CN105599616B - Brake energy recovery control method, device and electric car - Google Patents
Brake energy recovery control method, device and electric car Download PDFInfo
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- CN105599616B CN105599616B CN201610007280.8A CN201610007280A CN105599616B CN 105599616 B CN105599616 B CN 105599616B CN 201610007280 A CN201610007280 A CN 201610007280A CN 105599616 B CN105599616 B CN 105599616B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of Brake energy recovery control method, device and electric car, wherein, this method includes：Judge the residing pattern of electric car；If electric car is in braking mode, the speed of electric car, and the velocity shooting according to residing for the velocity estimated electric car of electric car are obtained；If the speed of electric car is in the first pre-set velocity section, control for brake is carried out to electric car using the first predetermined torque；If the speed of electric car is in the second pre-set velocity section, control for brake is carried out to electric car using the first predetermined power.The Brake energy recovery control method of the embodiment of the present invention can not only reclaim more energy, additionally it is possible to ensure stability during brake of electric vehicle.
Description
Technical field
The present invention relates to technical field of energy recovery, and in particular to a kind of Brake energy recovery control method, device and electricity
Motor-car.
Background technology
Braking energy recovering function is the peculiar technology of electric car, and its function is to ensure the premise of electric car riding stability
Under, a part of mechanical energy when electric car is slowed down or braked is converted to electric energy through motor system, is stored in electrokinetic cell
It is interior, or the power demand of electric car electrical equipment is provided.In correlation technique, using parallel energy regenerating control mode, its
The structure of traditional electric car brakes is kept, using the independent control of mechanical braking force and electric braking force, both are in normal row
During car, it is independent of each other.But the control mode energy recovery rate is typically relatively low, the increase very little to continual mileage, and attached
When the low road surface braking of coefficient, vehicle slip is easily caused, increases the probability of wheel lock up, and the more difficult stabilization for taking into account braking
Property and energy maximum recovery.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is to propose a kind of Brake energy recovery control method.This method can effectively improve energy recovery rate, while energy
Enough ensure the insensitivity of electric car.
Second object of the present invention is to propose a kind of brake energy recycle control device.
Third object of the present invention is to propose a kind of electric car.
To reach above-mentioned purpose, the Brake energy recovery control method of first aspect present invention embodiment, including：Judge electricity
The residing pattern of motor-car；If the electric car is in braking mode, the speed of the electric car is obtained, and according to the electricity
Velocity shooting residing for electric car described in the velocity estimated of motor-car；If the speed of the electric car is in the first pre-set velocity section,
Control for brake is carried out to the electric car using the first predetermined torque；If the speed of the electric car is in the second pre-set velocity
Section, then control for brake is carried out to the electric car using the first predetermined power.
The Brake energy recovery control method of the embodiment of the present invention, according to the operational mode and the speed of service of electric car,
Control for brake is carried out to electric car using different control methods, so as to improve energy recovery rate, adds the continuous of electric car
Navigate mileage, and can ensure the insensitivity of electric car.
In addition, Brake energy recovery control method according to the above embodiment of the present invention can also have skill additional as follows
Art feature：
According to one embodiment of present invention, methods described also includes：Calculate the slip rate of the electric car；It is respectively compared
Size between the slip rate and the first preset value, the second preset value；If the slip rate is more than the first preset value, move back
Go out Brake energy recovery, and electric braking force is set 0；If the slip rate is more than the second preset value and less than or equal to described the
One preset value, then PI (Proportional-Integral, proportional, integral) controls are carried out to electric car, and by the electric braking
Power is arranged to PI regulated values；And if the slip rate is less than or equal to second preset value, then the electric braking force is set
It is set to default brake force.
According to one embodiment of present invention, the slip rate of the electric car is calculated according to equation below：
S=| u-uw|/u*100%
Wherein, S is the slip rate, and u is the speed of the electric car, uwFor the wheel speed of the wheel of the electric car.
According to one embodiment of present invention, if the electric car is in sliding mode, and the speed of the electric car
The first pre-set velocity section or the second pre-set velocity section are in, then the electric car is carried out using the second predetermined torque
Control for brake.
According to one embodiment of present invention, the first pre-set velocity section is 45~80,000 ms/h, and described second is pre-
If velocity shooting is 80~125,000 ms/h.
To reach above-mentioned purpose, the energy regenerating control device of second aspect of the present invention embodiment, including：First judges mould
Block, for judging the residing pattern of electric car；Acquisition module, for judging that the electric car is in first judge module
During braking mode, the speed of the electric car is obtained；Second judge module, for described in the velocity estimated according to the electric car
Velocity shooting residing for electric car；First control module, for second judge module judge at the speed of the electric car
During the first pre-set velocity section, control for brake is carried out to the electric car using the first predetermined torque, and judge described second
When module judges that the speed of the electric car is in the second pre-set velocity section, the electric car is carried out using the first predetermined power
Control for brake.
The brake energy recycle control device of the embodiment of the present invention, the operation mould of electric car is judged by the first judge module
Formula, the speed of service of electric car is obtained by acquisition module, and is judged by the second judge module residing for the speed of service of electric car
Velocity shooting, and then control for brake is carried out to electric car using different control methods by the first control module, so as to improve
Energy recovery rate, the course continuation mileage of electric car is added, and the insensitivity of electric car can be ensured, while alleviated wheel and embrace
Dead risk.
In addition, brake energy recycle control device according to the above embodiment of the present invention can also include following additional skill
Art feature：
According to one embodiment of present invention, described device also includes：Computing module, for calculating the cunning of the electric car
Shifting rate；Comparison module, for the size being respectively compared between the slip rate and the first preset value, the second preset value；Second control
Molding block, for when the comparison module judges that the slip rate is more than the first preset value, controlling the electric car to exit system
Energy is reclaimed, and electric braking force is set into 0, is judged the slip rate more than the second preset value in the comparison module and is less than
During equal to first preset value, PI controls are carried out to electric car, and the electric braking force is arranged to PI regulated values, Yi Ji
When the comparison module judges that the slip rate is less than or equal to second preset value, the electric braking force is arranged to pre- and is equipped with
Power.
According to one embodiment of present invention, the computing module, is specifically used for：Calculated according to equation below described electronic
The slip rate of car：
S=| u-uw|/u*100%
Wherein, S is the slip rate, and u is the speed of the electric car, uwFor the wheel speed of the wheel of the electric car.
According to one embodiment of present invention, first control module, is additionally operable to：Judge in first judge module
The electric car is in sliding mode, and second judge module judges that the speed of the electric car is in described first and preset
When velocity shooting or the second pre-set velocity section, control for brake is carried out to the electric car using the second predetermined torque.
According to one embodiment of present invention, the first pre-set velocity section is 45~80,000 ms/h, and described second is pre-
If velocity shooting is 80~125,000 ms/h.
To reach above-mentioned purpose, the electric car of third aspect present invention embodiment, including second aspect of the present invention embodiment
Brake energy recycle control device.The electric car can be according to the operational mode and the speed of service of itself, using different
Control method carries out control for brake, so as to improve energy recovery rate, adds the course continuation mileage of itself, and can ensure itself
Insensitivity, while alleviate the risk of wheel lock up.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of Brake energy recovery control method according to an embodiment of the invention；
Fig. 2 is " speed-electric braking force " curve synoptic diagram according to an embodiment of the invention；
Fig. 3 is " speed-electric braking force " curve synoptic diagram in accordance with another embodiment of the present invention；
Fig. 4 is the flow chart of Brake energy recovery control method in accordance with another embodiment of the present invention；
Fig. 5 is the structured flowchart of brake energy recycle control device according to an embodiment of the invention；
Fig. 6 is the structured flowchart of brake energy recycle control device in accordance with another embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings Brake energy recovery control method, device and the electric car of the embodiment of the present invention are described.
Fig. 1 is the flow chart of Brake energy recovery control method according to an embodiment of the invention.As shown in figure 1, should
Brake energy recovery control method comprises the following steps：
S101, judge the residing pattern of electric car.
In an embodiment of the present invention, the pattern of electric car includes sliding mode and braking mode.At electric car
When sliding mode, electric car carries out sliding energy regenerating control；When electric car is in braking mode, electric car is braked
Energy regenerating controls.Specifically, when electric car is travelled with certain speed, brake pedal, electric car carries out braking energy
Recovery control；When electric car is travelled with certain speed, accelerator pedal is totally released, and non-brake pedal, electric car enter
Row slides energy regenerating control.
It is understood that electric car is when carrying out Brake energy recovery control, if carrying out brake hard to electric car,
That is ABS (Antilock Brake System, anti-blocking brake system) intervenes work, then exits energy regenerating control.
S102, if electric car is in braking mode, the speed of electric car is obtained, and according to the velocity estimated of electric car
Velocity shooting residing for electric car.
In an embodiment of the present invention, if electric car is in braking mode, i.e. electric car carries out Brake energy recovery control
When processed, " speed-electric braking force " curve as shown in Figure 2 can be used to be controlled electric car, the negative sign of Fig. 2 midpoints brake force
Braking is represented, i.e., resistance is applied to electric car.
S103, if the speed of electric car is in the first pre-set velocity section, electric car is entered using the first predetermined torque
Row control for brake.
Wherein, the first pre-set velocity section can be 45~80,000 ms/h, and the first predetermined torque can be 85 Ns of rice.
Specifically, as shown in Fig. 2 electric car carry out Brake energy recovery when, if speed 45~80,000 ms/h it
Between, then the moment of torsion of 85 Ns of rice can be used to carry out control for brake to electric car, to reach the demand of quick deceleration.
S104, if the speed of electric car is in the second pre-set velocity section, electric car is entered using the first predetermined power
Row control for brake.
Wherein, the second pre-set velocity section can be 80~125,000 ms/h, and the first predetermined power can be 53 kilowatts.
Specifically, as shown in Fig. 2 when electric car carries out Brake energy recovery, if speed is at 80~125,000 ms/h
Between, then control for brake can be carried out to electric car using 53 kilowatts of power, to reach the demand of quick deceleration.
Further, if as shown in Fig. 2 electric car in low speed segment, i.e., less than 45,000 ms/h, then applies relatively slow
Electric braking force.With the reduction of speed, electric braking force is gradually reduced, to maintain the braking uniformity of electric car.
It should be noted that electric braking force is braking torque.
In another embodiment of the present invention, if electric car is in sliding mode, i.e. electric car carries out sliding energy
During recovery control, " speed-electric braking force " curve as shown in Figure 3 can be used to be controlled electric car.It is as shown in figure 4, electric
When motor-car carries out sliding energy regenerating, the comfortableness of driving habit and electric car is considered, control for brake is carried out to electric car
Electric braking force output is smaller, in high speed section (i.e. the first pre-set velocity section and the second pre-set velocity section) using the second default torsion
Square carries out control for brake to electric car.Thus, electric car is not had too strong sense of slowing down, meet driving experience.
Wherein, the second predetermined torque can be 40 Ns of rice.
Further, in an embodiment of the present invention, when coefficient of road adhesion is relatively low or brake hard, braking energy returns
The risk of electric car skidding or wheel lock up can be increased by receiving.To alleviate the risk, further, as shown in figure 4, above-mentioned Brake Energy
Amount recycling and control method may include steps of：
S201, calculate the slip rate of electric car.
Specifically, the slip rate of electric car can be calculated according to equation below (1)：
S=| u-uw|/u*100% (1)
Wherein, S is slip rate, and u is the speed of electric car, uwFor the wheel speed of the wheel of electric car.
Preferably, the wheel speed of each wheel of electric car can be substituted into the slip rate for calculating each wheel respectively, and then can be therefrom
Slip rate of the selection maximum as the electric car for comparing.
S202, the size being respectively compared between slip rate and the first preset value, the second preset value.
Wherein, the first preset value can be 20%, and the second preset value can be 10%.
S203, if slip rate is more than the first preset value, Brake energy recovery is exited, and electric braking force is set 0.
It is understood that if slip rate is more than 20%, it is obvious to illustrate that electric car skids, should now exit Brake Energy
Amount recovery, i.e., be arranged to 0 by electric braking force, to alleviate the risk of electric car skidding or wheel lock up.
S204, if slip rate is more than the second preset value and is less than or equal to the first preset value, PI controls are carried out to electric car
System, and electric braking force is arranged to PI regulated values.
Specifically, the input of PI controls can be the power of motor and motor speed of electric car, and the PI of output is adjusted
Value is electric braking force, i.e. braking torque.
It should be noted that if the PI regulated values of output are more than electricity corresponding to the current vehicle speed of curve shown in Fig. 2 or Fig. 3
The half of brake force, then electric braking force be arranged to the half of electric braking force corresponding to electric car present mode and current vehicle speed.
S205, if slip rate is less than or equal to the second preset value, electric braking force is arranged to default brake force.
Wherein, " speed-electric braking force " curve that default brake force can be according to Fig. 2 or Fig. 3 determines, i.e., according to electricity
Pattern residing for motor-car and the speed of electric car determine.
In an embodiment of the present invention, by above-mentioned control algolithm, on the relatively low road surface of attachment coefficient, electric car is worked as
Slip rate when being 13%-17%, can effectively alleviate the risk of wheel lock up.
The Brake energy recovery control method of the embodiment of the present invention, according to the operational mode and the speed of service of electric car,
Control for brake is carried out to electric car using different control methods, so as to improve energy recovery rate, adds the continuous of electric car
Navigate mileage, and can ensure the insensitivity of electric car, while alleviates the risk of wheel lock up.
Fig. 5 is the structured flowchart of the brake energy recycle control device of the embodiment of the present invention.As shown in figure 5, the Brake Energy
Amount recovery control device includes：First judge module 10, acquisition module 20, the second judge module 30 and the first control module 40.
Specifically, the first judge module 10 is used for the residing pattern for judging electric car.
In an embodiment of the present invention, the pattern of electric car includes sliding mode and braking mode.At electric car
When sliding mode, electric car carries out sliding energy regenerating control；When electric car is in braking mode, electric car is braked
Energy regenerating controls.Specifically, when electric car is travelled with certain speed, brake pedal, electric car carries out braking energy
Recovery control；When electric car is travelled with certain speed, accelerator pedal is totally released, and non-brake pedal, electric car enter
Row slides energy regenerating control.
It is understood that electric car is when carrying out Brake energy recovery control, if carrying out brake hard to electric car,
That is ABS intervenes work, then exits energy regenerating control.
Acquisition module 20 is used for when the first judge module 10 judges that electric car is in braking mode, obtains the speed of electric car
Degree.
In an embodiment of the present invention, if electric car is in braking mode, i.e. electric car carries out Brake energy recovery control
When processed, " speed-electric braking force " curve as shown in Figure 2 can be used to be controlled electric car, the negative sign of Fig. 2 midpoints brake force
Braking is represented, i.e., resistance is applied to electric car.
Second judge module 30 is used for the velocity shooting according to residing for the velocity estimated electric car of electric car.
First control module 40 is used to judge at the speed of electric car in the first pre-set velocity section in the second judge module 30
When, control for brake is carried out to electric car using the first predetermined torque, and judge the speed of electric car in the second judge module 30
When being in the second pre-set velocity section, control for brake is carried out to electric car using the first predetermined power.
Wherein, the first pre-set velocity section can be 45~80,000 ms/h, and the first predetermined torque can be 85 Ns of rice,
Second pre-set velocity section can be 80~125,000 ms/h, and the first predetermined power can be 53 kilowatts.
Specifically, as shown in Fig. 2 electric car carry out Brake energy recovery when, if speed 45~80,000 ms/h it
Between, then the moment of torsion of 85 Ns of rice can be used to carry out control for brake to electric car, to reach the demand of quick deceleration；If speed
Between 80~125,000 ms/h, then control for brake can be carried out to electric car using 53 kilowatts of power, to reach quick
The demand of deceleration.
Further, if as shown in Fig. 2 electric car in low speed segment, i.e., less than 45,000 ms/h, then applies relatively slow
Electric braking force.With the reduction of speed, electric braking force is gradually reduced, to maintain the braking uniformity of electric car.
It should be noted that electric braking force is braking torque.
In another embodiment of the present invention, the first control module 40 is additionally operable to judge in the first judge module 10 electronic
Car is in sliding mode, and the second judge module 30 judges that the speed of electric car is in the first pre-set velocity section or the second default speed
When spending section, control for brake is carried out to electric car using the second predetermined torque.
Specifically, if electric car is in sliding mode, i.e., when electric car slide energy regenerating control, can use
" speed-electric braking force " curve as shown in Figure 3 is controlled to electric car.As shown in figure 4, electric car carries out sliding energy time
In the time receiving, considering the comfortableness of driving habit and electric car, the electric braking force output to electric car progress control for brake is smaller,
High speed section (i.e. the first pre-set velocity section and the second pre-set velocity section) is braked using the second predetermined torque to electric car
Control.Thus, electric car is not had too strong sense of slowing down, meet driving experience.
Wherein, the second predetermined torque can be 40 Ns of rice.
Electric car is skidded when further, in an embodiment of the present invention, in order to alleviate Brake energy recovery or wheel is embraced
Dead risk, as shown in fig. 6, the brake energy recycle control device can include：Computing module 50, comparison module 60 and second
Control module 70.
Wherein, computing module 50 is used for the slip rate for calculating electric car.
Specifically, computing module 50 can calculate the slip rate of electric car according to equation below (1)：
S=| u-uw|/u*100% (1)
Wherein, S is slip rate, and u is the speed of electric car, uwFor the wheel speed of the wheel of electric car.
Preferably, the wheel speed of each wheel of electric car can be substituted into the slip rate for calculating each wheel respectively, and then can be therefrom
Slip rate of the selection maximum as the electric car for comparing.
Comparison module 60 is used for the size being respectively compared between slip rate and the first preset value, the second preset value.
Wherein, the first preset value can be 20%, and the second preset value can be 10%.
Second control module 70 is used for when comparison module judges that slip rate is more than the first preset value, and control electric car exits
Brake energy recovery, and electric braking force is set 0, slip rate is judged more than the second preset value in comparison module 60 and is less than or equal to
During the first preset value, PI controls are carried out to electric car, and electric braking force is arranged to PI regulated values, and are judged in comparison module
When slip rate is less than or equal to the second preset value, electric braking force is arranged to default brake force.
Wherein, the input of above-mentioned PI control can be the power of motor and motor speed of electric car, the PI regulated values of output
Electric braking force, i.e. braking torque.It should be noted that if the PI regulated values of output are more than working as curve shown in Fig. 2 or Fig. 3
The half of electric braking force corresponding to preceding speed, then electric braking force be arranged to corresponding to electric car present mode and current vehicle speed electricity system
The half of power.
Default brake force can be according to Fig. 2 or Fig. 3 " speed-electric braking force " curve determine, i.e., according to electric car
Residing pattern and the speed of electric car determine.
It is understood that if slip rate is more than 20%, it is obvious to illustrate that electric car skids, should now exit Brake Energy
Amount recovery, i.e., be arranged to 0 by electric braking force, to alleviate the risk of electric car skidding or wheel lock up.
The brake energy recycle control device of the embodiment of the present invention, the operation mould of electric car is judged by the first judge module
Formula, the speed of service of electric car is obtained by acquisition module, and is judged by the second judge module residing for the speed of service of electric car
Velocity shooting, and then control for brake is carried out to electric car using different control methods by the first control module, so as to improve
Energy recovery rate, the course continuation mileage of electric car is added, and the insensitivity of electric car can be ensured, while alleviated wheel and embrace
Dead risk.
Further, the embodiment of third aspect present invention proposes a kind of electric car, including the above embodiment of the present invention
Brake energy recycle control device.The electric car can be according to the operational mode and the speed of service of itself, using different
Control method carries out control for brake, so as to improve energy recovery rate, adds the course continuation mileage of itself, and can ensure itself
Insensitivity, while alleviate the risk of wheel lock up.
In addition, other compositions of electric car according to the above embodiment of the present invention and effect to the ordinary skill of this area and
Speech is known, to reduce redundancy, is not repeated herein.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
The orientation or position of the instruction such as " thickness ", " bottom " " interior ", " outer ", " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumference "
Relation is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description, without referring to
Show or imply that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, therefore can not manage
Solve as limitation of the present invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (9)
1. a kind of Brake energy recovery control method, it is characterised in that comprise the following steps：
Judge the residing pattern of electric car；
If the electric car is in braking mode, the speed of the electric car is obtained, and according to the speed of the electric car
Judge velocity shooting residing for the electric car；
If the speed of the electric car is in the first pre-set velocity section, the electric car is carried out using the first predetermined torque
Control for brake, and control the electric car to carry out Brake energy recovery；
If the speed of the electric car is in the second pre-set velocity section, the electric car is carried out using the first predetermined power
Control for brake, and control the electric car to carry out Brake energy recovery；
Wherein, when the electric car carries out Brake energy recovery, the slip rate of the electric car is also calculated；It is respectively compared described
Size between slip rate and the first preset value, the second preset value；If the slip rate is more than the first preset value, system is exited
Energy is reclaimed, and electric braking force is set into 0；If the slip rate is more than the second preset value and pre- less than or equal to described first
If value, then carrying out proportional, integral PI controls to electric car, and the electric braking force is arranged to PI regulated values；And if institute
State slip rate and be less than or equal to second preset value, then the electric braking force is arranged to default brake force.
2. Brake energy recovery control method as claimed in claim 1, it is characterised in that the electricity is calculated according to equation below
The slip rate of motor-car：
S=| u-uw|/u*100%
Wherein, S is the slip rate, and u is the speed of the electric car, uwFor the wheel speed of the wheel of the electric car.
3. Brake energy recovery control method as claimed in claim 1, it is characterised in that slided if the electric car is in
Pattern, and the speed of the electric car is in the first pre-set velocity section or the second pre-set velocity section, then using second
Predetermined torque carries out control for brake to the electric car.
4. Brake energy recovery control method as claimed in claim 1, it is characterised in that the first pre-set velocity section is 45
~80 thousand ms/h, the second pre-set velocity section is 80~125,000 ms/h.
A kind of 5. brake energy recycle control device, it is characterised in that including：
First judge module, for judging the residing pattern of electric car；
Acquisition module, for when first judge module judges that the electric car is in braking mode, obtaining described electronic
The speed of car；
Second judge module, for velocity shooting residing for electric car described in the velocity estimated according to the electric car；
First control module, for judging in second judge module at the speed of the electric car in the first pre-set velocity section
When, control for brake is carried out to the electric car using the first predetermined torque, and control the electric car to carry out Brake energy recovery,
And when second judge module is judged at the speed of the electric car in the second pre-set velocity section, using the first default work(
Rate carries out control for brake to the electric car, and controls the electric car to carry out Brake energy recovery；
Computing module, for when the electric car carries out Brake energy recovery, calculating the slip rate of the electric car；
Comparison module, for the size being respectively compared between the slip rate and the first preset value, the second preset value；
Second control module, for when the comparison module judges that the slip rate is more than the first preset value, controlling the electricity
Motor-car exits Brake energy recovery, and electric braking force is set into 0, and it is pre- to judge that the slip rate is more than second in the comparison module
If be worth and be less than or equal to first preset value, PI controls are carried out to electric car, and the electric braking force is arranged to PI and adjusted
Section value, and when the comparison module judges that the slip rate is less than or equal to second preset value, by the electric braking force
It is arranged to default brake force.
6. brake energy recycle control device as claimed in claim 5, it is characterised in that the computing module, be specifically used for：
The slip rate of the electric car is calculated according to equation below：
S=| u-uw|/u*100%
Wherein, S is the slip rate, and u is the speed of the electric car, uwFor the wheel speed of the wheel of the electric car.
7. brake energy recycle control device as claimed in claim 5, it is characterised in that first control module, also use
In：
Judge that the electric car is in sliding mode in first judge module, and second judge module judges the electricity
When the speed of motor-car is in the first pre-set velocity section or the second pre-set velocity section, using the second predetermined torque to described
Electric car carries out control for brake.
8. brake energy recycle control device as claimed in claim 5, it is characterised in that the first pre-set velocity section is 45
~80 thousand ms/h, the second pre-set velocity section is 80~125,000 ms/h.
9. a kind of electric car, it is characterised in that including the Brake energy recovery control as any one of claim 5 to 8
Device.
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| CN106004458B (en) * | 2016-05-26 | 2018-11-16 | 爱玛科技集团股份有限公司 | A kind of segmented electric brake control method based on electric vehicle |
| CN106627171B (en) * | 2017-01-12 | 2019-06-04 | 重庆长安新能源汽车科技有限公司 | A kind of the torque recycling and control method and control system of pure electric vehicle |
| CN107139730B (en) * | 2017-03-31 | 2019-08-20 | 奇瑞新能源汽车技术有限公司 | Electric automobile energy recovery method and device |
| CN107199893B (en) * | 2017-05-27 | 2019-09-03 | 北京新能源汽车股份有限公司 | Energy reclaiming method and device |
| CN107323272B (en) * | 2017-06-27 | 2020-02-21 | 奇瑞新能源汽车技术有限公司 | Electric automobile energy recovery method and device |
| CN107472034B (en) * | 2017-07-28 | 2020-05-05 | 中车南京浦镇车辆有限公司 | Tramcar full-moving-axle anti-skid control method based on TCMS control |
| CN108583292A (en) * | 2018-04-25 | 2018-09-28 | 北京新能源汽车股份有限公司 | A kind of control method, entire car controller and the electric vehicle of automobile energy recycling |
| CN109774485B (en) * | 2018-12-27 | 2022-05-03 | 奇瑞汽车股份有限公司 | Parallel energy recovery and grading control system and method for electric automobile |
| CN111619359A (en) * | 2019-02-28 | 2020-09-04 | 北京新能源汽车股份有限公司 | Control method for recovering vehicle braking energy, vehicle control unit and vehicle |
| CN110962614A (en) * | 2019-12-02 | 2020-04-07 | 东风柳州汽车有限公司 | Energy recovery method for pure electric vehicle |
| CN111645528B (en) * | 2020-06-05 | 2022-02-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
| CN111942158B (en) * | 2020-07-09 | 2022-04-12 | 浙江吉智新能源汽车科技有限公司 | Braking energy recovery device, system, vehicle and energy recovery method |
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