve 2, the braking liquid of the near front wheel wheel cylinder is unloaded in low pressure accumulator 3 by this normally closed solenoid valve 2; Close normally open solenoid valve 16, open normally closed solenoid valve 18, the braking liquid of off front wheel wheel cylinder is unloaded in low pressure accumulator 15 by this normally closed solenoid valve 18; To reach the lock torque of demand;
When regenerative braking system can not provide lock torque maybe can only provide very little lock torque, then need to increase braking liquid to wheel cylinder, to increase lock torque, pass through ESC, close normally closed solenoid valve 2, primer fluid pressure motor 10, braking liquid in low pressure accumulator 3 (LPA) is got to the front of normally open solenoid valve 1, if the braking liquid in low pressure accumulator 3 (LPA) is not enough, then open for solenoid 8 simultaneously, braking liquid in master cylinder MC1 is got to the front of the normally open solenoid valve 1 in the near front wheel pipeline, then this normally open solenoid valve 1 is opened with certain dutycycle, braking liquid is added in the near front wheel wheel cylinder, close normally closed solenoid valve 18, primer fluid pressure motor 10, braking liquid in low pressure accumulator 15 (LPA) is got to the front of normally open solenoid valve 16, if the braking liquid in low pressure accumulator 15 (LPA) is not enough, then open for solenoid 13 simultaneously, the braking liquid in master cylinder MC2 is got to the front of the normally open solenoid valve 16 in off front wheel pipeline, then open this normally open solenoid valve 16 with certain dutycycle, braking liquid is added in off front wheel wheel cylinder, to increase lock torque.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
Claims (3)
1. an electronlmobil regenerative braking system, comprises master cylinder MC1, master cylinder MC2, master cylinder pressure sensor (9); Also comprise four wheel cylinders, i.e. the wheel cylinder of the near front wheel, off hind wheel, left rear wheel and off front wheel; Described regenerative braking system is controlled by electronic stabilizing control system;
It is characterized in that:
The hydraulic circuit of described brake system of car comprises the two road main lines be connected with described master cylinder MC1, master cylinder MC2 respectively: first via main line leads to the near front wheel, off hind wheel, and the second road main line leads to left rear wheel, off front wheel;
Wherein:
First via main line through master cylinder pressure sensor (9), connects pressure regulating solenoid valve (7) from master cylinder MC1; Then two pipelines are divided into, that is: the near front wheel pipeline and off hind wheel pipeline;
The near front wheel pipeline connects a normally open solenoid valve (1), is then divided into two tunnels: a road connects the near front wheel wheel cylinder, and another road connects a normally closed solenoid valve (2);
Off hind wheel pipeline connects another normally open solenoid valve (5), is then divided into two tunnels, and a road connects off hind wheel wheel cylinder, and another road connects another normally closed solenoid valve (4);
These two normally closed solenoid valves (2,4) are connected with low pressure accumulator (3) respectively;
Low pressure accumulator (3) is divided into again two tunnels, a road through for solenoid (8) towards master cylinder MC1, plunger pump (6) of separately leading up to connects the wheel cylinder of pressure regulating solenoid valve (7) and the near front wheel, off hind wheel afterwards;
Wherein the power of plunger pump (6) is provided by HM Hydraulic Motor (10).
2. an electronlmobil regenerative braking system, comprises master cylinder MC1, master cylinder MC2, master cylinder pressure sensor (9); Also comprise four wheel cylinders, i.e. the wheel cylinder of the near front wheel, off hind wheel, left rear wheel and off front wheel; Described regenerative braking system is controlled by electronic stabilizing control system;
It is characterized in that:
The hydraulic circuit of described brake system of car comprises the two road main lines be connected with described master cylinder MC1, master cylinder MC2 respectively: first via main line leads to the near front wheel, off hind wheel, and the second road main line leads to left rear wheel, off front wheel;
Wherein:
Second road main line connects pressure regulating solenoid valve (11) from master cylinder MC2; Then two pipelines are divided into, that is: left rear wheel pipeline and off front wheel pipeline;
Left rear wheel pipeline connects a normally open solenoid valve (14), is then divided into two tunnels, and a road connects left rear wheel wheel cylinder, and another road connects a normally closed solenoid valve (17);
Off front wheel pipeline connects another normally open solenoid valve (16), is then divided into two tunnels, and a road connects off front wheel wheel cylinder, and another road connects another normally closed solenoid valve (18);
These two normally closed solenoid valves (17,18) are connected with low pressure accumulator (15) respectively;
Low pressure accumulator (15) is divided into again two tunnels, a road through for solenoid (13) towards master cylinder MC2, plunger pump (12) of separately leading up to connects the wheel cylinder of pressure regulating solenoid valve (11) and left rear wheel, off front wheel afterwards;
Wherein the power of plunger pump (12) is provided by HM Hydraulic Motor (10).
3. a regenerative braking method for electronlmobil regenerative braking system, described regenerative braking system comprises master cylinder MC1, master cylinder MC2, master cylinder pressure sensor (9); Also comprise four wheel cylinders, i.e. the wheel cylinder of the near front wheel, off hind wheel, left rear wheel and off front wheel; Described regenerative braking system is controlled by electronic stabilizing control system;
The hydraulic circuit of described brake system of car comprises the two road main lines be connected with described master cylinder MC1, master cylinder MC2 respectively: first via main line leads to the near front wheel, off hind wheel, and the second road main line leads to left rear wheel, off front wheel;
Wherein:
First via main line through master cylinder pressure sensor (9), connects the pressure regulating solenoid valve (7) in first via main line from master cylinder MC1; Then two pipelines are divided into, that is: the near front wheel pipeline and off hind wheel pipeline;
The near front wheel pipeline connects a normally open solenoid valve (1) in first via main line, is then divided into two tunnels: a road connects the near front wheel wheel cylinder, and another road connects a normally closed solenoid valve (2) in first via main line;
Off hind wheel pipeline connects another normally open solenoid valve (5) in first via main line, is then divided into two tunnels, and a road connects off hind wheel wheel cylinder, and another road connects another normally closed solenoid valve (4) in first via main line;
Normally closed solenoid valve (2,4) in these two first via main lines is connected with the low pressure accumulator (3) in first via main line respectively;
This low pressure accumulator (3) is divided into again two tunnels, one tunnel in first via main line for solenoid (8) towards master cylinder MC1, the plunger pump (6) of separately leading up in first via main line connects the wheel cylinder of pressure regulating solenoid valve (7) in described first via main line and the near front wheel, off hind wheel afterwards;
Second road main line connects the pressure regulating solenoid valve (11) the second road main line from master cylinder MC2; Then two pipelines are divided into, that is: left rear wheel pipeline and off front wheel pipeline;
Left rear wheel pipeline connects a normally open solenoid valve (14) in the second road main line, is then divided into two tunnels, and a road connects left rear wheel wheel cylinder, and another road connects a normally closed solenoid valve (17) in the second road main line;
Off front wheel pipeline connects another normally open solenoid valve (16) in the second road main line, is then divided into two tunnels, and a road connects off front wheel wheel cylinder, and another road connects another normally closed solenoid valve (18) in the second road main line;
Normally closed solenoid valve (17,18) in these two the second road main lines is connected with the low pressure accumulator (15) in the second road main line respectively;
This low pressure accumulator (15) is divided into again two tunnels, one tunnel in the second road main line for solenoid (13) towards master cylinder MC2, the plunger pump (12) of separately leading up in the second road main line connects the wheel cylinder of pressure regulating solenoid valve (11) in the second described road main line and left rear wheel, off front wheel afterwards;
Wherein, the power of the plunger pump (6) in first via main line and the plunger pump (12) in the second road main line provides by HM Hydraulic Motor (10);
It is characterized in that described regenerative braking method is as follows:
When chaufeur steps on brake pedal, electronic stabilizing control system records the master cylinder pressure in pipeline by master cylinder pressure sensor (9), this pressure and lock torque are linear function, can obtain operator demand's moment by this function;
Now, the lock torque that electronic stabilizing control system can be provided by CAN network acquisition regenerative braking system, is judged with comparing of regenerative braking moment by the lock torque of demand, carries out pressure release or pressurization:
When regenerative braking system can provide larger lock torque, then wheel cylinder needs venting regenerative braking system to be provided to the lock torque of each wheel, pass through electronic stabilizing control system, close the normally open solenoid valve (1) in the near front wheel pipeline, open the normally closed solenoid valve (2) in the near front wheel pipeline, the braking liquid of the near front wheel wheel cylinder is unloaded in the low pressure accumulator (3) in first via main line by this normally closed solenoid valve (2); Close the normally open solenoid valve (16) in off front wheel pipeline, open the normally closed solenoid valve (18) in off front wheel pipeline, the braking liquid of off front wheel wheel cylinder is unloaded in the low pressure accumulator (15) in the second road main line by this normally closed solenoid valve (18); To reach the lock torque of demand;
When regenerative braking system can not provide lock torque maybe can only provide very little lock torque, then need to increase braking liquid to wheel cylinder, to increase lock torque, pass through electronic stabilizing control system, close the normally closed solenoid valve (2) in the near front wheel pipeline, primer fluid pressure motor (10), braking liquid in low pressure accumulator (3) in first via main line is got to the front of the normally open solenoid valve (1) in the near front wheel pipeline, if the braking liquid in low pressure accumulator (3) is not enough, then open for solenoid (8) simultaneously, braking liquid in master cylinder MC1 is got to the front of the normally open solenoid valve (1) in the near front wheel pipeline, then this normally open solenoid valve (1) is opened with certain dutycycle, braking liquid is added in the near front wheel wheel cylinder, close the normally closed solenoid valve (18) in off front wheel pipeline, primer fluid pressure motor (10), braking liquid in low pressure accumulator (15) in second road main line is got to the front of the normally open solenoid valve (16) in off front wheel pipeline, if the braking liquid in low pressure accumulator (15) is not enough, then open for solenoid (13) simultaneously, braking liquid in master cylinder MC2 is got to the front of the normally open solenoid valve (16) in off front wheel pipeline, then open this normally open solenoid valve (16) with certain dutycycle, braking liquid is added in off front wheel wheel cylinder.
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| CN201410850653.9A CN104477038B (en) | 2014-12-31 | 2014-12-31 | Electric automobile feedback braking system and feedback braking method thereof |
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| CN114194169A (en) * | 2020-09-18 | 2022-03-18 | 芜湖伯特利电子控制***有限公司 | Electric control braking system capable of independently supplying pressure to wheel ends and control method |
| US11597386B2 (en) | 2018-08-01 | 2023-03-07 | Cummins Inc. | System and method for regenerative braking torque scheduling |
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| CN112622853B (en) * | 2019-10-08 | 2023-12-05 | 现代摩比斯株式会社 | Electronic hydraulic brake device |
| CN114194169A (en) * | 2020-09-18 | 2022-03-18 | 芜湖伯特利电子控制***有限公司 | Electric control braking system capable of independently supplying pressure to wheel ends and control method |
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| CN104477038B (en) | 2017-01-04 |
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