CN107200001A - HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor - Google Patents
HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor Download PDFInfo
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- CN107200001A CN107200001A CN201710413735.0A CN201710413735A CN107200001A CN 107200001 A CN107200001 A CN 107200001A CN 201710413735 A CN201710413735 A CN 201710413735A CN 107200001 A CN107200001 A CN 107200001A
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Classifications
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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
- B60T13/581—Combined or convertible systems both hydraulic and pneumatic
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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
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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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
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/72—Electrical control in fluid-pressure brake systems in vacuum systems or vacuum booster units
-
- 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
- B60T13/74—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 electrical assistance or drive
- B60T13/741—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 electrical assistance or drive acting on an ultimate actuator
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
A kind of HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor of the present invention, belong to field of automobile brake, including brake pedal, vacuum boost system, HCU hydraulic control units, ECU entire car controllers, hydraulic brake subsystem and motor regeneration brake system.Control system of the present invention has master cylinder braking and pressure coordinates braking, and brake pedal feel when simulating regenerative braking by stroke simulator；Also be pressurized by carrying out PWM controls to every group of high-speed switch valve, pressurize, being switched fast between decompression, it is ensured that front and back wheel pressure of wheel cylinder can carry out continuous control.The present invention can realize the accurate and flexible control of the hydraulic couplings of operating mode such as the braking of traditional braking master cylinder hydraulic pressure, scavenge oil pump hydraulic braking, Electro-hydraulic brake, pure motor braking and ANTI LOCK according to damped condition.The present invention also ensures system safe-working pressure by overflow valve, can guarantee that system can carry out conventional brake in the case of scavenge oil pump high-speed switch valve circuit malfunction, to ensure the security of braking.
Description
Technical field
The invention belongs to automobile brake technical field, it is related to hybrid vehicle (HEV), the regeneration system of electric car (EV)
It is dynamic, and in particular to a kind of HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor.
Background technology
With the petroleum resources progressively exhausted increasingly exacerbation with environmental pollution, energy-conservation is the great class of 21 century with environmental protection
Topic, as a petroleum resource consumption is larger and exhaust emissions more serious automobile industry, for solving energy resource consumption and ring
Border problem seems very urgent, and hybrid vehicle (HEV) and electric automobile (EV) turn into a developing direction of auto industry,
Regenerative braking also turns into a key technology of electric automobile.
Traditional brake system of car wheel cylinder brake force and pedal displacement have fixed relation, it is impossible to which realization was being braked
Cheng Dangzhong coordinates control based on the hydraulic braking force that motor braking power changes.Domestic and foreign scholars are to regenerative braking force and hydraulic braking
Coordination propose many strategies, these are all based on the flexible control to hydraulic coupling.Current high-speed switch valve is on automobile
It is widely used, rapidly opened and closed using high-speed switch valve can be realized to flow and the regulation quick regulation of hydraulic coupling,
The switching frequency of high-speed switch valve is higher, smaller to the regulation process variation of hydraulic pressure, using pulse modulation technology (PWM) and at a high speed
Switch valve is combined, and can be realized the continuous gentle regulation to pressure, be met the flexible tune of regenerative braking operating mode hydraulic braking force
Section.
The content of the invention
In view of this, it is an object of the invention to provide a kind of HEV/EV regenerative braking Stress controls of front and back wheel bi-motor
System, to improve the quality of regenerative braking braking, and the control system has the braking of traditional braking master cylinder hydraulic pressure, scavenge oil pump hydraulic pressure
The braking operation patterns such as braking, Electro-hydraulic brake, pure motor braking and ANTI LOCK, can realize master cylinder and braked wheel
The decoupling of cylinder, also realizes recovery and the braking procedure of braking energy by adjusting compensation of the hydraulic braking force to motor braking power
Ride comfort.
To reach above-mentioned purpose, the present invention provides following technical scheme：
The present invention provides a kind of HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor, including braking is stepped on
Plate；Vacuum boost system；HCU hydraulic control units；ECU entire car controllers；Hydraulic brake subsystem, by normally open valve I, liquid storage
Tank, master cylinder, normally open valve II, front-wheel voltage regulating module, trailing wheel voltage regulating module, normally close valve, stroke simulator, front wheel cylinder
With rear service brake wheel cylinder composition, wherein, the master cylinder is connected with brake pedal by vacuum boost system, in it provided with
Fluid reservoir connected ante-chamber and back cavity, and ante-chamber, back cavity pass through normally open valve I, normally open valve II and front wheel cylinder, trailing wheel respectively
Wheel cylinder decoupling connection；The front-wheel voltage regulating module is provided with speed-sensitive switch valve group I, overflow valve I, and the outlet of normally open valve I is distinguished
Entrance with overflow valve I, speed-sensitive switch valve group I is connected, and the outlet of speed-sensitive switch valve group I is connected with front wheel cylinder；It is described
Trailing wheel voltage regulating module is provided with speed-sensitive switch valve group II, overflow valve II, and the outlet of normally open valve II is respectively with overflow valve II, speed-sensitive switch
The entrance of valve group II is connected, the outlet of speed-sensitive switch valve group II is connected with rear service brake wheel cylinder, and overflow valve I, overflow valve II go out
Mouth is connected with fluid reservoir；The stroke simulator is located between normally open valve I and ante-chamber by normally close valve；Motor regenerative braking system
System, is made up of preceding turbin generator I, batteries and rear-wheel motor, wherein, the signal input part of the ECU entire car controllers is with before
Turbin generator, rear-wheel motor, the signal output part of batteries are connected respectively, its signal output part and HCU hydraulic control units, preceding
Turbin generator, the signal input part of rear-wheel motor are connected respectively, the signal output part and normally close valve of the HCU hydraulic control units,
Normally open valve I, normally open valve II, speed-sensitive switch valve group I, the signal input part of speed-sensitive switch valve group II are connected respectively.
Further, the vacuum boost system is by the motor being sequentially connected, vavuum pump, air accumulator and vacuum booster group
Into the motor is used to drive vavuum pump, and pressure switch, the vacuum booster are provided between the vavuum pump and air accumulator
Between master cylinder and brake pedal, its pressure chamber is connected with air accumulator, and input is connected with brake pedal, output end with
Master cylinder is connected.
Further, the front-wheel voltage regulating module is additionally provided with accumulator I, motor I and scavenge oil pump I, the speed-sensitive switch
Valve group I includes normally opened high-speed switch valve I and normally closed high-speed switch valve I, entrance and the normally open valve I of the normally opened high-speed switch valve I
It is connected, its outlet is connected with front wheel cylinder with the entrance of normally closed high-speed switch valve I respectively, the normally closed high-speed switch valve I
Outlet respectively with accumulator I, scavenge oil pump I entrance be connected, the outlet of the scavenge oil pump I passes through overflow valve I and fluid reservoir phase
Even；The signal output part of the HCU hydraulic control units is connected with the signal input part of scavenge oil pump I.
Further, the trailing wheel voltage regulating module is additionally provided with accumulator II, scavenge oil pump II and motor II, and the high speed is opened
Close valve group II include normally closed high-speed switch valve II and normally opened high-speed switch valve II, the entrance of the normally opened high-speed switch valve II with often
Valve opening II is connected, and its outlet is connected with rear service brake wheel cylinder with the entrance of normally closed high-speed switch valve II respectively, the normally closed high speed
The outlet of switch valve II is connected with the entrance of accumulator II, scavenge oil pump II respectively, and the outlet of the scavenge oil pump II passes through overflow valve
II is connected with fluid reservoir；The signal output part of the HCU hydraulic control units is connected with the signal input part of scavenge oil pump II.
Further, in addition to for detecting the displacement transducer of brake pedal displacement, the pressure for detecting front-wheel pressure
Sensor I, the velocity sensor I for detecting front-wheel wheel speed, the velocity sensor II for detecting trailing wheel wheel speed and for examining
The pressure sensor II of trailing wheel pressure is surveyed, the ECU entire car controllers are connected with displacement transducer, the HCU hydraulic controls list
Member is connected respectively with velocity sensor I, velocity sensor II, pressure sensor I and pressure sensor II.
Further, the stroke simulator is detachable tubulose stroke simulator, by rear end cap, cylinder body, sliding block, piston
With drive end bearing bracket composition, two ends and the drive end bearing bracket and rear end cap of the cylinder body are tightly connected respectively, and the drive end bearing bracket is provided with and system
The fuel feed hole that the ante-chamber of dynamic master cylinder is communicated, the cylinder body, which is provided with, is used for the steam vent that cylinder body is vented, and the sliding block and piston are equal
It is slidably disposed in cylinder body, the piston is arranged close to drive end bearing bracket, which is provided with and the sealed sealing ring of cylinder body, the cunning
Block is located between rear end cap and piston, and sliding block is inconsistent with piston by being arranged on its spring I between rear end cap, described
Rear end cap provided be sleeved on spring I it is outer and with sliding block spring at regular intervals II.
Further, the corresponding surface of the drive end bearing bracket and piston area pair is provided with the boss for being used for limiting piston displacement.
Compared with prior art, its remarkable advantage is the present invention：The present invention is special using the speed-sensitive switch of high-speed switch valve
Property carry out pressure regulation, can carry out pure hydraulic braking, pure motor braking, electro-hydraulic composite braking and ANTI LOCK etc. braking mould
Formula is braked, and hydraulic braking force can accurately be coordinated；Using stroke simulator can accurately simulating brake master cylinder with
Pedal sense when wheel cylinder is decoupled, to simulate the sensation of traditional braking；It can be carried out when thrashing is coordinated simultaneously
Traditional master cylinder braking, to improve the security of braking.
Other advantages, target and the feature of the present invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.The present invention target and other advantages can be realized by following specification and
Obtain.
Brief description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, excellent is made to the present invention below in conjunction with accompanying drawing
The detailed description of choosing, wherein：
Fig. 1 is the structural representation of regenerative braking control pressurer system of the present invention；
Fig. 2 is the structural representation of stroke simulator in regenerative braking control pressurer system of the present invention；
Fig. 3 is a kind of control logic figure of the regenerative braking control pressurer system of the present invention in braking mode；
Fig. 4 is the schematic diagram of regenerative braking control pressurer system of the present invention.
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail；It should be appreciated that preferred embodiment
Only for the explanation present invention, the protection domain being not intended to be limiting of the invention.
Reference in Figure of description includes：Brake pedal 1, displacement transducer 2, vacuum booster 3, normally open valve II
4th, fluid reservoir 5, master cylinder 6, normally open valve I 7, air accumulator 8, pressure switch 9, vavuum pump 10, motor 11, normally close valve 12, OK
Journey simulator 13, overflow valve II 14, normally opened high-speed switch valve I 15, overflow valve I 16, normally closed high-speed switch valve I 17, pressure sensing
Device I 18, front wheel cylinder 19, HCU hydraulic control units 20, velocity sensor I 21, preceding turbin generator 22, batteries 23,
It is ECU entire car controllers 24, rear-wheel motor 25, velocity sensor II 26, rear service brake wheel cylinder 27, pressure sensor II 28, normally closed
High-speed switch valve II 29, normally opened high-speed switch valve II 30, accumulator II 31, accumulator I 32, scavenge oil pump II 33, motor II
34th, motor I 35, scavenge oil pump I 36, rear end cap 37, cylinder body 38, steam vent 39, spring II 40, spring I 41, sliding block 42, work
Plug 43, sealing ring 44, drive end bearing bracket 45, fuel feed hole 46.
Embodiment is substantially as shown in Figure 1：A kind of HEV/EV regeneration based on front and back wheel bi-motor that the present embodiment is provided
Braking pressure control system, including brake pedal 1, vacuum boost system, HCU hydraulic control units 20, ECU entire car controllers
24；Also include：
Hydraulic brake subsystem, by normally open valve I 7, fluid reservoir 5, master cylinder 6, normally open valve II 4, front-wheel voltage regulating module, after
Wheel voltage regulating module, normally close valve 12, stroke simulator 13, front wheel cylinder 19 and rear service brake wheel cylinder 27 are constituted, wherein, it is described
Master cylinder 6 is connected with brake pedal 1 by vacuum boost system, provided with the ante-chamber and back cavity being connected with fluid reservoir 5 in it, and
Ante-chamber, back cavity are connected by normally open valve I 7, normally open valve II 4 with front wheel cylinder 19, the decoupling of rear service brake wheel cylinder 27 respectively；
The front-wheel voltage regulating module is provided with speed-sensitive switch valve group I, overflow valve I 16, accumulator I 32, motor I 35 and returns
Oil pump I 36, the entrance exported respectively with overflow valve I 16, speed-sensitive switch valve group I of normally open valve I 7 is connected, and speed-sensitive switch valve group I is wrapped
Normally opened high-speed switch valve I 15 and normally closed high-speed switch valve I 17 are included, the entrance of normally opened high-speed switch valve I 15 is connected with normally open valve I 7,
Its outlet is connected with front wheel cylinder 19 with the entrance of normally closed high-speed switch valve I 17 respectively, and normally closed high-speed switch valve I 17 goes out
Mouth is connected with the entrance of accumulator I 32, scavenge oil pump I 36 respectively, and the outlet of scavenge oil pump I 36 passes through overflow valve I 16 and the phase of fluid reservoir 5
Even；
The trailing wheel voltage regulating module is provided with speed-sensitive switch valve group II, overflow valve II 14, accumulator II 31, the and of scavenge oil pump II 33
Motor II 34, the entrance exported respectively with overflow valve II 14, speed-sensitive switch valve group II of normally open valve II 4 is connected, and opens at a high speed
Closing valve group II includes normally closed high-speed switch valve II 29 and normally opened high-speed switch valve II 30, and the normally opened high-speed switch valve II 30 enters
Mouth is connected with normally open valve II 4, and its outlet is connected with rear service brake wheel cylinder 27 with the entrance of normally closed high-speed switch valve II 29 respectively, institute
State entrance of the outlet of normally closed high-speed switch valve II 29 respectively with accumulator II 31, scavenge oil pump II 33 to be connected, the scavenge oil pump II
33 outlet is connected by overflow valve II 14 with fluid reservoir 5；
Brake pedal 1 is felt during the simulation of stroke simulator 13 regenerative braking, and normally open valve I 7 is located at by normally close valve 12
Between master cylinder ante-chamber, in braking, stroke simulator 13 has work and off working state, the normally close valve 12 control stroke
The break-make of simulator 13 and the ante-chamber link circuit of master cylinder 6；
Motor regeneration brake system, is made up of preceding turbin generator 22, batteries 23 and rear-wheel motor 25；The regenerative braking pressure
Force control system also includes being used to detect the displacement transducer 2 of the displacement of brake pedal 1, the pressure sensing for detecting front-wheel pressure
Device I 18, the velocity sensor I 21 for detecting front-wheel wheel speed, the velocity sensor II 26 for detecting trailing wheel wheel speed and it is used for
The pressure sensor II 28 of trailing wheel pressure is detected, wherein, signal input part and the preceding turbin generator of the ECU entire car controllers 24
22nd, rear-wheel motor 25, the signal output part of batteries 23 are connected respectively, its signal output part and HCU hydraulic control units 20,
Preceding turbin generator, the signal input part of rear-wheel motor are connected respectively, the signal output part of the HCU hydraulic control units 20 with it is normally closed
Valve 12, normally open valve I 7, normally open valve II 4, scavenge oil pump I 36, scavenge oil pump II 33, speed-sensitive switch valve group I, the letter of speed-sensitive switch valve group II
Number input is connected respectively, and the ECU entire car controllers 24 are also connected with displacement transducer 2, the HCU hydraulic control units 20
Also it is connected respectively with velocity sensor I 21, velocity sensor II 26, pressure sensor I 18 and pressure sensor II 28.
Vacuum boost system in the present embodiment is by the motor 11 being sequentially connected, vavuum pump 10, air accumulator 8 and vacuum servo
Device 3 is constituted, and the motor 11 is used to drive vavuum pump 10, and pressure switch 9 is provided between the vavuum pump 10 and air accumulator 8,
For the break-make for the operating circuit for controlling motor 11, the vacuum booster 3 is located between master cylinder 6 and brake pedal 1, its
Pressure chamber is connected with air accumulator 8, and input is connected with brake pedal 1, and output end is connected with master cylinder 6.
As shown in Fig. 2 the stroke simulator 13 in the present embodiment is detachable tubulose stroke simulator, by rear end cap
37th, cylinder body 38, sliding block 42, piston 43 and drive end bearing bracket 45 are constituted, two ends and 37 points of drive end bearing bracket 45 and the rear end cap of the cylinder body 38
It is not tightly connected, the drive end bearing bracket 45 is provided with the fuel feed hole 46 communicated with the ante-chamber of master cylinder 6, the cylinder body 38 is provided with
The steam vent 39 being vented for cylinder body 38, the sliding block 42 and piston 43 are slidably disposed in cylinder body 38, the piston
43 arrange close to drive end bearing bracket 45, which is provided with and are located at rear end cap 37 with living with the sealed sealing ring of cylinder body 38 44, the sliding block 42
Between plug 43, and sliding block 42 passes through, the rear end cap inconsistent with piston 43 that be arranged on its spring I 41 between rear end cap 37
37 provided be sleeved on spring I 41 it is outer and with the spring at regular intervals of sliding block 42 II 40, the spring I 41 is used to simulate front-wheel
The returning place force of wheel cylinder 19, rear service brake wheel cylinder 27, the spring II 40 is used for simulating brake brake pad and brake disc
Rigidity.
The corresponding surface that drive end bearing bracket 45 in the present embodiment is faced with piston 43, which is provided with, to be used to limit the convex of the displacement of piston 43
Platform (unmarked).So, hydraulic damping cushioning effect is played in the end moved in piston 43, it is to avoid rigid shock.
The mode of operation of the present invention includes pure hydraulic braking, pure motor braking, Electro-hydraulic brake, ANTI LOCK, existing
The mode of operation of the present invention is carried out brief analysis illustrate the braking of traditional braking master cylinder hydraulic pressure, it is scavenge oil pump hydraulic braking, electro-hydraulic multiple
Close the braking operation patterns such as braking, pure motor braking and ANTI LOCK.As shown in Figure 3,4.
1st, traditional braking master cylinder hydraulic pressure is braked
When driver's brake pedal 1, displacement transducer 2 measures the depth and change in displacement rate of brake pedal, forward and backward
The velocity sensor I 21, II 26 of wheel measures its wheel speed, SOC value, motion state of front and rear wheel motor 22,25 rotating speeds and wheel etc.
Signal simultaneously passes to ECU entire car controllers 24, when(m is pedal displacement rate of change threshold value) or V<Vmin or SOC<
0.2 or SOC>ECU entire car controllers judge to carry out the hydraulic braking of master cylinder 6 when 0.8, and this process brake force is due to vacuum servo
The booster brake master cylinder of device 3 is provided, and the now power-off of normally close valve 12 is closed, and stroke simulator 13 is not worked, and system is not simulated
Pedal force when dynamic, the power-off of normally open valve I 7, II 7 is in opening, and brake fluid is carried out into front and rear wheel wheel cylinder 19,27
Brake, now the brake force of front and rear wheel is allocated according to fixed ratio.
2nd, scavenge oil pump hydraulic braking
Scavenge oil pump hydraulic braking force is to be realized by the control to scavenge oil pump motor and speed-sensitive switch valve group to braking
The control of pressure of wheel braking cylinder, with traditional braking master cylinder hydraulic pressure brake difference be produce hydraulic braking force for scavenge oil pump, it is necessary to right
Speed-sensitive switch valve group is controlled.Scavenge oil pump hydraulic braking, which is mainly, coordinates the pressure among process of regenerative braking to coordinate.
3rd, pure motor braking
When driver's brake pedal 1, displacement transducer 2 measures the depth and change in displacement rate of brake pedal, speed
Sensor measures wheel speed, SOC value, and the signal such as motion state of front and rear wheel motor 22,25 rotating speeds and wheel simultaneously passes to ECU, and
Antero posterior axis motor braking power Ff_reg_max, Fr_reg_max and braking requirement power size Freq are calculated, when(m
For pedal displacement rate of change threshold value) and V >=Vmin and 0.2≤SOC≤0.8 when, ECU judges to carry out regenerative braking, passes through meter
The brake force size that front and rear wheel motor can be provided under current state is calculated, the brake force sum that current, rear-wheel motor can be provided is more than
During equal to required total braking force Freq, system carries out pure motor braking pattern, preferential to be braked using rear-wheel motor 25,
Controller controlled motor brake force size is equal to demand brake force.ECU controls HCU sends control signal control normally close valve 12 dozens
Open, normally open valve I 7 is closed, normally open valve II 4 is closed, master cylinder 6 is decoupled with front and rear wheel wheel cylinder 19,27.Braking master
The brake fluid of cylinder flows into stroke simulator 13, stroke simulator simulating brake pedal sense by master cylinder ante-chamber.HCU is controlled
The motor I 35 and II 34 of scavenge oil pump I 36, II 33 does not work, and speed-sensitive switch valve group I and speed-sensitive switch valve group II do not input letter
Number, front and rear wheel wheel cylinder hydraulic braking force is zero.
4th, Electro-hydraulic brake pattern
When driver's brake pedal 1, displacement transducer 2 measures the depth and change in displacement rate of brake pedal, sensing
Device measures wheel speed, SOC value, and the signal such as motion state of front and rear wheel motor 22,25 rotating speeds and wheel simultaneously passes to ECU, and calculate
Go out antero posterior axis motor braking power Ff_reg_max, Fr_reg_max and braking requirement power size Freq, when(m is to step on
Plate change in displacement rate threshold value) and V >=Vmin and 0.2≤SOC≤0.8 when, ECU integrally controls its 24 to judge to carry out regeneration system
It is dynamic, by calculating the brake force size that front and rear wheel motor under current state can be provided, the braking that current, rear-wheel motor can be provided
When the size of power is less than required total braking force Freq, system enters Electro-hydraulic brake pattern.Motor controller controls electricity
Brake force size is its maximum braking force.ECU controls HCU sends control signal control normally close valve 12 and opened, and normally open valve I 7 is closed
Close, normally open valve II 4 is closed, master cylinder 6 is decoupled with front and rear wheel wheel cylinder 19,27.The brake fluid of master cylinder passes through
Master cylinder ante-chamber flows into stroke simulator 13, stroke simulator simulating brake pedal sense.The front and rear wheel wheel cylinder liquid
Compacting power may have two kinds of situations, and one, have front wheel cylinder hydraulic braking force without rear service brake wheel cylinder hydraulic pressure brake force；
2nd, front and rear wheel wheel cylinder has hydraulic braking force.Two kinds of situation front and rear wheel wheel cylinders produce the mode of hydraulic braking force
Identical, the controllers of the HCU by taking front-wheel as an example send pressure of wheel braking cylinder control signal, and the specific control mode of pressure of wheel braking cylinder is, controller
The motor I 35 for sending control signal control scavenge oil pump I 36 is worked, and fluid is pumped into front-wheel by scavenge oil pump I 36 by check valve
Wheel cylinder 19, unnecessary fluid flows back to liquid storing tank braking 5 by overflow valve I 16, and the brake pressure of front wheel cylinder passes through
The opening and closing of the correspondence high-speed switch valve of control speed-sensitive switch valve group I realizes front wheel cylinder so as to be controlled to entering outflow
The control of pressure.The supercharging of speed-sensitive switch valve group control front wheel cylinder, pressurize, decompression process.By taking front-wheel as an example, work as entrance
Pressurized state, normally opened high-speed switch valve I 15 is powered off, and fluid is pumped into front wheel cylinder, and wheel cylinder is in increasing state；When entering pressurize
State, normally opened high-speed switch valve is powered, and normally closed high-speed switch valve I 17 is powered off, and fluid can not enter master cylinder, front wheel brake wheel
Cylinder is in packing state；When entering decompression state, normally opened high-speed switch valve is powered, and normally closed high-speed switch valve is powered, front wheel brake
The fluid of wheel cylinder is due to the effect of its wheelcylinder piston return spring, and wheel cylinder fluid flows back to low pressure accumulator I 32, scavenge oil pump I 36
Fluid blowback fluid reservoir 5, front wheel cylinder, which is in, subtracts state.The collection wheel cylinder of pressure sensor I 19 of front wheel cylinder
Actual pressure signal simultaneously feeds back meeting HCU, and corresponding pressure charging valve and pressure-reducing valve are gone out by goal pressure and the error calculation of actual pressure
Control duty cycle signals, and decompression rate be pressurized to it be controlled.Realize the tracking to wheel cylinder target braking pressure.
5th, hydraulic pressure coordination motor braking power is exited
The pure motor braking and Electro-hydraulic brake pattern, when speed is less than motor braking vehicle speed threshold value V<During Vmin,
Controller controlled motor brake force reduces according to given pace, HCU control oil return pump motors and the work of speed-sensitive switch valve group, oil return
Pump hydraulic braking force increases according to corresponding speed, hydraulic braking force control mode when specific control mode and Electro-hydraulic brake
Equally, hydraulic pressure coordination motor braking power is exited, it is ensured that the ride comfort of braking procedure.
6th, ANTI LOCK pattern
There is slip rate S among master cylinder braking and pure motor braking and Electro-hydraulic brake process in vehicle>When 0.2
Wait, when entering ANTI LOCK pattern, normally open valve I 7 and normally open valve II 4 are powered and disconnected.It is preceding by taking front-wheel anti-lock state as an example
Wheel wheel cylinder pressure of wheel braking cylinder among anti-lock process is quickly switched in supercharging, pressurize, decompression process.Increase when entering
Pressure condition, normally opened high-speed switch valve input duty cycle is 0, and the normally closed input duty cycle of high-speed switch valve I 17 is 0, before fluid is pumped into
Wheel cylinder is taken turns, front wheel cylinder is in increasing state；When entering packing state, the normally opened input duty cycle of high-speed switch valve I 15
For 1, the normally closed input duty cycle of high-speed switch valve I is 0, and fluid can not enter master cylinder, and front wheel cylinder is in pressurize shape
State；When entering decompression state, the normally opened input duty cycle of high-speed switch valve I is 1, and the normally closed input duty cycle of high-speed switch valve I is 1,
The fluid of wheel cylinder flows back to low pressure accumulator I 32 due to the effect of its wheelcylinder piston return spring, front wheel cylinder fluid,
Scavenge oil pump I 36 is fluid blowback fluid reservoir 5, and front wheel cylinder, which is in, subtracts state.Pressure of wheel braking cylinder is fast among anti-lock process
Speed switching ensures wheel slip in an ideal value.When the decoupling of master cylinder and front wheel cylinder ensures ANTI LOCK
Good pedal sense.Trailing wheel is consistent with the braking anti-lock process of front-wheel.
7th, braking during each switch valve control failure
When car braking switch valve control system fails, each switch valve dead electricity, ECU control systems are not being regenerated
Braking, because normally close valve 12 is normally off, normally open valve I 7, II 7 is normally open, and speed-sensitive switch valve group I, II inlet valve are normal
Valve opening, liquid valve is normally close valve, and now braking is braked for master cylinder, and front and rear wheel brake force is divided according to fixed ratio
Match somebody with somebody, it is ensured that the security that each switch valve is braked in the case of dead electricity.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of the technical program, it all should cover in the present invention
Right among.
Claims (7)
1. the HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor, including brake pedal (1), vacuum servo system
System, HCU hydraulic control units (20), ECU entire car controllers (24), it is characterised in that also include：
Hydraulic brake subsystem, by normally open valve I (7), fluid reservoir (5), master cylinder (6), normally open valve II (4), front-wheel pressure regulation mould
Block, trailing wheel voltage regulating module, normally close valve (12), stroke simulator (13), front wheel cylinder (19) and rear service brake wheel cylinder (27)
Composition, wherein, the master cylinder is connected with brake pedal by vacuum boost system, and it is interior provided with before being connected with fluid reservoir
Chamber and back cavity, and ante-chamber, back cavity pass through normally open valve I, normally open valve II and front wheel cylinder, the coupling of rear service brake wheel cylinder solution respectively
Connect；The front-wheel voltage regulating module is provided with speed-sensitive switch valve group I, overflow valve I (16), the outlet of normally open valve I respectively with overflow valve I,
The entrance of speed-sensitive switch valve group I is connected, and the outlet of speed-sensitive switch valve group I is connected with front wheel cylinder；The trailing wheel pressure regulation mould
Block is provided with speed-sensitive switch valve group II, overflow valve II (14), and the outlet of normally open valve II is respectively with overflow valve II, speed-sensitive switch valve group II
Entrance be connected, the outlet of speed-sensitive switch valve group II is connected with rear service brake wheel cylinder, overflow valve I, the outlet and storage of overflow valve II
Flow container is connected；The stroke simulator is located between normally open valve I and master cylinder ante-chamber by normally close valve；
Motor regeneration brake system, is made up of preceding turbin generator I (22), batteries (23) and rear-wheel motor (24), wherein, it is described
The signal input part of ECU entire car controllers is connected respectively with the signal output part of preceding turbin generator, rear-wheel motor, batteries, its
Signal output part is connected respectively with the signal input part of HCU hydraulic control units, preceding turbin generator, rear-wheel motor, the HCU hydraulic pressure
The signal output part of control unit and normally close valve, normally open valve I, normally open valve II, speed-sensitive switch valve group I, speed-sensitive switch valve group II
Signal input part is connected respectively.
2. the HEV/EV regenerative braking control pressurer systems according to claim 1 based on front and back wheel bi-motor, its feature
It is, the vacuum boost system is by the motor (11) being sequentially connected, vavuum pump (10), air accumulator (8) and vacuum booster (3)
Composition, the motor is used to drive vavuum pump, and pressure switch (9), the vacuum are provided between the vavuum pump and air accumulator
Booster is located between master cylinder and brake pedal, and its pressure chamber is connected with air accumulator, and input is connected with brake pedal, defeated
Go out end with master cylinder to be connected.
3. the HEV/EV regenerative braking control pressurer systems according to claim 1 based on front and back wheel bi-motor, its feature
It is, the front-wheel voltage regulating module is additionally provided with accumulator I (32), motor I (35) and scavenge oil pump I (36), the high speed is opened
Closing valve group I includes normally opened high-speed switch valve I (15) and normally closed high-speed switch valve I (17), the entrance of the normally opened high-speed switch valve I
It is connected with normally open valve I, its outlet is connected with front wheel cylinder with the entrance of normally closed high-speed switch valve I respectively, the normally closed height
The outlet of fast switch valve I is connected with the entrance of accumulator I, scavenge oil pump I respectively, the outlet of the scavenge oil pump I by overflow valve I with
Fluid reservoir is connected；The signal output part of the HCU hydraulic control units is connected with the signal input part of scavenge oil pump I.
4. the HEV/EV regenerative braking control pressurer systems according to claim 1 based on front and back wheel bi-motor, its feature
It is, the trailing wheel voltage regulating module is additionally provided with accumulator II (31), scavenge oil pump II (33) and motor II (34), the high speed
Switching valve group II includes normally closed high-speed switch valve II (29) and normally opened high-speed switch valve II (30), the normally opened high-speed switch valve II
Entrance be connected with normally open valve II, its outlet is connected with rear service brake wheel cylinder with the entrance of normally closed high-speed switch valve II respectively, institute
State entrance of the outlet of normally closed high-speed switch valve II respectively with accumulator II, scavenge oil pump II to be connected, the outlet of the scavenge oil pump II
It is connected by overflow valve II with fluid reservoir；The signal output part of the HCU hydraulic control units is inputted with the signal of scavenge oil pump II
End connection.
5. the HEV/EV regenerative braking control pressurer systems according to claim 1 based on front and back wheel bi-motor, its feature
It is, in addition to for detecting the displacement transducer (2) of brake pedal displacement, the pressure sensor I for detecting front-wheel pressure
(18), for detecting the velocity sensor I (21) of front-wheel wheel speed, the velocity sensor II (26) for detecting trailing wheel wheel speed and using
In the pressure sensor II (28) of detection trailing wheel pressure, the ECU entire car controllers are connected with displacement transducer, the HCU liquid
Pressure control unit is connected respectively with velocity sensor I, velocity sensor II, pressure sensor I and pressure sensor II.
6. the HEV/EV regenerative braking control pressurer systems according to claim 1 based on front and back wheel bi-motor, its feature
It is, the stroke simulator is detachable tubulose stroke simulator, by rear end cap (37), cylinder body (38), sliding block (42), work
(43) and drive end bearing bracket (45) composition are filled in, two ends and the drive end bearing bracket and rear end cap of the cylinder body are tightly connected respectively, the drive end bearing bracket
Provided with the fuel feed hole (46) communicated with master cylinder ante-chamber, the cylinder body, which is provided with, is used for the steam vent (39) that cylinder body is vented,
The sliding block and piston are slidably disposed in cylinder body, and the piston is arranged close to drive end bearing bracket, which is provided with close with cylinder body
The sealing ring (44) of envelope, the sliding block is located between rear end cap and piston, and sliding block is by being arranged on it between rear end cap
Spring I (41) is inconsistent with piston, the rear end cap provided be sleeved on spring I it is outer and with sliding block spring at regular intervals II
(40)。
7. the HEV/EV regenerative braking control pressurer systems according to claim 6 based on front and back wheel bi-motor, its feature
It is, the corresponding surface of the drive end bearing bracket and piston area pair is provided with the boss for being used for limiting piston displacement.
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| CN201710413735.0A CN107200001A (en) | 2017-06-05 | 2017-06-05 | HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor |
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| CN201710413735.0A CN107200001A (en) | 2017-06-05 | 2017-06-05 | HEV/EV regenerative braking control pressurer systems based on front and back wheel bi-motor |
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| CN109572440A (en) * | 2018-12-28 | 2019-04-05 | 重庆大学 | A kind of electric hydaulic hybrid power system and its control method applied to SUV |
| CN109733356A (en) * | 2018-12-28 | 2019-05-10 | 上海擎度汽车科技有限公司 | The electronic hydraulic brake system of power simulator and its composition |
| CN111267807A (en) * | 2020-02-19 | 2020-06-12 | 重庆大学 | Fully-decoupled electronic/hydraulic power assisting system for regenerative braking of electric automobile |
| CN113085810A (en) * | 2021-05-11 | 2021-07-09 | 重庆大学 | Pedal force sense simulation device based on magneto-rheological |
| CN114523946A (en) * | 2022-03-29 | 2022-05-24 | 浙江工业大学 | Multi-mode hydraulic braking system and control method thereof |
| CN114537350A (en) * | 2022-03-29 | 2022-05-27 | 浙江工业大学 | Digital hydraulic auxiliary high-dynamic-response brake system and control method thereof |
| CN114771485A (en) * | 2021-12-30 | 2022-07-22 | 北京金万安汽车电子技术研发有限公司 | EBS axis module pressure control method based on high-frequency PWM |
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