CN106904079A - A kind of regenerating brake control method of pure electric automobile - Google Patents
A kind of regenerating brake control method of pure electric automobile Download PDFInfo
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- CN106904079A CN106904079A CN201710108080.6A CN201710108080A CN106904079A CN 106904079 A CN106904079 A CN 106904079A CN 201710108080 A CN201710108080 A CN 201710108080A CN 106904079 A CN106904079 A CN 106904079A
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- 230000001172 regenerating effect Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000008859 change Effects 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 230000008929 regeneration Effects 0.000 claims description 6
- 238000011069 regeneration method Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
Classifications
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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
- B60L7/18—Controlling the braking effect
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of regenerating brake control method of pure electric automobile, methods described includes：During release the gas pedal makes the car deceleration, aperture according to accelerator pedal calculates operator demand's torque in real time, when the operator demand's torque for being calculated is Return moment, if do not detect brake pedal, then only control motor exports Return moment, otherwise, then motor output Return moment and hydraulic brake unit output hydraulic pressure brake force are controlled simultaneously.Control method of the invention realizes automobile on the basis of Conventional braking systems are not changed, certain decoupling relation of Return moment size and accelerator pedal aperture in moderating process, both cost-effective easy realization, the kinetic energy of automobile can be converted into electrical power storage to battery with as much as possible again, improve vehicle capacity usage ratio.
Description
Technical field
The present invention relates to a kind of regenerating brake control method of pure electric automobile, and in particular to one kind can be stepped on according to acceleration
Plate aperture changes motor braking power to change vehicle deceleration, and the pure electric automobile of participation of brake pedal is reduced as far as possible again
Raw brake control method.
Background technology
As the mankind are to the pay attention to day by day of natural environment, in the mankind's daily generation, is increasingly turned into the electric automobile of pure driven by power
The instrument of step.During the traveling of electric automobile, how to ensure that energy consumption minimized is the problem of people's pay attention to day by day.In braking
During, regenerative braking is carried out to automobile and is controlled to the conservation measures for generally using at present.
Disclosed in patent document 1 (CN201510254734.7) a kind of pure electric automobile single pedal control system and its
Method, system includes single pedal, entire car controller, electric machine controller and brakes master cylinder pressure adjuster.What is be segmented singly steps on
Plate can meet vehicle forward/rewind, slide and the transport condition such as brake, so as to by traditional two pedals or three pedal structures
Operation be reduced to " deep pedal vehicle operation, middle pedal vehicle sliding, shallow pedal vehicle braking, release pedal vehicle stop
Single pedal control only ".A kind of pure electric automobile energy regenerating regeneration is disclosed in patent document 2 (CN201410384563.5)
Brake control method, has designed and developed based on the pure of drive shaft moment information primarily directed to the braking procedure in pure electric automobile
Electric automobile energy reclaiming brake control method, the drive signal sent with pilot model, brake signal and motor
Rotating speed, battery SOC state, cell voltage, speed and drive shaft moment information are input, with controlled output mechanical braking signal and
The size of the torque demand of motor is modeled.Patent document 3 (CN201210295947.0) discloses a kind of extended-range
Brake energy recovering system of electric vehicle, including brake pedal signal processing module, accelerator pedal signal processing module, gear signal
Processing module, master cylinder pressure signal detection module, diagnostic circuit module, brake energy recovering system control unit, ABS
Dead control unit, braking anti-lock solenoid valve driving module, braking anti-lock pump motor drive module, starting/power generation all-in-one machine
Control unit, starting/power generation all-in-one machine motor, electrokinetic cell and battery management system, motor control unit and driving electricity
Machine.
For the control method described in patent document 1, mainly describe using single pedal stroke and brakes master cylinder pressure
Draught control mechanism, is braked in single pedal small guide vane using Conventional braking systems, does not carry out Brake energy recovery using electric system,
Kinetic energy is converted into thermal waste, and the characteristics of do not embody new-energy automobile, and this single pedal fully phases out brake pedal, medium and small to open
Vehicle cannot be driven when spending；For the control method described in patent document 2 and patent document 3, be gas pedal aperture be 0
Or can just have energy regenerating, the finite energy for so reclaiming during brake pedal, and it is traditional some kinetic energy
Braking heating is slatterned.
Therefore, it can sum up, current electric automobile regenerative brake control system mainly uses following two modes：The
One kind, non-decoupling formula regeneration brake system, does not change Conventional braking systems, and a fixed motor is applied in the vehicle sliding stage
Brake force, in deboost phase superimposed motor brake force and hydraulic braking force.This kind of system, it is easy to use, but coast period
Motor braking power driver can not manual control, if if calibrated big driving sensation it is bad, demarcate it is too small recover energy it is limited, system
The dynamic stage understands the energy of some and is converted into thermal waste again.Second, decoupling type regeneration brake system changes tradition system
Dynamic system, also applies a fixed motor braking power, in deboost phase entire car controller according to speed in the vehicle sliding stage
With master cylinder pressure reasonable distribution motor braking power and hydraulic braking force, the participation of hydraulic braking force is reduced, improve energy and return
Yield.But, this kind of system development cycle is long, technical difficulty big, many to traditional braking part change place, and cost increases greatly.
It would therefore be highly desirable to one kind occur can realize regeneration system on the premise of Conventional braking systems and increase cost are not changed
The appearance of dynamic control measure.
The content of the invention
In view of the above problems, the present invention is intended to provide a kind of control method of pure electric automobile, it is intended to accelerated by adjusting
Pedal aperture, is reached and changes the effect that motor braking power changes vehicle deceleration, and the participation of brake pedal is reduced as far as possible, improves energy
The amount rate of recovery.
The technical solution adopted by the present invention is：
Embodiments of the invention provide a kind of regenerating brake control method of pure electric automobile, and methods described includes：In pine
During opening accelerator pedal and making the car deceleration, GES, pedal position signal and battery based on real-time detection can
Operator demand's torque is calculated in real time with charge-discharge electric power signal, when judging that calculated operator demand's torque is feedback force
During square, if not detecting brake pedal, control the automobile to enter regenerative braking and control the stage, otherwise, then control
Make the automobile and control the stage into Associated brake, wherein, the regenerative braking control stage includes：Control motor output
First Return moment is simultaneously applied to the road wheel end of the automobile so that the automobile subtracts in the presence of first Return moment
Speed traveling, first Return moment changes with the change in location of accelerator pedal；The Associated brake stage includes：Control is driven
Dynamic motor export the second Return moment and control hydraulic brake unit output hydraulic pressure brake force and by second Return moment with
The hydraulic braking force is applied to the road wheel end of the automobile so that the automobile is in second Return moment and the hydraulic pressure
Reduced Speed Now under the double action of brake force, second Return moment changes with the change in location of accelerator pedal.
Alternatively, in the regenerative braking control stage, if detecting brake pedal, into the joint
The control for brake stage.
Alternatively, in the regenerative braking control stage, if detecting ABS trigger signals, make described first time
Feedback torque is reduced to 0, terminates the regenerative braking control stage.
Alternatively, in the Associated brake control stage, if detecting ABS trigger signals, make described second time
Feedback torque is reduced to 0, the hydraulic braking force is adjusted with ABS.
Alternatively, during in release the gas pedal to 30% position less than accelerator travel, the driver for calculating needs
It is Return moment to seek torque.
Alternatively, when the operator demand's torque for being calculated is 0, the motor is controlled to be in turning state.
Alternatively, when accelerator pedal is maintained at 30% position of accelerator travel, the driver demand force for calculating
Square is 0.
Compared with prior art, the control method of pure electric automobile of the invention need not change Conventional braking systems, just
Good regenerative braking result can be realized, cost, energy-saving effect and 0.2g decoupling type regenerative brakings system are not increased compared with traditional vehicle
System is suitable.
Brief description of the drawings
Fig. 1 is the topological diagram of the regenerative brake control system of pure electric automobile of the invention.
Fig. 2 is the schematic flow sheet of the regenerating brake control method of the pure electric automobile of one embodiment of the invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
Fig. 1 is the topological diagram of the regenerative brake control system of pure electric automobile of the invention.Fig. 2 is one embodiment of the invention
Pure electric automobile regenerating brake control method schematic flow sheet.
The hardware system (generation control system) applied in the present invention is introduced with reference to Fig. 1 first.As shown in figure 1,
The generation control system that the present invention is used may include entire car controller 6, motor 2, electric machine controller 4, battery management system,
Anti-blocking brake system abs controller 3, accelerator pedal 7, brake pedal 8 and hydraulic brake unit 1, the accelerator pedal 7 and institute
State brake pedal 8 and include position sensor, the electric machine controller, the battery management system and the anti-blocking brake system
Information exchange is realized by CAN 5 and entire car controller 6, the accelerator pedal 7, the brake pedal 8 by rigid line with it is whole
Vehicle controller 6 is connected, and described motor 2 is connected by mechanically connecting with wheel, and the hydraulic brake unit 1 passes through liquid
Pressure pipe road is connected with wheel.These structures of generation control system omit detailed Jie to them similarly to the prior art, herein
Continue.That is, the regenerating brake control method of pure electric automobile provided in an embodiment of the present invention, it is not necessary to the tradition of automobile
Brakes is transformed, and is only achieved that using existing brakes.
In regenerative braking control process of the invention, involved control signal mainly includes GES, driver
Demand torque signals, acceleration pedal position signal, brake pedal switch signal, motor torque signal, battery can use charge and discharge electric work
Rate signal, ABS trigger signals, brake fluid system master cylinder pressure signal.Wherein, GES reacts current automobile speed, can
Obtained according to vehicle speed sensor detection；Operator demand's torque signal reaction entire car controller is according to accelerator pedal position and speed
The driving for calculating or feedback demand torque；Acceleration pedal position signal reacts accelerator pedal aperture size, can be stepped on according to acceleration
The position sensor detection of plate is obtained；Brake pedal switch signal reaction whether brake pedal, can be according to brake pedal
Position sensor detection is obtained；Based on operator demand's torque, motor is applied to road wheel end to motor torque signal reaction
Drive or Return moment；The charge-discharge electric power that battery be able to can currently be provided with charge-discharge electric power signal reaction battery, according to electricity
Cell voltage is calculated；ABS trigger signals react whether current wheel trackslips, and can be calculated according to wheel slip；Hydraulic pressure
The actually applied brake force size of brakes master cylinder pressure signal reaction brakes (hydraulic brake unit).
Hereinafter, the regenerating brake control method of pure electric automobile of the invention is introduced with reference to Fig. 2.
A kind of regenerating brake control method of pure electric automobile that the present invention is provided includes：Make in release the gas pedal described
During car deceleration, sensor real-time detection GES, pedal position signal and the battery carried by automobile can fill
Discharge condition signal, GES, pedal position signal and the battery that entire car controller 6 is based on detection can be believed with charge-discharge electric power
Number come calculate operator demand's torque in real time, when entire car controller 6 calculate operator demand's torque be Return moment when, if
When not detecting brake pedal, then control automobile to enter regenerative braking and control the stage, otherwise, then control automobile to enter connection
Close the control for brake stage.When driving, when driver needs to slow down, can release the gas pedal (i.e. accelerator pedal aperture
Position diminishes), until sense of slowing down reaches the expection of driver, Return moment is during deceleration.Wherein, the regenerative braking control
Stage may include：Control motor exports the first Return moment and is applied to the road wheel end of the automobile so that the automobile
The Reduced Speed Now in the presence of first Return moment, first Return moment becomes with the change in location of accelerator pedal
Change；The Associated brake stage includes：Control motor exports the second Return moment and control hydraulic brake unit output liquid
Suppress power and second Return moment and the hydraulic braking force are applied to the road wheel end of the automobile so that the vapour
Car Reduced Speed Now under the double action of second Return moment and the hydraulic braking force, second Return moment with plus
The change in location of speed pedal and change.In the operator demand's torque in calculating the present invention, the current vehicle speed of detection can be based on
Signal, acceleration pedal position signal and battery can be obtained with charge-discharge electric power signal using look-up table.
Additionally, in the regenerative braking control stage, if detecting brake pedal, entering the joint system
The dynamic control stage；If detecting ABS trigger signals, first Return moment is reduced to 0, terminate the regenerative braking control
Stage processed.In the Associated brake control stage, if detecting ABS trigger signals, drop second Return moment
It is 0, the hydraulic braking force is adjusted with ABS.In an example of the invention, in release the gas pedal to less than accelerator pedal
During 30% position of stroke, entire car controller goes out operator demand's torque for Return moment according to the signal of change for being detected.This
Outward, when the operator demand's torque for being calculated is 0, the motor is controlled to be in turning state.Kept in accelerator pedal
At 30% position of accelerator travel, it is 0 that entire car controller goes out operator demand's torque according to the signal of change for being detected.
That is, during the Reduced Speed Now of automobile, if being feedback in the operator demand's torque for sometime calculating
During torque, if not detecting brake pedal now, 6 control motors of entire car controller apply and are calculated
The corresponding Return moment of operator demand's torque carry out regenerative braking so that automobile only slows down in the presence of motor
Traveling, if detecting ABS trigger signals during the traveling, entire car controller 6 controls motor by Return moment
0 is reduced to, terminates the regenerative braking control stage；If in moderating process, detecting brake-pedal travel signal i.e. expression and stepping on
Brake pedal, then the control of entire car controller 6 motor exports Return moment, while controlling the output hydraulic pressure of hydraulic brake unit 1
Brake force carries out Associated brake, and now automobile slows down under the double action of Return moment and hydraulic braking force, in the deceleration
During, if detecting ABS trigger signals during the traveling, entire car controller 6 is by the Return moment during this
0 is reduced to, and hydraulic braking force is adjusted with ABS, the process can be described as the first process of regenerative braking (then to be had with reference to Fig. 2
Body is described).If when the operator demand's torque for sometime calculating is Return moment, and being now detected simultaneously by stepping on system
Dynamic pedal, then the control of entire car controller 6 motor exports Return moment, while controlling the output hydraulic pressure system of hydraulic brake unit 1
Power carries out Associated brake, and now automobile slows down under the double action of Return moment and hydraulic braking force, slowed down at this
Cheng Zhong, if detecting ABS trigger signals during the traveling, the Return moment during this drops in entire car controller 6
It is 0, and hydraulic braking force is adjusted with ABS.If not detecting ABS trigger signals, car is in Return moment and hydraulic pressure system
Slow down under the double action of power until stopping.
As shown in Fig. 2 the first process of regenerative braking may particularly include following steps：
S1：Release the gas pedal；
S2：Operator demand's torque is calculated in real time and judges whether operator demand's torque is Return moment, if it is not,
Then return to step S1, continues to judge whether operator demand's torque is Return moment, if it is determined that operator demand's torque is back
During feedback torque, then into following step S3；
S3：Control motor applies Return moment and comes into effect regenerative braking control；
S4：Judge whether trigger ABS during regenerative braking is come into effect, if triggering ABS, cause to drive
The Return moment of dynamic motor is reduced to 0, and terminates regenerative braking control, otherwise, into following step S5；
S5：Operator demand's torque is calculated in real time and controls the motor real-time based on operator demand's torque of calculating
Apply Return moment；
S6：Judge in real time apply Return moment during whether brake pedal, if do not step on braking stepped on
Plate, then control motor to apply Return moment in real time, and terminate again based on the operator demand's torque calculated in step S5
Raw control for brake, otherwise, then into following step S7；
S7：Operator demand's torque is calculated in real time and controls the motor real-time based on operator demand's torque of calculating
Apply Return moment and hydraulic brake unit applies hydraulic braking force to implement Associated brake control；S8：Judge implementing to combine
During braking, if trigger ABS, if triggering ABS, such that the Return moment of motor is reduced to 0 and causes
Hydraulic braking force is adjusted with ABS, and terminates Associated brake control, otherwise, into following step S9；
S9：Return moment and hydraulic pressure system are applied based on operator demand's torque control motor that step S7 is calculated in real time
Moving cell applies hydraulic braking force.The Return moment that motor applies is that the operator demand's moment of torsion for calculating subtracts hydraulic braking
Power, if operator demand's moment of torsion is less than hydraulic braking force, Return moment is zero.
When regenerative braking control is carried out to pure electric automobile using regenerating brake control method of the invention, can be by automobile
Reduced Speed Now process be divided into coast period, regenerative braking stage and Associated brake stage, wherein, coast period be driver need
It is the stage of 0 (keeping accelerator pedal in the position of pedal travel 30%) to seek torque, and the regenerative braking stage is demand Return moment
In (release the gas pedal to the position less than pedal travel 30%) and the stage without brake pedal, this stage is only driving
Slow down under the Return moment of motor, the Associated brake stage is that (release the gas pedal is to less than pedal travel for demand Return moment
30% position) and stage of brake pedal simultaneously, this stage is double motor Return moment and hydraulic braking force
The lower deceleration of recast.Specifically, moderating process each stage of automobile is carried out again using regenerating brake control method of the invention
The method of raw control for brake can be as follows：
1) coast period：This stage entire car controller can use according to GES, acceleration pedal position signal and battery and fill
It is 0 that discharge power signal of change goes out operator demand's torque, and motor neither applies driving moment nor applies Return moment, motor
In with turning state.
2) the regenerative braking stage：This stage entire car controller can according to GES, acceleration pedal position signal and battery
Go out operator demand's Return moment with charge-discharge electric power signal of change, Return moment changes and changes with accelerator pedal position, when
When accelerator pedal position is 0, Return moment is maximum, and operator demand's torque signal passes to electric machine controller by CAN,
Electric machine controller is based on operator demand's signal generation motor torque signal, to control the motor will be with the operator demand
The first corresponding Return moment of signal is applied to road wheel end so that pure electric automobile subtracts in the presence of first Return moment
Speed.During car deceleration, if triggering ABS signals, entire car controller can rapidly cancel first Return moment so that
First Return moment is reduced to 0.If not triggering ABS signals, automobile slow down in the presence of the first Return moment until
Stop.
3) the Associated brake stage：This stage entire car controller calculates driver according to speed and acceleration pedal position signal
Demand Return moment, Return moment changes and changes with accelerator pedal position, and when accelerator pedal position is 0, Return moment is most
Greatly, operator demand's torque signal passes to electric machine controller by CAN, and electric machine controller is believed based on the operator demand
Number generation motor torque signal, to control motor to apply second Return moment corresponding with operator demand's signal
To road wheel end, the second Return moment subtracts hydraulic braking force for operator demand's moment of torsion, if demand torque is less than hydraulic braking
Power, then the second Return moment is zero.Hydraulic brake unit applies hydraulic braking force to road wheel end according to master cylinder pressure signal.Such as
This, automobile slows down under the double action of the second Return moment and hydraulic braking force.During car deceleration, if triggering
ABS signals, then entire car controller cancel motor Return moment rapidly so that the second Return moment is reduced to 0, hydraulic braking force with
ABS is adjusted.If not triggering ABS signals, automobile slows down under the double action of the second Return moment and hydraulic braking force
Until stopping.
Additionally, regenerating brake control method of the invention can be also used for automobile drive traveling during.For example,
During stationary vehicle, when detecting bend the throttle 7, or, in vehicle traveling, detect and step on the accelerator pedal position
Positioned at more than pedal travel 30% when, entire car controller 6 be based on detection current vehicle speed signal, acceleration pedal position signal and
It is driving moment that battery can go out operator demand's torque with charge-discharge electric power signal of change, then by CAN 5 by with calculate
The corresponding operator demand's torque signal transmission of driving moment gives the electric machine controller 4, and then the control of electric machine controller 4 institute
State motor 2 and required driving moment be applied to road wheel end so that the automobile accelerate in the presence of driving moment to
Before.
To sum up, in vehicle travel process, entire car controller is according to current vehicle speed and accelerator opening angle signal and battery
Charge-discharge electric power signal can be used, operator demand's torque is calculated in real time.When driver's release the gas pedal is to certain aperture, need
Asking torque to turn to Return moment by driving moment change carries out regenerative braking, and the size of Return moment is with speed and accelerator pedal aperture
Signal intensity and change.The regenerating brake control method realizes automobile on the basis of Conventional braking systems are not changed, and slows down
During Return moment size and accelerator pedal aperture certain decoupling relation, i.e. Return moment size becomes with accelerator pedal aperture
Change and change, both cost-effective easy realizations, vehicle deceleration can be realized by Return moment again and as much as possible by automobile
Kinetic energy be converted into electrical power storage in battery, improve vehicle capacity usage ratio.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of regenerating brake control method of pure electric automobile, it is characterised in that methods described includes：In release the gas pedal
During making the car deceleration, GES, pedal position signal and battery based on real-time detection can use charge and discharge electric work
Rate signal calculates operator demand's torque in real time,
When calculated operator demand's torque is judged as Return moment, if not detecting brake pedal, control
Make the automobile and control the stage into regenerative braking, otherwise, then control the automobile to enter Associated brake and control the stage,
Wherein, the regenerative braking controls the stage to include：Control motor exports the first Return moment and is applied to the vapour
The road wheel end of car so that automobile Reduced Speed Now in the presence of first Return moment, first Return moment with
The change in location of accelerator pedal and change；
The Associated brake stage includes：Control motor exports the second Return moment and control hydraulic brake unit output liquid
Suppress power and second Return moment and the hydraulic braking force are applied to the road wheel end of the automobile so that the vapour
Car Reduced Speed Now under the double action of second Return moment and the hydraulic braking force, second Return moment with plus
The change in location of speed pedal and change.
2. the regenerating brake control method of pure electric automobile according to claim 1, it is characterised in that in the regeneration system
In the dynamic control stage, if detecting brake pedal, enter the Associated brake and control the stage.
3. the regenerating brake control method of pure electric automobile according to claim 1, it is characterised in that in the regeneration system
In the dynamic control stage, if detecting ABS trigger signals, first Return moment is reduced to 0, terminate the regenerative braking
The control stage.
4. the regenerating brake control method of pure electric automobile according to claim 1 and 2, it is characterised in that described
Close in the control for brake stage, if detecting ABS trigger signals, second Return moment is reduced to 0, make the hydraulic pressure system
Power is adjusted with ABS.
5. the regenerating brake control method of pure electric automobile according to claim 1, it is characterised in that stepped on acceleration is unclamped
During plate to 30% position for being less than accelerator travel, the operator demand's torque for calculating is Return moment.
6. the regenerating brake control method of pure electric automobile according to claim 1, it is characterised in that when driving for being calculated
When the person's of sailing demand torque is 0, the motor is controlled to be in turning state.
7. the regenerating brake control method of pure electric automobile according to claim 6, it is characterised in that protected in accelerator pedal
Hold at 30% position of accelerator travel, the operator demand's torque for calculating is 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108080.6A CN106904079A (en) | 2017-02-27 | 2017-02-27 | A kind of regenerating brake control method of pure electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108080.6A CN106904079A (en) | 2017-02-27 | 2017-02-27 | A kind of regenerating brake control method of pure electric automobile |
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| CN106904079A true CN106904079A (en) | 2017-06-30 |
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| CN201710108080.6A Pending CN106904079A (en) | 2017-02-27 | 2017-02-27 | A kind of regenerating brake control method of pure electric automobile |
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| CN108177639A (en) * | 2018-01-11 | 2018-06-19 | 威马智慧出行科技（上海）有限公司 | For the emergency braking system and method and electric vehicle of electric vehicle |
| CN109084995A (en) * | 2018-08-30 | 2018-12-25 | 安徽江淮汽车集团股份有限公司 | A kind of braking energy of electric automobiles recycling test method and system |
| CN110641429A (en) * | 2018-06-25 | 2020-01-03 | 比亚迪股份有限公司 | Vehicle control method and system and vehicle |
| CN111038270A (en) * | 2019-12-30 | 2020-04-21 | 华人运通(江苏)技术有限公司 | Energy feedback control method and device for vehicle, vehicle and storage medium |
| CN111660823A (en) * | 2020-06-24 | 2020-09-15 | 南京汽车集团有限公司 | Control method based on brake regeneration of hydraulic energy storage system of pure electric truck |
| CN111890947A (en) * | 2020-07-17 | 2020-11-06 | 北京新能源汽车技术创新中心有限公司 | Brake control method of pure electric vehicle in automatic driving mode |
| CN112158187A (en) * | 2020-09-17 | 2021-01-01 | 中国第一汽车股份有限公司 | Deceleration control method under brake disc heat fading working condition |
| CN112498121A (en) * | 2019-09-16 | 2021-03-16 | 北京车和家信息技术有限公司 | Control method of electric automobile and electric automobile |
| CN112677772A (en) * | 2020-12-31 | 2021-04-20 | 华南理工大学 | Automobile regenerative braking control system and method based on electronic hydraulic braking |
| CN112721655A (en) * | 2021-01-22 | 2021-04-30 | 浙江合众新能源汽车有限公司 | Regenerative braking energy recovery control device and control method for electric automobile |
| CN113002319A (en) * | 2019-12-20 | 2021-06-22 | 北京宝沃汽车股份有限公司 | Vehicle control method and device and vehicle |
| CN113119741A (en) * | 2019-12-30 | 2021-07-16 | 观致汽车有限公司 | Deceleration control assembly for electric vehicle, control method and electric vehicle |
| CN114312349A (en) * | 2022-01-04 | 2022-04-12 | 大运汽车股份有限公司 | Pure electric vehicle slow speed driving method |
| CN114537155A (en) * | 2020-11-26 | 2022-05-27 | 北京新能源汽车股份有限公司 | Method and device for determining output torque of motor and electric vehicle |
| WO2022126356A1 (en) * | 2020-12-15 | 2022-06-23 | 智马达汽车有限公司 | Brake control method, brake control device and electric vehicle |
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| CN107499143A (en) * | 2017-08-11 | 2017-12-22 | 上海蓥石汽车技术有限公司 | A kind of expansible regenerative brake control system |
| CN108177639A (en) * | 2018-01-11 | 2018-06-19 | 威马智慧出行科技（上海）有限公司 | For the emergency braking system and method and electric vehicle of electric vehicle |
| CN110641429A (en) * | 2018-06-25 | 2020-01-03 | 比亚迪股份有限公司 | Vehicle control method and system and vehicle |
| CN110641429B (en) * | 2018-06-25 | 2021-09-21 | 比亚迪股份有限公司 | Vehicle control method and system and vehicle |
| CN109084995A (en) * | 2018-08-30 | 2018-12-25 | 安徽江淮汽车集团股份有限公司 | A kind of braking energy of electric automobiles recycling test method and system |
| CN112498121A (en) * | 2019-09-16 | 2021-03-16 | 北京车和家信息技术有限公司 | Control method of electric automobile and electric automobile |
| CN113002319A (en) * | 2019-12-20 | 2021-06-22 | 北京宝沃汽车股份有限公司 | Vehicle control method and device and vehicle |
| CN111038270A (en) * | 2019-12-30 | 2020-04-21 | 华人运通(江苏)技术有限公司 | Energy feedback control method and device for vehicle, vehicle and storage medium |
| CN111038270B (en) * | 2019-12-30 | 2021-03-02 | 华人运通(江苏)技术有限公司 | Energy feedback control method and device for vehicle, vehicle and storage medium |
| CN113119741A (en) * | 2019-12-30 | 2021-07-16 | 观致汽车有限公司 | Deceleration control assembly for electric vehicle, control method and electric vehicle |
| CN111660823A (en) * | 2020-06-24 | 2020-09-15 | 南京汽车集团有限公司 | Control method based on brake regeneration of hydraulic energy storage system of pure electric truck |
| CN111890947A (en) * | 2020-07-17 | 2020-11-06 | 北京新能源汽车技术创新中心有限公司 | Brake control method of pure electric vehicle in automatic driving mode |
| CN112158187A (en) * | 2020-09-17 | 2021-01-01 | 中国第一汽车股份有限公司 | Deceleration control method under brake disc heat fading working condition |
| CN114537155B (en) * | 2020-11-26 | 2024-04-02 | 北京新能源汽车股份有限公司 | Method and device for determining motor output torque and electric automobile |
| CN114537155A (en) * | 2020-11-26 | 2022-05-27 | 北京新能源汽车股份有限公司 | Method and device for determining output torque of motor and electric vehicle |
| WO2022126356A1 (en) * | 2020-12-15 | 2022-06-23 | 智马达汽车有限公司 | Brake control method, brake control device and electric vehicle |
| CN112677772A (en) * | 2020-12-31 | 2021-04-20 | 华南理工大学 | Automobile regenerative braking control system and method based on electronic hydraulic braking |
| CN112677772B (en) * | 2020-12-31 | 2022-03-29 | 华南理工大学 | Control method of automobile regenerative braking control system based on electronic hydraulic braking |
| CN112721655A (en) * | 2021-01-22 | 2021-04-30 | 浙江合众新能源汽车有限公司 | Regenerative braking energy recovery control device and control method for electric automobile |
| CN114312349A (en) * | 2022-01-04 | 2022-04-12 | 大运汽车股份有限公司 | Pure electric vehicle slow speed driving method |
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