CN106347138A - Energy recovery control method and device of battery electric vehicle and battery electric vehicle - Google Patents
Energy recovery control method and device of battery electric vehicle and battery electric vehicle Download PDFInfo
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- CN106347138A CN106347138A CN201610968637.9A CN201610968637A CN106347138A CN 106347138 A CN106347138 A CN 106347138A CN 201610968637 A CN201610968637 A CN 201610968637A CN 106347138 A CN106347138 A CN 106347138A
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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
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/24—Coasting mode
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an energy recovery control method and device of a battery electric vehicle and the battery electric vehicle. The method comprises the steps of judging whether the battery electric vehicle is in a sliding condition; if the battery electric vehicle is in the sliding condition, obtaining a running speed of the battery electric vehicle and first opening of an accelerator pedal, and determining a first speed range to which the running speed belongs; determining a first motor torque curve corresponding to the first speed range according to corresponding relation between a preset speed range and the motor torque curve, and obtaining a torque value corresponding to the first opening from the first motor torque curve according to the first opening of the accelerator pedal; controlling the motor output state of the battery electric vehicle according to the torque value, and performing energy recovery. According to the energy recovery control method, the energy recovery can be performed according to the opening of the accelerator pedal when the battery electric vehicle is in the sliding condition, the defect that sliding energy recovery cannot be controlled by utilizing the accelerator pedal in the prior art is overcome, and the driving feeling of a driver is improved.
Description
Technical field
The present invention relates to pure electric automobile technical field, the energy regenerating controlling party of more particularly, to a kind of pure electric automobile
Method, device and pure electric automobile.
Background technology
Energy regenerating under coasting mode for the pure electric automobile has 2 kinds of patterns at present, and a kind of pattern is only to judge to accelerate
Pedal is totally released and carries out energy regenerating (patent of invention: cn201220265436.x one kind is parallel during brake pedal
Brake energy recovering system)；Second pattern is after judgement accelerator pedal is totally released, in the energy regenerating vehicle speed range setting
Inside it is fixed the energy regenerating of intensity.
However, the first pattern is when pure electric automobile is in high speed and the less coasting mode of accelerator pedal aperture, no
Carry out energy regenerating, by the energy expenditure of pure electric automobile overcoming on resistance of taxing, cause energy under this kind of operating mode no
Method makes full use of recovery.Although second pattern recovery section energy, driver's uncontrollable recovery intensity, energy regenerating are cut
Enter and Withdrawal Hour, human pilot freely cannot adjust energy regenerating according to the subjective feeling of itself, thus because of energy regenerating
Action is cut and brings vehicle to travel irregularity, and ride comfort is poor.
Content of the invention
For overcoming the above-mentioned problems in the prior art, The embodiment provides a kind of energy of pure electric automobile
Amount recycling and control method, device and pure electric automobile return it is achieved that carrying out energy based on accelerator pedal aperture under coasting mode
Receive, improve the driving experience of driver.
In order to solve above-mentioned technical problem, the embodiment of the present invention adopts the following technical scheme that
A kind of one side according to the embodiment of the present invention, there is provided energy recovery control method of pure electric automobile, bag
Include:
Judge whether pure electric automobile enters coasting mode；
When judged result is to be, obtain the travel speed of described pure electric automobile and the first aperture of accelerator pedal, and
Determine that the First Speed belonging to described travel speed is interval, wherein, in advance travel speed is divided into multiple continuous and does not mutually weigh
Folded speed interval；
According to the corresponding relation of the speed interval pre-setting and Motor torque curve, determine interval with described First Speed
Corresponding first Motor torque curve, and the first aperture according to described accelerator pedal, from described first Motor torque curve
Obtain the torque value corresponding with described first aperture, wherein, when described speed interval is the first kind that travel speed is more than 0
During speed interval, the first kind Motor torque curve corresponding to described first kind speed interval includes: corresponding to accelerator pedal
Aperture is in the first interval curved portion of the first aperture, is in the second interval song of the second aperture corresponding to accelerator pedal aperture
Line part, and it is in the 3rd interval curved portion of the 3rd aperture corresponding to accelerator pedal aperture, and the first curved portion pair
The torque value answered is less than 0, and the corresponding torque value of the second curved portion is equal to 0, and the corresponding torque value of the 3rd curved portion is more than 0,
Described first aperture is interval, the second aperture is interval and the 3rd aperture interval is to divide accelerator pedal aperture from 0% to 100%
3 arrived continuous and non-overlapping copies apertures are interval；
According to described torque value, control the motor output state of described pure electric automobile, carry out energy regenerating.
Alternatively, when described speed interval be travel speed from 0 be incremented by Equations of The Second Kind speed interval when, described Equations of The Second Kind speed
Equations of The Second Kind Motor torque curve corresponding to degree interval includes: is in the of the 4th aperture interval corresponding to accelerator pedal aperture
Four curved portion, are in the 5th interval curved portion of the 5th aperture corresponding to accelerator pedal aperture, and the 4th curved portion pair
The torque value answered is equal to 0, and the corresponding torque value of the 5th curved portion is more than 0, and described 4th aperture is interval, the 5th aperture interval is
The aperture of accelerator pedal is divided continuous and non-overlapping copies the aperture of 2 obtaining from 0% to 100% interval.
Alternatively, described judge whether pure electric automobile enters the step of coasting mode and specifically include:
Obtain gear signal, brake pedal aperture and the travel speed of described pure electric automobile；
When described gear signal is forward, and described brake pedal aperture is 0, and when described travel speed is more than,
Then judge that described pure electric automobile enters coasting mode.
Alternatively, described according to described torque value, control the motor output state of described pure electric automobile, carry out energy and return
The step received includes:
Judge whether described torque value is less than 0；
When judged result is to be, then negative torque is counter to drag to control the motor of described pure electric automobile to export, and carries out energy regenerating.
Alternatively, the interval scope of the first aperture of described accelerator pedal aperture is 0%～m%, wherein, has higher speed
The interval m% of described first aperture in the Motor torque curve corresponding to speed interval of degree, more than having compared with low velocity
The interval m% of the first aperture in Motor torque curve corresponding to speed interval.
Alternatively, described first curved portion, the 3rd curved portion, the torque value of the 5th curved portion, is all to accelerate
Pedal aperture is the linear function of independent variable.
Alternatively, described 3rd curved portion, the torque value of the 5th curved portion, be all with accelerator pedal aperture be from become
The power function of amount, and the index of described power function is more than 1.
According to the other side of the embodiment of the present invention, the energy regenerating additionally providing a kind of pure electric automobile controls dress
Put, comprising:
Judge module, for judging whether pure electric automobile enters coasting mode；
First acquisition module, for when the judged result of judge module is for being, obtaining the traveling of described pure electric automobile
Speed and the first aperture of accelerator pedal, and determine that the First Speed belonging to described travel speed is interval, wherein, will travel in advance
Speed is divided into multiple continuous and non-overlapping copies speed intervals；
Second acquisition module, for the corresponding relation according to the speed interval pre-setting and Motor torque curve, determines
Corresponding first Motor torque curve interval with described First Speed, and the first aperture according to described accelerator pedal, from described
The torque value corresponding with described first aperture is obtained, wherein, when described speed interval is row in first Motor torque curve
When sailing the first kind speed interval that speed is more than 0, in the first kind Motor torque curve corresponding to described first kind speed interval
Including: it is in the first interval curved portion of the first aperture corresponding to accelerator pedal aperture, be in corresponding to accelerator pedal aperture
The second interval curved portion of second aperture, and it is in the 3rd interval curve part of the 3rd aperture corresponding to accelerator pedal aperture
Point, and the corresponding torque value of the first curved portion is less than 0, the corresponding torque value of the second curved portion is equal to 0, the 3rd curved portion
Corresponding torque value is more than 0, and described first aperture is interval, the second aperture is interval and the 3rd aperture interval is by accelerator pedal aperture
Divide continuous and non-overlapping copies the aperture of 3 obtaining from 0% to 100% interval；
Control module, for according to described torque value, controlling the motor output state of described pure electric automobile, carrying out energy
Reclaim.
Alternatively, when described speed interval be travel speed from 0 be incremented by Equations of The Second Kind speed interval when, described Equations of The Second Kind speed
Equations of The Second Kind Motor torque curve corresponding to degree interval includes: is in the of the 4th aperture interval corresponding to accelerator pedal aperture
Four curved portion, are in the 5th interval curved portion of the 5th aperture corresponding to accelerator pedal aperture, and the 4th curved portion pair
The torque value answered is equal to 0, and the corresponding torque value of the 5th curved portion is more than 0, and described 4th aperture is interval, the 5th aperture interval is
The aperture of accelerator pedal is divided continuous and non-overlapping copies the aperture of 2 obtaining from 0% to 100% interval.
Alternatively, described judge module specifically includes:
Acquiring unit, for obtaining gear signal, brake pedal aperture and the travel speed of described pure electric automobile；
Identifying unit, for being forward when described gear signal, and described brake pedal aperture is 0, and described row
When sailing speed more than 0, then judge that described pure electric automobile enters coasting mode.
Alternatively, described control module specifically includes:
Judging unit, for judging whether described torque value is less than 0；
Control unit, for when the judged result of described judging unit is to be, then controlling the electricity of described pure electric automobile
Negative torque is counter drags for machine output, carries out energy regenerating.
Alternatively, the interval scope of the first aperture of described accelerator pedal aperture is 0%～m%, wherein, has higher speed
The interval m% of described first aperture in the Motor torque curve corresponding to speed interval of degree, more than having compared with low velocity
The interval m% of the first aperture in Motor torque curve corresponding to speed interval.
Alternatively, described first curved portion, the 3rd curved portion, the torque value of the 5th curved portion, is all to accelerate
Pedal aperture is the linear function of independent variable.
Alternatively, described 3rd curved portion, the torque value of the 5th curved portion, be all with accelerator pedal aperture be from become
The power function of amount, and the index of described power function is more than 1.
According to the other side of the embodiment of the present invention, additionally provide a kind of pure electric automobile, including entire car controller, move
Power power supply, motor, electric machine controller, brake pedal, accelerator pedal, especially also include the energy of pure electric automobile as above
Recovery control device.
The beneficial effect of the embodiment of the present invention is:
The energy recovery control method of pure electric automobile provided in an embodiment of the present invention, first passes through acquisition pure electric automobile
Accelerator pedal aperture and travel speed, determine the speed interval described in this travel speed, then obtain with this speed interval pair
The Motor torque curve answered, finally obtains the torque value corresponding with this accelerator pedal aperture, control from this Motor torque curve
The output state of motor processed, finally realizes carrying out energy regenerating under coasting mode.Compared with prior art, the embodiment of the present invention
The energy recovery control method providing can carry out energy regenerating based on accelerator pedal aperture under coasting mode, overcomes existing skill
In art can not using accelerator pedal to sliding the shortcoming that energy regenerating is controlled, and human pilot can according to practical situation and
The subjective feeling of itself controls the intensity of energy regenerating, is supplied to the preferable driving experience of passenger.
Brief description
The flow chart that Fig. 1 represents the energy recovery control method of pure electric automobile in the embodiment of the present invention one；
Fig. 2 represents the schematic diagram of first kind Motor torque curve in the embodiment of the present invention one；
Fig. 3 represents the schematic diagram of Equations of The Second Kind Motor torque curve in the embodiment of the present invention one；
Fig. 4 represents the control flow chart of the energy recovery control method of pure electric automobile in the embodiment of the present invention one；
Fig. 5 represents one of structured flowchart of energy regenerating control device of pure electric automobile in the embodiment of the present invention two；
Fig. 6 represents the two of the structured flowchart of energy regenerating control device of pure electric automobile in the embodiment of the present invention two.
Specific embodiment
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment it being understood, however, that may be realized in various forms the disclosure and should not be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to be able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Embodiment one
A kind of one side according to the embodiment of the present invention, there is provided energy recovery control method of pure electric automobile, such as
Shown in Fig. 1, the method includes:
Step s101: judge whether pure electric automobile enters coasting mode；
Wherein, step s101 specifically includes: obtains gear signal, brake pedal aperture and the row of described pure electric automobile
Sail speed；When described gear signal is forward, and described brake pedal aperture is 0, and when travel speed is more than 0, then sentences
Fixed described pure electric automobile enters coasting mode.
Step s102: when judged result is to be, obtain the of the travel speed of described pure electric automobile and accelerator pedal
One aperture, and determine that the First Speed belonging to described travel speed is interval, wherein, in advance travel speed is divided into multiple continuous
And the speed interval of non-overlapping copies；
Step s103: according to the corresponding relation of the speed interval pre-setting and Motor torque curve, determine and described the
The corresponding first Motor torque curve of one speed interval, and the first aperture according to described accelerator pedal, from described first motor
The torque value corresponding with described first aperture is obtained in torque curve；
Wherein, in embodiments of the present invention, when described speed interval is the first kind speed interval that travel speed is more than 0
When, the first kind Motor torque curve corresponding to described first kind speed interval includes: is in corresponding to accelerator pedal aperture
The first interval curved portion of first aperture, is in the second interval curved portion of the second aperture corresponding to accelerator pedal aperture,
And be in the 3rd interval curved portion of the 3rd aperture corresponding to accelerator pedal aperture, and the corresponding moment of torsion of the first curved portion
Value is less than 0, and the corresponding torque value of the second curved portion is equal to 0, and the corresponding torque value of the 3rd curved portion is more than 0, described first
Aperture is interval, the second aperture is interval and the 3rd aperture interval is that from 0% to 100%, accelerator pedal aperture is divided 3 obtaining
Continuous and non-overlapping copies aperture is interval；
Specifically, first kind vehicle speed intervals are the travel speed of pure electric automobile to be divided into some intervals, wherein every
In one vehicle speed intervals, the travel speed of pure electric automobile is all higher than 0, and for each vehicle speed intervals, first kind Motor torque is bent
Line is to be divided accelerator pedal aperture by 0%～100%, and wherein, accelerator pedal aperture is intended with corresponding motor torque values
Close and form 3 sections of curves.As shown in Fig. 2 in first kind Motor torque curve, accelerator pedal aperture is demarcated in 0%～100%
4 crucial apertures, 0%, m%, n% and 100%, in n%～100% aperture interval, motor exports positive torque, in m%
In～n% aperture is interval, motor exports 0 moment of torsion, and in 0%～m% aperture interval, motor exports negative sense moment of torsion.When motor is defeated
When going out positive torque, drive vehicle to accelerate to advance, now do not carry out energy regenerating；When motor exports 0 moment of torsion, vehicle is slided automatically
OK, now motor does not rotate, and does not carry out energy regenerating；When motor output negative sense moment of torsion, motor rotates backward, and carries out energy and returns
Receive.
Specifically, each vehicle speed intervals, corresponding accelerator pedal aperture and motor torque values are all in accordance with pure electric automobile
The real vehicles such as acceptable charge power, motor external characteristic curve and driving ride comfort are demarcated and are obtained the motor it is ensured that in 3 sections of curves
Target torque is in motor characteristic requirement allowed band, and accelerator pedal opening value is corresponded with Motor torque according to curve,
Realize the control to speed for the accelerator pedal.
Wherein, in embodiments of the present invention, when described speed interval is travel speed from the 0 Equations of The Second Kind speed interval being incremented by
When, the Equations of The Second Kind Motor torque curve corresponding to described Equations of The Second Kind speed interval includes: is in corresponding to accelerator pedal aperture
The 4th interval curved portion of 4th aperture, is in the 5th interval curved portion of the 5th aperture corresponding to accelerator pedal aperture,
And the 4th the corresponding torque value of curved portion be equal to 0, the corresponding torque value of the 5th curved portion is more than 0, described 4th aperture area
Between, the 5th aperture interval be that the aperture of accelerator pedal is divided that obtain 2 continuous and the opening of non-overlapping copies from 0% to 100%
Degree is interval.
Specifically, corresponding Equations of The Second Kind speed interval, accelerator pedal aperture forms 2 sections of songs with corresponding motor torque values matching
Line.As shown in figure 3, in Equations of The Second Kind Motor torque curve, accelerator pedal aperture has been demarcated 3 keys in 0%～100% and has been opened
Degree, 0%, n% and 100%, in n%～100% aperture interval, motor exports positive torque, interval in 0%～n% aperture
Interior, motor exports 0 moment of torsion.Now, do not redesign counter drag moment of torsion, do not carry out energy regenerating.
Preferably, in embodiments of the present invention, the interval scope of the first aperture of described accelerator pedal aperture be 0%～
M%, wherein, has the m% in the described first aperture interval in the Motor torque curve corresponding to the speed interval of fair speed,
More than the m% having compared with the first aperture interval in the Motor torque curve corresponding to speed interval of low velocity.Using this kind
Method for designing, when speed is higher, will be larger for 0%～m% block design, can be abundant when pure electric automobile is in coasting mode
Recover energy.
Specifically, as shown in Figure 2 and Figure 3, in embodiments of the present invention, described first curved portion, the 3rd curved portion,
The torque value of the 5th curved portion, is all the linear function with accelerator pedal aperture as independent variable.Wherein, pure electronic in order to mention
3rd curved portion, the 5th curved portion also can be designed as cube curve by the acceleration of automobile, with initial for being lifted
Acceleration during acceleration.Specifically, described 3rd curved portion, the torque value of the 5th curved portion, is all to be opened with accelerator pedal
Spend the power function for independent variable, and the index of described power function is more than 1.
Step s104: according to described torque value, control the motor output state of described pure electric automobile, carry out energy and return
Receive.
Wherein, from the foregoing, when travel speed is more than 0, accelerator pedal aperture is in the range of 0%～n%, pure electronic
Automobile is in sliding state.Therefore, control the motor output state of described pure electric automobile in step s104, carry out energy
Specifically include during recovery: judge whether described torque value is less than 0；When judged result is to be, then control described pure electric automobile
Negative torque is counter drags for motor output, carries out energy regenerating.
Specifically, in embodiments of the present invention, the control flow chart of the energy recovery control method of pure electric automobile such as Fig. 4
It is shown, comprising:
Step s401: judge whether pure electric automobile is in coasting mode, judged result is yes, then enter step s402,
Judged result is no, then terminate this flow process；
Wherein, when judging whether pure electric automobile is in coasting mode, mainly to the gear signal of pure electric automobile, system
Dynamic pedal aperture and travel speed are judged, when gear signal is forward, and brake pedal aperture is 0, and travels speed
When degree is more than 0, then judge that pure electric automobile enters coasting mode.
Step s402: start coasting mode accelerator pedal and Motor torque control program；
Step s403: obtain GES and the accelerator opening angle signal of pure electric automobile；
Step s404: the controlling curve that inquiry is demarcated, obtain motor torque values；
Step s405: entire car controller (vcu) starts torque command to electric machine controller (mcu)；
Step s406:mcu controlled motor output torque；
Step s407: realize moment of torsion control under accelerator pedal full gate, the energy regenerating under accelerator pedal small guide vane.
In sum, embodiments of the invention, first pass through design and can export under accelerator pedal small guide vane and counter drag system
The method of dynamic torque is it is achieved that when pure electric automobile is in high speed and the less coasting mode of accelerator pedal aperture, carry out energy
Amount reclaims.Wherein driver can freely control energy regenerating intensity, is not only restricted to the recovery intensity of manufacturer's initial alignment.Its
Secondary by design accelerator pedal aperture 3 segmentation Motor torque curves corresponding with Motor torque it is achieved that when motor output forward direction
During moment of torsion, vehicle is driven to accelerate to advance；When motor exports 0 moment of torsion, vehicle automatic sliding；When motor output negative sense moment of torsion,
Motor rotates backward, and carries out energy regenerating.While meeting driver to pure electric automobile art skating demand it is thus also avoided that
The vehicle that the instantaneous switching of the positive negative torque of motor brings travels irregularity state.
Embodiment two
According to the embodiment of the present invention other side, additionally provide a kind of pure electric automobile energy regenerating control dress
Put 500, as shown in Figure 5, comprising:
Judge module 501, for judging whether pure electric automobile enters coasting mode；
First acquisition module 502, for when the judged result of judge module 501 is for being, obtaining described pure electric automobile
Travel speed and accelerator pedal the first aperture, and determine that First Speed belonging to described travel speed is interval, wherein, in advance
Travel speed is divided into multiple continuous and non-overlapping copies speed intervals；
Second acquisition module 503, the speed interval pre-setting for basis and the corresponding relation of Motor torque curve, really
Fixed corresponding first Motor torque curve interval with described First Speed, and the first aperture according to described accelerator pedal, from institute
State the acquisition torque value corresponding with described first aperture in the first Motor torque curve, wherein, when described speed interval is
When travel speed is more than 0 first kind speed interval, the first kind Motor torque curve corresponding to described first kind speed interval
Include: be in the first interval curved portion of the first aperture corresponding to accelerator pedal aperture, at accelerator pedal aperture
In the second curved portion that the second aperture is interval, and it is in the 3rd interval curve of the 3rd aperture corresponding to accelerator pedal aperture
Part, and the corresponding torque value of the first curved portion is less than 0, the corresponding torque value of the second curved portion is equal to 0, the 3rd curve part
Corresponding torque value is divided to be more than 0, described first aperture is interval, the second aperture is interval and the 3rd aperture interval is to open accelerator pedal
It is interval that degree divides continuous and non-overlapping copies the aperture of 3 obtaining from 0% to 100%；
Control module 504, for according to described torque value, controlling the motor output state of described pure electric automobile, carrying out
Energy regenerating.
Wherein, in embodiments of the present invention, when described speed interval is travel speed from the 0 Equations of The Second Kind speed interval being incremented by
When, the corresponding Equations of The Second Kind Motor torque curve of described Equations of The Second Kind speed interval includes: is in corresponding to accelerator pedal aperture
The 4th interval curved portion of four apertures, is in the 5th interval curved portion of the 5th aperture corresponding to accelerator pedal aperture, and
The corresponding torque value of 4th curved portion is equal to 0, and the corresponding torque value of the 5th curved portion is more than 0, described 4th aperture is interval,
5th aperture interval is that the aperture of accelerator pedal divides from 0% to 100% obtain 2 continuous and the aperture area of non-overlapping copies
Between.
Preferably, in embodiments of the present invention, the interval scope of the first aperture of described accelerator pedal aperture be 0%～
M%, wherein, has the m% in the described first aperture interval in the Motor torque curve corresponding to the speed interval of fair speed,
More than the m% having compared with the first aperture interval in the Motor torque curve corresponding to speed interval of low velocity.Using this kind
Method for designing, when speed is higher, will be larger for 0%～m% block design, can be abundant when pure electric automobile is in coasting mode
Recover energy.
Specifically, as shown in Figure 2 and Figure 3, in embodiments of the present invention, described first curved portion, the 3rd curved portion,
The torque value of the 5th curved portion, is all the linear function with accelerator pedal aperture as independent variable.Wherein, pure electronic in order to mention
3rd curved portion, the 5th curved portion also can be designed as cube curve by the acceleration of automobile, with initial for being lifted
Acceleration during acceleration.Specifically, described 3rd curved portion, the torque value of the 5th curved portion, is all to be opened with accelerator pedal
Spend the power function for independent variable, and the index of described power function is more than 1.
Specifically, as shown in fig. 6, in embodiments of the present invention, described judge module 501 specifically includes:
Acquiring unit 5011, for obtaining gear signal, brake pedal aperture and the traveling speed of described pure electric automobile
Degree；
Identifying unit 5012, for being forward when described gear signal, and described brake pedal aperture is 0, and institute
When stating travel speed more than 0, then judge that described pure electric automobile enters coasting mode.
Specifically, as shown in fig. 6, in embodiments of the present invention, described control module 504 specifically includes:
Judging unit 5041, for judging whether described torque value is less than 0；
Control unit 5042, for when the judged result of described judging unit 5041 is to be, then controlling described pure electronic
Negative torque is counter drags for the motor output of automobile, carries out energy regenerating.
The energy regenerating control device of pure electric automobile provided in an embodiment of the present invention, is judged pure by judge module 501
Whether electric automobile enters coasting mode, and when the judged result of judge module 501 is to be, triggering the first acquisition module 502 obtains
Take the travel speed of described pure electric automobile and the first aperture of accelerator pedal, and determine the first speed belonging to described travel speed
Degree is interval, and then triggers the corresponding relation according to the speed interval pre-setting and Motor torque curve for second acquisition module 503,
Determine corresponding first Motor torque curve interval with described First Speed, and the first aperture according to described accelerator pedal, from
The torque value corresponding with described first aperture is obtained, final trigger control module 504 in described first Motor torque curve
According to described torque value, control the motor output state of described pure electric automobile, carry out energy regenerating.
From the foregoing, in embodiments of the present invention, can be exported under accelerator pedal small guide vane by design and counter drag system
The method of dynamic torque, and accelerator pedal aperture 3 segmentation Motor torque curves corresponding with Motor torque, finally achieve and are sliding
Under row operating mode, energy regenerating is carried out based on accelerator pedal aperture, overcoming in prior art can not be using accelerator pedal to sliding energy
Amount reclaims the shortcoming being controlled, and human pilot can control energy regenerating according to practical situation and the subjective feeling of itself
Intensity, is supplied to the preferable driving experience of passenger.
Embodiment three
According to the other side of the embodiment of the present invention, additionally provide a kind of pure electric automobile, including entire car controller, move
Power power supply, motor, electric machine controller, brake pedal, accelerator pedal, especially also include the energy of pure electric automobile as above
Recovery control device.
Pure electric automobile in the embodiment of the present invention, can be turned round with motor according to accelerator pedal aperture in coasting mode
The corresponding 3 segmentation Motor torque curves of square, obtain motor torque values, and pure electric automobile is at a high speed and accelerator pedal is opened realizing
When spending less coasting mode, while carrying out energy regenerating, also meet driver to pure electric automobile art skating demand,
Avoid the vehicle traveling irregularity state that the instantaneous switching of the positive negative torque of motor brings.
Above-described is the preferred embodiment of the present invention it should be pointed out that the ordinary person for the art comes
Say, some improvements and modifications can also be made under the premise of without departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (15)
1. a kind of energy recovery control method of pure electric automobile is it is characterised in that include:
Judge whether pure electric automobile enters coasting mode；
When judged result is to be, obtains the travel speed of described pure electric automobile and the first aperture of accelerator pedal, and determine
First Speed belonging to described travel speed is interval, wherein, is divided into travel speed multiple continuous and non-overlapping copies in advance
Speed interval；
According to the corresponding relation of the speed interval pre-setting and Motor torque curve, determine interval with described First Speed corresponding
The first Motor torque curve, and the first aperture according to described accelerator pedal, obtain from described first Motor torque curve
The torque value corresponding with described first aperture, wherein, when described speed interval is the first kind speed that travel speed is more than 0
When interval, the first kind Motor torque curve corresponding to described first kind speed interval includes: corresponding to accelerator pedal aperture
It is in the first interval curved portion of the first aperture, be in the second interval curve part of the second aperture corresponding to accelerator pedal aperture
Point, and it is in the 3rd interval curved portion of the 3rd aperture corresponding to accelerator pedal aperture, and the first curved portion is corresponding
Torque value is less than 0, and the corresponding torque value of the second curved portion is equal to 0, and the corresponding torque value of the 3rd curved portion is more than 0, described
First aperture is interval, the second aperture is interval and accelerator pedal aperture is divided from 0% to 100% and obtains by the 3rd aperture interval
3 continuous and non-overlapping copies apertures are interval；
According to described torque value, control the motor output state of described pure electric automobile, carry out energy regenerating.
2. the method for claim 1 is it is characterised in that work as second that described speed interval is incremented by from 0 for travel speed
During class speed interval, the Equations of The Second Kind Motor torque curve corresponding to described Equations of The Second Kind speed interval includes: steps on corresponding to acceleration
Plate aperture is in the 4th interval curved portion of the 4th aperture, is in interval the 5th of the 5th aperture corresponding to accelerator pedal aperture
Curved portion, and the corresponding torque value of the 4th curved portion is equal to 0, the corresponding torque value of the 5th curved portion is more than 0, described the
Four apertures are interval, the 5th aperture interval is that from 0% to 100%, the aperture of accelerator pedal is divided 2 obtaining is continuous and mutually not
Overlapping aperture is interval.
3. the method for claim 1 is it is characterised in that the described step judging whether pure electric automobile enters coasting mode
Suddenly specifically include:
Obtain gear signal, brake pedal aperture and the travel speed of described pure electric automobile；
When described gear signal is forward, and described brake pedal aperture is 0, and when described travel speed is more than 0, then sentences
Fixed described pure electric automobile enters coasting mode.
4. the method for claim 1 it is characterised in that described according to described torque value, control described pure electric automobile
Motor output state, the step carrying out energy regenerating includes:
Judge whether described torque value is less than 0；
When judged result is to be, then negative torque is counter to drag to control the motor of described pure electric automobile to export, and carries out energy regenerating.
5. the method for claim 1 it is characterised in that
The scope that first aperture of described accelerator pedal aperture is interval is 0%～m%, wherein, has the speed area of fair speed
Between the interval m% of described first aperture in corresponding Motor torque curve, more than the speed interval institute having compared with low velocity
The interval m% of the first aperture in corresponding Motor torque curve.
6. method as claimed in claim 2 it is characterised in that
Described first curved portion, the 3rd curved portion, the torque value of the 5th curved portion, be all with accelerator pedal aperture be from
The linear function of variable.
7. method as claimed in claim 2 it is characterised in that
Described 3rd curved portion, the torque value of the 5th curved portion, are all the power functions with accelerator pedal aperture as independent variable,
And the index of described power function is more than 1.
8. a kind of energy regenerating control device of pure electric automobile is it is characterised in that include:
Judge module, for judging whether pure electric automobile enters coasting mode；
First acquisition module, for when the judged result of judge module is for being, obtaining the travel speed of described pure electric automobile
With the first aperture of accelerator pedal, and determine that First Speed belonging to described travel speed is interval, wherein, in advance by travel speed
It is divided into multiple continuous and non-overlapping copies speed intervals；
Second acquisition module, for the corresponding relation according to the speed interval pre-setting and Motor torque curve, determines and institute
State the interval corresponding first Motor torque curve of First Speed, and the first aperture according to described accelerator pedal, from described first
The torque value corresponding with described first aperture is obtained, wherein, when described speed interval is traveling speed in Motor torque curve
When degree is more than 0 first kind speed interval, the first kind Motor torque curve corresponding to described first kind speed interval includes:
It is in the first interval curved portion of the first aperture corresponding to accelerator pedal aperture, be in second corresponding to accelerator pedal aperture and open
The second interval curved portion of degree, and it is in the 3rd interval curved portion of the 3rd aperture corresponding to accelerator pedal aperture, and
The corresponding torque value of first curved portion is less than 0, and the corresponding torque value of the second curved portion is equal to 0, and the 3rd curved portion corresponds to
Torque value be more than 0, described first aperture is interval, the second aperture is interval and the 3rd aperture interval be by accelerator pedal aperture from
3 continuous and non-overlapping copies apertures that 0% to 100% division obtains are interval；
Control module, for according to described torque value, controlling the motor output state of described pure electric automobile, carrying out energy and return
Receive.
9. device as claimed in claim 8 is it is characterised in that work as second that described speed interval is incremented by from 0 for travel speed
During class speed interval, the Equations of The Second Kind Motor torque curve corresponding to described Equations of The Second Kind speed interval includes: steps on corresponding to acceleration
Plate aperture is in the 4th interval curved portion of the 4th aperture, is in interval the 5th of the 5th aperture corresponding to accelerator pedal aperture
Curved portion, and the corresponding torque value of the 4th curved portion is equal to 0, the corresponding torque value of the 5th curved portion is more than 0, described the
Four apertures are interval, the 5th aperture interval is that from 0% to 100%, the aperture of accelerator pedal is divided 2 obtaining is continuous and mutually not
Overlapping aperture is interval.
10. device as claimed in claim 8 is it is characterised in that described judge module specifically includes:
Acquiring unit, for obtaining gear signal, brake pedal aperture and the travel speed of described pure electric automobile；
Identifying unit, for being forward when described gear signal, and described brake pedal aperture is 0, and described traveling speed
When degree is more than 0, then judge that described pure electric automobile enters coasting mode.
11. devices as claimed in claim 8 are it is characterised in that described control module specifically includes:
Judging unit, for judging whether described torque value is less than 0；
Control unit, for when the judged result of described judging unit is to be, then controlling the motor of described pure electric automobile defeated
Go out that negative torque is counter to drag, carry out energy regenerating.
12. devices as claimed in claim 8 it is characterised in that
The scope that first aperture of described accelerator pedal aperture is interval is 0%～m%, wherein, has the speed area of fair speed
Between the interval m% of described first aperture in corresponding Motor torque curve, more than the speed interval institute having compared with low velocity
The interval m% of the first aperture in corresponding Motor torque curve.
13. devices as claimed in claim 9 it is characterised in that
Described first curved portion, the 3rd curved portion, the torque value of the 5th curved portion, be all with accelerator pedal aperture be from
The linear function of variable.
14. devices as claimed in claim 9 it is characterised in that
Described 3rd curved portion, the torque value of the 5th curved portion, are all the power functions with accelerator pedal aperture as independent variable,
And the index of described power function is more than 1.
A kind of 15. pure electric automobiles, step on including entire car controller, electrical source of power, motor, electric machine controller, brake pedal, acceleration
Plate is it is characterised in that also include the energy regenerating control device of pure electric automobile as described in any one of claim 8～14.
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| CN201610968637.9A CN106347138B (en) | 2016-10-27 | 2016-10-27 | A kind of energy recovery control method of pure electric automobile, device and pure electric automobile |
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| CN113291161B (en) * | 2021-05-21 | 2024-01-26 | 上海智蕙林医疗科技有限公司 | AGV trolley and method for automatically preventing sliding |
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