CN106926709A - Brake power recovering device, method and LEV - Google Patents
Brake power recovering device, method and LEV Download PDFInfo
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- CN106926709A CN106926709A CN201511021478.3A CN201511021478A CN106926709A CN 106926709 A CN106926709 A CN 106926709A CN 201511021478 A CN201511021478 A CN 201511021478A CN 106926709 A CN106926709 A CN 106926709A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001172 regenerating effect Effects 0.000 claims abstract description 66
- 238000011084 recovery Methods 0.000 claims abstract description 39
- 238000009434 installation Methods 0.000 claims abstract description 36
- 230000001133 acceleration Effects 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 6
- 238000011105 stabilization Methods 0.000 description 6
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 230000001143 conditioned effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
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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
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D61/00—Brakes with means for making the energy absorbed available for use
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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
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
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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
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
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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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/602—ABS features related thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/611—Engine braking features related thereto
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a kind of method for recovering brake energy, for LEV, including：Detect the transport condition parameter of LEV；When LEV is braked, according to the transport condition of LEV, different energy regenerating strategies are performed.The present invention is also disclosed that a kind of energy-recuperation system (200), including：The electronic-controlled installation (101 ') of anti-lock braking controller (212), control loop；Anti-lock braking controller (212) sends vehicle running state parameter to electronic-controlled installation (101 '), and electronic-controlled installation (101 ') control carries out Brake energy recovery.The present invention is it is also disclosed that a kind of electronic-controlled installation (101).By the present invention, so that after LEV is particularly anti-lock braking system intervention control in braking procedure, the strategy of different energy regeneratings can be set according to different transport conditions, so that LEV realizes most efficient Brake energy recovery in braking procedure, while having taken into account the braking ability of LEV.
Description
Technical field
The present invention relates to LEV Driving control field, a kind of particularly braking energy
Retracting device, method；The invention further relates to a kind of LEV.
Background technology
LEV includes Segway Human Transporter, electric bicycle, power-assisted, electronic rubs
Motorcycle etc..In recent years, 100 public affairs are typically smaller than as drive energy, weight using battery and motor
Jin, the LEV with two or three wheels obtain significant progress.LEV
Travel speed it is relatively fast, exercising condition is relative complex, and landform can be subject in the process of moving
With the limitation of traffic conditions.Driver needs to be braked according to surface conditions at any time, makes vehicle deceleration
Or parking.And in order to increase continuation of the journey course, LEV generally also includes energy recycle device,
The principle of most energy recycle device is that kinetic energy when LEV is braked is converted into electricity
Can, the battery to LEV is charged.
By taking two-wheeled LEV as an example, traditional mode of braking individually controls front and back wheel to brake,
The braking that braking hub cap is carried out to vehicle before and after by the way that two brake cables are each connected.When tight
When bringing to a halt, brake force increases suddenly, if brake force is more than tire and the frictional force on ground,
Wheel will stop operating completely, produce so-called " locking " phenomenon.Now wheel lock up causes
Wheel is wholly absent to the adhesive force on ground, and wheel is slided along road surface so that LEV loses
Stability is gone, caused skidding, run tail etc., LEV is out of hand to cause contingency
Occur.Greatly influence the driving safety of LEV.In order to solve the problems, such as wheel lock up,
The installing wheel antilock device generally on LEV.During brake hard, wheel anti-lock
Device starts, and produces and puts effect of stopping.So that wheel is not by locking, in the state that side rolling is slided,
The adhesive force for keeping wheel maximum with ground.
In the prior art, the anti-lock braking system of LEV is typically independent of Ride Control System,
And the Ride Control System of LEV does not also consider anti-lock in energy recovery process
The influence produced after system intervention.Therefore how energy is reclaimed during LEV is braked
Amount is problem demanding prompt solution instantly.
The content of the invention
For shortcoming present in prior art, it is an object of the invention to provide a kind of Brake Energy
Amount recovery method, is made after the anti-lock braking system intervention control for brake of LEV
Energy is reclaimed.
What method for recovering brake energy of the invention was realized in：
A kind of method for recovering brake energy, for LEV, including：Detect described light-duty
The transport condition parameter of electric motor car；When the LEV is braked, according to described light
The transport condition of type electric motor car, performs different Brake energy recovery strategies.
Preferably, the transport condition parameter includes：Wheel speed, acceleration, slip rate and relative
Speed.
Preferably, the transport condition of the LEV includes：Stable state, trend are unstable
Fixed state and unstable state.
Preferably, when the LEV is in stable state, efficient Brake Energy is performed
Amount take-back strategy；The LEV is in when tending to unstable state, performs mid-efficiency
Brake energy recovery strategy；When the LEV plays pendulum, stop reclaiming
Braking energy.
It is a further object of the present invention to provide a kind of energy-recuperation system：Including：Anti-lock is controlled
The electronic-controlled installation of device, control loop；The anti-lock braking controller sends vehicle running state
Parameter to the electronic-controlled installation, the electronic-controlled installation control carries out Brake energy recovery.
Preferably, the electronic-controlled installation includes：Motor drive control unit and energy regenerating
Control unit.
Preferably, the energy regenerating control unit is according to the vehicle running state state modulator
Carry out Brake energy recovery.
Preferably, the motor drive control unit sends control instruction to the energy regenerating control
Unit processed, controls the energy regenerating control unit control to carry out Brake energy recovery.
Present invention also offers a kind of LEV, including above-mentioned energy-recuperation system.
Invention further provides a kind of electronic-controlled installation, for LEV, including：Horse
Up to drive control unit；Anti-lock braking controller, is connected with the motor drive control unit, uses
In vehicle running state parameter of the acquisition LEV in braking procedure, and will be described
Vehicle running state parameter is sent to the motor drive control unit；It is additionally operable to according to the car
Transport condition state modulator starts antilock device；And energy regenerating control unit, with institute
The connection of motor drive control unit is stated, the motor drive control unit is come from for receiving
Control instruction, controls the LEV to carry out energy regenerating.
Preferably, the energy regenerating control unit is connected with the anti-lock braking controller, is used for
The vehicle running state parameter that the anti-lock braking controller sends is received, and according to the car
Transport condition state modulator carries out energy regenerating.
Preferably, the car that the motor drive control unit sends according to anti-lock braking controller
Transport condition parameter judges the transport condition residing for the LEV, and according to the row
Sail state control energy regenerating control unit control and perform different energy regenerating strategies.
Preferably, the motor drive control unit judge the LEV be in stablize shape
During state, the motor drive control unit control energy regenerating control unit performs efficient energy
Amount take-back strategy；The motor drive control unit judges that the LEV is in and is intended to
During unsure state, the motor drive control unit control energy regenerating control unit is performed
The energy regenerating strategy of mid-efficiency；The motor drive control unit judges the light-weight electric
When car plays pendulum, the motor drive control unit controls energy regenerating control unit
Stop performing energy regenerating.
Preferably, it is characterised in that the energy recycle device of the LEV is in the electricity
The energy stores that will be reclaimed under the control of pond administrative unit are in the battery.
The present invention finally provides a kind of LEV, including above-mentioned Electronic Control dress
Put.
Energy recovery control method, system and the device provided according to the present invention so that light-duty
After electric motor car is particularly anti-lock braking system intervention control in braking procedure, can be according to different rows
Sail the strategy that state sets different energy regeneratings so that LEV is real in braking procedure
Most efficient Brake energy recovery is showed, while having taken into account the braking ability of LEV.
Brief description of the drawings
From the description of the preferred embodiment of the present invention be given with reference to following accompanying drawings, in the art
Technical staff better understood when above and other feature and advantage of the invention, wherein：
Fig. 1 is that a kind of system architecture of the control loop of LEV of the invention is illustrated
Figure；
Fig. 2 is the structural representation of energy-recuperation system according to embodiments of the present invention；
Fig. 3 is the electronics control of the control loop of LEV according to another embodiment of the present invention
The structural representation of device processed；
Fig. 4 is to implement energy in LEV braking procedure according to a further embodiment of the present invention
Measure the schematic flow sheet for reclaiming；And
Fig. 5 is LEV traveling shape in LEV braking procedure in a further embodiment
The change schematic diagram of state.
Specific embodiment
Describe exemplary embodiment disclosed by the invention in detail below with reference to accompanying drawings.
Fig. 1 is a kind of system knot of the control loop of LEV of the preferred embodiment of the present invention
Structure schematic diagram.The LEV is preferably two-wheeled.The Ride Control System of LEV
100 are mainly used in managing the battery of LEV, traveling, Brake energy recovery and control anti-
Locking etc. drives subsystem.
The Ride Control System 100 of LEV includes：Electronic-controlled installation 101, driving
Control hardware 102, wheel 103, brakes 104, anti-lock braking system 105 (afterwards describe in detail),
Battery 106 and energy recycle device 107.Wherein, electronic-controlled installation 101 is controlled with driving
Hardware processed 102 is connected, and for receiving the instruction from Driving control hardware 102, and is controlled light
Type electric motor car is operated in different operating modes, for example, drive LEV traveling, braking etc..Electricity
Sub- control device 101 also respectively with wheel 103, brakes 104, anti-lock hardware 105,
Battery 106 and energy recycle device 107 are connected, be respectively used to driving moment 103 make it is light-duty
Electric motor car is travelled；Start the braking LEV of brakes 104；According to LEV system
Dynamic state starts anti-lock braking system 105；Management battery 106；And start energy recycle device
107 reclaim braking energy.Those skilled in the art is it is to be appreciated that electronic-controlled installation 101
Can meet it is default under the conditions of control to start above-described one or more light-weight electric
The driving subsystem of car is intervened without driver and controlled.
Fig. 2 shows the structural representation of the energy-recuperation system (200) of a preferred embodiment.
Energy-recuperation system (200) includes：The anti-lock braking controller 212, light-weight electric of ABS system
The electronic-controlled installation 101 ' of car control loop.In the present embodiment, anti-lock braking controller 212 with
The electronic-controlled installation 101 of control loop is separately existed in respective system.Electronic-controlled installation
101 only receive the vehicle running state parameter that anti-lock braking controller 212 sends, and are made
Energy is reclaimed.Preferably, vehicle running state parameter includes：Wheel speed, relative speed, plus
Speed and slip rate.
Electronic-controlled installation 101 ' at least includes：Motor drive control unit 201 ', energy regenerating
Control unit 203 '.
Anti-lock braking controller 212 is connected with electronic-controlled installation 101 '.Anti-lock braking controller 212
Send vehicle running state parameter to electronic-controlled installation 101 '.
Preferably, vehicle running state parameter is respectively sent to motor by anti-lock braking controller 212
Drive control unit 201 ' and energy regenerating control unit 203 '.
Preferably, anti-lock braking controller 212 also sends ABS system status information to motor and drives
Control unit 201 '.
Energy regenerating control unit 203 ' carries out braking energy according to vehicle running state state modulator
Reclaim.
Motor drive control unit 201 ' judges that ABS system is opened according to ABS system status information
After dynamic, control instruction to energy regenerating control unit 203 ' is sent, control energy regenerating control is single
Unit 203 ' carries out Brake energy recovery.
Fig. 3 shows electronic-controlled installation 101 according to another preferred embodiment of the invention
Structural representation.From unlike above example, anti-lock braking controller 212 is integrated into electricity
In sub- control device 101.
Electronic-controlled installation 101 includes：Motor drive control unit 201, battery management unit
202nd, energy regenerating control unit 203 and anti-lock braking controller 212.
Battery management unit 202 is used to manage battery 106.
Motor drive control unit 201 connects with such as accelerator pedal 209 of Driving control hardware 102
Connect, for receiving the operation information from driver, control LEV is operated in different
Under operating mode.
Motor drive control unit 201 is also connected with battery management unit 202, when motor drives
After control unit 201 receives the instruction that the next instruction of the transmission of accelerator pedal 209 is for example given it the gun,
Motor drive control unit 201 sends control instruction to battery management unit 202, battery management
The driving wheel of the control output electrical energy drive LEV of battery 106 of unit 202 accelerates to rotate,
So that LEV accelerates to exercise.
Motor drive control unit 201 is also connected with anti-lock braking controller 212, for receiving
The vehicle running state parameter that anti-lock braking controller 212 sends, for example：Acceleration, slip rate
With relative speed.
Preferably, motor drive control unit 201 is also connected with brake lamp control unit 210,
When LEV is braked, the control brake lamp of brake lamp control unit 210 is lighted, electricity
Under the control of motor drive control unit 201, control battery 106 stops pond administrative unit 202
Only drive the driving wheel of LEV.
Anti-lock braking controller 212 includes：Antilock control unit 204 and data processing unit 211.
Data processing unit 211 further includes driving wheel wheel speed processing module 207 and supporting roller wheel speed
Processing module 206.Preferably, driving wheel is trailing wheel, and supporting roller is front-wheel.
Driving wheel wheel speed processing module 207 and supporting roller wheel speed processing module 206 are received simultaneously respectively
Treatment comes from wheel speed sensors 205 and measures the wheel speed information for obtaining.Preferably, wheel speed sensing
Device 205 is arranged at the front and back wheel of LEV.Driving wheel wheel speed processing module 207 and with
The vehicle running state data that also basis is received respectively of driving wheel wheel speed processing module 206, for example：
Wheel speed information, relative speed etc. calculate real-time vehicle running state parameter, for example：Acceleration
And slip rate.
Data processing unit 211 is connected with antilock control unit 204, data processing unit 211
By vehicle running state parameter send to antilock control unit 204.
Preferably, data processing unit 211 is connected with motor drive control unit 201, motor
The compensation calculation vehicle wheel rotational speed of drive control unit 201.Further, driving wheel wheel speed treatment mould
Block 207 is connected with motor drive control unit 201.
Preferably, data processing unit 211 is connected with brake lamp control unit 210, at data
Reason unit 211 receives the braking information of the LEV that brake lamp control unit 210 sends.
Antilock control unit 204 meet it is pre-conditioned in the case of control start anti-lock braking system
System 105.
Anti-lock braking system 105 includes:Wheel speed sensors 205, anti-lock braking controller 212 and anti-
Locking hardware 208.
Antilock control unit 204 is connected with data processing unit 211, antilock control unit
204 are also connected with anti-lock hardware 208, for controlling anti-lock hardware 208 to work.It is antilock
The size of the control brake brake force of stiff part 208, prevents wheel from the situation of locking occurring, and makes
Obtain wheel and be in the state that side rolling slides (slip rate is 10% or so), to ensure wheel with ground
The adhesive force in face is in maximum.
Preferably, anti-lock hardware 208 is after start-up course, regenerative braking state to driving wheel
Wheel speed processing module 207.
Preferably, when wheel speed sensors 205 measure wheel speed reduction, in order to discriminate whether to be
The reduction of the wheel wheel speed for being operated and being caused by driver's active brake, electronic-controlled installation 101
Also it is connected with brake lamp control unit 210.Preferably, data processing unit 211 and brake lamp
Control unit 210 is connected.When the control brake lamp of brake lamp control unit 210 is lighted, then sentence
Disconnected LEV has carried out active brake operation；When the wheel speed reduction of LEV is braked
When lamp control unit 210 does not control brake lamp to light, data processing unit 211 judges light-duty electricity
Motor-car does not carry out active brake.In the case where LEV is active brake, anti-lock
Control unit 204 judges whether to start anti-lock braking system 105 according to vehicle running state parameter.
Preferably, antilock control unit 204 is also sent to motor vehicle running state parameter
Drive control unit 201.
Energy regenerating control unit 203 is connected with motor drive control unit 201, and motor drives
Control unit 201 sends control instruction to energy regenerating control unit 203, energy regenerating control
Unit 203 so control start energy recycle device 107 carry out Brake energy recovery.
Preferably, energy regenerating control unit 203 is also connected with anti-lock braking controller 212, uses
In the vehicle running state parameter that anti-lock braking controller 212 sends is received, energy regenerating control is single
Unit 203 is meeting pre-conditioned rear control startup energy recycle device 107, reclaims braking procedure
The heat of middle generation, and under the cooperation of battery management unit 202, converting heat is turned into electricity
Can store in battery 106.
The electronic-controlled installation 101 of the present embodiment, the anti-lock of anti-lock braking system 105 is controlled
(motor drives the electronic-controlled installation of the Ride Control System 100 of device 212 and LEV
Control unit 201) integrate.Level of integrated system is improve, cost is reduced.It is also comprehensive
Consider various situations during braking with closing, improve the stabilization that LEV is exercised and braked
Property.The vehicle running state parameter that anti-lock braking controller 212 is calculated in real time simultaneously so that energy
Reclaiming control unit 203 can control to carry out Brake energy recovery under different conditions.
Reclaimed and utilized by braking energy, the continual mileage of LEV can be obtained
To increase, motor vehicle braking system premature abrasion can also be avoided, reduce making for LEV
Use cost.
The method that the control of Ride Control System 100 carries out energy regenerating mainly includes：Detection is described
The transport condition parameter of LEV；When the LEV is braked, according to institute
The transport condition of LEV is stated, different Brake energy recovery strategies are performed.Preferably,
In braking procedure, different energy regeneratings are set according to the different transport condition of LEV
, for example, can be divided into for transport condition of the LEV in braking procedure by strategy：Stabilization
State, the unsure state that is intended to, unstable state.According to the different traveling shapes for being divided
State, sets different Brake energy recovery strategies, for example：LEV in stable state,
Perform high-energy take-back strategy；When LEV is in an unsure state, stop carrying out
Brake energy recovery；When LEV is in is intended to unsure state, perform medium
Energy regenerating strategy.
The control of Ride Control System 100 of explanation LEV in detail below carries out energy time
The method of receipts.
Fig. 4 is for LEV Brake Energy according to also one preferred embodiment of the present invention
Measure the schematic diagram of recovery method.Exemplarily, using the electronic-controlled installation 101 shown in Fig. 3
To realize the embodiment shown in Fig. 4.But it is intelligible for those skilled in that art
It is that the method shown in the present embodiment is not limited to the entity apparatus with ad hoc structure.
Step 301：The real-time reception vehicle running state data of electronic-controlled installation 101, according to
Vehicle running state data acquisition vehicle running state parameter.And send out vehicle running state parameter
Deliver to motor drive control unit 201.
Preferably, vehicle running state data include：Wheel speed information and relative speed.
Preferably, vehicle running state parameter at least includes：Acceleration, slip rate and relative car
Speed.
Specifically, anti-lock braking controller 212 is calculated vehicle running state parameter, and sends
To motor drive control unit 201.
More specifically, data processing unit 211 is calculated according to wheel speed information and relative speed
To vehicle running state parameter, and vehicle running state parameter is sent to antilock control unit
204, further treatment receives vehicle running state parameter to antilock control unit 204, and will
The vehicle running state parameter sends motor drive control unit 201 extremely.
Step 302：Electronic-controlled installation 101 judges whether LEV has carried out actively system
Dynamic, when judging that LEV has carried out active brake, energy regenerating control unit 203 is controlled
System starts energy recycle device 107 carries out the recovery of braking energy.
Preferably, judge whether LEV carries out active brake and include：It is light-duty when detecting
During the situation that electric motor car slows down, determine whether brake operation signal for example：Brake lamp control
Whether unit processed 210 controls brake lamp to light, when the control control of brake lamp control unit 210 is stopped
When car light is lighted, judge that LEV has carried out brake operating；
Step 303：In the braking procedure of LEV, it is preferable that anti-lock control is single
Unit 204 reaches the triggering of anti-lock braking system 105 always according to vehicle running state parameter in judgement
Start anti-lock braking system 105 during condition, intervene the braking procedure of LEV.
Step 304：After the intervention braking procedure of anti-lock braking system 105, motor drive control unit
201 constantly receive the vehicle running state parameter that antilock control unit 204 sends, and sentence
Disconnected transport condition of the LEV in braking procedure.The basis of motor drive control unit 201
The transport condition of LEV, control energy regenerating control unit 203 is meeting pre-conditioned
When control carry out energy regenerating.
Preferably, according to the pre-defined LEV of vehicle running state parameter in braking procedure
In transport condition；
Preferably, judge whether LEV is according to pre-defined vehicle running state
Pre-defined transport condition；
Preferably, the different Rule of judgment of different vehicle running state correspondences；And judging to work as
Its corresponding Rule of judgment is set during vehicle in front transport condition for limit priority.
Preferably, row of the LEV in braking procedure is defined according to acceleration, slip rate
Sail state.As shown in figure 5, for example：
By acceleration in -4m/s2Within, transport condition of the slip rate within 4% is defined as stabilization
Region 0 in state, such as Fig. 5；
Transport condition by slip rate more than 9% is defined as unstable state, the region in such as Fig. 5
3；
Transport condition by slip rate between 4% to 9% is defined as being intended to unstable shape
State.
Preferably, can also be further unstable state is intended to slip rate according to acceleration
Be divided into multiple is intended to unstable state, region 1 and region 2 in such as Fig. 5.
Region 1 is defined by formula (1)：
SL_F=k1*a_F+sL_F1 (1)
Wherein：4%<sL_F<6%, -4m/s2<a_F<-2m/s2, sL_F1=8%；K1 is root
The brake coefficient determined according to the physical characteristic of LEV；SL_F1 is side-play amount.
Region 2 is defined by formula (2)：
SL_F=k2*a_F+sL_F2 (2)
Wherein：6%<sL_F<9%, -4m/s2<a_F<-2m/s2, sL_F2=11%；K2 is root
The brake coefficient determined according to the physical characteristic of LEV；SL_F2 is side-play amount.
According to formula (1) and formula (2), when the slip rate of LEV is less than 4%,
Motor drive control unit 201 judges that LEV is in the on-position of the stabilization in region 0,
Now the control energy regenerating of motor drive control unit 201 control unit 203 starts energy regenerating
Device 107, carries out Brake energy recovery.Energy regenerating control unit 203 controls energy regenerating
Device 107 performs the Brake energy recovery strategy of maximal efficiency, realizes maximum energy regenerating effect
Rate.
When slip rate is between 4% and 6%, if acceleration is more than -2m/s2, motor driving
Control unit 201 judges that LEV is in the on-position of the stabilization in region 0；Now horse
Start energy recycle device up to the control energy regenerating of drive control unit 201 control unit 203
107, perform the Brake energy recovery strategy of maximal efficiency；
Further, when slip rate is between 4% and 6%, if acceleration is in -2m/s2With
When between k1 (sL_F-sL_F1), wherein sL_F1=8%, motor drive control unit 201 judges
LEV is in the on-position of the stabilization in region 0；Now motor drive control unit 201
Control energy regenerating control unit 203 starts energy recycle device 107, performs maximal efficiency
Brake energy recovery strategy；
Further, when slip rate is between 4% and 6%, if acceleration is less than
K1 (sL_F-sL_F1), during wherein sL_F1=8%, motor drive control unit 201 judges light-duty
Electric motor car tends to unstable on-position in region 1；Now motor drive control unit
201 control energy regenerating control units 203 start energy recycle device 107, perform mid-efficiency
Brake energy recovery strategy.
When slip rate is between 6% and 9%, if acceleration is more than -2m/s2, motor drive
Dynamic control unit 201 judges that LEV tends to unstable on-position in region 1；
Now the control energy regenerating of motor drive control unit 201 control unit 203 starts energy regenerating
Device 107, performs the Brake energy recovery strategy of mid-efficiency；
Further, when slip rate is between 6% and 9%, if acceleration is in -2m/s2With
When between k2 (sL_F-sL_F2), wherein sL_F2=11%, motor drive control unit 201 judges
LEV tends to unstable on-position in region 1；Now motor drive control
The control energy regenerating of unit 201 control unit 203 starts energy recycle device 107, in execution
Etc. the Brake energy recovery strategy of efficiency；
Further, when slip rate is between 6% and 9%, if acceleration is less than
K1 (sL_F-sL_F2), during wherein sL_F2=11%, motor drive control unit 201 judges light-duty
Electric motor car tends to unstable on-position in region 2；Now motor drive control unit
201 control energy regenerating control units 203 start energy recycle device 107, perform mid-efficiency
Brake energy recovery strategy.
Preferably, when LEV is in region 2, its energy recovery efficiency is less than light-duty
Electric motor car is in the energy recovery efficiency performed during region 1.
When slip rate is more than 9%, motor drive control unit 201 is judged at LEV
In the unstable on-position in region 3, the now control of motor drive control unit 201 control
Energy regenerating control unit 203 stops performing Brake energy recovery.
Preferably, when antilock control unit 204 judges needs according to vehicle running state parameter
When starting anti-lock braking system 105, the control of antilock control unit 204 starts anti-lock hardware 208
Intervention braking procedure.The vehicle running state parameter of LEV also can in real time produce change,
The acceleration of such as LEV can also exist on the occasion of change between negative value, or slip rate
Change near specific numerical value.Alternatively it is also possible to intervene rear car according to anti-lock braking system 105
Transport condition parameter defines different vehicle running states, and energy corresponding thereto is returned
Receive strategy.
Preferably, in actual braking procedure, LEV is randomly in different travelings
Under state, for example, directly jump to unstable state from stable state.Motor drive control list
Unit 201 and/or energy regenerating control unit 203 control energy regenerating according to different transport conditions
Device 107 performs different Brake energy recovery strategies in real time.
Those skilled in the art is it is to be appreciated that can be according to the definition of vehicle running state parameter not
Same vehicle running state, such as be unstable state when defining slip rate more than particular value；
Or unsure state is intended to according to different slip rates and acceleration definition, it might even be possible to
Define multiple and be intended to unsure state.
The different transport conditions of LEV are divided in braking procedure, according to different travelings
State sets the strategy of Brake energy recovery so that LEV is realized in braking procedure
Most efficient Brake energy recovery, while having taken into account the braking ability of LEV.
Obviously, those skilled in the art can carry out various changes and change to the embodiment of the present invention
Type is without departing from the spirit and scope of the present invention.So, if these modifications and modification belong to this
Within the scope of the claim and its equivalent technologies of invention, then the present invention is also intended to comprising these
Including change and modification.
Claims (15)
1. a kind of method for recovering brake energy, for LEV, it is characterised in that including：
Detect the transport condition parameter of the LEV；In the LEV system
When dynamic, according to the transport condition of the LEV, different Brake energy recovery plans are performed
Slightly.
2. method for recovering brake energy according to claim 1, it is characterised in that described
Transport condition parameter includes：Wheel speed, acceleration, slip rate and relative speed.
3. method for recovering brake energy according to claim 2, it is characterised in that described
The transport condition of LEV includes：Stable state, tend to unsure state and unstable
State.
4. method for recovering brake energy according to claim 3, it is characterised in that described
When LEV is in stable state, efficient Brake energy recovery strategy is performed；It is described
LEV is in when tending to unstable state, performs the Brake energy recovery plan of mid-efficiency
Slightly；When the LEV plays pendulum, stop reclaiming braking energy.
5. energy-recuperation system (200), it is characterised in that including：Anti-lock braking controller (212),
The electronic-controlled installation (101 ') of control loop；The anti-lock braking controller (212) sends car
Transport condition parameter is to the electronic-controlled installation (101 '), the electronic-controlled installation
(101 ') control carries out Brake energy recovery.
6. energy-recuperation system (200) according to claim 5, it is characterised in that institute
Stating electronic-controlled installation (101 ') includes：Motor drive control unit (201 ') and energy are returned
Receive control unit (203 ').
7. energy-recuperation system (200) according to claim 6, it is characterised in that institute
Energy regenerating control unit (203 ') is stated according to the vehicle running state state modulator system
Energy is reclaimed.
8. energy-recuperation system (200) according to claim 6, it is characterised in that institute
State motor drive control unit (201 ') and send control instruction to the energy regenerating control unit
(203 '), control energy regenerating control unit (203 ') control to carry out Brake energy recovery.
9. a kind of LEV, it is characterised in that including appointing in above claim 5 to 8
Energy-recuperation system (200) described in meaning one.
10. a kind of electronic-controlled installation (101), for LEV, it is characterised in that
Including：
Motor drive control unit (201)；
Anti-lock braking controller (212), is connected with the motor drive control unit (201), uses
In vehicle running state parameter of the acquisition LEV in braking procedure, and will be described
Vehicle running state parameter is sent to the motor drive control unit (201)；It is additionally operable to basis
The vehicle running state state modulator starts antilock device (208)；And,
Energy regenerating control unit (203), is connected with the motor drive control unit (201),
Come from the control instruction of the motor drive control unit (201) for receiving, control is described
LEV carries out energy regenerating.
11. electronic-controlled installations (101) according to claim 10, it is characterised in that
The energy regenerating control unit (203) is connected with the anti-lock braking controller (212), uses
In the vehicle running state parameter for receiving anti-lock braking controller (212) transmission, and root
Energy regenerating is carried out according to the vehicle running state state modulator.
12. electronic-controlled installations (101) according to claim 10, it is characterised in that
The motor drive control unit (201) according to anti-lock braking controller (212) send it is described
Vehicle running state parameter judges the transport condition residing for the LEV, and according to described
Transport condition controls energy regenerating control unit (203) control to perform different energy regenerating strategies.
13. electronic-controlled installations (101) according to claim 12, it is characterised in that
When the motor drive control unit (201) judges that the LEV is in stable state,
The motor drive control unit (201) controls energy regenerating control unit (203) to perform height
The energy regenerating strategy of efficiency；The motor drive control unit (201) judges the light-duty electricity
Motor-car is in when being intended to unsure state, motor drive control unit (201) control
Energy regenerating control unit (203) performs the energy regenerating strategy of mid-efficiency；The motor drives
When dynamic control unit (201) judges that the LEV plays pendulum, the motor
Drive control unit (201) controls energy regenerating control unit (203) to stop performing energy time
Receive.
14. electronic-controlled installation (101) according to any one in claim 10 to 13,
Characterized in that, the energy regenerating control unit (203) is in battery management unit (202)
Cooperation under will reclaim energy stores in the battery (106).
15. a kind of LEVs, it is characterised in that including above claim 10 to 14
Electronic-controlled installation (101) described in middle any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511021478.3A CN106926709B (en) | 2015-12-31 | 2015-12-31 | Braking energy recovery device and method and light electric vehicle |
| DE102016226185.1A DE102016226185A1 (en) | 2015-12-30 | 2016-12-23 | Brake energy recovery device, method and electric light vehicle |
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| CN201511021478.3A CN106926709B (en) | 2015-12-31 | 2015-12-31 | Braking energy recovery device and method and light electric vehicle |
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| CN107561975A (en) * | 2017-08-07 | 2018-01-09 | 昆明理工大学 | A kind of excessively curved anti-sideslip controller of Segway Human Transporter and its control method |
| CN108051138A (en) * | 2017-12-11 | 2018-05-18 | 广州瑞立科密汽车电子股份有限公司 | A kind of pressure-detecting device of trailer gas tank |
| CN111332294A (en) * | 2018-11-30 | 2020-06-26 | 比亚迪股份有限公司 | Control method and device of composite braking system and electric automobile |
| CN112026526A (en) * | 2020-09-08 | 2020-12-04 | 中国第一汽车股份有限公司 | Energy recovery control method and device and vehicle |
| CN113060008A (en) * | 2021-05-12 | 2021-07-02 | 中国第一汽车股份有限公司 | Electric vehicle brake control method and electric vehicle |
| WO2021169609A1 (en) * | 2020-02-24 | 2021-09-02 | 长城汽车股份有限公司 | Torque control method and device for vehicle |
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| CN107561975A (en) * | 2017-08-07 | 2018-01-09 | 昆明理工大学 | A kind of excessively curved anti-sideslip controller of Segway Human Transporter and its control method |
| CN108051138A (en) * | 2017-12-11 | 2018-05-18 | 广州瑞立科密汽车电子股份有限公司 | A kind of pressure-detecting device of trailer gas tank |
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| US12017557B2 (en) | 2020-02-24 | 2024-06-25 | Great Wall Motor Company Limited | Torque control method for vehicle, vehicle controller, and non-transitory machine-readable storage medium |
| CN112026526A (en) * | 2020-09-08 | 2020-12-04 | 中国第一汽车股份有限公司 | Energy recovery control method and device and vehicle |
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| CN113060008B (en) * | 2021-05-12 | 2022-12-02 | 中国第一汽车股份有限公司 | Electric vehicle brake control method and electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102016226185A1 (en) | 2017-09-14 |
| CN106926709B (en) | 2021-08-31 |
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