CN104477040A - Single-energy-source electro-mobile variable-current regenerative braking control method - Google Patents
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Abstract
The invention discloses a single-energy-source electro-mobile variable-current regenerative braking control method. The method comprises the following steps: (1) determining a maximum braking torque of a motor according to vehicle running speed, motor voltage and current so as to obtain armature current of the motor; (2) controlling a system to identify regenerative braking time; (3) determining the maximum acceptable charging current of a battery based on the identified braking time; (4) reasonably allocating a mechanical braking force and a motor braking force based on identified braking strength; (5) comparing the motor regenerative braking current with the battery acceptable charging current to obtain regenerative braking feedback current; (6) with reduction of the vehicle speed, continuously changing the maximum feedback current, and dynamically following the acceptable charging current. The method disclosed by the invention has the beneficial effects that by taking the feedback current as a controlled object, the method integrates the battery charging safety with system protection and improves the energy recycle efficiency as far as possible.
Description
Technical field
The present invention relates to the control method of electric vehicle brake, particularly relate to a kind of method that monoergic source electric car time-dependent current regenerative brake controls.
Background technology
Electronlmobil is main is propulsion source with storage battery, and all or part of automobile by direct motor drive, relates to the multi-disciplinary high-tech technical products such as machinery, electronics, electric power, microcomputer control.In recent years, the research and development of electronlmobil present the trend of accelerated development in countries in the world, each state is all actively promoting the development of electronlmobil.
A most important difference of electronlmobil and conventional fuel oil automobile is that electronlmobil can realize regenerative brake, reclaims the energy that a part of conventional fuel oil automobile loses in braking procedure, thus improves the continual mileage of electronlmobil.For monoergic source electric car, regenerating braking energy can only feed back to battery.In order to maximize feeding braking energy back, prior art adopts the regenerative braking methods such as the braking of maximum feedback power, the braking of maximum feedback efficiency, constant moment braking and constant charge current braking.But above method does not consider the restriction of battery charge mostly, and excessive feedback current can cause damage to battery.For this reason, in monoergic source electric car braking energy feedback process, the restriction of battery charging current should be considered, under the prerequisite ensureing storage battery safety charging, maximize and reclaim braking energy.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, one is provided to consider motor braking and mechanical braking Collaborative Control, under ensureing the prerequisite that battery reliably charges, the monoergic source electric car time-dependent current regenerating brake control method of feeding braking energy back to greatest extent.
This monoergic source electric car time-dependent current regenerating brake control method, comprises the steps:
1) in electric vehicle brake process, motor maximum braking torque can be determined according to Vehicle Speed, electric moter voltage and electric current, armature electric current can be obtained thus;
2) control system carries out the identification of regenerative brake time by brake pedal force, pedal displacement variable quantity, pedal displacement rate of change and the speed of a motor vehicle in sensor collection braking procedure;
3) information such as battery SOC, voltage and temperature are obtained by battery management system, according to battery charge model, based on the maximum acceptable charging current of braking time determination battery identified;
4) based on the rate of braking reasonable distribution mechanical braking force identified and motor braking power;
5) by comparing motor regenerative brake current and battery acceptable charging current, regenerative brake feedback current is obtained;
6) along with the reduction of the speed of a motor vehicle, the constantly maximum feedback current of conversion, dynamic following acceptable charging current, takes into account battery charging safety and system protection, maximizes feeding braking energy back.
As preferably: in described step 2, model training and identifying separately independently carries out; The input observation sequence of braking action model is obtained by vehicle road test, after the data gathered by each sensor carry out certain pretreatment, carries out off-line training and identification checking to brake model.
As preferably: the maximum acceptable charging current of battery in described step 3, adopt mixed pulses horsepower characteristic test method HPPC test battery discharge and recharge internal resistance, and by calculating.
As preferably: in described step 4, adopt the control with changed scale hydraulic valve optimized to divide distribution to replace ideal braking force distribution curve, by braking force as far as possible many being assigned on axle drive shaft provided by motor braking.
As preferably: in described step 5, when motor regenerative brake current is greater than battery acceptable charging current, then by battery acceptable charging current as regenerative brake feedback current; When motor regenerative brake current is less than battery acceptable charging current, then by motor regenerative brake current as regenerative brake feedback current.
As preferably: described step 6 adopts converting charge method constant-current charge section to be changed into pressure limiting time-dependent current charging section, and each stage of charging adopts acceptable maximum charging current, obtains most charge volume.
The invention has the beneficial effects as follows: the present invention is control object with feedback current, take into account battery charging safety and system protection, farthest improve energy recovery efficiency, for Control Strategy for Regenerative Braking design provides a kind of new optimization method.
Accompanying drawing explanation
Fig. 1 is monoergic source electric car unsteady flow regenerative brake control flow chart of the present invention;
Fig. 2 is regenerative brake time identification process figure of the present invention;
Fig. 3 is maximum charging current diagram of curves under certain battery different condition;
Fig. 4 is regenerative brake front and back wheel brakig force distribution schematic diagram of the present invention;
Fig. 5 is regenerative brake hierarchical coordinative control flow chart of the present invention;
Fig. 6 is the change curve of regenerative brake feedback current of the present invention with the speed of a motor vehicle.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further.Although the present invention will be described in conjunction with preferred embodiment, should know, and not represent and limit the invention in described embodiment.On the contrary, the present invention will contain can be included in attached claims limit scope of the present invention in alternative, improved type and equivalent.
The technical solution used in the present invention is when electronlmobil regenerative brake, can determine motor maximum braking torque according to Vehicle Speed, electric moter voltage and electric current; Using brake pedal force, pedal displacement variable quantity, pedal displacement rate of change and the speed of a motor vehicle as input observed value, the regenerative brake time is accurately identified.Meanwhile, obtained the information such as battery SOC, voltage and temperature by battery management system, based on the braking time identified, provide rate of braking and obtain battery and can accept maximum charging current.According to the rational distribution machinery braking force of rate of braking and motor braking power, by comparing motor regenerative brake current and battery acceptable charging current, determine regenerative brake feedback current, thus the regenerative braking moment of demand is provided more accurately.Take into account the factors such as motor maximum brake power and battery charging ability, reclaim braking energy to greatest extent.
Control of the present invention adopts hierarchical coordinative control policy brake system to be divided into two-layer up and down, and upper strata is that motor braking controls, and lower floor is that mechanical braking controls.Motor braking controls to be realized by the acceptable charging current of armature current and dynamically tracking, and the demand of motor braking power is converted into the control to mechanical braking.By determining in real time charging current, the unification realizing upper strata motor braking and lower floor's mechanical braking regulates, and has both avoided overcharging of battery, has achieved again the stability of braking.
In process of regenerative braking, the identification of braking time and rate of braking first trains corresponding model by a large amount of observation sequences collected, the better model of application training carries out identifying.The input observation sequence of braking action model is obtained by vehicle road test, after the data gathered by each sensor carry out certain pretreatment, carries out off-line training and identification checking to braking action model.
Braking energy feedback adopts converting charge method constant-current charge section to be changed into pressure limiting time-dependent current charging section, and each stage of charging adopts acceptable maximum charging current, obtains most charge volume.
As shown in Figure 1, monoergic source electric car unsteady flow regenerating brake control method of the present invention comprises the following steps:
(1) in electric vehicle brake process, motor maximum braking torque can be determined according to Vehicle Speed, electric moter voltage and electric current, armature electric current can be obtained thus.Even if usually when motor speed is lower, also can produce very large charging current, these electric currents are often beyond the maximum charging current of battery, and excessive electric current can cause damage to battery.
(2) control system carries out the identification of regenerative brake time by brake pedal force, pedal displacement variable quantity, pedal displacement rate of change and the speed of a motor vehicle in sensor collection braking procedure.In the electronlmobil being configured with braking energy feedback technology, mechanical braking and motor braking be exist simultaneously, associated working, the requirement of braking time is different because of damped condition.
Adopt the mode of statistical-simulation spectrometry, regenerative brake intention and time are identified on Different time scales and analyze, in different layers, respectively modeling is carried out to the simple motion of Different time scales, as shown in Figure 2.Using brake pedal force, pedal displacement variable quantity, pedal displacement rate of change and the speed of a motor vehicle as input observed value in ground floor model, in braking action identification process, choose the maximum model of likelihood score as the braking action result identified, itself and speed of a motor vehicle grade are carried out symbolism, as the list entries of the second layer, more therefrom choose the maximum model of likelihood score as the braking time identified and intensity.
(3) information such as battery SOC, voltage and temperature are obtained by battery management system, according to battery charge model, based on the maximum acceptable charging current of braking time determination battery that step 2 identifies.The charging ability of battery is relevant to the internal resistance of battery, and the internal resistance of battery is a dynamic value, different with changes such as the temperature residing for battery, state-of-charge SOC and working current values, that reflects basic feature and the ability of battery.Adopt mixed pulses horsepower characteristiies test method HPPC can test battery discharge and recharge internal resistance, if the operating voltage of battery is limited to u up and down
min≤ u (t)≤u
max, the maximum charging current that so can calculate battery permission is
figure 3 shows that maximum charging current diagram of curves under certain battery different condition, as seen from the figure, under the condition that temperature is identical with SOC, battery maximum charging current is relevant with charging duration length, and charging duration is shorter, and the current limit value that can bear is larger.In addition, battery can accept to be filled with electric current and reduce with the increase of SOC value, when SOC value is greater than 0.9, then forbids charging the battery.Meanwhile, battery charge variation with temperature is obvious, and the higher chargeable electric current of temperature is larger, because large current charge can produce larger calorific effect, unfavorable to normal battery operation, and therefore, temperature adopts regenerative brake higher than avoiding when 55 DEG C.
(4) the rate of braking reasonable distribution mechanical braking force identified according to step 2 and motor braking power.During electric vehicle brake, only having the energy on drive wheel to be recovered, therefore, in order to maximize recovery braking energy, just needing as far as possible many brakig force distributions to drive wheel; But then, in order to ensure the stability of automobile when braking, require that again the brakig force distribution of front and rear wheel must meet certain requirement.Therefore, maximizing brakig force distribution is under the prerequisite realizing automobile braking safety, use regenerative brake as much as possible.
To the electronlmobil of f-w-d, adopt brakig force distribution control line as shown in Figure 4.In figure, thick broken line OABCD is front and rear wheel brakig force distribution limit value control line.When rate of braking is less, provide whole braking forces (OA section) by front-wheel; When rate of braking is larger, jointly provide braking force (AB section and BC section) by front and rear wheel, wherein AB section is M curve near tangent, and BC section is with f line parallel and braking force is 90% of f line; When rate of braking is greater than C point, brakig force distribution is undertaken by CD section until f line and I intersections of complex curve.
(5) by comparing the battery acceptable charging current that the motor regenerative brake current determined by step 1 and step 3 are determined, regenerative brake feedback current is obtained.
If 1. motor regenerative brake current is greater than battery acceptable charging current, then by battery acceptable charging current as regenerative brake feedback current;
If 2. motor regenerative brake current is less than battery acceptable charging current, then by motor regenerative brake current as regenerative brake feedback current.
Motor braking controls and mechanical braking controls to have identical control variable, i.e. regenerative braking force, and motor braking controls to be realized by the control of feedback current.When motor braking and mechanical braking Collaborative Control, by the dynamic tracking of feedback current with determine in real time, the coordinating and unifying is carried out to the control objectives of regenerative braking force, as shown in Figure 5.Control system is meeting under braking safety and battery charging failure-free prerequisite, and preferentially adopt motor braking, insufficient section is provided by mechanical braking, thus realizes maximized energy feedback.
(6) along with the reduction of the speed of a motor vehicle, motor back emf declines, and causes armature current to continue to rise.When armature current rise to do not meet the demands time, can not charge according to maximum feedback current, now, reduce the setting value of maximum charging current, continue feedback energy, as shown in Figure 6.When motor speed drops to 500r/min, the counter electromotive force that electrical motor produces is very little, is now difficult to charge the battery, and regenerative brake lost efficacy, and adopted hydraulic braking completely.
Claims (6)
1. a monoergic source electric car time-dependent current regenerating brake control method, is characterized in that: comprise the steps:
1) in electric vehicle brake process, motor maximum braking torque can be determined according to Vehicle Speed, electric moter voltage and electric current, armature electric current can be obtained thus;
2) control system carries out the identification of regenerative brake time by brake pedal force, pedal displacement variable quantity, pedal displacement rate of change and the speed of a motor vehicle in sensor collection braking procedure;
3) information such as battery SOC, voltage and temperature are obtained by battery management system, according to battery charge model, based on the maximum acceptable charging current of braking time determination battery identified;
4) based on the rate of braking reasonable distribution mechanical braking force identified and motor braking power;
5) by comparing motor regenerative brake current and battery acceptable charging current, regenerative brake feedback current is obtained;
6) along with the reduction of the speed of a motor vehicle, the constantly maximum feedback current of conversion, dynamic following acceptable charging current, takes into account battery charging safety and system protection, maximizes feeding braking energy back.
2. monoergic source electric car time-dependent current regenerating brake control method according to claim 1, is characterized in that: described step 2) in model training and identify separately independently carry out; The input observation sequence of braking action model is obtained by vehicle road test, after the data gathered by each sensor carry out certain pretreatment, carries out off-line training and identification checking to brake model.
3. monoergic source electric car time-dependent current regenerating brake control method according to claim 1, it is characterized in that: described step 3) the middle maximum acceptable charging current of battery, adopt mixed pulses horsepower characteristic test method HPPC test battery discharge and recharge internal resistance, and by calculating.
4. monoergic source electric car time-dependent current regenerating brake control method according to claim 1, it is characterized in that: described step 4) in, adopt the control with changed scale hydraulic valve optimized to divide distribution to replace ideal braking force distribution curve, many being assigned on axle drive shaft of being tried one's best by braking force is provided by motor braking.
5. monoergic source electric car time-dependent current regenerating brake control method according to claim 1, it is characterized in that: described step 5) in, when motor regenerative brake current is greater than battery acceptable charging current, then by battery acceptable charging current as regenerative brake feedback current; When motor regenerative brake current is less than battery acceptable charging current, then by motor regenerative brake current as regenerative brake feedback current.
6. monoergic source electric car time-dependent current regenerating brake control method according to claim 1, it is characterized in that: described step 6) in adopt converting charge method constant-current charge section to be changed into pressure limiting time-dependent current charging section, each stage of charging adopts acceptable maximum charging current, obtains most charge volume.
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